CN114711151A - Automatic avoid plant excrement and urine clearance and collection robot - Google Patents
Automatic avoid plant excrement and urine clearance and collection robot Download PDFInfo
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- CN114711151A CN114711151A CN202210200632.7A CN202210200632A CN114711151A CN 114711151 A CN114711151 A CN 114711151A CN 202210200632 A CN202210200632 A CN 202210200632A CN 114711151 A CN114711151 A CN 114711151A
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- 210000002700 urine Anatomy 0.000 title claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims abstract 4
- 230000005540 biological transmission Effects 0.000 claims description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 20
- 210000003608 fece Anatomy 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000007790 scraping Methods 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000012806 monitoring device Methods 0.000 claims description 6
- 239000010871 livestock manure Substances 0.000 claims description 5
- 241001465754 Metazoa Species 0.000 claims description 3
- 239000000645 desinfectant Substances 0.000 claims description 3
- 238000004659 sterilization and disinfection Methods 0.000 claims description 3
- 239000008223 sterile water Substances 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 34
- 230000006870 function Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 238000009395 breeding Methods 0.000 description 6
- 230000001488 breeding effect Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 244000144972 livestock Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 244000007853 Sarothamnus scoparius Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
- A01K1/0128—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; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K31/00—Housing birds
- A01K31/04—Dropping-boards; Devices for removing excrement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/20—Fertilizers of biological origin, e.g. guano or fertilizers made from animal corpses
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Animal Husbandry (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Chemical & Material Sciences (AREA)
- General Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Birds (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The invention provides a robot for cleaning and collecting excrement automatically avoiding a farm, which comprises a collecting device, a conveying device, a lifting device, a storage device, a frame, a walking device, an intelligent control system and a battery system. In the excrement cleaning process, the rotary scraper and the spiral scraper are utilized to gather excrement through the collecting device, and the conveying device is reused to lift the excrement into the storage device, so that the excrement is cleaned and collected. Simultaneously, through intelligence control system, this robot can carry out excrement and urine clearance to the plant according to predetermineeing the route, reaches a certain amount at excrement and urine simultaneously, the robot electric quantity is not enough, when meetting the barrier, can both take corresponding action (automatic emission, automatic charging, automatic obstacle avoidance) and realize the self-control. The robot integrates the functions of excrement cleaning and collection and automatic obstacle avoidance, and the excrement cleaning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of cleaning equipment of farms and the control field of intelligent robots, in particular to a farm excrement cleaning and collecting robot capable of realizing automatic avoidance.
Background
With the continuous increase of the scale and the productivity of the breeding industry in China, the number of farmers in the livestock breeding field is increased, the breeding scale is gradually increased, and the excrement cleaning in the breeding work becomes one of the larger workload of the breeding personnel. At present, excrement cleaning of a farm is mainly divided into manual cleaning operation and mechanical cleaning operation. The conventional mechanical cleaning operation mainly includes: forklift cleaning, water flushing cleaning, electric scraper cleaning and intelligent cleaning.
The manual cleaning operation is to clean the excrement one by using tools such as a shovel, a broom and the like and then to process the excrement in a centralized manner. The mode has the advantages of high labor intensity, time and labor waste, severe working environment and low working efficiency.
The mechanical cleaning operation is to replace manual work by using a mechanical mode, and compared with manual work, the mechanical cleaning operation has the advantages of higher efficiency, labor liberation and no need of considering environmental problems. However, the traditional mechanical cleaning operation efficiency is not high enough, is not flexible and convenient enough, and is easy to disturb livestock.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic avoiding livestock farm excrement cleaning and collecting robot which is reasonable in structure, convenient to use and high in 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 excrement cleaning efficiency is improved, and the excrement cleaning effect is improved.
The invention provides a robot for cleaning and collecting excrement automatically avoiding a farm, which comprises a collecting device, a conveying device, a lifting device, a storage device, a frame, a walking device, an intelligent control system and a battery system, and is characterized in that:
the collecting device comprises a left baffle, a right baffle, a rotary scraper, a spiral scraper, a middle layer cover, a stepping motor A, a chain group, a bearing seat A, a bearing seat B and a gear, wherein the rotary scraper comprises a rotary main shaft, a half shaft sleeve arranged on the rotary main shaft, a scraper arranged on the half shaft sleeve and a brush arranged at the tail end of the scraper, the spiral scraper comprises a spiral main shaft, a left rotary scraper and a right rotary scraper arranged on the spiral main shaft, the chain group comprises a chain I and a chain II, the gear comprises a gear of the stepping motor A, an inner gear of the spiral scraper, an outer gear of the spiral scraper and a gear of the rotary scraper, the rotary main shaft and the spiral main shaft are respectively arranged on the left baffle and the right baffle through the bearing seat A and the bearing seat B, the right end of the middle layer cover is horizontally arranged on the stepping motor A, and the inner gear of the spiral scraper is driven by the gear of the stepping motor A and the inner gear of the spiral scraper to rotate, and the chain II drives the rotary scraper to rotate through the spiral scraper outer gear and the rotary scraper gear.
The conveying device comprises a conveying device body, a conveying transmission assembly and a material lifting hopper, wherein the conveying transmission assembly and the material lifting hopper are arranged in the conveying device body, the conveying mechanism body comprises a lifting channel, the lifting channel is obliquely arranged, the inclination angle is 45-60 degrees, an upper discharge port of the lifting channel is positioned above the storage device, and a channel bottom plate is arranged below the lifting channel; carry drive assembly including promote the motor and set up in promoting the epaxial action wheel of passageway upper end drive pulley, locate promoting the epaxial follow driving wheel of the driven pulley of passageway lower extreme, connect in the action wheel and follow the epaxial chain of driving pulley, promote the power take off end of motor and pass through transmission coupling assembling with the drive pulley and be connected, the lifting hopper is including scraping flitch, striker plate and side shield, the both ends of striker plate are connected respectively and are parallel with the chain direction of motion on two sets of chains, scrape the flitch and be "L" shape with the striker plate is connected perpendicularly, and the both ends of scraping the flitch are located to the side shield.
The lifting device comprises a lifting transmission assembly and a guide assembly arranged below the lifting transmission assembly, the lifting transmission assembly comprises a lifting motor base arranged on the frame, 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 seats, 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 channel bottom plate of a lifting channel; the guide assembly comprises a guide rail arranged on the frame and a guide sliding block matched with the guide rail, and the guide sliding block is fixedly connected with the lifting channel.
The storage device comprises a storage compartment and an opening and closing device arranged on a chassis of the traveling device, the opening and closing device comprises an opening and closing door, an opening and closing sliding block matched with a track on the opening and closing door, an opening and closing connecting rod tangent to the opening and closing sliding block and a connecting rod motor, the opening and closing connecting rod is arranged on the connecting rod motor, and the connecting rod motor is arranged on the chassis of the traveling device.
The walking system comprises a chassis, a walking power assembly and a steering assembly. The walking power assembly comprises two driving walking wheels and two follow-up walking wheels, the two driving walking wheels are independently arranged on two sides of a chassis through two connecting shafts respectively, a walking motor is arranged on each driving walking wheel, and the two follow-up walking wheels are arranged on the steering assembly through bearings respectively; the steering assembly comprises a steering pull rod and a steering motor base which are fixed on a chassis, a steering motor is arranged on the steering motor base, a steering L pull rod is matched with the steering motor, a steering vertical pull rod is matched with the steering L pull rod, two ends of the steering pull rod are arranged on a steering piece to drive the steering piece to rotate together, so that the follow-up walking wheels steer, and the steering piece, the steering vertical pull rod, the steering L pull rod and the steering tie rod form a connecting rod mechanism together to drive the follow-up walking wheels to steer through a power output end of the steering motor.
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 by the mobile terminal, the signal input end of the controller is respectively connected with the material level meter and the obstacle avoidance sensor, the signal output end of the controller is electrically connected with a walking motor, the material level meter is arranged in a storage device, and the obstacle avoidance sensor is arranged on two corners at the rear part of the frame and on two corners at the front part of the collection device.
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 electrically connected with the stepping motor A, the lifting motor, the connecting rod motor, the walking motor, the steering motor, the material level meter, the obstacle avoidance sensor and the controller respectively, the charging interface is arranged on the side portion of the frame, and the battery electric quantity monitoring module is electrically connected with the controller.
Preferably, the collecting device and the conveying device are welded through a left baffle and a right baffle of the collecting device and a connecting plate at the front end of the conveying device, the conveying device is connected with the lifting device through threads, the frame is of a groove-shaped structure, the lifting device can be placed in the frame, and the frame is connected through threads. Inside the whole frame, a storage compartment of the storage device is welded, and a crank block mechanism, namely an opening and closing device, is arranged below the storage compartment and is connected to a chassis through threads.
Preferably, the water spraying disinfection device is characterized in that water spraying ports are arranged in the front and the rear of the whole trolley, water is filled in the front water spraying port, and disinfectant water is filled in the rear water spraying port.
Preferably, the system also comprises a monitoring device, wherein the monitoring device is used for monitoring the vital signs of farm breeding animals, adjusting the content of the sterilized water and improving the farm environment.
According to the working principle of the robot for cleaning and collecting the excrement of the automatic avoiding farm, the collecting device consists of a rotary scraper and a spiral scraper (auger). The tail end of the rotary scraper is provided with the brush, so that on one hand, the abrasion of the scraper can be reduced, the service life of the scraper is prolonged, and on the other hand, the cleaning efficiency can be improved; two sections of helical blades with opposite rotation directions are arranged on the auger shaft and are symmetrically arranged, so that excrement on two sides can be collected to the middle part, and the effect of gathering the excrement is achieved. When the cleaning device works, the motor drives the chain I to rotate, the flood dragon rotates along with the chain I, and the flood dragon drives the rotary scraper to rotate through the chain II. The robot starts forward, and excrement in front of the cleaning device is continuously accumulated in front of the rotary scraper and is conveyed to the auger by the rotary scraper. The excrement is scraped by two sections of spiral blades rotating in opposite directions and is spirally conveyed to the middle part, so that the excrement is continuously conveyed to the front end of the scraper conveying mechanism, and the collection of the excrement is realized. The conveying device conveys the collected excrement in the collecting device into the excrement storage device, so that the longitudinal conveying effect is realized, and the design of the excrement scraping groove prevents the excrement from falling down in the lifting process. When the transporting device works, the dung scraping groove moves to the lowest end of the transporting device, dung is shoveled by means of the turning action of the dung scraping groove, then the dung scraping groove carries the dung to be lifted up along the rear wall of the transporting device, and then the dung is slid into the storing device along the plate surface along the gap of the transporting device by means of gravity. The lifting device is connected to the conveying device and the frame, the main component is a screw tap, and the lifting device is used for lifting the conveying device when the intelligent dung cleaning robot does not work so as to reduce friction between the conveying device and the ground and prolong the service life of the machine. When the lifting device works, the motor drives the belt to rotate, and then the screw tap is driven to ascend, so that the conveying device is lifted. The excrement falling from the conveying device can slide down along the wall surface to the storage compartment to be stored. After the memory space reaches certain degree, the dolly can mention collection device automatically, then removes to unloading the manure pit, opens the device that opens and shuts, realizes faecal emission. And when the excrement is detected to be discharged, the opening and closing device is closed again, so that the robot returns to the original position, and the cleaning work is continued.
In the working process, the controller can set a walking route, and the walking mechanism is controlled to realize cleaning within a preset range. When the obstacle avoidance sensor at the front end of the robot detects that an obstacle exists nearby, the sensor transmits an obstacle signal to the controller, so that the controller can conveniently adjust a route, and the function of automatically avoiding the obstacle is achieved. Meanwhile, the battery power monitoring module can monitor the power information of the robot in real time, but when the battery power is lower than a certain value, a low power signal can be sent, and the controller receives the low power signal and plans the route again, so that the robot can move towards the charging pile to realize the automatic charging function. In addition, the level indicator can send full signal when excrement and urine in the storage railway carriage or compartment reaches a quantitative, and the controller receives this signal and can adjust the route for the robot comes to the storage manure pit, opens the device that opens and shuts, realizes leaking the function of excrement automatically.
The invention has the beneficial effects that: the robot for cleaning and collecting the excrement of the automatic avoidance farm integrates the functions of collecting, transporting, storing and discharging the excrement, is additionally provided with the functions of automatic obstacle avoidance and automatic charging, has the characteristics of reasonable structure, strong applicability and high automation degree, and can reduce labor force and improve excrement cleaning efficiency.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the collecting device of FIG. 1;
FIG. 3 is a schematic view of the spiral flight and rotating flight of FIG. 2;
FIG. 4 is a left side view of FIG. 3;
FIG. 5 is a schematic view of the conveyor apparatus of FIG. 1;
FIG. 6 is a schematic view of the construction of the squeegee of FIG. 5;
FIG. 7 is a schematic view of the lifting device;
FIG. 8 is a schematic structural diagram of the storage device and the traveling device;
FIG. 9 is a top plan view of the vehicle chassis of FIG. 8;
FIG. 10 is a schematic structural diagram of a detection device and a charging device;
in the figure: the device comprises a collecting device 1, a conveying device 2, a lifting device 3, a storage device 4, a frame 5, a walking device 6, an intelligent control system 7, a battery system 8, a left baffle plate 10, a right baffle plate 11, a rotary scraper 12, a rotary main shaft 12-1, a brush 12-2, a scraper 12-3, a half shaft sleeve 12-4, a spiral scraper 13, a spiral main shaft 13-1, a left rotary scraper 13-2, a right rotary scraper 13-3, a middle layer cover 14, a stepping motor A15, a chain set 16, a chain I16-1, a chain II 16-2, a bearing seat A17, a bearing seat B18, a gear 19-1 of a stepping motor A, an inner gear 19-2 of the spiral scraper, a 19-3 of the spiral scraper, a gear 19-4 of the rotary scraper, a conveying device body 20, a conveying transmission device 21 and a lifting channel 20-1, 20-2 parts of discharge port, 20-3 parts of connecting plate, 20-4 parts of channel bottom plate, 21-1 parts of lifting motor, 21-2 parts of driving wheel shaft, 21-3 parts of driven wheel shaft, 21-4 parts of driving wheel, 21-5 parts of driven wheel, 21-6 parts of chain, 21-7 parts of transmission connecting assembly, 22-1 parts of material lifting hopper, 22-1 parts of scraping plate, 22-2 parts of material baffle plate, 22-3 parts of side baffle plate, 30-3 parts of lifting transmission assembly, 30-1 parts of lifting motor base, 30-2 parts of lifting motor, 30-3 parts of lifting screw rod, 30-4 parts of lifting block, 31 parts of guide assembly, 31-1 parts of guide rail, 31-2 parts of guide slider, 40 parts of storage compartment, 41 parts of opening and closing device, 41-1 parts of opening and closing door, 41-2 parts of opening and closing slider, 41-3 parts of opening and closing connecting rod, 41-4 parts of connecting rod motor, the vehicle comprises a vehicle chassis 60, a walking power assembly 61, a driving walking wheel 61-1, a connecting shaft 61-2, a walking motor 61-3, a follow-up walking wheel 61-4, a steering assembly 62, a steering piece 62-1, a steering vertical pull rod 62-2, a steering L pull rod 62-3, a steering motor 62-4, a steering pull rod 62-5, a steering tie rod 62-6, a steering motor base 62-7, a controller 70, a level indicator 71, an obstacle avoidance sensor 72, a storage battery 80, a charging interface 81 and a battery electric quantity monitoring module 82.
The specific implementation mode is as follows:
example 1:
as shown in fig. 1, the automatic excrement cleaning and collecting robot avoiding farm of this embodiment includes collecting device 1, conveying device 2, lifting device 3, storage device 4, frame 5, running gear 6, intelligent control system 7, battery system 8, wherein:
as shown in fig. 2, 3 and 4, the collecting device 1 comprises a left baffle plate 10, a right baffle plate 11, a rotating scraper 12, a spiral scraper 13, a middle layer cover 14, a stepping motor a15, a chain set 16, a bearing seat a17, a bearing seat B18 and a gear 19, wherein the rotating scraper 12 comprises a rotating main shaft 12-1, a half shaft sleeve 12-4 arranged on the rotating main shaft 12-1, a scraper 12-3 arranged on the half shaft sleeve 12-4 and a brush 12-2 arranged at the tail end of the scraper 12-3, the spiral scraper 13 comprises a spiral main shaft 13-1, a left rotating scraper 13-2 and a right rotating scraper 13-3 arranged on the spiral main shaft 13-1, the chain set 16 comprises a chain I16-1 and a chain II 16-2, the gear 19 comprises a gear 19-1 of the stepping motor a and an internal gear 19-2 of the spiral scraper, The spiral scraper chain comprises a spiral scraper external gear 19-3 and a rotary scraper gear 19-4, wherein the rotary main shaft 12-1 and the spiral main shaft 13-1 are respectively installed on a left baffle 10 and a right baffle 11 through a bearing seat A17 and a bearing seat B18, the stepping motor A15 is horizontally arranged at the right end of the middle layer cover 14, the chain I16-1 drives the spiral scraper 13 to rotate through the stepping motor A gear 19-1 and the spiral scraper internal gear 19-2, and the chain II 16-2 drives the rotary scraper 12 to rotate through the spiral scraper external gear 19-3 and the rotary scraper gear 19-4.
As shown in fig. 5 and 6, the conveying device 2 includes a conveying device body 20, and a conveying transmission assembly 21 and a material lifting hopper 22 which are arranged in the conveying device body 20, the conveying mechanism body 20 includes a lifting channel 20-1, the lifting channel 20-1 is obliquely arranged at an inclination angle of 45 degrees to 60 degrees, an upper material outlet 20-2 of the lifting channel 20-1 is located above the storage device 4, and a channel bottom plate 20-4 is arranged below the lifting channel; the conveying transmission assembly 21 comprises a lifting motor 21-1, a driving wheel 21-4 arranged on a driving wheel shaft 21-2 at the upper end of the lifting channel 20-1, a driven wheel 21-5 arranged on a driven wheel shaft 21-3 at the lower end of the lifting channel 20-1, and chains 21-6 connected to the driving wheel 21-4 and the driven wheel 21-5, wherein the power output end of the lifting motor 21-1 is connected with the driving wheel shaft 21-2 through a transmission connection assembly 21-7, the lifting hopper 22 comprises a scraping plate 22-1, a material blocking plate 22-2 and side blocking plates 22-3, two ends of the material blocking plate 22-2 are respectively connected with the two groups of chains 21-6 and are parallel to the moving direction of the chains, and the scraping plate 22-1 is vertically connected with the material blocking plate 22-2 to form an L shape, the side baffles 22-3 are arranged at both ends of the scraper plate 22-1.
As shown in fig. 7, the lifting device 3 includes a lifting transmission assembly 30 and a guide assembly 31 disposed below the lifting transmission assembly 30, the lifting transmission assembly 30 includes a lifting motor base 30-1 disposed on the frame 5, a lifting motor 30-2 is mounted on the lifting motor base 30-1, a power output end of the lifting motor 30-2 is connected to a lifting screw 30-3, the lifting screw 30-3 is mounted between a set of lifting screw supporting bases 30-4, a lifting block 30-5 is sleeved on the lifting screw 30-3, the lifting block 30-5 is in threaded connection with the lifting screw 30-3, and the lifting block 30-5 is fixedly connected with a channel bottom plate 20-4 of the lifting channel 21-1; the guide assembly 31 comprises a guide rail 31-1 arranged on the frame 5 and a guide slider 31-2 matched with the guide rail 31-1, and the guide slider 31-2 is fixedly connected with the lifting channel 20-1.
As shown in fig. 8, the storage device 4 includes a storage compartment 40 and an opening and closing device 41 installed on a chassis 60 of the traveling device 6, the opening and closing device 41 includes an opening and closing door 41-1, an opening and closing slider 41-2 matched with a rail on the opening and closing door 41-1, an opening and closing connecting rod 41-3 tangent to the opening and closing slider, and a connecting rod motor 41-4, the opening and closing connecting rod is installed on the connecting rod motor 41-4, and the connecting rod motor 41-4 is installed on the chassis 60 on the traveling device 6.
As shown in fig. 9, the running system 6 includes a chassis 60, a running power assembly 61 and a steering assembly 62. The walking power assembly 61 comprises two driving walking wheels 61-1 and two follow-up walking wheels 61-4, the two driving walking wheels 61-1 are independently arranged at two sides of the chassis 60 through two connecting shafts 61-2 respectively, a walking motor 61-3 is arranged on each driving walking wheel 61-1, and the two follow-up walking wheels 61-4 are arranged on the steering assembly 62 through bearings respectively; the steering assembly 62 comprises a steering pull rod 62-5 and a steering motor base 62-7 which are fixed on a chassis 60, and a steering motor 62-4 which is arranged on the steering motor base 62-7, wherein a steering L pull rod 62-3 is matched with the steering motor 62-4, a steering vertical pull rod 62-2 is matched with the steering L pull rod 62-3, two ends of the steering pull rod 62-5 are arranged on a steering piece 62-1 to drive the steering piece 62-1 to rotate together, so that the follow-up traveling wheels 61-4 are steered, and the steering piece 62-1, the steering vertical pull rod 62-2, the steering L pull rod 62-3 and the steering pull rod steering horizontal pull rod 62-6 form a link mechanism which drives the follow-up traveling wheels 61-4 to steer through the power output end of the steering motor 62-4 together.
As shown in fig. 10, the intelligent control system 7 includes a controller 70, a level indicator 71 and an obstacle avoidance sensor 72, a wireless control module is arranged in the controller 70, the wireless control module is interconnected with a mobile terminal through a cloud server, the wireless control module can be controlled by the mobile terminal, a signal input end of the controller 70 is electrically connected with the level indicator 71 and the obstacle avoidance sensor 72 respectively, a signal output end of the controller 70 is electrically connected with the traveling motor 61-3, the level indicator 71 is arranged in the storage device 4, and the obstacle avoidance sensor 72 is arranged at two corners at the rear part of the frame 5 and at two corners at the front part of the collection device 1.
The battery system 8 comprises a storage battery 80, a charging interface 81 and a battery electric quantity monitoring module 82 are connected to the storage battery 80, the storage battery 80 is electrically connected with a stepping motor A15, a lifting motor 21-1, a lifting motor 30-2, a connecting rod motor 41-4, a walking motor 61-4, a steering motor 62-4, a material level indicator 72, an obstacle avoidance sensor 73 and a controller 71 respectively, the charging interface 81 is arranged on the side portion of the frame 5, and the battery electric quantity monitoring module 82 is electrically connected with the controller 70.
The collecting device 1 and the conveying device 2 are welded with a connecting plate 20-3 at the front end of the conveying device 2 through a left baffle 10 and a right baffle 11 of the collecting device 1, the conveying device 2 is connected with the lifting device 3 through threads, the frame 5 is of a groove-shaped structure, the lifting device 3 can be placed in the frame, and connection is achieved through threads. Inside the whole frame, a storage compartment 40 of the storage device 4 is welded, and under the storage compartment 40, there is a slider-crank mechanism, i.e. an opening and closing device 41, which is screwed to the chassis 60.
The water spraying disinfection device is characterized in that water spraying ports are arranged in the front and the back of the whole trolley, water is additionally arranged at the water spraying port in the front, and disinfectant water is additionally arranged at the water spraying port in the back.
Still include monitoring devices, monitoring devices is used for monitoring the vital sign of plant's breed animal to and the content of adjustment sterile water improves the plant environment.
Claims (4)
1. The utility model provides an automatic dodge plant excrement and urine clearance and collection robot, includes collection device (1), conveyor (2), elevating gear (3), storage device (4), frame (5), running gear (6), intelligent control system (7), battery system (8), its characterized in that:
the collecting device (1) comprises a left baffle (10), a right baffle (11), a rotary scraper (12), a spiral scraper (13), a middle layer cover (14), a stepping motor A (15), a chain group (16), a bearing seat A (17), a bearing seat B (18) and a gear (19), wherein the rotary scraper (12) comprises a rotary main shaft (12-1), a half shaft sleeve (12-4) arranged on the rotary main shaft (12-1), a scraper (12-3) arranged on the half shaft sleeve (12-4) and a hairbrush (12-2) arranged at the tail end of the scraper (12-3), the spiral scraper (13) comprises a spiral main shaft (13-1), a left-handed scraper (13-2) and a right-handed scraper (13-3) arranged on the spiral main shaft (13-1), the chain group (16) comprises a chain I (16-1), a chain II (16-2), the gear (19) comprises a gear (19-1) of a stepping motor A, an internal gear (19-2) of a spiral scraper, an external gear (19-3) of the spiral scraper and a rotary scraper gear (19-4), the rotating main shaft (12-1) and the spiral main shaft (13-1) are respectively arranged on the left baffle plate (10) and the right baffle plate (11) through a bearing seat A (17) and a bearing seat B (18), the stepping motor A (15) is horizontally arranged at the right end of the middle layer cover (14), the chain I (16-1) drives the spiral scraper (13) to rotate through a gear (19-1) of the stepping motor A and an inner gear (19-2) of the spiral scraper, the chain II (16-2) drives the rotary scraper (12) to rotate through the spiral scraper outer gear (19-3) and the rotary scraper gear (19-4).
The conveying device (2) comprises a conveying device body (20), a conveying transmission assembly (21) and a material lifting hopper (22), wherein the conveying transmission assembly and the material lifting hopper are arranged in the conveying device body (20), the conveying mechanism body (20) comprises a lifting channel (20-1), the lifting channel (20-1) is obliquely arranged at an inclination angle of 45-60 degrees, an upper discharge port (20-2) of the lifting channel (20-1) is positioned above the storage device (4), and a channel bottom plate (20-4) is arranged below the lifting channel; the conveying transmission assembly (21) comprises a lifting motor (21-1), a driving wheel (21-4) arranged on a driving wheel shaft (21-2) at the upper end of the lifting channel (20-1), a driven wheel (21-5) arranged on a driven wheel shaft (21-3) at the lower end of the lifting channel (20-1), and chains (21-6) connected to the driving wheel (21-4) and the driven wheel (21-5), wherein the power output end of the lifting motor (21-1) is connected with the driving wheel shaft (21-2) through a transmission connection assembly (21-7), the lifting hopper (22) comprises a scraping plate (22-1), a material baffle plate (22-2) and a side baffle plate (22-3), two ends of the material baffle plate (22-2) are respectively connected with the two groups of chains (21-6) and are parallel to the movement direction of the chains, the scraping plate (22-1) is vertically connected with the material baffle plate (22-2) in an L shape, and the side baffle plates (22-3) are arranged at two ends of the scraping plate (22-1).
The lifting device (3) comprises a lifting transmission component (30) and a guide component (31) arranged below the lifting transmission component (30), the lifting transmission assembly (30) comprises a lifting motor base (30-1) arranged on the frame (5), a lifting motor (30-2) is arranged on the lifting motor base (30-1), the power output end of the lifting motor (30-2) is connected with a lifting screw (30-3), the lifting screw (30-3) is arranged between a group of lifting screw supporting bases (30-4), a lifting block (30-5) is sleeved on the lifting screw (30-3), the lifting block (30-5) is in threaded connection with the lifting screw (30-3), and the lifting block (30-5) is fixedly connected with a channel bottom plate (20-4) of the lifting channel (21-1); the guide assembly (31) comprises a guide rail (31-1) arranged on the frame (5) and a guide sliding block (31-2) matched with the guide rail (31-1) for use, and the guide sliding block (31-2) is fixedly connected with the lifting channel (20-1).
The storage device (4) comprises a storage compartment (40) and an opening and closing device (41) which is arranged on an upper chassis (60) of the traveling device (6), wherein the opening and closing device (41) comprises an opening and closing door (41-1), an opening and closing slide block (41-2) matched with a track on the opening and closing door (41-1), an opening and closing connecting rod (41-3) tangent to the opening and closing slide block and a connecting rod motor (41-4), the opening and closing connecting rod is arranged on the connecting rod motor (41-4), and the connecting rod motor (41-4) is arranged on the chassis (60) on the traveling device (6).
The walking system (6) comprises a chassis (60), a walking power assembly (61) and a steering assembly (62). The walking power assembly (61) comprises two driving walking wheels (61-1) and two follow-up walking wheels (61-4), the two driving walking wheels (61-1) are independently arranged on two sides of a chassis (60) through two connecting shafts (61-2), a walking motor (61-3) is arranged on each driving walking wheel (61-1), and the two follow-up walking wheels (61-4) are arranged on a steering assembly (62) through bearings; the steering assembly (62) comprises a steering pull rod (62-5) and a steering motor base (62-7) which are fixed on a chassis (60), a steering motor (62-4) is arranged on the steering motor base (62-7), a steering L pull rod (62-3) is matched with the steering motor (62-4), a steering vertical pull rod (62-2) is matched with the steering L pull rod (62-3), two ends of the steering pull rod (62-5) are arranged on a steering piece (62-1) to drive the steering piece (62-1) to rotate together, so that the follow-up traveling wheels (61-4) are steered, the steering piece (62-1), the steering vertical pull rod (62-2), the steering L pull rod (62-3) and the steering pull rod (62-6) jointly form a connecting rod mechanism, and the connecting rod mechanism drives the follow-up traveling wheels (61-4) through a power output end of the steering motor (62-4) And (6) turning.
Intelligence control system (7) include controller (70), charge level indicator (71) and keep away barrier sensor (72), establish wireless control module in controller (70), wireless control module passes through cloud ware and mobile terminal interconnection, through the steerable wireless control module of mobile terminal, the signal input part of controller (70) respectively with charge level indicator (71) and keep away barrier sensor (72) electric connection, the signal output part and walking motor (61-3) electric connection of controller (70), storage device (4) inside is located in charge level indicator (71), keep away barrier sensor (72) and locate on two angles at frame (5) rear portion and on two angles of collection device (1) front portion.
The battery system (8) comprises a storage battery (80), a charging interface (81) and a battery electric quantity monitoring module (82) are connected to the storage battery (80), the storage battery (80) is respectively electrically connected with a stepping motor A (15), a lifting motor (21-1), a lifting motor (30-2), a connecting rod motor (41-4), a walking motor (61-4), a steering motor (62-4), a material level meter (72), an obstacle avoidance sensor (73) and a controller (71), the charging interface (81) is arranged on the side portion of the frame (5), and the battery electric quantity monitoring module (82) is electrically connected with the controller (70).
2. The automated farm manure disposal and collection robot of claim 1, further comprising: the collecting device (1) and the conveying device (2) are welded with a connecting plate (20-3) at the front end of the conveying device (2) through a left baffle (10) and a right baffle (11) of the collecting device (1), the conveying device (2) is connected with the lifting device (3) through threads, the frame (5) is of a groove-shaped structure, the lifting device (3) can be placed in the groove-shaped structure, and then the groove-shaped structure is connected through threads. Inside the whole vehicle frame, a storage compartment (40) of the storage device (4) is welded, and a crank block mechanism, namely an opening and closing device (41), is arranged below the storage compartment (40) and is connected to a vehicle chassis (60) through threads.
3. The automated farm manure disposal and collection robot of claim 1, further comprising: the water spraying disinfection device is characterized in that water spraying ports are arranged in the front and the back of the whole trolley, water is additionally arranged at the water spraying port in the front, and disinfectant water is additionally arranged at the water spraying port in the back.
4. The automated farm manure disposal and collection robot of claim 1, further comprising: still include monitoring devices, monitoring devices is used for monitoring the vital sign of plant's breed animal to and the content of adjustment sterile water improves the plant environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210200632.7A CN114711151A (en) | 2022-03-02 | 2022-03-02 | Automatic avoid plant excrement and urine clearance and collection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210200632.7A CN114711151A (en) | 2022-03-02 | 2022-03-02 | Automatic avoid plant excrement and urine clearance and collection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114711151A true CN114711151A (en) | 2022-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210200632.7A Pending CN114711151A (en) | 2022-03-02 | 2022-03-02 | Automatic avoid plant excrement and urine clearance and collection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN114711151A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116765005A (en) * | 2023-06-29 | 2023-09-19 | 平顶山天安煤业股份有限公司 | Mining multifunctional inspection robot |
| WO2024060957A1 (en) * | 2022-09-19 | 2024-03-28 | 太原理工大学 | Scattered-material cleaning robot used for conveyor |
-
2022
- 2022-03-02 CN CN202210200632.7A patent/CN114711151A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060957A1 (en) * | 2022-09-19 | 2024-03-28 | 太原理工大学 | Scattered-material cleaning robot used for conveyor |
| CN116765005A (en) * | 2023-06-29 | 2023-09-19 | 平顶山天安煤业股份有限公司 | Mining multifunctional inspection robot |
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