CN105494118B - A kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement method - Google Patents
A kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement method Download PDFInfo
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- CN105494118B CN105494118B CN201610031578.2A CN201610031578A CN105494118B CN 105494118 B CN105494118 B CN 105494118B CN 201610031578 A CN201610031578 A CN 201610031578A CN 105494118 B CN105494118 B CN 105494118B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000002689 soil Substances 0.000 claims abstract description 51
- 230000002265 prevention Effects 0.000 claims abstract description 11
- 230000008447 perception Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 210000003608 fece Anatomy 0.000 description 10
- 239000010871 livestock manure Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 208000036829 Device dislocation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009318 large scale farming Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 244000144977 poultry Species 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 239000002351 wastewater Substances 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
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
- A01K1/0132—Removal of dung or urine, e.g. from stables by means of scrapers or the like moving to-and-fro or step-by-step
-
- 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
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
- A01K1/0103—Removal of dung or urine, e.g. from stables of liquid manure
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Soil Working Implements (AREA)
- Housing For Livestock And Birds (AREA)
- Treatment Of Sludge (AREA)
Abstract
The invention discloses a kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement methods, night soil collector includes car body, master controller and several wheels, two of them wheel is driven by a driving motor respectively, and all driving motors are connected with the master controller for controlling wheel driving and differential turning respectively；Night soil collector further includes that cleaning up excrement shovel, movable plate and several electric pushrods, movable plate are connect with hull bottom plate, and movable plate can rotate in the horizontal direction relative to hull bottom plate, and movable plate one end and cleaning up excrement shovel are hinged；Electric pushrod is connect with cleaning up excrement shovel both ends, and electric pushrod driving cleaning up excrement shovel left and right under master controller driving is swung up and down.Night soil collector further includes collision prevention touching device, including turntable, elastic hammer, elastic bumps object etc., and when night soil collector work, the hammer rotation of driven by rotary disc elasticity is to drive pig far from night soil collector.Night soil collector car body periphery is additionally provided with several ultrasonic sensors for disturbance of perception object.The present invention has many advantages, such as flexible operation, high degree of automation, high-efficient.
Description
Technical field
The present invention relates to move vehicle research field, in particular to a kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement method.
Background technique
Increase with the country to pig demand, it is more and more common that raiser raises the case where carrying out large-scale farming to pig.
Wherein, in order to make pig house environment keep cleaning, the generation of pig disease is reduced, cleaning up excrement is essential work during pig raising
Step.Currently, mainly removing pig manure by way of artificial periodic cleaning for the pig house of general scale, this method is needed
It constantly to be washed away with water, not only serious waste water resource, but also need a large amount of man power and material, inefficiency.
For larger pig house, have the correlative study using mechanical or instrument cleaning pig manure, such as Patent No.
201320111114.4,201420243124.8 patent provides the solution of this respect, and the starting point of above scheme is
By the way that existing pigsty floor is transformed into screen floor for manure and hanging, it is laid with removing device and conveyer belt under floor, so that generating
Pig manure fall into dung scraping device and pass excrement device, mechanical or instrument, which is cleared up, to be realized to pig manure, completes cleaning up excrement work.Though the program
It so will be greatly reduced the labor intensity of staff, realize mechanical chipping pig manure, but there are still following defects: (1) needing
Modernization overlay is carried out to existing pig house, it is at high cost.For general pig house or raiser, it is difficult to promote the use of.(2) it meets
The case where upper pig house is moved, device migration difficulty is big, and mobility is low.(3) noise caused by mechanical driving device is huge, can be right
The cultivation of pig poultry interferes.(4) there is devices call staff certain technological know-how level to safeguard and overhaul,
Increase popularization difficulty.
Therefore, a kind of device for clearing up pig manure and side simple and convenient, easy to spread, high-efficient, noise jamming is low are studied
Method has significant application value.
Summary of the invention
The shortcomings that it is a primary object of the present invention to overcome the prior art and deficiency, provide a kind of pig farm automatic manure-cleaning vehicle,
The night soil collector is not necessarily to pilot steering, flexibly can move and turn in pig house, can be avoided during cleaning up excrement to pig
Noise jamming is caused, cleaning up excrement efficiency is improved, has many advantages, such as simple, easy to use, the secondary cleaning of structure.
It is another object of the present invention to provide a kind of cleaning up excrement method based on above-mentioned pig farm automatic manure-cleaning vehicle, this method
It is easy to operate, pig can be driven and be avoided during cleaning up excrement, while control night soil collector and flexibly being moved in pig house
Dynamic and steering.
The purpose of the present invention is realized by the following technical solution: a kind of pig farm automatic manure-cleaning vehicle, including car body, main control
Device and several wheels, two of them wheel are driven by a driving motor respectively, all driving motors respectively be used for
The master controller that control wheel driving is turned with differential is connected；The night soil collector further includes cleaning up excrement shovel, movable plate and several electricity
Dynamic push rod, the movable plate are connect with hull bottom plate, and movable plate can rotate in the horizontal direction relative to hull bottom plate, movable plate one
End and cleaning up excrement shovel are hinged；The electric pushrod is connect with cleaning up excrement shovel both ends, and electric pushrod drives cleaning up excrement under master controller driving
Shovel left and right is swung up and down.Night soil collector of the present invention is driven by motor, and flexibly can be moved and be turned to, at the same by movable plate and
The connection structure of cleaning up excrement shovel, may be implemented automatic manure-cleaning, has the advantages that high-efficient.
Preferably, the driving motor uses direct current generator, is connected with worm type of reduction gearing, the output shaft of the two at
90 degree or 0 degree.Worm type of reduction gearing has self-locking function, has the advantages that control is accurate using this motor.
Further, the night soil collector includes right wheel, left wheel and driven universal wheel, wherein right wheel is by right wheel
Driving motor is driven after passing through right retarder, and left wheel is driven after passing through left retarder by left wheel driving motor,
The right retarder, right wheel drive motors, left retarder, left wheel driving motor are each attached on hull bottom plate.
Preferably, the movable plate is connect with hull bottom plate by a tube-in-tube structure, and the tube-in-tube structure is by a rigidity
Axis and two snap rings are constituted, and are equipped with mounting hole in movable plate and bottom plate corresponding position, stiff shaft is mounted in above-mentioned mounting hole；Just
Property axis on set there are two slot, snap ring is mounted in slot.By using rigid axis connection, movable plate may be implemented relative to bottom plate
Rotation, using snap ring, can limit the vertical play of stiff shaft.
Preferably, the movable plate shovels with cleaning up excrement and is connected by hinge.To which cleaning up excrement shovel can be in the effect of electric pushrod
Under, do the rotary movement relative to movable plate.
Preferably, the electric pushrod shovels with cleaning up excrement and is connected by a mallet structure, and spherical groove is equipped in cleaning up excrement shovel, described
Mallet structure includes mallet axis, mallet ball and lock ring, and mallet axis is fixed on electric pushrod front end, diameter of the diameter than electric pushrod
Small, mallet ball is fixed on the other end of mallet axis, and diameter is smaller than electric pushrod, bigger than mallet axis；Mallet ball is placed on
In spherical groove, lock ring is set to mallet ball and spherical groove junction to prevent mallet ball separable spherical slot.Pass through mallet ball and ball
The cooperation of shape slot may be implemented cleaning up excrement and shovel freedom degree in the horizontal direction.
Preferably, the vehicle bottom is additionally provided with a scraper plate, and scraper plate is hinged with hull bottom plate, and in scraper plate side and car body
A linkage spring is equipped between bottom plate, the linkage spring applies the precompression of scraper plate and ground, connect scraper plate with ground
Touching；It is attached between the scraper plate other side and cleaning up excrement shovel by connecting spring.By the way that the scraper plate is arranged, can be shoveled in cleaning up excrement
It after being cleaned, is cleaned, is cleared up more thorough again.
Preferably, night soil collector car body periphery is additionally provided with several ultrasonic sensors for disturbance of perception object, institute
Ultrasonic sensor is stated to be connected with master controller respectively.Using this structure, master controller can be according to ultrasonic sensor sense
Whether the information known, judgement currently need to turn to.
Further, the night soil collector car body surrounding is respectively mounted several ultrasonic sensors in each direction, ultrasound
I2C communication mode is used between wave sensor and master controller, the communication mode between master controller and small vehicle main body is CAN total
Line.Using the above structure, it can minimize down to dead zone-eliminating, and guarantee the real-time of data transmission.
Preferably, the night soil collector car body is provided with dust-proof, water-proof cover.It thereby may be ensured that the devices such as motor, controller
It works normally, prolongs the service life.
Further, the night soil collector further include a collision prevention touching device, the collision prevention touching device include turntable, elasticity hammer,
Elastic bumps object, protective jacket and turntable driving motor, the turntable driving motor are arranged inside dust-proof, water-proof cover, the turntable
The top of dust-proof, water-proof cover is set, and turntable driving motor drives turntable rotation；The disk upper surface is evenly equipped with elastic bumps
Object, circumferential uniformly distributed flexible hammer, one end of elasticity hammer is enclosed with protective jacket.When night soil collector work when, turntable with certain revolving speed around
The rotation of night soil collector vertical center axis, for elastic bumps object for preventing night soil collector from being trampled by pig, elasticity hammer is remote for driving pig
From night soil collector, prevent pig close.Interference of the pig to cleaning pig manure process can be reduced using this structure.
A kind of cleaning up excrement method based on above-mentioned pig farm automatic manure-cleaning vehicle, comprising steps of
(1) master controller receives control signal in night soil collector；
(2) master controller is adjusted the revolving speed of each driving motor and steering according to control signal, driving motor row
Into；During traveling, master controller is acted according to control signal driving electric pushrod, and then drives the upper bottom in cleaning up excrement shovel left and right
It is dynamic, it realizes and cleans.
Preferably, night soil collector car body periphery is additionally provided with several ultrasonic sensors for disturbance of perception object,
In traveling process, ultrasonic sensor incudes the position of peripheral obstacle in real time, and sends master controller for position signal, main
Controller controls driving motor according to above-mentioned position signal and completes to turn to.
Preferably, the night soil collector includes right wheel, left wheel, and right wheel passes through right retarder by right wheel drive motors
After driven, left wheel is by left wheel driving motor by being driven after left retarder；Master controller carries out steering adjusting
The step of be: if left wheel driving motor revolving speed be greater than right wheel drive motors revolving speed or left wheel driving motor rotate forward,
Right wheel drive motors reversion, then night soil collector is turned right；Conversely, if right wheel drive motors revolving speed is greater than left wheel driving motor
Revolving speed or right wheel drive motors main story, the reversion of left wheel driving motor, then night soil collector turns left.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, the present invention combines the environment characteristics of pig house, to the traveling of night soil collector, steering by the way of automatic control
It is controlled, can be flexibly turned in small space, not need pilot steering.Simultaneously by automatic control mode control cleaning up excrement shovel into
The swing of row up and down, completes cleaning up excrement, realizes automation.
2, the present invention combine pig house environmental condition, night soil collector car body top use dust-proof, water-proof cover, so as to
Steady operation in moist, dirty and messy environment reduces failure.
3, the invention also includes a collision preventions to touch device, and when night soil collector work, the turntable rotation in device, elasticity are touched in collision prevention
Protrusion can prevent night soil collector and be trampled by pig, and elasticity hammer can prevent pig close, and drive pig far from night soil collector.It adopts
Interference of the pig to cleaning pig manure process can be reduced with this structure.
3, night soil collector periphery of the present invention is evenly equipped with ultrasonic sensor, can realize and avoid to barrier, improves clear
Excrement efficiency.
Detailed description of the invention
Fig. 1 is the appearance diagram of 1 described device of embodiment；
Fig. 2 is the rearview of 1 described device of embodiment；
Fig. 3 is the overlooking structure diagram in 1 described device of embodiment in dust-proof, water-proof cover；
Fig. 4 is vehicle bottom structural schematic diagram in 1 described device of embodiment；
Fig. 5 is the connection relationship diagram in 1 described device of embodiment between cleaning up excrement shovel and electric pushrod；
Fig. 6 is the allocation position schematic diagram of ultrasonic sensor in 1 described device of embodiment；
Fig. 7 is the schematic diagram of mallet structure in 1 described device of embodiment；
Fig. 8 is the decomposition texture schematic diagram of 1 described device middle sleeve structure of embodiment；
Fig. 9 is the combining structure schematic diagram of 1 described device middle sleeve structure of embodiment；
Wherein: 1-protective jacket；2-elasticity hammers；3-elastic bumps objects；4-turntables；5-right wheels；6-dustproof and waterproofs
Cover；7-left wheels；8-right springs；9-right electric pushrods；10-turntable driving motors；11-left electric pushrods；12-left bullets
Spring；13-left wheel driving motors；14-left retarders；15-right wheel drive motors；16-right retarders；17-cleaning up excrement
Shovel；18-movable plates；19-driven universal wheels；20-scraper plates；21-linkage springs；22-bottom plates；23-tube-in-tube structures；
2301-stiff shafts；2302-snap rings；24-hinges；25-ultrasonic sensors；26-mallet structures；2601-mallet axis；
2602-mallet balls；27-right lock rings；28-left lock rings.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
As shown in Fig. 1,2,3,4 and 5, this gives a kind of specific pig farm automatic manure-cleaning vehicles comprising wheel,
Car body, master controller, right electric pushrod 9, left electric pushrod 11 and battery, master controller and battery are all set in hull bottom plate 22
On.
In the present embodiment, wheel has 3, respectively right wheel 5, left wheel 7 and driven universal wheel 19, as shown in figure 3, right
By right wheel drive motors 15 by driving after right retarder 16, left wheel 7 is subtracted by left wheel driving motor 13 by a left side wheel 5
It is driven after fast device 14.Right retarder 16, right wheel drive motors 15, left retarder 14, left wheel driving motor 13 are each attached to
On bottom plate 22.In order to mention high control precision, driving motor is all made of the direct current with worm type of reduction gearing in the present embodiment
Machine, the output shaft of worm type of reduction gearing and the output shaft of driving motor are at 90 degree.In practical applications according to the worm gear of selection
The output shaft of the output shaft of worm type of reduction gearing and driving motor can also be arranged to 0 degree by the difference of worm reducer.This reality
It applies example and differential driving is carried out to driving motor to realize steering by master controller, comprise the concrete steps that: if left wheel driving motor
Revolving speed is greater than the revolving speed or left wheel driving motor main story of right wheel drive motors, and right wheel drive motors invert, then cleaning up excrement
Vehicle is turned right；Conversely, if right wheel drive motors revolving speed be greater than left wheel driving motor revolving speed or right wheel drive motors just
It passes, the reversion of left wheel driving motor, then night soil collector turns left.
Referring to Fig. 1,2,3, dust-proof, water-proof cover 6 is provided on the outside of night soil collector car body, meanwhile, one is additionally provided on night soil collector
Device is touched in collision prevention, and the collision prevention touching device includes turntable 4, elasticity hammer 2, elastic bumps object 3, protective jacket 1 and turntable driving motor
10, turntable driving motor 10 is arranged on bottom plate 22, and the top of dust-proof, water-proof cover 6 is arranged in turntable 4, and turntable driving motor 10 drives
Turn disk 4 rotates.Turntable 4 is evenly distributed in the upper surface flexible protrusion 3, and circumferential uniformly distributed flexible hammer 2, one end of elasticity hammer 2 is also wrapped
It is wrapped with protective jacket 1.
Referring to Fig. 3,5, right electric pushrod 9, left electric pushrod 11 are arranged on bottom plate 22, and by mallet structure 26 with
Cleaning up excrement shovel 17 is connected, and the bottom plate of car body is equipped with a movable plate 18, and the bottom plate of the movable plate 18 and car body passes through tube-in-tube structure 23
It is connected, cleaning up excrement shovel 17 is connected with movable plate 18 by hinge.The structure of the tube-in-tube structure 23 is referring to Fig. 8,9, by a rigidity
Axis 2301 and two snap rings 2302 are constituted, and are equipped with mounting hole in movable plate and bottom plate corresponding position, stiff shaft is mounted on above-mentioned peace
It fills in hole；It is set on stiff shaft there are two slot, snap ring is mounted in slot.By using rigid axis connection, movable plate phase may be implemented
Rotation for bottom plate can limit moving up and down for stiff shaft using snap ring.The structure of the mallet structure 26 referring to Fig. 7,
Including mallet axis 2601, mallet ball 2602 and lock ring, mallet axis is welded on electric pushrod front end, diameter of the diameter than electric pushrod
Small, for mallet ball bonding in the other end of mallet axis, diameter is smaller than electric pushrod, bigger than mallet axis；Mallet ball is placed on
In spherical groove in cleaning up excrement shovel, lock ring (right lock ring 27, left lock ring 28) is set to mallet ball and spherical groove junction to prevent ball
Rod ball separable spherical slot.The cleaning up excrement shovel is attached the freedom degree, it can be achieved that vertical direction using hinge with car body；Bottom plate with
Tube-in-tube structure between movable plate carries out cutting-off type link, it can be achieved that horizontal direction rotational freedom；Electric pushrod and car body are adopted
It is attached with mallet structure, it is adjustable in four direction up and down that cleaning up excrement shovel may be implemented.In this way, left electric pushrod, right electricity
Under dynamic 9 different trips of push rod combination driving, cleaning up excrement shovel 17 can be carried out the movement of four direction up and down, clear up more complete
Face.
Referring to Fig. 3,4, the vehicle bottom is additionally provided with a scraper plate 20, and 20 top of scraper plate and vehicle bottom are hinged, in scraper plate
It is equipped with a linkage spring 21 between 20 sides and vehicle bottom, is equipped with connecting spring between 20 other side of scraper plate and cleaning up excrement shovel 17
(left spring 12 and right spring 8 in figure).When cleaning up excrement shovel 17 is cleared up under right electric pushrod 9, the promotion of left electric pushrod in this way,
Scraper plate 20 is driven also to be moved by connecting spring, while the spring 21 that links applies the precompression of scraper plate 20 and ground, so that
Scraper plate 20 and ground face contact, the region after cleaning hence for cleaning up excrement shovel can carry out secondary cleaning.
Referring to Fig. 6, in the present embodiment, it is respectively mounted 2 ultrasonic sensors 25 in each direction in night soil collector car body surrounding,
Ultrasonic sensor is used to perceive the barrier of surrounding, is each connected respectively with master controller, ultrasonic sensor and master control
I2C communication mode is used between device processed, the communication mode between master controller and small vehicle main body is CAN bus.
Automatic manure-cleaning vehicle in pig farm described in the present embodiment in actual use, using following control method:
(1) operator opens power supply, and sends control signal to the master controller on night soil collector.
(2) master controller is according to control signal, revolving speed and steering to left wheel driving motor and right wheel drive motors
It is adjusted, control night soil collector is advanced.
(3) master controller controls the stroke of right electric pushrod, left electric pushrod according to control signal, and driving is clear
Excrement shovel realizes the movement of four direction up and down, completes to clean for the first time.
(4) scraper plate is shoveled with cleaning up excrement and is attached by connecting spring, forms a symmetry structure of parallelogram, and link bullet
Spring applies the precompression of scraper plate and ground, realizes second and cleans.
(5) during traveling, if night soil collector encounters barrier, the ultrasonic sensor on night soil collector periphery is according to induction
The position of barrier sends control signals to master controller prompting and needs to turn to.
(6) during traveling, turntable driving motor drives the collision prevention touching system on night soil collector top with certain revolving speed around clear
The rotation of dung-cart vertical center axis, elastic bumps object are trampled to prevent night soil collector by pig, and elasticity hammer is close to prevent pig, and drives pig
Only far from night soil collector.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of pig farm automatic manure-cleaning vehicle, which is characterized in that including car body, master controller and several wheels, two of them vehicle
Wheel is driven by a driving motor respectively, and all driving motors are respectively and for controlling the master that wheel drives and differential is turned
Controller is connected；The night soil collector further includes cleaning up excrement shovel, movable plate and several electric pushrods, the movable plate and hull bottom plate
Connection, movable plate can rotate in the horizontal direction relative to hull bottom plate, and movable plate one end and cleaning up excrement shovel are hinged；The electric pushrod
It is connect with cleaning up excrement shovel both ends, electric pushrod driving cleaning up excrement shovel left and right under master controller driving is swung up and down；
The night soil collector further includes collision prevention touching device, and collision prevention touching device includes turntable, elastic hammer, elastic bumps object, protection
Set and turntable driving motor, turntable driving motor drive turntable rotation；The disk upper surface is evenly equipped with elastic bumps object, circumferential
One end of uniformly distributed flexible hammer, elasticity hammer is enclosed with protective jacket.
2. automatic manure-cleaning vehicle in pig farm according to claim 1, which is characterized in that the driving motor uses direct current generator,
It is connected with worm type of reduction gearing, and the output shaft of the two is at 90 degree or 0 degree.
3. automatic manure-cleaning vehicle in pig farm according to claim 2, which is characterized in that the night soil collector includes right wheel, left vehicle
Wheel and driven universal wheel, wherein right wheel is driven by right wheel drive motors by right retarder, left wheel is by left wheel
Driving motor is driven by left retarder, the right retarder, right wheel drive motors, left retarder, left wheel driving
Motor is each attached on hull bottom plate.
4. automatic manure-cleaning vehicle in pig farm according to claim 1, which is characterized in that
The movable plate is connect with hull bottom plate by a tube-in-tube structure, and the tube-in-tube structure is by a stiff shaft and two snap rings
It constitutes, is equipped with mounting hole in movable plate and bottom plate corresponding position, stiff shaft is mounted in above-mentioned mounting hole；Stiff shaft is equipped with two
A slot, snap ring are mounted in slot；
The movable plate is shoveled with cleaning up excrement to be connected by hinge；
The electric pushrod is shoveled with cleaning up excrement to be connected by a mallet structure, is equipped with spherical groove, the mallet structure packet in cleaning up excrement shovel
Mallet axis, mallet ball and lock ring are included, mallet axis is fixed on electric pushrod front end, and diameter is smaller than the diameter of electric pushrod, mallet ball
It is fixed on the other end of mallet axis, diameter is smaller than electric pushrod, bigger than mallet axis；Mallet ball is placed in spherical groove,
Lock ring is set to mallet ball and spherical groove junction to prevent mallet ball separable spherical slot.
5. automatic manure-cleaning vehicle in pig farm according to claim 1, which is characterized in that the vehicle bottom is additionally provided with a scraper plate,
Scraper plate is hinged with hull bottom plate, and a linkage spring is equipped between scraper plate side and hull bottom plate, and the linkage spring applies
The precompression of scraper plate and ground, to make scraper plate and ground face contact；Pass through connection bullet between the scraper plate other side and cleaning up excrement shovel
Spring is attached.
6. automatic manure-cleaning vehicle in pig farm according to claim 1, which is characterized in that each direction of night soil collector car body surrounding
On be respectively mounted several ultrasonic sensors for disturbance of perception object, I2C is used between ultrasonic sensor and master controller
Communication mode, the communication mode between master controller and small vehicle main body are CAN bus.
7. automatic manure-cleaning vehicle in pig farm according to claim 1, which is characterized in that the night soil collector car body is provided with dust-proof anti-
Water cover；
Collision prevention is touched device transfer disk-drive motor and is arranged inside dust-proof, water-proof cover, and the upper of dust-proof, water-proof cover is arranged in the turntable
Side.
8. a kind of cleaning up excrement method based on the described in any item pig farm automatic manure-cleaning vehicles of claim 1-7, which is characterized in that including
Step:
(1) master controller receives control signal in night soil collector；
(2) master controller is adjusted the revolving speed of each driving motor and steering according to control signal, and driving motor is advanced；?
In traveling process, master controller is acted according to control signal driving electric pushrod, and then cleaning up excrement shovel left and right is driven to swing up and down, real
Now clean.
9. cleaning up excrement method according to claim 8, which is characterized in that night soil collector car body periphery is additionally provided with several use
In the ultrasonic sensor of disturbance of perception object, during traveling, ultrasonic sensor incudes the position of peripheral obstacle in real time,
And master controller is sent by position signal, master controller controls driving motor according to above-mentioned position signal and completes to turn to.
10. cleaning up excrement method according to claim 8, which is characterized in that the night soil collector includes right wheel, left wheel, the right side
Wheel is driven by right wheel drive motors by right retarder, left wheel by left wheel driving motor by left retarder into
Row driving；Master controller carries out turning to the step of adjusting: if left wheel driving motor revolving speed is greater than right wheel drive motors
Revolving speed or left wheel driving motor rotate forward, and right wheel drive motors reversion, then night soil collector is turned right；Conversely, if right wheel drives
Motor speed is greater than the revolving speed of left wheel driving motor or right wheel drive motors main story, left wheel driving motor invert, then
Night soil collector turns left.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610031578.2A CN105494118B (en) | 2016-01-18 | 2016-01-18 | A kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610031578.2A CN105494118B (en) | 2016-01-18 | 2016-01-18 | A kind of pig farm automatic manure-cleaning vehicle and cleaning up excrement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105494118A CN105494118A (en) | 2016-04-20 |
| CN105494118B true CN105494118B (en) | 2019-02-01 |
Family
ID=55702735
Family Applications (1)
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| CN107624656B (en) * | 2017-09-25 | 2023-04-28 | 农业农村部环境保护科研监测所 | Intelligent manure cleaning robot for pig house and control system |
| CN107624653B (en) * | 2017-09-25 | 2023-05-16 | 农业农村部环境保护科研监测所 | Intelligent combined pigsty and fecal collection system |
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| CN107711531A (en) * | 2017-11-06 | 2018-02-23 | 华南农业大学 | One kind sweeps formula pig farm automatic manure-cleaning car and cleaning up excrement method |
| CN108213008B (en) * | 2018-01-23 | 2021-04-20 | 安徽工业大学 | Cleaning robot and cleaning method for residual oil at tank bottom of wheel type tank truck |
| TWI723881B (en) * | 2020-05-20 | 2021-04-01 | 淡江大學 | Animal specimen picking device and system thereof |
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| CN114365695B (en) * | 2022-01-07 | 2023-08-01 | 河南农业职业学院 | A clear excrement executive device and full-automatic clear excrement machine for livestock-raising industry |
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