Milking equipment

Abstract

The invention provides milking equipment. The milking equipment comprises a body and a mechanical arm. The body is movably connected with at least two milking assemblies, and the milking assemblies are arranged in milking areas on the two opposite sides of the body at intervals in the longitudinal direction and used for sucking milk. The mechanical arm is in transmission connection with a longitudinal driving piece arranged on the body and used for driving the mechanical arm to reciprocate in the longitudinal direction. The execution tail end of the mechanical arm can be connected with or separated from the milking assembly. According to the milking equipment, the longitudinal driving piece drives the mechanical arm to move to one side of the body, so that the execution tail end is connected to the milking assembly of the milking area on the side, the milking assembly is driven to move to the milking position of the milking area, and the suction nozzle of the milking assembly is sucked to the animal teat. Taking application of the milking equipment to milking of cows as an example, the milking equipment provided by the invention has the advantages that at least two milking areas share one mechanical arm, so that the milking time is saved, and the milking efficiency is improved; and the overall manufacturing cost of the milking equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of milking, in particular to a milking device. Background Art

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

[0003] In the prior art, milking equipment can only perform milking operations on the teats of animals in one milking area, and the milking efficiency is low. Summary of the invention

[0004] The invention provides a milking device, which is used to solve the technical problem that the milking device in the prior art can only perform milking operation on the teats of animals in one milking area and has low milking efficiency.

[0005] The present invention provides a milking device, comprising a body and a mechanical arm;

[0006] The body is movably connected with a milking assembly, wherein the milking assembly has at least two milking areas which are longitudinally spaced and arranged at opposite sides of the body for performing milking operations;

[0007] The mechanical arm has a longitudinal driving member which is in transmission connection with the main body and is used to drive the mechanical arm to reciprocate in the longitudinal direction; the execution end of the mechanical arm can be engaged with or disengaged from the milking assembly;

[0008] The milking equipment is configured as follows: the longitudinal driving member drives the mechanical arm to move to one side of the body, so that the execution end is engaged with the milking component in the milking area on that side, and drives the milking component to move to the milking position of the milking area on that side, so that the suction nozzle of the milking component is attached to the teat of the animal.

[0009] Optionally, the main body is provided with a longitudinal guide rail extending in the longitudinal direction, the longitudinal guide rail is slidably connected to a longitudinal slide, and the mechanical arm is arranged on the longitudinal slide.

[0010] Optionally, the body is provided with a support seat, and the support seat has at least two and is arranged at intervals in the longitudinal direction; the milking assembly is movably connected to the support seat, and the support seat is used to support the milking assembly.

[0011] Optionally, the support seat is provided with a driving component and a longitudinal support, the longitudinal support is provided with a longitudinal slide rail extending in the longitudinal direction, the longitudinal slide rail is slidably connected with a longitudinal slider, the milking assembly is transmission-connected to the longitudinal slider, the longitudinal slider is transmission-connected to the driving component, and the driving component is used to drive the longitudinal slider to drive the milking assembly to move in the longitudinal direction.

[0012] Optionally, the driving component is a linear driving component, which is disposed on the supporting seat and is transmission-connected to the longitudinal sliding block;

[0013] And / or, the frame is fixedly provided with a cleaning assembly, and if the milking assembly moves longitudinally below the cleaning assembly, the cleaning assembly is used to clean the suction nozzle of the milking assembly.

[0014] Optionally, the support seat is provided with a transverse slide rail extending in the transverse direction, and the longitudinal support is slidably connected to the transverse slide rail.

[0015] Optionally, the body is provided with a vertical slide rail extending in the vertical direction, and the support seat is slidably connected to the vertical slide rail;

[0016] The main body is provided with a vertical guide rail extending in the vertical direction, the vertical guide rail is slidably connected to a vertical slide seat, the longitudinal guide rail is arranged on the vertical slide seat, the vertical slide seat is transmission-connected to a lifting drive member, and the lifting drive member is installed on the main body;

[0017] The vertical sliding seat is fixed with a crossbeam extending in the transverse direction, and the crossbeam is arranged between the two supporting seats and can be engaged with or disengaged from the longitudinal support.

[0018] Optionally, the vertical slide is provided with a transverse driving member and a transverse guide rail, the transverse guide rail extends in the transverse direction and is slidably connected to the transverse slide, the longitudinal guide rail is provided on the transverse slide, and the transverse slide is transmission-connected to the transverse driving member.

[0019] Optionally, one end of the robotic arm is pivoted to the longitudinal slide, the execution end is arranged at the other end of the robotic arm, and the robotic arm is transmission-connected with a first rotating drive member; the first rotating drive member is arranged on the longitudinal slide, and is used to drive the robotic arm to rotate vertically relative to the longitudinal slide.

[0020] Optionally, the mechanical arm comprises a first arm and a second arm, one end of the first arm is pivotally connected to the longitudinal slide, and the other end of the first arm is pivotally connected to one end of the second arm, and the execution end is arranged at the other end of the second arm;

[0021] The first rotating driving member is transmission-connected to the first arm, and is used for driving the first arm to rotate vertically relative to the longitudinal slide; the second arm is transmission-connected to the second rotating driving member, and the second rotating driving member is arranged on the first arm, and is used for driving the second arm to rotate vertically relative to the first arm.

[0022] The milking equipment provided by the present invention has at least the following beneficial technical effects:

[0023] Taking the application of the milking equipment in milking cows as an example, the milking equipment provided by the present invention controls the mechanical arm to move longitudinally to one of the milking areas and engage with the milking assembly of the corresponding milking area, so as to drive the suction nozzle of the milking assembly of the milking area to attach to a cow's teat for milking operation. During the process of milking the cow in the milking area, after the mechanical arm is separated from the milking assembly of the milking area, it can move longitudinally to another milking area and engage with the milking assembly of the milking area, so as to drive the suction nozzle of the milking assembly of the milking area to attach to another cow's teat for milking operation. The two teats can be milked at the same time, which saves milking time and improves milking efficiency. In addition, at least two milking areas share one mechanical arm, which reduces the overall manufacturing cost of the milking equipment and reduces the size of the milking equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the arrangement structure of a milking device and a milking area provided in an embodiment of the present invention; wherein the vertical direction is the OZ direction, the transverse direction is the OX direction, and the longitudinal direction is the OY direction;

[0025] Figure 2 A schematic diagram of a state where a mechanical arm and a milking assembly are engaged in a milking device provided in an embodiment of the present invention;

[0026] Figure 3 for Figure 2 The middle circle shows a partial enlarged structural schematic diagram of part A;

[0027] Figure 4 A partial structural schematic diagram of a milking device provided by an embodiment of the present invention;

[0028] Figure 5 for Figure 4 The middle circle shows a schematic diagram of the local enlarged structure of part B.

[0029] Description of reference numerals:

[0030] 1. Milking equipment;

[0031] 10. Main body; 101. Cleaning assembly; 110. Longitudinal guide rail; 111. Longitudinal slide seat; 120. Vertical guide rail; 121. Vertical slide seat; 122. Lifting drive member; 123. Crossbeam; 130. Transverse guide rail; 131. Transverse slide seat; 140. Support seat; 150. Longitudinal support seat; 152. Linear drive member; 153. Snap-in hole; 160. Longitudinal slide rail; 161. Longitudinal slide block; 162. Connecting rod; 180. Transverse slide rail; 190. Vertical slide rail;

[0032] 20. milking assembly; 230. support table;

[0033] 30. Robotic arm; 310. First arm; 320. Second arm. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following Figure 1-5 The specific embodiments of the present invention are described in detail.

[0035] In the present invention, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure.

[0036] In the present invention, terms such as "vertical", "lateral", and "longitudinal" indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] The embodiment of the present invention provides a milking device 1, see the attached Figure 1 and Figure 2 The milking device 1 comprises a main body 10 and a mechanical arm 30; the main body 10 is movably connected with a milking assembly 20, and the milking assembly 20 has at least two milking areas which are longitudinally spaced and arranged on opposite sides of the main body 10 for performing milking operations; the mechanical arm 30 has a longitudinal driving member which is transmission-connected with the mechanical arm 30, and the longitudinal driving member is arranged on the main body 10 for driving the mechanical arm 30 to reciprocate longitudinally; the execution end of the mechanical arm 30 can be engaged with or disengaged from the milking assembly 20; the milking device 1 is configured as follows: the longitudinal driving member drives the mechanical arm 30 to move to one side of the main body 10, so that the execution end is engaged with the milking assembly 20 in the milking area on the one side, and drives the milking assembly 20 to move to the milking position of the milking area on the one side, so that the suction nozzle of the milking assembly 20 is adsorbed on the teat of the animal.

[0038] In the embodiment of the present invention, the animal teat can be the teat of a cow, a sheep, a camel or other milk-producing animal. Taking the application of the milking device 1 to milking a cow as an example, compared with the prior art, in which the milking device 1 can only perform milking operations on cows in one milking area, and needs to wait for a cow that has finished milking to leave the milking area and another cow that has not been milked to enter the milking area before milking, the milking device 1 provided in the embodiment of the present invention controls the mechanical arm 30 to move longitudinally in one of the milking areas and engages with the milking assembly 20 of the corresponding milking area, so as to drive the suction nozzle of the milking assembly 20 of the milking area to be attached to a milk teat for milking. During the process of milking the cow in the milking area, the mechanical arm 30 After the mechanical arm 30 is separated from the milking assembly 20 of the milking area, it can move longitudinally to another milking area and engage with the milking assembly 20 of the milking area to drive the suction nozzle of the milking assembly 20 of the milking area to attach to the teat of another cow to perform milking operation, that is, there is no need to wait for a cow that has been milked to leave one of the milking areas before milking the cow in the other milking area. Therefore, two cows can be milked at the same time, saving milking time and improving milking efficiency. In addition, at least two milking areas share one mechanical arm 30, which reduces the overall manufacturing cost of the milking equipment 1 and reduces the size of the milking equipment 1.

[0039] In the embodiment of the present invention, after the robotic arm 30 is engaged with the milking assembly 20 of one milking area and drives the suction nozzle of the milking area to be attached to the teat of the animal in the milking area, the robotic arm 30 can be detached from the milking assembly 20 of the milking area and move longitudinally to be engaged with the milking assembly 20 of another milking area and drive the suction nozzle of the milking area to be attached to the teat of the animal in the milking area. Taking two milking areas, namely milking area A and milking area B, sharing a robotic arm 30 as an example, milking area A and milking area B are respectively arranged on opposite sides of the body 10, the milking assembly 20A and the cow A correspond to the milking area A, and the milking assembly 20B and the cow B correspond to the milking area B. The working principle of a milking device 1 provided by an embodiment of the present invention is as follows: first, the robotic arm 30 is controlled to move longitudinally to engage with the milking assembly 20A and drive the milking assembly 20A to move to the milking position of the milking area A, and the suction nozzle of the milking assembly 20A is controlled to be attached to the teat of the cow A; in the process of milking the cow A in the milking area A, the robotic arm 30 is separated from the milking assembly 20A, and the robotic arm 30 is controlled to move longitudinally to engage with the milking assembly 20A The robot arm 30 is controlled to move longitudinally to engage with the milking assembly 20A that has completed milking, to detach the suction nozzle of the milking assembly 20A from the teat of the cow A, and to place the milking assembly 20A at a certain position of the body 10; then, the robot arm 30 moves longitudinally again to engage with the milking assembly 20B that has completed milking, to detach the suction nozzle of the milking assembly 20B from the teat of the cow B, and to place the milking assembly 20B at a certain position of the body 10, and the cycle continues. Therefore, a milking device 1 provided by an embodiment of the present invention utilizes a mechanical arm 30 to be connected to a milking component 20A. During the period of time when milking is performed after the suction nozzle of the milking component 20A is attached to the teat of cow A in milking area A, the mechanical arm 30 is controlled to move longitudinally to be connected to the milking component 20B, and the suction nozzle of the milking component 20B is attached to the teat of cow B in milking area B for milking. The milking time of cows A and cow B partially overlaps, thereby improving the milking efficiency.

[0040] In the embodiment of the present invention, the robotic arm 30 may be coupled to the milking assembly 20 by vacuum adsorption, magnetic adsorption or clamping.

[0041] In the embodiment of the present invention, see the attached Figure 3The body 10 is provided with a longitudinal guide rail 110 extending in the longitudinal direction, the longitudinal guide rail 110 is slidably connected with a longitudinal slide 111, and the mechanical arm 30 is arranged on the longitudinal slide 111. In this way, the longitudinal driving member drives the longitudinal slide 111 to drive the mechanical arm 30 to reciprocate in the longitudinal direction, so that the mechanical arm 30 can move between different milking areas to engage with or disengage from the milking assemblies 20 in different milking areas.

[0042] In the embodiment of the present invention, the longitudinal driving member can be a motor, an electric push rod or a cylinder. For example, when the longitudinal driving member is a motor, the motor is connected to a transmission assembly, and the transmission assembly can include a driving wheel, a driven wheel and a transmission belt meshed with both, the driving wheel is connected to the motor, the driven wheel is pivoted to the body 10, and the longitudinal slide 111 is fixed to the transmission belt; for another example, when the longitudinal driving member is a motor, the motor is connected to a transmission assembly, and the transmission assembly can include a screw and a nut, the nut is threadedly connected to the screw and fixedly arranged on the longitudinal slide 111, the motor is connected to the screw, and the motor drives the screw to drive the longitudinal slide 111 to move along the longitudinal guide rail 110 through the nut; for another example, when the longitudinal driving member is a motor, the motor is connected to a transmission assembly, and the transmission assembly can include a gear and a rack, the gear is connected to the motor, the gear is connected to the rack, the rack is parallel to the longitudinal guide rail 110 and fixedly arranged on the longitudinal slide 111, the motor drives the gear to rotate, and the gear drives the rack to drive the longitudinal slide 111 to move longitudinally.

[0043] In the embodiment of the present invention, see the attached Figure 3 The body 10 is provided with a support seat 140, which has at least two support seats 140 and is arranged at intervals in the longitudinal direction; the milking assembly 20 is movably connected to the support seat 140, and the support seat 140 is used to support the milking assembly 20. The support seat 140 can have two, three or other numbers.

[0044] In the embodiment of the present invention, the support seat 140 is provided with a driving component and a longitudinal support 150, the longitudinal support 150 is provided with a longitudinal slide rail 160 extending in the longitudinal direction, the longitudinal slide rail 160 is slidably connected with a longitudinal slider 161, the milking assembly 20 is transmission-connected to the longitudinal slider 161, the longitudinal slider 161 is transmission-connected to the driving component, and the driving component is used to drive the longitudinal slider 161 to drive the milking assembly 20 to move in the longitudinal direction. The longitudinal slider 161 is transmission-connected to the driving component, which means that the longitudinal slider 161 is fixedly arranged at the power output end of the driving component or indirectly transmission-connected to the power output end of the driving component. With such a configuration, the milking assembly 20 can move in the longitudinal direction and automatically extend to the milking area to facilitate engagement with the mechanical arm 30, or can automatically retract in the milking area along the longitudinal movement to avoid collision with the cow.

[0045] In the embodiment of the present invention, see the attached Figure 2The frame 10 is fixed with a cleaning assembly 101. If the milking assembly 20 moves longitudinally below the cleaning assembly 101, the cleaning assembly 101 is used to clean the suction nozzle of the milking assembly 20. In this way, the milking assembly 20 can move longitudinally and automatically retract to the bottom of the cleaning assembly 101, so that the cleaning assembly 101 can clean the suction nozzle of the milking assembly.

[0046] In the embodiments of the present invention, for example, see the attached Figure 3 The driving component may be a linear driving component 152, which is disposed on the support seat 140 and is transmission-connected to the longitudinal slider 161. The linear driving component 152 may be an electric push rod, a cylinder or a linear motor.

[0047] In the embodiment of the present invention, the longitudinal slider 161 and the milking assembly 20 may be directly connected or indirectly connected, for example, as shown in the attached Figure 5 As shown, a connecting rod 162 is connected between the longitudinal slider 161 and the milking assembly 20, and the connecting rod 162 extends in the longitudinal direction, and one end of the connecting rod 162 away from the longitudinal slider 161 is used to support the milking assembly 20. For another example, an X-shaped telescopic arm is transmission-connected between the longitudinal slider 161 and the milking assembly 20, specifically as follows: the milking assembly 20 has a first slide and a first axis, the first axis extends vertically, the first slide extends in the transverse direction and is arranged with a spacing from the first axis in the transverse direction, and the first slider is slidably connected in the first slide; the longitudinal slider 161 is connected to the milking assembly 20 through an X-shaped telescopic arm, one of the cross-pivot axes of the X-shaped telescopic arm is provided on the longitudinal slider 161, and one of the free ends of the two connecting rods at one end of the X-shaped telescopic arm is pivotally connected to the first axis, and the other end is pivotally connected to the first slider;

[0048] The longitudinal support 150 and the X-shaped telescopic arm can be connected in various ways, as follows:

[0049] For example, the longitudinal support 150 is provided with a second axis extending in the vertical direction, the free ends of the two connecting rods at the other end of the X-shaped telescopic arm are both pivotally connected to the second axis, and the cross-pivot axis is located between the second axis and the milking assembly 20; for another example, the longitudinal support 150 is provided with a second slide groove extending in the transverse direction, and a second slider is slidably connected in the second slide groove, and the second slider has two free ends of the two connecting rods at the other end of the X-shaped telescopic arm. In this way, the size of the linear drive component 152 that is transmission-connected to the longitudinal slider 161 can be reduced, and the displacement of the linear drive component 152 is amplified by the extension of the X-shaped telescopic arm, so that the displacement of the milking assembly 20 in the longitudinal direction is amplified; in addition, when the X-shaped telescopic arm is retracted, the size is small, saving space.

[0050] In addition to the above-mentioned linear drive components, the drive components may also use rotary drive components, as follows:

[0051] For example, the rotating drive component is arranged on the support seat 140, and the longitudinal slider 161 is transmission-connected with a screw and a nut; specifically, the rotating drive component is a motor, the motor is arranged on the support seat 140, the motor shaft of the motor is fixed with a screw, the screw is threadedly connected to the nut, the nut is longitudinally slidably connected to the longitudinal slide rail 160 and is fixed to the longitudinal slider 161, the motor shaft drives the screw to rotate, and the screw drives the nut to drive the longitudinal slider 161 to move along the longitudinal direction.

[0052] For another example, the longitudinal slider 161 can also be connected to a multi-stage nested telescopic arm, and the existing multi-stage nested telescopic arm can be used as long as the telescopic function can be realized to extend the stroke. This arrangement can achieve a larger telescopic range through the nested multi-stage design, and can also be retracted to a smaller size.

[0053] In the embodiment of the present invention, see the attached Figure 5 The milking assembly 20 includes a support platform 230 and a milk cup base, the milk cup base is movably connected to the support platform 230, the support platform 230 is used to support the milk cup base, and the milk cup base is provided with a suction nozzle. It should be noted that the milk cup base is movably connected to the support platform 230 in any manner, and can be connected to the support platform 230 by vacuum adsorption, magnetic adsorption, rope fixing or clamping.

[0054] In the embodiment of the present invention, in the case where a connecting rod 162 is connected between the longitudinal slider 161 and the milking assembly 20, one end of the connecting rod 162 away from the longitudinal slider 161 is fixedly arranged on a support platform 230, and the support platform 230 is used to support a milk cup base; in the case where an X-shaped telescopic arm is transmission-connected between the longitudinal slider 161 and the milking assembly 20, the first slide groove 231 and the first axis are arranged on the lower end surface of the support platform 230.

[0055] In the embodiment of the present invention, see the attached Figure 3 The support seat 140 is provided with a transverse slide rail 180 extending in the transverse direction, and the longitudinal support 150 is slidably connected to the transverse slide rail 180. Such an arrangement provides guidance for the transverse movement of the mechanical arm 30 engaged with the milking assembly 20.

[0056] In the embodiment of the present invention, see the attached Figure 3 The main body 10 is provided with a vertical slide rail 190 extending along the vertical direction, and the support seat 140 is slidably connected to the vertical slide rail 190; the main body 10 is provided with a vertical guide rail 120 extending along the vertical direction, and the vertical guide rail 120 is slidably connected to a vertical slide seat 121, and the longitudinal guide rail 110 is arranged on the vertical slide seat 121, and the vertical slide seat 121 is transmission-connected to a lifting drive member 122, and the lifting drive member 122 is installed on the main body 10; the vertical slide seat 121 is fixedly provided with a cross beam 123 extending along the horizontal direction, and the cross beam 123 is arranged between the two support seats 140 and can be engaged with or disengaged from the longitudinal support 150.

[0057] Taking the case where there are two support seats 140, the support seats 140 are support seat 140A and support seat 140B, wherein support seat 140A is provided with a longitudinal support 150A for supporting milking assembly 20A, and support seat 140B is provided with a longitudinal support 150B for supporting milking assembly 20B. Support seat 140A corresponds to milking area A, and support seat 140B corresponds to milking area B. The working principle of a milking device 1 provided by an embodiment of the present invention is as follows: if the longitudinal support 150A is engaged with the crossbeam 123, the lifting drive member 122 drives the vertical slide 121 to drive the mechanical arm 30 to move vertically, and at the same time, the longitudinal support 150A is driven by the crossbeam 123 to support the milking assembly 20A to move vertically, so that the execution end of the mechanical arm 30 and the milking assembly 20A supported by the longitudinal support 150A are at the same height, which is convenient for the mechanical arm 30 to engage with the milking assembly 20A supported by the longitudinal support 150A; if the suction nozzle of the milking assembly 20A supported by the longitudinal support 150A is at a certain height and is adsorbed on the teat of the cow A in the milking area A, the longitudinal support 150A is separated from the crossbeam 123 and locked to the body 10; wherein, the longitudinal support 150A is locked to the body 10, and can be locked to the body 10 by a limit pin or clamping method in the prior art. , which will not be described in detail here; at this time, the crossbeam 123 is engaged with the longitudinal support 150B, and the lifting drive 122 drives the vertical slide 121 again to drive the robot arm 30 to move vertically, while driving the longitudinal support 150B to support the milking assembly 20B to move vertically through the crossbeam 123, so that the execution end of the robot arm 30 and the milking assembly 20B supported by the longitudinal support 150B are at the same height, which is convenient for the robot arm 30 to engage with the milking assembly 20B supported by the longitudinal support 150B; that is, one of the two longitudinal supports 150 can be engaged with the crossbeam 123, and the other can be separated from the crossbeam 123, so that the two longitudinal supports 150 can move vertically separately following the vertical slide 121; in addition, the two longitudinal supports 150 can also be combined with the crossbeam 123 at the same time, so that the two longitudinal supports 150 can move vertically at the same time following the vertical slide 121.

[0058] Taking the case where there are two longitudinal supports 150 as an example, a milking device 1 provided in an embodiment of the present invention, on the one hand, by arranging a crossbeam 123 on the vertical slide 121, when the crossbeam 123 is engaged with the longitudinal support 150, the longitudinal support 150 and the mechanical arm 30 move vertically synchronously, that is, the support seat 140 and the mechanical arm 30 share the lifting drive member 122, which saves costs and reduces the overall size of the milking device 1; on the other hand, there are two longitudinal supports 150, which can be engaged with or disengaged from the crossbeam 123 respectively, so that the two longitudinal supports 150 can be engaged with the crossbeam 123 at the same time to move vertically synchronously, or can be engaged with the crossbeam 123 separately, so that the two longitudinal supports 150 can independently follow the vertical slide 121 to move vertically without affecting each other.

[0059] In the embodiment of the present invention, see the attached Figure 3 One of the cross beam 123 and the longitudinal support 150 is provided with a telescopic driving component and a snap-in pin, and the other is provided with a snap-in hole 153; the telescopic driving component is transmission-connected to the snap-in pin, and is used to drive the snap-in pin to extend to snap-in to the snap-in hole 153 or retract to disengage from the snap-in hole 153. For example, as shown in the attached Figure 4 As shown, the cross beam 123 is provided with a telescopic driving component and a clamping pin, and the longitudinal support 150 is provided with a clamping hole 153; for another example, the cross beam 123 is provided with a clamping hole 153, and the longitudinal support 150 is provided with a telescopic driving component and a clamping pin. The telescopic driving component can be a cylinder or an electric push rod. In this way, the cross beam 123 and the longitudinal support 150 can be engaged or disengaged.

[0060] In the embodiment of the present invention, the number of the vertical slide rail 190, the horizontal slide rail 180 and the longitudinal slide rail 160 is not limited, and can be 1, 2 or other numbers. Figure 2-Figure 5 There are two vertical rails 190 and they are spaced apart in the longitudinal direction on the body 10 ; there are two transverse rails 180 and they are spaced apart in the longitudinal direction on the support seat 140 ; ​​there is one longitudinal rail 160 and it is spaced apart in the transverse direction on the longitudinal support 150 .

[0061] In the embodiment of the present invention, see the attached Figure 3 The support seat 140 includes a first vertical plate and a first horizontal plate connected to each other, the first vertical plate is slidably connected to the vertical slide rail 190, and the transverse slide rail 180 is arranged on the first horizontal plate.

[0062] In the embodiment of the present invention, see the attached Figure 3 The longitudinal support 150 includes a second vertical plate and a second horizontal plate connected to each other, the second horizontal plate is slidably connected to the transverse slide rail 180, and the second vertical plate can be engaged with or disengaged from the crossbeam 123.

[0063] In the embodiment of the present invention, the lifting drive member 122 may be a motor, an electric push rod or a cylinder. For example, when the lifting drive member 122 is a motor, the motor is connected to a transmission assembly, and the transmission assembly may include a driving wheel, a driven wheel and a transmission belt meshed with both of them. The driving wheel is connected to the motor, and the driving wheel and the driven wheel are both pivotally connected to the main body 10, and the vertical slide 121 is fixedly connected to the transmission belt; for another example, when the lifting drive member 122 is a motor, the motor is connected to a transmission assembly, and the transmission assembly may include a screw and a nut, the nut is threadedly connected to the screw and fixedly arranged on the vertical slide 121, and the motor is connected to the screw, and the motor drives the screw to drive the vertical slide 121 to move along the vertical guide rail 120 through the nut; for another example, when the lifting drive member 122 is a motor, the motor is connected to a transmission assembly, and the transmission assembly may include a gear and a rack, the gear is connected to the motor, the gear is connected to the rack, the rack is parallel to the vertical guide rail 120 and fixedly arranged on the vertical slide 121, the motor drives the gear to rotate, and the gear drives the rack to drive the vertical slide 121 to move vertically.

[0064] In the embodiment of the present invention, see the attached Figure 3 The vertical slide 121 is provided with a transverse driving member and a transverse guide rail 130. The transverse guide rail 130 extends in the transverse direction and is slidably connected to the transverse slide 131. The longitudinal guide rail 110 is provided on the transverse slide 131, and the transverse slide 131 is transmission-connected to the transverse driving member. In this way, the transverse driving member drives the transverse slide 131 to drive the longitudinal guide rail 110 to move in the transverse direction, so that the mechanical arm 30 can approach or move away from the milking assembly 20 in the transverse direction to engage with or disengage from the milking assembly 20; in addition, when the mechanical arm 30 is engaged with the milking assembly 20, the transverse position of the milking assembly 20 relative to the cow can be adjusted, so as to adapt to the body length of the cow in the milking area, that is, to adapt to the teat position of the cow, thereby improving the practicality of the milking device 1.

[0065] In the embodiment of the present invention, the transverse driving member can be a motor, an electric push rod or a cylinder. For example, when the transverse driving member is a motor, the motor is connected to a transmission assembly, and the transmission assembly can include a driving wheel, a driven wheel and a transmission belt meshed with both, the driving wheel is connected to the motor, the driven wheel is pivoted to the vertical slide 121, and the transverse slide 131 is fixed to the transmission belt; for another example, when the transverse driving member is a motor, the motor is connected to a transmission assembly, and the transmission assembly can include a screw and a nut, the nut is threadedly connected to the screw and fixed to the transverse slide 131, the motor is connected to the screw, and the motor drives the screw to drive the transverse slide 131 to move along the transverse guide rail 130 through the nut; for another example, when the transverse driving member is a motor, the motor is connected to a transmission assembly, and the transmission assembly can include a gear and a rack, the gear is connected to the motor, the gear is connected to the rack, the rack is parallel to the transverse guide rail 130 and fixed to the transverse slide 131, the motor drives the gear to rotate, and the gear drives the rack to drive the transverse slide 131 to move in the transverse direction.

[0066] In the embodiment of the present invention, the number of vertical guide rails 120, transverse guide rails 130 and longitudinal guide rails 110 is not limited, and can be 1, 2 or other numbers. Preferably, referring to the accompanying drawings, the number of vertical guide rails 120 is 2 and is arranged at intervals along the longitudinal direction on the body 10; the number of transverse guide rails 130 is 2 and is arranged at intervals along the longitudinal direction on the vertical slide 121; the number of longitudinal guide rails 110 is 2 and is arranged at intervals along the transverse direction on the transverse slide 131. Among them, the crossbeam 123 is located between the two vertical guide rails 120.

[0067] In the embodiment of the present invention, see the attached Figure 3 One end of the mechanical arm 30 is pivotally connected to the longitudinal slide 111, and the execution end is arranged at the other end of the mechanical arm 30. The mechanical arm 30 is connected to the first rotating driving member in a transmission manner; the first rotating driving member is arranged on the longitudinal slide 111, and is used to drive the mechanical arm 30 to rotate vertically relative to the longitudinal slide 111. Such an arrangement enables the mechanical arm 30 to rotate and extend to the milking area to engage with the milking assembly 20, and also enables the mechanical arm 30 to rotate and retract away from the milking area to avoid collision with the cow.

[0068] In the embodiment of the present invention, see the attached Figure 3 The robot arm 30 includes a first arm 310 and a second arm 320. One end of the first arm 310 is pivoted to the longitudinal slide 111, and the other end is pivoted to one end of the second arm 320. The execution end is arranged at the other end of the second arm 320. The first rotation driving member is transmission-connected to the first arm 310, and is used to drive the first arm 310 to rotate vertically relative to the longitudinal slide 111. The second arm 320 is transmission-connected to the second rotation driving member, and the second rotation driving member is arranged on the first arm 310, and is used to drive the second arm 320 to rotate vertically relative to the first arm 310. The first rotation driving member includes a motor and a reducer, and the second rotation driving member includes a motor and a reducer.

[0069] In the embodiment of the present invention, see the attached Figure 3 The mechanical arm 30 is provided with a visual component 330 for identifying the position of the animal's teat. Such a configuration is used to guide the mechanical arm 30 to drive the suction nozzle of the milking component to be attached to the animal's teat.

[0070] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A milking device, characterized in that: It comprises a body (10) and a mechanical arm (30); The body (10) is movably connected to a milking assembly (20), wherein the milking assembly (20) has at least two milking areas which are longitudinally spaced and arranged on opposite sides of the body (10) for performing milking operations; The mechanical arm (30) has a longitudinal driving member which is in transmission connection with the body (10) and is used to drive the mechanical arm (30) to reciprocate in the longitudinal direction; the execution end of the mechanical arm (30) can be engaged with or disengaged from the milking assembly (20); The milking equipment is configured as follows: the longitudinal driving member drives the mechanical arm (30) to move to one side of the body (10), so that the execution end is engaged with the milking assembly (20) in the milking area on the one side, and drives the milking assembly (20) to move to the milking position of the milking area on the one side, so that the suction nozzle of the milking assembly (20) is attached to the teat of the animal.

2. The milking device according to claim 1, characterized in that The body (10) is provided with a longitudinal guide rail (110) extending in the longitudinal direction, the longitudinal guide rail (110) is slidably connected to a longitudinal slide seat (111), and the mechanical arm (30) is arranged on the longitudinal slide seat (111).

3. The milking device according to claim 2, characterized in that The main body (10) is provided with a support seat (140), and the support seat (140) has at least two and is arranged at intervals in the longitudinal direction; the milking assembly (20) is movably connected to the support seat (140), and the support seat (140) is used to support the milking assembly (20).

4. The milking device according to claim 3, characterized in that The support seat (140) is provided with a driving component and a longitudinal support (150); the longitudinal support (150) is provided with a longitudinal slide rail (160) extending in the longitudinal direction; the longitudinal slide rail (160) is slidably connected with a longitudinal slider (161); the milking assembly (20) is transmission-connected to the longitudinal slider (161); the longitudinal slider (161) is transmission-connected to the driving component; the driving component is used to drive the longitudinal slider (161) to drive the milking assembly (20) to move in the longitudinal direction.

5. The milking device according to claim 4, characterized in that The driving component is a linear driving component (152), and the linear driving component (152) is arranged on the supporting seat (140) and is transmission-connected to the longitudinal sliding block (161); And / or, the frame (10) is fixedly provided with a cleaning component (101), and if the milking component (20) moves longitudinally below the cleaning component (101), the cleaning component (101) is used to clean the suction nozzle of the milking component (20).

6. The milking device according to claim 4, characterized in that The support seat (140) is provided with a transverse slide rail (180) extending in the transverse direction, and the longitudinal support seat (150) is slidably connected to the transverse slide rail (180).

7. The milking device according to claim 6, characterized in that The body (10) is provided with a vertical slide rail (190) extending in the vertical direction, and the support seat (140) is slidably connected to the vertical slide rail (190); The body (10) is provided with a vertical guide rail (120) extending in the vertical direction, the vertical guide rail (120) is slidably connected to a vertical slide seat (121), the longitudinal guide rail (110) is arranged on the vertical slide seat (121), the vertical slide seat (121) is transmission-connected to a lifting drive member (122), and the lifting drive member (122) is installed on the body (10); The vertical sliding seat (121) is fixedly provided with a crossbeam (123) extending in the transverse direction. The crossbeam (123) is arranged between the two supporting seats (140) and can be engaged with or disengaged from the longitudinal support (150).

8. The milking device according to claim 7, characterized in that The vertical slide (121) is provided with a transverse driving member and a transverse guide rail (130), the transverse guide rail (130) extends in a transverse direction and is slidably connected to the transverse slide (131), the longitudinal guide rail (110) is provided on the transverse slide (131), and the transverse slide (131) is transmission-connected to the transverse driving member.

9. The milking device according to any one of claims 2 to 8, characterized in that: One end of the mechanical arm (30) is pivotally connected to the longitudinal slide (111), and the execution end is arranged at the other end of the mechanical arm (30). The mechanical arm (30) is transmission-connected with a first rotating driving member; the first rotating driving member is arranged on the longitudinal slide (111) and is used to drive the mechanical arm (30) to rotate vertically relative to the longitudinal slide (111).

10. The milking device according to claim 9, characterized in that The mechanical arm (30) comprises a first arm (310) and a second arm (320), wherein one end of the first arm (310) is pivotally connected to the longitudinal slide seat (111), and the other end is pivotally connected to one end of the second arm (320), and the execution end is arranged at the other end of the second arm (320); The first rotating driving member is transmission-connected to the first arm (310) and is used for driving the first arm (310) to rotate vertically relative to the longitudinal slide (111); the second arm (320) is transmission-connected to a second rotating driving member, which is disposed on the first arm (310) and is used for driving the second arm (320) to rotate vertically relative to the first arm (310).

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