Milking robot

Abstract

The invention provides a milking robot which comprises a rack, a milk cup base and a mechanical arm, and milking areas are arranged on the two opposite side areas of the rack at intervals in the longitudinal moving direction; the at least two milk cup bases are arranged at intervals in the longitudinal moving direction; the teat cup base is provided with a teat cup group which is used for being attached to an animal teat; the mechanical arm is in transmission connection with a longitudinal movement driving assembly, and the longitudinal movement driving assembly is installed on the rack and used for driving the mechanical arm to reciprocate in the milking area in the longitudinal movement direction so as to be connected with or disengaged from the milk cup base. If the mechanical arm is connected to one milk cup base, the mechanical arm can drive the milk cup base to move to a preset position of the corresponding milking area; if the mechanical arm is separated from the milk cup base, the milk cup base is relatively and fixedly arranged on the rack. Taking application of the milking robot to milking of cows as an example, the milking robot 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 robot is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of milking, and in particular to a milking robot. 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 dairy animal breeding process. In order to reduce labor intensity and prevent secondary pollution of milk sources caused by manual milking, robots are applied to dairy animal breeding. Robotic automated milking can not only reduce labor intensity and save labor costs, but also greatly improve production efficiency.

[0003] In the prior art, the milking robot 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 robot, which is used to solve the technical problem that the milking robot 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 robot, comprising:

[0006] A frame, wherein the areas on opposite sides of the frame are configured as: milking areas spaced apart along the longitudinal direction;

[0007] a teat cup base, having at least two and arranged at intervals along the longitudinal direction; the teat cup base is provided with a teat cup set, the teat cup set is used to be attached to the teat of an animal; and,

[0008] The mechanical arm is transmission-connected with a longitudinal drive assembly, the longitudinal drive assembly is mounted on the frame, and is used to drive the mechanical arm to reciprocate along the longitudinal direction in the milking area to engage with or disengage from the teat cup base; if the mechanical arm is engaged with one of the teat cup bases, the mechanical arm can drive the teat cup base to move to a preset position corresponding to the milking area; if the mechanical arm is disengaged from the teat cup base, the teat cup base is relatively fixed to the frame.

[0009] Optionally, after the robotic arm is engaged with the teat cup base of one of the milking areas and drives the teat cup group of the milking area to be attached to the teat of the animal in the milking area, the robotic arm can be separated from the teat cup base of the milking area and move along the longitudinal movement direction to engage with the teat cup base of another milking area and drive the teat cup group of the milking area to be attached to the teat of the animal in the milking area;

[0010] And / or, the robotic arm is coupled to the teat cup base by vacuum adsorption, magnetic adsorption or clamping.

[0011] Optionally, the longitudinal movement drive assembly includes a longitudinal movement drive member, a longitudinal movement guide rail, and a longitudinal movement seat slidably connected to the longitudinal movement guide rail, the longitudinal movement guide rail extends along the longitudinal movement direction, the longitudinal movement drive member and the longitudinal movement guide rail are both installed on the frame, the longitudinal movement drive member is transmission connected to the longitudinal movement seat, and is used to drive the longitudinal movement seat to move along the longitudinal movement guide rail; the robotic arm is transmission connected to the longitudinal movement seat.

[0012] Optionally, the frame is provided with a transverse driving assembly, the transverse driving assembly comprising a transverse driving member, a transverse guide rail and a transverse seat slidably connected to the transverse guide rail, the transverse guide rail extending along a transverse direction; the transverse driving member is drivingly connected to the transverse seat, and is used to drive the transverse seat to move along the transverse guide rail, wherein the transverse direction is perpendicular to the longitudinal direction;

[0013] The transverse driving member and the transverse guide rail are both arranged on the frame, and the longitudinal driving member and the longitudinal guide rail are both arranged on the transverse seat.

[0014] Optionally, the frame is provided with a lifting drive assembly, the lifting drive assembly comprising a lifting drive member, a lifting guide rail and a lifting seat slidably connected to the lifting guide rail, the lifting guide rail extending in a vertical direction; the lifting drive member is drivingly connected to the lifting seat, and is used to drive the lifting seat to move along the lifting guide rail, wherein the vertical direction, the lateral direction and the longitudinal direction are perpendicular to each other;

[0015] The lifting drive member and the lifting guide rail are respectively arranged on the frame, and the transverse movement drive member and the transverse movement guide rail are both arranged on the lifting seat.

[0016] Optionally, the lifting seat is fixed with a lifting connecting beam;

[0017] The frame is slidably connected with a support structure, the support structure has at least two and is spaced apart at opposite sides of the lifting connection beam along the longitudinal direction, the support structure is configured to: support the teat cup base of the corresponding milking area;

[0018] The support structure can be engaged with or disengaged from the lifting connection beam. When the two are engaged, the support structure can follow the lifting connection beam to move along the vertical direction.

[0019] Optionally, the frame is provided with a lifting slide rail extending along the vertical direction;

[0020] The supporting structure comprises a lifting slide, the lifting slide is slidably connected to the lifting slide rail, and the milk cup base is supported by the lifting slide.

[0021] Optionally, the supporting structure further includes a longitudinal slide rail and a longitudinal slide table, the longitudinal slide rail is arranged on the lifting slide table and extends along the longitudinal movement direction, the longitudinal slide table is slidably connected to the longitudinal slide rail and is transmission-connected to a driving component, the driving component is arranged on the lifting slide table, and the milk cup base is supported on the longitudinal slide table.

[0022] Optionally, the lifting slide is provided with a transverse slide rail and a transverse slide platform, the transverse slide rail extends along the transverse direction, and the transverse slide platform is slidably connected to the transverse slide rail;

[0023] The longitudinal slide rail and the driving component are both arranged on the transverse slide, and the transverse slide can be engaged with or disengaged from the lifting connection beam. When the two are combined, the transverse slide can follow the lifting connection beam to move along the vertical direction.

[0024] Optionally, one of the lifting connecting beam and the transverse sliding table is provided with a telescopic driving member and a locking pin, and the other is provided with a locking hole; the telescopic driving member is transmission-connected to the locking pin, and is used to drive the locking pin to extend to lock with the locking hole or retract to disengage from the locking hole.

[0025] Optionally, the driving component is a linear driving component, which is arranged on the transverse sliding table and is transmission-connected to the longitudinal sliding table;

[0026] The longitudinal sliding table is connected to an X-shaped telescopic arm in a transmission manner, the X-shaped telescopic arm is connected to a support seat in a transmission manner, and the milk cup base is movably connected to the support seat;

[0027] The X-shaped telescopic arm includes at least two X-shaped telescopic units connected in series, and the two end heads of the X-shaped telescopic unit located at the head end are slidably connected to the transverse sliding table along the transverse direction, wherein the intersection parts of one of the X-shaped telescopic units are pivotally connected to each other through a first pin, and the first pin is arranged on the longitudinal sliding table, and one of the two end heads of the X-shaped telescopic unit located at the tail end is pivotally connected to the support seat, and the other is slidably connected to the support seat along the transverse direction; or, the X-shaped telescopic arm includes a V-shaped telescopic unit and at least one X-shaped telescopic unit connected in series, the intersection parts of the V-shaped telescopic units are pivotally connected to each other through a second pin, and the second pin is arranged on the transverse sliding table, the intersection parts of one of the X-shaped telescopic units are pivotally connected to each other through a first pin, and the first pin is fixed on the longitudinal sliding table, and one of the two end heads of the X-shaped telescopic unit located at the tail end is pivotally connected to the support seat, and the other is slidably connected to the support seat along the transverse direction.

[0028] Optionally, one end of the robotic arm is pivotally connected to the longitudinal shift seat and can rotate relative to the longitudinal shift seat in a vertical direction.

[0029] Optionally, the robotic arm comprises a first arm and a second arm, one end of the first arm is pivoted to the longitudinal displacement seat, and the other end is pivoted to the second arm; the end of the second arm can engage or disengage from the teat cup base and can rotate relative to the first arm in a vertical direction.

[0030] The milking robot provided by the present invention has at least the following beneficial technical effects:

[0031] Taking the application of the milking robot in milking cows as an example, the milking robot provided by the present invention controls the mechanical arm to move in the longitudinal direction to one of the milking areas and engage with the teat cup base of the corresponding milking area, so as to drive the teat cup group of the teat cup base of the milking area to be attached to a milking teat for milking operation. During the process of milking the cows in the milking area, after the mechanical arm is separated from the teat cup base of the milking area, it can move in the longitudinal direction to another milking area and engage with the teat cup base of the milking area, so as to drive the teat cup group of the teat cup base of the milking area to be attached to another milking teat for milking operation. 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, which reduces the overall manufacturing cost of the milking robot and reduces the size of the milking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the arrangement structure of a milking robot and a milking area provided in an embodiment of the present invention; wherein the vertical direction is the OZ direction, the lateral direction is the OX direction, and the longitudinal direction is the OY direction;

[0033] Figure 2 A schematic diagram of a state where a mechanical arm and a teat cup base are engaged in a milking robot provided in an embodiment of the present invention;

[0034] Figure 3 A schematic diagram of an axonometric view of a milking robot provided in an embodiment of the present invention Figure 2 ;

[0035] Figure 4 A partial structural schematic diagram of a milking robot provided by an embodiment of the present invention;

[0036] Figure 5 for Figure 4 The middle circle shows a partial enlarged structural schematic diagram of part A;

[0037] Figure 6 A schematic diagram of the structure of a milking robot as viewed from above provided in an embodiment of the present invention.

[0038] Description of reference numerals:

[0039] 1- Milking robot;

[0040] 10- rack;

[0041] 20-milk cup base; 210-milk cup set;

[0042] 30-mechanical arm; 310-first arm; 320-second arm;

[0043] 40-longitudinal movement drive assembly; 420-longitudinal movement guide rail; 430-longitudinal movement seat;

[0044] 50-transverse driving assembly; 520-transverse guide rail; 530-transverse seat;

[0045] 60-lifting drive assembly; 610-lifting drive member; 620-lifting guide rail; 630-lifting seat; 640-lifting connecting beam; 641-clamping pin;

[0046] 70-support structure; 710-lifting slide rail; 720-lifting slide; 730-longitudinal slide rail; 750-linear drive component; 740-longitudinal slide; 780-X-shaped telescopic arm; 781-V-shaped telescopic unit; 782-X-shaped telescopic unit; 760-transverse slide rail; 770-transverse slide; 771-clamping hole; 790-support seat; 791-second slide groove; 792-pivot hole. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following is a brief description of the present invention in conjunction with the attached drawings. Figure 1-6 The specific embodiments of the present invention are described in detail.

[0048] 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.

[0049] In the present invention, terms such as "vertical direction", "lateral movement direction", "longitudinal movement direction" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0050] The embodiment of the present invention provides a milking robot 1, see the attached Figure 1 and Figure 2The milking robot 1 comprises a frame 10, a teat cup base 20 and a robot arm 30. The two opposite sides of the frame 10 are configured as follows: milking areas spaced apart in the longitudinal direction, that is, the milking areas have at least two and are spaced apart in the longitudinal direction, the milking robot 1 is located between the two milking areas, and the two milking areas share the milking robot 1 therebetween; the teat cup base 20 has at least two and is spaced apart in the longitudinal direction; for example, as shown in the attached Figure 2 As shown, there are two teat cup bases 20 and they are spaced apart in the longitudinal direction. In addition, there can be three or other numbers of teat cup bases 20. The teat cup base 20 is provided with a teat cup group 210, which is used to be attached to the teat nipple of an animal. The mechanical arm 30 is connected to the longitudinal driving assembly 40 in a transmission manner, and the longitudinal driving assembly 40 is installed on the frame 10, and is used to drive the mechanical arm 30 to reciprocate in the longitudinal direction in the milking area to engage with or disengage from the teat cup base 20. If the mechanical arm 30 is engaged with one of the teat cup bases 20, the mechanical arm 30 can drive the teat cup base 20 to move to a preset position of the corresponding milking area. If the mechanical arm 30 is disengaged from the teat cup base 20, the teat cup base 20 is relatively fixed to the frame 10.

[0051] In the embodiment of the present invention, the animal teats may be the teats of cows, sheep, camels or other milk-producing animals. Taking the application of the milking robot 1 to milking cows as an example, compared with the prior art, in which the milking robot 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 operations can be performed, the milking robot 1 provided in the embodiment of the present invention controls the mechanical arm 30 to move in the longitudinal direction to one of the milking areas and engage with the corresponding milking area's teat base 20, so as to drive the teat group 210 of the teat base 20 of the milking area to be attached to a teat for milking operations. During the process of milking the cow in the milking area, the mechanical arm 30 After the arm 30 is separated from the teat cup base 20 of the milking area, it can move to another milking area along the longitudinal movement direction and engage with the teat cup base 20 of the milking area to drive the teat cup group 210 of the teat cup base 20 of the milking area to attach to another milking teat for 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 another milking area, that is, two cows can be milked at the same time, thereby saving milking time and improving milking efficiency; in addition, at least two milking areas share one robotic arm 30, which reduces the overall manufacturing cost of the milking robot 1 and reduces the size of the milking robot 1.

[0052] In the embodiment of the present invention, if the robotic arm 30 is engaged with the teat cup base 20 of one of the milking areas and drives the teat cup set 210 of the milking area to be attached to the teats of the animals in the milking area, the robotic arm 30 can be detached from the teat cup base 20 of the milking area and move along the longitudinal direction to be engaged with the teat cup base 20 of another milking area and drive the teat cup set 210 of the milking area to be attached to the teats of the animals in the milking area.

[0053] Taking two milking areas, namely milking area A and milking area B, sharing a robotic arm 30 as an example, the milking cup base 20A and cow A correspond to the milking area A, and the milking cup base 20B and cow B correspond to the milking area B. The working principle of a milking robot 1 provided by an embodiment of the present invention is as follows: first, the robotic arm 30 is controlled to move along the longitudinal direction to engage with the milking cup base 20A and drive the milking cup base 20A to move to a preset position in the milking area A, and the milking cup group 210 of the milking cup base 20A is controlled to be attached to the teat of cow A; during the process of milking cow A in the milking area A, the robotic arm 30 is separated from the milking cup base 20A, and the robotic arm 30 is controlled to move in the opposite direction of the longitudinal direction to engage with the milking cup base 20B and drive the milking cup base 20 B moves to a preset position of the milking area B, controls the milk cup set 210 of the milk cup base 20B to be attached to the teat of cow B, and during the milking process of cow B in the milking area B, the robot arm 30 detaches from the milk cup base 20B, controls the robot arm 30 to move in the longitudinal direction to engage with the milking cup base 20A, detaches the milk cup set 210 of the milk cup base 20A from the teat of cow A, and places the milk cup base 20A at a certain position of the rack 10; then, the robot arm 30 moves again in the opposite direction of the longitudinal direction to engage with the milking cup base 20B, detaches the milk cup set 210 of the milk cup base 20B from the teat of cow B, and places the milk cup base 20B at a certain position of the rack 10, and repeats this cycle. Therefore, a milking robot 1 provided by an embodiment of the present invention uses a robotic arm 30 to be connected to a teat cup base 20A. During the period of milking after the teat cup group 210 of the teat cup base 20A is attached to the teat of cow A in milking area A, the robotic arm 30 is controlled to move in the longitudinal direction to be connected to the teat cup base 20B, and the teat cup group 210 of the teat cup base 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.

[0054] In the embodiment of the present invention, the robot arm 30 can be connected to the teat cup base 20 by vacuum adsorption, magnetic adsorption or clamping.

[0055] In the embodiment of the present invention, see the attached Figure 2The longitudinal drive assembly 40 includes a longitudinal drive member, a longitudinal guide rail 420, and a longitudinal seat 430 slidably connected to the longitudinal guide rail 420. The longitudinal guide rail 420 extends along the longitudinal direction. The longitudinal drive member and the longitudinal guide rail 420 are both mounted on the frame 10. The longitudinal drive member is connected to the longitudinal seat 430 for driving the longitudinal seat 430 to move along the longitudinal guide rail 420. The mechanical arm 30 is connected to the longitudinal seat 430. The longitudinal drive member and the longitudinal guide rail 420 are both mounted on the frame 10, which means that the longitudinal drive member and the longitudinal guide rail 420 can be directly mounted on the frame 10 or indirectly mounted on the frame 10. In this way, the longitudinal drive member drives the longitudinal seat 430 to drive the mechanical arm 30 to reciprocate along the longitudinal direction, so that the mechanical arm 30 can move between different milking areas to engage with or disengage from the teat cup base 20 in different milking areas.

[0056] 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 frame 10, and the longitudinal shift seat 430 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 shift seat 430, the motor is connected to the screw, and the motor drives the screw to drive the longitudinal shift seat 430 to move along the longitudinal shift guide rail 420 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 shift guide rail 420 and fixedly arranged on the longitudinal shift seat 430, the motor drives the gear to rotate, and the gear drives the rack to drive the longitudinal shift seat 430 to move along the longitudinal shift direction.

[0057] In the embodiment of the present invention, see the attached Figure 2The frame 10 may also be provided with a transverse driving assembly 50, which includes a transverse driving member, a transverse guide rail 520, and a transverse seat 530 slidably connected to the transverse guide rail 520, wherein the transverse guide rail 520 extends along the transverse direction; the transverse driving member is transmission-connected to the transverse seat 530, and is used to drive the transverse seat 530 to move along the transverse guide rail 520; the transverse driving member and the transverse guide rail 520 are both provided on the frame 10, and the longitudinal driving member and the longitudinal guide rail 420 are both provided on the transverse seat 530; wherein the transverse direction is perpendicular to the longitudinal direction. wherein the transverse driving member and the transverse guide rail 520 are both provided on the frame 10 means that the transverse driving member and the transverse guide rail 520 are both directly or indirectly provided on the frame 10. With such arrangement, the transverse driving member drives the transverse seat 530 to drive the longitudinal seat 430 to move in the transverse direction, so that the robot arm 30 can approach or move away from the milk cup base 20 in the transverse direction to engage with or disengage from the milk cup base 20; in addition, when the robot arm 30 is engaged with the milk cup base 20, the position of the milk cup base 20 relative to the cow in the transverse direction can be adjusted, so as to adapt to the body length of the cow in the milking area, that is, to adapt to the position of the cow's teat, thereby improving the practicality of the milking robot 1.

[0058] 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 wheels, the driving wheel is connected to the motor, the driven wheel is pivoted to the frame 10, and the transverse seat 530 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 seat 530, the motor is connected to the screw, and the motor drives the screw to drive the transverse seat 530 to move along the transverse guide rail 520 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 520 and fixed to the transverse seat 530, the motor drives the gear to rotate, and the gear drives the rack to drive the transverse seat 530 to move along the transverse direction.

[0059] In the embodiment of the present invention, see the attached Figure 2The frame 10 may also be provided with a lifting drive assembly 60, which includes a lifting drive member 610, a lifting guide rail 620, and a lifting seat 630 slidably connected to the lifting guide rail 620, and the lifting guide rail 620 extends in the vertical direction; the lifting drive member 610 is transmission-connected to the lifting seat 630, and is used to drive the lifting seat 630 to move along the lifting guide rail 620, the lifting drive member 610 and the lifting guide rail 620 are respectively arranged on the frame 10, and the transverse driving member and the transverse guide rail 520 are both arranged on the lifting seat 630; wherein the vertical direction, the transverse direction and the longitudinal direction are perpendicular to each other. With such arrangement, the lifting drive member 610 drives the lifting seat 630 to drive the transverse displacement seat 530, the longitudinal displacement seat 430 and the robotic arm 30 to move in the vertical direction, so that when the robotic arm 30 is engaged with the milk cup base 20, the height of the milk cup base 20 can be adjusted, and then the height of the milk cup group 210 can be adjusted, so as to adapt to the height of the teats of different cows and improve the practicality of the milking robot 1.

[0060] In the embodiment of the present invention, the number of the lifting guide rail 620, the lateral guide rail 520 and the longitudinal guide rail 420 is not limited, and can be 1, 2 or other numbers. Figure 2 There are two lifting guide rails 620 and they are spaced apart on the frame 10 along the longitudinal direction; there are two transverse guide rails 520 and they are spaced apart on the lifting seat 630 along the longitudinal direction; there are two longitudinal guide rails 420 and they are spaced apart on the transverse seat 530 along the transverse direction.

[0061] In the embodiment of the present invention, the lifting drive member 610 can be a motor, an electric push rod or a cylinder. For example, when the lifting drive member 610 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 driving wheel and the driven wheel are both pivoted to the frame 10, and the lifting seat 630 is fixed to the transmission belt; for another example, when the lifting drive member 610 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 lifting seat 630, the motor is connected to the screw, and the motor drives the screw to drive the lifting seat 630 to move along the lifting guide rail 620 through the nut; for another example, when the lifting drive member 610 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 lifting guide rail 620 and fixed to the lifting seat 630, the motor drives the gear to rotate, and the gear drives the rack to drive the lifting seat 630 to move along the lifting direction.

[0062] In the embodiment of the present invention, see the attached Figure 2-Figure 5The frame 10 is slidably connected with a support structure 70, which is used to support the teat cup base 20 of the corresponding milking area. The support structure 70 can move in the vertical direction. The support structure 70 can share the lifting drive 610 with the lifting seat 630, or it can be independent of the lifting seat 630, that is, the lifting drive 610 is set separately. Specifically, for example, taking the support structure 70 and the lifting seat 630 sharing the lifting drive 610 as an example, see the attached Figure 3 and Figure 5 The lifting seat 630 is fixed with a lifting connecting beam 640, wherein the lifting connecting beam 640 extends in the lateral direction; the frame 10 is slidably connected with a supporting structure 70, and the supporting structure 70 has at least two and is spaced apart and arranged at opposite sides of the lifting connecting beam 640 in the longitudinal direction, for example, as shown in the attached Figure 3 As shown, the support structure 70 has two parts which are spaced apart at opposite sides of the lifting connection beam 640 along the longitudinal movement direction; the support structure 70 is configured to: support the teat cup base 20 of the corresponding milking area; the support structure 70 can be engaged with or disengaged from the lifting connection beam 640, and when the two are engaged, the support structure 70 can follow the lifting connection beam 640 to move in the vertical direction.

[0063] In the embodiment of the present invention, see the attached Figure 3 The lifting connecting beam 640 is located between the two lifting guide rails 620 .

[0064] Taking the case where there are two support structures 70 , the support structures 70 are support structure 70A and support structure 70B. Support structure 70A is used to support the milk cup base 20A, and support structure 70A corresponds to milking area A. Support structure 70B is used to support the milk cup base 20B, and support structure 70B corresponds to milking area B. The working principle of a milking robot 1 provided by an embodiment of the present invention is as follows: if the support structure 70A is engaged with the lifting connection beam 640, the lifting drive member 610 drives the lifting seat 630 to drive the mechanical arm 30 to move in the vertical direction, and at the same time, the lifting connection beam 640 drives the support structure 70A to support the milk cup base 20A to move in the vertical direction, so that the end of the mechanical arm 30 and the milk cup base 20A supported by the support structure 70A are at the same height, which is convenient for the mechanical arm 30 to engage with the milk cup base 20A supported by the support structure 70A; if the milk cup group 210 of the milk cup base 20A supported by the support structure 70A is at a certain height and is adsorbed on the teat of the cow A in the milking area A, the support structure 70A is separated from the lifting connection beam 640 and locked to the frame 10; wherein, the support structure 70A is locked to the frame 10, and can be locked to the frame 1 by a limit pin or clamping method in the prior art. 0, no further details are given here; at this time, the lifting connection beam 640 is connected to the support structure 70B, and the lifting drive member 610 drives the lifting seat 630 again to drive the mechanical arm 30 to move in the vertical direction. At the same time, the lifting connection arm drives the support structure 70B to support the milk cup base 20B to move in the vertical direction, so that the end of the mechanical arm 30 and the milk cup base 20B supported by the support structure 70B are at the same height, which is convenient for the mechanical arm 30 to engage with the milk cup base 20B supported by the support structure 70B; that is, one of the two support structures 70 can be connected to the lifting connection beam 640, and the other can be separated from the lifting connection beam 640, so that the two support structures 70 can move along the vertical direction separately with the lifting seat 630; in addition, the two support structures 70 can also be combined with the lifting connection beam 640 at the same time, so that the two support structures 70 can move along the vertical direction with the lifting seat 630 at the same time.

[0065] Taking the case where there are two support structures 70 as an example, an embodiment of the present invention provides a milking robot 1. On the one hand, by arranging a lifting connection beam 640 on the lifting seat 630, when the lifting connection beam 640 is connected to the support structure 70 of the milk cup base 20, the support structure 70 and the mechanical arm 30 move synchronously in the vertical direction, that is, the support structure 70 and the mechanical arm 30 share the lifting drive member 610, which saves costs and reduces the size of the milking robot 1; on the other hand, there are two support structures 70, which can be respectively connected to or disengaged from the lifting connection beam 640, so that the two support structures 70 can be simultaneously connected to the lifting connection beam 640 to move synchronously in the vertical direction, and can also be separately connected to the lifting connection beam 640, so that the two support structures 70 can independently follow the lifting seat 630 to move in the vertical direction without affecting each other.

[0066] In the embodiment of the present invention, see the attached Figure 3 and Figure 5 The frame 10 is provided with a lifting rail 710 extending in the vertical direction; the supporting structure 70 includes a lifting slide 720, the lifting slide 720 is slidably connected to the lifting rail 710, and the milk cup base 20 is supported on the lifting slide 720. In this way, the milk cup base 20 is limited to move in the vertical direction.

[0067] In the embodiment of the present invention, see the attached Figure 5 The support structure 70 also includes a longitudinal slide rail 730 and a longitudinal slide table 740. The longitudinal slide rail 730 is arranged on the lifting slide table 720 and extends along the longitudinal direction. The longitudinal slide table 740 is connected to a driving component in a transmission manner. The driving component is used to drive the longitudinal slide table 740 to move along the longitudinal slide rail 740. The driving component is arranged on the lifting slide table 720, and the milk cup base 20 is supported on the longitudinal slide table 740. Among them, the longitudinal slide table 740 is connected to the driving component in a transmission manner, which means that the longitudinal slide table 740 is fixedly arranged at the power output end of the driving component or indirectly connected to the power output end of the driving component. In this way, the milk cup base 20 can automatically extend to the milking area along the longitudinal direction to facilitate engagement with the mechanical arm 30, or can automatically retract to the milking area along the longitudinal direction to avoid collision with the cow.

[0068] In the embodiment of the present invention, see the attached Figure 3 and Figure 5 The lifting slide 720 is provided with a transverse slide rail 760 and a transverse slide 770. The transverse slide rail 760 extends in the transverse direction, and the transverse slide 770 is slidably connected to the transverse slide rail 760. The longitudinal slide rail 730 and the driving component are both provided on the transverse slide 770. The transverse slide 770 can be engaged or disengaged with the lifting connection beam 640. When the two are combined, the transverse slide 770 can move along the vertical direction with the lifting connection beam 640. In this way, the transverse slide rail 760 and the transverse slide 770 are arranged to facilitate the adjustment of the relative positions of the lifting connection beam 640 and the transverse slide 770, so that the lifting connection beam 640 can be engaged with the transverse slide 770.

[0069] In the embodiment of the present invention, referring to the accompanying drawings, the lifting slide 720 includes a first vertical plate and a first horizontal plate connected to each other, the first vertical plate is slidably connected to the lifting slide rail 710, and the transverse slide rail 760 is arranged on the first horizontal plate.

[0070] In the embodiment of the present invention, see the attached Figure 3 and Figure 5 The transverse slide 770 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 760, and the second vertical plate can be engaged with or disengaged from the lifting connecting beam 640.

[0071] In the embodiment of the present invention, see the attached Figure 5 One of the lifting connecting beam 640 and the traverse slide 770 is provided with a telescopic driving member and a clamping pin 641, and the other is provided with a clamping hole 771; the telescopic driving member is transmission-connected to the clamping pin 641, and is used to drive the clamping pin 641 to extend to clamp to the clamping hole 771 or retract to disengage from the clamping hole 771. For example, as shown in the attached Figure 5 As shown, the lifting connection beam 640 is provided with a telescopic driving member and a clamping pin 641, and the transverse slide 770 is provided with a clamping hole 771; for another example, the lifting connection beam 640 is provided with a clamping hole 771, and the transverse slide 770 is provided with a telescopic driving member and a clamping pin 641. The telescopic driving member can be a cylinder or an electric push rod. In this way, the lifting connection beam 640 and the transverse slide 770 can be engaged or disengaged.

[0072] In the embodiments of the present invention, for example, see the attached Figure 5 , the driving component may be a linear driving component 750, which is disposed on the transverse slide 770 and is transmission-connected to the longitudinal slide 740. The linear driving component 750 may be an electric push rod, a cylinder or a linear motor. The linear driving component 750 is transmission-connected to the longitudinal slide 740, which means that the longitudinal slide 740 is fixedly disposed at the power output end of the linear driving component 750, for example, the longitudinal slide 740 is fixedly disposed at the power output end of the cylinder; or, the power output end of the linear driving component 750 is indirectly transmission-connected to the longitudinal slide 740.

[0073] In the embodiment of the present invention, the longitudinal sliding table 740 and the milk cup base 20 can be directly connected or indirectly connected. For example, an X-shaped telescopic arm 780 is transmission-connected between the longitudinal sliding table 740 and the milk cup base 20. The details are as follows: Figure 3 and Figure 5 The longitudinal sliding table 740 is connected to an X-shaped telescopic arm 780 in a transmission manner, the X-shaped telescopic arm 780 is connected to a support seat 790 in a transmission manner, and the milk cup base 20 is movably connected to the support seat 790. The structure of the X-shaped telescopic arm 780 can be various, as follows:

[0074] For example, the X-shaped telescopic arm 780 includes at least two X-shaped telescopic units 782 connected in sequence, the two ends of the X-shaped telescopic unit 782 at the head end are slidably connected to the transverse slide 770 along the transverse direction, the intersection of one X-shaped telescopic unit 782 is pivotally connected to each other through a first pin, and the first pin is provided on the longitudinal slide 740, one of the two ends of the X-shaped telescopic unit 782 at the tail end is pivotally connected to the support seat 790, and the other is slidably connected to the support seat 790 along the transverse direction. Specifically, the transverse slide 770 is provided with a first slide groove, the first slide groove extends along the transverse direction, and the two ends of the X-shaped telescopic unit 782 at the head end are slidably connected to the first slide groove through a pivot axis; as shown in the attached figure, Figure 6As shown, the bottom of the support seat 790 is provided with a second slide groove 791 and a pivot hole 792, the second slide groove 791 extends in the lateral direction, the pivot hole 792 and the second slide groove 791 are arranged at intervals in the lateral direction, one of the two ends of the X-shaped telescopic unit 782 located at the tail end is pivotally connected to the pivot hole 792 through a pivot axis, and the other is slidably connected to the second slide groove 791 through a pivot axis; wherein, the first pin shaft is arranged on the longitudinal sliding platform 740, which means that the first pin shaft can be fixed on the longitudinal sliding platform 740, or can be pivotally connected to the longitudinal sliding platform 740 around the vertical direction. In this way, the size of the driving component connected to the longitudinal sliding platform 740 can be reduced, and the displacement of the driving component is amplified by the extension and contraction of the X-shaped telescopic arm 780, so that the displacement of the support seat 790 in the longitudinal direction is amplified.

[0075] For example, as attached Figure 3-Figure 6 As shown, the X-shaped telescopic arm 780 includes a V-shaped telescopic unit 781 and at least one X-shaped telescopic unit 782 connected in sequence, the intersection parts of the V-shaped telescopic units 781 are pivoted to each other through a second pin shaft, and the second pin shaft is arranged on the transverse slide 770, wherein the intersection parts of one X-shaped telescopic unit 782 are pivoted to each other through a first pin shaft, and the first pin shaft is arranged on the longitudinal slide 740, and one of the two ends of the X-shaped telescopic unit 782 located at the tail end is pivoted to the support seat 790, and the other is slidably connected to the support seat 790 along the transverse direction. Specifically, the second pin shaft is arranged on the transverse slide 770, which means that the second pin shaft can be fixed on the transverse slide 770 or can be pivoted to the transverse slide 770 around the vertical direction; the first pin shaft is arranged on the longitudinal slide 740, which means that the first pin shaft can be fixed on the longitudinal slide 740 or can be pivoted to the longitudinal slide 740 around the vertical direction; the bottom of the support seat 790 is provided with a second slide groove 791 and a pivot hole 792, the second slide groove 791 extends along the transverse direction, the pivot hole 792 and the second slide groove 791 are arranged at intervals along the transverse direction, one of the two ends of the X-shaped telescopic unit 782 at the tail end is pivoted to the pivot hole 792 through a pivot shaft, and the other is slidably connected to the second slide groove 791 through a pivot shaft. In this way, the size of the driving component connected to the longitudinal slide 740 can be reduced, and the displacement of the driving component is amplified by the extension and contraction of the X-shaped telescopic arm 780, so that the displacement of the support seat 790 along the longitudinal direction is amplified.

[0076] In addition to the linear drive component 750 mentioned above, the drive component may also be a rotary drive component, as follows:

[0077] For example, a rotating drive component is arranged on the transverse slide 770, and a screw and a nut are transmission-connected between the power output end of the rotating drive component and the longitudinal slide 740; specifically, the rotating drive component is a motor, and the motor is arranged on the transverse slide 770. A screw is fixedly provided on the motor shaft of the motor, and the screw is threadedly connected to the nut. The nut is slidably connected to the longitudinal slide rail 730 along the longitudinal direction and is fixed to the longitudinal slide 740. The motor shaft drives the screw to rotate, and the screw drives the nut to drive the longitudinal slide 740 to move along the longitudinal direction; the longitudinal slide 740 is connected to a support seat 790, and the milk cup base 20 is movably connected to the support seat 790.

[0078] For another example, the longitudinal sliding table 740 can also be connected to a multi-stage nested telescopic arm in a transmission connection, and the multi-stage nested telescopic arm is connected to the support seat 790 in a transmission connection, and the milk cup base 20 is movably connected to the support seat 790. The existing multi-stage nested telescopic arm can be used as long as it can achieve the telescopic function to extend the stroke, and is not limited here. In this way, through the nested multi-stage design, a larger telescopic range can be achieved, and it can also be contracted to a smaller size.

[0079] In the embodiment of the present invention, the milk cup base 20 is movably connected to the support base 790 in any manner, and can be connected to the support base 790 by vacuum adsorption, magnetic adsorption, rope fixing or clamping.

[0080] In the embodiment of the present invention, see the attached Figure 1 One end of the mechanical arm 30 is pivotally connected to the longitudinal displacement seat 430 and can rotate relative to the longitudinal displacement seat 430 in a vertical direction. In this way, the mechanical arm 30 can be rotated and extended to the milking area to engage with the teat cup base 20, and the mechanical arm 30 can also be rotated and retracted away from the milking area to avoid collision with the cow.

[0081] In the embodiment of the present invention, one end of the mechanical arm 30 is connected to a first rotating driving member, which is disposed on the longitudinal shift seat 430 and is used to drive the mechanical arm 30 to rotate in a vertical direction relative to the longitudinal shift seat 430. The first rotating driving member includes a motor and a reducer.

[0082] In the embodiment of the present invention, see the attached Figure 1 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 displacement seat 430, and the other end is pivoted to the second arm 320. The end of the second arm 320 can be engaged with or disengaged from the milk cup base 20, and can rotate relative to the first arm 310 in a vertical direction.

[0083] In the embodiment of the present invention, the first rotation driving member is transmission-connected to the first arm 310, and is used to drive the first arm 310 to rotate in a vertical direction relative to the longitudinal displacement seat 430; the second arm 320 is transmission-connected to the second rotation driving member, and the second rotation driving member is provided on the first arm 310, and is used to drive the second arm 320 to rotate in a vertical direction relative to the first arm 310. The second rotation driving member includes a motor and a reducer.

[0084] In the embodiment of the present invention, see the attached Figure 2 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 teat cup set 210 of the teat cup base 20 to be attached to the animal's teat.

[0085] 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 robot, characterized in that: include: A frame (10), wherein the regions on opposite sides of the frame (10) are configured as: milking areas spaced apart along a longitudinal direction; A teat cup base (20) having at least two and arranged at intervals along the longitudinal direction; the teat cup base (20) is provided with a teat cup set (210), the teat cup set (210) being used to be attached to an animal teat; and, A mechanical arm (30) is transmission-connected to a longitudinal drive assembly (40), wherein the longitudinal drive assembly (40) is mounted on the frame (10) and is used to drive the mechanical arm (30) to reciprocate along the longitudinal direction in the milking area to engage with or disengage from the teat cup base (20); if the mechanical arm (30) is engaged with one of the teat cup bases (20), the mechanical arm (30) can drive the teat cup base (20) to move to a preset position corresponding to the milking area; if the mechanical arm (30) is disengaged from the teat cup base (20), the teat cup base (20) is relatively fixed to the frame (10).

2. The milking robot according to claim 1, characterized in that: If the robotic arm (30) is engaged with the teat cup base (20) of one of the milking areas and drives the teat cup group (210) of the milking area to be attached to the teat of the animal in the milking area, the robotic arm (30) can be separated from the teat cup base (20) of the milking area and move along the longitudinal movement direction to engage with the teat cup base (20) of another milking area and drive the teat cup group (210) of the milking area to be attached to the teat of the animal in the milking area; And / or, the mechanical arm (30) is joined to the teat cup base (20) by vacuum adsorption, magnetic adsorption or clamping.

3. The milking robot according to claim 2, characterized in that: The longitudinal movement drive assembly (40) includes a longitudinal movement drive member, a longitudinal movement guide rail (420) and a longitudinal movement seat (430) slidably connected to the longitudinal movement guide rail (420), the longitudinal movement guide rail (420) extends along the longitudinal movement direction, the longitudinal movement drive member and the longitudinal movement guide rail (420) are both installed on the frame (10), the longitudinal movement drive member is transmission-connected to the longitudinal movement seat (430) for driving the longitudinal movement seat (430) to move along the longitudinal movement guide rail (420), and the mechanical arm (30) is transmission-connected to the longitudinal movement seat (430).

4. The milking robot according to claim 3, characterized in that: The frame (10) is provided with a transverse driving assembly (50), the transverse driving assembly (50) comprising a transverse driving member, a transverse guide rail (520) and a transverse seat (530) slidably connected to the transverse guide rail (520), the transverse guide rail (520) extending along a transverse direction; the transverse driving member is drivingly connected to the transverse seat (530) and is used to drive the transverse seat (530) to move along the transverse guide rail (520), wherein the transverse direction is perpendicular to the longitudinal direction; The transverse driving member and the transverse guide rail (520) are both arranged on the frame (10), and the longitudinal driving member and the longitudinal guide rail (420) are both arranged on the transverse seat (530).

5. The milking robot according to claim 4, characterized in that: The frame (10) is provided with a lifting drive assembly (60), the lifting drive assembly (60) comprising a lifting drive member (610), a lifting guide rail (620) and a lifting seat (630) slidably connected to the lifting guide rail (620), wherein the lifting guide rail (620) extends in a vertical direction; the lifting drive member (610) is drivingly connected to the lifting seat (630) and is used to drive the lifting seat (630) to move along the lifting guide rail (620), wherein the vertical direction, the lateral direction and the longitudinal direction are perpendicular to each other; The lifting drive component (610) and the lifting guide rail (620) are respectively arranged on the frame (10), and the transverse movement drive component and the transverse movement guide rail (520) are both arranged on the lifting seat (630).

6. The milking robot according to claim 5, characterized in that: The lifting seat (630) is fixedly provided with a lifting connection beam (640); The frame (10) is slidably connected to a support structure (70), the support structure (70) having at least two portions and arranged at intervals on opposite sides of the lifting connection beam (640) along the longitudinal direction, the support structure (70) being configured to: support the teat cup base (20) of the corresponding milking area; The support structure (70) can be engaged with or disengaged from the lifting connection beam (640); when the two are engaged, the support structure (70) can follow the lifting connection beam (640) to move along the vertical direction.

7. The milking robot according to claim 6, characterized in that: The frame (10) is provided with a lifting slide rail (710) extending along the vertical direction; The support structure (70) comprises a lifting slide (720), the lifting slide (720) is slidably connected to the lifting slide rail (710), and the milk cup base (20) is supported by the lifting slide (720).

8. The milking robot according to claim 7, characterized in that: The support structure (70) further comprises a longitudinal slide rail (730) and a longitudinal slide table (740); the longitudinal slide rail (730) is arranged on the lifting slide table (720) and extends along the longitudinal direction; the longitudinal slide table (740) is transmission-connected with a driving component, the driving component is used to drive the longitudinal slide table (740) to move along the longitudinal slide rail (730); the driving component is arranged on the lifting slide table (720); and the milk cup base (20) is supported on the longitudinal slide table (740).

9. The milking robot according to claim 8, characterized in that: The lifting slide (720) is provided with a transverse slide rail (760) and a transverse slide platform (770), wherein the transverse slide rail (760) extends along the transverse direction, and the transverse slide platform (770) is slidably connected to the transverse slide rail (760); The longitudinal slide rail (730) and the driving component are both arranged on the transverse slide (770), and the transverse slide (770) can engage with or disengage from the lifting connecting beam (640). When the two are combined, the transverse slide (770) can follow the lifting connecting beam (640) to move along the vertical direction.

10. The milking robot according to claim 9, characterized in that: One of the lifting connecting beam (640) and the transverse sliding platform (770) is provided with a telescopic driving member and a locking pin (641), and the other is provided with a locking hole (771); the telescopic driving member is transmission-connected to the locking pin (641) and is used to drive the locking pin (641) to extend to lock in the locking hole (771) or retract to disengage from the locking hole (771).

11. The milking robot according to claim 9, characterized in that: The driving component is a linear driving component (750), and the linear driving component (750) is arranged on the transverse sliding platform (770) and is transmission-connected to the longitudinal sliding platform (740); The longitudinal sliding platform (740) is transmission-connected to an X-shaped telescopic arm (780), the X-shaped telescopic arm (780) is transmission-connected to a support seat (790), and the milk cup base (20) is movably connected to the support seat (790); The X-shaped telescopic arm (780) includes at least two X-shaped telescopic units (782) connected in series, the two ends of the X-shaped telescopic unit (782) located at the head end are slidably connected to the transverse sliding table (770) along the transverse direction, the intersections of one of the X-shaped telescopic units (782) are pivotally connected to each other through a first pin, and the first pin is arranged on the longitudinal sliding table (740), one of the two ends of the X-shaped telescopic unit (782) located at the tail end is pivotally connected to the support seat (790), and the other is slidably connected to the support seat (790) along the transverse direction; or, the X-shaped telescopic arm (780) The arm (780) includes a V-shaped telescopic unit (781) and at least one X-shaped telescopic unit (782) connected in sequence, the intersection of the V-shaped telescopic unit (781) is pivoted to each other through a second pin shaft, the second pin shaft is arranged on the transverse slide (770), the intersection of one of the X-shaped telescopic units (782) is pivoted to each other through a first pin shaft, and the first pin shaft is fixed to the longitudinal slide (740), one of the two ends of the X-shaped telescopic unit (782) located at the rear end is pivoted to the support seat (790), and the other is slidably connected to the support seat (790) along the transverse direction.

12. The milking robot according to any one of claims 3 to 11, characterized in that: One end of the mechanical arm (30) is pivotally connected to the longitudinal shift seat (430) and is capable of rotating relative to the longitudinal shift seat (430) in a vertical direction.

13. The milking robot according to claim 12, characterized in that The mechanical arm (30) comprises a first arm (310) and a second arm (320); one end of the first arm (310) is pivotally connected to the longitudinal displacement seat (430), and the other end is pivotally connected to the second arm (320); the end of the second arm (320) can be engaged with or disengaged from the milk cup base (20), and can rotate relative to the first arm (310) in a vertical direction.

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