CN208601533U - A kind of colony house feeding road slot intelligence pusher robot - Google Patents
A kind of colony house feeding road slot intelligence pusher robot Download PDFInfo
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- CN208601533U CN208601533U CN201821070255.5U CN201821070255U CN208601533U CN 208601533 U CN208601533 U CN 208601533U CN 201821070255 U CN201821070255 U CN 201821070255U CN 208601533 U CN208601533 U CN 208601533U
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- driving motor
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- retarder
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- colony house
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Abstract
The utility model belongs to cultivation equipment field, it is a kind of colony house feeding road slot intelligence pusher robot, applied to the livestock of stable breeding in feeding road slot Integral type cowshed, including movable host, battery and controller are installed on host, are provided with pusher around host；Pusher includes being connected to the battery the push driving motor connect, the driving gear driven by push driving motor, the revolving support being meshed with driving gear, the shell for being fixed on revolving support.By the line of travel walking set, pusher pushes forage to the position close to fence 1.Intelligent pusher may be implemented in the utility model, on the basis of saving manpower, save the cost, improves feed efficiency.
Description
Technical field
The utility model belongs to livestock-raising equipment, be related to it is a kind of be applied to push in feeding road slot Integral type colony house herd
The intelligent pusher robot and its control method of grass.
Background technique
In the prior art, when feeding livestock in the large-scale livestock colony house such as cowshed, sheep hurdle, manual type is generallyd use by feed
It pushes near fence.This feed mode efficiency is lower, and needs real-time, round-the-clock progress herbage push, and labour is strong
Spend larger, higher cost.
Utility model content
The purpose of the utility model is to provide a kind of reduction labor intensity, save feeding cost, raising feed efficiency
Intelligent pusher robot.
In order to achieve the above objectives, the technical solution adopted in the utility model is: a kind of colony house feeding road slot intelligence pusher
Device people, the feeding road slot are located at outside fence and are parallel to fence, and for placing feed, intelligent pusher robot includes host, sets
Walking mechanism and pusher on host are equipped with battery and controller on the host, and host has parallel to each other
Bottom surface, intermediate support plate, top surface；Walking mechanism includes by the travel driving motor of storage battery power supply, the first retarder, driving
Wheel, support universal wheel, travel driving motor connect the first retarder, and the first retarder is connected by first shaft coupling with driving wheel
It connects, travel driving motor, the first retarder, first shaft coupling, driving wheel are mounted on bottom surface, driving wheel and support universal wheel row
Walk ground；The pusher is arranged on intermediate support plate, including by storage battery power supply push driving motor, second subtract
Fast device, the driving gear driven by push driving motor and the second retarder, the revolution branch being meshed with the driving gear
Support, be fixed on the shell of revolving support, revolving support has a revolving support inner ring, revolving support outer ring, revolving support inner ring and outer
Shell is fixed, revolving support outer ring and intermediate support plate are fixed, and revolving support inner ring is meshed with driving gear, and driving gear passes through
Second shaft coupling is connected with the second retarder；The start and stop that controller controls travel driving motor, pushes driving motor, Ke Yitong
Cross the control of the usual manners such as relay.
It further, further include self-positioning charging mechanism to charge the battery, the charging mechanism includes being set to master
Machine top is simultaneously connected to the battery charging pole plate, charger, the electronic compass for being set to top surface and the current sensor, setting connect
Infrared tracking sensor in bottom surface, charger are controlled to a power supply, and charger is mutually separated with charging pole plate, and charger is located at circle
It gives up on wall or on fence or on special bracket, is provided with positioning secret note and reduction point beside charger, it is electronic compass, red
Outer tracking sensor is connected with controller.
Intelligent pusher robot is integrally conical.
The travel driving motor, the first retarder, first shaft coupling, driving wheel have two sets, and support universal wheel has one,
Driving wheel respectively symmetrically be set to bottom surface both side, support universal wheel is set on the concave surface parallel with bottom surface, two drivings
Wheel and a support universal wheel distribution triangular in shape.
Further, the lower part of shell is also connected with cyclic annular cleaning board.
Vibrating sensor is fixed on the top surface, vibrating sensor and controller have signal connection, when collision occurs, vibration
Dynamic sensor issues signal to controller, and controller receives signal, to travel driving motor, push driving motor, warning lamp or police
Bell, which issues, executes signal, so that machine is stopped working and sounds an alarm waiting manpower intervention.
The control method of colony house feeding road slot intelligence pusher robot with self-positioning charging mechanism, setting are flat with fence
Capable line of travel is first placed on reduction point, controls the intelligence by controller and push away when the intelligence pusher machine man-hour
Expect that robot starts to work, intelligent pusher robot will be moved from one to other end along line of travel, and be pushed in mobile process
Driving motor also starts running and then shell is driven to carry out turning anticlockwise, will be pushed positioned at from the farther away forage of fence to leaning on
The position of nearly fence, facilitates livestock to feed, to the end after intelligent pusher robot turn to, push driving motor is not run when steering,
Intelligent pusher robot is equally mobile from one to other end after reaching other feeding roads slot, pushes driving motor simultaneously when mobile
It starts running；Electric power detection unit is provided in controller, when detecting intelligent pusher robot not enough power supply, needing to charge
Infrared tracking sensor can be automatically opened while current sensor search positioning secret note being cooperated to carry out charging positioning, after charging complete
Intelligent pusher robot will be returned to reduction point and start the work of next round intelligence pusher.
The beneficial effects of the utility model are: can under the control of the control unit, round-the-clock intelligence pusher livestock,
Livestock feeding cost and labor intensity are reduced, and improves feed efficiency.
Detailed description of the invention
Attached drawing 1 is colony house floor map；
Attached drawing 2 is the host schematic diagram of the utility model；
Attached drawing 3 is the walking mechanism schematic diagram of the utility model；
Attached drawing 4 is the pusher schematic diagram of the utility model；
Attached drawing 5 is the charging schematic diagram of the utility model；
Attached drawing 6 is the course of work schematic diagram of the utility model；
In the figures above: 1, fence 2, line of travel 3, host 31, bottom surface 32, intermediate support plate 33, top surface 4, electricity
Sub- compass 5, battery 6, vibrating sensor 7, current sensor 8, revolving support 81, revolving support inner ring 82, revolution
Support outer ring 9, travel driving motor 10, the first retarder 11, first shaft coupling 12, driving wheel 13, infrared tracking sensing
Device 14, push driving motor 16, the second retarder 17, second shaft coupling 18, driving gear 19, fills support universal wheel 15
Electrode plate 20, charger 21, shell 22, cyclic annular cleaning board.
Specific embodiment
The specific embodiment of the utility model is described in detail with reference to the accompanying drawing.
As shown in Fig. 1, the livestock in the large-scale livestock colony house such as cowshed, sheep hurdle is by 1 stable breeding of fence, two fences 1 it
Between be a passageway.When feeding livestock, forage will be placed on close to the place of two fences 1.Close to fence 1 when ox feeds
Forage is consumed first, while part forage can be pushed into apart from the farther away place of fence 1 by livestock.At this time with regard to needing to enclose distance
The farther away forage in column 1 pushes to 1 side of fence, so as to livestock edible.Therefore, a kind of colony house intelligence pusher robot is designed.
As shown in attached drawing 2 to attached drawing 4.The intelligence pusher robot is integrally conical comprising movable host 3.
Host 3 has bottom surface 31 parallel to each other, intermediate support plate 32, top surface 33, and battery 5 and controller are equipped on host 3.
Walking mechanism is provided on host 3.Walking mechanism includes the movement driving motor 9 and first powered by battery 5
Retarder 10, the movement driving motor 9 as described in two pairs and 10 separately-driven driving wheel of the first retarder 12, one supports ten thousand
To wheel 14, driving wheel 12 is set on bottom surface 31, and support universal wheel 14 is set on the concave surface parallel with bottom surface 31.In this reality
It applies in scheme, battery 5 is set to top surface 33 and lower part extends to the space between top surface 33 and intermediate support plate 32, and movement is driven
Dynamic motor 9 provides power by battery 5, and movement driving motor 9 is connected by key with the first retarder 10, the first retarder 10 and
Driving wheel 12 is connected by first shaft coupling 11, on the bottom surface 31 for being set to host 3 of two driving wheels 12 respectively symmetrically, with branch
Support the distribution triangular in shape of universal wheel 14.
It is provided with pusher on the intermediate support plate 32 of host 3, including the push driving motor being connected with battery 5
15 and second retarder 16, driven by push driving motor 15 and the second retarder 16 driving gear 18, with the active
Revolving support 8 that gear 18 is meshed, the shell 21 for being fixed on revolving support 8.Revolving support outer ring 82 in the present embodiment
Be fixed on the intermediate support plate 32 of host 3, revolving support inner ring 81 be meshed with driving gear 18 drive be fixed on revolution branch
The shell 21 of support inner ring 81 does rotary motion, and driving gear 18 is driven by second shaft coupling 17 and the second retarder 16 and push
Motor 15 is connected, and push driving motor 15 provides power by battery 5.The lower part of shell 21 is also connected with cyclic annular cleaning board
22, while pusher, can forage to be left on cleaning works track, guarantee the cleannes of road slot.
The intelligence pusher robot further includes the self-positioning charging mechanism to charge for battery 5, including is set on host 3
Portion and the charging pole plate 19 being connected with battery 5, the charger 20 separated with charging 19 phase of pole plate, charger 20 and power supply phase
Connection.Electronic compass 4, vibrating sensor 6, current sensor 7 and infrared tracking sensor 13 are provided on host 3.Electronics sieve
Disk 4 and infrared tracking sensor 13 are connected with controller, and electronic compass 4 is set on the top surface 33 of host 3, and infrared tracking passes
Sensor 13 is set to the bottom 31 of host 3.Vibrating sensor 6 is bolted on top surface 33, is pushed away for perceiving external environment to intelligence
Expect the collision of robot, vibrating sensor 6 will generate vibration signal when the intelligent pusher robot in work encounters barrier,
Vibration signal is received by a controller and handles, and controller, which issues execution signal, makes the intelligent concurrent responding of pusher periods of robot operation stop
Report waits manpower intervention.
As shown in Fig. 5.Charger 20 is installed on the wall of colony house side and is connected with power supply, and in charger 20
Side be provided with positioning secret note and reduction point.
The job control process of the intelligence pusher robot: the setting line of travel 2 parallel with fence 1, when the intelligence pusher
Machine man-hour, is first placed on reduction point, controls the intelligence pusher robot by controller and starts to work, intelligently pushes away
Material robot will be moved along line of travel 2 from one to other end, in mobile process push driving motor 15 also start running into
And shell 21 is driven to carry out turning anticlockwise, it will be pushed positioned at from the farther away forage of fence 1 to the position close to fence 1, side
Just livestock feeds, and rear intelligent pusher robot turns to the end (in the case where no active steering structure, is turned by workers
To), push driving motor 15 is not run when steering, reaches after other feeding roads slot intelligence pusher robot equally from one to another
One movement, push driving motor 15 starts simultaneously at operating when mobile；Electric power detection unit is provided in controller, when detecting
Intelligent pusher robot not enough power supply can automatically open infrared tracking sensor 13 while cooperate current sensor when needing to charge
7, which search positioning secret notes, carries out charging positioning, and intelligent pusher robot will be returned to reduction point and start next round intelligence after charging complete
Pusher work.
The embodiment above is only to illustrate the technical ideas and features of the present invention, all according to the spirit of the present invention reality
The equivalent change or modification that matter is done should all cover within the protection scope of the present utility model.
Claims (6)
1. a kind of colony house feeds road slot intelligence pusher robot, which is located at fence (1) outside and is parallel to fence (1),
For placing feed, it is characterized in that: intelligent pusher robot includes host (3), the walking mechanism being located on host and pusher
Structure is equipped with battery (5) and controller on the host (3), and host (3) has bottom surface parallel to each other (31), intermediate supports
Plate (32), top surface (33)；Walking mechanism include by battery (5) power supply travel driving motor (9), the first retarder (10),
Driving wheel (12), support universal wheel (14), travel driving motor (9) connect the first retarder (10), and the first retarder (10) is logical
It crosses first shaft coupling (11) to be connected with driving wheel (12), travel driving motor (9), the first retarder (10), first shaft coupling
(11), driving wheel (12) is mounted on bottom surface (31), and driving wheel (12) and support universal wheel (14) walk in ground；The pusher
Mechanism is arranged on intermediate support plate (32), including push driving motor (15), the second retarder powered by battery (5)
(16), the driving gear (18) and the driving gear driven by push driving motor (15) and the second retarder (16)
(18) revolving support (8) that is meshed, the shell (21) for being fixed on revolving support (8), revolving support (8) have revolving support inner ring
(81), revolving support outer ring (82), revolving support inner ring (81) is fixed with shell (21), revolving support outer ring (82) and centre are propped up
Fagging (32) is fixed, and revolving support inner ring (81) is meshed with driving gear (18), and driving gear (18) passes through second shaft coupling
(17) it is connected with the second retarder (16)；The start and stop that controller controls travel driving motor (9), pushes driving motor (15).
2. a kind of colony house as described in claim 1 feeds road slot intelligence pusher robot, it is characterized in that: further including for battery
(5) the self-positioning charging mechanism to charge, the charging mechanism include being set to host (3) top and being connected with battery (5)
Charging pole plate (19), charger (20), the electronic compass (4) for being set to top surface (33) and current sensor (7), be set to bottom
The infrared tracking sensor (13) in face (31), charger (20) are controlled to a power supply, charger (20) and charging pole plate (19) phase
Separation, charger (20) are located on colony house wall or on fence or on special bracket, and it is fixed to be provided with beside charger (20)
Position secret note and reduction point, electronic compass (4), infrared tracking sensor (13) are connected with controller.
3. a kind of colony house as described in claim 1 feeds road slot intelligence pusher robot, it is characterized in that: whole conical.
4. a kind of colony house as described in claim 1 feeds road slot intelligence pusher robot, it is characterized in that: the hoofing part is electric
Machine (9), the first retarder (10), first shaft coupling (11), driving wheel (12) have two sets, and support universal wheel (14) has one, drive
Driving wheel (12) respectively symmetrically be set to bottom surface (31) two sides, support universal wheel (14) is set to parallel with bottom surface (31) recessed
On face, two driving wheels (12) and support universal wheel (14) distribution triangular in shape.
5. a kind of colony house as described in claim 1 feeds road slot intelligence pusher robot, it is characterized in that: the lower part of shell (21)
It is also connected with cyclic annular cleaning board (22).
6. a kind of colony house as described in claim 1 feeds road slot intelligence pusher robot, it is characterized in that: fixed on top surface (33)
Have vibrating sensor (6), vibrating sensor (6) and controller have signal connection, and when collision occurs, vibrating sensor (6) is to control
Device processed issues signal, and controller receives signal, issues to travel driving motor (9), push driving motor (15), warning lamp or alarm bell
Signal is executed, so that machine is stopped working and sounds an alarm waiting manpower intervention.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821070255.5U CN208601533U (en) | 2018-07-06 | 2018-07-06 | A kind of colony house feeding road slot intelligence pusher robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821070255.5U CN208601533U (en) | 2018-07-06 | 2018-07-06 | A kind of colony house feeding road slot intelligence pusher robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208601533U true CN208601533U (en) | 2019-03-15 |
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ID=65668171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821070255.5U Active CN208601533U (en) | 2018-07-06 | 2018-07-06 | A kind of colony house feeding road slot intelligence pusher robot |
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| CN (1) | CN208601533U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805553A (en) * | 2020-06-23 | 2020-10-23 | 丰疆智能(深圳)有限公司 | Pushing robot, pushing system and pushing management method |
| CN112450100A (en) * | 2019-12-30 | 2021-03-09 | 丰疆智能(深圳)有限公司 | Pushing equipment and charging method thereof |
| CN112461226A (en) * | 2020-03-23 | 2021-03-09 | 丰疆智能科技股份有限公司 | Indoor navigation system and indoor navigation method based on vision |
| WO2021135043A1 (en) * | 2019-12-30 | 2021-07-08 | 丰疆智能科技股份有限公司 | Material pushing apparatus and charging method thereof, and material pushing machine and material pushing method thereof |
-
2018
- 2018-07-06 CN CN201821070255.5U patent/CN208601533U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112450100A (en) * | 2019-12-30 | 2021-03-09 | 丰疆智能(深圳)有限公司 | Pushing equipment and charging method thereof |
| WO2021135043A1 (en) * | 2019-12-30 | 2021-07-08 | 丰疆智能科技股份有限公司 | Material pushing apparatus and charging method thereof, and material pushing machine and material pushing method thereof |
| CN112450100B (en) * | 2019-12-30 | 2024-04-12 | 丰疆智能(深圳)有限公司 | Pushing equipment and charging method thereof |
| CN112461226A (en) * | 2020-03-23 | 2021-03-09 | 丰疆智能科技股份有限公司 | Indoor navigation system and indoor navigation method based on vision |
| CN112461226B (en) * | 2020-03-23 | 2023-05-09 | 丰疆智能科技股份有限公司 | Indoor navigation system and indoor navigation method based on vision |
| CN111805553A (en) * | 2020-06-23 | 2020-10-23 | 丰疆智能(深圳)有限公司 | Pushing robot, pushing system and pushing management method |
| WO2021258521A1 (en) * | 2020-06-23 | 2021-12-30 | 丰疆智能(深圳)有限公司 | Material pushing robot, material pushing system, and material pushing management method |
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