CN213663008U

CN213663008U - Full-automatic scraper device with protect function

Info

Publication number: CN213663008U
Application number: CN202021924802.9U
Authority: CN
Inventors: 朱九凯; 杨东琦; 纪国宁; 张圣龙; 刘善琪; 赵雅涵; 赵洋; 张健
Original assignee: Qingdao Agricultural University
Current assignee: Qingdao Agricultural University
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2021-07-13
Anticipated expiration: 2030-09-07

Abstract

A full-automatic scraper blade device with protect function, include: the device comprises a power module, a main control module consisting of a microprocessor, an RAM memory and an FLASH memory, a scraper motor driving module, a Hall signal processing module and a travel switch control module; on the basis that the stroke switch limits the position of the scraper, the phase sequence of a three-phase alternating current motor is changed through the alternating current contactor, so that the scraper is driven to rotate forwards and backwards, abnormal conditions such as slipping and blocking in the operation process are detected through the Hall signal processing module, the normal operation of the scraper is recovered through manual mode adjustment, and the operation stability is ensured; when switching into automatic mode, can realize the automated processing of livestock farm excrement and dirt, optimized the livestock breeding environment. The scraper blade automatic or manual operation device has the advantages of perfect performance, strong operability, high reliability and the like, can realize automatic or manual operation of the scraper blade by detecting and solving the problems of the scraper blade such as slipping and jamming, and has better practical application value.

Description

Full-automatic scraper device with protect function

Technical Field

The utility model relates to a full-automatic scraper means with protect function belongs to livestock-raising equipment technical field.

Background

In animal excrement and urine clearance fields such as plant, when clearing up animal excrement and urine through scraping the excrement machine, because the water content is great in the excrement is dirty, scrape the excrement machine and easily attach to a large amount of excrement evaporation moisture, when scraping excrement machine scraper blade operating mechanism and store up the big water gaging, can cause the phenomenon of skidding of dung scraping board, if store up water in winter and freeze the back and easily lead to the card dead phenomenon. The use environment of the dung scraping machine is relatively complex, a running mechanism of the scraping plate can splash dung, and the dung can be accumulated for a long time to cause the problems of slipping and blocking; the above problems are serious, the light person may damage the machine, and the heavy person may cause the machine to be out of control and accidentally injure the user.

At present, the hardware structure of the dung scraping machine used by livestock farmers is simpler, and no effective detection and processing means exist for solving the problems; in the aspect of safety, most of the conventional dung scrapers adopt a three-phase alternating current motor with strong power as a dung scraper power transmission core, but the three-phase alternating current motor adopts higher voltage, and the common dung scrapers lack protective measures for the three-phase alternating current motor; meanwhile, excrement accumulation can generate unpleasant smell and breed bacteria, so that the livestock farm needs to clean for many times every day, most excrement scrapers on the market lack a perfect working mode, and daily timing automatic treatment is difficult to achieve.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve the scraper blade that exists among the prior art defect such as skid, the card is dead, provide a full-automatic scraper means with protect function.

The utility model discloses a following technical scheme realizes: a full-automatic scraper device with a protection function comprises a main control module consisting of a microprocessor, an RAM memory and an FLASH memory, a power supply module, a scraper, a Hall proximity switch, a travel switch, a three-phase alternating current motor, a scraper motor driving module, a Hall signal processing module, a travel switch control module and a serial port screen display module;

the three-phase alternating current motor is connected with the scraping plate by a crawler belt, a corner wheel is arranged at a corner, and the three-phase alternating current motor is connected with the main control module through a scraping plate motor driving module to drive the scraping plate to reciprocate in the excrement ditch;

the Hall proximity switch is arranged on the corner wheel and connected with the main control module through the Hall signal processing module, so that the detection of the slipping or the blocking of the scraper is realized;

the travel switch is arranged on one side, close to the three-phase alternating current motor, of the outer part of the excrement ditch, is used for limiting the operation of the motor, and is connected with the main control module through the travel switch control module;

the power module and the serial port screen display module are connected with the main control module, the power module is used for providing power for the full-automatic scraper device, and the serial port screen display module is used for displaying control information.

Furthermore, the microprocessor adopts an RAM microprocessor STC15W4K32S4 chip, the RAM memory and the FLASH memory are connected to a storage unit of the microprocessor, an interaction interface of the microprocessor is realized in a serial port communication mode, the serial port screen display module is connected with a USART1 of the microprocessor, and the scraper motor driving module, the Hall signal processing module and the travel switch control module are respectively connected with a quasi-bidirectional port of the microprocessor.

Furthermore, a motor main loop is connected between the three-phase alternating current motor and the scraper motor driving module, the motor main loop comprises a three-phase alternating-current power supply, an alternating-current motor starter NS2-25, a relay NJB1-X1 and an alternating-current contactor CJX2-0901, wherein the input end of the alternating-current motor starter NS2-25 is connected with the three-phase alternating-current power supply, the output end of the alternating-current motor starter NS2-25 is connected with the relay NJB1-X1 and the alternating-current contactor CJX2-0901, used for assisting electrical start to ensure that the motor is started smoothly, the relay NJB1-X1 is connected with the output end of the AC motor starter NS2-25, for preventing the system from faults caused by phase loss and overload to enhance the safety of the circuit, an alternating current contactor CJX2-0901 comprises a left and a right which are connected with a three-phase alternating current motor, the forward and reverse rotation of the three-phase alternating current motor is respectively controlled by the left alternating current contactor and the right alternating current contactor through changing the phase sequence.

Further, the scraper motor driving module comprises a fuse box 1, a fuse box 2, a relay U15, a relay U16, a triode Q1 and a triode Q2

A normally open pin 3 of a relay U15 is connected with a pin L1 of a left alternating current contactor CJX2-0901, a pin 1 at the common end of the relay U15 is connected with a pin 2 of a fuse box 1, a pin 5 at the driving end of the relay U15 is connected with an emitter of a triode Q1, a base of the triode Q1 is connected with a port P22 of a microprocessor through a resistor R4, and the pin 1 of the fuse box 1 is connected with a line L1 of an external three-phase alternating current power supply;

a normally open pin 3 of the relay U16 is connected with a pin L1 of a right alternating current contactor CJX2-0901, a pin 1 at the common end of the relay U16 is connected with a pin 2 of a fuse box 2, a pin 5 at the driving end of the relay U16 is connected with an emitter of a triode Q2, a base of the triode Q2 is connected with a port P23 of the microprocessor through a resistor R3, and a pin 1 of the fuse box 2 is connected with a line L1 of an external three-phase alternating current power supply.

Furthermore, the travel switch control module comprises resistors R5-R8 and photocouplers U4-U7, collector pins of the photocouplers U4-U7 are correspondingly connected with P41, P42, P43 and P44 ports of the microprocessor respectively, in order to avoid interference between devices, photocouplers U4-U7 are designed between the ports of the microprocessor and the travel switches to enhance safety and reduce circuit interference, the travel switches comprise 4 travel switches, one end of each travel switch is connected with a 12V power supply, and the other end of each travel switch is correspondingly connected with an anode pin of the photocoupler U4-U7 through current limiting resistors R30-R33.

Furthermore, the travel switches are arranged on the outer side of the excrement ditch and close to one end of the three-phase alternating current motor, two travel switches are arranged in the same excrement ditch, and the distance between the two travel switches is more than 20cm

Furthermore, the Hall signal processing module comprises a current-limiting resistor RP61, a photoelectric coupler U2, a pull-up resistor RP62 and a resistor R2, a pin 2 of the Hall proximity switch is connected with a power supply end through the pull-up resistor RP62 and is connected with an anode pin of the photoelectric coupler U2 through a current-limiting resistor RP61, a collector pin of the photoelectric coupler U2 is connected with a port P46 of the microprocessor, an emitter is grounded, and the photoelectric coupler U2 is used for signal transmission to increase the circuit safety and the anti-interference capability; the scraper device detects the running speed of the three-phase alternating current motor through the Hall proximity switch, so that whether the scraper is abnormal or not is judged.

Compared with the prior art, the utility model discloses an advantage lies in with positive effect:

whether this scheme skids or the card is died through hall proximity switch detection scraper blade, and combine proximity switch restriction scraper blade operation, realize scram or switch scraper blade direction of motion, can detect out the trouble that exists in the operation process in equipment, can guarantee the steady operation of device, the device has the performance perfect, strong operability, advantages such as reliability height, skid through detecting and solving the scraper blade, the card is dead scheduling problem, realize the automation or the manual operation of scraper blade, can clear up the excrement in the plant every day, prevent bacterial growing, high efficiency has been realized, under the prerequisite of the security of assurance device, can incessant work all day, realize automatic excrement and sewage treatment.

Drawings

FIG. 1 is a schematic view of a control principle of a full-automatic scraper device according to an embodiment of the present invention;

FIG. 2 is a connection diagram between the microprocessor and the squeegee motor drive module;

FIG. 3 is an electrical connection diagram of the main circuit of the motor;

FIG. 4 is a connection diagram between the microprocessor and the travel switch control module;

FIG. 5 is a schematic view of the travel switch installation;

FIG. 6 is a connection diagram between the microprocessor and the Hall signal processing module;

fig. 7 is an electrical connection diagram of the squeegee assembly control circuit.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is further described in conjunction with the accompanying drawings and examples, and in the following description, many details are set forth to provide a sufficient understanding of the present invention, however, the present invention may be implemented in other ways than those described herein, and therefore, the present invention is not limited to the specific examples disclosed below.

As shown in fig. 1 and 5, the present embodiment is introduced by taking two channels as an example, and includes a main control module composed of a microprocessor, a RAM memory, and a parallel interface, a power supply module, a scraper, a hall proximity switch, a travel switch, a three-phase ac motor, a scraper motor driving module, a hall signal processing module, a travel switch control module, and a serial screen display module;

the three-phase alternating current motor is connected with the scraping plate by a crawler belt, a corner wheel is arranged at a corner, and the three-phase alternating current motor is connected with the main control module through a scraping plate motor driving module and is used for driving the scraping plate to reciprocate in the excrement ditch;

the Hall proximity switch is arranged on the corner wheel and used for collecting alternating time information between a metal scroll and nonmetal of the corner wheel to realize detection of slipping or jamming of the scraper and is connected with the main control module through the Hall signal processing module;

In this embodiment, the microprocessor adopts an RAM microprocessor STC15W4K32S4 chip, the RAM memory and the FLASH memory are memory units connected to the microprocessor, an interaction interface of the microprocessor is realized in a serial port communication mode, the serial port screen display module is connected to a USART1 of the microprocessor, and the scraper motor driving module, the hall signal processing module and the travel switch control module are respectively connected to a quasi-bidirectional port of the microprocessor.

As shown in fig. 2, a schematic diagram of connection between a microprocessor and a scraper motor driving module is shown, and for the problem of motor protection, the present embodiment adopts a two-stage control mode to complete control of a three-phase ac motor, where a first stage is a 5V-220V relay to control on/off of 220V voltage, and a second stage is a 220V-330V three-phase ac contactor to control a three-phase winding. The scratch board motor driving module comprises a fuse box 1, a fuse box 2, a relay U15, a relay U16, a triode Q1, a triode Q2, a resistor R3 and a resistor R4, taking a branch where the fuse box 1 is located as an example, a normally open pin 3 of the relay U15 is connected with an L1 pin of an external left alternating current contactor CJX2-0901, a common end pin 1 is connected with a pin 2 of the fuse box 1, a driving end pin 5 is connected with an emitter of the triode Q1, a base of the triode Q1 is connected with a P22 port of a microprocessor through a resistor R4, the fuse box pin 1 is connected with an L1 wire of an external three-phase alternating current power supply, and similarly, the branch where the fuse box 2 is located adopts the same connection mode, and the two-channel scratch board is respectively controlled by the fuse box 1 branch and the fuse box 2 branch. Wherein the fuse box is equipped with fusing type fuse, prevents the short circuit, guarantees the security of operation, and microprocessor controls the switching of relay normally closed contact and normally open contact through output switching value to open and stop through the break-make of control L1 line realization three-phase alternating current motor.

The control of the three-phase alternating current motor needs to be realized by accessing three-phase alternating current, as shown in fig. 1, a motor main loop is further connected between the three-phase alternating current motor and the scraper motor driving module, as shown in fig. 3 in particular, the motor main loop comprises a three-phase alternating current power supply, alternating current motor starters NS2-25, relays NJB1-X1 and alternating current contactors CJX2-0901, the three-phase alternating current power supply uses alternating current 330V, the input ends of the alternating current motor starters NS2-25 are connected with the three-phase alternating current power supply, and the output ends of the alternating current motor starters NS2-25 are connected with the relays NJB1-X1 and the alternating current contactors CJ. The relay NJB1-X1 is connected with the output end of the AC motor starter NS2-25 and is used for preventing the system from faults caused by phase loss and overload so as to enhance the safety of the circuit. The alternating current contactors CJX2-9013 comprise a left alternating current contactor and a right alternating current contactor, the left alternating current contactor and the right alternating current contactor are connected with the three-phase alternating current motor, the left alternating current contactor and the right alternating current contactor are used for respectively controlling forward and reverse rotation of the three-phase alternating current motor by changing a phase sequence, for example, a pin L1 of the two alternating current contactors is shown in a KM-01 graph and a pin KM-02 graph, and therefore the on-off of the phase is controlled; the main loop of the motor is provided with industrial electrical equipment, so that the system is safe and reliable to operate, and the problem that the traditional dung scraper is unstable to operate is solved.

As shown in fig. 4, a schematic diagram of the connection between the microprocessor and the travel switch control module is shown, the travel switch control module includes resistors R5-R8 and photocouplers U4-U7, collector pins of the photocouplers U4-U7 are respectively connected to ports P41, P42, P43 and P44 of the microprocessor, and in order to avoid interference between devices, the photocouplers U4-U7 are designed between the ports of the microprocessor and the travel switch, so that the safety is enhanced and circuit interference is reduced. One end of the external travel switch is connected with a 12V power supply, the other end of the external travel switch is connected with an anode pin of a photoelectric coupler PC817 through a current-limiting resistor R30-R33, after the travel switch is triggered, an electric signal is added to the input end of the photoelectric coupler PC817, the internal LED emits light to irradiate the light receiver, and the light receiver receives the electric signal and outputs digital quantity to the input end, so that whether the scraper runs to the end of a channel at one end or not is judged. The trigger of the travel switch is generated by a stop rod, and when the channel stop rod impacts the travel switch, a signal input to a microprocessor by a travel switch control module changes, so that the microprocessor controls the scraper to stop for a short time, and gives the three-phase alternating current motor commutation time, so that the scraper moves in the opposite direction.

The basic idea of the scraper operation position control is to limit the scraper operation position through a travel switch mounting position, so that the phenomenon that the scraper moves too far to cause the derailment of the scraper is prevented. The position installation diagram of the travel switch is shown in fig. 5, the travel switch is installed outside the channel and located at one end of the motor side, and the installation distance of the travel switch in the same channel needs to be controlled to be more than 20 CM. In the dung trench 1, after the stop rod 1 can stably hit the striker of the travel switch 1 to enable the striker to swing to a certain angle, the normally closed contact in the travel switch is disconnected, and the movement interference with the striker of the rear travel switch 3 is avoided, so that the stop rod can stably hit the striker of the travel switch 3 and the movement interference with the rear corner wheel is avoided. The dung trench 2 is provided with

travel switches

2 and 4, and the installation requirement of the travel switches is the same as that of the dung trench 1. This way, the advancing or retreating distance of the scraper can be effectively controlled. In the operation process: firstly, the rotating plate of the scraper 1 descends to scrape dung forwards, and the rotating plate of the scraper 2 ascends to retreat backwards. When the scraper 1 runs to the excrement collecting side of the channel, the scraper 1 can impact the travel switch 1 through the stop rod 1, the switching value is input into the main control module, the main control module outputs the switching value to stop the three-phase alternating current motor, and excrement in the channel can fall into an excrement collecting channel for collecting the excrement uniformly. When the three-phase alternating current motor scraper blade 1 rotating plate is lifted and backs backwards, the scraper blade 2 rotating plate is descended and scrapes dung forwards, when the scraper blade 2 runs to a dung collecting side of a dung ditch, the stop rod 2 impacts the travel switch 2 to stop the equipment, and one cycle of running is finished. The limiting abnormity occurring in the operation process is defined as that the

travel switches

1 and 3 corresponding to the excrement ditch 1 are in an off state at the same time, or the

travel switches

2 and 4 corresponding to the excrement ditch 2 are in an off state at the same time, the two conditions are serious limiting abnormity, the scraper device can be immediately stopped, and a limiting abnormity alarm is triggered, and the main interface of the serial port screen display module can carry out text prompt on which specific travel switch is abnormal at the limiting abnormity position.

As shown in fig. 6, the schematic diagram of the connection between the microprocessor and the hall signal processing module is shown, the hall signal processing module includes a current limiting resistor RP6, a photocoupler U2, pull-up resistors RP62 and R2, a collector pin of the photocoupler U2 is connected to a P46 port of the microprocessor, and the photocoupler U2 is used for signal transmission to increase circuit safety and interference resistance; the scraper device detects the running speed of the three-phase alternating current motor through the Hall proximity switch, so that whether the scraper is abnormal or not is judged. The hall proximity switches are mounted on the corner wheels 1, as shown in fig. 5, and the rest corner wheels are not mounted. The head of the used Hall proximity switch is provided with a metal sensing device, and when the grey metal scroll of the corner wheel is close to the sensing metal, the Hall proximity switch generates a Hall effect to change the state of the internal circuit of the switch. When the grey metal scroll of the corner wheel is far away, the metal cannot be sensed, and the internal circuit of the Hall proximity switch changes. The module is used for judging whether the scraper plate is abnormal in sliding and clamping in the operation process, the motor drives the corner wheel to rotate, and the Hall proximity switch can periodically generate Hall effect, namely the Hall proximity switch outputs an alternate signal with certain frequency. If the alternating signal time exceeds the set induction time set value, the scraper device judges that the operation is abnormal such as slipping and blocking, and the system stops operating. For example, if the sensing time is set to 4 seconds, if the hall proximity switch operated by the motor does not receive the signal alternation of the sensing metal and the non-metal in a time period greater than 4 seconds, the abnormality of the slide and the card may be triggered. Therefore, the function that the equipment can be stopped in time when the equipment is abnormal is ensured, the running safety of the equipment is improved, and after the equipment is stopped, a user adjusts the mode to a manual mode, and the scraper is controlled to move by the manual mode to recover the normal work.

The electrical connection diagram of the squeegee control circuit of the present embodiment is shown in fig. 7 and described below with reference to the overall operation principle, and the squeegee control circuit includes the switch 1-2, the KM-01 and KM-02 terminals of two ac contactors, i.e., the L1 pins of the left and right ac contactors. The switch 1 is used for switching the operation mode, and the switch 2 is used for manually changing the running state of the scraper. When the switch 1 is switched to the automatic mode, one end of the switch 1 is connected to the L1 pin of the relay NJB1-X1, and the other end is connected to the COM terminal of the relay, so that when the switch is pressed, the COM terminal is connected to the L1 line, thereby switching the mode to the automatic operation mode, which is also referred to as a normal operation mode. The common pin of the left relay and the right relay in the electrical connection diagram is respectively connected to an L1 line through a switch 1, the normally open pin of the left relay is connected to an L1 pin of a left alternating current contactor (for controlling forward rotation), the normally open pin of the right relay is connected to an L1 pin of a right alternating current contactor (for controlling reverse rotation), and the other two pins of the alternating current contactor are connected with an L2 wire and an L3 wire. The user sets up the automatic operation duration parameter through serial ports screen and button, carries out the time contrast through the host system is inside, and when reaching appointed time after, microprocessor automatic control relay, normally open contact actuation, alternating current contactor coil circular telegram to drive the scraper blade operation. When the operation reaches the designated stop time, the microprocessor controls the normally open contact of the relay to be disconnected, the alternating current contactor is powered off, the scraper device controls the motor to stop operating, and the one-time automatic operation is finished. The squeegee assembly will automatically activate the squeegee each day, at the time timed by the user. Thereby realizing the automatic cleaning of the manure by the scraper.

The user switches the mode, also called maintenance mode, to manual mode by means of the switch 1. One end of the switch 2 is connected to an L1 line through the switch 1, and the other two ends are respectively connected with KA-1 and KA-2 terminals of the three-phase alternating current contactor, so that whether the L1 line is connected to the KA-1 and KA-2 terminals or not is achieved through the control switch, the switch controls the three-phase alternating current motor to rotate forwards and backwards, if the scraping plate slides or is clamped in the operation process, the scraping plate can be adjusted to a safe position through a manual mode, the operation is restarted, and the operation safety of the system is guaranteed. The scraper device is convenient for a user to operate and control through two operation modes.

The concrete during operation, automatic operation duration parameter through the user setting contrasts, the scraper blade motor drive module output switching value signal carries out output control to the outside three-phase AC motor of equipment after appointed time, hall signal processing module passes through hall proximity switch input PWM volume and detects the operation conditions of outside scraper blade, travel switch control module passes through travel switch input switching value and is used for detecting whether the scraper blade moves the end of channel one end, the security of scraper blade operation has been guaranteed, automatic clearance livestock excrement has been realized, the breed and the breed of bacterium have been prevented, effectively guarantee reliability and automation among the work operation process.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may use the above-mentioned technical contents to change or modify the equivalent embodiment into equivalent changes and apply to other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical matters of the present invention will still fall within the protection scope of the technical solution of the present invention.

Claims

1. A full-automatic scraper device with a protection function is characterized by comprising a main control module, a power module, a scraper, a Hall proximity switch, a travel switch, a three-phase alternating current motor, a scraper motor driving module, a Hall signal processing module, a travel switch control module and a serial port screen display module, wherein the main control module consists of a microprocessor, an RAM memory and an FLASH memory;

the travel switch is arranged on one side, close to the three-phase alternating current motor, of the outer part of the manure pit, is used for limiting the operation of the scraper, and is connected with the main control module through the travel switch control module;

the power module and the serial port screen display module are connected with the main control module, the power module is used for providing power for the full-automatic scraper device, and the serial port screen display module is used for displaying detection information.

2. The fully automatic scraper device with protection function of claim 1, characterized in that: the microprocessor adopts an RAM microprocessor STC15W4K32S4 chip, the RAM memory and the FLASH memory are memory units connected with the microprocessor, an interactive interface of the microprocessor is serial communication, the serial screen display module is connected with USART1 of the microprocessor, and the scraper motor driving module, the Hall signal processing module and the travel switch control module are respectively connected with a quasi-bidirectional port of the microprocessor.

3. The fully automatic squeegee apparatus with protection function according to claim 2, wherein: the three-phase alternating current motor and the scraper motor driving module are further connected with a motor main circuit, the motor main circuit comprises a three-phase alternating current power supply, an alternating current motor starter NS2-25, a relay NJB1-X1 and an alternating current contactor CJX2-0901, the input end of the alternating current motor starter NS2-25 is connected with the three-phase alternating current power supply, the output end of the alternating current motor starter NS2-25 is connected with the relay NJB1-X1 and the alternating current contactor CJX2-0901, the relay NJB1-X1 is connected with the output end of the alternating current motor starter NS2-25, and the alternating current contactor CJX2-0901 comprises a left alternating current contactor and a right alternating current.

4. The fully automatic squeegee apparatus with protection function according to claim 3, wherein: the scraper motor driving module comprises a fuse box 1, a fuse box 2, a relay U15, a relay U16, a triode Q1 and a triode Q2

A normally open pin 3 of the relay U15 is connected with a pin L1 of the left alternating current contactor, a pin 1 at the common end of the relay U15 is connected with a pin 2 of a fuse box 1, a pin 5 at the driving end of the relay U15 is connected with an emitter of a triode Q1, a base of the triode Q1 is connected with a port P22 of the microprocessor through a resistor R4, and a pin 1 of the fuse box 1 is connected with a line L1 of an external three-phase alternating current power supply;

normally open pin 3 of relay U16 is connected with the L1 pin of right ac contactor, and common end pin 1 of relay U16 is connected with pin 2 of fuse box 2, and drive end pin 5 of relay U16 is connected with the projecting pole of triode Q2, and the base of triode Q2 passes through resistance R3 and links to each other with the P23 port of microprocessor, and pin 1 of fuse box 2 is connected with the L1 line of external three-phase ac power supply.

5. The fully automatic scraper device with protection function of claim 4, characterized in that: the travel switch control module comprises resistors R5, R6, R7 and R8, photoelectric couplers U4, U5, U6 and U7, collector pins of the photoelectric couplers U4, U5, U6 and U7 are correspondingly connected with P41, P42, P43 and P44 ports of a microprocessor respectively, the travel switches comprise 4, one end of each travel switch is connected with a 12V power supply, and the other end of each travel switch is correspondingly connected with anode pins of the photoelectric couplers U4, U5, U6 and U7 through current limiting resistors R30, R31, R32 and R33 respectively.

6. The fully automatic scraper device with protection function of claim 5, characterized in that: the travel switches are arranged on the outer side of the excrement ditch and close to one end of the three-phase alternating-current motor, two travel switches are arranged in the same excrement ditch, and the distance between the two travel switches is larger than 20 cm.

7. The fully automatic squeegee apparatus with protection function according to claim 2, wherein: the Hall signal processing module comprises a current-limiting resistor RP61, a photoelectric coupler U2, a pull-up resistor RP62 and a resistor R2, wherein a pin 2 of the Hall proximity switch is connected with a power supply end through the pull-up resistor RP62 and is connected with an anode pin of the photoelectric coupler U2 through a current-limiting resistor RP61, a collector pin of the photoelectric coupler U2 is connected with a P46 port of the microprocessor, and an emitter of the photoelectric coupler U2 is grounded.