CN111183905B - Fattening pig house clearance robot - Google Patents
Fattening pig house clearance robot Download PDFInfo
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- CN111183905B CN111183905B CN202010121803.8A CN202010121803A CN111183905B CN 111183905 B CN111183905 B CN 111183905B CN 202010121803 A CN202010121803 A CN 202010121803A CN 111183905 B CN111183905 B CN 111183905B
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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 ; Removal of manure from stables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Cleaning In General (AREA)
Abstract
A fattening pig house cleaning robot belongs to the technical field of electromechanical integrated intelligent equipment for animal husbandry. The pig house cleaning robot solves the problems that an existing pig house cleaning robot occupies a large space and has low cleaning efficiency. The brush body assembly comprises a front brush fixedly arranged at the front end of the brush frame, side brushes rotationally connected to two sides of the front brush, a middle brush arranged below the middle part of the brush frame in a telescopic sliding manner along the horizontal direction, side brushes fixedly arranged at two sides of the middle brush, a tail transverse brush fixedly arranged at the rear end of the brush frame and a tail brush fixedly arranged below the middle brush through the brush frame, wherein the front brush, the middle brush and the tail transverse brush are arranged in parallel, the tail brush and the middle brush are in cross arrangement, one end of the tail brush is fixedly connected with the tail transverse brush, each brush comprises bristles and a fixing plate for fixing the bristles, and the bristles are all positioned below the fixing plate.
Description
Technical Field
The invention relates to a fattening house cleaning robot, and belongs to the technical field of intelligent equipment for electromechanical integrated animal husbandry.
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.
The applicant discloses a pig house in-house feces cleaning robot with application number 201910394013.4 filed on 5-13 in 2019, which can replace manual pig house cleaning work, but according to the disclosure in the specification and the attached drawing, a brush plate for fixing bristles in an end inclined brush is of an L-shaped structure, and the end inclined brush can avoid rigid collision in the process of cleaning a wall or the vicinity of a railing, but most bristles of the end inclined brush are still exposed outside a robot body in a retracted state due to the fact that the bristles extend obliquely too long, so that the occupied space of the robot in a non-working state is larger; only the front pushing brush, the side pushing brush, the left pushing brush, the right pushing brush and the end inclined brush are arranged in the whole robot and used for cleaning, when the robot rotates, the lower part of the robot is positioned between the front pushing brush and the left and right pushing brushes and between the left pushing brush and the right pushing brush, and the cleaning efficiency is low because the brush is not arranged, so that the cleaning cannot be carried out in place.
Disclosure of Invention
The invention aims to solve the problems that the existing pig house cleaning robot occupies a large space and has low cleaning efficiency, and further provides a fattening pig house cleaning robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
The fattening pig house cleaning robot comprises a robot body, a traveling mechanism, an actuating mechanism, a navigation system and a control system, wherein the traveling mechanism comprises four omnidirectional wheels uniformly distributed along the circumferential direction of the bottom surface of the robot body, each two adjacent omnidirectional wheels are arranged in a splayed shape, each omnidirectional wheel provides power through a group of driving components, the navigation system comprises a plurality of sensors fixedly arranged on the robot body, the plurality of sensors are in communication connection with the control system, the traveling mechanism and the actuating mechanism are controlled to act through the control system,
The actuating mechanism comprises a sliding table vertically and fixedly arranged at the bottom end of the robot body, a lifting motor fixedly arranged at the upper end of the sliding table, a brush frame fixedly arranged on a sliding block of the sliding table and a brush body assembly fixedly arranged on the brush frame, wherein the brush body assembly comprises a front brush fixedly arranged at the front end of the brush frame, side brushes rotationally connected to two sides of the front brush, a middle brush arranged below the middle part of the brush frame in a telescopic sliding manner along the horizontal direction, side brushes fixedly arranged at two sides of the middle brush, a tail transverse brush fixedly arranged at the rear end of the brush frame and a tail brush fixedly arranged below the middle brush through the brush frame, the front brush, the middle brush and the tail transverse brush are arranged in parallel, one end of the tail brush is fixedly connected with the tail transverse brush, each brush comprises bristles and a fixing plate for fixing the bristles, and the bristles are all arranged below the fixing plate.
Further, a side brush push rod fixing plate is fixedly arranged in the middle of the brush frame horizontally, two first electric push rods which are horizontally and reversely arranged are fixedly arranged on the side brush push rod fixing plate, and the two side brushes are fixedly connected with the movable ends of the two first electric push rods correspondingly.
Further, a collodion cotton stick is horizontally and fixedly arranged at the rear part of the middle brush.
Further, one side of each side brush far away from the front brush is respectively connected with a swinging brush through a spring hinge in a rotating way, and one side of each swinging brush far away from the side brush is provided with an encapsulation roller in a rotating way.
Further, the robot body bottom is equipped with two levels and the second electric putter of reverse arrangement admittedly through limit brush push rod fixed plate, every second electric putter's expansion end is respectively along horizontal direction sliding connection in the robot body bottom through first linear guide, the vertical rigid coupling of slider bottom of first linear guide has the limit brush push rod, be connected through L type connecting piece between limit brush push rod and the limit brush top, wherein the one end and the limit brush fixed connection of L type connecting piece, the slot hole has been seted up to the other end, and the other end and the limit brush push rod sliding connection of L type connecting piece.
Further, the front brush comprises a front scraping plate, a front push plate, a front floating plate and a first connecting component arranged between the front push plate and the front floating plate, wherein the first connecting component comprises a second linear guide rail, two floating guide rods, two limiting parts, four universal balls and four support columns, the four universal balls are symmetrically arranged on two sides of the second linear guide rail and are in sliding contact with the front push plate, each universal ball is fixedly connected with the front floating plate through one support column, threaded holes are formed in the upper portion of a sliding block on the second linear guide rail, the front floating plate is connected with the sliding block on the second linear guide rail through a screw, the front floating plate is in clearance fit with the screw, the two floating guide rods are symmetrically arranged on two sides of the second linear guide rail, the upper end and the lower end of the two floating guide rods are fixedly connected with the upper edge and the lower edge of the front push plate respectively, the two limiting parts are correspondingly sleeved on the two floating guide rods and are fixedly connected with the two support columns on the same side, a spring is sleeved on the floating guide rod between the limiting parts and the upper edge of the front floating guide rod, and the front floating guide rod is fixedly arranged on the front side of the front floating plate.
Further, the limit brush includes side scraper blade, limit brush push pedal, limit brush floating plate and sets up the second coupling assembling between limit brush push pedal and limit brush floating plate, the second coupling assembling includes limit brush slide and limit brush guide arm, limit brush slide passes through bolted connection with limit brush push pedal, and has seted up a round hole and three arc waist hole that are the rectangle and arrange on the limit brush push pedal, and limit brush slide passes through the bolt and realizes its rotation for limit brush push pedal with the round hole as the center of rotation, and limit brush guide arm slides from top to bottom and wears to adorn on limit brush slide, upper and lower both ends of limit brush floating plate respectively with upper and lower both ends rigid coupling of limit brush guide arm, and the cover is equipped with compression spring on the limit brush guide arm between limit brush slide and the limit brush floating plate lower extreme, and the front side at limit brush floating plate is adorned admittedly to the side of limit brush.
Further, the drive assembly includes motor reducer subassembly, the location connecting plate, two sharp slide, two guide pillars and two spring screw rods, wherein location connecting plate and motor reducer subassembly rigid coupling, the omnidirectional wheel corresponds and realizes rotating through motor reducer subassembly, two sharp slide are arranged respectively in motor reducer subassembly's both sides and all with location connecting plate rigid coupling, two sharp slide correspond slip cap dress on two guide pillars, the bottom of dress robot body is all fixed wearing in the upper portion of every guide pillar, two spring screw rods arrange side by side and the top of every spring screw rod all with the bottom rigid coupling of robot body, the bottom of every spring screw rod all slides from top to bottom and wears to establish on the location connecting plate, and every spring screw rod bottom all is provided with lock nut, the cover is equipped with compression spring on the spring screw rod between robot body bottom and the location connecting plate.
Further, the navigation system comprises a magnetic navigation sensor, three photoelectric sensors, two-dimensional laser sensors and four one-dimensional laser sensors, wherein one-dimensional laser sensor is fixedly arranged at the rear part of the robot body through a photoelectric support, the other three one-dimensional laser sensors are fixedly arranged at the front part of the robot body through the photoelectric support, the two-dimensional laser sensors and the photoelectric sensors are fixedly arranged on the upper part of the robot body, a lower protective cover is arranged on the outer cover of the two-dimensional laser sensors, an upper protective cover is arranged on the outer cover of the photoelectric sensors, and the magnetic navigation sensor is close to the front brush and fixedly connected with the bottom end of the robot body.
Further, the robot body includes from top to bottom parallel arrangement in proper order and through the first mounting panel, second mounting panel and the bottom plate of a plurality of hoist and mount pillar rigid couplings, and the outer cover of robot body is equipped with the automobile body dustcoat, and the top lid of automobile body dustcoat is equipped with the upper cover plate, and a plurality of eye bolts one-to-one that quantity and hoist and mount pillar quantity equals pass upper cover plate and hoist and mount pillar threaded connection.
Compared with the prior art, the invention has the following effects:
1. the two side brushes can clean the space on two sides of the robot, and in a non-working state, the side brushes can be completely retracted below the robot body, so that the occupied space of the robot in the non-working state is effectively reduced. By adopting the telescopic mode of the side brush, the cleaning capacity and the working efficiency of the robot are effectively improved.
2. The connection mode of the multi-brush pushing plate at the front end of the robot realizes the up-and-down floating of the front brush, the unfolding and the retracting of the side brush and the up-and-down floating and the deflection of the side brush.
3. Through setting up the tail brush for the robot is in the in-situ gyration or the side direction walking in-process, realizes cleaning the regional below the robot, has effectively improved cleaning efficiency.
4. The automatic cleaning device is convenient to use, thorough in cleaning, energy-saving and environment-friendly, can realize a full-automatic cleaning mode of the pig house, improves the working efficiency to a great extent, and improves the environmental conditions of the pig house.
Drawings
FIG. 1 is a schematic perspective view of the present application (brush assembly extended state);
FIG. 2 is a schematic perspective view of the present application (brush assembly retracted state);
fig. 3 is a schematic perspective view of the present application (a state in which a body cover is not shown);
FIG. 4 is a schematic view of the internal structure of the bottom of the robot;
FIG. 5 is a first perspective view of a brush assembly;
FIG. 6 is a second perspective view of a brush assembly;
FIG. 7 is a schematic view of the connection structure of the front brush, side brush and swing brush;
FIG. 8 is a schematic bottom view of the present application;
FIG. 9 is a schematic front view of a drive assembly;
Fig. 10 is a schematic perspective view of a driving assembly.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to figures 1-10, the fattening pig house cleaning robot comprises a robot body, a travelling mechanism, an actuating mechanism, a navigation system and a control system, wherein the travelling mechanism comprises four omnidirectional wheels 1 uniformly distributed along the circumferential direction of the bottom surface of the robot body, each two adjacent omnidirectional wheels 1 are arranged in a splayed shape, each omnidirectional wheel 1 respectively provides power through a group of driving components, the navigation system comprises a plurality of sensors fixedly arranged on the robot body, the plurality of sensors are in communication connection with the control system, the travelling mechanism and the actuating mechanism are controlled to act through the control system,
The actuating mechanism comprises a sliding table 2 vertically and fixedly arranged at the bottom end of the robot body, a lifting motor 3 fixedly arranged at the upper end of the sliding table 2, a brush frame 4 fixedly arranged on a sliding block of the sliding table 2 and a brush body assembly fixedly arranged on the brush frame 4, wherein the brush body assembly comprises a front brush 5 fixedly arranged at the front end of the brush frame 4, side brushes 6 rotatably connected to two sides of the front brush 5, a middle brush 7 arranged below the middle part of the brush frame 4 in a telescopic sliding manner along the horizontal direction, side brushes 8 fixedly arranged on two sides of the middle brush 7, a tail transverse brush 9 fixedly arranged at the rear end of the brush frame 4 and a tail brush 10 fixedly arranged below the middle brush 7 through the brush frame 4, the front brush 5, the middle brush 7 and the tail transverse brush 9 are arranged in parallel to each other, one end of the tail brush 10 is fixedly connected with the tail transverse brush 9 in a cross shape, and each brush comprises bristles and a fixing plate for fixing the bristles, and the bristles are all located below the fixing plate.
The lifting motor 3 is arranged at the bottom of the robot body in a penetrating way, and is preferably a stepping motor. The front end of the brush holder 4 is the front end of the robot in the forward direction. The robot is circular structure, keeps away barrier ability reinforce.
When the robot cleans, the brush holder 4 is driven by the lifting motor 3, the sliding block drives the brush holder 4 and brushes fixedly arranged on the brush holder to move downwards, and the pressure of the brush hair on the ground is regulated by the control system; after the cleaning operation is finished, the brush holder 4 is controlled to be lifted by the control system, so that the brush hair is separated from the ground and is driven to a designated position, such as a cleaning area or a charging position.
The rotating speed and the steering of the four omnidirectional wheels 1 are controlled through a driving component in the travelling mechanism, so that the start and stop, the forward movement, the backward movement, the in-situ rotation or the lateral travelling of the robot are realized.
Each brush comprises bristles and a fixing plate for fixing the bristles, and the bristles are positioned below the fixing plate. The space on two sides of the robot can be cleaned through the middle brush and the two side brushes 8 which are arranged in a telescopic manner, and in a non-working state, the side brushes 8 can be completely retracted below the robot body, so that the occupied space of the robot in the non-working state is effectively reduced. By adopting the telescopic mode of the side brush 8, the cleaning capacity and the working efficiency of the robot are effectively improved.
The connection mode of the multi-brush pushing plate at the front end of the robot realizes the up-and-down floating of the front brush 5, the unfolding and the retracting of the side brush 6 and the up-and-down floating and the deflection of the side brush 6.
Through setting up tail brush 10 for the robot is in the in-situ gyration or the side direction walking in-process, realizes cleaning the regional below the robot, has effectively improved cleaning efficiency.
The bristles of the two side brushes 8 are arranged in a splayed shape.
The brush hair of each brush is obliquely arranged to the rear of the advancing direction of the robot body. The brush hair can be tightly attached to the ground, cleaning operation can be completed better, and cleaning efficiency is further improved.
The automatic cleaning device is convenient to use, thorough in cleaning, energy-saving and environment-friendly, can realize a full-automatic cleaning mode of the pig house, improves the working efficiency to a great extent, and improves the environmental conditions of the pig house.
The application is not only suitable for fattening pig houses, but also suitable for any pig house needing cleaning.
The middle part level of brush yoke 4 is equipped with side brush push rod fixed plate 11 admittedly, side brush push rod fixed plate 11 is last to be fixedly mounted with two levels and the reverse first electric putter 12 of arranging, and two side brushes 8 correspond with the active end rigid coupling of two first electric putter 12. So designed, the middle brush and the two side brushes 8 correspondingly realize the sliding in the horizontal direction through the two first electric push rods 12, and the first electric push rods 12 drive the two ends of the telescopic middle brush and the two side brushes 8 to extend and retract when being telescopic, so that the side brushes 8 are horizontally extended.
The rear part of the middle brush 7 is horizontally and fixedly provided with a collodion stick 13. By means of the design, the collodion cotton stick 13 is made of materials and has a certain adsorption effect, so that the cleaning of the ground can be enhanced, and the cleaning efficiency is further improved. The collodion stick 13 is fixedly arranged at the rear part of the middle brush 7 through a collodion fixing frame.
One side of each side brush 6 far away from the front brush 5 is respectively connected with a swinging brush 15 through a spring hinge 14 in a rotating way, and one side of the swinging brush 15 far away from the side brush is provided with a rubber coating roller 16 in a rotating way. By the design, the brush body can swing back to avoid when colliding with the leg parts of the pig or the parts of the wall, the railing and the like, and other brush body parts are prevented from being damaged. The cushioning effect can be further provided by the encapsulation roller 16.
The robot body bottom is fixedly provided with two second electric push rods 18 which are horizontally and reversely arranged through an edge brush push rod fixing plate 17, the movable end of each second electric push rod 18 is respectively connected with the bottom of the robot body in a sliding mode along the horizontal direction through a first linear guide rail 19, an edge brush push rod 20 is vertically fixedly connected with the bottom end of a sliding block of the first linear guide rail 19, the edge brush push rod 20 is connected with the top end of an edge brush 6 through an L-shaped connecting piece 21, one end of the L-shaped connecting piece 21 is fixedly connected with the edge brush 6, a long hole is formed in the other end of the L-shaped connecting piece, and the other end of the L-shaped connecting piece 21 is connected with the edge brush push rod 20 in a sliding mode. By means of the design, the opening and closing actions of the two side brushes 6 are achieved through the L-shaped connecting piece 21 and the second electric push rod 18, and compared with the prior art, the occupied space of the robot is greatly saved. The stable action of the movable end of the second electric push rod 18 is realized through the first linear guide rail 19, and deformation and even damage of the second electric push rod 18 caused by overlarge resistance in the process of pushing the dung are prevented.
The front brush 5 comprises a front scraping plate 5-1, a front pushing plate 5-2, a front floating plate 5-3 and a first connecting component arranged between the front pushing plate 5-2 and the front floating plate 5-3, wherein the first connecting component comprises a second linear guide rail 5-4, two floating guide rods 5-5, two limiting pieces 5-6, four universal balls 5-7 and four supporting columns 5-8, wherein the four universal balls 5-7 are symmetrically arranged on two sides of the second linear guide rail 5-4 in pairs and are in sliding contact with the front pushing plate 5-2, each universal ball 5-7 is fixedly connected with the front floating plate 5-3 correspondingly through one supporting column 5-8, a threaded hole is formed in the upper part of a sliding block on the second linear guide rail 5-4, the front floating plate 5-3 is connected with the sliding block on the second linear guide rail 5-4 through a screw, the front floating plate 5-3 is in clearance fit with the screw, the two floating guide rods 5-5 are symmetrically arranged on two sides of the second linear guide rail 5-4, the upper end and the lower end of the two floating guide rods are fixedly connected with the upper edge and the lower edge of the front push plate 5-2 respectively, the two limiting pieces 5-6 are correspondingly sleeved on the two floating guide rods 5-5 and fixedly connected with the two supporting columns 5-8 on the same side of the two floating guide rods, the limiting pieces 5-6 are in clearance fit with the floating guide rods 5-5, springs are sleeved on the floating guide rods 5-5 between the limiting pieces 5-6 and the upper edge of the front push plate 5-2, and the front scraping plates 5-1 are fixedly arranged on the front side of the front floating plate 5-3. So designed, the support columns 5-8 are preferably welded to the front floating plate 5-3. The front floating plate 5-3 is connected to the sliding block through a screw and moves up and down along with the sliding block, the top of the sliding block can be fixedly connected with the adapter block, a threaded hole is formed in the adapter block, and the front floating plate is connected with the adapter block through a screw so as to realize connection with the sliding block. The front floating plate 5-3 and the front pushing plate 5-2 are supported by four universal balls 5-7, so that the front floating plate 5-3 moves up and down, left and right relative to the front pushing plate 5-2, namely, when the front floating plate works under resistance, the universal balls play an additional role in supporting, and in the lifting process of the front floating plate, the balls rotate to reduce the resistance of the floating plate to move up and down; the sliding direction of the second linear guide rail 5-4 is vertical sliding, clearance fit is achieved between the front floating plate 5-3 and the screw and between the limiting piece 5-6 and the floating guide rod 5-5, and the front floating plate 5-3 can swing up and down around the screw at the left end and the right end within a certain range through the screw between the second linear guide rail 5-4, so that multidirectional free movement of the front floating plate 5-3 is achieved. The front floating plate 5-3 is applied with downward thrust through the spring on the floating guide rod 5-5, so that the front floating plate 5-3 is ensured to always form thrust to the ground. A fixing plate for fixing bristles in the front brush 5 is fixedly installed at the bottom end of the front push plate 5-2. The front scraper 5-1 and the front floating plate 5-3 are preferably connected by bolts. Most of the excrement and the like are scraped and pushed to move forward by the front scraper 5-1. And two limit switches 22 are arranged at two ends of each linear guide rail, and the folding and unfolding limits of the side brush push plate are controlled through triggering of the corresponding limit switches by the sliding blocks on the linear guide rails.
The side brush 6 comprises a side scraping plate 6-1, a side brush pushing plate 6-2, a side brush floating plate 6-3 and a second connecting component arranged between the side brush pushing plate 6-2 and the side brush floating plate 6-3, wherein the second connecting component comprises a side brush sliding seat 6-4 and a side brush guide rod 6-5, the side brush sliding seat 6-4 is connected with the side brush pushing plate 6-2 through bolts, a round hole and three arc waist holes which are arranged in a rectangular mode are formed in the side brush pushing plate 6-2, the side brush sliding seat 6-4 rotates relative to the side brush pushing plate 6-2 by taking the round hole as a rotation center through bolts, the side brush guide rod 6-5 is vertically and slidably arranged on the side brush sliding seat 6-4, the upper end and the lower end of the side brush floating plate 6-3 are fixedly connected with the upper end and the lower end of the side brush guide rod 6-5 respectively, a compression spring is sleeved on the side brush 6-5 between the side brush sliding seat 6-4 and the lower end of the side brush floating plate 6-3, and the side brush guide rod 6-1 is fixedly arranged on the front side of the side brush floating plate 6-3. Through the design, the side brush floating plate 6-3 moves up and down and swings left and right through the side brush guide rod 6-5, the side brush floating plate 6-3 rotates relative to the side brush pushing plate 6-2 through bolts and arc waist holes, namely, the number of the arc waist holes is three, a round hole is further formed in the side brush pushing plate, the three arc waist holes and the round through hole are arranged in a rectangular mode, the side brush sliding seat can rotate or deflect at a small angle relative to the side brush pushing plate in a direction parallel to the side brush pushing plate, multidirectional movement of the side brush floating plate 6-3 is further achieved, downward thrust is applied to the side brush floating plate 6-3 through springs on the side brush guide rod 6-5, and accordingly the side brush floating plate 6-3 is guaranteed to always form thrust to the ground. The fixing plate for fixing the brush hair in the side brush 6 is fixedly arranged at the bottom end of the side brush pushing plate 6-2. The side scraping plate 6-1 and the side brushing floating plate 6-3 are connected by bolts. The side scraping plate 6-1 assists the front scraping plate 5-1 to scrape and push most of the excrement and the like to move forward.
The driving assembly comprises a motor reducer assembly 23, a positioning connecting plate 24, two linear sliding seats 25, two guide posts 26 and two spring screws 27, wherein the positioning connecting plate 24 is fixedly connected with the motor reducer assembly 23, the omni wheel 1 correspondingly rotates through the motor reducer assembly 23, the two linear sliding seats 25 are respectively arranged on two sides of the motor reducer assembly 23 and are fixedly connected with the positioning connecting plate 24, the two linear sliding seats 25 are correspondingly sleeved on the two guide posts 26 in a sliding manner, the upper part of each guide post 26 is fixedly sleeved at the bottom of the robot body, the two spring screws 27 are arranged side by side, the top of each spring screw 27 is fixedly connected with the bottom of the robot body, the bottom of each spring screw 27 is vertically and slidably sleeved on the positioning connecting plate 24, a locking nut 28 is arranged at the bottom of each spring screw 27, and a compression spring is sleeved on the spring screw 27 between the bottom of the robot body and the positioning connecting plate 24. So design, the spring on the spring screw 27 is buffer spring, and the upper portion of guide pillar 26 and the upper portion of spring screw 27 are all with the bottom fixed connection of robot body, and the bottom of robot body is got up by four group's drive assembly under buffer spring's elasticity effect, in the walking process, even the ground slightly is uneven, still can guarantee that four omnidirectional wheel 1 contact with ground simultaneously to guarantee that the walking direction can obtain effective control. The motor reducer assembly drives the omni-directional wheel 1 to act in the prior art, and the description is omitted here. The circular copper sleeve embedded in the linear sliding seat 25 is matched with the guide post 26, so that motion self-lubrication can be realized, and the service life of the linear sliding seat is longer in an environment with fecal, water and gas corrosion in a pig house. The positioning connection plate 24 is further vertically and fixedly provided with the buffer rod 52, the top end of the buffer rod 52 is in contact with the bottom end of the robot body, the buffer rod 52 is an oil buffer, and the object acting on the buffer rod is buffered and decelerated to a stop by means of hydraulic damping, so that a certain degree of protection effect is achieved, and the buffer rod is a safe buffer device for preventing the mechanism from being damaged due to hard collision. The cushioning effect on the caster is achieved by the cushioning rod 52.
The control system comprises a PLC control module 29, a PLC expansion module 30, a remote control module 31, a terminal row 32, a motor driver 33, a battery pack 34, a charging plug 35 and an emergency stop switch 36, wherein the motor driver 33 is in communication connection with a driving assembly and the motor driver 33 is in communication connection with the lifting motor 3, the remote control module 31 is in communication connection with the PLC control module 29, the battery pack 34 is used for supplying power to the robot, the charging plug 35 is fixed at the movable end of a third electric push rod, the charging plug is driven to extend out of the robot body or retract into the robot body through the telescopic action of the third electric push rod, and the battery pack 34 is charged through the charging plug 35; the emergency stop switch 36 is fixed outside the lower shield 42 and controls the power on and off of the whole robot.
The navigation system comprises a magnetic navigation sensor 39, three photoelectric sensors 37, two-dimensional laser sensors 38 and four one-dimensional laser sensors 40, wherein one-dimensional laser sensor 40 is fixedly arranged at the rear part of the robot body through a photoelectric support 41, the other three one-dimensional laser sensors 40 are fixedly arranged at the front part of the robot body through the photoelectric support 41, the two-dimensional laser sensors 38 and the photoelectric sensors 37 are fixedly arranged at the upper part of the robot body, a lower protective cover 42 is covered outside the two-dimensional laser sensors 38, an upper protective cover 43 is covered outside the photoelectric sensors 37, and the magnetic navigation sensor 39 is close to the front brush 5 and fixedly connected with the bottom end of the robot body. So designed, the magnetic navigation sensor 39 is fixedly connected with the bottom end of the robot body through the sensor lifting frame. The distance and the direction between the obstacle and the robot are judged by detecting the existence of the obstacle around the robot through the photoelectric sensor 37, the two-dimensional laser sensor 38, the one-dimensional laser sensor 40 and the like, whether the robot moves along a magnetic stripe preset on the ground is detected through the magnetic navigation sensor 39, detection information is sent to the PLC control module 29 through each sensor, the rotating speed and the direction of the omnidirectional wheel 1 are controlled, the movement or the rotation of the robot is further controlled, and the sensors act together to realize the navigation positioning function of the cleaning robot.
The robot body comprises a first mounting plate 45, a second mounting plate 46 and a bottom plate 47 which are sequentially arranged in parallel from top to bottom and fixedly connected through a plurality of lifting struts 44, a body outer cover 48 is arranged on the outer cover of the robot body, an upper cover plate 49 is arranged on the top end cover of the body outer cover 48, and a plurality of lifting bolts 50 with the same number as the lifting struts 44 are in one-to-one correspondence and pass through the upper cover plate 49 to be in threaded connection with the lifting struts 44. So designed, the number of lifting struts 44 is preferably four. The bottom end of the lower shield 42 is fixedly connected with an upper cover plate 49. The terminal block 32 is fixedly mounted on the first mounting plate 45, the remote control module 31, the battery pack 34, the PLC expansion module 30 and the PLC control module 29 are fixedly mounted on the second mounting plate 46, and the primary laser sensor, the motor driver 33, the stepping motor, the spring screw 27 and the motor reducer assembly 23 are fixedly mounted on the bottom plate 47. A front cover plate 51 is fixedly connected to the front part of the vehicle body outer cover 48, and the front cover plate 51 is covered above the front brush 5 and the two side brushes 6.
Working principle:
According to the application, an automatic unmanned management mode can be realized, and the remote Internet of things multi-machine collaborative work is realized by connecting APP software with robot hardware. APP software is used as a control unit of the system, communication identification and data processing are carried out through an RFID communication module on the robot body, one mode can complete a task function according to a reserved track by means of an AGV magnetic navigation system, the other mode can achieve accurate remote control movement through a software positioning function, meanwhile, a PLC control module 29 is used as a core unit to achieve accurate control on each motor, signal processing among sensors is completed, and logic relations among driving modules are coordinated; the robot power source adopts an energy-saving and environment-friendly lithium battery pack 34, 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 robot are controlled by using a direct-current gear motor; the electric sliding table 2 and the electric push rod are utilized to control the lifting and the extension of the brush plate, so as to drive the brush plate; so that the brush bristles of the brush plate can clean the feces on the ground. The design of the car body outer cover 48 and the brush frame 4 ensures that the pig body is not scratched or scratched, and the brush is adopted to brush the excrement, so that the brush frame 4 has the advantages of high cleaning efficiency, good cleaning effect, water saving, reduced labor capacity of workers and high degree of automation.
Claims (6)
1. The utility model provides a fattening pig house clearance robot, it includes robot body, running gear, actuating mechanism, navigation and control system, running gear includes four omnidirectional wheels (1) of following the circumferencial direction equipartition of robot body bottom surface, and every two omnidirectional wheels (1) that face all are the splayed and arrange, and every omnidirectional wheel (1) respectively provides power through a set of drive assembly, navigation is including setting firmly a plurality of sensors on the robot body, and a plurality of sensors are connected with control system communication, through control system control running gear and actuating mechanism action, its characterized in that:
The actuating mechanism comprises a sliding table (2) vertically and fixedly arranged at the bottom end of the robot body, a lifting motor (3) fixedly arranged at the upper end of the sliding table (2), a brush frame (4) fixedly arranged on a sliding block of the sliding table (2) and a brush body assembly fixedly arranged on the brush frame (4), wherein the brush body assembly comprises a front brush (5) fixedly arranged at the front end of the brush frame (4), side brushes (6) rotationally connected to two sides of the front brush (5), middle brushes (7) which are telescopically and slidingly arranged below the middle part of the brush frame (4) along the horizontal direction, side brushes (8) fixedly arranged at two sides of the middle brushes (7), a tail transverse brush (9) fixedly arranged at the rear end of the brush frame (4) and a tail brush (10) fixedly arranged below the middle brush (7) through the brush frame (4), the front brush (5), the middle brush (7) and the tail brush (10) are mutually parallel, one end of the tail brush (10) and the tail brush (9) are respectively arranged in a cross shape, and the tail brush (9) are respectively fixedly arranged on a bristle fixing plate and are respectively fixed on the bristle fixing plate;
One side of each side brush (6) far away from the front brush (5) is respectively and rotatably connected with a swinging brush (15) through a spring hinge (14), and one side of the swinging brush (15) far away from the side brush is rotatably provided with an encapsulation roller (16);
Two second electric push rods (18) which are horizontally and reversely arranged are fixedly arranged at the bottom end of the robot body through side brush push rod fixing plates (17), the movable end of each second electric push rod (18) is respectively connected to the bottom end of the robot body in a sliding mode along the horizontal direction through a first linear guide rail (19), side brush push rods (20) are vertically fixedly connected to the bottom ends of sliding blocks of the first linear guide rails (19), the side brush push rods (20) are connected with the top ends of side brushes (6) through L-shaped connecting pieces (21), one ends of the L-shaped connecting pieces (21) are fixedly connected with the side brushes (6), long holes are formed in the other ends of the L-shaped connecting pieces (21), and the other ends of the L-shaped connecting pieces (21) are connected with the side brush push rods (20) in a sliding mode;
The front brush (5) comprises a front scraping plate (5-1), a front pushing plate (5-2), a front floating plate (5-3) and a first connecting component arranged between the front pushing plate (5-2) and the front floating plate (5-3), wherein the first connecting component comprises a second linear guide rail (5-4), two floating guide rods (5-5), two limiting pieces (5-6), four universal balls (5-7) and four supporting columns (5-8), the four universal balls (5-7) are symmetrically arranged on two sides of the second linear guide rail (5-4) in a two-to-two symmetrical manner and are in sliding contact with the front pushing plate (5-2), each universal ball (5-7) is fixedly connected with the front floating plate (5-3) through one supporting column (5-8), a threaded hole is formed in the upper part of a sliding block on the second linear guide rail (5-4), the front floating plate (5-3) is connected with the sliding block on the second linear guide rail (5-4) through a screw, the front floating plate (5-3) is matched with the two floating guide rods (5-4) in a two-to-two symmetrical manner, the front floating plate (5-7) is fixedly connected with the two sides of the two floating guide rails (5-4) along the two sides of the second linear guide rail (5-4) respectively, the two limiting pieces (5-6) are correspondingly sleeved on the two floating guide rods (5-5) and are correspondingly fixedly connected with the two supporting columns (5-8) on the same side of the two floating guide rods, the limiting pieces (5-6) are in clearance fit with the floating guide rods (5-5), springs are sleeved on the floating guide rods (5-5) between the limiting pieces (5-6) and the upper edges of the front pushing plates (5-2), and the front scraping plates (5-1) are fixedly arranged on the front sides of the front floating plates (5-3);
The side brush (6) comprises a side scraping plate (6-1), a side brush pushing plate (6-2), a side brush floating plate (6-3) and a second connecting component arranged between the side brush pushing plate (6-2) and the side brush floating plate (6-3), wherein the second connecting component comprises a side brush sliding seat (6-4) and a side brush guide rod (6-5), the side brush sliding seat (6-4) is connected with the side brush pushing plate (6-2) through bolts, the side brush pushing plate (6-2) is provided with a round hole and three arc waist holes which are arranged in a rectangular shape, the side brush sliding seat (6-4) rotates relative to the side brush pushing plate (6-2) by taking the round hole as a rotation center through bolts, the upper end and the lower end of the side brush guide rod (6-5) are respectively and fixedly connected with the upper end and the lower end of the side brush guide rod (6-5) of the side brush floating plate (6-3), and the side brush floating plate (6-4) and the side brush guide rod (6-3) are fixedly sleeved on the side brush sliding seat (6-5) through bolts;
the lifting motor (3) is arranged at the bottom of the robot body in a penetrating way.
2. The fattening pig house cleaning robot according to claim 1, wherein: the middle part level of brush yoke (4) is equipped with side brush push rod fixed plate (11) admittedly, fixed mounting has two levels and reverse first electric putter (12) of arranging on side brush push rod fixed plate (11), and two side brushes (8) correspond with the expansion end rigid coupling of two first electric putter (12).
3. A fattening pig house cleaning robot according to claim 1 or 2, wherein: the rear part of the middle brush (7) is horizontally and fixedly provided with a collodion stick (13).
4. A fattening pig house cleaning robot according to claim 1 or 2, wherein: the driving assembly comprises a motor speed reducer assembly (23), a positioning connecting plate (24), two linear sliding seats (25), two guide posts (26) and two spring screws (27), wherein the positioning connecting plate (24) is fixedly connected with the motor speed reducer assembly (23), the omnidirectional wheel (1) correspondingly rotates through the motor speed reducer assembly (23), the two linear sliding seats (25) are respectively arranged on two sides of the motor speed reducer assembly (23) and are fixedly connected with the positioning connecting plate (24), the two linear sliding seats (25) are correspondingly sheathed on the two guide posts (26) in a sliding manner, the upper part of each guide post (26) is fixedly sheathed on the bottom of the robot body, the tops of the two spring screws (27) are arranged side by side and are fixedly connected with the bottom of the robot body, the bottom of each spring screw (27) is vertically and slidably sheathed on the positioning connecting plate (24), and a compression spring is sheathed on the spring screw (27) between the bottom of the robot body and the positioning connecting plate (24).
5. The fattening pig house cleaning robot according to claim 4, wherein: the navigation system comprises a magnetic navigation sensor (39), three photoelectric sensors (37), two-dimensional laser sensors (38) and four one-dimensional laser sensors (40), wherein one-dimensional laser sensor (40) is fixedly arranged at the rear part of the robot body through a photoelectric support (41), the other three one-dimensional laser sensors (40) are fixedly arranged at the front part of the robot body through the photoelectric support (41), the two-dimensional laser sensors (38) and the photoelectric sensors (37) are fixedly arranged on the upper part of the robot body, a lower protective cover (42) is arranged on the outer cover of the two-dimensional laser sensors (38), an upper protective cover (43) is arranged on the outer cover of the photoelectric sensors (37), and the magnetic navigation sensor (39) is close to the front brush (5) and fixedly connected with the bottom end of the robot body.
6. The fattening pig house cleaning robot according to claim 5, wherein: the robot body comprises a first mounting plate (45), a second mounting plate (46) and a bottom plate (47) which are sequentially arranged in parallel from top to bottom and fixedly connected through a plurality of lifting struts (44), a body outer cover (48) is arranged on the outer cover of the robot body, an upper cover plate (49) is arranged on the top end cover of the body outer cover (48), and a plurality of lifting bolts (50) with the same quantity as the lifting struts (44) penetrate through the upper cover plate (49) in a one-to-one correspondence mode and are in threaded connection with the lifting struts (44).
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| CN112237145A (en) * | 2020-09-25 | 2021-01-19 | 华南农业大学 | Suction and sweeping integrated dung cleaning robot and dung cleaning method thereof |
| CN112088783A (en) * | 2020-09-25 | 2020-12-18 | 华南农业大学 | Scraping and sweeping integrated pigsty manure cleaning robot |
| CN113439667B (en) * | 2021-07-12 | 2022-05-10 | 哈尔滨天河自动化设备有限公司 | Pig house cleaning robot |
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| JP3419064B2 (en) * | 1994-03-03 | 2003-06-23 | 豊和工業株式会社 | Floor sweeper |
| KR100850598B1 (en) * | 2007-03-09 | 2008-08-05 | 전화철 | Pig Manure Cleaning Device |
| CN108849557B (en) * | 2018-08-23 | 2023-05-12 | 北京佳沃天河智能科技有限公司 | Automatic intelligent cleaning machine for pigsty and cleaning method thereof |
| CN209964907U (en) * | 2019-05-13 | 2020-01-21 | 哈尔滨天河自动化设备有限公司 | Clear excrement robot in pig house |
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| CN211832300U (en) * | 2020-02-27 | 2020-11-03 | 哈尔滨天河自动化设备有限公司 | Fattening pig house cleaning robot |
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