CN113439667B - Pig house cleaning robot - Google Patents
Pig house cleaning robot Download PDFInfo
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- CN113439667B CN113439667B CN202110786787.9A CN202110786787A CN113439667B CN 113439667 B CN113439667 B CN 113439667B CN 202110786787 A CN202110786787 A CN 202110786787A CN 113439667 B CN113439667 B CN 113439667B
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- brush
- fixedly arranged
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- robot body
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
- A01K1/0128—Removal of dung or urine, e.g. from stables by means of scrapers or the like moving continuously
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention provides a pigsty cleaning robot which comprises a robot body, a walking mechanism, an actuating mechanism, a navigation system and a control system, wherein the walking mechanism comprises four omnidirectional wheels which are 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 assemblies, the navigation system comprises a plurality of sensors which are fixedly arranged on the robot body, the sensors are in communication connection with the control system, and the walking mechanism and the actuating mechanism are controlled to act through the control system. In order to enhance the applicability of the conventional pigsty cleaning robot to a dung leaking floor environment, improve the cleaning efficiency and increase the function of detecting the body temperature of a pig in the dung cleaning working process, the pigsty cleaning robot is provided. The pigsty cleaning machine is convenient to use, thorough in cleaning, energy-saving and environment-friendly, can realize a full-automatic pigsty cleaning mode, greatly improves the working efficiency, and improves the environmental conditions of the pigsty.
Description
Technical Field
The invention relates to a pigsty cleaning robot, and belongs to the technical field of electromechanical integrated animal husbandry intelligent equipment.
Background
At present, in the animal husbandry developed based on the modern agricultural background, manual labor is mostly used as service support, semi-automatic service equipment is introduced into a small number of animal husbandry places with large scales, and for piggery cleaning work in large-scale pig farms, cleaning is still performed by manually using tools and consuming a large amount of water resources, so that the piggery cleaning work can be performed cleanly, the time consumption is long, the cost is high, and the efficiency is low.
The invention patent application with the application number of 201910394013.4 discloses a pigsty manure cleaning robot, which can replace manual work to clean pigsties, but according to the content disclosed in the specification and the specification drawings, the pigsty manure cleaning robot cleans manure by pushing and brushing groups on a machine body, partial manure can fall into a manure leaking floor, larger granular manure is required to be cleaned to a designated area, so that the manure which cannot be cleaned into the pigsties with the manure leaking floor is remained, the cleaning work is not thorough, and the applicability of the pigsties cleaning robot to the existing pigsties is reduced.
Disclosure of Invention
The invention provides a pigsty cleaning robot, aiming at enhancing the applicability of the existing pigsty cleaning robot to a pigsty in a dung leaking floor environment, further improving the cleaning efficiency and adding a function of detecting the body temperature of a pig in the dung cleaning process.
The invention provides a pigsty cleaning robot, which comprises a robot body, a walking mechanism, an actuating mechanism, a navigation system and a control system, wherein the walking mechanism comprises four omnidirectional wheels which are 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 which are fixedly arranged on the robot body, the sensors are in communication connection with the control system, the walking mechanism and the actuating mechanism are controlled to act through the control system,
actuating mechanism includes vertical electronic slip table of adorning in the robot body bottom admittedly, adorns elevator motor in electronic slip table upper end admittedly, adorns the brush yoke on the slider A of electronic slip table admittedly and adorns the brush body subassembly on the brush yoke admittedly, the brush body subassembly is including rotating the preceding round brush of connecting at the tie-beam before the brush yoke, rotating the connection and can stretching out middle round brush, adorn the tail brush at the tie-beam rear end behind the brush yoke in the brush yoke admittedly to and adorn the scraper blade on the round brush baffle admittedly.
Preferably, the robot body includes by last to lower in proper order parallel arrangement and through first mounting panel, second mounting panel and the bottom plate of a plurality of hoist and mount pillar rigid coupling, and the outside of robot body covers and is equipped with the automobile body dustcoat, and the below of automobile body dustcoat is fixed with down the protection casing, fixed sensor protection casing in the top of automobile body dustcoat and last protection casing, go up the protection casing top and adorn a T type temperature measurement bracing piece admittedly, two temperature measurement camera lens symmetries are adorned admittedly in the temperature measurement bracing piece left and right sides, and a plurality of rings bolts pass sensor protection casing and hoist and mount pillar threaded connection, and the terminal row is adorned admittedly on first mounting panel, and remote control module, group battery, PLC expansion module and PLC control module are adorned admittedly on the second mounting panel, and one-dimensional laser sensor, motor driver, step motor, spring screw and motor reducer subassembly are all adorned on the bottom plate admittedly.
Preferably, the electric sliding table is provided with two sliding blocks, wherein the sliding block A is fixedly arranged on a screw nut, the sliding block B floats, a compression spring penetrates through a screw shaft between the two sliding blocks, and the brush holder is fixedly arranged on the sliding block B; the lower portion of the floating plate is fixedly connected with the brush holder, a long round hole is formed in the upper portion of the floating plate, a limiting bolt penetrates through the long round hole in the floating plate to be fixedly connected with the sliding block A, the floating plate moves up and down along with the sliding block B, and the moving amplitude is controlled by a compression spring and the limiting bolt.
Preferably, a ball bearing is embedded between the front rotary shaft seat and the front connecting beam of the brush holder, the front rolling brush is fixedly arranged below the front rotary shaft seat, and the front rolling brush rotates along the axis of the front connecting beam of the brush holder.
Preferably, the brush holder rear connecting beam is fixedly connected with the brush holder middle beam, the tail end of the brush holder rear connecting beam is connected with the tail brush, and the middle rolling brush and the tail brush rotate along the axis of the brush holder middle beam.
Preferably, the front connecting beam of the brush holder is fixedly connected with a front balance plate, the middle beam of the brush holder is fixedly provided with a middle brush balance plate, and the front balance plate is connected with the front rotary shaft seat, the middle brush balance plate and the middle brush fixing plate by tension springs and used for limiting the rotation amplitude of the front rolling brush, the middle rolling brush and the tail brush.
Preferably, a rolling brush front baffle and a rolling brush rear baffle are fixedly arranged at the front and the rear of the front rotary shaft seat, a front scraper is fixed below the rolling brush rear baffle, side baffles are arranged at two sides of the rolling brush rear baffle, a middle scraper is fixed below the middle brush baffle, and a floating scraper is fixed below the floating baffle.
Preferably, the front rolling brush and the middle rolling brush are an assembly of a long cylinder, special bristles are embedded in the outer wall of the assembly, and a roller motor is fixedly connected to the center of the assembly, and the extending shafts of the roller motors of the front rolling brush and the middle rolling brush are fixedly connected with the front rotary shaft seat and the middle brush fixing plate respectively.
Preferably, the driving assembly comprises a motor reducer assembly, a positioning connecting plate, two linear sliding seats, two guide pillars and two spring screws, wherein the positioning connecting plate is fixedly connected with the motor reducer assembly, the omni wheel corresponds to rotate through the motor reducer assembly, the two linear sliding seats are respectively arranged on two sides of the motor reducer assembly and are fixedly connected with the positioning connecting plate, the two linear sliding seats correspond to the two guide pillars and are sleeved on the two guide pillars in a sliding mode, the upper portion of each guide pillar is fixedly arranged at the bottom of the robot body in a penetrating mode, the two spring screws are arranged side by side, the top of each spring screw is fixedly connected with the bottom of the robot body, the bottom of each spring screw is vertically arranged on the positioning connecting plate in a sliding mode, and a compression spring is sleeved on the spring screw between the bottom end of the robot body and the positioning connecting plate.
Preferably, the navigation system comprises a magnetic navigation sensor, three photoelectric sensors, two-dimensional laser sensors, four one-dimensional laser sensors and a label recognition lens, wherein one-dimensional laser sensor is fixedly mounted at the rear part of the robot body through a photoelectric support, the other three one-dimensional laser sensors are fixedly mounted at the front part of the robot body through a photoelectric support, the two-dimensional laser sensor, the photoelectric sensors and the label recognition lens are fixedly mounted at the upper part of the robot body, a sensor protection cover is covered outside the two-dimensional laser sensor, an upper protection cover is covered outside the photoelectric sensors, and the magnetic navigation sensor is arranged close to the front rolling brush and fixedly connected with the bottom end of the robot body.
The pigsty cleaning robot has the beneficial effects that:
1. the invention can crush the excrement in the pigsty through the rapid rotation of the two rolling brushes, and the crushed excrement part directly passes through the notch of the excrement-leaking floor under the cavity formed by the baffles, the guard plates and the scraping plates, and the crushed excrement part is cleaned to the notch of the excrement-leaking floor through the scraping plates and the tail brushes and falls into a trench under the floor, thereby realizing the in-situ crushing and cleaning of the excrement in the pigsty; protractile middle round brush can clear up the special position that pig farm rail bottom and some automobile bodies can't be pressed close to, for the faecal clearance of sow house rail department, has strengthened the environment suitability of clearance robot, has effectively promoted the cleaning ability and the work efficiency of robot.
2. According to the invention, the up-and-down lifting and the small-range up-and-down floating of the brush holder are realized in a combined mode of the double sliding blocks, the compression springs and the floating plates on the sliding table, and the contact pressure of the rolling brush and the tail brush on the ground is maintained.
3. The robot front rotary shaft seat is rotatably connected with the brush holder front connecting beam, the brush holder is rotatably connected with the middle brush fixing plate, and the front balance plate is connected with the front rotary shaft seat and the middle brush balance plate is connected with the middle brush fixing plate through the tension springs, so that the left and right deflection of the front rolling brush, the middle rolling brush and the tail brush is realized.
4. The invention detects the body temperature of the pigs around the robot through the temperature measuring lens, and provides effective assistance for the disease epidemic prevention work of the pigs.
5. The pigsty cleaning machine is convenient to use, thorough in cleaning, energy-saving and environment-friendly, can realize a full-automatic pigsty cleaning mode, improves the working efficiency to a great extent, and improves the environmental conditions of the pigsty.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a perspective view of the present application (with the brush assembly extended);
FIG. 2 is a perspective view of the present application (with the brush assembly retracted);
fig. 3 is a schematic perspective view of the present application (a state in which a vehicle body cover is not shown);
FIG. 4 is a schematic view of the bottom internal structure of the robot;
FIG. 5 is a schematic view of a first perspective structure of the brush assembly;
FIG. 6 is a second perspective view of the brush assembly;
FIG. 7 is a third perspective view of the brush assembly;
FIG. 8 is a schematic bottom view of the travel mechanism;
FIG. 9 is a front view of the drive assembly;
FIG. 10 is a perspective view of the driving assembly;
wherein, 1-omnidirectional wheel, 2-electric slipway, 3-lifting motor, 4-brush holder, 4-1-brush holder front connecting beam, 4-2-brush holder middle beam, 4-3-brush holder rear connecting beam, 5-1-front rolling brush, 5-2-middle rolling brush, 5-3-tail brush, 5-4-middle brush fixing plate, 5-5-push rod telescopic frame, 5-6-front rotary shaft seat, 5-7-front balancing plate, 5-8-middle brush balancing plate, 6-1-rolling brush front baffle, 6-2-rolling brush rear baffle, 6-3-middle brush baffle, 6-4-floating baffle, 7-1-front scraper, 7-2-middle scraper, 7-3-floating scrapers, 8-nested bearings, 9-1-tension spring, 9-2-tension spring, 10-floating plate, 11-compression spring, 13-rail slide, 13-1-rail, 13-2-rail upper slide, 14-1-electric push rod, 14-2-electric push rod, 15-three-section slide rail, 17-round nut, 23-motor reducer assembly, 24-positioning connection plate, 25-linear slide, 26-guide pillar, 27-spring screw, 28-locknut, 29-PLC control module, 30-PLC expansion module, 31-remote control module, 32-terminal block, 33-motor driver, 34-battery pack, 35-charging plug, 36-emergency stop switch, 37-photoelectric sensor, 38-two-dimensional laser sensor, 39-magnetic navigation sensor, 40-one-dimensional laser sensor, 41-photoelectric support, 42-sensor shield, 43-upper shield, 44-hoisting support, 45-first mounting plate, 46-second mounting plate, 47-bottom plate, 48-vehicle body outer cover, 49-lower shield, 50-lifting bolt, 51-temperature measurement support rod, 52-buffer rod, 53-label identification lens, 54-temperature measurement lens and 55-information display screen.
Detailed Description
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
the first specific implementation way is as follows: the present embodiment is explained with reference to fig. 1 to 10. The pigsty cleaning robot comprises a robot body, a walking mechanism, an actuating mechanism, a navigation system and a control system, wherein the walking mechanism comprises four omnidirectional wheels 1 which are uniformly distributed along the circumferential direction of the bottom surface of the robot body, each two omnidirectional wheels 1 adjacent to each other are arranged in a splayed shape, each omnidirectional wheel 1 provides power through a group of driving components, the navigation system comprises a plurality of sensors which are fixedly arranged on the robot body, the sensors are in communication connection with the control system, the walking mechanism and the actuating mechanism are controlled to act through the control system,
the executing mechanism comprises an electric 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 electric sliding table 2, a brush frame 4 fixedly arranged on a sliding block A of the electric sliding table 2 and a brush body assembly fixedly arranged on the brush frame 4, wherein the brush body assembly comprises a front rolling brush 5-1 rotatably connected to a front connecting beam 4-1 of the brush frame, a middle rolling brush 5-2 rotatably connected below a middle beam 4-2 of the brush frame and capable of extending, a tail brush 5-3 fixedly arranged at the rear end of the rear connecting beam 4-3 of the brush frame and a scraper 7 fixedly arranged on a rolling brush baffle 6.
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 hoisting support columns 44, a vehicle body outer cover 48 covers the outside of the robot body, a lower protective cover 49 is arranged below the vehicle body outer cover 48, a sensor protective cover 42 and an upper protective cover 43 are sequentially arranged at the top end of the vehicle body outer cover 48, a T-shaped temperature measurement supporting rod 51 is fixedly arranged at the top of the upper protective cover 43, two temperature measurement lenses 54 are symmetrically and fixedly arranged on the left side and the right side of the temperature measurement supporting rod 51, and the lenses face the outer side of the robot and irradiate downwards at a certain angle with the horizontal direction. A plurality of eye bolts 50 are sequentially threaded through the upper edge of the outer cover 48 and the sensor shield 42 to the lifting struts 44. The terminal block 32 is fixedly arranged 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 arranged on the second mounting plate 46, and the one-dimensional laser sensor 40, the motor driver 33, the stepping motor, the spring screw 27 and the motor reducer assembly 23 are fixedly arranged on the bottom plate 47. The temperature measuring lens 54 is used for detecting the body temperature of the pig.
The electric sliding table 2 is provided with two sliding blocks, wherein the sliding block A is fixedly arranged on a lead screw nut, the sliding block B floats, a compression spring 11 penetrates through a lead screw shaft between the two sliding blocks, and the brush holder 4 is fixedly arranged on the sliding block B; the lower part of the floating plate 10 is fixedly connected with the brush holder 4, a long round hole is formed in the upper part of the floating plate 10, a limiting bolt penetrates through the long round hole in the floating plate 10 to be fixedly connected with the sliding block A, the floating plate 10 moves up and down along with the sliding block B, and the moving amplitude is controlled by the compression spring 10 and the limiting bolt.
A ball bearing 8 is embedded between the front rotary shaft seat 5-6 and the brush holder front connecting beam 4-1, a front rolling brush 5-1 is fixedly arranged below the front rotary shaft seat 5-6, and the front rolling brush 5-1 rotates along the axis of the brush holder front connecting beam 4-1.
The brush frame middle beam 4-2 is fixedly connected at the rear middle position of the brush frame 4, a ball bearing 8 is embedded between the middle brush fixing plate 5-4 and the brush frame middle beam 4-2, a guide rail 13-1 is fixedly arranged below the middle brush fixing plate 5-4, a guide rail upper slide block 13-2 is connected with the push rod expansion bracket 5-5, the middle rolling brush 5-2 is fixedly arranged below the push rod expansion bracket 5-5, the upper part of the push rod expansion bracket 5-5 is hinged with the extending end of a first electric push rod 14-1, the supporting end of the first electric push rod 14-1 is hinged with the middle brush fixing plate 5-4, and the tail end of the push rod expansion bracket 5-5 is fixedly connected with the floating baffle 6-4; the middle brush baffle 6-3 is fixedly arranged below the middle brush fixing plate 5-4, 2 groups of three-section sliding rails 15 are fixedly arranged between the floating baffle 6-4 and the middle brush baffle 6-3, the floating baffle 6-4, the push rod telescopic frame 5-5 and the middle rolling brush 5-2 realize the sliding in the horizontal direction through the guide rail sliding block 13, and the stretching of the first electric push rod 14-1 drives the middle rolling brush 5-2 to extend and retract.
The brush frame rear connecting beam 4-3 is fixedly connected with the brush frame middle beam 4-2, the tail end of the brush frame rear connecting beam is connected with the tail brush 5-3, and the middle rolling brush 5-2 and the tail brush 5-3 rotate along the axis of the brush frame middle beam 4-2.
The brush frame front connecting beam 4-1 is fixedly connected with a front balance plate 5-7, a middle brush balance plate 5-8 is fixedly arranged on a brush frame middle beam 4-2, and the front balance plate 5-7 is connected with a front rotary shaft seat 5-6, the middle brush balance plate 5-8 and a middle brush fixing plate 5-4 through tension springs and used for limiting the rotation amplitude of the front rolling brush 5-1, the middle rolling brush 5-2 and the tail brush 5-3.
A front rolling brush baffle 6-1 and a rear rolling brush baffle 6-2 are fixedly arranged at the front and the rear of the front rotating shaft seat 5-6, a front scraper 7-1 is fixed below the rear rolling brush baffle, side baffles are arranged at two sides of the rear rolling brush baffle 6-2, and a middle scraper 7-2 and a floating scraper 7-3 are respectively and fixedly arranged at the rear of the middle rolling brush baffle 6-3 and the floating baffle 6-4.
The front rolling brush 5-1 and the middle rolling brush 5-2 are a long cylinder assembly with special bristles embedded in the outer wall and a roller motor fixedly connected at the center, and the extension shafts of the roller motors of the front rolling brush 5-1 and the middle rolling brush 5-2 are fixedly connected with a front rotary shaft seat 5-6 and a middle brush fixing plate 5-4 respectively.
The rolling brush can rapidly rotate to crush the excrement in the pigsty, and the crushed excrement partially directly passes through the notch of the excrement-leaking floor and partially is cleaned to the notch of the excrement-leaking floor through the scraping plate and the tail brush 5-3 and falls into a trench below the floor under a cavity formed by the baffles and the scraping plate, so that the in-situ crushing and cleaning of the excrement in the pigsty are realized; protractile middle round brush 5-2 can clear up the special position that pig farm rail bottom and some automobile bodies can't be close to, for example the faecal clearance of sow house rail department, has strengthened the environment suitability of clearance robot, effectively promotes the clearance ability and the work efficiency of robot.
The driving component comprises a motor reducer component 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 omnidirectional wheel 1 correspondingly rotates through the motor reducer assembly 23, the two linear sliding seats 25 are respectively arranged at 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 slidably sleeved on the two guide posts 26, the upper part of each guide post 26 is fixedly penetrated and installed 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 penetrated and installed on the positioning connecting plate 24 in a vertical sliding manner, and the bottom of each spring screw 27 is provided with a locknut 28, and the spring screw 27 between the bottom end of the robot body and the positioning connecting plate 24 is sleeved with a compression spring.
Due to the design, the springs on the spring screw 27 are buffer springs, the upper parts of the guide pillars 26 and the upper parts of the spring screws 27 are fixedly connected with the bottom of the robot body, the bottom end of the robot body is supported by four groups of driving assemblies under the elastic force action of the buffer springs, the pre-pressure of the springs can be adjusted through the locknuts 28, the wheel assemblies are prevented from toppling, and in the walking process, even if the ground is slightly uneven, the four omnidirectional wheels 1 can still be guaranteed to be in contact with the ground at the same time, so that the walking direction can be effectively controlled. This application drive 1 actions of omniwheel through motor reducer subassembly be prior art, no longer give unnecessary details here. The round copper bush that the straight line slide 25 in this application was inlayed and was established uses with guide pillar 26 cooperation, can realize the motion self-lubricating, and has life longer under excrement and urine, water, the gas corruption's environment in the pig house. Still vertical rigid coupling has buffer beam 52 on the location connecting plate 24, and the top and the robot body bottom contact of buffer beam 52, buffer beam 52 is a hydraulic buffer, relies on hydraulic damping to cushion the object that acts on it and slows down to stopping, plays certain degree's guard action, is one kind and prevents that hard collision from leading to the safe buffer that the mechanism damaged. The damping effect on the universal wheel is achieved by the damping rod 52.
The control system comprises a PLC control module 29, a PLC extension module 30, a remote control module 31, a terminal row 32, a motor driver 33, a battery pack 34, a charging plug 35, an emergency stop switch 36 and an information display screen 55, wherein the motor driver 33 is in communication connection with a driving assembly and the motor driver 33 is in communication connection with a lifting motor 3, the remote control module 31 is in communication connection with the PLC control module 29, the robot is powered through the battery pack 34, the charging plug 35 is fixed at the movable end of a second electric push rod 14-2, the charging plug is driven to extend out of the robot body or retract into the robot body through the telescopic action of the second electric push rod 14-2, and the battery pack 34 is charged through the charging plug 35; the emergency stop switch 36 is fixed outside the sensor protective cover 42 and controls the power on-off of the whole robot.
The navigation system comprises a magnetic navigation sensor 39, three photoelectric sensors 37, two-dimensional laser sensors 38, four one-dimensional laser sensors 40 and a label recognition lens 53, wherein one-dimensional laser sensor 40 is fixedly mounted at the rear part of the robot body through a photoelectric support 41, the other three one-dimensional laser sensors 40 are fixedly mounted at the front part of the robot body through the photoelectric support 41, the two-dimensional laser sensors 38, the photoelectric sensors 37 and the label recognition lens 53 are fixedly mounted at the upper part of the robot body, a sensor 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 arranged close to the front brush 5 and fixedly connected with the bottom end of the robot body.
By the design, the magnetic navigation sensor 39 is fixedly connected with the bottom end of the robot body through the sensor hoisting frame. Whether obstacles exist around the robot is detected through a photoelectric sensor 37, a two-dimensional laser sensor 38, a one-dimensional laser sensor 40 and the like, the distance and the direction between the obstacles and the robot are judged, whether the robot moves along a magnetic strip preset on the ground or not is detected through a magnetic navigation sensor 39, a label set in a pigsty is read through a label identification lens 53 to determine the current position, detection information is sent to a PLC (programmable logic controller) control module 29 through each sensor, the rotating speed and the direction of an omnidirectional wheel 1 are controlled, the movement or the rotation of the robot is further controlled, and the navigation positioning function of the robot is realized under the combined action of the sensors.
The brush body assembly comprises a front rolling brush 5-1 which is rotatably connected with the front connecting beam 4-1 of the brush frame and a tail brush 5-3 which is rotatably connected with the lower part of the middle beam 4-2 of the brush frame and can extend out of the middle rolling brush 5-2 and is fixedly arranged at the rear end of the rear connecting beam 4-3 of the brush frame.
The rolling brush baffle comprises a rolling brush front baffle 6-1 and a rolling brush rear baffle 6-2 which are fixedly arranged in front of and behind a front rotating shaft seat 5-6, side baffles 6-5 which are fixedly arranged on the left side and the right side of the rolling brush front baffle 6-1 and the rolling brush rear baffle 6-2, a middle brush baffle 6-3 which is fixedly arranged below a middle brush fixing plate, and a floating baffle 6-4 which is arranged below the middle brush baffle 6-3 in a sliding mode through 2 groups of three sections of sliding rails.
The scraper is provided with a polyurethane plate which has certain elasticity, wear resistance and corrosion resistance. Comprises a front scraper 7-1 fixedly arranged below a rear baffle 6-2 of the rolling brush, a middle scraper 7-2 fixedly arranged below a middle brush baffle 6-3 and a floating scraper 7-3 below a floating baffle 6-4.
The lifting motor 3 is mounted at the bottom of the robot body in a penetrating manner, and is preferably a stepping motor. The front end of the brush holder 4 is the front end of the robot in the advancing direction. The robot is circular structure, keeps away barrier ability reinforce.
When the robot cleans, the brush frame 4 is driven by the lifting motor 3, the sliding block drives the brush frame 4 and the brushes fixedly arranged on the brush frame to move downwards, and the pressure of the brush hairs on the ground is adjusted through the control system; after the cleaning operation is finished, the brush holder 4 is controlled to lift through the control system, so that the bristles are separated from the ground and run 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 by a driving assembly in the walking mechanism, so that the robot can start, stop, advance, retreat, rotate in place or walk in the side direction.
The front rolling brush 5-1 and the middle rolling brush 5-2 comprise brush hair, a fixed cylinder of the brush hair and a roller motor in the cylinder. The cleaning of a certain space outside the robot is realized through the middle rolling brush 5-2 which is arranged in a telescopic mode, and in a non-working state, the middle rolling brush 5-2 can be 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 middle rolling brush 5-2 in the application, the cleaning capacity and the working efficiency of the robot are effectively improved.
The robot brush holder 4 is connected with the rolling brush component through the nested bearing 8 and the tension spring 9, so that the rolling brush component deflects left and right; the combination of the double-slider electric sliding table 2, the floating plate 10 and the compression spring 11 realizes the up-and-down floating of the whole brush holder.
The brush hair of the tail brush 5-3 is obliquely arranged towards the rear of the advancing direction of the robot body. The brush bristles can be tightly attached to the ground, so that cleaning operation can be better completed, and the cleaning efficiency is further improved.
This application convenient to use, clearance thoroughly, energy-concerving and environment-protective, can realize the full automatization clearance mode of pig house, improved work efficiency at to a great extent, improved the environmental condition of pig house.
The working principle of the pigsty cleaning robot is as follows:
the application can realize an automatic unmanned management mode, and realizes remote Internet of things multi-machine cooperative work through APP software and robot hardware connection. 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 be that a task function can be completed according to a preset track by means of an AGV magnetic navigation system, the other mode can realize accurate remote control movement through a software positioning function, meanwhile, a PLC control module 29 is used as a core unit to realize accurate control on each motor, complete signal processing among sensors and coordinate logic relation among driving modules; the robot power source adopts an energy-saving and environment-friendly lithium battery pack 34, and the load can be driven for more than 3 hours after single charging for 8 hours; controlling the walking and turning of the robot by using a direct current speed reduction motor; the electric sliding table 2 and the first electric push rod 14-1 are used for controlling the brush plate to lift and stretch; the rolling brush is driven to lead the front and middle rolling brushes and the tail brush 5-3 to crush and clean the excrement on the ground. The brush carrier 4 arrangement mode of this application cleans efficiently, cleans effectually, and the using water wisely reduces workman's amount of labour, and degree of automation is high.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A pigsty cleaning robot is characterized by comprising a robot body, a walking mechanism, an actuating mechanism, a navigation system and a control system, wherein the walking mechanism comprises four omnidirectional wheels (1) which are uniformly distributed along the circumferential direction of the bottom surface of the robot body, each two omnidirectional wheels (1) adjacent to each other are arranged in a splayed shape, each omnidirectional wheel (1) provides power through a group of driving components, the navigation system comprises a plurality of sensors which are fixedly arranged on the robot body, the sensors are in communication connection with the control system, the walking mechanism and the actuating mechanism are controlled to act through the control system,
the executing mechanism comprises an electric 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 electric sliding table (2), a brush frame (4) fixedly arranged on the electric sliding table (2) and a brush body assembly fixedly arranged on the brush frame (4), wherein the brush body assembly comprises a front rolling brush (5-1) rotatably connected to a front connecting beam (4-1) of the brush frame, an extensible middle rolling brush (5-2) rotatably connected to the lower part of a middle beam (4-2) of the brush frame, a tail brush (5-3) fixedly arranged at the rear end of the rear connecting beam (4-3) of the brush frame and a scraping plate fixedly arranged on a rolling brush baffle plate;
the front rolling brush (5-1) and the middle rolling brush (5-2) are a long cylinder, the outer wall of the front rolling brush is embedded with brush hair, and the center of the front rolling brush (5-1) and the middle rolling brush (5-2) is fixedly connected with a roller motor extending shaft;
the robot comprises a robot body and a robot control system, wherein the robot body comprises a first mounting plate (45), a second mounting plate (46) and a bottom plate (47), the first mounting plate (45), the second mounting plate (46) and the bottom plate (47) are sequentially arranged in parallel from top to bottom and fixedly connected through a plurality of hoisting support columns (44), a terminal block (32) is fixedly arranged on the first mounting plate (45), a remote control module (31), a battery pack (34), a PLC (programmable logic controller) extension module (30) and a PLC control module (29) are fixedly arranged on the second mounting plate (46), and a one-dimensional laser sensor (40), a motor driver (33), a stepping motor (3), a spring screw (27) and a motor reducer assembly (23) are fixedly arranged on the bottom plate (47); the robot comprises a robot body, a sensor protection cover (42) and an upper protection cover (43), wherein a vehicle body outer cover (48) is covered outside the robot body, a lower protection cover (49) is arranged below the vehicle body outer cover (48), the top end of the vehicle body outer cover (48) is provided with the sensor protection cover (42) and the upper protection cover (43), a T-shaped temperature measurement supporting rod (51) is fixedly installed at the top of the upper protection cover (43), two temperature measurement lenses (54) are symmetrically and fixedly installed on the left side and the right side of the temperature measurement supporting rod (51), and a plurality of lifting ring bolts (50) penetrate through the sensor protection cover (42) and are in threaded connection with a hoisting support column (44);
the electric sliding table (2) is provided with a sliding block A and a sliding block B, the sliding block A is fixedly arranged on a lead screw nut, the sliding block B floats, a compression spring (11) penetrates through a lead screw shaft between the two sliding blocks, and the brush holder (4) is fixedly arranged on the sliding block B; the lower part of the floating plate (10) is fixedly connected with the brush holder (4), a long round hole is formed in the upper part of the floating plate (10), a limiting bolt penetrates through the long round hole in the floating plate (10) to be fixedly connected with the sliding block A, the floating plate (10) moves up and down along with the sliding block B, and the moving amplitude is controlled by a compression spring (11) and the limiting bolt.
2. The pigsty cleaning robot according to claim 1, characterized in that a ball bearing (8) is embedded between the brush holder front connecting beam (4-1) and the front rotary shaft seat (5-6), the front rolling brush (5-1) is fixedly arranged below the front rotary shaft seat (5-6), and the front rolling brush (5-1) rotates along the axis of the brush holder front connecting beam (4-1).
3. A pigsty cleaning robot as claimed in claim 1, characterized in that the brush holder rear connecting beam (4-3) is fixedly connected with the brush holder middle beam (4-2), the end of which is connected with the tail brush (5-3), and the middle rolling brush (5-2) and the tail brush (5-3) rotate along the axis of the brush holder middle beam (4-2).
4. The pigsty cleaning robot according to claim 1, characterized in that a front balance plate (5-7) is fixedly connected to the brush holder front connecting beam (4-1), a middle brush balance plate (5-8) is fixedly arranged on the brush holder middle beam (4-2), and the front balance plate (5-7) and the front rotary shaft seat (5-6), the middle brush balance plate (5-8) and the middle brush fixing plate (5-4) are connected by tension springs.
5. The pigsty cleaning robot according to claim 1, characterized in that a rolling brush front baffle (6-1) and a rolling brush rear baffle (6-2) are fixedly arranged in front and at back of the front rotary shaft seat (5-6), a front scraper (7-1) is fixed below the rolling brush rear baffle (6-2), side baffles are arranged at two sides of the rolling brush rear baffle (6-2), a middle scraper (7-2) is fixed below the middle brush baffle (6-3), and a floating scraper (7-3) is fixed below the floating baffle (6-4).
6. The pigsty cleaning robot according to claim 1, characterized in that 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 omnidirectional wheel (1) correspondingly rotates through the motor reducer assembly (23), the two linear sliding seats (25) are respectively arranged at 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 slidably sleeved on the two guide posts (26), the upper part of each guide post (26) is fixedly penetrated at the bottom of the robot body, the two spring screws (27) are arranged side by side, and the top of each spring screw (27) is fixedly connected with the bottom of the robot body, the bottom of each spring screw (27) penetrates through the positioning connecting plate (24) in a sliding mode up and down, and a compression spring is sleeved on the spring screw (27) between the bottom end of the robot body and the positioning connecting plate (24).
7. A pigsty cleaning robot as claimed in claim 1, wherein said navigation system comprises a magnetic navigation sensor (39), three photo sensors (37), two-dimensional laser sensors (38), four one-dimensional laser sensors (40) and a label recognition lens (53), one of the one-dimensional laser sensors (40) is fixedly arranged at the rear part of the robot body through a photoelectric bracket (41), the other three one-dimensional laser sensors (40) are fixedly arranged at the front part of the robot body through a photoelectric bracket (41), the two-dimensional laser sensor (38), the photoelectric sensor (37) and the label identification lens (53) are fixedly arranged at the upper part of the robot body, a sensor protective cover (42) is covered outside the two-dimensional laser sensor (38), an upper protective cover (43) is covered outside the photoelectric sensor (37), the magnetic navigation sensor (39) is arranged close to the front rolling brush (5-1) and is fixedly connected with the bottom end of the robot body.
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| CN202110786787.9A CN113439667B (en) | 2021-07-12 | 2021-07-12 | Pig house cleaning robot |
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| CN202110786787.9A CN113439667B (en) | 2021-07-12 | 2021-07-12 | Pig house cleaning robot |
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| CN113439667B true CN113439667B (en) | 2022-05-10 |
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| CN114518724B (en) * | 2022-01-28 | 2023-04-28 | 弥费科技(上海)股份有限公司 | Communication device and communication mode suitable for AMHS |
| CN115493236A (en) * | 2022-08-31 | 2022-12-20 | 北京佳沃天河智能科技有限公司 | Remote control atomization disinfection robot |
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