CN108849592A - A kind of unmanned pig farm finlling automatically equipment and its filling method - Google Patents
A kind of unmanned pig farm finlling automatically equipment and its filling method Download PDFInfo
- Publication number
- CN108849592A CN108849592A CN201810965530.8A CN201810965530A CN108849592A CN 108849592 A CN108849592 A CN 108849592A CN 201810965530 A CN201810965530 A CN 201810965530A CN 108849592 A CN108849592 A CN 108849592A
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- Prior art keywords
- driver
- seat
- driving
- fixed
- finlling automatically
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/80—Food processing, e.g. use of renewable energies or variable speed drives in handling, conveying or stacking
- Y02P60/87—Re-use of by-products of food processing for fodder production
Abstract
The present invention proposes a kind of unmanned pig farm finlling automatically equipment and its filling method, holder device is fixedly connected with above the base apparatus of the equipment, hopper device is supported by holder device, discharging device is fixedly connected on above base apparatus, discharging device is connect with hopper device, and power source and control system are mounted on base apparatus.Filling method is that driver one controls floating driving mechanism, and the control driving lead screw sliding module of driver two is stretched out, and the control output roller rotation release feed of driver four, driver two controls lead screw sliding module and retracts.Solve in farm's adding material mode of the prior art personnel labor intensity it is big, it is artificial participate in the problems such as lower pollution feeding environment and feed residual are rotten, a kind of unmanned pig farm finlling automatically equipment and its filling method are provided.The present invention changes pig farm feeding manner, realizes that whole Unmanned operation, performance are stablized in feeding procedure, save human cost, avoids pollution caused by causing because of artificial participation environment in farm house.
Description
Technical field
The present invention relates to a kind of unmanned pig farm finlling automatically equipment and its filling methods, belong to farm's feed supply neck
Domain.
Background technique
Pig farm at this stage, earliest using feed barrow is manually matched, artificial demand is big, time-consuming and laborious, large labor intensity.Separately
Outside, due to raising bull growing and fattening pigs in a swinery simultaneously, the time some of pig food is not close identical, to make each pig can
Food is had, needs ceaselessly to feed, but if charging is excessive, pig is eaten up, and will result in waste, if charging is insufficient, just
It will affect the growth of pig.In response to this, people develop some Feed distribution systems, feed are dispensed into can one by one every
In one swinery, for pig feed, but above-mentioned Feed distribution system be easy to cause feed to remain, thus since feed spoilage endangers pig
Health, and above system cannot completely disengage artificial participation, cannot achieve real unmanned raising, increase the work on pig farm
Personnel amount reduces economic benefit.
Summary of the invention
The present invention solves personnel labor intensity in farm's adding material mode of the prior art and pollutes feeding greatly, under artificial participation
The problems such as feeding environment and rotten feed residual, provides the unmanned automatic control of one kind and is able to solve the remaining pig farm of feed certainly
Dynamic filling equipment and its filling method.
For this purpose, the present invention propose a kind of unmanned pig farm finlling automatically equipment include base apparatus, discharging device,
Holder device, hopper device and power source and control system；Holder device, institute are fixedly connected with above the base apparatus
It states hopper device to support by holder device, the discharging device is fixedly connected on the top of base apparatus, the discharging device
It is connect with hopper device, the power source and control system are mounted on base apparatus；
The discharging device includes discharging mechanism, material mouth rail groove mechanism and connecting bracket；The connecting bracket and chassis fill
Connection is set, the discharging mechanism is fixed in connecting bracket, and the material mouth rail groove mechanism is connect with discharging mechanism and the company of being installed on
It connects on bracket bottom plate；
The hopper device includes hopper main body, feed inlet door machine structure of page half and driving motor, feed inlet door of page half
Mechanism is installed on the feed inlet of hopper main body, and the driving motor is located at the side of the feed inlet door machine structure of page half, for drive into
The movement of the material mouth door machine structure of page half.
Preferably, the base apparatus includes dolly chassis, two floating driving mechanisms, four floating caster devices and four
A universal caster wheel；There are four universal caster wheel, the inside quadrangles of the dolly chassis for the quadrangle installation of the bottom of the dolly chassis
There are four floating caster devices for installation, and four floating caster devices are located at the top of four universal caster wheels, for controlling
The two sides of the floating of universal caster wheel processed, the dolly chassis are separately installed with floating driving mechanism.
Preferably, the dolly chassis includes bottom plate, two laminates, four support rods, four optical axis guide pillar support seats, two
Gusset and four castor cover for seat are enclosed in buffer rubber gasket, reinforcement, and the surrounding of the bottom plate is further fixed on reinforcement and encloses gusset, described in two
Buffer rubber gasket is located at the upper surface of bottom plate and between bottom plate and floating driving mechanism, the quadrangle of the upper surface of the bottom plate
Installation is equipped with two laminates on four support rods, the quadrangle of the upper surface of the bottom plate is equipped with four there are four support rod
A castor cover for seat, the floating caster device are fixedly connected with castor cover for seat, and the intermediate installation of the bottom plate is led there are four optical axis
Column support base.
Preferably, the floating driving mechanism includes drive seat, decelerating motor, driving wheel, two optical axis guide posts, spring tune
Section plate, two linear bearings, spring born work arbor and buffer spring, two optical axis guide posts are fixed on by optical axis guide pillar support seat
Above bottom plate, the spring adjustable plate is fixed on the upper end of two optical axis guide posts, and two linear bearings are respectively sleeved in two
The periphery of optical axis guide post and be located at drive seat two sides inside, the drive seat fixes with two Linear bearing flanges respectively,
Spring born work arbor is fixed between the spring adjustable plate and drive seat, the spring born work arbor periphery is cased with buffer spring, described to subtract
Speed motor is fixedly connected with drive seat, and the driving wheel is fixedly connected with the output shaft of decelerating motor.
Preferably, the floating caster device includes locating shaft, baffle, two butterfly springs, rubber pad, cover board, bearings
And shaft end ring, the locating shaft form the lead mechanism with vertical direction single-degree-of-freedom, institute by bearing and castor cover for seat
The top that shaft end ring is fixed on locating shaft is stated, the baffle is fixedly connected with caster seat set upper side, the cover board and caster seat
The lower end of set is fixedly connected, two butterfly springs be located at the two sides of locating shaft and be respectively positioned on castor cover for seat and baffle it
Between, lower end and the universal caster wheel of the locating shaft are fixed, and the rubber pad is between butterfly spring and castor cover for seat, for delaying
Punching and damping.
Preferably, the discharging mechanism includes box discharge port, bearing block one, bearing block two, hole retaining ring, roller output
Axis, output roller, bearing and output decelerating motor, the bearing block one are fixed on the two sides of box discharge port with bearing block two,
The roller output shaft passes through bearing and hole with retaining ring location and installation between bearing block one and bearing block two, the output roller
It is installed in box discharge port and is fixed with roller output shaft, the output decelerating motor is installed on the side of bearing block one, institute
The output shaft for stating decelerating motor exports axis connection by key and roller.
Preferably, the material mouth rail groove mechanism include lead screw sliding module, guide channel plate, discharge baffle, baffle limiting block and
Motor, the lead screw sliding module are fixed in connecting bracket, and the guide channel plate is fixed in lead screw sliding module, the discharging
Baffle is fixed on guide channel plate by hinge and discharge baffle is along hinge axis flexible rotating, and baffle limiting block is fixed on two laminates
On, the motor is fixed on the side of lead screw sliding module, for driving the movement of lead screw sliding module.
Preferably, the hopper device further includes four connection otic placodes and sensor one, and the hopper main body passes through metal plate
Bending welding production is octagonal cabinet to meet volume requirements and exterior space limitation, the hopper main body at horizontal cross-section
It is fixedly connected by connection otic placode with holder device, four connection otic placodes are respectively arranged in the outside of the bottom of hopper main body
Surrounding, the sensor one are installed on the top of hopper main body, for detecting feed plane.
Preferably, the power source and control system include magnetic nail navigation sensor, sensor two, power source, driver
One, landmark sensor, driver two, driver three, driver four, air switch, PLC and pilot controller, the magnetic nail are led
Boat sensor, sensor two, power source, driver one, landmark sensor, driver two, driver three and driver four are installed
On bottom plate, the air switch, PLC and pilot controller are mounted on two laminates, and the magnetic nail navigation sensor is for examining
Survey pre-buried magnetic nail, real-time control carriage walking track；The sensor two is range sensor for perceiving front obstacle；Institute
It states power source to be made of muti-piece battery, be used to provide power；The driver one is sent to decelerating motor by PLC and is instructed,
Control driving wheel movement；Position of the landmark sensor for finlling automatically equipment positions；The driver two by PLC to
Driving motor sends instruction, and the door machine structure realization of page half of control feed inlet opens or closes；The driver three passes through PLC to motor
Instruction is sent, control material mouth rail groove mechanism moves horizontally；The driver four sends instruction to output decelerating motor by PLC,
It controls discharging mechanism movement or stops；The air switch is for carrying out circuit protection；The PLC is defeated by digital input
The movement of whole equipment is controlled out；The pilot controller is PLC for receiving landmark sensor signal and being communicated to PLC
Area navigation is provided.
A kind of working principle of unmanned pig farm finlling automatically equipment of the present invention is：
The base apparatus is located at finlling automatically device bottom, for driving finlling automatically equipment to move freely, discharging dress
It sets and is docked with hopper device, is placed in below hopper device, feed is entered in crib from hopper device by discharging device.
A method of filling being carried out using above-mentioned unmanned pig farm finlling automatically equipment, is included the following steps：
Step 1：Base apparatus controls decelerating motor by driver one and floating driving mechanism is driven voluntarily to walk arrival
Need the position of filling；
Step 2：Material mouth rail groove mechanism controls driving motor by driver two and driving lead screw sliding module is driven to stretch out；
Step 3：Finlling automatically equipment is walked along trough direction, and the control output decelerating motor of driver four drives output
Roller rotates and then discharges feed；
Step 4：After finlling automatically equipment reaches trough end position, output roller stops rotating, material mouth rail groove mechanism
Controlling lead screw sliding module by driver two shrinks back it inside finlling automatically equipment；
Step 5：Finlling automatically equipment controls floating driving mechanism by driver one and continues on planning path walking,
It reaches at next specified filling, repeats step 1 to step 4.
A kind of unmanned pig farm finlling automatically equipment of the present invention has the beneficial effect that：
1, base apparatus of the invention is applied on mechanical feed equipment, is that mechanical feed equipment realizes that walking function can not
Or a scarce component, it directly affects it and runs accuracy, stability and safety.
2, each supporting point of base apparatus of the invention is independent floating device, reduces the ground that mechanical feed equipment is subject to
Face impact, improves the traction of driving wheel, each floating installation or does not influence, and the standard of mechanical feed equipment has been effectively ensured
True property, stability and safety.
3, the discharging device that the present invention uses, blanking is smooth, good leak tightness, will not material leakage generation waste.
4, hopper device top feed mouth door machine structure of page half of the present invention avoids foreign matter from entering and pollutes feed in hopper.
5, the telescopic material mouth rail groove mechanism designed in the present invention, can effectively realize discharging lead, front end discharge baffle
It can prevent feed from flowing into inside equipment.
6, the present invention changes pig farm feeding manner, realizes that whole Unmanned operation, performance are stablized in feeding procedure, save people
Power cost avoids pollution caused by causing because of artificial participation environment in farm house.
Detailed description of the invention
Fig. 1 is the overall structure diagram of unmanned pig farm finlling automatically equipment of the present invention；
Fig. 2 is the overall structure diagram of the base apparatus of unmanned pig farm finlling automatically equipment of the present invention；
Fig. 3 is the enlarged structure schematic diagram of dolly chassis in Fig. 2；
Fig. 4 is floating driving mechanism enlarged structure schematic diagram in Fig. 2；
Fig. 5 is floating caster device enlarged structure schematic diagram in Fig. 2；
Fig. 6 is the overall structure diagram of the discharging device of finlling automatically equipment of the present invention；
Fig. 7 is discharging mechanism enlarged structure schematic diagram in Fig. 6；
Fig. 8 is material mouth rail groove mechanism enlarged structure schematic diagram in Fig. 6；
Fig. 9 is the overall structure diagram of the hopper device of finlling automatically equipment of the present invention；
Figure 10 is power source, driver and the sensor position schematic diagram of finlling automatically equipment of the present invention；
Figure 11 is the position views such as PLC and the circuit board of finlling automatically equipment of the present invention；
Appended drawing reference：1- base apparatus；1-1- dolly chassis composition；1-1-1- bottom plate；Bis- laminate of 1-1-2-；1-1-3- branch
Strut；1-1-4- optical axis guide post attachment base；1-1-5- buffer rubber gasket；Gusset is enclosed in 1-1-6- reinforcement；1-1-7- castor cover for seat；1-
2- floating driving mechanism；1-2-1- drive seat；1-2-2- decelerating motor；1-2-3- driving wheel；1-2-4- optical axis guide post；1-2-5-
Spring adjustable plate；1-2-6- linear bearing；1-2-7- spring born work arbor；1-2-8- buffer spring；1-3- floating caster device；1-3-
1- locating shaft；1-3-3- baffle；1-3-4- disk spring；1-3-5- rubber pad；1-3-6- cover board；1-3-7- linear bearing；1-
3-8- shaft end ring；1-4- universal caster wheel；2- discharging device；2-1- discharging mechanism；The box discharge port of 2-1-1-；2-1-2- bearing
Seat one；2-1-3- bearing block two；The hole 2-1-4- retaining ring；2-1-5- roller output shaft；2-1-6- exports roller；2-1-7- output
Decelerating motor；2-2- material mouth rail groove mechanism；2-2-1- lead screw sliding module；2-2-2- guide channel plate；2-2-3- discharge baffle；2-2-
4- discharging limited block；2-2-5- motor；2-3- connecting bracket；3- holder device；4- hopper device；4-1- hopper main body；4-2-
Connection otic placode；4-3- feed inlet door machine structure of page half；4-4- sensor one；4-5- driving motor；5-1- magnetic follows closely navigation sensor；5-
2- sensor two；5-3- power source；5-4- driver one；5-5- landmark sensor；5-6- driver two；5-7- driver three；
5-8- driver four；5-9- air switch；5-10- terminal；5-11-PLC；5-12- pilot controller.
Specific embodiment
Below in conjunction with attached drawing, specific embodiments of the present invention will be described in further detail：
Specific embodiment one：Illustrate present embodiment referring to Fig. 1-Figure 11.One kind described in present embodiment is unmanned
Pig farm finlling automatically equipment includes base apparatus 1, discharging device 2, holder device 3, hopper device 4 and power source and control system
System 5；The top of the base apparatus 1 is fixedly connected with holder device 3, and the hopper device 4 is supported by holder device 3, institute
The top that discharging device 2 is fixedly connected on base apparatus 1 is stated, the discharging device 2 is connect with hopper device 4, the power source
It is mounted on base apparatus 1 with control system 5；
The discharging device 2 includes discharging mechanism 2-1, material mouth rail groove mechanism 2-2 and connecting bracket 2-3；The connection branch
Frame 2-3 is connect with base apparatus 1, and the discharging mechanism 2-1 is fixed on connecting bracket 2-3, the material mouth rail groove mechanism 2-2 with
Discharging mechanism 2-1 is connected and is installed on connecting bracket 2-3 bottom plate；
The hopper device 4 includes hopper main body 4-1, feed inlet door machine structure 4-2 of page half and driving motor 4-5, it is described into
Material mouth door machine structure 4-2 of page half is installed on the feed inlet of hopper main body 4-1, and the driving motor 4-5 is located at feed inlet door machine of page half
The side of structure 4-2, for driving the movement of the feed inlet door machine structure 4-2 of page half.
The base apparatus 1 includes dolly chassis 1-1, two floating driving mechanism 1-2, four floating caster device 1-3
With four universal caster wheel 1-4；There are four universal caster wheel 1-4, the trolley bottoms for the quadrangle installation of the bottom of the dolly chassis 1-1
There are four floating caster device 1-3, four floating caster device 1-3 to be located at four for the inside quadrangle installation of disk 1-1
The top of universal caster wheel 1-4, for controlling the floating of universal caster wheel 1-4, the two sides of the dolly chassis 1-1 are separately installed with floating
Dynamic driving device 1-2；
The dolly chassis 1-1 includes bottom plate 1-1-1, two laminate 1-1-2, four support rod 1-1-3, four optical axis guide posts
Support base 1-1-4, two buffer rubber gasket 1-1-5, reinforce enclosing gusset 1-1-6 and four castor cover for seat 1-1-7, the bottom plate 1-
The surrounding of 1-1 is further fixed on reinforcement and encloses gusset 1-1-6, and two buffer rubber gasket 1-1-5 are located at the upper surface of bottom plate 1-1-1
And between bottom plate 1-1-1 and floating driving mechanism 1-2, there are four branch for the quadrangle installation of the upper surface of the bottom plate 1-1-1
Two laminate 1-1-2, the quadrangle of the upper surface of the bottom plate 1-1-1 are installed on strut 1-1-3, four support rod 1-1-3
4 castor cover for seat 1-1-7 are installed, the floating caster device 1-3 is fixedly connected with castor cover for seat 1-1-7, the bottom plate 1-
There are four optical axis guide pillar support seat 1-1-4 for the intermediate installation of 1-1.
The floating driving mechanism 1-2 includes drive seat 1-2-1, decelerating motor 1-2-2, driving wheel 1-2-3, two optical axises
Guide post 1-2-4, spring adjustable plate 1-2-5, two linear bearing 1-2-6, spring born work arbor 1-2-7 and buffer spring 1-2-8, two
The optical axis guide post 1-2-4 is fixed on above bottom plate 1-1-1 by optical axis guide pillar support seat 1-1-4, the spring adjustable plate 1-
2-5 is fixed on the upper end of two optical axis guide post 1-2-4, and two linear bearing 1-2-6 are respectively sleeved in two optical axis guide post 1-
The periphery of 2-4 and positioned at drive seat 1-2-1 two sides inside, the drive seat 1-2-1 respectively with two linear bearing 1-2-6
Flange is fixed, and spring born work arbor 1-2-7, the spring born work arbor are fixed between the spring adjustable plate 1-2-5 and drive seat 1-2-1
The periphery 1-2-7 is cased with buffer spring 1-2-8, and the decelerating motor 1-2-2 is fixedly connected with drive seat 1-2-1, the driving wheel
1-2-3 is fixedly connected with the output shaft of decelerating motor 1-2-2；
The floating caster device 1-3 includes locating shaft 1-3-1, baffle 1-3-3, two butterfly spring 1-3-4, rubber pads
1-3-5, cover board 1-3-6, bearing 1-3-7 and shaft end ring 1-3-8, the locating shaft 1-3-1 pass through bearing 1-3-7 and caster seat
It covers 1-1-7 and forms the lead mechanism with vertical direction single-degree-of-freedom, the shaft end ring 1-3-8 is fixed on locating shaft 1-3-1
Top, the baffle 1-3-3 is fixedly connected with the upper end castor cover for seat 1-1-7, the cover board 1-3-6 and castor cover for seat 1-1-7
Lower end be fixedly connected, two butterfly spring 1-3-4 are located at the two sides of locating shaft 1-3-1 and are respectively positioned on castor cover for seat
Between 1-1-7 and baffle 1-3-3, lower end and the universal caster wheel 1-4 of the locating shaft 1-3-1 is fixed, and described rubber pad 1-3-5
Between butterfly spring 1-3-4 and castor cover for seat 1-1-7, for buffering and damping.
The face that the drive seat 1-2-1 is connect with spring born work arbor 1-2-7 is in " H " type, and two linear bearing 1-2-6 distinguish method
Orchid is fixed on the inside of the left and right sides of drive seat 1-2-1.The crossbeam of the spring adjustable plate 1-2-5 and drive seat 1-2-1 it
Between be fixed with spring born work arbor 1-2-7.
The buffer spring 1-2-8 has the function of buffering, damping and energy storage.
The dolly chassis 1-1 is made by overall processing after bending sheet metal component and blank welding, and the base apparatus 1 is adopted
With full-floating type chassis structure.
Each floating driving mechanism 1-2 self-movement, integral device are driven by floating driving mechanism 1-2 according to finger
Fixed line moves ahead.
Specifically, base apparatus 1 is by the bottom plate 1-1-1 of metal plate bending and molding and opposite with bottom plate solid in the present embodiment
Gusset 1-1-6 connection is enclosed in fixed reinforcement, and there are four optical axis guide pillar support seat 1-1-4 and four caster seats for connection on bottom plate 1-1-1
1-1-7 is covered, floating driving mechanism 1-2 has floating driving mechanism 1-2 vertical by optical axis guide pillar support seat 1-1-4 connection
The freedom degree in direction, the optical axis guide pillar support seat 1- on the optical axis guide post 1-2-4 and dolly chassis 1-1 of floating driving mechanism 1-2
1-4 connection, spring adjustable plate 1-2-5 are fixed with the upper end optical axis guide post 1-2-4, and spring born work arbor 1-2-7 passes through screw thread and spring tune
Section plate 1-2-5, which is fixed and had nut, forms drive seat of the double nuts structure with the position this fixed spring mandrel 1-2-7, after fixing
1-2-1 device cooperatively forms double guide pillar structures by linear bearing 1-2-6 and optical axis guide post 1-2-4, and buffer spring 1-2-8 is located at
Between spring born work arbor 1-2-7 and drive seat 1-2-1, it is made to have buffering, damping and the effect of energy storage.Floating caster device 1-3
Locating shaft 1-3-1 formed by the castor cover for seat 1-1-7 on bearing 1-3-7 and dolly chassis 1-1-1 there is vertical direction list
The lead mechanism of freedom degree, baffle 1-3-3 are fixed with the upper end castor cover for seat 1-1-7, cover board 1-3-6 and castor cover for seat 1-1-7's
Lower end is fixed, and butterfly spring 1-3-4 is placed between castor cover for seat 1-17 and baffle 1-3-3.When the operation of finlling automatically equipment, bottom
Disk device 1 is used to that finlling automatically equipment is driven to move freely, when meeting roughness pavement, floating driving mechanism 1-2 and floating
Caster device 1-3 each section can be by the collective effect of ground shock load and self structure inner spring internal force, along vertical side
To free adjustment, guarantee whole equipment to the stationarity of the attachment force-summing device on ground.
The discharging mechanism 2-1 includes box discharge port 2-1-1, one 2-1-2 of bearing block, two 2-1-3 of bearing block, hole gear
Enclose 2-1-4, roller output shaft 2-1-5, output roller 2-1-6, bearing and output decelerating motor 2-1-7, one 2- of bearing block
1-2 and two 2-1-3 of bearing block is connected to the two sides of box discharge port 2-1-1, and the roller output shaft 2-1-5 passes through bearing and hole
With retaining ring 2-1-4 location and installation between two 2-1-3 of one 2-1-2 of bearing block and bearing block, output roller 2-1-6 is installed on box
It is fixed in discharge port 2-1-1 and with roller output shaft 2-1-5, output decelerating motor 2-1-7 is installed on the one of one 2-1-2 of bearing block
The output shaft of side, decelerating motor 2-1-7 is connect by key with roller output shaft 2-1-5.
Feed is delivered in specified hopper by the realization of discharging device 2 from hopper device 3, and discharging device 2 includes discharging
The housing main body of mechanism 2-1, material mouth rail groove mechanism 2-2 and connecting bracket 2-3, discharging mechanism 2-1 are box discharge port, are connected thereon
It connects and fixes two bearing blocks i.e. two 2-1-3 of one 2-1-2 of bearing block and bearing block, one 2-1-2 of bearing block and two 2-1-3 of bearing block points
Not Lian Jie bearing, bearing through hole fixes it with one 2-1-2 of bearing block and two 2-1-3 of bearing block respectively with retaining ring 2-1-4, axis
It holds and is connect with roller output shaft 2-1-5, roller output shaft 2-1-5 is fixedly connected with output roller 2-1-6, decelerating motor 2-1-7
It is connected and fixed with one 2-1-2 of bearing block, the output shaft of decelerating motor 2-1-7 is connect by key with roller output shaft 2-1-5, is passed through
Decelerating motor 2-1-7 driving output roller 2-1-6 rotation, output roller 2-1-6 top feed pass through output roller 2-1-6 rotation
It acts on, the feed link in section crosses gravity, exports feed along discharging mechanism housing main body.
The material mouth rail groove mechanism 2-2 includes lead screw sliding module 2-2-1, guide channel plate 2-2-2, discharge baffle 2-2-3, gear
Plate limited block 2-2-4 and motor 2-2-4, the lead screw sliding module 2-2-1 are fixed on connecting bracket 2-3, the guide channel plate
2-2-2 is fixed on lead screw sliding module 2-2-1, and the discharge baffle 2-2-3 is fixed on guide channel plate 2-2-2 by hinge,
And discharge baffle 2-2-3, along hinge axis flexible rotating, baffle limiting block 2-2-4 is fixed on two laminate 1-1-2, the motor 2-
2-5 is fixed on the side of lead screw sliding module 2-2-1, for driving the movement of lead screw sliding module 2-2-1.
The material mouth rail groove mechanism 2-2 is located at 2 lower section of discharging device, and lead screw sliding module 2-2-1 is fixed on connecting bracket
On 2-3, guide channel plate 2-2-2 is fixed on lead screw sliding module 2-2-1, passes through motor 2-2-5 driving effect, guide channel plate 2-2-2
It can be moved horizontally along discharge hole for discharge direction, when needing filling, guide channel plate 2-2-2 is horizontal by screw rod sliding module 2-2-1
After movement, discharging mechanism 2-1 completes feed and flows lead, and feed enters in trough along guide channel plate 2-2-2, guide channel plate 2-2-
2 front ends are fixedly connected with discharge baffle 2-2-3 by hinge, and discharge baffle 2-2-3 can be rotated along hinge axis, in two laminate 1-1-
Baffle limiting block 2-2-4 is fixedly connected on 2, when guide channel plate 2-2-2 is moved horizontally, discharge baffle 2-2-3 passes through baffle limiting
The position-limiting action of block 2-2-4 rotates, and after guide channel plate 2-2-2 is withdrawn completely, discharge baffle 2-2-3 is rotated to guide channel plate 2-2-
2 front ends are to prevent remaining feed from flowing into inside equipment, and when guide channel plate 2-2-2 discharges completely, discharge baffle 2-2-3 passes through gravity
Effect, rotation to the lower part guide channel plate 2-2-2 do not influence feed conveying.
The hopper device 4 further includes one 4-4 of four connection otic placode 4-2 and sensor, and the hopper main body 4-1 passes through company
Ear connecting plate 4-2 is fixedly connected with holder device 3, and four connection otic placode 4-2 are respectively arranged in the bottom of hopper main body 4-1
External surrounding, one 4-4 of sensor is installed on the top of hopper main body 4-1, for detecting feed plane.
The hopper device 4 is connect by holder device 3 with two laminate 1-1-2, hopper device 4 and 2 top of discharging device
Docking, when the output roller 2-1-6 of discharging device 2 rotation, feed enters inside discharging device 2 along hopper device 4, hopper master
Body 4-1 is octagonal cabinet to meet volume requirements and exterior space limit at horizontal cross-section by metal plate bending welding production
System, the hopper top main body 4-1 installation can automatic open-close feed inlet door machine structure 4-3 of page half, when need in finlling automatically equipment
Add feed when, feed inlet door machine structure 4-3 of page half is automatically opened, by one 4-4 of sensor detect feed plane, when feed add to
When the volume being previously set, feed inlet door machine structure 4-3 closure of page half.
The power source and control system 5 include magnetic nail navigation sensor 5-1, two 5-2 of sensor, power source 5-3, driving
One 5-4 of device, landmark sensor 5-5, two 5-6 of driver, three 5-7 of driver, four 5-8 of driver, air switch 5-9, terminal 5-
10, PLC5-11 and pilot controller 5-12, the magnetic follow closely navigation sensor 5-1, two 5-2 of sensor, power source 5-3, driver
One 5-4, landmark sensor 5-5, two 5-6 of driver, three 5-7 of driver and four 5-8 of driver are mounted on the upper of bottom plate 1-1-1,
Described air switch 5-9, PLC5-11 and pilot controller 5-12 are mounted on two laminate 1-1-2, and the magnetic follows closely navigation sensor
5-1 is for detecting pre-buried magnetic nail, real-time control carriage walking track；Two 5-2 of sensor is range sensor for perceiving
Front obstacle；The power source 5-3 is made of muti-piece battery, is used to provide power；One 5-4 of driver passes through
PLC5-11 sends to decelerating motor 1-2-2 and instructs, control driving wheel 1-2-3 movement；The landmark sensor 5-5 is for automatic
The position of filling equipment positions；Two 5-6 of driver is sent to driving motor 4-5 by PLC5-11 and is instructed, and feed inlet is controlled
The door machine structure 4-3 realization of page half opens or closes；Three 5-7 of driver is sent to motor 2-2-5 by PLC5-11 and is instructed, control
Material mouth rail groove mechanism 2-2 processed is moved horizontally；Four 5-8 of driver is referred to by PLC5-11 to output decelerating motor 2-1-7 transmission
It enables, control discharging mechanism 2-1 movement or stopping；The air switch 5-9 is for carrying out circuit protection；The PLC5-11 passes through
Digital input and output control the movement of whole equipment；The pilot controller 5-12 is for receiving landmark sensor 5-5
Signal is simultaneously communicated to PLC5-11, provides area navigation for PLC5-11.
For the magnetic nail navigation sensor 5-1 for detecting pre-buried magnetic nail, real-time control carriage walking track guarantees that trolley is pressed
It walks according to fixed course；Two 5-2 of sensor is range sensor, perceives front obstacle, if front encounters barrier, is passed
Sensor acquire data, by PLC5-11 control stop trolley, to avoid collision, after front obstacle is removed, trolley after
Reforwarding row；The power source 5-3 is made of muti-piece battery, provides power to equip interior each device movement；The terrestrial reference sensing
Device 5-5 determines that finlling automatically setting position positions by reading landmark sensor RF tag；The air switch 5-9 completion connects
Touching and disjunction circuit, the short circuit that circuit or electrical equipment can occur, heavy overload and under-voltage etc. are protected；The terminal
5-10 plays connection function in terms of transmitting electric signal and conduction, simplifies product structure；The PLC5-11 can be compiled using one kind
The controller of journey, storage executes the instruction of the operations such as logical operation, sequential control, timing, counting and arithmetical operation inside it,
The movement of whole equipment is controlled by digital input and output.
A method of filling being carried out using above-mentioned unmanned pig farm finlling automatically equipment, is included the following steps：
Step 1：Base apparatus 1 controls decelerating motor 1-2-2 by one 5-4 of driver and drives floating driving mechanism
1-2 voluntarily walks to reach the position for needing filling；
Step 2：Material mouth rail groove mechanism 2-2 controls driving motor 2-2-5 by two 5-6 of driver and drives driving lead screw sliding
Dynamic model group 2-2-1 stretches out；
Step 3：Finlling automatically equipment is walked along trough direction, four 5-8 of driver control output decelerating motor 2-1-7
It drives output roller 2-1-6 to rotate and then discharges feed；
Step 4：After finlling automatically equipment reaches trough end position, output roller 2-1-6 stops rotating, and material mouth is led
Groove mechanism 2-2, which controls lead screw sliding module 2-2-1 by two 5-6 of driver, shrinks back it inside finlling automatically equipment；
Step 5：Finlling automatically equipment controls floating driving mechanism 1-2 by one 5-4 of driver and continues on planning path
Walking reaches at next specified filling, repeats step 1 to step 4.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright.It should be understood that the above is only a specific embodiment of the present invention, it is not intended to restrict the invention, also
It can be the reasonable combination for the feature that above-mentioned each embodiment is recorded, all timess within spirit of that invention and principle, done
What modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned pig farm finlling automatically equipment, which is characterized in that including base apparatus (1), discharging device (2), bracket
Device (3), hopper device (4) and power source and control system (5)；Branch is fixedly connected with above the base apparatus (1)
Rack device (3), the hopper device (4) are supported by holder device (3), and the discharging device (2) is fixedly connected on chassis dress
The top of (1) is set, the discharging device (2) connect with hopper device (4), and the power source and control system (5) are mounted on bottom
On disk device (1)；
The discharging device (2) includes discharging mechanism (2-1), material mouth rail groove mechanism (2-2) and connecting bracket (2-3)；The company
It connects bracket (2-3) to connect with base apparatus (1), the discharging mechanism (2-1) is fixed on connecting bracket (2-3), the material mouth
Rail groove mechanism (2-2) connect with discharging mechanism (2-1) and is installed on connecting bracket (2-3) bottom plate；
The hopper device (4) includes hopper main body (4-1), feed inlet door machine structure (4-2) of page half and driving motor (4-5), institute
The feed inlet that feed inlet door machine structure (4-2) of page half is installed on hopper main body (4-1) is stated, the driving motor (4-5) is located at charging
The side of the mouth door machine structure (4-2) of page half, for driving the movement of the feed inlet door machine structure (4-2) of page half.
2. unmanned pig farm finlling automatically equipment according to claim 1, which is characterized in that base apparatus (1) packet
Include dolly chassis (1-1), two floating driving mechanisms (1-2), four floating caster devices (1-3) and four universal caster wheel (1-
4)；The quadrangle installation of the bottom of the dolly chassis (1-1) there are four universal caster wheel (1-4), the dolly chassis (1-1) it is interior
For the installation of portion quadrangle there are four floating caster device (1-3), four floating caster devices (1-3) are located at four multi-axis foots
The top of (1-4) is taken turns, for controlling the floating of universal caster wheel (1-4), the two sides of the dolly chassis (1-1) are separately installed with floating
Dynamic driving device (1-2).
3. unmanned pig farm finlling automatically equipment according to claim 2, which is characterized in that the dolly chassis (1-1)
Including bottom plate (1-1-1), two laminates (1-1-2), four support rods (1-1-3), four optical axis guide pillar support seats (1-1-4), two
Gusset (1-1-6) and four castor cover for seat (1-1-7) are enclosed in a buffer rubber gasket (1-1-5), reinforcement, the bottom plate (1-1-1)
Surrounding is further fixed on reinforcement and encloses gusset (1-1-6), and two buffer rubber gaskets (1-1-5) are located at the upper table of bottom plate (1-1-1)
It installs the quadrangle in face and between bottom plate (1-1-1) and floating driving mechanism (1-2), the upper surface of the bottom plate (1-1-1)
There are four support rod (1-1-3), it is equipped with two laminates (1-1-2) on four support rods (1-1-3), the bottom plate (1-1-
1) there are four castor cover for seat (1-1-7), the floating caster device (1-3) and castor cover for seat (1- for the quadrangle installation of upper surface
It 1-7) is fixedly connected, there are four optical axis guide pillar support seat (1-1-4) for the intermediate installation of the bottom plate (1-1-1).
4. unmanned pig farm finlling automatically equipment according to claim 2, which is characterized in that the floating driving mechanism
(1-2) includes drive seat (1-2-1), decelerating motor (1-2-2), driving wheel (1-2-3), two optical axis guide posts (1-2-4), springs
Adjustable plate (1-2-5), two linear bearings (1-2-6), spring born work arbor (1-2-7) and buffer spring (1-2-8), two light
Spindle guide column (1-2-4) is fixed on above bottom plate (1-1-1) by optical axis guide pillar support seat (1-1-4), the spring adjustable plate (1-
It 2-5) is fixed on the upper end of two optical axis guide posts (1-2-4), two linear bearings (1-2-6) are respectively sleeved in two optical axises and lead
The periphery of column (1-2-4) and positioned at the inside of the two sides of drive seat (1-2-1), the drive seat (1-2-1) is straight with two respectively
Spool holds (1-2-6) flange and fixes, and is fixed with spring born work arbor between the spring adjustable plate (1-2-5) and drive seat (1-2-1)
(1-2-7), spring born work arbor (1-2-7) periphery are cased with buffer spring (1-2-8), the decelerating motor (1-2-2) and driving
Seat (1-2-1) is fixedly connected, and the driving wheel (1-2-3) is fixedly connected with the output shaft of decelerating motor (1-2-2).
5. unmanned pig farm finlling automatically equipment according to claim 2, which is characterized in that the floating caster device
(1-3) includes locating shaft (1-3-1), baffle (1-3-3), two butterfly springs (1-3-4), rubber pad (1-3-5), cover board (1-
3-6), bearing (1-3-7) and shaft end ring (1-3-8), the locating shaft (1-3-1) pass through bearing (1-3-7) and castor cover for seat
(1-1-7) forms the lead mechanism with vertical direction single-degree-of-freedom, and the shaft end ring (1-3-8) is fixed on locating shaft (1-
Top 3-1), the baffle (1-3-3) are fixedly connected with the upper end castor cover for seat (1-1-7), the cover board (1-3-6) and castor
The lower end of cover for seat (1-1-7) is fixedly connected, and two butterfly springs (1-3-4) are located at the two sides of locating shaft (1-3-1)
And it is respectively positioned between castor cover for seat (1-1-7) and baffle (1-3-3), the lower end of the locating shaft (1-3-1) and universal caster wheel (1-
4) fixed, the rubber pad (1-3-5) is located between butterfly spring (1-3-4) and castor cover for seat (1-1-7), for buffering and subtracting
Shake.
6. unmanned pig farm finlling automatically equipment according to claim 1, which is characterized in that the discharging mechanism (2-1)
It is defeated including box discharge port (2-1-1), bearing block one (2-1-2), bearing block two (2-1-3), hole retaining ring (2-1-4), roller
Shaft (2-1-5), output roller (2-1-6), bearing and output decelerating motor (2-1-7), the bearing block one (2-1-2) and axis
The two sides that seat two (2-1-3) is fixed on box discharge port (2-1-1) are held, the roller output shaft (2-1-5) passes through bearing and hole
With retaining ring (2-1-4) location and installation between bearing block one (2-1-2) and bearing block two (2-1-3), the output roller (2-1-
6) it is installed in box discharge port (2-1-1) and fixed with roller output shaft (2-1-5), the output decelerating motor (2-1-7)
It is installed on the side of bearing block one (2-1-2), the output shaft of the decelerating motor (2-1-7) passes through key and roller output shaft (2-
1-5) connect.
7. unmanned pig farm finlling automatically equipment according to claim 3, which is characterized in that the material mouth rail groove mechanism
(2-2) includes lead screw sliding module (2-2-1), guide channel plate (2-2-2), discharge baffle (2-2-3), baffle limiting block (2-2-4)
With motor (2-2-5), the lead screw sliding module (2-2-1) is fixed on connecting bracket (2-3), the guide channel plate (2-2-2)
It is fixed on lead screw sliding module (2-2-1), the discharge baffle (2-2-3) is fixed on guide channel plate (2-2-2) by hinge
And discharge baffle (2-2-3), along described in hinge axis flexible rotating, baffle limiting block (2-2-4) is fixed on two laminates (1-1-2),
The motor (2-2-5) is fixed on the side of lead screw sliding module (2-2-1), for driving lead screw sliding module (2-2-1)
It is mobile.
8. unmanned pig farm finlling automatically equipment according to claim 1, which is characterized in that the hopper device (4) is also
Including four connection otic placodes (4-2) and sensor one (4-4), the hopper main body (4.1) passes through connection otic placode (4-2) and bracket
Device (3) is fixedly connected, and four connection otic placodes (4-2) are respectively arranged in the external surrounding of the bottom of hopper main body (4.1),
The sensor one (4-4) is installed on the top of hopper main body (4.1), for detecting feed plane.
9. unmanned pig farm finlling automatically equipment according to claim 7, which is characterized in that the power source and control system
System (5) includes magnetic nail navigation sensor (5-1), sensor two (5-2), power source (5-3), driver one (5-4), terrestrial reference sensing
Device (5-5), driver two (5-6), driver three (5-7), driver four (5-8), air switch (5-9), PLC (5-11) and auxiliary
It helps controller (5-12), the magnetic follows closely navigation sensor (5-1), sensor two (5-2), power source (5-3), one (5- of driver
4), landmark sensor (5-5), driver two (5-6), driver three (5-7) and driver four (5-8) are mounted on bottom plate (1-1-
1) on, the air switch (5-9), PLC (5-11) and pilot controller (5-12) are mounted on two laminates (1-1-2), described
Magnetic nail navigation sensor (5-1) is for detecting pre-buried magnetic nail, real-time control carriage walking track；The sensor two (5-2) is
Range sensor is for perceiving front obstacle；The power source (5-3) is made of muti-piece battery, is used to provide power；Institute
It states driver one (5-4) and instruction, control driving wheel (1-2-3) movement is sent to decelerating motor (1-2-2) by PLC (5-11)；
Position of the landmark sensor (5-5) for finlling automatically equipment positions；The driver two (5-6) passes through PLC (5-11)
It sends and instructs to driving motor (4-5), control feed inlet door machine structure (4-3) of page half, which is realized, to be opened or closed；The driver three
(5-7) is sent to motor (2-2-5) by PLC (5-11) and is instructed, and control material mouth rail groove mechanism (2-2) moves horizontally；The drive
Dynamic device four (5-8) sends instruction to output decelerating motor (2-1-7) by PLC (5-11), control discharging mechanism (2-1) movement or
Stop；The air switch (5-9) is for carrying out circuit protection；The PLC (5-11) is controlled by digital input and output
The movement of whole equipment processed；The pilot controller (5-12) is for receiving landmark sensor (5-5) signal and being communicated to PLC
(5-11) provides area navigation for PLC (5-11).
10. a kind of method for carrying out filling using the described in any item unmanned pig farm finlling automatically equipment of claim 1-9,
It is characterized in that, includes the following steps：
Step 1：Base apparatus (1) is floated by driver one (5-4) control decelerating motor (1-2-2) driving and drives dress
(1-2) is set voluntarily to walk to reach the position for needing filling；
Step 2：Material mouth rail groove mechanism (2-2) drives driving lead screw by driver two (5-6) control driving motor (2-2-5)
Sliding module (2-2-1) is stretched out；
Step 3：Finlling automatically equipment is walked along trough direction, driver four (5-8) control output decelerating motor (2-1-7)
It drives output roller (2-1-6) to rotate and then discharges feed；
Step 4：After finlling automatically equipment reaches trough end position, output roller (2-1-6) is stopped rotating, material mouth guide groove
Mechanism (2-2) shrinks back it inside finlling automatically equipment by driver two (5-6) control lead screw sliding module (2-2-1)；
Step 5：Finlling automatically equipment continues on planning path by driver one (5-4) control floating driving mechanism (1-2)
Walking reaches at next specified filling, repeats step 1 to step 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810965530.8A CN108849592B (en) | 2018-08-23 | 2018-08-23 | Unmanned pig farm automatic feeding equipment and feeding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810965530.8A CN108849592B (en) | 2018-08-23 | 2018-08-23 | Unmanned pig farm automatic feeding equipment and feeding method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN108849592A true CN108849592A (en) | 2018-11-23 |
| CN108849592B CN108849592B (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111567425A (en) * | 2020-05-06 | 2020-08-25 | 上海一芃机器人科技有限公司 | Robot for stirring and feeding ration for herbivorous animals |
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2018
- 2018-08-23 CN CN201810965530.8A patent/CN108849592B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111567425A (en) * | 2020-05-06 | 2020-08-25 | 上海一芃机器人科技有限公司 | Robot for stirring and feeding ration for herbivorous animals |
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| CN108849592B (en) | 2023-04-25 |
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