CN111567425A - Robot for stirring and feeding ration for herbivorous animals - Google Patents
Robot for stirring and feeding ration for herbivorous animals Download PDFInfo
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- CN111567425A CN111567425A CN202010370677.XA CN202010370677A CN111567425A CN 111567425 A CN111567425 A CN 111567425A CN 202010370677 A CN202010370677 A CN 202010370677A CN 111567425 A CN111567425 A CN 111567425A
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- stirring
- feeding
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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
- A01K5/0225—Gravity replenishment from a reserve, e.g. a hopper
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F29/00—Cutting apparatus specially adapted for cutting hay, straw or the like
- A01F29/06—Cutting apparatus specially adapted for cutting hay, straw or the like having rotating knives with their cutting edges on a cylinder surface, e.g. of the helical-type
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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
- A01K5/001—Fodder distributors with mixer or shredder
- A01K5/004—Fodder distributors with mixer or shredder with mixing or shredding element rotating on vertical axis
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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
- A01K5/0275—Automatic devices with mechanisms for delivery of measured doses
- A01K5/0283—Automatic devices with mechanisms for delivery of measured doses by weight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/22—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them
- G01G19/32—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them using two or more weighing apparatus
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention relates to a robot for stirring and feeding ration of herbivorous animals, which comprises a chassis, a stirring bin, a stirring mechanism, a walking mechanism, a transmission system, a control system and a battery pack power system, wherein the walking mechanism is arranged at the bottom of the chassis, the stirring bin is arranged on the chassis, the front end of the chassis is also provided with a robot shell, the side surface of the stirring bin is provided with a discharge opening close to the bottom, the discharge opening is covered with a discharge device, the stirring mechanism is arranged at the center of the bottom in the stirring bin, the transmission system and the control system are also arranged on the chassis and are connected with the battery pack power system through leads, the battery pack power system is arranged at the tail of the chassis, and the battery pack power system is matched with a charging black-bone station arranged at a pen house for automatic charging. The beneficial effects are that: can be fed for 24 hours, and unsafe factors caused by artificial feeding at night are avoided. Fine management and accurate feeding. The electric engine replaces the noise caused by the original fuel engine, and the pasture environment is improved.
Description
Technical Field
The invention belongs to the technical field of breeding equipment, and particularly relates to a robot for stirring and feeding ration for herbivorous animals.
Background
The existing feeding is basically formed by a manual mode or a tractor or an agricultural three-wheel additionally-mounted feed stirring vehicle, no professional automatic feeding equipment is provided, the animal nutrition needs are ensured, and the manual mode is high in cost, high in energy consumption and unstable. Meanwhile, the mixing truck for mixing the daily ration has large volume, needs to be matched with a large-scale power tractor and standard colony houses and feeding trough facilities in use, and has the problems of narrow space of the colony houses and incomplete feeding trough facilities under the existing feeding regulation in China, so the adaptability of the application of the total mixed daily ration technology exists.
Disclosure of Invention
The invention aims to solve the technical problems and provides the daily ration stirring feeding robot for the herbivorous animals, which can automatically charge and plan paths and can accurately complete feeding tasks.
The technical scheme is that the robot for stirring and feeding the ration of the herbivore is characterized by comprising a chassis, a stirring bin, a stirring mechanism, a walking mechanism, a transmission system, a control system and a battery pack power system, wherein the walking mechanism is installed at the bottom of the chassis, the stirring bin is arranged on the chassis, a robot shell is further arranged at the front end of the chassis, a discharge opening is formed in the side surface of the stirring bin close to the bottom, a discharging device is arranged on the discharge opening in a covering mode, the stirring mechanism is installed at the center of the bottom in the stirring bin, the transmission system provides power for the stirring mechanism, the walking mechanism and the control of opening and closing of the discharging device, the control system is provided with a navigation module and an identification module, a path is established and the colony house is identified through ground laying of laser and magnetic nails, and corresponding operation is executed in the discharging area in the colony house and the feeding area through the magnetic nails for confirming the position, the transmission system and the control system are also arranged on the chassis and are connected with the battery pack power system through a lead, the battery pack power system is arranged at the tail part of the chassis, and the battery pack power system is matched with a charging black station arranged at a colony house to automatically charge.
As a further improvement, the system further comprises a safety protection system, and the safety protection system is connected with the battery pack power system and the control system through leads.
As a further improvement, the safety protection system comprises a distance measuring sensor, a safety anti-collision switch, a limit switch and two emergency stop switches, wherein the distance measuring sensor is installed at the front end of the robot shell and used for preventing the robot from stopping after an obstacle is detected in the advancing direction because a foreign object enters a working area, and the safety device resets after the obstacle is removed, so that the robot automatically resumes working; the safety anti-collision switch is arranged on the outer edge of the robot shell, the robot stops in the working process due to collision or extrusion, and if the barrier is not removed within a set time, the robot stops working until the robot restarts after manual intervention; the limit switch is arranged on the side surface of the robot shell, and after the side surface of the robot shell is deformed by external force, the robot stops working due to the action of the limit switch, so that the machine is prevented from being damaged due to external sudden impact; the two emergency stop switches are respectively arranged on the front side surface and the rear side surface of the robot shell, so that the emergency stop switch can be used in an emergency when the robot does not need to work.
As a further improvement, still include the weighing system, constitute by four weight sensor and weighing instrument, four weight sensor all install on the chassis, the weighing instrument is installed on the stirring feed bin, four weight sensor pass through the wire with the weighing instrument and are connected, and the weight change of real-time detection stirring feed bin gives the weighing instrument, and the process of whole fodder stirring is taken notes to the weighing instrument: formula type, feeding sequence, feeding weight, mixing time and discharging weight.
As a further improvement, the discharging device comprises a discharging door hinged on the stirring bin and a hydraulic mechanism for controlling the opening and closing of the discharging door.
As a further improvement, the traveling mechanism consists of three driving motors, an encoder, a brake, a speed reducer and three hubs, and a steering wheel mechanism for controlling the direction is further arranged at the bottom of the front end of the chassis.
As a further improvement, the stirring mechanism consists of an auger and a blade assembly, the auger is driven by a hydraulic motor, and the blade assembly is arranged on the auger.
As a further improvement, the stirring bin is a conical stirring bin.
Advantageous effects
The beneficial effects are that: can be fed for 24 hours, and unsafe factors caused by artificial feeding at night are avoided. Refined management, guarantee the ration uniformity, reduce because the feeding deviation causes the stress response to the animal. Accurate feeding, accurate execution of a feeding formula, improvement of the conversion rate of the feed and increase of the health of animals. The electric engine replaces the noise caused by the original fuel engine, improves the pasture environment and improves the nutrition and health of animals.
Drawings
The invention is further explained with the embodiment in the following.
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a diagram of a cattle farm layout and robot path;
fig. 4 is a diagram of the location of a herd of cattle in a cowshed.
Numbering in the figures:
1. base plate 2, stirring feed bin 3 and stirring mechanism
4. Running gear 5, transmission system 6, control system
7. Battery pack power system 8, robot shell 9 and discharging device
10. Weighing instrument
Detailed Description
So that the manner in which the above recited features of the present invention can be understood and readily understood, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings, wherein:
as shown in fig. 1-2, a robot for stirring and feeding ration for herbivorous animals comprises a chassis 1, a stirring bin 2, a stirring mechanism 3, a traveling mechanism 4, a transmission system 5, a control system 6 and a battery pack power system 7, wherein the traveling mechanism 4 is installed at the bottom of the chassis 1, the traveling mechanism 4 is composed of three driving motors, an encoder, a brake, a speed reducer and three hubs, and a steering wheel mechanism for controlling direction is further arranged at the bottom of the front end of the chassis 1, and can steer to travel according to the requirement of an installation path. Stirring feed bin 2 sets up on chassis 1 for toper stirring feed bin 2, still is equipped with robot housing 8 on chassis 1's front end, leans on the bottom position to have seted up the discharge opening 2 sides in stirring feed bin, is equipped with discharge apparatus 9 at the discharge opening upper cover, and discharge apparatus 9 is including articulating the discharge door on stirring feed bin, and the hydraulic pressure mechanism that the control discharge door opened and shut. The stirring mechanism 3 is arranged at the center of the bottom in the stirring bin 2, the stirring mechanism 3 is composed of an auger and a blade assembly, the auger is driven by a hydraulic motor, the blade assembly is arranged on the auger, the auger stirs the feed, and the blade assembly finishes the cutting of the long grass. The transmission system 5 provides power for the stirring mechanism 3, the walking mechanism 4 and the control unloading device 9 to open and close, the control system 6 is provided with a navigation module and an identification module, the ground is paved through laser and magnetic nails, a path is established and the colony house is identified, the corresponding operation is executed in the unloading area in the colony house and the loading area in the forage grass room through the magnetic nails, the transmission system 5 and the control system 6 are also arranged on the chassis 1 and are connected with the battery pack power system 7 through leads, the battery pack power system 7 is arranged at the tail part of the chassis 1, and the battery pack power system 7 is matched with a charging black-bone station arranged at the colony house to carry out automatic charging. The robot for stirring and feeding the ration of the herbivorous animal further comprises a safety protection system, and the safety protection system is connected with the battery pack power system and the control system through leads. The safety protection system comprises a distance measuring sensor, a safety anti-collision switch, a limit switch and two emergency stop switches, wherein the distance measuring sensor is arranged at the front end of the shell of the robot and is used for preventing the robot from stopping after an obstacle is detected in the advancing direction because a foreign object enters a working area, and the safety device resets after the obstacle is removed, so that the robot automatically recovers to work; the safety anti-collision switch is arranged on the outer edge of the robot shell, the robot stops in the working process due to collision or extrusion, and if the barrier is not removed within a set time, the robot stops working until the robot restarts after manual intervention; the limit switch is arranged on the side surface of the robot shell, and after the side surface of the robot shell is deformed by external force, the robot stops working due to the action of the limit switch, so that the machine is prevented from being damaged due to external sudden impact; the two emergency stop switches are respectively arranged on the front side surface and the rear side surface of the robot shell, so that the emergency stop switch can be used in an emergency when the robot does not need to work. Still include weighing system, be by four weight sensor and weighing instrument 10 constitution, four weight sensor all install on the chassis, weighing instrument 10 is installed on stirring feed bin 2, and four weight sensor pass through the wire with weighing instrument and are connected, and the weight change of real-time detection stirring feed bin gives weighing instrument, and the process of the whole fodder stirring of weighing instrument record: formula type, feeding sequence, feeding weight, mixing time and discharging weight.
The working principle is as follows: the magnetic nails are firstly arranged in a forage room, a charging docking station, an animal feeding trough channel and a path which needs to be passed by the robot. The WIFI signal base station is installed at the charging docking station, the robot detects the current position and the running position through the laser navigation and magnetic nail track detection sensor, basic information of a pasture is set on the robot touch screen controller, and the robot starts to work after information such as the number of animals to be fed, the formula weight of each group, the position of the group in a colony house, change of the colony house, feeding times every day, feeding amount every time, paths and the like is set. The transmission system 5 of the robot provides the running speed of the robot, which is lower than 3KM/h, and the hydraulic motor provides the power of the packing auger, and the packing auger starts to rotate before charging. Weighing instrument 10 automatic recording of robot is reinforced kind and quantity, and after last fodder added, according to setting for the stirring time and accomplish the back, remove to the passageway of feeding, identification module unloads according to the animal population who sets for and feeds, and hydraulic means control is unloaded the bin gate and is opened the degree, guarantees the volume of unloading and just guarantees sufficient volume of feeding always. After the recognition module recognizes that the feed in the station or the feed bin of the feeding channel is completely put in, the discharge door is closed, and the robot returns to the forage room to continue feeding according to the setting, or returns to the charging dock after the feeding task is completed. The shape of the auger and the blade assembly on the auger play roles in stirring and cutting the feed according to the shape of the stirring bin 2. The blade component on the packing auger finishes cutting the long grass, the spiral shape of the packing auger rotates to ensure that the feed moves up and down and circularly according to the spiral curve after being put into the feed, and the different raw materials of the feed formula are fully mixed. The weighing system is given to the weighing instrument by four sensors real-time detection feed bin weight change, and the weighing instrument records the whole process of feed stirring: formula type, feeding sequence, feeding weight, mixing time and discharging weight. The weight sensor is arranged on the chassis 1, four-point weighing is adopted, the weighing precision is ensured, and the weighing range is enlarged. The auger is driven to rotate by the hydraulic motor, the power of the hydraulic motor is derived from the motor of the hydraulic pump, when the control system 6 identifies that the feed is ready to be fed, the motor is started to drive the pump to provide the hydraulic motor to rotate, when the station identification or the weight of the feed bin reaches the lowest weight, the control system 6 stops the motor to rotate, and the auger stops stirring and cutting the feed. Meanwhile, the bottom of the auger has a rotary pushing function, when the material needs to be discharged, the auger rotates, the discharging door is opened, and the feed starts to be pushed out of the storage bin by the rotating auger. The running mechanism 4 for the robot to run is completed by three driving motors and a steering wheel, three power drives are composed of a motor, an encoder, a brake, a speed reducer and a hub, the steering wheel mechanism for controlling the direction is arranged below the front end of a chassis of the robot, and the installation path requires steering running. The safety protection system starts to work when the robot is started, the distance measuring sensor is arranged at the front end of the robot, the problem that the robot stops when an obstacle is detected in the advancing direction because a foreign object enters a working area, and the robot automatically restores to work until the safety device resets after the obstacle is removed is solved. And after resetting, the machine normally runs. The anti-collision safety switch is arranged on the outer edge of the machine shell, the robot stops in the working process due to collision or extrusion, and if the obstacle is not removed within a set time, the robot stops working until the robot restarts after manual intervention. Install limit switch on the side of robot shell, meet external force deformation back in side, the limit switch action can let the robot stop work, avoids outside impact suddenly to lead to the machine impaired. The front side and the rear side of the robot shell are provided with emergency stop switches to ensure that the robot can be stopped in an emergency when the robot does not work. Scram is the complete stoppage of all moving parts. The battery power system 7 automatically returns to the charging docking station for automatic charging after each travel of the robot is finished. The charging mechanism contacts the charging electric pile through a contact point below the chassis 1 to complete charging, the control system 6 automatically detects the electric quantity, the robot stops the packing auger to return to the charging dock for charging when the electric quantity of the robot is less than one fifth, the robot continues to complete the work when the electric quantity of the battery pack is detected to be less than 30%, the robot continues to charge on the charging dock 06 until the electric quantity of the battery pack reaches a set value, and the robot can continue to work.
In the first embodiment, a 600-head dairy farm is taken as an example to illustrate the working process of the feeding robot:
grouping and daily feeding amount of 600 cattle farms:
1, drawing and marking points
In the area shown in fig. 3, magnetic nails are laid in the robot traveling path, and marking magnetic nails are laid in a cowshed, a charging area, a grouping area, a charging area, and the like. The bottom of the robot is provided with a detection sensor, and all magnetic nails are manually identified to establish an operation map and mark points at various positions. On the map, each magnetic nail has a corresponding position and a corresponding number, the position of the robot running on the map is recorded, and the controller sets the task command of the robot according to the coordinates of the position points of the map.
2, feeding process: formula charging, stirring and mixing, discharging and feeding
The robot stays in the feeding area 400, the feeding formula is fed by the control system and the weighing system of the robot with wireless transmission provided by the pasture, starting to feed materials, moving the robot to the next feeding zone after each type of materials is fed, until the weighing system sends out the weight of the materials to be fed, and after all materials are fed, starting stirring according to the set stirring time and moving to a cowshed, sending an instruction to the cattle group fed by the formula by the control system, after the robot reaches the designated cattle group position shown in figure 4 according to the corresponding path, the controller confirms whether to start the feeding according to the set stirring time, when the stirring time is up, sending an instruction to open the discharging door and start discharging, wherein the opening degree of the discharging door and the traveling speed of the robot determine the discharging amount, the opening degree and the advancing speed of the robot are adjusted according to the weight of the formula and the number of cattle groups, so that the feeding amount of each cattle is ensured. Meanwhile, the weighing system records the discharge amount according to the data of the sensor, so that a feeding report is generated and is uploaded to the cloud server through the wireless local area network.
3, charging
And the robot returns to the charging pile for standby charging after feeding is finished, and the position of the charging pile is also the starting point of the path of the robot. Get back to the charging station position and charge after accomplishing feeding at every turn, controller real-time detection battery electric quantity in the in-process of feeding, if the electric quantity is less than the minimum electric quantity of settlement (guarantee that the robot can return to filling electric pile in the position of farthest), the robot can automatic pause the task of feeding and return to filling electric pile and charge, after the setting value is accomplished in the charging, the robot can continue to carry out uncompleted feeding instruction, up to the end of feeding.
Changing feeding formula, changing cattle group number, changing cattle group position and report
The species number of cattle herds in the pasture and the number of cattle only in the colony house are dynamic, and the feeding formula and the number of cattle are frequently changed due to different seasons, growth and development and different lactation stages. The robot can receive a change instruction in a wireless local area network during a non-working period, the formula weight is calculated by the weighing system, and the feeding scheme is adjusted. If the cattle herd is in the colony house position in the pasture of adjustment, also need change the pasture parameter through wireless local area network during the robot is non-working, the robot can plan the route of feeding again according to the pasture parameter of adjustment, adjusts the scheme of feeding. All change records and feeding records are aggregated within the robot control system, timed daily and sent to the cloud server during non-working periods.
In summary, the present invention is only a preferred embodiment, and not intended to limit the scope of the invention, and all equivalent changes and modifications in the shape, structure, characteristics and spirit of the present invention described in the claims should be included in the scope of the present invention.
Claims (8)
1. A robot for stirring and feeding ration for herbivorous animals is characterized by comprising a chassis, a stirring bin, a stirring mechanism, a walking mechanism, a transmission system, a control system and a battery pack power system, wherein the walking mechanism is installed at the bottom of the chassis, the stirring bin is arranged on the chassis, a robot shell is further arranged at the front end of the chassis, a discharge opening is formed in the side surface of the stirring bin close to the bottom, a discharge device is arranged on the upper cover of the discharge opening, the stirring mechanism is installed at the center of the bottom in the stirring bin, the transmission system provides power for the stirring mechanism, the walking mechanism and the control of opening and closing of the discharge device, the control system is provided with a navigation module and an identification module, a path is established and identification is carried out on a colony house through ground laying of laser and magnetic nails, and corresponding operation is carried out on a discharge area in the colony house and a charge area in the forage grass house through the magnetic nails, the transmission system and the control system are also arranged on the chassis and are connected with the battery pack power system through a lead, the battery pack power system is arranged at the tail part of the chassis, and the battery pack power system is matched with a charging black station arranged at a colony house to automatically charge.
2. The herbivore daily ration stirring feeding robot of claim 1, further comprising a safety protection system, wherein the safety protection system is connected with the battery pack power system and the control system through wires.
3. The herbivore daily ration stirring feeding robot as claimed in claim 2, wherein the safety protection system comprises a distance measuring sensor, a safety anti-collision switch, a limit switch and two emergency stop switches, the distance measuring sensor is mounted at the front end of the robot shell and used for preventing the robot from stopping after an obstacle is detected in the traveling direction due to the fact that a foreign object enters a working area, the safety device resets after the obstacle is removed, and the robot automatically resumes working; the safety anti-collision switch is arranged on the outer edge of the robot shell, the robot stops in the working process due to collision or extrusion, and if the barrier is not removed within a set time, the robot stops working until the robot restarts after manual intervention; the limit switch is arranged on the side surface of the robot shell, and after the side surface of the robot shell is deformed by external force, the robot stops working due to the action of the limit switch, so that the machine is prevented from being damaged due to external sudden impact; the two emergency stop switches are respectively arranged on the front side surface and the rear side surface of the robot shell, so that the emergency stop switch can be used in an emergency when the robot does not need to work.
4. The robot of claim 1, further comprising a weighing system, wherein the robot comprises four weight sensors and a weighing instrument, the four weight sensors are all mounted on the chassis, the weighing instrument is mounted on the stirring storage bin, the four weight sensors are connected with the weighing instrument through wires, the weight change of the stirring storage bin is detected in real time, the weighing instrument is used for recording the whole process of stirring the feed: formula type, feeding sequence, feeding weight, mixing time and discharging weight.
5. The robot for stirring and feeding ration for herbivorous animals according to claim 1, wherein the discharging device comprises a discharging door hinged on the stirring bin and a hydraulic mechanism for controlling the opening and closing of the discharging door.
6. The vegetarian animal ration stirring and feeding robot according to claim 1, wherein the traveling mechanism comprises three driving motors, an encoder, a brake, a speed reducer and three hubs, and a steering wheel mechanism for controlling the direction is further arranged at the bottom of the front end of the chassis.
7. The vegetarian diet stirring and feeding robot according to claim 1, wherein the stirring mechanism is composed of an auger and a blade assembly, the auger is driven by a hydraulic motor, and the blade assembly is mounted on the auger.
8. The herbivore daily ration stirring feeding robot of claim 1, wherein the stirring bin is a conical stirring bin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010370677.XA CN111567425A (en) | 2020-05-06 | 2020-05-06 | Robot for stirring and feeding ration for herbivorous animals |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010370677.XA CN111567425A (en) | 2020-05-06 | 2020-05-06 | Robot for stirring and feeding ration for herbivorous animals |
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| CN111567425A true CN111567425A (en) | 2020-08-25 |
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| CN202010370677.XA Pending CN111567425A (en) | 2020-05-06 | 2020-05-06 | Robot for stirring and feeding ration for herbivorous animals |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586691A (en) * | 2022-02-28 | 2022-06-07 | 珠海一微半导体股份有限公司 | Feeding method of intelligent feeding robot, intelligent feeding robot and system |
| CN115136901A (en) * | 2022-08-31 | 2022-10-04 | 北京国科诚泰农牧设备有限公司 | Intelligent feeding robot for pasture and feeding method |
| WO2023065003A1 (en) * | 2021-10-20 | 2023-04-27 | Molin Giovani | Animal feeding robot with reconfigurable modular structural system |
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| CN104938348A (en) * | 2014-03-25 | 2015-09-30 | 丹斯克敏克帕佩尔股份有限公司 | Motorized feeding vehicle and a method of operating an animal farming system |
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| CN115136901A (en) * | 2022-08-31 | 2022-10-04 | 北京国科诚泰农牧设备有限公司 | Intelligent feeding robot for pasture and feeding method |
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