CN214902918U - Clear excrement robot of intelligence in pig raising house - Google Patents
Clear excrement robot of intelligence in pig raising house Download PDFInfo
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- CN214902918U CN214902918U CN202121184958.2U CN202121184958U CN214902918U CN 214902918 U CN214902918 U CN 214902918U CN 202121184958 U CN202121184958 U CN 202121184958U CN 214902918 U CN214902918 U CN 214902918U
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Abstract
The utility model provides a clear excrement robot of intelligence in pig house, which comprises a housing, be provided with signal transmission mechanism on the casing, the control box, running gear, wiper mechanism, scrape excrement mechanism, laser radar sensor and ultrasonic sensor, signal transmission mechanism sets up on the casing top, the control box, running gear, wiper mechanism and scrape excrement mechanism and all set up in the casing, the control box sets up in casing upper portion, running gear sets up the below at the control box, wiper mechanism and scrape excrement mechanism and all set up the front side at running gear, wiper mechanism is located the top of scraping excrement mechanism, it is used for scraping the excrement on the board that leaks the excrement in the pig house and drops to collection excrement groove or assigned position through the gap, laser radar sensor sets up on signal transmission mechanism, ultrasonic sensor sets up in the appearance of casing front end. The utility model discloses can be automatic with just raising the excrement and urine in the pig house and put together the processing, improve the internal environment who raises the pig house, reduce the propagation of bacterium, improve the survival rate of pig.
Description
Technical Field
The utility model relates to an intelligent robot technical field, concretely relates to clear excrement robot of intelligence in pig raising house.
Background
Most of the pigsty floors in China are in a dung leaking plate mode, dung and dirt of pigs can easily fall into a dung collecting groove, the pigsty is kept clean and sanitary, and the breeding of germs is reduced. However, in practice, the pig manure cannot completely fall into the manure collecting groove through the manure leaking plate gaps, and meanwhile, due to the fact that the pig manure has certain viscosity, the manure which does not fall off is trampled by the pig feet and then easily adheres to the pig feet, pig hoof diseases are generated, live pigs move in a stall, the opportunity of breeding and spreading of bacterial microorganisms is increased, and the health level and disease resistance of the pigs are low. Therefore, the dung cleaning robot with the autonomous path planning and navigation functions is developed, dung and dirt which do not fall off are pushed and scraped into the dung collecting groove in real time, and the influence on the pigs cannot be caused in the dung cleaning process.
SUMMERY OF THE UTILITY MODEL
The utility model provides a clear excrement robot of intelligence in pig raising house can be automatically with just raising the excrement and urine in the pig raising house and put together the processing, improves the internal environment of raising the pig house, reduces the propagation of bacterium, improves the survival rate of pig.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an intelligent dung cleaning robot in a pig house comprises a casing, wherein a signal transmission mechanism, a control box, a walking mechanism, a cleaning mechanism, a laser radar sensor and an ultrasonic sensor are arranged on the casing, the signal transmission mechanism is arranged on the top of the casing and used for receiving and transmitting a control command, the control box, the walking mechanism, the cleaning mechanism and the dung cleaning mechanism are all arranged in the casing, the control box is arranged in the upper part of the casing, the walking mechanism is arranged below the control box, the cleaning mechanism and the dung cleaning mechanism are all arranged on the front side of the walking mechanism, the cleaning mechanism is arranged above the dung cleaning mechanism and used for storing water and conveying water to spray, the dung cleaning mechanism is used for scraping dung on a dung leakage plate in the pig house through a gap and dropping to a dung collecting groove or pushing to a designated position, the laser radar sensor is arranged on the signal transmission mechanism, the ultrasonic sensor is arranged on the outer surface of the front end of the machine shell and used for detecting and transmitting the distance information of the obstacles to the control box.
Further, signal transmission device includes support, mount pad, control switch, signal lamp and antenna, the support sets up on the top of casing, the mount pad sets up on the support, control switch, signal lamp and antenna set up on the mount pad side by side.
Further, running gear includes mount, battery, driving motor, drive shaft and walking wheel, the mount sets up the below at the control box, the battery is installed on the mount, driving motor symmetry set up in the chassis bottom and with battery electric connection, drive shaft one end is connected with driving motor's output, and the other end extends to the surface of casing both sides and is connected with the walking wheel.
Further, wiper mechanism includes water tank, inlet tube, income sump, overflow pipe, level probe, water pump frame, water pump, raceway and shower nozzle, the water tank sets up the front side at the battery, it sets up on the casing trailing flank to go into the sump, the inlet tube sets up top and one end intercommunication water tank at the battery, and the other end links into the sump, overflow pipe and level probe all set up on the water tank inner wall, overflow pipe one end and the high parallel and level of inlet tube, the other end pass the water tank and extend to water tank bottom surface, the water pump frame sets up in water tank lower part side, the water pump sets up on the water pump frame and through raceway and water tank intercommunication, the shower nozzle sets up respectively scrapes excrement mechanism and casing lower part rear end on the surface and through conveyer pipe and water pump intercommunication.
Furthermore, still be provided with the guard plate on the sump for cover the opening in sump.
Further, scrape excrement mechanism and include mounting bracket, fixed plate, anticollision circle, scrape excrement board and universal wheel, the mounting bracket sets up in casing front end below and is connected with the water pump frame, the fixed plate sets up in mounting bracket bottom rear end, the anticollision circle sets up on the mounting bracket, scrape the excrement board and set up on the fixed plate, the universal wheel sets up on mounting bracket middle part bottom. The dung scraper is preferably of rubber material.
Further, still including supplying the mechanism, supply the mechanism and include the support, charge the box, charge contact and moisturizing pipe, the box that charges sets up on the top of support, the contact setting that charges just corresponds with the box that charges on the casing rear end face for charge the battery, the moisturizing pipe sets up and just corresponds with the storehouse of entrying in the box below of charging, is used for carrying out the moisturizing to the water tank.
Further, there are 2 ultrasonic sensors respectively arranged on the front end side and the top side of the casing.
Furthermore, the water tank is further provided with a wire passing pipe and a water outlet, the wire passing pipe is arranged at the bottom of the water tank, two ends of the wire passing pipe extend to the outer surface of the water tank and are used for installing a power wire for electrically connecting the storage battery and the water pump, and the water outlet is arranged on the side face of the bottom of the water tank.
Further, the dung scraping plate is made of rubber materials.
Compared with the prior art, the beneficial effects of the utility model are that: (1) the dung scraping mechanism is provided with a universal wheel, and the walking mechanism is provided with two symmetrical walking wheels to form a three-point supporting walking framework and keep the balance of the machine body;
(2) the laser radar sensor and the ultrasonic sensor are arranged, when the system works, the laser radar sensor can scan and investigate the environment terrain, and the ultrasonic sensor can detect obstacles, so that the high-efficiency feces cleaning and the collision avoidance with a wall body are realized;
(3) the cleaning mechanism is arranged, the sprayer is arranged at the rear end of the shell and on the dung scraping mechanism, and when dung is scraped, water pressure is increased through the water pump, so that the dung is cleaned on the ground, and the cleanliness is improved.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
fig. 3 is a schematic structural view of the signal transmission mechanism of the present invention;
FIG. 4 is a schematic structural view of the traveling mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the cleaning mechanism of the present invention;
FIG. 6 is a schematic structural view of the dung scraping mechanism of the present invention;
fig. 7 is a schematic structural view of the replenishment mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
It will be understood that when an element/feature is referred to as being "disposed on" another element/feature, it can be directly on the other element/feature or intervening elements/features may also be present. When a component/part is referred to as being "connected/coupled" to another component/part, it can be directly connected/coupled to the other component/part or intervening components/parts may also be present. The term "connected/coupled" as used herein may include electrical and/or mechanical physical connections/couplings. The term "comprises/comprising" as used herein refers to the presence of features, steps or components/features, but does not preclude the presence or addition of one or more other features, steps or components/features. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Referring to fig. 1 and 2, an intelligent dung cleaning robot in a pig house comprises a housing 1, wherein a signal transmission mechanism 2, a control box 3, a traveling mechanism 4, a cleaning mechanism 5, a dung scraping mechanism 6, a laser radar sensor 7 and an ultrasonic sensor 8 are arranged on the housing 1, the signal transmission mechanism 2 is arranged on the top of the housing 1 and used for receiving and transmitting a control instruction, the control box 3, the traveling mechanism 4, the cleaning mechanism 5 and the dung scraping mechanism 6 are all arranged in the housing 1, the control box 3 is arranged in the upper portion of the housing 1, the traveling mechanism 4 is arranged below the control box 3, the cleaning mechanism 5 and the dung scraping mechanism 6 are all arranged on the front side of the traveling mechanism 4, the cleaning mechanism 5 is arranged above the dung scraping mechanism 6 and used for storing water and delivering water for spray-washing, the dung scraping mechanism 6 is used for scraping and dropping dung on a dung leaking plate in the pig house to a dung collecting groove or pushing the dung collecting groove to a designated position through a gap, the laser radar sensor 7 is arranged on the signal transmission mechanism 2 and used for scanning and transmitting topographic environment information to the control box, and the ultrasonic sensor 8 is arranged on the outer surface of the front end of the machine shell 1 and used for detecting and transmitting distance information of obstacles to the control box 3.
Referring to fig. 3, in some embodiments, the signal transmission mechanism 2 includes a bracket 21, a mounting seat 25, a control switch 22, a signal lamp 23, and an antenna 24, the bracket 21 is disposed on the top of the housing 1, the mounting seat 25 is disposed on the bracket 21, and the control switch 22, the signal lamp 23, and the antenna 24 are disposed on the mounting seat 25 side by side. When the remote control device works, two control modes are provided, namely an automatic control mode and a manual remote control mode, but no matter which mode is adopted, signals are required to be received and sent through the signal transmission mechanism 2, so that accurate control is achieved.
Referring to fig. 4, in some embodiments, the traveling mechanism 4 includes a fixing frame 41, a storage battery 42, a driving motor 43, a driving shaft 44 and traveling wheels 45, the fixing frame 41 is disposed below the control box 3, the storage battery 42 is mounted on the fixing frame 41, the driving motors 43 are symmetrically disposed in the bottom of the housing 1 and electrically connected to the storage battery 42, one end of the driving shaft 44 is connected to an output end of the driving motor 43, and the other end extends to outer surfaces of two sides of the housing 1 and is connected to the traveling wheels 45. When the walking wheel 45 works, the walking wheel adopts the independent driving motor 43, and the linear motion, the steering, the backing and other directions are realized by forming speed difference through the output of different speeds of the driving motor 43.
Referring to fig. 5, in some embodiments, the cleaning mechanism 5 includes a water tank 51, a water inlet pipe 52, a water inlet bin 53, an overflow pipe 54, the water level probe 59, the water pump frame 58, the water pump 55, the water pipe 56 and the nozzle 57, the water tank 51 is arranged on the front side of the storage battery 42, the water inlet 53 is arranged on the rear side surface of the machine shell 1, the water inlet pipe 52 is arranged above the storage battery 42, one end of the water inlet pipe is communicated with the water tank 51, the other end of the water inlet pipe is communicated with the water tank 53, the overflow pipe 54 and the water level probe 59 are both arranged on the inner wall of the water tank 51, one end of the overflow pipe 54 is flush with the height of the water inlet pipe 52, the other end of the overflow pipe penetrates through the water tank 51 and extends to the outer surface of the bottom of the water tank 51, the water pump frame 58 is arranged on the lower side surface of the water tank 51, the water pump 55 is arranged on the water pump frame 58 and is communicated with the water tank 51 through the water pipe 56, and the nozzle 57 is respectively arranged on the rear end surfaces of the lower parts of the dung scraping mechanism 6 and the machine shell 1 and is communicated with the water pump 55 through the water pipe 56. The sump 53 is further provided with a protection plate 10 for covering the opening of the sump 53.
When carrying out the moisturizing, moisturizing pipe 94 backs up protection plate 10 and extends to into the sump 53 and carries out the moisturizing, and water flows to water tank 51 through inlet tube 52 in from going into sump 53, reaches a take the altitude when the water level in water tank 51, and unnecessary water can be discharged from overflow pipe 54, and when cleaning, water pump 55 carries out the pressure boost through the water pipe 56 extraction water in the water tank 51, carries the water after will pressurizing to shower nozzle 57 through raceway 56 at last and carries out the cleaning operation.
Referring to fig. 6, in some embodiments, the dung scraping mechanism 6 includes a mounting frame 61, a fixing plate 62, an anti-collision ring 63, a dung scraping plate 64 and a universal wheel 65, the mounting frame 61 is disposed below the front end of the machine casing 1 and connected to the water pump frame 58, the fixing plate 62 is disposed at the rear end of the bottom of the mounting frame 61, the anti-collision ring 63 is disposed on the mounting frame 61, the dung scraping plate 64 is disposed on the fixing plate 62, and the universal wheel 65 is disposed at the bottom end of the middle portion of the mounting frame 61. The anti-collision ring 63 can prevent the anti-collision ring from directly colliding with internal parts when in obstacles or carrying, and has good protection effect; the universal wheel 65 and the walking mechanism 4 form a three-point supporting framework, so that large jolts can be caused by overlarge acceleration and speed generated during starting or steering, the universal wheel 65 can prevent the overlarge jolts from being generated, and the balance of the machine body is kept. The manure scraper 64 is preferably of rubber material.
Referring to fig. 2 and 7, in some embodiments, the replenishing mechanism 9 further includes a support 91, a charging box 92, a charging contact 93, and a water replenishing pipe 94, the charging box 92 is disposed on the top of the support 91, the charging contact 93 is disposed on the rear end surface of the casing 1 and corresponds to the charging box 92 for charging the storage battery 42, and the water replenishing pipe 94 is disposed below the charging box 92 and corresponds to the water inlet 53 for replenishing water to the water tank 51.
In some embodiments, there are 2 ultrasonic sensors 8 respectively disposed on the front side and the top side of the casing 1 for detecting obstacles in front of the walking route in multiple directions.
Referring to fig. 5, in some embodiments, the water tank 51 is further provided with a line pipe 11 and a water outlet 12, the line pipe 11 is disposed at the bottom of the water tank 51, two ends of the line pipe extend to the outer surface of the water tank 51, and is used for installing a power line for electrically connecting the battery 42 and the water pump 55, and the water outlet 12 is disposed on the side of the bottom of the water tank 51.
According to the working principle, the environment in the pigsty is scanned by the carried laser radar sensor 7, a map is automatically generated, the environment information is sent to the control box 3, and the control box 3 formulates a path plan according to the received information; and then the travelling mechanism 4 is controlled to travel forwards, the cleaning mechanism 5 and the dung scraping mechanism 6 are used for cleaning dung in the travelling process, after the pigsty is completely cleaned, one round of cleaning work is finished, the feeding mechanism 9 is returned to automatically charge and add water, and the next round of cleaning is carried out.
In the operation, the inner wall of the pigsty, breeding equipment and the like are static obstacles, pigs and workers are dynamic obstacles, the ultrasonic sensor 8 is adopted to detect the distance of the obstacles, and the static obstacles are scanned when a map is generated, so that the running speed of the walking mechanism 4 is unchanged and no collision occurs when the obstacles are detected; when detecting dynamic barrier, speed slows down and can direct collision to some extent, but the degree of collision can not cause any injury to it, does not have the region of barrier in the house, can set up the speed of traveling according to the excrement and sewage volume, effectively improves the operating efficiency.
The manure scraping mechanism 6 of the utility model is provided with a universal wheel 65, and the walking mechanism 4 is provided with two symmetrical walking wheels 45, thereby forming a three-point supporting walking framework and keeping the balance of the machine body; the laser radar sensor 7 and the ultrasonic sensor 8 are arranged, when the system works, the laser radar sensor 7 can scan and survey the environment terrain, and the ultrasonic sensor 8 can detect obstacles, so that efficient manure cleaning and collision avoidance with a wall body are realized; the cleaning mechanism 5 is arranged, the rear end of the shell 1 and the dung scraping mechanism 6 are provided with spray heads, and when dung scraping is conducted, water pressure is increased through the water pump 55, so that the dung scraping mechanism can clean the ground while clearing dung, and the cleanliness is improved.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. An intelligent dung cleaning robot in a pig house is characterized by comprising a casing, wherein a signal transmission mechanism, a control box, a traveling mechanism, a cleaning mechanism, a dung scraping mechanism, a laser radar sensor and an ultrasonic sensor are arranged on the casing, the signal transmission mechanism is arranged on the top of the casing and used for receiving and transmitting a control command, the control box, the traveling mechanism, the cleaning mechanism and the dung scraping mechanism are all arranged in the casing, the control box is arranged in the upper part of the casing, the traveling mechanism is arranged below the control box, the cleaning mechanism and the dung scraping mechanism are all arranged on the front side of the traveling mechanism, the cleaning mechanism is positioned above the dung scraping mechanism and used for storing water and delivering water to spray-wash, the dung scraping mechanism is used for scraping dung on a dung leaking plate in the pig house through a gap and dropping to a dung collecting groove or pushing to a designated position, the laser radar sensor is arranged on the signal transmission mechanism, the ultrasonic sensor is arranged on the outer surface of the front end of the machine shell and used for detecting and transmitting the distance information of the obstacles to the control box.
2. The intelligent dung cleaning robot in the pig house according to claim 1, wherein the signal transmission mechanism comprises a support, a mounting seat, a control switch, a signal lamp and an antenna, the support is arranged on the top of the casing, the mounting seat is arranged on the support, and the control switch, the signal lamp and the antenna are arranged on the mounting seat side by side.
3. The intelligent dung cleaning robot in the pig house according to claim 1, wherein the walking mechanism comprises a fixing frame, a storage battery, a driving motor, a driving shaft and walking wheels, the fixing frame is arranged below the control box, the storage battery is arranged on the fixing frame, the driving motor is symmetrically arranged in the bottom of the housing and electrically connected with the storage battery, one end of the driving shaft is connected with an output end of the driving motor, and the other end of the driving shaft extends to the outer surfaces of two sides of the housing and is connected with the walking wheels.
4. The intelligent dung cleaning robot in the pig house according to claim 3, wherein the cleaning mechanism comprises a water tank, a water inlet pipe, a water inlet bin, an overflow pipe, a water level probe, a water pump frame, a water pump, a water delivery pipe and a nozzle, the water tank is arranged at the front side of the storage battery, the water inlet bin is arranged on the rear side surface of the shell, the water inlet pipe is arranged above the storage battery, one end of the water inlet pipe is communicated with the water tank, the other end of the water inlet pipe is communicated with the water bin, the overflow pipe and the water level probe are both arranged on the inner wall of the water tank, one end of the overflow pipe is flush with the water inlet pipe, the other end of the overflow pipe passes through the water tank and extends to the outer surface of the bottom of the water tank, the water pump frame is arranged on the side surface of the lower part of the water tank, the water pump is arranged on the water pump frame and is communicated with the water tank through a water delivery pipe, the spray heads are respectively arranged on the rear end surfaces of the lower parts of the dung scraping mechanism and the shell and are communicated with the water pump through conveying pipes.
5. The intelligent dung cleaning robot in the pig house according to claim 4, wherein a protection plate is further arranged on the water inlet bin and used for covering an opening of the water inlet bin.
6. The intelligent dung cleaning robot in the pig house according to claim 4, wherein the dung scraping mechanism comprises a mounting frame, a fixing plate, an anti-collision ring, a dung scraping plate and a universal wheel, the mounting frame is arranged below the front end of the shell and connected with a water pump frame, the fixing plate is arranged at the rear end of the bottom of the mounting frame, the anti-collision ring is arranged on the mounting frame, the dung scraping plate is arranged on the fixing plate, and the universal wheel is arranged at the bottom end of the middle of the mounting frame.
7. The intelligent dung cleaning robot in the pig house according to any one of claims 1 to 6, further comprising a supplying mechanism, wherein the supplying mechanism comprises a support, a charging box, a charging contact and a water supplying pipe, the charging box is arranged on the top of the support, the charging contact is arranged on the rear end face of the shell and corresponds to the charging box and is used for charging a storage battery, and the water supplying pipe is arranged below the charging box and corresponds to the water inlet bin and is used for supplying water to the water tank.
8. The intelligent dung cleaning robot in the pig house according to claim 1, wherein the number of the ultrasonic sensors is 2, and the ultrasonic sensors are respectively arranged on the front end side face and the top side face of the shell.
9. The intelligent robot for clearing feces in pig house according to claim 4, wherein the water tank is further provided with a wire passing pipe and a water outlet, the wire passing pipe is arranged at the bottom of the water tank, two ends of the wire passing pipe extend to the outer surface of the water tank and is used for installing a power wire for electrically connecting the storage battery and the water pump, and the water outlet is arranged on the side surface of the bottom of the water tank.
10. The intelligent dung cleaning robot in the pig house according to claim 6, wherein the dung scraping plate is made of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121184958.2U CN214902918U (en) | 2021-05-28 | 2021-05-28 | Clear excrement robot of intelligence in pig raising house |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121184958.2U CN214902918U (en) | 2021-05-28 | 2021-05-28 | Clear excrement robot of intelligence in pig raising house |
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| Publication Number | Publication Date |
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| CN214902918U true CN214902918U (en) | 2021-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121184958.2U Active CN214902918U (en) | 2021-05-28 | 2021-05-28 | Clear excrement robot of intelligence in pig raising house |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
-
2021
- 2021-05-28 CN CN202121184958.2U patent/CN214902918U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
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