CN109526761B - Dung scraping machine and control method thereof - Google Patents
Dung scraping machine and control method thereof Download PDFInfo
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- CN109526761B CN109526761B CN201811617419.6A CN201811617419A CN109526761B CN 109526761 B CN109526761 B CN 109526761B CN 201811617419 A CN201811617419 A CN 201811617419A CN 109526761 B CN109526761 B CN 109526761B
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- 238000007790 scraping Methods 0.000 title claims abstract description 40
- 210000003608 fece Anatomy 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000009471 action Effects 0.000 claims abstract description 134
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 29
- 241001465754 Metazoa Species 0.000 abstract description 21
- 238000004140 cleaning Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 3
- 230000004048 modification Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 abstract description 2
- 241000283690 Bos taurus Species 0.000 description 24
- 210000002700 urine Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000010871 livestock manure Substances 0.000 description 3
- 239000008267 milk Substances 0.000 description 3
- 235000013336 milk Nutrition 0.000 description 3
- 210000004080 milk Anatomy 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 235000013365 dairy product Nutrition 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002550 fecal effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000384 rearing effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
- A01K1/0132—Removal of dung or urine, e.g. from stables by means of scrapers or the like moving to-and-fro or step-by-step
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- 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 dung scraping machine and a control method thereof, wherein the dung scraping machine comprises a host, a motor, a transmission device, a scraping plate and a current sensor, the host compares the working current of the motor with a preset first threshold value and a preset second threshold value, when the working current is continuously greater than the first threshold value and less than the second threshold value, the host controls the motor to drive the scraping plate to execute at least one group of first driving actions, and when the working current is continuously greater than the second threshold value, the host controls the motor to drive the scraping plate to execute at least one group of second driving actions. The invention provides a judgment method and a response measure aiming at two most common situations that part of the body part of an animal and the whole body of the animal enter the excrement channel, the scraper is used for driving the animal, any hardware modification on the excrement scraper is not needed, the automatic realization can be realized, the production efficiency is greatly improved, and the danger faced by manual entering the excrement channel for cleaning is avoided. The invention is widely applied to the technical field of culture equipment.
Description
Technical Field
The invention relates to the technical field of culture equipment, in particular to a dung scraping machine and a control method thereof.
Background
In the field of breeding technology for animals such as cows, concentrated rearing is generally performed in order to improve the breeding efficiency. The large-scale centralized containment can generate a large amount of excrement accumulation in the living environment of animals, and the sanitation is influenced. Because excrement and urine quantity is huge and have the contamination, large-scale plant has eliminated the clean mode of manual cleaning excrement and urine, through plant structural design, makes the animal with excrement and urine emission in the excrement way, then uses and scrapes the excrement and urine machine and clear up the excrement and urine in the excrement way. The principle of the dung scraping machine is that a motor is used for driving a scraping plate to move in a dung channel so as to scrape dung accumulated in the dung channel.
In actual production, it is difficult to prevent animals from entering the excrement for feeding or resting, which will affect the operation of the scraper of the excrement scraper and even injure the animals or burn the equipment. In the prior art, special staff is equipped to manage the animals in the farm, and when the animals are found to enter the manure passage, the manure scraper is shut down and the animals are driven. Obviously, the prior art has the disadvantages of low automation degree, high cost, low efficiency and certain dangerousness.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a dung scraper and a control method thereof.
On one hand, the specific embodiment of the invention comprises a dung scraping machine, which comprises a host, a motor, a transmission device and a scraping plate, wherein the host is used for controlling and driving the motor to work, the motor is used for driving the scraping plate to move through the transmission device, the dung scraping machine also comprises a current inductor, and the current inductor is used for detecting the working current of the motor and uploading the detection result to the host;
the host machine compares the working current with a preset first threshold value and a preset second threshold value; the second threshold is greater than the first threshold;
when the working current is continuously larger than a first threshold value and smaller than a second threshold value, the host machine controls the motor to drive the scraper to execute at least one group of first driving actions;
when the working current is continuously larger than the second threshold value, the host machine controls the motor to drive the scraper to execute at least one group of second driving actions.
Further, the set of first driving actions comprises a first number of first driving actions; each first driving action lasts for a first time length, and a second time length is intermitted between two adjacent first driving actions, wherein the group of second driving actions comprises a second number of second driving actions; each second driving action lasts for a third time length, and a fourth time length is intermitted between two adjacent second driving actions.
Furthermore, the dung scraping machine also comprises an alarm module, and the host records the total repeated times of the scraping plate for executing the first driving action and the total repeated times of the scraping plate for executing the second driving action; and when the repeated times of the total weight of the first driving actions are greater than the first number or the repeated times of the total weight of the second driving actions are greater than the second number, the host triggers an alarm module to alarm.
Further, the first driving action is specifically as follows: advancing according to the original movement direction by no more than a first thrust; the original movement direction is the movement direction of the front scraper when the working current is larger than a first threshold and smaller than a second threshold.
Further, the second driving action specifically includes: advancing according to the original movement direction by no more than a second thrust; and the original movement direction is the movement direction of the front scraper when the working current is larger than a second threshold value.
Further, the first time length is 2 seconds, the second time length is 5 seconds, the third time length is 5 seconds, the fourth time length is 120 seconds, the first number is 5 times, and the second number is 2 times.
Further, the first driving action is specifically as follows: reciprocating at a first amplitude.
Further, the second driving action specifically includes: reciprocating at a second amplitude, the second amplitude being greater than the first amplitude.
On the other hand, the specific embodiment of the invention also comprises a dung scraper control method, wherein the dung scraper comprises a main machine, a motor, a transmission device and a scraper, the main machine is used for controlling and driving the motor to work, the motor is used for driving the scraper to move through the transmission device, and the method comprises the following steps:
detecting the working current of the motor;
comparing the working current with a preset first threshold value and a preset second threshold value; the second threshold is greater than the first threshold;
when the working current is continuously greater than a first threshold value and less than a second threshold value, controlling the motor to drive the scraper to execute a first driving action;
and when the working current is continuously larger than the second threshold value, controlling the motor to drive the scraper to execute a second driving action.
Further, the set of first driving actions comprises a first number of first driving actions; each first driving action lasts for a first time length, and a second time length is intermitted between two adjacent first driving actions, wherein the group of second driving actions comprises a second number of second driving actions; each second driving action lasts for a third time length, and a fourth time length is intermitted between two adjacent second driving actions.
The invention has the beneficial effects that: the invention provides a judgment method and a response measure aiming at two most common situations that part of the body part of an animal and the whole body of the animal enter the excrement channel, the scraper is used for driving the animal, any hardware modification on the excrement scraper is not needed, the automatic realization can be realized, the production efficiency is greatly improved, and the danger faced by manual entering the excrement channel for cleaning is avoided.
Drawings
FIG. 1 is a view showing the structure of a farm and a dung scraper in accordance with an embodiment of the present invention.
Detailed Description
The invention can be applied to the farms of animals such as cows. A typical farm structure is shown in fig. 1, wherein the center of fig. 1 is a bed for animals to live and rest, and the periphery of the bed is a fecal tract for animals to defecate. The structure of the dung scraping machine in the embodiment is shown in fig. 1, the dung scraping machine comprises a host machine, motors, a transmission device and a scraping plate, wherein the host machine can be a single chip microcomputer or industrial controllers such as a PLC (programmable logic controller), and some motors are integrated with the controllers, namely the host machine and the motors can be integrated; the traditional device in this embodiment includes wire rope or chain and horn ring, and wherein, wire rope or chain's effect all are with the circular motion of motor output conversion rectilinear traction motion to the pulling scraper blade strikes off excrement and urine on the excrement way, and the horn ring is used for changing the direction of motion of wire rope or chain, makes a wire rope can drive a plurality of scraper blade work.
In the embodiment, the transmission device only plays a transmission role, and mechanical parameters such as the movement direction of the scraper blade, the thrust and the like are completely controlled by the motor under the condition that the mechanical parameters of the transmission device are determined, so that a large number of mature motor control technologies are available at present. The present invention does not relate to an improvement in the motor control technique itself.
As shown in figure 1, the main machine controls the motor to rotate forwards or backwards, so that the scraping plate can move forwards and backwards on the excrement channel to scrape excrement on the excrement channel in different directions.
In this embodiment, the dung scraping machine further comprises a current sensor, wherein the current sensor is used for detecting the working current of the motor and uploading a detection result to the host;
the host machine compares the working current with a preset first threshold value and a preset second threshold value; the second threshold is greater than the first threshold;
when the working current is continuously larger than a first threshold value and smaller than a second threshold value, the host machine controls the motor to drive the scraper to execute at least one group of first driving actions;
when the working current is continuously larger than the second threshold value, the host machine controls the motor to drive the scraper to execute at least one group of second driving actions.
The principle of the invention is as follows: the situation that the cow enters the excrement channel to obstruct the movement of the scraper can be specifically divided into two situations that the cow body or the whole cow enters the excrement channel and the cow feet or the cow tail and the like enter the excrement channel. When the movement of the blade is hindered, the motor will generate an overcurrent, i.e. the operating current of the motor will be greater than that under normal conditions. The effect of hindering of above-mentioned two kinds of circumstances to the scraper blade is different, and the resistance that the scraper blade meets is different, therefore the operating current of motor also can be different, when the ox body hinders the scraper blade motion promptly, the operating current of motor can be bigger than the operating current of motor when ox foot hinders the scraper blade motion. A single-phase alternating current motor with the power of 1.1kW is widely used in farms, and the normal working current of the motor is 4A. Through a plurality of experiments, when the scraper touches the ox foot, the working current of the motor can be increased to 4.1A-4.2A, and when the scraper touches the ox body, the working current of the motor can be increased to 5.2A-5.5A. In this embodiment, the first threshold may be set to 4.2A, and the second threshold may be set to 5.5A.
Meanwhile, the two situations have different required countermeasures, namely when the cow feet enter the excrement channel, the cow feet can be moved away by a light driving action, and when the cow body enters the excrement channel, the cow feet can be moved away by a heavy driving action.
In the embodiment, when the working current of the motor is detected to be larger than a first threshold value and smaller than a second threshold value, the cow feet are judged to enter the manure passage, and the scraper is controlled to execute a first light driving action; and when the working current of the motor is detected to be larger than a second threshold value, judging that the cattle enters the excrement channel, and controlling the scraper to execute a second driving action which is heavier. The "continuously occurring working current is greater than the first threshold and less than the second threshold" and the "continuously occurring working current is greater than the second threshold" may refer to that the time for these situations to occur is maintained for more than a certain time, for example, these situations occur continuously for 100ms, and the like, so that misjudgment caused by instantaneous large current generated by normal operation of the motor may be avoided.
Further as a preferred embodiment, the set of first driving actions comprises a first number of first driving actions; each first driving action lasts for a first time length, and a second time length is intermitted between two adjacent first driving actions; the set of second driving actions comprises a second number of second driving actions; each second driving action lasts for a third time length, and a fourth time length is intermitted between two adjacent second driving actions.
In this embodiment, the squeegee repeats the first driving operation or the second driving operation a plurality of times under the drive of the motor. I.e. for the first driving action, the first duration is t1The second duration is t2At 0-t1Performing a first driving action within a time period, at t1-t1+t2The first driving action is suspended in the time period, and t is1+t2-2t1+t2Performing a first driving action within a time period of 2t1+t2-2t1+2t2The host computer may suspend … … the first driving action to count the first driving actions performed by the squeegee until the number of times the first driving action is performed reaches a first number, and then a set of first driving actions is completed. In a group of first driving actions, an intermittent time period for pausing the execution of the first driving actions is arranged between two adjacent first driving actions, so that the dairy cows have enough time to react and leave the excrement channel, and the difficulty in moving under the influence of the continuous first driving actions is avoided.
The first time duration is 2 seconds, the second time duration is 5 seconds, the third time duration is 5 seconds, the fourth time duration is 120 seconds, the first number is 5 times, and the second number is 2 times. I.e. a set of first driving actions comprising 5 first driving actions, each first driving action lasting 2 seconds, with a 5 second pause between two adjacent first driving actions. A group of second driving actions comprises 2 first driving actions, each second driving action lasting 5 seconds, with a 120 second pause between two adjacent first driving actions.
In this embodiment, "when the operating current is continuously greater than the first threshold and less than the second threshold, the host controls the motor to drive the scraper to perform at least one set of first driving actions", it may be understood that, when the "operating current is greater than the first threshold and less than the second threshold" occurs, the first driving actions are repeatedly performed for a plurality of times, if the number of times of performing the first driving actions does not reach the first number, that is, a set of first driving actions is not performed, and the "operating current is greater than the first threshold and less than the second threshold" disappears, which indicates that the factor hindering the scraper to operate has disappeared, the remaining first driving actions that are not performed in the set of first driving actions may not be performed, and the normal operation of the scraper may be resumed.
Further as a preferred embodiment, the dung scraping machine further comprises an alarm module, and the host records the total repeated times of the scraping plate for executing the first driving action and the total repeated times of the scraping plate for executing the second driving action; and when the repeated times of the total weight of the first driving actions are greater than the first number or the repeated times of the total weight of the second driving actions are greater than the second number, the host triggers an alarm module to alarm.
In this embodiment, when the total number of times of the first driving actions is greater than the first number, that is, the motor has controlled the scraper to perform a set of complete first driving actions, but the blocking condition of the baffle is still not disappeared, and has started to prepare for performing a second set of first driving actions, the alarm program is triggered to alarm. The alarm module can be a buzzer, an indicator light or other signal equipment, and can also be a signal sending program installed in the host. The principle of this logic is: normally, the cow should perceive the first driving action of the scraper and leave the excrement channel, and if the cow is subjected to a group of multiple first driving actions, the blocking condition of the baffle still exists, generally indicates that the cow is sick, injured or has equipment fault factors, and at the moment, the cow is reminded of staff to intervene through alarming. Further, the host computer still controls the motor and promptly stops after triggering alarm module and reporting to the police, avoids hurting milk cow or harm equipment. In this embodiment, it can also be set that, when the total repeated times of the first driving actions is greater than twice of the first number, the host triggers the alarm module to alarm, that is, the motor controls the scraper to execute two sets of complete first driving actions, so as to avoid misjudgment caused by too few times of executing the first driving actions.
In this embodiment, the logic and principle of the motor control barrier performing the second driving action is similar to the logic of the motor control barrier performing the first driving action.
Further preferably, the first driving action is specifically: advancing according to the original movement direction by no more than a first thrust; the original movement direction is the movement direction of the front scraper when the working current is larger than a first threshold and smaller than a second threshold.
When the working current is larger than the first threshold value and smaller than the second threshold value, the condition indicates that the current advancing direction of the scraper blade is obstructed, and therefore, a first driving action is executed towards the current advancing direction, wherein the first driving action is specifically to continue advancing according to a first thrust force, and the first thrust force of the scraper blade is determined by the output torque of the motor and the mechanical parameters of the transmission device and can be controlled by the host machine. The first driving action is for a part of the body of the cow such as the cow's feet, and therefore can be set to about 20N.
Similarly, the second driving action is specifically: advancing according to the original movement direction by no more than a second thrust; and the original movement direction is the movement direction of the front scraper when the working current is larger than a second threshold value. The first driving action is for the entire cow and may therefore be set to around 100N.
Further preferably, the first driving action is specifically: reciprocating at a first amplitude.
Similarly, the second driving action is specifically: reciprocating at a second amplitude, the second amplitude being greater than the first amplitude.
In this embodiment, carry out reciprocating motion with certain range and certain frequency through the control scraper blade, can produce the effect of patting to positions such as ox body or ox foot, this more can reach the effect of reminding the milk cow than simple propulsion forward, lets the milk cow perception existence of scraper blade more easily to leave the excrement way rapidly.
In this embodiment, can also carry out further improvement to scraping excrement machine. As shown in fig. 1, first stroke switches SQ1 and SQ3 are mounted at the normal stop position of the squeegee, and second stroke switches SQ2 and SQ4 are mounted at the extreme stop position of the squeegee. SQ1, SQ2, SQ3 and SQ4 are connected to the host. When the scraper moves to a normal stop position, first stroke switches SQ1 and SQ3 are triggered, and the motor is controlled by the main machine to rotate reversely, so that the scraper moves reversely. When the first stroke switches SQ1 and SQ3 fail, the scraper can cross the normal stop position and continue to move forwards until the second stroke switches SQ2 and SQ4 are triggered, and at the moment, the host control motor is stopped emergently to avoid the damage of the dung scraper caused by the further forward movement of the scraper.
The embodiment also comprises a dung scraper control method, wherein the dung scraper comprises a host, a motor, a transmission device and a scraper, the host is used for controlling and driving the motor to work, the motor is used for driving the scraper to move through the transmission device, and the method comprises the following steps:
detecting the working current of the motor;
comparing the working current with a preset first threshold value and a preset second threshold value; the second threshold is greater than the first threshold;
when the working current is continuously greater than a first threshold value and less than a second threshold value, controlling the motor to drive the scraper to execute a first driving action;
and when the working current is continuously larger than the second threshold value, controlling the motor to drive the scraper to execute a second driving action.
Further as a preferred embodiment, the set of first driving actions comprises a first number of first driving actions; each first driving action lasts for a first time length, and a second time length is intermitted between two adjacent first driving actions, wherein the group of second driving actions comprises a second number of second driving actions; each second driving action lasts for a third time length, and a fourth time length is intermitted between two adjacent second driving actions.
The method embodiment of the invention can be used for controlling the dung scraping machine in the product embodiment and can achieve the same technical effect.
In conclusion, the invention solves the technical problem that the movement of the scraping plate is interfered when an animal enters the excrement channel in the working process of the excrement scraping machine, provides a judgment method and a response measure aiming at two most common conditions that part of the body of the animal and the whole body of the animal enter the excrement channel, utilizes the scraping plate to drive the animal, does not need to modify any hardware of the excrement scraping machine, can realize automation, greatly improves the production efficiency and avoids the danger faced by manual work entering the excrement channel for cleaning.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A dung scraping machine comprises a host machine, a motor, a transmission device and a scraping plate, wherein the host machine is used for controlling and driving the motor to work, and the motor is used for driving the scraping plate to move through the transmission device;
the host machine compares the working current with a preset first threshold value and a preset second threshold value; the second threshold is greater than the first threshold;
when the working current is continuously larger than a first threshold value and smaller than a second threshold value, the host machine controls the motor to drive the scraper to execute at least one group of first driving actions;
when the working current is continuously larger than a second threshold value, the host machine controls the motor to drive the scraper to execute at least one group of second driving actions;
a group of the first driving actions comprises a first number of first driving actions; each first driving action lasts for a first time length, a second time length is intermittently set between two adjacent first driving actions, and one group of second driving actions comprises a second number of second driving actions; each second driving action lasts for a third time length, and a fourth time length is intermitted between two adjacent second driving actions;
the dung scraping machine also comprises an alarm module, and the host records the total repeated times of the scraping plate for executing the first driving action and the total repeated times of the scraping plate for executing the second driving action; and when the repeated times of the total weight of the first driving actions are greater than the first number or the repeated times of the total weight of the second driving actions are greater than the second number, the host triggers an alarm module to alarm.
2. A dung scraper according to claim 1, wherein the first driving action is in particular: advancing according to the original movement direction by no more than a first thrust; the original movement direction is the movement direction of the front scraper when the working current is larger than a first threshold and smaller than a second threshold.
3. A dung scraper according to claim 2, wherein the second driving action is in particular: advancing according to the original movement direction by no more than a second thrust; and the original movement direction is the movement direction of the front scraper when the working current is larger than a second threshold value.
4. A dung scraper according to claim 3, wherein the first period of time is 2 seconds, the second period of time is 5 seconds, the third period of time is 5 seconds, the fourth period of time is 120 seconds, the first number is 5 times and the second number is 2 times.
5. A dung scraper according to claim 1, wherein the first driving action is in particular: reciprocating at a first amplitude.
6. A dung scraper according to claim 5, wherein the second driving action is in particular: reciprocating at a second amplitude, the second amplitude being greater than the first amplitude.
7. A dung scraper control method comprises a host, a motor, a transmission device and a scraper blade, wherein the host is used for controlling and driving the motor to work, the motor is used for driving the scraper blade to move through the transmission device, and the dung scraper control method is characterized by comprising the following steps of:
detecting the working current of the motor;
comparing the working current with a preset first threshold value and a preset second threshold value; the second threshold is greater than the first threshold;
when the working current is continuously greater than a first threshold value and less than a second threshold value, controlling the motor to drive the scraper to execute a first driving action;
when the working current is continuously larger than a second threshold value, controlling the motor to drive the scraper to execute a second driving action;
a group of the first driving actions comprises a first number of first driving actions; each first driving action lasts for a first time length, a second time length is intermittently set between two adjacent first driving actions, and one group of second driving actions comprises a second number of second driving actions; each second driving action lasts for a third time length, and a fourth time length is intermitted between two adjacent second driving actions;
the dung scraping machine also comprises an alarm module, and the host records the total repeated times of the scraping plate for executing the first driving action and the total repeated times of the scraping plate for executing the second driving action; and when the repeated times of the total weight of the first driving actions are greater than the first number or the repeated times of the total weight of the second driving actions are greater than the second number, the host triggers an alarm module to alarm.
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| 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 |
| EP3207793A1 (en) * | 2016-02-22 | 2017-08-23 | Pierre Godbillon | Machine for cleaning livestock stalls and removing manure |
| 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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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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