Intelligent manure cleaning robot for hog house manure ditch

Abstract

The utility model discloses an intelligent manure cleaning robot for a pig house manure ditch, which belongs to the technical field of robots for pig houses, and comprises a machine body, a scraper and at least two moving tracks, the scraper is mounted at the front part of the machine body, each moving track comprises a driving wheel, a track and a mounting plate, a hub motor is mounted in the driving wheel, the track is sleeved outside the driving wheel, and the mounting plate is mounted on the mounting plate. The mounting plate is arranged on the side face of the driving wheel, and the movable crawler belt is mounted on the side face of the machine body through the mounting plate, so that the height of the machine body is reduced, miniaturization of the cleaning robot is facilitated, the problem that the scraper is in poor contact with the ground of the hog house is solved under the condition that the size of the scraper is not increased, and the hog house cleaning effect is improved; in addition, by improving the cleaning mechanism, miniaturization of the cleaning robot can be further achieved. The water pipe coiling device and the electric wire coiling device are arranged up and down, and the tension sensor and the controller are additionally arranged, so that the placement rack can be used in a scene with a limited horizontal space, and the safety during use is improved.

Description

Technical Field

[0001] This utility model relates to the field of robots for pigsties, and in particular to an intelligent manure cleaning robot for pigsty manure ditches. Background Technology

[0002] Pigsties are harsh environments with strong odors and harmful gases like ammonia. Manual cleaning is not only time-consuming and labor-intensive but also poses potential health risks. To improve efficiency, some pigsty manure cleaning robots have emerged on the market. These robots consist of a main body, a shovel mounted at the front, and a tracked movement mechanism. A support frame connects the two tracks, and the motor of the tracked movement mechanism and the transmission system that transmits power to the track drive wheels are mounted on the support frame. The main body is also mounted on the support frame. This structure typically results in a tall robot, hindering miniaturization. Furthermore, to ensure effective shoveling, the shovel needs to be larger; otherwise, poor contact between the bottom of the shovel and the ground will affect the cleaning effect on the pigsty.

[0003] Therefore, how to design an intelligent manure cleaning robot for pigsties to reduce the height of the robot, thereby facilitating its miniaturization, and improving the cleaning effect of the pigsty by addressing the problem of poor contact between the shovel and the ground without increasing the size of the shovel, is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this utility model is to address the defects and shortcomings of the existing technology by providing an intelligent manure cleaning robot for pigsties. This robot can reduce the height of the machine body, which is conducive to miniaturization, and can improve the problem of poor contact between the shovel and the ground without increasing the size of the shovel.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] This utility model provides an intelligent manure cleaning robot for pigsties, including a body, a scraper, and at least two moving tracks. The scraper is installed at the front of the body, and the moving tracks include a drive wheel, a track, and a mounting plate. A hub motor is installed inside the drive wheel, the track is sleeved on the outside of the drive wheel, the mounting plate is placed on the side of the drive wheel, and the moving tracks are mounted on the side of the body through the mounting plate.

[0007] Preferably, the mobile track includes two drive wheels connected by a connecting plate, the connecting plate being placed on the side of the drive wheels, and the mounting plate being placed in the middle region of the connecting plate.

[0008] Preferably, the mobile track further includes an outer protective plate and an inner protective plate for covering the two drive wheels. The outer protective plate is installed on the side of the drive wheel away from the machine body, and the inner protective plate is installed on the side of the drive wheel closer to the machine body. The inner protective plate is provided with a through hole whose inner contour matches the outer contour of the mounting plate, and the mounting plate is placed in the through hole.

[0009] Preferably, the intelligent manure cleaning robot for pigsties further includes a cleaning mechanism and a pipe rolling mechanism.

[0010] Preferably, the cleaning mechanism includes a nozzle, a conduit, a rotary joint, a transmission assembly, and a drive assembly. The transmission assembly includes a drive wheel and a driven wheel that rotates under the drive of the drive wheel. The drive assembly is connected to the drive wheel to drive the drive wheel to rotate. The nozzle is mounted on the conduit, and the driven wheel is connected to the conduit to drive the conduit and the nozzle to rotate.

[0011] The rotary joint is installed on the other side of the driven wheel, and the rotary joint is connected to a water source through a water pipe.

[0012] Preferably, the driving wheel and the driven wheel are connected by a conveyor belt, and a tensioning wheel for adjusting the tension of the conveyor belt is also provided between the driving wheel and the driven wheel;

[0013] The tensioning wheel is mounted on a second drive assembly that can move up and down along a conveying direction perpendicular to the conveyor belt to tension the conveyor belt to different degrees.

[0014] Preferably, the conduit includes a straight pipe and a bend, and at least one straight pipe and one bend are provided. The straight pipes are detachably connected to each other, to each other, and to each other. One of the straight pipes is detachably connected to the driven wheel, and one of the bends is detachably connected to the nozzle.

[0015] Preferably, the end of the rotary joint away from the driven wheel is detachably connected to a non-deformable metal pipe, and the metal pipe is connected to a water source through a water pipe;

[0016] The cleaning mechanism also includes a support frame, which has a first through hole for supporting the metal tube. The metal tube passes through the first through hole, and the inner contour of the first through hole is adapted to the outer contour of the metal tube.

[0017] Preferably, the hose reeling mechanism includes a water pipe reeling device, an electrical wire reeling device, and a placement frame. The placement frame has a first cavity and a second cavity arranged vertically inside, and the water pipe reeling device is placed below the electrical wire reeling device.

[0018] The wire reel device includes a first motor, a first reel, a first tension sensor, and a first controller. The first motor is driven to rotate the first reel. The first tension sensor is used to detect the tension of the wire. The first tension sensor and the first motor are respectively connected to the first controller. The first controller adjusts the speed of the first motor according to the value measured by the first tension sensor, thereby adjusting the tension of the wire.

[0019] Preferably, the placement rack is fixedly installed;

[0020] The water pipe winding device includes a second motor, a second winding drum, a second tension sensor, and a second controller. The second motor is connected to the second winding drum to drive it to rotate. The second tension sensor is used to detect the tension of the water pipe. The second tension sensor and the second motor are respectively connected to the second controller. The second controller adjusts the speed of the second motor according to the value measured by the second tension sensor, thereby adjusting the tension of the water pipe.

[0021] The present invention achieves the following technical advantages over the prior art:

[0022] 1. Compared to the existing technology where a bracket is set between the left and right tracks, the motor and transmission system for driving the drive wheel are set on the bracket, and the machine body is also mounted on the bracket, this utility model reduces the height of the machine body by installing a hub motor inside the drive wheel, setting a mounting plate on the side of the drive wheel, and mounting the moving track to the side of the machine body through the mounting plate. This is conducive to miniaturizing the cleaning robot and can improve the problem of poor contact between the shovel and the ground without increasing the size of the shovel, thereby improving the cleaning effect on pigsties.

[0023] The other technical solutions of this utility model have achieved the following technical effects compared with the prior art:

[0024] 2. This utility model improves the cleaning area and efficiency by installing a conduit and a nozzle at one end of the driven wheel, allowing the nozzle to rotate and clean the top, floor, and walls of the pigsty. A rotary joint is installed at the other end of the driven wheel, which is connected to a water source via a water pipe. This eliminates the need for the water pipe and water source to rotate with the driven wheel, thus achieving the effect of water source not moving with the cleaning mechanism when the water pipe is long enough. This further enables the miniaturization of the cleaning robot and makes it easier to carry.

[0025] 3. This utility model arranges the water pipe reel device and the wire reel device on the placement frame in an up-down arrangement, making the reel mechanism suitable for scenarios with limited horizontal space but ample vertical space. Furthermore, by placing the water pipe reel device below the wire reel device and fixing the placement frame in place, and by installing a first tension sensor and a first controller on the wire reel device, and a second tension sensor and a second controller on the water pipe reel device, this invention also solves the problem of the placement frame easily falling into the pigsty during movement, affecting the cleaning process. By controlling the tightness of the water pipe and wire during release / reeling, it avoids problems such as the water pipe becoming too loose or breaking and leaking due to excessive tension. It also ensures that the minimum distance between the wire and the water pipe is always greater than the required creepage distance, and that the wire is not damaged due to excessive tension, thus improving safety during use. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the axonometric structure of an intelligent manure cleaning robot for pigsties, disclosed in a specific embodiment of the present invention.

[0028] Figure 2 This is a side view of the intelligent manure cleaning robot for pigsties, as disclosed in a specific embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the axial structure of the cleaning mechanism disclosed in a specific embodiment of the present invention;

[0030] Figure 4 This is a top view of the cleaning mechanism disclosed in a specific embodiment of the present invention.

[0031] Figure 5 This is a front view schematic diagram of the cleaning mechanism disclosed in a specific embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the intelligent manure cleaning robot for pigsties after removing the top cover, as disclosed in a specific embodiment of the present invention.

[0033] Figure 7 This is a front view schematic diagram of the tube winding mechanism disclosed in a specific embodiment of the present invention;

[0034] Figure 8This is a side view of the tube winding mechanism disclosed in a specific embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the axial structure of the tube winding mechanism disclosed in a specific embodiment of the present invention.

[0036] The components are as follows: 1. Body; 2. Moving track; 3. Scraper; 4. Cleaning mechanism; 5. Mounting plate; 6. Track; 7. Drive wheel; 8. Connecting plate; 9. Nozzle; 10. Bend; 11. Straight pipe; 12. Driven wheel; 13. Rotary joint; 14. First through hole; 15. Support frame; 16. Metal pipe; 17. Tensioning wheel; 18. Drive assembly; 19. Conveyor belt; 20. Drive wheel; 21. Second through hole; 22. Cavity; 23. Wire harness; 24. Wire hole; 25. Tube winding mechanism; 26. Placement rack; 27. First tube reel; 28. First motor; 29. ​​Second tube reel; 30. Second motor; 31. Second cavity; 32. First cavity; 33. Second tube arranger; 34. First tube arranger. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1 to 9As shown, this utility model provides an intelligent manure cleaning robot for pigsties, including a body 1, a scraper 3, and at least two moving tracks 2. The scraper 3 is installed at the front of the body 1 (where the front refers to the part of the body 1 that is in front when moving). The moving tracks 2 include a drive wheel 7, a track 6, and a mounting plate 5. A hub motor is installed inside the drive wheel 7. The track 6 is fitted over the drive wheel 7. The mounting plate 5 is placed on the side of the drive wheel 7, and the moving tracks 2 are mounted on the side of the body 1 through the mounting plate 5. This reduces the height of the robot, which is beneficial for miniaturization of the cleaning robot. It also improves the problem of poor contact between the scraper 3 and the pigsty floor without increasing the size of the scraper 3, thus improving the cleaning effect of the pigsty. In addition, the bracket set between the left and right tracks 6 is eliminated, making the moving tracks 2 modular and simplifying the installation and replacement steps of the moving tracks 2, thereby improving maintenance efficiency. To improve stability during movement, the number of moving tracks 2 is an even number greater than zero, and they are symmetrically arranged on the left and right sides of the body 1.

[0040] The mobile track 2 may have only one drive wheel 7, or it may have three or more drive wheels 7. In an exemplary embodiment, the mobile track 2 includes two drive wheels 7 connected by a connecting plate 8. The connecting plate 8 is located on the side of the drive wheel 7, and a mounting plate 5 is located in the middle region of the connecting plate 8. The connecting plate 8 may be integrally formed with the drive wheel 7 or it may be a structure independent of the drive wheel 7. Similarly, the mounting plate 5 may be integrally formed with the connecting plate 8 or it may be a structure independent of the connecting plate 8. To improve service life, both the connecting plate 8 and the mounting plate 5 are high-strength metal components. Connecting the two drive wheels 7 into a single unit via the connecting plate 8 not only fixes the relative position between the two drive wheels 7 but also limits the movement range of the mobile track 2, preventing the drive wheels 7 from detaching from the track 6.

[0041] The breeding environment in pigsties is generally quite harsh. To prevent sludge, feed, stones and other debris from entering the interior of the mobile track 2 and causing damage to it, the mobile track 2 also includes an outer protective plate and an inner protective plate (not shown in the figure) for covering the two drive wheels 7. The outer protective plate is installed on the side of the drive wheel 7 away from the machine body 1, and the inner protective plate is installed on the side of the drive wheel 7 close to the machine body 1. The inner protective plate has a through hole whose inner contour matches the outer contour of the mounting plate 5, and the mounting plate 5 is placed in the through hole.

[0042] During assembly, the connection between the connecting plate 8 and the drive wheel 7, and between the mounting plate 5 and the connecting plate 8 are assembled first. Next, the inner protective plate is installed, followed by the assembly between the mounting plate 5 and the body 1. Finally, the outer protective plate is installed. The disassembly sequence is the reverse. A wire hole 24 is provided on the side of the body 1 corresponding to the drive wheel 7. The hub motor wiring harness 23 passes through this wire hole 24 to reach the interior of the body 1. The connection methods between the connecting plate 8 and the drive wheel 7, and between the connecting plate 8 and the mounting plate 5, include screwing, snap-fitting, welding, and bonding. Where the connection strength meets the requirements, detachable connection methods are preferred to facilitate the replacement of damaged parts.

[0043] The intelligent manure cleaning robot for pigsties provided by this utility model also includes a cleaning mechanism 4 and a hose reel mechanism 25. The cleaning mechanism 4 includes a nozzle 9, a conduit, a rotary joint 13, a transmission assembly, and a drive assembly 18. The transmission assembly includes a drive wheel 20 and a driven wheel 12 that rotates under the drive of the drive wheel 20. The drive assembly 18 is connected to the drive wheel 20 to drive the drive wheel 20 to rotate. The driven wheel 12 is connected to the conduit, and the nozzle 9 is installed on the conduit. The driven wheel 12 is used to drive the conduit and the nozzle 9 to rotate. A rotary joint 13 is installed on the other side of the driven wheel 12. The fixed part of the rotary joint 13 is connected to a water source through a water pipe. The rotating part of the rotary joint 13 is connected to the driven wheel 12. The driven wheel 12 has a through hole inside to connect the rotating part and the conduit, so as to lead water from the water source to the nozzle 9 and prevent the water pipe and the water source from rotating with the nozzle 9.

[0044] The driving wheel 20 and the driven wheel 12 can be meshing gears or rollers connected by a transmission structure. In an exemplary embodiment, both the driving wheel 20 and the driven wheel 12 are rollers, and the two rollers are connected by a conveyor belt 19. A tensioning wheel 17 for adjusting the tension of the conveyor belt 19 is also provided between the driving wheel 20 and the driven wheel 12. The tensioning wheel 17 is mounted on a second drive assembly that can move up and down along a direction perpendicular to the movement of the conveyor belt 19 to tension the conveyor belt 19 to different degrees. The second drive assembly can be an assembly that can move up and down automatically, such as a screw and nut structure, a hydraulic cylinder / pneumatic cylinder structure, a linear motor, etc., or it can be an assembly that moves up and down manually, such as having several holes of different heights opened on a vertical plate extending in the vertical direction, and adjusting the up and down position of the tensioning wheel 17 by installing it in different holes. As the usage time increases, the conveyor belt 19 will become loose. At this time, the position of the tensioning wheel 17 in the height direction is adjusted to re-tension the loosened conveyor belt 19, thereby extending the service life of the conveyor belt 19 and the cleaning mechanism 4.

[0045] To adjust the water spray distance to accommodate pigsties of different heights (where the height of the pigsty refers to the distance between the top surface and the ground of the pigsty), this application sets the conduit as a rigid structure with adjustable length. The length can be adjusted by setting the conduit as a freely extendable structure, such as a handle similar to an automatic folding umbrella or a length-extendable pointer, or by setting the conduit as other structures. In an exemplary embodiment, the conduit includes a straight pipe 11 and a bend 10, with at least one straight pipe 11 and one bend 10. Straight pipes 11, straight pipes 11 and bends 10, and bends 10 and bends 10 can be detachably connected. By changing the number of straight pipes 11 and / or bends 10, the length of the conduit can be changed. One of the straight pipes 11 is detachably connected to the driven wheel 12, so that it is easy to replace when the straight pipe 11 and / or the driven wheel 12 fails. One of the bends 10 is detachably connected to the nozzle 9 to increase the spray range when the nozzle 9 rotates.

[0046] The end of the rotary joint 13 furthest from the driven wheel 12 is detachably connected to a non-deformable metal tube 16, which is connected to a water source via a water pipe. The cleaning mechanism 4 also includes a support frame 15, which has a first through hole 14 for supporting the metal tube 16. The metal tube 16 passes through the first through hole 14, and the inner contour of the first through hole 14 matches the outer contour of the metal tube 16. By using a non-deformable metal tube 16 and fixing its position through the first through hole 14, the connection between the rotary joint 13 and the driven wheel 12 can be prevented from being subjected to excessive stress due to vibrations or shaking of the device itself or external factors, thus affecting the connection strength and sealing performance.

[0047] The body 1 has an internal cavity 22, in which the rotary joint 13, transmission assembly and drive assembly 18 are all placed. The side wall of the body 1 has a second through hole 21. One end of the conduit with the nozzle 9 is installed passes through the second through hole 21 and is rotatably connected to the second through hole 21. In an exemplary embodiment, a bearing is installed in the second through hole 21, and the conduit is rotatably connected to the second through hole 21 through the bearing to reduce the friction between the conduit and the body 1 and extend its service life.

[0048] The hose reel mechanism 25 includes a water pipe reel device, an electrical wire reel device, and a placement rack 26. The placement rack 26 has a first cavity 32 and a second cavity 31 arranged vertically inside, which can be used in installation sites with limited horizontal space but ample vertical space. The water pipe reel device is located below the electrical wire reel device. To avoid the electrical wire becoming too slack during release and / or reeling, which could cause the wire to approach the water pipe and increase the risk of electric shock, the electrical wire reel device includes a first motor 28, a first reel drum 27, a first tension sensor, and a first controller. The first motor 28 is driven by the first reel drum 27 to drive the first reel drum 27 to rotate. The first tension sensor is used to detect the tension of the electrical wire. The first tension sensor and the first motor 28 are respectively connected to the first controller. The first controller adjusts the speed of the first motor 28 according to the value measured by the first tension sensor, thereby adjusting the tension of the electrical wire. This ensures that the minimum distance between the electrical wire and the water pipe is always greater than the required creepage distance, thus avoiding electric shock and improving safety during use.

[0049] Furthermore, in the prior art, the placement frame 26 for placing the water pipe reel device and the electrical wire reel device spans the opening in the top of the pigsty and is placed on the top of the left and right walls of the pigsty. The placement frame 26 can move along the pigsty with the machine body 1. During movement, the placement frame 26 is prone to falling into the manure ditch of the pigsty due to deviation from the moving path, affecting the cleaning process. Therefore, this application fixes the placement frame 26 in place, and the water pipe reel device includes a second motor 30, a second reel 29, a second tension sensor, and a second controller. The second motor 30 is driven by the second reel 29 to drive its rotation. The second tension sensor detects the tension of the water pipe, and the second tension sensor and the second motor 30 are respectively connected to the second controller. The second controller adjusts the rotation speed of the second motor 30 based on the data measured by the second tension sensor, thereby adjusting the tension of the water pipe and preventing the water pipe from becoming too loose or too tensile, which could lead to rupture or leakage. The water pipe, wire, first tension sensor, second tension sensor, first controller and second controller, as well as the belt for connecting the first motor 28 and the first pipe drum 27, and the belt for connecting the second motor 30 and the second pipe drum 29 are not shown in the figure.

[0050] The tension sensor can be mounted on a hose reel, an electrical wire, or a water pipe. In one exemplary embodiment, the electrical wire passes around the first tension sensor, and the water pipe passes around the second tension sensor. In another exemplary embodiment, both the first and second tension sensors are three-pulley type tension sensors, and both are mounted on a mounting bracket 26.

[0051] To ensure that the wires or water pipes can be evenly wound onto the reel, the wire winding device also includes a first pipe arranger 34. The wire passes through the first tension sensor and then through the first pipe arranger 34 before being wound onto the first reel 27. The machine body 1 is equipped with a wire connector, and the wires of the device are connected to the power supply through the wire connector. Similarly, the water pipe winding device also includes a second pipe arranger 33. The water pipe passes through the second tension sensor and then through the second pipe arranger 33 before being wound onto the second reel 29. The machine body 1 is equipped with a water pipe connector, and the water pipe connected to the metal pipe 16 is connected to the water source through the water pipe connector.

[0052] The wire reel device is placed in the first cavity 32, and the water pipe reel device is placed in the second cavity 31. The first cavity 32 and the second cavity 31 are both provided with protective structures. The protective structures can be a frame structure made of metal rods or a relatively sealed structure made of metal plates. Regardless of the structure, an entrance and exit for the water pipe reel device or the wire reel device must be provided. In an exemplary embodiment, the protective structure is a frame structure.

[0053] The intelligent manure cleaning robot for pigsties described in this application can also be applied to cattle sheds, sheep sheds, chicken sheds, duck sheds, and other similar locations.

[0054] It should be noted that, for those skilled in the art, it is obvious that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model, and no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A smart manure cleaning robot for pigsties, characterized in that: The device includes a body, a scraper, and at least two movable tracks. The scraper is mounted on the front of the body. Each movable track includes a drive wheel, a track, and a mounting plate. A hub motor is installed inside the drive wheel. The track is fitted over the drive wheel. The mounting plate is placed on the side of the drive wheel, and the movable track is mounted to the side of the body via the mounting plate.

2. The intelligent manure cleaning robot for pigsties according to claim 1, characterized in that: The mobile track includes two drive wheels connected by a connecting plate, the connecting plate being placed on the side of the drive wheels, and the mounting plate being placed in the middle region of the connecting plate.

3. The intelligent manure cleaning robot for pigsties according to claim 2, characterized in that: The mobile track also includes an outer protective plate and an inner protective plate for covering the two drive wheels. The outer protective plate is installed on the side of the drive wheel away from the machine body, and the inner protective plate is installed on the side of the drive wheel closer to the machine body. The inner protective plate is provided with a through hole whose inner contour matches the outer contour of the mounting plate, and the mounting plate is placed in the through hole.

4. The intelligent manure cleaning robot for pigsties according to claim 1, characterized in that: The intelligent manure cleaning robot for pigsties also includes a cleaning mechanism and a pipe rolling mechanism.

5. The intelligent manure cleaning robot for pigsties according to claim 4, characterized in that: The cleaning mechanism includes a nozzle, a conduit, a rotary joint, a transmission assembly, and a drive assembly. The transmission assembly includes a drive wheel and a driven wheel that rotates under the drive wheel's drive. The drive assembly is connected to the drive wheel to drive the drive wheel to rotate. The nozzle is mounted on the conduit, and the driven wheel is connected to the conduit to drive the conduit and the nozzle to rotate. The rotary joint is installed on the other side of the driven wheel, and the rotary joint is connected to a water source through a water pipe.

6. The intelligent manure cleaning robot for pigsties according to claim 5, characterized in that: The driving wheel and the driven wheel are connected by a conveyor belt, and a tensioning wheel for adjusting the tension of the conveyor belt is also provided between the driving wheel and the driven wheel; The tensioning wheel is mounted on a second drive assembly that can move up and down along a conveying direction perpendicular to the conveyor belt to tension the conveyor belt to different degrees.

7. The intelligent manure cleaning robot for pigsties according to claim 5 or 6, characterized in that: The conduit includes a straight pipe and a bend, and at least one straight pipe and one bend are provided. The straight pipes are detachably connected to each other, to each other, and to each other. One of the straight pipes is detachably connected to the driven wheel, and one of the bends is detachably connected to the nozzle.

8. The intelligent manure cleaning robot for pigsties according to claim 7, characterized in that: The rotary joint is detachably connected to a non-deformable metal pipe at the end away from the driven wheel, and the metal pipe is connected to a water source through a water pipe. The cleaning mechanism also includes a support frame, which has a first through hole for supporting the metal tube. The metal tube passes through the first through hole, and the inner contour of the first through hole is adapted to the outer contour of the metal tube.

9. The intelligent manure cleaning robot for pigsties according to claim 4, characterized in that: The pipe winding mechanism includes a water pipe winding device, an electrical wire winding device, and a placement frame. The placement frame has a first cavity and a second cavity arranged vertically inside. The water pipe winding device is placed below the electrical wire winding device. The wire reel device includes a first motor, a first reel, a first tension sensor, and a first controller. The first motor is driven to rotate the first reel. The first tension sensor is used to detect the tension of the wire. The first tension sensor and the first motor are respectively connected to the first controller. The first controller adjusts the speed of the first motor according to the value measured by the first tension sensor, thereby adjusting the tension of the wire.

10. The intelligent manure cleaning robot for pigsties according to claim 9, characterized in that: The placement rack is fixedly installed; The water pipe winding device includes a second motor, a second winding drum, a second tension sensor, and a second controller. The second motor is connected to the second winding drum to drive it to rotate. The second tension sensor is used to detect the tension of the water pipe. The second tension sensor and the second motor are respectively connected to the second controller. The second controller adjusts the speed of the second motor according to the value measured by the second tension sensor, thereby adjusting the tension of the water pipe.

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