An animal housing environment cleaning apparatus

Abstract

This invention provides an animal husbandry environment cleaning device, including a base and a cleaning chamber, control chamber, base beam, cleaning mechanism, and deflection mechanism. The cleaning mechanism includes a battery, control unit, moving components, air purification device, cleaning components, washing components, and a bucket, for automatic movement, dry sweeping, rinsing, and fecal collection. The deflection mechanism includes a connecting base frame, support base, steering seat, multi-section boom, and a telescopic assembly with rubber hammers and positive and negative electrode needles at the end. Secondary boom assemblies, consisting of a main enclosure and progressively retractable secondary enclosures, are inserted into both sides of the first boom via rails. When deployed, the secondary boom assemblies form an isolation fence, and, in conjunction with air pump spraying, audible and visual alarms, and infrared detection, achieve multi-mode coordination of gentle physical deflection, airflow-assisted deflection, and harmless electric deflection. This invention integrates cleaning and deflection, enabling efficient cleaning while gently repelling animals, avoiding stress injuries, and improving operational safety and automation.

Description

Technical Field

[0001] This invention relates to the technical field of automated cleaning devices, and more particularly to a cleaning device for animal husbandry environments. Background Technology

[0002] With the rapid development of large-scale and intensive animal husbandry, the cleanliness and maintenance of the animal husbandry environment has become a key link in ensuring the health of livestock and poultry, improving production performance, and preventing the spread of diseases. Modern farms generate a large amount of feces, urine, feed residue, and bedding waste every day. If cleaning is not timely or thorough, it is easy for mosquitoes, flies, pathogens, and parasite eggs to breed. At the same time, harmful gases such as ammonia and hydrogen sulfide are produced, leading to frequent respiratory diseases in animals, decreased growth performance, and even inducing group epidemics.

[0003] Currently, livestock farms generally use manual sweeping combined with high-pressure water jet washing for pen cleaning. This method is labor-intensive, inefficient, and the cleaning quality is greatly affected by the skills and sense of responsibility of the operators. Some larger-scale farms have begun to introduce mechanical manure scrapers or floor sweepers, but these devices are relatively simple in function, usually only able to complete single processes such as shoveling or brushing. They cannot simultaneously complete manure collection, floor washing, and disinfection, requiring multiple devices to work alternately or manual follow-up processing, resulting in limited overall cleaning efficiency.

[0004] Chinese patent application CN201810775739.8 discloses a driving mechanism for an automatic cleaning device in a pigpen on a farm. The device includes walls surrounding the pigpen, a recessed platform formed on the ground near the rear wall, and a drainage channel formed at the bottom of the wall behind the platform. Bearing seats are fixed to the front and rear sides of the upper surfaces of the walls on both sides of the pigpen. A guide shaft is provided on one side of the pigpen, with both ends hinged to the bearing seats. A lead screw is provided on the other side of the pigpen, with both ends hinged to the bearing seats. The rear end of the lead screw is fixed to the shaft of a first motor via a coupling. The first motor is fixed to a motor bracket, which is fixed to the upper surface of the wall. A guide seat is inserted into the guide shaft, and a sliding seat is screwed onto the lead screw. Both ends of a connecting plate are fixed to the guide seat and the sliding seat, respectively. A support shaft is provided on the front side of the connecting plate, with both ends inserted into the guide seat and the sliding seat, respectively. A horizontal guardrail is fixed to the support shaft. This device facilitates driving and confining pigs within the cleaning area of ​​the pigpen, making pig cleaning easier.

[0005] However, this technical solution uses a motor-driven screw to move the pen from back to front within the pigpen, forcibly pushing the pigs into the washing area to drive and confine them. However, this driving mechanism relies on a rigid pen with direct, hard contact between the pen and the pig's body, which can easily cause abrasions, fractures, or severe stress reactions during the driving process. This is especially true for smaller or slower-reacting pigs, impacting animal welfare. Furthermore, this solution requires pre-installing guide shafts, screws, and other fixing devices within the pigpen walls, making installation and modification difficult, lacking versatility, and unable to flexibly adapt to different pen layouts. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing an animal husbandry environment cleaning device. This device uses a multi-joint robotic arm in conjunction with a dual-mode drive assembly consisting of a rubber hammer and positive and negative electrode needles to achieve flexible switching between gentle physical drive and harmless electric drive, thus solving the problem that existing drive methods are prone to causing stress or failure in animals.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An animal husbandry environment cleaning device includes a base, a cleaning chamber, a control chamber, and a bottom beam on the base. The base also includes a cleaning mechanism and a driving mechanism. The cleaning mechanism includes a battery and a control unit on the base. The cleaning chamber contains a moving component and an air purification device. The base has cleaning and washing components, and a bucket at its bottom. The driving mechanism includes a connecting base frame located at one end of the equipment base, a support base fixedly connected to the connecting base frame, a steering seat movably connected to the support base, a base motor installed inside the support base, a first arm movably connected to the steering seat, a second arm movably connected to the tail end of the first arm, a third arm movably connected to the tail end of the second arm, a rotary motor installed at the tail end of the third arm, an output column fixedly connected to the output end of the rotary motor, a telescopic component provided at one end of the output column, a drive component provided on the telescopic component, a driving component provided at the tail end of the telescopic component, and rails fixedly connected to both sides of the first arm, with auxiliary arm components movably inserted into both sets of rails. The auxiliary arm assembly includes: a clamping plate, which is movably inserted into the clamping rail; a main enclosure plate, which is fixedly connected to the clamping plate and is the innermost enclosure; an inner lining column, which is disposed on the inner wall of the main enclosure plate; an inner cavity, which is opened inside the main enclosure plate; an auxiliary enclosure plate assembly, which is movably connected to the outside of the main enclosure plate and is composed of multiple enclosures nested together, with the size of each enclosure gradually decreasing outward to form a telescopic enclosure structure that contracts at each level; a double pulley assembly, which is disposed below the connection between the main enclosure plate and the auxiliary enclosure plate assembly; and a secondary bevel gear, which is disposed below the double pulley assembly of the main enclosure plate.

[0008] The moving component includes a drive motor located inside the cleaning chamber, a drive shaft connected to the output end of the drive motor by a gear, brake discs at both ends of the drive shaft, and two sets of drive wheels on the bottom rotating shaft of the equipment base. The control room is equipped with a steering assembly, which includes a steering motor mounted on the control room. The bottom of the output end of the steering motor is connected to a steering drive shaft. Monitoring equipment is installed on the outside of the control room, and steering wheels are installed under the base of the equipment.

[0009] The cleaning assembly includes a cleaning motor a located under the equipment base, a cleaning roller movably connected to the equipment base, a transmission component at one end of the cleaning roller, and the cleaning roller being connected to the output end of the cleaning motor a via the transmission component. Two sets of first cleaning brushes and two sets of second cleaning brushes are movably connected under the bottom beam, and a cleaning motor b is installed on each of the first and second cleaning brushes.

[0010] The cleaning assembly includes a water tank mounted on the equipment base, with a water inlet on the outside of the water tank. A water pump is mounted on the bottom beam, with an electric heater at the water inlet of the water pump. A water pump is sealed to the water pump, and a diversion pipe is connected through the output end of the water pump. A hydraulic gauge is also connected through the output end of the water pump. Multiple linearly distributed nozzles are connected through the outer wall of the diversion pipe. A collection box is provided at the bucket discharge port, and auxiliary wheels are provided below the collection box.

[0011] A first joint motor is installed at the connection between the first boom and the steering seat. The first joint motor is a double-headed motor. A main bevel gear is fixedly connected to the other side shaft of the first joint motor. A second joint motor is installed at the connection between the first boom and the second boom. A third joint motor is installed at the connection between the second boom and the third boom.

[0012] The telescopic assembly includes: a docking member, which is fixedly connected to one end of the output column; a fixing buckle, which is threaded onto the docking member; an electric telescopic rod, which is mounted on the docking member; a docking end, which is located at the tail end of the electric telescopic rod, and the electric telescopic rod is inserted into the fixing buckle through the docking end; an input rotating rod, which is fixedly connected to the output end of the electric telescopic rod; an input rod sleeve, which is fixedly connected to the tail end of the input rotating rod; an output swing rod, which is movably connected to the tail end of the input rotating rod; an output rod sleeve, which is fixedly connected to one end of the output swing rod; a fitting groove, which is formed on the output rod sleeve; a sleeve groove, which is formed on the output rod sleeve; and an inner shaft column, which is fixedly connected within the fitting groove.

[0013] The telescopic assembly further includes: an air pump mounted on the docking member; an air outlet located on the air pump; a sealed container mounted on one side of the air pump; an inner container located inside the sealed container; and an air groove located on the sealed container. An air nozzle is also fitted onto the rubber hammer sleeve of the driving assembly, and the air nozzle is connected to the air outlet of the air pump via a pipeline.

[0014] The drive assembly includes: a cross shaft core disposed within the input rod sleeve; a shaft groove formed on the cross shaft core; two sets of journals arranged in a cross pattern disposed on the cross shaft core; a deflection motor disposed at the bottom of one set of journals; an iron damping block movably connected to the other set of journals; an electromagnet installed within the other set of journals; a sealing ring disposed on the electromagnet; a torque seat disposed on the outer wall of the output rod sleeve; and a torsion spring disposed within the torque seat.

[0015] The driving-off assembly includes: a rubber hammer sleeve disposed at the other end of the output boom; a rubber hammer head disposed on the rubber hammer sleeve; an assembly panel mounted on one side of the rubber hammer head; and telescopic columns, two sets of telescopic columns fitted onto the assembly panel. One set of telescopic columns has a positive electrode needle at its telescopic end, and the other set of telescopic columns has a negative electrode needle at its telescopic end. The tail ends of both the positive and negative electrode needles are linearly connected to wires.

[0016] The auxiliary boom assembly further includes: positioning bolts, multiple sets of which are threadedly connected to the clamping plate; bearing sleeves, which are installed on both ends of one side of the main and auxiliary enclosures; bearing balls, which are disposed within the bearing sleeves; a bearing rod, which is movably connected to the bearing balls; a drive gear, which is disposed at one end of the bearing rod; a disc spring, which is sleeved on the outer wall of the bearing rod; an outer bushing, which is disposed on the other side of the main and auxiliary enclosures; a shaft, which is disposed within the outer bushing; and a load gear, which is fixedly connected to both ends of the shaft and meshes with the drive gear. The main enclosure and the secondary enclosure are also equipped with audible and visual alarms. An infrared array sensor is installed inside the outermost enclosure of the secondary enclosure. The bottom plates of the main enclosure and the secondary enclosure are also provided with reserved openings for cleaning equipment. These reserved openings are used to connect external auxiliary cleaning tools and suction pipes.

[0017] The beneficial effects of this invention are as follows: (1) This invention sets up a self-propelled cleaning mechanism and a driving mechanism with multi-joint arms and auxiliary arms. While the equipment automatically removes feces, sweeps the ground, performs high-pressure washing and real-time air purification along a preset route, the driving component is precisely positioned next to the animal by the steering seat, the first arm, the second arm and the third arm working together. The auxiliary arm component is synchronously deployed by the dual-head drive of the first joint motor. With the cooperation of the main enclosure and the gradually retracting auxiliary enclosure, a physical isolation fence is formed on both sides of the equipment. Combined with the pre-warning sound and light alarm, the animal is guided to the safe passage in an orderly manner. Then, the animal is guided to give way safely by the low-frequency push of the rubber hammer or the micro-electric pulse of the positive and negative electrode needles. The cleaning operation does not require human intervention throughout the process. It completely solves the problems of traditional cleaning equipment being unable to avoid animals, resulting in operation interruption, rough driving, or animal fright and injury. It greatly improves the continuity of the breeding environment cleaning and the level of breeding safety.

[0018] (2) This invention features a switchable multi-mode driving system at the end of the driving mechanism. A rotary motor and a deflection motor control the output lever to drive a rubber hammer for flexible contact pushing. An electromagnet and an iron damping block are used to adjust the lever's damping in real time to prevent overshoot. Simultaneously, compressed air is pumped through a sealed tank's air trough and then delivered to the air nozzle, spraying low-pressure airflow for non-contact driving assistance. For animals with slow reactions, positive and negative electrode needles are extended to apply a low-pressure pulse current below the animal's pain threshold, achieving harmless electric driving. During the deployment of the sub-panel assembly, the disc spring overload protection between the drive tooth column and the load tooth column can disconnect the transmission when encountering an animal's body, preventing continuous force from causing structural damage or animal injury. An infrared array sensor detects the animal's body temperature and location in real time, dynamically feeding back to the control unit for precise adjustment of the driving strategy. This flexible combination of multiple methods ensures effective driving away of various animals while avoiding mechanical injury or severe electric shock stress, solving the technical problem of existing driving mechanisms being highly stimulating and easily causing animal panic.

[0019] (3) This invention integrates a bucket, a cleaning roller, a first cleaning brush, a second cleaning brush, and a high-temperature and high-pressure spray system into a multi-level linkage cleaning system. The bucket first scoops up large pieces of feces, the cleaning roller grinds the dirt layer attached to the ground, and the two sets of cleaning brushes rotate in opposite directions to gather debris and collect it again by the bucket. Then, the electric heater heats the liquid in the water tank to a suitable temperature, and after being pressurized by the pump, it forms a fan-shaped water curtain through multiple sets of nozzles to perform thermal washing and disinfection of the ground. At the same time, the air purification device continuously adsorbs and decomposes odorous substances such as ammonia and hydrogen sulfide in the enclosure. The cleaning equipment reserved openings on the auxiliary enclosure and the bottom plate of the main enclosure can be connected to auxiliary cleaning tools and suction pipes, so that the auxiliary arm assembly can perform ground cleaning function while isolating animals. It synergistically realizes the whole chain of deep cleaning from solid removal, brushing and cleaning, thermal disinfection, air purification to cleaning of the fence isolation area. It solves the problem of many feces residues and repeated odors when cleaning by single mechanical cleaning, significantly improves the hygiene and environmental quality of the enclosure, and expands the multi-functional application scenarios of the equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the side structure of the present invention; Figure 3 This is a schematic diagram of the structure of the present invention from a bottom view; Figure 4 This is a schematic diagram of the internal structure of the present invention; Figure 5 This is a partial structural diagram of the present invention; Figure 6 This is a schematic diagram of the steering component structure of the present invention; Figure 7This is a schematic diagram of the cleaning component structure of the present invention; Figure 8 This is a schematic diagram of the overall structure of the driving mechanism of the present invention; Figure 9 This is a partial structural diagram of the driving mechanism of the present invention; Figure 10 This is a schematic diagram of the telescopic component structure of the present invention; Figure 11 This is a schematic diagram of the jet assembly structure of the present invention; Figure 12 This is a partial structural diagram of the telescopic component of the present invention; Figure 13 This is a schematic diagram of the drive component structure of the present invention; Figure 14 This is a schematic diagram of the structure of the repellent component of the present invention; Figure 15 This is a schematic diagram of the overall structure of the auxiliary arm assembly of the present invention; Figure 16 This is a partial structural diagram of the auxiliary arm assembly of the present invention; Figure 17 This is a schematic diagram of the bearing structure of the auxiliary arm assembly of the present invention.

[0021] The reference numerals in the accompanying drawings of this application are as follows: 1. Equipment base; 101. Cleaning chamber; 102. Control room; 103. Base beam; 2. Cleaning mechanism; 201. Battery; 202. Control unit; 203. Moving component; 2031. Drive motor; 2032. Drive shaft; 2033. Brake disc; 2034. Drive wheel; 204. Air purification device; 205. Steering component; 2051. Steering motor; 2052. Steering transmission shaft; 2053. Monitoring equipment; 2054. Steering wheel; 206. Cleaning component; 2061. Cleaning motor a; 2062. Cleaning roller; 2063. Transmission component; 2064. First cleaning brush; 2065. Second cleaning brush; 2066. Cleaning motor b; 207 1. Cleaning components; 2071. Water tank; 2072. Water inlet; 2073. Water pump; 2074. Electric heater; 2075. Pumping pipe; 2076. Diverter pipe; 2077. Hydraulic gauge; 2078. Nozzle; 208. Bucket; 2081. Collection box; 2082. Auxiliary wheel; 3. Driving mechanism; 301. Connecting base frame; 302. Support base; 303. Steering seat; 3031. Base motor; 304. First boom; 3041. Second boom; 3042. Third boom; 3043. First joint motor; 3044. Second joint motor; 3045. Third joint motor; 3046. Rotary motor; 3047. Output column; 3048. Main bevel gear; 3049. Rail; 31. Telescopic assembly; 311. Connecting part; 312. Fixing buckle; 313. Electric telescopic rod; 314. Connecting end; 315. Input rotating rod; 3151. Input rod sleeve; 316. Output swing rod; 3161. Output rod sleeve; 3162. Fitting groove; 3163. Sleeve groove; 3164. Inner shaft column; 317. Air pump; 3171. Air outlet; 3172. Sealing tank; 3173. Inner tank; 3174. Air groove; 32. Drive assembly; 321. Cross shaft core; 3211. Shaft groove; 322. Shaft journal; 323. Deflection motor; 324. Iron damping block; 325. Electromagnet; 3251. Sealing ring; 326. Torque seat; 3261. Torque spring; 33. Driving assembly; 331. Rubber 332. Hammer sleeve; 333. Rubber hammer head; 334. Assembly panel; 335. Telescopic column; 336. Positive electrode needle; 337. Negative electrode needle; 338. Wire; 339. Air nozzle; 30. Secondary arm assembly; 340. Clamping plate; 3411. Positioning bolt; 342. Main enclosure plate; 3421. Inner liner column; 3422. Inner cavity; 343. Secondary enclosure plate assembly; 344. Bearing sleeve; 3441. Bearing ball; 3442. Bearing rod; 3443. Drive gear; 3444. Disc spring; 345. Outer bushing; 3451. Shaft; 3452. Load gear; 346. Double pulley assembly; 3461. Secondary bevel gear; 347. Audible and visual alarm; 348. Infrared array sensor; 349. Cleaning equipment reserved opening. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Example 1: As Figures 8-17 As shown, this embodiment provides an animal husbandry environment cleaning device, including a device base 1, a cleaning chamber 101, a control chamber 102 and a bottom beam 103 on the device base 1, and a cleaning mechanism 2 and a driving mechanism 3 are also provided on the device base 1. The driving mechanism 3 includes a connecting base frame 301 located at one end of the equipment base 1. A support base 302 is fixedly connected to the connecting base frame 301. A steering seat 303 is movably connected to the support base 302. A base motor 3031 is installed inside the support base 302. A first arm 304 is movably connected to the steering seat 303. A second arm 3041 is movably connected to the tail end of the first arm 304. A third arm 3042 is movably connected to the tail end of the second arm 3041. A rotary motor 3046 is installed at the tail end of the third arm 3042. An output column 3047 is fixedly connected to the output end of the rotary motor 3046. A telescopic component 31 is provided at one end of the output column 3047. A drive component 32 is provided on the telescopic component 31. A driving component 33 is provided at the tail end of the telescopic component 31. Rails 3049 are fixedly connected to both sides of the first arm 304. A secondary arm component 34 is movably inserted into both sets of rails 3049. The auxiliary boom assembly 34 includes: a clamping plate 341, which is movably inserted into a clamping rail 3049; a main enclosure plate 342, which is fixedly connected to the clamping plate 341 and serves as the innermost enclosure; inner lining posts 3421, which are disposed on the inner wall of the main enclosure plate 342; an inner cavity 3422, which is formed inside the main enclosure plate 342; and a secondary enclosure plate assembly 343. The main enclosure 342 is connected to the outside of the secondary enclosure 343, which is composed of multiple layers of fences that are nested together in sequence. The size of each fence layer gradually decreases as it extends outward, forming a telescopic fence structure that shrinks step by step. The double pulley group 346 is located below the connection between the main enclosure 342 and the secondary enclosure 343. The secondary bevel gear 3461 is located below the double pulley group 346 of the main enclosure 342.

[0026] In this embodiment, the herding mechanism 3 is used to gently herd animals in the breeding environment during cleaning operations, guiding them to a safe area and preventing collisions or injuries to the animals. The support base 302 is fixed to the equipment base 1 via the connecting frame 301. The base motor 3031 drives the steering seat 303 to achieve large-angle rotation in the horizontal plane, thereby driving the entire boom system to point in different directions. The auxiliary boom assembly 34 is movably inserted into both sides of the first boom 304 via the locking rail 3049. After the auxiliary boom assembly 34 is deployed, it can form a physical isolation fence on both sides of the equipment, guiding the animals to a safe passage on the side of the equipment. At the same time, it works with the inner lining column 3421 and inner cavity 3422 on the inner side of the main enclosure 342 to form a buffer energy absorption structure, preventing animals from being injured when they collide with the fence. The sub-enclosure assembly 343 adopts a telescopic fence structure that retracts in stages. When unfolded, the coverage area gradually narrows from near to far, adapting to the guidance needs of animals of different sizes. The double pulley assembly 346 and the secondary bevel gear 3461 provide synchronous transmission power for the extension and retraction of the sub-enclosure assembly 343, ensuring that the unfolding and retraction of each level of the fence are coordinated and consistent.

[0027] A first joint motor 3043 is installed at the connection between the first boom 304 and the steering seat 303. The first joint motor 3043 is a double-headed motor. A main bevel gear 3048 is fixedly connected to the other side shaft of the first joint motor 3043. A second joint motor 3044 is installed at the connection between the first boom 304 and the second boom 3041. A third joint motor 3045 is installed at the connection between the second boom 3041 and the third boom 3042.

[0028] In this embodiment, the first joint motor 3043, the second joint motor 3044, and the third joint motor 3045 are all servo motors, which act independently according to the instructions of the control unit 202, enabling the first arm rod 304, the second arm rod 3041, and the third arm rod 3042 to flexibly bend and extend in the vertical plane. Cooperating with the horizontal rotation of the steering seat 303, any positioning of the driving component 33 in the three-dimensional space is achieved, and it can accurately reach the position where the animal is located. The first joint motor 3043 adopts a double-headed motor design. The output end on one side drives the first arm rod 304 to rotate relative to the steering seat 303, and the main bevel gear 3048 fixed on the rotating shaft on the other side provides power for the fence expansion and contraction of the sub-arm component 34 through the sub-bevel gear 3461 and the double pulley group 346, realizing the linkage control of the arm rod joint movement and the fence deployment, simplifying the transmission structure and reducing the load at the end of the arm rod.

[0029] The telescopic component 31 includes: a docking member 311, which is fixedly connected to one end of the output column 3047; a fixing buckle 312, which is threadedly installed on the docking member 311; an electric telescopic rod 313, which is installed on the docking member 311; a docking end 314, which is provided at the tail end of the electric telescopic rod 313, and the electric telescopic rod 313 is inserted into the fixing buckle 312 through the docking end 314; an input rotating rod 315, which is fixedly connected to the output end of the electric telescopic rod 313; an input rod sleeve 3151, which is fixedly connected to the tail end of the input rotating rod 315; an output swinging rod 316, which is movably connected to the tail end of the input rotating rod 315; an output rod sleeve 3161, which is fixedly connected to one end of the output swinging rod 316; a fitting groove 3162, which is opened on the output rod sleeve 3161; a sleeve groove 3163, which is opened on the output rod sleeve 3161; and an inner shaft column 3164, which is fixedly connected to the fitting groove 3162.

[0030] In this embodiment, the rotating motor 3046 drives the output column 3047 to rotate, thereby带动整个伸缩组件31旋转。电动伸缩杆313通过对接端314和固定扣312的插接配合实现快速拆装,电动伸缩杆313伸缩时可以改变输入转杆315及其末端驱赶组件33的伸出长度,以适应不同距离的驱赶需求。输入杆套3151与输出杆套3161通过内轴柱3164和嵌合槽3162形成可活动的套接关系,使得输出甩杆316可相对于输入转杆315产生一定角度的摆动。

[0031] Note: There is an incomplete part in the translation of . The Chinese text "进而带动整个伸缩组件31旋转" is not fully translated in the given English content. It should be "thereby driving the entire telescopic component 31 to rotate". The corrected translation for is as follows: In this embodiment, the rotating motor 3046 drives the output column 3047 to rotate, thereby driving the entire telescopic component 31 to rotate. The electric telescopic rod 313 realizes quick disassembly and assembly through the plug-in fit between the docking end 314 and the fixing buckle 312. When the electric telescopic rod 313 expands and contracts, it can change the extension length of the input rotating rod 315 and the driving component 33 at its end to meet the driving requirements at different distances. The input rod sleeve 3151 and the output rod sleeve 3161 form a movable socket relationship through the inner shaft column 3164 and the fitting groove 3162, enabling the output swinging rod 316 to swing at a certain angle relative to the input rotating rod 315.The telescopic assembly 31 also includes: an air pump 317, which is mounted on the docking part 311; an air outlet 3171, which is located on the air pump 317; a sealing tank 3172, which is mounted on one side of the air pump 317; an inner tank 3173, which is located inside the sealing tank 3172; and an air groove 3174, which is located on the sealing tank 3172. An air nozzle 338 is also fitted into the rubber hammer sleeve 331 of the driving assembly 33, and the air nozzle 338 is connected to the air outlet 3171 of the air pump 317 via a pipeline.

[0032] In this embodiment, the air pump 317 delivers compressed air to the air nozzle 338 on the rubber hammer sleeve 331 through the air outlet 3171 and pipeline. An air groove 3174 is formed between the sealed tank 3172 and the inner tank 3173 to store and buffer the compressed gas, ensuring a stable output airflow. Harmless, irritating odor-free materials can also be placed in the inner tank 3173. During herding operations, the air nozzle 338 can spray a short burst of low-pressure airflow, which, combined with the physical pushing action of the rubber hammer head 332, assists in guiding the animal's movement in a non-contact manner. This is suitable for animals that are sensitive to contact herding, further enriching the flexibility of herding methods. Simultaneously, the air jet can further clean the rearing environment.

[0033] The drive assembly 32 includes: a cross shaft core 321, which is disposed within the input rod sleeve 3151; a shaft groove 3211, which is formed on the cross shaft core 321; two sets of journals 322 arranged in a cross pattern, which are disposed on the cross shaft core 321; a deflection motor 323, which is disposed at the bottom of one set of journals 322; an iron damping block 324, which is movably connected to the other set of journals 322; an electromagnet 325, which is installed within the other set of journals 322; a sealing ring 3251, which is disposed on the electromagnet 325; a torque seat 326, which is disposed on the outer wall of the output rod sleeve 3161; and a torsion spring 3261, which is disposed within the torsion seat 326.

[0034] In this embodiment, the deflection motor 323 drives the output swing arm 316 to generate a controllable deflection motion through the cross shaft core 321, allowing the driving component 33 to swing flexibly within a certain angle range, simulating the driving action of a human hand. The electromagnet 325 in another journal 322 can adjust the attraction force on the iron damping block 324 by changing the current strength, thereby providing adjustable damping for the rotation of the cross shaft core 321 and preventing excessive swinging from injuring the animal. The sealing ring 3251 serves as a dustproof and waterproof seal. The torsion spring 3261 in the torsion seat 326 provides a restoring force after the output rod sleeve 3161 deflects, causing the output swing arm 316 to return to the neutral position when there is no drive.

[0035] The driving component 33 includes: a rubber hammer sleeve 331, which is located at the other end of the output boom 316; a rubber hammer head 332, which is located on the rubber hammer sleeve 331; an assembly panel 333, which is installed on one side of the rubber hammer head 332; and telescopic columns 334, with two sets of telescopic columns 334 fitted onto the assembly panel 333. One set of telescopic columns 334 has a positive electrode needle 335 at its telescopic end, and the other set of telescopic columns 334 has a negative electrode needle 336 at its telescopic end. The tail ends of both the positive electrode needle 335 and the negative electrode needle 336 are linearly connected to wires 337.

[0036] In this embodiment, the rubber hammer head 332 is made of soft rubber, allowing it to directly and gently touch the animal's body, guiding the animal to move through a pushing motion and avoiding mechanical damage. When the animal is not sensitive to physical contact, the telescopic column 334 can be activated, extending the positive electrode needle 335 and the negative electrode needle 336 out of the surface of the rubber hammer head 332. The wire 337 provides a low-voltage pulse current, attracting the animal's attention through weak electrical stimulation and prompting it to actively avoid the area, thus achieving harmless deflection. The two deflection methods can be switched by the control unit 202 according to the animal species and behavior.

[0037] The auxiliary boom assembly 34 also includes: positioning bolts 3411, multiple sets of positioning bolts 3411 threadedly connected to the clamping plate 341; bearing sleeves 344, the bearing sleeves 344 are installed on both ends of one side of the main enclosure plate 342 and the auxiliary enclosure plate assembly 343; bearing balls 3441, the bearing balls 3441 are disposed inside the bearing sleeves 344; bearing rods 3442, the bearing rods 3442 are movably connected to the bearing balls 3441; and drive gears 3443, the drive gears 3443 are provided with At one end of the bearing rod 3442; a disc spring 3444, which is sleeved on the outer wall of the bearing rod 3442; an outer bushing 345, which is located on the other side of the main enclosure plate 342 and the auxiliary enclosure plate assembly 343; a shaft 3451, which is located inside the outer bushing 345; and a load gear 3452, which is fixedly connected to both ends of the shaft 3451 and meshes with the drive gear 3443. The main enclosure 342 and the secondary enclosure 343 are also equipped with an audible and visual alarm 347. An infrared array sensor 348 is installed inside the outermost enclosure of the secondary enclosure 343. The main enclosure 342 and the secondary enclosure 343 are also provided with a cleaning equipment reserved port 349, which is used to connect external auxiliary cleaning tools and suction pipes.

[0038] In this embodiment, the positioning bolt 3411 is used to lock the clamping plate 341 onto the clamping rail 3049, allowing for flexible rotation and installation / removal of the auxiliary arm assembly 34 according to the animal's size and the width of the enclosure. The bearing balls 3441 within the bearing sleeve 344 support the bearing rod 3442 for smooth rotation, driving the gear 3443 to mesh with the load gear 3452 to transmit power, causing the various levels of the auxiliary enclosure assembly 343 to smoothly extend and retract along the outer bushing 345 and shaft 3451. The disc spring 3444 provides cushioning when the enclosure retracts, preventing noise from the enclosure impact that might frighten the animals. Furthermore, during the extension process, when the auxiliary arm assembly 34 is obstructed, the meshing between the driving gear 3443 and the load gear 3452 overcomes the rebound force of the disc spring 3444, thus disconnecting the connection. This prevents damage to the transmission structure and auxiliary arm assembly 34 caused by continuous force when the auxiliary enclosure assembly 343 is obstructed during extension, further improving the applicability and practicality of the auxiliary arm assembly 34. The audible and visual alarm 347 emits a low-frequency warning sound and flashing light to warn animals before the herding operation. The infrared array sensor 348 is installed inside the outermost enclosure of the sub-enclosure assembly 343, which can detect the body temperature distribution and location of the surrounding animals in real time and feed the signal back to the control unit 202 to dynamically adjust the herding strategy. The cleaning equipment has a reserved opening 349 on the bottom plate of the main enclosure 342 and the sub-enclosure assembly 343, which can be used to connect external auxiliary cleaning tools and suction pipes, so that the auxiliary arm assembly 34 can perform ground cleaning function while isolating animals, thus expanding the multi-functional application scenarios of the equipment.

[0039] Example 2: Figures 1-7 As shown, components that are the same as or corresponding to those in Embodiment 1 are referred to using the same reference numerals as in Embodiment 1. For simplicity, only the differences from Embodiment 1 are described below. The difference between Embodiment 2 and Embodiment 1 is as follows: The cleaning mechanism 2 includes a battery 201 and a control unit 202 mounted on the equipment base 1. A moving component 203 is installed in the cleaning chamber 101. An air purification device 204 is also installed in the cleaning chamber 101. A cleaning component 206 is installed on the equipment base 1. A washing component 207 is installed on the equipment base 1. A bucket 208 is installed at the bottom of the equipment base 1.

[0040] In this embodiment, the storage battery 201 is a gel lead-acid battery or a lithium battery pack, providing power to all motors, water pumps 2073, electric heaters 2074, and control unit 202 of the entire machine. The control unit 202 has a built-in PLC or embedded motherboard, which receives remote commands via a wireless module or operates automatically according to a preset program. The air purification device 204 is equipped with an activated carbon filter and an ultraviolet germicidal lamp, which continuously draws in air from the breeding environment during the cleaning process, removing odors such as ammonia and hydrogen sulfide and killing germs, thereby improving air quality.

[0041] The moving component 203 includes a drive motor 2031 located in the cleaning chamber 101. The output end of the drive motor 2031 is connected to a drive shaft 2032 via a gear. Both ends of the drive shaft 2032 are equipped with brake discs 2033. Two sets of drive wheels 2034 are provided on the bottom rotating shaft of the equipment base 1.

[0042] In this embodiment, the drive motor 2031 is a brushless DC motor, which transmits power to the drive shaft 2032 through a gear set, driving the drive wheel 2034 to rotate, thereby realizing the forward and backward movement of the equipment. The brake disc 2033 is an electromagnetic brake structure, which automatically locks the drive shaft 2032 when the power is cut off or an emergency stop signal is triggered, ensuring that the equipment can be stably stopped when on a slope or when subjected to external impact.

[0043] A steering assembly 205 is installed inside the control room 102. The steering assembly 205 includes a steering motor 2051 installed on the control room 102. A steering drive shaft 2052 is connected to the bottom of the output end of the steering motor 2051. A monitoring device 2053 is installed on the outside of the control room 102. A steering wheel 2054 is installed under the equipment base 1.

[0044] In this embodiment, the steering motor 2051 receives navigation commands from the control unit 202 and drives the steering wheel 2054 to deflect via the steering drive shaft 2052, thereby flexibly adjusting the equipment's driving direction. The monitoring device 2053 is a high-definition wide-angle camera equipped with an infrared fill light, which can transmit real-time images of the equipment's surrounding environment back to the control room 102 or a mobile terminal, facilitating remote observation of animal status and ground cleanliness by operators.

[0045] The cleaning assembly 206 includes a cleaning motor a2061 located under the equipment base 1. A cleaning roller 2062 is movably connected to the equipment base 1. A transmission component 2063 is provided at one end of the cleaning roller 2062. The cleaning roller 2062 is connected to the output end of the cleaning motor a2061 through the transmission component 2063. Two sets of first cleaning brushes 2064 and two sets of second cleaning brushes 2065 are movably connected under the bottom beam 103. A cleaning motor b2066 is installed on both the first cleaning brushes 2064 and the second cleaning brushes 2065.

[0046] In this embodiment, the cleaning motor a2061 drives the cleaning roller 2062 to rotate at high speed via the transmission component 2063. The surface of the cleaning roller 2062 is densely covered with hard bristles or scrapers for grinding and peeling off feces and dirt adhering to the ground. The first cleaning brush 2064 and the second cleaning brush 2065 are disc brush structures, each driven by an independent cleaning motor b2066. The two sets of brushes are symmetrically arranged, which can gather residual debris on the ground towards the center for easy collection by the bucket 208.

[0047] The cleaning assembly 207 includes a water storage tank 2071 mounted on the equipment base 1. A water inlet 2072 is provided on the outside of the water storage tank 2071. A water pump 2073 is mounted on the bottom beam 103. An electric heater 2074 is provided at the water inlet end of the water pump 2073. A water pump pipe 2075 is sealed and connected to the water pump 2073. A diversion pipe 2076 is connected through the output end of the water pump pipe 2075. A hydraulic gauge 2077 is also connected through the output end of the water pump pipe 2075. Multiple sets of linearly distributed nozzles 2078 are connected through the outer wall of the diversion pipe 2076.

[0048] In this embodiment, clean water or disinfectant can be added to the water tank 2071. After the water pump 2073 is started, the liquid is heated to a suitable temperature by the electric heater 2074 to prevent freezing in winter and improve the cleaning effect. Then, it is sent to the diversion pipe 2076 through the water pumping pipe 2075, and finally sprayed evenly onto the ground in the form of a fan-shaped water curtain from multiple sets of nozzles 2078, providing high-pressure rinsing to the area cleaned by the cleaning roller 2062 and cleaning brush. The hydraulic gauge 2077 is used to monitor the pipeline pressure to prevent blockage or leakage.

[0049] The discharge port of the bucket 208 is equipped with a collection box 2081, and an auxiliary wheel 2082 is installed below the collection box 2081.

[0050] In this embodiment, the bucket 208 is close to the ground, scooping up the feces and sludge collected by the cleaning roller 2062 and cleaning brush during the movement of the equipment, and sending it into the collection box 2081 by gravity or screw conveyor. The collection box 2081 is a detachable and sealed box with auxiliary wheels 2082 at the bottom, which facilitates individual towing to the collection point for cleaning when fully loaded, reducing the intensity of manual handling.

[0051] Work steps Step 1, Preparation: Add clean water or an appropriate amount of disinfectant to the water tank 2071 through the water inlet 2072 to ensure sufficient water for a single operation. Then, connect the main power supply to the battery 201. The control unit 202 automatically performs self-checks on each subsystem: checking the communication status of the drive motor 2031, steering motor 2051, cleaning motor a2061 and each cleaning motor b2066, first joint motor 3043, second joint motor 3044, and third joint motor 3045; verifying the image signal of the monitoring equipment 2053 and the detection signal of the infrared array sensor 348; confirming that the initial pressure of the hydraulic gauge 2077 is zero and there are no leaks in the pipeline; and checking that the brake disc 2033 is in the released state. Based on the enclosure width and animal size, adjust the installation position of the clamping plate 341 on the clamping rail 3049 using the positioning bolt 3411, set the deployment spacing of the auxiliary arm assembly 34, and add an appropriate amount of harmless odor-free material through the inner tank 3173. After passing the self-inspection, the operator sets the cleaning route and the sensitivity level of the repellent through the remote monitoring terminal.

[0052] Ensure that electrical, hydraulic and mechanical faults are eliminated before the equipment is started to avoid operation interruption or loss of control; the water tank 2071 adjusts the concentration of disinfectant as needed, the battery 201 is fully charged and ready to go, and the dual verification of the monitoring equipment 2053 and the hydraulic gauge 2077 provides a comprehensive guarantee for efficient cleaning and unmanned operation; the pre-adjustment of the auxiliary arm assembly 34 enables the equipment to adapt to different enclosure environments and animal groups. Step Two, Layered Dry Cleaning Process: Control unit 202 activates moving component 203, drive motor 2031 drives drive wheel 2034 to rotate via drive shaft 2032, propelling the equipment forward at low speed along a preset path. During this process, bucket 208 first scoops up lumps of feces and bedding residue close to the ground, and uses the thrust of the equipment's forward movement to guide the waste into collection box 2081. Subsequently, cleaning motor a2061 drives cleaning roller 2062 to rotate at high speed via transmission component 2063, grinding and peeling off stubborn feces adhering to the ground through the brush bristles on the roller surface; simultaneously, four sets of cleaning motors b2066 drive two sets of first cleaning brushes 2064 and two sets of second cleaning brushes 2065 to rotate in opposite directions, gathering debris, hair, and fine particles towards the central axis of the equipment, which are then collected a second time by the rear bucket 208. Air purification device 204 is activated simultaneously at this stage, using activated carbon filter and ultraviolet lamp to adsorb and decompose odorous gases such as ammonia and hydrogen sulfide, and kill suspended germs in the air. If the equipment is connected to an external auxiliary cleaning device, the suction pipe can be connected through the cleaning device reserved port 349 on the bottom plate of the main enclosure 342 and the secondary enclosure 343 to simultaneously perform auxiliary cleaning on the fenced isolation area.

[0053] The bucket 208 first removes large solid objects, while the combined action of the cleaning roller 2062, the first cleaning brush 2064, and the second cleaning brush 2065 breaks down the layer of feces adhering to the ground, significantly improving cleaning efficiency compared to a single brush. The collection box 2081, in conjunction with the auxiliary wheel 2082, allows for the collection of waste as it is scooped up. The air purification device 204 immediately improves the air quality in the enclosure, reducing respiratory irritation for animals. The pre-reserved opening 349 in the cleaning equipment provides an interface for expanding cleaning functions, further enriching the equipment's multi-functional application scenarios. Step 3, Wet Washing Process: After dry sweeping for a distance of two vehicle lengths, control unit 202 activates washing assembly 207. Water pump 2073 draws water from water tank 2071, and the liquid water is rapidly heated to 40-60℃ by electric heater 2074. It is then forced into diversion pipe 2076 via suction pipe 2075, and finally evenly sprayed onto the swept floor in a fan-shaped high-pressure water curtain by multiple linearly arranged nozzles 2078. Hot water effectively dissolves residual grease and protein stains, and inactivates most pathogens and parasite eggs. Hydraulic gauge 2077 monitors the spray pressure in real time to ensure constant washing force. Wastewater generated during washing flows into the external drainage ditch along the slope of the ground or is treated by subsequent water suction devices, keeping the floor dry quickly.

[0054] The cleaning solution in the water tank 2071 is heated by the electric heater 2074 and then sprayed out under high pressure from the nozzle 2078, reducing the amount of residual organic matter on the ground to below the safe threshold, resulting in significant deodorization and sterilization effects. The hydraulic gauge 2077 monitors the pipeline pressure throughout the process to prevent the nozzle 2078 from clogging or bursting, making it especially suitable for areas with high hygiene requirements such as calf sheds and farrowing rooms. Hot water rinsing also reduces the amount of disinfectant used, lowering operating costs and chemical residues. Step 4, Stress-Free Determination Process: When the monitoring device 2053 detects an animal remaining on the equipment's path or about to enter the cleaning area, the control unit 202 immediately stops the cleaning equipment and activates the determination mechanism 3. First, the audible and visual alarm 347 emits a low-frequency warning sound and flashing lights to warn the animal. Simultaneously, the base motor 3031 adjusts the position of the steering seat 303, and the first joint motor 3043 drives the first arm 304 to rotate. At the same time, through the main bevel gear 3048 on its other side shaft, the auxiliary arm assembly 34 is extended via the secondary bevel gear 3461 and the double pulley group 346. The bearing balls 3441 in the bearing sleeve 344 support the bearing rod 3442 to rotate smoothly, driving the gear column 3443 to mesh with the load gear column 3452 to transmit power, causing the auxiliary enclosure assembly 343 to smoothly extend and retract outward along the outer bushing 345 and the shaft 3451, forming a gradually contracting physical isolation enclosure. This establishes a safe guidance channel on both sides of the equipment, guiding the animal to the side in an orderly manner. If the auxiliary enclosure assembly 343 encounters an animal's body obstruction during deployment, the meshing force between the drive toothed column 3443 and the load toothed column 3452 overcomes the rebound force of the disc spring 3444, thus disconnecting the connection and preventing continuous stress that could damage the transmission structure or the auxiliary arm assembly 34. After deployment, the infrared array sensor 348 detects the body temperature distribution and orientation of the surrounding animals in real time and feeds the signal back to the control unit 202 to dynamically adjust the driving strategy. The first joint motor 3043, the second joint motor 3044, and the third joint motor 3045 work together to bend the first arm 304, the second arm 3041, and the third arm 3042, positioning the rubber hammer head 332 without impact above the animal's shoulder or buttocks. For docile animals, the rotary motor 3046, in conjunction with the deflection motor 323, drives the rubber hammer 332 at the end of the output lever 316 to gently push the animal's body with low-frequency, small-amplitude movements, guiding it to retreat. Simultaneously, the air pump 317 delivers compressed air to the air nozzle 338 through the air outlet 3171, buffered by the air groove 3174, spraying a brief, low-pressure, harmless, and irritating airflow to assist in driving the animal away. For sluggish or lying-down individuals, the control unit 202 commands the telescopic column 334 to extend, allowing the positive electrode needle 335 and negative electrode needle 336 to lightly touch the skin. A pulse current below the animal's pain threshold is output through the wire 337, generating a brief tingling sensation to prompt the animal to stand and move. During the driving process, the electromagnet 325 dynamically adjusts the damping force of the iron damping block 324, and the torsion spring 3261 within the torsion seat 326 gently returns to its original position, preventing the output lever 316 from overshooting and startling the animal. Sealing ring 3251 protects electromagnet 325 from moisture corrosion in humid environments; The audible and visual alarm 347 provides early warning to reduce sudden stress on animals. The progressively retractable fence structure formed by the unfolding of the auxiliary arm assembly 34 guides animals orderly to the safe passage on the side of the equipment. The inner lining columns 3421 and inner cavity 3422 on the inner side of the main enclosure 342 form a buffer and energy absorption protection. The disc spring 3444 has an overload protection design to prevent damage to the transmission structure. The infrared array sensor 348 provides real-time feedback on the animal's position, enabling dynamic and precise herding. The rubber hammer sleeve 331 and rubber hammer head 332 provide flexible physical contact, and the air pump 317 works in conjunction with the air nozzle. The 338 jet airflow assists in driving the animal away in a non-contact manner. The micro-electric stimulation thresholds of the positive electrode needle 335 and the negative electrode needle 336 are adjustable. Multiple driving methods work together to effectively guide the animal to a different location while avoiding stress reactions caused by mechanical hitting or excessive electric shock, thus ensuring animal welfare. The cross shaft 321 and journal 322, together with the deflection motor 323 and electromagnet 325, achieve precise damping control of the output swing arm 316, making the driving action gentle and controllable. The transition between driving and cleaning operations is smooth, and the entire machine operates continuously. Step 5, Centralized Sewage Discharge Process: When the volume sensor inside the collection box 2081 sends a full-load signal or the preset workload is completed, the control unit 202 terminates the cleaning and deflecting functions. The auxiliary arm assembly 343 of the auxiliary arm assembly 34 retracts under the reverse drive of the double pulley assembly 346, and the disc spring 3444 provides cushioning when the enclosure retracts to prevent noise from the enclosure impact. The equipment is driven by the moving assembly 203 to return to the base station along the shortest path. After parking, the brake disc 2033 automatically locks the drive shaft 2032, and the drive wheel 2034 remains braked. The operator pulls the collection box 2081 and uses the bottom auxiliary wheels 2082 to transport it separately to the sewage collection pool or composting site to unload the sewage, and then uses clean water or a high-pressure water gun to rinse the inside of the box. Simultaneously, the drain valve at the bottom of the water tank 2071 is opened to drain the residual liquid, the scale on the surface of the nozzle 2078 is wiped off, and clean water is added through the water inlet 2072 to circulate and flush the pipeline, cleaning the air outlet 3171 of the air pump 317 and the pipeline of the air nozzle 338. Finally, the operation video and detection data stored in the monitoring equipment 2053 and the infrared array sensor 348 are retrieved to evaluate animal behavior and cleaning effectiveness.

[0055] When the secondary enclosure assembly 343 is retracted, the disc spring 3444 provides cushioning and noise reduction. The collection box 2081, in conjunction with the auxiliary wheel 2082, achieves a fully enclosed transport chain, preventing secondary spillage and pollution. The cooperation between the brake disc 2033 and the drive shaft 2032 ensures that the equipment can be stably parked at the base station. The centralized sewage discharge and rapid cleaning design significantly shortens the preparation time after a single operation, allowing the equipment to be quickly put into the next cycle, extending its overall service life and maintaining a high level of biosafety.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An animal husbandry environment cleaning apparatus comprising an apparatus base (1), characterised in that, It also includes a cleaning chamber (101), a control chamber (102) and a bottom beam (103) on the equipment base (1), and the equipment base (1) is also provided with a cleaning mechanism (2) and a driving mechanism (3). The driving mechanism (3) includes a connecting base frame (301) located at one end of the equipment base (1), a support base (302) fixedly connected to the connecting base frame (301), a steering seat (303) movably connected to the support base (302), a base motor (3031) installed inside the support base (302), a first arm (304) movably connected to the steering seat (303), a second arm (3041) movably connected to the tail end of the first arm (304), and a third arm (3041) movably connected to the tail end of the second arm (3041). 3042), a rotary motor (3046) is installed at the tail end of the third arm (3042), an output column (3047) is fixedly connected to the output end of the rotary motor (3046), a telescopic component (31) is provided at one end of the output column (3047), a drive component (32) is provided on the telescopic component (31), a driving component (33) is provided at the tail end of the telescopic component (31), a retaining rail (3049) is fixedly connected to both sides of the first arm (304), and a secondary arm component (34) is movably inserted into both sets of retaining rails (3049).

2. An animal housing environment cleaning apparatus according to claim 1, wherein The auxiliary boom assembly (34) includes: a clamping plate (341), which is movably inserted into the clamping rail (3049); and a main enclosure plate (342), which is fixedly connected to the clamping plate (341) and is the innermost enclosure plate. The inner lining column (3421) is disposed on the inner wall of the main enclosure plate (342); the inner cavity (3422) is opened inside the main enclosure plate (342); the secondary enclosure plate group (343) is movably connected to the outside of the main enclosure plate (342), and the secondary enclosure plate group (343) is composed of multiple fences nested in sequence, and the size of each fence extends outward in a gradually decreasing manner, forming a telescopic fence structure that shrinks step by step; the double pulley group (346) is disposed below the connection between the main enclosure plate (342) and the secondary enclosure plate group (343); the secondary bevel gear (3461) is disposed below the double pulley group (346) of the main enclosure plate (342).

3. The animal housing environment cleaning apparatus of claim 1, wherein, The cleaning mechanism (2) includes a battery (201) and a control unit (202) mounted on the equipment base (1). A moving component (203) is provided in the cleaning chamber (101). An air purification device (204) is also provided in the cleaning chamber (101). A cleaning component (206) is provided on the equipment base (1). A washing component (207) is provided on the equipment base (1). A bucket (208) is provided at the bottom of the equipment base (1). The moving component (203) includes a drive motor (2031) located in the cleaning chamber (101). The output end of the drive motor (2031) is connected to a drive shaft (2032) by a gear. Brake discs (2033) are provided at both ends of the drive shaft (2032). Two sets of drive wheels (2034) are provided on the bottom rotating shaft of the equipment base (1). The control room (102) is equipped with a steering assembly (205), which includes a steering motor (2051) installed on the control room (102). The bottom of the output end of the steering motor (2051) is connected to a steering drive shaft (2052). A monitoring device (2053) is installed on the outside of the control room (102). A steering wheel (2054) is installed under the device base (1).

4. An animal housing environment cleaning apparatus as claimed in claim 3, wherein, The cleaning assembly (206) includes a cleaning motor a (2061) located under the equipment base (1). A cleaning roller (2062) is movably connected under the equipment base (1). A transmission component (2063) is provided at one end of the cleaning roller (2062). The cleaning roller (2062) is connected to the output end of the cleaning motor a (2061) through the transmission component (2063). Two sets of first cleaning brushes (2064) and two sets of second cleaning brushes (2065) are movably connected under the bottom beam (103). A cleaning motor b (2066) is installed on both the first cleaning brush (2064) and the second cleaning brush (2065).

5. An animal housing environment cleaning apparatus according to claim 3, wherein The cleaning assembly (207) includes a water tank (2071) on the equipment base (1), a water inlet (2072) on the outside of the water tank (2071), a water pump (2073) on the bottom beam (103), an electric heater (2074) on the water inlet end of the water pump (2073), a water pump (2075) sealed to the water pump (2073), a diversion pipe (2076) through the output end of the water pump (2075), a hydraulic gauge (2077) through the output end of the water pump (2075), and multiple sets of linearly distributed nozzles (2078) through the outer wall of the diversion pipe (2076).

6. The animal-housing environment cleaning apparatus according to claim 1, wherein A first joint motor (3043) is installed at the connection between the first boom (304) and the steering seat (303). The first joint motor (3043) is a double-headed motor. A main bevel gear (3048) is fixedly connected to the other side shaft of the first joint motor (3043). A second joint motor (3044) is installed at the connection between the first boom (304) and the second boom (3041). A third joint motor (3045) is installed at the connection between the second boom (3041) and the third boom (3042).

7. The animal-housing environment cleaning apparatus according to claim 1, wherein The telescopic assembly (31) includes: a docking member (311), which is fixedly connected to one end of the output column (3047); a fixing buckle (312), which is threaded onto the docking member (311); an electric telescopic rod (313), which is mounted on the docking member (311); a docking end (314), which is located at the tail end of the electric telescopic rod (313), and the electric telescopic rod (313) is inserted into the fixing buckle (312) through the docking end (314); and an input rotating rod (315), which is fixedly connected to the output of the electric telescopic rod (313). End; Input rod sleeve (3151), the input rod sleeve (3151) is fixedly connected to the tail end of the input rotating rod (315); Output swing rod (316), the output swing rod (316) is movably connected to the tail end of the input rotating rod (315); Output rod sleeve (3161), the output rod sleeve (3161) is fixedly connected to one end of the output swing rod (316); Fitting groove (3162), the fitting groove (3162) is opened on the output rod sleeve (3161); Sleeve groove (3163), the sleeve groove (3163) is opened on the output rod sleeve (3161); Inner shaft column (3164), the inner shaft column (3164) is fixedly connected in the fitting groove (3162).

8. An animal housing environment cleaning apparatus as claimed in claim 7, wherein, The telescopic assembly (31) further includes: an air pump (317) mounted on the docking part (311); an air outlet (3171) located on the air pump (317); a sealing tank (3172) mounted on one side of the air pump (317); an inner tank (3173) located inside the sealing tank (3172); an air groove (3174) located on the sealing tank (3172); and an air nozzle (338) fitted onto the rubber hammer sleeve (331) of the driving assembly (33), the air nozzle (338) being connected to the air outlet (3171) of the air pump (317) via a pipeline.

9. An animal housing environment cleaning apparatus according to claim 7, wherein The drive assembly (32) includes: a cross shaft (321) disposed within the input rod sleeve (3151); a shaft groove (3211) formed on the cross shaft (321); two sets of journals (322) arranged in a cross pattern disposed on the cross shaft (321); a deflection motor (323) disposed at the bottom of one set of journals (322); and an iron damping block (324). Mass damping block (324) is movably connected to another set of journals (322); electromagnet (325) is installed in the other set of journals (322); sealing ring (3251) is provided on the electromagnet (325); torque seat (326) is provided on the outer wall of the output rod sleeve (3161); torsion spring (3261) is provided in the torque seat (326).

10. The animal-housing environment cleaning apparatus according to claim 7, wherein The driving component (33) includes: a rubber hammer sleeve (331), which is located at the other end of the output boom (316); a rubber hammer head (332), which is located on the rubber hammer sleeve (331); an assembly panel (333), which is installed on one side of the rubber hammer head (332); and telescopic columns (334), two sets of telescopic columns (334) are fitted onto the assembly panel (333). One set of telescopic columns (334) has a positive electrode needle (335) at its telescopic end, and the other set of telescopic columns (334) has a negative electrode needle (336) at its telescopic end. The tail ends of the positive electrode needle (335) and the negative electrode needle (336) are both linearly connected to wires (337).

Images