CN109526761A - A kind of slurry scraper and its control method - Google Patents
A kind of slurry scraper and its control method Download PDFInfo
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- CN109526761A CN109526761A CN201811617419.6A CN201811617419A CN109526761A CN 109526761 A CN109526761 A CN 109526761A CN 201811617419 A CN201811617419 A CN 201811617419A CN 109526761 A CN109526761 A CN 109526761A
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- 239000002002 slurry Substances 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 155
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000002045 lasting effect Effects 0.000 claims abstract description 16
- 238000012360 testing method Methods 0.000 claims description 3
- 241001465754 Metazoa Species 0.000 abstract description 18
- 238000004140 cleaning Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000012986 modification Methods 0.000 abstract description 2
- 230000004048 modification Effects 0.000 abstract description 2
- 241000283690 Bos taurus Species 0.000 description 13
- 235000013336 milk Nutrition 0.000 description 12
- 239000008267 milk Substances 0.000 description 12
- 210000004080 milk Anatomy 0.000 description 12
- 230000000694 effects Effects 0.000 description 5
- 238000009395 breeding Methods 0.000 description 3
- 230000001488 breeding effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000013872 defecation Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 235000008939 whole milk Nutrition 0.000 description 1
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Control Of Ac Motors In General (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The invention discloses a kind of slurry scraper and its control methods, the slurry scraper includes host, motor, transmission device and scraper plate and current inductor, the operating current of motor is compared by the host with preset first threshold and second threshold, when the lasting generation operating current is greater than first threshold and is less than second threshold, the host control motor drives movement to drive scraper plate to execute at least one set first, when the lasting generation operating current is greater than second threshold, the host control motor drives movement to drive scraper plate to execute at least one set second.The present invention provides judgment method and counter-measure for animal part physical feeling and whole both the interior most common situations of coprodaecum that enter, it goes to drive animal using scraper plate, without carrying out any hardware modification to slurry scraper, realization can be automated, production efficiency is greatly improved, avoids being manually entered the danger that coprodaecum cleaning faces.The present invention is widely used in cultivation equipment technical field.
Description
Technical field
The present invention relates to cultivation equipment technical field, especially a kind of slurry scraper and its control method.
Background technique
In the cultural technique field of the animals such as milk cow, in order to improve breeding efficiency, it will usually carry out concentration stable breeding.On a large scale
Concentration stable breeding can generate the accumulation of a large amount of excrement in the living environment of animal, influence health.Due to excrement enormous amount and tool
There is pollution, large-scale plant that raises have eliminated the cleaning mode of manual cleaning excrement, by cultivation field structure design, make animal will
Excrement is emitted in coprodaecum, and the excrement in coprodaecum is then cleared up using slurry scraper.The principle of slurry scraper is driven using motor
Scraper plate moves in coprodaecum, to strike off the excrement being deposited in coprodaecum.
In actual production, it is difficult to prevent animal from entering in excrement the behaviors such as searched for food or rested, this, which will affect, scrapes
The scraper plate of excrement machine works, or even can injure animal or burn out equipment.The prior art is equipped with special staff to manage
Animal in farm then shuts down slurry scraper when finding that animal enters coprodaecum and drives animal.Obviously, the prior art has certainly
Dynamicization degree is low, at high cost, low efficiency and the shortcomings that there are certain risks.
Summary of the invention
In order to solve the above-mentioned technical problem, the object of the invention is that providing a kind of slurry scraper and its control method.
On the one hand, specific embodiments of the present invention include a kind of slurry scraper, including host, motor, transmission device and scraper plate,
The host works for controlling with driving motor, and the motor is used to drive scraper plate movement by transmission device, described to scrape excrement
Machine further includes current inductor, and the current inductor, which is used to detect the operating current of motor and will test result, uploads to master
Machine；
The operating current is compared by the host with preset first threshold and second threshold；The second threshold
Greater than first threshold；
When it is lasting the operating current occurs be greater than first threshold and be less than second threshold when, the host control motor with
Driving scraper plate executes at least one set first and drives movement；
When it is lasting the operating current occur be greater than second threshold when, the host control motor with drive scraper plate execute to
Few one group second is driven movement.
Further, it includes that the first quantity first drives movement that described one group first, which is driven movement,；Each described first drives
Movement is caught up with to continue the first duration, two adjacent first are driven the second duration of interval between movement, and described one group second is driven movement
Second including the second quantity drives movement；Each described second drive movement continue third duration, two adjacent second drive it is dynamic
The 4th duration of interval between work.
Further, the slurry scraper further includes alarm module, and the host record scraper plate executes first and drives movement
Total number of repetition of movement is driven in total number of repetition and execution second；When total number of repetition that described first drives movement is greater than the
One quantity or described second drive movement total number of repetition when being greater than the second quantity, host triggering alarm module is reported
It is alert.
Further, described first movement is driven specifically: advance according to the former direction of motion to be no more than the first thrust；Institute
Stating the former direction of motion is that the operating current is greater than first threshold and is less than the movement of this case that second threshold generation front scrapping plate
Direction.
Further, described second movement is driven specifically: advance according to the former direction of motion to be no more than the second thrust；Institute
Stating the former direction of motion is the direction of motion that the operating current is greater than this case that second threshold generation front scrapping plate.
Further, described first when it is 2 seconds a length of, described second when, is 5 seconds a length of, and when third is 5 seconds a length of, described
A length of 120 seconds when four, first quantity is 5 times, and second quantity is 2 times.
Further, described first movement is driven specifically: move back and forth with the first amplitude.
Further, described second movement is driven specifically: move back and forth with the second amplitude, second amplitude is big
In the first amplitude.
On the other hand, specific embodiments of the present invention further include a kind of slurry scraper control method, and the slurry scraper includes master
Mechanical, electrical machine, transmission device and scraper plate, the host are used to fill by transmission for controlling with driving motor work, the motor
Driving scraper plate movement is set, the described method comprises the following steps:
Detect the operating current of the motor；
The operating current is compared with preset first threshold and second threshold；The second threshold is greater than first
Threshold value；
When the lasting generation operating current is greater than first threshold and is less than second threshold, motor is controlled to drive scraper plate
It executes first and drives movement；
When the lasting generation operating current is greater than second threshold, it is dynamic to drive scraper plate execution second to drive to control motor
Make.
Further, it includes that the first quantity first drives movement that described one group first, which is driven movement,；Each described first drives
Movement is caught up with to continue the first duration, two adjacent first are driven the second duration of interval between movement, and described one group second is driven movement
Second including the second quantity drives movement；Each described second drive movement continue third duration, two adjacent second drive it is dynamic
The 4th duration of interval between work.
The beneficial effects of the present invention are: the present invention is for animal part physical feeling and whole enters in coprodaecum both most
Common situation provides judgment method and counter-measure, goes to drive animal using scraper plate, any hard without carrying out to slurry scraper
Part transformation, can automate realization, greatly improve production efficiency, avoid being manually entered the danger that coprodaecum cleaning faces.
Detailed description of the invention
Fig. 1 is the structure chart of farm and slurry scraper in the specific embodiment of the invention.
Specific embodiment
Present invention could apply to the farms of the animals such as milk cow.The typical cultivation field structure of one kind is as shown in Figure 1, Fig. 1
Center is the doss for living and resting for animal, and doss periphery is for the coprodaecum for animal defecation.In the present embodiment
Slurry scraper structure is as shown in Figure 1, the slurry scraper includes host, motor, transmission device and scraper plate, and wherein host can be monolithic
The industrial control unit (ICU)s such as machine or PLC, some motors itself are integrated with controller, i.e. host and motor can be integrated；This reality
Applying the conventional apparatus in example includes wirerope or chain and horn ring, wherein the effect of wirerope or chain is all that motor is defeated
Circular motion out is converted into the pulling motion of straight line, so that scraper plate be pulled to strike off excrement on coprodaecum, horn ring is for changing steel
The direction of motion of cord or chain, so that a wire rope can drive multiple scraper plates to work.
In the present embodiment, transmission device only serves transmission effect, the case where the mechanical parameter of transmission device has determined
Under, the mechanics parameters such as direction of motion and thrust size of scraper plate are completely by motor control, a large amount of mature motor controls existing at present
Technology processed is available.The present invention is not related to the improvement to electric machines control technology itself.
As shown in Figure 1, host control motor is forward or reverse, scraper plate forward motion on coprodaecum is transported with reversed
It is dynamic, the excrement on coprodaecum is struck off to different directions.
In the present embodiment, the slurry scraper further includes current inductor, and the current inductor is used to detect the work of motor
Make electric current and will test result to upload to host；
The operating current is compared by the host with preset first threshold and second threshold；The second threshold
Greater than first threshold；
When it is lasting the operating current occurs be greater than first threshold and be less than second threshold when, the host control motor with
Driving scraper plate executes at least one set first and drives movement；
When it is lasting the operating current occur be greater than second threshold when, the host control motor with drive scraper plate execute to
Few one group second is driven movement.
The principle of the invention lies in: milk cow, which enters in coprodaecum, hinders scraper plate movement that can specifically be divided into ox body or whole ox
In into the coprodaecum and positions such as ox foot or oxtail enter two kinds of situations in coprodaecum.When the movement of scraper plate is obstructed, motor will
Overload current can be generated, i.e. the operating current of motor will be greater than the operating current under nominal situation.Above-mentioned two situations are to scraping
The inhibition of plate is different, and the resistance that scraper plate encounters is different, therefore the operating current of motor also can be different, i.e., when ox body obstruction is scraped
When plate moves, the operating current of motor is bigger when the operating current of motor can hinder scraper plate to move than ox foot.In farm extensively
The load motor for the use of power being 1.1kW, running current 4A.By many experiments, when scraper plate encounters ox foot
When, the operating current of motor will increase to 4.1A-4.2A, and when scraper plate encounters ox body, the operating current of motor will be will increase
To 5.2A-5.5A.In the present embodiment, first threshold can be set to 4.2A, and second threshold can be set to 5.5A.
Meanwhile counter-measure required for above-mentioned two situations is also different, i.e., needs when ox foot enters in coprodaecum lighter
Drive movement milk cow can be made to remove ox foot, and when ox body enters in coprodaecum, needs heavier to drive movement and can just milk cow be made to move
It opens.
In the present embodiment, when the operating current for detecting motor is greater than first threshold and is less than second threshold, ox is judged
Foot enters in coprodaecum, and control scraper plate executes lighter first and drives movement；When the operating current for detecting motor is greater than second
When threshold value, judge that ox body enters in coprodaecum, control scraper plate executes heavier second and drives movement.It is described " it is lasting occur described in
Operating current is greater than first threshold and is less than second threshold " and " persistently occur that the operating current be greater than second threshold ", it can be with
Refer to that the time that these situations occur is maintained for more than certain time, such as these situations etc. occurs in continuous 100ms, it can be to avoid because of electricity
Machine works normally the transient high-current generated and causes to judge by accident.
Be further used as preferred embodiment, described one group first drive movement includes the first quantity first drive it is dynamic
Make；Each described first, which drives movement, continues the first duration, and two adjacent first are driven the second duration of interval between movement；Described one
Group second drives movement includes the second quantity second and drives movement；Each described second drive movement continue third duration, two
Adjacent second drives the 4th duration of interval between movement.
In the present embodiment, scraper plate is repeated as many times under the drive of the motor to be executed first and drives movement or second drive movement.
Drive movement for first, first when a length of t1, second when a length of t2, in 0-t1First is executed in period drives movement,
t1-t1+t2Pause executes first and drives movement in period, in t1+t2-2t1+t2First is executed in period drives movement,
2t1+t2-2t1+2t2Period interior pause executes first and drives movement ..., and host is driven movement to scraper plate execution first and is counted
Number reaches the first quantity until executing the number that first drives movement, then completes one group first and drive movement.It is driven at one group first
It catches up in movement, adjacent execution first twice, which is driven, is equipped with the intermittent time section that movement is driven in pause execution first between movement, use
In allowing milk cow to there is enough time to react and leaving coprodaecum, avoid being difficult to move under the influence of continual first drives movement.
A length of 2 seconds when described first, described second when, is 5 seconds a length of, 5 seconds a length of, the 4th Shi Changwei when third
120 seconds, first quantity was 5 times, and second quantity is 2 times.I.e. one group first drive movement include 5 first drive it is dynamic
Make, each first drive movement it is for 2 seconds, two adjacent first drive movement between interval 5 seconds.One group second is driven movement
Movement is driven including 2 first, and each second drives that movement is for 5 seconds, and two adjacent first drive interval 120 between movement
Second.
In the present embodiment, " when the lasting generation operating current is greater than first threshold and is less than second threshold, the master
Machine controls motor to drive scraper plate to execute at least one set first and drive movement ", it can be understood as, when " operating current is greater than for appearance
First threshold and be less than second threshold " such case when start repeatedly to execute first and drive movement, if driven first
The execution number of movement is not up to the first quantity, that is, has been not carried out one group first and has driven movement, and " operating current is greater than the first threshold
It is worth and is less than second threshold " such case disappearance, then show that the factor for hindering scraper plate work has disappeared, can no longer execute this
The residue that group first drives in movement is not carried out first and drives movement, restores the normal work of scraper plate.
It is further used as preferred embodiment, the slurry scraper further includes alarm module, and the host record scraper plate is held
Row first drives total number of repetition of movement and executes the second total number of repetition for driving movement；Movement is driven when described first
When total number of repetition is greater than the second quantity greater than total number of repetition that the first quantity or described second drive movement, the host touching
Hair alarm module is alarmed.
In the present embodiment, when total number of repetition that first drives movement is greater than the first quantity, i.e. motor has controlled scraper plate
It performs one group complete first and drives movement, but the case where baffle is obstructed does not disappear yet, and begun preparing second group of execution
First drives movement, then triggers alert program and alarm.The alarm module can be the signals such as buzzer or indicator light and set
It is standby, it is also possible to be mounted on a signal in host and issues program.The principle of this logic is: milk cow answers under normal circumstances
What this perceived scraper plate first drives and acts and leave coprodaecum, and if driving movement by one group multiple first, still deposit
The case where baffle is obstructed, generally shows that milk cow is sick, injured or there are factor of equipment failure, reminded at this time by alarming
Staff's intervention processing.Further, the host also controls motor emergent stopping after triggering alarm module is alarmed,
It avoids injury milk cow or damages equipment.It in the present embodiment, also can be set as, drive the gross weight of movement again when described first
When number is greater than twice of the first quantity, the host triggering alarm module is alarmed, i.e., two groups of the execution of motor control scraper plate complete
Whole first drives movement, avoids executing the number that first drives movement and very few causes to judge by accident.
In the present embodiment, motor control baffle executes the logic that second drives movement and principle and motor control baffle executes
First drive movement logic it is similar.
Be further used as preferred embodiment, described first drives movement specifically: be no more than the first thrust according to
The former direction of motion is advanced；The original direction of motion is that the operating current is greater than first threshold and is less than this case that second threshold
The direction of motion of front scrapping plate occurs.
When operating current occur greater than first threshold and being less than this case that second threshold, show the current advance of scraper plate
There are obstacles in direction, therefore should execute first to current direction of advance and drive movement, and described first, which drives movement, is specially
It is moved on according to the first thrust, wherein the first thrust of scraper plate is determined by the output torque of motor and the mechanical parameter of transmission device
It is fixed, it can be controlled by host.First to drive movement therefore can be set for the body position of milk cows such as ox foot
For 20N or so.
Similarly, described second movement is driven specifically: advance according to the former direction of motion to be no more than the second thrust；It is described
The former direction of motion is the direction of motion that the operating current is greater than this case that second threshold generation front scrapping plate.First drives movement
It is to be directed to whole milk cow, therefore can be set to 100N or so.
It is further used as preferred embodiment, described first drives movement specifically: is back and forth transported with the first amplitude
It is dynamic.
Similarly, described second movement is driven specifically: move back and forth with the second amplitude, second amplitude is greater than
First amplitude.
In the present embodiment, moved back and forth by control scraper plate with certain amplitude and certain frequency, can to ox body or
The positions such as person's ox foot generate the effect patted, this can more achieve the effect that remind milk cow than simple pushing ahead, it is easier to allow
Milk cow perceives the presence of scraper plate, thus the coprodaecum that speeds away.
In the present embodiment, slurry scraper can also be further improved.As shown in Figure 1, in the normal stop position of scraper plate
Installation first stroke switch SQ1 and SQ3 is set, second stroke switch SQ2 and SQ4 is installed in the limit stop position of scraper plate.SQ1,
SQ2, SQ3 and SQ4 are connect with host.First stroke switch SQ1 and SQ3 is triggered when scraper plate moves to nominal stopping point,
Host controls motor reversal, so that scraper plate counter motion.When first stroke switch SQ1 and SQ3 failure, scraper plate may be crossed
Nominal stopping point, and move forward until triggering second stroke switch SQ2 and SQ4, the motor of host control at this time are urgent
Stop, avoiding scraper plate from moving further along and slurry scraper is caused to damage.
The present embodiment further includes a kind of slurry scraper control method, and the slurry scraper includes host, motor, transmission device and scrapes
Plate, the host are used to drive scraper plate movement, the side by transmission device for controlling with driving motor work, the motor
Method the following steps are included:
Detect the operating current of the motor；
The operating current is compared with preset first threshold and second threshold；The second threshold is greater than first
Threshold value；
When the lasting generation operating current is greater than first threshold and is less than second threshold, motor is controlled to drive scraper plate
It executes first and drives movement；
When the lasting generation operating current is greater than second threshold, it is dynamic to drive scraper plate execution second to drive to control motor
Make.
Be further used as preferred embodiment, described one group first drive movement includes the first quantity first drive it is dynamic
Make；Each described first, which drives movement, continues the first duration, and two adjacent first are driven the second duration of interval between movement, and described one
Group second drives movement includes the second quantity second and drives movement；Each described second drive movement continue third duration, two
Adjacent second drives the 4th duration of interval between movement.
Embodiment of the method for the invention can be used for controlling the slurry scraper in product embodiments, and can obtain identical skill
Art effect.
In conclusion the present invention solves the technology that animal in the slurry scraper course of work enters interference scraper plate movement in coprodaecum
Problem, and judgment method is provided for animal part physical feeling and whole both the interior most common situations of coprodaecum that enter
And counter-measure, it goes to drive animal using scraper plate, without carrying out any hardware modification to slurry scraper, realization, pole can be automated
The earth improves production efficiency, avoids being manually entered the danger that coprodaecum cleaning faces.
It is to be illustrated to preferable implementation of the invention, but the implementation is not limited to the invention above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of slurry scraper, including host, motor, transmission device and scraper plate, the host works for controlling with driving motor,
The motor is used to drive scraper plate movement by transmission device, which is characterized in that the slurry scraper further includes current inductor, institute
It states current inductor and uploads to host for detecting the operating current of motor and will test result；
The operating current is compared by the host with preset first threshold and second threshold；The second threshold is greater than
First threshold；
When the lasting generation operating current is greater than first threshold and is less than second threshold, the host control motor is to drive
Scraper plate executes at least one set first and drives movement；
When the lasting generation operating current is greater than second threshold, the host control motor is to drive scraper plate to execute at least one
Group second drives movement.
2. a kind of slurry scraper according to claim 1, which is characterized in that it includes the first number that described one group first, which is driven movement,
The first of amount drives movement；Each described first, which drives movement, continues the first duration, and two adjacent first are driven interval between movement
Second duration drives movement includes the second quantity second for described one group second and drives movement；Each described second, which drives movement, holds
Continuous third duration, two adjacent second are driven the 4th duration of interval between movement.
3. a kind of slurry scraper according to claim 2, which is characterized in that the slurry scraper further includes alarm module, described
Host record scraper plate executes total number of repetition that first drives movement and executes the second total number of repetition for driving movement；When described
The first total number of repetition for driving movement is greater than the second number greater than total number of repetition that the first quantity or described second drive movement
When amount, the host triggering alarm module is alarmed.
4. a kind of slurry scraper according to claim 2, which is characterized in that described first drives movement specifically: not surpass
The first thrust is crossed to advance according to the former direction of motion；The original direction of motion is that the operating current is greater than first threshold and less than the
The direction of motion of front scrapping plate this case that two threshold values occurs.
5. a kind of slurry scraper according to claim 4, which is characterized in that described second drives movement specifically: not surpass
The second thrust is crossed to advance according to the former direction of motion；The original direction of motion is that the operating current is greater than this case that second threshold
The direction of motion of front scrapping plate occurs.
6. a kind of slurry scraper according to claim 5, which is characterized in that a length of 2 seconds when described first, second duration
It is 5 seconds, when third is 5 seconds a length of, and the described 4th when is 120 seconds a length of, and first quantity is 5 times, and second quantity is 2
It is secondary.
7. a kind of slurry scraper according to claim 2, which is characterized in that described first drives movement specifically: with first
Amplitude moves back and forth.
8. a kind of slurry scraper according to claim 7, which is characterized in that described second drives movement specifically: with second
Amplitude moves back and forth, and second amplitude is greater than the first amplitude.
9. a kind of slurry scraper control method, the slurry scraper includes host, motor, transmission device and scraper plate, and the host is used for
Control and driving motor work, the motor are used to drive scraper plate movement by transmission device, which is characterized in that the method packet
Include following steps:
Detect the operating current of the motor；
The operating current is compared with preset first threshold and second threshold；The second threshold is greater than the first threshold
Value；
When the lasting generation operating current is greater than first threshold and is less than second threshold, motor is controlled to drive scraper plate to execute
First drives movement；
When the lasting generation operating current is greater than second threshold, motor is controlled to drive scraper plate to execute second and drive movement.
10. a kind of slurry scraper control method according to claim 9, which is characterized in that described one group first is driven movement
First including the first quantity drives movement；Each described first, which drives movement, continues the first duration, two adjacent first drive it is dynamic
The second duration of interval between work drives movement includes the second quantity second for described one group second and drives movement；Each described second
It drives movement and continues third duration, two adjacent second are driven the 4th duration of interval between movement.
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| CN201811617419.6A CN109526761B (en) | 2018-12-28 | 2018-12-28 | Dung scraping machine and control method thereof |
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| CN201811617419.6A CN109526761B (en) | 2018-12-28 | 2018-12-28 | Dung scraping machine and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114355821A (en) * | 2022-01-14 | 2022-04-15 | 江西增鑫科技股份有限公司 | Control method and device of integrated dung scraping system and computer equipment |
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| CN103534467A (en) * | 2012-05-01 | 2014-01-22 | 株式会社小松制作所 | Crawler-type work vehicle |
| EP3207793A1 (en) * | 2016-02-22 | 2017-08-23 | Pierre Godbillon | Machine for cleaning livestock stalls and removing manure |
| CN206150105U (en) * | 2016-11-01 | 2017-05-10 | 农业部环境保护科研监测所 | Cowshed is used from clear excrement system of dynamic formula safety |
| CN107396837A (en) * | 2017-09-21 | 2017-11-28 | 绍兴俪泰纺织科技有限公司 | The automatic cleaning blowdown room of one kind pig |
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| CN114355821A (en) * | 2022-01-14 | 2022-04-15 | 江西增鑫科技股份有限公司 | Control method and device of integrated dung scraping system and computer equipment |
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