CN109362582A - One kind being suitable for more scene piggery cleaner device people and method for cleaning - Google Patents
One kind being suitable for more scene piggery cleaner device people and method for cleaning Download PDFInfo
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- CN109362582A CN109362582A CN201811398398.3A CN201811398398A CN109362582A CN 109362582 A CN109362582 A CN 109362582A CN 201811398398 A CN201811398398 A CN 201811398398A CN 109362582 A CN109362582 A CN 109362582A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 148
- 238000010926 purge Methods 0.000 claims abstract description 32
- 238000002347 injection Methods 0.000 claims abstract description 13
- 239000007924 injection Substances 0.000 claims abstract description 13
- 238000004146 energy storage Methods 0.000 claims abstract description 10
- 239000000203 mixture Substances 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 28
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 12
- 210000003608 fece Anatomy 0.000 claims description 11
- 239000010871 livestock manure Substances 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 7
- 239000000835 fiber Substances 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 238000005304 joining Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003020 moisturizing effect Effects 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 claims description 2
- 230000002000 scavenging effect Effects 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 2
- 238000004904 shortening Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides one kind to be suitable for more scene piggery cleaner device people and method for cleaning, cleaning robot includes 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 present invention 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
Technical field
The invention belongs to agriculture technical field of intelligent equipment, are suitable for more scene piggery cleaner devices more particularly, to one kind
People and method for cleaning.
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 present invention is directed to propose a kind of be suitable for more scene piggery cleaner device people and method for cleaning, with more
It mends under existence conditions, the problem of pig house Removal Technology, i.e., pig house cleaning is difficult in extensive pig farm, ground is complicated, ring
The problems such as border poor hygienic, water waste be more, high labor cost.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
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 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
Swing position swing arm limit sensors;
It clears up outside robot and is equipped with a cleaning robot shell, arrange ultrasonic wave in cleaning robot housing bottom surrounding
Sensor and infrared sensor.
A kind of method for cleaning being applicable in more scene piggery cleaner device people, including
(1) after robot is powered, PLC control module is run by original state, firstly, each driving motor is found as required
Zero-bit state realizes lift purging system in car body front end by height limit sensor and swing arm limit sensors position
With away from ground suitable position;
(2) swing arm cleaning agency one and swing arm cleaning agency two-revolution are realized in plane to car body front by driving wheel
All directions movement;
(3) when normally cleaning in plane floor pig house, swing arm cleaning agency one and swing arm cleaning agency two lead to respectively
One driving motor of push plate and the driving of three driving motor of push plate are crossed, predeterminated position is reached, lift purging system is driven by mobile station
Dynamic motor driven mobile station decline makes brush and ground keep certain decrement, and drive wheel mechanism passes through the control of PLC control module
System 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 one and swing arm cleaning agency two pass through push plate one respectively
It driving motor and is driven by three driving motor of push plate, and the in perpendicular shape state of push plate two, drive wheel mechanism passes through PLC control at this time
Module control makes to clear up robot translation, realizes cleaning;
(5) when screen floor for manure pig house normally cleans, swing arm cleaning agency one and swing arm cleaning agency two pass through respectively
One driving motor of push plate and the driving of three driving motor of push plate, keep swing arm cleaning agency one and swing arm cleaning agency two is to swing shape
State, lift purging system drive mobile station decline that brush and ground is made to keep certain compression by mobile station driving motor
Amount, drive wheel mechanism make to clear up the walking of robot direction of advance straight line by the control of PLC control module, pass through swing arm cleaning agency
One and swing arm cleaning agency two swing state and brush two flat-pushing effect, realize scale removal process;
(6) in scale removal process, the water source that certain pressure is quantitatively extracted by electric water pump is sprayed at clearing apparatus, realizes edge
A direction is pushed away, is scraped, sweeping work, and ground sundries is uniformly cleaned to designated position such as plane floor or is swept into screen floor for manure
It leaks at excrement.
Further, in clean-up task, using the front and back end for being mounted on hull bottom plate headstock AGV magnetic navigation sensor and
Tailstock AGV magnetic navigation sensor 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 is remote according to detecting distance
Closely, meeting feedback signal judges whether to walk on or stop to control system.
Further, in clean-up task, if water tank lacks water, the liquid level sensor response action passes through PLC control module
After controlling robot to designated position with RFID communication module coordination, water tank roof door driving mechanism drives water tank roof door to open, into
Row moisturizing task, after water is filled it up with, water tank roof door is closed, and continues to complete clean-up task by instruction.
Compared with the existing technology, of the present invention a kind of suitable for more scene piggery cleaner device people, have following excellent
Gesture:
One kind of the present invention 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 invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
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:
1- water tank, 2- water pipe, 3- water tank seat board, 4- electrical control member seat board, bis- laminate of 5-, 6- water tank seat board pillar, 7-
Electrical control member seat board pillar, 8- push plate height limit baffle, 9- push plate height limit sensor seat board, 10- push plate height limit pass
Sensor, 11- lift purging system, 12- drive wheel apparatus, 13- bottom plate, 14- mobile station, 15- water tank roof door, 16- water tank top
Door drive mechanism, 17- connecting bracket, 18- magnetic navigation sensor seat board one, 19- push plate one, one driving motor of 20- push plate, 21-
Push plate two, 22-L type upper stop piece one, three driving motor of 23- push plate, 24- spring one, 25- push plate sliding block, 26- push plate three, 27-L
Type lower stop piece one, 28- brush connecting plate one, 29- brush one, 30- brush connecting plate two, 31- brush two, 32- brush three, 33-L
Type lower stop piece two, 34- spring two, 35-L type upper stop piece two, 36- brush connecting plate three, 37-L type upper stop piece three, 38-L type lower block
Piece three, 39- spring three, 40- slide unit, 41- spring four, 42-L type upper stop piece four, 43-L type lower stop piece four, the driving of 44- mobile station
Motor, 45- sliding block, 46- drive seat, 47- driving motor, 48- optical axis support rod, 49- driving wheel buffer spring, 50- omni-directional wheel,
51- drive output shaft, 52- radio remote control switch, 53-PLC control module, 54- air switch, 55- terminal, 56- electric water pump,
57- battery pack two, 58- water tank roof door driver, 59- push plate driver, 60- relay, 61- drive wheel device, 62- magnetic conductance
Boat sensor one, 63- magnetic navigation sensor seat board two, 64-RFID communication module, 65-PU pipe, 66- angle coupling, 67- speed regulation
Valve, 68- tee pipe coupling, the right angle 69- quick connector, 70- Green head, 71- fibre pipe, 72- spray head, 73- ultrasonic sensor,
74- infrared sensor, 75- liquid level sensor, 76- swing arm cleaning agency one, 77- swing arm cleaning agency two, 78- magnetic navigation sensing
Device seat board three, 79- magnetic navigation sensor two, 80- magnetic navigation sensor three, 81- swing arm limit sensors, 82- clear up robot
Shell, 83- battery pack one.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention 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) robot
After energization, PLC control module 53 is run by original state, firstly, each driving motor is found zero-bit state as required, by height
Spend limit sensors 10 and 81 position of swing arm limit sensors, realize lift purging system 11 car body front end and away from ground it is 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 foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
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 various power devices.
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 2 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the lift
Purging system includes clearing apparatus and lifting device, and the clearing apparatus includes intermediate cleaning agency and two swing arm scavenging machines
Structure, two swing arm cleaning agencies are rotatably arranged on the left and right sides of intermediate cleaning agency, two swing arm cleaning agencies
Rotation is driven by a swing arm motor;
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 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.
5. according to claim 4 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.
6. according to claim 4 or 5 a kind of suitable for more scene piggery cleaner device people, it is characterised in that: the control
System processed include PLC control module, RFID communication module, radio remote control switch, air switch, terminal, water tank roof door driver,
Push plate driver and relay.
7. according to claim 6 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;
It clears up outside robot and is equipped with a cleaning robot shell, arrange supersonic sensing in cleaning robot housing bottom surrounding
Device and infrared sensor.
8. a kind of method for cleaning suitable for more scene piggery cleaner device people according to claim 7, it is characterised in that:
Including
(1) after robot is powered, PLC control module is run by original state, firstly, each driving motor is found zero-bit as required
State, by height limit sensor and swing arm limit sensors position, realize lift purging system car body front end and away from
Ground suitable position;
(2) swing arm cleaning agency one and swing arm cleaning agency two-revolution realize each side in plane by driving wheel to car body front
To movement;
(3) when normally cleaning in plane floor pig house, swing arm cleaning agency one and swing arm cleaning agency two are respectively by pushing away
One driving motor of plate and the driving of three driving motor of push plate, reach predeterminated position, and lift purging system drives electricity by mobile station
Machine driving mobile station decline makes brush and ground keep certain decrement, and drive wheel mechanism is made by the control of PLC control module
The walking of robot direction of advance straight line is cleared up, realizes cleaning;
(4) when clearing up plane floor dead angle, swing arm cleaning agency one and swing arm cleaning agency two are driven by push plate one respectively
It motor and is driven by three driving motor of push plate, and the in perpendicular shape state of push plate two, drive wheel mechanism passes through PLC control module at this time
Control makes to clear up robot translation, realizes cleaning;
(5) when screen floor for manure pig house normally cleans, swing arm cleaning agency one and swing arm cleaning agency two pass through push plate respectively
One driving motor and the driving of three driving motor of push plate, keep swing arm cleaning agency one and swing arm cleaning agency two is swing state,
Lift purging system drives mobile station decline that brush and ground is made to keep certain decrement by mobile station driving motor, drives
Driving wheel mechanism makes to clear up the walking of robot direction of advance straight line by the control of PLC control module, by swing arm cleaning agency one and
Scale removal process is realized in the flat-pushing effect of the swing state and brush two of swing arm cleaning agency two;
(6) in scale removal process, the water source that certain pressure is quantitatively extracted by electric water pump is sprayed at clearing apparatus, is realized along a certain
Direction pushes away, scrapes, sweeping work, and ground sundries is uniformly cleaned to designated position such as plane floor or is swept into screen floor for manure leakage excrement
Place.
9. a kind of method for cleaning suitable for more scene piggery cleaner device people according to claim 8, it is characterised in that:
In clean-up task, sensed using the headstock AGV magnetic navigation sensor for the front and back end for being mounted on hull bottom plate and tailstock AGV magnetic navigation
Device 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 is according to detecting distance distance, meeting
Feedback signal judges whether to walk on or stop to control system.
10. a kind of method for cleaning suitable for more scene piggery cleaner device people according to claim 9, feature exist
In: in clean-up task, if water tank lacks water, the liquid level sensor response action passes through PLC control module and RFID communication module
After coordinated control robot to designated position, water tank roof door driving mechanism drives water tank roof door to open, and moisturizing task is carried out, to water
After filling it up with, water tank roof door is closed, and continues to complete clean-up task by instruction.
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CN110000145A (en) * | 2019-05-13 | 2019-07-12 | 北京佳沃天河智能科技有限公司 | A kind of pig house is interior to be automatically positioned cleaning robot and cleaning method |
CN111924024A (en) * | 2019-05-13 | 2020-11-13 | 河南森源电气股份有限公司 | Automatic guided vehicle |
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CN112088783A (en) * | 2020-09-25 | 2020-12-18 | 华南农业大学 | Scraping and sweeping integrated pigsty manure cleaning robot |
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CN112238909A (en) * | 2019-07-19 | 2021-01-19 | 上海星沿工业智能科技有限公司 | Self-navigation trolley for pushing loose materials |
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