A milking actuator and a milking robot

Abstract

The present invention relates to a milking actuator and a milking robot, and belongs to the technical field of milking equipment for dairy animals. The milking actuator comprises a shell, a plurality of groups of milk cup assemblies, a flexible traction member connected to each group of milk cup assemblies, a rotating assembly and a milk cup positioning member. One end of the flexible traction member is fixed on a rotatable circumference of the rotating assembly, and the other end is connected to the milk cup assembly. The milk cup positioning member has an end face combined with the milk cup assembly. When the rotating assembly rotates, the flexible traction member is wound around its circumference, so that the flexible traction member is tightened, so that the milk cup assembly and the milk cup positioning member are combined into one. When the rotating assembly rotates in the opposite direction, a part of the length of the flexible traction member wound around its circumference can be released, so that the flexible traction member is in a relaxed state, and the milk cup assembly and the milk cup positioning member can be separated to release the milk cup assembly. The present invention can solve the technical problems of the prior art that the structure is complex, the operation is cumbersome, and the space occupied is large.

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 labor costs of ranches, reduce labor intensity, and improve milking efficiency. However, the existing milking robots have complex structures, cumbersome operations, and occupy a large space. Summary of the invention

[0003] In view of various deficiencies in the prior art, a milking actuator and a milking robot are proposed to solve the technical problems of the prior art, such as complex structure, cumbersome operation and large space occupation.

[0004] To achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides a milking actuator, comprising a housing, a plurality of groups of teat cup assemblies, and a flexible traction member correspondingly connected to each group of teat cup assemblies, and further comprising a rotating assembly and a teat cup positioning member, wherein the rotating assembly is arranged on the housing and can rotate in a forward and reverse direction, one end of the flexible traction member is fixed on a rotatable circumference of the rotating assembly, and the other end is connected to the teat cup assembly, the teat cup positioning member is arranged on the housing and is located between the rotating assembly and the teat cup assembly, and has an end surface combined with the teat cup assembly, when the rotating assembly rotates, the flexible traction member can be wound around its circumference, so that the flexible traction member is tightened to retract the teat cup assembly, and the teat cup assembly and the teat cup positioning member are combined as a whole, when the rotating assembly rotates in the reverse direction, a part of the length of the flexible traction member wound around its circumference can be released, so that the flexible traction member is in a relaxed state, and the teat cup assembly and the teat cup positioning member can be separated to release the teat cup assembly.

[0005] The technical solution is further configured as follows: the rotating assembly is provided with a winch wheel, the winch wheel is provided with grooves of uniform depth along its circumferential cylindrical surface, and the flexible traction member is wound in the grooves.

[0006] The technical solution is further configured such that the length of the flexible traction member being wound and released is smaller than the circumference of the groove.

[0007] The technical solution is further configured that a groove is provided on the circumferential cylindrical surface of the winch wheel along its axial direction, and the end of the flexible traction member is fixed inside the groove and locked by a pressing block.

[0008] The technical solution is further configured such that a guide wheel is provided on one side of the winch wheel, an annular groove is provided on the circumference of the guide wheel, a part of the flexible traction member is wound around the winch wheel, and the other part is first reversely wound in the groove of the guide wheel, then passes through the teat cup positioning member, and then extends to the teat cup assembly and is connected to the teat cup assembly.

[0009] The technical solution is further configured such that the parts of the winch wheel and the guide wheel around which the flexible traction member is wound are provided with storage ring grooves on their circumferential outer sides which can surround and close the flexible traction member, thereby providing sufficient storage space for the flexible traction member released by the rotating assembly to avoid clustering and forming a dead knot, and enabling the flexible traction member to be accurately wound in the grooves of the winch wheel and the guide wheel to avoid coming out of the groove and causing confusion.

[0010] The technical solution is further configured to further include a rotation drive component, which drives the rotation component to rotate.

[0011] The technical solution is further configured such that the rotation drive assembly adopts a motor, and the output end of the motor is connected to the rotation assembly.

[0012] The technical solution is further configured such that the motor is a flat servo motor, and an output flange of the flat servo motor is connected to the rotating assembly.

[0013] The technical solution is further configured such that the rotary drive assembly adopts a rotary cylinder or a swing cylinder.

[0014] The technical solution is further configured such that the rotary drive assembly adopts a combination mechanism of a cylinder, a rack and a gear, the rack is connected to the cylinder rod, the gear is coaxially mounted on the rotary assembly and fixed as a whole with the rotary assembly, the gear is meshed with the rack, the cylinder pushes the linear motion of the rack, and converts it into the rotational motion of the rotary assembly connected to the gear.

[0015] The technical solution is further configured such that a circular concave hole is provided on the end surface of the milk cup positioning piece, and a circular boss is correspondingly provided on the milk cup assembly. When the milk cup assembly and the milk cup positioning piece are combined into one, the concave hole and the boss are combined in a concave-convex manner, so that the milk cup assembly and the milk cup positioning piece can be combined in a positioning and directional manner, and the setting positions of the concave hole and the boss are interchangeable.

[0016] 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.

[0017] The technical solution is further configured such that each milk cup assembly is connected to at least two flexible traction members arranged side by side.

[0018] The technical solution is further configured that after the rotating component rotates and tightens the flexible traction member, the teat cup component is in a vertical posture, and then rotates in the opposite direction at a small angle, the tightened flexible traction member is appropriately relaxed, the teat cup component is separated from the teat cup positioning member, and falls down under the action of its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup component in the vertical posture.

[0019] The technical solution is further configured that the milk cup positioning member is a flip seat that can rotate at a certain angle, the flexible traction member passes through the flip seat, and the flip seat is connected to the shell through a flip shaft; After the rotating assembly rotates, the flexible traction member is tightened, and the teat cup assembly and the flip seat are combined into one. The flip seat rotates around the flip axis, so that the teat cup assembly can be switched between a vertical posture and an inclined posture. The inlet of the end of the milking cup of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0020] The technical solution is further configured such that a positioning pin is provided between the flip seat and the flip shaft, and the positioning pin is perpendicular to the flip shaft, so that the flip seat and the flip shaft are connected as one body.

[0021] The technical solution is further configured such that the flexible traction member is perpendicular to and passes through the central axis of the flip shaft, so that when the flip seat flips, the length of the flexible traction member in the tightened state does not change and the tensioning force is constant.

[0022] The technical solution is further configured such that both the flip seat and the flip shaft are provided with fan-shaped clearance grooves for accommodating the flexible traction member, the two fan-shaped clearance grooves are aligned axially in the flip shaft, and the two are concentric, and the center of the circle is located on the central axis of the flip shaft, so that the change of the flip angle of the flip seat does not change the tensioning degree of the flexible traction member.

[0023] 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.

[0024] The technical solution is further configured to further include a flip driving component, and during the process in which the flip driving component drives the milk cup component integrated with the flip seat to flip, the flexible traction member is always in a taut state.

[0025] The technical solution is further configured that the flip drive assembly adopts a pneumatic cylinder or an electric cylinder.

[0026] In a second aspect, the present invention further provides a milking robot, comprising a robotic arm and the milking actuator, wherein the robotic arm is transmission-connected to the milking actuator, and further comprising a visual camera mounted on a shell for locating the nipples of an animal to be milked and providing positioning data for the movement of the robotic arm. The beneficial effects of the present invention are: When the rotating component rotates forward / reverse, the flexible traction member can be wound / released, and the milk cup component can be tightened or released by winding with a winch, thereby changing the posture of the milk cup component, which is easy to operate; at the same time, various posture changes of the milk cup component can be achieved by setting the rotating component, which has a compact structure, low manufacturing cost and saves space. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 1. An axial view of the milking actuator when the teat cup assembly is in a vertical posture and an inclined posture in an embodiment of the present invention; Figure 2 for Figure 1 A top view of Figure 3 for Figure 2 Middle AA section view; Figure 4 for Figure 2 Middle DD section view; Figure 5 for Figure 2 Middle BB section view; Figure 6 for Figure 2 Middle CC section view; Figure 7 It is an axial view of the milking actuator when the teat cup assembly is in a vertical posture, a tilted posture and a released posture in an embodiment of the present invention; Figure 8 for Figure 7 A top view of Fig. 9 for Figure 8 Middle EE section view; Fig.10 for Figure 8 Middle FF section view; Fig.11 It is a schematic diagram of the assembly of the rotating assembly and the flexible traction member in an embodiment of the present invention; Fig.12 An exploded schematic diagram of a rotating assembly, a rotating drive assembly and a flexible traction member in an embodiment of the present invention; Fig.13 for Fig.11 Side view of Fig.14 for Fig.13 Middle GG section view; Fig.15 It is a schematic diagram of the assembly of the rotating assembly, the guide wheel and the turning seat when the milk cup assembly is in a releasing posture in an embodiment of the present invention; Fig.16 It is a schematic diagram of assembling the rotating assembly, the guide wheel and the turning seat when the milk cup assembly is in a tilted posture in an embodiment of the present invention; Fig.17 A top view of another implementation manner of the milking actuator in an embodiment of the present invention; Fig.18 for Fig.17 Middle HH section view; Fig.19 A schematic diagram of a flip seat in an embodiment of the present invention; Fig. 20 for Fig.19 Side view of Fig.21 for Fig. 20 Middle JJ section view; Fig. 22 A schematic diagram of an implementation of a rotation drive assembly in an embodiment of the present invention; Fig.23 for Fig. 22 Explosion diagram of Fig.24 for Fig. 22 A top view of Fig.25 for Fig.24 Middle KK section view; Fig.26 for Fig. 22 Side view of Fig. 27 for Fig. 22 PP cross-sectional view.

[0028] In the accompanying drawings: 100, shell; 200, milk cup assembly; 201, boss; 300, rotating assembly; 301, groove of winch wheel; 302, pressure block; 303, groove; 400, flexible traction member; 500, rotating drive assembly; 501, cylinder; 502, rack; 503, gear; 504, pressure cover; 600, guide wheel; 601, groove of guide wheel; 700, flipping drive assembly; 800, milk cup positioning member; 801, flip shaft; 802, positioning pin; 803, fan-shaped give way groove; 804, concave hole; 805, flip shaft mounting hole; 806, first straight edge; 807, second straight edge; 900, protective member; 901, storage ring groove. 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 6 , comprising a housing 100, a plurality of groups of teat cup assemblies 200 and a flexible traction member 400 correspondingly connected to each group of teat cup assemblies 200, and also comprising a rotating assembly 300 and a teat cup positioning member 800, wherein the rotating assembly 300 is arranged on the housing 100 and can rotate in the forward and reverse directions, one end of the flexible traction member 400 is fixed on the rotatable circumference of the rotating assembly 300, and the other end is connected to the teat cup assembly 200, the teat cup positioning member 800 is arranged on the housing 100, and is located between the rotating assembly 300 and the teat cup assembly 200, and has a connection with the teat cup When the rotating assembly 300 rotates, the flexible traction member 400 can be wound around its circumference, so that the flexible traction member 400 is tightened to retract the teat cup assembly 200, and the teat cup assembly 200 and the teat cup positioning member 800 are combined as one. When the rotating assembly 300 rotates in the opposite direction, a part of the length of the flexible traction member 400 wound around its circumference can be released, so that the flexible traction member 400 is in a relaxed state, and the teat cup assembly 200 and the teat cup positioning member 800 can be separated to release the teat cup assembly 200.

[0031] For details, please refer to Figure 5 to Figure 6 When the rotating assembly 300 rotates to tighten the flexible traction member 400, the teat cup assembly 200 is in a vertical position, and the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked to prepare for the milking cup position. At this time, the flexible traction member 400 is in a tightened state; when the teat cup assembly 200 is attached to the corresponding teat of the animal to be milked, the flexible traction member 400 is in a relaxed state, and the teat cup assembly 200 is in a released position. Please refer to Figures 10 to 13 ,as well as Fig.15 ; For the tilting posture of the milk cup assembly 200, please refer to Figure 3 to Figure 4 ,as well as Fig.16 , providing space for preparing the milking cup posture, at which time the flexible traction member 400 is in a taut state. In particular, please refer to Figure 7The 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 when the rotating assembly 300 rotates forward / reverse, the flexible traction member 400 can be wound / released, and the milk cup assembly 200 can be tightened or released by winding in a winch manner, thereby changing the posture of the milk cup assembly 200, which is easy to operate; at the same time, only the rotating assembly 300 needs to be set to achieve various posture changes of the milk cup assembly 200, with a compact structure and low manufacturing cost. Compared with the prior art, the length can be significantly shortened and space can be saved.

[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 12 The rotating assembly 300 is provided with a winch wheel, and the winch wheel is provided with grooves of uniform depth along its circumferential cylindrical surface (ie, the grooves 301 of the winch wheel), and the flexible traction member 400 is wound in the grooves 301 of the winch wheel.

[0035] Specifically, the length of the flexible traction member 400 that is wound and released is smaller than the circumference of the groove 301 of the winch wheel.

[0036] It should be noted that the number of winding circles of the flexible traction member 400 on the winch wheel is less than 1, which makes the winding and releasing length of the flexible traction member 400 smaller than the circumference of the groove 301 of the winch wheel, avoiding the disorder of the flexible traction member 400 during the winding and releasing process due to too many winding circles; by selecting a winch wheel with a suitable radius, the spacing requirement between the milking actuator and the animal to be milked can be met, provided that the winding and releasing length of the flexible traction member 400 is smaller than the circumference of the groove 301 of the winch wheel.

[0037] In the milking actuator of this embodiment, please refer to Figures 1 to 12 A groove 303 is provided on the circumferential cylindrical surface of the winch wheel along its axial direction, and the end of the flexible traction member 400 is fixed inside the groove 303 and locked by the pressing block 302.

[0038] It should be noted that the groove 303 is connected to the groove 301 of the winch wheel. The end of the flexible traction member 400 is first fixed inside the groove 303, and then the flexible traction member 400 is wrapped inside the groove 301 of the winch wheel. The end of the flexible traction member 400 is pressed with a pressure block 302 and locked with a screw.

[0039] In the milking actuator of this embodiment, please refer to Figures 1 to 16 A guide wheel 600 is provided on one side of the winch wheel, and an annular groove (i.e., the groove 601 of the guide wheel) is provided on the circumference of the guide wheel 600. A part of the flexible traction member 400 is wound around the winch wheel, and the other part is first reversely wound in the groove 601 of the guide wheel, then passes through the teat cup positioning member 800, and then extends to the teat cup assembly 200 and is connected with the teat cup assembly 200.

[0040] It should be noted that the guide wheel 600 guides the flexible traction member 400 from the winch wheel to the teat cup assembly 200 . Meanwhile, the guide wheel 600 is rotatably connected to the housing 100 to reduce the friction between the groove 601 of the guide wheel and the flexible traction member 400 .

[0041] In the milking actuator of this embodiment, please refer to Figures 1 to 14 The parts of the winch wheel and the guide wheel 600 around which the flexible traction member 400 is wound are provided with storage ring grooves 901 on the circumferential outer sides thereof, which can surround and close the flexible traction member 400, so as to provide sufficient storage space for the flexible traction member 400 released by the rotating assembly 300, avoid clustering and forming a dead knot, and enable the flexible traction member 400 to be accurately wound in the grooves 301 of the winch wheel and the grooves 601 of the guide wheel, so as to avoid disorder caused by slipping out of the grooves.

[0042] It should be noted that a protective member 900 is provided inside the shell 100, and a storage ring groove 901 is opened on the inner wall of the protective member 900. The storage ring groove 901 and the groove 301 of the winch wheel form a sealing structure that surrounds and closes the flexible traction member 400. Similarly, the storage ring groove 901 and the groove 601 of the guide wheel form a sealing structure that surrounds and closes the flexible traction member 400. The sealing structure provides sufficient storage space for the flexible traction member 400 released by the rotating component 300 to avoid clustering and forming a dead knot, and enables the flexible traction member 400 to be accurately wound in the groove 301 of the winch wheel and the groove 601 of the guide wheel to avoid disorder caused by slipping out of the groove.

[0043] It is particularly important to note that the released portion of the flexible traction member 400 is stored in the sealing structure. 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, the portion of the flexible traction member 400 stored in the sealing structure will be pulled out or brought out without resistance.

[0044] In the milking actuator of this embodiment, please refer to Figures 1 to 10 , further comprising a rotation driving assembly 500, wherein the rotation driving assembly 500 drives the rotation assembly 300 to rotate.

[0045] It should be noted that the rotation drive assembly 500 provides rotational power for the rotation assembly 300. Specifically, The rotation drive assembly 500 may be a motor, the output end of which is connected to the rotation assembly 300. In particular, the motor is a flat servo motor, the output flange of which is connected to the rotation assembly 300, see Fig.12 , the flexible traction member 400 can be wound / released to any length by using a servo motor. In particular, after the teat cup assembly 200 has finished adsorbing the nipple, the other teat cup assemblies are in a vertical posture, and when preparing for the milking cup posture, the milking actuator moves, and the servo motor drives the winch wheel to release the flexible traction member 400, so as not to pull off the teat cup assembly that has been adsorbed to the nipple. The rotating drive assembly 500 can also use a rotating cylinder or a swinging cylinder.

[0046] Also, see Figures 1 to 27 The rotary drive assembly 500 adopts a combination mechanism of a cylinder 501, a rack 502 and a gear 503. The rack 502 is connected to the cylinder rod. The gear 503 is coaxially installed on the rotary assembly 300 and fixed to the rotary assembly 300 as a whole. The gear 503 is meshed with the rack 502. The cylinder 501 pushes the linear motion of the rack 502, which is converted into the rotary motion of the rotary assembly 300 connected to the gear 503.

[0047] It should be noted that the rack 502 is arranged parallel to the cylinder rod, and the two are connected by a connecting block; the rack 502 adopts a cylindrical rack, which penetrates the protective member 900 and is slidably connected to the protective member 900; the gear 503 is coaxially installed on the rotating assembly 300 and fixed as a whole with the rotating assembly 300, the gear 503 is rotatably connected to the protective member 900, and at the same time, a pressure cover 504 for pressing the gear 503 is provided on the protective member 900; the cylinder 501 pushes the linear motion of the rack 502, which is converted into the rotational motion of the rotating assembly 300 connected to the gear 503, so that the rotating assembly 300 adopts a winch winding method to tighten or release the milk cup assembly 200.

[0048] In the milking actuator of this embodiment, please refer to Figures 1 to 21 A circular concave hole 804 is arranged on the end surface of the milk cup positioning piece 800, and a circular boss 201 is correspondingly arranged on the milk cup assembly 200. When the milk cup assembly 200 and the milk cup positioning piece 800 are combined into one, the concave hole 804 and the boss 201 are combined in a concave-convex manner, so that the milk cup assembly 200 and the milk cup positioning piece can be combined in a positioning and directional manner, and the setting positions of the concave hole 804 and the boss 201 are interchangeable.

[0049] It should be noted that a milk cup assembly mounting seat is provided on the milk cup assembly 200, and the boss 201 is located on the milk cup assembly mounting seat; when the boss 201 is embedded in the recessed hole 804, the milk cup assembly 200 and the milk cup positioning member 800 can be positioned and oriented to be integrated.

[0050] It is worth noting that the number of the concave holes 804 , the bosses 201 and the flexible traction member 400 is the same, and through holes for the flexible traction member 400 to penetrate are provided at the central axis of the concave holes 804 and the bosses 201 .

[0051] In the milking actuator of this embodiment, please refer to Figures 1 to 16 Each teat cup assembly 200 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. In this embodiment, the same teat cup assembly 200 is connected to two flexible traction members 400 arranged side by side. Specifically, the two flexible traction members 400 arranged side by side share one winch wheel and one guide wheel 600. The groove 301 of the winch wheel, the groove 601 of the guide wheel, the protective member 900 and the storage ring groove 901 are all provided with two.

[0053] In the milking actuator of this embodiment, please refer to Fig.17 and Fig.18 After the rotating assembly 300 rotates and tightens the flexible traction member 400, the teat cup assembly 200 is in a vertical posture, and then rotates in the opposite direction at a small angle, the tightened flexible traction member 400 is appropriately relaxed, and the teat cup assembly 200 is separated from the teat cup positioning member 800, and falls down under the action of its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

[0054] It should be noted that the teat cup positioning member 800 is fixedly connected to the shell 100. When the rotating assembly 300 rotates, the flexible traction member 400 can be wound around its circumference, so that the flexible traction member 400 is tightened to retract the teat cup assembly 200, and the teat cup assembly 200 is combined with the teat cup positioning member 800 as a whole, and at the same time, the teat cup assembly 200 can be in a vertical posture. At this time, the teat cup assembly 200 is in a positioning state to be milked; after the rotating assembly 300 rotates and tightens the flexible traction member 400, it rotates in the opposite direction at a small angle, and the tightened flexible traction member 400 is appropriately relaxed. The teat cup assembly 200 drops appropriately under the action of its own gravity and is in an inclined posture. When the teat cup assembly 200 is in an inclined posture, space is provided for preparing the milking cup posture. At this time, the teat cup assembly 200 is separated from the teat cup positioning member 800.

[0055] In the milking actuator of this embodiment, please refer to Figures 1 to 16 The teat cup positioning member 800 is a flip seat that can rotate at a certain angle, the flexible traction member 400 passes through the flip seat, and the flip seat is connected to the housing 100 through a flip shaft 801; After the rotating assembly 300 rotates, the flexible traction member 400 is tightened, and the teat cup assembly 200 is integrated with the flip seat. The teat cup assembly 200 is in a vertical posture. The flip seat rotates around the flip axis 801, so that the teat cup assembly 200 can be switched between a vertical posture and an inclined posture. The inlet of the end of the milking cup of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0056] It should be noted that the flip seat is located on the extension path of the flexible traction member 400. When the milk cup assembly 200 switches between the vertical posture and the inclined posture, the flexible traction member 400 is in a taut state, ensuring that the tension of the flexible traction member 400 remains unchanged during the process, thereby ensuring the reset accuracy of the milk cup assembly 200 in each posture. It can also be achieved that when the milk cup assembly is not adsorbed to the nipple, the milk cup assembly 200 and the flip seat are always combined as one, and only the angle changes in the two-dimensional plane; the milking cup of the milk cup assembly in the inclined posture has an end entrance lower than the milk cup assembly in the vertical posture, providing space for preparing the milking cup posture. At the same time, the milk cup assembly in the inclined posture has a smaller degree of freedom, which can avoid being kicked by the animal to be milked.

[0057] In the milking actuator of this embodiment, please refer to Figures 1 to 21 A positioning pin 802 is provided between the flip seat and the flip shaft 801 , and the positioning pin 802 is perpendicular to the flip shaft 801 , so that the flip seat and the flip shaft 801 are connected as a whole.

[0058] It should be noted that the flip seat is provided with a flip shaft mounting hole 805 for the flip shaft 801 to pass through, and the flip seat is provided with a mounting groove, the positioning pin 802 is located in the mounting groove, and the end of the positioning pin 802 has a certain taper. Correspondingly, a V-shaped positioning groove is provided on the flip shaft 801; by embedding the end of the positioning pin 802 into the V-shaped positioning groove, the fit between the positioning pin 802 and the flip shaft 801 is improved, so that the flip seat and the flip shaft 801 are connected as one.

[0059] In the milking actuator of this embodiment, please refer to Figures 1 to 21 The flexible traction member 400 is perpendicular to and passes through the central axis of the flip shaft 801, so that when the flip seat flips, the length of the flexible traction member 400 in the tightened state does not change, and the tension force is constant.

[0060] It should be noted that by setting the flexible traction member 400 perpendicular to and passing through the central axis of the flip shaft 801, during the flipping process of the flip seat around the flip shaft 801, the movement trajectory of the part of the flexible traction member 400 passing through the flip seat 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 801, thereby ensuring that the length of the flexible traction member 400 in the tensioned state does not change and the tensioning force is constant.

[0061] In the milking actuator of this embodiment, please refer to Figures 1 to 21 The flip seat and the flip shaft 801 are both provided with fan-shaped clearance grooves 803 for accommodating the flexible traction member 400. The two fan-shaped clearance grooves 803 are aligned axially with the flip shaft 801, and the two are concentric, and the center of the circle is located on the central axis of the flip shaft 801, so that the change of the flip angle of the flip seat does not change the tensioning degree of the flexible traction member 400.

[0062] 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 803, see Figure 6 , Fig.10 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 recess 803, see Figure 3 That is to say, when the milk cup assembly 200 switches between the vertical posture and the inclined posture, the fan-shaped clearance groove 803 provides clearance space for the flexible traction member 400, so that the change of the flip angle of the flip seat does not change the tension of the flexible traction member 400.

[0063] In the milking actuator of this embodiment, please refer to Figures 1 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 801, 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.

[0064] Specifically, the two straight edges are respectively a first straight edge 806 and a second straight edge 807. When the milk cup assembly 200 is in a vertical position, the second straight edge 807 abuts against the inner wall of the housing 100. Figure 6 ; see Figure 3 After the flip seat is flipped, when the milk cup assembly 200 is in a tilted position, the first straight edge 806 abuts against the inner wall of the shell 100 to play a flip limiting role.

[0065] In the milking actuator of this embodiment, please refer to Figures 1 to 21The invention also includes a flip driving assembly 700, wherein the flip driving assembly 700 drives the milk cup assembly 200 integrated with the flip seat to flip, and the flexible traction member 400 is always in a taut state. Specifically, the flip driving assembly 700 adopts a pneumatic cylinder or an electric cylinder.

[0066] According to an embodiment of the present invention, a milking robot is provided. Figures 1 to 21 , including a mechanical arm and the milking actuator, the mechanical arm is transmission-connected to the milking actuator, and also includes a visual camera installed on the shell 100 to locate the nipples of the animal to be milked and provide positioning data for the movement of the mechanical arm.

[0067] It should be noted that the milking actuator is driven to move by a robotic arm (not shown in the figure) so that the milking actuator moves to below the nipple of the animal to be milked in preparation for milking; the installation height of the visual camera (not shown in the figure) is lower than the entrance height of the end of the milking cup of the teat cup assembly 200 in a vertical posture to prevent the visual camera from interfering with the process of the teat cup assembly 200 adsorbing the nipple; the visual camera is used to obtain the position of the nipple of the animal to be milked, provide positioning data for the movement of the robotic arm, and assist the teat cup assembly 200 to be accurately adsorbed in place.

[0068] 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 teat cup assemblies and a flexible traction member correspondingly connected to each teat cup assembly, characterized in that: It also includes a rotating assembly and a teat cup positioning member, wherein the rotating assembly is arranged on the shell body and can rotate in forward and reverse directions, one end of the flexible traction member is fixed on the rotatable circumference of the rotating assembly, and the other end is connected to the teat cup assembly, the teat cup positioning member is arranged on the shell body and is located between the rotating assembly and the teat cup assembly, and has an end surface combined with the teat cup assembly, when the rotating assembly rotates, the flexible traction member can be wound around its circumference, so that the flexible traction member is tightened to retract the teat cup assembly, and the teat cup assembly and the teat cup positioning member are combined into one. When the rotating assembly rotates in the reverse direction, a part of the length of the flexible traction member wound around the circumference thereof can be released, so that the flexible traction member is in a relaxed state, and the teat cup assembly and the teat cup positioning member can be separated to release the teat cup assembly.

2. A milking actuator according to claim 1, characterized in that: The rotating assembly is provided with a winch wheel, and the winch wheel is provided with grooves with uniform depth along its circumferential cylindrical surface, and the flexible traction member is wound in the grooves.

3. A milking actuator according to claim 2, characterized in that: The length of the flexible traction member to be wound and released is smaller than the circumference of the groove.

4. A milking actuator according to claim 2, characterized in that: A groove is arranged on the circumferential cylindrical surface of the winch wheel along its axial direction, and the end of the flexible traction member is fixed inside the groove and locked by a pressing block.

5. A milking actuator according to claim 2, characterized in that: A guide wheel is arranged on one side of the winch wheel, and an annular groove is arranged on the circumference of the guide wheel. A part of the flexible traction member is wound around the winch wheel, and the other part is first reversely wound in the groove of the guide wheel, then passes through the teat cup positioning member, and then extends to the teat cup assembly and is connected with the teat cup assembly.

6. A milking actuator according to claim 5, characterized in that: The parts of the winch wheel and the guide wheel around which the flexible traction member is wound are provided with storage ring grooves on their circumferential outer sides which can surround and close the flexible traction member, thereby providing sufficient storage space for the flexible traction member released by the rotating assembly to avoid clustering and forming a dead knot, and enabling the flexible traction member to be accurately wound in the grooves of the winch wheel and the guide wheel to avoid slipping out of the groove and causing confusion.

7. The milking actuator according to claim 1, characterized in that: It also includes a rotation drive component, which drives the rotation component to rotate.

8. A milking actuator according to claim 7, characterized in that: The rotary drive assembly adopts a motor, and the output end of the motor is connected to the rotary assembly.

9. A milking actuator according to claim 8, characterized in that: The motor is a flat servo motor, and an output flange of the flat servo motor is connected to the rotating component.

10. The milking actuator according to claim 7, characterized in that: The rotary drive assembly adopts a rotary cylinder or a swing cylinder.

11. The milking actuator according to claim 7, characterized in that: The rotary drive assembly adopts a combination mechanism of a cylinder, a rack and a gear. The rack is connected to the cylinder rod, the gear is coaxially installed on the rotary assembly and fixed to the rotary assembly as a whole, the gear is meshed with the rack, and the cylinder pushes the linear motion of the rack, which is converted into the rotational motion of the rotary assembly connected to the gear.

12. A milking actuator according to any one of claims 7 to 11, characterized in that: A circular concave hole is arranged on the end surface of the milk cup positioning piece, and a circular boss is correspondingly arranged on the milk cup assembly. When the milk cup assembly and the milk cup positioning piece are combined into one, the concave hole and the boss are combined in a concave-convex manner, so that the milk cup assembly and the milk cup positioning piece can be combined in a positioning and directional manner, and the setting positions of the concave hole and the boss are interchangeable.

13. A milking actuator according to claim 12, 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.

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

15. The milking actuator according to claim 12, characterized in that: After the rotating assembly rotates and tightens the flexible traction member, the teat cup assembly is in a vertical posture, and then rotates in the opposite direction at a small angle, the tightened flexible traction member is appropriately relaxed, and the teat cup assembly is separated from the teat cup positioning member, and falls down under the action of its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

16. The milking actuator according to claim 12, characterized in that: The teat cup positioning member is a flip seat that can rotate at a certain angle, the flexible traction member passes through the flip seat, and the flip seat is connected to the shell through a flip shaft; After the rotating assembly rotates, the flexible traction member is tightened, and the teat cup assembly and the flip seat are combined into one body, the teat cup assembly is in a vertical posture, and the flip seat rotates around the flip axis to switch the teat cup assembly 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.

17. A milking actuator according to claim 16, characterized in that: A positioning pin is arranged between the flip seat and the flip shaft, and the positioning pin is perpendicular to the flip shaft, so that the flip seat and the flip shaft are connected as a whole.

18. A milking actuator according to claim 17, characterized in that: The flexible traction member is perpendicular to and passes through the central axis of the flip shaft, so that when the flip seat flips, the length of the flexible traction member in a tightened state does not change, and the tensioning force is constant.

19. A milking actuator according to claim 18, characterized in that: The flip seat and the flip shaft are both provided with fan-shaped clearance grooves for accommodating the flexible traction member. The two fan-shaped clearance grooves are aligned axially with the flip shaft and have the same center, which is located on the central axis of the flip shaft, so that the change of the flip angle of the flip seat does not change the tensioning degree of the flexible traction member.

20. The milking actuator according to claim 16, 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.

21. The milking actuator according to claim 16, 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.

22. A milking actuator according to claim 21, characterized in that: The flip driving assembly adopts a pneumatic cylinder or an electric cylinder.

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