DK176402B1 - Motorized feed vehicle for mink farm has paste-form food pumped out through flexible or movably suspended tube, manually controlled, for delivery in appropriate quantities above mink cages - Google Patents
Motorized feed vehicle for mink farm has paste-form food pumped out through flexible or movably suspended tube, manually controlled, for delivery in appropriate quantities above mink cages Download PDFInfo
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- DK176402B1 DK176402B1 DK200600966A DKPA200600966A DK176402B1 DK 176402 B1 DK176402 B1 DK 176402B1 DK 200600966 A DK200600966 A DK 200600966A DK PA200600966 A DKPA200600966 A DK PA200600966A DK 176402 B1 DK176402 B1 DK 176402B1
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- 241000772415 Neovison vison Species 0.000 title claims abstract description 10
- 238000005086 pumping Methods 0.000 claims abstract description 5
- 230000004913 activation Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 5
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 241001465754 Metazoa Species 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000018286 Shoulder injury Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
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- 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
- A01K5/0216—Automatic devices for the distribution of liquid fodder
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- 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
- A01K5/0266—Automatic devices with stable trolleys, e.g. suspended
-
- 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
- A01K5/0275—Automatic devices with mechanisms for delivery of measured doses
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- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
Description
DK 176402 B1 iDK 176402 B1 i
Den foreliggende opfindelse angår en motoriseret fodervogn til pelsdyrfarme, især minkfarme, og nærmere bestemt af den i indledningen til krav 1 anførte art.The present invention relates to a motorized feed trolley for fur farms, especially mink farms, and more particularly to the kind set forth in the preamble of claim 1.
Kendte fodervogne af den omhandlede type er i hovedtrækkene opbygget over et 5 vognchassis, på hvilket motor, transmissionssystem / hydrauliksystem, foderbeholder med foderpumpe, og førerplads er monteret. Foderpumpen, som befinder sig nederst i den opadtil åbne foderbeholder, står i forbindelse med et udpumpningsrør eller foder fordelerrør, som tjener til afgivelse af foderet nærmest klatvis oven på burene. Foderfordelerrøret er til dette formål fleksibelt eller ophængt let bevægeligt, eksempelvis 10 i et skråt opadrettet rør eller stander monteret på fodervognen, således at operatøren med én hånd alene kan dirigere røret frem og tilbage og ud til siden, og på den måde bestemme, hvor foderet afleveres. Operatøren er endvidere i stand til ved et passende kort ryk i røret at afskære foderstrengen, så der ikke klattes med foderet udenfor burene.Known feed trucks of the type in question are basically built over a 5 car chassis on which the engine, transmission system / hydraulic system, feed tank with feed pump, and driver's seat are mounted. The feed pump, which is located at the bottom of the upwardly open feed container, communicates with an exhaust pipe or feed manifold, which serves to dispense the feed almost impatiently on top of the cages. For this purpose, the feed distributor tube is flexible or suspended easily movable, for example 10 in an oblique upward tube or stand mounted on the feed trolley, so that the operator can single-handedly direct the tube back and forth and thus determine where the feed is. handed. Furthermore, the operator is able to cut off the feed string by a suitable short jerk in the tube so that the feed is not cluttered outside the cages.
Udfodringen foregår samtidig med, at fodervognen kører langsomt frem langs rækkerne 15 af bure.The feeding takes place at the same time as the feed carriage moves slowly along the rows 15 of cages.
På trods af den arbejdslettelse, som en motoriseret fodervogn indebærer for operatøren, er arbejdet med fodringen fortsat tidskrævende og rutinepræget. Betjeningen af fodervognen er præget af gentagne og ensformige bevægelser, som ikke alene er fysisk 20 trættende men i længden også sundhedsskadelige. Operatøren skal styre fodervognen samtidig med, at han betjener foderfordelerrøret. Dette giver en nærmest vedvarende, skrå arbejdsstilling, som er uhensigtsmæssig ud fra et fysiologisk synspunkt, og som indebærer risiko for ledskader i skulder og arm.In spite of the work relief that a motorized feed truck entails for the operator, the work on feeding remains time-consuming and routine. The operation of the feed trolley is characterized by repetitive and monotonous movements, which are not only physically tiring but also in the long run also harmful to health. The operator must control the feed truck while operating the feed distributor tube. This results in an almost persistent, oblique posture, which is inappropriate from a physiological point of view and involves the risk of joint and shoulder injuries.
25 En motoriseret fodervogn af den omhandlede type, som samtidig er videreudviklet med en programmerbar, sekventiel styring af foderafgivelsen, kendes fra dansk patentansøgning nr PA 1987 03915. Skriftet omhandler et køretøj til fodring af mink og lignende pelsdyr, der opdrættes i bure. Køretøjet har en foderbeholder og et foderafgivelsesorgan i form af en pumpe, et rør og en tragt. Køretøjet er forsynet med en 30 central, programmerbar styreenhed, som kan aktivere foderafgivelsesorganet (foderpumpen), og som ved hver aktivering sikrer afgivelse af en forud bestemt fodermængde til det pågældende bur. Køretøjet kan være et selvkørende, operatørbetjent køretøj, som styringsmæssigt er forbundet til den centrale styreenhed. Køretøjet kan også være udstyret med positionsdetekterende organer, som giver styreenheden informationer 35 om køretøjets position i forhold til burene, og som på den måde muliggør en forudprogrammeret foderafgivelse til hvert enkelt bur i rækken.25 A motorized feed cart of the type in question, which has been further developed with a programmable, sequential control of feed delivery, is known from Danish patent application PA 1987 03915. The document relates to a vehicle for feeding mink and similar fur animals raised in cages. The vehicle has a feed container and a feed delivery means in the form of a pump, tube and funnel. The vehicle is provided with a central, programmable control unit which can actuate the feed dispensing means (the feed pump) and which at each activation ensures delivery of a predetermined amount of feed to the cage concerned. The vehicle may be a self-propelled, operator-operated vehicle which is connected to the central control unit in terms of control. The vehicle may also be provided with position detecting means which provide the control unit with information on the position of the vehicle relative to the cages, thus enabling a pre-programmed feed delivery to each individual cage in the row.
Det foreslåede system til styring af foderafgivelsen til burene under fodervognens passage af disse vil aflaste operatøren for en del af det rutineprægede arbejde. Men 40 operatøren skal stadig håndtere foderfordelerrøret, når fodervognen passerer forhindringer i stalden, eksempelvis bærende søjler i staldkonstruktionen, og når fodervognen omstyres (vendes) for enden af burrækkerne. I disse situationer er operatøren nødt til at trække eller svinge foderfordelerrøret ind over køretøjet, så dette kan gå fri af forhindringerne, respektiv manøvrere frit i forhold til burrækkeme. Når 45 forhindringen er passeret eller når fodervognen er bragt i position ud for den næste række bure i stalden, skal operatøren bevæge foderfordelerrøret tilbage i udgangsstillingen med rørmundingen i korrekt position over burene, hvorefter den styrede udfodringsproces kan genoptages. Arbejdsmæssigt er der stadig tale om gentagne og ensformige bevægelser i DK 176402 B1 2 en for operatøren ubekvem arbejdsstilling med overkroppen vredet om til siden. Og operatøren skal vel at mærke udføre disse bevægelser samtidig med, at han betjener og styrer fodervognen præcist på den ofte snævre plads, der er til rådighed mellem burene.The proposed system for controlling feed delivery to the cages during the passing of the feed cart will relieve the operator of part of the routine work. However, the operator still has to handle the feed distributor tube when the feed cart passes obstacles in the barn, for example supporting columns in the barn structure, and when the feed truck is (reversed) at the end of the cage rows. In these situations, the operator has to pull or swing the feed distributor tube over the vehicle so that this can clear the obstacles or maneuver freely in relation to the cage rows. When the obstacle is passed or when the feed truck is positioned next to the next row of cages in the stable, the operator must move the feed distributor tube back to its initial position with the pipe mouth in the correct position over the cages, after which the controlled feeding process can be resumed. At work, there are still repeated and monotonous movements in DK 176402 B1 2 an inconvenient posture for the operator with the torso twisted to the side. And the operator must feel these movements at the same time as he operates and controls the feed truck precisely in the often narrow space available between the cages.
Arbejdet er derfor på én og samme tid stressende og fysiologisk belastende for 5 operatøren, især når det tages i betragtning, at den pågældende arbejdsopgave ofte udføres op til 8 timer om dagen af den samme operatør.The work is therefore stressful and physiologically stressful for the operator at the same time, especially when it is taken into account that the task in question is often performed up to 8 hours a day by the same operator.
Til afhjælpning af de påpegede arbejdsmæssige ulemper, samt med det formål at spare arbejdskraft, foreslås det ifølge opfindelsen, at gøre fodervognen fuldautomatisk, således 10 at fodringen kan gennemføres uden medvirken af en operatør. Dette opnås ifølge opfindelsen ved at indrette fodervognen således, som angivet i den kendetegnende del af krav 1.According to the invention, in order to alleviate the noted labor disadvantages and for the purpose of saving labor, it is proposed to make the feed truck fully automatic so that the feeding can be carried out without the assistance of an operator. This is achieved according to the invention by arranging the feed cart as indicated in the characterizing part of claim 1.
Fodervognen ifølge opfindelsen er ejendommeligt ved at være indrettet som en 15 selvkørende, dvs ikke operatørbetjent, robotlignende enhed udstyret med midler til løbende bestemmelse af positionen i stalden. Fodervognen omfatter således en programmerbar styring, eksempelvis baseret på en computer eller PLC, hvormed en på forhånd fastlagt rute gennem stalden kan gennemføres fuldautomatisk og uden manuel indgriben. Fodervognen er foruden det nævnte positionsstyringssystem indrettet med en 20 bevægelig robotarm, som aktiveres v hj af servomotorer, elektriske aktuatorer eller lignende aktiveringsanordninger. Robotarmen bærer et fleksibelt foderudpumpningsrør eller har et sådant rør integreret i selve robotarmen. Robotarmen styres af computeren eller PLC-styringen efter et forud fastlagt program, som løbende synkroniseres med fodervognens fremkørsel langs burene, således at foderet placeres præcist på de enkelte 25 bure i rækken. Også foderpumpen styres synkront i forhold til fremkørslen, hvilket på i og for sig kendt vis indebærer en individuel og nøjagtig dosering af foder til hvert enkelt bur i stalden.The feed trolley according to the invention is peculiarly arranged as a self-propelled, i.e. non-operator-operated, robotic-like unit equipped with means for continuously determining the position in the stable. The feed trolley thus comprises a programmable control, for example based on a computer or PLC, by means of which a predetermined route through the stable can be carried out fully automatically and without manual intervention. In addition to said position control system, the feed carriage is provided with a 20 movable robot arm which is activated by servomotors, electric actuators or similar actuators. The robot arm carries a flexible feed pump or has such a tube integrated into the robot arm itself. The robot arm is controlled by the computer or the PLC control according to a predetermined program, which is continuously synchronized with the feed truck's advance along the cages, so that the feed is placed precisely on the individual 25 cages in the row. The feed pump is also controlled synchronously in relation to the drive, which in a known manner implies an individual and accurate dosing of feed for each cage in the stable.
Løsningen udmærker sig ved at resultere i en væsentlig effektivisering af arbejdet i 30 stalden, idet det rutineprægede fodringsarbejde nu kan klares helt uden manuel indsats.The solution is distinguished by the fact that the work in the barn is significantly streamlined, since the routine feeding work can now be done without manual effort.
Dvs at der spares arbejdskraft samtidig med, at der kan fodres individuelt til de enkelte bure efter et forud fastlagt program. Dette forhold muliggør, at foderdoseringen kan optimeres ud fra hensynet til den bedst mulig foderudnyttelse, dvs at der ved tilrettelæggelsen af fodringen tages hensyn til antallet af dyr i de enkelte bure, dyrenes 35 størrelse og individuelle foderbehov. På denne måde undgår man foderspild og dermed en besparelse til foder. Formålstjenligt er foderdoseringen procentvis regulerbar for alle bure i stalden samtidig, således at man på denne bekvemme måde løbende kan korrigere for især hvalpenes voksende foderbehov under opvæksten.This means that labor is saved, while individual cages can be fed individually according to a predetermined program. This allows the feed dosage to be optimized based on the best possible feed utilization, ie when the feeding is organized, the number of animals in the individual cages, the size of the animals and individual feed requirements are taken into account. In this way you avoid wastage of feed and thus a saving on feed. Conveniently, the feed dosage is percentage adjustable for all cages in the stable at the same time, so that in this convenient way can be continuously corrected for especially the puppies' growing feed needs during their upbringing.
40 I en foretrukken udførelsesform er den omtalte robotarm sammensat af i hovedsagen to ledstykker, hvoraf et første, fra fodervognen udgående ledstykke er forbundet med fodervognen via et dobbelt drej eled med både lodret og vandret rotationsakse, og det andet ledstykke er forbundet med den frie ende af det første ledstykke via et drejeled med vandret drejeakse. Samtlige drejeled er motoraktiverede for automatisk bevægelse af 45 robotarmen efter et forud fastlagt program. Robotarmens bevægelighed gør det muligt at placere foderet nøjagtig, hvor man ønsker det på burene under vognens passage, ligesom robotarmen automatisk trækkes i sikkerhed ind over fodervognen, når eksempelvis søjler eller lignende forhindringer i stalden passeres. Formålstjenligt er foderudpumpningsrøret DK 176402 B1 3 integreret i robotarmens to ledstykker og fortrinsvis også i drejeleddene, således at robotarmen fremtræder uden udvendige rør- eller slangestykker. Dette giver en meget robust løsning, hvor foderfordelerrøret er helt beskyttet af robotarmens ydre mekaniske dele.In a preferred embodiment, the said robotic arm is composed of generally two linkages, a first linkage extending from the feed truck to the feed truck via a double swivel joint with both vertical and horizontal axis of rotation, and the second linkage connected to the free end. of the first joint through a swivel with a horizontal swivel axis. All swivel joints are motor-activated for automatic movement of the 45 robot arm according to a predetermined program. The mobility of the robot arm makes it possible to place the feed exactly where you want it on the cages during the passage of the carriage, just as the robotic arm is automatically pulled in securely over the feed car when, for example, columns or similar obstacles in the stable are passed. Conveniently, the feed pump tube DK 176402 B1 3 is integrated into the two joints of the robotic arm and preferably also in the swivel joints, so that the robotic arm appears without external pipe or hose pieces. This provides a very robust solution where the feed distributor tube is completely protected by the outer mechanical parts of the robot arm.
55
Minkfoder har konsistens som en tyktflydende, pastaagtig masse. For at undgå en utilsigtet ’’klatning” med foder fra udpumpningsrøret, er det ifølge opfindelsen hensigtsmæssigt, at indsætte et lukkespjæld for enden af det andet ledstykke, dvs ved rørets udløbsåbning. Lukkespjældet kan bestå af en plade, som ved motorkraft er 10 forskydelig eller svingbar på tværs ind foran rørmundingen. På denne måde kan man på én og samme tid opnå en afskæring af den udpumpede foderstreng og en effektiv lukning af foderudpumpningsrøret.Mink fodder has the consistency of a viscous, paste-like mass. In order to avoid an accidental 'cladding' with feed from the exhaust pipe, it is according to the invention appropriate to insert a closing damper at the end of the second joint, ie at the outlet opening of the pipe. The closing damper may consist of a plate which, by engine power, is slidable or pivotally transverse in front of the pipe mouth. In this way, one can at the same time achieve a cut-off of the pumped feed string and an effective closure of the feed pump tube.
På større minkfarme vil det sjældent være muligt at gennemføre en fuldstændig fodring 15 af hele stalden med en enkelt tankfuld foder alene. Der er sædvanligvis behov for optankning med foder en eller flere gange undervejs i fodringsforløbet. Til imødekommelse af dette behov foreslås det at forsyne styringen med et underprogram, som sættes i kraft, når fodervognen har behov for påfyldning af foder.On larger mink farms, it will rarely be possible to complete a complete feeding 15 of the entire barn with a single tanky feed alone. It is usually necessary to refuel with feed one or more times during the feeding process. In order to meet this need, it is proposed to provide the steering with a sub-program which is put into effect when the feed trolley needs a feed filling.
Påfyldningsbehovet kan registreres på flere forskellige måder, eksempelvis v hj af 20 niveaufølere i foderbeholderen eller rent programmæssigt ved opsummering af den udpumpede fodermængde. Underprogrammet dirigerer fodervognen til en foderpåfyldningsplads i stalden, hvor nyt foder påfyldes, og derefter retur til det sted i stalden, hvor udfodringsproceduren blev afbrudt. Fodringen genoptages fra denne position. På denne måde kan en komplet fodring gennemføres fuldautomatisk uanset 25 antallet at foderoptankninger undervejs i processen og uden manuel indgriben.The filling need can be recorded in several different ways, for example, by using 20 level sensors in the feed container or programmatically by summing the pumped feed quantity. The sub-program directs the feed cart to a feed loading place in the barn where new feed is loaded, and then returns to the place in the barn where the feeding procedure was interrupted. Feeding resumes from this position. In this way, a complete feeding can be carried out fully automatically regardless of the number of feed refueling during the process and without manual intervention.
I tilfælde, hvor fodervognen styres af radiosignaler fra to eller flere i stalden fast opstillede radiosendere (sendemaster), er det ifølge opfindelse hensigtsmæssigt, at forsyne fodervognen med måleudstyr, der registrere vognens faktiske kørestrækning, 30 således at der opnås en sikker reference i forhold til burene i den række, som fodervognen aktuelt kører langs med. Måleudstyret kan eksempelvis bestå af en encoder, der registrerer omdrejningerne på et af vognhjulene. I denne sammenhæng er det fordelagtigt at nulstille (resette) målesystemet ved starten på hver ny burrække, således at en eventuel systematisk fejl eller måleunøjagtighed i målesystemet ikke akkumuleres.In cases where the feed trolley is controlled by radio signals from two or more fixed radio transmitters (transmitter masts) in the stable, it is suitable according to the invention to provide the feed trolley with measuring equipment that records the actual travel distance of the trolley, so that a safe reference is obtained in relation to the cages in the row that the feed truck is currently driving along. The measuring equipment may, for example, consist of an encoder that records the revolutions of one of the carriage wheels. In this context, it is advantageous to reset (reset) the measurement system at the start of each new cage row, so that any systematic error or measurement inaccuracy in the measurement system does not accumulate.
35 Resettet opnås formålstjenligt v hj af signaler fra elektroniske tags placeret for enden af hver burrække, således som angivet i krav 6.The reset is conveniently obtained by signals from electronic tags located at the end of each cage row, as set forth in claim 6.
Opfindelsen skal forklares nærmere i det følgende i forbindelse med tegningen, hvor 40 Fig. 1 viser en motoriseret fodervogn ifølge opfindelse, set fra siden,BRIEF DESCRIPTION OF THE DRAWINGS The invention will be explained in greater detail in the following in connection with the drawing, in which FIG. 1 is a side view of a motorized feed truck according to the invention;
Fig. 2 fodervognens robotarm vist særskilt i en første stilling,FIG. 2 the robot arm of the feed truck shown separately in a first position,
Fig. 3 samme i en anden stilling,FIG. 3 same in another position,
Fig. 4 robotarmen vist i forstørret sidebillede,FIG. 4 robot arm shown in enlarged side view,
Fig. 5 robotarmen set i retning af pilene A-A i fig. 4, hvor udpumpningsrørets 45 lukkespjæld er vist i detaljer, og Fig. 6 samme vist i åben stilling.FIG. 5 shows the robot arm in the direction of the arrows A-A in FIG. 4, in which the closing damper of the pumping tube 45 is shown in detail; and FIG. 6 same shown in open position.
4 DK 176402 B1 I den på tegningen viste udførelsesform består fodervognen i det væsentlige af et chassis 1, en forvogn 2, en bagvogn 3 med foderbeholder 4, og en robotarm 5, som er monteret på forvognen. Fodervognen er indrettet med knækstyring. Knækleddet i chassisrammen 1 befinder sig midt mellem forvognen og bagvognen. Knækleddet er angivet med 6, 5 Forvognen 2 indeholder motor, transmission og hydraulikpumper, samt opspændt på en dertil indrettet opspændingskonsol 7 på chassiset robotarmen 5.In the embodiment shown in the drawing, the feed carriage consists essentially of a chassis 1, a carriage 2, a rear carriage 3 with feed container 4, and a robotic arm 5 mounted on the carriage. The feed trolley is equipped with crack control. The articulated link in the chassis frame 1 is in the middle between the front car and the rear car. The articulated link is indicated by 6, 5. The trailer 2 contains engine, transmission and hydraulic pumps, as well as clamped on a clamping bracket 7 arranged on the chassis robot arm 5.
Foderbeholderen 4 har form som et opadtil åbent kar, som i bunden er forsynet med en foderpumpe af tandhjulstypen. Foderpumpen, som drives af en hydraulisk motor, er ikke 10 vist på tegningen. Foderpumpens trykside er forbundet med robotarmen 5 for doseret udpumpning af det pastaagtige foder via et i denne integreret foderudpumpningsrør.The feeding container 4 is in the form of an upwardly open vessel, which is provided at the bottom with a feed pump of the gear type. The feed pump, which is driven by a hydraulic motor, is not shown in the drawing. The pressure side of the feed pump is connected to the robot arm 5 for dosed pumping out of the paste-like feed via an integrated feeding pump in this feed.
Dette forklares i det efterfølgende.This is explained below.
Robotarmen 5 er sammensat af to rørformede ledstykker 8 og 9, som er forbundet 15 indbyrdes gennem et drejeled 10. Det første ledstykke 8 udgår fra et bundstykke 11, der indeholder et første drejeled 12 med lodret drejeakse 13, og et andet drejeled 14 med vandret drejeakse. Dvs at robotarmen i alt indeholder tre drejeled eller-akser.The robot arm 5 is composed of two tubular linkages 8 and 9 which are connected 15 to each other through a swivel joint 10. The first linkage 8 is formed from a bottom piece 11 containing a first swivel joint 12 with vertical swivel axis 13 and a second swivel joint 14 with horizontal rotary axis. That is, the robot arm contains a total of three swivel joints or axes.
Drejeleddet 12 med den lodrette drejeakse 13 drives af en el-motor 15 via en tandkrans 16, de to andre drejeled 10 og 14 aktiveres v hj af elektriske aktuatorer 17 henholdsvis 20 18. Robotarmens drejevinkler er antydet i fig. 4. Bundstykket 11 er opspændt på vognchassiset 1.The swivel joint 12 with the vertical swivel axis 13 is driven by an electric motor 15 via a gear ring 16, the other two swivel joints 10 and 14 are actuated by electric actuators 17 and 20, respectively. 18. The rotational angles of the robot arm are indicated in fig. 4. The base 11 is clamped on the carriage chassis 1.
De to ledstykker 8 og 9 udgøres som nævnt af rørstykker, og de tilhørende drejeled 10, 14 og 12 er udformet med interne passager, således at robotarmen som helhed udgør et 25 leddelt, sammenhængende rørstykke, hvorigennem foderet kan udpumpes. Det yderste af de to ledstykker 9 er forsynet med et motordrevet lukkespjæld 19, der består af en plade 20, der kan svinges ind på tværs foran udpumpningsrørets (dvs ledstykkets 9) munding 21. Pladen 20 er til det formål monteret vinkelret på enden af en aflang aksel 22, der er lejret i to lejebukke 23 og 24 fastsvejset på ledstykket 9. Akslen 22 forløber parallelt med 30 ledstykket 9 i kort afstand over dette. I den ende, som vender modsat pladen 20, er akslen 22 koblet til en gearmotor 25, som ved rotation af akslen 22 driver pladen frem og tilbage i forhold til rørmundingen 21.1 lukket stilling (fig. 5) spærrer pladen 20 for rørmundingen 21, således at der ikke ’’klattes” foder på utilsigtet måde, eksempelvis på fodergangen. I fig. 6 er pladen 20 vist i åben stilling. Når den bestemte, forud 35 programmerede foderdosis er udpumpet til et bur aktiveres lukkespjældet 19, hvorved pladen 20 overskærer strengen af foderpasta, samtidig med at røret lukkes. På denne måde opnår man dels, at den korrekte fodermængde afgives til det pågældende bur, dels at foderstrengen ’’overklippes”, så der ikke klattes under fodervognens videre fremkørsel og robotarmens omstilling til det efterfølgende bur i rækken.The two joints 8 and 9 are, as mentioned, made of tubes, and the associated swivel joints 10, 14 and 12 are formed with internal passages, so that the robot arm as a whole constitutes a 25-joint, continuous pipe piece through which the feed can be pumped out. The outermost of the two linkage pieces 9 is provided with a motor-driven closing damper 19, which consists of a plate 20 which can be pivoted transversely in front of the mouth of the pumping tube (ie the linkage 9). The plate 20 is mounted for this purpose perpendicular to the end of a elongate shaft 22, which is mounted in two bearing blocks 23 and 24 welded to the linkage 9. The shaft 22 extends parallel to the linkage 9 for a short distance above it. At the end facing the plate 20, the shaft 22 is coupled to a gear motor 25 which, when rotating the shaft 22, drives the plate back and forth relative to the pipe mouth 21.1 closed position (Fig. 5), the plate 20 blocks the pipe mouth 21, thus that "feed" is not "accidentally" cluttered, for example on the feed. In FIG. 6, plate 20 is shown in open position. When the predetermined pre-programmed feed dose is pumped out to a cage, the shutter damper 19 is activated, whereby the plate 20 cuts the string of feed paste while closing the tube. In this way, one obtains that the correct amount of feed is delivered to the cage in question, and that the feed string is' 'clipped' so that no climbing occurs during the further advance of the feed truck and the conversion of the robot arm to the subsequent cage in the row.
40 4540 45
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DK200600966A DK176402B1 (en) | 2006-07-12 | 2006-07-12 | Motorized feed vehicle for mink farm has paste-form food pumped out through flexible or movably suspended tube, manually controlled, for delivery in appropriate quantities above mink cages |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DK200600966 | 2006-07-12 | ||
| DK200600966A DK176402B1 (en) | 2006-07-12 | 2006-07-12 | Motorized feed vehicle for mink farm has paste-form food pumped out through flexible or movably suspended tube, manually controlled, for delivery in appropriate quantities above mink cages |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK176402B1 true DK176402B1 (en) | 2007-11-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK200600966A DK176402B1 (en) | 2006-07-12 | 2006-07-12 | Motorized feed vehicle for mink farm has paste-form food pumped out through flexible or movably suspended tube, manually controlled, for delivery in appropriate quantities above mink cages |
Country Status (1)
| Country | Link |
|---|---|
| DK (1) | DK176402B1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8752505B2 (en) | 2010-08-27 | 2014-06-17 | Jasopels A/S | Method, feed cart and system for feeding of fur animals |
| EP2878194A1 (en) | 2013-11-27 | 2015-06-03 | Dansk Mink Papir A/S | Motorized feeding vehicle |
| EP2923566A2 (en) | 2014-03-25 | 2015-09-30 | Mink Papir A/S | A motorized feeding vehicle and a method of operating an animal farming system |
| EP3036991A1 (en) | 2014-12-23 | 2016-06-29 | Hedensted Gruppen A/S | Feed vehicle for feeding fur animals |
| EP3064059A1 (en) | 2015-03-03 | 2016-09-07 | Hedensted Gruppen A/S | Motorized feed vehicle for feeding fur animals |
| CN106577337A (en) * | 2016-11-30 | 2017-04-26 | 中国农业大学烟台研究院 | Rail-mounted unmanned mink double-row feeding trolley |
| US9974280B2 (en) | 2013-11-27 | 2018-05-22 | Dansk Mink Papir A/S | Motorized feeding vehicle and a method of operating an animal farming system |
| EP3714686A1 (en) | 2019-03-29 | 2020-09-30 | Hedensted Gruppen A/S | Powered feed vehicle |
| EP3772274A1 (en) | 2019-08-05 | 2021-02-10 | Hedensted Gruppen A/S | Powered feed vehicle |
| EP3772273A1 (en) | 2019-08-05 | 2021-02-10 | Hedensted Gruppen A/S | Powered feed vehicle |
-
2006
- 2006-07-12 DK DK200600966A patent/DK176402B1/en not_active IP Right Cessation
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9055731B2 (en) | 2010-08-27 | 2015-06-16 | Jasopels A/S | Method, feed cart and system for feeding of fur animals |
| US8752505B2 (en) | 2010-08-27 | 2014-06-17 | Jasopels A/S | Method, feed cart and system for feeding of fur animals |
| US10660307B2 (en) | 2013-11-27 | 2020-05-26 | Dansk Mink Papir A/S | Motorized feeding vehicle and a method of operating an animal farming system |
| EP2878193A1 (en) | 2013-11-27 | 2015-06-03 | Dansk Mink Papir A/S | Motorized feeding vehicle |
| US9974280B2 (en) | 2013-11-27 | 2018-05-22 | Dansk Mink Papir A/S | Motorized feeding vehicle and a method of operating an animal farming system |
| EP2878194A1 (en) | 2013-11-27 | 2015-06-03 | Dansk Mink Papir A/S | Motorized feeding vehicle |
| EP2923566A2 (en) | 2014-03-25 | 2015-09-30 | Mink Papir A/S | A motorized feeding vehicle and a method of operating an animal farming system |
| EP3036991A1 (en) | 2014-12-23 | 2016-06-29 | Hedensted Gruppen A/S | Feed vehicle for feeding fur animals |
| EP3064059A1 (en) | 2015-03-03 | 2016-09-07 | Hedensted Gruppen A/S | Motorized feed vehicle for feeding fur animals |
| CN106577337A (en) * | 2016-11-30 | 2017-04-26 | 中国农业大学烟台研究院 | Rail-mounted unmanned mink double-row feeding trolley |
| EP3714686A1 (en) | 2019-03-29 | 2020-09-30 | Hedensted Gruppen A/S | Powered feed vehicle |
| EP3772274A1 (en) | 2019-08-05 | 2021-02-10 | Hedensted Gruppen A/S | Powered feed vehicle |
| EP3772273A1 (en) | 2019-08-05 | 2021-02-10 | Hedensted Gruppen A/S | Powered feed vehicle |
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| Date | Code | Title | Description |
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| PBP | Patent lapsed |
Effective date: 20200712 |