CN209185339U - One kind being suitable for more scene piggery cleaner device people - Google Patents

Abstract

The utility model provides a kind of suitable for more scene piggery cleaner device people, including the water tank seat board by being arranged from top to bottom, electrical control member seat board, the car body ontology of two laminates and bottom plate composition, the running gear with motor vehicles bodies ontology omnibearing ambulation on bottom plate is set, the lift purging system of two laminate front ends is set, control system on electrical control member bottom plate is set, water injection system on water tank seat board and energy-storage system are set, control system controls running gear, the running of lift purging system and water injection system, water injection system provides water source for purging system, energy-storage system provides electric energy for various power devices.The utility model solves the problems such as pig house cleaning is difficult, ground is complicated, environmental sanitation is poor, water waste is more, high labor cost in extensive pig farm, it is suitble to more scenes, realize all standing without dead angle clearing function, cooperate omnidirectional's walking function, the time for shortening cleaning robot adjustment posture, substantially increase cleaning efficiency.

Description

One kind being suitable for more scene piggery cleaner device people

Technical field

The utility model belongs to agriculture technical field of intelligent equipment, is suitable for more scene pig houses more particularly, to one kind and clears up Robot.

Background technique

Currently, being the animal husbandry developed with modern agriculture background, majority is manually labour as supporting, Shao Shuogui Semi-automatic service equipment has been introduced in the biggish animal husbandry place of mould, for the pig house cleaning work in large-scale pig farm, still Needing manually tool to be utilized to clear up and consuming a large amount of water sources can just clean out, and time-consuming, at high cost, low efficiency.Needle of the present invention To pig house cleaning work involved in this field, a kind of cleaning robot suitable for more scene pig houses, work are had developed It can be plane floor pig house or screen floor for manure pig house also as environment or plane floor and screen floor for manure have both type pig house, use Conveniently, thorough, energy conservation and environmental protection is cleared up, the full-automatic manner of cleaning up of pig house may be implemented by the application of the invention, very big It is improved work efficiency in degree, improves the environmental condition of pig house.

Summary of the invention

In view of this, the utility model, which is directed to one kind, is suitable for more scene piggery cleaner device people, it is existing to make up Under the conditions of, the problem of pig house Removal Technology, i.e., pig house cleaning is difficult in extensive pig farm, ground is complicated, environmental sanitation Difference, the problems such as water waste is more, high labor cost.

In order to achieve the above objectives, the technical solution of the utility model is achieved in that

One kind being suitable for more scene piggery cleaner device people, including water tank seat board, the electrical control member seat by being arranged from top to bottom Plate, two laminates and bottom plate composition car body ontology, be arranged on bottom plate the running gear with motor vehicles bodies ontology omnibearing ambulation, The lift purging system that two laminate front ends are arranged in, is arranged in water tank seat board the control system being arranged on electrical control member bottom plate On water injection system and energy-storage system, the control system control running gear, the fortune of lift purging system and water injection system Make, the water injection system provides water source for purging system, and the energy-storage system provides electric energy for various power devices.

Further, the running gear is to be arranged in four groups of drives along the setting of rectangle diagonal line of cleaning robot bottom Driving wheel device, every group of driving wheel apparatus include drive seat, driving motor, optical axis support rod, omni-directional wheel and driving output shaft, institute The middle part that driving motor is fixed on drive seat is stated, the omni-directional wheel is driving by driving output shaft to connect with driving motor Each fixed sliding block in two sides of seat wears optical axis support rod on each sliding block vertically, and the optical axis support rod is in sliding block Sliding setting, the both ends of each optical axis support rod are fixedly connected with bottom plate and two laminates respectively, between sliding block and two laminates Driving wheel buffer spring is arranged on optical axis support rod.

Further, the lift purging system includes clearing apparatus and lifting device, during the clearing apparatus includes Between cleaning agency and two swing arm cleaning agencies, two swing arm cleaning agencies are rotatably arranged on the left and right of intermediate cleaning agency Two sides, two swing arm cleaning agencies pass through a swing arm motor and drive rotation；

The lifting device includes mobile station driving motor, ball screw framework and the mobile station being fixed on slide unit, The mobile station is installed on the ball of ball screw framework, and the mobile station driving motor drives ball screw framework fortune Turning, the mobile station is fixedly connected with intermediate cleaning agency, and the ball screw framework drives mobile station to go up and down along slide unit, The front side of two laminates is arranged in the slide unit.

Further, the intermediate cleaning agency includes push plate two, brush connecting plate two, L-type upper stop piece three, L-type lower block Piece three, L-type upper stop piece four and L-type lower stop piece four, the L-type upper stop piece three and L-type lower stop piece three and L-type upper stop piece four and L The corresponding left and right sides for being arranged in push plate two, the L-type lower stop piece three and L-type lower stop piece four are symmetrically solid two-by-two for type lower stop piece four It is scheduled on the left and right sides of brush connecting plate two, spring three, L-type upper stop piece are compressed between L-type upper stop piece three and L-type lower stop piece three Spring four is compressed between four and L-type lower stop piece four, L-type lower stop piece three and L-type lower stop piece four pass through push plate sliding block and push plate Sliding slot cooperation on two；

Two swing arm cleaning agencies are specially swing arm cleaning agency one and swing arm cleaning agency two, and the swing arm cleans Mechanism one includes one driving motor of push plate, push plate one, L-type upper stop piece two and L-type lower stop piece two, one driving motor of push plate The top of push plate one is set, and the output shaft of one driving motor of push plate being vertically arranged and a side switch of push plate one connect It connects, the L-type upper stop piece two and L-type lower stop piece two are correspondingly arranged in push plate one, and the L-type lower stop piece two is fixed on brush On sub- connecting plate three, spring two is compressed between L-type upper stop piece two and L-type lower stop piece two, L-type lower stop piece two passes through push plate sliding block Cooperate with the sliding slot in push plate one；

The swing arm cleaning agency two includes three driving motor of push plate, push plate three, L-type upper stop piece one and L-type lower stop piece one, The top of push plate three, the output shaft of three driving motor of push plate being vertically arranged is arranged in three driving motor of push plate It is keyed with the side of push plate three, the L-type upper stop piece one and L-type lower stop piece one are correspondingly arranged in push plate three, the L Type lower stop piece one is fixed on brush connecting plate one, is compressed with spring one between L-type upper stop piece one and L-type lower stop piece one, under L-type Baffle one is cooperated by the sliding slot on push plate sliding block and push plate three.

Further, the water injection system includes the water pipe of water tank, joining water box and clearing apparatus, is arranged in water tank The water tank roof door at top detects the liquid level sensor of height of water level in water tank and controls the setting of water tank roof door opening and closing on water tank Water tank roof door driving mechanism, the water tank roof door driving mechanism includes motor and chain-wheel mechanism, the water tank roof door by Two semicircle door compositions, the motor drive chain-wheel mechanism operating, and the chain-wheel mechanism drives driving gear rotation, described Driving gear engaged with driven gear, two semicircle doors are connect with the driving gear of respective side and driven gear.

Further, the water pipe includes the PU pipe that water tank bottom is arranged in, and the other end of PU pipe passes sequentially through directly Angle joint, water pipe, right angle quick connector, Green's head are connected to one end of fibre pipe, the other end and electric water of the fibre pipe Pump connection, the electric water pump are connected to multiple spray heads by water pipe, are set on the water pipe between electric water pump and multiple spray heads There is a tee pipe coupling, tee pipe coupling is connected to by water pipe and water tank, and the water pipe between water tank and tee pipe coupling is equipped with Speed governing valve.

Further, the control system includes that PLC control module, RFID communication module, radio remote control switch, air are opened Pass, terminal, water tank roof door driver, push plate driver and relay.

Further, the robot includes headstock AGV magnetic navigation sensor two and tailstock AGV magnetic navigation sensor three, Headstock AGV magnetic navigation sensor two and tailstock AGV magnetic navigation sensor three pass through magnetic navigation sensor seat board three and magnetic conductance respectively Boat sensor seat board one is mounted on the front and back end of bottom plate, and magnetic navigation sensor one is mounted on bottom by magnetic navigation sensor seat board two In the middle part of plate, and it is arranged vertically with front and back ends AGV magnetic navigation sensor；

Four detection swing arm cleaning agencies one and swing arm cleaning agency two are installed in intermediate cleaning agency front and back side two sides The swing arm limit sensors of 77 swing position.

Further, a cleaning robot shell is equipped with outside cleaning robot, in cleaning 82 bottom four of robot shell Week arranges ultrasonic sensor and infrared sensor.

Further, the energy-storage system includes the rechargeable battery of multiple groups parallel connection.

Compared with the existing technology, it is described in the utility model it is a kind of be suitable for more scene piggery cleaner device people, have with Lower advantage:

One kind described in the utility model is suitable for more scene piggery cleaner device people,

Robot is pushed using three arm type, and wherein two-arm, which can be realized, sweeps function integration cleaning plant, using less Water source assists clean-up task, and excrement and sundries are pushed into designated position (plane floor) or are swept at screen floor for manure leakage excrement (screen floor for manure) both completes clean-up task, while providing preparation for subsequent processing；

Omnidirectional's walking function, so that cleaning robot adjustment posture is flexible and efficient, the structure of lift purging system and dynamic Make mode, realize that all standing without dead angle clearing function, cooperates omnidirectional's walking function, shorten cleaning robot adjustment posture when Between, substantially increase cleaning efficiency；

The automation mode of unmanned management may be implemented, connect by APP software with robot hardware, realize remote internet of things Multi-machine collaborative work.Control unit of the APP software as system is communicated by the RFID communication module on robot car body Identification and data processing, a kind of mode can complete task function by track is subscribed by AGV magnetic navigation system, another can To realize accurate remotely controlling exercise by software positioning function, while PLC control module realizes essence to each motor as core cell Quasi- control, completes the signal processing between each sensor, coordinates the logical relation between drive module；

Robot power source uses energy saving and environment friendly lithium battery group, can meet within single charge 8 hours load driving 3 hours More than；It is walked using the omnidirectional of DC speed-reducing control robot；It is cleaned using motor and slide unit control robot lift System lifting and swinging arm；

Robot body frame is made of metal and composite material, and sole mass is lighter, can carry the water source 25kg or less fortune It is dynamic.

Detailed description of the invention

The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.? In attached drawing:

Fig. 1 is the axis side schematic diagram for clearing up robot entirety；

Fig. 2 is the other direction axis side schematic diagram for clearing up robot entirety；

Fig. 3 is the axis side schematic diagram of lift purging system；

Fig. 4 is the other direction axis side schematic diagram of lift purging system；

Fig. 5 is the axis side schematic diagram for driving wheel apparatus；

Fig. 6 is the side view for driving wheel apparatus；

Fig. 7 is the top view of electrical control member seat board and its mounting means；

Fig. 8 is the top view of two laminates and its mounting means；

Fig. 9 is the top view of bottom plate and its mounting means；

Figure 10 is water pipe figure；

Figure 11 is the shaft side figure of the cleaning robot with shell；

Figure 12 is that cleaning robot lift purging system promotes side view of the state；

Figure 13 is to clear up robot to push working state schematic representation in plane floor；

Figure 14 is working state schematic representation at cleaning robot dead end of cleanning；

Figure 15 is pushed away in screen floor for manure for cleaning robot and is swept working state schematic representation.

Description of symbols:

Water tank 1, water pipe 2, water tank seat board 3, electrical control member seat board 4, two laminates 5, water tank seat board pillar 6, electrical control member seat Plate pillar 7, push plate height limit baffle 8, push plate height limit sensor seat board 9, push plate height limit sensor 10, lift Purging system 11, driving wheel apparatus 12, bottom plate 13, mobile station 14, water tank roof door 15, water tank roof door driving mechanism 16, connection branch Frame 17, push plate 1, one driving motor 20 of push plate, push plate 2 21, L-type upper stop piece 1, pushes away magnetic navigation sensor seat board 1 Three driving motor 23 of plate, spring 1, push plate sliding block 25, push plate 3 26, L-type lower stop piece 1, brush connecting plate 1, brush One 29, brush connecting plate 2 30, brush 2 31, brush 3 32, L-type lower stop piece 2 33, spring 2 34, L-type upper stop piece 2 35, brush Sub- connecting plate 3 36, L-type upper stop piece 3 37, L-type lower stop piece 3 38, spring 3 39, slide unit 40, spring 4 41, L-type upper stop piece four 42, L-type lower stop piece 4 43, mobile station driving motor 44, sliding block 45, drive seat 46, driving motor 47, optical axis support rod 48, drive Driving wheel buffer spring 49, omni-directional wheel 50, driving output shaft 51, radio remote control switch 52, PLC control module 53, air switch 54, Terminal 55, electric water pump 56, battery pack 2 57, water tank roof door driver 58, push plate driver 59, relay 60, driving wheel drive Dynamic device 61, magnetic navigation sensor 1, magnetic navigation sensor seat board 2 63, RFID communication module 64, PU pipe 65, angle coupling 66, speed governing valve 67, tee pipe coupling 68, right angle quick connector 69, Green's head 70, fibre pipe 71, spray head 72, ultrasonic sensor 73, infrared sensor 74, liquid level sensor 75, swing arm cleaning agency 1, swing arm cleaning agency 2 77, magnetic navigation sensor seat Plate 3 78, magnetic navigation sensor 2 79, magnetic navigation sensor 3 80, swing arm limit sensors 81, cleaning robot shell 82, electricity Chi Zuyi 83.

Specific embodiment

It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can To be combined with each other.

The utility model will be described in detail below with reference to the accompanying drawings and embodiments.

As shown in Figure 1-Figure 11, a kind of to be suitable for more scene piggery cleaner device people, including the water by being arranged from top to bottom Car body ontology, the band motor vehicles bodies sheet of setting on base 13 of block plate 3, electrical control member seat board 4, two laminates 5 and the composition of bottom plate 13 The running gear of body omnibearing ambulation, is arranged in electrical control member seat board 4 the lift purging system 11 that two laminates, 5 front end is arranged in On control system, the water injection system that is arranged on water tank seat board 3 and energy-storage system, the control system control running gear, The running of lift purging system 11 and water injection system, the water injection system is that lift purging system 11 provides water source, described Energy-storage system provides electric energy for various power devices.

By the support connection of connecting bracket 17 between bottom plate 13 and two laminates 5, lead between two laminates 5 and electrical control member seat board 4 The support connection of electrical control member seat board pillar 7 is crossed, is connected between electrical control member seat board 4 and water tank seat board 3 by the support of water tank seat board pillar 6 It connects.

Running gear is the four groups of driving wheel apparatus 12 along the setting of rectangle diagonal line for being arranged in cleaning robot bottom, often Group driving wheel apparatus 12 includes drive seat 46, driving motor 47, optical axis support rod 48, omni-directional wheel 50 and drives output shaft 51, The driving motor 47 is fixed on the middle part of drive seat 46, and the omni-directional wheel 50 passes through driving output shaft 51 and driving motor 47 Connection, wears optical axis support rod 48 on each fixed sliding block 45 in the two sides of drive seat 46, each sliding block 45 vertically, described Optical axis support rod 48 slides setting in sliding block 45, and the both ends of each optical axis support rod 48 are solid with bottom plate 13 and two laminates 5 respectively It is fixed to connect, driving wheel buffer spring 49, driving motor 47 are arranged on the optical axis support rod 48 between sliding block 45 and two laminates 5 Worm-gear speed reducer operating is driven, the worm-gear speed reducer drives driving output shaft 51 to rotate, and omni-directional wheel 50 is to include Two single-wheels being wholely set are uniformly distributed multiple shuttle shape rollers, and the shuttle shape roller of two single-wheels at the edge of each single-wheel Interlaced arrangement, shuttle shape roller in two single-wheels with the projection on the face of driving output shaft vertical direction constitute one it is complete It is round.

Two laminates 5 are equipped with the drive wheel device 61 of control four groups of driving wheel apparatus 12 running, uneven encountering Complex road surface and operation acceleration it is larger when, four groups of driving wheel structures 12 are passed through driving wheel buffer spring by different impacts 49 deformation adjustment realizes equipment buffering, the effect of damping, and due to buffer spring energy storage, guarantees that driving wheel apparatus 12 is downward Enough adhesive force is kept when floating with ground, the buffer function of driving wheel buffer spring 49 is realized to driving wheel apparatus 12 Protection realizes that equipment is steady, accurately runs.

Lift purging system 11 include clearing apparatus and lifting device, the clearing apparatus include intermediate cleaning agency and Two swing arm cleaning agencies, two swing arm cleaning agencies are rotatably arranged on the left and right sides of intermediate cleaning agency, two institutes It states swing arm cleaning agency and passes through swing arm motor drive rotation；

The lifting device includes mobile station driving motor 44, ball screw framework and the movement being fixed on slide unit 40 Platform 14, the mobile station 14 are installed on the ball of ball screw framework, and the mobile station driving motor 44 drives ball Screw mechanism operating, the mobile station 14 are fixedly connected with intermediate cleaning agency, and the ball screw framework drives movement Platform 14 is gone up and down along slide unit 40, and the front side of two laminates 5 is arranged in the slide unit 40；

The intermediate cleaning agency includes push plate 2 21, brush connecting plate 2 30, L-type upper stop piece 3 37, L-type lower stop piece three 38, L-type upper stop piece 4 42 and L-type lower stop piece 4 43, the L-type upper stop piece 3 37 and L-type lower stop piece 3 38 and L-type upper stop piece 4 42 with the corresponding left and right sides for being arranged in push plate 2 21 two-by-two of L-type lower stop piece 4 43, the L-type lower stop piece 3 38 and L-type Lower stop piece 4 43 is symmetrically fixed on the left and right sides of brush connecting plate 2 30, between L-type upper stop piece 3 37 and L-type lower stop piece 3 38 It is compressed with spring 3 39, spring 4 41,3 38 He of L-type lower stop piece are compressed between L-type upper stop piece 4 42 and L-type lower stop piece 4 43 L-type lower stop piece 4 43 is cooperated by the sliding slot on push plate sliding block 25 and push plate 2 21；

Two swing arm cleaning agencies are specially swing arm cleaning agency 1 and swing arm cleaning agency 2 77, the swing arm Cleaning agency 1 includes one driving motor 20 of push plate, push plate 1, L-type upper stop piece 2 35 and L-type lower stop piece 2 33, described The top of push plate 1, the output shaft of one driving motor 20 of push plate being vertically arranged is arranged in one driving motor 20 of push plate It is keyed with the side of push plate 1, the L-type upper stop piece 2 35 and L-type lower stop piece 2 33 are correspondingly arranged at push plate 1 On, the L-type lower stop piece 2 33 is fixed on brush connecting plate 3 36, between L-type upper stop piece 2 35 and L-type lower stop piece 2 33 It is compressed with spring 2 34, L-type lower stop piece 2 33 is cooperated by the sliding slot on push plate sliding block 25 and push plate 1；

The swing arm cleaning agency 2 77 includes three driving motor 23 of push plate, push plate 3 26, L-type upper stop piece 1 and L-type The top of push plate 3 26, three driving motor 23 of push plate is arranged in lower stop piece 1, three driving motor 23 of push plate The output shaft being vertically arranged and the side of push plate 3 26 be keyed, the L-type upper stop piece 1 and one 27 pairs of L-type lower stop piece It should be arranged in push plate 3 26, the L-type lower stop piece 1 is fixed on brush connecting plate 1, L-type upper stop piece 1 and L Spring 1 is compressed between type lower stop piece 1, L-type lower stop piece 1 passes through the sliding slot on push plate sliding block 25 and push plate 3 26 Cooperation.

When brush and ground generate pressure, brush connecting plate is limit and spring natural resiliency potential energy by push plate sliding block Effect guarantees that brush and ground keep certain decrement, avoids due to Uneven road and generate the feelings of brush discontinuity Condition, to reach good cleaning effect.

Water injection system includes the water pipe 2 of water tank 1, joining water box 1 and clearing apparatus, the water that 1 top of water tank is arranged in The setting that the liquid level sensor 75 of height of water level, control water tank roof door 15 open and close in case roof door 15, detection water tank 1 is on water tank 1 Water tank roof door driving mechanism 16, the water tank roof door driving mechanism 16 include motor and chain-wheel mechanism, the water tank top Door 15 is made of two semicircle doors, and the motor drives chain-wheel mechanism operating, and the chain-wheel mechanism drives driving gear rotation Turn, the driving gear is engaged with driven gear, and two semicircle doors are connect with the driving gear of respective side and driven gear.

Water pipe 2 includes the PU pipe 65 that 1 bottom of water tank is arranged in, and the other end of PU pipe 65 passes sequentially through angle coupling 66, water pipe, right angle quick connector 69, Green's head 70 are connected to one end of fibre pipe 71, the other end and electricity of the fibre pipe 71 Dynamic water pump 56 connects, and the electric water pump 56 is connected to by water pipe with multiple spray heads 72, electric water pump 56 and multiple spray heads 72 Between water pipe be equipped with a tee pipe coupling 68, tee pipe coupling 68 is connected to by water pipe and water tank 1, water tank 1 and tee tube Water pipe between connector 68 is equipped with speed governing valve 67, is acted on by electric water pump 56, realizes water spray process, and speed governing valve 67 is adjustable Water flow size at spray head 72, to control water spray effect.

Control system includes PLC control module 53, RFID communication module 64, radio remote control switch 52, air switch 54, end Son 55, water tank roof door driver 58, push plate driver 59 and relay 60, the radio remote control switch 52 receive external remote control and refer to It enables, realizes that external manual control function, the PLC control module 53 use a kind of programmable reservoir, store inside it The instruction for executing the operations such as logical operation, sequential control, timing, counting and arithmetical operation, by digital input and output come The movement of whole equipment is controlled, the air switch 54 completes contact and disjunction circuit, and circuit or electrical equipment can occur Short circuit, heavy overload and under-voltage etc. are protected, and the terminal 55 plays connection in terms of transmitting electric signal and conduction and makees With simplified product structure, the water tank roof door driver 58 is sent by PLC control module 53 to water tank roof door driving mechanism 16 The opening and closing movement of water tank roof door 15 is realized in instruction, and the push plate driver 59, which is cleaned by PLC control module 53 to lift, is System 11 sends instruction, and 11 action of each part of real-time control lift purging system, respectively corresponds totally by four groups of drive wheel device 61 Four groups of driving wheel apparatus 12, every group of drive wheel device 61 pass through 53 real-time control of PLC control module to corresponding omni-directional wheel 50 Velocity of rotation and rotation direction, it can be achieved that cleaning robot straight line walking, turning, spin, translation, lateral sliding etc. act, A variety of walking postures substantially increase the flexibility ratio of cleaning robot.

Robot includes headstock AGV magnetic navigation sensor 2 79 and tailstock AGV magnetic navigation sensor 3 80, headstock AGV magnetic Navigation sensor 2 79 and tailstock AGV magnetic navigation sensor 3 80 are passed by magnetic navigation sensor seat board 3 78 and magnetic navigation respectively Sensor seat board 1 is mounted on the front and back end of bottom plate 13, and magnetic navigation sensor 1 is installed by magnetic navigation sensor seat board 2 63 It at 13 middle part of bottom plate, and is arranged vertically with front and back ends AGV magnetic navigation sensor, away from ground certain altitude, the magnetic nail navigation is passed Sensor is for detecting pre-buried magnetic nail, real-time control carriage walking track；

Four detection swing arm cleaning agencies 1 and swing arm cleaning agency 2 77 are installed in 2 21 front of push plate and back side two sides Swing position swing arm limit sensors 81.

It clears up outside robot and is equipped with a cleaning robot shell 82, it is super in cleaning 82 bottom surrounding of robot shell arrangement Sonic sensor 73 and infrared sensor 74, when the task of execution, if robot front or behind encounters barrier, by super Sonic sensor 73 judges whether the avoidance that walks on or carry out according to detecting distance distance, meeting feedback signal to control system, Barrier avoiding function is realized by infrared sensor 74.

Robot includes push plate height limit baffle 8 and push plate height limit sensor 10, the push plate height limit Baffle 8 is fixed in mobile station 14, and the push plate height limit sensor 10 is pacified by push plate height limit sensor seat board 9 On two laminates 5, when the lifting of lift purging system, sensed by push plate height limit baffle 8 and push plate height limit Device 10 acts on, to control the adjustable height of lift purging system 11.

Energy-storage system includes the rechargeable battery of multiple groups parallel connection, specifically includes one 83 He of battery pack being arranged on two laminates 5 Battery pack 2 57 on electrical control member seat board 4 is set, is the power source for clearing up robot.

As shown in Figure 12-Figure 15, a kind of method for cleaning being applicable in more scene piggery cleaner device people, including

(1) after robot is powered, PLC control module 53 is run by original state, firstly, each driving motor is looked for as required To zero-bit state, by 81 position of height limit sensor 10 and swing arm limit sensors, realize that lift purging system 11 exists Car body front end and away from ground suitable position；

(2) swing arm cleaning agency 1 and swing arm cleaning agency 2 77 return back in front of car body, by driving wheel apparatus 12 Realize all directions movement in plane；

(3) when normally being cleaned in plane floor pig house, swing arm cleaning agency 1 and 2 77 points of swing arm cleaning agency Not Tong Guo one driving motor 20 of push plate and the driving of three driving motor 23 of push plate, reach predeterminated position, lift purging system 11 is logical Crossing mobile station driving motor 44 drives the decline of mobile station 14 that brush and ground is made to keep decrement, and driving wheel apparatus 12 passes through PLC The control of control module 53 makes to clear up the walking of robot direction of advance straight line, realizes cleaning；

(4) when clearing up plane floor dead angle, swing arm cleaning agency 1 and swing arm cleaning agency 2 77 are respectively by pushing away It one driving motor 20 of plate and is driven by three driving motor 23 of push plate, and the in perpendicular shape state of push plate 2 21, at this time drive wheel mechanism 12 make to clear up robot translation by the control of PLC control module 53, realize cleaning；

(5) when screen floor for manure pig house normally cleans, swing arm cleaning agency 1 and swing arm cleaning agency 2 77 are distinguished It is driven by one driving motor 20 of push plate and three driving motor 23 of push plate, keeps swing arm cleaning agency 1 and swing arm cleaning agency 2 77 be swing state, and lift purging system 11 drives the decline of mobile station 14 to make brush and ground by mobile station driving motor 44 Face keeps decrement, and driving wheel apparatus 12 is made to clear up the walking of robot direction of advance straight line by the control of PLC control module 53, be led to The flat-pushing effect of the swing state and brush 2 31 of swing arm cleaning agency 1 and swing arm cleaning agency 2 77 is crossed, realizes cleaning；

(6) in scale removal process, the water source that certain pressure is quantitatively extracted by electric water pump 56 is sprayed at clearing apparatus, is realized It along the pushing away of a direction, scrapes, sweep work, ground sundries is uniformly cleaned to designated position such as plane floor or is swept into leakage manure the fields Plate leaks at excrement.

In clean-up task, magnetic navigation sensor 1, headstock AGV magnetic navigation sensor 2 79 and tailstock AGV magnetic conductance are utilized Navigate sensor 3 80, is moved by the track that magnetic navigation system identification magnetic stripe completes robot；

In clean-up task, if robot front or behind encounters barrier, ultrasonic sensor 73 is according to detecting distance Distance, meeting feedback signal to control system, judges whether to walk on or stop, and passes through infrared sensor 74 and realizes avoidance function Energy.

In clean-up task, if 1 water shortage of water tank, 75 response action of liquid level sensor passes through PLC control module and RFID After communication module coordinated control robot to designated position, water tank roof door driving mechanism drives water tank roof door 15 to open, and is mended Water task, after water is filled it up with, water tank roof door 15 is closed, and continues to complete clean-up task by instruction.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model Protection scope within.

Claims (10)

1. one kind be suitable for more scene piggery cleaner device people, it is characterised in that: including by being arranged from top to bottom water tank seat board, Electrical control member seat board, two laminates and bottom plate composition car body ontology, be arranged on bottom plate with motor vehicles bodies ontology omnibearing ambulation Running gear, the lift purging system that two laminate front ends are arranged in, the control system being arranged on electrical control member bottom plate, setting exist Water injection system and energy-storage system on water tank seat board, the control system control running gear, lift purging system and water spray The running of system, the water injection system provide water source for purging system, and the energy-storage system provides electric energy for power device.

2. according to claim 1 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the Running System System clears up four groups of driving wheel apparatus along the setting of rectangle diagonal line of robot bottom to be arranged in, and every group of driving wheel apparatus wraps Drive seat, driving motor, optical axis support rod, omni-directional wheel and driving output shaft, the driving motor is included to be fixed in drive seat Portion, the omni-directional wheel is by driving output shaft to connect with driving motor, in each fixed sliding block in the two sides of drive seat, each Wearing optical axis support rod on sliding block vertically, the optical axis support rod slides setting in sliding block, and the two of each optical axis support rod End is fixedly connected with bottom plate and two laminates respectively, and driving wheel buffering is arranged on the optical axis support rod between sliding block and two laminates Spring.

3. according to claim 1 or 2 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the liter Drop formula purging system includes clearing apparatus and lifting device, and the clearing apparatus includes that intermediate cleaning agency and two swing arms clean Mechanism, two swing arm cleaning agencies are rotatably arranged on the left and right sides of intermediate cleaning agency, two swing arm scavenging machines Structure passes through a swing arm motor and drives rotation；

The lifting device includes mobile station driving motor, ball screw framework and the mobile station being fixed on slide unit, described Mobile station be installed on the ball of ball screw framework, the mobile station driving motor drives ball screw framework operating, The mobile station is fixedly connected with intermediate cleaning agency, and the ball screw framework drives mobile station to go up and down along slide unit, institute State the front side that two laminates are arranged in slide unit.

4. according to claim 3 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the centre is clear Sweeping mechanism includes push plate two, brush connecting plate two, L-type upper stop piece three, L-type lower stop piece three, L-type upper stop piece four and L-type lower stop piece Four, the L-type upper stop piece three and L-type lower stop piece three and L-type upper stop piece four with L-type lower stop piece four is corresponding two-by-two is arranged in push plate Two left and right sides, the L-type lower stop piece three and L-type lower stop piece four are symmetrically fixed on the left and right sides of brush connecting plate two, L It is compressed with spring three between type upper stop piece three and L-type lower stop piece three, is compressed with bullet between L-type upper stop piece four and L-type lower stop piece four Spring four, L-type lower stop piece three and L-type lower stop piece four are cooperated by the sliding slot on push plate sliding block and push plate two；

Two swing arm cleaning agencies are specially swing arm cleaning agency one and swing arm cleaning agency two, the swing arm cleaning agency One includes one driving motor of push plate, push plate one, L-type upper stop piece two and L-type lower stop piece two, one driving motor of the push plate setting At the top of push plate one, the output shaft of one driving motor of push plate being vertically arranged and the side of push plate one are keyed, institute The L-type upper stop piece two and L-type lower stop piece two stated are correspondingly arranged in push plate one, and the L-type lower stop piece two is fixed on brush company On fishplate bar three, spring two is compressed between L-type upper stop piece two and L-type lower stop piece two, L-type lower stop piece two passes through push plate sliding block and pushes away Sliding slot cooperation on plate one；

The swing arm cleaning agency two includes three driving motor of push plate, push plate three, L-type upper stop piece one and L-type lower stop piece one, described Three driving motor of push plate the top of push plate three is set, the output shaft of three driving motor of push plate being vertically arranged with push away The side of plate three is keyed, and the L-type upper stop piece one and L-type lower stop piece one are correspondingly arranged in push plate three, under the L-type Baffle one is fixed on brush connecting plate one, and spring one, L-type lower stop piece are compressed between L-type upper stop piece one and L-type lower stop piece one One is cooperated by the sliding slot on push plate sliding block and push plate three.

5. according to claim 4 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the water spray system System includes water in water tank, the water pipe of joining water box and clearing apparatus, the water tank roof door that tank top is arranged in, detection water tank The liquid level sensor of position height and the water tank roof door driving mechanism arranged on the water tank of control water tank roof door opening and closing, the water Case roof door driving mechanism includes motor and chain-wheel mechanism, and the water tank roof door is made of two semicircle doors, the motor band The operating of movable sprocket mechanism, the chain-wheel mechanism drive driving gear rotation, and the driving gear is engaged with driven gear, and two A semicircle door is connect with the driving gear of respective side and driven gear.

6. according to claim 5 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the sparge pipe Road includes the PU pipe that water tank bottom is arranged in, and the other end of PU pipe passes sequentially through angle coupling, water pipe, right angle quick connector, lattice Woods head is connected to one end of fibre pipe, and the other end of the fibre pipe is connect with electric water pump, and the electric water pump passes through water Pipe is connected to multiple spray heads, and the water pipe between electric water pump and multiple spray heads is equipped with a tee pipe coupling, and tee pipe coupling is logical Water pipe and water tank connection is crossed, the water pipe between water tank and tee pipe coupling is equipped with speed governing valve.

7. according to claim 6 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the control system System includes PLC control module, RFID communication module, radio remote control switch, air switch, terminal, water tank roof door driver, push plate Driver and relay.

8. according to claim 7 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the robot Including headstock AGV magnetic navigation sensor two and tailstock AGV magnetic navigation sensor three, headstock AGV magnetic navigation sensor two and the tailstock Before AGV magnetic navigation sensor three is mounted on bottom plate by magnetic navigation sensor seat board three and magnetic navigation sensor seat board one respectively Rear end, magnetic navigation sensor one are mounted in the middle part of bottom plate by magnetic navigation sensor seat board two, and with front and back ends AGV magnetic navigation Sensor vertical arrangement；

The pendulum of four detection swing arm cleaning agencies one and swing arm cleaning agency two is installed in intermediate cleaning agency front and back side two sides The swing arm limit sensors of dynamic position.

9. according to claim 8 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: cleaning robot Outside is equipped with a cleaning robot shell, in cleaning robot housing bottom surrounding arrangement ultrasonic sensor and infrared sensing Device.

10. according to claim 9 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the energy storage System includes the rechargeable battery of multiple groups parallel connection.