Milking execution mechanism and milking robot

Abstract

The invention relates to a milking execution mechanism and a milking robot, and belongs to the technical field of milking animal milking equipment.The milking execution mechanism comprises a shell, a plurality of sets of milk cup assemblies, flexible traction pieces correspondingly connected with the milk cup assemblies, telescopic assemblies and milk cup positioning pieces, one end of each flexible traction piece is fixed to the shell, and the other end of each flexible traction piece is fixed to the corresponding telescopic assembly; the other end of the telescopic assembly is connected with the milk cup assembly, and the telescopic assembly can extend and retract relative to the shell; when the telescopic assembly completely extends out of the shell, the flexible traction piece can be tightened, so that the milk cup assembly and the milk cup positioning piece are combined into a whole, the milk cup assembly is in a vertical posture, and the milk cup assembly is in a to-be-milked positioning state; under the action of the mechanical arm and the visual camera, after the milk cup assembly is connected with the nipples of the animals to be milked, the telescopic assembly completely retracts to the shell, the milk cup assembly can be completely released, milking operation is conducted, and the technical problems that in the prior art, milk cups incline, positioning of all postures of the milk cups is not accurate, and next-step operation cannot be carried out can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of dairy animal milking equipment, and in particular relates to a milking actuator and a milking robot. Background Art

[0002] With the rapid economic development, people's demand for dairy products has greatly increased, which has promoted the development of animal husbandry. The introduction of efficient and intelligent milking robots is the development trend of animal husbandry. Milking robots can greatly save the daily operating costs of ranches, improve ranch production efficiency and the overall quality of milk sources. In one embodiment of patent US9426966B2, the milk cup is brought to the bottom of the cow by a robot arm. At the same time, the milk cup is pulled by a flexible traction member. In the non-working state, the milk cup is in a parking position and is in an inclined posture. When working, the milk cup first moves from the parking position to a basically vertical positioning posture and then moves to the milking posture. In the milking posture, the milk cup is suspended on the corresponding teat of the animal to be milked. At the end of the milking operation, the milk cup is released from the teat and moved back to the positioning posture, and then moved back to the parking position. The segmented unit has several intermediate sections, which are arranged between the inclined section and a fixed section. The segmented unit is Figure 4 The parking position shown in is in the retracted position. In this case, all the intermediate sections are adjacent to each other and against the fixed section in a positive locking manner. The segmented unit adopts a segmented structure. When it is in an extended state, there are gaps between adjacent intermediate sections. The gaps and the number of end faces that match them are large, which increases the probability of impurities entering, causing the milk cup to tilt after the segmented unit is retracted, which in turn causes the milk cup to be positioned inaccurately in various postures, making it impossible to implement the next operation. Summary of the invention

[0003] In view of various deficiencies in the prior art, a milking actuator and a milking robot are proposed to solve the technical problems in the prior art that the milk cup is skewed, the positioning of each posture of the milk cup is not accurate, and the next operation cannot be implemented.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a milking actuator, a milking actuator comprising a housing, a plurality of groups of teat cup assemblies, and a flexible traction member connected to each group of teat cup assemblies, wherein one end of the flexible traction member is fixed to the housing, and the other end is connected to the teat cup assembly, and is characterized in that it also comprises a telescopic assembly and a teat cup positioning member corresponding to each group of teat cup assemblies, wherein the telescopic assembly is located on an extension path of the flexible traction member, the telescopic assembly can be extended and retracted relative to the housing, and the teat cup positioning member is arranged at the end of the telescopic assembly, and has an end surface combined with the teat cup assembly;

[0006] When the telescopic assembly is fully extended from the shell, the flexible traction member can be tightened, so that the teat cup assembly and the teat cup positioning member are combined into one, and the teat cup assembly is in a vertical posture. At this time, the teat cup assembly is in a positioning state to be milked; under the action of the mechanical arm and the visual camera, after the teat cup assembly is connected to the nipple of the animal to be milked, the telescopic assembly is completely retracted into the shell, and the teat cup assembly can be completely released to perform milking operations.

[0007] The technical solution is further configured such that the telescopic assembly is fully extended from the shell and then partially retracted, the taut flexible traction member is appropriately relaxed, the teat cup assembly is separated from the teat cup positioning member, and falls down under the action of its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

[0008] The technical solution is further configured that the milk cup positioning member is a flip seat that can rotate at a certain angle, and the flip seat is rotatably connected to the telescopic component through a flip axis;

[0009] After the telescopic assembly is fully extended from the shell, the flexible traction member is tightened, and the teat cup assembly is integrated with the flip seat. The flip seat rotates around the flip axis, so that the teat cup assembly can be switched between a vertical posture and an inclined posture. The inlet of the end of the milking cup of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0010] The technical solution is further configured such that the flexible traction member passes through the telescopic assembly.

[0011] The technical solution is further configured such that the telescopic assembly extends and retracts along a linear guide assembly arranged on the housing.

[0012] The technical solution is further configured to further include a telescopic drive component, wherein the telescopic drive component and the telescopic component adopt a linear motion mode to change the state of the flexible traction member to tighten and release the milk cup component.

[0013] The technical solution is further configured such that the telescopic drive assembly adopts a pneumatic cylinder, an electric cylinder or a hydraulic cylinder.

[0014] The technical solution is further configured such that the flexible traction member passes through the telescopic assembly and a flip seat arranged at an end thereof.

[0015] The technical solution is further configured such that the flexible traction member is perpendicular to and passes through the central axis of the flip shaft, so that when the flip seat flips, the length of the flexible traction member in a tensioned state does not change and the tensioning force is constant.

[0016] The technical solution is further configured such that a positioning pin is provided between the flip seat and the flip shaft, and the positioning pin is perpendicular to the flip shaft, so that the flip seat and the flip shaft are connected as one body.

[0017] The technical solution is further configured such that both the flip seat and the flip shaft are provided with fan-shaped clearance grooves for accommodating the flexible traction member, the two fan-shaped clearance grooves are aligned axially in the flip shaft, and the two are concentric, and the center of the circle is located on the central axis of the flip shaft, so that the change of the flip angle of the flip seat does not change the tensioning degree of the flexible traction member.

[0018] The technical solution is further configured such that the flip seat has two limit steps at specific angles, with a cylindrical surface as the transition between the two limit steps. The axis of the cylindrical surface is located on the central axis of the flip axis, and the angle formed by the two limit steps is equal to the flip angle of the flip seat. The flip seat uses the two limit steps to offset the end face of the telescopic component as a flip limit.

[0019] The technical solution is further configured to further include a flip driving component, and during the process in which the flip driving component drives the milk cup component integrated with the flip seat to flip, the flexible traction member is always in a taut state.

[0020] The technical solution is further configured such that the flipping drive assembly is a pneumatic cylinder or an electric cylinder.

[0021] The technical solution is further configured such that the flip driving assembly adopts a combination structure of a flip driving cylinder, a rack and a gear, the rack is connected to the cylinder rod of the flip driving cylinder, and the telescopic direction of the flip driving cylinder is parallel to the extension path of the flexible traction member, the gear is installed on the flip shaft and fixed to the flip seat as a whole with a pin shaft, and the gear is meshed with the rack.

[0022] The technical solution is further configured such that the cylinder rod of the flip driving cylinder is connected to a guide rod, and the guide rod is connected to the rack.

[0023] The technical solution is further configured as follows: the flip driving cylinder is arranged inside the telescopic assembly, the flip driving cylinder is connected to the telescopic assembly through a flip driving cylinder bracket, a positioning sleeve is arranged between the fixing bolt hole of the flip driving cylinder and the positioning hole of the flip driving cylinder bracket, and the flexible traction member passes through the positioning sleeve.

[0024] The technical solution is further configured as follows: a cylinder is used as the telescopic component and the telescopic drive component, the rod end of the cylinder rod is fixed on the shell, the cylinder body of the cylinder is used as the telescopic component, the cylinder body can extend and retract the shell, the linear guide component is made of a low friction coefficient material, and part of the linear guide component is embedded in the magnetic switch straight grooves on the left and right sides of the cylinder body, the width of the embedded part matches the width of the magnetic switch straight groove to form a guiding fit, guiding the cylinder body to perform directional linear motion.

[0025] The technical solution is further configured such that the flexible traction member passes through the fixing bolt hole of the cylinder body.

[0026] The technical solution is further configured such that the end surface of one end of the cylinder body extending out of the shell is provided with the flip seat and the flip drive assembly.

[0027] The technical solution is further configured such that each milk cup assembly is connected to at least two flexible traction members arranged side by side.

[0028] The technical solution is further configured such that a circular concave hole is provided on the end surface of the milk cup positioning piece, and a circular boss is correspondingly provided on the milk cup assembly. When the milk cup assembly and the milk cup positioning piece are combined into one, the concave hole and the boss are combined in a concave-convex manner, so that the milk cup assembly and the milk cup positioning piece can be combined in a positioning and directional manner, and the setting positions of the concave hole and the boss are interchangeable.

[0029] The technical solution is further configured such that the number of the concave holes, the bosses and the flexible traction member is the same, and a through hole for the flexible traction member to penetrate is provided at the center axis of the concave holes and the bosses.

[0030] The technical solution is further configured such that at least one end of the flexible traction member serves as a fixed end, and the fixed end is provided with a tension adjustment component;

[0031] The tension adjustment assembly includes a slidingly connected adjustment seat and a guide sleeve with a stop rib. The adjustment seat is provided with a long strip hole for accommodating the stop rib. A compression spring is provided inside the adjustment seat. The guide sleeve is embedded in the adjustment seat and abuts against the compression spring. A hollow tension adjustment bolt is embedded in the guide sleeve and is threadedly connected to the guide sleeve. The flexible traction member passes through the adjustment seat, the guide sleeve and the tension adjustment bolt in sequence, and extends to the outside of the tension adjustment bolt, with a nodule forming a fixed end.

[0032] In a second aspect, the present invention provides a milking robot, comprising a robotic arm and the milking actuator, wherein the robotic arm is transmission-connected to the milking actuator, and further comprising a visual camera mounted on a shell for locating the nipples of an animal to be milked and providing positioning data for the movement of the robotic arm.

[0033] The beneficial effects of the present invention are:

[0034] By setting a telescopic component that can be extended and retracted relative to the shell, when the telescopic component is fully extended from the shell, the flexible traction part can be tightened, so that the milk cup assembly and the telescopic component are combined into one, and the milk cup assembly is in a vertical posture. At this time, the milk cup assembly is in a positioning state to be milked; after the milk cup assembly is connected to the nipple of the animal to be milked, the milk cup assembly is in a positioning state. At this time, the telescopic component is fully retracted into the shell, and the milk cup assembly can be completely released to perform milking operations, which saves the installation space of the telescopic component and is conducive to the miniaturization of the equipment. At the same time, the telescopic component is an integral structure to avoid the accumulation of dirt and grime, thereby ensuring that the milk cup assembly can be operated effectively and reliably in all postures, and effectively avoiding the inability to achieve the milking cup posture preparation due to inaccurate positioning of the milk cup assembly in various postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 1. An axial side view of the milking actuator when the teat cup assembly is in a vertical posture and an inclined posture respectively in an embodiment of the present invention;

[0036] Figure 2 for Figure 1 A top view of

[0037] Figure 3 for Figure 2 Middle DD section view;

[0038] Figure 4 for Figure 2 Middle EE section view;

[0039] Figure 5 for Figure 2 Middle FF section view;

[0040] Figure 6 for Figure 2 Middle GG section view;

[0041] Figure 7 1. An axial side view of the milking actuator when the teat cup assembly is in a positioning state, a vertical posture and a tilted posture respectively in the embodiment of the present invention;

[0042] Figure 8 for Figure 7 A top view of

[0043] Fig. 9 for Figure 8 Middle KK section view;

[0044] Fig.10 for Figure 8 Middle LL section view;

[0045] Fig.11 for Figure 5 Partial schematic diagram at point A in the middle;

[0046] Fig.12 A schematic diagram of a flip seat in an embodiment of the present invention;

[0047] Fig.13 A schematic diagram of a flip seat in an embodiment of the present invention;

[0048] Fig.14 A side view of the flip seat in the embodiment of the present invention;

[0049] Fig.15 for Fig.14 Middle JJ section view;

[0050] Fig.16 is a schematic diagram of a tension adjustment assembly in an embodiment of the present invention;

[0051] Fig.17 An internal cross-sectional view of a tension adjustment assembly in an embodiment of the present invention;

[0052] Fig.18 A schematic diagram of a flexible traction member and a fan-shaped clearance groove in an embodiment of the present invention;

[0053] Fig.19 A schematic diagram of a flexible traction member and a fan-shaped clearance groove in an embodiment of the present invention;

[0054] Fig. 20 A schematic diagram of a milking actuator and a visual camera in an embodiment of the present invention;

[0055] Fig.21 It is an axial side view of another embodiment of the milking actuator when the teat cup assembly is in a vertical posture and an inclined posture respectively in an embodiment of the present invention;

[0056] Fig. 22 for Fig.21 A top view of

[0057] Fig.23 for Fig. 22 Middle BB section view;

[0058] Fig.24 for Fig. 22 Middle CC section view;

[0059] Fig.25 It is an axial side view of another embodiment of the milking actuator when the teat cup assembly is in a positioning state, a vertical posture and a tilted posture respectively in the embodiment of the present invention;

[0060] Fig.26 for Fig.25 A top view of

[0061] Fig. 27 for Fig.26 Middle HH section view;

[0062] Fig.28 for Fig.25 Side view of

[0063] Fig.29 for Fig.28 Middle PP section view;

[0064] Fig.30 for Fig.25 Partial schematic diagram at point B in the middle.

[0065] In the accompanying drawings: 100, shell; 200, milk cup assembly; 201, boss; 300, telescopic assembly; 301, cylinder body; 302, rod end; 400, flexible traction member; 500, flip seat; 501, flip shaft; 502, positioning pin; 503, flip shaft mounting hole; 504, mounting groove; 505, fan-shaped clearance groove; 506, first limiting step; 507, second limiting step; 508, gear mounting cavity; 509, concave hole; 600, telescopic drive assembly; 700, flip drive assembly; 701, flip drive cylinder; 702, rack; 703, gear; 704, floating joint; 705, guide rod; 800, tension adjustment assembly; 801, adjustment seat; 802, compression spring; 803, guide sleeve; 804, tension adjustment bolt; 900, visual camera; 110, linear guide assembly. DETAILED DESCRIPTION

[0066] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0067] According to an embodiment of the present invention, a milking actuator is provided. Figure 1 and Figure 7, comprising a housing 100, a plurality of groups of teat cup assemblies 200, and a flexible traction member 400 correspondingly connected to each group of teat cup assemblies 200, wherein one end of the flexible traction member 400 is fixed to the housing 100, and the other end is connected to the teat cup assembly 200, and further comprising a telescopic assembly 300 and a teat cup positioning member corresponding to each group of teat cup assemblies 200, wherein the telescopic assembly 300 is located on the extension path of the flexible traction member 400, and the telescopic assembly 300 can be extended and retracted relative to the housing 100, and the teat cup positioning member is arranged at the end of the telescopic assembly 300, and has an end surface combined with the teat cup assembly 200;

[0068] When the telescopic assembly 300 is fully extended out of the shell 100, the flexible traction member 400 can be tightened, so that the teat cup assembly 200 is integrated with the teat cup positioning member, and the teat cup assembly 200 is in a vertical posture. At this time, the teat cup assembly 200 is in a positioning state to be milked; under the action of the mechanical arm and the visual camera, after the teat cup assembly 200 is connected to the nipple of the animal to be milked, the telescopic assembly 300 is fully retracted into the shell 100, and the teat cup assembly 200 can be completely released to perform the milking operation.

[0069] For details, please refer to Figure 1 , Figure 2 , Figure 5 as well as Figure 6 When the teat cup assembly 200 is in a vertical position, the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked to prepare for the milking cup position. At this time, the flexible traction member 400 is in a taut state; please refer to Figures 7 to 10 , the teat cup assembly 200 is in a positioned state, at which time the teat cup assembly 200 is adsorbed on the corresponding teat of the animal to be milked, the flexible traction member 400 is in a relaxed state, the teat cup assembly 200 is in a released state, and at the same time, the teat cup assembly 200 must be connected to the teats of the animal to be milked one by one; please refer to Figures 1 to 4 When the milk cup assembly 200 is in a tilted position, it provides space for preparing the milking cup position. At this time, the flexible traction member 400 is in a taut state. In particular, please refer to Figure 7 The states of the four groups of milk cup assemblies 200 are different. One group of milk cup assemblies 200 is in a vertical posture, two groups of milk cup assemblies 200 are in a tilted posture, and another group of milk cup assemblies 200 is in a released posture. That is to say, the groups of milk cup assemblies 200 are independent of each other and do not affect each other.

[0070] It should be noted that, by providing a telescopic assembly 300 that can be extended and retracted relative to the housing 100, and at the same time, the flexible traction member 400 passes through the telescopic assembly 300, when the telescopic assembly 300 is fully extended from the housing 100, the flexible traction member 400 can be tightened, so that the milk cup assembly 200 is combined with the milk cup positioning member and the telescopic assembly 300 as a whole, and the milk cup assembly 200 is in a vertical posture. At this time, the milk cup assembly 200 is in a positioning state to be milked; after the milk cup assembly 200 is connected to the nipple of the animal to be milked, the milk cup assembly 200 is in a positioning state. At this time, the telescopic assembly 300 is fully retracted to the housing 100, and the milk cup assembly 200 can be completely released for milking operations, which saves the installation space of the telescopic assembly 300 and is conducive to the miniaturization of the equipment. At the same time, the telescopic assembly 300 is an integral structure to avoid dirt and grime, thereby ensuring that the milk cup assembly 200 can be effectively and reliably operated in various postures, and effectively avoiding the inability to achieve the milking cup posture preparation due to inaccurate positioning of the milk cup assembly 200 in various postures.

[0071] Preferably, the flexible traction member 400 is a pull rope made of a steel wire rope or a nylon rope.

[0072] In the milking actuator of this embodiment, please refer to Figure 21 to Figure 27 The telescopic assembly 300 is fully extended from the housing 100 and then partially retracted, the taut flexible traction member 400 is appropriately relaxed, the teat cup assembly 200 is separated from the teat cup positioning member, and falls down under its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

[0073] Please note that Figure 21 to Figure 23 When the teat cup assembly 200 is in a vertical position, the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked to prepare for the milking cup position. At this time, the telescopic assembly 300 is completely extended from the housing 100, and the flexible traction member 400 is in a taut state; please refer to Fig.21 , Fig. 22 as well as Fig.24 , the telescopic assembly 300 is fully extended from the housing 100 and then partially retracted, the taut flexible traction member 400 is appropriately relaxed, the teat cup assembly 200 appropriately hangs down under its own gravity and is in an inclined posture, when the teat cup assembly 200 is in an inclined posture, space is provided for preparing the milking cup posture, at this time, the flexible traction member 400 is in an incompletely taut state; please refer to Figure 25 to Figure 27 , the teat cup assembly 200 is in a positioned state, at which time the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked, the telescopic assembly 300 is completely retracted to the housing 100, the flexible traction member 400 is in a completely relaxed state, and the teat cup assembly 200 is in a released state. In particular, please refer to Fig.25The states of the four groups of milk cup assemblies 200 are different. One group of milk cup assemblies 200 is in a vertical posture, two groups of milk cup assemblies 200 are in a tilted posture, and another group of milk cup assemblies 200 is in a released posture. That is to say, the groups of milk cup assemblies 200 are independent of each other and do not affect each other.

[0074] In the milking actuator of this embodiment, please refer to Figures 1 to 4 The milk cup positioning member is a flip seat 500 that can rotate at a certain angle, and the flip seat 500 is rotatably connected to the telescopic component 300 through a flip shaft 501;

[0075] After the telescopic assembly 300 is fully extended out of the housing 100, the flexible traction member 400 is tightened, and the teat cup assembly 200 is integrated with the flip seat 500. The flip seat 500 rotates around the flip axis 501, so that the teat cup assembly 200 can be switched between a vertical posture and an inclined posture. The inlet of the milking cup end of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0076] It should be noted that the flip seat 500 is located on the extension path of the flexible traction member 400. When the milk cup assembly 200 switches between the vertical posture and the inclined posture, the flexible traction member 400 is in a taut state, ensuring that the tension of the flexible traction member 400 remains unchanged during the process, thereby ensuring the reset accuracy of the milk cup assembly 200 in each posture. It can also be achieved that when the milk cup assembly is not adsorbed on the nipple, the milk cup assembly 200 and the flip seat 500 are always combined as one, and only the angle changes in the two-dimensional plane; the milking cup of the milk cup assembly in the inclined posture has an end entrance lower than the milk cup assembly in the vertical posture, providing space for preparing the milking cup posture. At the same time, the milk cup assembly in the inclined posture has a smaller degree of freedom, which can avoid being kicked by the animal to be milked.

[0077] In the milking actuator of this embodiment, please refer to Figures 1 to 4 The telescopic assembly 300 extends and retracts along a linear guide assembly disposed on the housing 100 .

[0078] It should be noted that the linear guide assembly may adopt a guide rail and a slider structure, wherein the guide rail is arranged along the moving direction of the telescopic assembly 300; and the installation positions of the guide rail and the slider are interchangeable.

[0079] In the milking actuator of this embodiment, please refer to Figures 1 to 10 , and also includes a telescopic drive component 600. The telescopic drive component 600 and the telescopic component 300 use linear motion to change the state of the flexible traction member 400 and tighten and release the milk cup component 200.

[0080] In the milking actuator of this embodiment, please refer to Figures 1 to 10 The telescopic drive assembly adopts a cylinder, an electric cylinder or a hydraulic cylinder.

[0081] It should be noted that the telescopic drive assembly 600 uses a cylinder, which can be a double-acting cylinder or a single-acting cylinder, and uses a linear motion to push the telescopic assembly 300; please refer to Figure 5 as well as Figure 6 When the telescopic drive assembly 600 is in the first position, the telescopic assembly 300 extends out of the housing 100, the flexible traction member 400 is in a taut state, and the flexible traction member 400 pulls the milk cup assembly 200 to make it in a vertical posture. At this time, the milk cup assembly 200 is integrated with the flip seat 500. At this time, the flip seat 500 rotates around the flip axis 501, so that the milk cup assembly 200 is in a tilted posture. Please refer to Figure 3 as well as Figure 4 ; see Figures 7 to 10 When the telescopic drive assembly 600 is in the second position, the telescopic assembly 300 is retracted into the housing 100, the flexible traction member 400 is in a relaxed state, and the milk cup assembly 200 is in a released state. At this time, the milk cup assembly 200 is separated from the flip seat 500. In addition, the telescopic drive assembly 600 can also use an electric cylinder or a hydraulic cylinder. The traction process of the electric cylinder and the hydraulic cylinder is the same as that of the air cylinder, which will not be repeated.

[0082] In the milking actuator of this embodiment, please refer to Figures 1 to 10 The flexible traction member 400 passes through the telescopic assembly 300 and the flip seat 500 disposed at the end thereof.

[0083] Specifically, the flexible traction member 400 is perpendicular to and passes through the central axis of the flip shaft 501, so that when the flip seat 500 flips, the length of the flexible traction member 400 in a tightened state does not change, and the tension force is constant.

[0084] It should be noted that by setting the flexible traction member 400 perpendicular to and passing through the central axis of the flip shaft 501, during the flipping process of the flip seat 500 around the flip shaft 501, the movement trajectory of the part of the flexible traction member 400 passing through the flip seat 500 is an arc, and the center of the arc is the intersection point of the flexible traction member 400 and the central axis of the flip shaft 501, thereby ensuring that the length of the flexible traction member 400 in a tensioned state does not change and the tensioning force is constant.

[0085] In the milking actuator of this embodiment, please refer to Figures 1 to 12 A positioning pin 502 is provided between the flip seat 500 and the flip shaft 501 , and the positioning pin 502 is perpendicular to the flip shaft 501 , so that the flip seat 500 and the flip shaft 501 are connected as a whole.

[0086] It should be noted that the flip seat 500 is provided with a flip shaft mounting hole 503 for the flip shaft 501 to pass through, and the flip seat 500 is provided with a mounting groove 504, the positioning pin 502 is located in the mounting groove 504, and the telescopic component 300 is respectively provided with through holes corresponding to the flip shaft mounting hole 503 and the mounting groove 504; the end of the positioning pin 502 has a certain taper, and correspondingly, a V-shaped positioning groove is provided on the flip shaft 501; by embedding the end of the positioning pin 502 into the V-shaped positioning groove, the fit between the positioning pin 502 and the flip shaft 501 is improved, so that the flip seat and the flip shaft 501 are connected as a whole.

[0087] In the milking actuator of this embodiment, please refer to Figures 1 to 19 The flip seat 500 and the flip shaft 501 are both provided with fan-shaped clearance grooves 505 for accommodating the flexible traction member 400. The two fan-shaped clearance grooves 505 are aligned axially with the flip shaft 501, and the two are concentric, and the center of the circle is located on the central axis of the flip shaft 501, so that the change of the flip angle of the flip seat 500 does not change the tensioning degree of the flexible traction member 400.

[0088] It should be noted that when the milk cup assembly 200 is in a vertical position and a released position, the flexible traction member 400 contacts the first side wall of the fan-shaped clearance groove 505, see Figure 6 , Fig.10 , Fig.18 When the milk cup assembly 200 is in an inclined position, the flexible traction member 400 contacts the second side wall of the fan-shaped groove 505, see Figure 4 , Fig.19 That is to say, when the milk cup assembly 200 switches between the vertical posture and the inclined posture, the fan-shaped make way groove 505 provides a make way space for the flexible traction member 400, so that the change of the flip angle of the flip seat 500 does not change the tension of the flexible traction member 400.

[0089] In the milking actuator of this embodiment, please refer to Figures 1 to 15 The flip seat 500 has two limit steps at specific angles, and a cylindrical surface is used as a transition between the two limit steps. The axis of the cylindrical surface is located on the central axis of the flip shaft 501, and the angle formed by the two limit steps is equal to the flip angle of the flip seat 500. The flip seat 500 uses two limit steps to abut against the end face of the telescopic component 300 as a flip limit.

[0090] Specifically, the two limiting steps are respectively a first limiting step 506 and a second limiting step 507. When the milk cup assembly 200 is in a vertical position and a released position, the second limiting step 507 abuts against the end surface of the telescopic assembly. Figure 6 , Fig.10After the flip seat is flipped, the milk cup assembly 200 is in an inclined position, and the first limit step 506 is against the end surface of the telescopic assembly to play a role in flipping and limiting. Please refer to Figure 4 .

[0091] In the milking actuator of this embodiment, please refer to Figures 1 to 12 , further comprising a flip driving assembly 700, during which the flip driving assembly 700 drives the milk cup assembly 200 integrated with the flip seat 500 to flip, the flexible traction member 400 is always in a taut state.

[0092] Specifically, the flip drive assembly 700 is a cylinder or an electric cylinder. In addition, the flip drive assembly 700 can also adopt a combined structure of a flip drive cylinder 701, a rack 702 and a gear 703, wherein the rack 702 is connected to the cylinder rod of the flip drive cylinder 701, and the telescopic direction of the flip drive cylinder 701 is parallel to the extension path of the flexible traction member 400, the gear 703 is installed on the flip shaft 501, and is fixed to the flip seat 500 as a whole by a pin shaft, and the gear 703 is meshed with the rack 702.

[0093] It should be noted that the cylinder rod of the flip driving cylinder 701 pushes the rack 702 to move along a straight line. Since the gear 703 is meshed with the rack 702, the linear movement of the rack 702 is converted into the rotational movement of the gear 703. The gear 703 is installed on the flip shaft 501 and is fixed to the flip seat 500 as a whole by a pin shaft. Therefore, the gear 703 drives the flip seat 500 to rotate synchronously; in addition, when the flexible traction member 400 is in a taut state, the milk cup assembly 200 is combined with the flip seat 500 as a whole. Therefore, the flip seat 500 drives the milk cup assembly 200 to flip.

[0094] Specifically, a gear installation cavity 508 is provided inside the flip seat 500 , and the wheel surface of the gear 703 is fixed to the flip seat 500 as a whole through a pin shaft, thereby realizing the gear 703 and the flip seat 500 flipping around the flip axis 501 .

[0095] It is worth mentioning that please refer to Figures 1 to 10 The flip driving cylinder 701 is arranged inside the telescopic assembly 300, and the flip driving cylinder 701 is fixedly connected to the telescopic assembly 300 through the flip driving cylinder bracket. A positioning sleeve is arranged between the fixing bolt hole of the flip driving cylinder 701 and the positioning hole of the flip driving cylinder bracket. The flexible traction member 400 passes through the positioning sleeve and then passes through the flip seat 500 to ensure that the flexible traction member 400 extends along the horizontal direction.

[0096] In the milking actuator of this embodiment, please refer to Figures 1 to 11The cylinder rod of the flip driving cylinder 701 is connected to the guide rod 705 through a floating joint 704, and the guide rod is connected to the rack 702. A guide sleeve for the guide rod 705 to pass through is arranged inside the telescopic assembly 300.

[0097] It should be noted that the linear displacement of the cylinder rod of the flip driving cylinder 701 is transmitted to the rack 702 through the floating joint 704 and the guide rod 705, thereby driving the gear 703 and the flip seat 500 to flip around the flip axis 501; the rack 702 is slidably connected to the inner wall of the telescopic assembly 300.

[0098] In the milking actuator of this embodiment, please refer to Figures 25 to 30 A cylinder is used as the telescopic component 300 and the telescopic drive component 600, the rod end 302 of the cylinder rod is fixed on the housing 100, the cylinder body 301 of the cylinder serves as the telescopic component 300, the cylinder body 301 can extend and retract the housing 100, the linear guide component 110 is made of a low friction coefficient material, and part of the linear guide component 110 is embedded in the magnetic switch straight grooves on the left and right sides of the cylinder body 301, the width of the embedded part matches the width of the magnetic switch straight groove to form a guiding fit, guiding the cylinder body 301 of the cylinder to perform directional linear motion.

[0099] It should be noted that the linear guide assembly 110 is fixed to the inner wall of the shell 100 by bolts. At the same time, the linear guide assembly 110 is partially embedded in the magnetic switch straight grooves on the left and right sides of the cylinder body 301. Under the self-drive of the cylinder and the guidance of the linear guide assembly 110, the cylinder body 301 performs directional linear motion to extend or retract the shell 100; one end of the flexible traction member 400 is connected to the shell 100, and the other end thereof passes through the fixing bolt hole on the cylinder body 301 and is connected to the milk cup assembly 200; at the same time, the end surface of the end of the cylinder body 301 extending out of the shell 100 is provided with the flip seat 500 and the flip drive assembly 700, wherein the structure and operation principle of the flip seat 500 and the flip drive assembly 700 are consistent with the above and are not repeated.

[0100] In the milking actuator of this embodiment, please refer to Figures 1 to 10 Each teat cup assembly 200 is connected to at least two flexible traction members 400 arranged side by side.

[0101] That is to say, the same teat cup assembly 200 is connected to at least two flexible traction members 400 arranged side by side to improve stability. Specifically, in this embodiment, the same teat cup assembly 200 is connected to two flexible traction members 400 arranged side by side.

[0102] In the milking actuator of this embodiment, please refer to Figures 1 to 15A circular concave hole is arranged on the end surface of the milk cup positioning member. Taking the flip seat 500 as an example, a circular concave hole 509 is arranged on the joint surface between the flip seat 500 and the milk cup assembly 200. A circular boss 201 is correspondingly arranged on the joint surface between the milk cup assembly 200 and the flip seat 500. When the milk cup assembly 200 and the flip seat 500 are combined into one, the concave hole 509 and the boss 201 are combined in a concave-convex manner, so that the milk cup assembly 200 and the flip seat 500 can be positioned and oriented. The setting positions of the concave hole 509 and the boss 201 are interchangeable.

[0103] It should be noted that a milk cup assembly mounting seat is provided on the milk cup assembly 200, and the boss 201 is located on the milk cup assembly mounting seat; when the boss 201 is embedded in the concave hole 509, the milk cup assembly 200 and the flip seat 500 can be positioned and oriented to be integrated.

[0104] It is worth noting that the number of the concave holes 509 , the bosses 201 and the flexible traction member 400 is the same, and through holes for the flexible traction member 400 to penetrate are provided at the central axis of the concave holes 509 and the bosses 201 .

[0105] In the milking actuator of this embodiment, please refer to Figures 1 to 17 At least one end of the flexible traction member 400 serves as a fixed end, and a tension adjustment component 800 is provided at the fixed end. The length of the tension adjustment component 800 itself is adjustable to adjust the tension of the flexible traction member 400.

[0106] Specifically, the tensioning adjustment assembly 800 includes a slidingly connected adjustment seat 801 and a guide sleeve 803 with a stop rib. The adjustment seat 801 is provided with a long hole for accommodating the stop rib. The interior of the adjustment seat 801 is provided with a compression spring 802. The guide sleeve 803 is embedded in the adjustment seat 801 and abuts against the compression spring 802. The interior of the guide sleeve 803 is embedded with a tensioning adjustment bolt 804 that is threadedly connected to the guide sleeve 803 and is hollow. The flexible traction member 400 passes through the adjustment seat 801, the guide sleeve 803 and the tensioning adjustment bolt 804 in sequence, and extends to the outside of the tensioning adjustment bolt 804, with the nodule forming a fixed end.

[0107] It should be noted that, by turning the tension adjustment bolt 804, the length of the bolt outside the guide sleeve 803 is changed, thereby fine-tuning the tension of the flexible traction member 400. At the same time, under the tension of the flexible traction member 400 and the elastic force of the compression spring 802, the guide sleeve 803 slides relative to the adjustment seat 801 until the tension of the flexible traction member 400 and the elastic force of the compression spring 802 reach a balanced state. The tension adjustment assembly 800 changes the fixed end position of the flexible traction member by changing its own length to adjust the tension of the flexible traction member 400 to prevent the milk cup assembly 200 from being pulled off balance.

[0108] In a second aspect, the present invention provides a milking robot, comprising a robotic arm and the milking actuator, wherein the robotic arm is transmission-connected to the milking actuator, and further comprising a visual camera 900 mounted on a housing 100 for locating the nipples of an animal to be milked and providing positioning data for the movement of the robotic arm.

[0109] It should be noted that the milking actuator is driven by the robotic arm to move to the bottom of the nipple of the animal to be milked in preparation for milking; the installation height of the visual camera 900 is lower than the entrance height of the end of the milking cup of the teat cup assembly 200 in a vertical posture to prevent the visual camera 900 from interfering with the process of the teat cup assembly 200 adsorbing the nipple; the visual camera 900 is used to obtain the position of the nipple of the animal to be milked, provide positioning data for the movement of the robotic arm, and assist the teat cup assembly 200 to be accurately adsorbed in place.

[0110] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A milking actuator, comprising a housing, a plurality of groups of teat cup assemblies, and a flexible traction member correspondingly connected to each group of teat cup assemblies, wherein one end of the flexible traction member is fixed to the housing, and the other end is connected to the teat cup assembly, characterized in that: The teat cup locator also includes a telescopic assembly and a teat cup locator corresponding to each teat cup assembly, wherein the telescopic assembly is located on the extension path of the flexible traction member, and the telescopic assembly can be extended and retracted relative to the shell, and the teat cup locator is arranged at the end of the telescopic assembly and has an end surface combined with the teat cup assembly; When the telescopic assembly is fully extended from the shell, the flexible traction member can be tightened, so that the teat cup assembly and the teat cup positioning member are combined into one, and the teat cup assembly is in a vertical posture. At this time, the teat cup assembly is in a positioning state to be milked; under the action of the mechanical arm and the visual camera, after the teat cup assembly is connected to the nipple of the animal to be milked, the telescopic assembly is completely retracted into the shell, and the teat cup assembly can be completely released to perform milking operations.

2. A milking actuator according to claim 1, characterized in that: After the telescopic assembly is fully extended from the shell and then partially retracted, the taut flexible traction member is appropriately relaxed, the teat cup assembly is separated from the teat cup positioning member, and falls down under its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

3. A milking actuator according to claim 1, characterized in that: The milk cup positioning member is a flip seat that can rotate at a certain angle, and the flip seat is rotatably connected to the telescopic component via a flip axis; After the telescopic assembly is fully extended from the shell, the flexible traction member is tightened, and the teat cup assembly is integrated with the flip seat. The flip seat rotates around the flip axis, so that the teat cup assembly can be switched between a vertical posture and an inclined posture. The inlet of the end of the milking cup of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

4. A milking actuator according to claim 2 or 3, characterized in that: The flexible traction member passes through the telescopic assembly.

5. A milking actuator according to claim 4, characterized in that: The telescopic assembly extends and retracts along a linear guide assembly arranged on the housing.

6. A milking actuator according to claim 5, characterized in that: It also includes a telescopic drive component, and the telescopic drive component and the telescopic component adopt a linear motion mode to change the state of the flexible traction member to tighten and release the milk cup component.

7. A milking actuator according to claim 6, characterized in that: The telescopic drive assembly adopts a pneumatic cylinder, an electric cylinder or a hydraulic cylinder.

8. The milking actuator according to claim 6, characterized in that: The flexible traction member passes through the telescopic assembly and a flip seat arranged at the end thereof.

9. A milking actuator according to claim 8, characterized in that: The flexible traction member is perpendicular to and passes through the central axis of the flip shaft, so that when the flip seat flips, the length of the flexible traction member in a tensioned state does not change, and the tensioning force is constant.

10. A milking actuator according to claim 9, characterized in that: A positioning pin is arranged between the flip seat and the flip shaft, and the positioning pin is perpendicular to the flip shaft, so that the flip seat and the flip shaft are connected as a whole.

11. A milking actuator according to claim 9, characterized in that: The flip seat and the flip shaft are both provided with fan-shaped clearance grooves for accommodating the flexible traction member. The two fan-shaped clearance grooves are aligned axially with the flip shaft and have the same center, which is located on the central axis of the flip shaft, so that the change of the flip angle of the flip seat does not change the tensioning degree of the flexible traction member.

12. The milking actuator according to claim 6, characterized in that: The flip seat has two limit steps at specific angles, with a cylindrical surface as the transition between the two limit steps. The axis of the cylindrical surface is located on the central axis of the flip shaft, and the angle formed by the two limit steps is equal to the flip angle of the flip seat. The flip seat uses the two limit steps to offset the end face of the telescopic component as a flip limit.

13. The milking actuator according to claim 6, characterized in that: It also comprises a turning driving assembly, and during the turning driving assembly driving the milk cup assembly integrated with the turning seat to turn over, the flexible traction member is always in a tightened state.

14. A milking actuator according to claim 13, characterized in that: The flip driving component is a pneumatic cylinder or an electric cylinder.

15. The milking actuator according to claim 13, characterized in that: The flip driving assembly adopts a combined structure of a flip driving cylinder, a rack and a gear. The rack is connected to the cylinder rod of the flip driving cylinder, and the telescopic direction of the flip driving cylinder is parallel to the extension path of the flexible traction member. The gear is installed on the flip shaft and fixed to the flip seat as a whole with a pin shaft, and the gear is meshed with the rack.

16. A milking actuator according to claim 15, characterized in that: The cylinder rod of the flip driving cylinder is connected to the guide rod, and the guide rod is connected to the rack.

17. The milking actuator according to claim 15, characterized in that: The flip driving cylinder is arranged inside the telescopic component, and the flip driving cylinder is connected to the telescopic component through a flip driving cylinder bracket. A positioning sleeve is arranged between the fixing bolt hole of the flip driving cylinder and the positioning hole of the flip driving cylinder bracket, and the flexible traction member passes through the positioning sleeve.

18. The milking actuator according to claim 13, characterized in that: A cylinder is used as the telescopic component and the telescopic drive component. The rod end of the cylinder rod is fixed on the shell. The cylinder body of the cylinder serves as the telescopic component. The cylinder body can extend and retract into the shell. The linear guide component is made of a low friction coefficient material, and part of the linear guide component is embedded in the magnetic switch straight grooves on the left and right sides of the cylinder body. The width of the embedded part matches the width of the magnetic switch straight groove to form a guiding fit, guiding the cylinder body to perform directional linear motion.

19. A milking actuator according to claim 18, characterized in that: The flexible traction member passes through the fixing bolt hole of the cylinder body.

20. The milking actuator according to claim 8, characterized in that: The end surface of one end of the cylinder body extending out of the shell is provided with the turning seat and the turning drive assembly.

21. The milking actuator according to claim 1, characterized in that: Each teat cup assembly is connected to at least two flexible traction members arranged side by side.

22. A milking actuator according to claim 2 or 3, characterized in that: A circular concave hole is arranged on the end surface of the milk cup positioning piece, and a circular boss is correspondingly arranged on the milk cup assembly. When the milk cup assembly and the milk cup positioning piece are combined into one, the concave hole and the boss are combined in a concave-convex manner, so that the milk cup assembly and the milk cup positioning piece can be combined in a positioning and directional manner, and the setting positions of the concave hole and the boss are interchangeable.

23. A milking actuator according to claim 22, characterized in that: The number of the concave holes, the bosses and the flexible traction member is the same, and through holes for the flexible traction member to penetrate are arranged at the central axis of the concave holes and the bosses.

24. The milking actuator according to claim 1, characterized in that: At least one end of the flexible traction member serves as a fixed end, and the fixed end is provided with a tension adjustment assembly; The tension adjustment assembly includes a slidingly connected adjustment seat and a guide sleeve with a stop rib. The adjustment seat is provided with a long strip hole for accommodating the stop rib. A compression spring is provided inside the adjustment seat. The guide sleeve is embedded in the adjustment seat and abuts against the compression spring. A hollow tension adjustment bolt is embedded in the guide sleeve and is threadedly connected to the guide sleeve. The flexible traction member passes through the adjustment seat, the guide sleeve and the tension adjustment bolt in sequence, and extends to the outside of the tension adjustment bolt, with a nodule forming a fixed end.

25. A milking robot, characterized in that: It comprises a robotic arm and the milking actuator according to any one of claims 1-24, wherein the robotic arm is transmission-connected to the milking actuator, and further comprises a visual camera mounted on a shell for locating the nipples of an animal to be milked and providing positioning data for the movement of the robotic arm.

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