A milking system

Abstract

The application provides a milking system, comprising a moving channel, a milking area and a mechanical arm, the moving channel is used for a channel for animals to walk; a rack is arranged above the moving channel; the milking area has a plurality of and is arranged on both sides of the moving channel respectively, the milking areas on the same side are arranged at intervals, each milking area is surrounded by a fence, the entrance of the fence is communicated with the moving channel, and the included angle between the length direction of the fence and the extension direction of the moving channel is an acute angle; the mechanical arm is drivingly connected with a driving assembly, the driving assembly is arranged on the rack and is used for driving the mechanical arm to move to a preset milking station along the extension direction of the moving channel, and the mechanical arm is configured to be engaged with a milking assembly and drive the milking assembly to move to a milking position in the corresponding milking area. The milking system limits the moving direction of the cows, so that the cows can smoothly enter the milking areas on both sides through the moving channel, and the uniformity of the distribution of the cows in the milking areas on both sides and the efficiency of the cows entering the milking areas are improved.

Description

Technical Field

[0001] This invention relates to the field of milking, and more specifically, to a milking system. Background Technology

[0002] With the improvement of living standards, people's demand for dairy products is increasing. Milking is a very arduous task in dairy animal farming. In order to reduce labor intensity and prevent secondary contamination of milk sources caused by manual milking, automated equipment is being applied to dairy animal farming. Automated milking can not only reduce labor intensity and save labor costs, but also significantly improve production efficiency.

[0003] In the prior art, a milking device is disclosed, including milking areas, a first moving channel, a second moving channel, and a connecting arm. Multiple milking areas are located on either side of the first moving channel. A frame is mounted above the first moving channel, and the upper end of the connecting arm is slidably connected to the frame, enabling it to move along the extension direction of the first moving channel to the corresponding milking area to perform milking operations on the animals within the milking area using the milking components. Two second moving channels are provided, with their entrances interconnected, effectively sharing the same entrance. The channels then divide into two smaller second moving channels on either side of the entrance. Two second movement channels are located on the outside of the milking area on the same side. The milking area on the same side is connected to the second movement channel on the same side. Milking animals enter the milking area from the outside of the milking area. Therefore, when milking is required, the direction of movement of milking animals is uncertain during the process of being guided from the entrance to the corresponding second movement channel. Due to the herd effect, milking animals may gather in one side of the second movement channel, while there are fewer animals in the other side of the second movement channel. This leads to uneven distribution of animals in the milking areas on both sides and low efficiency of animals entering the milking area. Summary of the Invention

[0004] This invention provides a milking system to solve the technical problem of low efficiency in animals entering the milking area in the prior art.

[0005] This invention provides a milking system, comprising:

[0006] A mobile walkway is provided for animals to walk on; a frame is installed above the mobile walkway.

[0007] The milking area comprises multiple milking zones located on both sides of the moving channel, with the milking zones on the same side spaced apart from each other. Each milking zone is surrounded by a fence, the entrance of which connects to the moving channel. The angle between the length direction of the fence and the extension direction of the moving channel is an acute angle.

[0008] A robotic arm, connected by a drive assembly mounted on the frame, is used to drive the robotic arm to move along the extension direction of the moving channel to a preset milking station. The robotic arm is configured to engage with a milking assembly and drive the milking assembly to the corresponding milking position within the milking area.

[0009] Optionally, the frame is fixed with a guide rail, which is located above the moving channel and extends in the same direction as the moving channel;

[0010] The drive assembly is connected to a slide block, which is slidably connected to the guide rail and to the upper end of the robotic arm.

[0011] Optionally, the drive assembly includes a moving drive and a first rotating drive; the moving drive is mounted on the frame and drivenly connected to a slide, for driving the slide to move along the extension direction of the moving channel; the first rotating drive is mounted on the slide and drivenly connected to the upper end of the robotic arm, for driving the robotic arm to rotate relative to the slide about a first direction to the corresponding side of the moving channel.

[0012] Optionally, the slide is pivotally connected to a rotating seat, and the first rotation drive is tractively connected to the rotating seat for driving the rotating seat to rotate relative to the slide about the first direction;

[0013] The upper end of the robotic arm is connected to the rotating base.

[0014] Optionally, the upper end of the robotic arm is pivotally connected to the rotating base about a second direction. The rotating base is equipped with a first flipping drive member, which is tractively connected to the upper end of the robotic arm and is used to drive the robotic arm to flip about a second direction relative to the rotating base. The second direction is set at an angle to the first direction.

[0015] Optionally, the fence is equipped with the milking assembly;

[0016] The drive assembly is used to drive the robotic arm to engage or disengage from the milking assembly; if the robotic arm engages with one of the milking assemblies, it can drive the milking assembly to a preset position in the corresponding milking area; if the robotic arm disengages from the milking assembly, the milking assembly is relatively fixed to the fence.

[0017] Optionally, the robotic arm includes an upper arm and a lower arm, the upper end of the upper arm being pivotally connected to the rotating seat about the second direction, the lower end of the upper arm being pivotally connected to the upper end of the lower arm, and the lower end of the lower arm being able to engage or disengage from the milking assembly.

[0018] The first flipping drive is driven to the upper end of the upper arm and is used to drive the upper arm to flip relative to the rotating seat around the second direction; the upper arm is equipped with a rotation drive, which is driven to the lower arm and is used to drive the lower arm to rotate relative to the upper arm.

[0019] Optionally, the rotation drive is used to drive the lower arm to rotate relative to the upper arm along a third direction, wherein the third direction is perpendicular to the second direction and forms an angle with the first direction.

[0020] Optionally, the first direction is a vertical direction and the second direction is a horizontal direction.

[0021] Optionally, the fence is provided with a support rod that extends along the length of the fence; the milking assembly is slidably connected to the support rod and pivotally connected to the support rod about the length of the fence.

[0022] Taking the application of this milking system to dairy cow milking as an example, the milking system provided by this invention has at least the following beneficial technical effects:

[0023] Firstly, by arranging the milking areas on both sides of the moving channel—that is, having a moving channel for cows to walk through and enter the milking area—the direction of cow movement is defined, allowing cows to smoothly enter the milking areas on both sides, thus improving the uniformity of cow distribution in the milking areas on both sides and increasing the allocation efficiency of cows entering the milking areas. Secondly, the angle between the length of the fence and the extension direction of the moving channel is an acute angle. For a given length of moving channel, this increases the number of milking areas, allowing multiple cows to be milked simultaneously, thus improving milking efficiency. In addition, each milking area can share a robotic arm, reducing the overall cost of the milking system. Attached Figure Description

[0024] Figure 1 This is a top view schematic diagram of a milking device in related technologies;

[0025] Figure 2 This is a three-dimensional structural diagram of a milking system provided in an embodiment of the present invention;

[0026] Figure 3 for Figure 2 The middle circle shows a magnified view of part A.

[0027] Figure 4 This is a top view of a milking system provided in an embodiment of the present invention, showing a robotic arm performing milking operations on cows in one side of a milking area; wherein the vertical direction is the OZ direction, the horizontal direction is the OY direction, and the extension direction of the moving channel is the OX direction;

[0028] Figure 5 A top view of a milking system provided in an embodiment of the present invention, showing a robotic arm performing milking operations on cows in a milking area on the other side.

[0029] Figure 6 This is a schematic diagram of a robotic arm in a milking system provided in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 01. Milking area; 02. First moving channel; 03. Second moving channel; 04. Cleaning area; 05. Connecting channel; 06. Connecting arm; 07. Carriage; 08. Milking assembly;

[0032] 10. Frame; 101. Moving channel; 102. Milking area; 103. Operating area; 110. Fence; 111. Support rod; 112. Sleeve; 120. Guide rail; 130. Slide; 140. Rotary seat; 141. Horizontal plate; 142. Side connecting plate; 20. Milking assembly; 30. Robotic arm; 310. Upper arm; 320. Lower arm. Detailed Implementation

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the following description is provided in conjunction with the accompanying drawings. Figure 2-6 Specific embodiments of the present invention will be described in detail below.

[0034] In this invention, the terms "connection" and "linked" should be interpreted broadly, for example, they can refer to a fixed connection, a detachable connection, or an integral structure.

[0035] In this invention, the terms "vertical," "horizontal," "up," "down," "left," "right," and "front," etc., indicate orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Please see the appendix Figure 1The milking equipment of the related technology includes a milking area 01, a first moving channel 02, a second moving channel 03, a cleaning area 04, a connecting channel 05, and a connecting arm 06. The milking area 01 has multiple sections located on the left and right sides of the first moving channel 02, with the length direction of the milking area 01 parallel to the extension direction of the first moving channel 02. The entrance of the milking area 01 is located on the side away from the first moving channel 02. There are two second moving channels 03, each parallel to the first moving channel 02 and located on the entrance side of the milking area 01. The connecting channel 05 is located in front of the first moving channel 02 and connects to both second moving channels 03. The cleaning area 04 is located in front of the connecting channel 05 and connects to it. The cleaning area 04 is used to clean the animal's teats. A carriage 07 is provided above the first moving channel 02, and the connecting arm 06 is slidably connected to the carriage 07, enabling it to move along the extension direction of the first moving channel 02 to the corresponding milking area 01 position to use the milking suction assembly 08 to milk the animals within the milking area 01. Taking the application of this milking equipment for dairy cow milking as an example, the milking equipment in this related technology still has the following shortcomings: After the dairy cows to be milked have their teats cleaned in the cleaning area 04, they enter the connecting channel 05 and then the second moving channel 03. That is, the two first moving channels 03 share the same connecting channel 05. Due to the herd effect, the dairy cows may all walk from the connecting channel 05 to one side of the second moving channel 03 and then enter the milking area 01 on that side, resulting in fewer dairy cows in the second moving channel 03 on the other side. That is, the distribution of dairy cows in the milking areas 01 on both sides is uneven, requiring manual driving or guidance of the dairy cows to move. The allocation efficiency of dairy cows entering the milking area 01 is low.

[0037] To improve the efficiency of animal distribution into the milking area, embodiments of the present invention provide a milking system, see [link to relevant documentation]. Figure 2 The milking system includes a moving channel 101, milking areas 102, and a robotic arm 30. The moving channel 101 is used for animal movement. A frame 10 is provided above the moving channel 101. There are multiple milking areas 102 located on both sides of the moving channel 101. Milking areas 102 located on the same side are spaced apart from each other. Each milking area 102 is surrounded by a fence 110. The entrance of the fence 110 is connected to the moving channel 101. The angle between the length direction of the fence 110 and the extension direction of the moving channel 101 is an acute angle. The robotic arm 30 is driven by a drive assembly located on the frame 10. The drive assembly is used to drive the robotic arm 30 to move along the extension direction of the moving channel 101 to a preset milking position. The robotic arm 30 is configured to engage with the milking assembly 20 and drive the milking assembly 20 to move to the milking position in the corresponding milking area 102.

[0038] In this embodiment of the invention, the animal nipple can be a cow's nipple, a sheep's nipple, a camel's nipple, or the nipple of other milk-producing animals. Taking the application of this milking system to dairy cow milking as an example, the milking system provided by this embodiment of the invention has the following aspects: First, by arranging milking areas 102 on both sides of a moving channel 101, dairy cows enter the milking areas 102 through the moving channel 101, limiting the direction of movement of the dairy cows, so that the dairy cows can smoothly enter the milking areas 102 on both sides through the moving channel 101, improving the uniformity of the distribution of dairy cows in the milking areas 102 on both sides, and improving the efficiency of dairy cows entering the milking areas 102; Second, the angle between the length direction of the fence 110 and the extension direction of the moving channel 101 is an acute angle, that is, the milking areas 102 are inclined on both sides of the moving channel 101, which increases the number of milking areas 102 for a certain length of moving channel 101, allowing multiple dairy cows to be milked at the same time, thus improving the milking efficiency of dairy cows; In addition, the robotic arm 30 can move along the extension direction of the moving channel 101 to a preset milking station, that is, each milking area 102 can share the robotic arm 30, reducing the overall cost of the milking system.

[0039] In this embodiment of the invention, the angle θ between the length direction of the fence 110 and the extension direction of the moving channel 101 ranges from 15° to 75°. For example, the angle θ between the two can be 30°, 45°, 60° or other angles.

[0040] In this embodiment of the invention, the milking area 102 is symmetrically arranged relative to the moving channel 101.

[0041] In this embodiment of the invention, see appendix. Figure 2 The frame 10 is fixedly equipped with a guide rail 120, which is located above the moving channel 101 and extends in the same direction as the moving channel 101. The drive assembly is connected to a slide 130, which is slidably connected to the guide rail 120 and connected to the upper end of the robotic arm 30. In this configuration, the guide rail 120 provides support and guidance for the movement of the robotic arm 30 along the extension direction of the moving channel.

[0042] In this embodiment of the invention, see appendix. Figure 3 The drive assembly includes a movable drive (not shown in the figure) and a first rotary drive (not shown in the figure); the movable drive is mounted on the frame 10 and drivenly connected to a slide 130, for driving the slide 130 to move along the extension direction of the moving channel 101; the first rotary drive is mounted on the slide 130 and drivenly connected to the upper end of the robotic arm 30, for driving the robotic arm 30 to rotate relative to the slide 130 about a first direction to the corresponding side of the moving channel 101. Figure 4As shown, taking the OZ direction as an example, the robotic arm 30 can rotate relative to the slide 130 around the OZ direction to the left or right side of the moving channel 101. With this configuration, the moving drive unit drives the slide 130 to move the robotic arm 30 back and forth along the extension direction of the moving channel 101 to the preset milking station, engage with the milking assembly 20 and drive the milking assembly 20 to move to the milking position in the corresponding milking area 102. Since there is a preset angle between the length direction of the fence 110 of the milking area 102 and the extension direction of the moving channel 101, the robotic arm 30 is driven to rotate relative to the slide 130 by setting the first rotation drive unit, so that the robotic arm 30 rotates to the side of the cow, so that the robotic arm 30 engages with the milking assembly 20 and moves to the area below the udder of the animal in the milking area 102 for milking.

[0043] In this embodiment of the invention, the moving drive component can be a motor, an electric push rod, or a cylinder. For example, when the moving drive component is a motor, the motor is driven by a transmission assembly, which may include a driving wheel, a driven wheel, and a transmission belt meshing with both. The driving wheel is driven by the motor, and both the driving wheel and the driven wheel are pivotally connected to the frame 10. The slide 130 is fixed to the transmission belt. Alternatively, when the moving drive component is a motor, the motor is driven by a transmission assembly, which may include a lead screw and a nut. The nut is threaded onto the lead screw and fixed to the slide 130. The motor is driven by the lead screw, driving the lead screw to rotate, which in turn drives the slide 130 to move along the guide rail 120 via the nut. Another example, when the moving drive component is a motor, the motor is driven by a transmission assembly, which may include a gear and a rack. The gear is driven by the motor, and the gear is driven by the rack. The rack is parallel to the guide rail 120 and fixed to the slide 130. The motor drives the gear to rotate, and the gear drives the rack to move the slide 130 along the guide rail 120.

[0044] In this embodiment of the invention, the robotic arm 30 can move within the milking area 102 or between any adjacent milking areas 102. For example, as shown in the attached diagram... Figure 2 and Figure 4 As shown, an operation area 103 is provided between any two adjacent milking areas 102. The operation area 103 is connected to the milking area 102. The entrance end of the operation area 103 is connected to the moving channel 101. The moving drive is used to drive the slide 130 to move along the extension direction of the moving channel 101 to the area near the entrance end of the operation area. The first rotation drive drives the robotic arm 30 to rotate relative to the slide 130 around the first direction to the operation area 103. The operation area 103 is a preset milking station.

[0045] See appendix Figure 1In the milking equipment of the related art, the milking assembly 08 is provided with a milking area 01 and can move under the teats between the hind legs of the animal to be milked. The milking assembly 08 has multiple milking cups. The connecting arm 06 can move along the extension direction of the first moving channel 02 to the corresponding milking area 01 to engage or disengage from the milking cup. If the connecting arm 06 engages with one of the milking cups, it can drive the milking cup to move under the teats between the hind legs of the animal to be milked to attach to the animal's teats. Specifically, the connecting arm 06 includes a first arm and a second arm. The first end of the first arm is pivotally connected to a carriage in the vertical direction, and the first end of the second arm is pivotally connected to the second end of the first arm in the vertical direction. The second end of the second arm is pivotally connected to a clamp for clamping the milking cup. Figure 1 It is known that both the first and second arms extend into the milking area 01, and the second arm drives the milking cup to rotate vertically between the hind legs of the animal to be milked. This related technology also has the following drawbacks: the vertical rotation of the connecting arm 06, i.e., its rotation in the horizontal plane, poses a risk of collision with the cow's hind legs.

[0046] Therefore, compared with milking equipment in related technologies, the milking system provided in this embodiment of the invention moves the robotic arm 30 along the extension direction of the moving channel 101 to the area near the entrance of the operating area 103, and then drives the robotic arm 30 to rotate relative to the slide 130 around the first direction to the operating area 103 through the first rotary drive member, so that the robotic arm 103 extends obliquely from top to bottom, and the end of the robotic arm 103 enters the milking area 102 through the operating area 103. That is, the end of the robotic arm 103 enters the milking area 102 from the side of the cow, rather than horizontally between the cow's hind legs, thereby avoiding collision between the robotic arm 103 and the cow's hind legs.

[0047] In this embodiment of the invention, see appendix. Figure 3 A slide 130 is pivotally connected to a rotating base 140. A first rotary drive component is driven by the rotating base 140 to drive the rotating base 140 to rotate relative to the slide 130 about a first direction. The upper end of the robotic arm 30 is connected to the rotating base 140. The first rotary drive component may include a motor and a reducer, both of which are mounted on the slide 130. The power input end of the reducer is driven by the motor shaft of the motor, and the power output end of the reducer is driven by the rotating base 140. This arrangement of the rotating base 140 facilitates the rotational connection of the robotic arm 30 relative to the slide 130.

[0048] In this embodiment of the invention, see appendix. Figure 3The upper end of the robotic arm 30 is pivotally connected to a rotating base 140 about a second direction. The rotating base 140 is equipped with a first tilting drive (not shown in the figure), which is drively connected to the upper end of the robotic arm 30 to drive the robotic arm 30 to tilt relative to the rotating base 140 about a second direction. The second direction is set at an angle to the first direction. For example, the first direction is a vertical direction, such as... Figure 4 The OZ direction is shown; the second direction is the horizontal direction, as shown below. Figure 4 The OY direction is shown. With this configuration, the robotic arm 30 is flipped relative to the rotating base 140, allowing for height adjustment of the end of the robotic arm 30, which facilitates the attachment of the milking cup assembly 20 to the cow's teat.

[0049] In this embodiment of the invention, see appendix. Figure 3 The rotating seat 140 includes a horizontal plate 141 and a side connecting plate 142. The horizontal plate 141 is throttle connected to the first rotating drive member. The side connecting plate 142 is vertically connected to the horizontal plate 141, and the first flipping drive member is mounted on the side connecting plate 142.

[0050] In this embodiment of the invention, the first rotary drive component may include a motor and a reducer, both of which are mounted on the slide 130. The power input end of the reducer is driven to the motor shaft of the motor, and the power output end of the reducer is fixed to the horizontal plate 141. The first tilting drive component may include a motor and a reducer, both of which are mounted on the side connecting plate 142. The power input end of the reducer is driven to the motor shaft of the motor, and the power output end of the reducer is driven to the upper end of the robotic arm 30.

[0051] In this embodiment of the invention, the milking assembly 20 can be disposed on the frame 10 or on the enclosure 110. For example, as shown in the attached... Figure 3As shown, the fence 110 is provided with a milking assembly 20; the drive assembly is used to drive the robotic arm 30 to engage or disengage from the milking assembly 20; if the robotic arm 30 engages with one of the milking assemblies 20, it can drive the milking assembly 20 to move to the preset position of the corresponding milking area 102; if the robotic arm 30 disengages from the milking assembly 20, the milking assembly 20 is relatively fixed to the fence 110. With this configuration, the robotic arm 30 moves along the extension direction of the moving channel 101 to a preset milking station and engages with the milking assembly 20 of the milking area 102 corresponding to the preset milking station. This causes the milk cup assembly of the milking assembly 20 of the milking area 102 to attach to the teat of the cow in the milking area 102 for milking. During the milking operation of the cow in the milking area 102, the robotic arm 102 can move along the extension direction of the moving channel 101 to another preset milking station and engage with the milking assembly 20 of the milking area 102 corresponding to the preset milking station. This causes the milking assembly 20 of the milking area 102 to attach to the teat of another cow for milking. In other words, multiple cows can be milked simultaneously, saving milking time and improving milking efficiency.

[0052] In this embodiment of the invention, see appendix. Figure 3 The robotic arm 30 includes an upper arm 310 and a lower arm 320. The upper end of the upper arm 310 is pivotally connected to the rotary seat 140 around a second direction. Taking the second direction as the horizontal direction as an example, ... Figure 4 In the OY direction shown, the lower end of the upper arm 310 is pivotally connected to the upper end of the lower arm 320, and the lower end of the lower arm 320 can engage or disengage from the milking assembly 20. A first flipping drive is driven to the upper end of the upper arm 310 to drive the upper arm 310 to flip relative to the rotating seat 140 around the second direction. A rotation drive is mounted on the upper arm 310, and the rotation drive is driven to the lower arm 320 to drive the lower arm 320 to rotate relative to the upper arm 310. With this configuration, the first flipping drive drives the upper arm 310 to flip around the second direction to adjust the position of the lower end of the upper arm 310, that is, to make the upper arm 310 extend obliquely from top to bottom. The rotation drive drives the lower arm 320 to rotate around the upper arm 310 to adjust the position of the lower end of the lower arm 320, that is, to make the lower arm 320 extend obliquely towards the side closer to the milking assembly 20, thereby approaching and engaging the milking assembly 20.

[0053] In this embodiment of the invention, the rotation drive drives the lower arm 320 to rotate around the upper arm 310. This rotational freedom can be rotation in one direction, rotation in two directions, or rotation in three directions. Specifically:

[0054] For example, a rotation drive is mounted on the lower end of the upper arm 310 and driven to the upper end of the lower arm 320, used to drive the lower arm 320 to rotate relative to the upper arm 310 along a third direction, wherein the third direction is perpendicular to the second direction and forms an angle with the first direction; taking the first direction as the vertical direction and the second direction as the horizontal direction as an example, as shown in the attached figure. Figure 4 As shown, the first direction is the OZ direction, the second direction is the OY direction, and the third direction is perpendicular to the OY direction and forms an angle with the OZ direction. For example, the third direction is perpendicular to the upper end face of the upper arm 310. Specifically, the rotation drive includes a motor and a reducer. Both the motor and the reducer are mounted on the upper arm 310. The power input end of the reducer is driven to the motor shaft of the motor, and the power output end of the reducer is driven to the upper end of the lower arm 320.

[0055] For example, the lower end of the upper arm 310 is pivotally connected to a rotating seat 140, and the upper end of the lower arm 320 is pivotally connected to the rotating seat 140; the rotation drive includes a second rotation drive and a second slewing drive. The second rotation drive is mounted on the upper arm 310 and drivenly connected to the rotating seat 140, and is used to drive the rotating seat 140 to rotate relative to the upper arm 310 about a third direction; the second slewing drive is mounted on the rotating seat 140 and drivenly connected to the upper end of the lower arm 320, and is used to drive the lower arm 320 to rotate relative to the rotating seat 140 about a fourth direction, wherein the third direction is perpendicular to the upper arm 310. The upper end face of 10 has a fourth direction along the extension direction of the lower arm 320, and the fourth direction is perpendicular to the third direction; specifically, the second rotary drive includes a motor and a reducer, both of which are mounted on the upper arm 310, the power input end of the reducer is driven to the motor shaft of the motor, and the power output end of the reducer is connected to the rotary seat 140; the second rotary drive includes a motor and a reducer, both of which are mounted on the rotary seat 140, the power input end of the reducer is driven to the motor shaft of the motor, and the power output end of the reducer is driven to the upper end of the lower arm 320.

[0056] For example, a ball joint is provided between the upper arm 310 and the lower arm 320. A rotation drive is installed on the upper arm 310 and is connected to the lower arm 320 for driving the lower arm 320 to rotate in three directions relative to the upper arm 310. The rotation of the lower arm 320 in three directions relative to the upper arm 310 can be achieved by the driving method in the prior art, which will not be elaborated here.

[0057] In this embodiment of the invention, the upper arm 310 and the lower arm 320 can be either fixed arms or telescopic arms. In one embodiment, at least one of the upper arm 310 and the lower arm 320 is a telescopic arm. For example, the upper arm 310 is a telescopic arm and the lower arm 320 is a fixed arm; or the upper arm 310 is a fixed arm and the lower arm 320 is a telescopic arm; or both the upper arm 310 and the lower arm 320 are telescopic arms. With this configuration, the robotic arm 30 can adjust its working radius by telescoping, thereby adapting to the different heights of cows; by telescoping, the size of the robotic arm 30 can be reduced, avoiding collisions between the robotic arm 30 and certain parts of the cow or frame in the movement channel 101.

[0058] In this embodiment of the invention, see appendix. Figure 3 The fence 110 is provided with a support rod 111, which extends along the length of the fence 110. The milking assembly 20 is slidably connected to the support rod 111 and pivotally connected to the support rod 111 around the length of the fence 110. With this configuration, if the end of the robotic arm 30 is engaged with the milking assembly 20, the milking assembly 20 can move along the support rod 111 with the robotic arm 30 and rotate around the length of the support rod 111, so that the milking assembly 20 is close to the cow's teat, thereby attaching the milk cup assembly of the milking assembly 20 to the cow's teat.

[0059] In this embodiment of the invention, the milking assembly 20 is capable of sliding along the length direction of the support rod 111 and rotating about the length direction of the support rod 111. The milking assembly 20 can be directly pivotally connected to the support rod 111 or indirectly pivotally connected to the support rod 111. Specifically, see the attached diagram. Figure 3 The support rod 111 is a cylindrical rod, and a sleeve 112 is connected to the upper end of the milking assembly 20. The sleeve 112 is fitted onto the cylindrical rod and can slide along the length of the cylindrical rod and rotate about the length of the cylindrical rod. Alternatively, the support rod 111 can be slidably connected to a slider, and the milking assembly 20 can be pivotally connected to the slider about the length of the support rod 111. This configuration allows the position of the milking assembly 20 to be adjusted to suit the teat position of the cow in the milking area. If the milk cup assembly of the milking assembly 20 is attached to the cow's teat, and the robotic arm 30 is disengaged from the milking assembly 20, the support rod 111 can support the milking assembly 20, preventing traction damage to the cow's teat.

[0060] In this embodiment of the invention, one side of the moving channel 101 is provided with milking areas 102A1 and 102A2, and the other side is provided with milking areas 102B1 and 102B2. See attached drawing. Figures 4-6 The working principle of a milking system provided in this embodiment of the invention is as follows:

[0061] The robotic arm 30 slides to one end away from the entrance of the movement channel 101; as shown in the attached diagram. Figure 6As shown, this is the location of robotic arm 30;

[0062] The dairy cows enter milking areas 102A1, 102A2, 102B1 and 102B21 respectively via the moving passage 101;

[0063] The first rotary drive unit drives the rotary seat 140 to rotate relative to the slide 130 in the OZ direction, for example, as shown in the attached figure. Figure 4 As shown, the sidewall of the boom 310 is made to be approximately parallel or substantially parallel to the length direction of the fence 110 on one side.

[0064] The slide 130 drives the robotic arm 30 to move along the guide rail 120 to the operation area 103 corresponding to the milking area 102A1 on one side of the moving channel 101, as shown in the attached figure. Figure 4 As shown, the first flipping drive drives the upper arm 310 to rotate relative to the rotating seat 140 in the OY direction to adjust the position of the upper arm 310 so that the upper arm 310 extends obliquely from top to bottom to the side of the milking area 102A1; and the rotation drive drives the lower arm 320 to rotate relative to the upper arm 310 in a third direction, for example, in a direction perpendicular to the upper end face of the upper arm 310, to adjust the position of the lower arm 320 so that the lower arm 320 extends obliquely toward the side close to the milking assembly 20, engages the milking assembly 20 and drives the milking assembly 20 to slide along the support rod 111 and rotate around the support rod 111 so as to attach the milk cup assembly of the milking assembly 20 to the nipple of the milking area 102A1.

[0065] The first flipping drive and the rotation drive respectively drive the upper arm 310 and the lower arm 320 to retract into the moving channel 101;

[0066] The slide 130 drives the robotic arm 30 to move along the guide rail 120 to the operation area 103 corresponding to the milking area 102A2 on one side of the moving channel; repeat the above steps to perform milking operations on the teat of the milking area 102A2.

[0067] The first flipping drive and the rotation drive respectively drive the upper arm 310 and the lower arm 320 to retract into the moving channel 101; the first rotation drive drives the rotating seat 140 to rotate relative to the slide 130 in the OZ direction, for example, as shown in the attached figure. Figure 5 As shown, the boom 310 is rotated to be approximately parallel to the length direction of the fence 110 on the other side;

[0068] The slide 130 drives the robotic arm 30 to move along the guide rail 120 to the operating area 103 corresponding to the milking area 102B2 on the other side of the moving channel 101, as shown in the attached figure. Figure 5As shown, the first flipping drive drives the upper arm 310 to rotate relative to the rotating seat 140 in the OY direction to adjust the position of the upper arm 310, so that the upper arm 310 extends obliquely from top to bottom to the side of the milking area 102B2; and the rotation drive drives the lower arm 320 to rotate relative to the upper arm 310 in a third direction, for example, in a direction perpendicular to the upper end face of the upper arm 310, to adjust the position of the lower arm 320, so that the lower arm 320 extends obliquely toward the side close to the milking assembly 20, engages the milking assembly 20 and drives the milking assembly 20 to slide along the support rod 111 and rotate around the support rod 111, so as to attach the milk cup assembly of the milking assembly 20 to the nipple of the milking area 102B2.

[0069] The first flipping drive and the rotation drive respectively drive the upper arm 310 and the lower arm 320 to retract into the moving channel 101; the slide 130 drives the robotic arm 30 to move along the guide rail 120 to the operation area 103 corresponding to the milking area 102B1 on the other side of the moving channel; repeat the above steps to perform milking operations on the teat of the milking area 102B1.

[0070] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A milking system, characterized in that, include: A moving channel (101) is provided for animals to walk on; a frame (10) is provided above the moving channel (101); a guide rail (120) is fixed on the frame (10), the guide rail (120) is located above the moving channel (101) and extends in the same direction as the moving channel (101); Milking areas (102) are multiple and located on both sides of the moving channel (101). Milking areas (102) on the same side are spaced apart from each other. Each milking area (102) is surrounded by a fence (110). The entrance of the fence (110) is connected to the moving channel (101). The angle between the length direction of the fence (110) and the extension direction of the moving channel (101) is an acute angle. The robotic arm (30) is connected to a drive assembly, which is located on the frame (10) and is used to drive the robotic arm (30) to move along the extension direction of the moving channel (101) to a preset milking station. The robotic arm (30) is configured to engage with the milking assembly (20) and drive the milking assembly (20) to move to the milking position in the corresponding milking area (102). The drive assembly includes a moving drive and a first rotating drive; the moving drive is mounted on the frame (10) and driven to a slide (130), and is used to drive the slide (130) to move along the extension direction of the moving channel (101); the first rotating drive is mounted on the slide (130) and driven to the upper end of the robotic arm (30), and is used to drive the robotic arm (30) to rotate relative to the slide (130) about a first direction to the corresponding side of the moving channel (101); The slide (130) is pivotally connected to a rotating seat (140), and the first rotation drive is connected to the rotating seat (140) to drive the rotating seat (140) to rotate relative to the slide (130) about the first direction; the upper end of the robotic arm (30) is connected to the rotating seat (140). The fence (110) is provided with a support rod (111) for the milking assembly (20), the support rod (111) extending along the length of the fence (110); the milking assembly (20) is slidably connected to the support rod (111) and pivotally connected to the support rod (111) around the length of the fence (110); the drive assembly is used to drive the robotic arm (30) to engage or disengage from the milking assembly (20); if the robotic arm (30) engages with one of the milking assemblies (20), it can drive the milking assembly (20) to move to the preset position of the corresponding milking area (102); if the robotic arm (30) disengages from the milking assembly (20), the milking assembly (20) is relatively fixed to the fence (110).

2. The milking system according to claim 1, characterized in that, The upper end of the robotic arm (30) is pivotally connected to the rotating seat (140) around the second direction. The rotating seat (140) is equipped with a first flipping drive member. The first flipping drive member is connected to the upper end of the robotic arm (30) for driving the robotic arm (30) to flip relative to the rotating seat (140) around the second direction. The second direction is set at an angle to the first direction.

3. The milking system according to claim 1, characterized in that, The robotic arm (30) includes an upper arm (310) and a lower arm (320). The upper end of the upper arm (310) is pivotally connected to the rotating seat (140) about the second direction, and the lower end of the upper arm (310) is pivotally connected to the upper end of the lower arm (320). The lower end of the lower arm (320) can engage or disengage from the milking assembly (20). The first flipping drive is connected to the upper end of the upper arm (310) and is used to drive the upper arm (310) to flip relative to the rotating seat (140) around the second direction; the upper arm (310) is equipped with a rotation drive, which is connected to the lower arm (320) and is used to drive the lower arm (320) to rotate relative to the upper arm (310).

4. The milking system according to claim 3, characterized in that, The rotation drive is used to drive the lower arm (320) to rotate relative to the upper arm (310) along a third direction, wherein the third direction is perpendicular to the second direction and is set at an angle to the first direction.

5. The milking system according to claim 4, characterized in that, The first direction is the vertical direction, and the second direction is the horizontal direction.

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