CN209964907U - Clear excrement robot in pig house - Google Patents

Abstract

The utility model provides a clear excrement robot in pig house belongs to mechatronic animal husbandry smart machine field, especially relates to a clear excrement robot in pig house. Solves the problems of difficult piggery cleaning, poor environmental sanitation, much water source waste and high labor cost in large-scale pig farms. It includes robot body, moving mechanism, actuating mechanism, navigation head and control mechanism, moving mechanism includes drive assembly and omniwheel, drive assembly links to each other and provides power for the omniwheel with the omniwheel, actuating mechanism includes lift driving motor, lifting unit, flexible subassembly, brush yoke, flexible brush hair and swing subassembly, the lifting unit drive end links to each other with lift driving motor, lift end and brush yoke fixed connection, stiff end and robot body fixed connection, the output of right push rod and left push rod pushes away the brush with the right side respectively and pushes away the brush and link to each other with the left side. It is mainly used for cleaning the excrement in the pigsty.

Description

Clear excrement robot in pig house

Technical Field

The utility model belongs to mechatronic animal husbandry smart machine field especially relates to a clear excrement robot in pig house.

Background

At present, in the animal husbandry developed based on the modern agricultural background, manual labor is mostly used as service support, semi-automatic service equipment is introduced into a small number of animal husbandry places with large scales, piggery cleaning work in large-scale pig farms still needs manual cleaning by using tools, a large amount of water sources are consumed to clean the piggery, the consumed time is long, the cost is high, the efficiency is low, and the economic benefit of enterprises is influenced to a certain extent.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve the problem among the prior art, provide a clear excrement robot in pig house.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a pig manure cleaning robot in a pig house comprises a robot body, a moving mechanism, an executing mechanism, a navigation mechanism and a control mechanism, wherein the moving mechanism comprises a driving assembly and omnidirectional wheels, the driving assembly is connected with the omnidirectional wheels and provides power for the omnidirectional wheels, the moving mechanism is four in number, the driving assembly and the omnidirectional wheels are uniformly distributed along the circumferential direction of the bottom surface of the robot body and are arranged in a splayed shape, the executing mechanism comprises a lifting driving motor, a lifting assembly, a telescopic assembly, a brush holder, telescopic bristles and a swinging assembly, the driving end of the lifting assembly is connected with the lifting driving motor, the lifting end is fixedly connected with the brush holder, the fixed end is fixedly connected with the robot body, the lifting assembly drives the brush holder to move in the vertical direction, brush grooves are formed in two sides of the brush holder and comprise a right push rod and a left push rod, the brush grooves in two sides are respectively fixedly connected with the right push rod and the left push, the telescopic brush hair comprises a right push brush, a left push brush and an end inclined brush, the output ends of the right push rod and the left push rod are respectively connected with the right push brush and the left push brush, the two sides of the right push brush and the left push brush are respectively connected with the end inclined brush, the right push rod and the left push rod respectively drive the right push brush, the left push brush and the end inclined brush to stretch out or withdraw along a brush groove, the swing assembly comprises a side push plate driving motor, a front push plate, a front push brush, a side push plate and a side push brush, the side push plate driving motor is fixedly connected with a robot body, the front push plate is fixedly connected with a brush holder, the bottom end of the front push plate is fixedly connected with the front push brush, the two sides of the front push plate are respectively hinged with the side push plate, the bottom end of the side push plate is fixedly connected with the side push brush, the output end of the side push plate driving motor is fixedly connected with the side push plate and drives the side push plate to rotate, a plurality of sensors all with robot fixed connection, control mechanism includes remote control antenna, motor driver, battery and PLC control module, a plurality of sensors all are connected with the communication of PLC control module, PLC control module is connected with the motor driver communication, motor driver and drive assembly, lift driving motor and side push plate driving motor equally divide and do not the communication and be connected, the battery is the power supply of robot, remote control antenna and PLC control module communication are connected.

Still further, the robot body is cylindrical multilayer structure, cylindrical multilayer structure includes a plurality of mounting panel, links to each other through support piece between the plurality of mounting panel, lower floor's mounting panel is the lower plate, welding reinforcing bar circle on the lower plate circumference, the top surface is along strengthening the strip on the radial welding, welding battery splint on the lower plate, battery splint and battery fixed connection, lower plate bottom surface welding lower reinforcement, slip table backplate and backplate strengthening rib link to each other, slip table backplate and lifting unit fixed connection.

Furthermore, the driving assembly comprises a motor, a suspension structure and a speed reducer, the output end of the motor is connected with the input end of the speed reducer, the suspension structure is respectively connected with the vehicle body, the motor and the speed reducer, the output end of the speed reducer is connected with the omnidirectional wheel through a wheel axle and a wheel locking nut, and the suspension structure supports the omnidirectional wheel.

Furthermore, the suspension structure comprises a lower clamping nut, an upper clamping nut, an adjusting nut, a buffer spring, a bolt guide pillar, a linear bearing and a guide pillar, the bolt guide pillar penetrates through a mounting hole formed in the bottom surface of the robot body and then is sleeved with the buffer spring and is in threaded connection with the adjusting nut, the bolt guide pillar is in threaded connection with the lower clamping nut and the upper clamping nut, the motor and the speed reducer are fixedly connected through the lower clamping nut and the upper clamping nut, the guide pillar is fixedly connected with the bottom surface of the robot body, the linear bearing is fixedly connected with the speed reducer, and the linear bearing is in matched connection with the guide pillar.

Further, the speed reducer is a worm gear speed reducer.

Further, the lifting assembly comprises an assembly base plate, a motor mounting plate and a sliding block, the assembly base plate is fixedly connected with the motor mounting plate, the assembly base plate and the motor mounting plate are fixedly connected with the robot body, the motor mounting plate is fixedly connected with the lifting driving motor, the lifting driving motor is connected with the sliding block, the lifting driving motor drives the sliding block to move up and down, a brush holder fixing plate is arranged on the brush holder, and the brush holder is fixedly connected with the sliding block through the brush holder fixing plate.

Further, preceding push pedal both sides are equallyd divide and are do not articulated with the side push pedal through the side push pedal hinge, welding side push pedal end piece in the side push pedal, install the transfer line fixed block on the side push pedal end piece, side push pedal driving motor output links to each other with the side push pedal reduction gear, the output shaft of side push pedal reduction gear links to each other with flexible universal shaft coupling one end, flexible universal shaft coupling other end links to each other with the transfer line fixed block, the flexible universal shaft coupling of side push pedal driving motor drive and transfer line fixed block make the side push pedal encircle the axis rotation of side push pedal hinge.

Furthermore, the navigation mechanism comprises a two-dimensional laser sensor, a photoelectric sensor, a first one-dimensional laser sensor, a second one-dimensional laser sensor, a magnetic stripe navigation sensor, a third one-dimensional laser sensor and a fourth one-dimensional laser sensor, wherein the two-dimensional laser sensor is fixed at the top of the robot body, the photoelectric sensor, the first one-dimensional laser sensor, the second one-dimensional laser sensor and the third one-dimensional laser sensor are fixed at the rear of the robot body, the number of the fourth one-dimensional laser sensors is three, the fourth one-dimensional laser sensors are all fixed in the front of the robot body, and the magnetic stripe navigation sensor is fixed at the bottom of the robot body.

Furthermore, the PLC control module is connected with the PLC extension module, and the battery is connected with the micro-disconnection switch.

Furthermore, the pig house manure cleaning robot also comprises a charging mechanism, the charging mechanism comprises an electric push rod fixing plate, a flat electric push rod, a push rod fixing seat, a charging head fixing pin, a charging head shell, a charging head, the bottom surface of the robot body is welded with the charging push rod fixing seat and the charging push rod fixing plate, the electric push rod fixing plate is fixedly connected with the charging push rod fixing seat, the flat electric push rod is fixedly connected with the robot body through the electric push rod fixing plate and the push rod fixing seat, the output end of the flat electric push rod is fixedly connected with the charging head shell through the charging head fixing pin, the charging head comprises a contact, a charging head rear cover plate, a contact wiring cup, a spring catch and an axial elastic retainer ring, the charging head rear cover plate is fixedly connected with the inner wall of the charging head shell, the charging head rear cover plate is connected with the contact wiring cup, the contact is in sliding connection with the contact wiring cup, the contact is connected with the spring catch through the elastic retainer ring for the shaft, the spring is sleeved on the contact, two ends of the spring are respectively connected with the contact wiring cup and the elastic retainer ring, and the top end of the contact penetrates through the charging head shell.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses replace the manual work to carry out pig house cleaning work, convenient to use, clearance are thorough, energy-concerving and environment-protective, can realize the full automatization clearance mode of pig house, have improved work efficiency, have improved the environmental condition of pig house. The utility model discloses can realize automatic unmanned management mode, through APP software and robot hardware connection, realize long-range thing networking multimachine collaborative work. APP software is used as a control unit of the system, communication identification and data processing are carried out through an RFID communication module on the robot, one mode can be that a task function can be completed according to a preset track by means of an AGV magnetic navigation system, the other mode can realize accurate remote control movement through a software positioning function, meanwhile, a PLC control module is used as a core unit to realize accurate control on each motor, signal processing among sensors is completed, and the logical relation among driving modules is coordinated; the direct-current speed reduction motor is used for driving the omnidirectional wheel to control the walking and turning of the robot; the electric sliding table and the electric push rod are used for controlling the brush plate to lift and stretch, so that the robot drives the brush plate to clean the excrement on the ground through the brush hair. The side push brush can swing, and the during operation forms the U-shaped with the preceding push brush, can push away and accomodate more filths, can retrieve when the standby and be close to the front wheel, and the space of standing is little. Push away brush, right side and push away brush, tip brush inclined brush during operation and can outwards stretch out, increase and clean the scope, push away the brush with preceding, the side pushes away the brush and work jointly, form the secondary and clean, when the standby, push away the brush on a left side, push away the brush on the right side, tip brush inclined brush can be withdrawed, reduces the space for the robot station, and tip brush inclined brush can clean near wall or railing, avoids brushing board or brush groove and wall or railing to take place the rigidity collision. The charging mechanism can enable the robot to automatically charge when the robot runs to a charging area under the control of a program and a platform, the power source of the robot adopts an energy-saving and environment-friendly lithium battery pack, and the load driving can be satisfied for more than 3 hours after the robot is charged for 8 hours at a time; the circular design of automobile body makes the robot can not fish tail or scratch the pig body, adopts the brush to sweep excrement and urine, cleans efficiently, cleans effectually, and the using water wisely reduces workman's amount of labour, and degree of automation is high.

Drawings

FIG. 1 is a front view of the navigation mechanism and the control mechanism of the present invention

FIG. 2 is a schematic view of the rear view structure of the navigation mechanism and the control mechanism of the present invention

FIG. 3 is a schematic view of the arrangement structure of the moving mechanism of the present invention

FIG. 4 is a schematic view of the main view structure of the moving mechanism of the present invention

FIG. 5 is a schematic view of the right-side view structure of the moving mechanism of the present invention

FIG. 6 is a schematic view of the structure of the bottom plate top surface of the present invention

FIG. 7 is a schematic view of the bottom surface structure of the lower plate of the present invention

FIG. 8 is a front view of the actuator of the present invention

Fig. 9 is a schematic view of a rear view structure of an actuator

Fig. 10 is a schematic structural view of the swing assembly of the present invention

Figure 11 is the mechanism schematic diagram of charging mechanism of the present invention

Fig. 12 is a schematic view of the charging head structure of the present invention

Figure 13 is the schematic view of the cylindrical multilayer structure of the robot body

Figure 14 is the overall appearance schematic diagram of the pig house inner dung cleaning robot

Figure 15 is a bottom view of the stand-by state of the present invention

FIG. 16 is a top plan view of the forward pushing state of the present invention

Figure 17 is a bottom view of the front in the forward pushing state

FIG. 18 is a top view of the rotary or side-push state of the present invention

1-two-dimensional laser sensor, 2-photoelectric sensor, 3-first one-dimensional laser sensor, 4-second one-dimensional laser sensor, 5-remote control antenna, 6-motor driver, 7-PLC expansion module, 8-magnetic strip navigation sensor, 9-battery, 10-third one-dimensional laser sensor, 11-PLC control module, 12-fourth one-dimensional laser sensor, 13-micro-break switch, 14-lower base plate, 15-omnidirectional wheel, 16-wheel axle, 17-speed reducer, 18-baffle plate, 19-spring washer, 20-wheel lock nut, 21-lower clamp nut, 22-upper clamp nut, 23-adjusting nut, 24-buffer spring, 25-bolt guide column, 26-motor, 27-linear bearing fixing plate, 28-linear bearing, 29-guide post, 30-rib plate ring, 31-upper reinforcing bar, 32-battery clamping plate, 33-lower reinforcing bar, 34-charging push rod fixing seat, 35-charging push rod fixing plate, 36-sliding table back plate, 37-back plate reinforcing bar, 38-assembly base plate, 39-motor mounting plate, 40-lifting driving motor, 41-sliding block, 42-brush holder fixing plate, 43-brush holder, 44-brush groove, 45-right push rod fixing member, 46-left push rod connecting member, 47-end inclined brush, 48-inclined brush fixing plate, 49-T type fixing plate, 50-left push rod fixing member, 51-right push rod connecting member, 52-connecting member fixing pin, 53-right push rod, 54-right push brush, 55-left push brush, 56-left push rod, 57-side push plate drive motor, 58-side push plate reducer, 59-reducer output shaft, 60-reducer holder, 61-telescopic universal coupling, 62-reinforced bent plate, 63-front push plate, 64-front push plate stiffener, 65-side push plate hinge, 66-front push brush, 67-side push brush, 68-side push plate, 69-side push plate end piece, 70-transmission rod holder, 71-electric push rod holder, 72-flat electric push rod, 73-push rod holder, 74-charge head holder, 75-charge head case, 76-contact, 77-charge head back cover plate, 78-contact terminal cup, 79-spring, 80-spring catch, 81-circlip for shaft, 82-return spring hinge, 83-deep groove ball bearing, 84-valve, 85-lower skirt rear catch, 86-lower skirt, 87-electric mounting plate pillar, 88-electric mounting plate, 89-upper electric mounting plate pillar, 90-upper electric mounting plate, 91-top cover plate pillar, 92-top cover plate, 93-sensor front panel, 94-sensor top cover plate, 95-sensor protective cover, 96-emergency stop button, 97-middle cover plate, 98-waterproof cover plate, 99-front push plate decorative cover

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely explained below with reference to the drawings in the embodiment of the present invention.

Referring to fig. 1-18 to illustrate the embodiment, a pigsty manure cleaning robot comprises a robot body, a moving mechanism, an executing mechanism, a navigation mechanism and a control mechanism, wherein the moving mechanism comprises a driving component and an omnidirectional wheel 15, the driving component is connected with the omnidirectional wheel 15 and provides power for the omnidirectional wheel 15, the moving mechanism comprises four moving mechanisms, the moving mechanisms are uniformly distributed along the circumferential direction of the bottom surface of the robot body, the omnidirectional wheel 15 is arranged in a splayed shape, the executing mechanism comprises a lifting driving motor 40, a lifting component, a telescopic component, a brush holder 43, telescopic bristles and a swinging component, the driving end of the lifting component is connected with the lifting driving motor 40, the lifting end is fixedly connected with the brush holder 43, the fixed end is fixedly connected with the robot body, the lifting component drives the brush holder 43 to move in the vertical direction, brush grooves 44 are formed in two sides of the brush holder 43, the telescopic assembly comprises a right push rod 53 and a left push rod 56, the brush grooves 44 on the two sides are fixedly connected with the right push rod 53 and the left push rod 56 respectively, the telescopic bristles comprise a right push brush 54, a left push brush 55 and an end inclined brush 47, the output ends of the right push rod 53 and the left push rod 56 are connected with the right push brush 54 and the left push brush 55 respectively, the two sides of the right push brush 54 and the left push brush 55 are connected with the end inclined brush 47 respectively, the right push rod 53 and the left push rod 56 drive the right push brush 54, the left push brush 55 and the end inclined brush 47 to stretch out or withdraw along the brush grooves 44 respectively, the swing assembly comprises a side push plate driving motor 57, a front push plate 63, a front push brush 66, a side push plate 68 and a side push brush 67, the side push plate driving motor 57 is fixedly connected with the robot body, the front push plate 63 is fixedly connected with the brush holder 43, the bottom end of the front push plate 63 is fixedly connected with the front push brush 66, the two sides of the front push plate 63 are hinged with, side push pedal 68 bottom pushes away brush 67 fixed connection with the side, side push pedal driving motor 57 output and side push pedal 68 fixed connection and drive side push pedal 68 rotate along the articulated shaft, navigation includes a plurality of sensors, a plurality of sensors all with robot body fixed connection, control mechanism includes remote control antenna 5, motor driver 6, battery 9 and PLC control module 11, a plurality of sensors all are connected with the communication of PLC control module 11, PLC control module 11 is connected with the communication of motor driver 6, motor driver 6 and drive assembly, lift driving motor 40 and side push pedal driving motor 57 equally divide do the communication and are connected, battery 9 is the power supply of robot, remote control antenna 5 is connected with the communication of PLC control module 11.

In this embodiment, the navigation mechanism transmits a signal to the PLC control module 11, and controls the rotation speed and direction of the wheel through the PLC control module 11, thereby controlling the movement or rotation of the robot. The robot can receive the instruction sent by the control platform through the remote control antenna 5 to execute tasks, and the platform instruction and the sensor information are processed through the PLC control module 11, the PLC extension module 7 and the motor driver 6, so that the walking and working states of the robot are controlled. Each omnidirectional wheel 15 is driven independently, and the actions of starting and stopping, advancing and retreating, pivot rotation, lateral walking and the like of the robot are controlled by controlling the rotating speed and the rotating direction of each omnidirectional wheel 15. The right push brush 54, the left push brush 55 and the end inclined brush 47 are driven by the lifting drive motor 40 to move up and down, the pressure of the bristles on the floor is adjusted when the cleaning work is started, the bristles are separated from the floor when the cleaning work is finished, and the dirt of the excrement on the bristles is avoided in the process of driving to a cleaning area or a charging position. The right push rod fixing piece 45 is welded on the brush groove 44 and used for fixing the right push rod 53, the right push rod connecting piece 51 is used for connecting the right push rod output end 53 and the right push brush 54, the end inclined brush 47 is fixed on the 54 right push brush through the inclined brush fixing plate 48 and the T-shaped fixing piece 49, the left push rod 56 is connected in the same way as the right push rod 53, the right push brush 54 is driven through the right push rod 53 and the left push rod 56, the left push brush 55 and the end inclined brush 47 extend out or retract along the brush groove 44, the cleaning range is increased, the width of the standby state of the robot is reduced, the end inclined brush 47 can clean the wall or the nearby railings, and the interference of the brush plate or the brush groove and the wall or. The swing assembly and the brush holder 43 ascend or descend together, the swing of the side push brush 67 is realized by the rotation of the side push plate 68 along the hinged shaft, more excrement can be pushed in the excrement pushing process, and the excrement can be transversely pushed or can be rotationally pushed. In a standby state, the right push brush 54, the left push brush 55 and the end inclined brush 47 can retract, and the side push plate 68 and the side push brush 67 can swing backwards to form an angle of 45 degrees with the advancing direction and be parallel to the front driving wheel, so that the space for a robot station is reduced. During operation, push away brush 54 on the right side, push away brush 55 on the left side and tip brush 47 to one side can stretch out, increase and clean the width, and side push plate 68 and side push away brush 67 can swing forward, increase and push away and receive the volume, prevent that excrement and urine from leaking from both sides, and whole robot motion is nimble in the pig house, cleans efficiently, keeps away the barrier ability reinforce.

In this embodiment the robot is cylindrical multilayer structure, cylindrical multilayer structure includes a plurality of mounting panel, links to each other through support piece between a plurality of mounting panel, the mounting panel of lower floor is lower plate 14, welding reinforcing bar circle 30 on the 14 circumference of lower plate, top surface are along strengthening the strip 31 on the radial welding, welding battery splint 32 on the lower plate 14, battery splint 32 and battery 9 fixed connection, 14 bottom surface welding lower reinforcement 33, slip table backplate 36 and backplate strengthening rib 37 of lower plate, slip table backplate 36 and backplate strengthening rib 37 link to each other, slip table backplate 36 and lifting unit fixed connection, the robot designs into circularly, makes the robot can not fish tail or scratch the pig body, and turning radius is littleer, and each strengthening rib provides the bearing capacity that supports improvement robot. The driving assembly comprises a motor 26, a suspension structure and a speed reducer 17, the output end of the motor 26 is connected with the input end of the speed reducer 17, the suspension structure is respectively connected with a vehicle body, the motor 26 and the speed reducer 17, the output end of the speed reducer 17 is connected with the omnidirectional wheel 15 through a wheel axle 16 and a wheel locking nut 20, the suspension structure supports the omnidirectional wheel 15, a baffle plate 18 and a spring washer 19 are arranged between the locking nut 20 and the speed reducer 17, the suspension structure comprises a lower clamping nut 21, an upper clamping nut 22, an adjusting nut 23, a buffer spring 24, a bolt guide pillar 25, a linear bearing 28 and a guide post 29, the bolt guide pillar 25 penetrates through a mounting hole formed in the bottom surface of the robot body and then is sleeved with the buffer spring 24 and is in threaded connection with the adjusting nut 25, the bolt guide pillar 25 is in threaded connection with the lower clamping nut 21 and the upper clamping nut 22, and the motor 26 and the speed reducer 17, the guide post 29 is fixedly connected with the bottom surface of the robot body, the linear bearing 28 is fixedly connected with the speed reducer 17, the linear bearing 28 is connected with the guide post 29 in a matched mode, the robot body is supported under the action of the pressure of the buffer spring 24, the pre-pressure of the buffer spring 24 can be adjusted through the adjusting nut 23, the robot body can move up and down along the linear bearing 28, even if the ground is slightly uneven in the walking process, the four omnidirectional wheels 15 can still be guaranteed to be in contact with the ground at the same time, the walking direction can be effectively controlled, four-wheel simultaneous driving is higher than driving force obtained by two-wheel driving, and the speed reducer 17 is a worm and gear speed reducer. Lifting unit includes equipment base plate 38, motor mounting panel 39 and slider 41, equipment base plate 38 and motor mounting panel 39 fixed connection, equipment base plate 38 and motor mounting panel 39 all with robot fixed connection, motor mounting panel 39 and lift driving motor 40 fixed connection, lift driving motor 40 links to each other with slider 41, lift driving motor 40 driving slider 41 reciprocates, be provided with brush yoke fixed plate 42 on the brush yoke 43, brush yoke 43 passes through brush yoke fixed plate 42 and slider 41 fixed connection, and equipment base plate 38 and motor mounting panel 39 are fixed respectively on slip table backplate 36 and lower plate 14, and brush yoke fixed plate 42, brush yoke 43 and brush groove 44 are a welding assembly, and this for the subassembly fix with screw is on slider 41. The both sides of the front push plate 63 are hinged with the side push plate 68 through the side push plate hinge 65 respectively, the side push plate end piece 69 is welded on the side push plate 68, the transmission rod fixing block 70 is installed on the side push plate end piece 69, the output end of the side push plate driving motor 57 is connected with the side push plate speed reducer 58, the output shaft of the side push plate speed reducer 58 is connected with one end of the telescopic universal coupling joint 61, the other end of the telescopic universal coupling joint 61 is connected with the transmission rod fixing block 70, the side push plate driving motor 57 drives the telescopic universal coupling joint 61 and the transmission rod fixing block 70 to enable the side push plate 68 to rotate around the axis of the side push plate hinge 65, the front push plate 63, the front push plate reinforcing rib 64 and the reinforcing bent plate 62 are a welding assembly, the front push plate 63 is fixed on the brush holder 43, the welding assembly is used for fixing the front push brush 66, the side push plate hinge 65 is connected with the side push plate 68, and the side, the side push plate can ascend or descend along with the brush holder 43, the side push plate end piece 69 is welded on the side push plate 68, the transmission rod fixing block 70 is installed on the side push plate end piece 69, the speed reducer fixing seat 60 is welded to fix the speed reducer 58 and the side push plate driving motor 57 on the electric installation plate 88, and under the action of the side push plate driving motor 57, the speed reducer output shaft 59 drives the telescopic universal coupling 61 and the transmission rod fixing block 70 to enable the side push plate 68 to rotate around the axis of the side push plate hinge 65. Thereby realize that the side pushes away the swing of brush 67, can push away more excrement and urine pushing away the excrement in-process, can transversely push away excrement and urine or rotatory excrement and urine that pushes away. The navigation mechanism comprises a two-dimensional laser sensor 1, a photoelectric sensor 2, a first one-dimensional laser sensor 3, a second one-dimensional laser sensor 4, a magnetic stripe navigation sensor 8, a third one-dimensional laser sensor 10 and a fourth one-dimensional laser sensor 12, wherein the two-dimensional laser sensor 1 is fixed at the top of the robot body, the photoelectric sensor 2, the first one-dimensional laser sensor 3, the second one-dimensional laser sensor 4 and the third one-dimensional laser sensor 10 are fixed at the rear of the robot body, the number of the fourth one-dimensional laser sensors 12 is three and are all fixed in front of the robot body, the magnetic stripe navigation sensor 8 is fixed at the bottom of the robot body, and the top two-dimensional laser sensor 1 can judge whether obstacles exist in the range of 640mm and 240 degrees in front of the robot; the photoelectric sensor 2, the first one-dimensional laser sensor 3 and the second one-dimensional laser sensor 4 can judge whether an obstacle exists in the range of 640mm in height and 106mm in width behind the robot; the third one-dimensional laser sensor 10 can judge whether an obstacle exists at the position with the height of 280mm behind the robot; the total number of the fourth one-dimensional laser sensors 12 is 3, and whether obstacles exist in the range of 280mm in front of the robot and 167mm in width can be judged; the magnetic stripe navigation sensor 8 can detect whether the robot moves along a magnetic stripe preset on the ground. The sensors work cooperatively to detect whether obstacles exist around the robot, judge the distance and the direction between the obstacles and the robot, judge the position of the robot in the pigsty and send detection information to the PLC control module 11. PLC control module 11 links to each other with PLC extension module 7, battery 9 links to each other with little disconnect-switch 13, clear excrement robot still includes the mechanism of charging in the pig house, the mechanism of charging includes electric putter fixed plate 71, flat electric putter 72, push rod fixing base 73, the first fixed pin 74 that charges, the head that charges, robot bottom surface welding has the push rod fixing base 34 that charges and the push rod fixed plate 35 that charges, electric putter fixed plate 71 links firmly with the push rod fixed plate 35 that charges, push rod fixing base 73 links firmly with the push rod fixing base 34 that charges, flat electric putter 72 passes through electric putter fixed plate 71 and push rod fixing base 73 and robot fixed connection, the output of flat electric putter 72 links firmly with the first casing 75 that charges through the first fixed pin 74 that charges, the head that charges includes contact 76, the first back shroud 77 that charges, Contact wiring cup 78, spring 79, spring catch 80 and axle circlip 81, charge first back shroud 77 and charge first casing 75 inner wall and link firmly, charge first back shroud 77 and contact wiring cup 78 and link to each other, contact 76 and contact wiring cup 78 sliding connection, contact 76 links to each other with spring catch 80 through axle circlip 81, spring 79 cup joints on contact 76, and both ends link to each other with contact wiring cup 78 and circlip 81 respectively, charge first casing 75 is passed on contact 76 top, and during charging, flat electric putter 72 drives charge first casing 75 and outwards stretches out, and charge first casing 75 and touch the deep groove ball bearing 83 of fixing on valve 84, push away valve 84. When the contact 76 contacts the charging copper strip, the flat-bottom electric push rod 72 stops extending, and in order to avoid the situation that the spring 79 is compressed after the rigid contact 76 contacts the copper strip, the contact 76 is ensured to be in close contact with the charging copper strip under the pressure action of the spring 79. After charging is finished, the flat-bottom electric push rod 72 is contracted, and the charging window of the lower skirt rear baffle 85 is tightly covered by the valve 84 under the action of the recoverable spring hinge 82.

The detailed description is given above on the robot for clearing dung in the pigsty provided by the utility model, and the specific examples are applied in the description to explain the principle and the implementation mode of the utility model, and the description of the above examples is only used to help to understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims (10)

1. The utility model provides a clear excrement robot in pig house which characterized in that: it includes robot body, moving mechanism, actuating mechanism, navigation head and control mechanism, moving mechanism includes drive assembly and omniwheel (15), drive assembly links to each other with omniwheel (15) and provides power for omniwheel (15), moving mechanism quantity is four, and along robot body bottom surface circumferencial direction evenly distributed and omniwheel (15) be the splayed and arrange, actuating mechanism includes lift driving motor (40), lifting unit, flexible subassembly, brush yoke (43), flexible brush hair and swing subassembly, the lifting unit drive end links to each other with lift driving motor (40), lift end and brush yoke (43) fixed connection, stiff end and robot body fixed connection, lifting unit drive brush yoke (43) carry out vertical direction and remove, brush groove (44) have been seted up to brush yoke (43) both sides, flexible subassembly includes right push rod (53) and left push rod (56), brush groove (44) that brush yoke (43) both sides were seted up respectively with right push rod (53) and left push rod (56) fixed connection, flexible brush hair is including pushing away brush (54), pushing away brush (55) and tip oblique brush (47) on the right side, the output of right push rod (53) and left push rod (56) respectively with push away brush (54) and push away brush (55) on the right side and link to each other on the left side, push away brush (54) and push away brush (55) both sides on the right side and divide equally and do not connect tip oblique brush (47), right push rod (53) and left push rod (56) drive respectively push away brush (54), push away brush (55) on the left side and tip oblique brush (47) along brush groove (44) stretch out or withdraw, the swing subassembly includes side push pedal driving motor (57), preceding push pedal (63), pushes away brush (66), side push away board (68) and side push away brush (67), side push pedal driving motor (57) and robot body fixed connection, preceding push pedal (63) and brush yoke (43) fixed connection, preceding push pedal (63) bottom and preceding push brush (66) fixed connection, preceding push pedal (63) both sides are equallyd divide and are do not articulated with side push pedal (68), side push pedal (68) bottom and side push brush (67) fixed connection, side push pedal driving motor (57) output and side push pedal (68) fixed connection and drive side push pedal (68) and rotate along the articulated shaft, navigation mechanism includes a plurality of sensors, a plurality of sensors all with robot body fixed connection, control mechanism includes remote control antenna (5), motor driver (6), battery (9) and PLC control module (11), a plurality of sensors all are connected with PLC control module (11) communication, PLC control module (11) and motor driver (6) communication are connected, motor driver (6) and drive assembly (6), Lifting drive motor (40) and side push plate drive motor (57) are divided into separate communication connections, battery (9) is the power supply of robot, remote control antenna (5) are connected with PLC control module (11) communication.

2. The pigsty manure cleaning robot according to claim 1, characterized in that: the robot body is cylindrical multilayer structure, cylindrical multilayer structure includes a plurality of mounting panel, links to each other through support piece between a plurality of mounting panel, and the cylindrical multilayer structure's of robot body lower floor mounting panel is lower plate (14), welding muscle plate circle (30) on lower plate (14) circumference, top surface strengthen strip (31) along radial welding, welding battery splint (32) on lower plate (14), battery splint (32) and battery (9) fixed connection, strengthening rib (33), slip table backplate (36) and backplate strengthening rib (37) under lower plate (14) bottom surface welding, slip table backplate (36) and backplate strengthening rib (37) link to each other, slip table backplate (36) and lifting unit fixed connection.

3. The pigsty manure cleaning robot according to claim 1, characterized in that: the driving assembly comprises a motor (26), a suspension structure and a speed reducer (17), the output end of the motor (26) is connected with the input end of the speed reducer (17), the suspension structure is respectively connected with the vehicle body, the motor (26) and the speed reducer (17), the output end of the speed reducer (17) is connected with the omnidirectional wheel (15) through a wheel axle (16) and a wheel locking nut (20), and the suspension structure supports the omnidirectional wheel (15).

4. The pigsty manure cleaning robot according to claim 3, characterized in that: the suspension structure comprises a lower clamping nut (21), an upper clamping nut (22), an adjusting nut (23), a buffer spring (24), a bolt guide post (25), a linear bearing (28) and a guide post (29), wherein the bolt guide post (25) penetrates through a mounting hole formed in the bottom surface of the robot body and then is sleeved with the buffer spring (24) and is in threaded connection with the adjusting nut (23), the bolt guide post (25) is in threaded connection with the lower clamping nut (21) and the upper clamping nut (22), a motor (26) and a speed reducer (17) are fixedly connected through the lower clamping nut (21) and the upper clamping nut (22), the guide post (29) is fixedly connected with the bottom surface of the robot body, the linear bearing (28) is fixedly connected with the speed reducer (17), and the linear bearing (28) is in matched connection with the guide post (29).

5. The pigsty manure cleaning robot according to claim 3, characterized in that: the speed reducer (17) is a worm gear speed reducer.

6. The pigsty manure cleaning robot according to claim 1, characterized in that: lifting unit is including equipment base plate (38), motor mounting panel (39) and slider (41), equipment base plate (38) and motor mounting panel (39) fixed connection, equipment base plate (38) and motor mounting panel (39) all with robot fixed connection, motor mounting panel (39) and lift driving motor (40) fixed connection, lift driving motor (40) link to each other with slider (41), lift driving motor (40) drive slider (41) reciprocate, be provided with brush yoke fixed plate (42) on brush yoke (43), brush yoke (43) are through brush yoke fixed plate (42) and slider (41) fixed connection.

7. The pigsty manure cleaning robot according to claim 1, characterized in that: preceding push pedal (63) both sides are equallyd divide and are do not articulated through side push pedal hinge (65) and side push pedal (68), welding side push pedal end piece (69) is gone up in side push pedal (68), install transfer line fixed block (70) on side push pedal end piece (69), side push pedal driving motor (57) output links to each other with side push pedal reduction gear (58), the output shaft and flexible universal joint (61) one end of side push pedal reduction gear (58) link to each other, flexible universal joint (61) other end links to each other with transfer line fixed block (70), side push pedal driving motor (57) drive flexible universal joint (61) and transfer line fixed block (70) make side push pedal (68) rotate around the axis of side push pedal hinge (65).

8. The pigsty manure cleaning robot according to claim 1, characterized in that: the navigation mechanism comprises a two-dimensional laser sensor (1), a photoelectric sensor (2), a first one-dimensional laser sensor (3), a second one-dimensional laser sensor (4), a magnetic stripe navigation sensor (8), a third one-dimensional laser sensor (10) and a fourth one-dimensional laser sensor (12), wherein the two-dimensional laser sensor (1) is fixed at the top of the robot body, the photoelectric sensor (2), the first one-dimensional laser sensor (3), the second one-dimensional laser sensor (4) and the third one-dimensional laser sensor (10) are fixed at the rear of the robot body, the number of the fourth one-dimensional laser sensors (12) is three, the fourth one-dimensional laser sensors are all fixed in the front of the robot body, and the magnetic stripe navigation sensor (8) is fixed at the bottom of the robot body.

9. The pigsty manure cleaning robot according to claim 1, characterized in that: the PLC control module (11) is connected with the PLC extension module (7), and the battery (9) is connected with the micro-break switch (13).

10. The robot for clearing dung in a pigsty according to any one of claims 1 to 9, wherein: clear excrement robot still includes the mechanism of charging in the pig house, the mechanism of charging includes electric putter fixed plate (71), flat electric putter (72), push rod fixing base (73), the first fixed pin that charges (74), the first casing that charges (75), the head that charges robot bottom surface welding has the push rod fixing base that charges (34) and the push rod fixed plate that charges (35), electric putter fixed plate (71) link firmly with the push rod fixed plate that charges (35), push rod fixing base (73) link firmly with the push rod fixing base that charges (34), flat electric putter (72) are through electric putter fixed plate (71) and push rod fixing base (73) and robot fixed connection, the output of flat electric putter (72) links firmly with the first casing that charges (75) through the first fixed pin that charges (74), the head that charges includes contact (76), First back shroud (77), contact wiring cup (78), spring (79), spring catch (80) and axle are with circlip (81), first back shroud (77) and the first casing (75) inner wall that charges link firmly, first back shroud (77) that charges links to each other with contact wiring cup (78), contact (76) and contact wiring cup (78) sliding connection, contact (76) link to each other with spring catch (80) through axle with circlip (81), spring (79) cup joint on contact (76), and both ends link to each other with contact wiring cup (78) and circlip (81) respectively, first casing (75) charges is passed on contact (76) top.

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