CN108901891A - A kind of zoo feeding robot - Google Patents
A kind of zoo feeding robot Download PDFInfo
- Publication number
- CN108901891A CN108901891A CN201810638087.3A CN201810638087A CN108901891A CN 108901891 A CN108901891 A CN 108901891A CN 201810638087 A CN201810638087 A CN 201810638087A CN 108901891 A CN108901891 A CN 108901891A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- gear
- bottom plate
- birdseed
- fixedly mounted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 240000003705 Senecio vulgaris Species 0.000 claims abstract description 48
- 235000013372 meat Nutrition 0.000 claims abstract description 44
- 239000004459 forage Substances 0.000 claims abstract description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 29
- 235000013305 food Nutrition 0.000 claims abstract description 16
- 210000000078 claw Anatomy 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 16
- 241001465754 Metazoa Species 0.000 abstract description 14
- 244000062645 predators Species 0.000 abstract description 8
- 238000003287 bathing Methods 0.000 abstract description 6
- 239000003651 drinking water Substances 0.000 abstract description 4
- 235000020188 drinking water Nutrition 0.000 abstract description 4
- 244000038280 herbivores Species 0.000 abstract description 4
- 230000035622 drinking Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; 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
- A01K5/0275—Automatic devices with mechanisms for delivery of measured doses
- A01K5/0283—Automatic devices with mechanisms for delivery of measured doses by weight
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K39/00—Feeding or drinking appliances for poultry or other birds
- A01K39/01—Feeding devices, e.g. chainfeeders
- A01K39/012—Feeding devices, e.g. chainfeeders filling automatically, e.g. by gravity from a reserve
- A01K39/0125—Panfeeding systems; Feeding pans therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; 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
- A01K5/0291—Automatic devices with timing mechanisms, e.g. pet feeders
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Catching Or Destruction (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
A kind of zoo feeding robot, including pedestal, grab meat part, two ejections part, forage storage part, water source storage part, birdseed storage part, running gear, it is characterised in that：The position of various animals is determined by signal reception and navigational portions, when machine is moved to the region of carnivore, it horizontally slips to slide back and forth to make to grab after the surfaces of the food boxes that meat is put into ejection part is picked up in meat part with first carriage by sideslip bar and puts down meat piece, meat thrown by ejection part the region of carnivore；When machine is moved to the region of herbivore, forage is picked up by forage, then arrives inside fence and puts down forage；When driving to birds region, it opens birdseed orifice plate birdseed is poured into food boxes and then spilt to birdife region, is kept off by sparge pipe to animal and have a bath and filled the water into drinking trough, it can feeding at regular time and quantity, feeding efficiency is improved, feeding animal, drinking-water and the integration of bathing are realized.
Description
Technical field
The present invention relates to automation feeding technical field, in particular to a kind of zoo feeding robots.
Background technique
Animal in present zoo and Safari Park usually will be by artificial feed and artificial bathing, some are large-scale
Animal artificial feed is than relatively hazardous, and artificial feed and the efficiency of bathing are relatively low, lavishes labor on very much and the time, therefore anxious
Need it is a kind of can replace it is artificial and can computer-controlled fast and safely feeding drinking-water a kind of zoo feeding robot.
Summary of the invention：In view of the above-mentioned problems, the present invention provides a kind of zoo feeding robot, including pedestal, grab meat
Partially, two ejection parts, forage storage part, water source storage part, birdseed storage part, running gear, it is characterised in that：
It is received by signal and navigational portions determines that the position of various animals passes through side when machine is moved to the region of carnivore
Slide bar horizontally slip slid back and forth with first carriage make to grab meat part pick up meat be put into ejection part food boxes surface
Meat piece is put down later, meat is thrown by ejection part the region of carnivore；When machine is moved to the region of herbivore,
Forage is picked up by forage, then arrives inside fence and puts down forage；When driving to birds region, birdseed orifice plate is opened bird
Food is poured into food boxes and then is spilt to birdife region, is kept off by sparge pipe to animal and is had a bath and fill the water into drinking trough, can
With feeding at regular time and quantity, feeding efficiency is improved, realizes many animals feeding, drinking-water and the integration of bathing.
Technical solution used in the present invention is：A kind of zoo feeding robot, including pedestal, grab meat part, two
Ejection part, forage storage part, water source storage part, birdseed storage part, running gear, it is characterised in that：Described grabs
The crawl bottom plate of meat part is fixedly connected with the telescopic rod end of the first extension sleeve of pedestal；Two ejection parts
Two ejection bottom plates are respectively and fixedly installed to the right front and left back of the upper surface of bottom plate of pedestal；The forage stores part
The bottom of forage storage bin be fixedly mounted on the front position of the upper surface of bottom plate of pedestal；The water source storage part
The bottom of water source storage bin is fixedly mounted on the left front position of the upper surface of bottom plate of pedestal；The four of the birdseed storage part
The bottom of a support rod is fixedly mounted on the dead astern position of the upper surface of bottom plate of pedestal；The walking bottom plate of the running gear
The upper surface of be fixedly connected below the bottom plate of pedestal；
The pedestal include bottom plate, signal receive and navigational portions, meat storage part, sideslip bar, two the first dovetail grooves,
Square groove, the first stepper motor, first gear, the first rack gear, fixed transverse rod, first carriage, the second rack gear, the second stepping electricity
Machine, second gear, the first extension sleeve, first hydraulic cylinder, the bottom plate are one piece of rectangle planks；The signal receives
And the bottom of navigational portions is fixedly mounted on the upper surface of bottom plate middle position；Described meat storage part is one without top box,
Bottom and upper segment behind is respectively provided with a trapezoidal rail, and middle position is equipped with first rack gear behind；The sideslip
Bar is located at the back of meat storage part, and left side upper position is set there are two the first dovetail groove, in two the first dovetail slot positions
Square groove is installed；Two first dovetail grooves are slidably connected with two trapezoidal rails behind meat storage part respectively；
First stepper motor is placed straight up, bottom be fixedly mounted on square groove it is following above, motor shaft and the
One gear is fixedly connected；The first gear and the first rack gear is intermeshed；Back and sideslip below the fixed transverse rod
The top of bar is fixedly connected, and middle position is equipped with the second rack gear below；The first carriage and fixed transverse rod sliding connect
It connects, right side is equipped with groove；The second stepper motor is horizontal positioned, and bottom surface is fixedly mounted on the right side of first carriage
In groove, motor shaft is fixedly connected with second gear；The second gear and the second rack gear is intermeshed；Described first
Extension sleeve is placed straight down, is fixedly connected below sleeve bottom end and first carriage；The first hydraulic cylinder position
Before the first extension sleeve, cylinder body bottom end is fixedly mounted under the sleeve part baffle in front of the first extension sleeve
It is fixedly connected above face, tailpiece of the piston rod and the telescopic rod of the first extension sleeve baffle in front；
The described meat part of grabbing includes crawl bottom plate, four sliding rails, four movable claws, four second hydraulic cylinders, four the
Three hydraulic cylinders, the crawl bottom plate are one piece of rectangle planks, are respectively provided with a sliding rail at four angles below；Institute
The upper end for four movable claws stated is slidably connected with four sliding rails respectively；Four second hydraulic cylinders are lain in a horizontal plane in
It grabs at four angles below bottom plate, four cylinder body bottom ends are respectively and fixedly installed to outside four baffles below crawl bottom plate
Side, four tailpieces of the piston rod are fixedly connected on the inside of the top of four movable claws respectively；Four third hydraulic cylinders are perpendicular
It is straight to place downwards, be fixedly connected below cylinder body bottom end and the inner side baffle of the top half of movable claw, tailpiece of the piston rod with
The upper surface of inner side baffle of lower half portion of movable claw is fixedly connected；
The ejection part includes ejection bottom plate, the first rotation free bearing, the second rotation free bearing, the 4th hydraulic cylinder, piston ejector ram, ejector piston, the
The bottom of three rotation free bearings, the first spring, food boxes, the first rotation free bearing is fixedly mounted on a left side for ejection substrate
The lower-left end of side, rotary shaft and piston ejector ram, ejector piston is rotatablely connected；The bottom of the second rotation free bearing is fixedly mounted on ejection bottom
The cylinder body bottom end of middle position above plate, rotary shaft and the 4th hydraulic cylinder is rotatablely connected；The bottom of the third rotation free bearing
Portion is fixedly mounted on middle position below piston ejector ram, ejector piston, the tailpiece of the piston rod rotation connection of rotary shaft and the 4th hydraulic cylinder；It is described
Upper end and the piston ejector ram, ejector piston of the first spring be fixedly connected below right, the upper surface of the middle position of lower end and ejection bottom plate
It is fixedly connected；The food boxes are a square box, and left side is fixedly connected with the right end of piston ejector ram, ejector piston；
The forage storage unit is divided to including forage storage bin, two trapezoidal sliding rails, third rack gear, the second extension sleeve, the 5th
Hydraulic cylinder, two the second dovetail grooves, third stepper motor, third gear, sliding cross bar, the 6th hydraulic cylinder, second carriage, ten
Font slide bar, the 4th rack gear, the 4th stepper motor, the 4th gear, third extension sleeve, the 7th hydraulic cylinder, forage folder, the grass
Expect that storage bin is a uncovered chest, setting there are two trapezoidal sliding rail behind is equipped with third in the middle position of trapezoidal sliding rail
Rack gear；Second extension sleeve is placed straight up, and the right side of sleeve part is set there are two the second dovetail groove, two
The centre of a second dovetail groove is equipped with rectangular recess；The third stepper motor is placed straight up, the fixed peace in bottom
Top below the rectangular recess among the sleeve of the second extension sleeve, motor shaft and third gear are fixed to be connected
It connects；The third gear and third rack gear is intermeshed；Below the Far Left of the described sliding cross bar with the second extension sleeve
Telescopic rod end be fixedly connected, among it be equipped with cross groove；6th hydraulic cylinder lies in a horizontal plane in sliding cross bar
The upper surface of, cylinder body bottom end is fixedly mounted on before the baffle above the left end of sliding cross bar, tailpiece of the piston rod and cross
The baffle back of the upper surface of slide bar is fixedly connected；The second carriage sliding is installed in the outside of sliding cross bar, above
If being connect there are two downward inserted sheet with cross sliding bar；The cross sliding bar is installed among sliding cross bar
Cross groove in, below be equipped with the 4th rack gear；4th rack gear is horizontal positioned, and bottom is fixedly mounted on second
In groove on the left of sliding rack, motor shaft is fixedly connected with the 4th gear；4th gear is mutually nibbled with the 4th rack gear
It closes；The third extension sleeve is placed straight down, is fixedly connected below sleeve bottom end and second carriage, piston
The upper surface of what boom end and forage pressed from both sides is fixedly connected；7th hydraulic cylinder is placed straight down, cylinder body bottom end and third
It is fixedly connected below baffle on the right side of the sleeve of extension sleeve, the gear on the right side of the telescopic rod of tailpiece of the piston rod and third extension sleeve
It is fixedly connected above plate；
The water source storage unit point includes water source storage bin, water pipe rack, the 4th rotation free bearing, the 5th rotation free bearing, the first rudder
Machine, the second steering engine, sparge pipe, the water source storage bin are the water tanks of a boring, are equipped with inlet opening above, in
Portion is equipped with suction pump；The bottom of the water pipe rack is fixedly mounted on the upper surface of water source storage bin, inside water pipe is installed；
The bottom of the 4th rotation free bearing is fixedly mounted on the front end upper position of water pipe rack, and side is equipped with groove；It is described
The first steering engine side be fixedly mounted on the 4th rotation free bearing side groove in, steering engine axis pass through the 4th rotation free bearing side
The bottom that the Kong Yu five in face rotates free bearing is fixedly connected；The side of second steering engine is fixedly mounted on the 5th rotation free bearing
Below groove in, steering engine axis passes through below the hole and sparge pipe of the 5th rotation free bearing side that fixed part is fixed to be connected
It connects；The right end of the sparge pipe is fixedly connected with the left end of water pipe rack inner water tube；
The birdseed storage unit point includes birdseed storage bin, four support rods, the 8th hydraulic cylinder, birdseed hole baffle, sliding slot, institute
The birdseed storage bin stated is a uncovered hollow box, and middle position is equipped with through-hole below；The upper end of four support rods
It is fixedly connected respectively at four angles below birdseed storage bin；8th hydraulic cylinder lies in a horizontal plane in birdseed storage bin
In the following, its cylinder body bottom end is fixedly mounted on the front of the baffle below birdseed storage bin, tailpiece of the piston rod and birdseed hole baffle
Right side is fixedly connected；The sliding slot tilts down placement, on the right of outside set and be fixedly mounted respectively there are two fixed link
The front and back of face under birdseed storage bin；
The running gear includes walking bottom plate, 16 second springs, eight telescopic rods, wheel fixed frame, two the 5th
Stepper motor, two the first angular wheels, two the second angular wheels, two the 5th gears, two transmission chains, four wheels
Son, the walking bottom plate are a rectangle planks；16 second springs are divided into four groups and are located at walking
Below bottom plate, the upper end is fixedly connected with the position on four sides below walking bottom plate, and lower end is upper with wheel fixed frame
Face is fixedly connected；Eight telescopic rods are located at four sides position below walking bottom plate, telescopic in pairs
It is fixedly connected below cylinder bottom end and walking bottom plate, stretch the upper surface of rod end and wheel fixed frame are fixedly connected；The wheel
Fixed frame middle position is equipped with a direction controller；Two the 5th stepper motors are placed straight down, two bottom
Portion is respectively and fixedly installed to below the right and left of the centre of wheel fixed frame, two motor shaft is bored with two first respectively
Shape gear is fixedly connected；Two first angular wheels are intermeshed with two the second angular wheels respectively；Described two
A 5th gear be located at two transmission chains centre and transmission chain be intermeshed, two wheel axle respectively with two
Second angular wheel is fixedly connected；Two transmission chains are located at the left and right sides of wheel fixed frame, each of which biography
The front and back end of chain is sent respectively to be intermeshed with the transmission gear of a wheel.
Beneficial effects of the present invention：A kind of zoo feeding robot, including pedestal, grab meat part, two ejections part,
Forage storage part, water source storage part, birdseed storage part, running gear, it is characterised in that：It is received and is navigated by signal
Part determines that the position of various animals is horizontally slipped and first when machine is moved to the region of carnivore by sideslip bar
Sliding rack slide back and forth make to grab meat part pick up meat be put into ejection part food boxes surface after put down meat piece, pass through bullet
Penetrate the region that meat is thrown into carnivore in part；When machine is moved to the region of herbivore, forage is picked up by forage,
Then it arrives inside fence and puts down forage；When driving to birds region, opens birdseed orifice plate then birdseed is poured into food boxes
Spill to birdife region, kept off by sparge pipe to animal and have a bath and filled the water into drinking trough, can feeding at regular time and quantity, mention
Feeding efficiency has been risen, many animals feeding, drinking-water and the integration of bathing are realized.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are overall structure diagram of the invention.
Fig. 4, Fig. 5, Fig. 6 are base portion structural schematic diagram of the invention.
Fig. 7 grabs meat partial structure diagram for of the invention.
Fig. 8 is the structural schematic diagram of ejection part of the invention.
Fig. 9, Figure 10 are the structural schematic diagram that forage of the invention stores part.
Figure 11, Figure 12 are the structural schematic diagram that water source of the invention stores part.
Figure 13 is the structural schematic diagram that birdseed of the invention stores part.
Figure 14 is the structural schematic diagram of running gear of the invention.
Drawing reference numeral：1- pedestal, 2- grab meat part, 3- ejection part, 4- forage storage part, the water source 5- storage part,
6- birdseed store part, 7- running gear, 101- bottom plate, 102- signal receive and navigational portions, 103- meat storage partially,
104- sideslip bar, the first dovetail groove of 105-, 106- square groove, the first stepper motor of 107-, 108- first gear, the first tooth of 109-
Item, 110- fixed transverse rod, 111- first carriage, the second rack gear of 112-, 113- second stepper motor, 114- second gear,
The first extension sleeve of 115-, 116- first hydraulic cylinder, 201- grab bottom plate, 202- sliding rail, 203- movable claw, 204- second
Hydraulic cylinder, 205- third hydraulic cylinder, 301- ejection bottom plate, 302- first rotates free bearing, 303- second rotates free bearing, 304- the 4th
Hydraulic cylinder, 305- piston ejector ram, ejector piston, 306- third rotation free bearing, the first spring of 307-, 308- food boxes, 401- forage storage bin,
The trapezoidal sliding rail of 402-, 403- third rack gear, the second extension sleeve of 404-, the 5th hydraulic cylinder of 405-, the second dovetail groove of 406-, 407-
Third stepper motor, 408- third gear, 409- slide cross bar, the 6th hydraulic cylinder of 410-, 411- second carriage, 412- cross
Shape slide bar, the 4th rack gear of 413-, the 4th stepper motor of 414-, the 4th gear of 415-, 416- third extension sleeve, the 7th liquid of 417-
Cylinder pressure, 418- forage folder, the water source 501- storage bin, 502- water pipe rack, 503- the 4th rotation free bearing, 504- the 5th rotate free bearing,
The first steering engine of 505-, the second steering engine of 506-, 507- sparge pipe, 601- birdseed storage bin, 602- support rod, 603- the 8th are hydraulic
Cylinder, 604- birdseed hole baffle, 605- sliding slot, 701- walking bottom plate, 702- second spring, 703- telescopic rod, 704- wheel are fixed
Frame, the 5th stepper motor of 705-, the first angular wheel of 706-, the second angular wheel of 707-, the 5th gear of 708-, 709- conveyer chain
Item, 710- wheel.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14
It is shown, a kind of zoo feeding robot, including pedestal 1, grab the ejection part 3 of meat part 2, two, forage storage part 4, water
Source stores part 5, birdseed stores part 6, running gear 7, it is characterised in that：The crawl bottom plate 201 for grabbing meat part 2 with
The telescopic rod end of first extension sleeve 115 of pedestal 1 is fixedly connected；Two ejection bottom plates of two ejection parts 3
301 are respectively and fixedly installed to the right front and left back of the upper surface of bottom plate 101 of pedestal 1；The grass of the forage storage part 4
The bottom of material storage bin 401 is fixedly mounted on the front position of the upper surface of bottom plate 101 of pedestal 1；The water source storage unit
The left front position for dividing the bottom of 5 water source storage bin 501 to be fixedly mounted on the upper surface of bottom plate 101 of pedestal 1；The birdseed
The bottom for storing four support rods 602 of part 6 is fixedly mounted on the dead astern position of the upper surface of bottom plate 101 of pedestal 1；It is described
The upper surface of the walking bottom plate 701 of running gear 7 be fixedly connected below the bottom plate 101 of pedestal 1；
The pedestal 1 includes bottom plate 101, signal receives and navigational portions 102, meat store part 103, sideslip bar 104, two
A first dovetail groove 105, square groove 106, the first stepper motor 107, first gear 108, the first rack gear 109, fixed transverse rod
110, first carriage 111, the second rack gear 112, second stepper motor 113, second gear 114, the first extension sleeve 115,
One hydraulic cylinder 116, the bottom plate 101 are one piece of rectangle planks；The signal receives and the bottom of navigational portions 102 is solid
Dingan County is mounted in the upper surface of bottom plate 101 middle position；The meat storage part 103 is one without top box, top behind
Be respectively provided with a trapezoidal rail below, behind middle position be equipped with first rack gear 109；The sideslip bar 104 is located at
Meat stores the back of part 103, and left side upper position is set there are two the first dovetail groove 105, in two the first dovetail grooves 105
Position is equipped with square groove 106；Two first dovetail grooves 105 are trapezoidal with two behind meat storage part 103 respectively
Rail is slidably connected；First stepper motor 107 is placed straight up, and bottom is fixedly mounted on the following of square groove 106
Above, motor shaft is fixedly connected with first gear 108；The first gear 108 and the first rack gear 109 are intermeshed；Institute
The fixed transverse rod 110 stated is fixedly connected back below with the top of sideslip bar 104, and middle position is equipped with the second rack gear below
112；The first carriage 111 is slidably connected with fixed transverse rod 110, and right side is equipped with groove；The second stepping electricity
Machine 113 is horizontal positioned, and bottom surface is fixedly mounted in the groove on 111 right side of first carriage, motor shaft and second gear 114
It is fixedly connected；The second gear 114 and the second rack gear 112 are intermeshed；First extension sleeve 115 is straight down
It places, is fixedly connected below sleeve bottom end and first carriage 111；It is flexible that the first hydraulic cylinder 116 is located at first
Before sleeve 115, cylinder body bottom end is fixedly mounted below the sleeve part baffle in front of the first extension sleeve 115,
It is fixedly connected above its tailpiece of the piston rod and the telescopic rod baffle in front of the first extension sleeve 115；
The described meat part 2 of grabbing includes that the crawl sliding rail 202, four of bottom plate 201, four movable claw 203, four second is hydraulic
204, four third hydraulic cylinders 205 of cylinder, the crawl bottom plate 201 are one piece of rectangle planks, each at four angles below
Equipped with a sliding rail 202；The upper end of four movable claws 203 is slidably connected with four sliding rails 202 respectively；Institute
Four second hydraulic cylinders 204 stated are lain in a horizontal plane at four angles below crawl bottom plate 201, four cylinder body bottom end difference
It is fixedly mounted on the outside of four baffles below crawl bottom plate 201, four tailpieces of the piston rod are upper with four movable claws 203 respectively
It is fixedly connected on the inside of side；Four third hydraulic cylinders 205 are placed straight down, cylinder body bottom end and movable claw 203
It is fixedly connected below the inner side baffle of top half, the inner side baffle of the lower half portion of tailpiece of the piston rod and movable claw 203
It is fixedly connected above；
The ejection part 3 includes that ejection bottom plate 301, first rotates free bearing 302, second rotation free bearing 303, the 4th hydraulic cylinder
304, piston ejector ram, ejector piston 305, third rotate free bearing 306, the first spring 307, food boxes 308, the bottom of the first rotation free bearing 302
Portion is fixedly mounted on the left side above ejection bottom plate 301, the lower-left end rotation connection of rotary shaft and piston ejector ram, ejector piston 305；Described
The bottom of second rotation free bearing 303 is fixedly mounted on ejection bottom plate 301 middle position above, rotary shaft and the 4th hydraulic cylinder
304 cylinder body bottom end rotation connection；During the bottom of the third rotation free bearing 306 is fixedly mounted below piston ejector ram, ejector piston 305
Between position, the tailpiece of the piston rod of rotary shaft and the 4th hydraulic cylinder 304 is rotatablely connected；The upper end of first spring 307 and bullet
Being fixedly connected below right for bar 305 is penetrated, lower end is fixedly connected with the upper surface of the middle position of ejection bottom plate 301；It is described
Food boxes 308 be a square box, left side be fixedly connected with the right end of piston ejector ram, ejector piston 305；
The forage storage part 4 is flexible including 401, two trapezoidal sliding rails 402 of forage storage bin, third rack gear 403, second
Sleeve 404,405, two the second dovetail grooves 406 of the 5th hydraulic cylinder, third stepper motor 407, third gear 408, sliding cross bar
409, the 6th hydraulic cylinder 410, second carriage 411, cross slide bar 412, the 4th rack gear 413, the 4th stepper motor 414,
Four gears 415, third extension sleeve 416, the 7th hydraulic cylinder 417, forage folder 418, the forage storage bin 401 is a uncovered
Chest, setting there are two trapezoidal sliding rail 402 behind, is equipped with third rack gear 403 in the middle position of trapezoidal sliding rail 402；It is described
The second extension sleeve 404 place straight up, the right side of sleeve part is set there are two the second dovetail groove 406, at two
The centre of second dovetail groove 406 is equipped with rectangular recess；The third stepper motor 407 is placed straight up, and bottom is solid
Top of the Dingan County below the rectangular recess among the sleeve of the second extension sleeve 404, motor shaft and third gear
408 are fixedly connected；The third gear 408 and third rack gear 403 is intermeshed；The Far Left of the sliding cross bar 409
It is fixedly connected below with the telescopic rod end of the second extension sleeve 404, is equipped with cross groove among it；Described the 6th is hydraulic
Cylinder 410 lies in a horizontal plane in the upper surface of sliding cross bar 409, and cylinder body bottom end is fixedly mounted on above the left end of sliding cross bar 409
Before baffle, tailpiece of the piston rod is fixedly connected with the baffle back of the upper surface of cross slide bar 412；The second carriage
411 slidings are installed in the outside of sliding cross bar 409, are equipped with two downward inserted sheets above and the sliding of cross slide bar 412 connects
It connects；The cross slide bar 412 slides in the cross groove being installed among sliding cross bar 409, is equipped with the 4th below
Rack gear 413；4th rack gear 413 is horizontal positioned, and bottom is fixedly mounted in the groove in 411 left side of second carriage,
Its motor shaft is fixedly connected with the 4th gear 415；4th gear 415 and the 4th rack gear 413 are intermeshed；Described
Three extension sleeves 416 are placed straight down, are fixedly connected below sleeve bottom end and second carriage 411, tailpiece of the piston rod
Portion and forage folder 418 the upper surface of be fixedly connected；7th hydraulic cylinder 417 is placed straight down, cylinder body bottom end and the
It is fixedly connected below baffle on the right side of the sleeve of three extension sleeves 416, the telescopic rod of tailpiece of the piston rod and third extension sleeve 416
It is fixedly connected above the baffle on right side；
The water source storage part 5 includes water source storage bin 501, water pipe rack the 502, the 4th rotation free bearing 503, the 5th rotary hinge
Seat the 504, first steering engine 505, the second steering engine 506, sparge pipe 507, the water source storage bin 501 is the water of a boring
Case is equipped with inlet opening above, inside suction pump is installed；The bottom of the water pipe rack 502 is fixedly mounted on water source storage
Deposit the upper surface of case 501, inside water pipe is installed；The bottom of the 4th rotation free bearing 503 is fixedly mounted on water pipe rack 502
Front end upper position, side be equipped with groove；The side of first steering engine 505 is fixedly mounted on the 4th rotation free bearing
In the groove of 503 sides, the bottom that the Kong Yu five that steering engine axis passes through the 4th rotation 503 side of free bearing rotates free bearing 504 is solid
Fixed connection；The side of second steering engine 506 is fixedly mounted in the groove below the 5th rotation free bearing 504, steering engine
The hole that axis passes through the 5th rotation 504 side of free bearing is fixedly connected with fixed part below sparge pipe 507；The sparge pipe
507 right end is fixedly connected with the left end of 502 inner water tube of water pipe rack；
The birdseed storage part 6 includes 601, four support rods 602 of birdseed storage bin, the 8th hydraulic cylinder 603, birdseed hole gear
Plate 604, sliding slot 605, the birdseed storage bin 601 are a uncovered hollow boxes, and middle position is equipped with through-hole below；It is described
The upper ends of four support rods 602 be fixedly connected respectively at four angles below birdseed storage bin 601；Described the 8th is hydraulic
Cylinder 603 is lain in a horizontal plane in below birdseed storage bin 601, and cylinder body bottom end is fixedly mounted on the gear below birdseed storage bin 601
The front of plate, tailpiece of the piston rod are fixedly connected with the right side of birdseed hole baffle 604；The sliding slot 605 tilts down placement,
Outside on the right of it sets that there are two fixed links to be respectively and fixedly installed to the front and back of face under birdseed storage bin 601；
The running gear 7 includes the walking second spring 702, eight of bottom plate 701,16 telescopic rod 703, wheel fixed frame
704, two 707, two the 5th gears of the second angular wheel of the first angular wheel 706, two of the 5th stepper motor 705, two
708, two transmission chains 709, four wheels 710, the walking bottom plate 701 are a rectangle planks；Described 16
A second spring 702 is divided into four groups and is located at below walking bottom plate 701, four below the upper end and walking bottom plate 701
The position on a side is fixedly connected, and the upper surface of lower end and wheel fixed frame 704 are fixedly connected；Described 703 liang of eight telescopic rods
Two 1 groups of four sides positions being located at below walking bottom plate 701, extension sleeve bottom end and walking bottom plate 701 are fixed below
Connection, the upper surface of flexible rod end and wheel fixed frame 704 are fixedly connected；704 middle position of wheel fixed frame is equipped with
One direction controller；Two the 5th stepper motors 705 are placed straight down, two bottom is respectively and fixedly installed to
Below the right and left of the centre of wheel fixed frame 704, two motor shaft is fixed with two the first angular wheels 706 respectively
Connection；Two first angular wheels 706 are intermeshed with two the second angular wheels 707 respectively；Described two
Five gears 708 are located at the centre of two transmission chains 709 and transmission chain 709 is intermeshed, two wheel axle difference
It is fixedly connected with two the second angular wheels 707；Two transmission chains 709 are located at a left side for wheel fixed frame 704
Right two sides, the front and back end of each of which transmission chain 709 are respectively intermeshed with the transmission gear of a wheel 710.
Working principle of the present invention：The present invention is received first by the signal of pedestal 1 when in use and navigational portions 102 determine
Then the position of various animals drives wheel 710 to movement machine by two the 5th stepper motors 705 of running gear 7
It is moved to the place for needing the animal of feeding, when machine is moved to the region of carnivore, passes through the first stepping electricity of pedestal 1
Machine 107 drives first gear 108 to drive sideslip bar 104 to horizontally slip, and then drives second by second stepper motor 113
Gear 114 makes to grab to drive first carriage 111 to slide back and forth followed by the piston rod elongation of first hydraulic cylinder 116
Meat part 2 moves down, and makes movable claw by the second hydraulic cylinder 204 and 205 co-ordination of third hydraulic cylinder of grabbing meat part 2
203 pick up meat, and the piston rod of following first hydraulic cylinder 116 retracts, then 111 forward slip of first carriage to ejection part
Meat piece is put down after the surface of 3 food boxes 308, passes through the 4th hydraulic cylinder 304 and the first spring of ejection part 3 in next step
307 piston ejector ram, ejector pistons 305 bounce, and meat are thrown into the region of carnivore；When machine is moved to the region of herbivore, pass through
Three stepper motors 407 drive third gear 408 to make the second extension sleeve 404 move left and right, and pass through the 4th stepper motor 414
It drives the 4th gear 415 to make second carriage 411 slide back and forth, is then extended by the piston rod of the 7th hydraulic cylinder 417
So that forage folder 418 is picked up forage, then makes to slide the rising of cross bar 409 by the piston rod elongation of the 5th hydraulic cylinder 405, then lead to
Crossing the elongation of 410 piston rod of the 6th hydraulic cylinder makes the elongation of cross slide bar 412 to make second carriage 411 that can arrive with forward slip
Forage is put down inside fence；When driving to birds region, the piston rod of the 8th hydraulic cylinder 603 of part 6 is stored by birdseed
Retract open birdseed hole baffle 604 to birdseed along sliding slot 605 pour into ejection part 3 food boxes 308 in then spill to
Birdife region adjusts 507 direction of sparge pipe by the first steering engine 505 and the second steering engine 506 to animal bathing and past drink
It is filled the water in sink, warehouse is returned to by the walking of running gear 7 after feeding.
Claims (2)
1. a kind of zoo feeding robot, including pedestal（1）, grab meat part（2）, two ejection parts（3）, forage storage unit
Point（4）, water source store part（5）, birdseed store part（6）, running gear（7）, it is characterised in that：Described grabs meat part
（2）Crawl bottom plate（201）With pedestal（1）The first extension sleeve（115）Telescopic rod end be fixedly connected；Described two
Launch part（3）Two ejection bottom plates（301）It is respectively and fixedly installed to pedestal（1）Bottom plate（101）The upper surface of right front
The left back and；The forage stores part（4）Forage storage bin（401）Bottom be fixedly mounted on pedestal（1）Bottom plate
（101）The upper surface of front position；The water source stores part（5）Water source storage bin（501）Bottom be fixedly mounted
In pedestal（1）Bottom plate（101）The upper surface of left front position；The birdseed stores part（6）Four support rods（602）
Bottom be fixedly mounted on pedestal（1）Bottom plate（101）The upper surface of dead astern position；The running gear（7）Walking
Bottom plate（701）The upper surface of and pedestal（1）Bottom plate（101）Below be fixedly connected；
The pedestal（1）Including bottom plate（101）, signal receive and navigational portions（102）, meat store part（103）, break away
Bar（104）, two the first dovetail grooves（105）, square groove（106）, the first stepper motor（107）, first gear（108）, first
Rack gear（109）, fixed transverse rod（110）, first carriage（111）, the second rack gear（112）, second stepper motor（113）, second
Gear（114）, the first extension sleeve（115）, first hydraulic cylinder（116）, the bottom plate（101）It is one piece of rectangle plank；
The signal receives and navigational portions（102）Bottom be fixedly mounted on bottom plate（101）The upper surface of middle position；The meat
Class stores part（103）It is one without top box, bottom and upper segment behind is respectively provided with a trapezoidal rail, behind middle position
Equipped with first rack gear（109）；The sideslip bar（104）Part is stored positioned at meat（103）Back, left side on the lower
Position is set there are two the first dovetail groove（105）, in two the first dovetail grooves（105）Position is equipped with square groove（106）；Described two
A first dovetail groove（105）Part is stored with meat respectively（103）Behind two trapezoidal rails be slidably connected；The first step
Into motor（107）It places straight up, bottom is fixedly mounted on square groove（106）It is following above, motor shaft and first
Gear（108）It is fixedly connected；The first gear（108）With the first rack gear（109）Intermeshing；The fixed transverse rod
（110）Back and sideslip bar below（104）Top be fixedly connected, below middle position be equipped with the second rack gear（112）；It is described
First carriage（111）With fixed transverse rod（110）It is slidably connected, right side is equipped with groove；The second stepper motor
（113）Horizontal positioned, bottom surface is fixedly mounted on first carriage（111）In the groove on right side, motor shaft and second gear
（114）It is fixedly connected；The second gear（114）With the second rack gear（112）Intermeshing；First extension sleeve
（115）It places straight down, sleeve bottom end and first carriage（111）Below be fixedly connected；The first hydraulic cylinder
（116）Positioned at the first extension sleeve（115）Before, cylinder body bottom end is fixedly mounted on the first extension sleeve（115）Sleeve
Below the baffle of portion front edge, tailpiece of the piston rod and the first extension sleeve（115）Telescopic rod baffle in front above it is fixed
Connection；
Described grabs meat part（2）Including grabbing bottom plate（201）, four sliding rails（202）, four movable claws（203）, four
Second hydraulic cylinder（204）, four third hydraulic cylinders（205）, the crawl bottom plate（201）It is one piece of rectangle plank, under
A sliding rail is respectively provided at four angles in face（202）；Four movable claws（203）Upper end respectively with four slide
Track（202）It is slidably connected；Four second hydraulic cylinders（204）Lie in a horizontal plane in crawl bottom plate（201）Below four
At a angle, four cylinder body bottom ends are respectively and fixedly installed to crawl bottom plate（201）On the outside of four following baffles, four pistons
Rod end respectively with four movable claws（203）Top on the inside of be fixedly connected；Four third hydraulic cylinders（205）Vertically to
Lower placement, cylinder body bottom end and movable claw（203）Top half inner side baffle below be fixedly connected, tailpiece of the piston rod with
Movable claw（203）The upper surface of the inner side baffle of lower half portion be fixedly connected；
The ejection part（3）Including launching bottom plate（301）, first rotation free bearing（302）, second rotation free bearing（303）,
Four hydraulic cylinders（304）, piston ejector ram, ejector piston（305）, third rotate free bearing（306）, the first spring（307）, food boxes（308）, described
First rotation free bearing（302）Bottom be fixedly mounted on ejection bottom plate（301）The left side above, rotary shaft and piston ejector ram, ejector piston
（305）Lower-left end rotation connection；The second rotation free bearing（303）Bottom be fixedly mounted on ejection bottom plate（301）On
Face middle position, rotary shaft and the 4th hydraulic cylinder（304）Cylinder body bottom end rotation connection；The third rotates free bearing
（306）Bottom be fixedly mounted on piston ejector ram, ejector piston（305）Below middle position, rotary shaft and the 4th hydraulic cylinder（304）Work
The rotation connection of stopper rod end；First spring（307）Upper end and piston ejector ram, ejector piston（305）Be fixedly connected below the right,
Lower end and ejection bottom plate（301）The upper surface of middle position be fixedly connected；The food boxes（308）It is a square box,
Its left side and piston ejector ram, ejector piston（305）Right end be fixedly connected；
The forage stores part（4）Including forage storage bin（401）, two trapezoidal sliding rails（402）, third rack gear（403）,
Second extension sleeve（404）, the 5th hydraulic cylinder（405）, two the second dovetail grooves（406）, third stepper motor（407）, third
Gear（408）, sliding cross bar（409）, the 6th hydraulic cylinder（410）, second carriage（411）, cross slide bar（412）, the 4th
Rack gear（413）, the 4th stepper motor（414）, the 4th gear（415）, third extension sleeve（416）, the 7th hydraulic cylinder（417）,
Forage folder（418）, the forage storage bin（401）It is a uncovered chest, setting there are two trapezoidal sliding rail behind（402）,
In trapezoidal sliding rail（402）Middle position be equipped with third rack gear（403）；Second extension sleeve（404）It puts straight up
It sets, the right side of sleeve part is set there are two the second dovetail groove（406）, in two the second dovetail grooves（406）Centre be equipped with
Rectangular recess；The third stepper motor（407）It places straight up, bottom is fixedly mounted on the second extension sleeve
（404）Sleeve among rectangular recess below top, motor shaft and third gear（408）It is fixedly connected；It is described
Third gear（408）With third rack gear（403）Intermeshing；The sliding cross bar（409）Far Left below with second
Extension sleeve（404）Telescopic rod end be fixedly connected, among it be equipped with cross groove；6th hydraulic cylinder（410）
Lie in a horizontal plane in sliding cross bar（409）The upper surface of, cylinder body bottom end is fixedly mounted on sliding cross bar（409）Left end above gear
Before plate, tailpiece of the piston rod and cross slide bar（412）The upper surface of baffle back be fixedly connected；The second carriage
（411）Sliding is installed in sliding cross bar（409）Outside, be equipped with two downward inserted sheets and cross slide bar above（412）
It is slidably connected；The cross slide bar（412）Sliding is installed in sliding cross bar（409）In intermediate cross groove, under
Face is equipped with the 4th rack gear（413）；4th rack gear（413）Horizontal positioned, bottom is fixedly mounted on second carriage
（411）In the groove in left side, motor shaft and the 4th gear（415）It is fixedly connected；4th gear（415）With the 4th tooth
Item（413）Intermeshing；The third extension sleeve（416）It places straight down, sleeve bottom end and second carriage
（411）Below be fixedly connected, piston rod end and forage press from both sides（418）The upper surface of be fixedly connected；Described the 7th is hydraulic
Cylinder（417）It places straight down, cylinder body bottom end and third extension sleeve（416）Sleeve on the right side of baffle below fixed connect
It connects, tailpiece of the piston rod and third extension sleeve（416）Telescopic rod on the right side of baffle above be fixedly connected；
The water source stores part（5）Including water source storage bin（501）, water pipe rack（502）, the 4th rotation free bearing（503）,
Five rotation free bearings（504）, the first steering engine（505）, the second steering engine（506）, sparge pipe（507）, the water source storage bin（501）
Be the water tank of a boring, be equipped with inlet opening above, inside suction pump is installed；The water pipe rack（502）'s
Bottom is fixedly mounted on water source storage bin（501）The upper surface of, inside water pipe is installed；The 4th rotation free bearing（503）
Bottom be fixedly mounted on water pipe rack（502）Front end upper position, side be equipped with groove；First steering engine
（505）Side be fixedly mounted on the 4th rotation free bearing（503）In the groove of side, steering engine axis passes through the 4th rotation free bearing
（503）The Kong Yu five of side rotates free bearing（504）Bottom be fixedly connected；Second steering engine（506）Side fix
It is mounted on the 5th rotation free bearing（504）Below groove in, steering engine axis pass through the 5th rotation free bearing（504）The hole of side with
Sparge pipe（507）Below fixed part be fixedly connected；The sparge pipe（507）Right end and water pipe rack（502）Internal water
The left end of pipe is fixedly connected；
The birdseed stores part（6）Including birdseed storage bin（601）, four support rods（602）, the 8th hydraulic cylinder（603）,
Birdseed hole baffle（604）, sliding slot（605）, the birdseed storage bin（601）It is a uncovered hollow box, interposition below
Through-hole is installed；Four support rods（602）Upper end respectively with birdseed storage bin（601）It is fixed at four following angles
Connection；8th hydraulic cylinder（603）Lie in a horizontal plane in birdseed storage bin（601）Below, cylinder body bottom end is fixedly mounted
In birdseed storage bin（601）The front of following baffle, tailpiece of the piston rod and birdseed hole baffle（604）Right side fixed connect
It connects；The sliding slot（605）Tilt down placement, on the right of outside set there are two fixed link be respectively and fixedly installed to birdseed storage
Deposit case（601）The front and back of lower face.
2. a kind of zoo feeding robot according to claim 1, it is characterised in that：The running gear（7）Packet
Include walking bottom plate（701）, 16 second springs（702）, eight telescopic rods（703）, wheel fixed frame（704）, two the 5th
Stepper motor（705）, two the first angular wheels（706）, two the second angular wheels（707）, two the 5th gears（708）,
Two transmission chains（709）, four wheels（710）, the walking bottom plate（701）It is a rectangle plank；Described ten
Six second springs（702）It is divided into four groups and is located at walking bottom plate（701）Below, the upper end and walking bottom plate（701）
Below the position on four sides be fixedly connected, lower end and wheel fixed frame（704）The upper surface of be fixedly connected；Described eight stretch
Contracting bar（703）It is located at walking bottom plate in pairs（701）Following four sides position, extension sleeve bottom end and walking bottom
Plate（701）It is fixedly connected below, stretch rod end and wheel fixed frame（704）The upper surface of be fixedly connected；The wheel is fixed
Frame（704）Middle position is equipped with a direction controller；Two the 5th stepper motors（705）It places straight down,
Two bottoms are respectively and fixedly installed to wheel fixed frame（704）Centre the right and left below, two motor shaft difference
With two the first angular wheels（706）It is fixedly connected；Two first angular wheels（706）Respectively with two the second tapers
Gear（707）Intermeshing；Two the 5th gears（708）It is located at two transmission chains（709）Centre and biography
Send chain（709）Intermeshing, two wheel axle respectively with two the second angular wheels（707）It is fixedly connected；Described two
A transmission chain（709）It is located at wheel fixed frame（704）The left and right sides, each of which transmission chain（709）Front and back end
Respectively with a wheel（710）Transmission gear intermeshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810638087.3A CN108901891B (en) | 2018-06-20 | 2018-06-20 | Feeding robot for zoo |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810638087.3A CN108901891B (en) | 2018-06-20 | 2018-06-20 | Feeding robot for zoo |
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| CN108901891B CN108901891B (en) | 2021-06-01 |
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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 |
|---|---|---|---|---|
| CN111300471A (en) * | 2020-04-20 | 2020-06-19 | 何大安 | Infant fire-fighting robot rescue arm |
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| US20020167404A1 (en) * | 2001-05-08 | 2002-11-14 | Jordan Robert B. | System and method for supplying goods and services |
| US20170290290A1 (en) * | 2014-09-01 | 2017-10-12 | Cleverpet, Inc | Animal interaction device, system and method |
| CN107414442A (en) * | 2017-07-27 | 2017-12-01 | 韩朝锋 | A kind of fire extinguisher canvas hose maintenance car |
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| CN111300471A (en) * | 2020-04-20 | 2020-06-19 | 何大安 | Infant fire-fighting robot rescue arm |
| CN111300471B (en) * | 2020-04-20 | 2021-02-05 | 林创珠 | Infant fire-fighting robot rescue arm |
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