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 milk cup assemblies, a traction assembly and an overturning assembly, and the traction assembly is connected with the milk cup assemblies through flexible traction pieces and can tighten the milk cup assemblies; after the milk cup assembly is connected with a nipple of an animal to be milked, the milk cup assembly can be released, the turnover assembly is located on an extending path of the flexible traction piece, when the flexible traction piece is in a tightened state, the milk cup assembly and the turnover assembly are combined into a whole, the turnover assembly rotates around a turnover shaft, and the milk cup assembly is switched between a vertical posture and an inclined posture. The technical problems that in the prior art, the degree of freedom of a milk cup in a parking position is large, the milk cup is easily kicked by a milking animal and is clamped, and the next 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 a trend in the development of animal husbandry. Milking robots can greatly save the daily operating costs of ranches, improve the production efficiency of ranches 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 the robot arm, and 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 substantially 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. When the milk cup is in the parking posture, the flexible traction member is in a relaxed state, and the milk cup droops and tilts under the action of gravity, resulting in a large degree of freedom of the milk cup, tilting left and right, and an unstable posture. It is easy to be kicked by the animal to be milked, and it is easy to get stuck, resulting in the inability to implement the next operation. For example, US9426966B2 discloses that "the at least two pulling elements are relaxed, and the teat cup is moved to a parking position or a milking position by gravity." In the actual implementation of this patent, the above-mentioned jamming phenomenon often occurs in the equipment, which requires manual intervention to solve. Summary of the invention

[0003] In view of the various deficiencies of the prior art, a milking actuator and a milking robot are proposed to solve the technical problem in the prior art that the milk cups in the parked position have a large degree of freedom and are easily kicked and stuck by the milking animals, making it impossible to implement the next step of operation.

[0004] To achieve the above object, the present invention provides the following technical solutions: A milking actuator comprises a housing, a plurality of groups of teat cup assemblies and a traction assembly corresponding to each group of teat cup assemblies, wherein the traction assembly is connected to the teat cup assemblies through a flexible traction member, and can tighten the teat cup assemblies, and after the teat cup assemblies are connected to the nipples of an animal to be milked, the teat cup assemblies can be released to perform milking operations, and further comprises a flip assembly corresponding to each group of teat cup assemblies, wherein the flip assembly is located on an extension path of the flexible traction member, and the flip assembly is rotatably connected to the housing through a flip shaft, and the flip assembly has an end surface combined with the teat cup assemblies; When the flexible traction member is in a tightened state, the teat cup assembly is integrated with the flip assembly, and the flip assembly rotates around the flip axis, so that the teat cup assembly can switch between a vertical posture and an inclined posture, and the milking cup end inlet of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0005] The technical solution is further configured such that the flexible traction member passes through the flip assembly.

[0006] 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 assembly flips, the length of the flexible traction member in the tightened state does not change and the tension force is constant.

[0007] The technical solution is further configured that the flip assembly is configured as a flip seat, 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 a whole.

[0008] 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 in the flip angle of the flip assembly does not change the tensioning degree of the flexible traction member.

[0009] The technical solution is further configured such that the flip seat has two adjacent straight edges at a specific angle, the two straight edges are transitioned by an arc surface, the axis of the arc surface is located on the central axis of the flip axis, and the cosine of the angle formed by the two straight edges is equal to the flip angle of the flip seat, and the flip seat respectively uses two straight edges to abut against the inner wall of the shell to serve as a flip limit.

[0010] The technical solution is further configured to further include a flip driving assembly, and during the process in which the flip driving assembly drives the milk cup assembly integrated with the flip seat to flip, the flexible traction member is always in a tightened state.

[0011] The technical solution is further configured such that the flip driving assembly is a cylinder.

[0012] The technical solution is further configured such that the flipping drive assembly is an electric cylinder.

[0013] 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.

[0014] The technical solution is further configured such that the flexible traction member passes through the fixing bolt hole of the flip driving cylinder.

[0015] The technical solution is further configured such that a supporting element abutting against the relatively straight surface of the teeth of the rack is provided, and the pressing force applied by the supporting element to the rack is adjustable.

[0016] The technical solution is further configured such that each traction assembly is connected to at least two flexible traction members arranged side by side.

[0017] The technical solution is further configured such that a circular concave hole is provided on the combined end surface of the flip assembly and the milk cup assembly, and a circular boss is correspondingly provided on the combined end surface of the milk cup assembly and the flip assembly. When the milk cup assembly and the flip assembly 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 flip assembly can be combined in a positioning and directional manner, and the setting positions of the concave hole and the boss are interchangeable.

[0018] 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.

[0019] The technical solution is further configured to further include a traction drive assembly, wherein the traction drive assembly and the traction assembly adopt a linear motion mode to change the state of the flexible traction member to tighten and release the teat cup assembly.

[0020] The technical solution is further configured such that the traction drive assembly adopts a cylinder.

[0021] The technical solution is further configured such that the traction drive assembly adopts an electric cylinder.

[0022] The technical solution is further configured that the traction component is configured as a traction roller with an annular groove, the flexible traction member first surrounds the annular groove, then passes through the flip component and is connected to the milk cup component, and at least one end of the flexible traction member serves as a fixed end.

[0023] The technical solution is further configured such that the fixed end is provided with a tension adjustment component; 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.

[0024] The technical solution is further configured to provide upper and lower guide grooves on the linear motion path of the traction roller, and the upper and lower guide grooves form a guiding space to carry and guide the linear reciprocating motion of the traction roller that pulls the flexible traction member, while preventing the flexible traction member from being entangled with the traction roller and its accessories.

[0025] In addition, the present invention also provides a milking robot, including a mechanical arm and the milking actuator, wherein the mechanical arm is connected to the milking actuator, and also includes a visual camera installed on a shell to locate the nipples of the animal to be milked and provide positioning data for the movement of the mechanical arm.

[0026] The beneficial effects of the present invention are: By arranging the flip assembly on the extension path of the flexible traction member, when the milk cup assembly switches between the vertical posture and the inclined posture, the flexible traction member is in a tightened state, ensuring that the tension of the flexible traction member in the process remains unchanged, thereby ensuring the reset accuracy of each posture of the milk cup assembly, effectively avoiding the inability to prepare for the milking cup posture due to the milk cup assembly being stuck, and also achieving that when the milk cup assembly is not adsorbed to the nipple, the milk cup assembly and the flip assembly 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 inlet lower than the milk cup assembly in the vertical posture, providing space for the milking cup posture preparation, and 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an axial view of the milking actuator when the teat cup assembly is in a vertical posture in the embodiment of the present invention; Figure 2 is a top view of the milking actuator when the teat cup assembly is in a vertical position in an embodiment of the present invention; Figure 3 for Figure 2 Middle CC section view; Figure 4 for Figure 2 Middle DD section view; Figure 5 It is an axial view of the milking actuator when the teat cup assembly is in a tilted posture in the embodiment of the present invention; Figure 6 It is a top view of the milking actuator when the teat cup assembly is in a tilted posture in the embodiment of the present invention; Figure 7 for Figure 6 Middle EE section view; Figure 8 for Figure 6 Middle FF section view; Fig. 9 for Figure 3 Partial schematic diagram at point A in the middle; Fig.10 It is an axial view of the milking actuator when the teat cup assembly is in a released posture in the embodiment of the present invention; Fig.11 A top view of the milking actuator when the teat cup assembly is in a released posture in an embodiment of the present invention; Fig.12 for Fig.11 Middle GG section view; Fig.13 for Fig.11 Middle HH section view; Fig.14 for Fig.11 Middle JJ section view; Fig.15 for Figure 4 Partial schematic diagram at point B in the middle; Fig.16 It is a schematic diagram of assembling a milk cup assembly and a flexible traction member in an embodiment of the present invention; Fig.17 An axial view of a tension adjustment assembly in an embodiment of the present invention; Fig.18 is an internal cross-sectional view of a tension adjustment assembly in an embodiment of the present invention; Fig.19 is an axial view of a flip assembly in an embodiment of the present invention; Fig. 20 It is a front view of the flip assembly in the embodiment of the present invention; Fig.21 for Fig. 20 Middle KK section view; Fig. 22 for Fig. 20 Middle LL section view; Fig.23 is a schematic diagram of a milking robot according to an embodiment of the present invention; Fig.24 It is a schematic diagram of a flexible traction member and a fan-shaped clearance groove in an embodiment of the present invention.

[0028] In the accompanying drawings: 100, housing; 200, milk cup assembly; 201, milk cup assembly mounting seat; 202, boss; 300, flip assembly; 301, flip shaft; 302, positioning pin; 303, fan-shaped clearance groove; 304, concave hole; 305, first straight edge; 306, second straight edge; 307, gear mounting cavity; 308, flip shaft mounting hole; 400, flexible traction member; 401, fixed end; 500, traction assembly; 600, traction drive assembly; 700, flip Driving assembly; 701, flip driving cylinder; 702, rack; 703, gear; 704, flip driving cylinder mounting seat; 800, tensioning adjustment assembly; 801, adjustment seat; 802, compression spring; 803, guide sleeve; 804, tensioning adjustment bolt; 900, supporting element; 901, first supporting arm; 902, second supporting arm; 903, supporting adjustment member; 110, guide groove; 120, mechanical arm; 130, milking actuator; 140, visual camera. DETAILED DESCRIPTION

[0029] 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.

[0030] According to an embodiment of the present invention, a milking actuator is provided. Figures 1 to 13 , comprising a housing 100, a plurality of groups of teat cup assemblies 200 and a traction assembly 500 corresponding to each group of teat cup assemblies 200, wherein the traction assembly 500 is connected to the teat cup assembly 200 through a flexible traction member 400, and can tighten the teat cup assembly 200, and after the teat cup assembly 200 is connected to the nipple of the animal to be milked, the teat cup assembly 200 can be released to perform milking operations, and also comprising a flip assembly 300 corresponding to each group of teat cup assemblies 200, wherein the flip assembly 300 is located on the extension path of the flexible traction member 400, and the flip assembly 300 is rotatably connected to the housing 100 through a flip shaft, and the flip assembly 300 has an end surface combined with the teat cup assembly 200; When the flexible traction member 400 is in a tightened state, the teat cup assembly 200 is integrated with the flip assembly 300, and the flip assembly 300 rotates around the flip axis, so that the teat cup assembly 200 can switch between a vertical posture and an inclined posture, and the milking cup end inlet of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0031] Specifically, the vertical posture of the milk cup assembly 200 is shown in Figures 1 to 4 , the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked to prepare for the milking cup posture. At this time, the flexible traction member 400 is in a tightened state; the release posture of the teat cup assembly 200, please refer to Figures 10 to 13 At this time, the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked, and the flexible traction member 400 is in a relaxed state; the tilting posture of the teat cup assembly 200, please refer to Figures 5 to 8 , providing space for preparing the milking cup posture, at this time, the flexible traction member 400 is in a tightened state. In particular, please refer to Fig.10 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.

[0032] It should be noted that, by arranging the flip assembly 300 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 tightened state, ensuring that the tension of the flexible traction member 400 remains unchanged during the process, thereby ensuring the reset accuracy of each posture of the milk cup assembly 200, effectively avoiding the inability to prepare for the milking cup posture due to the milk cup assembly 200 being stuck, and also achieving that when the milk cup assembly is not adsorbed on the nipple, the milk cup assembly and the flip assembly 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 inlet lower than the milk cup assembly in the vertical posture, providing space for the milking cup posture preparation, and 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.

[0033] Preferably, the flexible traction member 400 is a pull rope made of a steel wire rope or a nylon rope.

[0034] In the milking actuator of this embodiment, please refer to Figures 1 to 4 , Fig. 9 The flexible traction member 400 passes through the flip assembly 300 .

[0035] Specifically, the flexible traction member 400 is perpendicular to and passes through the central axis of the flip shaft 301, so that when the flip assembly 300 flips, the length of the flexible traction member 400 in the tightened state does not change, and the tension force is constant.

[0036] It should be noted that by setting the flexible traction member 400 perpendicular to and passing through the central axis of the flip shaft 301, during the flipping process of the flip assembly 300 around the flip shaft 301, the movement trajectory of the part of the flexible traction member 400 passing through the flip assembly 300 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 301, thereby ensuring that the length of the flexible traction member 400 in the tightened state does not change and the tensioning force is constant.

[0037] In the milking actuator of this embodiment, please refer to Figures 1 to 4 , Fig. 9 , Figure 19 to Figure 11 The flip assembly 300 is configured as a flip seat, and a positioning pin 302 is provided between the flip seat and the flip shaft 301. The positioning pin 302 is perpendicular to the flip shaft 301, so that the flip seat and the flip shaft 301 are connected as a whole.

[0038] It should be noted that the flip seat is provided with a flip shaft mounting hole 308 for the flip shaft 301 to pass through, and the flip seat is provided with a mounting groove, the positioning pin 302 is located in the mounting groove, and the shell 100 is provided with through holes corresponding to the flip shaft mounting hole 308 and the mounting groove; the end of the positioning pin 302 has a certain taper, and correspondingly, the flip shaft 301 is provided with a V-shaped positioning groove; by embedding the end of the positioning pin 302 into the V-shaped positioning groove, the fit between the positioning pin 302 and the flip shaft 301 is improved, so that the flip seat and the flip shaft 301 are connected as a whole.

[0039] In the milking actuator of this embodiment, please refer to Figures 1 to 8 ,as well as Fig.24 The flip seat 300 and the flip shaft 301 are both provided with fan-shaped clearance grooves 303 for accommodating the flexible traction member 400. The two fan-shaped clearance grooves 303 are aligned axially in the flip shaft 301, and the two are concentric, and the center of the circle is located on the central axis of the flip shaft 301.

[0040] 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 303, see Figure 4 , Fig.13 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 303, see Figure 8 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 303 provides a make way space for the flexible traction member 400, so that the change of the flip angle of the flip assembly 300 does not change the tension of the flexible traction member 400.

[0041] In the milking actuator of this embodiment, please refer to Figures 1 to 8 , Figures 19 to 21 The flip seat has two adjacent straight edges at a specific angle, and the two straight edges are transitioned by an arc surface. The axis of the arc surface is located on the central axis of the flip axis 301, and the cosine of the angle formed by the two straight edges is equal to the flip angle of the flip seat. The flip seat uses two straight edges to abut against the inner wall of the shell 100 as a flip limit.

[0042] Specifically, the two straight edges are respectively a first straight edge 305 and a second straight edge 306. When the milk cup assembly 200 is in a vertical position, the second straight edge 306 abuts against the inner wall of the shell 100. After the flip seat is flipped, when the milk cup assembly 200 is in an inclined position, the first straight edge 305 abuts against the inner wall of the shell 100, playing a flip limit role. Preferably, the flip angle of the flip seat is 130°.

[0043] In the milking actuator of this embodiment, please refer to Figures 1 to 9 , Figures 19 to 21 , 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 to flip, the flexible traction member 400 is always in a tightened state.

[0044] Specifically, the flip driving assembly 700 is a cylinder or an electric cylinder. In addition, the flip driving assembly 700 can also adopt a combined structure of a flip driving cylinder 701, a rack 702 and a gear 703, wherein the rack 702 is connected to the cylinder rod of the flip driving cylinder 701, the telescopic direction of the flip driving cylinder 701 is parallel to the extension path of the flexible traction member 400, the gear 703 is installed on the flip shaft 301, and is fixed to the flip seat as a whole by a pin shaft, and the gear 703 is meshed with the rack 702.

[0045] 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 301 and is fixed to the flip seat as a whole with a pin shaft. Therefore, the gear 703 drives the flip seat to rotate synchronously; in addition, when the flexible traction member 400 is in a tightened state, the milk cup assembly 200 is combined with the flip assembly 300 (i.e., the flip seat) as a whole. Therefore, the flip seat drives the milk cup assembly 200 to flip.

[0046] Specifically, a gear installation cavity 307 is provided inside the flip seat, and the wheel surface of the gear 703 is fixed to the flip seat as a whole through a pin shaft, thereby realizing the gear 703 and the flip seat flipping around the flip axis 301.

[0047] It is worth mentioning that please refer to Figures 1 to 9 , Fig.14 The flip driving cylinder 701 is fixedly connected to the shell 100 through the flip driving cylinder mounting seat 704. Fixing bolt holes are provided on the flip driving cylinder 701 and the flip driving cylinder mounting seat 704. The flexible traction member 400 passes through the fixing bolt holes and then passes through the flip assembly 300 to ensure that the flexible traction member 400 extends in the horizontal direction.

[0048] In the milking actuator of this embodiment, please refer to Figures 1 to 9 The opposite straight surface of the teeth of the rack 702 is provided with a supporting element 900 which abuts against it, and the pressing force applied by the supporting element 900 to the rack 702 is adjustable.

[0049] It is worth noting that the support element 900 supports the rack 702, that is, applies a pressing force to the rack 702 to prevent the rack 702 from tilting and affecting the meshing degree between the rack 702 and the gear 703. Specifically, the support element 900 can be a guide wheel to reduce the friction between it and the rack 702.

[0050] In addition, the support element 900 is rotatably connected to the first support arm 901, the first support arm 901 is rotatably connected to the middle part of the second support arm 902, the top of the second support arm 902 is fixedly connected to the shell 100, and a support adjustment member 903 is provided through the bottom of the second support arm 902, the support adjustment member 903 is threadedly matched with the second support arm 902, and the end of the support adjustment member 903 is against the first support arm 901; that is, by screwing the support adjustment member 903, the clamping force applied by the support element 900 to the rack 702 is adjusted to ensure that the support element 900 is always against the bottom of the rack 702.

[0051] In the milking actuator of this embodiment, please refer to Figures 1 to 20 Each traction assembly 500 is connected to at least two flexible traction members 400 arranged side by side.

[0052] 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.

[0053] In the milking actuator of this embodiment, please refer to Figures 1 to 22A circular concave hole 304 is provided on the combined end surface of the flip assembly 300 and the milk cup assembly 200, and a circular boss 202 is correspondingly provided on the combined end surface of the milk cup assembly 200 and the flip assembly 300. When the milk cup assembly 200 and the flip assembly 300 are combined into one, the concave hole 304 and the boss 202 are combined in a concave-convex manner, so that the milk cup assembly 200 and the flip assembly 300 can be positioned and oriented. The setting positions of the concave hole 304 and the boss 202 are interchangeable.

[0054] It should be noted that the milk cup assembly 200 is provided with a milk cup assembly mounting seat 201, and the boss 202 is located on the milk cup assembly mounting seat 201; when the boss 202 is embedded in the recessed hole 304, the milk cup assembly 200 and the flip assembly 300 can be positioned and oriented to be integrated.

[0055] It is worth noting that the number of the concave holes 304 , the bosses 202 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 304 and the bosses 202 .

[0056] In the milking actuator of this embodiment, please refer to Figures 1 to 13 , and also includes a traction drive assembly 600, which is connected to the traction assembly 500. The traction drive assembly 600 and the traction assembly 500 use a linear motion to change the state of the flexible traction member 400 and tighten and release the teat cup assembly 200.

[0057] It should be noted that the traction drive assembly 600 uses a cylinder, which can be a double-acting cylinder or a single-acting cylinder, and uses a linear motion to pull the flexible traction member 400; please refer to Figure 3 as well as Figure 4 When the traction assembly 500 is in the first position, the flexible traction member 400 is in a tightened 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 and the flip assembly 300 are combined into one; please refer to Fig.12 as well as Fig.13 When the traction assembly 500 is in the second position, the flexible traction member 400 is in a relaxed state, and the teat cup assembly 200 is in a released state. At this time, the teat cup assembly 200 is separated from the flip assembly 300. In addition, the traction drive assembly 600 can also use an electric cylinder, and the traction process of the electric cylinder is the same as that of the air cylinder, which will not be repeated.

[0058] In the milking actuator of this embodiment, please refer to Figures 1 to 13The traction assembly 500 is configured as a traction roller with an annular groove, the flexible traction member 400 first surrounds the annular groove, then passes through the flip assembly 300 and is connected to the milk cup assembly 200, and at least one end of the flexible traction member 400 serves as a fixed end.

[0059] It should be noted that the use of a traction roller to wind the flexible traction member 400 has a compact structure and can achieve a long stroke in a limited space.

[0060] In the milking actuator of this embodiment, please refer to Figures 1 to 13 , Fig.15 , Fig.17 as well as Fig.18 The fixed end is provided with a tension adjustment component 800 , and the length of the tension adjustment component 800 itself is adjustable to adjust the tension of the flexible traction member 400 .

[0061] 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 a nodule forming a fixed end 401.

[0062] 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 position of the fixed end 401 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.

[0063] In the milking actuator of this embodiment, please refer to Figures 1 to 14 Upper and lower guide grooves 110 are provided on the linear motion path of the traction roller, and the upper and lower guide grooves 110 form a guiding space to carry and guide the traction roller of the traction flexible traction member 400 to move linearly back and forth, while preventing the flexible traction member 400 from being entangled with the traction roller and its accessories.

[0064] It should be noted that the guide grooves 110 arranged at the top and the bottom play a guiding and limiting role on the flexible traction member 400, thereby preventing the flexible traction member 400 from being entangled with the traction roller and its accessories.

[0065] It is particularly important to note that part of the flexible traction member 400 is stored in the guide space after being released. After the teat cup assembly 200 is combined with the nipple of the animal to be milked, the milking actuator moves to position other nipples. During this movement, part of the flexible traction member 400 stored in the guide space will be pulled out or brought out without resistance.

[0066] According to an embodiment of the present invention, a milking robot is provided. Figures 1 to 23 , including a mechanical arm 120 and the milking actuator 130 , wherein the mechanical arm 120 is connected to the milking actuator 130 .

[0067] It should be noted that the milking actuator 130 is driven to move by the mechanical arm 120 so as to move the milking actuator 130 to below the nipple of the animal to be milked, in preparation for milking.

[0068] In this embodiment of the milking robot, see Figures 1 to 23 , further comprising a visual camera 140 disposed above the milking actuator 130, wherein the installation height of the visual camera 140 is lower than the entrance height of the end of the milking cup of the teat cup assembly in a vertical posture.

[0069] It should be noted that the visual camera 140 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 ensure that the auxiliary teat cup assembly 200 is accurately adsorbed in place; the installation height of the visual camera 140 is lower than the entrance height of the milking cup end of the teat cup assembly in a vertical posture, to prevent the visual camera 140 from interfering with the process of the teat cup assembly 200 adsorbing the nipple.

[0070] 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 traction assembly corresponding to each group of teat cup assemblies, wherein the traction assembly is connected to the teat cup assembly through a flexible traction member, and the teat cup assembly can be tightened, and after the teat cup assembly is connected to the nipple of an animal to be milked, the teat cup assembly can be released to perform a milking operation, characterized in that: It also includes a flip assembly corresponding to each group of teat cup assemblies, the flip assembly is located on the extension path of the flexible traction member, and the flip assembly is rotatably connected to the housing through a flip shaft, and the flip assembly has an end surface combined with the teat cup assembly; When the flexible traction member is in a tightened state, the teat cup assembly is integrated with the flip assembly, and the flip assembly rotates around the flip axis, so that the teat cup assembly can switch between a vertical posture and an inclined posture, and the milking cup end inlet of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

2. A milking actuator according to claim 1, characterized in that: The flexible traction member passes through the flip assembly.

3. A milking actuator according to claim 2, 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 assembly flips, the length of the flexible traction member in a tightened state does not change, and the tensioning force is constant.

4. A milking actuator according to claim 2, characterized in that: The flip assembly is configured as a flip seat, 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 a whole.

5. A milking actuator according to claim 4, 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 are concentric with each other, 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 assembly does not change the tensioning degree of the flexible traction member.

6. A milking actuator according to claim 4, characterized in that: The flip seat has two adjacent straight edges at a specific angle, with an arc surface as a transition between the two straight edges. The axis of the arc surface is located on the central axis of the flip axis, and the cosine of the angle formed by the two straight edges is equal to the flip angle of the flip seat. The flip seat uses two straight edges to abut against the inner wall of the shell to serve as a flip limit.

7. A milking actuator according to any one of claims 4 to 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.

8. A milking actuator according to claim 7, characterized in that: The flip driving component is a cylinder.

9. The milking actuator according to claim 7, characterized in that: The flip driving component is an electric cylinder.

10. The milking actuator according to claim 7, 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.

11. A milking actuator according to claim 10, characterized in that: The flexible traction member passes through the fixing bolt hole of the flip driving cylinder.

12. The milking actuator according to claim 10, characterized in that: The opposite straight surfaces of the teeth of the rack are provided with supporting elements abutting against the teeth, and the pressing force applied by the supporting elements on the rack is adjustable.

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

14. The milking actuator according to claim 1, characterized in that: A circular concave hole is arranged on the combined end surface of the flip assembly and the milk cup assembly, and a circular boss is correspondingly arranged on the combined end surface of the milk cup assembly and the flip assembly. When the milk cup assembly and the flip assembly 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 flip assembly can be combined in a positioning and directional manner, and the setting positions of the concave hole and the boss are interchangeable.

15. A milking actuator according to claim 14, 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.

16. The milking actuator according to claim 1, characterized in that: It also comprises a traction drive assembly, wherein the traction drive assembly and the traction assembly adopt a linear motion mode to change the state of the flexible traction member and tighten and release the teat cup assembly.

17. A milking actuator according to claim 16, characterized in that: The traction drive assembly adopts a cylinder.

18. The milking actuator according to claim 16, characterized in that: The traction drive assembly adopts an electric cylinder.

19. A milking actuator according to claim 1 or 16, characterized in that: The traction assembly is configured as a traction roller with an annular groove, the flexible traction member first surrounds the annular groove, then penetrates the flip assembly and is connected to the teat cup assembly, and at least one end of the flexible traction member serves as a fixed end.

20. The milking actuator according to claim 19, characterized in that: The fixed end is provided with a tension adjustment component; 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.

21. The milking actuator according to claim 19, characterized in that: Upper and lower guide grooves are arranged on the linear motion path of the traction roller, and the upper and lower guide grooves form a guiding space to carry and guide the traction roller that pulls the flexible traction member to move linearly back and forth, while preventing the flexible traction member from winding around the traction roller and its accessories.

22. A milking robot, characterized in that: It comprises a robotic arm and the milking actuator according to any one of claims 1-21, 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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