- 期刊
應用於國內乳牛產業之清糞機器人
Manure Cleaning Robot Used in Domestic Dairy Industry
摘要
國內乳牛飼養模式以集約密集飼養為主，為避免牛隻因糞便累積過多造成場地濕滑與黏稠之狀況，乳牛舍內部多使用溝紋橡膠材質地墊，本研究旨在開發符合我國乳牛飼養模式之國產清糞機器人，為因應國內乳牛場域之地形與環境，所開發之清糞機器人底部備有輪式底盤，前端包含萬向轉輪、橡膠刮板、灑水模組及轉刷模組等設計，其可有效將溝紋地墊上之糞便清除；中段備有集糞模組且於主動力模組上方設有儲糞桶，可有效平衡清糞機器人之重心。主動力模組採用直流無刷馬達，可提供高效率低能耗之傳動動力；儲能模組採用鋰鐵電池系統，其特性為穩定性高、耐溫高且循環壽命長，適合應用於農業與畜牧產業上。所開發之清糞機器人整機長、寬及高尺寸分別為1,500 mm、1,200 mm及600 mm，總重量為425 kg，儲糞桶容量為150 L，移動速度為0.2-5 km/h。經於農業部畜產試驗所北區分所之泌乳牛舍場域測試後，結果顯示，可有效將該場域糞便吸取並提高清潔度，另可於洩糞區域進行排糞動作與充電作業，未來將持續優化載具。若能有效將清糞機器人應用於國內乳牛場域，將能提高糞便清除次數以提升地面清潔度，並能減少人力成本與廢水處理費用。
並列摘要
The domestic dairy cattle breeding model is mainly intensive and intensive breeding. In order to avoid the slippery and sticky conditions of the site caused by excessive accumulation of manure, furrowed rubber mats are mostly used inside the dairy house. This research aims to develop a domestic manure cleaning robot that conforms to our country's dairy cattle breeding model. In response to the terrain and environment of domestic dairy farms, the developed manure cleaning robot is equipped with a wheeled chassis at the bottom, and the front end includes a universal wheel, rubber scraper, sprinkler module and brush module design, which can effectively remove manure from the furrowed floor mat; the middle section is equipped with a manure collection module and in There is a manure storage bucket above the main power module, which can effectively balance the center of gravity of the manure cleaning robot. The main power module adopts brushless DC motor, which can provide high-efficiency and low-energy transmission power; the energy storage module adopts lithium-iron battery system, which is characterized by high stability, high temperature resistance and long cycle life. It is suitable for use in agriculture and animal husbandry industries. The length, width and height dimensions of the developed manure cleaning robot are 1,500 mm, 1,200 mm and 600 mm, respectively, with a total weight of 425 kg, a manure storage bucket capacity of 150 L, and a moving speed of 0.2-5 km/h. After testing in the lactation barn site of the North Branch of the Livestock Testing Institute of the Ministry of Agriculture, the results show that the manure of the site can be effectively absorbed and the cleanliness can be improved. In addition, the manure discharge action and charging operation can be carried out in the manure discharge area, and the vehicle will continue to be optimized in the future. If the manure cleaning robot can be effectively applied to domestic dairy farms, it will be able to increase the number of manure removal to improve the cleanliness of the ground, and reduce labor costs and wastewater treatment costs.