Intelligent milking mechanical arm suitable for rotating disc type milking station

Abstract

The invention relates to the technical field of intelligent milking, and discloses an intelligent milking mechanical arm suitable for a rotating disc type milking station, the intelligent milking mechanical arm comprises a stand column, a lifting assembly, a movable arm assembly and a cup sleeving assembly which are connected in sequence, the lifting assembly can enable the movable arm assembly to vertically ascend and descend on the stand column, and the movable arm assembly can enable the cup sleeving assembly to horizontally move; the sleeve cup assembly comprises an execution arm and a flexible sleeve cup mechanism, the execution arm is connected with the movable arm assembly, the flexible sleeve cup mechanism comprises an air cylinder, a pull rope, a tail end flexible block, a front end flexible block and a plurality of middle flexible blocks, and the flexible sleeve cup mechanism forms a pure flexible arm structure driven by the air cylinder and the pull rope; according to the intelligent milking mechanical arm suitable for the rotating disc type milking station, the rear stand column of the milking position in the existing rotating disc type milking station can be directly replaced and transformed, automatic cup sleeving and taking are achieved, the cup sleeving and taking efficiency is high, and the stress reaction of dairy cows cannot be caused.

Description

Technical Field

[0001] This invention relates to the field of intelligent milking technology, specifically to an intelligent milking robotic arm suitable for rotary milking stations. Background Technology

[0002] Currently, manual milking has been gradually replaced by mechanical milking machines. Since ordinary milking machines can only milk one cow at a time, the milking efficiency is low, which leads to increased labor costs. As a result, rotary milking stations have emerged.

[0003] Existing rotary milking stations consist of a rotary table with several milking stations evenly distributed around its circumference near the outer edge. Each milking station is equipped with a milking robot. Cows are herded into the milking station, milked, and then the robot completes the milking process. Rotary milking stations can milk multiple cows simultaneously, significantly improving milking efficiency. Although the rotation of the rotary table aligns each milking station with the operator's workstation (located at the end furthest from the center of the rotary table), allowing for milking with fewer operators, the milking process still requires manual intervention, indicating room for improvement in automation.

[0004] To achieve fully automated cup-fitting milking, existing technologies have conducted related research, such as the Chinese patent for a rotary milking machine that can accurately position cow teats (application number: CN201910417074.8). This machine uses a flexible robotic arm at one end of each milking station near the center of the rotary table to complete the automatic cup-fitting process. However, in practical applications, it still has at least the following drawbacks: Firstly, this flexible robotic arm is a six-degree-of-freedom robotic arm design, with each motion pair equipped with a drive mechanism. In particular, the end effector is designed with a cylinder and a wrist swing servo motor for rigid drive. Its movement process involves mechanical jamming and mechanical noise. In practical applications, the end effector needs to be inserted under the cow's abdomen to connect the milk cup with the teat. When these mechanical jammings are applied to the cow's body through the milk cup, they will produce a sense of impact. This sense of impact and mechanical noise can easily cause stress in the cow.

[0005] Secondly, in existing rotary milking stations, cows enter the milking area from the end furthest from the center of the rotary table. After entering, the cows' heads face the center of the rotary table. During milking, hay is often provided at the end of the milking area closer to the center of the rotary table to soothe the cows. The aforementioned flexible robotic arm is located at the end of the milking area closer to the center of the rotary table, lacking a suitable installation location. Furthermore, the flexible robotic arm is directly facing the cow's head, and its operation is likely to cause stress to the cows.

[0006] Thirdly, each of the foremilk and hindmilk areas of a dairy cow has two teats. During milking operations, milking of all four teats needs to be completed. If this flexible robotic arm is used, the process of attaching and removing the cup from each teat requires a large range of motion throughout the entire cycle, which takes a long time and results in low efficiency in attaching and removing the cup.

[0007] In addition, to realize fully automated cup milking in rotary milking stations, the actual conditions of the milking environment must be fully considered: on the one hand, the pasture environment has problems such as high humidity and corrosion from cleaning agents, and traditional metal transmission parts are prone to rust and jamming, and drive parts such as motors are prone to damage from moisture, which is not suitable for the milking environment; on the other hand, the milking operation area under the cow's belly is small, and the design of the robotic arm is also constrained by this small space. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide an intelligent milking robotic arm suitable for rotary milking stations. It can directly replace and modify the rear column of the milking position in the existing rotary milking station to achieve automatic cup placement and retrieval. Moreover, the cup placement and retrieval efficiency is high and will not cause stress to the cows.

[0009] The objective of this invention is achieved through the following technical solution: A smart milking robot arm suitable for rotary milking stations includes a column, a lifting assembly, a boom assembly, and a cup-feeding assembly connected in sequence. The lifting assembly allows the boom assembly to move vertically up and down on the column, and the boom assembly allows the cup-feeding assembly to move horizontally. The cup-feeding assembly includes an actuator arm and a flexible cup-feeding mechanism. The actuator arm is connected to the boom assembly. The flexible cup-feeding mechanism includes a cylinder, a pull rope, an end flexible block, a front flexible block, and several intermediate flexible blocks. The intermediate flexible blocks are arranged in a straight line between the end flexible block and the front flexible block. The flexible block has a first perforation A and a second perforation A arranged side by side. The intermediate flexible block has a first perforation B and a second perforation B arranged side by side. The front flexible block has a first perforation C and a second perforation C arranged side by side. One end of the pull rope passes sequentially through the first perforation A, several first perforations B, first perforation C, second perforation C, several second perforations B, and second perforation A. Both ends of the pull rope are fixedly connected to the telescopic end of the cylinder. The cylinder and the end flexible block are both fixedly installed inside the actuator arm. The front flexible block and several intermediate flexible blocks are all located outside one end of the actuator arm. The flexible cup-attaching mechanism is driven by the cylinder and the pull rope, forming a purely flexible arm structure. During cup-attaching operations, it can effectively reduce collisions with the cow's body and has low mechanical noise, which helps to reduce the cow's stress response. During cup-retrieving operations, the flexible cup-attaching mechanism does not need to intervene.

[0010] Specifically, the flexible cup mechanism also includes a milk cup, which is detachably connected to the front flexible block.

[0011] Furthermore, there are four flexible cup-fitting mechanisms, two of which are adapted to the positions of the two teats in the foremast region of the cow, and the other two are adapted to the positions of the two teats in the hindmast region of the cow. In application, the four flexible cup-fitting mechanisms can complete the cup-fitting process of the four teats of the cow in a short time, and the four teats can enter the milking operation at the same time, improving the efficiency of cup-fitting milking. The cup-fitting process of the four flexible cup-fitting mechanisms does not interfere with each other, and can also adapt to the positional differences between the teats of cows of different sizes.

[0012] Specifically, the boom assembly includes a first arm, a second arm, and a third arm, and the lifting assembly includes a lifting seat. One end of the first arm is rotatably connected to the lifting seat, the other end of the first arm is rotatably connected to one end of the second arm, the other end of the second arm is rotatably connected to one end of the third arm, and the end of the actuator arm away from the front flexible block is fixedly connected to the third arm.

[0013] Specifically, a first motor is fixedly installed on the lifting seat, one end of the first arm is fixedly connected to the output shaft of the first motor, a second motor is fixedly installed inside the first arm, one end of the second arm is fixedly connected to the output shaft of the second motor, a third motor is fixedly installed inside the second arm, and one end of the third arm is fixedly connected to the output shaft of the third motor.

[0014] Specifically, the lifting assembly also includes a lifting motor and a lead screw. The lead screw is vertically arranged and rotatably connected to the column. The lifting motor is used to drive the lead screw to rotate. The lifting seat is slidably connected to the column. The lead screw is threadedly connected to the lifting seat.

[0015] Furthermore, it also includes a vision camera and a controller. The vision camera is fixedly mounted on the execution arm, and the shooting direction of the vision camera is directly opposite to the extension direction of the front flexible block on the execution arm. The vision camera, the first motor, the second motor, the third motor, and the lifting motor are all electrically connected to the controller. The vision camera can monitor the relative position data between the corresponding milk cup and the cow's teat in real time, and the controller controls the first motor, the second motor, the third motor, and the lifting motor to achieve precise docking between the milk cup and the cow's teat.

[0016] The beneficial effects of this invention are: This intelligent milking robot arm, suitable for rotary milking stations, comprises a column, a lifting assembly, a boom assembly, and a cup-holding assembly connected in sequence. The lifting assembly allows the boom assembly to move vertically up and down on the column, and the boom assembly allows the cup-holding assembly to move horizontally. The cup-holding assembly includes an actuator arm and a flexible cup-holding mechanism. The actuator arm is connected to the boom assembly, and the flexible cup-holding mechanism includes a cylinder, a pull rope, an end flexible block, a front flexible block, and several intermediate flexible blocks. The column can be directly replaced or modified from the existing column behind the milking position in a rotary milking station. The boom assembly can retract the cup-holding assembly to allow the cow to smoothly enter the milking position. The milk cup is mounted on the front flexible block. When the cylinder tightens the pull rope, the milk cup is made to stand upright. The boom assembly can move the milk cup to a position aligned with the cow's nipple, and the lifting assembly can raise the milk cup to achieve precise docking with the cow's nipple.

[0017] This flexible cup-stacking mechanism forms a purely flexible arm structure driven by cylinders and pull ropes. During cup-stacking operations, it exerts a gentle force on the cow's body, effectively reducing collisions. Simultaneously, its low mechanical noise during operation helps reduce stress on the cows. The flexible cup-stacking mechanism possesses a certain degree of elastic deformation capability, avoiding mechanical damage caused by hard pulling and collisions during operations. It also boasts advantages such as moisture resistance and acid / alkali resistance, helping to maintain stable performance during long-term use in high-humidity pasture environments and reducing the risk of failure due to environmental factors. Furthermore, the flexible cup-stacking mechanism has low frictional power loss during operation, reducing energy consumption. The front flexible block, end flexible block, and middle flexible block are modularly manufactured, resulting in lower structural component costs and convenient replacement, significantly reducing long-term maintenance costs and facilitating modular upgrades to adapt to future technological iterations. After the flexible cup-attaching mechanism completes the cup-attaching operation, the pull rope is in a slack state. During the subsequent milking process, when the cow's body moves, it will not interfere with or pull the cow, which helps to avoid discomfort for the cow. After the milking process is completed, the flexible cup-attaching mechanism does not need to intervene again. The milk cup can be directly removed from the cow's body to complete the cup removal process. Moreover, the milk cup is held by the pull rope after it is removed and will not fall to the ground.

[0018] In application, the actuator arm is equipped with four flexible cup-fitting mechanisms, each used to fit one of the cow's four teats. Since the pull rope is slack after each flexible cup-fitting mechanism completes its task, it does not interfere with the actuator arm's position adjustment, allowing the other flexible cup-fitting mechanisms to complete the process smoothly. This allows for the cup-fitting of all four teats in a short time within the confined space below the cow's abdomen, enabling simultaneous milking of all four teats and improving both cup-fitting and milking efficiency. Furthermore, the boom assembly and lifting assembly require only small-range movements during this process, with minimal amplitude and short action time, further contributing to increased efficiency and reduced energy consumption.

[0019] A vision camera is installed to monitor the relative position data between the corresponding milk cup and the cow's teat in real time, and based on this, the movement of the lifting component, boom component and each cup assembly is controlled in a closed loop, which helps to ensure the precise docking of the milk cup and the cow's teat. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an intelligent milking robotic arm suitable for rotary milking stations according to the present invention. Figure 2 This is a schematic diagram of the internal structure of the cup assembly in an intelligent milking robot arm suitable for rotary milking stations according to the present invention. Figure 3 for Figure 2 A schematic diagram of the front flexible block in the cup assembly shown; Figure 4 for Figure 2 A schematic diagram of the structure of the intermediate flexible block in the cup assembly shown; Figure 5 for Figure 2 A schematic diagram of the structure of the flexible block at the end of the cup assembly shown; Figure 6 This is a schematic diagram of the lifting component in an intelligent milking robot arm applicable to a rotary milking station according to the present invention. Figure 7 This is a schematic diagram of the boom assembly in an intelligent milking robot arm suitable for rotary milking stations according to the present invention. In the diagram, 10-column, 11-vision camera, 20-lifting assembly, 21-lifting seat, 22-lifting motor, 23-lead screw, 30-boom assembly, 31-first arm, 32-second arm, 33-third arm, 34-first motor, 35-second motor, 36-third motor, 40-cup assembly, 41-actuating arm, 42-cylinder, 43-end flexible block, 431-first through hole A, 432-second through hole A, 44-front flexible block, 441-first through hole C, 442-second through hole C, 443-rope groove, 45-middle flexible block, 451-first through hole B, 452-second through hole B, 46-milk cup. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0022] like Figures 1 to 7As shown, an intelligent milking robotic arm suitable for rotary milking stations includes a column 10, a lifting assembly 20, a boom assembly 30, and a cup assembly 40 connected in sequence. The column 10 is made according to the shape and size of the column behind the milking position in an existing rotary milking station. The lifting assembly 20 can drive the boom assembly 30 to move vertically up and down on the column 10, and the boom assembly 30 can drive the cup assembly 40 to move horizontally.

[0023] like Figure 2 As shown, the cup-sleeving assembly 40 includes an actuator arm 41 and a flexible cup-sleeving mechanism. The actuator arm 41 is connected to the boom assembly 30. The flexible cup-sleeving mechanism includes a cylinder 42, a pull rope (not shown), an end flexible block 43, a front flexible block 44, and several intermediate flexible blocks 45. Figure 5 As shown, the end flexible block 43 can be a cuboid rubber block. Through bolt holes are machined vertically on the end flexible block 43 for fixing it to the actuator arm 41 with bolts. A first through hole A431 and a second through hole A432 are arranged side-by-side horizontally on the end flexible block 43. Figure 4 As shown, the intermediate flexible block 45 can be a cuboid rubber block, and a first through hole B451 and a second through hole B452 are arranged side by side along the horizontal direction on the intermediate flexible block 45; as shown Figure 3 As shown, the front flexible block 44 can be a T-shaped rubber block, which includes a cuboid connecting part and a protrusion located on one side of the connecting part. A first through hole C441 and a second through hole C442 are arranged side-by-side on the connecting part in a direction parallel to the protrusion. A rope groove 443 is machined on the protrusion, and the two ends of the rope groove 443 are respectively adapted to the positions of the first through hole C441 and the second through hole C442. During assembly... Figure 2 As shown, several intermediate flexible blocks 45 are arranged in a straight line between the end flexible block 43 and the front flexible block 44. One end of the pull rope is first passed through the first through hole A431, several first through holes B451, and the first through hole C441 in sequence, then folded back and wrapped around the rope groove 443, and then passed through the second through hole C442, several second through holes B452, and the second through hole A432 in sequence. Both ends of the pull rope are then fixedly connected to the telescopic end of the cylinder 42. The cylinder 42 and the end flexible block 43 are both fixedly installed inside the actuator arm 41, while the front flexible block 44 and several intermediate flexible blocks 45 are located outside one end of the actuator arm 41. When the telescopic end of the cylinder 42 retracts, it can taut the pull rope, pulling the front flexible block 44, several intermediate flexible blocks 45, and the end flexible block 43 to... Figure 2 The state shown is a straight line; when the telescopic end of the cylinder 42 extends, the pull rope can be relaxed, and the front flexible block 44 and several intermediate flexible blocks 45 located at the front end can hang down naturally under the action of gravity. At the same time, by reasonably designing the length of the pull rope and the stroke of the cylinder 42, the vertical distance of the front flexible block 44 hanging down can also be limited.

[0024] Combination Figure 1 , Figure 2 As shown, the above-mentioned flexible cup-attaching mechanism also includes a milk cup 46, which is a component of the milking robot in the existing rotary milking station. Under the control of the milking robot, it can be attached to the cow's body and complete the milking process when the cup is attached. After milking, it can be separated from the cow's body. The milk cup 46 is detachably connected to the front flexible block 44. This intelligent milking robot arm, applicable to rotary milking stations, can directly replace the rear support column of the milking position in existing rotary milking stations. The cup-attaching operation process is as follows: First, the boom assembly 30 drives the cup-attaching assembly 40 to retract to clear space for the cow to enter the milking position; then, the cow enters the milking position; subsequently, the telescopic end of the cylinder 42 retracts, tauting the pull rope and pulling the front flexible block 44, several intermediate flexible blocks 45, and the end flexible block 43 into a straight line, at which point the milk cup 46 is vertical; then, the boom assembly 30 drives the cup-attaching assembly 40 to enter from the side between the cow's hind and hind legs. The milk cup 46 is positioned below the cow's belly so that its top is directly opposite the cow's teat. Then, the lifting assembly 20 drives the boom assembly 30 and the cup-attaching assembly 40 to rise until the milk cup 46 is aligned with the cow's teat. The milking robot then controls the milk cup 46 to adhere to the teat, completing the cup-attaching process. After the cup-attaching is complete, the telescopic end of the cylinder 42 extends, and the pull rope becomes slack. The milking robot then initiates the milking process with the milk cup 46. After milking, the milking robot releases the milk cup 46 from its attachment position, and the milk cup 46 falls off under its own weight. Controlled by the length of the pull rope, the milk cup 46 does not droop and fall to the ground.

[0025] As can be seen from the above process, the intelligent milking robotic arm suitable for rotary milking stations can be directly replaced and modified by replacing the left rear column of the existing rotary milking station. It achieves precise alignment of the milk cup 46 with the cow's teat position without affecting the cow's entry into the milking area. Working in conjunction with the existing milking robot, it automatically completes the cup placement and retrieval operation. The robotic arm has a simplified overall structure, meets lightweight requirements, and is relatively inexpensive. Because the robotic arm is positioned to the side and rear of the cow, its movement avoids the cow's direct line of sight, which helps reduce stress on the cow.

[0026] The aforementioned flexible cup mechanism is driven by a cylinder 42 and a pull rope. Combined with a front flexible block 44, an end flexible block 43, and several intermediate flexible blocks 45, it forms a purely flexible arm structure. In milking operations, it has at least the following advantages: Firstly, because the flexible cup-stacking mechanism is a purely flexible arm structure, it is not affected by the hard jamming during the lifting component 20 driving process when stacking the cup. The force of the milk cup 46 on the cow's body is gentle, which helps to reduce the stress response of the cow caused by collision.

[0027] Secondly, compared to traditional rigid transmission structures, this flexible cup-mounting mechanism can significantly reduce mechanical noise during operation, making the equipment run more quietly and reducing stress responses in dairy cows caused by noise. It should be understood that the actuator arm 41 is a hollow structure, with the cylinder 42 housed inside. During implementation, the outer shell of the actuator arm 41 can be covered with sound-insulating material to further block the noise generated during the operation of the cylinder 42.

[0028] Thirdly, the flexible cup-stacking mechanism has a certain elastic deformation capability. During the docking process of the cup-stacking operation, when the milk cup 46 acts on the cow's body, as the cylinder 42 tightens the pull rope, the front flexible block 44 and several intermediate flexible blocks 45 can avoid mechanical damage caused by hard pulling and collision through elastic deformation.

[0029] Fourth, during milking after the cup is attached, the pull rope is completely relaxed. When the cow moves, the flexible cup-attaching mechanism will not interfere with or pull the cow, which helps to avoid discomfort for the cow.

[0030] Fifth, the pasture environment has problems such as high humidity and corrosion from cleaning agents. Traditional metal transmission components are prone to rust and jamming. In this flexible cup mechanism, the cylinder 42 is located inside the actuator arm 41 and is protected by the outer shell of the actuator arm 41. The structure outside the actuator arm 41 consists only of the pull rope, the front flexible block 44 and several intermediate flexible blocks 45. It is a simple structural component that can resist moisture and acid and alkali. It is conducive to maintaining stable performance in long-term use and reducing the risk of failure caused by environmental factors.

[0031] Sixth, in traditional rigid transmission mechanisms, frictional losses often exist among the components, and a relatively high driving force is usually required to overcome the frictional resistance. This flexible cup mechanism, consisting of a pull rope, a front flexible block 44, an end flexible block 43, and several intermediate flexible blocks 45, forms a purely flexible arm structure. This significantly reduces the contact between metal components, resulting in lower frictional losses from the flexible connections and reduced energy consumption. The front flexible block 44, end flexible block 43, and intermediate flexible blocks 45 are modularly manufactured, the pull rope is readily available, and the cost of each structural component is low and easy to replace. This significantly reduces long-term maintenance costs and facilitates modular upgrades to adapt to future technological iterations.

[0032] In practice: like Figure 1 , Figure 2As shown, there are four flexible cup-fitting mechanisms. Two of these mechanisms are adapted to the two teat positions in the foremast region of the cow; for ease of description, they are referred to as foremast region flexible cup-fitting mechanisms. The other two mechanisms are adapted to the two teat positions in the hindmilk region of the cow; for ease of description, they are referred to as hindmilk region flexible cup-fitting mechanisms. The two foremast region flexible cup-fitting mechanisms are located in the middle of the diagram, and the two hindmilk region flexible cup-fitting mechanisms are located on either side. In practice, the cylinder 42 of the foremast region flexible cup-fitting mechanisms is a 100mm long-stroke cylinder, and the cylinder 42 of the hindmilk region flexible cup-fitting mechanisms is a 75mm short-stroke cylinder. In actual cup-fitting operations, the two foremast region flexible cup-fitting mechanisms first complete the cup-fitting operation sequentially, followed by the two hindmilk region flexible cup-fitting mechanisms.

[0033] As can be seen from the aforementioned cup-attaching operation process, after each flexible cup-attaching mechanism completes the cup-attaching operation and the milk cup 46 is attached to the cow's body, its pull rope is in a relaxed state. At this time, the actuator arm 41 can freely adjust its position within the allowable range, and will not cause interference or pulling when the actuator arm 41 adjusts its position to perform cup-attaching operations on other teats. Thus, the process of attaching cups to the four teats of the cow can be completed smoothly. After the cup-attaching is completed, the four milk cups 46 can enter the milking operation process at the same time. In addition, after the milking operation process of a certain milk cup 46 is completed, the milk cup 46 can be directly detached without interfering with the milking operation process of other milk cups 46. It should be understood that during the process of sequentially setting the four milk cups 46, the actuator arm 41 only moves and adjusts its position within a small range below the cow's belly. The small range of motion and short adjustment time during the adjustment process are conducive to improving the efficiency of setting the cups. After milking, there is no need for the actuator arm 41 to move. The milk cups 46 can be removed by the milking robot by naturally falling off. The removal process does not require the intervention of the intelligent milking robot arm suitable for rotary milking stations.

[0034] This flexible cup-fitting mechanism is designed to adapt to the different teat positions of cows of varying sizes during milking operations. Since the distance between the two teats in the forebrion and hindbrion is smaller than the distance between the forebrion and hindbrion, the cylinder 42 of the flexible cup-fitting mechanism in the forebrion is a 100mm long-stroke cylinder. When its extension end extends forward, the pull rope has more slack, providing more displacement space for the actuator 41. This ensures smooth alignment and successful cup-fitting of the two teats in the hindbrion.

[0035] like Figure 1 , Figure 2 , Figure 7As shown, the boom assembly 30 includes a first arm 31, a second arm 32, and a third arm 33. The lifting assembly 20 includes a lifting seat 21. One end of the first arm 31 is rotatably connected to the lifting seat 21, and the other end of the first arm 31 is rotatably connected to one end of the second arm 32. The other end of the second arm 32 is rotatably connected to one end of the third arm 33. The end of the actuator arm 41 furthest from the front flexible block 44 is fixedly connected to the third arm 33. This boom assembly 30 has a three-axis robotic arm structure. Through the coordinated control of the three movements—the first arm 31 rotating around the lifting seat 21, the second arm 32 rotating around the first arm 31, and the third arm 33 rotating around the second arm 32—the actuator arm 41 can be moved horizontally to any position within its stroke range to achieve precise docking of each cow's teat with its corresponding milk cup 46. Furthermore, a first motor 34 is fixedly installed on the lifting base 21, and one end of the first arm 31 is fixedly connected to the output shaft of the first motor 34. The first motor 34 can drive the rotation of the first arm 31 around the lifting base 21. A second motor 35 is fixedly installed inside the first arm 31, and one end of the second arm 32 is fixedly connected to the output shaft of the second motor 35. The second motor 35 can drive the rotation of the second arm 32 around the first arm 31. A third motor 36 is fixedly installed inside the second arm 32, and one end of the third arm 33 is fixedly connected to the output shaft of the third motor 36. The third motor 36 can drive the rotation of the third arm 33 around the second arm 32. Both the first arm 31 and the second arm 32 are hollow structures. The second motor 35 is located inside the first arm 31, and the third motor 36 is located inside the second arm 32. This design helps to protect the second motor 35 and the third motor 36. During implementation, a protective cover can also be installed outside the first motor 34 to prevent the first motor 34, the second motor 35, and the third motor 36 from malfunctioning due to the high humidity of the pasture and corrosion from cleaning agents. Furthermore, during implementation, a sound insulation layer can be installed inside the first arm 31, the second arm 32, and the protective cover to block the noise generated by the first motor 34, the second motor 35, and the third motor 36 during operation.

[0036] like Figure 1 , Figure 6 As shown, the lifting assembly 20 also includes a lifting motor 22 and a lead screw 23. The lead screw 23 is vertically arranged and rotatably connected to the column 10. The lifting motor 22 is located at the top of the column 10. The output shaft of the lifting motor 22 is fixedly connected to the top of the lead screw 23. The lifting seat 21 is slidably connected to the column 10. The lead screw 23 is threadedly connected to the lifting seat 21, forming a lead screw and nut mechanism. When the lifting motor 22 drives the lead screw 23 to rotate, it can drive the lifting seat 21 to rise and fall, thereby realizing the drive control of the vertical lifting action of the boom assembly 30 on the column 10.

[0037] Furthermore, in combination Figure 1 , Figure 2 , Figure 6 , Figure 7 As shown, a vision camera 11 and a controller are also provided. The vision camera 11 is fixedly mounted on the execution arm 41, and its shooting direction is directly opposite to the extension direction of the front flexible block 44 on the execution arm 41. The vision camera 11, the first motor 34, the second motor 35, the third motor 36, and the lifting motor 22 are all electrically connected to the controller. The vision camera 11 can capture and collect the relative position data between the milk cup 46 and the corresponding teat of the cow in real time, and feed this relative position data back to the controller. The controller adjusts the position of the execution arm 41 according to the relative position data through the first motor 34, the second motor 35, and the third motor 36 to align the corresponding milk cup 46 and the cow teat. Then, the controller controls the lifting motor 22 to complete the precise docking of the milk cup 46 and the cow teat. This online closed-loop control helps to ensure the accurate positioning of the cow teat and the milk cup 46 during the cup-attaching operation. It should be understood that when performing cupping operations on the two teats in the fore-breast area or the two teats in the hind-breast area of ​​a dairy cow, the teat cupping operation should be completed first on the teats furthest from the visual camera 11 to avoid obstructing the visual camera 11.

[0038] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An intelligent milking robotic arm suitable for rotary milking stations, characterized in that, It includes a column, a lifting assembly, a boom assembly, and a cup assembly connected in sequence. The lifting assembly enables the boom assembly to move vertically up and down on the column, and the boom assembly enables the cup assembly to move horizontally. The cup assembly includes an actuator arm and a flexible cup mechanism. The actuator arm is connected to the boom assembly. The flexible cup mechanism includes a cylinder, a pull rope, an end flexible block, a front flexible block, and several intermediate flexible blocks. The intermediate flexible blocks are arranged in a straight line between the end flexible block and the front flexible block. The end flexible block has a first through hole A and a second through hole A arranged side by side. The intermediate flexible blocks have a first through hole B and a second through hole B arranged side by side. The front flexible block has a first through hole C and a second through hole C arranged side by side. One end of the pull rope passes through the first through hole A, several first through holes B, a first through hole C, a second through hole C, several second through holes B, and a second through hole A in sequence. Both ends of the pull rope are fixedly connected to the telescopic end of the cylinder. The cylinder and the end flexible block are both fixedly installed inside the actuator arm. The front flexible block and the several intermediate flexible blocks are all located outside one end of the actuator arm.

2. The intelligent milking robotic arm suitable for rotary milking stations according to claim 1, characterized in that, The flexible cup mechanism also includes a milk cup, which is detachably connected to the front flexible block.

3. The intelligent milking robotic arm suitable for rotary milking stations according to claim 2, characterized in that, There are four flexible cup-fitting mechanisms, two of which are adapted to the two teat positions in the foremast region of the cow, and the other two are adapted to the two teat positions in the hindmast region of the cow.

4. The intelligent milking robotic arm suitable for rotary milking stations according to claim 1, characterized in that, The boom assembly includes a first arm, a second arm, and a third arm. The lifting assembly includes a lifting seat. One end of the first arm is rotatably connected to the lifting seat. The other end of the first arm is rotatably connected to one end of the second arm. The other end of the second arm is rotatably connected to one end of the third arm. The end of the actuator arm away from the front flexible block is fixedly connected to the third arm.

5. The intelligent milking robotic arm suitable for rotary milking stations according to claim 4, characterized in that, A first motor is fixedly installed on the lifting platform. One end of the first arm is fixedly connected to the output shaft of the first motor. A second motor is fixedly installed inside the first arm. One end of the second arm is fixedly connected to the output shaft of the second motor. A third motor is fixedly installed inside the second arm. One end of the third arm is fixedly connected to the output shaft of the third motor.

6. The intelligent milking robotic arm suitable for rotary milking stations according to claim 5, characterized in that, The lifting assembly also includes a lifting motor and a lead screw. The lead screw is vertically arranged and rotatably connected to the column. The lifting motor is used to drive the lead screw to rotate. The lifting seat is slidably connected to the column. The lead screw is threadedly connected to the lifting seat.

7. The intelligent milking robotic arm suitable for rotary milking stations according to claim 6, characterized in that, It also includes a vision camera and a controller. The vision camera is fixedly mounted on the execution arm, and the shooting direction of the vision camera is directly opposite to the extension direction of the front flexible block on the execution arm. The vision camera, the first motor, the second motor, the third motor, and the lifting motor are all electrically connected to the controller.

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