Livestock and poultry house manure ditch cleaning machine and cleaning method

Abstract

The invention discloses a livestock and poultry house manure ditch cleaning machine and a cleaning method, and relates to the technical field of livestock and poultry farm automation equipment, the livestock and poultry house manure ditch cleaning machine comprises a cleaning robot and an accompanying trolley; the cleaning robot comprises a moving crawler belt, a width adjusting component, a rack component, a cleaning spray head component, a collision detection guide wheel component, a push plate component and a controller. The accompanying trolley comprises a cable winding wheel, a water pipe winding device, a frame component and a control box. The width adjusting component realizes width adjustment of the moving track and the push plate component and is matched with the collision detection guide wheel component to realize that two ends of the push plate are close to the wall surface of the manure ditch, so that the adaptability of the cleaning robot to manure ditches with different widths is improved; the cleaning nozzle component realizes distance adjustment between nozzles and rotation of the nozzles, so that water jet of the nozzles can fully clean four wall surfaces of the manure ditch; the lifting component reduces manpower to quickly drop the cleaning robot down or lift the cleaning robot out of the manure ditch, and a winding wheel is arranged, so that the cleaning robot can be quickly dragged out of the manure ditch.

Description

Technical Field

[0001] The invention relates to the technical field of automated equipment for breeding sites, and in particular to a manure ditch cleaning machine and a cleaning method for livestock and poultry houses. Background Art

[0002] With the continuous development of the scale of livestock and poultry farming, the biosafety risks of farms have also increased accordingly. Regular and effective cleaning of livestock and poultry houses can effectively destroy the biofilm of pathogenic bacteria and achieve good cleaning effects, which is the basis for ensuring the biosafety of farms.

[0003] In large-scale livestock and poultry farms, the manure ditches in the breeding area are usually arranged in multiple rows. The farms need to clean the manure in the manure ditches regularly to keep the house clean and improve the air quality in the house. The traditional cleaning method usually uses a manure scraper to scrape the manure, and then the personnel use a handheld high-pressure spray gun to clean it. The working environment is poor, the labor intensity is high, and the high-pressure water flow poses certain risks to personal safety; secondly, the manure-water mixture is easy to corrode and damage the transmission mechanism, reducing the reliability and service life of the manure scraper. The narrow space of the manure ditch makes maintenance and repair extremely inconvenient, leaving serious biological safety risks.

[0004] Therefore, there is an urgent need for a livestock and poultry house manure ditch cleaning machine that can effectively replace the manure scraper and manual cleaning to achieve high-efficiency, low-cost, and easy-to-use automatic cleaning of livestock and poultry house manure ditches. Summary of the invention

[0005] The purpose of the present invention is to provide a livestock and poultry house manure ditch cleaning machine and cleaning method to solve the problems existing in the above-mentioned prior art, improve the adaptability of the cleaning robot to manure ditches of different widths, and be able to perform all-round cleaning of the manure ditch, and also reduce the labor intensity of manure.

[0006] To achieve the above-mentioned object, the present invention provides the following solution: The present invention provides a livestock and poultry house manure ditch cleaning machine, comprising a cleaning robot (1) and an accompanying trolley (2); the cleaning robot (1) comprises a moving crawler (3), a width adjustment component (4), a frame component (5), a cleaning nozzle component (6), a push plate component (9) and a controller (16); the moving crawler (3) is used to drive the frame component (5) to move in the manure ditch; the cleaning nozzle component (6), the push plate component (9) and the controller (16) are all mounted on the frame component (5); the width adjustment component mounted on the frame component (5) The component (4) is used to adjust the distance between the movable crawlers (3) on both sides and the working width of the push plate component (9); the accompanying trolley (2) includes a cable reel (12), a water hose reel (11), a frame component (14) and a control box (13); the cable reel (12), the water hose reel (11) and the control box (13) are all assembled on the movable frame component (14), one end of the cable reel (12) is connected to the cleaning robot (1), and the other end is connected to the power supply; one end of the water hose reel (11) is connected to the cleaning robot (1), and the other end is connected to the water source.

[0007] In one embodiment, the width adjustment component (4) includes a driving mechanism (402), a shaft mother transmission mechanism (401), a bidirectional screw (403), a correction mechanism (404) and a buffer mechanism (405); the driving mechanism (402) is fixedly mounted on the frame component (5) and is used to drive the bidirectional screw to rotate, thereby pushing the shaft mother transmission mechanism (401) to move, and the shaft mother transmission mechanism (401) is connected to the correction mechanism (404) through the buffer mechanism (405); the buffer mechanism (405) includes a locking nut (4051), a first spring base (4052), a guide shaft (4053), a spring (4054), a locking shaft (4055) and a second spring base (4056), when the When the shaft mother transmission mechanism 1 (401) moves outward, the first spring base (4052) moves outward to compress the spring 1 (4054), the guide shaft (4053) and the locking shaft (4055) slide out from the inside, and the second spring base (4056) is subjected to the elastic force of the spring 1 (4054) to push the movable track (3) out; the correction mechanism (404) comprises a rotating base (4041), a mounting seat 1 (4042), a rotating shaft 1 (4043), a tension adjustment mechanism (4044), a tension spring (4045) and a base ear plate (4046); the mounting seat 1 (4042) is fixedly mounted on the movable track (3); the rotating base (4041) can rotate around the rotating shaft 1 (4043) and be corrected under the action of the tension spring (4045).

[0008] In one embodiment, the cleaning nozzle component (6) comprises a nozzle (601), an elbow (602), a nozzle (603), a second driving mechanism (604), a transmission box (605), a second shaft mother transmission mechanism (606), a second bidirectional screw rod (607), a rotating motor (608) and a second mounting seat (609); the cleaning nozzle component (6) is assembled on the frame component (5) through the second mounting seat (609); the second shaft mother transmission mechanism (606) is fixedly connected to the transmission box (605); the rotating motor (608) drives the nozzle (603) to rotate through the transmission box (605) to drive the nozzle (601) to rotate for cleaning; the second shaft mother transmission mechanism (606) is fixedly mounted on the slider of the second slider guide mechanism (503); the second driving mechanism (604) is used to drive the second bidirectional screw rod (607) to rotate to adjust the distance between the nozzles (601).

[0009] In one embodiment, the frame component (5) includes a slider guide mechanism 1 (502), a slider guide mechanism 2 (503), a slider guide mechanism 3 (504), a profile frame (505), a mounting seat 3 (509), a front connecting plate, a rear connecting plate and a towing hook (510); the controller (16), the cleaning nozzle assembly (6) and the towing hook (510) are respectively fixedly mounted on the profile frame (505), the driving mechanism 1 (402) of the width adjustment component (4) is fixedly mounted on the mounting seat 3 (509), one end of the front connecting plate and the rear connecting plate are mounted on the slider of the slider guide mechanism, and the other end is mounted on the rotating shaft mechanism (304) of the moving crawler (3); the towing hook (510) is connected to the cable of the winding wheel (15) on the accompanying trolley (2).

[0010] In one embodiment, the mobile crawler (3) comprises a driving mechanism three (301) and a mobile crawler body (305), and the two mobile crawlers (3) are connected by the width adjustment component (4), and the driving mechanism three (301) is used to drive the mobile crawler body (305) to operate.

[0011] In one embodiment, the cleaning robot further comprises a telescopic housing component (7), the telescopic housing component (7) comprising a telescopic cover (701), an upper housing, a cable connector (703), a lower housing and a water pipe connector (706), the cable connector (703) and the water pipe connector (706) being fixedly mounted on the housing component (7) and respectively connected to a cable reel (12) and a water pipe reel (11), the upper housing and the lower housing being respectively fixedly mounted on an outer guard plate (306) and an inner guard plate (302) of the mobile crawler (3), and the housings on both sides are connected via a telescopic cover (701).

[0012] In one embodiment, the push plate component (9) includes a first push plate (901), a push plate mounting plate (902), a second push plate (903) and an anti-collision strip (904); the first push plate (901) and the second push plate (903) are respectively mounted on the inner guard plates (302) of the moving track (3) on both sides through the push plate mounting plate (902); the connecting ends of the first push plate (901) and the second push plate (903) can be relatively slidably adjusted; and anti-collision strips (904) are installed at the bottom of the first push plate (901) and the second push plate (903).

[0013] In one embodiment, the accompanying trolley also includes a lifting component (10), and the lifting component (10) includes a fixed pulley 1 (1002), a fixed pulley 2 (1003), a lifting ring (1004) and a lifting rope (1001), one end of the lifting rope (1001) is tied to the lifting ring (1004), and the other end passes through the fixed pulley 2 (1003), the fixed pulley 1 (1002) and the hook (303) on the moving crawler (3) in sequence and is fixed at the hook (303).

[0014] In one embodiment, the cleaning robot further comprises a collision detection guide wheel component (8), the collision detection guide wheel component (8) comprising a mounting seat four (801), a spring two (802), a collision switch (803), a guide wheel frame mechanism (804) and a guide wheel (805), the mounting seat four (801) being fixed on the outer guard plate (306) of the moving crawler (3), the mounting seat four (801) being sleeved with a spring two (802), the outer side of the mounting seat four (801) being slidably equipped with a guide wheel frame mechanism (804), the guide wheel (805) being equipped at the guide wheel frame mechanism (804) via a rotating shaft; the guide wheel (805) contacts the wall of the manure ditch and continuously compresses the spring two (802), the guide wheel frame mechanism (804) will touch the collision switch (803), and the collision switch (803) sends a signal to the controller (16).

[0015] The present invention also provides a method for cleaning manure ditch in livestock and poultry houses, which is applied to the above-mentioned manure ditch cleaning machine in livestock and poultry houses, and comprises the following steps:

[0016] Step 1: When the need for cleaning the manure ditch is raised, the accompanying trolley (2) can carry the cleaning robot (1) and be pushed to one end of the manure ditch, and the staff removes part of the cover;

[0017] Step 2: Use the lifting component (10) to lower the cleaning robot (1) into the manure ditch, connect one end of the cable reel (12) and the water pipe reel (11) to the cable connector (703) and the water pipe connector (706) on the cleaning robot (1), respectively, and connect the other ends to the power supply and water source; connect one end of the reel (15) to the towing hook (510), start the cleaning robot (1) to enter the front cleaning mode, and the cable reel (12), the water pipe reel (11), and the reel (15) unwind synchronously with the moving speed of the cleaning robot (1);

[0018] Step 3: The cleaning robot (1) moves forward, and the width adjustment component (4) works at the same time, and the first push plate (901) and the second push plate (903) are adjusted to both sides along with the moving crawler (3);

[0019] Step 4: When the guide wheel (805) collides with the wall of the manure ditch, the width adjustment component (4) continues to work until the guide wheel frame mechanism (804) touches the collision switch (803), and the collision switch (803) sends a signal to the controller (16);

[0020] Step 5: After receiving the collision signal, the controller (16) stops the width adjustment component (4) from working, and adjusts the movement of the moving crawler (3) to realize the rotation of the cleaning robot (1) toward the guide wheel (805) on the other side. After the cleaning robot (1) moves forward a corresponding distance, the moving crawler (3) is turned straight again.

[0021] Step 6: Repeat steps 3 to 5 until the guide wheels (805) on both sides touch the wall of the manure ditch at the same time, so that the sides of the first push plate (901) and the second push plate (903) are close to the wall of the manure ditch;

[0022] Step 7: The width adjustment component (4) stops working, the controller (16) detects that the width adjustment component (4) adjusts the width, and controls the cleaning nozzle component (6) accordingly, adjusts the distance between the two nozzles (601), and ensures that the water jets of the two nozzles (601) can fully clean the four walls of the manure ditch, and the cleaning robot (1) enters the middle cleaning mode and cleans forward at a uniform speed;

[0023] Step 8: The controller (16) transmits the moving distance information of the cleaning robot (1) to the terminal in real time, and the staff starts the post-cleaning mode when the cleaning robot (1) is about to reach the end point according to the length of the manure ditch;

[0024] Step nine: the width adjustment mechanism (4) works, and the first push plate (901) and the second push plate (903) are adjusted inward along with the moving track (3);

[0025] Step 10: The cleaning robot (1) reduces its moving speed. After reaching the end point, the moving crawler (3) rotates in the opposite direction, and the cleaning robot (1) exits along the cleaning direction. At the same time, the cable reel (12), the water hose reel (11), and the reel (15) are reeled synchronously with the moving speed of the cleaning robot (1);

[0026] Step 11: The cleaning robot (1) returns to the starting point, and the staff disconnects the power supply and water source, and disconnects the cable reel (12), the water hose reel (11), the reel (15) and the cleaning robot (1);

[0027] Step 12: The cleaning robot (1) is lifted out of the manure ditch by using the lifting component (10), the accompanying trolley (2) carries the cleaning robot (1) away from the top of the manure ditch, and the personnel restore the manure ditch cover;

[0028] Step 13: Transport the manure ditch cleaning machine to the designated location for storage.

[0029] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0030] The livestock and poultry house manure ditch cleaning machine and cleaning method of the present invention adopts a width adjustment component to adjust the width between the two moving tracks of the cleaning robot, thereby driving the width adjustment of the push plate component, improving the adaptability of the cleaning robot to manure ditches of different widths; and then utilizes a collision detection guide wheel component to enable the two ends of the push plate component to be close to the wall of the manure ditch, thereby improving the ability of the push plate to scrape the manure-water mixture. The distance between the two nozzles is adjusted and the nozzles rotate themselves through the cleaning nozzle component, so that the water jets from the two nozzles can fully clean the four walls of the manure ditch. The present invention utilizes a lifting component to reduce manpower to quickly land or lift the cleaning robot out of the manure ditch, and then utilizes a frame component to realize rapid transportation between different manure ditches, and is provided with a winding wheel, and a cable is used to connect the cleaning robot. When the cleaning robot is anchored in the manure ditch, the cleaning robot can be quickly towed out. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is a schematic diagram of the cleaning method of the livestock and poultry house manure ditch cleaning machine;

[0033] Figure 2 This is a cross-sectional view of the overall structure of the cleaning robot;

[0034] Figure 3This is a schematic diagram of the lifting method of the cleaning robot;

[0035] Figure 4 This is a schematic diagram of the structure of the random car;

[0036] Figure 5 A schematic diagram of the width adjustment structure of the mobile crawler and push plate components;

[0037] Figure 6 It is a partial cross-sectional view of the width adjustment component;

[0038] Figure 7 It is the top view of the width adjustment component;

[0039] Figure 8 This is a schematic diagram of the cleaning nozzle component structure;

[0040] Fig. 9 It is a schematic diagram of the structure of the rack components;

[0041] Fig.10 It is a side view of the frame components;

[0042] Fig.11 It is a partial cross-sectional view of the collision detection guide wheel component;

[0043] Fig.12 A schematic diagram of the telescopic housing components of the cleaning robot;

[0044] Among them, 1. Cleaning robot; 2. Traveling trolley; 3. Mobile crawler; 4. Width adjustment parts; 5. Frame parts; 6. Cleaning nozzle parts; 7. Telescopic housing parts; 8. Collision detection guide wheel parts; 9. Push plate parts; 10. Lifting parts; 11. Water hose reel; 12. Cable reel; 13. Control box; 14. Frame parts; 15. Reel; 16. Controller; 301. Driving mechanism three; 302. Inner guard plate; 303. Hook; 304. Rotating shaft mechanism; 305. Mobile crawler body; 306. Outer guard plate; 4 01, shaft mother transmission mechanism 1; 402, driving mechanism 1; 403, two-way screw rod 1; 404, correction mechanism; 405, buffer mechanism; 4041, rotating base; 4042, mounting seat 1; 4043, rotating shaft 1; 4044, tension adjustment mechanism; 4045, tension spring; 4046, base ear plate; 4051, locking nut 1; 4052, first spring base; 4053, guide shaft; 4054, spring 1; 4055, locking shaft; 4056, second spring base; 501, first front connecting plate; 502 , slider guide mechanism one; 503, slider guide mechanism two; 504, slider guide mechanism three; 505, profile frame; 506, second front connecting plate; 507, first rear connecting plate; 508, second rear connecting plate; 509, mounting seat three; 510, towing hook; 601, nozzle; 602, elbow; 603, nozzle; 604, driving mechanism two; 605, transmission box; 606, shaft mother transmission mechanism two; 607, two-way screw rod two; 608, rotating motor; 609, mounting seat two; 610, high pressure pipe one; 611, rotating Connector; 701, telescopic cover; 702, first upper housing; 703, cable connector; 704, first lower housing; 705, second upper housing; 706, water pipe connector; 707, second lower housing; 801, mounting seat four; 802, spring two; 803, collision switch; 804, guide wheel frame mechanism; 805, guide wheel; 901, first push plate; 902, push plate mounting plate; 903, second push plate; 904, anti-collision strip; 1001, lifting rope; 1002, fixed pulley one; 1003, fixed pulley two; 1004, lifting ring. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The purpose of the present invention is to provide a livestock and poultry house manure ditch cleaning machine and cleaning method to solve the problems existing in the above-mentioned prior art, improve the adaptability of the cleaning robot to manure ditches of different widths, and be able to perform all-round cleaning of the manure ditch, and also reduce the labor intensity of manure.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] like Figure 1-Figure 12 As shown, the present invention provides a livestock and poultry house manure ditch cleaning machine including a cleaning robot 1 and an accompanying trolley 2; the cleaning robot 1 includes a moving crawler 3, a width adjustment component 4, a frame component 5, a cleaning nozzle component 6, a collision detection guide wheel component 8, a telescopic housing component 7, a push plate component 9, and a controller 16; the accompanying trolley 2 includes a cable reel 12, a water pipe reel 11, a reel 15, a lifting component 10, a frame component 14, and a control box 13; the cable reel 12 and the water pipe reel 11 are respectively connected to the cleaning robot 1 at one end and connected to a power source and a water source at the other end, so that the cleaning robot 1 can move in the manure ditch and clean it with a water jet, and the push plate component 9 removes the manure-water mixture in the moving direction.

[0049] Combination Figure 2 , Figure 5 , Figure 6 , Figure 7As shown, the width adjustment component 4 includes a driving mechanism 402, a shaft mother transmission mechanism 401, a bidirectional screw rod 403, a correction mechanism 404, and a buffer mechanism 405; the driving mechanism 402 is fixedly installed on the frame component 5 to realize the rotation of the bidirectional screw rod 403, thereby pushing the shaft mother transmission mechanism 401 to move, and the shaft mother transmission mechanism 401 is connected to the correction mechanism 404 through the buffer mechanism 405; the buffer mechanism 405 includes a locking nut 4051, a first spring base 4052, a guide shaft 4053, a spring 4054, a locking shaft 4055, and a second spring base 4056; the correction mechanism 404 includes a rotating base 4041, a mounting seat 4042, a rotating shaft 4043, a tension adjustment mechanism 4044, a tension spring 4045, and a base ear plate 4046, and the mounting seat 4042 is fixedly installed on the moving On the track 3, the rotating base 4041 can rotate around the rotating shaft 4043 and be corrected under the action of the tension spring 4045; the buffer mechanism 405 realizes compression buffering. When the shaft mother transmission mechanism 401 moves outward, the first spring base 4052 moves outward to compress the spring 4054, the guide shaft 4053 and the locking shaft 4055 slide outward, and the second spring base 4056 receives the elastic force of the spring 4054 to push the moving track 3 out. At this time, the two moving tracks 3 have a certain angle, and the cleaning robot 1 continues to move forward. Under the action of the correcting mechanism 404 and the moving torque, the two moving tracks 3 are finally parallel; during the movement of the cleaning robot 1, the width adjustment component 4 overcomes the dynamic friction force and can easily adjust the distance between the moving tracks 3 on both sides. A buffer mechanism 405 is provided to prevent the stress from increasing rapidly and damaging the components during the adjustment process.

[0050] Combination Figure 2 , Figure 8 , Fig. 9 , Fig.10 As shown, the cleaning nozzle component 6 includes a nozzle 601, an elbow 602, a nozzle 603, a driving mechanism 604, a transmission box 605, a shaft mother transmission mechanism 606, a two-way screw rod 607, a rotating motor 608, a mounting seat 609, a high-pressure pipe 610, and a rotating joint 611; the shaft mother transmission mechanism 606 is fixedly connected to the transmission box 605, and the rotating motor 608 drives the nozzle 603 to rotate through the transmission box 605, thereby realizing the rotation cleaning of the nozzle 601; the shaft mother transmission mechanism 606 is fixedly installed on the slider of the slider guide mechanism 503, and the driving mechanism 604 drives the two-way screw rod 607 to rotate, thereby adjusting the distance between the nozzles 601, so that the water jets of the two nozzles 601 can fully clean the four walls of the manure ditch.

[0051] Combination Figure 2 , Figure 5 , Figure 8 , Fig. 9 , Fig.10As shown, the frame component 5 includes a slider guide mechanism 1 502, a slider guide mechanism 2 503, a slider guide mechanism 3 504, a profile frame 505, a mounting seat 3 509, a first front connecting plate 501, a second front connecting plate 506, a first rear connecting plate 507, a second rear connecting plate 508, and a towing hook 510; the controller 16, the mounting seat 2 609, the guide rail, and the towing hook 510 are respectively fixedly mounted on the profile frame 505, the driving mechanism 1 402 is fixedly mounted on the mounting seat 3 509, one end of the front connecting plate and the rear connecting plate are mounted on the slider of the slider guide mechanism, and the other end is mounted on On the rotating shaft mechanism 304 of the moving crawler 3, when the moving crawler 3 is adjusted to become wider, the front end becomes wider first. At this time, the extension amount of the front connecting plate is greater than that of the rear connecting plate. The connecting plate rotates a certain angle around the rotating shaft mechanism 304. As the two moving crawlers 3 gradually become parallel, the front connecting plate and the rear connecting plate finally extend the same amount, so that the profile frame 505 remains stable when the width adjustment component 4 is working; the towing hook 510 is connected to the cable of the winding wheel 15. When the cleaning robot 1 malfunctions and stays in the manure ditch, due to the small space, it is inconvenient for people to enter. The cleaning robot 1 can be quickly dragged out of the manure ditch by rotating the winding wheel 15.

[0052] Combination Figure 2 , Figure 5 As shown, the mobile crawler 3 includes a driving mechanism 301, an inner guard plate 302, a hook 303, a rotating shaft mechanism 304, a mobile crawler body 305, and an outer guard plate 306. The two mobile crawlers 3 cooperate to realize the forward, backward, and turning movements of the cleaning robot 1.

[0053] Combination Figure 1 , Figure 2 , Figure 5 , Fig.12 As shown, the telescopic housing component 7 includes a telescopic cover 701, a first upper housing 702, a cable connector 703, a first lower housing 704, a second upper housing 705, a water pipe connector 706, and a second lower housing 707. The cable connector 703 and the water pipe connector 706 are fixedly mounted on the housing component 7, and are respectively connected to the wires and high-pressure water pipes of the cable reel 12 and the water pipe reel 11 to realize power supply and water supply for the cleaning robot 1. The upper housing and the lower housing are respectively fixedly mounted on the outer guard plate 306 and the inner guard plate 302, and are connected to the telescopic cover 701. When the width adjustment component 4 is working, the telescopic cover 701 will be stretched or folded laterally along with the two moving crawlers 3.

[0054] Combination Figure 1 , Figure 2 , Figure 5As shown, the push plate component 9 includes a first push plate 901, a push plate mounting plate 902, a second push plate 903, and an anti-collision strip 904. The first push plate 901 and the second push plate 903 are respectively mounted on the inner guard plate 302 of the moving track 3, and the two push plates are close to each other to achieve adjustment of the distance between the moving tracks 3 on both sides. The anti-collision strip 904 has a certain elasticity to prevent the protrusions on the ground of the manure ditch from causing rigid impact on the cleaning robot 1. When there are hard protrusions on the ground, the anti-collision strip 904 will deform to allow the push plate to be pushed over smoothly.

[0055] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown, the lifting component 10 includes a fixed pulley 1002, a fixed pulley 1003, a lifting ring 1004, and a lifting rope 1001. One end of the lifting rope 1001 is tied to the lifting ring 1004, and the other end passes through the hook 303, the fixed pulley 1003, and the fixed pulley 1002 respectively, and is pulled in by personnel or tied to the frame component 14. The personnel releases or tightens the rope to reduce manpower and quickly lower or lift the cleaning robot 1 out of the manure ditch.

[0056] Combination Figure 1 , Figure 5 , Fig. 9 , Fig.11 As shown, the collision detection guide wheel component 8 includes a mounting seat 4 801, a spring 2 802, a collision switch 803, a guide wheel frame mechanism 804, and a guide wheel 805. The mounting seat 4 801 is fixed on the outer guard plate 306 and is slidably connected to the guide wheel frame mechanism 804. When the guide wheel 805 contacts the wall of the manure ditch and continues to compress, the guide wheel frame mechanism 804 will touch the collision switch 803 and send a signal to the controller 16. Then the cleaning robot 1 stops adjusting the width and rotates to the other side for a certain angle and then turns back to the right position, finally achieving the cleaning robot 1 being centered in the manure ditch with both sides of the push plate close to the wall of the manure ditch.

[0057] Combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 8 , Fig. 9 , Fig.11 As shown, the method for cleaning the manure ditch in the livestock and poultry house by using the livestock and poultry house manure ditch cleaning machine of the present invention is as follows:

[0058] (1) When the need for cleaning the manure ditch is raised, the accompanying trolley 2 can carry the cleaning robot 1 and be pushed to one end of the manure ditch, and the staff removes part of the cover;

[0059] (2) The personnel use the lifting component 10 to lower the cleaning robot 1 into the manure ditch, connect one end of the cable reel 12 and the water hose reel 11 to the cable connector 703 and the water hose connector 706 on the cleaning robot 1, respectively, and connect the other ends to the power supply and water source; one end of the reel 15 is connected to the towing hook 510, and the cleaning robot 1 is started to enter the front cleaning mode. The cable reel 12, the water hose reel 11, and the reel 15 are unwound synchronously with the moving speed of the cleaning robot 1;

[0060] (3) The cleaning robot 1 moves forward, and the width adjustment component 4 works at the same time, and the first push plate 901 and the second push plate 903 are adjusted to both sides along with the moving crawler 3;

[0061] (4) When the guide wheel 805 collides with the wall of the manure ditch, the width adjustment component 4 continues to work until the guide wheel frame mechanism 804 touches the collision switch 803, and the collision switch 803 sends a signal to the controller 16;

[0062] (5) After receiving the collision signal, the controller stops the width adjustment component 4 from working, and adjusts the movement of the mobile crawler 3 to realize that the cleaning robot 1 rotates to the other side guide wheel 805 by a certain angle, and then rotates back to the right position after moving a certain distance;

[0063] (6) Repeat steps 3 to 5 until the guide wheels 805 on both sides touch the wall of the manure ditch at the same time, so that the sides of the first push plate 901 and the second push plate 903 are close to the wall of the manure ditch;

[0064] (7) The width adjustment component 4 stops working, and the controller 16 detects that the width adjustment component 4 adjusts the width, and accordingly controls the cleaning nozzle component 6 to adjust the distance between the two nozzles 601, so that the water jets of the two nozzles 601 can fully clean the four walls of the manure ditch, and the cleaning robot 1 enters the middle cleaning mode and cleans forward at a uniform speed;

[0065] (8) The controller 16 transmits the moving distance information of the cleaning robot 1 to the terminal in real time. The staff starts the post-cleaning mode when the cleaning robot 1 is about to reach the end point according to the length of the manure ditch;

[0066] (9) The width adjustment component 4 works, and the first push plate 901 and the second push plate 903 are adjusted inward by a certain distance along with the moving track 3;

[0067] Step 10: The cleaning robot 1 reduces its moving speed. After reaching the end point, the moving crawler 3 rotates in the opposite direction, and the cleaning robot 1 exits along the cleaning direction. At the same time, the cable reel 12, the hose reel 11, and the reel 15 are reeled synchronously with the moving speed of the cleaning robot 1.

[0068] (10) The cleaning robot 1 returns to the starting point, and the staff disconnects the power supply and water source, and disconnects the cable reel 12, the hose reel 11, the reel 15 and the cleaning robot 1;

[0069] (11) The personnel use the lifting component 10 to lift the cleaning robot 1 out of the manure ditch, and the accompanying vehicle 2 carries the cleaning robot 1 away from above the manure ditch, and the personnel restore the manure ditch cover;

[0070] (12) Personnel transport the manure ditch cleaning machine to a designated location for storage. When other manure ditch cleaning needs are raised, steps one to thirteen are repeated.

[0071] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0072] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A livestock and poultry house manure ditch cleaning machine, characterized in that: The cleaning robot (1) comprises a cleaning robot (1) and an accompanying trolley (2); the cleaning robot (1) comprises a moving crawler (3), a width adjustment component (4), a frame component (5), a cleaning nozzle component (6), a push plate component (9) and a controller (16); the moving crawler (3) is used to drive the frame component (5) to move in the manure ditch; the cleaning nozzle component (6), the push plate component (9) and the controller (16) are all mounted on the frame component (5); the width adjustment component (4) mounted on the frame component (5) is used to adjust the width of the moving crawler (3) on both sides. 3) and the operating width of the push plate component (9); the accompanying trolley (2) includes a cable reel (12), a water hose reel (11), a frame component (14) and a control box (13); the cable reel (12), the water hose reel (11) and the control box (13) are all assembled on the movable frame component (14), one end of the cable reel (12) is connected to the cleaning robot (1), and the other end is connected to the power supply; one end of the water hose reel (11) is connected to the cleaning robot (1), and the other end is connected to the water source.

2. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The width adjustment component (4) comprises a driving mechanism (402), a shaft mother transmission mechanism (401), a bidirectional screw (403), a correction mechanism (404) and a buffer mechanism (405); the driving mechanism (402) is fixedly mounted on the frame component (5) and is used to drive the bidirectional screw to rotate, thereby pushing the shaft mother transmission mechanism (401) to move, and the shaft mother transmission mechanism (401) is connected to the correction mechanism (404) through the buffer mechanism (405); the buffer mechanism (405) comprises a locking nut (4051), a first spring base (4052), a guide shaft (4053), a spring (4054), a locking shaft (4055) and a second spring base (4056); when the shaft mother transmission mechanism (401) is moved, the locking nut (4051) is rotated. When the moving mechanism (401) moves outward, the first spring base (4052) moves outward to compress the spring (4054), the guide shaft (4053) and the locking shaft (4055) slide out from the inside, and the second spring base (4056) is subjected to the elastic force of the spring (4054) to push the moving track (3) out; the correction mechanism (404) comprises a rotating base (4041), a mounting seat (4042), a rotating shaft (4043), a tension adjustment mechanism (4044), a tension spring (4045) and a base ear plate (4046); the mounting seat (4042) is fixedly mounted on the moving track (3); the rotating base (4041) can rotate around the rotating shaft (4043) and is corrected under the action of the tension spring (4045).

3. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The cleaning nozzle component (6) comprises a nozzle (601), an elbow (602), a nozzle (603), a second driving mechanism (604), a transmission box (605), a second shaft mother transmission mechanism (606), a second bidirectional screw rod (607), a rotating motor (608) and a second mounting seat (609); the cleaning nozzle component (6) is assembled on the frame component (5) through the second mounting seat (609); the second shaft mother transmission mechanism (606) is fixedly connected to the transmission box (605); the rotating motor (608) drives the nozzle (603) to rotate through the transmission box (605) to drive the nozzle (601) to rotate for cleaning; the second shaft mother transmission mechanism (606) is fixedly mounted on the slider of the second slider guide mechanism (503); the second driving mechanism (604) is used to drive the second bidirectional screw rod (607) to rotate to adjust the distance between the nozzles (601).

4. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The frame component (5) comprises a slider guide mechanism 1 (502), a slider guide mechanism 2 (503), a slider guide mechanism 3 (504), a profile frame (505), a mounting seat 3 (509), a front connecting plate, a rear connecting plate and a towing hook (510); the controller (16), the cleaning nozzle assembly (6) and the towing hook (510) are respectively fixedly mounted on the profile frame (505); the driving mechanism 1 (402) of the width adjustment component (4) is fixedly mounted on the mounting seat 3 (509); one end of the front connecting plate and the rear connecting plate are mounted on the slider of the slider guide mechanism, and the other end is mounted on the rotating shaft mechanism (304) of the moving crawler (3); the towing hook (510) is connected to the cable of the winding wheel (15) on the accompanying trolley (2).

5. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The mobile crawler belt (3) comprises a driving mechanism three (301) and a mobile crawler belt body (305). The two mobile crawlers (3) are connected by the width adjustment component (4). The driving mechanism three (301) is used to drive the mobile crawler belt body (305) to operate.

6. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The cleaning robot further comprises a telescopic housing component (7), the telescopic housing component (7) comprising a telescopic cover (701), an upper housing, a cable connector (703), a lower housing and a water pipe connector (706), the cable connector (703) and the water pipe connector (706) being fixedly mounted on the housing component (7) and respectively connected to a cable reel (12) and a water pipe reel (11), the upper housing and the lower housing being respectively fixedly mounted on an outer guard plate (306) and an inner guard plate (302) of the mobile crawler (3), and the housings on both sides are connected via the telescopic cover (701).

7. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The push plate component (9) includes a first push plate (901), a push plate mounting plate (902), a second push plate (903) and an anti-collision strip (904); the first push plate (901) and the second push plate (903) are respectively mounted on the inner guard plates (302) of the moving crawler (3) on both sides through the push plate mounting plate (902); the connecting ends of the first push plate (901) and the second push plate (903) can be relatively slidably adjusted; and the bottoms of the first push plate (901) and the second push plate (903) are mounted with anti-collision strips (904).

8. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The accompanying trolley also includes a lifting component (10), and the lifting component (10) includes a fixed pulley 1 (1002), a fixed pulley 2 (1003), a lifting ring (1004) and a lifting rope (1001). One end of the lifting rope (1001) is tied to the lifting ring (1004), and the other end passes through the fixed pulley 2 (1003), the fixed pulley 1 (1002) and the hook (303) on the moving crawler (3) in sequence and is fixed to the hook (303).

9. The livestock and poultry house manure ditch cleaning machine according to claim 1, characterized in that: The cleaning robot further comprises a collision detection guide wheel component (8), the collision detection guide wheel component (8) comprising a mounting seat four (801), a spring two (802), a collision switch (803), a guide wheel frame mechanism (804) and a guide wheel (805), the mounting seat four (801) being fixed on the outer guard plate (306) of the moving crawler (3), the mounting seat four (801) being sleeved with a spring two (802), the outer side of the mounting seat four (801) being slidably equipped with a guide wheel frame mechanism (804), the guide wheel (805) being equipped at the guide wheel frame mechanism (804) via a rotating shaft; the guide wheel (805) contacts the manure ditch wall and continuously compresses the spring two (802), the guide wheel frame mechanism (804) will touch the collision switch (803), and the collision switch (803) sends a signal to the controller (16).

10. A method for cleaning manure ditch in livestock and poultry houses, applied to the manure ditch cleaning machine in livestock and poultry houses according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: When the need for cleaning the manure ditch is raised, the accompanying trolley (2) can carry the cleaning robot (1) and be pushed to one end of the manure ditch, and the staff removes part of the cover; Step 2: Use the lifting component (10) to lower the cleaning robot (1) into the manure ditch, connect one end of the cable reel (12) and the water pipe reel (11) to the cable connector (703) and the water pipe connector (706) on the cleaning robot (1), respectively, and connect the other ends to the power supply and water source; connect one end of the reel (15) to the towing hook (510), start the cleaning robot (1) to enter the front cleaning mode, and the cable reel (12), the water pipe reel (11), and the reel (15) unwind synchronously with the moving speed of the cleaning robot (1); Step 3: The cleaning robot (1) moves forward, and the width adjustment component (4) works at the same time, and the first push plate (901) and the second push plate (903) are adjusted to both sides along with the moving crawler (3); Step 4: When the guide wheel (805) collides with the wall of the manure ditch, the width adjustment component (4) continues to work until the guide wheel frame mechanism (804) touches the collision switch (803), and the collision switch (803) sends a signal to the controller (16); Step 5: After receiving the collision signal, the controller (16) stops the width adjustment component (4) from working, and adjusts the movement of the moving crawler (3) to realize the rotation of the cleaning robot (1) toward the guide wheel (805) on the other side. After the cleaning robot (1) moves forward a corresponding distance, the moving crawler (3) is turned straight again. Step 6: Repeat steps 3 to 5 until the guide wheels (805) on both sides touch the wall of the manure ditch at the same time, so that the sides of the first push plate (901) and the second push plate (903) are close to the wall of the manure ditch; Step 7: The width adjustment component (4) stops working, the controller (16) detects that the width adjustment component (4) adjusts the width, and controls the cleaning nozzle component (6) accordingly, adjusts the distance between the two nozzles (601), and ensures that the water jets of the two nozzles (601) can fully clean the four walls of the manure ditch, and the cleaning robot (1) enters the middle cleaning mode and cleans forward at a uniform speed; Step 8: The controller (16) transmits the moving distance information of the cleaning robot (1) to the terminal in real time, and the staff starts the post-cleaning mode when the cleaning robot (1) is about to reach the end point according to the length of the manure ditch; Step nine: the width adjustment mechanism (4) works, and the first push plate (901) and the second push plate (903) are adjusted inward along with the moving track (3); Step 10: The cleaning robot (1) reduces its moving speed. After reaching the end point, the moving crawler (3) rotates in the opposite direction, and the cleaning robot (1) exits along the cleaning direction. At the same time, the cable reel (12), the water hose reel (11), and the reel (15) are reeled synchronously with the moving speed of the cleaning robot (1); Step 11: The cleaning robot (1) returns to the starting point, and the staff disconnects the power supply and water source, and disconnects the cable reel (12), the water hose reel (11), the reel (15) and the cleaning robot (1); Step 12: Use the lifting component (10) to lift the cleaning robot (1) out of the manure ditch, the accompanying trolley (2) carries the cleaning robot (1) away from the top of the manure ditch, and the personnel restore the manure ditch cover; Step 13: Transport the manure ditch cleaning machine to the designated location for storage.

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