A teat cup carrier for a milking robot and a cow udder massage system

Abstract

A kind of milk cup bracket for milking robot and cow udder massage system, including milk cup bracket and cow udder massage system, milk cup bracket includes cow udder massage system receiving table, cow udder massage system receiving table, horizontal plate and milk cup receiving table are horizontally arranged, and one end of horizontal plate is welded with one end of milk cup receiving table, the other end of horizontal plate is welded with cow udder massage system receiving table by connecting vertical plate, ladder hole is opened in cow udder massage system receiving table, and cleaning water gun is installed in ladder hole, milk cup bracket is fixedly installed on the end flange of the mechanical arm of milking robot by horizontal plate and bolt, and cow udder massage system is fixedly installed on the cow udder massage system receiving table of milk cup bracket by bolt.Cleaning and massage are carried out on cow udder before milking, to ensure the safety and health of milking process, and to ensure the quality of milk source;At the same time, automatic milking process is realized, operating cost is saved, and high efficiency of milking process is ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cross between animal husbandry and mechanical and electronic engineering, and particularly relates to a milk cup bracket for a milking robot and a dairy cow udder massage system. BACKGROUND

[0002] With the rapid economic development, the demand for dairy products has greatly increased, thereby promoting the development of animal husbandry. The introduction of efficient and intelligent milking robots is the trend of the development of animal husbandry. The milking robot can greatly save the daily operating cost of the ranch, improve the production efficiency of the ranch and the overall quality of the milk source. The end effector of the milking robot plays a crucial role in the process of dairy cow udder massage, cleaning and milking, and the working performance thereof determines the stability and working efficiency of the milking robot as a whole.

[0003] The traditional milking mechanism often only contains the milk cup part of milking, and lacks the cleaning and massage mechanism for the dairy cow udder, which will result in the damaged quality of the milk source and the low milking efficiency. The application automatically completes the two processes of udder cleaning and massage before milking and milking by using a set of devices. SUMMARY

[0004] The application aims to provide a milk cup bracket for a milking robot and a dairy cow udder massage system. The dairy cow udder is cleaned and massaged before milking through the cleaning of the dairy cow udder and the dairy cow udder massage system, so as to ensure the safety and hygiene of the milking process and the quality of the milk source. Meanwhile, the application helps the ranch to realize the daily automatic milking process, saves the operating cost and ensures the efficiency of the milking process.

[0005] A milk cup bracket for a milking robot and a dairy cow udder massage system, comprising a milk cup bracket and a dairy cow udder massage system, wherein the milk cup bracket comprises a dairy cow udder massage system receiving table, a connecting vertical plate, a horizontal plate and a milk cup receiving table, the dairy cow udder massage system receiving table, the horizontal plate and the milk cup receiving table are horizontally arranged, one end of the horizontal plate is welded and connected with one end of the milk cup receiving table, the other end of the horizontal plate is welded and connected with the dairy cow udder massage system receiving table through the connecting vertical plate, a stepped hole is formed in the dairy cow udder massage system receiving table, and a cleaning water gun is installed in the stepped hole, the milk cup bracket is fixedly installed on the flange at the end of the mechanical arm of the milking robot through the horizontal plate and bolts, and the dairy cow udder massage system is fixedly installed on the dairy cow udder massage system receiving table of the milk cup bracket through bolts.

[0006] The milk cup receiving platform is provided with a plurality of first through holes for the soft tube to pass through, and a milk cup receiving base is welded on the milk cup receiving platform and concentric with the corresponding first through hole. The milk cup receiving base is a thin-walled cylinder. Two square holes are drilled at the bottom of each milk cup receiving base. A tension spring is installed on the milk cup receiving base. The bottom end of the tension spring hooks the square hole of the milk cup receiving base to connect the milk cup through the tension spring.

[0007] The milk cow udder massage system receiving platform is drilled with a second through hole for fixing the milk cow udder massage system, which is convenient for connecting with the milk cow udder massage mechanism through bolts.

[0008] The horizontal plate is drilled with a third through hole for connecting with the flange at the end of the mechanical arm of the milking robot.

[0009] The edges of the milk cow udder massage system receiving platform and the milk cup receiving platform are rounded to ensure the safety of the milk cow.

[0010] The milk cow udder massage system comprises a power mechanism, a transmission mechanism and a massage mechanism. The output end of the power mechanism is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the massage mechanism.

[0011] The power mechanism comprises a bracket. The bracket is fixedly installed on one end of the milk cow udder massage system receiving platform through bolts. A stepping motor is fixedly installed on the bracket through bolts. The output shaft of the stepping motor passes through the bracket and is connected with the transmission mechanism through a coupling at the end.

[0012] The transmission mechanism comprises a box body. A first transparent cover, a second transparent cover, a third transparent cover and a cover are fixedly installed on the outer side of the box body through bolts. The two ends of a driving shaft are rotatably installed on the box body through a first bearing and a second bearing. The two ends of a driven shaft are rotatably installed on the box body through a third bearing and a fourth bearing. The axis of the driving shaft and the driven shaft is located on the same horizontal plane. The input end of the driving shaft is connected with the coupling of the power device through the second transparent cover. A driving gear is connected with the driving shaft through a key. A driven gear meshing with the driving gear is connected with the driven shaft through a key. An axle sleeve I is sleeved on the driving shaft between the first bearing and the driving gear. An axle sleeve II is sleeved on the driven shaft between the third bearing and the driven gear. The output end of the driving shaft passes through the first transparent cover. The output end of the driven shaft passes through the third transparent cover.

[0013] The massage mechanism comprises a rolling brush I installed on the output end of the driving shaft and a rolling brush II installed on the output end of the driven shaft. One end of the rolling brush I is limited by a snap spring installed on the driving shaft, and the other end is limited by a lock nut I screwed on the driving shaft. One end of the rolling brush II is limited by a snap spring installed on the driven shaft, and the other end is limited by a lock nut II screwed on the driven shaft.

[0014] The second transparent cover is used in cooperation with the shaft sleeve I to limit the axial position of the first bearing, the third transparent cover is used in cooperation with the shaft sleeve II to limit the axial position of the third bearing, the second transparent cover is used in cooperation with the shaft shoulder of the driving shaft to limit the axial position of the second bearing, and the cover is used in cooperation with the shaft shoulder of the driven shaft to limit the axial position of the fourth bearing.

[0015] The gaskets are arranged between the locknut I and the rolling brush I and between the locknut II and the rolling brush II.

[0016] The technical effect of the present application is:

[0017] The milk cow udder cleaning and massaging system can clean and massage the udder of the milk cow before milking, can realize the effect of removing dirt and promoting milk secretion, can apply different rotating speeds to different milk cows to achieve the best massaging effect, can ensure the safety and hygiene of the milking process and the quality of the milk source, can help realize the whole process of udder cleaning, massaging and milking in an unmanned environment, can help the pasture to realize the daily automatic milking process, can save operation cost, and can ensure the efficiency of the milking process.

[0018] The milk cup can be always pulled on the milk cup receiving base by arranging the tensile spring on the milk stand, the process of manually cupping and cup collecting is saved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a whole structure schematic view of the milk cup bracket and the milk cow udder massaging system of the milking robot of the present application;

[0020] Figure 2 It is a milk cup bracket structure schematic view of the present application;

[0021] Figure 3 It is a udder massaging structure schematic view of the present application;

[0022] Figure 4 It is a udder massaging structure top view of the present application;

[0023] Figure 5 It is a driving shaft schematic view of the udder massaging structure of the present application;

[0024] Figure 6 It is a milk cup connection mode schematic view of the present application;

[0025] Figure 7 It is a front view structure schematic view of the milk cup bracket and the milk cow udder massaging system of the present application;

[0026] Figure 8The top view structure schematic diagram of the milk cup holder and the dairy cow udder massage system of the present application;

[0027] Figure 9 The virtual use schematic diagram of the milk cup holder and the dairy cow udder massage system of the present application for milking robot, wherein Figure 9 (a) the whole schematic diagram of the massage udder work, Figure 9 (b) the local enlarged view of the massage udder work, Figure 9 (c) the whole schematic diagram of the milking process, Figure 9 (d) the local enlarged view of the milking process.

[0028] 1-milk cup holder, 11-dairy cow udder massage system receiving table, 12-connection stand, 13-horizontal plate, 14-milk cup receiving table, 15-milk cup receiving base, 16-square hole, 2-dairy cow udder massage system, 201-driving shaft, 202-loose nut I, 204-roller brush I, 205-clamp spring, 206-first transparent cover, 207-lower box body, 208-first bearing, 209-shaft sleeve I, 210-driving gear, 211-second bearing, 212-second transparent cover, 213-coupling, 214-motor support, 215-stepping motor, 216-plug cover, 217-fourth bearing, 218-driven gear, 219-shaft sleeve II, 220-third bearing, 221-third transparent cover, 223-roller brush II, 224-loose nut II, 226-driven shaft, 227-upper box body, 228-cleaning water gun, 31-milk cup, 32-stretching spring. DETAILED DESCRIPTION

[0029] The present application will be further described in detail below in combination with the drawings and examples.

[0030] The present application adopts CNC processing except standard parts, and the material is aluminum alloy 6061.

[0031] For example, Figures 1 to 9As shown, a milk cup holder and a cow udder massage system for a milking robot, comprising a milk cup holder 1 and a cow udder massage system 2, the milk cup holder 1 comprises a cow udder massage system receiving platform 11, a connecting vertical plate 12, a horizontal plate 13 and a milk cup receiving platform 14, the cow udder massage system receiving platform 11, the horizontal plate 13 and the milk cup receiving platform 14 are arranged horizontally, and one end of the horizontal plate 13 is welded to one end of the milk cup receiving platform 14, and the other end of the horizontal plate 13 is welded to the cow udder massage system receiving platform 11 through the connecting vertical plate 12, a stepped hole is formed in the cow udder massage system receiving platform 11, a cleaning water gun 228 is installed in the stepped hole, the cleaning water gun 228 is in interference fit with the large hole of the stepped hole, the small diameter of the stepped hole is larger than the outer diameter of the water supply hose of the cleaning water gun 228, which ensures that the water supply hose of the cleaning water gun passes through the small hole part of the stepped hole smoothly, and the end of the water supply hose is connected to a water source, four first through holes are formed in the milk cup receiving platform 14 for the hose to pass through, and four milk cup receiving bases 15 concentric with the corresponding first through holes are welded to the milk cup receiving platform 14, two square holes 16 are drilled in the bottom of each milk cup receiving base 15, a tension spring 32 is installed on the milk cup receiving base 15, the bottom end of the tension spring 32 hooks the square hole 16 of the milk cup receiving base 15, a milk cup 31 is placed in the tension spring 32, the hose at the bottom of the milk cup passes out through the center hole of the milk cup receiving base 15 and the first through hole in the milk cup receiving platform 14, a second through hole is drilled in the cow udder massage system receiving platform 11 for fixing the cow udder massage system 2, which is convenient for connecting with the milking robot arm through bolts, a third through hole is drilled in the horizontal plate 13 for connecting with the flange at the end of the milking robot arm, the edges of the cow udder massage system receiving platform 11 and the milk cup receiving platform 14 are rounded to ensure the safety of the cow, the milk cup holder 1 is fixed and installed on the flange at the end of the milking robot arm through the horizontal plate 13 and bolts, and the cow udder massage system 2 is fixed and installed on the cow udder massage system receiving platform 11 of the milk cup holder 1 through bolts.

[0032] The dairy cow udder massage system 2 comprises a power mechanism, a transmission mechanism and a massage mechanism, the output end of the power mechanism is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the massage mechanism; the power mechanism comprises a support, the support is fixedly installed at one end of a dairy cow udder massage system receiving table 11 through bolts, a stepping motor 215 is fixedly installed on the support through bolts, and the output shaft of the stepping motor 215 penetrates through the support and is connected with the transmission mechanism through a shaft coupling 213; the transmission mechanism comprises a box body, the box body is composed of a lower box body 207 and an upper box body 227, the upper box body 227 is fixedly installed on the top of the lower box body 207 through bolts, coaxial fourth through holes are formed in the lower box body 207 and the support, the dairy cow udder massage system 2 is arranged on the dairy cow udder massage system receiving table 11 of the milk cup bracket 1, and the two are fixed through bolts penetrating through the second through hole and the fourth through hole and cooperating with nuts, first, second, third and stifled covers 206, 212, 221 and 216 are fixedly installed outside the box body through bolts, the two ends of a driving shaft 201 are rotatably installed on the box body through first and second bearings 208 and 211 respectively, the two ends of a driven shaft 226 are rotatably installed on the box body through third and fourth bearings 220 and 217 respectively, and the axes of the driving shaft 201 and the driven shaft 226 are located on the same horizontal plane, the input end of the driving shaft 201 is connected with the shaft coupling 213 of the power device through the second cover 212, the driving shaft 201 is connected with a driving gear 210 through a key, the driven shaft 226 is connected with a driven gear 218 engaged with the driving gear 210 through a key, a shaft sleeve I 209 is sleeved on the driving shaft 201 between the first bearing 208 and the driving gear 210, a shaft sleeve II 219 is sleeved on the driven shaft 226 between the third bearing 220 and the driven gear 218, the output end of the driving shaft 201 penetrates through part of the first cover 206, and the output end of the driven shaft 226 penetrates through part of the third cover 221; the second cover 212 is used in cooperation with the shaft sleeve I 209 to limit the axial position of the first bearing 208, the third cover 221 is used in cooperation with the shaft sleeve II 219 to limit the axial position of the third bearing 220, the second cover 212 is used in cooperation with the shaft shoulder of the driving shaft 201 to limit the axial position of the second bearing 211, and the stifled cover 216 is used in cooperation with the shaft shoulder of the driven shaft 226 to limit the axial position of the fourth bearing 217; the massage mechanism comprises a rolling brush I 204 installed on the output end of the driving shaft 201 and a rolling brush II 223 installed on the output end of the driven shaft 226, one end of the rolling brush I 204 is limited by a snap spring 205 installed on the driving shaft 201, the other end is limited by a lock nut I 202 screwed on the driving shaft 201, one end of the rolling brush II 223 is limited by a snap spring 205 installed on the driven shaft 226, and the other end is limited by a lock nut II 224 screwed on the driven shaft 226, spring washers 203 are arranged between the lock nut I 202 and the rolling brush I 204 and between the lock nut II 224 and the rolling brush II 223.

[0033] The installation process of the dairy cow udder massage system 2 is as follows:

[0034] The driving gear 210 is sleeved on the left end of the driving shaft 201 and connected with the driving shaft 201 in a keyed manner, and the right end surface of the driving gear 210 is in contact with the left end surface of the shaft shoulder of the driving shaft 201; the shaft sleeve I 209 is sleeved on the left end of the driving shaft 201 until the left end surface of the shaft sleeve I 209 is in contact with the left end surface of the driving gear 210; the first bearing 208 is sleeved on the left end of the driving shaft 201 until the left end of the shaft sleeve I 209 is in contact with the first bearing 208; the first transparent cover 206 is sleeved on the left end of the driving shaft 201 until the left end surface of the first transparent cover 206 is in contact with the left end surface of the first bearing 208 and the lower box body 207; the second bearing 211 is sleeved on the right end of the driving shaft 201 until the right end of the second bearing 211 is in contact with the right shaft shoulder of the driving shaft 201; the second transparent cover 212 is sleeved on the right end of the driving shaft 201 until the right end of the second transparent cover 212 is in contact with the second bearing 211; the driving shaft 201 is partially installed; the installation and connection mode of the driven shaft 226 is the same as that of the driving shaft 201; after the driving shaft 201 and the driven shaft 226 are partially installed, the upper box body 227 is correspondingly covered on the lower box body 207, the upper and lower box bodies 207 are connected through bolts, and the first transparent cover 206, the second transparent cover 212, the cover 216, and the third transparent cover 221 are connected with the box body through screws; the driving shaft 201 extends to the outside of the first transparent cover 206, and the snap spring 205 is embedded; the roller brush I 204 is sleeved on the left end of the driving shaft 201 until the right end surface of the roller brush I 204 is in contact with the left end surface of the snap spring 205; the spring washer 203 is sleeved on the left end of the driving shaft 201 until the left end surface of the spring washer 203 is in contact with the roller brush I 204; the lock nut I 202 is screwed on the left end of the driving shaft 201, and the screwing generates pressure, thereby generating corresponding friction forces on the contact surfaces of the spring washer 203 and the roller brush I 204 and the contact surface of the roller brush I 204 and the snap spring 205, so that the roller brush I 204 can rotate with the driving shaft 201; the connection mode of the roller brush II 223 on the driven shaft 226 is the same as that of the roller brush I 204 on the driving shaft 201. The stepping motor 215 is fixedly connected with the motor support 214 through screws, one end of the shaft coupling 213 is connected with the output shaft of the stepping motor 215, and the other end is connected with the right end of the driving shaft 201.

[0035] The milking process of the teat cup carrier of the milking robot and the dairy cow udder massage system is as follows: first, the cow enters the designated milking area and stands, the control system of the milking robot of the HSR-HC403 type controls the mechanical arm to extend, the camera installed at the end of the mechanical arm recognizes the position of one of the teats of the dairy cow, the mechanical arm is controlled to move until the cleaning water gun 228 is located directly below the teat of the dairy cow, and the cleaning water gun 228 is started to spray water to clean the teat of the dairy cow; then the mechanical arm is controlled to move to the center positions of the roller brushes 204 and 223 to be located at the teats of the dairy cow, the stepping motor 215 is started, and the roller brushes 204 and 223 rotate to brush and massage the teats, and the above work is repeated until the four teats are all brushed and massaged; the flange at the end of the mechanical arm is rotated so that one side of the teat cup 31 is located directly below the teat of the dairy cow, the camera recognizes the position of one of the teats of the dairy cow, the mechanical arm is controlled to move the teat cup 31 at the corresponding position to be directly below the teat and to be in contact with the udder of the dairy cow, and the vacuum pump connected with the air pressure port of the teat cup 31 is started to make the teat cup 31 be sleeved on the udder of the dairy cow by suction force, at this time, the teat cup 31 is pulled up, the tension spring 32 is elastically deformed to generate downward tension, and the teat cup 31 is always connected with the milking cup carrier 1 by the tension of the tension spring 32, and the above work is repeated until the four teats are all cupped. After milking is completed, the vacuum pump is closed, and the four teat cups 31 return to the teat cup receiving base 15 under the tension of the tension spring 32. The flange plate of the mechanical arm is rotated to return to the initial position, and one milking process is completed.

Claims

1. A teat cup carrier and cow udder massage system for a milking robot, characterized in that The milk cup holder and the cow udder massage system, the milk cup holder comprises a cow udder massage system receiving table, a connecting vertical plate, a horizontal plate and a milk cup receiving table, the cow udder massage system receiving table, the horizontal plate and the milk cup receiving table are horizontally arranged, one end of the horizontal plate is welded with one end of the milk cup receiving table, the other end of the horizontal plate is welded with the cow udder massage system receiving table through the connecting vertical plate, a stepped hole is formed in the cow udder massage system receiving table, a cleaning water gun is installed in the stepped hole, the milk cup holder is fixedly installed on the flange at the end of the mechanical arm of the milking robot through the horizontal plate and bolts, and the cow udder massage system is fixedly installed on the cow udder massage system receiving table of the milk cup holder through bolts. A plurality of first through holes for the soft tube to pass through are formed in the milk cup receiving table, and a milk cup receiving base concentric with the corresponding first through hole is welded on the milk cup receiving table, the milk cup receiving base is a thin-walled cylinder, two square holes are drilled in the bottom of each milk cup receiving base, a tension spring is installed on the milk cup receiving base, and the bottom end of the tension spring hooks the square hole of the milk cup receiving base to be connected with the milk cup through the tension spring.

2. A cup cluster and cow udder massage system for a milking robot according to claim 1, characterized in that: Second through holes for fixing the cow udder massage system are drilled in the cow udder massage system receiving table, so that the cow udder massage mechanism is connected with the cow udder massage system through bolts.

3. A cup cluster and cow udder massage system for a milking robot according to claim 1, characterized in that: Third through holes for connecting with the flange at the end of the mechanical arm of the milking robot are drilled in the horizontal plate.

4. A cup cluster and cow udder massage system for a milking robot according to claim 1, characterized in that: The edges of the cow udder massage system receiving table and the milk cup receiving table are chamfered to ensure the safety of the cow.

5. A cup cluster and cow udder massage system for a milking robot according to claim 1, characterized in that: The cow udder massage system comprises a power mechanism, a transmission mechanism and a massage mechanism, the output end of the power mechanism is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the massage mechanism.

6. A cup cluster and cow udder massage system for a milking robot according to claim 5, characterized in that: The power mechanism comprises a bracket, the bracket is fixedly installed on one end of the cow udder massage system receiving table through bolts, a stepping motor is fixedly installed on the bracket through bolts, and the output shaft of the stepping motor penetrates through the bracket and is connected with the transmission mechanism through a coupling at the end.

7. A cup cluster and cow udder massage system for a milking robot according to claim 5, characterized in that: The transmission mechanism comprises a box body, first, second, third and cover lids are fixedly installed on the outer side of the box body through bolts, the two ends of a driving shaft are rotatably installed on the box body through first and second bearings, the two ends of a driven shaft are rotatably installed on the box body through third and fourth bearings, the axis of the driving shaft and the driven shaft is located on the same horizontal plane, the input end of the driving shaft is connected with the coupling of the power device through the second cover lid, a driving gear is connected with the driving shaft through a key, a driven gear meshing with the driving gear is connected with the driven shaft through a key, an axle sleeve I is sleeved on the driving shaft between the first bearing and the driving gear, an axle sleeve II is sleeved on the driven shaft between the third bearing and the driven gear, the output end of the driving shaft penetrates through the first cover lid, and the output end of the driven shaft penetrates through the third cover lid.

8. A cup cluster and cow udder massage system for a milking robot according to claim 5, characterized in that: The massage mechanism comprises a rolling brush I installed on the output end of the driving shaft and a rolling brush II installed on the output end of the driven shaft, one end of the rolling brush I is limited by the snap spring installed on the driving shaft, the other end is limited by the lock nut I screwed on the driving shaft, one end of the rolling brush II is limited by the snap spring installed on the driven shaft, the other end is limited by the lock nut II screwed on the driven shaft.

9. A cup cluster and cow udder massage system for a milking robot according to claim 8, characterized in that: The lock nut I and the rolling brush I and the lock nut II and the rolling brush II are both provided with a gasket.

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