An intelligent manure cleaning robot

Abstract

The technical problem to be solved by the present invention is to provide an intelligent manure cleaning robot that is convenient for manure cleaning, easy to operate, and can effectively reduce the labor intensity of breeding personnel. The intelligent manure cleaning robot includes an aggregate box body, a manure shoveling component, a conveying structure, a trolley driving structure, and an intelligent control system; the trolley driving structure is controlled to work by the set intelligent control system to push the entire robot forward. The set manure shoveling component can shovel up and concentrate the manure, and the set conveying structure transports and collects the manure concentrated by the manure shoveling component into the aggregate box body. The conveying structure and the manure shoveling component are used in cooperation to achieve continuous manure cleaning operation. By setting the intelligent control system, the manure cleaning robot can be remotely controlled to perform manure cleaning work outside the breeding place, effectively reducing the labor intensity of breeding personnel, with simple operation, and is suitable for popularization and application in the breeding technical field.

Description

Technical Field

[0001] The present invention relates to the technical field of aquaculture, and particularly relates to an intelligent manure cleaning robot. Background Art

[0002] With the improvement of living standards, the demand for meat such as mutton is increasing day by day, making large-scale indoor farming has become the main current farming method. Factory management and production reduce the farming cost and improve economic benefits. However, the more sheep are intensively farmed, the more feces are generated accordingly. If not cleaned in time, the feces will ferment and rot, emitting a large amount of harmful gases such as ammonia, which has a great impact on environmental quality. At the same time, it will cause diseases in aspects such as the respiratory system, eyes and body surface of sheep. The environmental sanitation problem in the shed has become the biggest disease-causing factor in indoor sheep farming, causing great losses to farmers. In addition, the cleaning of feces in the farming area has become the biggest workload for breeders, and the labor cost has become the biggest production cost in large-scale indoor sheep farms. The manual method of cleaning feces is simple and convenient, but the workload of farmers is large, the cleaning efficiency is not high, and the feces cannot be cleaned in time. In addition, manual cleaning will generate a large amount of dust, which is easy to cause the spread of pathogens and stimulate the respiratory system of sheep. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent manure cleaning robot that is convenient for cleaning manure, easy to operate, and effectively reduces the labor intensity of farmers.

[0004] The technical solution adopted by the present invention to solve its technical problems is: the intelligent manure cleaning robot includes an aggregate box body, a manure shoveling component, a conveying structure, a trolley driving structure, and an intelligent control system;

[0005] The manure shoveling component is arranged on the left side of the aggregate box body, and the manure shoveling component is used for shoveling up and concentrating the manure on the ground;

[0006] The conveying structure is arranged between the manure shoveling component and the aggregate box body, and the conveying structure is used for transporting the manure collected by the manure shoveling component into the aggregate box body;

[0007] The trolley driving structure is arranged below the aggregate box body, and the trolley driving structure is used for driving the movement of the entire robot;

[0008] The intelligent control system is arranged on the aggregate box body, and the intelligent control system is used for intelligently controlling the robot to perform manure cleaning work.

[0009] Furthermore, the manure shoveling component includes a manure shoveling plate, a first U-shaped plate, and a second U-shaped plate;

[0010] The left end surface of the material collection box is an inclined surface, and the first U-shaped plate is obliquely arranged on the left end surface of the material collection box;

[0011] The second U-shaped plate is arranged horizontally, the left end of the second U-shaped plate is connected to the right end of the first U-shaped plate, and the front and rear ends of the second U-shaped plate are respectively arranged at the left ends of the front and rear side walls of the aggregate box body;

[0012] The right end of the scraping plate is arranged at the left end of the first U-shaped plate and is in a horizontal state, and the left end surface of the scraping plate is designed to be inclined with the left side lower than the right side.

[0013] Furthermore, the conveying structure includes a first screw conveyor and a second screw conveyor;

[0014] The connection between the shovel plate and the bottom wall of the first U-shaped plate is rounded; the connection between the shovel plate and the bottom wall of the first U-shaped plate is provided with a first spiral leaf and a second spiral leaf, and the two are symmetrical front and back, the spiral directions of the first spiral leaf and the second spiral leaf are opposite, a connecting sleeve is provided between the first spiral leaf and the second spiral leaf, the rear end of the rotating shaft of the first spiral leaf is arranged at the front end of the inner cavity of the connecting sleeve through a bearing, and the front end of the rotating shaft of the second spiral leaf is arranged at the rear end of the inner cavity of the connecting sleeve through a bearing, and there is a gap between the rear end of the rotating shaft of the first spiral leaf and the front end of the rotating shaft of the second spiral leaf;

[0015] A first driving motor is disposed at the lower left end of the front side wall of the first U-shaped plate, and an output shaft of the first driving motor penetrates the front side wall of the first U-shaped plate and is connected to the front end of the rotating shaft of the first spiral leaf; a second driving motor is disposed at the lower left end of the rear side wall of the first U-shaped plate, and an output shaft of the second driving motor penetrates the rear side wall of the first U-shaped plate and is connected to the rear end of the rotating shaft of the second spiral leaf;

[0016] The first screw conveyor is arranged on the first U-shaped plate and is located on the front side, the feed port of the first screw conveyor extends to above the front end of the first spiral blade and there is a gap between the two, the discharge port of the first screw conveyor extends to the right end of the aggregate box, the second screw conveyor is arranged on the first U-shaped plate and is located on the rear side, the feed port of the second screw conveyor extends to above the rear end of the second spiral blade and there is a gap between the two, and the discharge port of the second screw conveyor extends to the left end of the aggregate box.

[0017] Furthermore, the intelligent control system includes a controller, a first video acquisition device, a second video acquisition device, a distance measurement device, a sound driving device, and a wireless remote controller;

[0018] The controller, the first video acquisition device, the second video acquisition device, the distance measurement device, and the sound deterrence device are respectively arranged inside the second U-shaped plate. The first video acquisition device and the second video acquisition device are symmetrically arranged left and right and are located in the middle of the second U-shaped plate in the front-back direction.

[0019] The first video acquisition device, the second video acquisition device, the distance measurement device, the sound deterrence device, the wireless remote control, the first drive motor, the second drive motor, the first screw conveyor, the second screw conveyor, and the trolley drive structure are respectively connected to the controller in a signal manner. A plurality of buttons for respectively controlling the first drive motor, the second drive motor, the first screw conveyor, the second screw conveyor, and the trolley drive structure are arranged on the wireless remote control.

[0020] Furthermore, a notch is arranged at the lower left end of the aggregate box body, and a second cleaning device is arranged inside the notch.

[0021] The secondary cleaning device includes a third drive motor, a fourth drive motor, a first disc brush, a second disc brush, and a vacuum cleaner.

[0022] The third drive motor and the fourth drive motor are symmetrically arranged front and back at the lower left end of the aggregate box body and are located inside the notch. The third drive motor and the fourth drive motor are respectively connected to the controller in a signal manner. The first disc brush is arranged on the output shaft of the third drive motor, the second disc brush is arranged on the output shaft of the fourth drive motor, there is a gap between the first disc brush and the second disc brush, and the sum of their diameters is greater than or equal to the length of the aggregate box body in the front-back direction.

[0023] The vacuum cleaner is arranged inside the notch and is located on the right side of the first disc brush and the second disc brush, and there are gaps between the vacuum cleaner and the first disc brush and the second disc brush respectively.

[0024] Furthermore, a sterilization and disinfection device is arranged below the right side of the aggregate box body.

[0025] The sterilization and disinfection device includes a liquid storage tank, a hydraulic pump, and a plurality of spray heads. The liquid storage tank is arranged below the right side of the aggregate box body. A liquid filling port is arranged on the liquid storage tank. The hydraulic pump is arranged below the liquid storage tank. The water inlet of the hydraulic pump is communicated with the inner cavity of the liquid storage tank. The hydraulic pump is connected to the controller in a signal manner.

[0026] A liquid pipe is arranged at the water outlet of the hydraulic pump. The liquid pipe is arranged along the front-back direction of the liquid storage tank. The two ends of the liquid pipe are sealed. The water outlet of the hydraulic pump is arranged in the middle of the length direction of the liquid pipe and is communicated with the liquid pipe. The plurality of spray heads are evenly distributed on the liquid pipe and are respectively communicated with the liquid pipe.

[0027] A protective housing is provided below the liquid storage tank, and the liquid pipe and multiple nozzles are all located inside the protective housing.

[0028] Furthermore, a discharging opening is provided on the right side wall of the aggregate box body, and a baffle plate adapted thereto is provided at the discharging opening;

[0029] A first sliding groove is vertically provided on the inner surface of the front side wall of the aggregate box body and is located at the right end of the inner surface of the cover, and a second sliding groove is vertically provided on the inner surface of the rear side wall of the aggregate box body and is symmetric with the first sliding groove front and back;

[0030] A first sliding strip adapted to the first sliding groove is provided on the front end face of the baffle plate, the first sliding strip is located in the first sliding groove, a second sliding strip adapted to the second sliding groove is provided on the rear end face of the baffle plate, and the second sliding strip is located in the second sliding groove;

[0031] A first electric hydraulic push rod is provided at the right end of the front side wall of the aggregate box body through a mounting seat, a first connecting block is provided at the upper end of the first electric hydraulic push rod, the rear end of the first connecting block is connected to the upper end of the first sliding strip and the two are perpendicular to each other, a second electric hydraulic push rod is provided at the right end of the rear side wall of the aggregate box body through a mounting seat, a second connecting block is provided at the upper end of the second electric hydraulic push rod, the front end of the second connecting block is connected to the upper end of the second sliding strip and the two are perpendicular to each other, and the first electric hydraulic push rod and the second electric hydraulic push rod are respectively signal-connected to the controller.

[0032] Furthermore, a fixing plate is provided on the left side of the inner cavity of the aggregate box body, the upper end of the fixing plate is provided at the left end of the second U-shaped plate and the two are perpendicular to each other, the fixing plate divides the inner cavity of the aggregate box body into a first cavity and a second cavity, the first cavity on the right side is used for containing the feces conveyed by the screw conveyor, and the second cavity on the left side is used for placing the power supply and other equipment;

[0033] A pushing plate is provided on the right side of the fixing plate, an electric telescopic rod is provided on the left side of the fixing plate, the telescopic rod end of the electric telescopic rod penetrates through the fixing plate and is fixed at the center position of the front side surface of the pushing plate, and the electric telescopic rod is signal-connected to the controller.

[0034] Furthermore, a first material collecting plate is provided at the lower left end of the inner surface of the front side wall of the first U-shaped plate, the first material collecting plate includes a first material plate and a second material plate, the front ends of the first material plate and the second material plate are both provided on the inner surface of the front side wall of the first U-shaped plate and are perpendicular to each other, the lower end of the first material plate is provided on the bottom wall of the first U-shaped plate and the two are perpendicular to each other, and the feeding port of the first screw conveyor penetrates through the first material plate;

[0035] At the lower left end of the inner surface of the rear side wall of the first U-shaped plate, a second material collecting plate is provided. The second material collecting plate includes a third material plate and a fourth material plate. The rear ends of the third material plate and the fourth material plate are both arranged on the inner surface of the rear side wall of the first U-shaped plate and are perpendicular to each other. The lower end of the third material plate is arranged on the bottom wall of the second U-shaped plate and they are perpendicular to each other. The feeding port of the second screw conveyor penetrates through the second material plate.

[0036] Furthermore, the controller uses a single-chip microcomputer of the STM32L4 series; the first video acquisition device and the second video acquisition device both use panoramic cameras; the distance measurement device uses a rangefinder with the model number 4C96-HX8O-30m; the sound driving device uses a speaker; the first driving motor and the second driving motor use forward and reverse motors.

[0037] The beneficial effects of the present invention are as follows:

[0038] 1. By setting the intelligent control system to control the operation of the trolley driving structure and push the entire robot forward, during the forward movement, the manure shoveling component provided can shovel up and concentrate the manure on the ground of the breeding place.

[0039] 2. By setting the conveying structure to transport the manure shoveling components concentratedly to the aggregate box for collection and then centralized treatment, the conveying structure and the manure shoveling component are used in combination to realize continuous manure cleaning operation.

[0040] 3. By setting the intelligent control system, the manure cleaning robot can be remotely controlled to perform manure cleaning work outside the breeding place, without the need for staff to enter the breeding place to clean manually, effectively reducing the labor intensity of breeding personnel, and at the same time avoiding close contact with the relatively large rams, reducing the risk of being butted by the rams. Description of the Drawings

[0041] Figure 1 is a schematic structural diagram of the intelligent manure cleaning robot described in the present invention;

[0042] Figure 2 is a front view of the intelligent manure cleaning robot described in the present invention;

[0043] Figure 3 is a schematic structural diagram of the combination of the manure shoveling component, the conveying structure and the intelligent control system described in the present invention;

[0044] Figure 4 is a top view of the combined structure of the manure shoveling component and the intelligent control system described in the present invention;

[0045] Figure 5 is a schematic structural diagram of the combination of the internal structure of the aggregate box and the second cleaning device described in the present invention;

[0046] Figure 6 It is a top view of the internal structure of the material collection box and the combined structure of the second cleaning device according to the present invention;

[0047] Figure 7 is a bottom view of the aggregate box body of the present invention;

[0048] Figure 8 is a top view of the aggregate box of the present invention;

[0049] Figure 9 yes Figure 8 A partial enlarged view of middle A;

[0050] Figure 10 yes Figure 8 A partial enlarged view of B in the middle;

[0051] Figure 11 It is a perspective view of the combined structure of the aggregate box body and the liquid storage box of the present invention;

[0052] Description of the marks in the figure: material collection box 1, manure shoveling assembly 2, transmission structure 3, trolley driving structure 4, intelligent control system 5, shoveling plate 6, first U-shaped plate 7, second U-shaped plate 8, first screw conveyor 9, second screw conveyor 10, first spiral blade 11, second spiral blade 12, connecting sleeve 13, first drive motor 14, controller 15, first video acquisition device 16, second video acquisition device 17, distance measuring device 18, sound driving device 19, second cleaning device 20, third drive motor 21, first disc brush 22, vacuum cleaner 23, sterilization and disinfection device 24, liquid storage tank 25, hydraulic pump 26, nozzle 27, protective shell 28, baffle plate 29, first slide 30, second slide 31, first slide bar 32, second slide bar 33, first electric hydraulic push rod 34, first connecting block 35, second electric hydraulic push rod 36, second connecting block 37, fixing plate 38, push plate 39, electric telescopic rod 40, first gathering plate 41, second gathering plate 42, second drive motor 43, liquid level sensor 44, liquid filling port 45, first cavity 46, second cavity 47, power supply 48, fourth drive motor 49, second disc brush 50. DETAILED DESCRIPTION

[0053] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] It should be noted that in the embodiments of the present application, all directional indication terms such as "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. It is only used to explain the relative positional relationship and movement conditions between components in a certain specific posture. If this specific posture changes, the directional indication will also change accordingly.

[0055] In the present application, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, scenario B, or the scenario where A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0057] As Figures 1-11 shown, the intelligent manure cleaning robot includes an aggregate box body 1, a manure shoveling assembly 2, a conveying structure 3, a trolley driving structure 4, and an intelligent control system 5;

[0058] The manure shoveling assembly 2 is arranged on the left side of the aggregate box body 1, and the manure shoveling assembly 2 is used to shovel up and concentrate the manure on the ground;

[0059] The conveying structure 3 is arranged between the manure shoveling assembly 2 and the aggregate box 1. The conveying structure 3 is used to transport the manure collected by the manure shoveling assembly 2 into the aggregate box 1. By using the manure shoveling assembly 2 and the conveying structure 3 in cooperation, the manure on the ground can be collected into the aggregate box 1, and at the same time, continuous manure cleaning operation can be realized.

[0060] The trolley driving structure 4 is arranged below the aggregate box 1 to provide power for the whole manure cleaning robot. The trolley driving structure 4 is used to drive the movement of the whole robot. The trolley driving structure 4 adopts an existing driving structure, which consists of a power system, that is, a motor, a battery, a transmission system, a steering system, and a control system. The intelligent control system 5 is arranged on the aggregate box 1. The intelligent control system 5 is used to intelligently control the robot to carry out manure cleaning work.

[0061] As Figures 1-4 shown, in this embodiment, preferably, the manure shoveling assembly 2 includes a manure shoveling plate 6, a first U-shaped plate 7, and a second U-shaped plate 8.

[0062] The left end face of the aggregate box 1 is an inclined plane, and the first U-shaped plate 7 is inclined and arranged on the left end face of the aggregate box 1.

[0063] The second U-shaped plate 8 is horizontally arranged. The left end of the second U-shaped plate 8 is connected to the right end of the first U-shaped plate 7. The front and rear ends of the second U-shaped plate 8 are respectively arranged at the left ends of the front and rear side walls of the aggregate box 1.

[0064] The right end of the manure shoveling plate 6 is arranged at the left end of the first U-shaped plate 7 and is in a horizontal state. The left end face of the manure shoveling plate 6 is designed to be inclined with the left end lower and the right end higher, similar to the design of a dustpan. The leftmost end is the thinnest to facilitate shoveling the manure. When the trolley driving structure 4 drives the whole manure cleaning robot to move, the manure on the ground is shoveled up by the manure shoveling plate 6 and piled up at the position of the left lower ends of the manure shoveling plate 6 and the first U-shaped plate 7, which is convenient for the conveying structure 3 to transport the concentrated manure and realize continuous operation.

[0065] As Figures 1-5 shown, in this embodiment, preferably, the conveying structure 3 includes a first screw conveyor 9 and a second screw conveyor 10.

[0066] The connection between the manure shoveling plate 6 and the bottom wall of the first U-shaped plate 7 is rounded to form an arc-shaped groove. The purpose of rounding is to facilitate the subsequent rotation of the first spiral blade 11 and the second spiral blade 12. The first spiral blade 11 and the second spiral blade 12 are arranged symmetrically before and after at the connection between the manure shoveling plate 6 and the bottom wall of the first U-shaped plate 7. The spiral directions of the first spiral blade 11 and the second spiral blade 12 are opposite. A connecting sleeve 13 is arranged between the first spiral blade 11 and the second spiral blade 12. The rear end of the rotating shaft of the first spiral blade 11 is arranged at the front end of the inner cavity of the connecting sleeve 13 through a bearing. The front end of the rotating shaft of the second spiral blade 12 is arranged at the rear end of the inner cavity of the connecting sleeve 13 through a bearing. There is a gap between the rear end of the rotating shaft of the first spiral blade 11 and the front end of the rotating shaft of the second spiral blade 12. By arranging the first spiral blade 11 and the second spiral blade 12, the manure accumulated on the manure shoveling plate 6 can be conveyed to the front and rear ends of the manure shoveling plate 6, facilitating subsequent transfer and transportation. Through the connecting sleeve 13, the material conveying directions of the first spiral blade 11 and the second spiral blade 12 can be opposite, or the rotation direction of the driving motor can be changed to make the material conveying directions of the first spiral blade 11 and the second spiral blade 12 the same. In the case of relatively less manure, one-way material conveying can be carried out;

[0067] The left lower end of the front side wall of the first U-shaped plate 7 is provided with a first driving motor 14. The output shaft of the first driving motor 14 penetrates through the front side wall of the first U-shaped plate 7 and is connected to the front end of the rotating shaft of the first spiral blade 11. By arranging the first driving motor 14, the first spiral blade 11 can be driven to rotate, thereby realizing the conveyance of the manure accumulated on the manure shoveling plate 6 to the front end of the manure shoveling plate 6. The left lower end of the rear side wall of the first U-shaped plate 7 is provided with a second driving motor 43. The output shaft of the second driving motor 43 penetrates through the rear side wall of the first U-shaped plate 7 and is connected to the rear end of the rotating shaft of the second spiral blade 12. By arranging the second driving motor 43, the second spiral blade 12 can be driven to rotate, thereby realizing the conveyance of the manure accumulated on the manure shoveling plate 6 to the rear end of the manure shoveling plate 6. At the same time, the larger pieces of manure can be chopped by the spiral blades, facilitating conveyance;

[0068] The first screw conveyor 9 is arranged on the first U-shaped plate 7 and is located on the front side, the feed port of the first screw conveyor 9 extends to the top of the front end of the first spiral blade 11 and there is a gap between the two, the discharge port of the first screw conveyor 9 extends to the right end of the aggregate box 1, and the feces transmitted to the front end of the shovel plate 6 by the first spiral blade 11 is lifted and transported by the first screw conveyor 9, and enters the interior of the aggregate box 1 through the discharge port to realize the collection of feces, the second screw conveyor 10 is arranged on the first U-shaped plate 7 and is located on the rear side, the feed port of the second screw conveyor 10 extends to the top of the rear end of the second spiral blade 12 and there is a gap between the two, the discharge port of the second screw conveyor 10 extends to the left end of the aggregate box 1, and the feces transmitted to the rear end of the shovel plate 6 by the second spiral blade 12 is lifted and transported by the second screw conveyor 10, and enters the interior of the aggregate box 1 through the discharge port to realize the collection of feces. The discharge port enters the interior of the aggregate box 1 to realize the collection of feces. By setting up two screw feeders, on the one hand, the transportation efficiency is accelerated to avoid excessive feces accumulation at the connection between the shoveling plate 6 and the first U-shaped plate 7, affecting the subsequent feces shoveling work. On the other hand, the discharge port of the first screw feeder 9 extends to the right end of the aggregate box 1, and the discharge port of the second screw feeder 10 extends to the left end of the aggregate box 1, so that the discharge of one left and one right, one front and one back is realized, so that the feces entering the aggregate box 1 is laid relatively evenly, avoiding the situation where there is more on one side and less on the other side. Furthermore, when the feces is relatively small, the first spiral blade 11 and the second spiral blade 12 can be set to transfer materials in one direction, so that only one screw feeder can be turned on, and the other screw feeder is in standby state, which saves power and energy while also allowing rotation of operations, effectively extending the service life of the screw feeder.

[0069] like Figure 1 , Figure 3 , Figure 4 As shown, in this example, as a preference, the intelligent control system 5 includes a controller 15, a first video acquisition device 16, a second video acquisition device 17, a distance measuring device 18, a sound driving device 19, and a wireless remote controller;

[0070] The controller 15, the first video acquisition device 16, the second video acquisition device 17, the distance measuring device 18, and the sound driving device 19 are respectively arranged in the second U-shaped plate 8, the first video acquisition device 16 and the second video acquisition device 17 are arranged symmetrically and located in the middle of the second U-shaped plate 8 in the front-to-back direction, the first video acquisition device 16 is used to monitor the livestock and obstacles in the area in front of the intelligent manure cleaning robot in real time, the second video acquisition device 17 is used to monitor the amount of feces collected in the aggregate box 1, the distance measuring device 18 is used to monitor the livestock in the area in front of the manure cleaning robot and the distance between the obstacles and the manure cleaning robot, and the sound driving device 19 is used to drive the livestock in the area in front of the manure cleaning robot to avoid the manure cleaning robot to facilitate manure cleaning;

[0071] The first video acquisition device 16, the second video acquisition device 17, the distance measuring device 18, the sound driving device 19, the wireless remote controller, the first drive motor 14, the second drive motor 43, the first screw feeder 9, the second screw feeder 10, and the trolley driving structure 4 are respectively connected to the controller 15 by signal. The wireless remote controller is provided with a plurality of buttons for respectively controlling the first drive motor 14, the second drive motor 43, the first screw feeder 9, the second screw feeder 10, and the trolley driving structure 4, and is also provided with four direction keys for controlling the trolley driving structure 4, namely, the front, back, left, and right four direction keys. The controller 15 is preset with a distance value. When the distance measuring device 18 When it is detected that the distance between the livestock and the manure cleaning robot is less than or equal to a preset value, the controller 15 will control the activation of the sound driving device 19 to drive the livestock away from the manure cleaning robot. In addition, the controller 15 is integrated with a signal transceiver, and the wireless remote controller is integrated with a signal transceiver and a display screen. The video information of the first video acquisition device 16 and the second video acquisition device 17 can be viewed in real time through the display screen. The start and stop of each device can be controlled by multiple buttons set on the wireless remote controller. The staff can remotely control the manure cleaning robot outside the breeding area to clean the manure, avoiding close contact with the livestock and effectively reducing the risk of personal attack by the livestock on the staff.

[0072] like Figures 1-2 , Figures 5-7 As shown, in this example, in order to avoid some feces that are stuck to the ground and cannot be shoveled by the shoveling plate 6, a notch is provided at the lower left end of the collecting box 1, and a second cleaning device 20 is provided in the notch. The second cleaning device 20 can clean the feces that cannot be shoveled by the shoveling plate 6 again, thereby further improving the cleaning effect;

[0073] Preferably, the secondary cleaning device includes a third drive motor 21, a fourth drive motor 49, a first disc brush 22, a second disc brush 50, and a vacuum cleaner 23;

[0074] The third drive motor 21 and the fourth drive motor 49 are symmetrically arranged at the lower left end of the aggregate box 1 and are located in the gap. The third drive motor 21 and the fourth drive motor 49 are respectively connected to the controller 15 by signal. The wireless remote control is also provided with a button for simultaneously controlling the start and stop of the third drive motor 21 and the fourth drive motor 49. The first disc brush 22 is arranged on the output shaft of the third drive motor 21, and the second disc brush 50 is arranged on the output shaft of the fourth drive motor 49. 0 and the sum of their diameters is greater than or equal to the length of the collection box 1 in the front-to-back direction. The bristles of the first disc brush 22 and the second disc brush 50 are generally made of steel wire. The first disc brush 22 and the second disc brush 50 are used to clean the area shoveled by the shoveling plate 6 again, and the feces that cannot be shoveled by the shoveling plate 6 are brushed and swept away from the ground, and then absorbed by the set vacuum cleaner 23. Due to the rotation and sweeping of the first disc brush 22 and the second disc brush 50, the feces can be broken up, which is convenient for the vacuum cleaner 23 to absorb;

[0075] The vacuum cleaner 23 is disposed in the gap and is located on the right side of the first disc brush 22 and the second disc brush 50 , and there is a gap between the first disc brush 22 and the second disc brush 50 to avoid interference between the two when they rotate.

[0076] like Figure 1 , Figure 2 , Figure 7 As shown, in this example, in order to further reduce bacteria and other pathogenic microorganisms in the breeding ground, a sterilization and disinfection device 24 is provided at the lower right side of the aggregate box 1, and the breeding ground can be sterilized and disinfected by the sterilization and disinfection device 24;

[0077] Preferably, the sterilization and disinfection device 24 includes a liquid storage tank 25, a hydraulic pump 26, and a plurality of nozzles 27. The liquid storage tank 25 is arranged at the lower right side of the aggregate box body 1. A liquid filling port 45 is arranged on the liquid storage tank 25, and disinfectant can be regularly added to the liquid storage tank 25 through the liquid filling port 45. In addition, a liquid level sensor 44 is arranged in the liquid storage tank 25, and the liquid level sensor 44 is connected to the controller 15 signal. The amount of disinfectant in the liquid storage tank 25 can be intuitively understood through the display screen, which is convenient for timely replenishment and addition. The hydraulic pump 26 is arranged below the liquid storage tank 25, and the water inlet of the hydraulic pump 26 is interconnected with the inner cavity of the liquid storage tank 25. The hydraulic pump 26 is connected to the controller 15 signal, and a button for controlling the start and stop of the hydraulic pump 26 is also provided on the wireless remote control;

[0078] A liquid pipe is provided at the water outlet of the hydraulic pump 26. The liquid pipe is arranged along the front-back direction of the liquid storage tank 25. Both ends of the liquid pipe are sealed. The water outlet of the hydraulic pump 26 is arranged in the middle of the length direction of the liquid pipe and the two are interconnected. The plurality of spray heads 27 are evenly distributed on the liquid pipe and are respectively communicated with the liquid pipe. The disinfection liquid in the liquid storage tank 25 is pumped out by the hydraulic pump 26, pressurized, and then sprayed on the ground through the plurality of spray heads 27 to achieve the purpose of sterilization and disinfection;

[0079] In order to protect the plurality of spray heads 27 from being blocked by fecal particles or impurities in the outside world as much as possible, a protective housing 28 is provided below the liquid storage tank 25. The liquid pipe and the plurality of spray heads 27 are both located inside the protective housing 28. The fecal particles or impurities can be blocked by the protective housing 28, reducing the probability of being blocked.

[0080] Such as Figure 5 、 Figure 6 、 Figures 8-10 As shown in the figure, in this embodiment, in order to facilitate pouring out the feces collected in the aggregate box body 1, a discharging port is provided on the right side wall of the aggregate box body 1, and a baffle plate 29 adapted thereto is provided at the discharging port;

[0081] A first sliding groove 30 is vertically arranged on the inner surface of the front side wall of the aggregate box body 1 and is located at the right end of the inner surface of the cover. A second sliding groove 31 is vertically arranged on the inner surface of the rear side wall of the aggregate box body 1 and is symmetric with the first sliding groove 30 in the front-back direction;

[0082] A first sliding strip 32 adapted to the first sliding groove 30 is arranged on the front end face of the baffle plate 29. The first sliding strip 32 is located in the first sliding groove 30. A second sliding strip 33 adapted to the second sliding groove 31 is arranged on the rear end face of the baffle plate 29. The second sliding strip 33 is located in the second sliding groove 31. By the cooperation of the sliding strip and the sliding groove, the baffle plate 29 can only move up and down and will not deviate from the discharging port;

[0083] At the right end of the front side wall of the aggregate box body 1, a first electro-hydraulic push rod 34 is arranged through a mounting seat. At the upper end of the first electro-hydraulic push rod 34, a first connecting block 35 is arranged. The rear end of the first connecting block 35 is connected to the upper end of the first sliding bar 32 and they are perpendicular to each other. At the right end of the rear side wall of the aggregate box body 1, a second electro-hydraulic push rod 36 is arranged through a mounting seat. At the upper end of the second electro-hydraulic push rod 36, a second connecting block 37 is arranged. The front end of the second connecting block 37 is connected to the upper end of the second sliding bar 33 and they are perpendicular to each other. The first electro-hydraulic push rod 34 and the second electro-hydraulic push rod 36 are respectively signal-connected to the controller 15. The wireless remote control is also provided with a button for simultaneously controlling the start and stop of the first electro-hydraulic push rod 34 and the second electro-hydraulic push rod 36. By simultaneously controlling the first electro-hydraulic push rod 34 and the second electro-hydraulic push rod 36 to extend, the baffle plate 29 can be pushed upward to open the discharging port for convenient discharging. After the discharging is completed, by simultaneously controlling the first electro-hydraulic push rod 34 and the second electro-hydraulic push rod 36 to retract, the baffle plate 29 can be pulled downward.

[0084] As Figure 1 , Figure 5 , Figure 6 , Figure 8 , Figure 11 As shown in, in this embodiment, in order to facilitate pushing the feces in the aggregate box body 1 out of the discharging port, a fixing plate 38 is arranged on the left side of the inner cavity of the aggregate box body 1. The upper end of the fixing plate 38 is arranged at the left end of the second U-shaped plate 8 and they are perpendicular to each other. The fixing plate 38 divides the inner cavity of the aggregate box body 1 into a first cavity 46 and a second cavity 47. The first cavity 46 on the right side is used for containing the feces conveyed by the screw conveyor. The second cavity 47 on the left side is used for placing the power supply 48 and other equipment. Through the second cavity 47, the power supply 48 and other equipment can be effectively protected from being polluted and corroded by the feces in the first cavity 46;

[0085] On the right side of the fixing plate 38, a pushing plate 39 is arranged. On the left side of the fixing plate 38, an electric telescopic rod 40 is arranged and is located in the second cavity 47. The end of the telescopic rod of the electric telescopic rod 40 penetrates through the fixing plate 38 and is fixed at the center position of the front side surface of the pushing plate 39. The electric telescopic rod 40 is signal-connected to the controller 15. By controlling the electric telescopic rod 40 to extend, the pushing plate 39 can be pushed to move from left to right, and then the feces in the aggregate box body 1 can be pushed to the discharging port. After all the feces in the aggregate box body 1 are completely pushed, control the electric telescopic rod 40 to shorten, and pull the pushing plate 39 back to contact with the fixing plate 38.

[0086] As Figure 1 , Figure 3 , Figure 4As shown, in this example, in order to facilitate the material lifting of the screw conveyor, a first material gathering plate 41 is provided at the lower left end of the inner surface of the front side wall of the first U-shaped plate 7, and the first material gathering plate 41 includes a first material plate and a second material plate, the front ends of the first material plate and the second material plate are both arranged on the inner surface of the front side wall of the first U-shaped plate 7 and are perpendicular to each other, the lower end of the first material plate is arranged on the bottom wall of the first U-shaped plate 7 and the two are perpendicular to each other, the feed port of the first screw conveyor 9 passes through the first material plate, and the feces conveyed by the first spiral blade 11 can be further accumulated through the first material plate, so that the feces can be accumulated as much as possible at the feed port of the first screw conveyor 9, which is convenient for material lifting;

[0087] A second material gathering plate 42 is provided at the lower left end of the inner surface of the rear side wall of the first U-shaped plate 7, and the second material gathering plate 42 includes a third material plate and a fourth material plate. The rear ends of the third material plate and the fourth material plate are both arranged on the inner surface of the rear side wall of the first U-shaped plate 7 and are perpendicular to each other. The lower end of the third material plate is arranged on the bottom wall of the second U-shaped plate 8 and the two are perpendicular to each other. The feed port of the second screw conveyor 10 passes through the second material plate. The feces conveyed by the second spiral blade 12 can be further accumulated through the second material plate, so that the feces can be accumulated at the feed port of the second screw conveyor 10 as much as possible to facilitate material lifting.

[0088] In this example, preferably, the controller 15 adopts a single-chip microcomputer of the STM32L4 series; the first video acquisition device 16 and the second video acquisition device 17 both adopt panoramic cameras; the distance measuring device 18 adopts a rangefinder of model 4C96-HX8O-30m; the sound driving device 19 adopts a loudspeaker; the first drive motor 14 and the second drive motor 43 adopt forward and reverse motors.

[0089] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent manure cleaning robot, characterized in that, It includes an aggregate box body (1), a manure shoveling assembly (2), a conveying structure (3), a trolley driving structure (4), and an intelligent control system (5); The manure shoveling assembly (2) is arranged on the left side of the aggregate box body (1), and the manure shoveling assembly (2) is used to shovel up and concentrate the manure on the ground; The conveying structure (3) is arranged between the manure shoveling assembly (2) and the aggregate box body (1), and the conveying structure (3) is used to transport the manure collected by the manure shoveling assembly (2) into the aggregate box body (1); The trolley driving structure (4) is arranged below the aggregate box body (1), and the trolley driving structure (4) is used to drive the movement of the entire robot; The intelligent control system (5) is arranged on the aggregate box body (1), and the intelligent control system (5) is used to intelligently control the robot to perform the manure cleaning work; The manure shoveling assembly (2) includes a manure shoveling plate (6), a first U-shaped plate (7), and a second U-shaped plate (8); The left end face of the aggregate box body (1) is an inclined surface, and the first U-shaped plate (7) is inclinedly arranged on the left end face of the aggregate box body (1); The second U-shaped plate (8) is horizontally arranged, the left end of the second U-shaped plate (8) is connected to the right end of the first U-shaped plate (7), and the front and rear ends of the second U-shaped plate (8) are respectively arranged at the upper left ends of the front and rear side walls of the aggregate box body (1); The right end of the manure shoveling plate (6) is arranged at the left end of the first U-shaped plate (7) and is in a horizontal state, and the left end face of the manure shoveling plate (6) is designed to be inclined with the left end lower and the right end higher; The conveying structure (3) includes a first screw conveyor (9) and a second screw conveyor (10); The connection between the manure shoveling plate (6) and the bottom wall of the first U-shaped plate (7) is rounded. At the connection between the manure shoveling plate (6) and the bottom wall of the first U-shaped plate (7), a first spiral blade (11) and a second spiral blade (12) are arranged symmetrically in the front and rear. The spiral directions of the first spiral blade (11) and the second spiral blade (12) are opposite. A connecting sleeve (13) is arranged between the first spiral blade (11) and the second spiral blade (12). The rear end of the rotating shaft of the first spiral blade (11) is arranged at the front end of the inner cavity of the connecting sleeve (13) through a bearing, and the front end of the rotating shaft of the second spiral blade (12) is arranged at the rear end of the inner cavity of the connecting sleeve (13) through a bearing. There is a gap between the rear end of the rotating shaft of the first spiral blade (11) and the front end of the rotating shaft of the second spiral blade (12); A first driving motor (14) is arranged at the lower left end of the front side wall of the first U-shaped plate (7). The output shaft of the first driving motor (14) penetrates through the front side wall of the first U-shaped plate (7) and is connected to the front end of the rotating shaft of the first spiral blade (11). A second driving motor (43) is arranged at the lower left end of the rear side wall of the first U-shaped plate (7). The output shaft of the second driving motor (43) penetrates through the rear side wall of the first U-shaped plate (7) and is connected to the rear end of the rotating shaft of the second spiral blade (12); The first screw conveyor (9) is arranged on the first U-shaped plate (7) and located at the front side. The feeding port of the first screw conveyor (9) extends above the front end of the first screw blade (11) with a gap therebetween. The discharging port of the first screw conveyor (9) extends to the right end of the aggregate bin (1). The second screw conveyor (10) is arranged on the first U-shaped plate (7) and located at the rear side. The feeding port of the second screw conveyor (10) extends above the rear end of the second screw blade (12) with a gap therebetween. The discharging port of the second screw conveyor (10) extends to the left end of the aggregate bin (1).

2. The intelligent manure cleaning robot according to claim 1, characterized in that, The intelligent control system (5) includes a controller (15), a first video acquisition device (16), a second video acquisition device (17), a distance measurement device (18), a sound repelling device (19), and a wireless remote controller; The controller (15), the first video acquisition device (16), the second video acquisition device (17), the distance measurement device (18), and the sound repelling device (19) are respectively arranged inside the second U-shaped plate (8). The first video acquisition device (16) and the second video acquisition device (17) are symmetrically arranged left and right and located in the middle of the second U-shaped plate (8) in the front-rear direction; The first video acquisition device (16), the second video acquisition device (17), the distance measurement device (18), the sound repelling device (19), the wireless remote controller, the first driving motor (14), the second driving motor (43), the first screw conveyor (9), the second screw conveyor (10), and the trolley driving structure (4) are respectively in signal connection with the controller (15). The wireless remote controller is provided with a plurality of buttons for respectively controlling the first driving motor (14), the second driving motor (43), the first screw conveyor (9), the second screw conveyor (10), and the trolley driving structure (4).

3. The intelligent manure cleaning robot according to claim 2, wherein A notch is provided at the lower left side of the aggregate bin (1), and a second cleaning device (20) is arranged in the notch; The second cleaning device includes a third driving motor (21), a fourth driving motor (49), a first disc brush (22), a second disc brush (50), and a vacuum cleaner (23); The third driving motor (21) and the fourth driving motor (49) are symmetrically arranged front and rear at the lower left side of the aggregate bin (1) and located in the notch. The third driving motor (21) and the fourth driving motor (49) are respectively in signal connection with the controller (15). The first disc brush (22) is arranged on the output shaft of the third driving motor (21). The second disc brush (50) is arranged on the output shaft of the fourth driving motor (49). There is a gap between the first disc brush (22) and the second disc brush (50), and the sum of the diameters of the two is greater than or equal to the length of the aggregate bin (1) in the front-rear direction; The vacuum cleaner (23) is arranged in the notch and located on the right side of the first disc brush (22) and the second disc brush (50) with a gap respectively between it and the first disc brush (22) and the second disc brush (50).

4. The intelligent manure cleaning robot according to claim 3, characterized in that, A sterilization and disinfection device (24) is provided below the right side of the aggregate box body (1); The sterilization and disinfection device (24) includes a liquid storage tank (25), a hydraulic pump (26), and a plurality of spray heads (27). The liquid storage tank (25) is arranged below the right side of the aggregate box body (1). A liquid filling port (45) is arranged on the liquid storage tank (25). The hydraulic pump (26) is arranged below the liquid storage tank (25). The water inlet of the hydraulic pump (26) is communicated with the inner cavity of the liquid storage tank (25). The hydraulic pump (26) is in signal connection with the controller (15); A liquid pipe is arranged at the water outlet of the hydraulic pump (26). The liquid pipe is arranged along the front-back direction of the liquid storage tank (25). Both ends of the liquid pipe are sealed. The water outlet of the hydraulic pump (26) is arranged in the middle of the length direction of the liquid pipe and the two are communicated with each other. The plurality of spray heads (27) are evenly distributed on the liquid pipe and are respectively communicated with the liquid pipe; A protective housing (28) is arranged below the liquid storage tank (25). The liquid pipe and the plurality of spray heads (27) are both located inside the protective housing (28).

5. The intelligent manure cleaning robot according to claim 4, wherein, A discharging port is arranged on the right side wall of the aggregate box body (1). A material blocking plate (29) adapted thereto is arranged at the discharging port; A first sliding groove (30) is vertically arranged on the inner surface of the front side wall of the aggregate box body (1) and is located at the right end of the inner surface of the cover. A second sliding groove (31) is vertically arranged on the inner surface of the rear side wall of the aggregate box body (1) and is symmetric with the first sliding groove (30) front and back; A first sliding strip (32) adapted to the first sliding groove (30) is arranged on the front end face of the material blocking plate (29). The first sliding strip (32) is located in the first sliding groove (30). A second sliding strip (33) adapted to the second sliding groove (31) is arranged on the rear end face of the material blocking plate (29). The second sliding strip (33) is located in the second sliding groove (31); A first electric hydraulic push rod (34) is arranged at the right end of the front side wall of the aggregate box body (1) through a mounting seat. A first connecting block (35) is arranged at the upper end of the first electric hydraulic push rod (34). The rear end of the first connecting block (35) is connected to the upper end of the first sliding strip (32) and the two are perpendicular to each other. A second electric hydraulic push rod (36) is arranged at the right end of the rear side wall of the aggregate box body (1) through a mounting seat. A second connecting block (37) is arranged at the upper end of the second electric hydraulic push rod (36). The front end of the second connecting block (37) is connected to the upper end of the second sliding strip (33) and the two are perpendicular to each other. The first electric hydraulic push rod (34) and the second electric hydraulic push rod (36) are respectively in signal connection with the controller (15).

6. The intelligent manure cleaning robot according to claim 5, wherein, A fixing plate (38) is arranged on the left side of the inner cavity of the material collecting box (1), the upper end of the fixing plate (38) is arranged on the left end of the second U-shaped plate (8) and the two are perpendicular to each other, the fixing plate (38) divides the inner cavity of the material collecting box (1) into a first cavity (46) and a second cavity (47), the first cavity (46) located on the right side is used to contain feces transported by the screw conveyor, and the second cavity (47) located on the left side is used to place a power supply and other equipment; A push plate (39) is arranged on the right side of the fixed plate (38), and an electric telescopic rod (40) is arranged on the left side of the fixed plate (38). The telescopic rod end of the electric telescopic rod (40) passes through the fixed plate (38) and is fixed at the center position of the front side surface of the push plate (39). The electric telescopic rod (40) is connected to the controller (15) by signal.

7. An intelligent manure cleaning robot according to claim 6, characterized in that, A first material gathering plate (41) is arranged at the lower left end of the inner surface of the front side wall of the first U-shaped plate (7), the first material gathering plate (41) comprising a first material plate and a second material plate, the front ends of the first material plate and the second material plate are arranged on the inner surface of the front side wall of the first U-shaped plate (7) and are perpendicular to each other, the lower end of the first material plate is arranged on the bottom wall of the first U-shaped plate (7) and the two are perpendicular to each other, and the feed port of the first screw conveyor (9) passes through the first material plate; A second material gathering plate (42) is arranged at the lower left end of the inner surface of the rear side wall of the first U-shaped plate (7), and the second material gathering plate (42) includes a third material plate and a fourth material plate. The rear ends of the third material plate and the fourth material plate are arranged on the inner surface of the rear side wall of the first U-shaped plate (7) and are perpendicular to each other. The lower end of the third material plate is arranged on the bottom wall of the second U-shaped plate (8) and the two are perpendicular to each other. The feed port of the second screw conveyor (10) passes through the second material plate.

8. The intelligent manure cleaning robot according to claim 7, wherein, The controller (15) uses a single chip microcomputer of the STM32L4 series; the first video acquisition device (16) and the second video acquisition device (17) both use panoramic cameras; the distance measurement device (18) uses a rangefinder of the model 4C96-HX80-30m; the sound driving device (19) uses a loudspeaker; and the first drive motor (14) and the second drive motor (43) use forward and reverse motors.

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