Patent Description:
China has a great consumption demand for milk, and consumption of milk has increased persistently and steadily in recent years along with economic development. To meet the great demand for milk over the country, cow aquaculture models with matched scales and specializations become available. At present, in the scaled and specialized cow aquaculture model, cows are kept in fold yards, and when the cows are to be fed, forage or other food is dropped outside the fold yards so the food doesn't get soiled with excreta on the ground. Cows eat by poking their heads through bars. The forage may be pushed further from the fold yards by the action of the cows eating, and may be pushed beyond the reach of the cows. To continue feeding the cows, the forage needs to be pushed back towards the fold yard many times during the feed. So far, one way is a farm laborer using a shovel to push the forage back towards the fold yard. However, such a method has some disadvantages. Firstly, it is laborer intensive, demanding time and strength. Secondly, the presence of one or more laborers may be unsettling for the cows as they feed. Thirdly, the forage becomes vulnerable to contamination by dirt, germs, and viruses, so that the health of the cows and quality of the milk may be affected. Another way is to use a forklift to push the forage back towards the fold yard. However, a forklift with internal combustion engine is not environmentally friendly, even if the cows were not disturbed by the noise. Moreover, there is a potential safety hazard for the cows during operations of a forklift. <CIT> discloses a repelling robot for feeding in intelligent pasture. The repelling robot comprises a walking device, a rotary casing and a repelling device, wherein the rotary casing is mounted on the walking device and is driven to rotate by a driving device I, a top cover driven to rotate by the driving device I is arranged at the top of the rotary casing and is provided with a livestock detection device, the repelling device is in electric connection with the livestock detection device, and the walking device, the driving device I, the livestock detection device and the repelling device are in electric connection with a master controller. The robot rotates to push a forage heap during walking, can meet work requirements of most pastures, effectively solves problems of high labor cost, delay in feeding cattle and the like, and improves production benefit of the pasture. Besides, grazing can be achieved through a mechanical arm mounted at the top end of the robot, and accordingly labor intensity is lowered. <CIT> discloses a forage grass pushing device, and belongs to the field of husbandry tools. The forage grass pushing device is applied to a feeding farm to feed livestock raised in rails. The forage grass pushing device comprises a cylindrical pushing fixing support, a rotary bearing, a plurality of rotary supports and a rotary pushing plate in a frustum shape. The pushing fixing support is vertically placed. The rotary bearing is arranged on the pushing fixing support. The rotary supports are connected with the rotary bearing and are all located above the rotary bearing, and the rotary bearing can drive the rotary supports to rotate with the pushing fixing support as a center. The inner wall of the rotary pushing plate is fixedly connected with the ends, away from the pushing fixing support, of the rotary supports. The forage grass pushing device can be fixed to a walking robot through the pushing fixing support, a driving gear is driven by a pushing driving motor, the rotary bearing is driven by the driving gear to rotate, the rotary bearing drives the rotary supports to rotate, the rotary pushing plate is driven by the rotary supports to rotate, forage grass is pushed to a feeding rail, the utilization rate of the forage grass is increased, and labor cost is reduced. <CIT> discloses an intelligent mowing robot, and relates to the field of pasture mechanical equipment. A conical mowing plate is mounted under a rotary pushing plate; a collision-proof ring is arranged above the rotary pushing plate, and is connected with a speed reducer bracket through multiple insulation plates and connecting plates; a first charge electrode, an internal control unit, a two-dimensional electronic compass, a ultra-wide-band distance measurement positioning system and a ultrasonic sensor are arranged on the speed reducer bracket; an upper cover is arranged above the speed reducer bracket; and a charge pile is arranged on one side of the collision-proof ring. The intelligent mowing robot is controlled by a control unit to guarantee accurate driving along a feeding fence according to a preset path; and one rotatable surface at the lower part can push feeds to the feeding fence, and can push feed stacks with heights of <NUM> to realize automatic feeding of cows, so that the manual workload is reduced, and the continuous feeding effect of confined cows is improved. <CIT> discloses the technical field of livestock breeding equipment, in particular to an intelligent pushing robot for a pasture. The utility model discloses an intelligent pushing robot for a pasture. Including a housing, a control device is arranged in the shell; the control device comprises a control unit and a storage battery; the control unit is in communication connection with the voice controller and the laser sensing processor, the storage battery is electrically connected with the servo motor and the control unit, the upper portion of the storage battery is connected with the connecting electrode, the servo motor is provided with a differential speed reduction system, driving wheels are arranged on the two sides of the control device, and universal wheels are arranged at the front end of the control device. The robot has the advantages that the self-adaptive sensor fusion technology is adopted, the robot does not depend on any environmental assistance, the automatic feeding function of the robot in the dairy farm is achieved, and the robot can be used in unmanned farms and indoors and outdoors and has high safety. <CIT> discloses an autonomous vehicle for pushing feed lying on a floor, comprising a frame; a skirt rotatably connected to the frame, wherein a bottom portion of the skirt continuously contacts the floor to push the feed. The vehicle comprises a sensor assembly for detecting a magnetic field emitted from a magnetic guiding element inserted in the floor and a control unit mounted for directing rotation of the skirt and for guiding the vehicle along a predetermined path formed by the magnetic guiding element. Also provided is an autonomous vehicle with a skirt drive mechanism mounted to the frame for driving rotation of the skirt, and an autonomous vehicle comprising a prism-shaped skirt rotatably connected to the frame. There is also provided methods for installing a magnetically guided autonomous vehicle and for pushing feed using an autonomous vehicle, as well as systems and kits comprising said vehicle. <CIT> discloses the technical field of agricultural machinery, in particular to a forage grass feeding device based on friction servo rotary. The forage grass feeding device comprises a shell body, a frame and push rod components; the cross section of the shell is circular, and the inner side of the shell is connected with the frame and the shell body can rotate around the frame; at least two of the push rod components are provided, and each push rod components is vertically arranged on a running mechanism, and the push rods of the push rod components are connected with the bottom of the frame; the tilting of the shell body is achieved by controlling each push rod components so that the shell body is in contact with the ground portion or the lifting of the shell body. The forage grass feeding device based on friction servo rotary adopts the friction force generated with the ground as the driving source, thereby saving cost and having simple structure; the bottom of the shell body does not contact with the ground in parallel, so the running resistance of the running gear is small.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine, and a material pushing method thereof. The material pushing apparatus provides a material pushing machine driven by electric energy, the material pushing machine may be automatically supplied with the electric energy, so as to improve an automation of the material pushing apparatus.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The material pushing apparatus provides a charger, the charger may automatically supply electric energy for the material pushing machine.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The material pushing machine may automatically move to and match the charger, the charger may automatically supply electric energy for the material pushing machine.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. A charging assembly of the charger may be automatically connected to a charging port of the material pushing machine, so the material pushing machine may be automatically matched to the charger, the charger may automatically supply electric energy for the material pushing machine.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The charging assembly and the charging port may be automatically connected based on wireless charging principle, so the material pushing machine may be automatically matched to the charger, the charger may automatically supply electric energy for the material pushing machine. For instance, the charging assembly provides a first charging coil, the charging port provides a second charging coil, and when the material pushing machine and the charger are in a preparable distance, the second charging coil and the first charging coil are capable of automatically communicating, so the charger may automatically supply electric energy for the material pushing machine.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The material pushing machine is driven by electric energy, so it is silent in operation, and this and its small size should avoid the cows being frightened. Additionally, there is no pollution during the material pushing machine in operation, so as to ensure the health of the cows and quality of the milk.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine, and a material pushing method thereof. The material pushing machine may automatically push food such as forage towards a fold yard for providing accessible food for the cows in the fold yard.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The material pushing machine provides a walking device and a material pushing device arranged on the walking device, so that when the walking device walks along a path, the material pushing device rotates to push the forage in a certain direction, so the forage is pushed towards the fold yard.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. An annular wall body of the material pushing device is capable of being rotated, so as to improve an efficiency of pushing the forage.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The material pushing device provides two pulley structures, the pulley structures may resist against a lower end of the annular wall body, so as to prevent shaking or waggling of the annular wall body, and prevent eccentricity and waggle of the material pushing machine, and ensuring the reliability and stability of the material pushing machine.

The present disclosure provides a material pushing apparatus and a charging method thereof, and a material pushing machine and a material pushing method thereof. The material pushing device describes a circular orbit, the circular orbit is arranged on the annular wall body in a way of the circular orbit seats to an internal wall of the annular wall body, so the circular orbit may strengthen the annular wall body to prevent out of circularity of the annular wall body, when the annular wall body is drove to rotate related to the holding assembly, the pulley body of each pulley structure may roll on the smooth surface of the circular orbit, so as to reduce noise caused by mutual friction between the pulley structures and the circular orbit, thus the material pushing machine is more silence.

On one hand of the present disclosure, a material pushing machine is provided, the material pushing machine includes:.

On another hand of the present disclosure, a material pushing method of a material pushing machine is provided, the material pushing method includes:.

On another hand of the present disclosure, a material pushing apparatus is provided, the material pushing apparatus includes:.

According to an embodiment of the present disclosure, the charger includes a pair of charging electrodes, the material pushing machine comprises a charging port, the pair of charging electrodes are insertable into and becoming electrically connected to the charging port.

On another hand of the present disclosure, a charging method of a material pushing apparatus is provided, the charging method includes:.

According to an embodiment of the present disclosure, (b) further includes:.

The following description discloses the present disclosure so that those skilled in the art can implement the present disclosure. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. In addition, it should be noted that, for ease of description, only some but not all structures related to the present disclosure are shown in the drawings.

Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods and depicted as flowcharts. Although the flowchart describes the steps as sequential processing, many of them can be implemented in parallel or concurrently. In addition, the order of the steps can be rearranged. When its operation is completed, the process may be terminated, but there may be additional steps not included in the drawings. Processing can correspond to methods, functions, procedures, subroutines, subroutines, and so on.

In addition, the terms "first", "second" and the like may be used herein to describe various directions, actions, steps or elements, but these directions, actions, steps or elements are not limited by these terms. These terms are used only to distinguish a first direction, action, step, or element from another direction, action, step, or element. For example, in the present disclosure, the first module may be called the second module. Similarly, the second module can be called the first module. Both the first module and the second module are modules, but they are not the same module. The terms "first", "second", etc. cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defining "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiment of the present disclosure, "a plurality of " means at least two, such as two, three, etc., unless otherwise specifically defined.

<FIG> illustrate a material pushing apparatus according to one embodiment of the present disclosure. The material pushing apparatus includes a material pushing machine <NUM> and a charger <NUM>. The charger <NUM> may be electrically connected to a commercial power source and configured to automatically supply power for the material pushing machine <NUM>. For instance, the charger <NUM> may adjust a voltage of the commercial power source for the material pushing machine <NUM>, when the material pushing machine <NUM> approaches the charger <NUM>, the material pushing machine <NUM> may automatically match the charger <NUM>, thus the charger <NUM> may supply power for the material pushing machine <NUM>.

Referring to <FIG>, the material pushing machine <NUM> includes a walking device <NUM> and a material pushing device <NUM> arranged on the walking device <NUM>.

In particular, the walking device <NUM> includes a holding assembly <NUM>, a power supply assembly <NUM>, two walking drive motors <NUM>, two drive wheels <NUM>, and a supporting wheel <NUM>. The holding assembly <NUM> further includes a base plate <NUM>, the power supply assembly <NUM> is arranged on and supported by the base plate <NUM>, the charger <NUM> may automatically supply power for the power supply assembly <NUM>. The two walking drive motors <NUM> are arranged on opposite ends of the base plate <NUM>, each of the walking drive motors <NUM> is connected to the power supply assembly <NUM>. The two drive wheels <NUM> are connected to the walking drive motors <NUM>, the two drive wheels <NUM> are arranged on opposite ends of the base plate <NUM>. The supporting wheel <NUM> is mounted in a middle of the base plate <NUM> on other side, thus the two drive wheels <NUM> and the supporting wheel <NUM> form a triangular structure, the two drive wheels <NUM> and the supporting wheel <NUM> cooperatively support the base plate <NUM> above the ground.

Preferably, the two drive wheels <NUM> are mounted on an output roller of the walking drive motors <NUM>, thus the two drive wheels <NUM> may be connected to and driven by the walking drive motors <NUM>. The supporting wheel <NUM> may be a universal wheel able to pivot through <NUM> degrees, for turning of the material pushing machine <NUM> in any direction.

It should be known that, a shape of the base plate <NUM> is not limited, as shown in <FIG>, the base plate <NUM> is substantially square, a center of gravity of the power supply assembly <NUM> coincides with a center of gravity of the base plate <NUM> in height, thus preventing any decline of a center of gravity of the material pushing machine <NUM>, and ensuring a reliability and a stability of the material pushing machine <NUM>. Preferably, in other embodiments of the material pushing machine <NUM>, the base plate <NUM> may be, but is not limited to, circular, elliptic, and polygonal.

The material pushing device <NUM> includes a material pushing wall <NUM>, the material pushing wall <NUM> includes an annular wall body <NUM> and a connecting arm <NUM> extending from a top to a middle of the annular wall body <NUM>. The connecting arm <NUM> is rotatably amounted on the holding assembly <NUM>, the annular wall body <NUM> rotatably surrounds the holding assembly <NUM>, thus the material pushing wall <NUM> forms the exterior of the material pushing machine <NUM>. Thus, when the material pushing machine <NUM> pushes the materials, forage or other food may not enter interior of the material pushing machine <NUM>, and the walking device <NUM> will not be affected. For instance, the forage may be straw or a mixture of straw and fodder, the straw is substantially long and thin, the material pushing wall <NUM> is arranged on outside of the holding assembly <NUM> and forms the appearance of the material pushing machine <NUM>, which may prevent the forage entering the internal of the material pushing machine <NUM> and affecting the walking device <NUM>, so as to ensure a reliability and a stability of the material pushing machine <NUM>.

In the material pushing machine <NUM> of the present disclosure, when the power supply assembly <NUM> is controlled to provide power for each of the walking drive motors <NUM>, each of the walking drive motors <NUM> may convert electric energy into kinetic energy to drive each of the drive wheels <NUM> to run, thus, the walking device <NUM> may walk or at least follow a path. It should be known that, when rotation speeds of the two walking drive motors <NUM> are the same, the walking device <NUM> is configured to walk straight along a path; when rotation speeds of the two walking drive motors <NUM> are different, the motion of the walking device <NUM> will be in a curve. For instance, when one of the walking drive motors <NUM> is rotating, and the other of the walking drive motors <NUM> is not working, the walking device <NUM> may make a sharp turn.

A type of the power supply assembly <NUM> is not limited, such as the power supply assembly <NUM> may be a storage battery (such as but is not limited to lithium battery), when the electric energy stored in the power supply assembly <NUM> is consumed, the power supply assembly <NUM> will replenish electric energy. Or the power supply assembly <NUM> may include a storage battery (such as but is not limited to lithium battery), when the electric energy stored in the power supply assembly <NUM> is consumed, the power supply assembly <NUM> will replenish electric energy.

Furthermore, the walking device <NUM> includes a controller <NUM>, the power supply assembly <NUM> and each of the walking drive motors <NUM> are connected to the controller <NUM>, the controller <NUM> controls power supply ways of the power supply assembly <NUM> to the walking drive motors <NUM>. Preferably, the controller <NUM> is arranged on and supported by the base plate <NUM>. Optionally, the controller <NUM> is arranged on the power supply assembly <NUM>, or the controller <NUM> and the power supply assembly <NUM> are integrated.

A type of the controller <NUM> is not limited, and may have a calculating function and a controlling function. For instance, the controller <NUM> may control a power from the power supply assembly <NUM> to each of the walking drive motors <NUM> according to a real-time status of the material pushing machine <NUM>, so as to adjust a walking or path of movement of the material pushing machine <NUM>.

Referring to <FIG>, the holding assembly <NUM> includes at least two support columns <NUM>, a lower holding platform <NUM>, and an upper holding platform <NUM>. A lower end of each support column <NUM> is arranged on edges of the base plate <NUM> and extended from the edges of the base plate <NUM> to a predetermined height. A periphery of the lower holding platform <NUM> is arranged in a middle portion of each support column <NUM>, so each support column <NUM> may support and maintain the lower holding platform <NUM> on the base plate <NUM>, and a first receiving space <NUM> of the holding assembly <NUM> is formed between the base plate <NUM> and the lower holding platform <NUM>. A periphery of the upper holding platform <NUM> is arranged in an upper portion of each support column <NUM>, so each support column <NUM> may support and maintain the upper holding platform <NUM> over the lower holding platform <NUM>, and a second receiving space <NUM> of the holding assembly <NUM> is formed between the lower holding platform <NUM> and the upper holding platform <NUM>.

In other words, the holding assembly <NUM> has the first receiving space <NUM> and the second receiving space <NUM>. The first receiving space <NUM> is formed between the base plate <NUM> and the lower holding platform <NUM>, for receiving the power supply assembly <NUM> mounted on the base plate <NUM>. The second receiving space <NUM> is formed between the lower holding platform <NUM> and the upper holding platform <NUM>, for receiving the controller <NUM> mounted on the lower holding platform <NUM>. It should be known that, other electrical components (such as but is not limited to fuse, power manager, communication module) of the walking device <NUM> may also be received in the second receiving space <NUM> and contained in the lower holding platform <NUM>.

Optionally, in other embodiment of the material pushing machine <NUM>, the holding assembly <NUM> has only one holding platform, the holding platform is arranged on an upper end of each support column <NUM>, a receiving space is formed between the base plate <NUM> and the holding platform, the power supply assembly <NUM> and the controller <NUM> arranged on the base plate <NUM> are received in the receiving space.

Particularly, the material pushing machine <NUM> as shown in <FIG>, the holding assembly <NUM> includes four support columns <NUM>, a lower end of each support column <NUM> is arranged at a corner of the base plate <NUM>. Each corner of the lower holding platform <NUM> is arranged at middle portion of each support column <NUM>, so each support column <NUM> may maintain the lower holding platform <NUM> above the base plate <NUM>, the first receiving space <NUM> is formed between the base plate <NUM> and the lower holding platform <NUM>. Each corner of the upper holding platform <NUM> is at upper portion of each support column <NUM>, so each support column <NUM> holds the upper holding platform <NUM> above the lower holding platform <NUM>, the second receiving space <NUM> is formed between the lower holding platform <NUM> and the upper holding platform <NUM>.

Referring to <FIG>, the holding assembly <NUM> further includes a mounting column <NUM> and a drive ring <NUM>. The mounting column <NUM> is arranged from a center position of the upper holding platform <NUM> extending upwardly to form a free end <NUM>. The drive ring <NUM> is rotatably mounted to a middle portion of the mounting column <NUM>.

A manner of the mounting column <NUM> being arranged on the upper holding platform <NUM> is not limited, for instance, the mounting column <NUM> and the upper holding platform <NUM> may be integrally formed, or the mounting column <NUM> is a screw joint to the upper holding platform <NUM>, or the mounting column <NUM> is welded to the upper holding platform <NUM>.

A manner of the drive ring <NUM> being rotatably mounted to the mounting column <NUM> is not limited, for instance, the drive ring <NUM> is rotatably mounted to the mounting column <NUM> through a bearing.

The walking device <NUM> further includes a material pushing drive motor <NUM>. The material pushing drive motor <NUM> is arranged on the upper holding platform <NUM> and electrically connected to the power supply assembly <NUM>, when the power supply assembly <NUM> supplies power to the material pushing drive motor <NUM>, the material pushing drive motor <NUM> may convert electric energy into kinetic energy. Preferably, the material pushing drive motor <NUM> is connected to the controller <NUM>, so the controller <NUM> may control manner of supplying power to the material pushing drive motor <NUM>. The drive ring <NUM> is drivable and connected to the material pushing drive motor <NUM>. The connecting arm <NUM> of the material pushing wall <NUM> is extended to and fixedly amounted to the drive ring <NUM>. When the power supply assembly <NUM> supplies power to the material pushing drive motor <NUM>, the material pushing drive motor <NUM> rotates the drive ring <NUM> relative to the walking device <NUM> around periphery of the holding assembly <NUM>.

The walking device <NUM> further includes a transmission belt <NUM>. Opposite ends of the transmission belt <NUM> are mounted to an output roller of the material pushing drive motor <NUM> and the drive ring <NUM>, so the drive ring <NUM> is drivable and connected to the material pushing drive motor <NUM>. Optionally, in other embodiments of the material pushing machine <NUM>, the output roller of the material pushing drive motor <NUM> includes a gear structure and the drive ring <NUM> includes a gear structure, so the gear structure of the drive ring <NUM> engages with the gear structure of the material pushing drive motor <NUM>, thus the drive ring <NUM> is drivable and connected to the material pushing drive motor <NUM>.

Referring to <FIG>, the material pushing device <NUM> further includes at least two pulley structures <NUM>. Each pulley structure <NUM> includes a mounting body <NUM> and a pulley body <NUM> rotatably mounted on the mounting body <NUM>. The pulley structures <NUM> are maintained between the annular wall body <NUM> and the holding assembly <NUM>, the pulley structures <NUM> are mounted to the holding assembly <NUM> through the mounting body <NUM> such that the pulley body <NUM> resists the annular wall body <NUM>. When pushing the material, when the annular wall body <NUM> is unilaterally stressed, each pulley structure <NUM> acts to prevent waggling and eccentric rotation of the annular wall body <NUM>, so as to prevent eccentricity and waggle of the material pushing machine <NUM>, and ensuring the reliability and stability of the material pushing machine <NUM>.

Preferably, the mounting body <NUM> of each pulley structure <NUM> is mounted to a lower end of each support column <NUM>, so the pulley structures <NUM> resists the annular wall body <NUM> at the lower end of the annular wall body <NUM>. When pushing the material, each pulley structure <NUM> prevents waggles and eccentric rotation of the annular wall body <NUM>.

Optionally, the annular wall body <NUM> of each pulley structure <NUM> is mounted to the base plate <NUM>, so the pulley structures <NUM> may resist the annular wall body <NUM> at the lower end of the annular wall body <NUM>. When the material pushing machine <NUM> is pushing the material, when the annular wall body <NUM> is unilaterally stressed, each pulley structure <NUM> may prevent waggles of the annular wall body <NUM>.

Preferably, a quantity of the pulley structures <NUM> and a quantity of the support columns <NUM> is same, such as in the material pushing machine <NUM> as shown in <FIG>, the quantity of the pulley structures <NUM> and the quantity of the support columns <NUM> are four, the lower end of each support column <NUM> carries one pulley structure <NUM>.

Referring to <FIG>, the material pushing device <NUM> further includes a circular orbit <NUM>. The circular orbit <NUM> is arranged on the annular wall body <NUM> such that the circular orbit <NUM> seats to an internal wall of the annular wall body <NUM>, so the circular orbit <NUM> may strengthen the annular wall body <NUM> to maintain a perfect roundness and circularity of the annular wall body <NUM>. The pulley body <NUM> of each pulley structure <NUM> seats to a smooth surface of the circular orbit <NUM> to resist the annular wall body <NUM>. Thus, when the annular wall body <NUM> is rotated relative to the holding assembly <NUM>, the pulley body <NUM> of each pulley structure <NUM> may roll on the smooth surface of the circular orbit <NUM>, so as to reduce noise caused by friction between the pulley structures <NUM> and the circular orbit <NUM>, thus the material pushing machine <NUM> is more silent.

Referring to <FIG>, the material pushing wall <NUM> includes at least two roller half bodies <NUM>. Each roller half body <NUM> includes a roller wall <NUM> and an extending arm <NUM> extended from an upper end of the roller wall <NUM>. The roller walls <NUM> of adjacent roller half bodies <NUM> may be mounted to each other, after the roller half bodies <NUM> are mounted, the roller wall <NUM> of each roller half body <NUM> forms the annular wall body <NUM>, the extending arm <NUM> of each roller half body <NUM> forms the connecting arm <NUM>.

Particularly, the material pushing wall <NUM> includes two roller half bodies <NUM>, one of the two roller half bodies <NUM> is defined as first roller half body 210a, the other of the two roller half bodies <NUM> is defined as second roller half body 210b. Each of the first roller half body 210a and the second roller half body 210b includes one roller wall <NUM> and one extending arm <NUM>. The roller wall <NUM> of the first roller half body 210a and the roller wall <NUM> of the second roller half body 210b are mounted to each other to form the annular wall body <NUM>, the extending arm <NUM> of the first roller half body 210a and the extending arm <NUM> of the second roller half body 210b form the connecting arm <NUM>. Correspondingly, the circular orbit <NUM> includes a first circular orbit 23a and a second circular orbit 23b. The first circular orbit 23a is arranged on the roller wall <NUM> of the first roller half body 210a, the second circular orbit 23b is arranged on the roller wall <NUM> of the second roller half body 210b. After the roller wall <NUM> of the first roller half body 210a and the roller wall <NUM> of the second roller half body 210b are mounted to each other to form the annular wall body <NUM>, the first circular orbit 23a and the second circular orbit 23b form a complete circular orbit <NUM>.

Referring to <FIG>, the material pushing machine <NUM> further includes a magnetic sensor <NUM>. The magnetic sensor <NUM> is arranged on a lower portion of the base plate <NUM>. The magnetic sensor <NUM> is capable of communicating with magnetic navigation markers lying outside the fold yard, for guiding the walking device <NUM> to move along a path.

Referring to <FIG>, the material pushing machine <NUM> further includes a cover device <NUM>. The cover device <NUM> includes a cover <NUM>. A center position of the cover <NUM> is mounted to the free end <NUM> of the mounting column <NUM>, so the cover <NUM> may be supported by the holding assembly <NUM>. A periphery of the cover <NUM> extends outwardly, thus a diameter of the cover <NUM> is greater than the periphery of the annular wall body <NUM>, so the cover <NUM> protects and shields an upper portion of the annular wall body <NUM>.

The cover device <NUM> further includes a hold pole <NUM> and a distance sensor <NUM> arranged on an end of the hold pole <NUM>. The other end of the hold pole <NUM> is arranged to the cover <NUM>. The distance sensor <NUM> may obtain a distance between the material pushing machine <NUM> and the fold yard for adjusting the distance between the material pushing machine <NUM> and the fold yard when adjustment is required. Preferably, the hold pole <NUM> is rotatably mounted to the cover <NUM> for adjusting an angle between the hold pole <NUM> and the cover <NUM>. For instance, when the material pushing machine <NUM> is in operation, the hold pole <NUM> may rotate related to the cover <NUM>, so the hold pole <NUM> and the cover <NUM> may have a greater angle, and so as to adjust the distance between the distance sensor <NUM> and the fold yard. Preferably, the hold pole <NUM> is an expansion pole, that is, a length of the hold pole <NUM> may be adjusted, thus, through adjusting the length of the hold pole <NUM> and the angle between the hold pole <NUM> and the cover <NUM>, the distance between the distance sensor <NUM> and the fold yard may be adjusted conveniently and flexibly. Preferably, the cover <NUM> includes a maintain groove <NUM> for receiving the hold pole <NUM>.

Furthermore, the mounting column <NUM> is a cylindrical or hollow mounting column, that is, the mounting column <NUM> includes a connected channel (not shown in the figures) for connecting the second receiving space <NUM> and the external space of the upper holding platform <NUM>. Cables connected to the distance sensor <NUM> may be extended from the external space of the upper holding platform <NUM> to the second receiving space <NUM> through the connected channel.

Referring to <FIG>, the material pushing machine <NUM> further includes a charging port <NUM>. The charging port <NUM> is arranged on the cover <NUM> and electrically connected to the power supply assembly <NUM>, so the material pushing machine <NUM> may obtain electric energy from power supply assembly through the charging port <NUM>. Preferably, cables connected to the charging port <NUM> may be extended from the external space of the upper holding platform <NUM> to the first receiving space <NUM> through the connected channel, and be connected to the power supply assembly <NUM>.

Referring to <FIG>, the charger <NUM> includes a charging adapter <NUM> and a charging assembly <NUM>. The charging assembly <NUM> includes a connecting end <NUM>, a charging end <NUM> corresponding to the connecting end <NUM>, and a pair of charging electrodes <NUM> arranged on the charging end <NUM>. The connecting end <NUM> is movably mounted on the charging adapter <NUM>. The charging assembly <NUM> brings the charging end <NUM> closer to or away from the charging adapter <NUM>. Preferably, the connecting end <NUM> is drivable and mounted on the charging adapter <NUM>, the charging adapter <NUM> may drive the charging assembly <NUM> bring the charging end <NUM> closer to or away from the charging adapter <NUM>. For instance, the charging adapter <NUM> may internally include a drive motor and a mounting channel. The connecting end <NUM> may extend to an interior of the charging adapter <NUM> through the mounting channel and be drivable and mounted to the drive motor. The drive motor may drive the connecting end <NUM>, thus relative positions of the charging assembly <NUM> and the charging adapter <NUM> may be changed, so the charging end <NUM> approaches or moves away from the charging adapter <NUM>.

When the material pushing machine <NUM> needs power supply, the charging adapter <NUM> of the charger <NUM> may drive the charging assembly <NUM> to bring the charging end <NUM> closer to or away from the charging adapter <NUM>, the charging end <NUM> may be inserted into the charging port <NUM>, the charging electrodes <NUM> may electrically connect to the charging port <NUM>, so the charging adapter <NUM> may supply electric energy to the power supply assembly <NUM>. After the material pushing machine <NUM> is supplied with electric energy, the charging adapter <NUM> may drive the charging assembly <NUM> to move the charging end <NUM> away from the charging port <NUM> and closer to the charging adapter <NUM>.

<FIG> illustrate an operation process of the material pushing machine <NUM>. A number of cows <NUM> are in a same fold yard <NUM>, there is at least one magnetic navigation path <NUM> arranged between adjacent fold yards <NUM>, food <NUM>, such as forage, is arranged outside of the fold yard <NUM> for consumption by the cows <NUM> in the fold yard <NUM>.

Referring to <FIG>, when the cows <NUM> in the fold yard <NUM> may stretch out of the fold yard <NUM> to eat the food <NUM>, the cows <NUM> may, in act of eating, push the food <NUM> away from the fold yard <NUM>, in such situation, the cows <NUM> may not reach and eat all the food <NUM>.

Referring to <FIG> and <FIG>, the material pushing machine <NUM> is used for pushing distant food <NUM> towards the fold yard <NUM>, for being reached by the cows <NUM> in the fold yard <NUM>. Particularly, when the walking device <NUM> is moving, the annular wall body <NUM> of the material pushing device <NUM> may be rotated relative to the holding assembly <NUM>, so the annular wall body <NUM> may push back the food <NUM> closer towards the fold yard <NUM>, for being reached by the cows <NUM> in the fold yard <NUM>. During the process, the distance sensor <NUM> may detect the distance between the material pushing machine <NUM> and the fold yard <NUM> in real time, to ensure the food <NUM> is correctly replaced closer to the fold yard <NUM>.

Referring to <FIG> and <FIG>, when the material pushing machine <NUM> needs to move from one position of the fold yard <NUM> to another position of the fold yard <NUM>, the magnetic sensor <NUM> and the magnetic navigation path <NUM> may cooperatively and correctly guide the material pushing machine <NUM> to move from one position of the fold yard <NUM> to another position of the fold yard <NUM>.

In another hand of the present disclosure, a material pushing method of the material pushing machine <NUM> is provided, the material pushing method includes the following:.

In one embodiment, in the process (a), the path is predetermined, such as arranging magnetic guiding elements in advance outside the fold yard <NUM> to form the magnetic navigation path <NUM>, so the magnetic navigation path <NUM> may indicate the predetermined path. In another embodiment, in the process (a), the distance sensor <NUM> detects the distance between the material pushing machine <NUM> and the fold yard <NUM> in real time and plans and executes the path in real time.

In one embodiment, in the process (b), when the walking device <NUM> moves along the path and the material pushing machine <NUM> pushes the food <NUM>, friction generated between the food <NUM> and the annular wall body <NUM> may drive the annular wall body <NUM> to rotate related to the holding assembly <NUM>, thus the annular wall body <NUM> surrounds the holding assembly <NUM> to push the food <NUM>. In another embodiment, in the process (b), the material pushing drive motor <NUM> drives the annular wall body <NUM> to rotate relative to the holding assembly <NUM>, so the annular wall body <NUM> surrounds the holding assembly <NUM> to push the food <NUM>.

Preferably, when the material pushing drive motor <NUM> drives the annular wall body <NUM> to rotate related to the holding assembly <NUM> at the upper end of the annular wall body <NUM>, the at least two circular orbits <NUM> which are inside resist the annular wall body <NUM> at the internal of the annular wall body <NUM>, so as to prevent eccentricity and waggling when the annular wall body <NUM> unilaterally suffers resistance from the mass of the food <NUM>, and ensuring the reliability and stability of the material pushing machine <NUM>.

<FIG> illustrate a process of the charger <NUM> supplying power to the material pushing machine <NUM>. The charger <NUM> is arranged close to a commercial power source, the charging adapter <NUM> is electrically connected to the commercial power source, the magnetic navigation path <NUM> may extend outwardly from the charger <NUM> to guide the material pushing machine <NUM> to move closer to the charge <NUM> along the magnetic navigation path <NUM>.

Referring to <FIG>, when the material pushing machine <NUM> needs resupply of power, the material pushing machine <NUM> may move to the charger <NUM> along the magnetic navigation path <NUM>. Referring to <FIG>, the charging adapter <NUM> may drive the charging assembly <NUM> to bring the charging end <NUM> gradually closer to and be inserted in the charging port <NUM>, then the charging electrodes <NUM> are electrically connected to the charging port <NUM>, thus the charger <NUM> may supply power again to the power supply assembly <NUM>. Referring to <FIG>, after the charger <NUM> charges the material pushing machine <NUM>, the charging adapter <NUM> may drive the charging assembly <NUM> to separate the charging end <NUM> from the charging port <NUM> and move close to charging adapter <NUM>.

<FIG> illustrate a material pushing apparatus of another embodiment. This embodiment is different from the material pushing apparatus shown in <FIG>, in that in the material pushing apparatus shown in <FIG>, the charging assembly <NUM> includes a supporting portion <NUM> and a first charging coil <NUM> arranged on the supporting portion <NUM>. The supporting portion <NUM> is arranged on a top portion of the charging adapter <NUM> and extended outwardly from the top portion of the charging adapter <NUM>. The first charging coil <NUM> is electrically connected to the charging adapter <NUM>. Correspondingly, the charging port <NUM> includes a second charging coil <NUM>. The second charging coil <NUM> is arranged on the cover <NUM>. When the material pushing machine <NUM> moves to the charger <NUM>, the second charging coil <NUM> and the first charging coil <NUM> automatically form an electromagnetic field, so the material pushing machine <NUM> may be automatically matched to the charger <NUM>, thus the charger <NUM> may supply power to the material pushing machine <NUM>.

Optionally, in other embodiments of the material pushing apparatus, the supporting portion <NUM> is arranged on a bottom portion of the charging adapter <NUM> and extended outwardly from the bottom portion of the charging adapter <NUM>, the second charging coil <NUM> is arranged on the base plate <NUM>. When the material pushing machine <NUM> moves to the charger <NUM>, the second charging coil <NUM> and the first charging coil <NUM> automatically form the electromagnetic field, so the material pushing machine <NUM> may be automatically matched to the charger <NUM>, thus the charger <NUM> may supply power to the material pushing machine <NUM>.

In another embodiment of the present disclosure, a charging method of the material pushing apparatus is provided, the charging method may include the following:.

Claim 1:
A material pushing machine (<NUM>), comprising:
a walking device (<NUM>) comprising a holding assembly (<NUM>), a power supply assembly (<NUM>), two walking drive motors (<NUM>), two drive wheels (<NUM>), and a supporting wheel (<NUM>), wherein the holding assembly (<NUM>) comprises a base plate (<NUM>), the power supply assembly (<NUM>) is arranged on the base plate (<NUM>), each of the two walking drive motors (<NUM>) is arranged on an opposite side of an end of the base plate (<NUM>) and electrically connected to the power supply assembly (<NUM>), each of the two drive wheels (<NUM>) is drivable and connected to a corresponding one of the two walking drive motors (<NUM>), and the supporting wheel (<NUM>) is arranged in a middle of the base plate (<NUM>) on another end; and
a material pushing device (<NUM>) comprising a material pushing wall (<NUM>), wherein the material pushing wall (<NUM>) comprises an annular wall body (<NUM>) and a connecting arm (<NUM>) extending inwardly from a top end of the annular wall body (<NUM>), wherein the connecting arm (<NUM>) is connected to the holding assembly (<NUM>), wherein the annular wall body (<NUM>) rotatably surrounds the holding assembly (<NUM>),
characterized in that
the material pushing device (<NUM>) further comprises at least two pulley structures (<NUM>) and a circular orbit (<NUM>), wherein the circular orbit (<NUM>) seats to an internal wall of the annular wall body (<NUM>), each of the at least two pulley structures (<NUM>) comprises a mounting body (<NUM>) and a pulley body (<NUM>) rotatably mounted on the mounting body (<NUM>), each of the at least two pulley structures (<NUM>) being mounted to the holding assembly (<NUM>) through the mounting body (<NUM>), wherein the pulley body (<NUM>) outwardly seats to a smooth surface of the circular orbit (<NUM>) to resist an internal of the annular wall body (<NUM>).