Flexible device between double push rods and push bucket, synchronous regulation and control method of double push rods and manure pushing truck

Abstract

The invention provides a flexible device between double push rods and a push bucket, a synchronous regulation and control method of the double push rods and a dung pushing truck, and belongs to the technical field of pushing devices.The flexible device comprises an elastic pressed position covering part which can be elastically pressed and contracted; the first double-end connecting rod penetrates through the elastic pressed position covering piece to be rotationally arranged, and the first double-end connecting rod is rotationally connected with the push bucket; the position covering sleeve rod is connected with the elastic pressed position covering piece in a sliding and sleeving mode, and the position covering sleeve rod is connected with the push rod; the second double-end connecting rod penetrates through the covering sleeve rod and is rotationally arranged; the elastic tension complementing pieces can be elastically tensioned and lengthened, and the elastic tension complementing pieces are located on the two sides of the elastic compression complementing piece; and one end of the elastic pulled position covering piece is rotationally connected with the first double-end connecting rod, and the other end is rotationally connected with the second double-end connecting rod. The phenomenon that the connecting position of the flexible device and the connecting position of the flexible device and the push bucket are unbalanced in stress is greatly reduced, the flexible device and the push bucket are in a stress balance state all the time, and loads of all components are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of pushing devices, and in particular relates to a flexible device between a double push rod and a pushing bucket, a synchronous control method of the double push rods, and a manure pushing cart. Background Art

[0002] Generally, there are three methods for cleaning manure on cattle farms: manual cleaning, scraper cleaning, and manure cart cleaning. However, manual cleaning is time-consuming and labor-intensive, requiring a large number of workers to complete the task. Furthermore, the manure on cattle farms has a strong odor, and prolonged work can cause physical discomfort. While scraper cleaning does not require a large number of workers, it does require post-production modifications to the cattle farm, increasing the cost of manure cleaning. Tracked manure carts avoid the drawbacks of these methods, and as a result, they have rapidly developed and become widely used in cattle farming.

[0003] However, current tracked manure pushers for cattle farms also have their problems. Most currently use dual hydraulic push rods or single DC electric push rods to connect the push rods to the push bucket. Using dual hydraulic push rods requires adding a hydraulic control system to the tracked manure pusher, which not only increases the size of the pusher but also increases manufacturing costs. When using a single DC electric push rod, to meet the required thrust for the manure, the DC motor of the single DC electric push rod needs to be a higher-power motor. Furthermore, since the force is entirely applied to the single DC electric push rod, the single DC electric push rod is overloaded, significantly shortening its service life.

[0004] However, if dual DC electric push rods are used, the two electric push rods lift the push bucket upward at the same time, or the two electric push rods lower the push bucket downward at the same time, although the two electric push rods are driven at the same time, there will still be a slight stroke difference between the two electric push rods, that is, there will be inconsistent strokes between the two electric push rods. Due to the rigid connection between the electric push rods and the push bucket, the stroke difference between the two electric push rods will cause uneven force on the electric push rods, causing one of the electric push rods to be always under load. During long-term operation, the electric push rods will experience problems such as increased wear and deformation, which will aggravate the shortening of the service life of the electric push rods. Summary of the Invention

[0005] Based on this, the present invention provides a flexible device between the double push rods and the push bucket to solve the technical problem in the prior art that there is a slight stroke difference between the two electric push rods, which causes the electric push rods to be unevenly stressed and always in a load state.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: A flexible device between a double push rod and a push bucket, comprising An elastic pressure-bearing filling part, which can elastically contract under pressure; A first double-ended connecting rod, which passes through the elastic pressure-supporting position-filling member and is rotatably arranged, and the first double-ended connecting rod is rotatably connected to the push bucket; a position-replacing sleeve rod, which is slidably sleeved with the elastic pressure-replacing member and is connected to the push rod; A second double-ended connecting rod is rotatably arranged through the said position-filling sleeve rod; An elastic tensile filling member can be elastically stretched and extended, and the elastic tensile filling member is located on both sides of the elastic compressive filling member; and one end of the elastic tensile filling member is rotatably connected to the first double-headed connecting rod, and the other end is rotatably connected to the second double-headed connecting rod.

[0007] Preferably, the elastic pressure-filling member includes A threaded sleeve having a threaded outer surface, a first sliding cavity provided therein, a first through hole formed at one end thereof, and the first double-ended connecting rod passing through the first through hole; a first sliding rod, one end of which is slidably engaged in the first sliding cavity; and a second sliding cavity is defined in the first sliding rod; a limiting nut, which is fitted on the thread on the outer surface of the threaded sleeve; A compression spring is sleeved on the outer wall of the threaded sleeve, and one end of the compression spring is limitedly matched with the sliding rod, and the other end of the compression spring is limitedly matched with the limiting nut.

[0008] Preferably, the first double-ended connecting rod includes a first threaded connecting rod, which is disposed through the first through hole and is rotatably connected to the push bucket; a first limiting sleeve, which is sleeved on the outer wall of the first threaded connecting rod, and one end of the elastic tension-filling member is located on one side of the first limiting sleeve; A first locking nut is screwed onto one end of the thread of the first threaded connecting rod and is used to limit the elastic tension-filling component.

[0009] Preferably, the replacement sleeve includes a second sliding rod, which is slidably sleeved in the second sliding cavity; A connecting rod has an outer wall through which a second through hole is provided. The connecting rod is connected to the second sliding rod. The second double-headed connecting rod is provided through the second through hole, and the connecting rod is connected to the push rod.

[0010] Preferably, the second double-ended connecting rod includes a second threaded connecting rod, which is disposed through the second through hole; a second limiting sleeve, which is sleeved on the outer wall of the second threaded connecting rod, and the other end of the elastic tension-filling member is located on one side of the second limiting sleeve; The second locking nut is screwed onto one end of the thread of the second threaded connecting rod and is used to limit the elastic tension-filling component.

[0011] Preferably, the elastic tension-filling component includes a tension spring and connecting rings arranged at both ends of the tension spring, and the connecting rings are respectively sleeved on the outer wall of the first threaded connecting rod and the outer wall of the second threaded connection.

[0012] A method for synchronously controlling a double push rod, comprising: S1: Obtain the compression distance X1 of the elastic compressive filling member, obtain the extension distance X2 of the elastic tensile filling member, obtain the limit deformation △X, △X=│X2-X1│, and generate a △X signal; S2: The two push rods are marked as push rod No. 0 and push rod No. 1 respectively; a distance measuring module No. 0 is set on the push rod No. 0, and a distance measuring block No. 0 is set at the driving end of the push rod No. 0. The distance between the distance measuring module No. 0 and the distance measuring block No. 0 after the movement of the driving part of the push rod No. 0 is measured and marked as the distance Y0; a distance measuring module No. 1 is set on the push rod No. 1, and a distance measuring block No. 1 is set at the driving end of the push rod No. 1. The distance between the distance measuring module No. 1 and the distance measuring block No. 1 after the movement of the driving part of the push rod No. 1 is measured and marked as the distance Y1; the displacement stroke difference △Y is obtained, △Y=│Y1-Y0│, and a △Y signal is generated; S3: Also includes a judgment module and a control module, the control module is electrically connected to the judgment module, the judgment module receives a △X signal and a △Y signal, and judges the numerical values ​​of △Y and △X through the judgment module. If △Y≤△X, a normal signal is generated, the control module receives the normal signal, and the control module does not need to control the driving length of electric push rod No. 0 and / or electric push rod No. 1; if △Y>△X, an abnormal signal is generated, the control module receives the abnormal signal, and controls the driving length of electric push rod No. 0 and / or electric push rod No. 1 through the control module, and finally makes △Y≤△X.

[0013] Preferably, if △Y>△X, the control method of the control module is: according to the displacement stroke difference △Y, the displacement stroke difference △Y / 2 distance is taken, and the control module controls the No. 0 electric push rod or the No. 1 electric push rod on one side to move forward by a distance of △Y / 2, and the control module controls the No. 1 electric push rod or the No. 0 electric push rod on the other side to move backward by a distance of △Y / 2, so that the No. 0 electric push rod is flush with the driving front end of the No. 1 electric push rod.

[0014] Preferably, it also includes a calibration module, which is arranged on the first double-headed connecting rod, and a calibration block is arranged on the second double-headed connecting rod; when the No. 0 electric push rod and the No. 1 electric push rod are regulated by the control module, and the No. 0 electric push rod is made flush with the driving front end of the No. 1 electric push rod, the calibration module is started, and the distance between the calibration module and the calibration block is measured by the calibration module, and marked as △Z, and a △Z signal is generated; the judgment module receives the △Z signal, and judges the numerical values ​​of △Z and △X by the judgment module. If △Z≤△X, a normal calibration signal is generated; if △Z>△X, a calibration abnormality signal is generated, and the calibration module receives the calibration abnormality signal and issues an alarm message.

[0015] A manure pushing cart comprises a base, a wheel body, a frame body, a pushing mechanism, a driving mechanism and a control mechanism, wherein the wheel bodies are mounted on both sides of the base body, the frame body is arranged on the base body, the pushing mechanism is mounted on the frame body, the driving mechanism is connected to the wheel body and the pushing mechanism, and the control mechanism is connected to the driving mechanism; The pushing mechanism includes a push rod, a push bucket and a flexible device, one end of the push rod is rotatably connected to the frame, the other end of the push rod is rotatably connected to the flexible device, the push bucket is installed on the frame, and the push bucket is rotatably connected to the flexible device.

[0016] Compared with the prior art, the present invention has at least the following advantages: The electric push rod pushes the compensation sleeve to move forward, and the compensation sleeve pushes the elastic pressure compensation part to compress. At the same time, the second double-headed connecting rod connected to the compensation sleeve will also squeeze the elastic tension compensation part to compress, and then push the push bucket to move through the first double-headed connecting rod. Even if there is a stroke difference between the two electric push rods, the elastic pressure compensation part and the elastic tension compensation part can be elastically deformed (elongated or contracted), and the stroke difference caused by the two electric push rods can be compensated by the elastic pressure compensation part and the elastic tension compensation part, that is, the elastic pressure compensation part and the elastic tension compensation part on the left and right sides compensate for the stroke difference caused by the two electric push rods through different lengths of elastic deformation, thereby greatly reducing the connection between the flexible device and the connection between the flexible device and the push bucket. The phenomenon of unbalanced force is always reduced, and it is in a state of force balance, avoiding load on each component, and avoiding the stress bending phenomenon of the two electric push rods, thereby improving the service life of the electric push rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the first axonometric drawing of a manure cart.

[0018] Figure 2 This is the second axonometric drawing of a manure cart.

[0019] Figure 3 This is an overhead view of a manure cart.

[0020] Figure 4 It is a schematic diagram of the flexible device, push bucket and push rod.

[0021] Figure 5 This is an explosion view of the flexible device.

[0022] Figure 6 A half-section view of the flexible device.

[0023] Figure 7 Schematic diagram of the judgment module and the control module.

[0024] Figure 8 Schematic diagram of push rod stroke difference.

[0025] Figure 9 Schematic diagram of the first control method.

[0026] Figure 10 Schematic diagram of the second control method.

[0027] In the figure: flexible device 100, elastic pressure-supporting position-replacing member 110, threaded sleeve 111, thread 1111, first sliding cavity 1112, first through hole 1113, first sliding rod 112, second sliding cavity 1121, limiting nut 113, compression spring 114, first double-ended connecting rod 120, first threaded connecting rod 121, first limiting sleeve 122, first locking nut 123, position-replacing sleeve rod 130, second sliding rod 131, connecting rod 132, second through hole 1321, second double-ended connecting rod 140, second threaded connecting rod Connecting rod 141, second limiting sleeve 142, second locking nut 143, elastic tension compensation part 150, tension spring 151, connecting ring 152, push rod 200, ranging module No. 0 210, ranging block No. 0 211, ranging module No. 1 220, ranging block No. 1 221, judgment module 230, control module 240, calibration module 250, calibration block 251, push bucket 300, base 400, wheel body 500, frame body 600, pushing mechanism 700, driving mechanism 800, control mechanism 900. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The following will further describe the technical solution of the present invention in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific embodiments.

[0029] It should be understood that the same or similar numbers in the drawings of the embodiments correspond to the same or similar parts. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like indicating an orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0030] Please see Figures 1 to 8 , a flexible device between a double push rod and a push bucket, including An elastic pressure-supporting member 110, which can be elastically compressed and contracted; A first double-ended connecting rod 120 is rotatably arranged through the elastic pressure-supporting position-replacing member 110 and is rotatably connected to the push bucket 300; The replacement sleeve rod 130 is slidably connected to the elastic pressure-bearing replacement member 110. That is, the replacement sleeve rod 130 can be extended into the elastic pressure-bearing replacement member 110 by a certain distance, and can also be withdrawn from the elastic pressure-bearing replacement member 110 by a certain distance. The replacement sleeve rod 130 is connected to the push rod 200. At the same time, when the replacement sleeve rod 130 is pushed by the push rod 200, it squeezes the elastic pressure-bearing replacement member 110 to shrink. A second double-ended connecting rod 140 is rotatably arranged through the positioning sleeve rod 130; The elastic tensile filling member 150 can be elastically stretched and is located on both sides of the elastic compressive filling member 110 ; and one end of the elastic tensile filling member 150 is rotatably connected to the first double-ended connecting rod 120 , and the other end is rotatably connected to the second double-ended connecting rod 140 .

[0031] The specific movement process is: Since a double push rod 200 is provided on the pushing bucket 300, that is, a push rod 200 is provided on each side of the pushing bucket 300, when the double push rod 200 is extended, the two electric push rods 200 work and extend independently. When the two electric push rods 200 push forward for the same distance, such as pushing forward 10 cm at the same time, the pushing bucket 300 is pushed forward, and the pushing bucket 300 pushes the object. At this time, the compression strokes of the elastic pressure-bearing filling parts 110 on the left and right sides are the same. Of course, the elastic tension-bearing filling parts 150 are also in an elastic pressure state at this time, and the compression strokes are also the same. The two electric push rods 200 and the connection between the electric push rods 200 and the flexible device 100 and the connection between the flexible device 100 and the pushing bucket 300 are The joint is in a state of force balance, and the load conditions of various components are low; when the two electric push rods 200 have a travel distance difference due to the motion error and potential error of the motor, such as one electric push rod 200 pushes forward 10 cm, and the other electric push rod 200 pushes forward 9.9 cm (9.9 cm is just a possible data, it may be longer than 9.9 cm, or shorter than 9.9 cm), the push bucket 300 is pushed forward, and the push bucket 300 pushes the object. At this time, due to the travel difference between the two electric push rods 200, the push bucket 300 will be tilted, which will cause the connection of the flexible device 100 and the connection between the flexible device 100 and the push bucket 300 to be in a state of force balance. The force imbalance will also cause the two electric push rods 200 to be in a state of stress bending. However, through the flexible device 100, even if there is a stroke difference between the two electric push rods 200, since the electric push rod 200 pushes the compensation sleeve rod 130 to move forward, the compensation sleeve rod 130 pushes the elastic pressure compensation member 110 to compress. At the same time, the second double-headed connecting rod 140 connected to the compensation sleeve rod 130 will also squeeze the elastic tension compensation member 150 to compress, and then push the push bucket 300 to move through the first double-headed connecting rod 120. Even if there is a stroke difference between the two electric push rods 200, the elastic pressure compensation member 110 and the elastic tension compensation member 150 can be elastically deformed ( The elastic compressive compensating member 110 and the elastic tensile compensating member 150 can compensate for the stroke difference caused by the two electric push rods 200, that is, the elastic compressive compensating member 110 and the elastic tensile compensating member 150 on the left and right sides elastically deform to different lengths to compensate for the 0.1 cm stroke difference caused by the two electric push rods 200, thereby greatly reducing the connection of the flexible device 100 and the connection between the flexible device 100 and the push bucket 300 in a state of force imbalance, and always being in a state of force balance, avoiding the occurrence of load on each component, and also avoiding the phenomenon of stress bending of the two electric push rods 200, thereby increasing the service life of the electric push rod 200. Finally, the electric push rod 200 is extended to realize the process of pushing the push bucket 300 to descend.

[0032] Similarly, when the electric push rod 200 contracts, the flexible device 100 also has the same function as described above. By contracting the electric push rod 200, the lifting process of the push bucket 300 is achieved.

[0033] In a preferred embodiment, see Figures 4 to 6 The elastic pressure-filling member 110 includes The threaded sleeve 111 has a thread 1111 on its outer surface, a first sliding cavity 1112 is provided therein, and a first through hole 1113 is formed at one end thereof, through which the first double-ended connecting rod 120 is provided; The first sliding rod 112, one end of the first sliding rod 112 slides into the first sliding cavity 1112; and a second sliding cavity 1121 is opened in the first sliding rod 112; specifically, one end of the first sliding rod 112 is a sliding end, and the other end is a limiting end, the sliding end is slidably sleeved in the first sliding cavity 1112, and the sliding end and the inner wall of the first sliding cavity 1112 are in contact with each other, when the sliding end slides in the first sliding cavity 1112 until the limiting end conflicts with the end of the threaded sleeve 111, that is, the maximum sliding length.

[0034] a limiting nut 113 , which is engaged with the thread 1111 on the outer surface of the threaded sleeve 111 ; The compression spring 114 is sleeved on the outer wall of the threaded sleeve 111 , and one end of the compression spring 114 is limitedly matched with the sliding rod, and the other end of the compression spring 114 is limitedly matched with the limiting nut 113 .

[0035] During use, the elastic strength of the compression spring 114 is adjusted by adjusting the limit nut 113, and the first sliding rod 112 is squeezed to make the first sliding rod 112 move in the first sliding cavity 1112, thereby squeezing the compression spring 114 to deform. Moreover, as the first sliding rod 112 moves in the first sliding cavity 1112, the first sliding rod 112 is always in motion on one axis, thereby driving the compression spring 114 to always be in a compressed or reset state, and the compression spring 114 will not swing left and right.

[0036] In a preferred embodiment, see Figures 4 to 6 , the first double-ended connecting rod 120 includes The first threaded connecting rod 121 is provided through the first through hole 1113 and is rotatably connected to the push bucket 300. Specifically, the middle portion of the first threaded connecting rod 121 is not threaded, and threads are only provided at both ends of the first threaded connecting rod 121. When the first threaded connecting rod 121 passes through the first through hole 1113, the outer wall of the first threaded connecting rod 121 can fit closely with the inner wall of the first through hole 1113, thereby preventing the first threaded connecting rod 121 from shaking within the first through hole 1113. Specifically, the push bucket 300 is provided with an ear plate, and the first threaded connecting rod 121 passes through the ear plate to achieve a rotational connection with the push bucket 300, thereby achieving the lifting and lowering process of the push bucket 300.

[0037] The first limiting sleeve 122 is sleeved on the outer wall of the first threaded connecting rod 121, and one end of the elastic tensile compensating member 150 is located on one side of the first limiting sleeve 122; and one first limiting sleeve 122 is arranged on each side of the threaded sleeve 111. The first limiting sleeve 122 mainly plays a limiting role. First, the ear plate of the threaded sleeve 111 and the push bucket 300 is limited in the middle of the first threaded connecting rod 121, so that the force exerted on the first threaded connecting rod 121 is more balanced, preventing the ear plates of the threaded sleeve 111 and the push bucket 300 from moving to both sides. Secondly, the elastic tensile compensating member 150 is separated from the ear plates of the threaded sleeve 111 and the push bucket 300 to prevent friction during rotation.

[0038] The first locking nut 123 is screwed onto one end of the thread of the first threaded connecting rod 121 and is used to limit the elastic tension-bearing compensating member 150. At the same time, it also limits the elastic pressure-bearing compensating member 110, the ear plate of the push bucket 300 and the first limiting sleeve 122 to prevent movement and improve safety.

[0039] In a preferred embodiment, see Figures 4 to 6 The said replacement sleeve rod 130 comprises The second sliding rod 131 is slidably sleeved in the second sliding cavity 1121; the outer wall of the second sliding rod 131 fits with the inner wall of the second sliding cavity 1121, and the second sliding cavity 1121 has a preset depth. The second sliding rod 131 can reach the bottom of the second sliding cavity 1121, thereby pushing the first sliding rod 112 to move forward.

[0040] The connecting rod 132 has a second through hole 1321 formed through its outer wall. The connecting rod 132 is connected to the second sliding rod 131. The second double-ended connecting rod 140 is disposed through the second through hole 1321. The connecting rod 132 is connected to the push rod 200. Specifically, the connecting rod 132 and the push rod 200 are fixedly connected by a nut or by welding.

[0041] In a preferred embodiment, see Figures 4 to 6 The second double-ended connecting rod 140 includes The second threaded connecting rod 141 is arranged through the second through hole 1321; specifically, the middle part of the second threaded connecting rod 141 has no threads, and the threads are only arranged at both ends of the second threaded connecting rod 141, so that when the second threaded connecting rod 141 passes through the second through hole 1321, the outer wall of the second threaded connecting rod 141 can fit with the inner wall of the second through hole 1321, and the fit is tighter, thereby preventing the second threaded connecting rod 141 from shaking in the second through hole 1321.

[0042] The second limiting sleeve 142 is sleeved on the outer wall of the second threaded connecting rod 141, and the other end of the elastic tension compensating member 150 is located on one side of the second limiting sleeve 142; and a second limiting sleeve 142 is arranged on each side of the connecting rod 132. The second limiting sleeve 142 mainly plays a limiting role. First, the connecting rod 132 is limited in the middle of the first threaded connecting rod 121, so that the force exerted on the second threaded connecting rod 141 is more balanced, preventing the connecting rod 132 from moving to both sides. Secondly, the elastic tension compensating member 150 is separated from the connecting rod 132 to prevent friction during rotation.

[0043] The second locking nut 143 is screwed onto one end of the thread of the second threaded connecting rod 141 to limit the elastic tension-compensating member 150. At the same time, it also limits the elastic compression-compensating member 110 and the connecting rod 132 to prevent movement and improve safety.

[0044] In a preferred embodiment, see Figures 4 to 6 The elastic tension-compensating member 150 includes a tension spring 151 and connecting rings 152 disposed at both ends of the tension spring 151. The connecting rings 152 are respectively sleeved on the outer wall of the first threaded connecting rod 121 and the outer wall of the second threaded connecting rod. The connecting rings 152 are provided to facilitate sleeve connection of both ends to the first threaded connecting rod 121 and the second threaded connecting rod 141.

[0045] A synchronous control method of a double push rod 200, see Figures 1 to 10 ,include S1: Obtain the compressed distance X1 of the elastic pressure-supporting filling member 110, obtain the stretched distance X2 of the elastic tension-supporting filling member 150, and obtain the limit deformation variable △X (the limit deformation variable △X is not the maximum deformation variable of a single spring. The limit deformation variable △X refers to the artificially set variable of the tension spring 151, such as the compressed distance is 1cm and the stretched distance is 1.5cm), △X=│X2-X1│, such as △X=│1.5-(-1)│=2.5cm, and generate a △X signal; the compressed distance X1 of the elastic pressure-supporting filling member 110 specifically refers to the deformation of the elastic pressure-supporting filling member 110 after being compressed. When the compressed distance X1 is exceeded, the pressure spring 114 may undergo plastic deformation, affecting the elasticity Reset. Similarly, the stretched length X2 of the elastic tensile filling component 150 specifically refers to the deformation of the elastic tensile filling component 150 after being stretched. When it exceeds the stretched length X2, the tensile spring 151 may undergo plastic deformation, affecting the elastic reset; of course, during the compression process, the compression spring 114 and the tension spring 151 will be compressed at the same time, thereby driving the push bucket 300 to move, and since the compression amplitude of the tension spring 151 is greater than the compression amplitude of the compression spring 114, it is only necessary to obtain the compressed distance X1 of the elastic tensile filling component 110; during the tension process, the compression spring 114 is reset and will not be stretched. Therefore, it is only necessary to obtain the stretched length X2 of the elastic tensile filling component 150.

[0046] S2: The two push rods 200 are marked as push rod No. 0 200 and push rod No. 1 200 respectively; a distance measuring module No. 0 210 is set on the push rod No. 0, and a distance measuring block No. 0 211 is set at the driving end of the push rod No. 0 200. The distance between the distance measuring module No. 0 210 and the distance measuring block 211 after the movement of the driving part of the push rod No. 0 200 is terminated is measured and marked as the distance Y0; a distance measuring module No. 1 220 is set on the push rod No. 1 200, and a distance measuring block No. 1 221 is set at the driving end of the push rod No. 1 200. The distance between the distance measuring module No. 1 220 and the distance measuring block 221 after the movement of the driving part of the push rod No. 1 200 is terminated is measured and marked as the distance Y1; the displacement stroke difference △Y is obtained, △Y=│Y1-Y0│, and a △Y signal is generated; Specifically, the push rod 200 is a DC push rod 200 with a retraction speed of 10 mm / s and a power supply voltage of 24 V (DC power supply). The push rod 200 has two color-coded power cords, red and black. When the red cord is connected to the positive terminal of the power supply and the black cord is connected to the negative terminal, the DC push rod 200 will extend (or retract). When the red cord is connected to the negative terminal and the black cord is connected to the positive terminal, the DC push rod 200 will retract (or extend). One of the DC push rods 200 can be labeled as push rod 200 number 0, and the other can be labeled as push rod 200 number 1.

[0047] Specifically, the push rod 200 is driven by a DC motor driver. The DC motor driver uses a DC motor controller in the prior art. This DC motor driver can drive the DC motor by sending signals. To control the two DC electric push rods 200 at the same time, two DC motor drivers are used. One of the DC motor drivers is set to the station number 00, the baud rate is set to 9600, and the operating mode is set to communication control instructions. DC motor driver No. 00 is connected to DC electric push rod 200 No. 0. The other DC motor driver is set to the station number 01, the baud rate is set to 9600, and the operating mode is set to communication control instructions. DC motor driver No. 01 is connected to DC electric push rod 200 No. 1.

[0048] Specifically, the No. 0 ranging module 210 and the No. 1 ranging module 220 use a single-point laser ranging module, and the single-point laser ranging module uses an STP-23L single-point laser ranging module sensor produced by existing technology. The sensor can be connected to the host computer via a USB serial port. One of the laser ranging modules is set as the No. 0 ranging module 210, and the USB serial port connected to the host computer by the No. 0 ranging module 210 is set as the USB0 serial port. The other laser ranging module is set as the No. 1 ranging module 220, and the USB serial port connected to the host computer by the No. 1 ranging module 220 is set as the USB1 serial port. The No. 0 ranging module 210 is installed above the No. 2 DC linear actuator 200, and the No. 1 ranging module 220 is installed above the No. 1 DC linear actuator 200. It is necessary to ensure that the two laser ranging modules are installed in the same position of the DC linear actuator 200.

[0049] S3: Also includes a judgment module 230 and a control module 240, the control module 240 is electrically connected to the judgment module 230, the judgment module 230 receives a △X signal and a △Y signal, and judges the numerical values ​​of △Y and △X through the judgment module 230, if △Y≤△X, a normal signal is generated, the control module 240 receives the normal signal, and the control module 240 does not need to control the driving length of the No. 0 electric push rod 200 and / or the No. 1 electric push rod 200; if △Y>△X, an abnormal signal is generated, the control module 240 receives the abnormal signal, and controls the driving length of the No. 0 electric push rod 200 and / or the No. 1 electric push rod 200 through the control module 240, and finally makes △Y≤△X.

[0050] Specifically, the judgment module 230 uses a numerical value judgment processor in the prior art, and judges the numerical values ​​of △Y and △X, and generates a corresponding normal signal or abnormal signal by comparing the numerical values; the control module 240 is a central processing unit, which controls the extension or retraction of the electric push rod 200 through the central processing unit, and controls △Y≤△X.

[0051] During the pushing process of the double push rods 200, as the number of uses and the length of use increase, the stroke difference between the double push rods 200 will gradually increase. In order to avoid the plastic deformation of the tension spring 151 and the compression spring 114 and the bending of the push rod 200 due to the excessive stroke difference between the two electric push rods 200, it is necessary to use the ranging module to measure the extension distance of the two push rods 200 in real time or at intervals, and use the judgment module to judge the numerical value of the limit deformation variable and the displacement stroke difference. When the displacement stroke difference between the two electric push rods 200 is greater than the limit deformation variable, the extension length of the electric push rod 200 is adjusted by the control module 240 to shorten the stroke difference between the two electric push rods 200, avoid the plastic deformation of the tension spring 151 and the compression spring 114, and prevent the push rod 200 from bending due to excessive load.

[0052] In a preferred embodiment, if △Y>△X, the control method of the control module 240 is: according to the displacement stroke difference △Y, if the No. 0 electric push rod 200 is extended longer and the No. 1 electric push rod 200 is extended shorter, the No. 0 electric push rod 200 is contracted so that the driving front end of the No. 0 electric push rod 200 is flush with the driving front end of the No. 1 electric push rod 200; furthermore, if the No. 0 electric push rod 200 is extended longer and the No. 1 electric push rod 200 is extended shorter, the No. 1 electric push rod 200 is extended so that the driving front end of the No. 0 electric push rod 200 is flush with the driving front end of the No. 1 electric push rod 200; through this method, the electric push rod 200 can be quickly adjusted to reduce the bending stress of the electric push rod 200.

[0053] In a preferred embodiment, if △Y>△X, the control method of the control module 240 is: according to the displacement stroke difference △Y, the displacement stroke difference △Y / 2 is taken, and the control module 240 controls the No. 0 electric push rod 200 or the No. 1 electric push rod 200 on one side to move forward by a distance of △Y / 2, and the control module 240 controls the No. 1 electric push rod 200 or the No. 0 electric push rod 200 on the other side to move backward by a distance of △Y / 2, so that the driving front end of the No. 0 electric push rod 200 is flush with the No. 1 electric push rod 200. This adjustment method can also quickly adjust the electric push rod 200, reduce the bending stress of the electric push rod 200, and increase the service life of the electric push rod 200. At the same time, by pushing one electric push rod 200 forward and the other electric push rod 200 backward, the compression spring 114 and the tension spring 151 can be elastically reset as much as possible, tending to a balanced state, and reducing the risk of plastic deformation.

[0054] In a preferred embodiment, if the stroke difference between the two electric push rods 200 is too large, the tension spring 151 on one side will seriously exceed the pulling range. Even if the control module 240 is reset and adjusted to make the front ends of the two electric push rods 200 flush, there is still a displacement stroke difference between the two electric push rods 200 that is greater than the limit deformation, that is, △Y>△X. Therefore, a calibration module 250 is also included, and the calibration module 250 is arranged on the first double-headed connecting rod 120, and a calibration block is arranged on the second double-headed connecting rod 140; when the No. 0 electric push rod 200 and the No. 1 electric push rod 200 are regulated by the control module 240, and the driving front end of the No. 0 electric push rod 200 is made flush with the driving front end of the No. 1 electric push rod 200, the calibration module 250 is started, and the distance between the calibration module 250 and the calibration block is measured by the calibration module 250, and marked as △Z, and a △Z signal is generated; the judgment module receives the △Z signal, and judges the numerical value of △Z and △X through the judgment module. If △Z≤△X, a normal calibration signal is generated; if △Z>△X, a calibration abnormality signal is generated, and the calibration module 250 receives the calibration abnormality signal and issues an alarm message. The calibration module 250 is used to perform a secondary calibration on the adjusted pushing distance of the push rod 200. If △Z>△X occurs, there may be an abnormal pushing of the electric push rod 200 and it cannot be pushed completely synchronously. An alarm message, such as flashing or sounding, is used to remind the staff to inspect the push rod 200.

[0055] See also Figure 1A manure pushing cart includes a base 400, a wheel body 500, a frame body 600, a pushing mechanism 700, a driving mechanism 800 and a control mechanism 900, wherein the wheel body 500 is mounted on both sides of the base body 400, the frame body 600 is arranged on the base body 400, the pushing mechanism 700 is mounted on the frame body 600, the driving mechanism 800 is connected to the wheel body 500 and the pushing mechanism 700, and the control mechanism 900 is connected to the driving mechanism 800; The pushing mechanism 700 includes a push rod 200, a push bucket 300 and a flexible device 100. One end of the push rod 200 is rotatably connected to the frame 600, and the other end of the push rod 200 is rotatably connected to the flexible device 100. The push bucket 300 is installed on the frame 600, and the push bucket 300 is rotatably connected to the flexible device 100.

[0056] The control mechanism 900 is remotely controlled by personnel without entering the cowshed. The control mechanism 900 controls the movement of the driving mechanism 800, which drives the wheel body 500 to move and the pushing mechanism 700 to move. The wheel body 500 moves, and the pushing bucket 300 is used to push the cow dung to gather. Then, through the pushing and cooperation of the flexible device 100, the push rod 200 of the flexible device 100 contracts, and the pushing bucket 300 is lifted to shovel the cow dung into a small pile. Then, the push rod 200 of the flexible device 100 is extended, and the pushing bucket 300 is lowered to prepare for the second shoveling of cow dung.

[0057] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A flexible device between a double push rod and a push bucket, characterized in that: include An elastic pressure-bearing filling part, which can elastically contract under pressure; A first double-ended connecting rod, which passes through the elastic pressure-supporting position-filling member and is rotatably arranged, and the first double-ended connecting rod is rotatably connected to the push bucket; a position-replacing sleeve rod, which is slidably sleeved with the elastic pressure-replacing member and is connected to the push rod; A second double-ended connecting rod is rotatably arranged through the said position-filling sleeve rod; An elastic tensile filling member can be elastically stretched and extended, and the elastic tensile filling member is located on both sides of the elastic compressive filling member; and one end of the elastic tensile filling member is rotatably connected to the first double-headed connecting rod, and the other end is rotatably connected to the second double-headed connecting rod.

2. A flexible device between a double push rod and a push bucket as claimed in claim 1, characterized in that: The elastic pressure-bearing filling part includes A threaded sleeve having a threaded outer surface, a first sliding cavity provided therein, a first through hole formed at one end thereof, and the first double-ended connecting rod passing through the first through hole; a first sliding rod, one end of which is slidably engaged in the first sliding cavity; and a second sliding cavity is defined in the first sliding rod; a limiting nut, which is fitted on the thread on the outer surface of the threaded sleeve; A compression spring is sleeved on the outer wall of the threaded sleeve, and one end of the compression spring is limitedly matched with the sliding rod, and the other end of the compression spring is limitedly matched with the limiting nut.

3. A flexible device between a double push rod and a push bucket as claimed in claim 2, characterized in that: The first double-ended connecting rod includes a first threaded connecting rod, which is disposed through the first through hole and is rotatably connected to the push bucket; a first limiting sleeve, which is sleeved on the outer wall of the first threaded connecting rod, and one end of the elastic tension-filling member is located on one side of the first limiting sleeve; A first locking nut is screwed onto one end of the thread of the first threaded connecting rod and is used to limit the elastic tension-filling component.

4. A flexible device between a double push rod and a push bucket as claimed in claim 3, characterized in that: The replacement sleeve rod comprises a second sliding rod, which is slidably sleeved in the second sliding cavity; A connecting rod has an outer wall through which a second through hole is provided. The connecting rod is connected to the second sliding rod. The second double-headed connecting rod is provided through the second through hole, and the connecting rod is connected to the push rod.

5. A flexible device between a double push rod and a push bucket as claimed in claim 4, characterized in that: The second double-ended connecting rod includes a second threaded connecting rod, which is disposed through the second through hole; a second limiting sleeve, which is sleeved on the outer wall of the second threaded connecting rod, and the other end of the elastic tension-filling member is located on one side of the second limiting sleeve; The second locking nut is screwed onto one end of the thread of the second threaded connecting rod and is used to limit the elastic tension-filling component.

6. The flexible device between the double push rods and the push bucket according to claim 5, characterized in that: The elastic tension-filling component includes a tension spring and connecting rings arranged at both ends of the tension spring, and the connecting rings are respectively sleeved on the outer wall of the first threaded connecting rod and the outer wall of the second threaded connection.

7. A method for synchronously controlling a double push rod, using the flexible device between the double push rod and the push bucket as claimed in any one of claims 1 to 6, characterized in that: include S1: Obtain the compression distance X1 of the elastic compressive filling member, obtain the extension distance X2 of the elastic tensile filling member, obtain the limit deformation △X, △X=│X2-X1│, and generate a △X signal; S2: The two push rods are marked as push rod No. 0 and push rod No. 1 respectively; a distance measuring module No. 0 is set on the push rod No. 0, and a distance measuring block No. 0 is set at the driving end of the push rod No.

0. The distance between the distance measuring module No. 0 and the distance measuring block No. 0 after the movement of the driving part of the push rod No. 0 is measured and marked as the distance Y0; a distance measuring module No. 1 is set on the push rod No. 1, and a distance measuring block No. 1 is set at the driving end of the push rod No.

1. The distance between the distance measuring module No. 1 and the distance measuring block No. 1 after the movement of the driving part of the push rod No. 1 is measured and marked as the distance Y1; the displacement stroke difference △Y is obtained, △Y=│Y1-Y0│, and a △Y signal is generated; S3: Also includes a judgment module and a control module, the control module is electrically connected to the judgment module, the judgment module receives the △X signal and the △Y signal, and judges the numerical value of △Y and △X through the judgment module. If △Y≤△X, a normal signal is generated. The control module receives the normal signal, and the control module does not need to adjust the driving length of the No. 0 electric push rod and / or the No. 1 electric push rod; If ΔY>ΔX, an abnormal signal is generated. The control module receives the abnormal signal and controls the driving length of the No. 0 electric push rod and / or the No. 1 electric push rod through the control module, and finally makes ΔY≤ΔX.

8. A method for synchronously controlling a double push rod according to claim 7, characterized in that: If △Y>△X, the control method of the control module is: according to the displacement stroke difference △Y, the displacement stroke difference △Y / 2 distance is taken, and the control module controls the No. 0 electric push rod or the No. 1 electric push rod on one side to move forward by a distance of △Y / 2, and the control module controls the No. 1 electric push rod or the No. 0 electric push rod on the other side to move backward by a distance of △Y / 2, so that the No. 0 electric push rod is flush with the driving front end of the No. 1 electric push rod.

9. A method for synchronously controlling a double push rod according to claim 8, characterized in that: It also includes a calibration module, which is arranged on the first double-headed connecting rod, and a calibration block is arranged on the second double-headed connecting rod; when the No. 0 electric push rod and the No. 1 electric push rod are regulated by the control module, and the No. 0 electric push rod is made flush with the driving front end of the No. 1 electric push rod, the calibration module is started, and the distance between the calibration module and the calibration block is measured by the calibration module, and marked as △Z, and a △Z signal is generated; the judgment module receives the △Z signal, and judges the numerical values ​​of △Z and △X by the judgment module. If △Z≤△X, a normal calibration signal is generated; if △Z>△X, a calibration abnormality signal is generated, and the calibration module receives the calibration abnormality signal and issues an alarm message.

10. A manure pushing cart, characterized in that: It includes a base, a wheel body, a frame body, a pushing mechanism, a driving mechanism and a control mechanism, wherein the wheel bodies are mounted on both sides of the base body, the frame body is arranged on the base body, the pushing mechanism is mounted on the frame body, the driving mechanism is connected to the wheel body and the pushing mechanism, and the control mechanism is connected to the driving mechanism; The pushing mechanism includes a push rod, a push bucket and a flexible device. One end of the push rod is rotatably connected to the frame, and the other end of the push rod is rotatably connected to the flexible device. The push bucket is installed on the frame, and the push bucket is rotatably connected to the flexible device. The flexible device adopts the flexible device between the double push rod and the push bucket as described in any one of claims 1-6.

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