豬舍集糞天車式平台原型機之研發

Development of the Gantry Platform Prototype for Manure Collection in Pig Pens

陳保宏(Bau-Hung Chen)

指導教授 ： 周楚洋

國立臺灣大學/生物資源暨農學院/生物產業機電工程學研究所/碩士(2007年)

https://doi.org/10.6342/NTU.2007.00765

摘要

台灣養豬事業快速發展，造成大量糞尿排入溪流，形成環境污染的公害問題，尤其是在土地有限的台灣，所受的污染威脅更大。目前台灣常見的三段式廢水系統已經不能滿足日益嚴格的放流水標準，而豬糞尿污染源主要為固體糞便，因此若能在沖洗前先行處理固體糞便，直接降低或減少污染物，不但後續處理會較容易達到效果，而且能減少清洗水的用量。之前臺大研發的吸取式集糞機已證實可有效去除豬舍中的固形物，唯尚須耗費相當的人力去操作。因此，本研究之目的為發展出一能與現有的集糞設備整合、省人力的自動化移動平台。目前已研發出天車式移動平台原型機，其水平移動機構，可進行 XY平面座標定位動作，Z軸可以自由伸縮、模擬吸取過程之動作。試驗結果顯示單點定位精度可以達1mm左右，而在多點運作的情形之下，其最大誤差值不超過0.5 cm，此精準度應能符合民間豬場之需求。

關鍵字

天車 ； 移動平台 ； 豬舍 ； 集糞 ； 微控制器

並列摘要

Owing to the rapid development of swine industry, huge amount of wastewater has been discharged to the river and causes pollution to our environment. The impact is getting worse especially for the land limited country such as Taiwan. The three-stage wastewater treatment system, which is widely used in Taiwan, is hard to meet the more and more strict effluent standard. Therefore, to develop an effective treatment method is necessary to solve this problem. As we know, the primary pollution source of swine wastewater is the solid manure. Therefore, if the solid manure can be removed before flushing the pig pens, lots of pollutants will be reduced and the consequent wastewater treatment will be much easier to deal with. Also, tremendous cleaning water can be saved.
A suction-type manure collecting facility has been developed by NTU and successfully proved to be able to remove the solid manure effectively. However, intensive labor is required to operate this facility. Therefore, the objective of this study is to develop a labor-saving automatic moving platform which is able to integrate the manure collector. This study has developed a prototype of gantry-type moving platform, of which the horizontal moving mechanism is able to position the x, y coordinates, and its z-axis is able to move up and down freely to simulate the motion of the suctioning process. Test results showed that the precision of the single target point can be accurate up to 1 mm, and for the multiple target points operation, the maximum error was less than 0.5 cm. Therefore, the precision of the platform prototype should be able to meet the requirement for field operation in pig farms.

並列關鍵字

gantry ； moving platform ； pig pens ； manure collection ； micro-controller

參考文獻

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