Automatic steering visual manure scraping mechanism

Abstract

The utility model discloses an automatic steering visual manure scraping mechanism which comprises a fixing frame arranged on the ground of a cowshed and a control cabinet arranged on the wall face of the cowshed, a sliding groove is formed in the upper surface of the fixing frame, a sliding seat is arranged in the sliding groove in a sliding mode, a manure scraping plate is arranged on the lower side of the sliding seat, and the position of the manure scraping plate is detected through an industrial camera. When the manure scraping plate moves to the steering position, a corresponding picture is shot by the industrial camera and is compared with a picture stored in a system in the control cabinet to judge that steering is needed, then the control cabinet controls the driving device to drive the manure scraping plate to automatically steer, and when the manure scraping plate moves to the steering position at the other end, the industrial camera shoots the corresponding picture. According to the automatic turning device, turning is judged by comparing images stored in a system in a control cabinet, the driving device is controlled to drive the manure scraping plate to automatically turn or stop moving, automatic turning of the manure scraping plate is achieved in a visual detection and automatic control mode, and compared with a traditional spring collision mode, the manure scraping mechanism can be prevented from being damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of animal husbandry, in particular to an automatic steering visual manure scraping mechanism. Background Art

[0002] In centralized pasture farming, the manure scraper is the most important manure cleaning and collection equipment in the cowshed. It is widely used in cowsheds on various pastures. The manure scraper can work for a long time and can collect the cow manure in the manure channel to the manure collection channel on one side of the cowshed in time, thereby keeping the manure channel in the cowshed clean. The use of the manure scraper not only keeps the cowshed clean, but also greatly improves the manure cleaning efficiency and reduces labor costs.

[0003] The common manure scraper is basically composed of a motor reducer and its fixing frame, sprocket, manure scraper assembly, conveyor chain, impact spring, corner wheel and other steel accessories with a manure scraper control cabinet, of which the manure scraper control cabinet is the core of the manure scraper. The manure scraper control cabinet can control the forward and reverse rotation of the motor reducer to drive the movement of the sprocket conveyor chain installed on the output shaft of the motor reducer, so as to realize the repeated movement of the manure scraper assembly on the manure chute of the cowshed to complete the repeated manure cleaning operation of the manure chute.

[0004] At present, the manure scraper control cabinet on the market is mainly composed of a frequency converter and a PLC / single-chip microcomputer module. The PLC is connected to the manure scraper motor reducer through the frequency converter. The operation of the manure scraper motor reducer is controlled by setting the time. At the same time, the normal operation of the manure scraper is judged by the running current. When the current is too large, an alarm will be issued or the motor will be reversed. This conventional control cabinet must realize the reversal or alarm function when the manure scraper is overloaded. It has the following disadvantages: when the manure scraper runs to the end and needs to be reversed, the manure scraper assembly needs to collide violently with the impact spring set at the end, and then the overload current of the motor reducer increases to achieve reversal. This method will cause a high damage rate of the impact spring and the transmission chain. Generally, the impact spring is fixed to the ground of the cowshed by expansion bolts. The long-term operation of the manure scraper will cause the expansion bolts at the impact spring to be damaged, and there will be risks such as the manure scraper assembly hitting the corner wheel and the transmission chain breaking, which will lead to high maintenance costs in the later stage of the ranch. To this end, we propose an automatic steering visual manure scraper mechanism. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the existing defects and provide an automatic steering visual manure scraper mechanism, which realizes the automatic steering of the manure scraper plate through automatic control. Compared with the traditional spring collision method, it can avoid damage to the manure scraper mechanism, greatly reduce the maintenance cost, and can effectively solve the problems in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an automatic steering visual manure scraping mechanism, comprising a fixed frame arranged on the ground of a cowshed and a control cabinet arranged on the wall of the cowshed, a slide groove is provided on the upper surface of the fixed frame, a sliding seat is slidably arranged in the slide groove, a manure scraping plate is arranged on the lower side of the sliding seat, a driving device for driving the sliding seat to slide in the slide groove is arranged on the fixed frame, a camera bracket is also arranged on the ground of the cowshed, and an industrial camera electrically connected to the control cabinet is installed on the camera bracket.

[0007] As a preferred technical solution of the utility model, two fixing seats are symmetrically arranged on the upper surface of the fixing frame, and a proximity switch electrically connected to the control cabinet is installed on the surface of the fixing seat on one side facing the middle of the fixing frame.

[0008] As a preferred technical solution of the utility model, the driving device includes a reduction motor arranged on the outer surface of the fixed frame, the output shaft of the reduction motor penetrates into the slide groove and is connected to a driving screw rotatably arranged in the slide groove through a coupling, and the driving screw is threadedly connected to a screw hole opened on the sliding seat.

[0009] As an optimal technical solution of the utility model, a fixed column is installed on the lower surface of the sliding seat, a groove is provided on the lower surface of the fixed column, a spring is provided in the groove, and a connecting column is slidably provided in the groove, the top of the connecting column is fixedly connected to the spring, a card groove is provided on the lower surface of the connecting column, and the manure scraper is carded in the card groove.

[0010] As a preferred technical solution of the utility model, the side surface of the manure scraper plate and the side surface of the connecting column are both provided with screw holes, and the inner threads of the screw holes are connected with fixing bolts.

[0011] As a preferred technical solution of the utility model, two mounting seats are symmetrically arranged at both ends of the upper surface of the fixing frame, and a distance measuring sensor is installed on the surface of the mounting seat facing the sliding seat, and the distance measuring sensor is electrically connected to the control cabinet.

[0012] As a preferred technical solution of the present utility model, the control cabinet is electrically connected to a camera installed on the wall of the cowshed.

[0013] As a preferred technical solution of the present invention, a wireless transmission module is provided in the control cabinet, and the control cabinet is wirelessly connected to the cloud server via the wireless transmission module.

[0014] Compared with the prior art, the beneficial effects of the utility model are as follows: the position of the scraper board is detected by an industrial camera, and when the scraper board moves to the turning position, the corresponding picture is photographed by the industrial camera, and compared with the picture stored in the system in the control cabinet to determine the need for turning, and then the control cabinet controls the driving device to drive the scraper board to automatically turn, and when the scraper board moves to the turning position at the other end, the corresponding picture is also photographed by the industrial camera, and compared with the picture stored in the system in the control cabinet to determine the need for turning, and then the control cabinet controls the driving device to drive the scraper board to automatically turn or stop moving. The automatic steering of the scraper board is achieved by visual detection and automatic control. Compared with the traditional spring collision method, damage to the scraper mechanism can be avoided, and the maintenance cost is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is a side view structural schematic diagram of the utility model;

[0017] Figure 3 It is a schematic diagram of the top structure of the utility model.

[0018] In the figure: 1 fixed frame, 2 slide, 3 drive screw, 4 reduction motor, 5 sliding seat, 6 fixed column, 7 connecting column, 8 manure scraper, 9 fixing bolt, 10 groove, 11 spring, 12 fixed seat, 13 proximity switch, 14 mounting seat, 15 distance sensor, 16 control cabinet, 17 camera, 18 cloud server, 19 manure collection channel, 20 industrial camera. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] See also Figure 1-3The utility model provides a technical solution: an automatic steering visual manure scraper mechanism, comprising a fixed frame 1 arranged on the ground of a cowshed and a control cabinet 16 arranged on the wall of the cowshed. The control cabinet 16 is similar to a traditional manure scraper control cabinet, and is mainly composed of a frequency converter and a PLC / single-chip microcomputer module. A slide groove 2 is opened on the upper surface of the fixed frame 1, and a sliding seat 5 is slidingly arranged in the slide groove 2. A manure scraper plate 8 is arranged on the lower side of the sliding seat 5. A driving device for driving the sliding seat 5 to slide in the slide groove 2 is arranged on the fixed frame 1. The control cabinet 16 controls the driving device to drive the sliding seat 5 to slide in the slide groove 2, thereby driving the manure scraper plate 8 to move, and collects the cow manure in the manure channel into the manure collection channel 19 on one side of the cowshed, thereby keeping the manure channel in the cowshed clean.

[0021] A camera bracket is also provided on the ground of the cowshed, on which is installed an industrial camera 20 electrically connected to the control cabinet 16. The industrial camera 20 is used to assist in the reversing of the manure scraper 8. Specifically, in the traditional manure scraper system, the frequency converter in the common manure scraper control cabinet can be retained, and the common PLC / single-chip microcomputer module can be replaced with a visual manure scraper control box, and a POE switch can be added; the visual manure scraper control box in the control cabinet 16 is connected to the driving device of the manure scraper through the frequency converter, and the visual manure scraper control box controls the frequency converter by inputting instructions to realize the control of the driving device, thereby realizing the daily manure cleaning operation of the manure scraper, and the visual manure scraper control box will read the operating data of the frequency converter in real time.

[0022] The visual manure scraper control box is connected to two industrial cameras 20 via a network cable and a POE switch. When the scraper plate 8 of the manure scraper runs to the reversing end away from one end of the manure collection channel 19, one end of the manure scraper enters the recognition area of ​​the industrial camera 20, and the visual manure scraper control box sends a reversing command to the frequency converter to achieve reversing.

[0023] Preferably, two fixing seats 12 are symmetrically arranged on the upper surface of the fixing frame 1, and a proximity switch 13 electrically connected to the control cabinet 16 is installed on the side surface of the fixing seat 12 facing the middle of the fixing frame 1. The proximity switch 13 can be used instead of the industrial camera 20. The fixing seat 12 is installed at the steering position of the scraper 8. When the scraper 8 moves to the steering position, the proximity switch 13 is triggered, and the control cabinet 16 controls the driving device to drive the scraper 8 to automatically turn. When the scraper 8 moves to the steering position at the other end, it will trigger another proximity switch 13, and turn again or stop moving under the control of the control cabinet 16. The automatic steering of the scraper 8 is realized by automatic control. Compared with the traditional spring collision method, damage to the scraper mechanism can be avoided, and the maintenance cost is greatly reduced.

[0024] One of the preferred technical solutions is that the driving device includes a reduction motor 4 arranged on the outer surface of the fixed frame 1, the output shaft of the reduction motor 4 penetrates into the slide groove 2 and is connected with the driving screw 3 rotatably arranged in the slide groove 2 through a coupling, the driving screw 3 is threadedly connected with the screw hole opened on the sliding seat 5, the reduction motor 4 drives the sliding seat 5 to move in the slide groove 2 through the driving screw 3, thereby driving the scraper 8 to move to clean the feces on the floor of the cowshed, and the control cabinet 16 controls the forward and reverse rotation of the reduction motor 4 to control the direction of the scraper 8.

[0025] The drive device can also be in the form of a rodless cylinder or a linear motor.

[0026] A preferred technical solution is that two mounting seats 14 are symmetrically arranged at both ends of the upper surface of the fixing frame 1, and a distance sensor 15 is installed on the surface of the mounting seat 14 facing the sliding seat 5. The distance sensor 15 is electrically connected to the control cabinet 16. The distance sensor 15 can accurately detect the distance between the sliding seat 5 and the corresponding mounting seat 14, and the position of the sliding seat 5 can be more accurately located by the two distance sensors 15 at both ends, thereby locating the position of the manure scraper 8. In conjunction with the proximity switch 13, the accuracy of the steering control can be further improved to avoid damage to the manure scraper device.

[0027] The preferred technical solution is that the control cabinet 16 is electrically connected to a camera 17 installed on the wall of the cowshed. The camera 17 is used to remotely monitor the interior of the cowshed, so that the staff can remotely observe whether the operation of the manure scraping mechanism is normal. When an abnormal situation occurs, they can rush to the scene in time for maintenance operations, thereby avoiding the situation where the manure scraping mechanism is abnormal and the staff fails to repair it in time, resulting in a bad environment in the cowshed.

[0028] A further preferred technical solution is that a wireless transmission module is provided in the control cabinet 16, such as a commonly used Wi-Fi module or a 5G communication module or a 4G communication module, etc. The control cabinet 16 is wirelessly connected to the cloud server 18 through the wireless transmission module, and the inverter operation data can be uploaded to the cloud server. The staff can remotely view it through a computer or wireless terminal such as a mobile phone, PAD and other devices, so as to grasp the working status of the manure scraping mechanism in real time. At the same time, with the cooperation of the camera 17, the on-site situation can be checked in time when an abnormality occurs, thereby ensuring the normal operation of the cowshed.

[0029] The reduction motor 4, splicing switch 13, ranging sensor 15, camera 17, cloud server 18, wireless transmission module, frequency converter, etc. used in this application are all electrically connected to the PLC / single-chip microcomputer module. The methods of controlling the reduction motor 4, splicing switch 13, ranging sensor 15, camera 17, cloud server 18, wireless transmission module, frequency converter, etc. by the PLC / single-chip microcomputer module are all commonly used methods in the prior art, and the above-mentioned devices are all commonly used electronic components in the prior art. Their specific structures, working principles and circuit connections are all well-known technologies and will not be described in detail here.

[0030] The preferred technical solution is that a fixing column 6 is installed on the lower surface of the sliding seat 5, and a groove 10 is provided on the lower surface of the fixing column 6. A spring 11 is provided in the groove 10, and a connecting column 7 is slidably provided in the groove 10. The top of the connecting column 7 is fixedly connected to the spring 11, and a card groove is provided on the lower surface of the connecting column 7. The dung scraper 8 is carded in the card groove. Under the gravity of the dung scraper 8, the connecting column 7 is located at the bottom end of the groove 10. At this time, the dung scraper 8 can contact the ground, thereby pushing the cow dung on the ground into the dung collection channel 19; when there is relatively fixed dirt on the ground that is not easy to remove, the dung scraper 8 will be hindered. At this time, the connecting column 7 can move upward into a part of the groove 10, thereby raising the height of the dung scraper 8 to avoid it being blocked at the dirt and unable to move, affecting the scraping work or damaging the driving device, etc. After passing through the dirt, it can move downward to its original position under the action of the spring 11 and gravity to continue the dung scraping operation on the ground.

[0031] A preferred technical solution is that screw holes are provided on the side surfaces of the scraper plate 8 and the connecting column 7, and fixing bolts 9 are threadedly connected to the screw holes. The scraper plate 8 is installed in the slot of the connecting column 7 through the fixing bolts 9, which is convenient for disassembly and assembly, and easy for maintenance and replacement.

[0032] The undisclosed parts in the present utility model are all prior art, and their specific structures, materials and working principles are not described in detail. Although the embodiments of the present utility model have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present utility model, and the scope of the present utility model is defined by the attached claims and their equivalents.

Claims

1. An automatic steering visual manure scraping mechanism, comprising a fixing frame (1) arranged on the floor of a cowshed and a control cabinet (16) arranged on the wall of the cowshed, characterized in that: The upper surface of the fixed frame (1) is provided with a slide groove (2), a sliding seat (5) is slidably arranged in the slide groove (2), a manure scraping plate (8) is arranged on the lower side of the sliding seat (5), and a driving device for driving the sliding seat (5) to slide in the slide groove (2) is arranged on the fixed frame (1). A camera bracket is also arranged on the floor of the cowshed, and an industrial camera (20) electrically connected to the control cabinet (16) is installed on the camera bracket.

2. The automatic steering visual manure scraping mechanism according to claim 1, characterized in that: Two fixing seats (12) are symmetrically arranged on the upper surface of the fixing frame (1), and a proximity switch (13) electrically connected to the control cabinet (16) is installed on a surface of the fixing seat (12) on one side facing the middle of the fixing frame (1).

3. The automatic steering visual manure scraping mechanism according to claim 1, characterized in that: The driving device comprises a reduction motor (4) arranged on the outer surface of the fixing frame (1); the output shaft of the reduction motor (4) penetrates into the slide groove (2) and is connected to a driving screw (3) rotatably arranged in the slide groove (2) through a coupling; the driving screw (3) is threadedly connected to a screw hole provided on the sliding seat (5).

4. The automatic steering visual manure scraping mechanism according to claim 1, characterized in that: A fixing column (6) is installed on the lower surface of the sliding seat (5), a groove (10) is provided on the lower surface of the fixing column (6), a spring (11) is provided in the groove (10), and a connecting column (7) is slidably provided in the groove (10), the top end of the connecting column (7) is fixedly connected to the spring (11), and a clamping groove is provided on the lower surface of the connecting column (7), and the manure scraping plate (8) is clamped in the clamping groove.

5. The automatic steering visual manure scraping mechanism according to claim 4, characterized in that: The side surface of the manure scraper (8) and the side surface of the connecting column (7) are both provided with screw holes, and fixing bolts (9) are threadedly connected in the screw holes.

6. The automatic steering visual manure scraping mechanism according to claim 1, characterized in that: Two mounting seats (14) are symmetrically arranged at both ends of the upper surface of the fixing frame (1), and a distance measuring sensor (15) is installed on a surface of the mounting seat (14) facing the sliding seat (5), and the distance measuring sensor (15) is electrically connected to the control cabinet (16).

7. The automatic steering visual manure scraping mechanism according to claim 1, characterized in that: The control cabinet (16) is electrically connected to a camera (17) installed on the wall of the cowshed.

8. An automatic steering visual manure scraping mechanism according to any one of claims 1 to 7, characterized in that: A wireless transmission module is provided in the control cabinet (16), and the control cabinet (16) is wirelessly connected to the cloud server (18) via the wireless transmission module.

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