CN110679497A - Pasture feed mixing and grass pushing device and grass pushing method - Google Patents

Abstract

The invention relates to a pasture feed mixing and grass pushing device and a pasture feed mixing and grass pushing method. The invention uses the movement of the whole machine and the rotation of the pushing shell to push materials, reduces the labor intensity, stirs and mixes the concentrated feed by the feed mixing and sprinkling device, and mixes the mixed concentrated feed with the forage grass to improve the balance of nutrition.

Description

A kind of pasture feed mixed pushing grass device and grass pushing method

technical field

The invention relates to the technical field of pasture machinery, in particular to a pasture feed mixing and pushing grass device integrating the functions of intelligent pushing and mixing and pouring of feed.

Background technique

Developed countries in the world successively realized the mechanization and modernization of animal husbandry from the 1920s to the 1960s. The development patterns of animal husbandry in developed countries are not the same. Looking back at the development of animal husbandry mechanization in developed countries in the world, as early as around the 1960s, developed countries have successively realized animal husbandry mechanization. Although the development mode of animal husbandry in each country is different, animal husbandry machinery is developing in the direction suitable for the scale and characteristics of domestic feeding. For example, Australia, New Zealand, and the Netherlands mainly focus on grass-fed animal husbandry, and develop large-scale high-quality forage planting, mechanized forage harvesting, mechanized feeding, and artificial grassland construction; Farm feeding is the main focus, and moderate-scale animal husbandry mechanization is developed; while the United States mainly develops large-scale fully automated feed processing and large-scale feeding based on grain and feed. The popularity rate of intelligent animal husbandry machinery and equipment in developed countries in Europe and the United States is quite high. The penetration rate of intelligent robotic equipment in farms has reached 80%.

In general, variety diversification, control automation, functional specialization, large scale, quantitative precision, digital informatization of management technology and attention to sustainable development of the environment constitute the main direction of the development of animal husbandry machinery in foreign developed countries.

It is well known that for rearing dairy cows, frequent feeding leads to increased feed intake and increased milk production. In addition, frequent feeding has a positive effect on the health of the cattle. However, in the process of providing fresh feed for dairy cows, in the prior art, when the livestock is fed in the pasture, the pasture is usually placed near the fence of the captive livestock by artificial means. This feeding method is inefficient, and in the process of feeding livestock, it needs to be supplemented in real time, otherwise a large amount of feed will be wasted; and the work of pushing feed to the cattle pen is not divided into day and night, and the labor intensity is high. Labor is often a limiting factor.

Realizing the precise feeding of dairy cows and liberating operators from heavy manual labor, greatly improving work efficiency, reducing pollution, reducing the occurrence of dairy cow diseases, and increasing milk production are the ultimate goals of cattle farm robots.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the prior art, the present invention breaks through the functional limitations of traditional pasture feeding robots according to the complex environment and lack of labor force in modern dairy cattle breeding ranches in my country, and provides a ranch based on mechatronics, informatization and intelligence. The feed mixing and pushing device and the pushing method reduce the manual workload and improve the feeding efficiency.

The present invention is achieved through the following technical solutions, and provides a pasture feed mixing and pushing grass device, which includes a chassis provided with a walking device, a center column fixed on the chassis, a pusher shell rotatably connected to the center column, and a driving pusher A first drive device that rotates the material shell with the central column as the axis.

In this scheme, the chassis is driven to move by the walking device, thereby driving the whole machine to move. At the same time, the first driving device drives the pusher shell to rotate with the central column as the axis, and uses the rotation of the pusher shell and the movement of the whole machine to push the feed in the direction of the livestock. , the supporting force required to support the shell is provided by the central column.

As an optimization, the first drive device includes a plurality of circumferentially arranged first drive motors fixed to the chassis and vertically arranged on the output shaft, and a gear fixed on the output shaft of the first drive motor. The inner wall of the casing is fixedly connected with an annular internal rack that meshes with the gear. The optimized scheme uses the first drive motor to drive the gear to rotate, and drives the pusher housing to rotate through the meshing of the gear and the internal rack; the first drive motors are distributed along the circumferential direction, which improves the stability of the transmission.

As an optimization, the pusher housing is connected to the central column through a load-bearing bearing seat. By setting the load-bearing bearing seat in this optimization scheme, the frictional resistance of the rotation of the pusher shell is reduced, and the structure of the whole machine is simplified at the same time.

As an optimization, the pusher shell is a cone with a small top and a large bottom. The structural arrangement of the pusher shell in the optimized scheme improves the strength of the pusher shell and prolongs the service life.

As an optimization, a plurality of pushing racks arranged in the circumferential direction are fixed on the outer side of the pushing housing. This optimization scheme increases the pushing area for pushing the feed by setting the pushing rack, thereby improving the pushing efficiency.

As an optimization, it also includes a feed mixing and pouring device located above the pushing shell, the feed mixing and pouring device includes a feed box fixed to the central column, an auger shaft connected in the feed box and driving the auger to rotate The power device is equipped with a feeding port and a feeding pipe extending above the forage on the material box. In this optimization plan, the feed mixing and pouring device is set up, and the concentrated feed put into the feed box is stirred and mixed by the auger, and the agitated concentrated feed flows out through the discharge pipe and sprinkles on the forage, providing more balanced nutrition for the cows.

As an optimization, an annular anti-collision beam is also fixed on the central column, and the projection of the pusher shell along the vertical direction is located in the projection of the anti-collision beam along the vertical direction. Through the setting of this optimization scheme, if the equipment collides, the flexible anti-collision beam can play a buffering role to avoid damage to the parts of the device.

As an optimization, the traveling device includes a left driving wheel, a right driving wheel and a universal wheel mounted on the chassis, and a second driving device for driving the left driving wheel and the right driving wheel to rotate. The second driving device, the left driving wheel axle The axles of the right driving wheel and the left driving wheel are both located above the chassis, and the chassis is provided with a gap for the left driving wheel and the right driving wheel to pass through. This optimization scheme provides power to the traveling device through the second driving device, the second driving device, the left driving wheel axle and the right driving wheel axle are arranged on the chassis, and the chassis is used to protect them, so as to reduce the power parts and the mechanical load. The bump damage of the piece.

As an optimization, the second driving device includes a left servo motor connected to the left drive wheel axle through a chain drive and a right servo motor connected to the right drive wheel axle through a chain drive. The left drive wheel axle is coaxial with the right drive wheel axle. In this optimization scheme, the left driving wheel and the right driving wheel are driven by different servo motors, which improves the convenience of control and the flexibility of turning.

The method for pushing grass using the above-mentioned pasture feed mixing device for pushing grass includes the following aspects:

a. Drive the whole machine to move through the walking device, and at the same time drive the pusher shell to rotate through the first drive device, and use the rotation of the shell and the movement of the whole machine to push the feed closer to the livestock;

b. Put the concentrated feed into the feeding box, and use the auger in the feeding box to stir the concentrated feed. During the feeding process, the concentrated feed flows out through the discharge pipe and sprinkles on the forage;

c. When the whole machine moves forward, the universal wheel is located behind the connection line between the left driving wheel and the right driving wheel, and the turning of the whole machine is realized by the speed difference between the left driving wheel and the right driving wheel.

The beneficial effects of the invention are as follows: the movement of the whole machine and the rotation of the pusher shell are used to push the material, which reduces the labor intensity; the concentrated feed is stirred and mixed by the feed mixing and pouring device; Improve nutritional balance.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic view of the structure of a walking device;

Figure 3 is a rear view of the walking device;

Figure 4 is a schematic structural diagram of a pushing device;

Figure 5 is a schematic diagram of the internal structure of the pushing device;

Figure 6 is a partial cross-sectional view of the pushing device;

Fig. 7 is the structural representation of feed mixing and pouring device;

Figure 8 is a sectional view of the feed mixing and pouring device;

Figure 9 is a schematic diagram of the structure of the auger.

Shown in the picture:

1. Chassis, 2. Magnetic navigation sensor, 3. Left driving wheel, 4. Right driving wheel, 5. Universal wheel, 6. Left driving wheel axle, 7. Right driving wheel axle, 8. Left driven sprocket, 9. Right driven sprocket, 10, Left drive chain, 11, Right drive chain, 12, Left servo motor, 13, Right servo motor, 14, Left motor mount, 15, Right motor mount, 16, Left method Flange coupling, 17, right flange coupling, 18, fixed bearing seat of transmission shaft, 19, center column, 20, load-bearing base, 21, load-bearing bearing seat, 22, first drive motor, 23, motor fixing frame , 24, gear, 25, internal rack, 26, placement rack, 27, power supply, 28, control box, 29, pusher housing, 30, pusher, 31, top cover, 32, top base, 33, Material box, 34, Anti-collision beam, 35, Anti-collision beam fixing frame, 36, Ultrasonic sensor, 37, Depth camera, 38, Power unit, 39, Auger, 40, Discharge pipe, 41, Walking device, 42, Pushing device, 43, Control system, 44, Feed mixing and pouring device, 45, Left drive sprocket, 46, Right drive sprocket.

Detailed ways

In order to clearly illustrate the technical features of the solution, the solution will be described below through specific implementations.

As shown in FIG. 1, a pasture feed mixing and pushing grass device includes a chassis 1 provided with a walking device 41, a central column 19 fixed on the chassis 1, a pushing shell 29 rotatably connected to the central column 19, and a driving pusher A first drive device that rotates the material shell with the central column as the axis. The pusher housing is connected to the central column 19 through a load-bearing bearing seat 21 , and the load-bearing bearing seat 21 is fixed on the central column 19 , and the supporting force required to support the housing is provided by the central column 19 . The pusher housing 29 is a cone with a small top and a large bottom, and a plurality of pusher racks arranged in the circumferential direction are fixedly connected to the outer side of the pusher housing. The top cover 31 is fixedly connected to the upper opening of the pusher housing, and the top base 32 is fixedly connected to the central column through the top cover 31 . The ejector 30 is fixedly connected to the ejector shell in this embodiment by bolts. The ejector shell 29 and the ejector 30 form a pusher device 42. The wall thickness is 1.5mm, the pusher rack is fixed on the outer side wall of the pusher, and the height of the pusher rack is 20mm, which not only improves the pusher efficiency, but also improves the strength of the pusher.

The chassis is located inside the pusher shell to increase the pusher area, and at the same time, the pusher shell protects the components on the chassis.

The first drive device includes a plurality of first drive motors 22 arranged in the circumferential direction fixed to the chassis and arranged vertically with the output shaft, and a gear 24 fixed on the output shaft of the first drive motor 22. The pusher housing 29 An annular closed internal rack 25 meshing with the gear 24 is fixed on the inner wall of the gear 24 . The first drive motor 22 is a vertical servo motor, the internal rack 25 is meshed with four gears 24, each gear is connected to the vertical servo motor 22, and the vertical servo motor 22 provides power for the gear 24 and pushes the material housing 29. The rotation of the feeder provides power to realize the rotation of the pusher, and the speed of the pusher is adjusted by the servo motor. The vertical servo motor 22 is fixed on the motor fixing frame 23, and the motor fixing frame 23 is fixed on the chassis 1 by bolts, and the radial force during the pushing process is provided by four gears.

This embodiment also includes a feed mixing and pouring device 44 located above the pusher housing. The feed mixing and pouring device includes a feed box 33 fixed with the central column, an auger 39 shafted in the feed box and driving the The power device 38 for the rotation of the auger, the feeding port and the feeding pipe 40 extending above the forage are provided on the feeding box. The feed mixing and pouring device 44 is installed above the top base 32, the top of the material box 33 is open, and the concentrated feed is put in from the top opening of the material box 33. The auger 39 in the material box is responsible for stirring the concentrated feed evenly, and the power device 38 is twisted. The dragon provides power. During the whole machine's forward process, the concentrated feed flows out through the discharge pipe 40 and sprinkles on the forage to provide balanced nutrition for the cows.

A flexible annular anti-collision beam 34 is also fixedly connected to the central column, and the projection of the pusher shell along the vertical direction is located in the projection of the anti-collision beam along the vertical direction. The anti-collision beam 34 is installed on the top base 32 through the anti-collision beam fixing frame 35, and the top base is fixed to the load-bearing base 20 fixed to the upper end of the center column. In the event of a collision, the flexible anti-collision beam 34 can play a buffering role , to avoid damage to device components.

The traveling device includes a left driving wheel 3, a right driving wheel 4 and a universal wheel 5 installed on the chassis, and a second driving device that drives the left driving wheel and the right driving wheel to rotate. The second driving device, the left driving wheel axle 6 and The right driving wheel axles 7 are all located above the chassis, and the chassis is provided with a gap for the left driving wheel and the right driving wheel to pass through. The second driving device includes a left servo motor 12 connected to the left drive wheel axle through a chain drive and a right servo motor 13 connected to the right drive wheel axle through a chain drive. The left drive wheel axle is coaxial with the right drive wheel axle. The left driving wheel 3 and the right driving wheel 4 are driven by the left chain 10 and the right chain 11 respectively, and are powered by two servo motors. The left servo motor 12 and the right servo motor 13 are respectively fixed on the two left motor fixing frames 14 and the right motor. On the fixing frame 15, the left servo motor 12 and the right servo motor 13 drive the left drive sprocket 45 and the right drive sprocket 46 respectively, thereby driving the left driven sprocket 8 and the right driven sprocket 9, and the left driven sprocket 8 It is fixedly mounted on the left driving wheel axle 6, the right driven sprocket 9 is fixedly mounted on the right driving wheel axle 7, and the left flange coupling 16 and the right flange coupling 17 are respectively fixed on the left driving wheel 3, right On the driving wheel 4, the left driving wheel axle 6 and the right driving wheel axle 7 are respectively connected with the left flange coupling 16 and the right flange coupling 17 through pins, and the left driving wheel axle 6 and the right driving wheel axle 7 are driven by transmission. The shaft fixing bearing seat 18 is fixed on the chassis 1, and the universal wheel 5 is fixed on the chassis 1 by screws and bolts. When moving forward, the two driving wheels are in the front, which drives the overall movement and facilitates steering. Two driving wheels and one universal wheel are distributed in a triangular shape, the turning motion of the device is realized through the speed difference of the two driving wheels, and the transmission is stable.

A placing frame 26 is fixedly arranged on the chassis 1 , and a power supply 27 and a control box 28 are placed on the placing frame 26 . The present embodiment also includes a control system 43, which includes a magnetic navigation sensor 2, an ultrasonic sensor 36, a depth camera 37, and a control box 28 provided with a controller. The controller mainly receives the signals of each sensor and controls the operation of other devices according to the received signals; the magnetic navigation sensor is used to ensure that the pushing device follows the prescribed route; When the obstacle is moved, the speed and direction of travel can be adjusted in time and used as an obstacle avoidance sensor; the depth camera is also installed on the top base, which can analyze the size of the forage volume in real time, transmit it to the controller, and then adjust the speed of the servo motor through the controller. , which can realize the independent speed regulation of the pushing device. The controller and sensor use the prior art, and their circuit connections do not belong to the content to be protected by the present invention, and those skilled in the art can obtain their circuit connection relationships according to the above description, so they will not be repeated here.

The grass pushing method that uses the pasture feed mixing pushing device of the present embodiment to carry out, includes the following aspects:

a. Drive the whole machine to move through the walking device, and at the same time drive the pusher shell to rotate through the first drive device, and use the rotation of the shell and the movement of the whole machine to push the feed closer to the livestock;

b. Put the concentrated feed into the feeding box, and use the auger in the feeding box to stir the concentrated feed. During the feeding process, the concentrated feed flows out through the discharge pipe and sprinkles on the forage;

c. When the whole machine moves forward, the universal wheel is located behind the connection line between the left driving wheel and the right driving wheel, and the turning of the whole machine is realized by the speed difference between the left driving wheel and the right driving wheel.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be realized by or using the existing technology, and will not be repeated here; the above embodiments and drawings are only used to illustrate the technical solutions of the present invention, not It is a limitation of the present invention. The present invention is described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that changes, modifications, The additions or substitutions do not depart from the spirit of the present invention, and should also belong to the protection scope of the claims of the present invention.

Claims (10)

1. A pasture feed mixing and pushing grass device, characterized in that it comprises a chassis (1) provided with a walking device (41), a central column (19) fixed on the chassis (1), and a central column (19) rotatably connected to the central column ( 19) on the pusher housing (29) and the first drive device that drives the pusher housing to rotate with the central column as the axis. 2 . The pasture feed mixing and pushing grass device according to claim 1 , wherein the first driving device comprises a plurality of circumferentially arranged first driving motors which are fixedly connected to the chassis and are arranged vertically with the output shaft. 3 . (22), and a gear (24) fixedly mounted on the output shaft of the first drive motor (22), the inner wall of the pusher housing (29) is fixedly connected with an annular internal gear rack that meshes with the gear (24) (25). 3 . The pasture feed mixing and pushing grass device according to claim 1 , wherein the pushing shell is connected to the central column ( 19 ) through a load-bearing bearing seat ( 21 ). 4 . 4. A pasture feed mixing and pushing grass device according to claim 1, characterized in that: the pushing shell is a cone with a small upper part and a large lower part. 5 . The pasture feed mixing and pushing grass device according to claim 4 , wherein a plurality of pushing racks arranged in the circumferential direction are fixedly connected to the outer side of the pushing shell. 6 . 6. A pasture feed mixing and pushing grass device according to claim 1, characterized in that: further comprising a feed mixing and pouring device (44) located above the pushing shell, the feed mixing and pouring device comprising a A fixed material box (33), an auger (39) connected to the material box, and a power device (38) for driving the rotation of the auger, the material box is provided with a feeding port and a discharge extending above the forage Tube (40). 7. The pasture feed mixing and pushing grass device according to claim 1, characterized in that: an annular anti-collision beam (34) is also fixed on the central column, and the projection of the pushing shell along the vertical direction is located in the anti-collision beam. Within the vertical projection of the striker beam. 8 . The pasture feed mixing and pushing grass device according to claim 1 , wherein the walking device comprises a left driving wheel ( 3 ), a right driving wheel ( 4 ) and a universal wheel ( 5), and the second drive device that drives the left and right drive wheels to rotate, the second drive device, the left drive wheel axle (6) and the right drive wheel axle (7) are all located above the chassis, and the chassis is provided with Gap through which the drive wheel and the right drive wheel pass. 9 . The pasture feed mixing and pushing grass device according to claim 8 , wherein the second driving device comprises a left servo motor ( 12 ) connected with the left driving wheel axle through a chain drive, and a left servo motor ( 12 ) connected with the left drive wheel through a chain drive. The right servo motor (13) is connected to the axle of the right driving wheel, and the axle of the left driving wheel is coaxial with the axle of the right driving wheel. 10. a grass pushing method using any one of claims 1 to 9 pasture feed mixing pushing grass device, is characterized in that, comprises the following aspects: a. Drive the whole machine to move through the walking device, and at the same time drive the pusher shell to rotate through the first drive device, and use the rotation of the shell and the movement of the whole machine to push the feed closer to the livestock; b. Put the concentrated feed into the feeding box, and use the auger in the feeding box to stir the concentrated feed. During the feeding process, the concentrated feed flows out through the discharge pipe and sprinkles on the forage; c. When the whole machine moves forward, the universal wheel is located behind the connection line between the left driving wheel and the right driving wheel, and the turning of the whole machine is realized by the speed difference between the left driving wheel and the right driving wheel.

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