KR20200094907A - Automatic charge apparatus for multi-function pen - Google Patents

Abstract

An automatic charging device for a multifunctional pen according to the present invention is disposed at one end of an alignment position adjacent to a feed supply device. When a mobile robot is aligned in the alignment position adjacent to the feed supply device, the present invention includes a first charging terminal block and a dockable second charging terminal block mounted on the mobile robot to charge a battery mounted on the mobile robot.

Description

Automatic charge apparatus for multi-function pen

The present invention relates to an automatic charging device for multifunctional livestock that automatically adjusts and supplies feed to the livestock.

The barn is a place for raising livestock. A device for supplying feed (or straw) or drinking water is placed in the barn. Republic of Korea Patent Publication No. 10-2016-004488 (hereinafter referred to as'prior art') discloses a device for automatically supplying feed or drinking water.

The prior art is to periodically supply a certain amount of feed through the feed discharge bar.

However, in the prior art as described above, since the feed supply structure is installed throughout the livestock house, the structure of the device is complicated and the installation cost is large. In addition, the prior art has a limitation in individually controlling the amount of feed and the number of feedings to each livestock.

Republic of Korea Patent Publication No. 10-2016-004488 (published on 2016.04.26.)

The problem to be solved by the present invention is to input a quantified amount of feed (or straw) from a feed input device to a moving body for feed supply, and the feed supply moving body from the inputted quantified feed (or straw) to the barn. In the unmanned automated robot system for multi-functional livestock that allows the feed (or straw) to be supplied by controlling the discharge amount of feed (or straw), it provides an automatic charging device for multi-functional livestock that allows free movement of the moving object for feeding and automatic filling. I want to.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

The problem solving means of the present invention is that the automatic charging device for multifunctional livestock is disposed at one end of an alignment position adjacent to the feed supply device, and when the mobile robot is aligned at the alignment position adjacent to the feed supply device, it is mounted on the mobile robot. And a first charging terminal block mounted on the mobile robot and a dockable second charging terminal block to charge the battery.

The automatic charging device includes: a first motor that is driven during wireless communication with the mobile robot after the mobile robot is aligned in an alignment position; The second charging terminal block is linearly coupled to the front end through a guide rod, and moves in a first direction or a second direction opposite to the first direction according to the driving of the first motor, while A linear actuator for docking or separating the second charging terminal block from the first charging terminal block; First and second position detection sensors for sensing positions according to linear movement of the linear actuator in the first direction or the second direction; A first sensing panel formed at one end of the guide rod; And, a non-contact detection sensor formed at one end of the linear actuator and detecting when the first sensing panel moves backward together with the second charging terminal block and turning off the driving of the first motor to stop the linear movement of the linear actuator. ; It characterized in that it comprises.

The automatic charging device has both ends connected to the front end side of the linear actuator and the second charging terminal block, the second charging terminal block is compressed when reversing so that the first charging terminal block is docked, and the second charging terminal block is It characterized in that it further comprises a spring for providing a restoring force when advancing so that the docking is separated from the first charging terminal block.

The first position sensing sensor detects the forward movement of the linear actuator, the second position sensing sensor is a U-shaped sensor sensing the backward movement of the linear actuator, and the first position sensing at one side of the linear actuator It characterized in that it extends the sensor or a second sensing panel that can enter the second position sensing sensor.

The automatic charging device is characterized in that it further comprises a charging communication unit for wireless communication with the mobile robot for charging.

The charging communication unit, upon arrival of the mobile robot to the alignment position, wirelessly receives a charging request signal or a charging completion signal for the mobile robot from the mobile robot, and a charging operation status signal or charging of the automatic charging device It characterized in that it wirelessly transmits a motion abnormal signal to the mobile robot.

The automatic charging device further includes an alarm unit for outputting the charging operation abnormal signal, and the alarm unit, when the linear actuator proceeds in the first direction, the first position detection sensor detects the second detection panel Alternatively, when the second position sensor detects the second detection panel when the linear actuator proceeds in the second direction, the charging operation abnormal signal is output.

As described above, the present invention puts a quantified amount of feed (or straw) from a feed input device to a moving body for feeding, and the moving body for feed supplies a complex and narrow barn for the received quantified feed (or straw). It provides an advantageous effect of achieving automatic unmanned operation while automatic feeding is possible while controlling the discharge amount, and in particular, filling is automatically performed so that the moving object for feeding feed can be freely moved.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view showing the structure of an unmanned automated robot system for a multifunctional axis according to an embodiment of the present invention.
2 is a view showing a state in which straw feed is input into a first hopper included in an input hopper according to an embodiment of the present invention and a state in which the feed sensing unit (first sensing unit) detects it.
3 is a view showing a state in which processed feed is input into a plurality of second hoppers included in an input hopper according to an embodiment of the present invention and a state in which the feed sensing unit (second sensing unit) detects it.
Figure 4 is a perspective view showing a state in which straw feed is discharged to a barn through a straw feed outlet in a mobile robot according to an embodiment of the present invention.
Figure 5 is a schematic cross-sectional side view of Figure 4 as an embodiment of the present invention, a state in which the straw feed is discharged to the barn by the feeder included in the discharge drive.
6 is a view showing a state of discharging a processed feed from a mobile robot to a processed feed box according to an embodiment of the present invention and a state that a third sensing unit detects it.
7 is an embodiment of the present invention, FIG. 7A is a view showing a closed control state of a gate valve driver for an outlet of an input hopper (second hopper), and FIG. 7B is a gate valve for an input hopper (second hopper). A diagram showing the open control state of the drive unit.
8 is a diagram showing a wireless communication state between a mobile robot and an automatic charging device according to an embodiment of the present invention.
9 is a perspective view showing a structure of a driving unit for driving a second charging terminal block of an automatic charging device according to an embodiment of the present invention.
10 is an embodiment of the present invention, FIG. 10A is a view showing a state in which the second charging terminal block of the automatic charging device moves linearly to dock the first charging terminal block of the mobile robot, and FIG. 2 A diagram showing a state in which the charging terminal block moves linearly to separate the docking from the first charging terminal block of the mobile robot.
Figure 11 is a schematic side view showing a state of use of feeding straw feed and processed feed from the feed hopper to the input hopper according to an embodiment of the present invention.
12 is a view showing a state in which the straw feed is discharged through the straw feed outlet of the mobile robot and the processed feed box is fed to the barn through the robot arm according to an embodiment of the present invention.
13 is a schematic plan view showing a state in which the mobile robot moves from the alignment position to the barn according to the embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, in the embodiments of the technical idea of the present invention, it is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only this embodiment allows the disclosure of the present invention to be complete, and to which the present invention pertains. It is provided to completely inform a person of ordinary skill in the field of the scope of the invention, and is only defined by the scope of the claims in the embodiments of the inventive concept.

The terminology used herein is for describing the embodiments and is not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase.

In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility.

In addition, the embodiments described in the present specification will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary views of the present invention. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include changes in necessary form. For example, an area shown at a right angle may be rounded or may have a shape having a predetermined curvature. Accordingly, the regions illustrated in the drawings have schematic properties, and the shapes of the regions illustrated in the drawings are for exemplifying a specific shape of the region of the device and are not intended to limit the scope of the invention.

The same reference numerals throughout the specification refer to the same components. Accordingly, the same reference numerals or similar reference numerals may be described with reference to other drawings, even if they are not mentioned or described in the corresponding drawings. Further, even if a reference numeral is not indicated, it may be described with reference to other drawings.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view showing a perspective view showing the structure of an unmanned automated robot system for a multifunctional axis according to an embodiment of the present invention.

Referring to the accompanying FIG. 1, the unmanned automated robot system for multi-functional livestock according to an embodiment of the present invention includes a feed supply device 10, a mobile robot 20, an automatic charging device 30, and a control panel 40. It can be included.

The feed supply device 10 supplies straw feed (S1) and/or processed feed (S2) to the mobile robot 20, and includes a feed hopper 11 and a first transfer unit 12.

The supply hopper 11 may be arranged at least one or more to simultaneously or selectively supply the straw feed (S1) or processed feed (S2), and the straw feed (S1) and/or processing to the feed hopper 11 Feed (S2) input can be made through the manual work of the operator or a mechanical device.

The first transfer unit 12 is a conveyor belt, which is disposed on the outlet side of the supply hopper 11 and drives when the mobile robot 20 is aligned to the alignment position P1 as shown in FIG. 13. While being operated by (not shown), the straw feed (S1) or processed feed (S2) discharged through the supply hopper 11 can be transferred to the mobile robot 20.

Here, the initial driving of the driving unit (not shown) for actuating the first transfer unit 12 may be controlled by the control panel 40.

The mobile robot 20 comprises a first charging terminal block 20a and a battery 20b, and wirelessly communicates with the feed supply device 10 as shown in FIGS. When aligned to the alignment position (P1) adjacent to (10), after receiving the straw feed (S1) or processed feed (S2) from the feed supply device 10, it is configured to discharge it to the moved barn. , A moving body 21, an input hopper 22, a feed detection unit 23, a discharge driving unit 24, a robot arm 25, and a robot communication unit 26.

The moving body 21 is capable of running through a moving wheel 21a including a variable wheel track module, and as shown in FIGS. 4 and 6, a straw feed outlet 21b and a detachable processed feed box ( In addition to the 21c) being formed, a bumper 21d may be disposed in the front, and a sensor for detecting an obstacle may be further provided on the bumper 21d.

The input hopper 22 is disposed at least one or more on the upper surface of the moving body 21, according to the input amount of the straw feed (S1) or processed feed (S2) supplied from the feed supply device (10). It is configured to rotate obliquely around the hinge (h1).

At this time, the input hopper 22 may include one first hopper 22a into which the straw feed (S1) is put and a plurality of second hoppers 22b into which the processed feed (S2) is put, and the first The hopper 22a rotates obliquely around the hinge h1 according to the input of the straw feed S1 as shown in FIG. 2, and the second hopper 22b is the It can be configured to rotate obliquely around the hinge (h1) according to the input of the processed feed (S2).

The feed detection unit 23 is connected to the moving main body 21 and the input hopper 22, and when the input hopper 22 rotates in an inclined direction, straw feed (S1) or processing in the input hopper 22 It is configured to detect the input state of feed (S2).

Here, when feed into the feed hopper 22 is sensed by the feed detection unit 23, feed feed into the feed hopper 22 through the first transfer unit 12, which is a conveyor belt, is stopped, This is when the input of straw feed (S1) or processed feed (S2) to the input hopper 22 is detected by the feed detection unit 23, according to the detection signal output from the feed detection unit 23. This is because the driving of the unillustrated driving unit that operates the 1 transfer unit 12 is stopped.

Meanwhile, the feed detection unit 23 is a number corresponding to each of the first hopper 22a included in the input hopper 22 and the second hopper 22b forming a plurality, and the moving body 21 ) And a first sensing unit connecting the first hopper 22a, and having the same structure as the first sensing unit, respectively connecting the moving body 21 and the plurality of second hoppers 22b. The first and second sensing units are designed to have the same structure, and thus, descriptions of the first and second sensing units will be made with the same reference numerals.

That is, as shown in FIGS. 2 and 3, respectively, the first and second sensing units constituting the feed sensing unit 23, the first fixing bracket 231, the first spring 231, and the first connector ( 233), the first upper sensor 234, and the first lower sensor 235 may be configured in the same manner.

The first fixing bracket 231 is a number corresponding to the number of first and second hoppers 22a and 22b included in the input hopper 22 and is fixed to the upper surface of the moving body 21.

The first spring 232 is coupled to the upper surface of the first fixing bracket 231, and one side of the first and second hoppers 22a, 22b rotates obliquely according to the input of feed (S1, S2). When there is no input of feed (S1, S2) to the first and second hoppers (22a, 22b), but when there is no input of the first and second hoppers (22a, 22b) It has been configured to be.

The first connector 233 has one end connected to the bottom surface of the input hopper 22 and a first pressure plate 233a contacting the first spring 232 at the other end, and the input hopper ( The flow can be determined according to the input amount of straw feed (S1) and/or processed feed (S2) to be added to 22).

That is, when the first and second hoppers 22a and 22b rotate obliquely due to the input of feed (S1, S2), the first connecting body 233 causes the first pressurizing plate 233a to become the first spring ( The first spring 232 flows in the direction of the first spring 232 to compress 232, but when the first and second hoppers 22a and 22b are not fed feed (S1, S2) It flows in the direction of lifting the first and second hoppers 22a and 22b by the restoring force provided by.

The first upper sensor 234 is formed on one end of the first fixing bracket 231, and when the flow amount of the first connector 233 cannot overcome the elastic force of the first spring 232 , It is to detect that the input amount of the straw feed (S1) and/or processed feed (S2) in the first and second hoppers 22a and 22b is insufficient.

The first lower sensor 235 is formed under the other end of the first fixing bracket 231, and the flow amount of the first connector 233 overcomes the elastic force of the first spring 232 When the first spring 232 is compressed, it is sensed that the input amount of the straw feed (S1) and/or the processed feed (S2) in the first and second hoppers 22a and 22b is large.

Here, the supply of straw feed (S1) and processed feed (S2) through the first transfer unit 12 is stopped according to signals detected by the first upper sensor 234 and the first lower sensor 235 As a result, the on-drive of the discharge driver 24 may be sequentially performed, and for this purpose, a program for unmanned automation may be mounted on the control panel 40.

The discharge driving unit 24 is the feed detection unit 23 to the first and second hoppers (22a, 22b) constituting the input hopper 22 of the straw feed (S1) and / or processed feed (S2) When input is detected, it is driven to discharge the straw feed (S1) or processed feed (S2) to the straw feed outlet (21b) formed in the moving body (21) or the processed feed box (21c), This may include the feeder unit 241 and the gate valve driving unit 242 or may further include a third sensing unit 243 in addition thereto.

As shown in the attached Figs. 4 and 5, the feeder unit 241 can be fed straw feed (S1) into the first hopper 22a by the first detecting unit divided from the feed detecting unit 23. When detected, feeding is performed to discharge the straw feed (S1) to the straw feed outlet (21b), which is the first and second driving parts (241a, 241b), the rotating body (241c), the second conveyor (241d) It can contain.

The first and second driving units 241a and 241b are configured to be driven on when it is sensed that the mobile robot 20 moves close to the barn.

Here, the moving state of the moving robot 20 is detected by a laser sensor R1 disposed on the upper surface of the moving body 21 and a camera C1 that acquires image information of the surrounding environment at a 360° angle of view. It can be.

The rotating body (241c) is a cross-shaped structure formed inside the first hopper (22a), the straw feed (S1) supplied to the first hopper (22a) according to the drive of the first driving unit (241a). It rotates so as to feed to the outside through the straw feed outlet (21b).

The second conveying part 241d is a conveyor belt, which is disposed in a space communicating with the straw feed outlet 21b, and is moved to the outside of the first hopper 22a according to the driving of the second driving part 241b. It is configured to discharge the discharged straw feed (S1) to the straw feed outlet (21b).

The gate valve driving unit 242 is disposed on the outlet side of the second hopper 22b, as shown in FIG. 7, and is divided from the feed detection unit 23 to the second detection unit. When the input of the processed feed (S2) into the hopper (22b) is detected, the drive is opened to discharge the processed feed (S2) to the processed feed box (21c), which includes the actuator (242a) and the blocking film (242b). It can be.

The actuator 242a is configured to be driven according to whether the third sensing unit 243 is sensed.

The blocking film 242b moves straight forward or backward according to the drive of the actuator 242a, and opens or blocks the outlet of the second hopper 22b, thereby processing feed (S2) to the processed feed box 21c. It is configured to control emissions.

The third sensing unit 243 is a processed feed box (21c) in the processed feed box (21c) on the upper surface of the moving main body 21 where the processed feed box (21c) is located, as shown in FIG. During discharge, the gate valve driving part 242 is closed and controlled, which may include a second spring 243a, a fixing part 243b, and a second lower sensor 243c.

The second spring (243a) is formed on both sides of the bottom of the processed feed box (21c), and compressed when the processed feed (S2) is injected into the processed feed box (21c), and if there is no input of the processed feed (S2), the It is configured to return the processed feed box (21c) to its original position.

The fixing part 243b is disposed on one side of the processed feed box 21c on the upper surface of the mobile robot 20.

The second lower sensor 243c is fixed to the fixing part 243b, and when the processed feed S2 is input to the processed feed box 21c, the second spring 243a compresses the processed feed ( S2) It is detected by input.

The robot arm 25 is rotatably disposed on the other end of the upper surface of the moving body 21, and is processed by the gate valve driving unit 242 included in the discharge driving unit 24 as shown in FIG. When the processed feed (S2) is discharged to the feed box (21c), the processed feed box (21c) is configured to be fed to the barn.

Here, the robot arm 25 may be driven and controlled to feed the processed feed box 21c to the barn according to the detection signal of the second lower sensor 243c, thereby realizing unmanned automation.

Meanwhile, the robot arm 25 may further include a holding unit capable of holding the processed feed box 21c, and the movement trajectory of the holding unit may be set to pass through the processed feed box 21c. There is.

The robot communication unit 26 performs wireless communication with the automatic charging device 30. To this end, the robot communication unit 26 may include a plurality of optical sensor modules for wireless communication with the automatic charging device 30. The robot communication unit 26 wirelessly transmits a charging request signal for the mobile robot 20 to the automatic charging device 30 upon the arrival of the mobile robot 20 to the alignment position P1. In addition, the robot communication unit 26 wirelessly transmits a charging completion signal to the automatic charging device 30 upon completion of charging of the mobile robot 20. In addition, the robot communication unit 26 may receive a charging operation status signal or a charging operation abnormal signal from the automatic charging device 30.

The automatic filling device 30 is disposed at one end of the alignment position P1 adjacent to the feed supply device 10, as shown in FIGS. 1 and 8, and is adjacent to the feed supply device 10. When the mobile robot 20 is aligned and docked at the alignment position P1, the battery 20b mounted on the mobile robot 20 is charged while wirelessly communicating with the mobile robot 20. To this end, the automatic charging device 30 is provided with the first charging terminal block 20a of the mobile robot 20 and a dockable second charging terminal block 30a and a charging communication unit 38, and such components In addition, as shown in FIGS. 9 and 10, the first motor 31, the linear actuator 32, the first and second position sensors 33 and 34, the third spring 35, and the first detection panel 36 , A non-contact detection sensor 37, which may include an alarm unit (not shown).

The first motor 31 is configured to be driven on during wireless communication with the mobile robot 20 after the mobile robot 20 is aligned at the alignment position P1.

In the linear actuator 32, the second charging terminal block 30a is linearly coupled to the front end through a guide rod 32a, and the first direction (forward) is driven by the first motor 31. ) Or a second direction opposite to the first direction (reverse), and the second charging terminal block 30a is docked or separated from the first charging terminal block 20a.

The first and second position sensing sensors 33 and 34 sense a position according to a linear movement of the linear actuator 32 in a first direction or a second direction, and the first position sensing sensor 33 A forward movement of the linear actuator 32 is sensed, and the second position detection sensor 34 is a U-shaped sensor that senses a backward movement of the linear actuator 32, and one side of the linear actuator 32 has the The first position sensing sensor 33 or the second sensing panel 32b capable of entering the second position sensing sensor 34 is extended.

The third spring 35 has both ends connected to the front end side of the linear actuator 32 and the second charging terminal block 30a, and the second charging terminal block 30a is the first charging terminal block 20a. It is compressed when reversing so as to be docked on, and is configured to provide a restoring force when the second charging terminal block 30a is moved forward so that the docking is separated from the first charging terminal block 20a.

The first detection panel 36 is formed at one end of the guide rod 32a, and the non-contact detection sensor 37 is formed at one end of the linear actuator 32, and the second charging terminal block 30a In addition, when the first detection panel 36 moves backward, the first detection panel 36 is configured to detect this and turn off the driving of the first motor 31 to stop the linear movement of the linear actuator 32.

The charging communication unit 38 performs wireless communication with the mobile robot 20. To this end, the charging communication unit 38 may include a plurality of optical sensor modules for wireless communication with the mobile robot 20. The charging communication unit 38 wirelessly receives a charging request signal for the mobile robot 20 from the robot communication unit 26 of the mobile robot 20 according to the arrival of the mobile robot 20 to the alignment position P1. Further, the charging communication unit 38 wirelessly receives a charging completion signal from the robot communication unit 26 upon completion of charging of the mobile robot 20. In addition, the charging communication unit 38 may wirelessly transmit a charging operation status signal or a charging operation abnormal signal of the automatic charging device 30 to the robot communication unit 26.

The alarm unit outputs a charging operation error signal. To this end, the alarm unit may include an alarm signal output module or a buzzer module. For example, when the linear actuator 32 proceeds in the first direction, the first position detection sensor 33 detects the second detection panel 32b, or the linear actuator 32 detects the second detection panel 32b. When the second position detection sensor 34 detects the second detection panel 32b while proceeding in the second direction, the alarm unit outputs a charging operation abnormal signal.

The control panel 40 sequentially controls the feed supply device 10, the mobile robot 20, and the automatic charging device 30 according to a set unmanned mode. Accordingly, the control panel 40 An unmanned automation control program for sequentially controlling the feed supply device 10, the mobile robot 20, and the automatic charging device 30 when the unmanned automation mode is set by the operation unit as well as an operation unit for operation will be mounted. It can be.

As such, when the mobile robot 20 is aligned to the alignment position (P1) in the feed supply device 10, as in the attached Figs. 1 to 13, the multi-functional axis use unmanned automated robot system according to the embodiment of the present invention. While supplying straw feed (S1) and/or processed feed (S2) to the mobile robot 20, the power supply battery 20b for driving and driving the mobile robot 20 is an automatic charging device 30 ), it is possible to unmanned automatic filling, which will be described by dividing it into a feed supply mode and an automatic filling mode.

First, looking at the feed supply mode, when the mobile robot 20 travels according to the power supply of the battery 20b and aligns it with the alignment position P1 provided on the front side of the feed supply device 10, the movement The robot 20 wirelessly communicates with the feed supply device 10.

At this time, since straw feed (S1) and processed feed (S2) are put in at least one or more of the feed hoppers 11 included in the feed supply device 10, the mobile robot 20 is positioned at the alignment position (P1). ), and at the same time, the driving unit included in the feed supply device 10 operates the first transfer unit 12 which is a conveyor belt.

Then, the straw sack (S1) and/or processed feed (S2) discharged from the outlet of the supply hopper 11 are input hopper 22 of the mobile robot 20 by the first transfer unit 12, that is, It can be put into the first and second hoppers (22a, 22b), respectively.

On the other hand, while the straw feed (S1) and processed feed (S2) are added to the first and second hoppers 22a and 22b, respectively, as described above, due to the weight of the feeds S1 and S2, the first and When the second hopper (22a, 22b) rotates obliquely about one end of the hinge (h1), the first connecting body 233 is rotated according to the oblique rotation of the first and second hoppers (22a, 22b). Since the pressing plate 233a compresses the first spring 232, the position of the pressing plate 233a according to the compression amount of the first spring 232 is sensed by the first lower sensor 235, It is determined that straw feed (S1) and processed feed (S2) are put into the first and second hoppers 22a and 22b.

Then, the driving of the unshown driving unit included in the feed supply device 10 is stopped according to the detection signal of the first lower sensor 235, and the feed (S1, S2) by the first transfer unit 12 is stopped. The supply is stopped.

Thereafter, the mobile robot 20 is moved to the barn using a moving wheel 21a, and after the moving robot 20 moves to the barn, the discharge driving unit 24 included in the mobile robot 20 Is capable of performing an operation of discharging the straw feed (S1) and processed feed (S2) respectively input to the first and second hoppers 22a and 22b to the barn.

That is, the feeder part 241 included in the discharge driving part 24 discharges the straw feed (S1) injected into the first hopper 22a to the barn through the straw feed discharge port 21b, and the discharge drive part 24 The gate valve driving unit 232 included in the is to discharge the processed feed (S2) input to the second hopper (22b) consisting of a plurality of processed feed box (21c) while being opened.

At this time, the robot arm 25 provided in the mobile robot 20 feeds the processed feed box 21c and moves it to the barn, so that the processed feed S2 input to the processed feed box 21c is It becomes possible to be discharged.

On the other hand, when the discharge of the straw feed (S1) and / or processed feed (S2) to the barn as described above is completed, the mobile robot 20 is the feed supply device 10 is located again as shown in Figure 13 attached. As it moves to the alignment position P1, the automatic charging mode for the battery 20b provided in the mobile robot 20 can be executed.

That is, when the mobile robot 20 moves and stops the alignment position P1 of the feed supply device 10, the mobile robot 20 communicates wirelessly with the automatic charging device 30, and at this time, the automatic charging The first motor 31 included in the device 30 is turned on and driven to move the linear actuator 32 forward.

Then, the second charging terminal block 30a provided on the front end side of the linear actuator 32 is docked by the first charging terminal block 20a of the mobile robot 20, and the automatic charging device 30 is It is possible to charge the battery 20b of the mobile robot 20, and when the charging of the battery 20b is finished, the mobile robot 20 is again sent from the feed supply device 10 to straw feed (S1) and/ Or, after receiving the processed feed (S2), it is possible to travel to the barn.

In the above, the technical idea of the unmanned automated robot system for multi-function axes of the present invention has been described with the accompanying drawings, but this is illustrative of the best embodiment of the present invention, but not limiting the present invention.

Therefore, the present invention is not limited to the specific preferred embodiments described above, and anyone with ordinary knowledge in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims can implement various modifications. Of course, such changes are possible and are within the scope of the description of the claims.

10; Feed device 11; Supply hopper
12; A first transfer unit 20; Mobile robot
20a; A first charging terminal block 20b; battery
21; Moving body 21a; Moving wheel
21b; Straw feed outlet 21c; Processed feed box
22; Input hopper 22a; 1st hopper
22b; Second hopper 23; Feed detector
231; First fixing bracket 232; 1st spring
233; First connector 233a; First platen
234; A first upper sensor 235; 1st lower sensor
24; Discharge driving unit 241; Feeder
241a, 241b; First and second driving units 241c; Rotating body
241d; A second transfer unit 242; Gate valve driver
242a; Actuator 242b; Barrier
243; A third sensing unit 243a; 2nd spring
243b; Fixing part 243c; 2nd lower sensor
25; Robot Arm 26: Robot Communication Department
30; Automatic charging device 31; 1st motor
32; Linear actuator 32a; Guide rod
32b; Second sensing panels 33 and 34; 1st and 2nd position sensor
35; Third spring 36; 1st detection panel
37; Non-contact detection sensor 38: charging communication unit
40; Control panel C1; camera
R1; Laser sensor P1; Alignment position
S1; Straw feed S2; Processed feed

Claims (7)

In the automatic charging device for multi-functional livestock constituting an unmanned automated robot system for multifunctional livestock including a feed supply device and a mobile robot,
The automatic charging device,
It is disposed at one end of the alignment position adjacent to the feed supply device, and is mounted on the mobile robot to charge the battery mounted on the mobile robot when the mobile robot is aligned at the alignment position adjacent to the feed supply device. An automatic charging device for multifunctional livestock, comprising: a first charging terminal block and a dockable second charging terminal block. The method of claim 1,
The automatic charging device,
A first motor driven during wireless communication with the mobile robot after the mobile robot is aligned in the alignment position;
The second charging terminal block is linearly coupled to the front end through a guide rod, and moves in a first direction or a second direction opposite to the first direction according to the driving of the first motor, while A linear actuator for docking or separating the second charging terminal block from the first charging terminal block;
First and second position detection sensors for sensing positions according to linear movement of the linear actuator in the first direction or the second direction;
A first sensing panel formed at one end of the guide rod; And,
A non-contact sensor formed at one end of the linear actuator and configured to stop the linear movement of the linear actuator by sensing this when the first sensing panel moves backward together with the second charging terminal block and turning off the driving of the first motor; Automatic charging device for multi-function livestock comprising a. According to claim 2,
The automatic charging device,
Both ends are connected to the front end side of the linear actuator and the second charging terminal block, the second charging terminal block is compressed when reversing so that it is docked to the first charging terminal block, and the second charging terminal block is docked from the first charging terminal block. Automatic charging device for multi-function shaft, characterized in that it further comprises a spring that provides a restoring force when moving forward so that the separation. According to claim 2,
The first position sensor detects the forward movement of the linear actuator, the second position sensor is a U-shaped sensor that detects the backward movement of the linear actuator,
An automatic charging device for multifunctional livestock, characterized in that extending a second sensing panel that can enter the first position sensing sensor or the second position sensing sensor at one side of the linear actuator. The method of claim 1,
The automatic charging device,
Multi-function livestock automatic charging device, characterized in that it further comprises a charging communication unit for wireless communication with the mobile robot for charging. The method of claim 5,
The charging communication unit,
Upon arrival of the mobile robot to the alignment position, a charging request signal or a charging completion signal for the mobile robot is wirelessly received from the mobile robot, and a charging operation state signal or a charging operation abnormal signal of the automatic charging device is received. An automatic charging device for multifunctional livestock, characterized in that wireless transmission to a mobile robot. The method of claim 6,
The automatic charging device,
Further comprising an alarm for outputting the charging operation abnormal signal,
The alarm unit,
When the linear actuator proceeds in the first direction, the first position sensor detects the second sensing panel, or when the linear actuator proceeds in the second direction, the second position sensor detects the second position. Automatic charging device for multi-function livestock, characterized in that outputting the charging operation abnormal signal when detecting the detection panel.

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