CN220023835U - Sheep hurdle grass pushing feeding robot - Google Patents
Sheep hurdle grass pushing feeding robot Download PDFInfo
- Publication number
- CN220023835U CN220023835U CN202321433974.XU CN202321433974U CN220023835U CN 220023835 U CN220023835 U CN 220023835U CN 202321433974 U CN202321433974 U CN 202321433974U CN 220023835 U CN220023835 U CN 220023835U
- Authority
- CN
- China
- Prior art keywords
- pushing handle
- pushing
- swing
- follow
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241001494479 Pecora Species 0.000 title claims abstract description 50
- 244000025254 Cannabis sativa Species 0.000 title claims abstract description 11
- 238000004140 cleaning Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 1
- 239000004459 forage Substances 0.000 abstract description 18
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 229910052744 lithium Inorganic materials 0.000 description 3
- 244000144972 livestock Species 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 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
- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health 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
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a sheep hurdle grass pushing feeding robot, and belongs to the field of agricultural intelligent devices. Solves the problems that in the feeding course of the forage in the sheep pen of the large-scale sheep farm, part of the forage is scattered, the forage can not be touched in the outlet area, the manual cleaning cost is high, the time consumption is long, and the like. The fixed pushing handle component is sequentially connected with the swinging pushing handle component and the follow-up pushing handle component; the fixed front pushing handle bottom of the fixed pushing handle assembly is provided with a front pushing handle lower hairbrush, the swing pushing handle bottom of the swing pushing handle assembly is provided with a swing pushing handle lower hairbrush, the swing pushing handle driving assembly drives the swing pushing handle to laterally clean, the follow-up pushing handle lower hairbrush of the follow-up swinging handle assembly is arranged below the follow-up pushing handle, and a limiting rod mechanism is connected between the vehicle body and the follow-up pushing handle. The utility model uses the motor fixed on the walking chassis to drive the connecting rod, the connecting rod pushes and pulls the sectional side pushing plate, and the sectional side pushing plate swings reciprocally while the robot walks, so that the scattered forage is pushed back to the vicinity of the feeding railing for sheep to eat.
Description
Technical Field
The utility model belongs to the field of agricultural intelligent devices, and particularly relates to a sheep hurdle grass pushing feeding robot.
Background
At present, for the aisle arrangement work when feeding sheep hurdle forage in a large sheep raising farm, the two sides of the fence still need to be manually swept back by using tools. The length of stretching out from the rail in the livestock and sheep feeding process can be with the fodder from the rail front top of passageway both sides to the middle passageway on, lead to this part fodder livestock and sheep unable to touch edible, if not in time push back the fodder to the position of feeding can lead to the fodder rotten and pollute the sheep hurdle and cause the waste of fodder, input manual work sweeps back processing time length, inefficiency, increase cost.
Disclosure of Invention
In view of the above, the utility model aims to solve the problems of the feeding technology of the sheep hurdle in the prior art, namely the problems that part of forage is scattered in the feeding process of the sheep hurdle in a large-scale sheep raising farm, the feeding area cannot be touched, the manual cleaning cost is high, the time consumption is long and the like, and further the utility model provides the feeding robot for the sheep hurdle pushing grass.
In order to achieve the above purpose, the present utility model adopts the following technical scheme: the sheep hurdle grass pushing feeding robot comprises a vehicle body, a fixed pushing handle assembly, a swinging pushing handle assembly and a follow-up pushing handle assembly, wherein the fixed pushing handle assembly is fixed in front of the vehicle body, pushing sweeping is carried out through walking of the vehicle body, and the fixed pushing handle assembly is sequentially connected with the swinging pushing handle assembly and the follow-up pushing handle assembly;
the fixed pushing handle assembly comprises a fixed front pushing handle and a front pushing handle lower hairbrush, the front pushing handle lower hairbrush is installed at the bottom of the fixed front pushing handle, the swinging pushing handle assembly comprises a swinging pushing handle, a swinging pushing handle lower hairbrush and a swinging pushing handle driving assembly, the swinging pushing handle lower hairbrush is installed at the bottom of the swinging pushing handle, the swinging pushing handle driving assembly drives the swinging pushing handle to laterally clean, the follow-up swinging handle assembly comprises a follow-up pushing handle, a follow-up pushing handle lower hairbrush and a limiting rod mechanism, the follow-up pushing handle lower hairbrush is installed below the follow-up pushing handle, and a limiting rod mechanism is connected between a 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 move in an elliptical track, and the swing crank and the driving connecting rod form dragging on an executing element to form transverse action cleaning on the right side of the vehicle body.
Further, the swinging 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 handle component is connected with an elastic supporting wheel, and the elastic supporting wheel provides better elastic support for the follow-up swinging handle component to follow-up adapt to the ground.
Furthermore, four driving wheel sets are arranged at four corners of the vehicle body, and the vehicle body can complete linear or curved differential motion by means of mutual matching rotation of the driving wheel sets.
Still further, the automobile body includes chassis, last shell, bung body, top layer protection casing, antenna housing and automobile body inferior valve, the chassis is gone up to be covered with the automobile body inferior valve, the shell is installed at automobile body inferior valve top, install the bung body on the shell, install the top layer protection casing on the bung body, install the 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 detecting system with outside place cover and fix a position the position of automobile body often.
Furthermore, the vehicle chassis is also provided with a PLC control module, and the bottom of the vehicle chassis is provided with two magnetic stripe sensors which are matched with the magnetic stripes and the communication transmitter in the field for use so as to realize the cruising movement of the trolley according to the preset track.
Still further, be fixed with flexible contact socket that charges on the car chassis, the dolly is if need charge through the control of PLC module, after reaching the assigned position, the electric telescopic handle of flexible contact socket that charges stretches out the contact charging source, and electric telescopic handle withdraws after the stop of charging, and the dolly continues to carry out cleaning task or stands by.
Furthermore, a plurality of two-dimensional laser sensors are arranged below the top-layer protective cover, when a task is executed, if the front or the rear of the robot encounters an obstacle, the plurality of two-dimensional laser sensors cover 360 degrees for ranging, and feedback signals of the front one-dimensional laser obstacle avoidance sensors and the rear one-dimensional obstacle avoidance laser sensors are taken together to carry out logic analysis on the control system, so that whether the robot continues to walk or stop is judged.
Furthermore, a plurality of one-dimensional positioning photoelectric sensors are arranged on the top layer protective cover and cooperate with the fixed-point reflecting plates in the field to timely correct fixed points of the robot in place.
Compared with the prior art, the sheep hurdle grass pushing feeding robot has the beneficial effects that:
(1) Aiming at the sheep hurdle forage feeding work in the field, the utility model develops a novel sheep hurdle forage pushing feeding robot, a motor fixed on a walking chassis is utilized to drive a connecting rod, the connecting rod pushes and pulls a sectional side pushing plate, the sectional side pushing plate swings back and forth while the robot walks, and scattered forage is pushed back to the vicinity of a feeding railing for sheep feeding.
(2) The automatic pushing-back feeding device is simple and convenient to use, pushes back the feeding device timely, saves energy, protects the environment, prevents the forage from deteriorating and wasting to pollute the sheep houses and affecting the health of livestock and sheep, can realize a full-automatic pushing-back finishing mode of the forage feeding of the sheep houses by the application of the automatic pushing-back feeding device, improves the working efficiency to a great extent, improves the environmental conditions of the sheep houses, and reduces the feeding cost.
(3) The application of the utility model can realize an automatic unmanned management mode, and the robot walking is navigated by means of the magnetic stripe sensor and the magnetic stripe which is arranged on the feeding aisle 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 single charging for 8 hours.
(5) The utility model uses the direct current gear motor to control the walking and turning of the robot; the direct-current gear motor is used for controlling the transverse pushing and sweeping action of the robot, and in the walking process of the robot, the sectional side pushing plate is used for repeatedly pushing and sweeping forage, and the scattered forage is pushed back to the railing accessory for sheep to eat.
(6) The robot provided by the utility model repeatedly pushes and sweeps by adopting the sectional side pushing plates, so that forage brought to the middle passageway when heads of the sheep in the sheep pen extend out of the fences in the feeding process of the sheep is pushed back to feeding positions on two sides of the passageway in time, and the forage is sequentially pushed to the two sides in a circulating manner to form reciprocation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:
FIG. 1 is an isometric view of the overall appearance of a sheep hurdle grass pushing feeding robot of the present utility model;
FIG. 2 is an isometric view of a portion of the housing above the housing of FIG. 1 with portions of the housing shown separately enlarged and broken away;
FIG. 3 is a maximum axial side view of the push plate deployment of the above-described assembly of FIG. 1 with the upper shell removed;
FIG. 4 is a schematic illustration of the push plate of FIG. 1 with the upper housing assembly removed and the minimum axial side closed;
FIG. 5 is a schematic view of the bottom chassis of FIG. 1;
reference numerals in the drawings: 1-fixed front push handle, 2-front push handle lower brush, 3-soft transition plate, 4-swing push handle, 5-swing push handle lower brush, 6-follow-up push handle, 7-follow-up push handle lower brush, 8-limit lever mechanism, 9-upper shell, 10-barrel, 11-top protection 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 with serial port, 18-sensor sponge seat, 19-brush carrier support plate, 20-spindle hinge, 21-connecting rod mounting seat, 22-transmission shaft, 23-fish eye joint bearing, 24-drive connecting rod, 25-elastic self-return hinge, 26-opening and closing limit position limit, polyurethane anti-collision plate, 27-driven connecting rod, 28-elastic support wheel, 29-spindle slide block, 30-anti-collision spring damping mechanism, 31-one-dimensional obstacle avoidance laser sensor, 32-telescopic charging contact socket, 33-drive power bin, 34-battery bin, 35-lithium battery, 36-swing power motor speed reduction motor, 37-swing power source, 38-crank, 38-40-swing crank and 40-guide rail system, 45-guide rail system, swing-46-guide rail, swing-46-system, swing-46-guide rail system, swing-46-sensor-guide rail system, swing-46, swing-door sensor-46, and swing door sensor-46-system, and swing door sensor-46-sensor-and swing door sensor system, 48-electric telescopic rod mounting seat, 49-electric telescopic rod, 50-lower car body shell, 51-car chassis, 52-sensor rear mounting frame, 53-magnetic stripe sensor, 54-driving wheel set, 55-forward pushing hanging support arm, 56-sensor front mounting frame and 57-PLC control module.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It should be noted that, in the case of no conflict, embodiments of the present utility model and features of the embodiments may be combined with each other, and the described embodiments are only some embodiments of the present utility model, not all embodiments.
Referring to fig. 1-5, the embodiment is described, the sheep hurdle grass pushing feeding robot comprises a vehicle body, a fixed pushing handle assembly, a swinging pushing handle assembly and a follow-up pushing handle assembly, wherein the fixed pushing handle assembly is fixed in front of the vehicle body, pushing sweeping is performed through walking of the vehicle body, and the fixed pushing handle assembly is sequentially connected with the swinging pushing handle assembly and the follow-up pushing handle assembly;
the fixed pushing handle assembly comprises a fixed front pushing handle 1 and a front pushing handle lower hairbrush 2, the front pushing handle lower hairbrush 2 is arranged at the bottom of the fixed front pushing handle 1, the swing pushing handle assembly comprises a swing pushing handle 4, a swing pushing handle lower hairbrush 5 and a swing pushing handle driving assembly, the swing pushing handle lower hairbrush 5 is arranged at the bottom of the swing pushing handle 4, the swing pushing handle driving assembly drives the swing pushing handle 4 to laterally clean, the follow-up swinging handle assembly comprises a follow-up pushing handle 6, a follow-up pushing handle lower hairbrush 7 and a limiting rod mechanism 8, the follow-up pushing handle lower hairbrush 7 is arranged below the follow-up pushing handle 6, and the limiting rod mechanism 8 is connected between a vehicle body and the follow-up pushing handle 6.
The robot provided by the utility model repeatedly pushes and sweeps by adopting the sectional side pushing plates, so that forage brought to the middle passageway when heads of the sheep in the sheep pen extend out of the fences in the feeding process of the sheep is pushed back to feeding positions on two sides of the passageway in time, and the forage is sequentially pushed to the two sides in a circulating manner to form reciprocation.
The swing pushing handle driving assembly 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 track, and the swing crank and the driving connecting rod 24 form dragging of an executing element to form transverse action cleaning on the right side of the vehicle body.
The oscillating push handle assembly and the follow-up push handle assembly are connected by a plurality of resilient self-return hinges 25.
The follow-up pushing handle assembly is connected with an elastic supporting wheel 28, and the elastic supporting wheel 28 provides better elastic support for the follow-up swinging handle assembly to follow-up adapt to the ground.
The push handle is divided into three parts: the fixed pushing handle assembly, the swinging pushing handle assembly and the follow-up pushing handle assembly.
The front fixed pushing handle assembly comprises a fixed front pushing handle 1 and a front pushing handle lower hairbrush 2, and pushing and sweeping are carried out through walking of a vehicle body.
The swinging pushing handle assembly comprises a swinging pushing handle 4 and a swinging pushing handle lower hairbrush 5, and forms an action executing element, and a swinging crank 37 is driven to move in an elliptical track by means of a swinging power source reducing motor 36 to carry a driving connecting rod 24 to drag the executing element, so that the transverse action cleaning on the right side of the vehicle body is formed.
The follow-up hand swinging component comprises a follow-up hand pushing 6, a follow-up hand pushing lower hairbrush 7 and a limiting rod mechanism 8, the follow-up cleaning is carried out by linking the swing hand pushing component through three elastic self-return hinges 25, the part can be stressed and recovered, the hard contact with the head of the sheep is prevented from damaging the sheep, and the transverse width of the car body is controlled by controlling the unfolding and the recovery of the two side face hand pushing parts. The resilient support wheels 28 of the red polyurethane provide better resilient support for the follower hand assembly to follow the ground.
Four driving wheel sets 54 are arranged at four corners of the vehicle body, and the vehicle body is subjected to linear or curved differential motion by means of the mutual matching rotation of the driving wheel sets 54, so that the transfer of motion trail is greatly reduced, and the vehicle is more flexible and reliable.
The automobile body includes chassis 51, last shell 9, bung body 10, top layer protection casing 11, antenna housing 12 and automobile body inferior valve 50, the automobile body inferior valve 50 has been covered on the chassis 51, the shell 9 is installed at automobile body inferior valve 50 top, install 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 detecting system with outside place cover and fix a position the automobile body often.
The emergency stop button 16 and the digital display screen with a serial port 17 are arranged on the upper portion of the upper shell 9, the emergency stop button 16 is used for powering on and powering off the robot, and the digital display screen 17 is used for displaying the battery power.
The PLC control module 57 is further arranged on the chassis 51, two magnetic stripe sensors 53 are arranged at the bottom of the chassis 51, and the magnetic stripe sensors 53 can detect magnetic stripes laid in advance in a field, so that the robot can move along a preset magnetic stripe track.
The telescopic charging contact socket 32 is fixed on the chassis 51, the trolley is controlled by the PLC control module 57 when the trolley is required to be charged, the electric telescopic rod 49 of the telescopic charging contact socket 32 stretches out to contact with a charging source after reaching a specified position, the electric telescopic rod 49 retracts after stopping charging, the trolley continues to perform cleaning tasks or stands by,
a plurality of two-dimensional laser sensors 15 are installed below the top-layer protection cover 11, when a task is executed, if an obstacle is encountered in front of or behind the robot, the two-dimensional laser sensors cover 360 degrees for ranging, and feedback signals of the front one-dimensional laser obstacle avoidance sensor 44 and the rear one-dimensional obstacle avoidance laser sensor 31 are taken together to carry out logic analysis on a control system, so that whether the robot is continuously walking or stopping is judged.
The lithium batteries are grouped and fixed by three small and one large battery bin ties 34 in the middle of the chassis 51.
Two-dimensional laser sensors 15 are installed on the side of the top-layer protective cover 11, three one-dimensional laser obstacle avoidance sensors 44 are installed in front of the vehicle, and one-dimensional obstacle avoidance laser sensor 31 is installed 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 fixed-point reflecting plates in the field to timely correct fixed points of the robot in place.
The laser code scanning lens 40 reads the two-dimensional code label on the gate, the gate number of the sheep hurdle is identified, the gate is automatically opened, and the robot automatically enters or exits the sheep hurdle.
The swing position detection proximity switch sensor 46 is used to determine whether the segmented swing push handle 4 and the follow-up push handle 6 are retracted.
The one-dimensional photosensor 14 and the two-dimensional laser sensor 15 are used to detect the distance of an obstacle to the robot.
The concrete operation process and the working principle of the sheep hurdle grass pushing feeding robot are as follows:
after the robot is started, the robot advances along the working route, and meanwhile, the power source gear motor 36 drives the swinging pushing hand lower hairbrush 5 to swing back and forth through the driving connecting rod 24, so that scattered forage is returned to the vicinity of the railing for sheep to eat. When the work is finished, the swinging pushing hand lower hairbrush 5 and the follow-up pushing hand lower hairbrush 7 are retracted, are close to the machine body shell, and drive into a charging area to be automatically charged for standby.
The embodiments of the utility model disclosed above are intended only to help illustrate the utility model. The examples are not intended to be exhaustive or to limit the utility model 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 utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model.
Claims (10)
1. Sheep hurdle pushes away grass feeding robot, its characterized in that: the device comprises a vehicle body, a fixed pushing handle assembly, a swinging pushing handle assembly and a follow-up pushing handle assembly, wherein the fixed pushing handle assembly is fixed in front of the vehicle body, pushing sweeping is carried out through walking of the vehicle body, and the fixed pushing handle assembly is sequentially connected with the swinging pushing handle assembly and the follow-up pushing handle assembly;
the fixed pushing handle assembly comprises a fixed front pushing handle (1) and a front pushing handle lower hairbrush (2), the front pushing handle lower hairbrush (2) is arranged at the bottom of the fixed front pushing handle (1), the swing pushing handle assembly comprises a swing pushing handle (4), a swing pushing handle lower hairbrush (5) and a swing pushing handle driving assembly, the swing pushing handle lower hairbrush (5) is arranged at the bottom of the swing pushing handle (4), the swing pushing handle driving assembly drives the swing pushing handle (4) to conduct lateral cleaning, the follow-up pushing handle assembly comprises a follow-up pushing handle (6), a follow-up pushing handle lower hairbrush (7) and a limiting rod mechanism (8), the follow-up pushing handle lower hairbrush (7) is arranged below the follow-up pushing handle (6), and the limiting rod mechanism (8) is connected between a vehicle body and the follow-up pushing handle (6).
2. The sheep hurdle weed-pushing feeding robot of claim 1, wherein: the swing pushing handle driving assembly comprises a swing power source reducing motor (36), a swing crank (37) and a driving connecting rod (24), wherein the swing power source reducing motor (36) drives the swing crank (37) to move in an elliptical track, and the swing pushing handle driving assembly and the driving connecting rod (24) are carried to drag an executing element to form transverse action cleaning on the right side of a vehicle body.
3. The sheep hurdle weed-pushing feeding robot of claim 1, wherein: the swinging pushing handle assembly and the follow-up pushing handle assembly are connected through a plurality of elastic self-return hinges (25).
4. A sheep hurdle weed-pushing feeding robot according to claim 1 or 3, characterized in that: 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 pushing hand assembly to adapt to the ground.
5. The sheep hurdle weed-pushing feeding robot of claim 1, wherein: the four corners of the vehicle body are provided with driving wheel sets (54), and the vehicle body can complete linear or curved differential motion by means of the mutual matching rotation of the driving wheel sets (54).
6. The sheep hurdle weed-pushing feeding robot of claim 1, wherein: the automobile body includes chassis (51), goes up shell (9), bung body (10), top layer protection casing (11), antenna shell (12) and automobile body inferior valve (50), 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, install bung body (10) on going up shell (9), install top layer protection casing (11) on bung body (10), install antenna shell (12) on top layer protection casing (11), install antenna circuit board (13) in antenna shell (12), antenna circuit board (13) are connected with electric wire positioning system control circuit board (43) and are taken the detecting system with outside place cover and fix a position the position of automobile body often.
7. The sheep hurdle weed-pushing feeding robot of claim 6, wherein: the vehicle chassis (51) is also provided with a PLC control module (57), the bottom of the vehicle chassis (51) is provided with two magnetic stripe sensors (53), and the two magnetic stripe sensors are matched with a magnetic stripe and a communication transmitter in a field for use, so that the trolley can cruises according to a preset track.
8. The sheep hurdle weed-pushing feeding robot of claim 6, wherein: the electric telescopic charging device is characterized in that a telescopic charging contact socket (32) is fixed on the chassis (51), when the trolley is required to be charged, through control of a PLC control module (57), after the trolley reaches a specified position, an electric telescopic rod (49) of the telescopic charging contact socket (32) stretches out to contact with a charging source, after the charging is stopped, the electric telescopic rod (49) retracts, and the trolley continues to execute a cleaning task or stands by.
9. The sheep hurdle weed-pushing feeding robot of claim 6, wherein: a plurality of two-dimensional laser sensors (15) are arranged below the top-layer protective cover (11), when a task is executed, if an obstacle is encountered in front of or behind the robot, the two-dimensional laser sensors (15) cover 360 degrees to conduct distance measurement, and feedback signals of the front one-dimensional laser obstacle avoidance sensors (44) and the rear one-dimensional obstacle avoidance laser sensors (31) are taken together to carry out logic analysis on a control system, so that whether the robot continues to walk or stop is judged.
10. The sheep hurdle weed-pushing feeding robot of claim 6, wherein: a plurality of one-dimensional positioning photoelectric sensors (14) are arranged on the top-layer protective cover (11), and cooperate with fixed-point reflecting plates in a field to correct fixed points of the robot in place.
Applications Claiming Priority (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 |
| CN2022109565187 | 2022-08-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220023835U true CN220023835U (en) | 2023-11-17 |
Family
ID=83860251
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210956518.7A Pending CN115299367A (en) | 2022-08-10 | 2022-08-10 | Sheep hurdle pushes away grass feeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN115299367A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116762709A (en) * | 2023-07-20 | 2023-09-19 | 北京佳沃天河智能科技有限公司 | Sow house manure cleaning robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2995505B1 (en) * | 2012-09-19 | 2015-05-15 | 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 |
-
2022
- 2022-08-10 CN CN202210956518.7A patent/CN115299367A/en active Pending
-
2023
- 2023-06-07 CN CN202321433974.XU patent/CN220023835U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115299367A (en) | 2022-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109362582B (en) | Cleaning robot and cleaning method suitable for multi-scene pigsty | |
| CN109997704B (en) | Clear excrement robot in pig house | |
| CN209964907U (en) | Clear excrement robot in pig house | |
| EP3978304A1 (en) | A robotic work tool system and a charging connector arrangement for a robotic work tool system | |
| CN110142265A (en) | A kind of wireless pipe cleaning robot | |
| CN108849557B (en) | Automatic intelligent cleaning machine for pigsty and cleaning method thereof | |
| CN103866728A (en) | Commercial robot scrubber | |
| CN210823833U (en) | Intelligent sanitation robot | |
| CN111547015B (en) | A walking unmanned car washing equipment | |
| CN209833821U (en) | Intelligent logistics car | |
| CN202981889U (en) | Commercial robot sweeper | |
| CN111183905B (en) | Fattening pig house clearance robot | |
| CN215471154U (en) | A robot for automatic sorting, transportation and delivery of garbage | |
| CN115362945B (en) | Sheep hurdle trench cleaning robot | |
| CN115299367A (en) | Sheep hurdle pushes away grass feeding robot | |
| CN209866799U (en) | Automatic positioning cleaning robot in pig house | |
| CN108508892A (en) | One kind following sanitation cart system automatically | |
| CN106610667A (en) | Corridor cleaning robot control system and method based on RC controller | |
| CN107997694A (en) | A kind of sweeping robot and its public charging pile and utility system | |
| CN111202008A (en) | Sow house excrement and urine clearance robot | |
| CN103866724A (en) | Commercial robot sweeper | |
| CN212014006U (en) | Pig house leaks excrement ditch clearance autonomous walking robot | |
| CN111183907B (en) | Pig house excrement leakage ditch cleaning autonomous walking robot and cleaning method | |
| CN212014005U (en) | Sow house excrement and urine clearance robot | |
| CN209185339U (en) | One kind being suitable for more scene piggery cleaner device people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |