A livestock house pit dung cleaning robot

Abstract

The present application provides a livestock house ditch dung cleaning robot, which belongs to the technical field of mechatronic livestock intelligent equipment. The existing livestock house ditch cleaning device cannot ensure the stability of the driving during the driving process. It includes a push shovel assembly, a shell frame and a power wheel group, the shell is installed on the bottom plate, one end of the push plate connecting beam is connected with the push shovel assembly, the other end is installed on the bottom plate through a hinge, two side drive wheel groups are symmetrically installed on the front side of the shell, the output shaft of the second motor reducer assembly is connected with the main drive wheel, one end of the third electric push rod is installed on the bottom plate, the other end is connected with the spring top plate, the first guide light shaft is installed on the side drive wheel frame, the first linear slide is installed below the bottom plate, the first linear slide is slidably connected with the first guide light shaft, the first motor reducer assembly is installed on the side drive wheel frame, and the side drive wheel is installed on the output shaft of the first motor reducer assembly. It is mainly used for livestock house ditch cleaning.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechatronic livestock intelligent equipment, in particular to a livestock house trench manure cleaning robot. BACKGROUND

[0002] At present, the livestock industry developed in the background of modern agriculture is large-scale and industrialized, which is the development direction of livestock breeding industry in China. In large-scale breeding, manure is generally separated from livestock and poultry by using manure leakage plates. Part of the manure cleaning work under the manure leakage plate relies on manual labor as service support, and part of the livestock farms has introduced semi-automatic service equipment, among which electric mechanical scrapers are mostly used. The existing mechanical scraper cleaning equipment, i.e. the scraper plate, is driven by a motor to pull a steel wire rope to drive the scraper plate along the trench direction, pushing the manure outside the house. It can replace manual labor to reduce labor intensity. The use of scraper plate needs to arrange corner wheels around the trench for positioning and direction changing. Single scraper plate or multiple scraper plates need a large loop space. There are problems such as large occupation space, many trench reconstruction items, incomplete manure cleaning, and difficult maintenance and repair. Moreover, the existing livestock house trench manure cleaning device cannot ensure the stability of driving during driving. SUMMARY

[0003] Therefore, the present application aims to provide a livestock house trench manure cleaning robot to solve the problem that the existing livestock house trench manure cleaning device cannot ensure the stability of driving during driving.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] The application discloses a livestock house pit dung cleaning robot, which comprises a push shovel assembly, a shell frame and a power wheel set.

[0006] Further, the push shovel assembly comprises a main push plate, two side push plates, a first electric push rod, a second electric push rod, an air spring and a sliding block, the two side push plates are respectively hinged at two ends of the main push plate, a first linear guide rail is arranged at a middle position of a back surface of the main push plate, two ends of the first electric push rod are connected with the two sliding blocks, one end of the air spring is connected with the side push plate, and the other end of the air spring is connected with the sliding block, a plurality of limiting blocks are arranged on the first linear guide rail, a second linear guide rail is arranged below the first linear guide rail, a lifting wheel frame is arranged on the second linear guide rail, the lifting wheel frame is connected with an output end of the second electric push rod, and a fixed end of the second electric push rod is arranged on the main push plate.

[0007] Further, the main push plate is provided with a brush and an elastic scraper below, and the side push plate is provided with the elastic scraper at an end portion.

[0008] Further, the side push plate is provided with a first guide wheel, and two universal wheels are symmetrically arranged on the bottom of the main push plate and under the lifting wheel frame.

[0009] Further, a plurality of toggle switches are arranged on the main push plate, and a roller plunger switch is arranged at one end of the gas spring.

[0010] Further, a navigation system is arranged on the rear side of the shell, and the navigation system comprises four contact navigation assemblies, two magnetic navigation sensors, two photoelectric sensors, two ultrasonic sensors and an RFID reader, the two contact navigation assemblies are symmetrically arranged on the main push plate, the other two contact navigation assemblies are symmetrically arranged on the rear side of the bottom plate, the two magnetic navigation sensors are arranged on the front and rear sides of the bottom plate through spring steel plates, the two photoelectric sensors are symmetrically arranged on the middle of the bottom plate, one ultrasonic sensor is arranged on the tail of the bottom plate, the other ultrasonic sensor is arranged on the main push plate, and the RFID reader is arranged on the right side of the middle of the bottom plate and above the photoelectric sensor.

[0011] Further, the contact navigation assembly comprises a spring plunger switch, a tension spring, a second guide wheel, a second linear guide rail, a swing shaft, a swing support plate, a contact support plate, a linear contact block, an arc contact block and a second compression spring, the swing shaft is connected with the contact support plate through a bearing, the arc contact block is arranged at the bottom of the swing shaft, a roller plunger switch is arranged below the contact support plate, a sliding block is arranged on the swing shaft, the second guide wheel and the spring plunger switch are arranged at one end of the second linear guide rail, and the linear contact block is arranged at the other end of the second linear guide rail, one roller plunger switch is arranged on one side of the swing support plate, the other roller plunger switch is arranged on the other side of the swing support plate, the second compression spring is sleeved on the second linear guide rail, and the tension spring is arranged on the contact support plate and the swing support plate.

[0012] Further, the contact navigation assembly is connected with a control system, and the control system is arranged on the bottom plate.

[0013] Further, the control system comprises a PLC control module, a PLC expansion module, a relay, a motor driver, a remote control module and a terminal strip, the PLC control module is connected with the PLC expansion module, the relay is used for opening or closing the control system, the motor driver, the remote control module, the magnetic navigation sensor, the photoelectric sensor, the ultrasonic sensor and the RFID reader are connected with the PLC control module through the terminal strip, and the motor driver is arranged on the bottom plate.

[0014] Further, the control system further comprises a heat dissipation fan assembly, a battery pack, an information display screen, an emergency stop switch, an automatic charging assembly and a ventilation net, the battery pack is installed at the rear of the bottom plate, the heat dissipation fan assemblies are installed at the front and rear ends of the bottom plate, the ventilation net is arranged at the middle position of the bottom plate, the automatic charging assembly is installed at the bottom of the bottom plate and connected with the battery pack, the information display screen and the emergency stop switch are both installed at the rear side of the bottom plate, and the emergency stop switch controls the opening and closing of the relay.

[0015] Compared with the prior art, the robot has the advantages that:

[0016] 1、The robot adopts a driving mode of large-wheel main drive and horizontal-wheel side drive assistance, wherein the horizontal side drive wheel can be selected to be withdrawn or extended to participate in action according to the thrust demand, the implementation of the horizontal side drive wheel greatly enhances the thrust of the robot and improves the adaptability of the robot in a ground area with water and ice.

[0017] 2、The robot adopts a contact navigation mode, so that the control of the robot walking in a ditch becomes simple and is not affected by manure, urine and the like in the ditch, and the robot has strong environmental adaptability and is stable and reliable.

[0018] 3、The retractable push shovel adopts a tensile gas spring as a buffer to avoid hard collision of the side push plate during travel, turning or skidding, and damage to the robot or other facilities.

[0019] 4、The application can realize an automatic unmanned management mode, remote Internet of Things multi-machine cooperative work is realized through APP software and robot hardware connection, the APP software is used as a control unit of the system, one way can complete channel rotation according to a reserved track by means of an AGV magnetic navigation system, and another way can position a robot position and confirm a manure cleaning work progress by means of an electronic tag recognition function, and a PLC control module is used as a core unit to realize accurate control of each motor, complete signal processing between various sensors and coordinate the logical relationship between drive modules. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of the present application, are used to provide further understanding of the present application, and serve as an aid in explaining the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot of the present application;

[0022] Figure 2 It is a ditch working plan view of the robot of the present application;

[0023] Figure 3 This is a rear view of the robot working in the trench according to the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram of the robot of the present invention;

[0025] Figure 5 This is a schematic diagram of the robot pusher assembly of the present invention;

[0026] Figure 6 This is a schematic diagram of the robot pusher assembly of the present invention;

[0027] Figure 7 This is a schematic diagram of the internal structure of the robot of the present invention;

[0028] Figure 8 This is a schematic diagram of the bottom structure of the robot body of the present invention;

[0029] Figure 9 This is a schematic diagram of the horizontal side drive wheel assembly of the robot of the present invention;

[0030] Figure 10 This is a three-dimensional structural diagram of the main drive wheel assembly of the robot of the present invention;

[0031] Figure 11 This is a schematic diagram of the three-dimensional structure of the robot contact navigation system of the present invention. Figure 1 ;

[0032] Figure 12 This is a schematic diagram of the three-dimensional structure of the robot contact navigation system of the present invention. Figure 2 .

[0033] 1 - push shovel assembly, 2 - shell frame, 3 - power wheel set, 4 - navigation system, 5 - control system, 6 - shell, 7 - main push plate, 8 - side push plate, 9 - elastic scraper, 10 - brush, 11 - first electric push rod, 12 - second electric push rod, 13 - gas spring, 14 - first linear guide rail, 15 - second linear guide rail, 16 - sliding block, 17 - limit block, 18 - lifting wheel frame, 19 - first guide wheel, 20 - roller plunger switch, 21 - switch, 22 - universal wheel, 23 - ultrasonic sensor, 24 - photoelectric sensor, 25 - RFID reader, 26 - PLC control module, 27 - PLC expansion module, 28 - relay, 29 - terminal block, 30 - motor driver, 31 - cooling fan assembly, 32 - remote control module, 33 - battery pack, 34 - information display screen, 35 - emergency stop switch, 36 - magnetic navigation sensor, 37 - automatic charging assembly, 38 - ventilation net, 39 - first linear slide, 40 - first guide light shaft, 41 - first motor reducer assembly, 42 - side drive wheel frame, 43 - heavy universal wheel, 44 - side drive wheel, 45 - first compression spring, 46 - spring light shaft, 47 - spring top plate, 48 - third electric push rod, 49 - second motor reducer assembly, 50 - main drive wheel frame, 51 - buffer spring, 52 - second guide light shaft, 53 - second linear slide, 54 - main drive wheel, 55 - contact navigation assembly, 56 - contact support plate, 57 - tension spring, 58 - spring plunger switch, 59 - second linear guide rail, 60 - second guide wheel, 61 - linear contact block, 62 - arc contact block, 63 - second compression spring, 64 - swing pivot, 65 - swing support plate, 66 - push plate connecting beam, 67 - electrical installation plate, 68 - bottom plate. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0035] Reference Figures 1-12The embodiment is illustrated, a livestock house pit cleaning robot, comprising a push shovel assembly 1, a shell frame 2 and a power wheel set 3, the shell frame 2 comprises a shell 6, an electrical installation plate 67, a push plate connecting beam 66 and a bottom plate 68, the electrical installation plate 67 is installed above the bottom plate 68, one end of the push plate connecting beam 66 is connected with the push shovel assembly 1, the other end is installed on the bottom plate 68 through a hinge, the shell 6 is installed on the bottom plate 68, the power wheel set 3 comprises two main drive wheel sets, two heavy load universal wheels 43 and two side drive wheel sets, the two main drive wheel sets are symmetrically installed on the lower end surface of the rear side of the bottom plate 68, the two heavy load universal wheels 43 are symmetrically installed on the lower end surface of the front side of the bottom plate 68, and the two side drive wheel sets are symmetrically installed on the two ends of the front side of the shell 6, the main drive wheel set comprises a second motor reducer assembly 49, a main drive wheel frame 50, a buffer spring 51, a second guide light shaft 52, a second linear slide 53 and a main drive wheel 54, the main drive wheel frame 50 is connected with the bottom plate 68, the second guide light shaft 52 is installed below the main drive wheel frame 50, the second linear slide 53 is slidably connected with the second guide light shaft 52, the second motor reducer assembly 49 is installed on the second linear slide 53, the buffer spring 51 is sleeved on the second guide light shaft 52 and installed between the second linear slide 53 and the main drive wheel frame 50, the output shaft of the second motor reducer assembly 49 is connected with the main drive wheel 54, the side drive wheel set comprises a first motor reducer assembly 41, a first guide light shaft 40, a first linear slide 39, a side drive wheel frame 42, a side drive wheel 44, a first compression spring 45, a spring top plate 47 and a third electric push rod 48, one end of the third electric push rod 48 is installed on the bottom plate 68, the other end is connected with the spring top plate 47, the spring top plate 47 is connected with the side drive wheel frame 42 through a spring light shaft 46, the first compression spring 45 is sleeved on the spring light shaft 46 and installed between the spring top plate 47 and the side drive wheel frame 42, the first guide light shaft 40 is installed on the side drive wheel frame 42, the first linear slide 39 is installed below the bottom plate 68, the first linear slide 39 is slidably connected with the first guide light shaft 40, the first motor reducer assembly 41 is installed on the side drive wheel frame 42, and the side drive wheel 44 is installed on the output shaft of the first motor reducer assembly 41.

[0036] The second motor reducer assembly 49 drives the main drive wheel 54 to rotate, so that the whole device can travel and work, and the main drive wheel 54 provides main power for the device. When the side drive wheel group works, the third electric push rod 48 extends to push the two side drive wheels 44 out, and the wheel surface is pressed on the side wall of the ditch. At this time, the side drive wheel frame stops due to obstruction, the third electric push rod 48 continues to extend, the distance between the spring top plate 47 and the side drive wheel frame 42 is reduced, the first compression spring 45 is shortened, and the pressure between the side drive wheel 44 and the ditch wall is increased. When the side drive wheel 44 rotates, the wheel surface and the ditch side wall have sufficient adhesion. In the process of robot travel, if the robot deviates to the left side, the contraction amount of the first compression spring 45 inside the left side drive wheel 44 increases, the contraction amount of the first compression spring 45 on the right side decreases, the robot is subjected to greater force from the left side wall, and the robot deviates to the right side. Conversely, if the robot deviates to the right side, the robot will gradually return to the middle position under the action of the spring force, so as to realize automatic deviation correction. In the ditch of the livestock and poultry house, compared with the bottom, the ditch side wall is easier to keep dry and clean, and the application of the side drive wheel group greatly improves the environmental adaptability and stability of the ditch manure cleaning robot.

[0037] The driving mode of large wheel main drive and horizontal wheel side drive assistance is adopted. The horizontal side drive wheel 44 can be selected to be retracted or extended according to the demand of thrust, the implementation of the horizontal side drive wheel 44 greatly enhances the thrust of the robot, improves the adaptability of the robot in the ground water icing and slippery environment, and simultaneously, the horizontal side drive wheel 44 is installed in front, which can play a good guiding role in the process of robot travel. The bottom heavy load universal wheel 43 supports the vehicle body, improves the flexibility of the robot in the narrow ditch, and solves the problem that the existing ditch manure cleaning device in the livestock and poultry house cannot guarantee the stability of travel in the process of travel.

[0038] The push shovel assembly 1 comprises a main push plate 7, two side push plates 8, a first electric push rod 11, a second electric push rod 12, an air spring 13 and a sliding block 16. The two side push plates 8 are respectively hinged at two ends of the main push plate 7. The first linear guide rail 14 is installed at the middle position of the back of the main push plate 7. The two ends of the first electric push rod 11 are connected with the two sliding blocks 16. One end of the air spring 13 is connected with the side push plate 8, and the other end is connected with the sliding block 16. A plurality of limiting blocks 17 are arranged on the first linear guide rail 14. The second linear guide rail 15 is installed below the first linear guide rail 14. The lifting wheel frame 18 is installed on the second linear guide rail 15. The lifting wheel frame 18 is connected with the output end of the second electric push rod 12. The fixed end of the second electric push rod 12 is installed on the main push plate 7.

[0039] The main push plate 7 is provided with a brush 10 and an elastic scraper 9 below. The end of the side push plate 8 is provided with an elastic scraper 9.

[0040] The first guide wheel 19 is installed above the side push plate 8, and two universal wheels 22 are symmetrically installed below the bottom of the main push plate 7 and the lifting wheel frame 18.

[0041] When performing the cleaning work, the side push plate 8 is unfolded, the push shovel is lowered, the brush 10 and the elastic scraper 9 are close to the ground, and the robot returns along the channel and converts other channels. When the side push plate 8 is folded, the push shovel is lifted, the universal wheels 22 at the bottom of the lifting wheel frame 18 touch the ground, and the tension gas spring 13 is used as a buffer to avoid hard collision of the side push plate 8 when traveling, turning or slipping, and damage to the robot or other facilities.

[0042] A plurality of paddle switches 21 are installed on the main push plate 7 for folding and unfolding of the side push plate 8 and position state monitoring of the push shovel lifting, and one end of the gas spring 13 is provided with a roller plunger switch 20. When the side push plate 8 collides or is subjected to excessive force, the gas spring 13 is stretched and grown, and the roller plunger switch 20 is triggered for collision detection and buffering of the robot.

[0043] A navigation system 4 is installed on the rear side of the shell 6, which includes four contact navigation assemblies 55, two magnetic navigation sensors 36, two photoelectric sensors 24, two ultrasonic sensors 23 and an RFID reader 25. The two contact navigation assemblies 55 are symmetrically installed above the main push plate 7, and the other two are symmetrically installed on the rear side of the bottom plate 68. The two magnetic navigation sensors 36 are installed on the front and rear sides of the bottom plate 68 through spring steel plates, respectively. The two photoelectric sensors 24 are symmetrically installed at the middle position of the bottom plate 68, one of the two ultrasonic sensors 23 is installed at the tail of the bottom plate 68, and the other is installed above the main push plate 7. The RFID reader 25 is installed on the right side of the middle part of the bottom plate 68 and above the photoelectric sensor 24.

[0044] When the robot performs the cleaning work, it travels straight in the channel, mainly in the contact navigation mode, supplemented by magnetic navigation and photoelectric detection, and converts the channel at the position of the channel, mainly in the magnetic navigation mode, supplemented by photoelectric detection. The RFID reader 25 identifies the electronic tags arranged in the channel to determine the current channel position of the robot and judge the progress of the cleaning work, which is convenient for cooperation with other channel robots or equipment.

[0045] The contact navigation assembly 55 comprises a spring plunger switch 58, a tension spring 57, a second guide wheel 60, a second linear guide rail 59, a swing pivot 64, a swing support plate 65, a contact support plate 56, a linear contact block 61, an arc contact block 62, and a second compression spring 63. The swing pivot 64 is connected to the contact support plate 56 through a bearing, and the bottom of the swing pivot 64 is provided with the arc contact block 62. A roller plunger switch 20 is arranged below the contact support plate 56. A sliding block is arranged in the swing pivot 64. The second linear guide rail 59 is provided at one end with the second guide wheel 60 and the spring plunger switch 58, and at the other end with the linear contact block 61. The swing support plate 65 is arranged at one side of the swing pivot 64 and at the other side with a roller plunger switch 20. The second compression spring 63 is sleeved on the second linear guide rail 59. The two ends of the tension spring 57 are respectively arranged on the contact support plate 56 and the swing support plate 65.

[0046] When the robot walks, the end of the spring plunger switch 58 is close to the wall until the switch signal is triggered. When the distance between the robot and the wall becomes smaller and smaller, the second guide wheel 60 contacts the wall, and only a slight swing of the second guide wheel 60 occurs under the action of the tension spring 57. The second compression spring 63 is contracted, the linear contact block 61 at the end of the second linear guide rail 59 moves relative to the roller plunger switch 20, and the roller plunger switch 20 is triggered. When the distance between the robot and the wall is too small, the swing angle of the second guide wheel increases, and the bottom roller plunger switch 20 is triggered.

[0047] The contact navigation mode makes the control of the robot walking in the ditch simple, and the robot is not affected by the manure, urine, and the like in the ditch. The robot has strong environmental adaptability and is stable and reliable.

[0048] The contact navigation assembly 55 is connected to the control system 5, and the control system 5 is arranged on the bottom plate 68.

[0049] The control system 5 controls the robot to make corresponding posture adjustment according to the switch signals of the four contact navigation assemblies 55, so as to realize the navigation of the robot in the ditch. The robot does not need to use complex and expensive sensors or navigation equipment. In the ditch environment, manure, urine, dust, and the like are everywhere, and the optical and ultrasonic modes have poor adaptability, so they are suitable to exist as auxiliary

[0050] The control system 5 comprises a PLC control module 26, a PLC expansion module 27, a relay 28, a motor driver 30, a remote control module 32, and a terminal block 29. The PLC control module 26 is connected to the PLC expansion module 27. The relay 28 is used to open or close the control system 5. The motor driver 30, the remote control module 32, the magnetic navigation sensor 36, the photoelectric sensor 24, the ultrasonic sensor 23, and the RFID reader 25 are all connected to the PLC control module 26 through the terminal block 29. The motor driver 30 is arranged on the bottom plate 68.

[0051] The PLC control module 26 is a core unit for precisely controlling each motor, completing signal processing between each sensor, and coordinating logical relationships between drive modules.

[0052] The control system 5 further comprises a heat dissipation fan assembly 31, a battery pack 33, an information display screen 34, an emergency stop switch 35, an automatic charging assembly 37, and a ventilation net 38. The battery pack 33 is installed at the rear of the bottom plate 68. The heat dissipation fan assembly 31 is installed at both ends of the front and rear of the bottom plate 68. The ventilation net 38 is arranged at the middle position of the bottom plate 68. The automatic charging assembly 37 is installed at the bottom of the bottom plate 68 and connected with the battery pack 33. The information display screen 34 and the emergency stop switch 35 are both installed at the rear side of the bottom plate 68. The emergency stop switch 35 controls the opening and closing of the relay 28.

[0053] The application of the device can realize an automatic unmanned management mode. Through the connection between the APP software and the robot hardware, remote Internet of Things multi-machine collaborative work is realized. The APP software is a control unit of the system. In one way, the AGV magnetic navigation system can be used to complete the channel rotation according to the scheduled trajectory. In another way, the electronic tag recognition function can be used to position the robot and confirm the progress of the cleaning work. Meanwhile, the PLC control module 26 is a core unit for precisely controlling each motor, completing signal processing between each sensor, and coordinating logical relationships between drive modules.

[0054] The above disclosed embodiments of the present application are only used to help explain the present application. The embodiments do not describe all the details, nor limit the present application to the specific embodiments described. According to the content of the present specification, many modifications and changes can be made. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application.

Claims

1. A barn pit manure cleaning robot, characterized by: The utility model provides a kind of robot for cleaning feces, including push shovel component (1), shell frame (2) and power wheel group (3), the shell frame (2) includes shell (6), electrical installation plate (67), push plate connecting beam (66) and bottom plate (68), the electrical installation plate (67) is installed above bottom plate (68), one end of the push plate connecting beam (66) is connected with push shovel component (1), the other end is installed on bottom plate (68) by hinge, the shell (6) is installed on bottom plate (68), the power wheel group (3) includes two main drive wheel groups, two heavy load universal wheels (43) and two side drive wheel groups, two main drive wheel groups are symmetrically installed on bottom plate (68) rear side lower end surface, two heavy load universal wheels (43) are symmetrically installed on bottom plate (68) front side lower end surface, two side drive wheel groups are symmetrically installed in shell (6) front side both ends, the main drive wheel group includes second motor reducer assembly (49), main drive wheel frame (50), buffer spring (51), second guide light shaft (52), second linear slide (53) and main drive wheel (54), the main drive wheel frame (50) is connected with bottom plate (68), the second guide light shaft (52) is installed below main drive wheel frame (50), the second guide light shaft (52) is slidably connected with second guide light shaft (52), second motor reducer assembly (49) is installed on second linear slide (53), the buffer spring (51) is sleeved on second guide light shaft (52) and is installed between second linear slide (53) and main drive wheel frame (50), the output shaft of second motor reducer assembly (49) is connected with main drive wheel (54), the side drive wheel group includes first motor reducer assembly (41), first guide light shaft (40), first linear slide (39), side drive wheel frame (42), side drive wheel (44), first compression spring (45), spring top plate (47) and third electric push rod (48), one end of the third electric push rod (48) is installed on bottom plate (68), the other end is connected with spring top plate (47), the spring top plate (47) is connected with side drive wheel frame (42) by spring light shaft (46), the first compression spring (45) is sleeved on spring light shaft (46) and is installed between spring top plate (47) and side drive wheel frame (42), the first guide light shaft (40) is installed on side drive wheel frame (42), the first linear slide (39) is installed below bottom plate (68), the first linear slide (39) is slidably connected with first guide light shaft (40), the first motor reducer assembly (41) is installed on side drive wheel frame (42), the side drive wheel (44) is installed on the output shaft of first motor reducer assembly (41), the rear side of shell (6) is provided with navigation system (4), the navigation system (4) includes four contact navigation components (55), two magnetic navigation sensors (36), two photoelectric sensors (24), two ultrasonic sensors (23) and RFID read head (25), robot executes cleaning feces work when, in dung channel, in straight line travel, in contact navigation mode is mainly,Magnetic navigation, photoelectric detection for auxiliary, in the ditch net way position conversion ditch, with magnetic navigation as the main, photoelectric detection for auxiliary.

2. A barn pit cleaning robot according to claim 1, characterized in that The push shovel assembly (1) comprises a main push plate (7), two side push plates (8), a first electric push rod (11), a second electric push rod (12), a gas spring (13) and a sliding block (16), the two side push plates (8) are hingedly connected at both ends of the main push plate (7), a first linear guide rail (14) is installed at the middle position of the back of the main push plate (7), the two ends of the first electric push rod (11) are connected with two sliding blocks (16), one end of the gas spring (13) is connected with the side push plate (8), and the other end is connected with the sliding block (16), a plurality of limiting blocks (17) are arranged on the first linear guide rail (14), a second linear guide rail (15) is installed below the first linear guide rail (14), a lifting wheel frame (18) is installed on the second linear guide rail (15), the lifting wheel frame (18) is connected with the output end of the second electric push rod (12), and the fixed end of the second electric push rod (12) is installed on the main push plate (7).

3. A barn pit cleaning robot according to claim 2, characterized in that: A brush (10) and an elastic scraper (9) are arranged below the main push plate (7), and the elastic scraper (9) is arranged at the end of the side push plate (8).

4. A barn pit cleaning robot according to claim 2, characterized in that: A first guide wheel (19) is arranged above the side push plate (8), and two universal wheels (22) are symmetrically arranged below the bottom of the main push plate (7) and the lifting wheel frame (18).

5. A barn pit cleaning robot according to claim 2, characterized in that: A plurality of toggle switches (21) are arranged on the main push plate (7), and a roller plunger switch (20) is arranged at one end of the gas spring (13).

6. A barn pit cleaning robot according to claim 5, characterized in that Two contact navigation assemblies (55) are symmetrically arranged above the main push plate (7), and the other two are symmetrically arranged on the rear side of the bottom plate (68), two magnetic navigation sensors (36) are arranged below the front and rear sides of the bottom plate (68) through spring steel plates, two photoelectric sensors (24) are symmetrically arranged at the middle position of the bottom plate (68), one ultrasonic sensor (23) is arranged at the tail of the bottom plate (68), and the other ultrasonic sensor (23) is arranged above the main push plate (7), and the RFID reader head (25) is arranged on the right side of the middle part of the bottom plate (68) and above the photoelectric sensor (24).

7. A barn pit cleaning robot according to claim 6, characterized in that The contact navigation assembly (55) comprises a spring plunger switch (58), a tensile spring (57), a second guide wheel (60), a second linear guide rail (59), a swing pivot (64), a swing support plate (65), a contact support plate (56), a linear contact block (61), an arc contact block (62) and a second compression spring (63), the swing pivot (64) is connected with the contact support plate (56) through a bearing, the bottom of the swing pivot (64) is provided with the arc contact block (62), a roller plunger switch (20) is arranged below the contact support plate (56), a sliding block is arranged in the swing pivot (64), the second linear guide rail (59) is provided with the second guide wheel (60) and the spring plunger switch (58) at one end and is provided with the linear contact block (61) at the other end, the swing support plate (65) is arranged on one side of the swing pivot (64) and is provided with a roller plunger switch (20) on the other side, the second compression spring (63) is sleeved on the second linear guide rail (59), and the two ends of the tensile spring (57) are respectively arranged on the contact support plate (56) and the swing support plate (65).

8. A barn pit cleaning robot according to claim 7, characterized in that: The contact navigation assembly (55) is connected with a control system (5), and the control system (5) is arranged on a bottom plate (68).

9. A barn pit cleaning robot according to claim 8, characterized in that: The control system (5) comprises a PLC control module (26), a PLC expansion module (27), a relay (28), a motor driver (30), a remote control module (32) and a terminal strip (29), the PLC control module (26) is connected with the PLC expansion module (27), the relay (28) is used for opening or closing the control system (5), the motor driver (30), the remote control module (32), a magnetic navigation sensor (36), a photoelectric sensor (24), an ultrasonic sensor (23) and an RFID reader (25) are connected with the PLC control module (26) through the terminal strip (29), and the motor driver (30) is arranged on the bottom plate (68).

10. A barn pit cleaning robot according to claim 9, characterized in that: The control system (5) further comprises a heat dissipation fan assembly (31), a battery pack (33), an information display screen (34), an emergency stop switch (35), an automatic charging assembly (37) and a ventilation net (38), the battery pack (33) is arranged at the back of the bottom plate (68), the heat dissipation fan assemblies (31) are arranged at the front and back of the bottom plate (68), the ventilation net (38) is arranged at the middle of the bottom plate (68), the automatic charging assembly (37) is arranged at the bottom of the bottom plate (68) and is connected with the battery pack (33), the information display screen (34) and the emergency stop switch (35) are arranged at the back of the bottom plate (68), and the emergency stop switch (35) controls the opening and closing of the relay (28).

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