Cleaning and disinfecting integrated intelligent robot

Abstract

A cleaning and sterilizing integrated intelligent robot comprises telescopic rotating mechanisms, a multi-stage lifting mechanism and a walking device, the multi-stage lifting mechanism is fixed to the front side of the walking device, and the telescopic rotating mechanisms which are symmetrical left and right are arranged on the lifting portions of all layers of the multi-stage lifting mechanism respectively. The telescopic rotating mechanism comprises a telescopic structure and a longitudinal steering engine fixed to the telescopic end of the telescopic structure, the multi-stage lifting mechanism comprises a main fixing frame and a main lifting frame inserted into the top end of the main fixing frame in a sliding mode, and the walking device comprises a vehicle body of an L-shaped frame and driving wheels installed at the front end of the bottom of the vehicle body. And universal wheels arranged left and right are supported at the rear end of the bottom of the vehicle body. The moving position of the whole structure can be freely controlled, each layer of spray head can be automatically adjusted, the angle, the swing action and the operation time of the spray head can be conveniently set, the spray head can stretch into the cage in a telescopic mode, the fixed-point manure cleaning effect is achieved, more manpower is saved, the cleaning effect is better, and the cleaning efficiency is higher. In addition, water resources can be effectively saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a cutting device, specifically to a cleaning, disinfecting and killing integrated intelligent robot. BACKGROUND

[0002] At present, with the rise of broiler cage raising equipment, after poultry is taken out of the cage, the manure cleaning work is a big problem for the breeder, which is not only heavy in workload, but also has a bad smell. In order to meet the needs of broiler cage washing, some mechanical equipment has appeared. However, the current equipment has the following problems.

[0003] 1. At present, the cleaning machine emphasizes pressure and ignores flow, and the washing effect is not ideal. Both flow and pressure are needed, so the motor power is large, the electricity cost of the farm is increased, and the current cleaning machine has a power of 22 kilowatts.

[0004] 2. The cleaning machine of the present application cannot automatically adjust the cleaning of each layer of cage. If adjustment is needed, the equipment needs to be stopped and manually adjusted, which wastes time and manpower.

[0005] 3. The spray head of the current cleaning machine cannot be inserted into the cage, and it is impossible to achieve fixed-point manure cleaning, so the ideal cleaning effect cannot be achieved.

[0006] 4. The spray head of the current cleaning machine cannot be washed at any angle, and it is also impossible to adjust the angle and time to achieve fixed-point manure cleaning with a handheld spray gun, so the effect is not ideal. INVENTION CONTENTS

[0007] In order to solve the above problems, the purpose of the utility model is to provide a cleaning, disinfecting and killing integrated intelligent robot.

[0008] In order to achieve the above purpose, the technical scheme of the utility model is as follows: a cleaning, disinfecting and killing integrated intelligent robot, comprising a telescopic rotating mechanism, a multi-stage lifting mechanism and a walking device, the front side of the walking device is fixed with the multi-stage lifting mechanism, each lifting part of the multi-stage lifting mechanism is provided with a left-right symmetrical telescopic rotating mechanism,

[0009] The telescopic rotating mechanism comprises a telescopic structure and a longitudinal steering engine fixed at the telescopic end of the telescopic structure, the rotating shaft of the longitudinal steering engine is fixed with a transverse steering engine, the telescopic path of the telescopic structure is parallel to the axis of the longitudinal steering engine, the rotating shaft of the transverse steering engine is fixedly connected with the center of the spray head clamping plate, the surface of the spray head clamping plate is fixed with a U-shaped water pipe clamp, and the spray head is fixed on the spray head clamping plate through the water pipe clamp;

[0010] The multi-stage lifting mechanism comprises a main fixed frame and a main lifting frame slidingly inserted into the top end of the main fixed frame, and the main fixed frame and the main lifting frame are respectively provided with one or more spray head moving frames which can freely move up and down, and the main lifting frame and each spray head moving frame are respectively driven to lift through the telescopic structure;

[0011] The walking device comprises a car body of L-shaped frame and a driving wheel installed at the front end of the bottom of the car body, and universal wheels are arranged at the rear end of the bottom of the car body, and a water pipe winding wheel is arranged at the inner side of the rear side of the car body and is driven to rotate by a driving device.

[0012] Further, the rotation axis of the transverse rudder and the rotation axis of the longitudinal rudder are perpendicular to each other, the main body of the telescopic structure is fixed on the telescopic structure slider through the U-shaped telescopic structure clamp, the telescopic structure slider is slidingly arranged on the telescopic structure sliding rail, and the two ends of the telescopic structure slider are slidingly arranged with limit blocks on the telescopic structure sliding rail, and the front side walls of the limit blocks are respectively penetrated with switch handles for clamping the telescopic structure sliding rail.

[0013] Further, the spray head clamping plate is fixedly connected with the rotation axis of the transverse rudder through the back fixed spray head connecting plate, one side of the telescopic structure clamp is fixed with a junction box, and the telescopic structure is an electric telescopic rod.

[0014] Further, the telescopic structure of the main lifting frame is a main electric telescopic rod, the telescopic structure of the spray head moving frame is a secondary electric telescopic rod, the main body of the main electric telescopic rod is fixed at the bottom of the main fixed frame, and the telescopic end of the main electric telescopic rod is rotationally connected with the top of the main lifting frame; the fixed end of the secondary electric telescopic rod is fixedly connected with the telescopic rod fixing seat of the main fixed frame or the main lifting frame, and the telescopic end of the secondary electric telescopic rod is rotationally connected with the spray head mounting plate of the corresponding spray head moving frame.

[0015] Further, the main fixed frame and the main lifting frame are further respectively provided with left-right symmetrical square guide sleeves, the left-right main body square pipes of the spray head moving frame are respectively penetrated in the square guide sleeves, the bottom of the main fixed frame is fixed with an L-shaped frame fixing plate, the vertical surface back of the frame fixing plate is fixedly connected with the bottom horizontal rod of the fixed frame, and the spray head mounting plate and the two sides of the frame fixing plate are respectively fixed with triangular reinforcing plates for reinforcing connection.

[0016] Further, the front and rear sides of the car body are respectively provided with supporting rotating rollers, the rear top of the car body is provided with a slope structure, the slope structure is provided with an operation panel with a display screen, the top, two sides and front side of the car body are respectively covered with a steel skin, and the steel skin of the front side is provided with a water pipe perforation for penetrating a water pipe.

[0017] Further, the front top of the car body is provided with an opening, the opening is rotationally provided with an openable front door through a hinge, the driving wheel comprises a motor body and a wheel structure arranged around the motor body, and the rear side of the car body is fixed with a horizontal handrail structure.

[0018] Further, the bottom of the multi-stage lifting mechanism is provided with a bottom water pipe with multiple water outlet joints, and the middle part of the multi-stage lifting mechanism is provided with a main water distribution pipe with multiple water outlet joints, and the water pipes in the walking device are respectively communicated with the corresponding spray heads fixed on the spray head clamping plates through the bottom water pipe and the main water distribution pipe.

[0019] The utility model discloses a telescopic rotating mechanism, multi-stage lifting mechanism and walking device, the whole structure can be freely controlled to move position, and each layer of spray head can be automatically adjusted, and the angle, swing action and operation time of the spray head can be conveniently set, the spray head can also be telescoped into the cage, and the effect of fixed-point cleaning is achieved, not only more manpower is saved, but also the cleaning effect is better and the cleaning efficiency is higher, and in addition, water resources can be effectively saved. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model will be further described in connection with the drawings.

[0021] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0022] Figure 2 It is the main view structure schematic diagram of telescopic rotating mechanism of the utility model;

[0023] Figure 3 It is the three-dimensional structure schematic diagram of telescopic rotating mechanism of the utility model;

[0024] Figure 4 It is the main view three-dimensional structure schematic diagram of multi-stage lifting mechanism of the utility model;

[0025] Figure 5 It is the rear view three-dimensional structure schematic diagram of multi-stage lifting mechanism of the utility model;

[0026] Figure 6 It is the rear view three-dimensional structure schematic diagram of walking device of the utility model;

[0027] Figure 7 It is the sectional three-dimensional structure schematic diagram of multi-stage lifting mechanism of the utility model. DETAILED DESCRIPTION

[0028] As Figures 1-7 shown, a cleaning and disinfecting integrated intelligent robot, including telescopic rotating mechanism 1, multi-stage lifting mechanism 2 and walking device 3, the front side of walking device 3 is fixed with multi-stage lifting mechanism 2, and each layer lifting part of multi-stage lifting mechanism 2 is provided with left-right symmetrical telescopic rotating mechanism 1, specifically:

[0029] The telescopic rotating mechanism 1 comprises a telescopic structure 101 and a longitudinal steering engine 102 fixed at the telescopic end of the telescopic structure 101, the rotating shaft of the longitudinal steering engine 102 is fixed with a transverse steering engine 103, the telescopic path of the telescopic structure 101 is parallel to the axial line of the rotating shaft of the longitudinal steering engine 102, the rotating shaft of the transverse steering engine 103 is fixedly connected with the center of a nozzle clamping plate 104, the surface of the nozzle clamping plate 104 is fixed with a U-shaped water pipe clamp 105, and the nozzle is fixed on the nozzle clamping plate 104 through the water pipe clamp 105; and the rotating shaft of the transverse steering engine 103 is perpendicular to the rotating surface where the rotating shaft of the longitudinal steering engine 102 is located, the main body of the telescopic structure 101 is fixed on a telescopic structure sliding block 107 through a U-shaped telescopic structure clamp 106, the telescopic structure sliding block 107 is slidingly arranged on a telescopic structure sliding rail 108, and limit blocks 109 are slidingly arranged on the telescopic structure sliding rail 108 at both ends of the telescopic structure sliding block 107, respectively; the front side wall of each limit block 109 is respectively penetrated through a switch handle 110 for clamping the telescopic structure sliding rail 108; the nozzle clamping plate 104 is fixedly connected with the rotating shaft of the transverse steering engine 103 through a nozzle connecting plate 111 fixed on the back surface, one side surface of the telescopic structure clamp 106 is fixed with a junction box 112, and the telescopic structure 101 is an electric telescopic rod.

[0030] The multi-stage lifting mechanism 2 comprises a main fixed frame 201 and a main lifting frame 202 slidingly inserted at the top end of the main fixed frame 201, and the main fixed frame 201 and the main lifting frame 202 are respectively provided with one or more nozzle moving frames 203 which can freely move up and down, and the main lifting frame 202 and each nozzle moving frame 203 are respectively driven to lift through telescopic structures; the telescopic structure of the main lifting frame 202 is a main electric telescopic rod 204, the telescopic structure of the nozzle moving frame 203 is a secondary electric telescopic rod 205, the main body bottom of the main electric telescopic rod 204 is fixed at the bottom of the main fixed frame 201, and the telescopic end top of the main electric telescopic rod 204 is rotationally connected with the top of the main lifting frame 202; the fixed end of the secondary electric telescopic rod 205 is fixedly connected with a telescopic rod fixing seat 206 of the main fixed frame 201 or the main lifting frame 202, and the telescopic end of the secondary electric telescopic rod 205 is rotationally connected with a nozzle mounting horizontal plate 207 of the corresponding nozzle moving frame 203; the main fixed frame 201 and the main lifting frame 202 are respectively provided with left-right symmetrical square guide sleeves 208, the left and right main bodies of the nozzle moving frame 203 are respectively penetrated in the square guide sleeves 208, the bottom of the main fixed frame 201 is fixed with an L-shaped frame fixing plate 209, the vertical surface back of the frame fixing plate 209 is fixedly connected with the bottom horizontal rod of a fixed frame 210, and the nozzle mounting horizontal plate 207 and the two sides of the frame fixing plate 209 are respectively fixed with triangular reinforcing plates 211 for reinforcing connection.

[0031] The walking device 3 comprises a L-shaped frame vehicle body 301 and a driving wheel 302 mounted at the bottom front end of the vehicle body 301, universal wheels 303 arranged at the bottom rear end of the vehicle body 301, a water pipe winding wheel 304 arranged at the inner rear side of the vehicle body 301 and driven to rotate by a driving device, support rotating rollers 305 arranged at the front and rear sides of the vehicle body 301 respectively, a slope structure arranged at the top rear side of the vehicle body 301, an operation panel 307 with a display screen 306 arranged on the slope structure, steel plate coverings 308 arranged at the top, both sides and the front side of the vehicle body 301 respectively, a water pipe perforation 309 arranged at the front side steel plate covering 308 for penetrating a water pipe, an open front door 310 arranged at the top front side of the vehicle body 301 and rotatable through a hinge, and a horizontal handrail structure 311 fixed at the rear side of the vehicle body 301.

[0032] The bottom of the multi-stage lifting mechanism 2 is provided with a bottom branch water pipe 4 with a plurality of water outlet joints, and the middle part of the multi-stage lifting mechanism 2 is provided with a main branch water pipe 5 with a plurality of water outlet joints, and the water pipes in the walking device 3 are communicated with corresponding spray head clamping plates 104 through the bottom branch water pipe 4 and the main branch water pipe 5 and the spray heads fixed thereto.

[0033] The cleaning robot adopts a direct current 24V safety voltage, a battery power supply, an output signal to a PLC through a remote controller, an intermediate relay signal to the PLC, an on-off signal, a power supply start, an electric push rod driving, a rack platform lifting, and a spray head adjustment in a centimeter level on each layer.

[0034] The working principle of the utility model is as follows: the walking device 3 can realize straight movement or turning through synchronous rotation and asynchronous rotation of the driving wheels 302 on each side, that is, the power supply switch is turned on, the battery in the vehicle body 301 is powered, the remote controller gives a walking signal to the PLC, the PLC gives power supply to the walking motor of the driving wheel 302, the walking motor is powered through a gearbox and a differential, to drive the two driving wheels 302 to walk, the forward and backward movement is determined by the signal given by the remote controller to the PLC, the two universal wheels adjust the direction, enter the cage corridor through the two side stop wheels, and automatically walk, and the forward and backward movement can be realized, and the walking speed can be adjusted on the touch screen, in the walking process, the cage support is sensed through an inductive switch, an output signal is given to the PLC, the PLC walks and stops through time delay, and the cage width and the walking speed are combined, to reach the middle of the cage door, the PLC is connected with the intermediate relay, the telescopic rotating mechanism 1 drives the spray head to extend or retract, and the position can be automatically adjusted.

[0035] The multi-stage lifting structure and the spray head device are arranged on the walking device of the utility model, so that the cleaning of the breeding cage during movement is realized, and thus the automatic cleaning is realized.

[0036] The main lifting frame 202 is lifted by the main electric telescopic rod 204, so that the overall frame can be lifted, and each spray head moving frame 203 is lifted by the auxiliary electric telescopic rod 205, so that the lifting of each individual spray head moving frame 203 is controlled, a multi-stage and multi-position lifting structure is formed, and then the height of the spray head device on each spray head mounting plate 207 is adjusted, so that each spray head device can more comprehensively cover the entire breeding cage and achieve the effect of fixed-point manure cleaning.

[0037] When the positions of the spray heads and the cleaning angles are controlled, the telescopic structure 101, the longitudinal steering engine 102 and the transverse steering engine 103 are respectively electrically connected with the remote controller and the touch screen through the junction box 112, the touch screen is provided with a PLC control system, the longitudinal steering engine 102 and the transverse steering engine 103 can be adjusted to a suitable position by manual adjustment, and if the inside of the cage is washed, the telescopic distance of the telescopic structure 101 is set through the touch screen, so that the spray head can be extended into the cage, and the effect of fixed-point manure cleaning is achieved.

[0038] Through the above settings

[0039] 1. For the purpose of cleaning, the aperture of the spray head is increased to increase the flow rate, the flow rate is 130-150 liters per minute, and the spray head can rotate 270 degrees up and down and 270 degrees left and right in the cage through the telescopic rotating mechanism 1, so as to achieve the effect of fixed-point manure cleaning, and the swinging time of the angle is adjustable, such as 1-10 seconds.

[0040] 2. The telescopic rotating mechanism 1 can extend the spray head into the cage for full washing, which can achieve the effect of manually holding the spray head to wash in the cage.

[0041] 3. The multi-stage lifting mechanism 2 can make the three layers of six spray heads independently lifted by the remote control device, and each layer can be adjusted by centimeter, and the machine is stopped when the height is not adjusted, so it is more time-saving and labor-saving, and the washing effect is better.

[0042] 4. In addition, lighting devices can be set according to needs, and the lighting devices are 24V DC high-brightness waterproof LED lights.

[0043] The specific working process of the utility model is as follows:

[0044] When the machine enters the chicken house to work, first, the power supply is started, the main power supply is turned on, then through the remote controller and the touch screen, the walking device 3 is driven to the designated position, the shed is moistened and the cage is washed, and the working process is carried out:

[0045] One: the telescopic rotating mechanism 1 is manually telescoped and adjusted to the appropriate position, then the cage height is adjusted by combining the multi-stage lifting mechanism 2, the main body is lifted, the appropriate height is adjusted, the appropriate position of each layer of the spray head is adjusted, the working requirements are met, the remote controller is adjusted, and manpower is saved.

[0046] Two: the angle of the telescopic rotating mechanism 1 is adjusted through the display screen 306 and the operation panel 307, the action running time is adjusted, the walking speed of the walking device 3 is adjusted, after the setting is completed, the parameters are saved through the display screen 306 and the operation panel 307, the parameters are saved in the PLC, the next time the shed works, the parameters are directly adjusted, the front section is opened, the water supply switch is turned on, the keyboard is walked, the walking device 3 is automatically walked, the height of the spray head is remotely adjusted, and manpower is saved.

[0047] Three, if the feces in the cage is washed, the horizontal telescopic distance is set through the display screen 306 and the operation panel 307, the spray head is stretched into the cage, the angle of the spray head required by the rotating motor is adjusted, and the effect of fixed-point cleaning is achieved.

[0048] Four, in combination with the length and width of the cage, the telescopic rotating mechanism 1 is adjusted to control the length of the spray head, the swing angle and the running time, the running time, the walking speed and the telescopic time are proportional, the walking speed, the arm swing angle and the running time can be set according to different specifications of the cage.

[0049] Five, in combination with the rules of the feces storage point and the characteristics of the cage, the angle of the spray head is adjusted, the angle of the spray head is adjusted, the running time is programmed, the running time is adjusted, the ideal effect of the breeding farm is achieved, and the program is run.

[0050] Six, the coil device (i.e., the water pipe winding wheel 304) in the walking device 3 is automatically wound and unwound through the PLC remote controller, manpower and labor are saved, and the main pipe is reduced.

[0051] The utility model can achieve fixed-point cleaning through manual programming and programming of the skilled person in the art, can effectively replace one person holding a spray gun to manually clean the cage, can control multiple spray heads at a time, each spray head can be simultaneously stretched into the cage for cleaning, not only saves manpower, but also has better cleaning effect and higher cleaning efficiency.

[0052] The above merely describes the specific implementation of the present application in a schematic manner, and is not intended to limit the scope of the present application. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principles of the present application shall fall within the scope of the present application.

Claims

1. A cleaning and disinfecting integrated intelligent robot, comprising a telescopic rotating mechanism (1), a multi-stage lifting mechanism (2) and a walking device (3), the multi-stage lifting mechanism (2) is fixed on the front side of the walking device (3), and the telescopic rotating mechanism (1) is symmetrically arranged on each layer lifting part of the multi-stage lifting mechanism (2), characterized in that: the telescopic rotating mechanism (1) comprises a telescopic structure (101) and a longitudinal steering engine (102) fixed at the telescopic end of the telescopic structure (101), the rotating shaft of the longitudinal steering engine (102) is fixed with a transverse steering engine (103), the telescopic path of the telescopic structure (101) is parallel to the axis of the rotating shaft of the longitudinal steering engine (102), the rotating shaft of the transverse steering engine (103) is fixedly connected with the center of a nozzle clamping plate (104), the surface of the nozzle clamping plate (104) is fixed with a U-shaped water pipe clamp (105), and the nozzle is fixed on the nozzle clamping plate (104) through the water pipe clamp (105); the rotating shaft of the transverse steering engine (103) is perpendicular to the rotating surface of the rotating shaft of the longitudinal steering engine (102), the main body of the telescopic structure (101) is fixed on a telescopic structure sliding block (107) through a U-shaped telescopic structure clamp (106), the telescopic structure sliding block (107) is slidingly arranged on a telescopic structure sliding rail (108), and limit blocks (109) are slidingly arranged on the telescopic structure sliding rail (108) at both ends of the telescopic structure sliding block (107); and switch handles (110) for clamping the telescopic structure sliding rail (108) are respectively arranged in the front side walls of the limit blocks (109); the multi-stage lifting mechanism (2) comprises a main fixed frame (201) and a main lifting frame (202) slidingly inserted at the top end of the main fixed frame (201), and the main fixed frame (201) and the main lifting frame (202) are respectively provided with one or more nozzle moving frames (203) which can freely move up and down, and the main lifting frame (202) and each nozzle moving frame (203) are respectively driven to lift through telescopic structures; the telescopic structure of the main lifting frame (202) is a main electric telescopic rod (204), the telescopic structure of the nozzle moving frame (203) is a secondary electric telescopic rod (205), the main body of the main electric telescopic rod (204) is fixed at the bottom of the main fixed frame (201), and the telescopic end top of the main electric telescopic rod (204) is rotationally connected with the top of the main lifting frame (202); the fixed end of the secondary electric telescopic rod (205) is fixedly connected with the telescopic rod fixing seat (206) of the main fixed frame (201) or the main lifting frame (202), and the telescopic end of the secondary electric telescopic rod (205) is rotationally connected with the nozzle mounting horizontal plate (207) of the corresponding nozzle moving frame (203). The main fixed frame (201) and the main lifting frame (202) are also provided with left-right symmetrical square guide sleeves (208), the left and right main body square tubes of the nozzle moving frame (203) correspondingly penetrate into the square guide sleeves (208), the bottom of the main fixed frame (201) is fixed with an L-shaped frame fixed plate (209), the vertical surface back of the frame fixed plate (209) is fixedly connected with the bottom horizontal rod of a fixed frame (210), the nozzle mounting horizontal plate (207) and the two sides of the frame fixed plate (209) are respectively fixed with triangular reinforcing plates (211) for reinforcing connection; The walking device (3) comprises an L-shaped frame vehicle body (301) and a driving wheel (302) installed at the bottom front end of the vehicle body (301), the bottom rear end of the vehicle body (301) is supported by left and right universal wheels (303), and the rear side of the vehicle body (301) is internally provided with a water pipe winding wheel (304) which is driven to rotate by a driving device.

2. The cleaning and disinfecting integrated intelligent robot according to claim 1, characterized in that: The nozzle clamping plate (104) is fixedly connected with the rotating shaft of the horizontal rudder (103) through the back fixed nozzle connecting plate (111), one side surface of the telescopic structure clamp (106) is fixedly connected with a junction box (112), and the telescopic structure (101) is an electric telescopic rod. 3.The cleaning and disinfecting integrated intelligent robot of claim 1, wherein: The front and rear sides of the vehicle body (301) are respectively provided with supporting rotating rollers (305), the rear top of the vehicle body (301) is provided with a slope structure, the slope structure is provided with an operation panel (307) with a display screen (306), and the top, both sides and front side of the vehicle body (301) are respectively covered with steel plate skins (308), and the steel plate skin (308) of the front side is provided with a water pipe perforation (309) for penetrating a water pipe.

4. The cleaning and disinfecting integrated intelligent robot according to claim 3, characterized in that: The front top of the vehicle body (301) is provided with an opening, the opening is provided with an openable front door (310) which is rotatably arranged through a hinge, the driving wheel (302) comprises a motor body and a wheel structure arranged around the motor body, and the rear side of the vehicle body (301) is fixedly connected with a horizontal handrail structure (311). 5.The cleaning and disinfecting integrated intelligent robot of claim 1, wherein: The bottom of the multi-stage lifting mechanism (2) is provided with a bottom water pipe (4) with a plurality of water outlet joints, and the middle part of the multi-stage lifting mechanism (2) is provided with a main water distribution pipe (5) with a plurality of water outlet joints, and the water pipes in the walking device (3) are respectively communicated with the corresponding nozzles fixed to the nozzle clamping plate (104) through the bottom water pipe (4) and the main water distribution pipe (5).

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