CN107549023B - Hand-push type yak excrement picking vehicle and working method thereof - Google Patents
Hand-push type yak excrement picking vehicle and working method thereof Download PDFInfo
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Abstract
The invention discloses a hand-push type yak excrement picking vehicle and a working method thereof. The picking and throwing mechanism is positioned at the front part of the picking vehicle and is used for picking yak excrement, a picking fork in the picking and throwing mechanism is connected with a hopper of the storage mechanism through a connecting rod mechanism, and the picking fork can be turned up while discharging; the limiting mechanism comprises a ratchet wheel and pawl mechanism; the control mechanism completes the separation and reset actions of the limiting mechanism through the hand brake control brake cable, and realizes the turning-up limiting and automatic resetting of the pickup fork. The yak excrement picking device is simple to operate and convenient to pick up, and yak excrement can be picked up only by stepping on the pedal rod; the limiting mechanism can ensure that the picking fork is turned upwards in the pushing process of the picking trolley, so that the integral passing performance is enhanced; the invention does not consume power resources.
Description
Technical Field
The invention belongs to the technical field of livestock raising machinery, and particularly relates to a hand-push type yak excrement picking vehicle and a working method thereof.
Background
The number of conventional yaks 1470 is more than ten thousand in the world, wherein more than 1400 thousand are distributed in China, the number and the variety of the yaks are the countries with the most number and the most varieties in the world, the number of the yaks accounts for more than 95% of the total number of the yaks in the world, and 93% of the yaks are distributed in Qinghai-Tibet plateau areas in China. Yak excrement and urine relies on Tibetan women's back of the body bamboo basket to pick up by hand before, and not only work efficiency is low, intensity of labour is big, and it is very unhygienic to pick up by hand moreover. On this background, it is necessary to design a device that is applicable to district yak excrement and urine pickup tibetan.
The pickup attachment about grassland livestock excrement and urine such as yak mainly has following several among the prior art:
1. patent publication No. CN103190352A discloses a grassland livestock excrement and urine is picked up and is pushed fortune device, and the device adopts profile of tooth harrow form mechanism to the action of picking up is accomplished to the motion mode that interlocks each other, controls motion mechanisms such as rack and pinion through drive-by-wire device and accomplishes yak excrement and urine and hug and throw and send. But the device has the problems of complicated structure, labor-consuming operation, poor stability and the like.
2. Patent publication No. CN103074861A discloses a hand propelled semi-mechanized yak excrement and urine picks up and lifts car, and this pick up car adopts "the reciprocating type" shovel shape structure of scissors to carry out the picking up of yak excrement and urine, utilizes torsion spring to accomplish the throwing of yak excrement and urine and send.
3. Patent publication No. CN103283627A discloses a self-propelled yak discarded object picks up processor, and this processor adopts mechanical power to pick up yak excrement and urine and carry out subsequent processing work. However, this processor has a problem of complicated structure.
4. Patent publication No. CN103541378A discloses a foot-operated yak excrement and urine picks forklift, and this forklift adopts "cockscomb structure" spiller and throws to send the shovel to combine to accomplish to pick up, adopts link mechanism to accomplish to throw and send control. But the forklift has the problem of complicated connecting rod structure.
5. Patent publication No. CN106351153A discloses a multi-functional grassland livestock excrement and urine pickup attachment, and this pickup attachment adopts the simplified shovel of picking up to accomplish and picks up, adopts four-bar linkage to accomplish to throw and send the control. However, this pickup device has a problem that the passing performance is insufficient and the pushing comfort is poor.
In order to solve the problems in the prior art, the invention provides the hand-push type yak excrement picking vehicle which is convenient to operate, excellent in performance, strong in reliability, good in trafficability under different ground conditions, labor-saving in pushing and high in picking efficiency.
Disclosure of Invention
The invention discloses a hand-push type yak excrement picking-up vehicle which comprises a rack 4, a picking-throwing mechanism, a storage mechanism, a limiting mechanism, a control mechanism, a connecting rod mechanism, a handle 8 and wheels 6, wherein the picking-throwing mechanism is positioned at the front part of the picking-up vehicle and is connected with the storage mechanism through the connecting rod mechanism, and the control mechanism comprises a hand brake 9 and a brake line 10; the limiting mechanism comprises a ratchet wheel and pawl mechanism; the control mechanism controls the brake cable 10 to complete the separation and reset actions of the ratchet wheel and pawl mechanism through the hand brake 9, and the turning-up limit and the automatic reset of the picking and throwing mechanism are realized.
Further, the picking and throwing mechanism comprises a picking fork 1, a fork shaft 3, a pedal rod 5, a ratchet shaft 15, a pedal rod shaft 11 and a chain 2, wherein the picking fork 1 is divided into a front part and a rear part, the front part is a working part consisting of a plurality of fork points, the rear part is a U-shaped fixing part, the front end of the U-shaped fixing part is fixedly connected with the fork points, and two sides of the rear end are respectively hinged with the fork shaft 3 and the ratchet shaft 15 in a clearance fit manner.
Furthermore, one side of the rear end of the U-shaped fixing part is hinged with a fork shaft 3 fixedly connected to one side of the front part of the frame 4 in a clearance fit manner, so that the picking fork 1 can rotate around the fork shaft 3, and the other side of the picking fork is hinged with a ratchet shaft 15 fixedly connected to the other side of the front part of the frame 4 through a bolt in a clearance fit manner.
Further, the pedal rod shaft 11 is fixedly connected to the rear portion of the frame 4, the pedal rod 5 is hinged to the pedal rod shaft 11 in a clearance fit manner, the pedal rod 5 can rotate around the pedal rod shaft 11, one end of the chain 2 is hinged to the pedal rod 5 in a clearance fit manner, and the other end of the chain is hinged to the picking fork 1 in a clearance fit manner.
Further, the material storage mechanism comprises a hopper 7, an A shaft 19 and a B shaft 20, wherein the A shaft 19 and the B shaft 20 are fixedly connected to the hopper 7, the hopper 7 is arranged above the rack 4, and the B shaft 20 is hinged to a clamping hole fixedly connected to the rack 4, so that the hopper 7 can rotate around the B shaft 20.
Further, the ratchet wheel and pawl mechanism of the limiting mechanism comprises a ratchet wheel 14, a ratchet wheel shaft 15, a pawl 13 and a pawl shaft 12, wherein the ratchet wheel 14 is fixedly connected to the ratchet wheel shaft 15 through a bolt, the pawl shaft 12 is fixedly connected to the rack 4, the pawl 13 is hinged to the pawl shaft 12 in a clearance fit manner, and the relative position of the ratchet wheel 14 and the pawl 13 is limited through the control mechanism.
Further, a hand brake 9 of the control mechanism is fixedly connected to the handle 8, connected with the pawl 13 through a brake wire 10, and controls the relaxation and tightening of the brake wire 10 through the hand brake 9, so that the forward and backward movement of the pawl 13 is controlled, and the limiting and resetting of the pickup fork 1 are realized.
Further, the link mechanisms are arranged in bilateral symmetry and comprise a first link 16, a second link 17 and a connecting shaft 18, one end of the first link 16 is connected with an A shaft 19 of the hopper 7 through a bolt, the other end of the first link is fixedly connected with one end, without a stop, of the second link 17 through the connecting shaft 18, and one end, with the stop, of the second link 17 is hinged with the fork shaft 3 and the ratchet shaft 15 in a clearance fit mode respectively.
The invention also discloses a working method of the hand-push type yak excrement pickup vehicle, wherein before yak excrement is picked up, the pickup vehicle is pushed to control the pickup fork 1 at the front end to fork up the yak excrement so as to separate the yak excrement from the ground, and the yak excrement is supported by the pickup fork 1 under the action of pushing force; the pedal rod 5 is stepped on, at the moment, the pedal rod 5 rotates around a pedal rod shaft 11, the front end of the pedal rod 5 drives the chain 2 to do rotary motion, and the chain 2 pulls the pick-up fork 1 to rotate around the fork shaft 3, so that yak excrement is thrown into the hopper; after the yak excrement enters the hopper 7, the picking fork 1 has a resetting trend under the action of the gravity of the picking fork 1, when the picking fork 1 falls back to a certain position, the limiting mechanism plays a role, namely the ratchet 14 and the pawl 13 are locked, the picking fork 1 is limited, and at the moment, the picking fork can be pushed to move forward to continuously search the yak excrement; when yak excrement needs to be picked up again, the hand brake 9 is pinched by a hand, the hand brake 9 controls the brake wire 10 to be tightened, the pawl 13 is pulled, the ratchet wheel 14 is dislocated from the pawl 13, the picking fork 1 falls back to the initial position under the action of self gravity, and continuous picking is facilitated; when manure is fully loaded in the hopper 7 or pushed to have too large weight to be suitable for continuous pickup, the pickup trolley is horizontally placed, the handle behind the hopper 7 is lifted, the hopper 7 rotates around the B shaft 20, meanwhile, the pickup fork 1 reversely rotates around the fork shaft 3 under the action of the connecting rod mechanism until contacting with the hopper 7, and at the moment, under the action of gravity, the manure slides down from the gap between the hopper 7 and the pickup fork 1, so that the manure is unloaded.
The invention has the following advantages:
1. the operation is simple, and the picking is more convenient and labor-saving;
2. the excrement is more completely unloaded, the residual quantity is less, the excrement cannot fall onto the pick-up fork, and the excrement does not need to be cleaned;
3. the turning-up limit of the pickup fork in the pushing process is realized, and the passing property of the pickup vehicle is greatly enhanced;
4. the volume of the hopper is increased, the weight of the whole vehicle is reduced, and the pushing is more labor-saving;
5. the handlebar structure better accords with the operation habit of people, and the picking comfort is well improved;
6. no power resources are consumed.
Drawings
Fig. 1 is a schematic overall structure diagram of the hand-push type yak excrement picking vehicle disclosed by the invention;
fig. 2 is a schematic structural relationship diagram of a rack, a picking and throwing mechanism, a storage mechanism, a limiting mechanism, a connecting rod mechanism, a control mechanism, a handle and wheels of the hand-push type yak excrement picking vehicle;
fig. 3 is an operation schematic diagram of unloading yak excrement of the hand-push type yak excrement picking vehicle;
the reference numerals are as follows:
in the figure, 1-picking fork, 2-chain, 3-fork shaft, 4-frame, 5-pedal rod, 6-wheel, 7-hopper, 8-handle, 9-hand brake, 10-brake line, 11-pedal rod shaft, 12-pawl shaft, 13-pawl, 14-ratchet wheel, 15-ratchet wheel shaft, 16-first connecting rod, 17-second connecting rod, 18-connecting shaft, 19-A shaft and 20-B shaft.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments and the directional terms described below with reference to the drawings are exemplary and intended to be used in the explanation of the invention, and should not be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a wide embodiment of the invention, the hand-push type yak excrement picking vehicle comprises a rack, a picking and throwing mechanism, a storage mechanism, a limiting mechanism, a control mechanism, a connecting rod mechanism, a handle and wheels, wherein the picking and throwing mechanism is positioned at the front part of the picking vehicle and is used for picking yak excrement and throwing the yak excrement into a hopper of the storage mechanism by stepping on a foot pedal rod; a picking fork of the picking and throwing mechanism is connected with a hopper of the material storage mechanism through a connecting rod mechanism, and the picking fork can be turned up while discharging; the limiting mechanism mainly comprises a ratchet wheel and pawl mechanism; the control mechanism completes the separation and reset actions of the limiting mechanism through the hand brake control brake cable, and realizes the turning-up limiting and automatic resetting of the pickup fork.
Embodiments of the present invention are further described below with reference to the accompanying drawings. As shown in fig. 1-2, the hand-push type yak excrement picking vehicle is bilaterally symmetrical in overall structure and mainly comprises a machine frame 4, a picking and throwing mechanism, a storage mechanism, a limiting mechanism, a control mechanism, a connecting rod mechanism, a handle 8 and wheels 6.
The frame 4 is positioned in the middle of the picking vehicle and is arranged in the horizontal direction on the whole.
The picking and throwing mechanism is positioned at the front part of the picking vehicle and mainly comprises a picking fork 1, a fork shaft 3, a ratchet shaft 15, a pedal rod shaft 11, a pedal rod 5 and a chain 2, wherein,
the pick-up fork 1 is divided into a front part and a rear part, wherein the front part is a working part consisting of a plurality of fork points, the number of the fork points is 15 in the embodiment, it should be appreciated that any other required number is also possible, the rear part is a U-shaped fixed part, the front end of the U-shaped fixed part is fixedly connected with the fork points, one side of the rear end is hinged with a fork shaft 3 fixedly connected with one side of the front part of the frame 4 in a clearance fit manner, so that the pick-up fork 1 can rotate around the fork shaft 3, the other side of the U-shaped fixed part is hinged with a ratchet shaft 15 fixedly connected with the other side of the front part of the frame 4 through bolts in a clearance fit manner, the pedal rod shaft 11 is fixedly connected with the rear part of the frame 4, the pedal rod 5 is hinged with the pedal rod shaft 11 in a clearance fit manner, so that the pedal rod 5 can rotate around the pedal rod shaft 11.
The material storage mechanism comprises an A shaft 19, a B shaft 20 and a hopper 7, wherein the A shaft 19 and the B shaft 20 are fixedly connected to the hopper 7, the hopper 7 is arranged above the rack 4, and the B shaft 20 is hinged to a clamping hole fixedly connected to the rack 4, so that the hopper 7 can rotate around the B shaft 20.
The ratchet wheel and pawl mechanism of the limiting mechanism mainly comprises a ratchet wheel 14, a ratchet wheel shaft 15, a pawl 13 and a pawl shaft 12, wherein,
the ratchet wheel 14 is fixedly connected on a ratchet wheel shaft 15 through a bolt, the pawl shaft 12 is fixedly connected on the rack 4, the pawl 13 is hinged with the pawl shaft 12 in a clearance fit manner, and the relative position of the ratchet wheel 14 and the pawl 13 is limited through a control mechanism.
The control mechanism comprises a hand brake 9 and a brake cable 10, the hand brake 9 is fixedly connected to the handle 8 and is connected with the pawl 13 through the brake cable 10, and the hand brake 9 controls the relaxation and the tightening of the brake cable 10, so that the forward and backward movement of the pawl 13 is controlled, and the limiting and the resetting of the pickup fork 1 are realized.
The connecting rod mechanisms are arranged in bilateral symmetry and comprise first connecting rods 16, second connecting rods 17 and connecting shafts 18, one ends of the first connecting rods 16 are connected with an A shaft 19 of the hopper 7 through bolts, the other ends of the first connecting rods 16 are fixedly connected with one ends, without stoppers, of the second connecting rods 17 through the connecting shafts 18, and the ends, with the stoppers, of the second connecting rods 17 are hinged with the fork shafts 3 and the ratchet shafts 15 in a clearance fit mode respectively.
The handle 8 is connected with the frame 4, and the function of convenient pushing is achieved.
The wheels 9 are positioned on both sides of the frame 4 and are connected in a conventional manner.
It should be appreciated that the pick-and-place mechanism, the storage mechanism and the link mechanism are all arranged in a detachable mode, and can be used as a daily transport vehicle after being detached.
The working process of the hand-push type yak excrement picking vehicle is shown in figure 3.
Before yak excrement is picked up, a picking vehicle is pushed to control a picking fork 1 at the front end to fork the yak excrement so that the yak excrement is separated from the ground, and the yak excrement is lifted by the picking fork 1 under the action of a pushing force;
the step on the pedal rod 5, the pedal rod 5 rotates around the pedal rod shaft 11, the front end of the pedal rod 5 drives the chain 2 to do rotating motion, and the chain 2 pulls the pick-up fork 1 to rotate around the fork shaft 3, so that yak excrement is thrown into the hopper 7;
after the yak excrement enters the hopper 7, the picking fork 1 has a resetting trend under the action of the gravity of the picking fork 1, when the picking fork 1 falls back to a certain position, the limiting mechanism plays a role, namely the ratchet 14 and the pawl 13 are locked, the picking fork 1 is limited, and at the moment, the picking fork can be pushed to move forward to continuously search the yak excrement;
when yak excrement needs to be picked up again, the hand brake 9 is pinched by a hand, the hand brake 9 controls the brake wire 10 to be tightened, the pawl 13 is pulled, the ratchet wheel 14 is dislocated from the pawl 13, the picking fork 1 falls back to the initial position under the action of self gravity, and continuous picking is facilitated;
when manure is fully loaded in the hopper 7 or pushed to have too large weight to be suitable for continuous pickup, the pickup trolley is horizontally placed, the handle behind the hopper 7 is lifted, the hopper 7 rotates around the B shaft 20, meanwhile, the pickup fork 1 reversely rotates around the fork shaft 3 under the action of the connecting rod mechanism until contacting with the hopper 7, and at the moment, under the action of gravity, the manure slides down from the gap between the hopper 7 and the pickup fork 1, so that the manure is unloaded.
Finally, it should be pointed out that: although the preferred embodiments of the present invention have been described above by way of illustration, the scope of the present invention is not limited to the above description, and it will be understood by those skilled in the art that any modification and variation may be made within the scope of the present invention without departing from the spirit and spirit of the teaching of the present invention.
Claims (7)
1. A hand-push type yak excrement picking vehicle comprises a machine frame (4), a picking and throwing mechanism, a storage mechanism, a limiting mechanism, a control mechanism, a connecting rod mechanism, a handle (8) and wheels (6), wherein the picking and throwing mechanism is positioned at the front part of the picking vehicle and is connected with the storage mechanism through the connecting rod mechanism,
the picking and throwing mechanism comprises a picking fork (1);
the material storage mechanism comprises a hopper (7), an A shaft (19) and a B shaft (20), wherein the A shaft (19) and the B shaft (20) are fixedly connected onto the hopper (7), the hopper (7) is arranged above the rack (4), and the B shaft (20) is hinged with a clamping hole fixedly connected onto the rack (4) so that the hopper (7) can rotate around the B shaft (20);
the control mechanism comprises a hand brake (9) and a brake cable (10);
the limiting mechanism comprises a ratchet wheel and pawl mechanism, the ratchet wheel and pawl mechanism comprises a ratchet wheel (14), a ratchet wheel shaft (15), a pawl (13) and a pawl shaft (12), wherein the ratchet wheel (14) is fixedly connected to the ratchet wheel shaft (15) through a bolt, the pawl shaft (12) is fixedly connected to the rack (4), the pawl (13) is hinged to the pawl shaft (12) in a clearance fit manner, and the relative positions of the ratchet wheel (14) and the pawl (13) are limited through the control mechanism;
the connecting rod mechanisms are arranged in bilateral symmetry and comprise first connecting rods (16), second connecting rods (17) and connecting shafts (18), one ends of the first connecting rods (16) are connected with an A shaft (19) of the hopper (7) through bolts, the other ends of the first connecting rods (16) are fixedly connected with one ends, without stop blocks, of the second connecting rods (17) through the connecting shafts (18), and the ends, with the stop blocks, of the second connecting rods (17) are respectively hinged with the fork shaft (3) and the ratchet shaft (15) in a clearance fit manner;
the control mechanism controls a brake cable (10) through a hand brake (9) to complete the separation and reset actions of the ratchet wheel and pawl mechanism, and the turning-up limiting and automatic reset of the picking and throwing mechanism are realized.
2. The hand-push type yak excrement pickup vehicle according to claim 1, wherein the pickup and throwing mechanism further comprises a fork shaft (3), a pedal rod (5), a ratchet shaft (15), a pedal rod shaft (11) and a chain (2), wherein the pickup fork (1) is divided into a front part and a rear part, the front part is a working part consisting of a plurality of fork points, the rear part is a U-shaped fixing part, the front end of the U-shaped fixing part is fixedly connected with the fork points, and two sides of the rear end are respectively hinged with the fork shaft (3) and the ratchet shaft (15) in a clearance fit manner.
3. The hand-push type yak excrement picking vehicle as claimed in claim 2, wherein one side of the rear end of the U-shaped fixing part is hinged with a fork shaft (3) fixedly connected to one side of the front part of the frame (4) in a clearance fit manner, so that the picking fork (1) can rotate around the fork shaft (3), and the other side of the picking fork is hinged with a ratchet shaft (15) fixedly connected to the other side of the front part of the frame (4) in a clearance fit manner through a bolt.
4. The hand-push type yak excrement pickup trolley as claimed in claim 3, wherein the pedal rod shaft (11) is fixedly connected to the rear portion of the frame (4), the pedal rod (5) is hinged to the pedal rod shaft (11) in a clearance fit manner, so that the pedal rod (5) can rotate around the pedal rod shaft (11), one end of the chain (2) is hinged to the pedal rod (5) in a clearance fit manner, and the other end of the chain is hinged to the pickup fork (1) in a clearance fit manner.
5. The hand-push type yak excrement picking vehicle according to claim 4, wherein a hand brake (9) of the control mechanism is fixedly connected to the handle (8) and connected with the pawl (13) through a brake wire (10), and the hand brake (9) controls the relaxation and tightening of the brake wire (10), so that the forward and backward movement of the pawl (13) is controlled, and the limiting and resetting of the picking fork (1) are realized.
6. The working method of the hand-push type yak excrement picking vehicle according to any one of claims 1 to 5,
before yak excrement is picked up, the picking vehicle is pushed, a picking fork (1) at the front end of the picking and throwing mechanism is controlled to fork the yak excrement, the yak excrement is separated from the ground, and the yak excrement is supported by the picking fork (1) under the action of pushing force;
the step on the pedal rod (5), at the moment, the pedal rod (5) rotates around the pedal rod shaft (11), the front end of the pedal rod (5) drives the chain (2) to do rotary motion, and the chain (2) pulls the picking fork (1) to rotate around the fork shaft (3), so that yak excrement is thrown into the hopper (7);
yak excrement and urine gets into hopper (7) back, picks up fork (1) and has the trend that resets under self action of gravity, when picking up fork (1) and fall back to a certain position, stop gear plays a role, and ratchet (14) and pawl (13) lock are died promptly, picks up fork (1) by spacing, can promote this moment and pick up the plantago and continue to look for yak excrement and urine.
7. The working method of the hand-push type yak excrement pickup vehicle as claimed in claim 6, wherein the working method comprises the steps of,
when yak excrement needs to be picked up again, the hand brake (9) is pinched by a hand, the hand brake (9) controls the brake wire (10) to be tightened, the pawl (13) is pulled, the ratchet wheel (14) and the pawl (13) are dislocated, and the picking fork (1) falls back to the initial position under the action of self gravity, so that the yak excrement can be picked up continuously;
when manure is fully loaded in the hopper (7) or pushed to have too large weight to be suitable for continuous pickup, the pickup trolley is horizontally placed, the handle at the rear of the hopper (7) is lifted, the hopper (7) rotates around the B shaft (20), and meanwhile, the pickup fork (1) reversely rotates around the fork shaft (3) under the action of the connecting rod mechanism until contacting with the hopper (7), at the moment, under the action of gravity, the manure slides from a gap between the hopper (7) and the pickup fork (1), and the manure is unloaded.
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| CN110042787A (en) * | 2019-04-12 | 2019-07-23 | 呼和浩特市博洋可再生能源有限责任公司 | A kind of electronic excrement of animals pick-up loader |
| CN110396972B (en) * | 2019-07-28 | 2020-12-18 | 嘉兴觅特电子商务有限公司 | Waste collecting device |
| CN110810274A (en) * | 2019-12-04 | 2020-02-21 | 安徽金丰源畜牧科技有限公司 | Egg taking and manure removing integrated equipment for poultry breeding |
| CN112655569A (en) * | 2020-12-16 | 2021-04-16 | 王淼林 | Solid waste cleaning equipment for animal husbandry |
| CN116267694B (en) * | 2023-05-04 | 2024-04-02 | 华中农业大学 | Dead pig pickup truck |
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| CN201801830U (en) * | 2010-08-16 | 2011-04-20 | 韩宝兴 | Rolling garbage cleaning cart combining broom and dustpan |
| GB2490681A (en) * | 2011-05-10 | 2012-11-14 | Ngs Agri Ltd | An animal waste scraper system |
| CN103190352B (en) * | 2013-04-11 | 2014-06-25 | 中国农业大学 | Grassland livestock dung pick-up and transport device |
| CN103283627B (en) * | 2013-06-19 | 2015-05-06 | 中国农业大学 | Self-propelled machine for picking and treating faeces of yak |
| CN103541378B (en) * | 2013-11-08 | 2015-08-26 | 中国农业大学 | A kind of foot-operated yak ight soil picks up forklift |
| CN106351153B (en) * | 2016-09-13 | 2017-12-12 | 中国农业大学 | A kind of multi-functional grassland excrement of animals pick-up unit |
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