Apparatus for mixing and cutting animal feed and method of operating such an apparatus

Abstract

An apparatus for mixing and cutting animal feed including a container with a sidewall, a rotary mixing and cutting device positioned inside the container and arranged to be driven by a driving unit. At least one counter element is provided at the sidewall. The apparatus includes a positioning device for moving the counter element between a retracted position and an inserted position, and a control unit to control the positioning device of the counter element and arranged to determine an indication of the amount of instantaneous power consumed by the driving units for driving the rotary mixing and cutting device and to control positioning device based on the determined indication of the amount of instantaneous power.

Claims

1. An apparatus for mixing and cutting animal feed comprising: a container with a sidewall; a rotary mixing and cutting device positioned inside the container, the rotary mixing and cutting device being arranged to be driven by a motor; at least one counter element provided at the sidewall; at least one positioning device that moves the at least one counter element between a retracted position and an inserted position; and control circuitry configured to control the positioning device of the at least one counter element, wherein the control circuitry is further configured to determine an indication of the amount of power consumed by the motor that drives the rotary mixing and cutting device, and control at least one positioning device to move the at least one counter element based on the determined indication of the amount of power consumed by the motor.

2. The apparatus according to claim 1, wherein the motor is an electromotor.

3. The apparatus according to claim 2, wherein the apparatus is autonomous and further includes an energy supply device for the motor.

4. The apparatus according to claim 1, further comprising: a coupling member coupled to an external motor, the motor driving the rotary mixing and cutting device via the coupling member.

5. The apparatus according to claim 1, wherein the control circuitry is further configured to instruct positioning of at least one counter element in the retracted position when the indication of the amount of power is above a predetermined first threshold.

6. The apparatus according to claim 1, wherein the control circuitry is further configured to instruct positioning of at least one counter element in the inserted position when the indication of the amount of power is below a predetermined second threshold.

7. The apparatus according to claim 1, wherein the control circuitry is further configured to control at least one positioning device for bringing at least one counter element in a pulsating modus, wherein the at least one counter element moves between the retracted and inserted position.

8. The apparatus according to claim 7, wherein the control circuitry is further configured to control, including initiating or stopping, the pulsating modus based on the determined indication of the amount of power, the initiating the pulsating modus being controlled to be performed when the determined indication of the amount of power is above a pulsating modus threshold.

9. The apparatus according to claim 7, wherein the control circuitry is further configured to have the at least one counter element move between the retracted and inserted position at predetermined time intervals during the pulsating modus.

10. The apparatus according to claim 7, wherein the control circuitry is further configured to have the at least one counter element move repeatedly between the retracted and inserted position during the pulsating modus.

11. The apparatus according to claim 1, further comprising a sensor that determines the indication of the amount of power consumed by the motor when driving the rotary mixing and cutting device, the sensor measuring one or more of the following: current provided to the motor, revolutions of the motor per unit time, torque.

12. An assembly of a towing vehicle or prime mover and the apparatus according to claim 1.

13. The apparatus according to claim 1, wherein the control circuitry is further configured to control the at least one positioning device to move the at least one counter element to modify a future amount of power consumed by the motor based on the determined indication of the amount of power consumed by the motor.

14. A method of operating an apparatus for mixing and cutting animal feed, the method comprising: providing the apparatus including a container with a sidewall, a rotary mixing and cutting device positioned inside the container, the rotary mixing and cutting device being arranged to be driven by a motor and at least one counter element provided at the sidewall, and at least one positioning device for moving the at least one counter element between a retracted position and an inserted position, loading animal feed into the container; rotating the rotary mixing and cutting device; controlling the position of the at least one counter element to be in the retracted position or in the inserted position, determining an indication of the amount of instantaneous power consumed by the motor when driving the rotary mixing and cutting device, and controlling the position of at least one counter element to move the at least one counter element based on the determined indication of the amount of power consumed by the motor.

15. The method according to claim 14, further comprising: unloading the container.

16. The method according to claim 15, further comprising: moving the apparatus in accordance with navigation instructions to position the apparatus at a loading position at least during the loading and moving the apparatus to an unloading position or along an unloading path during the unloading.

17. The method according to claim 14, wherein the controlling further comprises positioning at least one counter element in the retracted position when the indication of the amount of power is above a predetermined first threshold.

18. The method according to claim 14, wherein the controlling further comprises positioning at least one counter element in the inserted position when the indication of the amount of power is below a predetermined second threshold.

19. The method according to claim 14, wherein the controlling further comprises controlling at least one positioning device for bringing at least one counter element in a pulsating modus, wherein the at least one counter element moves between the retracted and inserted position.

20. The method according to claim 19, wherein the controlling further comprises controlling, including initiating or stopping, the pulsating modus based on the determined indication of the amount of power, the initiating the pulsating modus being controlled to be performed when the determined indication of the amount of power is above a pulsating modus threshold.

21. The method according to claim 19, wherein the controlling further comprises controlling the at least one counter element to move between the retracted and inserted position at predetermined time intervals during the pulsating modus.

22. The method according to claim 19, wherein the controlling further comprises controlling the at least one counter element to move repeatedly between the retracted and inserted position during the pulsating modus.

23. The method according to claim 14, wherein the controlling further comprises receiving a measurement value from a sensor determining the indication of the amount of power consumed by the motor driving the rotary mixing and cutting device, the measurement value being an indication of one or more of the following: current provided to the motor, revolutions of the motor per unit time, torque.

Description

SHORT DESCRIPTION OF THE DRAWINGS

(1) Embodiments will now be described, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which:

(2) FIG. 1 schematically depicts a perspective view of an embodiment,

(3) FIG. 2 schematically depict a cross sectional view according to an embodiments, and

(4) FIG. 3 schematically depicts a cross sectional views according to a further embodiment.

DETAILED DESCRIPTION

(5) Embodiments will be described with reference to the Figures.

(6) FIG. 1 shows an embodiment of an apparatus 1 for mixing and cutting animal feed comprising a container 10 and a rotary mixing and cutting device 20 positioned inside the container 10 and one counter element 30 provided at a sidewall 11 of the container 10. It will be understood that any number of counter element 30 may be provided. FIG. 2 shows a cross sectional view of the apparatus 1. The apparatus 1 further comprises a control unit 40. The control unit 40 may also be positioned at a remote position, but may be functionally be part of the apparatus 1.

(7) The apparatus 1 comprises a plurality of wheels 2, one or more of the wheels 2 may be steered and/or wheels may be driven separately. The wheels 2 may be controlled by the control unit 40.

(8) The container 10 has a sidewall 11. The shape of the side wall 11 may be such that mixing, cutting and unloading can be done efficiently. The sidewall 11 may taper in a downward direction. The side wall 11 may have a substantial circular circumference, or preferably an upper edge 12 that deviates from a circle, such as a circle stretched in one direction, having two opposite portions with a smaller radius and two opposite portions with a larger radius.

(9) The side wall 11 further comprises a moveable wall element 13 which can move to create an opening 14 through which the animal feed can be unloaded. The moveable wall element 13 may also be controlled by the control unit 40.

(10) The counter element 30 is preferably positioned at a portion with a smaller radius or at a transition from a smaller radius to a larger radius, taking into account the rotary direction of the rotary mixing and cutting device 20. The counter element 30 is preferably positioned just downstream of the opening 14. The downstream direction is the direction in which the animal feed is rotated by the rotary mixing and cutting device 20.

(11) The rotary mixing and cutting device 20 comprises a central cylindrical shaft 21 with a radial extending member 22, such as a blade, attached to it. The rotary mixing and cutting device 22 is arranged to rotate about a rotary axis A. In the embodiment shown, the rotary mixing and cutting device 20 rotates in a counter clockwise direction when seen from above.

(12) The apparatus further comprises driving means, such as a motor 25 for driving the rotary mixing and cutting device 20. In the embodiment shown in FIG. 2, the motor 25 is controlled by the control unit 40. The motor 25 may be an electrical motor 25, which is advantageous in case the apparatus is an autonomous apparatus 1 which is arranged to navigate and move autonomously. The apparatus 1 may further comprise energy supply means 26, such as a battery or the like. Alternatively or in addition, the apparatus 1 may comprise a coupling member for coupling to external energy supply means such as the mains to recharge the energy supply means 26 or to power the rotary mixing and cutting device 20 directly.

(13) Alternatively, the apparatus 1 comprises a coupling for coupling the apparatus to driving means, such as a motor. The apparatus 1 may for instance be arranged to be coupled to a towing vehicle 70 (see FIG. 3), where the rotary mixing and cutting device 1 can be driven via the coupling, for instance by a driving shaft or the power take-off of the towing vehicle 70.

(14) The blade 22 may be a helical blade surrounding the central cylindrical shaft 21, forming an Archimedes screw. The radial dimension of the helical blade 22 may decrease in upward direction. The central cylindrical shaft 21 may be tapered in the upward direction.

(15) The mixing and cutting device 20, in particular an Archimedes screw, is arranged to transport the animal feed in the upward direction, where the animal feed at some point drops down from the blade 22. This up and down movement of the feed mixes the feed.

(16) The edge of the blade 22 may be arranged to cut the animal feed. Additional cutting members may be provided to cut the animal feed more effectively.

(17) It will be understood that more than one rotary mixing and cutting device 20 may be provided inside the container 10. Also, the rotary mixing and cutting device may have a different orientation, for instance the rotary axis may be at an angle of 0°-45° with respect to the vertical.

(18) The counter element 30 is moveable between a retracted position and an inserted position, controlled by the control unit 40, as indicated by the double arrow in FIGS. 2 and 3.

(19) The sidewall 11 of the container 10 comprises an opening or slot 12 to allow the counter element 30 to move between the retracted and inserted position. The counter element 30 is mounted by a rotary connection 32 allowing the counter element 30 to rotate about an axis of rotation A2 which is substantially tangential to the side wall 11 and perpendicular to the rotary axis A of the rotary mixing and cutting device 20, thereby allowing the counter element 30 to move in a substantial radial direction with respect to the rotary axis A of the rotary mixing and cutting device 20. It will be understood that the counter element 30 may be positioned in any other suitable direction, for instance pointing in a downstream direction with respect to the rotary direction of the rotary mixing and cutting device 20.

(20) In the inserted position, the counter element 30 is positioned closer to the rotary mixing and cutting device 20 than in the retracted position. In the retracted position, the counter element 30 may be completely outside the container 10.

(21) Alternative embodiments are conceivable, such as an embodiment in which no slots 12 or the like are provided in the side wall 11, but wherein the counter element 30 is positioned parallel to the side wall 11 in the retracted position and is connected to the side wall 11 via a rotary connection allowing to rotate the counter element 30 to an inserted position in which the counter element 30 is rotated towards the rotary mixing and cutting device 20.

(22) A positioning device 31 may be provided to move the counter element 30 between the inserted and retracted position, the positioning device 31 being controlled by the control unit 40. The positioning device 31 may be an actuator, such as an hydraulic actuator. The control unit 40 is arranged to control the positioning device 31, allowing the counter element 30 to move back and forth between the retracted and inserted position.

(23) In the pulsating modus, the back and forth movements are performed at predetermined time intervals. The back and forth movement may be performed once or may be performed repeatedly. The control unit 40 comprises or has access to a clock or timer for timing the back and forth movements at the predetermined time intervals.

(24) The control unit 40 may comprise a processor and a memory, wherein the memory comprises programming lines which are readable and executable by the processor to provide the control unit 40 with the functionality in accordance with the embodiments. The control unit 40 may comprise an input/output unit allowing the control unit to send instructions and receive information from other hardware parts of the apparatus, such as the wheels 2, sensors, the motor 25, the positioning device 31 etc. The ability to communicate is indicated in the Figures by dotted lines. This communication may be wired or wireless communication.

(25) The control unit 40 may also comprise user interface means, such as a keyboard and a display, allowing a user to define settings, such as the predetermined time intervals. The user interface means may also be formed by a remote computer, arranged to communicate with the control unit 40.

(26) The apparatus 1 may be arranged to determine an indication of the amount of power consumed by the driving means 25 to drive the rotary mixing and cutting device 20, which can be used by the control unit 40 to control the positioning device 31 to be positioned in the inserted position or in the retracted position or, possibly, to be in the pulsating modus.

(27) For the pulsating modus it is noted that the indication of the amount of power may in particular be used to initiate or stop the pulsating modus and/or to determine the characteristics of the pulsating modus, such as the time intervals between the back and forth movements.

(28) The apparatus 1 may comprise one or more sensors to determine the amount of power consumed by the driving means 25.

(29) FIG. 3 shows an alternative embodiment, showing an assembly of an apparatus 1 and a towing vehicle 70. According to this embodiment, the apparatus 1 comprises a coupling member 71 for connecting the apparatus 1 to a towing vehicle 70 or prime mover, wherein the motor 25 is part of the towing vehicle 70 and the coupling member 71 may comprise means for transferring energy from the motor 25 to the rotary mixing and cutting device 20. The means for transferring may be an electrical connection or may be a driving shaft.

(30) Alternatively, the driving means 25 for driving the rotary mixing and cutting device 20 may be comprised by the apparatus, the coupling member 71 being only a towing connection.

(31) In both embodiments (FIGS. 2 and 3), the control unit 40 may be arranged to determined an indication of a working parameter of the motor, in particular an indication of the amount of power consumed by the motor 25.

(32) The apparatus may be an autonomous apparatus 1 (FIG. 2), which can navigate and move autonomously. In that case, the apparatus 1 can be provided with an electrical motor as driving means 25. The amount of power consumed by the motor may be determined by measuring electrical characteristics of the motor, such as measuring electrical current and or voltage consumed by the motor.

(33) The control unit 40 may also be arranged to receive an indication of the type or types of animal feed loaded in the container 10, wherein the control unit 40 is arranged to control the at least one counter element 30 also based on the indication of the type or types of animal feed. For instance, the decision to move one or more counter cutters 30 to the inserted or retracted position or to initiate the pulsating modus may depend on the type or types of animal feed inside the container. Also, the predetermined time intervals applied in the pulsating modus may depend on the type or types of animal feed.

(34) The functioning of the apparatus will now be described in more detail.

(35) First, animal feed is loaded into the container 10. This may be done by an employee or in an automated way. This is referred to as action a).

(36) During loading (action a), the rotary mixing and cutting device 20 can be rotated, although this may also be started after loading is completed or halfway during loading. Rotating the rotary mixing and cutting device 20 is referred to as action b). Next, the position of the at least one counter element (30) is controlled to be in the retracted position or in the inserted position in action c). This may be done during action b) or only during part of action b).

(37) The phase during which action a) is performed is referred to as the loading phase. The phase after action a) is completed is referred to as the after-loading phase. During the after-loading phase, rotating the rotary mixing and cutting device 20 may continue, the apparatus may move to a different location and unloading of the apparatus 1 via opening 14 may take place. Rotating, moving and unloading may be performed simultaneously.

(38) During action c) the counter element 30 can be controlled based on the determined indication of the amount of power consumed by the rotary mixing and cutting device 20.

(39) The control unit 40 may be arranged to position one or more counter elements 30 in the retracted or inserted position by comparing the indication of the amount of power with predetermined threshold values. Also, the pulsating modus may be initiated or ended by comparing the indication of the amount of power with predetermined threshold values. Also, the time intervals applied to move the counter elements back and forth during the pulsating modus may be chosen based on the determined indication of the amount of power.

(40) The time intervals may be chosen such that the counter element is in the inserted position for most of the time and is in the retracted position for a relatively small amount of the time, to allow piled up animal feed to be released.

(41) Thus, the control unit 40 may determine an indication of a working parameter of the motor 25, in particular an indication of the amount of power consumed by the motor 25 during action c) and control the counter element 30 based on that. For instance, the counter element 30 may be controlled to be in the inserted position when the power is below a predetermined threshold value and may be brought in the pulsating modus when the power is above a predetermined threshold value.

(42) The predetermined time intervals and threshold values may be pre-programmed and may be adjustable by a user via a suitable user interface. Also, the time intervals and threshold may depend on the type or types of animal feed loaded in the container 10.

(43) According to a further embodiment, the method further comprises action d) unloading the container 10. Unloading may be done by moving the moveable wall element 13 creating an opening 14.

(44) The method may further comprise computing navigation instructions and moving the apparatus in accordance with the navigation instructions to position the apparatus at a loading position during action a) and moving the apparatus to an unloading position or along an unloading path during action d). Actions b) and c) may be performed during actions a) and d) and during movement of the apparatus, in particular from the loading position to the unloading position or unloading path.

(45) Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.