CN216906374U - Material throwing track robot - Google Patents

Abstract

The utility model relates to the field of crawler robots and discloses a material throwing crawler robot which comprises a crawler chassis, a bottom plate, a material throwing device, an industrial personal computer and a laser radar assembly. The material feeding device and the laser radar assembly are arranged on a bottom plate, the industrial personal computer is arranged in the crawler chassis, and the bottom plate is arranged on the crawler chassis; the material feeding device comprises a feeding barrel, a stirring mechanism and a discharging device; the stirring mechanism is arranged in the feeding barrel and used for stirring materials; a discharge hole is formed at the bottom of the feeding barrel; the discharging device is connected with the discharging port and is used for ejecting the stirred material; the industrial personal computer is respectively and electrically connected with the material feeding device, the laser radar component and the crawler chassis. The utility model achieves the effects of full-automatic mixing, stirring and throwing of various materials, automatic material fixed-point throwing and area covering throwing, reduces the manual participation degree of material throwing and improves the production efficiency.

Description

Material throwing track robot

Technical Field

The utility model relates to the field of tracked robots, in particular to a material throwing tracked robot.

Background

A tracked robot mainly refers to a robot formed by combining an execution device with a specific function and a tracked chassis. The crawler chassis has good advancing and steering capacity, is used as a common mobile platform and is widely applied to the operation environment with severe walking conditions.

Lidar is a sensor that uses laser light to achieve precise ranging. The lidar emits laser pulses which are reflected back when they encounter surrounding objects, and by measuring the time required for the laser to reach and return to each object, the precise distance to the object can be calculated. Laser radars emit thousands of pulses per second, and by collecting these distance measurements, a three-dimensional environmental model, i.e., a point cloud, can be constructed.

Patent documents: CN 112167079A-a full-automatic livestock breeding throws and feeds equipment and its method, has specifically disclosed automobile body and plate body, the automobile body includes storage bucket, base plate, support casing, laser sensor and motor drive's track chassis; the plate body comprises a feeding trough and an electromagnetic track strip. The application AGV principle sets up its coordinate position through laser sensor discernment a plurality of electromagnetism track strip location marker in its home range to control the track chassis motion, realize that the integrated device cruises along positioner's route automation, and puts in the fodder in the way, lays predetermined electromagnetism track strip and can satisfy the automation of putting in the device cruises and puts in the fodder.

The feeding equipment has the following defects: firstly, an electromagnetic track bar needs to be laid on a farm to realize automatic cruising; secondly, the feed needs to be stirred in advance and then poured into a storage barrel for subsequent feed feeding; thirdly, the storage barrel is only provided with the funnel, and the fodder flows to the trough through the dead weight, can't sprinkle the fodder, throws the material mode and restricts.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art, and provides the material throwing track robot, which achieves the effects of full-automatic mixing, stirring and throwing of various materials, automatic material fixed-point throwing and area covering throwing, reduces the manual participation degree of material throwing and improves the production efficiency.

The utility model adopts the technical scheme that a material feeding crawler robot comprises a crawler chassis, a bottom plate, a material feeding device, an industrial personal computer and a laser radar assembly. The material feeding device and the laser radar assembly are arranged on a bottom plate, the industrial personal computer is arranged in the crawler chassis, and the bottom plate is arranged on the crawler chassis; the material feeding device comprises a feeding barrel, a stirring mechanism and a discharging device; the stirring mechanism is arranged in the feeding barrel and used for stirring materials; a discharge hole is formed at the bottom of the feeding barrel; the discharging device is connected with the discharging port and is used for ejecting the stirred material; the industrial personal computer is respectively and electrically connected with the material feeding device, the laser radar component and the crawler base plate.

When the automatic feeding device is used, materials are placed into the feeding barrel, and then the robot is started. And the industrial personal computer receives feedback information of the laser radar assembly and controls the material feeding device and the crawler chassis according to internal program setting. The laser radar component continuously scans the surrounding environment of the robot to construct a three-dimensional environment model. The three-dimensional environment model is combined with a related algorithm, so that the robot can autonomously perform path planning, putting point identification and obstacle avoidance in a certain space, and thus, autonomous material fixed-point putting and area coverage putting are realized. The crawler chassis moves according to the path given by the industrial personal computer, and automatically bypasses obstacles on the path. A stirring mechanism in the material feeding device stirs and mixes the materials; the discharging device works when a throwing instruction is given, and automatically sprays the materials in the throwing barrel to finish the throwing of the materials. After the materials in the material feeding device are consumed, the robot can automatically return to a preset point to supplement the materials.

Preferably, the material throwing device comprises a partition plate and a control valve; the upper part of the feeding barrel is provided with an opening, and the interior of the feeding barrel is divided into different areas through a partition plate; the upper layer of the feeding barrel is at least two raw material areas which are arranged in parallel; the middle layer of the feeding barrel is a stirring area and is provided with the stirring mechanism; the lower layer of the feeding barrel is a finished product area, and the bottom of the feeding barrel is provided with the discharge hole; control valves for controlling the blanking are respectively arranged between the upper layer, the middle layer and the lower layer.

Three control valves in the feeding barrel are in a closing state by default, and a raw material area, a stirring area and a finished product area in the feeding barrel are mutually independent and separated. Materials such as feed, liquid medicine, water and the like are respectively added into a plurality of raw material areas which are arranged in parallel for temporary storage. When the material is put in, the materials are stirred and mixed, so that the materials are mixed as required, and the problem of waste caused by incomplete use after the excessive stirring and mixing of the feed at a time is avoided. The control valve is opened after being electrified, and the material in the upper area in the feeding barrel can flow into the lower area. The quantity of the materials flowing out can be indirectly controlled by controlling the power-on time of the control valve, and the quantitative mixing of the materials according to the proportion is realized.

The specific working process of the material feeding device is as follows: after the robot is started, the control valve below the raw material area is opened for a certain time in order under the control of the industrial personal computer and then closed, and various materials simultaneously or sequentially and quantitatively enter the stirring area. The stirring mechanism is electrified and started, and the mixing and stirring are stopped after a period of time. And opening a control valve below the stirring area for a certain time and then closing the control valve, and enabling the stirred material to enter a finished product area. After a material throwing instruction sent by the industrial personal computer is received, the discharging device is started, and the discharging device ejects the material in the finished product area to finish one-time material throwing. The material feeding device automatically repeats the processes to complete multiple material feeding. In addition, discharging device during operation, rabbling mechanism can work in advance, waits that the finished product district does not have the material after, and the control valve below the stirring district is opened, and the material after the stirring gets into the finished product district immediately, reduces the latency of next input.

Preferably, discharging device includes single-screw pump and nozzle, single-screw pump's input with the discharge gate is connected, and single-screw pump's output is connected with the nozzle. For the thick pasty feed after mixing, the discharging device adopts a single-screw pump form. The single-screw pump is fixedly arranged on the bottom plate, and the nozzle protrudes out of the edge of the bottom plate. And after the single-screw pump is electrified, the screw rotates to spirally take out the materials in the finished product area, and finally the materials are thrown through the nozzle to finish the material throwing.

Furthermore, the nozzle protrudes out of the crawler chassis, and the direction of the nozzle is perpendicular to the advancing direction of the crawler chassis. In the breed trade, the fodder generally need be put into the manger that the rectangular was arranged, and the nozzle is located the direction of advance's of robot side, puts in the manger with the material more easily, and the practicality is strong. The nozzle protrudes out of the crawler base plate for a certain distance, so that the thrown material can be further prevented from splashing to the surface of the robot.

Preferably, the advancing direction of the crawler chassis is a head, and the laser radar assembly is arranged at the head of the bottom plate in a centered mode. The head is arranged in the middle, so that the interference influence of the material feeding device on the laser radar component during scanning of the surrounding environment is reduced.

Further, the head of the crawler chassis is also provided with an ultrasonic assembly; the detection direction of the ultrasonic assembly is inclined downwards; the ultrasonic assembly is electrically connected with the industrial personal computer. Because the laser radar subassembly is located the bottom plate, and the bottom plate is located crawler chassis's top, the laser radar subassembly can't scan the partial region that crawler chassis is close to the head, scans the blind area promptly. The ultrasonic wave component is used as the supplement of the laser radar component and is responsible for scanning the scanning blind area. The ultrasonic assembly is arranged at the position, close to the ground, of the head of the crawler chassis, and the detection direction of the ultrasonic assembly is inclined downwards and faces to the advancing direction of the crawler chassis. The scanning range of the ultrasonic wave component covers the scanning blind area, and the ultrasonic wave component feeds back the scanning result to the industrial personal computer, so that the three-dimensional environment model of the robot is perfected. For example: an obstacle appears in the advancing path of the robot, the obstacle is just positioned at the position of the crawler chassis close to the head, and the height of the obstacle is lower than that of the bottom plate. At this point, the lidar assembly located on the base plate will not be able to scan for the obstacle. If the robot continues to advance, it will hit an obstacle.

Furthermore, a rotatable camera is further arranged at the head of the bottom plate, and the camera is arranged between the laser radar component and the feeding barrel in the middle; the camera is electrically connected with the industrial personal computer. The rotatable camera can record the field condition of the advancing direction of the robot and also can record the side surface, and the nozzle of the discharging device sprays the material. In addition, various characteristic objects on the moving path of the robot can be identified by utilizing a camera through a further image identification algorithm, and the characteristic objects are used for positioning the accurate position of a release point or further improving a three-dimensional environment model constructed by the laser radar component.

Preferably, the industrial personal computer has a wireless communication function and a GPS positioning function. The wireless communication function is used for remote data transmission of the industrial personal computer. The GPS positioning function is used to provide position information of the robot. And in an outdoor environment, transmitting preset GPS path information to the robot through a wireless communication function. After receiving the information, the robot automatically goes to a plurality of material releasing points according to a preset path through a navigation algorithm and a GPS positioning function, and then material releasing is completed.

Preferably, the length and width directions of the base plate completely cover the crawler chassis. The crawler chassis can splash dust, muddy water and other impurities during movement, and particularly can be operated in a field environment. After complete coverage, the floor also acts as a fender. Parts such as the laser radar assembly and the camera on the bottom plate are separated from the crawler chassis, so that splashing sundries can be effectively prevented from being adhered, and the normal work of the parts is influenced.

Preferably, the crawler chassis comprises a battery, a motor, a driving module and a chassis; the battery, the motor, the driving module and the industrial personal computer are arranged in the chassis. The motor-driven crawler chassis has the advantages of large torque, simple structure and the like. The battery, the motor, the driving module and the industrial personal computer are arranged in the chassis, so that the integration level and the reliability of the crawler chassis are improved. There is the opening top on the chassis, and the lower surface and the opening cooperation of bottom plate, the bottom plate installation back, chassis internal seal, dustproof and waterproof. The chassis is provided with two side tracks. The battery and the driving module are placed at the bottommost part of the chassis from the opening, and the industrial personal computer is overlapped above the battery. After the industrial personal computer sends out a movement instruction, the motor is driven to operate through the driving module, and then the crawler chassis moves according to the instruction. The battery supplies power to all power consuming devices of the robot.

Compared with the prior art, the utility model has the beneficial effects that:

through collecting material storage, mixing stirring and putting in device is put in to material as an organic whole, realized that full-automatic quantitative multiple material mixes the stirring and sprinkles the input, reduces the artifical participation degree that the material was put in, improves production efficiency.

Through the combination of the material feeding device and the crawler chassis, flexible and multi-position and multi-azimuth material feeding is realized, and the maneuverability and the production efficiency are improved.

By the laser assembly and the related algorithm, the autonomous material fixed-point feeding and the regional coverage feeding are realized, and the manual path planning or the addition of related guide equipment is not needed.

Drawings

Fig. 1 is a partial sectional view of embodiment 1 of the present invention.

Fig. 2 is a structural view of embodiment 1 of the present invention.

Fig. 3 is a partially enlarged view of a position a of fig. 1.

Fig. 4 is a structural view of embodiment 2 of the present invention.

Fig. 5 is an exploded view of example 2 of the present invention.

Description of reference numerals 1: the device comprises a charging barrel 10, a raw material area 11, a stirring area 12, a finished product area 13, a partition plate 14, a discharge hole 16, a charging barrel cover 17, a stirring mechanism 20, a control valve 30, a valve body 31, a valve core 32, a coil 33, an opening 34, a discharge device 70, a single-screw pump 71 and a nozzle 72.

Description of reference numerals 2: the device comprises a material feeding device 100, a bottom plate 110, a crawler chassis 120, a chassis 121, a motor 122, a driving module 123, a battery 124, an industrial personal computer 130, a laser radar component 140, a camera 150 and an ultrasonic component 160.

Detailed Description

The drawings are only for purposes of illustration and are not to be construed as limiting the utility model. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Example 1

As shown in fig. 1 and 2, the present embodiment is a material mixing and feeding device for feeding thick and pasty feed after stirring and mixing. A material mixing and feeding device comprises a bottom plate 110, a feeding barrel 10, a partition plate 14, a stirring mechanism 20, a control valve 30, a discharging device 70 and a control device. The upper part of the charging barrel 10 is opened, and the interior of the charging barrel 10 is divided into different areas by a clapboard 14; the upper layer of the charging barrel 10 is at least two raw material areas 11 which are arranged in parallel; the middle layer of the charging barrel 10 is a stirring area 12 and is provided with a stirring mechanism 20; the lower layer of the charging barrel 10 is a finished product area 13 and is provided with a discharge hole 16; control valves 30 for controlling blanking are respectively arranged between the upper layer, the middle layer and the lower layer; the discharging device 70 is connected with the discharging port 16, and the discharging device 70 is used for spraying the material in the finished product area 13 out of the discharging port 16; the charging barrel 10, the discharging device 70 and the control device are installed on the bottom plate 110, and the control device is electrically connected with the stirring mechanism 20, the control valve 30 and the discharging device 70 respectively.

In this embodiment, the charging barrel 10 is manufactured on the basis of a barrel, and the internal partition 14 is pre-formed and then fixed to the inner wall of the barrel by welding, so as to finally form the raw material region 11, the stirring region 12 and the finished product region 13. The number of the raw material areas is 2, the volume ratio is 1:1, and the feed mixing method is suitable for feeding feed with the mixing ratio of 1: 1.

Three control valves 30 in the feeding barrel 10 are in a closed state by default, and the raw material zone 11, the stirring zone 12 and the finished product zone 13 in the feeding barrel 10 are mutually independent and separated. Materials such as feed, liquid medicine, water and the like are respectively added into a plurality of raw material areas 11 which are arranged in parallel for temporary storage. When the material is put in, the materials are stirred and mixed, so that the materials are mixed as required, and the problem of waste caused by incomplete use after the excessive stirring and mixing of the feed at a time is avoided. The control valve 30 is opened after the supply of current, and the material in the upper region of the charging basket 10 can flow into the lower region. The quantity of the materials flowing out can be indirectly controlled by controlling the electrifying time of the control valve 30, and the quantitative mixing of the materials according to the proportion is realized.

After adding materials such as fodder, liquid medicine, water respectively into raw materials district 11, the working process of this embodiment is as follows: starting the device, the control valve 30 below the raw material area 11 is opened for a certain time in sequence under the control of the control device and then closed, and various materials simultaneously or sequentially enter the stirring area 12 in a quantitative mode. The stirring mechanism 20 is powered on and stops after mixing and stirring for a period of time. The control valve 30 below the stirring area 12 is opened for a certain time and then closed, and the stirred material enters the finished product area 13. The discharging device 70 is started, and the discharging device 70 ejects the material in the finished product area 13 to complete one-time material feeding. The control device automatically repeats the processes to complete multiple material feeding. In addition, when the discharging device 70 works, the stirring mechanism 20 can work in advance, after the finished product area 13 has no material, the control valve 30 below the stirring area 12 is opened, and the stirred material immediately enters the finished product area 13, so that the waiting time for next feeding is shortened.

As shown in fig. 3, preferably, the control valve 30 includes a valve body 31, a valve spool 32, and a coil 33; the valve body 31 is a straight pipe with an opening 34 on the side wall; the valve core 32 is arranged in the valve body 31 and can selectively close or lead the opening 34, and the coil 33 is electrically connected with the control device; when the coil 33 is energized, the suction valve body 32 moves in the valve body 31 and is displaced from the opening 34, and the opening 34 is conducted. The coil 33 is energized and the control valve 30 is opened and the upper and lower zones are interconnected, and material flows from the upper zone into the lower zone through the opening 34 under the influence of gravity. The coil 33 is deenergized, the valve core 32 automatically returns under the action of self weight or a spring, the opening 34 is blocked, the control valve 30 is closed, and the upper area and the lower area are mutually separated.

Preferably, the discharging device 70 comprises a single-screw pump 71 and a nozzle 72, an input end of the single-screw pump 71 is connected with the discharging port 16, and an output end of the single-screw pump 71 is connected with the nozzle 72. For a thick paste of feed after mixing, the discharge device 70 takes the form of a single screw pump. The single screw pump 71 is fixedly installed on the base plate 110, and the nozzle 72 protrudes from the edge of the base plate 110. After the single-screw pump 71 is powered on, the screw rotates to take out the materials in the finished product area 13 in a spiral mode, and finally the materials are thrown through the nozzle 72 to finish the material throwing.

Preferably, the partition 14 between the upper, middle and lower levels of the charging barrel 10 is funnel-shaped. The upper layer is a raw material zone 11, the middle layer is a stirring zone 12, and the lower layer is a finished product zone 13. The material flows from the material area 11 to the stirring area 12 or from the stirring area 12 to the finished product area 13 by means of the gravity of the material. The funnel-shaped partition plate 14 can ensure that the materials in the upper area can completely flow into the lower area by means of self weight, so that material residues are avoided.

Preferably, the stirring mechanism 20 is a motor-integrated stirring paddle assembly and is vertically and centrally disposed at the bottom of the stirring zone 12. Because the quantity of the materials which are stirred and mixed in the stirring area 12 at a time is not large, the stirring power is lower than that of a common material stirrer, and the heating value is smaller, the stirring paddle component adopting the integrated motor can meet the requirement. The stirring paddle component comprises a rotating shaft, a paddle, a motor and a shell. The blades are similar to the fan blades, a plurality of blades and the rotating shaft form a certain inclination angle, and the blades are spirally distributed on the circumference of the rotating shaft. The motor is connected with the rotating shaft. The motor and the rotating shaft are arranged inside the shell. By adopting the stirring paddle component, various transmission structures can be omitted, and the structural design of the feeding barrel 10 in the embodiment is simplified. The housing is fixed to a valve body 31 of the control valve 30. The vertical type centering is arranged at the bottom, so that the materials can be fully mixed and stirred.

Preferably, the feeding device further comprises a feeding barrel cover 17, wherein the feeding barrel cover is arranged at the upper opening of the feeding barrel 10. The shape of the feeding barrel cover 17 is matched with that of the feeding barrel 10. The edge of the feeding barrel cover 17 is provided with a hem. After installation, the folded edge surrounds the outer wall of the feeding barrel 10, and the feeding barrel cover 17 is integrally covered at the opening of the feeding barrel 10, so that the upper raw material area 11 forms a closed space to prevent the material from being polluted. The top of the feeding barrel cover 17 is also provided with a handle, so that the feeding barrel cover 17 can be conveniently assembled and disassembled.

Example 2

As shown in fig. 4 and 5, the present embodiment is a material feeding tracked robot using embodiment 1 as a material feeding device.

A material releasing tracked robot comprises a tracked chassis 120, a bottom plate 110, a material releasing device 100, an industrial personal computer 130 and a laser radar component 140. The material delivery device 100 and the lidar assembly 140 are mounted on a base plate 110, the industrial control computer 130 is mounted within a crawler chassis 120, and the base plate 110 is mounted on the crawler chassis 120. The industrial personal computer 130 is electrically connected with the material throwing device 100, the laser radar assembly 140 and the crawler chassis 120 respectively. The industrial personal computer 130 serves as a control device of the material feeding device 100.

When the automatic feeding device is used, materials are placed into the feeding barrel 10, and then the robot is started. The industrial personal computer 130 receives feedback information of the laser radar component 140, and controls the material feeding device 100 and the crawler chassis 120 according to internal program setting. The lidar assembly 140 continuously scans the environment around the robot to construct a three-dimensional environment model. The three-dimensional environment model is combined with a related algorithm, so that the robot can autonomously perform path planning, putting point identification and obstacle avoidance in a certain space, and thus, autonomous material fixed-point putting and area coverage putting are realized. The crawler chassis 120 moves according to the path given by the industrial personal computer 130, and automatically bypasses when meeting obstacles on the path. The stirring mechanism 20 in the material feeding device 100 stirs and mixes the materials; the discharging device 70 works when there is a throwing instruction, and automatically sprays the material in the throwing barrel 10 to complete the throwing of the material. After the materials in the material feeding device 100 are consumed, the robot can automatically return to the preset point to supplement the materials.

Further, the nozzle 72 protrudes from the crawler chassis 120, and the direction of the nozzle 72 is perpendicular to the advancing direction of the crawler chassis 120. In the breeding industry, feed usually needs to be thrown into a feeding trough with long strips, the nozzle 72 is located on the side face of the advancing direction of the robot, the feed can be thrown into the feeding trough more easily, and the practicability is high. The nozzles 72 protrude from the tracked undercarriage 120 by a distance that further prevents the thrown material from splashing onto the surface of the robot.

Preferably, the advancing direction of the crawler chassis 120 is the head, and the lidar assembly 140 is centrally disposed at the head of the base plate 110. The head is centrally located, reducing the interference effect of the material placement device 100 in scanning the surrounding environment of the lidar assembly 140.

Further, the head of the crawler chassis 120 is further provided with an ultrasonic assembly 160; the detection direction of the ultrasonic assembly 160 is inclined downwards; the ultrasonic assembly 160 is electrically connected to the industrial personal computer 130. Because lidar assembly 140 is located on base plate 110, and base plate 110 is located above crawler chassis 120, lidar assembly 140 cannot scan a portion of crawler chassis 120 near the head, i.e., scan blind spots. The ultrasonic assembly 160 is used as a supplement to the laser radar assembly 140 and is responsible for scanning the scanning blind area. The ultrasonic assembly 160 is disposed at a position where the head of the crawler chassis 120 is close to the ground, and its detecting direction is inclined downward toward the advancing direction of the crawler chassis 120. The scanning range of the ultrasonic component 160 covers the scanning blind area, and the ultrasonic component 160 feeds the scanning result back to the industrial personal computer 130, so that the three-dimensional environment model of the robot is perfected. For example: an obstacle appears in the robot's path of travel, which is located just near the head of the crawler chassis 120, and the height of the obstacle is lower than the height of the base plate 110. At this point, the lidar assembly 140 located on the base plate 110 will not be able to scan for the obstacle. If the robot continues to advance, it will hit an obstacle.

Further, a rotatable camera 150 is further disposed at the head of the bottom plate 110, and the camera 150 is centrally disposed between the laser radar assembly 140 and the charging barrel 10; the camera 150 is electrically connected to the industrial personal computer 130. The rotatable camera 150 can record not only the field condition of the advancing direction of the robot, but also the condition of the side surface, the spray nozzle 72 of the discharging device 70 spraying the materials. In addition, through a further image recognition algorithm, various characteristic objects on the moving path of the robot can be recognized by using the camera 150, so as to be used for accurate position positioning of a release point or further improve the three-dimensional environment model constructed by the laser radar component 140. Camera 150 is taller than the upper surface of lidar assembly 140.

Preferably, the industrial personal computer 130 has a wireless communication function and a GPS positioning function. The wireless communication function is used for remote data transmission of the industrial personal computer 130. The GPS positioning function is used to provide position information of the robot. And in an outdoor environment, transmitting preset GPS path information to the robot through a wireless communication function. And after receiving the information, the robot automatically goes to a plurality of material releasing points according to a preset path through a navigation algorithm and a GPS positioning function, and then completes material releasing.

Preferably, the length and width directions of the base plate 110 completely cover the crawler chassis 120. The crawler chassis 120 flies dust, muddy water and other impurities during movement, and particularly works in a field environment. When fully covered, the base plate 110 also acts as a fender. The laser radar assembly 140, the camera 150 and other components on the base plate 110 are separated from the crawler chassis 120, so that splashing impurities can be effectively prevented from being adhered, and the normal operation of the components is influenced. The base plate 110 is installed on the crawler chassis 120, and a proper space is provided between the lower surface of the base plate 110 and the crawler of the crawler chassis 120 to ensure the normal operation of the crawler.

Preferably, the crawler chassis 120 includes a battery 124, a motor 122, a drive module 123, a chassis 121; the battery 124, the motor 122, the driving module 123, and the industrial personal computer 130 are disposed in the chassis 121. The motor-driven crawler chassis 120 has the advantages of large torque, simple structure and the like. The battery 124, the motor 122, the driving module 123 and the industrial personal computer 130 are arranged in the chassis 121, so that the integration level and the reliability of the crawler chassis 120 are improved. There is the opening chassis 121's top, and the lower surface and the opening cooperation of bottom plate 110, bottom plate 110 installation back, chassis 121 internal seal, dustproof and waterproof. The chassis 121 has crawler belts on both sides. The battery 124 and the driving module 123 are put into the bottommost part of the chassis 121 from the opening, and the industrial personal computer 130 is overlapped above the battery 124. After the industrial personal computer 130 sends out a movement instruction, the driving module 123 drives the motor 122 to operate, so that the crawler chassis 120 moves according to the instruction. The battery 124 powers all the power consuming equipment of the robot.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.

Claims (10)

1. A material throwing tracked robot comprises a tracked chassis and a bottom plate, and is characterized by further comprising a material throwing device, an industrial personal computer and a laser radar assembly; the material feeding device and the laser radar component are arranged on a bottom plate, the industrial personal computer is arranged in the crawler chassis, and the bottom plate is arranged on the crawler chassis; the material feeding device comprises a feeding barrel, a stirring mechanism and a discharging device; the stirring mechanism is arranged in the feeding barrel and used for stirring materials; a discharge hole is formed at the bottom of the feeding barrel; the discharging device is connected with the discharging port and is used for ejecting the stirred material; the industrial personal computer is respectively and electrically connected with the material feeding device, the laser radar component and the crawler base plate.

2. The material throwing track robot according to claim 1, wherein the material throwing device further comprises a partition plate and a control valve; the upper part of the feeding barrel is provided with an opening, and the interior of the feeding barrel is divided into different areas through a partition plate; the upper layer of the feeding barrel is at least two raw material areas which are arranged in parallel; the middle layer of the feeding barrel is a stirring area and is provided with the stirring mechanism; the lower layer of the feeding barrel is a finished product area, and the bottom of the feeding barrel is provided with the discharge hole; control valves for controlling the blanking are respectively arranged between the upper layer, the middle layer and the lower layer.

3. The material throwing track robot of claim 1, wherein the discharging device comprises a single-screw pump and a nozzle, an input end of the single-screw pump is connected with the discharging port, and an output end of the single-screw pump is connected with the nozzle.

4. The material delivery tracked robot defined in claim 3 wherein the nozzles project from the tracked undercarriage in a direction perpendicular to the direction of travel of the tracked undercarriage.

5. The material delivery tracked robot of claim 1, wherein the direction of travel of the tracked chassis is the head, and the lidar assembly is centrally disposed at the head of the base plate.

6. The material delivery tracked robot of claim 5, wherein the head of the tracked chassis is further provided with an ultrasonic assembly; the detection direction of the ultrasonic assembly is inclined downwards; the ultrasonic assembly is electrically connected with the industrial personal computer.

7. The material throwing track robot according to claim 5, wherein a rotatable camera is further arranged at the head of the base plate, and the camera is arranged between the laser radar assembly and the throwing barrel in the center; the camera is electrically connected with the industrial personal computer.

8. The material putting track robot as claimed in claim 1, wherein the industrial personal computer has a wireless communication function and a GPS positioning function.

9. The material delivery tracked robot of claim 1, wherein the length and width directions of the base plate completely cover the tracked chassis.

10. The material delivery tracked robot of any one of claims 1 to 9, wherein the tracked chassis comprises a battery, a motor, a drive module, and a chassis; the battery, the motor, the driving module and the industrial personal computer are arranged in the chassis.

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