CN110679497B - Pasture feed mixing grass pushing device and grass pushing method - Google Patents
Pasture feed mixing grass pushing device and grass pushing method Download PDFInfo
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- CN110679497B CN110679497B CN201911063512.1A CN201911063512A CN110679497B CN 110679497 B CN110679497 B CN 110679497B CN 201911063512 A CN201911063512 A CN 201911063512A CN 110679497 B CN110679497 B CN 110679497B
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- 244000025254 Cannabis sativa Species 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 15
- 244000144972 livestock Species 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000004459 forage Substances 0.000 claims description 9
- 238000012856 packing Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000003756 stirring Methods 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims 5
- 235000016709 nutrition Nutrition 0.000 abstract description 2
- 230000035764 nutrition Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 10
- 241000283690 Bos taurus Species 0.000 description 8
- 241001465754 Metazoa Species 0.000 description 5
- 238000011161 development Methods 0.000 description 5
- 235000013365 dairy product Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000008267 milk Substances 0.000 description 4
- 235000013336 milk Nutrition 0.000 description 4
- 210000004080 milk Anatomy 0.000 description 4
- 239000012141 concentrate Substances 0.000 description 3
- 230000037208 balanced nutrition Effects 0.000 description 2
- 235000019046 balanced nutrition Nutrition 0.000 description 2
- 238000007514 turning Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000021050 feed intake Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
- A01K5/001—Fodder distributors with mixer or shredder
- A01K5/004—Fodder distributors with mixer or shredder with mixing or shredding element rotating on vertical axis
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/70—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in livestock or poultry
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention relates to a pasture feed mixed grass pushing device and a grass pushing method, wherein the pasture feed mixed grass pushing device comprises a chassis provided with a running gear, a central column fixedly connected to the chassis, a pushing shell rotatably connected to the central column, and a first driving device for driving the pushing shell to rotate by taking the central column as an axis. According to the invention, the whole machine is moved and the pushing shell is rotated to push the fodder, so that the labor intensity is reduced, the concentrated fodder is stirred and mixed by the fodder mixing and sprinkling device, and the mixed concentrated fodder is mixed with pasture so as to improve nutrition balance.
Description
Technical Field
The invention relates to the technical field of pasture machinery, in particular to a pasture feed mixing and grass pushing device integrating intelligent pushing and feed mixing and pouring functions.
Background
The world developed world has successively achieved mechanization of animal husbandry and modernization of animal husbandry between the 20 s and 60 s of the last century. The development modes of the livestock industry in developed countries are different, and the livestock mechanization in developed countries is realized in succession as early as about 60 s of the 20 th century after reviewing the development of the livestock mechanization in the developed countries in the world. Although the animal husbandry development modes are different in each country, animal husbandry machines are developed in a direction suitable for the domestic feeding scale and feeding characteristics. For example, australia, new zealand, the netherlands and the like are based on the herbivorous animal industry, and high-quality forage planting, mechanized forage harvesting, mechanized feeding and artificial grassland construction are developed on a large scale; japan and korea are affected by territories, have a large population density, and can only be mainly raised by domestic farms, developing moderate-scale livestock mechanization; the U.S. mainly develops large-scale full-automatic feed processing and large-scale feeding mainly using grain feed, the popularization rate of intelligent livestock machinery equipment in developed countries in Europe and America is quite high, and the popularization rate of intelligent robot equipment in countries such as British, israel and the like in farms reaches 80%.
In general, variety diversification, control automation, function specialization, large scale, quantitative accuracy, digital informatization of management technology and sustainable development of attention environment form the main direction of development of livestock machinery in developed countries abroad.
It is well known that for feeding cows, frequent feeding results in increased feed intake and increased milk production. Furthermore, frequent feeding has a positive impact on the health of cattle. However, in the prior art, where livestock are fed in pastures, the pasture is typically placed manually near the pens where the livestock are housed, in the process of providing fresh feed to the cows. The feeding mode has lower efficiency, and in the feeding process of livestock, the operations such as replenishment and the like need to be carried out in real time, otherwise, a large amount of feed is wasted; the work of pushing the feed to the cowshed is not day and night, the labor intensity is high, and the labor force is often a limiting factor.
The accurate feeding of dairy cows is realized, operators are liberated from heavy physical labor, the working efficiency is greatly improved, the pollution is reduced, the occurrence of dairy cow diseases is reduced, and the improvement of milk yield is the ultimate goal of the dairy robot.
Disclosure of Invention
Aiming at the defects of the prior art, the invention breaks through the functional limitations of the traditional pasture pushing robot according to the characteristics of complex environment, lack of labor force and the like of modern dairy cow breeding pasture in China, and provides the pasture feed mixing and pushing device and the pasture pushing method based on the starting point of electromechanical integration, informatization and intelligence, thereby reducing the manual workload and improving the feeding efficiency.
The invention provides a pasture feed mixing grass pushing device which comprises a chassis provided with a running gear, a central column fixedly connected to the chassis, a pushing shell rotatably connected to the central column, and a first driving device for driving the pushing shell to rotate by taking the central column as an axis.
The chassis is driven to move through the running gear in the scheme, so that the whole machine is driven to move, meanwhile, the pushing shell is driven to rotate by taking the central column as an axis through the first driving device, the feed is pushed towards the direction of the livestock by utilizing the rotation of the pushing shell and the movement of the whole machine, and the central column provides the supporting force required by the supporting shell.
As optimization, the first driving device comprises a plurality of first driving motors which are fixedly connected with the chassis and are vertically arranged on the output shaft along the circumferential direction, and gears fixedly arranged on the output shaft of the first driving motors, and an annular inner rack meshed with the gears is fixedly connected on the inner wall of the pushing shell. The optimized scheme utilizes a first driving motor to drive a gear to rotate, and drives a pushing shell to rotate through the engagement of the gear and an inner rack; each first driving motor distributes along circumference, has improved driven stability.
As optimization, the pushing shell is connected with the center column through a bearing seat. According to the optimization scheme, through the arrangement of the bearing seat, the friction resistance of the rotation of the pushing shell is reduced, and meanwhile, the whole structure is simplified.
As optimization, the pushing shell is conical with a small upper part and a large lower part. The structure setting of this optimization scheme pushing shell has improved pushing shell intensity, has prolonged life.
As optimization, the outer side surface of the pushing shell is fixedly connected with a plurality of pushing racks which are circumferentially distributed. According to the optimized scheme, the pushing area for pushing the feed is increased by arranging the pushing rack, so that the pushing efficiency is improved.
The fodder mixing and pouring device comprises a feed box fixedly connected with a central column, a packing auger and a power device, wherein the packing auger is connected in the feed box in a shaft mode, the power device is used for driving the packing auger to rotate, and a feed inlet and a discharge pipe extending to the upper portion of fodder are formed in the feed box. This optimizing scheme mixes through setting up fodder and pours the device into, stirs the concentrated feed of putting into the workbin through the auger and mixes, and the concentrated feed after the stirring flows out and is unrestrained in the fodder through the discharging pipe, provides more balanced nutrition for the milk cow.
As optimization, the annular anti-collision beam is fixedly connected to the center column, and the projection of the pushing shell along the vertical direction is positioned in the projection of the anti-collision beam along the vertical direction. Through the setting of this optimizing scheme, if equipment bumps, flexible crashproof roof beam can play the cushioning effect, avoids damaging device spare part.
As optimization, the running gear includes left drive wheel, right drive wheel and universal wheel of installing on the chassis to and the second drive arrangement of drive left drive wheel and right drive wheel pivoted, second drive arrangement, left drive wheel shaft and right drive wheel shaft all are located the chassis top, offer the opening that supplies left drive wheel and right drive wheel to pass through on the chassis. The power is provided for the walking device through the second driving device, the left driving wheel axle and the right driving wheel axle are arranged on the chassis, and the chassis is used for protecting the walking device, so that the collision damage of the power piece and the machining piece is reduced.
As an optimization, the second driving device comprises a left servo motor connected with a left driving wheel axle through chain transmission and a right servo motor connected with a right driving wheel axle through chain transmission, and the left driving wheel axle is coaxial with the right driving wheel axle. The left driving wheel and the right driving wheel are driven by different servo motors according to the optimization scheme, so that the control convenience and the turning flexibility are improved.
The grass pushing method by using the pasture feed mixing grass pushing device comprises the following steps:
a. the whole machine is driven to move by the walking device, meanwhile, the pushing shell is driven to rotate by the first driving device, and the feed is pushed to livestock by the rotation of the shell and the movement of the whole machine;
b. placing the concentrated feed into a feed box, stirring the concentrated feed by using a packing auger in the feed box, and discharging the concentrated feed out of a discharge pipe in the pushing process, so that the concentrated feed is scattered in forage;
c. when the whole machine advances, the universal wheel is positioned behind the connecting line of the left driving wheel and the right driving wheel, and the whole machine turns through the rotation speed difference of the left driving wheel and the right driving wheel.
The beneficial effects of the invention are as follows: the whole machine is moved and the pushing shell rotates to push the fodder, so that the labor intensity is reduced, the fodder is mixed by stirring and sprinkling the fodder, and the mixed fodder is mixed with pasture so as to improve nutrition balance.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a walking device;
FIG. 3 is a rear view of the running gear;
FIG. 4 is a schematic diagram of a pushing device;
FIG. 5 is a schematic diagram of the internal structure of the pushing device;
FIG. 6 is a partial cross-sectional view of the pusher;
FIG. 7 is a schematic view of a feed mixing and pouring device;
FIG. 8 is a cross-sectional view of the feed mixing and pouring device;
fig. 9 is a schematic view of the auger structure.
The figure shows:
1. chassis, 2, magnetic navigation sensor, 3, left driving wheel, 4, right driving wheel, 5, universal wheel, 6, left driving wheel axle, 7, right driving wheel axle, 8, left driven sprocket, 9, right driven sprocket, 10, left driving chain, 11, right driving chain, 12, left servo motor, 13, right servo motor, 14, left motor mount, 15, right motor mount, 16, left flange coupler, 17, right flange coupler, 18, transmission shaft fixed bearing seat, 19, center pillar, 20, load bearing base, 21, load bearing seat, 22, first driving motor, 23, motor mount, 24, gear, 25, internal tooth bar, 26, rack, 27, power supply, 28, control box, 29, pushing shell, 30, pushing device, 31, top cover, 32, top base, 33, feed box, 34, anti-collision beam, 35, anti-collision beam mount, 36, ultrasonic sensor, 37, depth camera, 38, power device, 39, auger, 40, discharge pipe, 41, walking device, 42, pushing device, 43, control sprocket, 44, feed mixing system, feed carrier, 46, right driving system, left driving sprocket, and driving system.
Detailed Description
In order to clearly illustrate the technical characteristics of the scheme, the scheme is explained below through a specific embodiment.
The pasture feed mixing grass pushing device shown in fig. 1 comprises a chassis 1 provided with a running gear 41, a central column 19 fixedly connected to the chassis 1, a pushing shell 29 rotatably connected to the central column 19, and a first driving device for driving the pushing shell to rotate by taking the central column as an axis. The pushing shell is connected with the central column 19 through a bearing seat 21, the bearing seat 21 is fixed on the central column 19, and the supporting force required by the supporting shell is provided by the central column 19. The pushing shell 29 is conical with a small upper part and a large lower part, and a plurality of pushing racks which are circumferentially arranged are fixedly connected to the outer side surface of the pushing shell. The upper opening of the pushing shell is fixedly connected with a top cover 31, and a top base 32 is fixedly connected with the center column through the top cover 31. The pusher 30 is fixedly connected to the pusher housing through bolts, the pusher housing 29 and the pusher 30 form a pusher 42, the pusher is a conical cylinder with a large upper part and a small lower part, the wall thickness of the pusher is 1.5mm, the pusher rack is fixedly connected to the outer side wall of the pusher, and the height of the pusher rack is 20mm, so that the pusher efficiency is improved, and the strength of the pusher is also improved.
The chassis is located inside the pushing shell to increase the pushing area, and each part on the chassis is protected through the pushing shell.
The first driving device comprises a plurality of first driving motors 22 which are fixedly connected with the chassis and are vertically arranged on the output shaft and are circumferentially arranged, and gears 24 which are fixedly arranged on the output shaft of the first driving motors 22, and the inner wall of the pushing shell 29 is fixedly connected with annular closed inner tooth strips 25 which are meshed with the gears 24. The first driving motor 22 is a vertical servo motor, the inner gear 25 is meshed with four gears 24, each gear is connected with the vertical servo motor 22, the vertical servo motor 22 provides power for the gears 24, power for the rotation of the pushing shell 29, the rotation of the pushing device is achieved, and the rotating speed of the pushing device is adjusted through the servo motor. The vertical servo motor 22 is fixed on a motor fixing frame 23, the motor fixing frame 23 is fixed on the chassis 1 through bolts, and radial force in the pushing process is provided by four gears.
The embodiment further comprises a feed mixing and sprinkling device 44 above the pushing shell, wherein the feed mixing and sprinkling device comprises a feed box 33 fixedly connected with the central column, a packing auger 39 axially connected in the feed box and a power device 38 for driving the packing auger to rotate, and a feed inlet and a discharge pipe 40 extending to the upper part of forage are arranged on the feed box. The fodder mixes the pouring device 44 and installs in top base 32 top, and workbin 33 open top, and concentrate is put into by workbin 33 open top, and auger 39 in the workbin is responsible for stirring concentrate evenly, and power device 38 provides power for the auger, and in complete machine advancing process, concentrate flows out through discharging pipe 40, and is unrestrained in the forage, provides balanced nutrition for the milk cow.
The center column is fixedly connected with a flexible annular anti-collision beam 34, and the projection of the pushing shell along the vertical direction is positioned in the projection of the anti-collision beam along the vertical direction. The anti-collision beam 34 is installed on the top base 32 through the anti-collision beam fixing frame 35, the top base is fixedly connected with the bearing base 20 fixedly connected to the upper end of the center column, and if collision occurs, the flexible anti-collision beam 34 can play a role in buffering, so that damage to parts of the device is avoided.
The walking device comprises a left driving wheel 3, a right driving wheel 4 and a universal wheel 5 which are arranged on the chassis, and a second driving device for driving the left driving wheel and the right driving wheel to rotate, wherein the second driving device, a left driving wheel axle 6 and a right driving wheel axle 7 are all positioned above the chassis, and a notch for the left driving wheel and the right driving wheel to pass through is formed in the chassis. The second drive means comprises a left servomotor 12 connected by chain transmission to a left drive wheel axle and a right servomotor 13 connected by chain transmission to a right drive wheel axle, the left drive wheel axle being coaxial with the right drive wheel axle. The left driving wheel 3 and the right driving wheel 4 are respectively driven by a left chain 10 and a right chain 11, power is provided by two servo motors, the left servo motor 12 and the right servo motor 13 are respectively fixed on two left motor fixing frames 14 and right motor fixing frames 15, the left servo motor 12 and the right servo motor 13 respectively drive a left driving sprocket 45 and a right driving sprocket 46, thereby driving a left driven sprocket 8 and a right driven sprocket 9, the left driven sprocket 8 is fixedly arranged on a left driving wheel shaft 6, the right driven sprocket 9 is fixedly arranged on a right driving wheel shaft 7, a left flange coupler 16 and a right flange coupler 17 are respectively fixed on the left driving wheel 3 and the right driving wheel 4, the left driving wheel shaft 6 and the right driving wheel shaft 7 are respectively connected with the left flange coupler 16 and the right flange coupler 17 through pins, the left driving wheel shaft 6 and the right driving wheel shaft 7 are fixed on the chassis 1 through transmission shaft fixing bearing seats 18, and the universal wheel 5 is fixed on the chassis 1 through screw bolts, and when the vehicle advances, the two driving wheels are driven to move in front, so that steering is facilitated. The two driving wheels and one universal wheel are distributed in a triangular shape, and turning movement of the device is realized through the rotation speed difference of the two driving wheels, so that the transmission is stable.
The chassis 1 is fixedly provided with a placing frame 26, and a power supply 27 and a control box 28 are placed on the placing frame 26. The present embodiment further comprises a control system 43, the control system 43 comprising the magnetic navigation sensor 2, the ultrasonic sensor 36, the depth camera 37 and the control box 28 provided with a controller. The controller mainly receives the signals of the sensors and controls the operation of other devices according to the received signals; the magnetic navigation sensor is used for ensuring that the pushing device moves along a prescribed route; an ultrasonic sensor is arranged on the top base, and the speed and the advancing direction can be timely adjusted when the pushing device encounters an obstacle moving in the advancing process, so that the pushing device is used as an obstacle avoidance sensor; the depth camera is also installed on the top base, and can analyze the volume of forage in real time, transmit the forage volume to the controller, and the servo motor rotation speed is adjusted through the controller, so that the automatic speed regulation of the pushing device can be realized. The controller and the sensor adopt the prior art, the circuit connection of the controller and the sensor is not the content to be protected of the invention, and the circuit connection relation of the controller and the sensor can be obtained by a person skilled in the art according to the above description, so the circuit connection relation of the controller and the sensor is not repeated.
The grass pushing method by using the pasture feed mixing grass pushing device comprises the following steps:
a. the whole machine is driven to move by the walking device, meanwhile, the pushing shell is driven to rotate by the first driving device, and the feed is pushed to livestock by the rotation of the shell and the movement of the whole machine;
b. placing the concentrated feed into a feed box, stirring the concentrated feed by using an auger in the feed box, and discharging the concentrated feed out of a discharge pipe in the pushing process, so that the concentrated feed is scattered in forage;
c. when the whole machine advances, the universal wheel is positioned behind the connecting line of the left driving wheel and the right driving wheel, and the whole machine turns through the rotation speed difference of the left driving wheel and the right driving wheel.
Of course, the above description is not limited to the above examples, and the technical features of the present invention that are not described may be implemented by or by using the prior art, which is not described herein again; the above examples and drawings are only for illustrating the technical scheme of the present invention and not for limiting the same, and the present invention has been described in detail with reference to the preferred embodiments, and it should be understood by those skilled in the art that changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present invention and the scope of the appended claims.
Claims (8)
1. The utility model provides a pasture fodder mixes grass pushing device which characterized in that: comprises a chassis (1) provided with a traveling device (41), a central column (19) fixedly connected to the chassis (1), a pushing shell (29) rotatably connected to the central column (19) and a first driving device for driving the pushing shell to rotate by taking the central column as an axis;
the fodder mixing and pouring device (44) is positioned above the pushing shell and comprises a material box (33) fixedly connected with the central column, a packing auger (39) connected in the material box in a shaft way and a power device (38) for driving the packing auger to rotate, and a material inlet and a material outlet pipe (40) extending to the upper part of fodder are formed in the material box;
the grass pushing method by using the pasture feed mixed grass pushing device comprises the following steps:
a. the whole machine is driven to move by the walking device, meanwhile, the pushing shell is driven to rotate by the first driving device, and the feed is pushed to livestock by the rotation of the shell and the movement of the whole machine;
b. placing the concentrated feed into a feed box, stirring the concentrated feed by using an auger in the feed box, and discharging the concentrated feed out of a discharge pipe in the pushing process, so that the concentrated feed is scattered in forage;
c. when the whole machine advances, the universal wheel is positioned behind the connecting line of the left driving wheel and the right driving wheel, and the whole machine turns through the rotation speed difference of the left driving wheel and the right driving wheel.
2. A pasture feed mixing and pushing device according to claim 1, wherein: the first driving device comprises a plurality of first driving motors (22) which are fixedly connected with the chassis and are arranged vertically along the circumferential direction of the output shaft, and gears (24) which are fixedly arranged on the output shaft of the first driving motors (22), and an annular inner rack (25) meshed with the gears (24) is fixedly connected on the inner wall of the pushing shell (29).
3. A pasture feed mixing and pushing device according to claim 1, wherein: the pushing shell is connected with the central column (19) through a bearing seat (21).
4. A pasture feed mixing and pushing device according to claim 1, wherein: the pushing shell is conical with a small upper part and a large lower part.
5. A pasture feed mixing and pushing device as set forth in claim 4 wherein: the outer side surface of the pushing shell is fixedly connected with a plurality of pushing racks which are distributed along the circumferential direction.
6. A pasture feed mixing and pushing device according to claim 1, wherein: the center column is fixedly connected with an annular anti-collision beam (34), and the projection of the pushing shell along the vertical direction is positioned in the projection of the anti-collision beam along the vertical direction.
7. A pasture feed mixing and pushing device according to claim 1, wherein: the walking device comprises a left driving wheel (3), a right driving wheel (4) and a universal wheel (5) which are arranged on the chassis, and a second driving device which drives the left driving wheel and the right driving wheel to rotate, wherein a second driving device, a left driving wheel axle (6) and a right driving wheel axle (7) are all arranged above the chassis, and openings for the left driving wheel and the right driving wheel to pass through are formed in the chassis.
8. A pasture feed mixing and pushing device as set forth in claim 7 wherein: the second driving device comprises a left servo motor (12) connected with a left driving wheel axle through chain transmission and a right servo motor (13) connected with a right driving wheel axle through chain transmission, and the left driving wheel axle is coaxial with the right driving wheel axle.
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| CN201911063512.1A CN110679497B (en) | 2019-11-04 | 2019-11-04 | Pasture feed mixing grass pushing device and grass pushing method |
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| CN201911063512.1A CN110679497B (en) | 2019-11-04 | 2019-11-04 | Pasture feed mixing grass pushing device and grass pushing method |
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| CN110679497B true CN110679497B (en) | 2023-09-08 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975962B (en) * | 2021-02-22 | 2022-04-22 | 华南理工大学 | Auxiliary feeding robot for dairy cows and auxiliary feeding method |
| CN112889679B (en) * | 2021-03-24 | 2024-06-25 | 河北优牧机械制造有限公司 | Grass arranging device for farm |
| CN113973734B (en) * | 2021-10-29 | 2024-09-06 | 山东农业大学 | Multifunctional spiral pushing type cow pushing supplementary feeding machine |
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| CN109122360A (en) * | 2018-09-14 | 2019-01-04 | 泰安意美特机械有限公司 | A kind of pasture automatic stocking device |
| CN109122359A (en) * | 2018-09-14 | 2019-01-04 | 泰安意美特机械有限公司 | A kind of pasture intelligent pusher robot |
| CN211020477U (en) * | 2019-11-04 | 2020-07-17 | 山东农业大学 | Pasture feed mixing pushes away grass device |
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