CN108849557B - Automatic intelligent cleaning machine for pigsty and cleaning method thereof - Google Patents
Automatic intelligent cleaning machine for pigsty and cleaning method thereof Download PDFInfo
- Publication number
- CN108849557B CN108849557B CN201810966158.2A CN201810966158A CN108849557B CN 108849557 B CN108849557 B CN 108849557B CN 201810966158 A CN201810966158 A CN 201810966158A CN 108849557 B CN108849557 B CN 108849557B
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- body base
- cleaning
- ground
- corner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
Abstract
The invention provides an automatic intelligent cleaning machine for a pig house and a cleaning method thereof, wherein the cleaning machine comprises a supporting and traveling system, a cleaning system, a lifting system, an energy storage system and a control system, the supporting and traveling system comprises traveling wheels arranged on the left side and the right side of a vehicle body base, a front auxiliary wheel arranged at the front part of the bottom of the vehicle body base, two rear auxiliary wheels arranged at the rear end of the vehicle body base and a direct current gear motor arranged on the vehicle body base, the two direct current gear motors are respectively arranged and drive the traveling wheels on the respective sides to move through a driving shaft, the front auxiliary wheel and the two traveling wheels form a three-point supporting vehicle body base, the two rear auxiliary wheels under the normal working condition of the cleaning machine are not contacted with the ground, the cleaning system comprises two crank arms symmetrically arranged at the front part of the vehicle body base, and each crank arm is vertically and rotatably connected with a push plate through a hanging shaft. The invention has the advantages of convenient use, thorough cleaning, energy conservation and environmental protection, realizes a full-automatic cleaning mode of the pig house, and improves the environmental conditions of the pig house.
Description
Technical Field
The invention belongs to the field of agricultural intelligent equipment, and particularly relates to an automatic intelligent cleaning machine for a pig house and a cleaning method thereof.
Background
At present, the modern agriculture background is taken as the development of animal husbandry, most of the animal husbandry is supported by manual labor, a few large-scale animal husbandry places introduce semi-automatic service equipment, and for pig house cleaning work in a large pig farm, tools are still needed to be used for cleaning and a large amount of water source is consumed for cleaning, so that the time is long, the cost is high, and the efficiency is low. Aiming at the pig house cleaning work in the field, the invention develops a novel cleaning machine which is convenient to use, thorough in cleaning, energy-saving and environment-friendly, and the application of the invention can realize a full-automatic pig house cleaning mode, thereby greatly improving the working efficiency and the environmental conditions of the pig house.
Disclosure of Invention
In view of the above, the invention aims to provide an automatic intelligent cleaning machine for a pig house and a cleaning method thereof, which are convenient to use, thorough in cleaning, energy-saving and environment-friendly, realize a full-automatic cleaning mode of the pig house, improve the working efficiency and improve the environmental conditions of the pig house.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
an automatic intelligent cleaning machine for a pigsty comprises a supporting and traveling system, a cleaning system, a lifting system, an energy storage system and a control system,
the supporting and walking system comprises walking wheels arranged on the left side and the right side of the vehicle body base, a front auxiliary wheel arranged on the front part of the bottom of the vehicle body base, two rear auxiliary wheels arranged at the rear end of the vehicle body base and a direct-current gear motor arranged on the vehicle body base, wherein the two direct-current gear motors are arranged and drive the walking wheels on the respective sides to move through a driving shaft, the front auxiliary wheel and the two walking wheels form a three-point supporting vehicle body base, and the two rear auxiliary wheels under normal working of the cleaning machine are not contacted with the ground;
the cleaning system comprises two crank arms symmetrically arranged at the front part of the vehicle body base, each crank arm is vertically and rotatably connected with one push plate through a hanging shaft, each crank arm drives the corresponding push plate to rotate around a corner shaft at the corresponding position on the vehicle body base, the two corner shafts are driven to rotate by two corner motors arranged at the bottom of the vehicle body base, the two crank arms in an unoperated state are arranged in a straight line, the two push plates are arranged at the left side and the right side of the vehicle body base, the two crank arms in an operating state are arranged in parallel, and the two push plates are arranged at the front side of the vehicle body base;
a reset device is arranged on each push plate, a groove for accommodating the crank arm is arranged at the joint of each push plate and the crank arm at the corresponding position, the reset device comprises two groups of springs and spring adjusting rods which are symmetrically arranged on the push plates at two sides of the hanging shaft by taking the hanging shaft as a symmetrical axis, all the spring adjusting rods are arranged through the upper surface of the groove, one end of each spring in a compressed state is sleeved on the spring adjusting rod to prop against the push plate, and the other end of each spring in a compressed state props against the crank arm;
the front part of the bottom of the push plate is provided with a scraping plate, the rear part of the bottom of the push plate is provided with a brush frame, a plurality of brushes are arranged on the brush frame, and the heights of the brushes and the scraping plate are equal to each other;
the lifting system is arranged at the middle and front part of the vehicle body base, the lifting system comprises a lifting motor and a lifting device, the lifting device comprises a screw rod, a screw nut matched with the screw rod, a guide bearing for limiting the rotation of the screw nut, a linear bearing and a transmission guide post, the screw rod is fixed on an output shaft of the lifting motor, the lifting motor is fixed at the upper part of a hollow motor support, the lower part of the motor support is fixed on the vehicle body base, the screw nut matched with the screw rod is arranged in the hollow motor support, the screw nut is fixedly connected with one end of the transmission guide post, the other end of the transmission guide post penetrates through the vehicle body base and is connected with a front auxiliary wheel, the guide bearing is fixed on the inner wall of the motor support, the linear bearing is arranged between the inner wall of the hollow motor support and the transmission guide post, and the linear bearing is fixed on the vehicle body base;
the energy storage system is arranged at the rear part of the vehicle body base and comprises a plurality of groups of rechargeable batteries which are connected in parallel, and the control system comprises a PLC control device which controls the operation of all motors.
Further, each rear auxiliary wheel is provided with a buffer device, each buffer device comprises polyurethane rubber sleeved on a vertical polish rod stud, each rear auxiliary wheel penetrates through a vehicle body base through the vertical polish rod stud and is connected with a fixing frame, the fixing frame comprises a transfer support rod fixed on the vehicle body base and an opening plate fixed on the transfer support rod, one end of the polyurethane rubber abuts against the lower surface of the opening plate, the other end of the polyurethane rubber abuts against the vehicle body base, the vertical polish rod stud penetrates through an opening of the opening plate 32 to be connected with a nut, and the opening plate limits the descent of the nut.
Further, the cleaning machine further comprises a navigation device, wherein the navigation device comprises an RFID communication module, and a head AGV magnetic navigation sensor and a tail AGV magnetic navigation sensor which are arranged at the front end and the rear end of the bottom of the vehicle body base.
Further, the arrangement mode of the plurality of brushes is as follows: a short and thick brush is arranged on one side close to the scraping plate, and a long and thin brush is arranged on one side far away from the scraping plate.
Further, each direct current gear motor is controlled by a gear motor driver.
Further, each corner motor is controlled by a corner motor driver.
Further, the lift motor is controlled by a lift motor driver.
A cleaning method of an automatic intelligent cleaning machine for a pig house comprises the following steps:
(1) After the cleaning machine is electrified, the PLC control device operates according to an initial state, and all motors are in a zero state, namely a vehicle body base of the cleaning machine is in a horizontal state under the support of a front auxiliary wheel and two travelling wheels, two crank arms are arranged in a straight line, two pushing plates are arranged on the left side and the right side of the vehicle body base, and scraper brushes at the bottoms of the two pushing plates are not contacted with the ground;
(2) Starting two corner motors, wherein the two corner speed reducing motors respectively drive a group of crank arms and a push plate to rotate around the respective corner axes to the front side direction of a vehicle body base, when large-area cleaning is needed, the two corner speed reducing motors drive the two crank arms to rotate from a straight line state to a parallel state, the two corner speed reducing motors stop moving, a PLC (programmable logic controller) and an RFID (radio frequency identification) communication module coordinate and control the operation of the lifting motor to drive a screw rod to rotate, the screw rod drives a screw rod to move, and because the screw rod is fixed on a transmission guide post which is fixed on a front auxiliary wheel, the front auxiliary wheel is in contact with the ground, the screw rod is fixedly provided with screw rod reaction force to enable the screw rod to rotate and simultaneously drive a motor support and the front end of the vehicle body support to descend, and the vehicle body support forms a front low-rear high state, and a scraper brush at the bottom of the two push plates is in contact with the ground;
when the corners are required to be cleaned, the two corner speed reducing motors drive the two crank arms to rotate by a certain acute angle in a straight line state, then the two corner speed reducing motors stop moving, and the lifting device operates to enable the vehicle body support to form a front low and rear high state, and at the moment, the scraper brushes at the bottoms of the two push plates are contacted with the ground;
(3) Starting a direct current speed reduction motor, driving a scraper brush at the bottom of a push plate of a cleaning machine by two travelling wheels to push and scrape the ground sundries forwards, in the pushing and scraping cleaning process, performing rough cleaning by utilizing a short and rough hair part at the front end in the brush, and performing fine cleaning by utilizing a long and fine hair part at the rear end in the brush to realize reciprocating pushing and scraping cleaning action along a certain direction, so that the ground sundries are uniformly cleaned to a designated position;
(4) In the cleaning task, if the ground is uneven, a reset device on the push plate is automatically started, a spring between the push plate and the crank arm at the side with high ground is compressed, the spring between the push plate and the crank arm at the side with high ground is stretched, the push plate rotates around a hanging shaft, so that the push plate better adapts to the ground condition, if the ground is in a flat state after the cleaning machine walks for a certain period, the push plate rotates around the hanging shaft in the opposite direction under the action of the spring force, and the push plate returns to a horizontal state;
(5) The lifting motor operates to drive the screw rod to reversely rotate, the front end of the vehicle body bottom plate descends, the vehicle body floor is restored to a horizontal state, at the moment, the scraping plate brushes at the bottoms of the two pushing plates are not contacted with the ground, the two corner motors are started, the two corner motors respectively drive a group of crank arms and the pushing plates to rotate towards the two sides of the vehicle body bottom plate, when the two crank arms are in a straight line state, the two corner motors stop moving, the cleaning machine completes a cleaning task, and the cleaning machine is used next time.
Furthermore, in the cleaning task, when the vehicle body tilts or collides, the two rear auxiliary wheels fall to the ground after being buffered by the buffer device, so that the rigid deformation of the vehicle body is prevented, and the side turning or the backward tilting of the vehicle body is prevented.
Further, in the cleaning task, the head AGV magnetic navigation sensor and the tail AGV magnetic navigation sensor which are arranged at the front end and the rear end of the vehicle body base are utilized, and the track motion of the cleaning machine is completed by the magnetic navigation system identification magnetic strip.
Compared with the prior art, the automatic intelligent cleaning machine for the pigsty has the following advantages:
the automatic intelligent cleaning machine for the pigsty can realize an automatic unmanned management mode, and the cleaning machine is controlled by the PLC module to move according to a set track; the power source of the cleaning machine adopts an energy-saving and environment-friendly lithium battery pack, and the single charging for 8 hours can meet the requirement of load driving for more than 3 hours; the walking and turning of the cleaning machine are controlled by using a direct-current gear motor; the lifting and the action of the cleaning machine are controlled by a stepping speed reducing motor; the cleaning machine adopts a double-arm pushing, scraping and brushing integrated cleaning device to push the excrement and sundries to a designated position, so that the cleaning task is completed, and meanwhile, the preparation is provided for the next working procedure; when the vehicle is not in working state, the crank arm can drive the push plate, the scraping plate and the brush to rotate to the two sides of the vehicle body, so that the length distance of the vehicle body is shortened, and normal walking is not affected. When in working state, the device can freely rotate to a proper position to work. The lifting motor is arranged on the lifting device, the lifting device is fixedly connected with the vehicle body base, and the initial installation position ensures that the scraping plate is at a certain height from the ground. When the scraper is in operation, the lifting system takes the travelling wheel as a fulcrum, and the front auxiliary wheel reduces the height of the vehicle body base and the scraper, so that the scraper and the brush are in forced contact with the ground for operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic axial view of an automatic intelligent cleaning machine for pigsty in a working state of a large-area cleaning condition according to an embodiment of the invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic axial view of an automatic intelligent cleaning machine for pigsty in a working state corner cleaning condition according to an embodiment of the invention;
FIG. 4 is a schematic axial view of an automatic intelligent cleaning machine for pigsty in a non-working state according to an embodiment of the invention;
FIG. 5 is a schematic axial view of another direction of an automatic intelligent cleaning machine for pigsty in a working state of large-area cleaning condition according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of the lifting device.
Reference numerals illustrate:
1-rechargeable battery, 2-direct current gear motor, 3-drive shaft, 4-walking wheel, 5-car body base, 6-switching branch, 7-corner axle, 8-crank arm, 9-push pedal, 10-scraper blade, 11-peg, 12-spacer, 13-spring adjustment pole, 14-brush holder, 15-brush, 16-corner motor, 17-elevating gear, 18-elevating motor, 19-front auxiliary wheel, 20-rear auxiliary wheel, 21-buffer, 22-spring, 23-recess, 24-lead screw, 25-screw, 26-guide bearing, 27-linear bearing, 28-transmission guide pillar, 29-motor support, 30-vertical polish rod stud, 31-polyurethane rubber, 32-opening plate, 33-nut.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In addition, the RFID communication module mentioned in the embodiments of the present invention generally refers to a module supporting a remote recognition function.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1-6, the automatic intelligent cleaning machine for pigsty comprises a supporting and walking system, a cleaning system, a lifting system, an energy storage system and a control system,
the supporting and walking system comprises walking wheels 4 arranged on the left side and the right side of a vehicle body base 5, a front auxiliary wheel 19 arranged on the front part of the bottom of the vehicle body base 5, two rear auxiliary wheels 20 arranged at the rear end of the vehicle body base 5 and a direct current gear motor 2 arranged on the vehicle body base 5, wherein the two direct current gear motors 2 drive the walking wheels 4 on the respective sides to move through one driving shaft 3, the front auxiliary wheel 19 and the two walking wheels 4 form a three-point supporting vehicle body base 5, and the two rear auxiliary wheels 20 under normal operation of the cleaner are not contacted with the ground;
the cleaning system comprises two crank arms 8 symmetrically arranged at the front part of the vehicle body base 5, each crank arm 8 is vertically and rotatably connected with one push plate 9 through a hanging shaft 11, a spacer 12 is arranged at the joint of the hanging shaft 11 and the push plate 9, each crank arm 8 drives the corresponding push plate 9 to rotate around a corner shaft 7 at the corresponding position on the vehicle body base 5, the two corner shafts 7 are driven to rotate by two corner motors 16 arranged at the bottom of the vehicle body base 5, the two crank arms 8 in an unoperated state are arranged in a straight line, the two push plates 9 are arranged at the left side and the right side of the vehicle body base 5, the two crank arms 8 in an operating state are arranged in parallel, and the two push plates 9 are arranged at the front side of the vehicle body base 5;
a reset device is arranged on each push plate 9, a groove 23 for accommodating the crank arm 8 is arranged at the joint of each push plate 9 and the corresponding position, the reset device comprises two groups of springs 22 and spring adjusting rods 13 which are symmetrically arranged on the push plate 9 at two sides of the hanging shaft 11 by taking the hanging shaft 11 as a symmetrical axis, each group of springs 22 and spring adjusting rods 13 comprises two springs 22 and two spring adjusting rods 13, all the spring adjusting rods 13 are arranged through the upper surface of the groove 23, one end of the spring 22 in a compressed state is sleeved on the spring adjusting rod 13 to prop against the push plate 9, and the other end of the spring 22 in a compressed state props against the crank arm 8;
the front part of the bottom of the push plate 9 is provided with a scraping plate 10, the rear part of the bottom of the push plate 9 is provided with a brush frame 14, a plurality of brushes 15 are arranged on the brush frame 14, and the heights of the brushes 15 and the scraping plate 10 are equal to each other from the ground;
the lifting system is arranged at the middle and front part of the vehicle body base 5, the lifting system comprises a lifting motor 18 and a lifting device 17, the lifting device 17 comprises a screw rod 24, a screw nut 25 matched with the screw rod 24, a guide bearing 26 for limiting the rotation of the screw nut 25, a linear bearing 27 and a transmission guide post 28, the screw rod 24 is fixed on an output shaft of the lifting motor 18, the lifting motor 18 is fixed at the upper part of a hollow motor support 29, the lower part of the motor support 29 is fixed on the vehicle body base 5, the screw nut 25 matched with the screw rod 24 is arranged in the hollow motor support 29, the screw nut 25 is fixedly connected with one end of the transmission guide post 28, the other end of the transmission guide post 28 penetrates through the vehicle body base 5 and is connected with the front auxiliary wheel 19, the guide bearing 26 is fixed on the inner wall of the motor support 29, the linear bearing 27 is arranged between the inner wall of the hollow motor support 29 and the transmission guide post 28, and the linear bearing 27 is fixed on the vehicle body base 5;
the energy storage system is arranged at the rear part of the vehicle body base 5 and comprises a plurality of groups of rechargeable batteries 1 which are connected in parallel, and the control system comprises a PLC control device which controls the operation of all motors.
Each rear auxiliary wheel 20 is provided with a buffer device 21, each buffer device 21 comprises polyurethane rubber 31 sleeved on a vertical polish rod stud 30, each rear auxiliary wheel 20 penetrates through the vehicle body base 5 through the vertical polish rod stud 30 and is connected with a fixing frame, the fixing frame comprises a transfer support rod 6 fixed on the vehicle body base 5 and an opening plate 32 fixed on the transfer support rod 6, one end of the polyurethane rubber 31 abuts against the lower surface of the opening plate 32, the other end of the polyurethane rubber 31 abuts against the vehicle body base 5, the vertical polish rod stud 30 penetrates through an opening of the opening plate 32 to be connected with a nut 33, and the opening plate 32 limits the descending of the nut 33.
The cleaning machine further comprises a navigation device, wherein the navigation device comprises an RFID communication module, and a head AGV magnetic navigation sensor and a tail AGV magnetic navigation sensor which are arranged at the front end and the rear end of the bottom of the vehicle body base.
The arrangement of the plurality of brushes 15 is as follows: a short and thick brush is arranged on one side close to the scraping plate 10, and a long and thin brush is arranged on one side far away from the scraping plate 10.
Each direct current gear motor 2 is controlled by a gear motor driver, each corner motor 16 is controlled by a corner motor driver, and the lift motor 18 is controlled by a lift motor driver.
Two corners of the vehicle body base 5 opposite to the two rear auxiliary wheels 20 are provided with switching struts 6, and four switching struts 6 can be used for bearing an upper platform on which an RFID communication module, a controller, etc. can be mounted.
A cleaning method of an automatic intelligent cleaning machine for a pig house comprises the following steps:
(1) After the cleaning machine is electrified, the PLC control device runs in an initial state, and all motors are in a zero state, namely, a vehicle body base 5 of the cleaning machine is in a horizontal state under the support of a front auxiliary wheel 19 and two travelling wheels 4, two crank arms 8 are arranged in a straight line, two push plates 9 are arranged on the left side and the right side of the vehicle body base 5, and a scraping plate 10 brush 15 at the bottom of each push plate 9 is not contacted with the ground;
(2) When the two corner motors 16 are started, the two corner speed reducing motors 16 respectively drive a group of crank arms 8 and push plates 9 to rotate around respective corner shafts 7 towards the front side direction of the vehicle body base 5, and when large-area cleaning is needed, the two corner speed reducing motors 16 drive the two crank arms 8 to rotate from a straight line state to a parallel state, the two corner speed reducing motors 16 stop moving, the PLC control device and the RFID communication module coordinate and control the lifting motor 18 to drive the screw rod 24 to rotate, the screw rod 24 drives the screw nut 25 to move, the screw nut 25 is fixed on the transmission guide post 28, the transmission guide post 28 is fixed on the front auxiliary wheel 19, the front auxiliary wheel 19 is contacted with the ground, so that the screw nut 25 does not move to give out reaction force of the screw rod 24 to enable the screw rod 24 to rotate and drive the motor support 29 and the front end of the vehicle body support 5 to descend, and the scraping plate 10 brushes 15 at the bottoms of the two push plates 9 are contacted with the ground at the moment;
when the corners are required to be cleaned, the two corner speed reducing motors 16 drive the two crank arms 8 to rotate by a certain acute angle from a straight line state, the two corner speed reducing motors 16 stop moving, the lifting device 19 operates, the vehicle body support 5 is in a front low and rear high state, and at the moment, the brushes 15 of the scraping plates 10 at the bottoms of the two pushing plates 9 are contacted with the ground;
(3) The direct-current speed reduction motor 2 is started, the two travelling wheels 4 drive the scraping plate 10 brush 15 at the bottom of the pushing plate of the cleaning machine to push and scrape the ground sundries forwards, in the pushing and scraping cleaning process, the short and thick fur part at the front end in the brush is utilized to perform rough cleaning, and the long and thin fur part at the rear end in the brush is utilized to perform fine cleaning to realize reciprocating pushing and scraping cleaning action along a certain direction, so that the ground sundries are uniformly cleaned to a designated position;
(4) In the cleaning task, if the ground is uneven, a reset device on the push plate 9 is automatically started, a spring 22 between the push plate 9 and the crank arm 8 at the side with high ground is compressed, the spring 22 between the push plate 9 and the crank arm 8 at the side with high ground is stretched, the push plate 9 rotates around the hanging shaft 11, so that the push plate 9 is better adapted to the ground condition, if the cleaning machine runs for a period of time, the ground is in a flat state, the push plate 9 rotates around the hanging shaft 11 in the opposite direction under the action of the spring force, and the push plate 9 returns to a horizontal state;
(5) The lifting motor 18 operates to drive the screw rod 24 to reversely rotate, the front end of the vehicle body bottom plate 5 descends, the vehicle body floor 5 is restored to a horizontal state, at the moment, the brushes 15 of the scraping plates 10 at the bottoms of the two pushing plates 9 are not contacted with the ground, the two corner motors 16 are started, the two corner motors 16 respectively drive a group of crank arms 8 and the pushing plates 9 to rotate towards the two sides of the vehicle body bottom plate 5, when the two crank arms 8 are in a straight line state, the two corner motors 16 stop moving, and the cleaning machine completes a cleaning task and is used next time.
In the cleaning task, when the vehicle body tilts or collides, the two rear auxiliary wheels 20 fall to the ground after being buffered by the buffer device 21, so that the rigid deformation of the vehicle body is prevented, and the vehicle body is prevented from side turning or tilting, specifically: when the rear auxiliary wheel 20 contacts the ground, the rear auxiliary wheel 20 can transmit upward force to the vertical polish rod stud 30, the vertical polish stud 30 moves upwards with the nut 33, polyurethane rubber 31 arranged between the opening plate 32 and the vehicle body base 5 is compressed, the collision of the rear auxiliary wheel 20 to the vehicle body when the rear auxiliary wheel 20 falls to the ground is buffered due to elasticity of the polyurethane rubber 31, the rigid deformation of the vehicle body is prevented, and when no emergency occurs, the nut 33 on the vertical polish stud 30 is limited by the opening plate 32 and cannot move downwards, so that the connection between the rear auxiliary wheel 20 and the vehicle body base 5 is realized, and the gap between the rear auxiliary wheel 20 and the ground is ensured.
In the cleaning task, the head AGV magnetic navigation sensor and the tail AGV magnetic navigation sensor which are arranged at the front end and the rear end of the vehicle body base 5 are utilized, and the track motion of the cleaning machine is completed by the magnetic navigation system identification magnetic strip.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (3)
1. A cleaning method of an automatic intelligent cleaning machine for a pig house is characterized by comprising the following steps of: the automatic intelligent cleaning machine for the pigsty comprises a supporting and traveling system, a cleaning system, a lifting system, an energy storage system and a control system,
the supporting walking system comprises walking wheels (4) arranged on the left side and the right side of the vehicle body base (5), a front auxiliary wheel (19) arranged at the front part of the bottom of the vehicle body base (5), two rear auxiliary wheels (20) arranged at the rear end of the vehicle body base (5) and a direct current speed reduction motor (2) arranged on the vehicle body base (5), wherein the two direct current speed reduction motors (2) are arranged and drive the walking wheels (4) on the respective sides to move through one driving shaft (3), the front auxiliary wheel (19) and the two walking wheels (4) form a three-point supporting vehicle body base (5), and the two rear auxiliary wheels (20) under normal operation of the cleaner are not contacted with the ground;
the cleaning system comprises two crank arms (8) symmetrically arranged at the front part of a vehicle body base (5), each crank arm (8) is vertically and rotatably connected with one push plate (9) through a hanging shaft (11), each crank arm (8) drives the corresponding push plate (9) to rotate around a corner shaft (7) at the corresponding position on the vehicle body base (5), the two corner shafts (7) are respectively driven to rotate by a corner motor (16) arranged at the bottom of the vehicle body base (5), the two crank arms (8) in an unoperated state are arranged in a straight line, the two push plates (9) are arranged at the left side and the right side of the vehicle body base (5), the two crank arms (8) in an operating state are arranged in parallel, and the two push plates (9) are arranged at the front side of the vehicle body base (5);
a reset device is arranged on each push plate (9), a groove (23) for accommodating the crank arm (8) is arranged at the joint of each push plate (9) and the corresponding position, the reset device comprises two groups of springs (22) and spring adjusting rods (13) which are symmetrically arranged on the push plates (9) on two sides of the hanging shaft (11) by taking the hanging shaft (11) as a symmetrical axis, all the spring adjusting rods (13) are arranged through the upper surface of the groove (23), one end of each spring (22) in a compression state is sleeved on the spring adjusting rod (13) to prop against the push plate (9), and the other end of each spring (22) is sleeved on the other end of each spring adjusting rod to prop against the crank arm (8);
the front part of the bottom of the push plate (9) is provided with a scraping plate (10), the rear part of the bottom of the push plate (9) is provided with a brush frame (14), a plurality of brushes (15) are arranged on the brush frame (14), and the heights of the brushes (15) and the scraping plate (10) are equal to each other from the ground;
the lifting system is arranged at the front part of the vehicle body base (5), the lifting system comprises a lifting motor (18) and a lifting device (17), the lifting device (17) comprises a screw rod (24), a screw nut (25) matched with the screw rod (24), a guide bearing (26) for limiting rotation of the screw nut (25), a linear bearing (27) and a transmission guide post (28), the screw rod (24) is fixed on an output shaft of the lifting motor (18), the lifting motor (18) is fixed at the upper part of a hollow motor support (29), the lower part of the motor support (29) is fixed on the vehicle body base (5), the screw nut (25) matched with the screw rod (24) is arranged in the hollow motor support (29), the screw nut (25) is fixedly connected with one end of the transmission guide post (28), the other end of the transmission guide post (28) passes through the vehicle body base (5) to be connected with a front auxiliary wheel (19), the guide bearing (26) is fixed on the inner wall of the motor support (29), and the linear bearing (27) is fixed between the inner wall of the hollow motor support (29) and the linear bearing (27) is arranged on the linear bearing (27);
the energy storage system is arranged at the rear part of the vehicle body base (5), the energy storage system comprises a plurality of groups of rechargeable batteries (1) which are connected in parallel, the control system comprises a PLC control device, and the PLC control device controls the operation of all motors;
each rear auxiliary wheel (20) is provided with a buffer device (21), each buffer device (21) comprises polyurethane rubber (31) sleeved on a vertical polish rod stud (30), each rear auxiliary wheel (20) penetrates through a vehicle body base (5) through one vertical polish rod stud (30) and is connected with a fixing frame, each fixing frame comprises a transfer support rod (6) fixed on the vehicle body base (5) and an opening plate (32) fixed on the transfer support rod (6), one end of each polyurethane rubber (31) is abutted against the lower surface of the corresponding opening plate (32), the other end of each polyurethane rubber (31) is abutted against the vehicle body base (5), each vertical polish rod stud (30) penetrates through an opening of the corresponding opening plate (32) to be connected with a nut (33), and the opening plate (32) limits the falling of the corresponding nut (33);
the cleaning machine further comprises a navigation device, wherein the navigation device comprises an RFID communication module, a head AGV magnetic navigation sensor arranged at the front end of the bottom of the vehicle body base and a tail AGV magnetic navigation sensor arranged at the rear end of the bottom of the vehicle body base;
the arrangement mode of the plurality of brushes (15) is as follows: a short and thick brush is arranged on one side close to the scraping plate (10), and a long and thin brush is arranged on one side far away from the scraping plate (10);
each direct-current gear motor (2) is controlled by a gear motor driver;
each corner motor (16) is controlled by a corner motor driver;
the lifting motor (18) is controlled by a lifting motor driver;
the cleaning method comprises the following steps:
(1) After the cleaning machine is electrified, the PLC control device runs in an initial state, and all motors are in a zero state, namely, a vehicle body base (5) of the cleaning machine is in a horizontal state under the support of a front auxiliary wheel (19) and two travelling wheels (4), two crank arms (8) are arranged in a straight line, two push plates (9) are arranged on the left side and the right side of the vehicle body base (5), and scraping plates (10) and brushes (15) at the bottoms of the two push plates (9) are not contacted with the ground;
(2) Starting two corner motors (16), wherein the two corner speed reducing motors (16) respectively drive a group of crank arms (8) and push plates (9) to rotate around respective corner shafts (7) towards the front side direction of a vehicle body base (5), when large-area cleaning is needed, the two corner speed reducing motors (16) drive the two crank arms (8) to rotate from a straight line state to a parallel state, the two corner speed reducing motors (16) stop moving, a PLC control device and an RFID communication module coordinate and control a lifting motor (18) to operate so as to drive a screw rod (24) to rotate, the screw rod (24) drives a screw nut (25) to move, the screw nut (25) is fixed on a transmission guide post (28), the transmission guide post (28) is fixed on a front auxiliary wheel (19), the front auxiliary wheel (19) is contacted with the ground, and therefore, the screw nut (25) is not moved to give out a reaction force to enable the screw rod (24) to rotate, and simultaneously drive a motor support (29) and the front end of the vehicle body base (5) to descend, and the front end of the vehicle body base (5) forms a front low back high state, and the bottom of the two push plates (9) are contacted with the ground (15);
when the corners are required to be cleaned, the two corner speed reducing motors (16) drive the two crank arms (8) to rotate by a certain acute angle in a straight line state, the two corner speed reducing motors (16) stop moving, the lifting device (17) operates, the vehicle body base (5) is in a front low and rear high state, and at the moment, the scraping plates (10) and the brushes (15) at the bottoms of the two pushing plates (9) are in contact with the ground;
(3) Starting a direct current gear motor (2), driving a scraping plate (10) and a brush (15) at the bottom of a pushing plate of a cleaning machine to push and scrape to clean the sundries on the ground forwards by two travelling wheels (4), in the pushing and scraping cleaning process, performing rough cleaning by utilizing a short and rough hair part at the middle front end of the brush, and performing fine cleaning by utilizing a long and fine hair part at the middle rear end of the brush to realize reciprocating pushing and scraping cleaning action along a certain direction, so that the sundries on the ground are cleaned to a designated position uniformly;
(4) In the cleaning task, if the ground is uneven, a reset device on a push plate (9) is automatically started, a spring (22) between the push plate (9) and a crank arm (8) at the high side of the ground is compressed, the spring (22) between the push plate (9) and the crank arm (8) at the high side of the ground is stretched, the push plate (9) rotates around a hanging shaft (11), so that the push plate (9) better adapts to the ground condition, if the cleaning machine runs for a section of ground in a flat state, the push plate (9) rotates around the hanging shaft (11) in the opposite direction under the action of the spring force, and the push plate (9) returns to a horizontal state;
(5) The lifting motor (18) operates to drive the screw rod (24) to reversely rotate, the front end of the vehicle body base (5) descends, the vehicle body base (5) is restored to a horizontal state, the scraping plates (10) and the brushes (15) at the bottoms of the two pushing plates (9) are not contacted with the ground, the two corner motors (16) are started, the two corner motors (16) respectively drive a group of crank arms (8) and the pushing plates (9) to rotate towards the two sides of the vehicle body base (5), when the two crank arms (8) are in a straight line state, the two corner motors (16) stop moving, and the cleaning machine completes a cleaning task and is used next time.
2. The cleaning method of claim 1, wherein: in the cleaning task, when the vehicle body tilts or collides, the two rear auxiliary wheels (20) fall on the ground after being buffered by the buffer device (21), so that the rigid deformation of the vehicle body is prevented, and the side turning or the backward tilting of the vehicle body is prevented.
3. A cleaning method according to claim 2, characterized in that: in the cleaning task, the head AGV magnetic navigation sensor and the tail AGV magnetic navigation sensor which are respectively arranged at the front end and the rear end of the vehicle body base (5) are utilized, and the track motion of the cleaning machine is completed by the magnetic navigation system identification magnetic strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966158.2A CN108849557B (en) | 2018-08-23 | 2018-08-23 | Automatic intelligent cleaning machine for pigsty and cleaning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966158.2A CN108849557B (en) | 2018-08-23 | 2018-08-23 | Automatic intelligent cleaning machine for pigsty and cleaning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108849557A CN108849557A (en) | 2018-11-23 |
| CN108849557B true CN108849557B (en) | 2023-05-12 |
Family
ID=64321463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810966158.2A Active CN108849557B (en) | 2018-08-23 | 2018-08-23 | Automatic intelligent cleaning machine for pigsty and cleaning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108849557B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112238909A (en) * | 2019-07-19 | 2021-01-19 | 上海星沿工业智能科技有限公司 | Self-navigation trolley for pushing loose materials |
| CN114030501A (en) * | 2021-11-04 | 2022-02-11 | 淮北矿业股份有限公司 | Automatic obstacle clearing device for sports car track |
| CN114451310B (en) * | 2022-01-18 | 2023-03-14 | 濮阳市农业综合行政执法支队 | Livestock and poultry excrement collecting device |
| CN115362945B (en) * | 2022-08-17 | 2023-04-25 | 北京佳沃天河智能科技有限公司 | Sheep hurdle trench cleaning robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4432702B4 (en) * | 1994-09-14 | 2005-08-18 | Saurer Gmbh & Co. Kg | Service device for a cheese-producing textile machine |
| CN201078941Y (en) * | 2007-08-02 | 2008-07-02 | 北京四方诚信畜牧科技有限公司 | Assembled mechanical feces scraping board |
| CN201078939Y (en) * | 2007-08-10 | 2008-07-02 | 北京四方诚信畜牧科技有限公司 | Folding type mechanical feces scraping board |
| CN102893875B (en) * | 2012-10-17 | 2014-02-19 | 四川农业大学 | Full hydraulic automatic dung cleaning robot |
| CN203827839U (en) * | 2014-04-29 | 2014-09-17 | 北京农学院 | Beef cattle dung scraping plate |
| CN204350830U (en) * | 2014-12-30 | 2015-05-27 | 么媛媛 | A kind of collapsible scraper plate |
| CN104642148A (en) * | 2015-01-04 | 2015-05-27 | 山东重特机械有限公司 | Excrement pusher |
| CN208739824U (en) * | 2018-08-23 | 2019-04-16 | 北京佳沃天河智能科技有限公司 | Pig house automatic intelligent descaling machine |
-
2018
- 2018-08-23 CN CN201810966158.2A patent/CN108849557B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108849557A (en) | 2018-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108849557B (en) | Automatic intelligent cleaning machine for pigsty and cleaning method thereof | |
| CN109362582B (en) | Cleaning robot and cleaning method suitable for multi-scene pigsty | |
| CN213030588U (en) | Detachable structure and self-moving robot | |
| CN202803639U (en) | Automatic travelling support system of automatic washing brush head for solar panel | |
| CN109997704B (en) | Clear excrement robot in pig house | |
| CN209964907U (en) | Clear excrement robot in pig house | |
| CN107913032B (en) | Full-automatic cleaning floor mopping machine for stairs | |
| CN106623013A (en) | Cleaning device for electronic rotor | |
| CN105703703A (en) | Automatic cleaning device for solar cell panel | |
| CN208739824U (en) | Pig house automatic intelligent descaling machine | |
| CN109317432A (en) | Photovoltaic module Intelligent cleaning robot | |
| CN106733798A (en) | A kind of clean robot suitable for photovoltaic module | |
| CN109981043A (en) | A kind of photovoltaic array cleaning device and automatic positioning clean robot | |
| CN111183907B (en) | Pig house excrement leakage ditch cleaning autonomous walking robot and cleaning method | |
| CN111183905A (en) | Fattening pig house cleaning robot | |
| CN205725618U (en) | Solar panel automatic cleaning device | |
| CN113439667B (en) | Pig house cleaning robot | |
| CN212014006U (en) | Pig house leaks excrement ditch clearance autonomous walking robot | |
| CN208508873U (en) | A kind of photovoltaic module Intelligent sweeping machine device people | |
| CN108856019A (en) | A kind of photovoltaic solar panel cleaning robot | |
| CN208783466U (en) | A kind of Novel pig house cleaning robot | |
| CN209866799U (en) | Automatic positioning cleaning robot in pig house | |
| CN110841941B (en) | Automatic reversing photovoltaic cell cleaning robot and use method | |
| CN203861150U (en) | Intelligent stair mopping machine | |
| CN208810620U (en) | A kind of photovoltaic solar panel cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |