Cow feeding system and milking system used in cooperation

Abstract

The invention relates to the technical field of dairy cow breeding, in particular to a dairy cow feeding system and milking system matched for use, comprising an outer frame, and fence entering doors for opening and closing are rotatably mounted on three sides of the outer frame; the feeding assembly is arranged on one side of the outer frame, and the feeding assembly comprises a feed storage box used for storing feed and a feeding trough fixedly installed below the feed storage box; the feeding assembly comprises a pedal arranged at the bottom of the interior of the outer frame, a rotating rod located in the feeding groove and rotationally installed, and plugging plates arranged on the two sides of the rotating rod. The positioning assembly is arranged on the side face, not provided with the fence entering door, of the outer frame. Compared with the prior art, the feeding assembly and the feeding assembly are matched for use, the feeding process is automatically and accurately controlled, cattle feeding can be more effectively managed, the utilization rate of feed is increased, and therefore better economic benefits are brought.

Description

Technical Field

[0001] The invention relates to the technical field of dairy cow breeding, and in particular to a dairy cow feeding system and a milking system used in conjunction with each other. Background Art

[0002] In the context of modern animal husbandry, an innovative cow feeding and milking system has been developed to improve production efficiency and animal welfare. The system integrates advanced technologies to provide all-round care for cows. Covering areas such as intelligent perception, automated control and data analysis, the cow feeding and milking system used in conjunction with the technology innovation takes into account both efficient production and animal welfare, injecting a more intelligent and sustainable development concept into modern animal husbandry.

[0003] Traditional feeding and milking systems rely too much on manual operations, such as manually adjusting the position of cows, manually feeding and releasing materials to cows, etc. Such operations are not only labor-intensive, but also easily lead to low milking efficiency, and cannot achieve the coordinated use of the two. In addition, the comfort of cows is not considered when fixing and positioning cows during milking, which will cause cows to feel uncomfortable during feeding and milking. In addition, traditional systems cannot make precise adaptive adjustments according to the body shapes and characteristics of different cows, and the milking position needs to be adjusted manually, resulting in large differences in milking effects between different cows. Therefore, the present application discloses a cow feeding system and milking system that are used in combination to meet the needs of cows to cooperate synchronously and reduce dependence on manual labor during feeding and milking. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a cow feeding system and milking system for use in combination, which has the advantages of simultaneous feeding and milking and increased milking and feeding efficiency, so as to solve the problem of excessive reliance on manual labor in feeding and milking.

[0005] Based on the above-mentioned purpose, the present invention provides a cow feeding system, comprising: an outer frame, wherein three sides of the outer frame are rotatably mounted with entry gates for opening and closing; a feeding assembly, wherein the feeding assembly is arranged on one side of the outer frame, and the feeding assembly comprises a feeding box for storing feed, and a feeding trough fixedly mounted below the feeding box, wherein a feeding trough is provided at the bottom of the feeding box and is located directly above the feeding trough; a feeding assembly, wherein the feeding assembly comprises a pedal arranged at the inner bottom of the outer frame, a rotating rod rotatably mounted in the feeding trough, and blocking plates arranged on both sides of the rotating rod, wherein one end of the rotating rod passes through the feeding box, and a connecting rod rotatably mounted on one side of the pedal and rotatably connected to one end of the rotating rod; an auxiliary assembly, wherein the auxiliary assembly Fixedly installed on the top of the outer frame, two wrapping pads for assisting cattle positioning are arranged below the auxiliary component; a positioning component, the positioning component is arranged on a side of the outer frame where the entry door is not arranged, the positioning component includes a mechanical arm for milking, a first slide rail for adjusting the lateral position of the mechanical arm, a first slider slidably installed on the first slide rail, a second slide rail for adjusting the vertical position of the mechanical arm, a second slider slidably installed on the second slide rail, and a transmission rod for adjusting the angle of the mechanical arm, the first slide rail is fixedly installed on one side of the outer frame, the second slide rail is arranged on the other side of the first slider, a servo motor is fixedly installed on the other side of the second slider, and the transmission rod is fixedly connected to the output end of the servo motor.

[0006] Preferably, two axially symmetrical diagonal braces are respectively provided in the middle of the top of the outer frame, four cylinders are respectively provided on both sides of the top of the outer frame and on one side of the two diagonal braces, and the output ends of the four cylinders are provided with U-shaped blocks that are rotatably connected to the top of the entry gate.

[0007] Preferably, the pedal board layer has a double-layer structure, a shear frame is provided between the two layers of the pedal board, the middle portion of the shear frame is rotatably installed by a rotating shaft, and a spring damper is rotatably installed on one side of the shear frame.

[0008] Preferably, a slide groove is also provided on one side of the pedal, and limiting grooves are also provided on the upper and lower sides of the slide groove, a sliding block is slidably installed inside the slide groove, and limiting columns with a "T"-shaped cross-section are provided at both ends of the sliding block, and a connecting block is also sleeved on the outer surface of the sliding block, and a rotating block is provided on the top of one side of the connecting block, one side of the connecting rod is rotatably connected to the rotating block, and the other side is rotatably connected to one end of the rotating rod.

[0009] Preferably, the overall width of the two blocking plates is matched with the width of the feed trough, and the lifting stroke of the shear frame is matched with the sliding stroke of the sliding block in the slide groove.

[0010] Preferably, a feed port is provided above the feeding box, a baffle is provided at one end of the feeding box close to the outer frame, the baffle layer is inclined, and a gap is left between the top of the baffle and one side of the feeding box, and side panels are provided on both sides of the baffle.

[0011] Preferably, the auxiliary component includes a rotating motor for providing power, a transmission box for transmitting the power of the rotating motor, and a rotating rod fixedly connected to one side of the transmission box, the two sides and the middle of the rotating rod are respectively set as the first rope winding segment and the second rope winding segment, the first pull rope is respectively wound around the top of the two first rope winding segments, the first pull rope is set as a single-head rope, the second pull rope is wound around the second rope winding segment, the second pull rope is set as a double-head rope, and the two wrapping pads are respectively set between the two first pull ropes and between the second pull ropes.

[0012] Preferably, a transverse first crawler is arranged on the inner side of the first slide rail, and the first crawler is also used in conjunction with the first slider; a vertical second crawler is arranged on the inner side of the second slide rail, and the second crawler is also used in conjunction with the second slider; and a servo motor for providing power to the first crawler and the second crawler is arranged on one side of the first slide rail and one side of the second slide rail.

[0013] Preferably, the mechanical arm is arranged in a curved shape, and a fixing plate is fixedly mounted on one side of the mechanical arm and is fixedly connected to the bottom end of the transmission rod.

[0014] A milking system, used in conjunction with the above-mentioned cow feeding system, comprises the following steps:

[0015] S1: The cows first enter the outer rack and prepare for the milking process;

[0016] S2: The cows start to eat in the outer rack. At this time, the system allows the cows to eat freely to keep them comfortable and relaxed;

[0017] S3: The image recognition and distance measurement module is started to identify the position of the cow's udder in real time and measure the relevant distance. The module then transmits the obtained data to the control end for precise adjustment of the subsequent milking process;

[0018] S4: The control end receives data from the image recognition module and controls multiple servo motors to achieve precise control of the robotic arm;

[0019] S5: Through the coordinated action of the first slide rail, the second slide rail and the transmission rod, the robotic arm can achieve precise adjustment in the horizontal, vertical and angular directions to ensure accurate coverage of the cow's udder;

[0020] S6: Once the robotic arm is in the correct position, the milking cup is fixed to the cow's udder by negative pressure adsorption, and the milking operation begins.

[0021] Beneficial effects of the present invention:

[0022] 1. The cow feeding system and milking system used in combination are provided with a feeding component and a feeding component for use in combination. When the cow is eating, the cow's front legs step on the pedal on the feeding component, and the pedal is compressed downward. During the downward compression of the pedal, the shear frame is squeezed and the spring damper is compressed. This is because the upper pedal moves downward, driving the sliding block to slide inside the slide groove from the side away from the feeding trough to the side close to the feeding trough. During the sliding process, the setting of the slide groove and the limit groove ensures the stable trajectory of the sliding block during the pedal movement. The use of the limit groove and the limit column is helpful to control the movement of the sliding block. The movable range is controlled to stabilize the movement of the sliding block in the slide slot, avoid its lateral shaking, and improve the accuracy of the movement. Then, the connecting rod that gradually moves downward drives the rotating rod on the other side to rotate during the movement, and then drives the blocking plate to rotate to open and close the feed slot, so as to release and block the feed. When the cow finishes eating and milking and leaves the pedal, it gradually resets under the action of the spring damper, and then drives the rotating rod, connecting rod and sliding block to reset, and closes the feed again. The operation can be repeated. Through automation and precise control of the feeding process, the feeding of cattle can be managed more effectively, the utilization rate of feed can be improved, and thus better economic benefits can be brought.

[0023] 2. The cow feeding system and milking system used in combination are provided with auxiliary components. The lifting and lowering of the first pull rope and the second pull rope in the auxiliary components can be individually adjusted according to the body shape of the cow, so as to better adapt to the characteristics of different cows. With the adjustment of the first pull rope and the second pull rope, the wrapping pad begins to cling to the abdomen or other parts of the cow, completing the auxiliary fixed positioning of the cow. During this process, the movement of the wrapping pad is smooth and moderate, which not only provides sufficient support, but also ensures the comfort of the cow. In addition, it ensures a certain degree of upward pulling, but this pulling force is carefully controlled and will not interfere with the normal eating of the cow.

[0024] 3. The cow feeding system and milking system used in combination are provided with a positioning component, a first slide rail and a first track in the positioning component, and a second slide rail and a second track, which are driven by a servo motor and work together to achieve precise lateral and vertical adjustment of the mechanical arm. The mechanical arm is designed to be curved, and a fixed plate is installed on one side to connect with a transmission rod, which drives the mechanical arm to rotate and adjust the angle, so that the working process of the entire positioning component can automatically adjust the lateral and vertical positions of the mechanical arm to adjust the position of the milking cup without affecting the normal feeding of the cow, thereby effectively improving the efficiency of milking. It can not only meet the requirements of efficient milking, but also take into account the comfort of the cows, ensuring that the milking process has the least impact on the cows. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the front three-dimensional structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the reverse three-dimensional structure of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the outer frame and the entry door of the present invention;

[0029] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0030] Figure 5 It is a schematic diagram of the structure of the feeding component and the feed component of the present invention;

[0031] Figure 6 For the present invention Figure 5 The enlarged structural diagram at B in the middle;

[0032] Figure 7 This is a schematic diagram of the cross-sectional structure of the feeding assembly of the present invention;

[0033] Figure 8 This is a schematic diagram of the pedal structure of the present invention;

[0034] Fig. 9 This is a schematic diagram of the auxiliary component structure of the present invention;

[0035] Fig.10 This is a schematic diagram of the positioning assembly structure of the present invention;

[0036] Fig.11 For the present invention Fig.10 Enlarged structural diagram at point C in the middle.

[0037] The markings in the figure are:

[0038] 1. External frame; 2. Entry gate; 3. Diagonal brace; 4. Cylinder; 5. U-shaped block; 6. Step on the pedal; 7. Shear frame; 8. Rotating shaft; 9. Spring damper; 10. Slide; 11. Limiting groove; 12. Sliding block; 13. Limiting column; 14. Connecting block; 15. Rotating block; 16. Connecting rod; 17. Feed storage box; 18. Feeding trough; 19. Rotating rod; 20. Blocking plate; 21. Baffle; 22. Side plate; 23 , transmission box; 24, rotating motor; 25, rotating rod; 26, first rope segment; 27, first pull rope; 28, second rope segment; 29, second pull rope; 30, wrapping pad; 31, first slide rail; 32, first crawler track; 33, first slider; 34, second crawler track; 35, second slider; 36, transmission rod; 37, mechanical arm; 38, fixed plate; 39, image recognition and ranging module; 40, milking cup. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0040] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] like Figures 1 to 11As shown, the cow feeding system comprises: an outer frame 1, three sides of the outer frame 1 are rotatably mounted with entry gates 2 for opening and closing; a feeding assembly, the feeding assembly is arranged on one side of the outer frame 1, the feeding assembly comprises a feeding box 17 for storing feed, and a feeding trough 18 fixedly mounted below the feeding box 17, the bottom of the feeding box 17 is provided with a feeding trough and is located directly above the feeding trough 18; the feeding assembly, the feeding assembly comprises a pedal 6 arranged at the inner bottom of the outer frame 1, a rotary rotatably mounted in the feeding trough, and a feeding trough 18 provided at the bottom of the outer frame 1. The rod 19 and the blocking plates 20 arranged on both sides of the rotating rod 19, one end of the rotating rod 19 passes through the feeding box 17, and a connecting rod 16 is rotatably installed on one side of the pedal 6 and is rotatably connected to one end of the rotating rod 19; an auxiliary component, the auxiliary component is fixedly installed on the top of the outer frame 1, and two wrapping pads 30 for assisting cattle positioning are arranged below the auxiliary component; a positioning component, the positioning component is arranged on a side of the outer frame 1 where the entry gate 2 is not arranged, and the positioning component includes a mechanical arm 37 for milking, a first slide rail 31 for adjusting the lateral position of the mechanical arm 37, a first slider 33 slidably installed on the first slide rail 31, a second slide rail for adjusting the vertical position of the mechanical arm 37, a second slider 35 slidably installed on the second slide rail, and a transmission rod 36 for adjusting the angle of the mechanical arm 37, the first slide rail 31 is fixedly installed on one side of the outer frame 1, the second slide rail is arranged on the other side of the first slider 33, a servo motor is fixedly installed on the other side of the second slider 35, and the transmission rod 36 is fixedly connected to the output end of the servo motor, wherein Two axially symmetrical diagonal braces 3 are respectively arranged in the middle of the top of the outer frame 1, and four cylinders 4 are respectively arranged on both sides of the top of the outer frame 1 and one side of the two diagonal braces 3, and the output ends of the four cylinders 4 are all provided with U-shaped blocks 5 that are rotatably connected to the top of the entry gate 2, and a feed inlet is arranged above the storage box 17, and a baffle 21 is arranged at one end of the storage box 17 close to the outer frame 1, and the baffle 21 is arranged at an angle, and a gap is left between the top of the baffle 21 and one side of the storage box 17, and side panels 22 are respectively arranged on both sides of the baffle 21;

[0042] When feeding and milking cows, first drive the cows into the outer frame 1, and then close the three-sided entry gates 2 through the cylinder 4. At this time, the cow's front legs step on the pedal 6 on the feeding assembly, and the pedal 6 is compressed downward, driving the connecting rod 16 to control the rotating rod 19 to rotate. The blocking plates 20 on both sides of the rotating rod 19 will release the blockage of the feeding trough, allowing the feed to fall from the feeding trough in the feeding box 17 to the feeding trough 18. When the pedal 6 is compressed, the driven rotating rod 19 rotates 180 degrees, thereby driving the blocking plate 20 to re-block and stop the feed from falling. When the cow is inside the outer frame 1, it is always on the upper end of the pedal 6. During the feeding period of the cow, no excess feed will fall. Only when the cow is When the cow leaves, the rotating rod 19 will be reset to drop part of the feed, and the next cow will step in and drop part of the feed, and this will be repeated for quantitative feeding. During the cow's eating, the two wrapping pads 30 on the auxiliary component will wrap the cow's abdomen and other parts and pull it upward to a certain extent, but it will not affect the cow's normal eating. At this time, the positioning component will be adjusted according to the measured image and distance. During the movement of the positioning component at this time, the first slide rail 31, the second slide rail and the transmission rod 36 are set to enable the mechanical arm 37 to be flexibly adjusted in the horizontal, vertical and angular directions, so that it can adapt to cows of different sizes and udder shapes and improve the adaptability and efficiency of milking.

[0043] like Figures 5 to 8 As shown, a double-layer structure of the pedal 6 is arranged, a shear frame 7 is arranged between the two layers of the pedal 6, the middle part of the shear frame 7 is rotatably installed by being provided with a rotating shaft 8, a spring damper 9 is rotatably installed on one side of the shear frame 7, a slide groove 10 is also arranged on one side of the pedal 6, and a limiting groove 11 is also provided on the upper and lower sides of the slide groove 10, a sliding block 12 is slidably installed inside the slide groove 10, and limiting columns 13 with a "T"-shaped cross section are arranged at both ends of the sliding block 12, and a connecting block 14 is also sleeved on the outer surface of the sliding block 12, and a rotating block 15 is arranged on the top of one side of the connecting block 14, one side of the connecting rod 16 is rotatably connected to the rotating block 15, and the other side is rotatably connected to one end of the rotating rod 19, the overall width of the two blocking plates 20 is adapted to the width of the feed trough, and the lifting stroke of the shear frame 7 is adapted to the sliding stroke of the sliding block 12 in the slide groove 10;

[0044] When the cow is eating, the cow's front legs step on the pedal 6 on the feeding assembly, and the pedal 6 is compressed downward. During the downward compression of the pedal 6, the shear frame 7 is squeezed and the spring damper 9 is compressed. This is because the upper pedal 6 moves downward, driving the sliding block 12 to slide inside the slide groove 10 from the side away from the feeding trough 18 to the side close to the feeding trough 18. During the sliding process, the setting of the slide groove 10 and the limit groove 11 ensures the stable trajectory of the sliding block 12 during the movement of the pedal 6. The use of the limit groove 11 in conjunction with the limit column 13 helps The movement range of the sliding block 12 is controlled, and the movement of the sliding block 12 in the slide groove 10 is stabilized to avoid its lateral shaking, thereby improving the accuracy of the movement. Then, the connecting rod 16 that gradually moves downward drives the rotating rod 19 on the other side to rotate during the movement, thereby driving the rotation of the blocking plate 20 to open and close the feed trough, and to feed and block the feed. When the cow finishes eating and milking and leaves the pedal 6, it gradually resets under the action of the spring damper 9, thereby driving the rotating rod 19, the connecting rod 16 and the sliding block 12 to reset, and the feeding and closing are performed again, and the operation can be repeated.

[0045] like Figure 2 , Fig. 9 As shown, the auxiliary component includes a rotating motor 24 for providing power, a transmission box 23 for transmitting the power of the rotating motor 24, and a rotating rod 25 fixedly connected to one side of the transmission box 23. The two sides and the middle of the rotating rod 25 are respectively provided with a first rope segment 26 and a second rope segment 28. The upper parts of the two first rope segments 26 are respectively connected with a first pull rope 27, and the first pull rope 27 is provided as a single-head rope. The second rope segment 28 is connected with a second pull rope 29, and the second pull rope 29 is provided as a double-head rope. Two wrapping pads 30 are respectively provided between the two first pull ropes 27 and between the second pull ropes 29.

[0046] The rotating motor 24 drives the transmission box 23, causing the transmission box 23 to produce corresponding movement. The movement of the transmission box 23 is further transmitted to the rotating rod 25, causing the rotating rod 25 to rotate. This rotational movement drives two different rope systems: a first rope segment 26 and a second rope segment 28. The first rope segment 26 is driven by the rotation of the rotating rod 25, and the first pull rope 27 connected thereto begins to stretch or tighten. This telescopic movement is directly controlled by the power of the transmission box 23, so that the first pull rope 27 can be flexibly adjusted according to system requirements, driving the wrapping pad 30 to move. At the same time, the second rope segment 28 also moves during this process. The second rope segment 28 The second pull rope 29 on the upper portion also drives the wrapping pad 30 to move. The lifting and lowering of the first pull rope 27 and the second pull rope 29 can be individually adjusted according to the body shape of the cow, so as to better adapt to the characteristics of different cows. With the adjustment of the first pull rope 27 and the second pull rope 29, the wrapping pad 30 begins to cling to the abdomen or other parts of the cow, completing the auxiliary fixed positioning of the cow. During this process, the movement of the wrapping pad 30 is smooth and moderate, which not only provides sufficient support, but also ensures the comfort of the cow. In addition, it ensures a certain degree of upward pulling, but this pulling force is carefully controlled and will not interfere with the normal eating of the cow.

[0047] like Figure 2 , Fig.10 , Fig.11 As shown, a first horizontal crawler 32 is arranged on the inner side of the first slide rail 31, and the first crawler 32 is also used in conjunction with the first slider 33. A second vertical crawler 34 is arranged on the inner side of the second slide rail, and the second crawler 34 is also used in conjunction with the second slider 35. A servo motor for providing power to the first crawler 32 and the second crawler 34 is arranged on one side of the first slide rail 31 and one side of the second slide rail. The mechanical arm 37 is arranged in a curved shape, and a fixed plate 38 is fixedly installed on one side of the mechanical arm 37 and is fixedly connected to the bottom end of the transmission rod 36.

[0048] The first slide rail 31 and the first crawler 32, as well as the second slide rail and the second crawler 34, are driven by a servo motor and work together to achieve precise lateral and vertical adjustment of the robot arm 37. The robot arm 37 is designed to be curved, with a fixed plate 38 installed on one side connected to the transmission rod 36, driving the robot arm 37 to rotate and adjust the angle, while a plurality of milking cups 40 are arranged on the other side to fix the cow's udder through negative pressure adsorption to achieve efficient milking. The workflow of the entire positioning component automatically adjusts the lateral and vertical positions of the robot arm 37 to drive the adjustment of the position of the milking cup 40 without affecting the normal feeding of the cow, thereby effectively improving the milking efficiency. It can not only meet the requirements of efficient milking, but also take into account the comfort of the cow, ensuring that the milking process has the least impact on the cow.

[0049] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0050] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cow feeding system, characterized in that: include: An outer frame (1), wherein three sides of the outer frame (1) are rotatably mounted with entry doors (2) for opening and closing; A feeding assembly, the feeding assembly being arranged on one side of the outer frame (1), the feeding assembly comprising a feeding box (17) for storing feed, and a feeding trough (18) fixedly mounted below the feeding box (17), wherein a feeding trough is provided at the bottom of the feeding box (17) and is located directly above the feeding trough (18); A feeding assembly, the feeding assembly comprising a pedal (6) arranged at the inner bottom of the outer frame (1), a rotating rod (19) rotatably installed in the feeding trough, and blocking plates (20) arranged on both sides of the rotating rod (19), one end of the rotating rod (19) passing through the feeding storage box (17), and a connecting rod (16) rotatably installed on one side of the pedal (6) and rotatably connected to one end of the rotating rod (19); An auxiliary component, the auxiliary component is fixedly mounted on the top of the outer frame (1), and two wrapping pads (30) for assisting cattle positioning are arranged below the auxiliary component; A positioning component, wherein the positioning component is arranged on a side of the outer frame (1) where the entry gate (2) is not arranged, and the positioning component comprises a mechanical arm (37) for milking, a first slide rail (31) for adjusting the lateral position of the mechanical arm (37), a first slider (33) slidably mounted on the first slide rail (31), a second slide rail for adjusting the vertical position of the mechanical arm (37), a second slider (35) slidably mounted on the second slide rail, and a transmission rod (36) for adjusting the angle of the mechanical arm (37), wherein the first slide rail (31) is fixedly mounted on one side of the outer frame (1), the second slide rail is arranged on the other side of the first slider (33), a servo motor is fixedly mounted on the other side of the second slider (35), and the transmission rod (36) is fixedly connected to the output end of the servo motor.

2. The cow feeding system according to claim 1, characterized in that: Two axially symmetrical diagonal braces (3) are respectively arranged in the middle of the top of the outer frame (1), and four cylinders (4) are respectively arranged on both sides of the top of the outer frame (1) and on one side of the two diagonal braces (3), and the output ends of the four cylinders (4) are all provided with U-shaped blocks (5) which are rotatably connected to the top of the entry gate (2).

3. The cow feeding system according to claim 1, characterized in that: The pedal board (6) has a double-layer structure, a shear frame (7) is arranged between the two layers of the pedal board (6), the middle part of the shear frame (7) is rotatably mounted by a rotating shaft (8), and a spring damper (9) is rotatably mounted on one side of the shear frame (7).

4. The cow feeding system according to claim 3, characterized in that: A slide groove (10) is also provided on one side of the pedal (6), and limit grooves (11) are also provided on the upper and lower sides of the slide groove (10). A sliding block (12) is slidably installed inside the slide groove (10), and limit columns (13) with a "T"-shaped cross section are provided at both ends of the sliding block (12). A connecting block (14) is also sleeved on the outer surface of the sliding block (12), and a rotating block (15) is provided on the top of one side of the connecting block (14). One side of the connecting rod (16) is rotatably connected to the rotating block (15), and the other side is rotatably connected to one end of the rotating rod (19).

5. The cow feeding system according to claim 4, characterized in that: The overall width of the two blocking plates (20) is compatible with the width of the feed trough, and the lifting stroke of the shear frame (7) is compatible with the sliding stroke of the sliding block (12) in the slide groove (10).

6. The cow feeding system according to claim 1, characterized in that: A feed inlet is arranged above the feeding box (17), and a baffle (21) is arranged at one end of the feeding box (17) close to the outer frame (1). The baffle (21) is arranged at an inclination, and a gap is left between the top of the baffle (21) and one side of the feeding box (17), and side panels (22) are respectively arranged on both sides of the baffle (21).

7. The cow feeding system according to claim 1, characterized in that: The auxiliary component includes a rotating motor (24) for providing power, a transmission box (23) for transmitting the power of the rotating motor (24), and a rotating rod (25) fixedly connected to one side of the transmission box (23), the two sides and the middle of the rotating rod (25) are respectively arranged as a first rope winding section (26) and a second rope winding section (28), the tops of the two first rope winding sections (26) are respectively connected with a first pull rope (27), the first pull rope (27) is arranged as a single-head rope, the second pull rope (29) is connected with the second rope winding section (28), the second pull rope (29) is arranged as a double-head rope, and the two wrapping pads (30) are respectively arranged between the two first pull ropes (27) and between the second pull ropes (29).

8. The cow feeding system according to claim 1, characterized in that: A first horizontal crawler (32) is arranged on the inner side of the first slide rail (31), and the first crawler (32) is also used in conjunction with the first slider (33). A second vertical crawler (34) is arranged on the inner side of the second slide rail, and the second crawler (34) is also used in conjunction with the second slider (35). A servo motor for providing power to the first crawler (32) and the second crawler (34) is arranged on one side of the first slide rail (31) and one side of the second slide rail.

9. The cow feeding system according to claim 8, characterized in that: The mechanical arm (37) is arranged in a curved shape, and a fixing plate (38) is fixedly mounted on one side of the mechanical arm (37) and is fixedly connected to the bottom end of the transmission rod (36).

10. A milking system, used in conjunction with the cow feeding system according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The cow first enters the outer rack (1) and prepares for the milking process; S2: The cow starts to eat in the outer rack (1). At this time, the system allows the cow to eat freely to keep it comfortable and relaxed; S3: The image recognition and distance measurement module (39) is started to identify the position of the cow's udder in real time and measure the relevant distance. The module then transmits the obtained data to the control end for precise adjustment of the subsequent milking process; S4: The control end receives data from the image recognition module and controls multiple servo motors to achieve precise control of the robotic arm; S5: Through the coordinated action of the first slide rail (31), the second slide rail and the transmission rod (36), the mechanical arm can be precisely adjusted in the horizontal direction, vertical direction and angle to ensure accurate coverage of the cow's udder; S6: Once the robot arm is in the correct position, the milking cup (40) is fixed on the cow's udder by negative pressure adsorption, and the milking operation begins.

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