CN115299367A - Sheep hurdle pushes away grass feeding robot - Google Patents
Sheep hurdle pushes away grass feeding robot Download PDFInfo
- Publication number
- CN115299367A CN115299367A CN202210956518.7A CN202210956518A CN115299367A CN 115299367 A CN115299367 A CN 115299367A CN 202210956518 A CN202210956518 A CN 202210956518A CN 115299367 A CN115299367 A CN 115299367A
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- 241001494479 Pecora Species 0.000 title claims abstract description 46
- 244000025254 Cannabis sativa Species 0.000 title claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000009471 action Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 claims description 5
- 241001127637 Plantago Species 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 3
- 239000004459 forage Substances 0.000 abstract description 24
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 244000144972 livestock Species 0.000 description 8
- 229910052744 lithium Inorganic materials 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 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
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- 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
Abstract
The invention provides a grass pushing and feeding robot for a sheep cot, and belongs to the field of agricultural intelligent devices. The problems that part of forage falls off in the forage feeding process of the sheep hurdles in large-scale sheep farms, the sheep hurdles cannot touch the forage when going out of a district, the manual cleaning cost is high, the time consumption is long and the like are solved. The fixed push handle assembly, the swinging push handle assembly and the follow-up push handle assembly are sequentially connected; the lower brush of the front push hand is installed at the bottom of the fixed front push hand of the fixed push hand assembly, the lower brush of the swing push hand is installed at the bottom of the swing push hand assembly, the swing push hand driving assembly drives the swing push hand to conduct lateral cleaning, the lower brush of the follow-up push hand is installed below the follow-up push hand of the follow-up push hand assembly, and a limiting rod mechanism is connected between the vehicle body and the follow-up push hand. The invention utilizes the motor fixed on the walking chassis to drive the connecting rod, the connecting rod pushes and pulls the sectional type side push plate, when the robot walks, the sectional type side push plate swings back and forth, and scattered forage is pushed back to the vicinity of the feeding railing for sheep to eat.
Description
Technical Field
The invention belongs to the field of agricultural intelligent devices, and particularly relates to a grass pushing and feeding robot for a sheep hurdle.
Background
At present, in the animal husbandry developed based on the modern agricultural background, manual labor is mostly used as service support, semi-automatic service equipment is introduced into a small number of animal husbandry places with large scales, and the semi-automatic service equipment still needs to be swept back to the two sides of the fence by manual tools for aisle arrangement work during feeding of forage in a sheep shed in a large sheep farm. When the head stretches out from the rail in the feed process of livestock and sheep, the head can push the forage from the rail on both sides of the passageway to the middle passageway, so that the livestock and sheep can not touch the forage, if the forage is not pushed back to the feed position timely, the forage goes bad, pollutes the sheep house and causes the waste of the forage, the input manual work is long in sweeping back the processing time, the efficiency is low, and the cost is increased.
Disclosure of Invention
In view of the above, the invention provides the sheep pen grass pushing and feeding robot, which aims to solve the problems existing in the sheep pen feeding technology under the existing conditions, namely the problems that part of forage falls off in the feeding process of forage fed by the sheep pen in a large-scale sheep farm, the forage cannot be fed by a user when the user leaves a zone, the manual cleaning cost is high, the time consumption is long, and the like, and the economic development benefits of enterprises are influenced to a certain extent.
In order to achieve the purpose, the invention adopts the following technical scheme: a grass pushing and feeding robot for a sheep pen comprises a vehicle body, a fixed pushing assembly, a swinging pushing assembly and a follow-up pushing assembly, wherein the fixed pushing assembly is fixed in front of the vehicle body and is used for pushing and sweeping by walking of the vehicle body, and the fixed pushing assembly is sequentially connected with the swinging pushing assembly and the follow-up pushing assembly;
the fixed pushing assembly comprises a fixed front pushing handle and a lower brush of the front pushing handle, the lower brush of the front pushing handle is installed at the bottom of the fixed front pushing handle, the swing pushing handle assembly comprises a swing pushing handle, a lower brush of the swing pushing handle and a swing pushing handle driving assembly, the lower brush of the swing pushing handle is installed at the bottom of the swing pushing handle, the swing pushing handle driving assembly drives the swing pushing handle to carry out lateral cleaning, the follow-up swinging assembly comprises a follow-up pushing handle, a lower brush of the follow-up pushing handle and a limiting rod mechanism, the lower brush of the follow-up pushing handle is installed below the follow-up pushing handle, and the limiting rod mechanism is connected between the vehicle body and the follow-up pushing handle.
Furthermore, the swing pushing handle driving assembly comprises a swing power source speed reducing motor, a swing crank and a driving connecting rod, wherein the swing power source speed reducing motor drives the swing crank to perform elliptic track motion, and the elliptic track motion is used for dragging the executing element together with the driving connecting rod to form transverse action cleaning on the right side of the vehicle body.
Furthermore, the swing pushing handle assembly and the follow-up pushing handle assembly are connected through a plurality of elastic self-return hinges.
Furthermore, the follow-up pushing hand assembly is connected with an elastic supporting wheel, and the elastic supporting wheel provides better elastic support for the follow-up swinging hand assembly to adapt to the ground in a follow-up mode.
Furthermore, four driving wheel sets are mounted at four corners of the vehicle body, and the vehicle body completes linear or curvilinear differential motion by means of the mutual matching rotation of the driving wheel sets.
Further, the automobile body includes the vehicle chassis, goes up shell, barrel head body, top layer protection casing, antenna housing and automobile body inferior valve, the vehicle chassis is covered with the automobile body inferior valve, the shell is installed at automobile body inferior valve top, go up and install the barrel head body on the shell, install the top layer protection casing on the barrel head body, install antenna housing on the top layer protection casing, install antenna circuit board in the antenna housing, antenna circuit board and electric wire positioning system control circuit board are connected and are taken the position of fixing a position the automobile body often with the detecting system of outside place covering.
Furthermore, a PLC control module is further installed on the chassis, two magnetic stripe sensors are installed at the bottom of the chassis and are matched with the magnetic stripes in the site and the communication transmitter to realize cruise motion of the trolley according to a preset track.
Furthermore, a telescopic charging contact socket is fixed on the chassis, the trolley is controlled by the PLC module to be charged if needed, after reaching a specified position, an electric telescopic rod of the telescopic charging contact socket extends out to contact a charging source, after charging stops, the electric telescopic rod retracts, and the trolley continues to perform a cleaning task or is ready.
Furthermore, a plurality of two-dimensional laser sensors are installed below the top layer protective cover, when a task is executed, if the front or the rear of the robot meets an obstacle, the two-dimensional laser sensors cover 360 degrees for distance measurement, and the front one-dimensional laser obstacle avoidance sensors and the rear one-dimensional obstacle avoidance laser sensors are carried with the two-dimensional laser obstacle avoidance sensors to feed back signals to the control system for logic analysis, so that whether the robot continues to walk or stops is judged.
Furthermore, a plurality of one-dimensional positioning photoelectric sensors are arranged on the top layer protective cover and cooperate with a fixed point reflecting plate in the field to timely correct the fixed point of the robot.
Compared with the prior art, the grass pushing and feeding robot for the sheep hurdle, disclosed by the invention, has the beneficial effects that:
(1) Aiming at the work of feeding forage in the sheep hurdle in the field, the invention develops a novel sheep hurdle forage pushing and feeding robot.
(2) The full-automatic push-back arrangement mode for feeding forage in the sheep house can be realized by applying the full-automatic push-back arrangement mode, so that the working efficiency is improved to a great extent, the environmental condition of the sheep house is improved, and the feeding cost is reduced.
(3) The invention can realize an automatic unmanned management mode, and the robot can walk and navigate by means of the magnetic strip sensor and the magnetic strips which are arranged on the feeding passageway in advance.
(4) The robot power source adopts an energy-saving and environment-friendly lithium battery pack, and can meet the requirement of load driving for more than 3 hours after being charged for 8 hours once.
(5) The invention utilizes the direct current deceleration motor to control the walking and turning of the robot; the transverse pushing and sweeping action of the robot is controlled by the direct current speed reducing motor, and during the walking process of the robot, the sectional type side pushing plate repeatedly pushes and sweeps forage, and the scattered forage is pushed back to the rail accessory for the sheep to eat.
(6) The robot adopts the sectional type side push plates to repeatedly push and sweep, so that forage brought to the middle passageway when the head of a livestock sheep extends out of the fence to eat in the sheep shed in the feeding process of the livestock sheep is timely pushed back to feeding positions at two sides of the passageway, and the forage is sequentially pushed to the two sides in a circulating manner to form reciprocating motion.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic axial view showing the overall appearance of a grass pushing and feeding robot for a sheep hurdle according to the present invention;
FIG. 2 is an enlarged, fragmentary, isometric view of a portion of the upper housing of FIG. 1 with portions of the housing removed;
FIG. 3 is a schematic view of the push plate of FIG. 1 with the upper housing removed from the push plate at its maximum expanded axial side;
FIG. 4 is a schematic view of the push plate of FIG. 1 with the upper housing removed and the push plate closed to the minimum axial side;
FIG. 5 is a schematic bottom chassis view of FIG. 1;
reference numbers in the figures: 1-fixing a front pushing hand, 2-lower front pushing hand brush, 3-soft transition plate, 4-swinging pushing hand, 5-lower swinging pushing hand brush, 6-follow-up pushing hand, 7-lower follow-up pushing hand brush, 8-limiting rod mechanism, 9-upper shell, 10-barrel cover body, 11-top layer protective cover, 12-antenna shell, 13-antenna circuit board, 14-one-dimensional photoelectric sensor, 15-two-dimensional laser sensor, 16-emergency stop button, 17-digital display screen belt serial port, 18-sensor sponge seat, 19-brush holder supporting plate, 20-rotating shaft hinge, 21-connecting rod mounting seat, 22-transmission shaft, 23-fisheye joint bearing, 24-driving connecting rod, 25-elastic self-return hinge, 26-opening and closing limiting and polyurethane anti-collision plate 27-driven connecting rod, 28-elastic supporting wheel, 29-rotating shaft sliding block, 30-anti-collision spring damping mechanism, 31-one-dimensional obstacle avoidance laser sensor, 32-telescopic charging contact socket, 33-driving power bin, 34-battery bin position ribbon, 35-lithium battery, 36-swing power source speed reduction motor, 37-swing crank, 38-circuit board mounting seat 39-obstacle avoidance laser sensor seat, 40-laser code scanning lens, 41-sling mounting rod, 42-door calling system circuit board, 43-electric wire positioning system control circuit board, 44-one-dimensional laser obstacle avoidance sensor, 45-pull ring sling bin, 46-swing position detection proximity switch sensor, 47-guide pillar fixing plate, 48-an electric telescopic rod mounting seat, 49-an electric telescopic rod, 50-a vehicle body lower shell, 51-a vehicle chassis, 52-a sensor rear mounting rack, 53-a magnetic stripe sensor, 54-a driving wheel set, 55-a forward-pushing suspension support arm, 56-a sensor front mounting rack and 57-a PLC control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
Referring to fig. 1-5 to illustrate the embodiment, the grass pushing and feeding robot for the sheep cot comprises a vehicle body, a fixed pushing assembly, a swinging pushing assembly and a follow-up pushing assembly, wherein the fixed pushing assembly is fixed in front of the vehicle body and used for pushing and sweeping by walking of the vehicle body, and the fixed pushing assembly is sequentially connected with the swinging pushing assembly and the follow-up pushing assembly;
the fixed pushing hand assembly comprises a fixed front pushing hand 1 and a front pushing hand lower brush 2, the fixed front pushing hand 1 is provided with the front pushing hand lower brush 2 at the bottom, the swing pushing hand assembly comprises a swing pushing hand 4, a swing pushing hand lower brush 5 and a swing pushing hand driving assembly, the swing pushing hand lower brush 5 is arranged at the bottom of the swing pushing hand 4, the swing pushing hand driving assembly drives the swing pushing hand 4 to carry out lateral cleaning, the follow-up swinging hand assembly comprises a follow-up pushing hand 6, a follow-up pushing hand lower brush 7 and a limiting rod mechanism 8, the follow-up pushing hand lower brush 7 is arranged below the follow-up pushing hand 6, and the limiting rod mechanism 8 is connected between the vehicle body and the follow-up pushing hand 6.
The robot adopts the sectional type side push plates to repeatedly push and sweep, forage which is brought to the middle passageway when the head of a livestock sheep extends out of the fence to feed in the sheep house in the feeding process is pushed back to the feeding positions at the two sides of the passageway in time, and the forage is sequentially pushed to the two sides in a circulating manner to form reciprocating motion.
The swing pushing handle driving component comprises a swing power source speed reducing motor 36, a swing crank 37 and a driving connecting rod 24, wherein the swing power source speed reducing motor 36 drives the swing crank 37 to move in an elliptical orbit and together with the driving connecting rod 24 to drag an executing element, so that transverse action cleaning on the right side of the vehicle body is realized.
The swing pusher assembly and the follower pusher assembly are connected by a plurality of elastic self-return hinges 25.
The follow-up pushing hand assembly is connected with an elastic supporting wheel 28, and the elastic supporting wheel 28 provides better elastic support for the follow-up swinging hand assembly to adapt to the ground in a follow-up mode.
The pushing hand is divided into three parts: the device comprises a fixed pushing handle assembly, a swinging pushing handle assembly and a follow-up pushing handle assembly.
The fixed pushing handle subassembly in plantago includes fixed preceding pushing handle 1 and preceding pushing handle lower hair brush 2, pushes away through the walking of automobile body and sweeps.
The swinging pushing handle assembly comprises a swinging pushing handle 4 and a lower swinging pushing handle brush 5 which form an action executing element, a swinging crank 37 is driven by a swinging power source speed reducing motor 36 to move in an elliptical track, and the swinging power source speed reducing motor and a driving connecting rod 24 are used for dragging the executing element to form transverse action cleaning on the right side of the vehicle body.
The follow-up hand-swinging component comprises a follow-up pushing hand 6, a lower follow-up pushing hand brush 7 and a limiting rod mechanism 8, the swing pushing hand component is connected through three elastic self-return hinges 25 to carry out follow-up cleaning, the swing pushing hand component can be recovered under stress of the follow-up hand-swinging component, hard contact with the head of a livestock sheep is prevented from hurting the livestock sheep, and the transverse width of the livestock sheep is controlled by controlling the unfolding and the recovery of the two pushing hands on the side surface. The red polyurethane elastomeric support wheels 28 provide better elastomeric support for the follow-up pendulum assembly to follow the ground.
Four driving wheel sets 54 are installed at four corners of the vehicle body, and the vehicle body completes linear or curvilinear differential motion by means of the mutually matched rotation of the driving wheel sets 54, so that the transfer of motion tracks is greatly reduced, and the vehicle is more flexible and reliable.
The automobile body includes vehicle chassis 51, last shell 9, bung body 10, top layer protection casing 11, antenna housing 12 and automobile body inferior valve 50, vehicle chassis 51 is covered with automobile body inferior valve 50, shell 9 is installed at automobile body inferior valve 50 top, upward install the bung body 10 on the shell 9, install top layer protection casing 11 on the bung body 10, install antenna housing 12 on the top layer protection casing 11, install antenna circuit board 13 in the antenna housing 12, antenna circuit board 13 is connected with electric wire positioning system control circuit board 43 and is taken the position of location automobile body often with the detecting system of outside place covering.
The emergency stop button 16 and the digital display screen with the serial port 17 are arranged on the upper portion of the upper shell 9, the emergency stop button 16 is used for power-on and power-off of the robot, and the digital display screen 17 is used for displaying the electric quantity of the battery.
Still be equipped with PLC control module 57 on the vehicle bottom dish 51, two magnetic stripe sensors 53 are installed to vehicle bottom dish 51 bottom, and magnetic stripe sensor 53 can detect the magnetic stripe of laying in advance in the place for the robot can be along predetermineeing the magnetic stripe and patrol the mark motion.
The chassis 51 is fixed with a telescopic charging contact socket 32, the trolley is controlled by a PLC control module 57 when charging is needed, after reaching a specified position, an electric telescopic rod 49 of the telescopic charging contact socket 32 extends out to contact a charging source, after charging stops, the electric telescopic rod 49 retracts, the trolley continues to perform a cleaning task or stand-by,
a plurality of two-dimensional laser sensors 15 are installed below the top layer protection cover 11, when a task is executed, if the front or the rear of the robot meets an obstacle, the two-dimensional laser sensors cover 360 degrees for distance measurement, a plurality of front one-dimensional laser obstacle avoidance sensors 44 and rear one-dimensional obstacle avoidance laser sensors 31 are carried to feed back signals to a control system for logic analysis, and whether walking or stopping is continued or not is judged.
The lithium batteries are used in groups and placed in the middle of the vehicle chassis 51 and fixed by a three-small-one-large battery bin position binding belt 34.
Two-dimensional laser sensors 15 are arranged on the side of the top layer protective cover 11, three one-dimensional laser obstacle avoidance sensors 44 are arranged in the front of the vehicle, and one-dimensional obstacle avoidance laser sensor 31 is arranged behind the vehicle and used for judging whether obstacles exist at different heights.
The top layer protective cover 11 is provided with a plurality of one-dimensional positioning photoelectric sensors 14 which cooperate with a fixed-point reflecting plate in a field to timely correct the fixed-point position of the robot.
The laser code scanning lens 40 reads a two-dimensional code label on the gate, the number of the sheepcote house is identified, the gate is opened automatically, and the robot enters or exits the sheepcote automatically.
The swing position detecting proximity switch sensor 46 is used to determine whether the segmented swing pusher 4 and the follower pusher 6 are retracted.
The one-dimensional photoelectric sensor 14 and the two-dimensional laser sensor 15 are used to detect the distance of the obstacle to the robot.
The specific operation process and the working principle of the sheep hurdle grass pushing and feeding robot are as follows:
after the robot is started, the robot moves forward along the working route, meanwhile, the power source speed reducing motor 36 drives the swinging push hand lower hair brush 5 through the driving connecting rod 24 to swing in a reciprocating mode, scattered forage is returned to the position close to the railing, and the forage is supplied to sheep to eat. When the work is finished, the swinging push handle lower hair brush 5 and the follow-up push handle lower hair brush 7 are retracted to be close to the machine body shell, and the swinging push handle lower hair brush and the follow-up push handle lower hair brush are driven into a charging area to be automatically charged and stand by.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.
Claims (10)
1. The utility model provides a sheep hurdle pushes away grass feeding robot which characterized in that: the device comprises a vehicle body, a fixed pushing hand assembly, a swinging pushing hand assembly and a follow-up pushing hand assembly, wherein the fixed pushing hand assembly is fixed in front of the vehicle body and is used for pushing and sweeping by walking of the vehicle body, and the fixed pushing hand assembly is sequentially connected with the swinging pushing hand assembly and the follow-up pushing hand assembly;
the fixed pushing hands component comprises a fixed front pushing hands (1) and a front pushing hands lower brush (2), the fixed front pushing hands (1) are provided with the front pushing hands lower brush (2) in the bottom, the swing pushing hands component comprises a swing pushing hands (4), a swing pushing hands lower brush (5) and a swing pushing hands driving component, the swing pushing hands lower brush (5) is arranged at the bottom of the swing pushing hands (4), the swing pushing hands driving component drives the swing pushing hands (4) to carry out lateral cleaning, the follow-up swinging hands component comprises a follow-up pushing hands (6), a follow-up pushing hands lower brush (7) and a limiting rod mechanism (8), the follow-up pushing hands lower brush (7) are arranged below the follow-up pushing hands (6), and the limiting rod mechanism (8) are connected between the vehicle body and the follow-up pushing hands (6).
2. The sheep hurdle push grass feeding robot of claim 1, wherein: the swing pushing handle driving assembly comprises a swing power source speed reducing motor (36), a swing crank (37) and a driving connecting rod mechanism (24), wherein the swing power source speed reducing motor (36) drives the swing crank (37) to move in an elliptic track, and the swing power source speed reducing motor and the driving connecting rod mechanism (24) are used for dragging an executing element to clean the transverse action on the right side of the vehicle body.
3. The sheep hurdle push grass feeding robot of claim 1, which is characterized in that: the swing pushing handle assembly and the follow-up pushing handle assembly are connected through a plurality of elastic self-return hinges (25).
4. The sheep hurdle push grass feeding robot of claim 1 or 3, wherein: the follow-up pushing hand assembly is connected with an elastic supporting wheel (28), and the elastic supporting wheel (28) provides elastic support for the follow-up swinging hand assembly to adapt to the ground in a follow-up mode.
5. The sheep hurdle push grass feeding robot of claim 1, wherein: and driving wheel sets (54) are arranged at four corners of the vehicle body, and the vehicle body completes linear or curvilinear differential motion by means of the mutual matching rotation of the driving wheel sets (54).
6. The sheep hurdle push grass feeding robot of claim 1, wherein: the automobile body includes vehicle chassis (51), goes up shell (9), bucket cover body (10), top layer protection casing (11), antenna housing (12) and automobile body inferior valve (50), vehicle chassis (51) are gone up to be covered with automobile body inferior valve (50), shell (9) are installed at automobile body inferior valve (50) top, upward install bucket cover body (10) on shell (9), install top layer protection casing (11) on bucket cover body (10), install antenna housing (12) on top layer protection casing (11), install antenna circuit board (13) in antenna housing (12), antenna circuit board (13) are connected with electric wire positioning system control circuit board (43) and are taken the position of the detecting system of covering with outside place location automobile body often.
7. The sheep hurdle push grass feeding robot of claim 6, wherein: still be equipped with PLC control module (57) on vehicle bottom dish (51), two magnetic stripe sensors (53) are installed to vehicle bottom dish (51) bottom, use with magnetic stripe and communication transmitter cooperation together in the place, realize that the dolly cruises according to predetermineeing the orbit and moves.
8. The sheep hurdle push grass feeding robot of claim 6, wherein: a telescopic charging contact socket (32) is fixed on the chassis (51), the trolley is controlled by a PLC control module (57) if charging is needed, after the trolley reaches a specified position, an electric telescopic rod (49) of the telescopic charging contact socket (32) stretches out to contact a charging source, after charging is stopped, the electric telescopic rod (49) retracts, and the trolley continues to perform a cleaning task or is ready.
9. The sheep hurdle push grass feeding robot of claim 6, wherein: a plurality of two-dimensional laser sensors (15) are installed to top layer protection casing (11) below, and when the executive task, if the robot place ahead or rear met the barrier, a plurality of two-dimensional laser sensors (15) covered 360 and range finding, carried a plurality of plantago one-dimensional laser and kept away barrier sensor (44) and car back one-dimensional and kept away barrier laser sensor (31) feedback signal to control system and carry out logic analysis, judge whether continue walking or stop.
10. The sheep hurdle push grass feeding robot of claim 6, which is characterized in that: a plurality of one-dimensional positioning photoelectric sensors (14) are mounted on the top layer protective cover (11) and cooperate with a fixed point reflecting plate in a field to correct the fixed point of the robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210956518.7A CN115299367A (en) | 2022-08-10 | 2022-08-10 | Sheep hurdle pushes away grass feeding robot |
| CN202321433974.XU CN220023835U (en) | 2022-08-10 | 2023-06-07 | Sheep hurdle grass pushing feeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210956518.7A CN115299367A (en) | 2022-08-10 | 2022-08-10 | Sheep hurdle pushes away grass feeding robot |
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| Publication Number | Publication Date |
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| CN115299367A true CN115299367A (en) | 2022-11-08 |
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| CN202210956518.7A Pending CN115299367A (en) | 2022-08-10 | 2022-08-10 | Sheep hurdle pushes away grass feeding robot |
| CN202321433974.XU Active CN220023835U (en) | 2022-08-10 | 2023-06-07 | Sheep hurdle grass pushing feeding robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202321433974.XU Active CN220023835U (en) | 2022-08-10 | 2023-06-07 | Sheep hurdle grass pushing feeding robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2995505A1 (en) * | 2012-09-19 | 2014-03-21 | Jeantil | PUSHING DEVICE FOR PUSHING FOODS ON THE GROUND AND VEHICLE EQUIPPED WITH SUCH A PUSHING DEVICE |
| CN208191808U (en) * | 2018-05-23 | 2018-12-07 | 张国拴 | A kind of cattle farm hopper pushes away grass reason slot equipment automatically |
| CN208228042U (en) * | 2018-05-21 | 2018-12-14 | 张国拴 | Full-automatic charging Tui Caoli slot robot |
| CN208912614U (en) * | 2018-06-29 | 2019-05-31 | 甘肃润沣牧业发展有限公司 | A kind of cowshed crib forage flyback device |
| CN209964907U (en) * | 2019-05-13 | 2020-01-21 | 哈尔滨天河自动化设备有限公司 | Clear excrement robot in pig house |
-
2022
- 2022-08-10 CN CN202210956518.7A patent/CN115299367A/en active Pending
-
2023
- 2023-06-07 CN CN202321433974.XU patent/CN220023835U/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2995505A1 (en) * | 2012-09-19 | 2014-03-21 | Jeantil | PUSHING DEVICE FOR PUSHING FOODS ON THE GROUND AND VEHICLE EQUIPPED WITH SUCH A PUSHING DEVICE |
| CN208228042U (en) * | 2018-05-21 | 2018-12-14 | 张国拴 | Full-automatic charging Tui Caoli slot robot |
| CN208191808U (en) * | 2018-05-23 | 2018-12-07 | 张国拴 | A kind of cattle farm hopper pushes away grass reason slot equipment automatically |
| CN208912614U (en) * | 2018-06-29 | 2019-05-31 | 甘肃润沣牧业发展有限公司 | A kind of cowshed crib forage flyback device |
| CN209964907U (en) * | 2019-05-13 | 2020-01-21 | 哈尔滨天河自动化设备有限公司 | Clear excrement robot in pig house |
Also Published As
| Publication number | Publication date |
|---|---|
| CN220023835U (en) | 2023-11-17 |
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Application publication date: 20221108 |
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