Excrement cleaning robot for livestock and poultry house trench

Abstract

The utility model relates to the technical field of intelligent livestock equipment, in particular to a manure cleaning robot for a trench of a livestock shed. The push shovel assembly comprises a main push plate, a lifting cross beam, a lifting pressing plate and a main push part, the main push part is arranged on the movable vehicle body and is configured to drive the lifting cross beam to ascend and descend, and the lifting pressing plate is located above the lifting cross beam and connected to the main push plate; the push shovel assembly further comprises a first connecting piece, a first limiting piece and a first elastic piece, one end of the first connecting piece penetrates through the lifting pressing plate and the lifting cross beam to be connected to the first limiting piece, the other end of the first connecting piece is limited to the lifting pressing plate, and the first elastic piece is arranged on the connecting piece in a sleeving mode and located between the first limiting piece and the lifting cross beam. Therefore, the lifting cross beam can move downwards to compress the first elastic piece. The lifting cross beam can move downwards relative to the lifting pressing plate to extrude the first elastic piece, pressure is provided for the lifting pressing plate through the first elastic piece, the main push plate can keep good contact with the bottom face of the trench, and the manure cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent livestock equipment technology, and in particular to a manure-cleaning robot for livestock and poultry shed ditches. Background Technology

[0002] Given the current agricultural context, large-scale and industrialized development of animal husbandry is the future direction of my country's livestock and poultry farming. In large-scale farming, slatted floors are commonly used to separate manure from livestock and poultry.

[0003] Currently, cleaning the feces in the ditch under the slatted floor can be done using automated service equipment, such as a feces-cleaning robot. The robot has a pushing plate at its front end, which pushes the feces in the ditch as the robot moves. However, there is a problem of poor contact between the pushing plate and the ditch, resulting in incomplete cleaning and affecting the cleaning effect, leading to a poor user experience. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides a manure-cleaning robot for livestock and poultry shed ditches.

[0005] This application provides a manure removal robot for livestock and poultry barn drains, comprising:

[0006] Movable vehicle body;

[0007] The pusher assembly includes a main push plate, a lifting beam, a lifting pressure plate, and a main pusher component. The main pusher component is disposed on the movable vehicle body and configured to drive the lifting beam to rise and fall. The lifting pressure plate is located above the lifting beam and is connected to the main push plate.

[0008] The pusher assembly further includes a first connector, a first limiting member, and a first elastic member. One end of the first connector passes through the lifting pressure plate and the lifting beam and is connected to the first limiting member, while the other end is limited to the lifting pressure plate. The first elastic member is sleeved on the connector and located between the first limiting member and the lifting beam, so that the lifting beam can move downward relative to the lifting pressure plate and compress the first elastic member.

[0009] In some embodiments, the pusher assembly further includes two side push plates, which are located on both sides of the main push plate in the left-right direction of the movable vehicle body and are capable of moving left and right relative to the main push plate.

[0010] In some embodiments, the pusher assembly further includes a side push limiting plate, which is located above the lifting beam, and both side push plates are connected to the side push limiting plate.

[0011] The pusher assembly further includes a second connector, a second limiting member, and a second elastic member. One end of the second connector passes through the side push limiting plate and the lifting beam and is connected to the second limiting member, while the other end is limited to the side push limiting plate. The second elastic member is sleeved on the second connector and located between the second limiting member and the lifting beam, so that the lifting beam can move downward relative to the side push limiting plate to compress the second elastic member.

[0012] In some embodiments, the pusher assembly further includes a side push beam plate and a secondary pusher for each of the side push plates. The side push beam plate is connected to the side push limiting plate, and the secondary pusher is disposed on the side push beam plate for driving the side push plates to move left and right.

[0013] In some embodiments, the pusher assembly further includes a third elastic element and a mounting bracket corresponding to each of the side push plates. The auxiliary pusher is connected to the mounting bracket, the side push plate is connected to the mounting bracket, and the third elastic element is sleeved on a guide shaft connecting the mounting bracket and the side push plate. The side push plate can move relative to the mounting bracket via the guide shaft.

[0014] In some embodiments, the movable vehicle body includes a main body, a front drive wheel assembly, a swivel wheel assembly, and a rear drive wheel assembly. The front drive wheel assembly is disposed at the front end of the main body in the longitudinal direction, the swivel wheel assembly is disposed at the rear end of the main body in the longitudinal direction, and the rear drive wheel assembly is disposed between the swivel wheel assembly and the front drive wheel assembly. It is capable of being raised in the height direction of the main body to make the swivel wheel assembly contact the support surface, or lowered to contact the support surface to raise the swivel wheel assembly.

[0015] In some embodiments, a contact navigation component is also included, wherein the contact navigation component is disposed on at least one side of the movable vehicle body in the left-right direction, so that the movable vehicle body is relatively close to one side wall of the trench in the left-right direction.

[0016] In some embodiments, the system further includes two RFID navigation components, which are respectively located at both ends of the movable vehicle body in the longitudinal direction.

[0017] The RFID navigation component includes an RFID reader and an RFID lifting component, wherein the RFID lifting component is configured to drive the RFID reader to move up and down in the height direction of the movable vehicle body.

[0018] The movable vehicle body is provided with an RFID accommodating cavity to accommodate at least a portion of the RFID reader.

[0019] In some embodiments, the system further includes a magnetic field navigation component, wherein two magnetic field navigation components are provided, and the two magnetic field navigation components are respectively provided at both ends of the movable vehicle body in the longitudinal direction;

[0020] The magnetic field navigation component includes a magnetic field navigation sensor and a magnetic field lifting component, wherein the magnetic field lifting component is configured to drive the magnetic field navigation sensor to move up and down in the height direction of the movable vehicle body.

[0021] The movable vehicle body is provided with a magnetic flux accommodating cavity to accommodate at least a portion of the magnetic flux navigation sensors.

[0022] In some embodiments, the manure-cleaning robot further includes a charging component disposed in a charging cavity of the movable vehicle body, and the movable vehicle body is provided with a through hole communicating with the charging cavity;

[0023] The charging assembly includes a charging drive structure and a charging rod. The charging drive structure is configured to drive the charging rod to move so that the charging rod extends out of the through hole or retracts into the charging cavity.

[0024] The technical solution provided in this application has the following advantages compared with the prior art:

[0025] This manure-cleaning robot for livestock and poultry shed ditches connects a lifting plate and a lifting beam via a first connector and a first limiting member. A first elastic member is positioned between the first limiting member and the lifting beam. When the lifting beam descends under the drive of the main pusher, the lifting plate and the lifting beam descend synchronously until the main pusher contacts the bottom surface of the ditch. At this point, the lifting plate is restricted from further downward movement, while the lifting beam continues to descend and compresses the first elastic member. The first elastic member provides pressure to the lifting plate, and through the combined weight of the lifting plate and the main pusher, as well as the pressure from the first elastic member, the main pusher maintains good contact with the bottom surface of the ditch, thereby improving the manure-cleaning effect and enhancing the user experience. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the manure removal robot described in the embodiments of this application. Figure 1 ;

[0029] Figure 2 This is a schematic diagram of the structure of the manure removal robot described in the embodiments of this application. Figure 2 ;

[0030] Figure 3 This is a front view schematic diagram of the pusher assembly described in the embodiments of this application;

[0031] Figure 4 This is a rear view schematic diagram of the pusher assembly described in an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the front drive wheel assembly described in an embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the structure of the rear drive wheel assembly described in an embodiment of this application;

[0034] Figure 7 This is a schematic diagram of the RFID navigation component described in an embodiment of this application;

[0035] Figure 8 This is a schematic diagram of the magnetic flux navigation component described in the embodiments of this application;

[0036] Figure 9 This is a schematic diagram of the working state of the manure cleaning robot described in the embodiments of this application;

[0037] Figure 10 This is a schematic diagram of the structure of the charging component described in the embodiments of this application;

[0038] Figure 11 This is a schematic diagram of the internal structure of the manure cleaning robot described in the embodiments of this application.

[0039] The components include: 1. Movable vehicle body; 11. Main body; 12. Front drive wheel assembly; 121. Front drive wheel frame; 122. Front drive motor; 123. Front drive reducer; 124. Front drive wheel; 125. Transmission chain; 13. Universal wheel assembly; 131. Universal wheel; 14. Rear drive wheel assembly; 141. Rear drive bracket; 142. Rear lifting motor; 143. Rear drive motor; 144. Rear drive reducer; 145. Rear drive wheel; 146. Lead screw; 15. Side impact protection wheel.

[0040] 2. Pusher assembly; 21. Main pusher plate; 22. Lifting beam; 23. Lifting pressure plate; 24. Main pusher component; 251. First elastic component; 252. Second elastic component; 26. Side pusher plate; 27. Side pusher limit plate; 28. Side pusher beam plate; 29. ​​Secondary pusher component; 201. Third elastic component; 202. Mounting bracket; 203. Guide shaft; 204. Side pusher plate guide wheel; 205. Side pusher plate limit switch; 206. Adapter plate; 207. Pusher plate lower guide wheel; 208. Main pusher plate limit switch;

[0041] 3. Contact navigation components;

[0042] 4. RFID navigation component; 41. RFID lifting component; 411. First electric push rod; 412. Guide slide; 42. RFID reader;

[0043] 5. Magnetic navigation assembly; 51. Magnetic lifting assembly; 511. Second electric push rod; 512. Limit switch; 52. Magnetic navigation sensor;

[0044] 6. Charging assembly; 61. Charging drive structure; 611. Charging drive push rod; 62. Charging rod; 63. Mounting box; 64. Fourth elastic element; 65. Limiting element; 66. Insulating plate;

[0045] 7. Control system; 7a. Battery pack; 7b. Charging interface; 7c. PLC control module; 7d. PLC expansion module; 7e. Remote control module; 7f. Remote control antenna; 7g. Relay; 7h. Terminal block; 7i. Motor driver; 7j. Information display screen; 7k. Power switch; 7l. Emergency stop switch; 7m. Cooling fan assembly. Detailed Implementation

[0046] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0047] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0048] like Figures 1 to 11 As shown in the figure, this application provides a manure cleaning robot for livestock and poultry house ditches. The manure cleaning robot includes a movable vehicle body 1 and a pusher assembly 2.

[0049] The pusher assembly 2 includes a main push plate 21, a lifting beam 22, a lifting pressure plate 23, and a main pusher 24. The main pusher 24 is mounted on the movable vehicle body 1 and is configured to drive the lifting beam 22 to rise and fall. The lifting pressure plate 23 is located above the lifting beam 22 and is connected to the main push plate 21.

[0050] The pusher assembly 2 also includes a first connector, a first limiting member, and a first elastic member 251. One end of the first connector passes through the lifting pressure plate 23 and the lifting beam 22 and is connected to the first limiting member, while the other end is limited to the lifting pressure plate 23. The first elastic member 251 is sleeved on the first connector and located between the first limiting member and the lifting beam 22, so that the lifting beam 22 can move downward relative to the lifting pressure plate 23 to compress the first elastic member 251.

[0051] Understandably, the lifting plate 23 and the lifting beam 22 are connected by a first connector and a first limiting member, and a first elastic member 251 is provided between the first limiting member and the lifting beam 22. Thus, when the lifting beam 22 descends under the drive of the main pusher 24, the lifting plate 23 and the lifting beam 22 descend synchronously until the main pusher 21 contacts the bottom surface of the trench. At this time, the lifting plate 23 is restricted and cannot move down, while the lifting beam 22 can continue to move down and squeeze the first elastic member 251. The first elastic member 251 provides pressure to the lifting plate 23, thereby enabling the main pusher 21 to maintain good contact with the bottom surface of the trench through the weight of the lifting plate 23 and the main pusher 21 and the pressure of the first elastic member 251, thereby improving the manure removal effect and improving the user experience.

[0052] The lifting beam 22 is connected to the lifting guide rail on the movable vehicle body 1 via an adapter plate. When the lifting beam 22 is lifted and lowered under the drive of the main pusher 24, it is guided and limited by the lifting guide rail to ensure the stability of the lifting beam 22 during lifting and lowering.

[0053] For example, the first connecting member can be selected as a bolt, such as a reamed bolt, and the first limiting member can be selected as a nut that mates with the bolt. In this case, both the lifting pressure plate 23 and the lifting beam 22 have through holes for the bolt to pass through. Alternatively, the first connecting member can also be selected as a screw, in which case there are two first limiting members, which are nuts that mate with the screw, and the two ends of the screw are respectively limited by the two nuts.

[0054] For example, the main pusher 24 can be selected as an electric push rod, the telescopic rod of which drives the lifting beam 22 to rise and fall.

[0055] In some embodiments, refer to Figure 1 and Figure 2The manure cleaning robot also includes side anti-collision wheels 15. The movable vehicle body 1 is equipped with side anti-collision wheels 15 on both sides in the left and right directions to avoid collision between the movable vehicle body 1 and the side wall of the ditch and damage to the movable vehicle body 1.

[0056] In some embodiments, refer to Figure 3 and Figure 4 The pusher assembly 2 also includes two side push plates 26. In the left and right direction of the movable vehicle body 1, the two side push plates 26 are located on both sides of the main push plate 21 and can move left and right relative to the main push plate 21.

[0057] Understandably, the main push plate 21 has side push plates 26 on both sides of the movable vehicle body 1 in the left and right directions. In this way, the size of the push plate assembly 2 can be expanded by moving the side push plates 26, so that the manure cleaning robot can adapt to ditches of various widths and improve the applicability of the manure cleaning robot.

[0058] It should be noted that, in the front-rear direction of the movable vehicle body 1, the aforementioned side push plate 26 at least partially overlaps with the main push plate 21. In other words, in the front-rear direction of the movable vehicle body 1, the side push plate 26 always maintains partial overlap with the main push plate 21, thus avoiding gaps between the main push plate 21 and the side push plate 26 that would affect the manure removal effect.

[0059] The side pusher plate 26 has a first position and a second position in the left-right direction of the movable vehicle body, and the side pusher plate 26 can switch between the first position and the second position. When the side pusher plate 26 is in the first position, the side pusher plate 26 is fully extended relative to the main pusher plate 21, and at this time, part of the side pusher plate 26 overlaps with the main pusher plate 21, that is, part of the side pusher plate 26 is located behind the main pusher plate 21. When the side pusher plate 26 is in the second position, the side pusher plate 26 is fully retracted relative to the main pusher plate 21, and at this time, the side pusher plate 26 overlaps with the main pusher plate 21 at least partially, that is, all or part of the side pusher plate 26 is located behind the main pusher plate 21.

[0060] Furthermore, the side push plate 26 is provided with a side push plate guide wheel 204, which is used to contact the side wall of the ditch to prevent the side push plate 26 from getting stuck with the side wall of the ditch and affecting the movement of the manure cleaning robot.

[0061] In addition, the bottom of the main push plate 21 and the side push plate 26 are both provided with push plate guide wheels 207. When the main push plate 21 and the side push plate 26 descend, the push plate guide wheels 207 contact the bottom surface of the ditch, which improves the stability of the manure cleaning robot when it moves.

[0062] Furthermore, referring to Figure 4 The pusher assembly also includes a side push limiting plate 27, which is located above the lifting beam 22, and both side push plates 26 are connected to the side push limiting plate 27.

[0063] The pusher assembly 2 also includes a second connector, a second limiting member, and a second elastic member 252. One end of the second connector passes through the side push limiting plate 27 and the lifting beam 22 and is connected to the second limiting member, while the other end is limited to the side push limiting plate 27. The second elastic member 252 is sleeved on the second connector and located between the second limiting member and the lifting beam 22, so that the lifting beam 22 can move downward relative to the side push limiting plate 27 to compress the second elastic member 252.

[0064] Understandably, the side-push limiting plate 27 and the lifting beam 22 are connected by a second connector and a second limiting member, and a second elastic member 252 is provided between the second limiting member and the lifting beam 22. Thus, when the lifting beam 22 descends under the drive of the main pusher 24, the side-push limiting plate 27 and the lifting beam 22 descend synchronously until the side-push plate 26 contacts the bottom surface of the trench. At this time, the side-push limiting plate 27 is restricted and cannot move down, while the lifting beam 22 can continue to move down and squeeze the second elastic member 252. The second elastic member 252 provides pressure to the side-push limiting plate 27, thereby enabling the side-push plate 26 to maintain good contact with the bottom surface of the trench through the gravity of the side-push limiting plate 27 and the side-push plate 26 and the pressure of the second elastic member 252, thereby improving the manure removal effect and improving the user experience.

[0065] For example, the second connecting member can be selected as a bolt, such as a reamed bolt, and the second limiting member can be selected as a nut that mates with the bolt. In this case, both the side-push limiting plate 27 and the lifting crossbeam 22 have pupil holes for the bolt to pass through. Alternatively, the second connecting member can also be selected as a screw, in which case there are two second limiting members, which are nuts that mate with the screw, and the two ends of the screw are limited by the two nuts respectively.

[0066] Reference Figure 4 The aforementioned pusher assembly 2 also includes a side push beam plate 28 and an auxiliary pusher 29 corresponding to each side push plate 26. The side push beam plate 28 is connected to the side push limiting plate 27, and the auxiliary pusher 29 is disposed on the side push beam plate 28 for driving the side push plate 26 to move left and right.

[0067] Understandably, the side push beam plate 28 serves to fix the auxiliary push member 29, at which time the side push plate 26 can move left and right relative to the side push beam plate 28 under the drive of the auxiliary push member 29.

[0068] The auxiliary pusher 29 can be selected as an electric push rod, in which case the telescopic rod of the electric push rod drives the side push plate 26 to move left and right.

[0069] It should be noted that the aforementioned side-push crossbeam 28 is guided and limited by a guide rod set on the movable vehicle body 1. For example, the side-push crossbeam 28 has a slide seat sleeved on the guide rod. When the side-push crossbeam 28 is raised and lowered, it is guided and limited by the cooperation of the slide seat and the guide rod to ensure the stability of the side-push crossbeam 28 when it is raised and lowered.

[0070] Furthermore, the pusher assembly 2 also includes a third elastic element 201 and a mounting bracket 202 corresponding to each side push plate 26. The auxiliary pusher 29 is connected to the mounting bracket 202, the side push plate 26 is connected to the mounting bracket 202, and the third elastic element 201 is sleeved on the guide shaft 203 connecting the mounting bracket 202 and the side push plate 26. The side push plate 26 can move relative to the mounting bracket 202 through the guide shaft 203.

[0071] Understandably, by setting the guide shaft 203 and the third elastic element 201, the side push plate 26 can avoid hard contact with the side wall of the ditch, and the side push plate 26 can avoid jamming with the side wall of the ditch during the movement of the manure cleaning robot, thus ensuring the smooth movement of the manure cleaning robot.

[0072] It should be noted that each side push plate 26 is provided with a side push limiting plate 27, a side push crossbeam plate 28, a secondary push component 29, a mounting bracket 202, and a third elastic component 201.

[0073] In some embodiments, refer to Figure 2 The movable vehicle body 1 includes a main body 11, a front drive wheel assembly 12, a swivel wheel assembly 13, and a rear drive wheel assembly 14. The front drive wheel assembly 12 is located at the front end of the main body 11 in the longitudinal direction, the swivel wheel assembly 13 is located at the rear end of the main body 11 in the longitudinal direction, and the rear drive wheel assembly 14 is located between the swivel wheel assembly 13 and the front drive wheel assembly 12. It can be raised above the height of the main body 11 to allow the swivel wheel assembly 13 to contact the support surface, or lowered to contact the support surface and raise the swivel wheel assembly 13.

[0074] Understandably, the rear drive wheel assembly 14 can be raised and lowered. During manure cleaning operations, the rear drive wheel assembly 14 can contact the supporting surface, while the omnidirectional wheel assembly 13 disengages from the supporting surface. At this time, the manure cleaning robot is driven jointly by the front drive wheel assembly 12 and the rear drive wheel assembly 14. This increases the overall driving force of the manure cleaning robot and also increases the contact area with the supporting surface, thus improving the stability of the manure cleaning robot during movement. After the manure cleaning operation is completed, the rear drive wheel assembly 14 can be raised and disengaged from the supporting surface, allowing the omnidirectional wheel assembly 13 to contact the supporting surface. This makes the movement of the manure cleaning robot more flexible, facilitating actions such as reversing and turning.

[0075] It should be noted that the main body 11 is provided with a rear drive receiving cavity corresponding to the rear drive wheel assembly 14. The rear drive receiving cavity is used to accommodate at least part of the rear drive wheel assembly 14. That is to say, the rear drive wheel assembly 14 moves into the drive receiving cavity when it rises.

[0076] The main body 11 has two front drive wheel sets 12, which are symmetrically arranged in the left-right direction. It also has two omnidirectional wheel sets 13, which are symmetrically arranged in the left-right direction. Finally, it has two rear drive wheel sets 14, which are symmetrically arranged in the left-right direction.

[0077] Specifically, refer to Figure 2 The aforementioned caster wheel assembly 13 includes a caster wheel frame and caster wheels 131. The caster wheel frame is connected to the main body 11, and the caster wheels 131 are mounted on the caster wheel frame and can rotate relative to the caster wheel frame around an axis extending along the height direction of the main body 11. In this way, it can cooperate with the front drive wheel assembly 12 to realize the steering and other operations of the manure cleaning robot.

[0078] Specifically, refer to Figure 5 The aforementioned front drive wheel assembly 12 includes a front drive wheel frame 121, a front drive motor 122, a front drive reducer 123, and a front drive wheel 124. The front drive wheel frame 121 is connected to the main body 11. The front drive motor 122, the front drive reducer 123, and the front drive wheel 124 are all mounted on the front drive wheel frame 121. The front drive motor 122 drives the front drive wheel 124 through the front drive reducer 123, and the front drive reducer 123 drives the front drive wheel 124 to rotate through a transmission chain 125.

[0079] Understandably, each front drive wheel assembly 12 has a front drive wheel 124 driven by its own front drive motor 122. Each front drive wheel assembly 12 has two front drive wheels 124, and the front drive motor 122 drives both front drive wheels 124 simultaneously or drives one of the front drive wheels 124, while the other front drive wheel 124 acts as a driven wheel.

[0080] Specifically, refer to Figure 6 The aforementioned rear drive wheel assembly 14 includes a rear drive bracket 141, a rear lifting motor 142, a rear drive motor 143, a rear drive reducer 144, and a rear drive wheel 145. The rear drive bracket 141 is connected to the main body 11. The rear lifting motor 142 is mounted on the rear drive bracket 141 and can drive the rear drive motor 143, the rear drive reducer 144, and the rear drive wheel 145 to lift as a whole via a lead screw. The rear drive motor 143 drives the rear drive wheel 145 through the rear drive reducer 144.

[0081] Understandably, the rear drive wheel 145 of each rear drive wheel set 14 is driven by its own rear drive motor 143. And each rear drive wheel set 14 has two rear drive wheels 145, and the rear drive motor 143 drives both rear drive wheels 145 simultaneously or drives one of the rear drive wheels 145, while the other rear drive wheel 145 acts as a driven wheel.

[0082] Specifically, when it is necessary to raise the rear drive wheel 145, the rear lifting motor 142 drives the lead screw to rotate, thereby raising the rear drive wheel 145. When it is necessary to lower the rear drive wheel 145, the rear lifting motor 142 drives the lead screw to rotate, thereby lowering the rear drive wheel 145.

[0083] It should be noted that the diameter of the rear drive wheel 145 is larger than the diameter of the swivel wheel 131, and the width of the rear drive wheel 145 is larger than the width of the swivel wheel 131.

[0084] In some embodiments, refer to Figure 7 The manure cleaning robot also includes an RFID navigation component 4. There are two RFID navigation components 4, which are respectively located at both ends of the movable vehicle body 1 in the front and rear directions.

[0085] The RFID navigation component 4 includes an RFID reader 42 and an RFID lifting component 41. The RFID lifting component 41 is configured to drive the RFID reader 42 to move up and down in the height direction of the movable vehicle body 1.

[0086] The movable vehicle body 1 is provided with an RFID accommodating cavity to accommodate at least part of the RFID reader 42.

[0087] Understandably, both ends of the movable vehicle body 1 in the front and rear directions are equipped with RFID navigation components 4, so that when the movable vehicle body 1 moves forward or backward, the electronic tags arranged in the trench can be identified by two RFID readers 42 respectively, thereby determining the current position of the manure cleaning robot in the trench, judging the working progress of the manure cleaning robot, and facilitating cooperation with other manure cleaning robots or equipment.

[0088] Furthermore, the RFID reader 42 can be raised and lowered by the RFID lifting component 41, thereby raising the manure cleaning robot when it is climbing a slope or crossing an obstacle, avoiding collision with obstacles and preventing damage, and also preventing the RFID navigation component 4 from affecting the movement of the manure cleaning robot.

[0089] The aforementioned RFID lifting assembly 41 includes a first electric push rod 411 and a guide slide 412. The first electric push rod 411 is mounted on the movable vehicle body 1 and connected to the guide slide 412. The aforementioned RFID reader 42 is connected to the guide slide 412, and the first electric push rod 411 drives the RFID reader 42 to rise and fall through the guide slide 412. The guide slide 412 can cooperate with a guide rail or guide rod mounted on the movable vehicle body 1 to achieve guidance and limiting.

[0090] In addition, the movement of the RFID reader 42 can be limited by limit switches. At this time, the lifting and lowering of the RFID reader 42 is limited by two limit switches in conjunction with the first electric push rod 411 to ensure the accuracy of the position of the RFID reader 42.

[0091] Reference Figure 8 The manure cleaning robot also includes a magnetic navigation component 5. There are two magnetic navigation components 5, which are respectively located at both ends of the movable vehicle body 1 in the front and rear directions.

[0092] The magnetic field navigation component 5 includes a magnetic field navigation sensor 52 and a magnetic field lifting component 51. The magnetic field lifting component 51 is configured to drive the magnetic field navigation sensor 52 to move up and down in the height direction of the movable vehicle body 1.

[0093] The movable vehicle body 1 is provided with a magnetic flux accommodating cavity to accommodate at least part of the magnetic flux navigation component 5.

[0094] Understandably, both ends of the movable vehicle body 1 in the front and rear directions are equipped with magnetic navigation components 5, so that when the movable vehicle body 1 moves forward or backward, the magnetic strips arranged in the trench can be identified by two magnetic navigation sensors 52, thereby determining the current position of the manure cleaning robot in the trench, judging the working progress of the manure cleaning robot, and facilitating cooperation with other manure cleaning robots or equipment.

[0095] Furthermore, the magnetic field navigation sensor 52 can be raised and lowered by the magnetic field lifting component 51, thereby raising the manure cleaning robot when it is climbing a slope or crossing an obstacle, avoiding collision with obstacles and preventing damage, and also preventing the magnetic field navigation component 5 from affecting the movement of the manure cleaning robot.

[0096] The aforementioned magnetic field lifting assembly 51 includes a second electric push rod 511, and a first electric push rod 411 is mounted on the movable vehicle body 1. The first electric push rod 411 is used to drive the magnetic field navigation sensor 52 to lift.

[0097] In addition, the magnetic field lifting assembly 51 also includes a limit switch 512. The movement of the magnetic field navigation sensor 52 can be limited by the limit switch 512. At this time, the lifting of the magnetic field navigation sensor 52 is limited by the cooperation of the two limit switches 512 and the second electric push rod 511, so as to ensure the accuracy of the position of the magnetic field navigation sensor 52.

[0098] In some embodiments, refer to Figure 2 and Figure 9 The manure cleaning robot also includes a contact navigation component 3. The contact navigation component 3 is provided on at least one side of the movable vehicle body 1 in the left and right directions, so that the movable vehicle body 1 is relatively close to one side wall of the ditch in the left and right directions.

[0099] Specifically, taking a contact navigation component 3 as an example, the contact navigation component 3 controls the left and right movement of the manure-cleaning robot by the contact between its contact head and the side wall of the ditch. For example, when the contact head contacts the side wall of the ditch, the contact navigation component 3 sends a signal to the control system 7 of the manure-cleaning robot. The control system 7 controls the front drive wheel set 12 and / or the rear drive wheel set 14 to move away from the side wall of the ditch. When the contact head disengages from the side wall of the ditch, the contact navigation component 3 sends a signal to the control system 7 of the manure-cleaning robot. The control system 7 controls the front drive wheel set 12 and / or the rear drive wheel set 14 to move closer to the side wall of the ditch.

[0100] Among them, the left and right movement range of the above-mentioned manure cleaning robot is relatively small, that is, the distance is fine-tuned, to ensure that the manure cleaning robot can move within a preset range from the side wall of the ditch.

[0101] Of course, the manure-cleaning robot can also navigate using at least two contact navigation components 3 on one side. In this case, the control system 7 of the manure-cleaning robot comprehensively considers the signals from at least two contact navigation components 3 to control the movement of the manure-cleaning robot. Taking two contact navigation components 3 as an example, when both contact navigation components 3 are out of contact with the sidewall of the ditch, the control system 7 controls the front drive wheel set 12 and / or the rear drive wheel set 14 to move towards the sidewall of the ditch. When both contact navigation components 3 are in contact with the sidewall of the ditch, the control system 7 controls the front drive wheel set 12 and / or the rear drive wheel set 14 to move away from the sidewall of the ditch.

[0102] It should be noted that when the number of contact navigation components 3 on one side of the manure cleaning robot exceeds two, the specific control method can be set according to actual needs, and will not be listed here.

[0103] The use of contact navigation simplifies the robot's movement and control within the ditch, making it unaffected by feces, urine, or other contaminants, resulting in strong environmental adaptability and high stability and reliability. Furthermore, contact navigation allows the robot to move along one side wall of the ditch to perform its cleaning tasks. Figure 9 As shown, this makes the manure-cleaning robot applicable to ditches of different widths, thus increasing its applicability.

[0104] For example, refer to Figure 9 The aforementioned contact navigation component 3 is provided in four sets, which are respectively located at the four corners of the movable vehicle body 1. This control calls the switch signals within the four sets of contact navigation components 3 to control the robot to make corresponding posture adjustments, thereby enabling the robot to navigate in the ditch. This eliminates the need for complex and expensive sensors or navigation equipment. Moreover, the ditch environment is full of feces, urine, dust, etc., and optical and ultrasonic methods are poorly adapted and are suitable as auxiliary methods.

[0105] For example, the aforementioned contact navigation component 3 may be an Omron WLNJ series limit switch.

[0106] It should be noted that when the manure-cleaning robot performs manure-cleaning work, it travels in a straight line within the ditch, primarily using contact navigation, supplemented by magnetic navigation and RFID navigation. When switching between ditches, it primarily uses magnetic navigation. The RFID reader identifies electronic tags placed within the ditch to determine the robot's current location within the ditch, assess the progress of its manure-cleaning work, and facilitate collaboration with other manure-cleaning robots or equipment.

[0107] In some embodiments, refer to Figure 10 The manure cleaning robot also includes a charging component 6 installed in the charging cavity of the movable vehicle body 1, and the movable vehicle body 1 is provided with a through hole that connects to the charging cavity.

[0108] The charging component 6 includes a charging drive structure 61 and a charging rod 62. The charging drive structure 61 is configured to drive the charging rod 62 to move so that the charging rod 62 extends out of the through hole or retracts into the charging cavity.

[0109] Understandably, by configuring the charging component 6, the charging rod 62 of the manure-cleaning robot can be controlled to extend out of the through hole and contact the charging interface of the charging pile under the drive of the charging drive structure 61, thereby achieving automatic charging of the manure-cleaning robot. After charging is completed, the charging rod 62 retracts into the charging cavity under the drive of the charging drive structure 61, preventing the charging rod 62 from affecting the movement of the manure-cleaning robot.

[0110] Specifically, refer to Figure 10 The aforementioned charging drive structure 61 includes a charging drive push rod 611. The charging assembly also includes a mounting box 63, a fourth elastic member 64, a limiting member 65, and an insulating plate 66.

[0111] The charging rod 62 is movably mounted on the opposite side walls of the mounting box 63. A fourth elastic element 64 is sleeved on the charging rod 62 and located between the opposite side walls of the mounting box 63, so that when the end of the charging rod 62 extending through the through hole is pressed, the fourth elastic element 64 can be compressed, thereby buffering the movement of the charging rod 62. The aforementioned charging drive push rod 611 is connected to the mounting box 63, thereby driving the mounting box 63 and the charging rod 62 to move. The mounting box 63 is slidably disposed within the limiting groove of the limiting member 65, and the limiting groove extends along the moving direction of the charging rod 62. The aforementioned insulating plate 66 is connected to the limiting member 65, and the insulating plate 66 has a clearance hole for the charging rod 62 to pass through.

[0112] The aforementioned charging drive structure 61 and limiting member 65 are both mounted on the movable vehicle body 1.

[0113] It should be noted that, referring to Figure 11 The septic tank cleaning robot also includes a charging interface 7b set on the movable vehicle body 1. The charging interface 7b is used to connect an external charging head, and the septic tank cleaning robot can be charged by manually plugging in the charging head.

[0114] In some embodiments, refer to Figure 11 The control system 7 of the manure-cleaning robot is located inside the movable vehicle body 1. The control system 7 includes a PLC control module 7c, a PLC expansion module 7d, a relay 7g, a motor driver 7i, a remote control module 7e, a remote control antenna 7f, and a terminal block 7h. The PLC control module 7c is connected to the PLC expansion module 7d. The relay 7g is used to turn the control system 7 on or off. The motor driver 7i, remote control module 7e, magnetic navigation sensor 52, and RFID reader 42 are all connected to the PLC control module 7c via the terminal block 7h. The motor driver 7i drives the front drive motor 122, the rear drive motor 143, and the rear lifting motor 142.

[0115] The PLC control module 7c serves as the core unit to achieve precise control of each motor, complete signal processing between various sensors, and coordinate the logical relationships between drive modules.

[0116] The control system 7 also includes a cooling fan assembly 7m, a battery pack 7a, an information display screen 7j, a power switch 7k, and an emergency stop switch 7l, all mounted on the movable vehicle body 1. The charging rod 62 and charging interface 7b are both electrically connected to the battery pack 7a and can charge the battery pack 7a. The power switch 7k is used to turn the manure-cleaning robot on or off, and the emergency stop switch 7l controls the opening and closing of the relay 7g.

[0117] This manure-cleaning robot enables automated, unmanned management. It connects to the robot hardware via an app, allowing for remote, multi-robot collaborative operation via the Internet of Things. The app acts as the system's control unit, using either an AGV magnetic navigation system to switch channels along a pre-defined trajectory or electronic tag identification to locate the robot and monitor its cleaning progress. Meanwhile, the PLC control module 7c, as the core unit, precisely controls each motor, processes signals from various sensors, and coordinates the logical relationships between the drive modules.

[0118] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0119] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A manure-cleaning robot for livestock and poultry shed drainage ditches, characterized in that, include: Movable vehicle body (1); The pusher assembly (2) includes a main push plate (21), a lifting beam (22), a lifting pressure plate (23), and a main pusher (24). The main pusher (24) is disposed on the movable vehicle body (1) and is configured to drive the lifting beam (22) to rise and fall. The lifting pressure plate (23) is located above the lifting beam (22) and is connected to the main push plate (21). The pusher assembly (2) further includes a first connector, a first limiting member, and a first elastic member (251). One end of the first connector passes through the lifting pressure plate (23) and the lifting beam (22) and is connected to the first limiting member, while the other end is limited to the lifting pressure plate (23). The first elastic member (251) is sleeved on the connector and located between the first limiting member and the lifting beam (22) so that the lifting beam (22) can move downward relative to the lifting pressure plate (23) to compress the first elastic member (251).

2. The manure-cleaning robot for livestock and poultry shed ditches according to claim 1, characterized in that, The pusher assembly (2) also includes two side push plates (26). In the left and right direction of the movable vehicle body (1), the two side push plates (26) are located on both sides of the main push plate (21) and can move left and right relative to the main push plate (21).

3. The manure-cleaning robot for livestock and poultry shed ditches according to claim 2, characterized in that, The pusher assembly (2) also includes a side push limiting plate (27), which is located above the lifting beam (22), and both side push plates (26) are connected to the side push limiting plate (27). The pusher assembly (2) further includes a second connector, a second limiting member, and a second elastic member (252). One end of the second connector passes through the side push limiting plate (27) and the lifting beam (22) and is connected to the second limiting member. The other end is limited to the side push limiting plate (27). The second elastic member (252) is sleeved on the second connector and located between the second limiting member and the lifting beam (22) so that the lifting beam (22) can move downward relative to the side push limiting plate (27) to compress the second elastic member.

4. The manure-cleaning robot for livestock and poultry shed ditches according to claim 3, characterized in that, The pusher assembly (2) further includes a side push beam plate (28) and a secondary pusher (29) provided for each side push plate (26). The side push beam plate (28) is connected to the side push limiting plate (27), and the secondary pusher (29) is provided on the side push beam plate (28) for driving the side push plate (26) to move left and right.

5. The manure-cleaning robot for livestock and poultry shed ditches according to claim 4, characterized in that, The pusher assembly (2) further includes a third elastic element (201) and a mounting bracket (202) corresponding to each of the side push plates (26). The auxiliary pusher (29) is connected to the mounting bracket (202), the side push plate (26) is connected to the mounting bracket (202), and the third elastic element (201) is sleeved on the guide shaft (203) connecting the mounting bracket (202) and the side push plate (26). The side push plate (26) can move relative to the mounting bracket (202) through the guide shaft (203).

6. The manure-cleaning robot for livestock and poultry shed ditches according to claim 1, characterized in that, The movable vehicle body (1) includes a main body (11), a front drive wheel assembly (12), a universal wheel assembly (13), and a rear drive wheel assembly (14). The front drive wheel assembly (12) is located at the front end of the main body (11) in the front-rear direction, the universal wheel assembly (13) is located at the rear end of the main body (11) in the front-rear direction, and the rear drive wheel assembly (14) is located between the universal wheel assembly (13) and the front drive wheel assembly (12). It can be raised in the height direction of the main body (11) so that the universal wheel assembly (13) contacts the support surface, or lowered to contact the support surface and raise the universal wheel assembly (13).

7. The manure-cleaning robot for livestock and poultry shed ditches according to claim 1, characterized in that, It also includes a contact navigation component (3), which is provided on at least one side of the movable vehicle body (1) in the left-right direction, so that the movable vehicle body (1) is relatively close to one side wall of the trench in the left-right direction.

8. The manure-cleaning robot for livestock and poultry shed ditches according to claim 1, characterized in that, It also includes an RFID navigation component (4), of which two RFID navigation components (4) are provided, and the two RFID navigation components (4) are respectively provided at both ends of the movable vehicle body (1) in the front-rear direction; The RFID navigation component (4) includes an RFID reader (42) and an RFID lifting component (41), wherein the RFID lifting component (41) is configured to drive the RFID reader (42) to move up and down in the height direction of the movable vehicle body (1); The movable vehicle body (1) is provided with an RFID receiving cavity to receive at least part of the RFID reader (42).

9. The manure-cleaning robot for livestock and poultry shed ditches according to claim 1, characterized in that, It also includes a magnetic field navigation component (5), of which two magnetic field navigation components (5) are provided, and the two magnetic field navigation components (5) are respectively provided at both ends of the movable vehicle body (1) in the front-rear direction; The magnetic navigation component (5) includes a magnetic navigation sensor (52) and a magnetic lifting component (51). The magnetic lifting component (51) is configured to drive the magnetic navigation sensor (52) to move up and down in the height direction of the movable vehicle body (1). The movable vehicle body (1) is provided with a magnetic flux accommodating cavity to accommodate at least part of the magnetic flux navigation sensor (52).

10. The manure-cleaning robot for livestock and poultry shed ditches according to claim 1, characterized in that, The manure cleaning robot also includes a charging component (6) disposed in the charging cavity of the movable vehicle body (1), and the movable vehicle body (1) is provided with a through hole communicating with the charging cavity; The charging assembly (6) includes a charging drive structure (61) and a charging rod (62). The charging drive structure (61) is configured to drive the charging rod (62) to move so that the charging rod (62) extends out of the through hole or retracts into the charging cavity.

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