CN111406656A - Automatic avoidance cow dung cleaning and collecting robot - Google Patents
Automatic avoidance cow dung cleaning and collecting robot Download PDFInfo
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- CN111406656A CN111406656A CN202010268731.XA CN202010268731A CN111406656A CN 111406656 A CN111406656 A CN 111406656A CN 202010268731 A CN202010268731 A CN 202010268731A CN 111406656 A CN111406656 A CN 111406656A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 79
- 210000003608 fece Anatomy 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims description 71
- 239000000463 material Substances 0.000 claims description 32
- 230000008093 supporting effect Effects 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000012856 packing Methods 0.000 claims description 9
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000010405 clearance mechanism Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims 4
- 238000000429 assembly Methods 0.000 claims 4
- 229910021529 ammonia Inorganic materials 0.000 claims 1
- 238000007599 discharging Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 abstract 1
- 230000032258 transport Effects 0.000 abstract 1
- 241000283690 Bos taurus Species 0.000 description 28
- 239000010871 livestock manure Substances 0.000 description 9
- 230000000903 blocking effect Effects 0.000 description 5
- 238000009395 breeding Methods 0.000 description 5
- 230000001488 breeding effect Effects 0.000 description 5
- 238000007790 scraping Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000001976 improved effect Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 244000007853 Sarothamnus scoparius Species 0.000 description 1
- 235000015278 beef Nutrition 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 239000002699 waste material Substances 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
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- Biodiversity & Conservation Biology (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention provides an automatic avoidance cow dung cleaning and collecting robot which comprises a robot body, a tipping bucket mechanism, a lifting mechanism, a cleaning mechanism, a lifting mechanism, a traveling mechanism, an intelligent control system and a battery system. The controller controls the robot to patrol and clean within a preset range according to a preset route and controls the working state of the walking motor to carry out obstacle avoidance action according to information provided by the obstacle avoidance sensor, the cleaning auger gathers cow dung and lifts the cow dung to the hopper turning box through the lifting mechanism, the level indicator carries out real-time measurement on cow dung storage capacity, when the storage capacity reaches a preset value, the controller controls the walking motor to enable the walking motor to walk to a dumping position and then the hopper turning mechanism finishes dumping and resetting, and the process is repeated to finish automatic cleaning operation. This robot collects the clearance and collects, transports and carry and intelligent function in an organic whole such as keeping away the barrier, has characteristics rational in infrastructure, convenient to use, that degree of automation is high, uses this robot can reduce staff's the amount of labour, improves clear excrement efficiency, promotes clear excrement effect.
Description
Technical Field
The invention relates to the technical field of cattle farm cleaning equipment, in particular to a robot for cleaning and collecting cattle manure by automatically avoiding cattle manure.
Background
With the increase of the scale and the productivity of cattle breeding industry in China, the number of farmers for breeding beef cattle and dairy cows increases, and the cleaning of cattle dung in a breeding farm in the breeding work becomes the largest work load of breeding personnel. At present, the cow dung is cleared up and is mainly divided into modes such as clear excrement of manual work and clear excrement of machinery, wherein:
the manual excrement cleaning is that a spade, a push shovel, a shovel broom and other tools are manually used for cleaning excrement into piles, and then manual loading and transporting are carried out. The mode is a method for excreting excrement commonly adopted by small-scale cattle farms, and has the defects of high labor intensity, time and labor waste, poor environment and low working efficiency of workers.
Mechanical dung cleaning is a cleaning forklift formed by refitting other vehicles such as a forklift tractor and the like, and the conventional cleaning forklift needs to be driven into a cowshed by a worker to scrape dung and then is transported in a centralized manner after being manually loaded. At present, the forklift is used for cleaning cow dung more, and a plurality of farmers can refit scrapped vehicles at home into the forklift for cleaning cow dung. Compared with manual manure cleaning, mechanical manure cleaning reduces labor force of workers to a certain extent, and work efficiency is improved. But its degree of automation is low, needs manual driving and manpower loading, leads to working strength still bigger, and the effect is not high enough, uses nimble convenience inadequately to cause the problem such as disturbance to the ox crowd easily in clear excrement work.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic avoidance cow dung cleaning and collecting robot which has the advantages of reasonable structure, convenience in use and high automation degree and integrates the functions of cleaning, collecting, transferring, conveying, intelligently avoiding obstacles and the like, so that the labor amount of workers is reduced, the dung cleaning efficiency is improved, and the dung cleaning effect is improved.
The invention provides a cleaning and collecting robot capable of automatically avoiding cow dung, which comprises a robot body, a tipping mechanism, a lifting mechanism, a cleaning mechanism, a lifting mechanism, a traveling mechanism, an intelligent control system and a battery system, wherein:
the tipping mechanism comprises a tipping box arranged above the machine body, and a turning transmission assembly and a walking assembly which are arranged between the tipping box and the machine body, wherein the turning transmission assembly comprises a lead screw base plate fixedly arranged on the upper side of the machine body; the walking assembly comprises a group of walking rails arranged on the machine body and a plurality of groups of walking rollers matched with the walking rails, and the walking rollers are arranged at the bottom of the hopper overturning box through roller seats;
the lifting mechanism comprises a lifting mechanism body, a lifting transmission assembly, a lifting hopper and two groups of chain supports, wherein the lifting transmission assembly, the lifting hopper and the two groups of chain supports are arranged in the lifting mechanism body, the lifting mechanism body comprises a lifting channel, the lifting channel is obliquely arranged, an upper discharge port of the lifting channel is positioned right above the hopper turning box, the lifting transmission assembly comprises a lifting motor, a driving wheel shaft arranged at the upper end of the lifting channel, a driven wheel shaft arranged at the lower end of the lifting channel, a driving wheel arranged on the driving wheel shaft, a driven wheel arranged on the driven wheel shaft, and chains connected to the driving wheel and the driven wheel, the power output end of the lifting motor is connected with the driving wheel shaft through a transmission connection assembly, the lifting hopper comprises scraping plates, material blocking plates and side blocking plates, two ends of each material blocking plate are respectively connected to the two groups of chains and are parallel to the motion direction of the chains, the scraping plates and the material blocking plates are vertically connected to form an L shape, the side blocking plates are arranged at two ends of the scraping plates;
the cleaning mechanism comprises an auger mounting frame, a cleaning transmission assembly, a cleaning auger and a feces guide plate, the auger mounting frame comprises a horizontally arranged fixed plate, mounting plates vertically connected below two ends of the fixed plate, a connecting plate arranged in the middle of the upper part of the fixed plate and reinforcing ribs arranged on the connecting plate, and the fixed plate is mounted on the lower part of the front wall of the lifting channel through the connecting plate; the cleaning transmission assembly comprises a cleaning motor and a rotating shaft, the cleaning motor is arranged above the fixed plate, two ends of the rotating shaft are respectively arranged on the mounting plates at two ends of the fixed plate through bearings, a transmission wheel is fixedly arranged in the middle of the rotating shaft, and a power output end of the cleaning motor is in transmission connection with the transmission wheel through a transmission belt; a group of cleaning augers are sleeved on the rotating shaft in a mirror image opposite mode by taking the driving wheel as a mirror image shaft, and each cleaning auger comprises an auger sleeve and an auger blade arranged on the auger sleeve; the excrement guide plate is an arc-shaped plate connected below the rear end of the fixed plate, the groove of the arc-shaped plate faces one side of the fixed plate, an excrement outlet is formed in the middle of the excrement guide plate, and the excrement outlet is communicated with a lower feeding hole of the lifting channel;
the lifting mechanism comprises a lifting transmission assembly and a guide assembly, the lifting transmission assembly comprises a lifting motor base arranged on the machine body, a lifting motor is arranged on the lifting motor base, the power output end of the lifting motor is connected with a lifting screw rod, the lifting screw rod is arranged between a group of lifting screw rod supporting bases, a lifting block is sleeved on the lifting screw rod, the lifting block is in threaded connection with the lifting screw rod, and the lifting block is fixedly connected with a bottom plate of the lifting channel; the guide assembly comprises a guide rail arranged on the machine body and a guide sliding block matched with the guide rail, and the guide sliding block is fixedly connected with the lifting channel;
the walking mechanism comprises two driving walking wheels and two follow-up walking wheels, the two driving walking wheels are independently arranged on two sides of the front part of the machine body through two connecting shafts respectively, each walking wheel is independently connected with a walking motor, and the two follow-up walking wheels are arranged on two sides of the rear part of the machine body through walking wheel seats respectively;
the intelligent control system comprises a controller, a material level meter and an obstacle avoidance sensor, wherein a wireless control module is arranged in the controller, the wireless control module is interconnected with a mobile terminal through a cloud server, the wireless control module can be controlled through the mobile terminal, the signal input end of the controller is respectively electrically connected with the material level meter and the obstacle avoidance sensor, the signal output end of the controller is electrically connected with a traveling motor, the material level meter is arranged in the overturning box, and the obstacle avoidance sensor is arranged on two corners at the rear part of the machine body and two corners at the front part of the cleaning mechanism;
the battery system comprises a storage battery, a charging interface and a battery electric quantity monitoring module are connected to the storage battery, the storage battery is respectively electrically connected with a turnover motor, a lifting motor, a cleaning motor, a lifting motor, a walking motor, a material level meter, an obstacle avoidance sensor and a controller, the charging interface is arranged on the side portion of the machine body, and the battery electric quantity monitoring module is electrically connected with the controller.
Preferably, the device also comprises a detection system, wherein the detection system is used for detecting PM., ammonia gas, methane content, temperature and humidity in the measured air.
Preferably, be equipped with the screw thread lantern ring and hinge ring in the push pedal, the push pedal is located on the lead screw through the screw thread lantern ring cover, and the lacing wire is articulated with the push pedal through hinge ring.
Preferably, the overturning transmission assembly further comprises a limit switch, the limit switch is mounted on the machine body, and the limit switch is electrically connected with the overturning motor; the walking assembly further comprises a group of buffer columns, and the buffer columns are arranged above the front portion of the walking track.
Preferably, the lower feed inlet of the lifting channel is provided with an arc-shaped feed delivery chute, and the upper discharge outlet is provided with a guide chute; the arc-shaped delivery chute is communicated with the feces outlet, the guide chute comprises a bottom plate and triangular side plates, the bottom plate is provided with a strip-shaped hole, and an included angle between the bottom plate and the lifting channel is 90 degrees; the included angle between the lifting channel and the horizontal plane is 45-60 degrees.
Preferably, the lower part of the lifting channel is provided with a supporting roller, a plurality of supporting plates are connected between two side walls in the lifting channel, a pressure sensor is arranged on the supporting roller and is electrically connected with a signal input end of the controller, and the lifting motor is electrically connected with a signal output end of the controller.
Preferably, the transmission connecting assembly is a transmission wheel/transmission belt combination or a transmission chain wheel/transmission chain combination; the obstacle avoidance sensor is one or more of a visual sensor, an ultrasonic sensor, an infrared sensor and a laser sensor.
Preferably, the walking track is a group of groove type tracks arranged in opposite directions, and the walking track comprises a horizontal part, an arc-shaped part and an inclined part which are connected in sequence. The walking track is a group of groove-shaped tracks arranged oppositely, and a plurality of groups of walking wheels are arranged in the walking track, so that the walking wheels can stably run along the direction of the walking track and are not easy to deflect; the walking track is convenient under the upset subassembly effect including horizontal part, arc portion and the rake that connects in order for the tipping bucket case is steady lifts up and falls down.
Preferably, the driving wheel axle is installed on the lifting channel through adjusting the mounting seat, adjust the mounting seat and include the C-shaped groove, and the bottom in C-shaped groove is equipped with the bar hole, and embedding bearing support plate in the C-shaped groove, embedding bearing in the bearing support plate, the fixed first boss that has the screw hole that is equipped with of one end in C-shaped groove, the fixed second boss that is equipped with the screw hole in one side of bearing support plate, pass through adjusting bolt and be connected between first boss and the second boss, and the C-shaped groove passes through the mounting screw on the lateral wall that promotes the channel, and the bar hole in C-shaped groove aligns with the bar hole that promotes the channel lateral wall, and the bearing. Because C-shaped groove fixed mounting is on promoting the passageway, when rotating the bolt, can be so that the bearing backup pad lies in C-shaped inslot removal to make bearing driving wheel axle adjust from top to bottom along the cell type hole, with the rate of tension of adjustment chain.
Preferably, the chain is a roller chain, and rollers are arranged on sleeves of the roller chain.
The working principle of the invention is as follows: the robot for cleaning and collecting the cow dung capable of automatically avoiding the cow dung is driven to move to a working position through the traveling mechanism, then the cow dung is gathered to a dung outlet position on a dung guide plate through augers arranged in opposite mirror images, the cow dung is transferred into the material lifting hopper through the dung outlet, is driven by the chain to be lifted upwards to a material outlet of the lifting mechanism, and then is discharged from the material guide groove and falls into the skip box. After the cow dung is collected to the tipping bucket box, the cow dung is temporarily stored in the tipping bucket box, a material level meter in the tipping bucket box measures the storage amount of the cow dung in the tipping bucket box in real time, when the storage amount detected by the material level meter reaches a preset value, a signal is sent to a controller, and after the controller receives the signal, the running of a walking motor is controlled, so that the robot disclosed by the invention is moved to a preset dumping position. After the robot reaches the dumping position, the controller controls the dumping motor to be started, at the moment, the push plate is pushed backwards under the action of the overturning lead screw, the dumping box is pushed to move along the surface of the machine body through the tie bars and the transverse bars until the walking rollers move to the end point of the inclined section of the walking track, the limit switch is triggered, the motor stops rotating, and the dumping action is completed; after the dumping action is completed, the overturning motor rotates reversely, so that the dumping box resets to the initial position again, the limit switch is triggered, the motor stops rotating, and the dumping box is protected by the buffer column arranged above the front part of the walking track, and the dumping box is prevented from being damaged due to mechanical collision with the machine body. After the tipping bucket box is reset, the walking mechanism drives the robot to move to a collecting operation position again, and the whole process is repeated to finish the automatic cow dung cleaning operation. And elevating system's setting for whole clearance mechanism and hoist mechanism can reciprocate along the automobile body, in order to make the height of adjusting clearance mechanism and hoist mechanism, make this robot be adaptable to different topography condition, increase the clearance effect, set up pressure sensor on the supporting roller, pressure sensor and the signal input part electric connection of controller, elevator motor and the signal output part electric connection of controller.
In the working process, the controller can set a walking route, the walking mechanism is controlled to patrol and clean within a preset range, the obstacle avoidance sensor detects obstacles around the robot in real time, after the obstacles are detected, the obstacle avoidance sensor sends signals to the controller, and the controller controls the working state of the walking motor to carry out obstacle avoidance action according to information provided by the obstacle avoidance sensor; meanwhile, the battery electric quantity monitoring module is electrically connected with the controller, when the battery electric quantity monitoring module detects a low electric quantity signal, a signal is sent to the controller, the controller controls the charging device to move to a preset charging position by controlling the traveling mechanism, and the charging interface is communicated with the power supply to perform charging action; and after the charging is finished, continuing the operation, circularly reciprocating, and automatically executing the cow dung collection work in the preset area. In addition, a wireless control module is arranged in the controller, the wireless control module is interconnected with the mobile terminal through the cloud server, and the wireless control module can be controlled through the mobile terminal, so that the running state of the intelligent control system is controlled. And the detection system can detect and feed back the content of PM2.5, ammonia gas and methane in the air, and the temperature and humidity.
The invention has the beneficial effects that: the robot for automatically avoiding cow dung cleaning and collecting integrates the functions of cleaning, collecting, transferring and conveying, intelligent obstacle avoidance and the like, has the characteristics of reasonable structure, convenience in use and high automation degree, can reduce the labor amount of workers, improves the cow dung cleaning efficiency, improves the cow dung cleaning effect, and is time-saving and labor-saving.
Drawings
FIG. 1 is a schematic structural view of an automatic cow dung avoiding cleaning and collecting robot of the present invention;
FIG. 2 is a schematic structural diagram of the dump mechanism in FIG. 1;
FIG. 3 is a schematic structural view of the push plate of FIG. 2;
FIG. 4 is a schematic structural view of the lifting mechanism of FIG. 1;
FIG. 5 is a schematic view of the structure of the material lifting hopper of FIG. 4;
FIG. 6 is a schematic diagram of the structure of the chain stay of FIG. 4;
FIG. 7 is a schematic view of the adjustment mount of FIG. 4;
FIG. 8 is a schematic structural view of the cleaning mechanism and the lifting mechanism of FIG. 1;
FIG. 9 is a schematic structural view of the cleaning mechanism of FIG. 9;
fig. 10 is a schematic structural diagram of the travel mechanism, the intelligent control system and the battery system in fig. 1.
In the figure: the device comprises a machine body 1, a tipping mechanism 2, a tipping box 21, a tipping transmission assembly 22, a lead screw backing plate 22-1, a tipping motor mounting seat 22-2, a tipping motor 22-3, a tipping lead screw supporting seat 22-4, a tipping lead screw 22-5, a coupler 22-6, a push plate 22-7, a threaded lantern ring 22-7-1, a hinged ring 22-7-2, a lacing wire 22-8, a transverse rib 22-9, a walking assembly 23, a walking track 23-1, a horizontal part 23-1-1, an arc part 23-1-2, an inclined part 23-1-3, a walking roller 23-2, a roller seat 23-3, a buffer column 23-4, a lifting mechanism 3, a lifting mechanism body 31, a lifting channel 31-1 and an arc material conveying groove 31-2, a material guide groove 31-3, a bottom plate 31-3-1, triangular side plates 31-3-2, support rollers 31-4, support plates 31-5, a lifting transmission assembly 32, a lifting motor 32-1, a driving wheel shaft 32-2, a driven wheel shaft 32-3, a driving wheel 32-4, a driven wheel 32-5, a chain 32-6, rollers 32-6-1, a transmission connection assembly 32-7, an adjusting installation seat 32-8, a C-shaped groove 32-8-1, a bearing support plate 32-8-2, a bearing 32-8-3, a first boss 32-8-4, a second boss 32-8-5, an adjusting bolt 32-8-6, a material lifting hopper 33, a scraping plate 33-1 and a material baffle 33-2, side baffle 33-3, chain bracket 34, groove type support bracket 34-1, cylindrical support pillar 34-2, cleaning mechanism 4, packing auger mounting bracket 41, fixing plate 41-1, mounting plate 41-2, connecting plate 41-3, reinforcing rib 41-4, cleaning transmission component 42, cleaning motor 42-1, rotating shaft 42-2, transmission wheel 42-3, transmission belt 42-4, cleaning packing auger 43, packing auger sleeve 43-1, packing auger blade 43-2, feces guide plate 44, feces outlet 44-1, lifting mechanism 5, lifting transmission component 51, lifting motor base 51-1, lifting motor 51-2, lifting screw 51-3, lifting screw support base 51-4, lifting block 51-5, guide component 52, guide rail 52-1 and guide slider 52-2, the intelligent charging system comprises a travelling mechanism 6, a driving travelling wheel 61, a follow-up travelling wheel 62, a connecting shaft 63, a travelling motor 64, a travelling wheel seat 65, an intelligent control system 7, a controller 71, a charge level indicator 72, an obstacle avoidance sensor 73, a battery system 8, a storage battery 81, a charging interface 82 and a battery electric quantity monitoring module 83.
Detailed Description
Example 1:
as shown in fig. 1, the robot for automatically avoiding cow dung cleaning and collecting of the embodiment includes a machine body 1, a tipping mechanism 2, a lifting mechanism 3, a cleaning mechanism 4, a lifting mechanism 5, a traveling mechanism 6, an intelligent control system 7 and a battery system 8, wherein:
the tipping bucket mechanism 2 comprises a tipping bucket box 21 arranged above the machine body 1, and a turning transmission assembly 22 and a walking assembly 23 which are arranged between the tipping bucket box 21 and the machine body 1, wherein the turning transmission assembly 22 comprises a lead screw base plate 22-1 fixedly arranged on the upper side of the machine body 1, one end of the lead screw base plate 22-1 is provided with a turning motor mounting seat 22-2, a turning motor 22-3 is arranged on the turning motor mounting seat 22-2, two ends of the lead screw base plate 22-1 are respectively provided with a turning lead screw supporting seat 22-4, a turning lead screw 22-5 is arranged between the two turning lead screw supporting seats 22-4, one end of the turning lead screw 22-5 is connected with the power output end of the turning motor 22-3 through a coupler 22-6, the turning lead screw 22-5 is sleeved with a push plate 22-7, and the push plate 22-7 is in threaded connection with, the push plate 22-7 is hinged with at least one tie bar 22-8, the other end of the tie bar 22-8 is hinged with a transverse bar 22-9, and the transverse bar 22-9 is fixedly arranged at the bottom of the hopper overturning box 21; the walking assembly 23 comprises a group of walking rails 23-1 arranged on the machine body 1 and a plurality of groups of walking rollers 23-2 matched with the walking rails 23-1, and the walking rollers 23-2 are arranged at the bottom of the tipping box 21 through roller seats 23-3;
the lifting mechanism 3 comprises a lifting mechanism body 31, a lifting transmission assembly 32, a lifting hopper 33 and two groups of chain supports 34, wherein the lifting transmission assembly 32, the lifting hopper 33 and the two groups of chain supports 34 are arranged in the lifting mechanism body 31, the lifting mechanism body 31 comprises a lifting channel 31-1, the lifting channel 31-1 is obliquely arranged, an upper discharge port of the lifting channel 31-1 is positioned right above the hopper turning box 21, the lifting transmission assembly 32 comprises a lifting motor 32-1, a driving wheel shaft 32-2 arranged at the upper end of the lifting channel 31, a driven wheel shaft 32-3 arranged at the lower end of the lifting channel 31, a driving wheel 32-4 arranged on the driving wheel shaft 32-2, a driven wheel 32-5 arranged on the driven wheel shaft 32-3 and chains 32-6 connected to the driving wheel shaft 32-4 and the driven wheel 32-5, a power output end of the lifting motor 32-1 is connected with the driving wheel shaft 32-2 through a transmission connection assembly 32-7, the lifting hopper 33 comprises a scraping plate 33-1, a stopping plate 33-2 and side stopping plates 33-3, two ends of the stopping plates 33-2 are respectively connected to two groups of chains 32-6 and are arranged in the two groups of chains 32-6 and parallel to the movement direction of the chain supports 32-1, two groups of the chain supports 33-34 are symmetrically arranged in the two groups of chain supports 34, the two groups of the two;
the cleaning mechanism 4 comprises an auger mounting frame 41, a cleaning transmission assembly 42, a cleaning auger 43 and a dung guide plate 44, the auger mounting frame 41 comprises a fixing plate 41-1 arranged horizontally, a mounting plate 41-2 vertically connected below two ends of the fixing plate 41-1, a connecting plate 41-3 arranged in the middle of the upper part of the fixing plate 41-1 and a reinforcing rib 41-4 arranged on the connecting plate 41-3, and the fixing plate 41-1 is mounted on the lower part of the front wall of the lifting channel 31 through the connecting plate 41-3; the cleaning transmission assembly 42 comprises a cleaning motor 42-1 and a rotating shaft 42-2, the cleaning motor 42-1 is arranged above the fixed plate 41-1, two ends of the rotating shaft 42-2 are respectively arranged on the mounting plates 41-2 at two ends of the fixed plate 41-1 through bearings, a transmission wheel 42-3 is fixedly arranged in the middle of the rotating shaft 42-2, and a power output end of the cleaning motor 42-1 is in transmission connection with the transmission wheel 42-3 through a transmission belt 42-4; a group of cleaning augers 43 are oppositely sleeved on the rotating shaft 42-2 in a mirror image mode by taking the driving wheel 42-3 as a mirror image shaft, and each cleaning auger 43 comprises an auger sleeve 43-1 and an auger blade 43-2 arranged on the auger sleeve 43-1; the manure guide plate 44 is an arc-shaped plate connected to the lower part of the rear end of the fixed plate 41-1, the groove of the arc-shaped plate is arranged towards one side of the fixed plate 41-1, a manure outlet 44-1 is arranged in the middle of the manure guide plate 44, and the manure outlet 44-1 is communicated with the lower feed inlet of the lifting channel 31;
the lifting mechanism 5 comprises a lifting transmission component 51 and a guide component 52, the lifting transmission component 51 comprises a lifting motor base 51-1 arranged on the machine body 1, a lifting motor 51-2 is arranged on the lifting motor base 51-1, the power output end of the lifting motor 51-2 is connected with a lifting screw 51-3, the lifting screw 51-3 is arranged between a group of lifting screw supporting bases 51-4, a lifting block 51-5 is sleeved on the lifting screw 51-3, the lifting block 51-5 is in threaded connection with the lifting screw 51-3, and the lifting block 51-5 is fixedly connected with a bottom plate 31-3-1 of the lifting channel 31; the guide assembly 52 comprises a guide rail 52-1 arranged on the machine body 1 and a guide sliding block 52-2 matched with the guide rail 52-1, and the guide sliding block 52-2 is fixedly connected with the lifting channel 31;
the travelling mechanism 6 comprises two driving travelling wheels 61 and two follow-up travelling wheels 62, the two driving travelling wheels 61 are independently arranged on two sides of the front part of the machine body 1 through two connecting shafts 63 respectively, each travelling wheel is independently connected with a travelling motor 64, and the two follow-up travelling wheels 62 are arranged on two sides of the rear part of the machine body 1 through travelling wheel seats 65 respectively;
the intelligent control system 7 comprises a controller 71, a level indicator 72 and an obstacle avoidance sensor 73, wherein a wireless control module is arranged in the controller 71, the wireless control module is interconnected with a mobile terminal through a cloud server, the wireless control module can be controlled through the mobile terminal, the signal input end of the controller 71 is electrically connected with the level indicator 72 and the obstacle avoidance sensor 73 respectively, the signal output end of the controller 71 is electrically connected with the traveling motor 64, the level indicator 72 is arranged in the hopper overturning box 21, and the obstacle avoidance sensor 73 is arranged on two corners at the rear part of the machine body 1 and two corners at the front part of the cleaning mechanism 4;
the battery system 8 comprises a storage battery 81, a charging interface 82 and a battery electric quantity monitoring module 83 are connected to the storage battery 81, the storage battery 81 is electrically connected with the overturning motor 22-3, the lifting motor 32-1, the cleaning motor 42-1, the lifting motor 51-2, the walking motor 64, the level indicator 72, the obstacle avoidance sensor 73 and the controller 71 respectively, the charging interface 82 is arranged on the side portion of the machine body 1, and the battery electric quantity monitoring module 83 is electrically connected with the controller 71.
The device also comprises a detection system, wherein the detection system is used for detecting and measuring the content of PM2.5, ammonia gas and methane in the air, and the temperature and the humidity.
The push plate 22-7 is provided with a threaded lantern ring 22-7-1 and a hinged ring 22-7-2, the push plate 22-7 is sleeved on the screw rod through the threaded lantern ring 22-7-1, and the lacing wire 22-8 is hinged with the push plate 22-7 through the hinged ring 22-7-2.
The overturning transmission assembly 22 further comprises a limit switch, the limit switch is arranged on the machine body 1, and the limit switch is electrically connected with the overturning motor 22-3; the walking assembly 23 further comprises a group of buffer columns 23-4, and the buffer columns 23-4 are arranged above the front portion of the walking track 23-1.
The lower feed inlet of the lifting channel 31 is provided with an arc-shaped feed delivery chute 31-2, and the upper discharge outlet is provided with a guide chute 31-3; the arc-shaped material conveying groove 31-2 is communicated with the manure outlet 44-1; the material guide groove 31-3 comprises a bottom plate 31-3-1 provided with a strip-shaped hole and a triangular side plate 31-3-2, and the included angle between the bottom plate 31-3-1 and the lifting channel 31 is 90 degrees; the included angle between the lifting channel 31 and the horizontal plane is 45-60 degrees.
The lower part of the lifting channel 31 is provided with a supporting roller 31-4, a plurality of supporting plates 31-5 are connected between two side walls in the lifting channel 31, a pressure sensor is arranged on the supporting roller 31-4 and is electrically connected with a signal input end of the controller 71, and the lifting motor 51-2 is electrically connected with a signal output end of the controller 71.
The transmission connecting assembly 32-7 is a transmission wheel/transmission belt combination or a transmission chain wheel/transmission chain combination; the obstacle avoidance sensor 73 is one or more of a visual sensor, an ultrasonic sensor, an infrared sensor and a laser sensor.
The walking track 23-1 is a group of oppositely arranged groove-shaped tracks, and the walking track 23-1 comprises a horizontal part 23-1-1, an arc part 23-1-2 and an inclined part 23-1-3 which are connected in sequence.
The driving wheel shaft 32-2 is arranged on the lifting channel 31-1 through an adjusting installation seat 32-8, the adjusting installation seat 32-8 comprises a C-shaped groove 32-8-1, the bottom of the C-shaped groove 32-8-1 is provided with a strip-shaped hole, a bearing support plate 32-8-2 is embedded in the C-shaped groove 32-8-1, a bearing 32-8-3 is embedded in the bearing support plate 32-8-2, one end of the C-shaped groove 32-8-1 is fixedly provided with a first boss 32-8-4 with a threaded hole, one side of the bearing support plate 32-8-2 is fixedly provided with a second boss 32-8-5 with a threaded hole, and the first boss is connected with the second boss 32-8-5 through an adjusting bolt 32-8-6, the C-shaped groove 32-8-1 is installed on the side wall of the lifting channel 31-1 through a screw, the strip-shaped hole of the C-shaped groove 32-8-1 is aligned with the strip-shaped hole of the side wall of the lifting channel 31-1, and the bearing 32-8-3 is connected with the driving wheel shaft 32-2.
The chain is a roller chain, and rollers 32-6-1 are arranged on sleeves of the roller chain.
Claims (10)
1. The utility model provides an automatic dodge cow dung clearance and collection robot, includes fuselage (1), tipping bucket mechanism (2), hoist mechanism (3), clearance mechanism (4), elevating system (5), running gear (6), intelligent control system (7) and battery system (8), its characterized in that:
the tipping bucket mechanism (2) comprises a tipping bucket box (21) arranged above the machine body (1), and a turning transmission assembly (22) and a walking assembly (23) which are arranged between the tipping bucket box (21) and the machine body (1), wherein the turning transmission assembly (22) comprises a lead screw base plate (22-1) fixedly arranged on the upper side of the machine body (1), one end of the lead screw base plate (22-1) is provided with a turning motor mounting seat (22-2), a turning motor (22-3) is arranged on the turning motor mounting seat (22-2), two turning lead screw supporting seats (22-4) are respectively arranged at two ends of the lead screw base plate (22-1), a turning lead screw (22-5) is arranged between the two turning lead screw supporting seats (22-4), one end of the turning lead screw (22-5) is connected with the power output end of the turning motor (22-3) through a coupler (22-6), a push plate (22-7) is sleeved on the overturning lead screw (22-5), the push plate (22-7) is in threaded connection with the overturning lead screw (22-5), the push plate (22-7) is hinged with at least one tie bar (22-8), the other end of the tie bar (22-8) is hinged with a transverse bar (22-9), and the transverse bar (22-9) is fixedly installed at the bottom of the hopper overturning box (21); the walking assembly (23) comprises a group of walking rails (23-1) arranged on the machine body (1) and a plurality of groups of walking rollers (23-2) matched with the walking rails (23-1), and the walking rollers (23-2) are arranged at the bottom of the hopper box (21) through roller seats (23-3);
the lifting mechanism (3) comprises a lifting mechanism body (31), a lifting transmission assembly (32), a material lifting hopper (33) and two groups of chain supports (34), wherein the lifting transmission assembly (32), the material lifting hopper (33) and the two groups of chain supports (34) are arranged in the lifting mechanism body (31), the lifting transmission assembly (31) comprises a lifting channel (31-1), the lifting channel (31-1) is obliquely arranged, an upper discharge port of the lifting channel (31-1) is positioned right above the hopper turning box (21), the lifting transmission assembly (32) comprises a lifting motor (32-1), a driving wheel shaft (32-2) arranged at the upper end of the lifting channel (31-1), a driven wheel shaft (32-3) arranged at the lower end of the lifting channel (31-1), a driving wheel shaft (32-4) arranged on the driving wheel shaft (32-2), a driven wheel (32-5) arranged on the driven wheel shaft (32-3), chains (32-6) connected to the driving wheel shaft (32-4) and the driven wheel (32-5), a power output end of the lifting motor (32-1) and the driving wheel shaft (32-2) are connected with two groups of the chain supports (33-2) through transmission connection assemblies (32-7), the two groups of the chain supports (33-3), the two groups of chain supports (31-2) are respectively arranged in parallel to the two groups of the material lifting transmission assemblies (31-34), the two groups of the material lifting transmission assemblies (31-2), the two groups of the material lifting transmission assemblies (32-3), the two groups of chain supports (31-2) are respectively arranged in the two groups of chain supports (33-3), the two groups of chain supports (33-3) and the two groups of the two groups;
the cleaning mechanism (4) comprises an auger mounting frame (41), a cleaning transmission assembly (42), a cleaning auger (43) and a dung guide plate (44), the auger mounting frame (41) comprises a horizontally arranged fixed plate (41-1), a mounting plate (41-2) vertically connected below two ends of the fixed plate (41-1), a connecting plate (41-3) arranged in the middle above the fixed plate (41-1) and reinforcing ribs (41-4) arranged on the connecting plate (41-3), and the fixed plate (41-1) is mounted on the lower part of the front wall of the lifting channel (31-1) through the connecting plate (41-3); the cleaning transmission assembly (42) comprises a cleaning motor (42-1) and a rotating shaft (42-2), the cleaning motor (42-1) is arranged above the fixed plate (41-1), two ends of the rotating shaft (42-2) are respectively installed on the installation plates (41-2) at two ends of the fixed plate (41-1) through bearings, a transmission wheel (42-3) is fixedly arranged in the middle of the rotating shaft (42-2), and a power output end of the cleaning motor (42-1) is in transmission connection with the transmission wheel (42-3) through a transmission belt (42-4); a group of cleaning packing augers (43) are oppositely sleeved on the rotating shaft (42-2) in a mirror image mode by taking the driving wheel (42-3) as a mirror image shaft, and each cleaning packing auger (43) comprises a packing auger sleeve (43-1) and a packing auger blade (43-2) arranged on the packing auger sleeve (43-1); the excrement guide plate (44) is an arc-shaped plate connected to the lower portion of the rear end of the fixing plate (41-1), the groove of the arc-shaped plate faces one side where the fixing plate (41-1) is located, an excrement outlet (44-1) is formed in the middle of the excrement guide plate (44), and the excrement outlet (44-1) is communicated with a lower feeding hole of the lifting channel (31-1);
the lifting mechanism (5) comprises a lifting transmission assembly (51) and a guide assembly (52), the lifting transmission assembly (51) comprises a lifting motor base (51-1) arranged on the machine body (1), a lifting motor (51-2) is arranged on the lifting motor base (51-1), the power output end of the lifting motor (51-2) is connected with a lifting screw (51-3), the lifting screw (51-3) is arranged between a group of lifting screw supporting bases (51-4), a lifting block (51-5) is sleeved on the lifting screw (51-3), the lifting block (51-5) is in threaded connection with the lifting screw (51-3), and the lifting block (51-5) is fixedly connected with a bottom plate (31-3-1) of the lifting channel (31-1); the guide assembly (52) comprises a guide rail (52-1) arranged on the machine body (1) and a guide sliding block (52-2) matched with the guide rail (52-1) for use, and the guide sliding block (52-2) is fixedly connected with the lifting channel (31-1);
the travelling mechanism (6) comprises two driving travelling wheels (61) and two follow-up travelling wheels (62), the two driving travelling wheels (61) are independently arranged on two sides of the front part of the machine body (1) through two connecting shafts (63), a travelling motor (64) is independently connected to each travelling wheel, and the two follow-up travelling wheels (62) are arranged on two sides of the rear part of the machine body (1) through travelling wheel seats (65);
the intelligent control system (7) comprises a controller (71), a material level meter (72) and an obstacle avoidance sensor (73), wherein a wireless control module is arranged in the controller (71), the wireless control module is interconnected with a mobile terminal through a cloud server, the wireless control module can be controlled through the mobile terminal, the signal input end of the controller (71) is electrically connected with the material level meter (72) and the obstacle avoidance sensor (73) respectively, the signal output end of the controller (71) is electrically connected with a traveling motor (64), the material level meter (72) is arranged in the hopper overturning box (21), and the obstacle avoidance sensor (73) is arranged on two corners at the rear part of the machine body (1) and two corners at the front part of the cleaning mechanism (4);
the battery system (8) comprises a storage battery (81), the storage battery (81) is connected with a battery electric quantity monitoring module (83), the storage battery (81) is respectively electrically connected with a turnover motor (22-3), a lifting motor (32-1), a cleaning motor (42-1), a lifting motor (51-2), a walking motor (64), a material level meter (72), an obstacle avoidance sensor (73) and a controller (71), a charging interface (82) is arranged on the side portion of the machine body (1), and the battery electric quantity monitoring module (83) is electrically connected with the controller (71).
2. The automatic avoiding cow dung cleaning and collecting robot as claimed in claim 1, further comprising a detection system for detecting and measuring PM2.5, ammonia, methane content, temperature and humidity in the air.
3. The robot for automatically avoiding and cleaning cow dung according to claim 1, wherein a threaded sleeve ring (22-7-1) and a hinged ring (22-7-2) are arranged on the push plate (22-7), the push plate (22-7) is sleeved on the lead screw through the threaded sleeve ring (22-7-1), and the lacing wire (22-8) is hinged with the push plate (22-7) through the hinged ring (22-7-2).
4. The robot for automatically avoiding the cow dung to be cleaned and collected according to claim 1, wherein the overturning transmission assembly (22) further comprises a limit switch, the limit switch is mounted on the body (1), and the limit switch is electrically connected with an overturning motor (22-3); the walking assembly (23) further comprises a group of buffer columns (23-4), and the buffer columns (23-4) are arranged above the front portion of the walking track (23-1).
5. The robot for automatically avoiding and cleaning cow dung according to claim 1, wherein the lifting channel (31-1) is provided with an arc-shaped material conveying chute (31-2) at a lower feeding hole and a material guide chute (31-3) at an upper discharging hole; the arc-shaped material conveying groove (31-2) is communicated with the feces outlet (44-1); the material guide groove (31-3) comprises a bottom plate (31-3-1) provided with strip-shaped holes and triangular side plates (31-3-2), and an included angle between the bottom plate (31-3-1) and the lifting channel (31-1) is 90 degrees; the included angle between the lifting channel (31-1) and the horizontal plane is 45-60 degrees.
6. The robot for automatically avoiding cow dung to be cleaned and collected according to claim 1, wherein a supporting roller (31-4) is disposed at a lower portion of the lifting channel (31-1), a plurality of supporting plates (31-5) are connected between two side walls in the lifting channel (31-1), a pressure sensor is disposed on the supporting roller (31-4), the pressure sensor is electrically connected with a signal input end of the controller (71), and the lifting motor (51-2) is electrically connected with a signal output end of the controller (71).
7. The automatic avoidance cow dung cleaning and collecting robot according to claim 1, wherein the transmission connection assembly (32-7) is a transmission wheel/transmission belt combination or a transmission chain wheel/transmission chain combination; the obstacle avoidance sensor (73) is one or more of a visual sensor, an ultrasonic sensor, an infrared sensor and a laser sensor.
8. The automatic avoiding cow dung cleaning and collecting robot according to claim 1, wherein the walking rails (23-1) are a set of oppositely arranged groove-shaped rails, and the walking rails (23-1) comprise a horizontal part (23-1-1), an arc-shaped part (23-1-2) and an inclined part (23-1-3) which are connected in sequence.
9. The automatic avoiding cow dung cleaning and collecting robot as claimed in claim 1, wherein the driving wheel shaft (32-2) is mounted on the lifting channel (31-1) through an adjusting mounting seat (32-8), the adjusting mounting seat (32-8) comprises a C-shaped groove (32-8-1), the bottom of the C-shaped groove (32-8-1) is provided with a strip-shaped hole, a bearing support plate (32-8-2) is embedded in the C-shaped groove (32-8-1), a bearing (32-8-3) is embedded in the bearing support plate (32-8-2), one end of the C-shaped groove (32-8-1) is fixedly provided with a first boss (32-8-4) with a threaded hole, one side of the bearing support plate (32-8-2) is fixedly provided with a second boss (32-8-5) with a threaded hole, the first boss is connected with the second boss (32-8-5) through an adjusting bolt (32-8-6), the C-shaped groove (32-8-1) is installed on the side wall of the lifting channel (31-1) through a screw, the strip-shaped hole of the C-shaped groove (32-8-1) is aligned with the strip-shaped hole of the side wall of the lifting channel (31-1), and the bearing (32-8-3) is connected with the driving wheel shaft (32-2).
10. The automatic avoiding cow dung cleaning and collecting robot according to claim 1, wherein the chain is a roller chain, and rollers (32-6-1) are provided on a sleeve of the chain.
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| CN202010268731.XA CN111406656A (en) | 2020-04-08 | 2020-04-08 | Automatic avoidance cow dung cleaning and collecting robot |
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| CN202010268731.XA CN111406656A (en) | 2020-04-08 | 2020-04-08 | Automatic avoidance cow dung cleaning and collecting robot |
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