Feces cleaning and collecting mechanism and cowshed cleaning and sterilizing robot

Abstract

The utility model discloses an excrement cleaning and collecting mechanism and a cowshed cleaning and killing robot, and belongs to the technical field of robots, the excrement cleaning and collecting mechanism comprises a machine body, a sensing and detecting mechanism, a cleaning mechanism, a killing mechanism and a controller, the sensing and detecting mechanism is arranged on the front side of the machine body and used for sensing whether a cleaning target exists in an operation range or not; the cleaning mechanism is arranged below the sensing and detecting mechanism and is used for collecting and removing the target; the sterilizing mechanism is arranged on the rear side of the machine main body; the controller is in signal connection with the cleaning mechanism, the sensing and detecting mechanism and the disinfecting and killing mechanism. The machine body comprises a walking mechanism, a protection mechanism and a support assembly, and the protection mechanism is detachably connected to the upper portion of the walking mechanism and matched with the outer edge of the upper portion of the walking mechanism. The problems of efficiency, accuracy, system integration, maintenance convenience and energy consumption existing in cowshed cleaning and disinfecting operation in the prior art are solved. The device has the advantages of high efficiency, automation and accurate control.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a manure collection mechanism and a cowshed cleaning and disinfecting robot. Background Art

[0002] In the context of the current transformation of animal husbandry towards scale and modernization, the traditional family-style small-scale cattle farming model is gradually being replaced by large-scale centralized farming. This transformation has brought about an urgent need for efficient and automated farming equipment, especially in the field of cattle shed cleaning and disinfection. In large-scale farming, manual manure cleaning is not only inefficient and difficult to meet the daily operation needs of modern ranches, but also with the general improvement of environmental awareness, the effective collection and resource utilization of pollutants such as manure has become an important part of ranch management.

[0003] However, the traditional manual or semi-mechanized manure cleaning methods can no longer adapt to this change, and innovative solutions are urgently needed. Although a variety of cowshed cleaning robots have appeared on the market, these products generally have some limiting factors that hinder their widespread popularity. First, many robot designs require cowsheds to be equipped with special slatted floors, which often means high initial renovation investment, limiting their scope of application. Secondly, existing mechanized manure cleaning equipment often has high operating costs and is limited to the milking time of the herd. It cannot operate frequently, making it difficult to maintain the cleanliness of the cowshed continuously. In addition, these devices are large in size and noisy, which may not only cause stress reactions to cattle and reduce their production performance, but also lack flexibility and economy. More importantly, most existing equipment fails to integrate disinfection functions and cannot meet the normal needs of animal husbandry for disease prevention and control, especially in the face of new outbreaks. This defect is particularly prominent.

[0004] Therefore, the development of a manure collection and cattle shed cleaning and disinfection robot that integrates efficient automation, precise sensing and intelligent control technology has become an important breakthrough in improving livestock production efficiency, ensuring animal health and promoting environmental sustainability. Utility Model Content

[0005] To this end, the utility model provides a manure collection mechanism and a cowshed cleaning and disinfection robot to solve the efficiency, accuracy, system integration, maintenance convenience and energy consumption problems in the prior art in cowshed cleaning and disinfection operations.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] According to a first aspect of the utility model, a feces collection mechanism is provided, comprising:

[0008] Machine body;

[0009] A sensing and detection mechanism, arranged at the front side of the machine body, for sensing whether there is a removal target within the operating range;

[0010] A cleaning mechanism, disposed below the sensing and detecting mechanism, for collecting and cleaning targets;

[0011] A disinfection mechanism, arranged at the rear side of the machine body; and

[0012] The controller is respectively connected with the cleaning mechanism, the sensing and detecting mechanism, and the disinfection mechanism by signals.

[0013] Furthermore, the machine body comprises:

[0014] Walking mechanism;

[0015] A protection mechanism, which is detachably connected to the upper portion of the walking mechanism and fits with the upper outer edge of the walking mechanism; and

[0016] The support assembly is fixed to the upper part of the walking mechanism, and the support assembly is installed in the inner cavity of the protection mechanism.

[0017] Furthermore, the cleaning mechanism comprises:

[0018] A hanging shaft is fixed to the bracket assembly through an end cover, and a connecting head corresponding to the feces collecting assembly and the watering assembly is provided on the hanging shaft;

[0019] A feces collecting component, one end of which is sleeved under the hanging shaft and the other end of which extends to the front end of the machine body; and

[0020] A watering assembly has one end connected to the lower side of the hanging shaft and the other end installed on the upper side of the protective mechanism.

[0021] Furthermore, the disinfecting mechanism comprises:

[0022] A disinfection water tank, disposed in the inner cavity of the protection mechanism and fixed on the walking mechanism; and

[0023] A disinfection nozzle is connected to the disinfection water tank through a pipeline, and the disinfection nozzle is arranged behind the walking mechanism.

[0024] Furthermore, the sensing and detection mechanism comprises:

[0025] An infrared detection device, disposed on the left side of the front end of the bracket assembly; and

[0026] The ultrasonic sensing component comprises an ultrasonic sensor and an ultrasonic bracket. The ultrasonic sensing component is arranged on the right side of the front end of the bracket component.

[0027] Furthermore, the feces collecting component includes a feces storage bin and a scraper, the feces storage bin is arranged below the hanging shaft, and the scraper is connected to the feces storage bin through a pipeline arranged in the middle of the scraper.

[0028] Furthermore, the sprinkler assembly includes a water storage tank and a sprinkler head, the water storage tank is arranged below the hanging shaft, the sprinkler head is arranged in the middle of the front end of the bracket assembly, and the sprinkler head is connected to the upper end of the water storage tank through a sprinkler pipe.

[0029] Furthermore, the walking mechanism comprises:

[0030] A base is arranged at the center of the walking mechanism, and the base is located below the protective mechanism;

[0031] At least two sets of running wheels, which are symmetrically arranged on both sides of the base and are rotatably connected to the motor; and

[0032] There is at least one set of supporting legs, with anti-collision wheels arranged at the bottom, and the supporting legs are symmetrically arranged in front of the base.

[0033] Furthermore, the bracket assembly includes an upper bracket and a lower bracket, the lower bracket is flatly fixed on the base, the upper bracket is arranged in the middle of the lower bracket, and the upper bracket is detachably connected to the hanging shaft.

[0034] According to the second aspect of the utility model, a cattle shed cleaning and disinfection robot is provided, comprising the above-mentioned manure collection mechanism, and also comprising a battery, wherein the battery is fixed above the base, and the battery is located on the rear side of the upper bracket.

[0035] The utility model has the following advantages:

[0036] 1. This application integrates precise sensing and detection mechanisms, and uses infrared detection devices and ultrasonic sensing components to accurately sense the cleaning targets within the operating range, realizing automatic target recognition and positioning. Combined with an intelligent controller, it can intelligently schedule the cleaning and disinfection mechanisms to work according to the detection results without manual intervention, significantly improving the cleaning and disinfection efficiency, reducing labor costs, and ensuring the accuracy and consistency of the operation.

[0037] 2. This application uses the efficient collaboration of the cleaning mechanism and the disinfection mechanism to ensure the deep cleaning of the cowshed environment. The cleaning mechanism sprays water on the ground to remove the cow dung through the nozzle at the front end of the manure collection mechanism, which softens the cow dung and facilitates the scraper and manure storage bin to efficiently collect the dung, avoiding environmental pollution and disease transmission risks caused by dung accumulation. The disinfection water tank and nozzle equipped with the disinfection mechanism can evenly spray disinfectant, covering the area behind the machine operation, effectively killing bacteria and viruses, providing a healthier and safer living environment for the cattle, and playing an important role in improving animal health and milk quality.

[0038] 3. The hanging axis design in the cleaning mechanism of the present application enables the feces storage bin and the water storage bin to coexist and realize complementary functions; when the water storage bin is full, the feces storage bin is empty; when the feces storage bin is full, the water storage tank is empty, so as to save the volume of the feces collection mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0040] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment in size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0041] Figure 1 This is a stereoscopic diagram of a manure collection mechanism and a cowshed cleaning and disinfection robot provided by the utility model;

[0042] Figure 2 A top view of the internal structure of the manure collection mechanism and the cowshed cleaning and disinfection robot provided by the utility model;

[0043] Figure 3 A schematic diagram of the structure of the bracket assembly provided by the utility model;

[0044] Figure 4 This is a schematic diagram of the structure of the feces collection component provided by the utility model;

[0045] Figure 5 A schematic diagram of the structure of the sprinkler assembly provided by the utility model;

[0046] Figure 6 A schematic diagram of the structure of a sprinkler nozzle provided by the utility model;

[0047] Figure 7 A schematic diagram of the structure of the disinfection water tank provided by the utility model;

[0048] Figure 8 A schematic diagram of the structure of the disinfection nozzle provided by the utility model;

[0049] Fig. 9 A schematic diagram of the structure of the ultrasonic support provided by the utility model;

[0050] Fig.10 A schematic diagram of the structure of the travel wheel and the motor provided by the utility model;

[0051] In the figure:

[0052] 1. Machine body; 11. Protection mechanism; 12. Walking mechanism; 121. Base; 122. Walking wheel; 1221. Motor; 123. Leg; 1231. Anti-collision wheel; 13. Bracket assembly; 131. Upper bracket; 132. Lower bracket; 2. Cleaning mechanism; 21. Hanging shaft; 211. End cover; 22. Manure collection assembly; 221. Manure storage bin; 222. Scraper; 23. Sprinkler assembly; 231. Water storage bin; 232. Sprinkler nozzle; 3. Sensing and detection mechanism; 31. Infrared detection device; 32. Ultrasonic sensing assembly; 321. Ultrasonic sensor; 322. Ultrasonic bracket; 4. Disinfection mechanism; 41. Disinfection water tank; 42. Disinfection nozzle; 5. Battery. DETAILED DESCRIPTION

[0053] The following is a specific embodiment of the present invention. People familiar with the technology can easily understand the other advantages and functions of the present invention from the contents disclosed in this specification. Obviously, the described embodiment is a part of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The present invention provides a manure collection mechanism and a cowshed cleaning and disinfection robot. The manure collection mechanism and the cowshed cleaning and disinfection robot are advanced agricultural equipment that integrates efficient automation, precise sensing and intelligent control technology. They are specially designed for modern ranches and aim to greatly improve the cleaning efficiency of cowsheds and effectively implement environmental disinfection, thereby ensuring animal health and improving the quality of the production environment.

[0055] like Figure 1 and Figure 2As shown, the feces collection mechanism of the present application includes a machine body 1, a cleaning mechanism 2, a sensing and detection mechanism 3, a disinfection mechanism 4 and a controller; wherein the sensing and detection mechanism 3 is arranged on the front side of the machine body 1, for sensing whether there is a cleaning target within the working range.

[0056] The machine body 1 is made of corrosion-resistant materials such as lightweight high-strength alloys, which ensures the durability and low energy consumption characteristics of the equipment. The cleaning mechanism 2 is arranged below the sensing and detection mechanism 3 and is used to collect and remove targets;

[0057] The cleaning mechanism 2 integrates a set of high-efficiency water sprinkling components 23 and a vacuum pump suction combination to ensure the rapid collection and transmission of feces and other waste; the collected feces are directly introduced into the feces storage bin 221 through a conveying pipe, which is convenient for the convenient disposal of the collected waste. The disinfection mechanism 4 is arranged on the rear side of the machine body 1, and is composed of a disinfection water tank 41 and a disinfection nozzle 42 composed of a group of high-efficiency nozzle arrays. The disinfection water tank 41 is made of special materials, has anti-corrosion and anti-leakage properties, and can safely accommodate various types of disinfectants. There are multiple nozzle arrays, which can cover the wide area behind the machine, adapt to different working environments and needs, and ensure that there are no dead angles in disinfection.

[0058] The cleaning mechanism 2, the sensing and detecting mechanism 3, and the disinfection mechanism 4 are respectively connected to the controller signals. The controller has a built-in efficient algorithm, which can analyze the data from the sensing and detecting mechanism 3 in real time, such as the precise distance information and target recognition provided by the ultrasonic sensor and the infrared detector, and then intelligently schedule the working modes of the cleaning mechanism 2 and the disinfection mechanism 4, optimize the working process, and improve the overall working efficiency.

[0059] The protective mechanism 11 of the machine body 1 is made of high-strength composite material, which is not only light but also has good impact resistance and corrosion resistance, effectively protecting the interior from external impact and environmental erosion. The walking mechanism 12 ensures that the manure collection mechanism can maintain stable driving even on uneven ground. At the same time, combined with the anti-collision wheel 1231, it can effectively avoid obstacles and improve operational safety. The bracket assembly 13, as the key supporting structure of the machine body 1, is made of high-strength alloy material, fixed to the upper part of the walking mechanism 12 and fixes and supports the cleaning mechanism 2, etc., enhancing the stability of the overall structure.

[0060] Among them, Figure 2 as well as Figure 4 , Figure 5As shown, the cleaning mechanism 2 includes a hanging shaft 21, a feces collecting component 22 and a watering component 23, wherein the hanging shaft 21 is made of a high-strength lightweight alloy material, the hanging shaft 21 is inserted into the bracket component 13, and then the hanging shaft 21 is clamped through the end cover 211 to fix it; and the hanging shaft 21 is provided with a connector corresponding to the feces collecting component 22 and the watering component 23 to ensure that the feces collecting component 22 and the watering component 23 are stable and do not shake when the machine is operating.

[0061] like Figure 4 As shown, the feces collecting component 22 extends to the front end of the machine body 1 and is an arc-shaped efficient feces scraper 222 that can be opened and gathered. The scraper 222 is made of wear-resistant and corrosion-resistant materials to ensure that it is sharp and durable when collecting feces. One end of the feces collecting component 22 is fixed under the hanging shaft 21 to facilitate the vacuum pump to suck the feces into the feces storage bin 221 to maintain stability.

[0062] like Figure 5 and Figure 6 As shown, the watering assembly 23 has a water storage tank 231 at one end, which is fixed under the hanging shaft 21 to ensure a stable supply of water when the machine moves. The other end is a watering nozzle 232, which is installed on the upper side of the protection mechanism 11 and can adjust the spraying mode according to specific needs, spraying the ground where the cow dung is to be removed, so that the cow dung is softened and easily scraped off by the scraper 222.

[0063] In general, the cleaning mechanism 2 uses the hanging shaft 21 as the core support, cleverly combines the manure collection component 22 with the watering component 23, and achieves efficient and thorough cleaning of manure, greatly improving the efficiency and quality of cowshed cleaning work, and is an ideal solution for modern animal husbandry management.

[0064] Specifically, the disinfection mechanism 4 includes a disinfection water tank 41 and a disinfection nozzle 42. Figure 7 As shown, the disinfection water tank 41 is arranged in the inner cavity of the protective mechanism 11 and fixed on the walking mechanism 12. It is made of corrosion-resistant materials. An injection port is also arranged on the upper side of the disinfection water tank 41, and an injection pipe extending to the outside of the protective mechanism 11 is arranged to facilitate the timely addition of disinfectant. This not only meets the needs of long-term operation, but also keeps the overall weight of the machine moderate, and does not affect its flexible movement in the cowshed. A stirring device can also be installed inside the disinfection water tank 41 to prevent the precipitation of disinfectant components, ensure that the liquid is evenly mixed during spraying, and improve the disinfection efficiency. The disinfection water tank 41 is installed in the inner cavity of the protective mechanism 11, which saves space and protects the water tank from external impact damage. At the same time, it is fixed to the walking mechanism 12 through the reinforced bracket assembly 13 to ensure stability and safety during the movement of the machine.

[0065] like Figure 8As shown, the disinfection nozzle 42 is connected to the disinfection water tank 41 and is arranged behind the walking mechanism 12. The disinfection nozzle 42 is optimized by fluid mechanics and can atomize the disinfectant into extremely fine particles, which not only increases the coverage area, but also makes it easier for the disinfectant to penetrate into the tiny gaps on the surface of the object, effectively eliminating pathogenic microorganisms. The nozzle array is evenly distributed along the rear of the walking mechanism 12 to ensure that the disinfection area is fully covered without missing any corners during the movement of the feces collection mechanism. A filtering device can also be installed inside the pipeline of the disinfection nozzle 42 and the disinfection water tank 41 to prevent solid particles or impurities from clogging the nozzle and ensure the long-term stable operation of the spraying system.

[0066] The sensing and detecting mechanism 3 includes an ultrasonic sensing component 32 and an infrared detecting device 31 to realize all-round and high-precision perception of the working environment. The ultrasonic sensing component 32 and the infrared detecting device 31 are respectively arranged on both sides of the front end of the bracket component 13 and correspond to the opening position of the front end of the protective mechanism 11.

[0067] The ultrasonic sensor assembly 32 is installed on the right side of the front end of the bracket assembly 13. Specifically, the ultrasonic sensor 321 is Fig. 9 The ultrasonic bracket 322 shown is installed on the bracket assembly 13. The ultrasonic sensor 321 adopts high-frequency pulse ultrasonic emission and receiving technology, which can accurately measure the distance of the obstacle in front. Its working principle is based on the time difference from the emission of ultrasonic waves to the reflection back to the receiver to calculate the distance. The infrared detection device 31 is located on the left side of the front end of the bracket assembly 13. It uses infrared spectrum analysis technology to identify and distinguish objects of different temperatures, such as living animals and static obstacles. This is particularly important for working in low-light or complex environments. In another embodiment, an infrared detection device 31 is installed on each side of the bracket assembly 13 to achieve sensitive detection of obstacles on both sides of the robot's route, making up for the ultrasonic detection blind spot. The infrared detection device 31 is equipped with advanced filter lenses to effectively filter non-target infrared radiation interference and ensure detection accuracy. The installation positions of the two sensor components correspond to the opening positions at the front end of the protective mechanism 11, ensuring maximum field of view coverage and perception range. While avoiding blind spots between the sensor fields of view, the ultrasonic sensing component 32 and the infrared detection device 31 are also protected to ensure stable operation in humid and dusty environments such as cowsheds, so as to better capture information on ground and near-ground obstacles and prevent the machine from colliding with cattle or other facilities during movement.

[0068] The setting of the sensing and detection mechanism 3 enables the manure collection mechanism of the present application to not only identify and avoid direct obstacles, but also to more precisely judge the nature and distance of the object in front through data fusion analysis of the two, so as to be more intelligent and safe when performing cleaning and disinfection tasks. The sensor data is transmitted to the central controller in real time through a high-speed data bus. The controller uses an algorithm to process this data, guide the path planning, speed adjustment and operation mode switching of the manure collection mechanism, ensure that the manure collection mechanism completes the manure cleaning and disinfection tasks efficiently and accurately, and provide strong technical support for modern ranches.

[0069] Within the design framework of the manure collection mechanism, the structure of the manure collection component 22 is further refined to achieve efficient and hygienic manure collection operations. The core components of the manure collection component 22 include a manure storage bin 221 placed under the hanging shaft 21 and a movable scraper 222, which work together to ensure the cleanliness of the cowshed environment. The manure storage bin 221 of this component is made of high-strength and corrosion-resistant engineering plastics or rubber, and its interior can also be specially coated, so that it can not only withstand the corrosion of manure, but also effectively inhibit the growth of bacteria and keep the interior clean and hygienic. To facilitate cleaning and maintenance, the manure storage bin 221 is designed with a quick-release interface, which can be quickly separated from the machine body 1 to achieve rapid emptying and disinfection.

[0070] The scraper 222 is made of high-toughness wear-resistant stainless steel, and its shape is optimized to a retractable arc according to the characteristics of the cowshed floor, ensuring that the scraping is effective and does not damage the floor. When the scraper 222 contacts the feces, the two ends of the scraper 222 are retracted and appropriate pressure is generated to completely scrape the feces from the ground, and then the feces are sucked into the feces storage bin 221 by the vacuum pump through the built-in pipe in the middle of the scraper 222. The running track and speed of the scraper 222 are synchronized with the forward speed of the machine body 1 to ensure that the scraper 222 always maintains the best contact state with the ground during the entire feces cleaning process, without omissions or residues.

[0071] Specifically, the watering assembly 23 includes a water storage tank 231 and a watering nozzle 232. The water storage tank 231 is a closed structure and is arranged below the hanging shaft 21. The watering nozzle 232 is connected to the upper end of the water storage tank 231 through a watering pipe and extends to the middle of the front end of the bracket assembly 13. The watering nozzle 232 is surrounded by water outlets. This design is conducive to the nozzle covering a wider area in front of the machine, ensuring that the water is evenly distributed and softening the feces. The nozzle angle and flow rate are adjustable. Through linkage with the controller, it can be automatically adjusted according to the working environment and needs to achieve precise spraying. The watering pipe is equipped with a quick disconnect connector to facilitate the maintenance and replacement of the watering assembly 23. The entire watering assembly 23 is precisely controlled by an intelligent control system, and cooperates with the sensing and detection mechanism 3 to automatically adjust the watering frequency and spraying amount according to the actual cleaning needs and environmental conditions of the cowshed, so as to achieve on-demand operation and reduce resource waste, and jointly ensure the efficient, environmentally friendly and intelligent operation capabilities of the manure collection mechanism and the cowshed cleaning, disinfection and manure collection mechanism.

[0072] The walking mechanism 12 is designed to ensure the stability and flexibility of the manure collection mechanism in a complex cowshed environment. Its key components and design features are as follows:

[0073] The base 121 is arranged at the center of the walking mechanism 12 and is located below the protective mechanism 11. The base 121 is precision-casted using high-strength and lightweight materials, ensuring the stability and durability of the entire device during load-bearing and movement.

[0074] The walking wheel set is composed of at least two sets of high-quality rubber driving wheels, each set includes two independent walking wheels 122, which are symmetrically distributed on both sides of the base 121. This design not only provides sufficient traction to cope with various terrains, but also ensures the flexibility and stability of the manure collection mechanism when turning. Fig.10 As shown, the running wheel 122 has a high-performance motor integrated inside, which is connected to the motor shaft through a high-precision reduction gear set, so that each running wheel 122 can be driven independently, and precise motion control can be achieved even in complex environments. The surface of the running wheel 122 is designed with a special pattern to enhance the grip on slippery ground, ensuring the safety and efficiency of the manure collection mechanism when operating in the cowshed.

[0075] At least one set of legs 123 is configured and symmetrically installed at the front end of the base 121, aiming to provide additional support and stability for the manure collection mechanism, especially when climbing a slope or crossing an obstacle. An anti-collision wheel 1231 is installed at the end of each leg 123. The anti-collision wheel 1231 is made of wear-resistant elastic material, which can not only buffer the accidental collision between the manure collection mechanism and obstacles during movement and reduce the impact on the machine itself, but also play a role of stable support when the manure collection mechanism stops to prevent the machine body from tilting. The joint structure made of high-strength alloy material is used at the connection between the legs 123 and the base 121 to ensure the smoothness and reliability of the rotation and telescopic movements.

[0076] like Figure 3 As shown, the bracket assembly 13 includes an upper bracket 131 and a lower bracket 132. The lower bracket 132 is flatly fixed on the base 121, the upper bracket 131 is arranged in the middle of the lower bracket 132, and the upper bracket 131 is detachably connected to the hanging shaft 21. This bracket assembly 13 ensures the efficient operation, stability and convenient maintenance of the entire system in a complex cowshed environment.

[0077] The lower bracket 132 is made of high-strength lightweight alloy material and is fixed flat on the machine base 121 by bolts. The surface of the lower bracket 132 is treated with anti-corrosion to ensure long-term durability in a humid environment. The entire bracket structure can evenly bear the weight of each working module in the inner cavity of the machine body 1, and at the same time, the rib structure is strengthened in the key load-bearing area to improve the overall stability and torsion resistance.

[0078] The upper bracket 131 is erected in the middle of the lower bracket 132, and plays a fixing role for the components mounted on the upper layer. The upper bracket 131 and the lower bracket 132 are used in conjunction, which not only ensures the firmness of the structure, but also facilitates daily maintenance and overhaul. The internal structure of the upper bracket 131 reserves enough space to accommodate the installation of the hanging shaft 21 and its connected cleaning and disinfection mechanism 4 and other components. The hanging shaft 21 is a core component that connects key working components such as the cleaning mechanism 2 and the sprinkler assembly 23. Its detachable connection design with the upper bracket 131 not only simplifies the module replacement process and reduces downtime for maintenance, but also ensures the accurate positioning of each operating module during the operation process and the efficient and stable power transmission. The hanging shaft 21 itself has been precisely machined and has good concentricity and balance to meet the high load requirements of continuous work. At the same time, its surface treatment process prevents rust and prolongs its service life.

[0079] The present application provides a cattle shed cleaning and disinfection robot, which also includes a battery 5, which is fixed above the base 121 and is located on the rear side of the upper bracket 131. In this design scheme, the battery 5 is arranged above the base 121, which not only optimizes the weight distribution of the robot, but also ensures the safety and easy maintenance of the battery 5. The battery pack is wrapped with a shockproof and fireproof composite shell, which not only protects the battery 5 from physical damage, but also reduces safety hazards in extreme cases. At the same time, the battery 5 also supports fast charging technology, and with the dedicated charging interface on the rear side of the machine body 1, the battery 5 can be charged in a shorter time, reducing the downtime waiting time. The installation position of the battery 5 is located on the rear side of the upper bracket 131, away from areas that may encounter external force collisions, such as the cleaning mechanism 2 at the front end of the machine and obstacles during walking. Such a layout significantly reduces the risk of damage to the battery 5 during operation, improves the energy efficiency and safety of the entire robot system, and optimizes its stable operation ability in a complex cattle shed environment.

[0080] This example uses the following steps:

[0081] 1. Startup and initialization: The operator starts the robot through the controller and checks whether the components (cleaning mechanism 2, sensor and detection mechanism 3, disinfection mechanism 4) are connected normally and whether the battery 5 has sufficient power.

[0082] 2. Environmental perception and planning: The robot uses ultrasonic sensing components 32 and infrared detection devices 31 to scan the working environment and identify the location of cow dung and obstacles. The central controller plans the optimal cleaning path based on this information and adjusts the walking speed and direction to ensure safe and efficient travel.

[0083] 3. Manure cleaning operation: After walking to the manure area, the watering assembly 23 sprays a small amount of water to soften the manure, and the manure scraper 222 starts to work to scrape the manure to the center. At the same time, the vacuum pump is started immediately to suck the manure into the manure storage bin 221 through the conveying pipe to achieve rapid manure cleaning.

[0084] 4. Ground disinfection: After cleaning, the robot continues to move forward, the disinfection mechanism 4 is started, and the disinfectant in the disinfection water tank 41 is sprayed out through the nozzle array, evenly covering the cleaned area, effectively killing pathogens and improving the hygiene level of the cowshed.

[0085] 5. Intelligent control and feedback: During the entire operation process, the central controller continuously receives real-time data from the sensor and detection mechanism 3, automatically adjusts the intensity and speed of cleaning and disinfection according to environmental changes, and monitors the machine status to ensure efficient and stable operation.

[0086] 6. Operation completion and return: After completing the cleaning and disinfection of the designated area, the robot returns to the charging area according to the preset program or remote control command, automatically docks with the charging port, charges the battery 5, and prepares for the next round of operation or stands by.

[0087] 7. Maintenance and care: In daily maintenance, due to the modular design, the cleaning mechanism 2, disinfection mechanism 4, etc. can be quickly disassembled for cleaning, inspection or replacement of parts to ensure that the robot maintains the best working condition for a long time.

[0088] Although the utility model has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the utility model. Therefore, these modifications or improvements made without departing from the spirit of the utility model are within the scope of protection claimed by the utility model.

Claims

1. A feces collection mechanism, characterized in that: include: Machine body; A sensing and detection mechanism, arranged at the front side of the machine body, for sensing whether there is a removal target within the operating range; A cleaning mechanism, disposed below the sensing and detecting mechanism, for collecting and cleaning targets; A disinfection mechanism is arranged at the rear side of the machine body; and The controller is respectively connected with the cleaning mechanism, the sensing and detecting mechanism, and the disinfection mechanism by signals.

2. The feces collection mechanism according to claim 1, characterized in that: The machine body comprises: Walking mechanism; A protection mechanism, which is detachably connected to the upper portion of the walking mechanism and fits with the upper outer edge of the walking mechanism; and The support assembly is fixed to the upper part of the walking mechanism, and the support assembly is installed in the inner cavity of the protection mechanism.

3. The feces collection mechanism according to claim 2, characterized in that: The cleaning mechanism comprises: A hanging shaft is fixed to the bracket assembly through an end cover, and a connecting head corresponding to the feces collecting assembly and the watering assembly is provided on the hanging shaft; A feces collecting component, one end of which is sleeved under the hanging shaft and the other end of which extends to the front end of the machine body; and A watering assembly has one end connected to the lower side of the hanging shaft and the other end installed on the upper side of the protective mechanism.

4. The feces collection mechanism according to claim 2, characterized in that: The disinfecting mechanism comprises: A disinfection water tank, disposed in the inner cavity of the protection mechanism and fixed on the walking mechanism; and A disinfection nozzle is connected to the disinfection water tank through a pipeline, and the disinfection nozzle is arranged behind the walking mechanism.

5. The feces collection mechanism according to claim 3, characterized in that: The sensing and detection mechanism comprises: An infrared detection device, disposed on the left side of the front end of the bracket assembly; and The ultrasonic sensing component comprises an ultrasonic sensor and an ultrasonic bracket. The ultrasonic sensing component is arranged on the right side of the front end of the bracket component.

6. The feces collection mechanism according to claim 3, characterized in that: The feces collecting component comprises a feces storage bin and a scraper, wherein the feces storage bin is arranged below the hanging shaft, and the scraper is connected with the feces storage bin through a pipeline arranged in the middle of the scraper.

7. The feces collection mechanism according to claim 6, characterized in that: The watering assembly comprises a water storage tank and a watering nozzle. The water storage tank is arranged below the hanging shaft. The watering nozzle is arranged at the middle of the front end of the bracket assembly. The watering nozzle is connected to the upper end of the water storage tank through a watering pipe.

8. The feces collection mechanism according to claim 4, characterized in that: The walking mechanism comprises: A base is arranged at the center of the walking mechanism, and the base is located below the protective mechanism; At least two sets of running wheels, which are symmetrically arranged on both sides of the base and are rotatably connected to the motor; and There is at least one set of supporting legs, with anti-collision wheels arranged at the bottom, and the supporting legs are symmetrically arranged in front of the base.

9. The feces collection mechanism according to claim 8, characterized in that: The bracket assembly comprises an upper bracket and a lower bracket, wherein the lower bracket is flatly fixed on the base, the upper bracket is arranged in the middle of the lower bracket, and the upper bracket is detachably connected to the hanging shaft.

10. A cattle shed cleaning and disinfection robot, comprising the manure collection mechanism according to claim 8 or 9, characterized in that: It also includes a battery, which is fixed above the base and located at the rear side of the upper bracket.

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