A milking robot

Abstract

The application provides a milking robot, which comprises a frame, a teat cup base and a mechanical arm, opposite side regions of the frame are provided with milking areas at intervals along a longitudinal movement direction; the teat cup base has at least two teat cup bases provided at intervals along the longitudinal movement direction; the teat cup base is provided with a teat cup group for being attached to an animal teat; the mechanical arm is drivingly connected with a longitudinal movement driving assembly, the longitudinal movement driving assembly is installed on the frame and is used for driving the mechanical arm to reciprocate along the longitudinal movement direction in the milking areas to engage or disengage with the teat cup base; if the mechanical arm engages with one of the teat cup bases, the mechanical arm can drive the teat cup base to move to a preset position of the corresponding milking area; if the mechanical arm disengages from the teat cup base, the teat cup base is relatively fixedly arranged on the frame. Taking the milking of a dairy cow as an example, the milking robot provided by the application can share one mechanical arm by at least two milking areas, thereby saving milking time, improving milking efficiency and reducing the overall manufacturing cost of the milking robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of milking technology, in particular to a milking robot. BACKGROUND

[0002] With the improvement of living standards, people's demand for dairy products increases. Milking is a very heavy work in the process of dairy animal breeding. In order to reduce labor intensity and prevent secondary pollution of milk source caused by manual milking, robots are applied to dairy animal breeding industry. Robot automatic milking can not only reduce labor intensity and save labor cost, but also greatly improve production efficiency.

[0003] In the prior art, the milking robot can only milk the animal teats in one milking area, and the milking efficiency is low. SUMMARY

[0004] The present application provides a milking robot, which is used to solve the technical problem that the milking robot in the prior art can only milk the animal teats in one milking area, and the milking efficiency is low.

[0005] The present application provides a milking robot, which comprises:

[0006] A rack, opposite sides of the rack are configured as milking areas arranged at intervals along a longitudinal movement direction;

[0007] A milk cup base, having at least two and arranged at intervals along the longitudinal movement direction; the milk cup base is provided with a milk cup group, the milk cup group is used for attaching to the animal teats; and

[0008] A mechanical arm, a longitudinal movement driving assembly is drivingly connected to the mechanical arm, the longitudinal movement driving assembly is installed on the rack, and is used for driving the mechanical arm to reciprocate in the milking area along the longitudinal movement direction to engage or disengage with the milk cup base; if the mechanical arm engages with one of the milk cup bases, the mechanical arm can drive the milk cup base to move to a preset position of the corresponding milking area; if the mechanical arm disengages from the milk cup base, the milk cup base is relatively fixedly arranged on the rack.

[0009] Optionally, if the mechanical arm engages with the milk cup base of one of the milking areas and drives the milk cup group of the milking area to attach to the animal teats of the milking area, the mechanical arm can disengage from the milk cup base of the milking area and move along the longitudinal movement direction to engage with the milk cup base of another milking area and drive the milk cup group of the milking area to attach to the animal teats of the milking area.

[0010] And / or, the mechanical arm engages with the milk cup base by means of vacuum adsorption, magnetic adsorption or clamping.

[0011] Optionally, the longitudinal movement driving assembly comprises a longitudinal movement driving 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 driving member and the longitudinal movement guide rail are both mounted on the rack, the longitudinal movement driving member is drivingly connected to the longitudinal movement seat for driving the longitudinal movement seat to move along the longitudinal movement guide rail; the mechanical arm is drivingly connected to the longitudinal movement seat.

[0012] Optionally, the rack is provided with a transverse movement driving assembly, the transverse movement driving assembly comprises a transverse movement driving member, a transverse movement guide rail and a transverse movement seat slidably connected to the transverse movement guide rail, the transverse movement guide rail extends along a transverse movement direction; the transverse movement driving member is drivingly connected to the transverse movement seat for driving the transverse movement seat to move along the transverse movement guide rail, wherein the transverse movement direction is perpendicular to the longitudinal movement direction.

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

[0014] Optionally, the rack is provided with a lifting driving assembly, the lifting driving assembly comprises a lifting driving member, a lifting guide rail and a lifting seat slidably connected to the lifting guide rail, the lifting guide rail extends along a vertical direction; the lifting driving member is drivingly connected to the lifting seat for driving the lifting seat to move along the lifting guide rail, wherein the vertical direction, the transverse movement direction and the longitudinal movement direction are perpendicular to each other.

[0015] The lifting driving member and the lifting guide rail are both arranged on the rack, and the transverse movement driving member and the transverse movement guide rail are both arranged on the lifting seat.

[0016] Optionally, the lifting seat is fixedly provided with a lifting connecting beam.

[0017] The rack is slidably connected with a support structure, the support structure has at least two and is arranged on opposite sides of the lifting connecting beam along the longitudinal movement direction, and 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 connecting beam, when the two are engaged, the support structure can move along the vertical direction with the lifting connecting beam.

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

[0020] The support structure comprises a lifting slide table, the lifting slide table is slidably connected to the lifting slide rail, and the teat cup base is supported on the lifting slide table.

[0021] Optionally, the support structure further comprises a longitudinal sliding rail and a longitudinal sliding table, the longitudinal sliding rail is arranged on the lifting sliding table and extends along the longitudinal direction, the longitudinal sliding table is slidingly connected to the longitudinal sliding rail and is drivingly connected with a driving component, the driving component is arranged on the lifting sliding table, and the cup base is supported on the longitudinal sliding table.

[0022] Optionally, the lifting sliding table is provided with a transverse sliding rail and a transverse sliding table, the transverse sliding rail extends along the transverse direction, and the transverse sliding table is slidingly connected to the transverse sliding rail.

[0023] The longitudinal sliding rail and the driving component are arranged on the transverse sliding table, and the transverse sliding table can be engaged with or separated from the lifting connecting beam, and when the two are combined, the transverse sliding table can move along the vertical direction with the lifting connecting beam.

[0024] Optionally, one of the lifting connecting beam and the transverse sliding table is provided with a telescopic driving member and a clamping pin, and the other is provided with a clamping hole; the telescopic driving member is drivingly connected to the clamping pin, and is used to drive the clamping pin to extend to be clamped in the clamping hole or to retract to be separated from the clamping hole.

[0025] Optionally, the driving component is a linear driving component, the linear driving component is arranged on the transverse sliding table and is drivingly connected to the longitudinal sliding table.

[0026] The longitudinal sliding table is drivingly connected with an X-shaped telescopic arm, the X-shaped telescopic arm is drivingly connected with a support seat, and the cup base is movably connected to the support seat.

[0027] The X-shaped telescopic arm comprises at least two X-shaped telescopic units connected in sequence, two end heads of the X-shaped telescopic unit located at the leading end are slidingly connected to the transverse sliding table along the transverse direction, the intersection portions of one of the X-shaped telescopic units are pivotally connected to each other through a first pin shaft, and the first pin shaft is arranged on the longitudinal sliding table, one of the two end heads of the X-shaped telescopic unit located at the trailing end is pivotally connected to the support seat, and the other is slidingly connected to the support seat along the transverse direction; or, the X-shaped telescopic arm comprises a V-shaped telescopic unit and at least one X-shaped telescopic unit connected in sequence, the intersection portions of the V-shaped telescopic unit are pivotally connected to each other through a second pin shaft, the second pin shaft is arranged on the transverse sliding table, the intersection portions of one of the X-shaped telescopic units are pivotally connected to each other through a first pin shaft, and the first pin shaft is fixedly arranged on the longitudinal sliding table, one of the two end heads of the X-shaped telescopic unit located at the trailing end is pivotally connected to the support seat, and the other is slidingly connected to the support seat along the transverse direction.

[0028] Optionally, one end of the mechanical arm is pivotally connected to the longitudinal seat and can rotate relative to the longitudinal seat around the vertical direction.

[0029] Optionally, the mechanical arm comprises a first arm and a second arm, one end of the first arm is pivoted to the longitudinal moving base, the other end is pivoted to the second arm; the end of the second arm can be engaged with or separated from the teat cup base, and can rotate relative to the first arm in the vertical direction.

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

[0031] Taking the application of the milking robot in milking of a dairy cow as an example, the milking robot provided by the application drives the teat cup group of the teat cup base of the milking area to be attached to a dairy cow's udder for milking operation by controlling the mechanical arm to move in the longitudinal moving direction to one of the milking areas and engage the teat cup base of the corresponding milking area, and during the milking operation of the dairy cow in the milking area, the mechanical arm can move in the longitudinal moving direction to another milking area and engage the teat cup base of the milking area after being separated from 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 dairy cow's udder for milking operation, and two dairy 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 mechanical arm, thereby reducing the overall manufacturing cost of the milking robot and the size of the milking robot. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The drawing shows the arrangement structure of the milking robot and the milking area provided by the embodiment of the application; wherein the vertical direction is OZ direction, the transverse moving direction is OX direction, and the longitudinal moving direction is OY direction;

[0033] Figure 2 The drawing shows the engagement state of the mechanical arm and the teat cup base in the milking robot provided by the embodiment of the application;

[0034] Figure 3 The drawing shows the isometric view of the milking robot provided by the embodiment of the application; Figure 2

[0035] Figure 4 The drawing shows the partial structure of the milking robot provided by the embodiment of the application;

[0036] Figure 5 The drawing shows the partial enlarged structure of the part A in the circle; Figure 4

[0037] Figure 6 The drawing shows the bottom structure of the milking robot provided by the embodiment of the application.

[0038] Explanation of reference signs:

[0039] 1-milking robot;

[0040] ​​10 - rack;

[0041] 20 - cup base; 210 - cup group;

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

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

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

[0045] 60 - lifting driving assembly; 610 - lifting driving part; 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 table; 730 - longitudinal movement slide rail; 750 - linear driving part; 740 - longitudinal movement slide table; 780 - X-shaped telescopic arm; 781 - V-shaped telescopic unit; 782 - X-shaped telescopic unit; 760 - transverse movement slide rail; 770 - transverse movement slide table; 771 - clamping hole; 790 - support seat; 791 - second sliding groove; 792 - pivoting hole. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following will combine the attached drawings to make a specific description. Figures 1-6 The specific embodiments of the present application are described in detail.

[0048] In the present application, the terms "connection", "connection" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection or integral structure.

[0049] In the present application, the terms "vertical direction", "transverse movement direction", "longitudinal movement direction" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation to the present application.

[0050] The embodiment of the present application provides a milking robot 1, referring to the attached drawings Figure 1 and Figure 2The milking robot 1 includes a frame 10, milk cup bases 20, and a robotic arm 30. The frame 10 is configured with milking zones spaced apart along the longitudinal direction on opposite sides. Specifically, there are at least two milking zones spaced apart along the longitudinal direction, and the milking robot 1 is located between the two milking zones, sharing the space between them. The milk cup bases 20 are at least two and spaced apart along the longitudinal direction. For example, as shown in the attached diagram... Figure 2 As shown, there are two milk cup bases 20 spaced apart along the longitudinal direction. In addition, there may be three or other quantities of milk cup bases 20. The milk cup base 20 is provided with a milk cup assembly 210, which is used to attach to the animal's teat. The robotic arm 30 is connected to a longitudinal movement drive assembly 40, which is mounted on the frame 10 and is used to drive the robotic arm 30 to reciprocate along the longitudinal direction in the milking area to engage or disengage with the milk cup base 20. If the robotic arm 30 engages with one of the milk cup bases 20, the robotic arm 30 can drive the milk cup base 20 to move to the preset position of the corresponding milking area. If the robotic arm 30 disengages from the milk cup base 20, the milk cup base 20 is relatively fixed to the frame 10.

[0051] In this embodiment of the invention, the animal teat can be a cow's teat, a sheep's teat, a camel's teat, or the teat of other milk-producing animals. Taking the application of this milking robot 1 to cow milking as an example, compared with the prior art, where the milking robot 1 can only milk cows in one milking zone and requires waiting for a cow that has finished milking to leave the milking zone before another cow that has not yet been milked enters the milking zone for milking, the milking robot 1 provided in this embodiment of the invention controls the robotic arm 30 to move longitudinally in one of the milking zones and engage with the corresponding milk cup base 20 of the milking zone, so as to drive the milk cup assembly 210 of the milk cup base 20 of the milking zone to attach to a cow's teat for milking. During the milking operation of the cow in the milking zone, the mechanical... After the arm 30 detaches from the milk cup base 20 of the milking area, it can move longitudinally to another milking area and engage with the milk cup base 20 of that milking area. This allows the milk cup assembly 210 of the milk cup base 20 of that milking area to be attached to another cow's milk head for milking operations. In other words, it is not necessary to wait for a cow that has finished milking to leave one milking area before milking a cow in another milking area. Both cows can be milked simultaneously, thus 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 also reduces the size of the milking robot 1.

[0052] In this embodiment of the invention, if the robotic arm 30 engages with the milk cup base 20 of one milking area and drives the milk cup assembly 210 of that milking area to attach to the animal teat of that milking area, the robotic arm 30 can disengage from the milk cup base 20 of that milking area and move in the longitudinal direction to engage with the milk cup base 20 of another milking area and drive the milk cup assembly 210 of that milking area to attach to the animal teat of that milking area.

[0053] Taking two milking areas, milking area A and milking area B, sharing a single robotic arm 30 as an example, milk cup base 20A and cow A correspond to milking area A, and milk cup base 20B and cow B correspond to milking area B. The working principle of a milking robot 1 provided in this embodiment of the invention is as follows: First, the robotic arm 30 is controlled to move along the longitudinal direction to engage with milk cup base 20A and drive milk cup base 20A to a preset position in milking area A, and the milk cup assembly 210 of milk cup base 20A is controlled to attach to the teat of cow A; during the milking process of cow A in milking area A, the robotic arm 30 disengages from milk cup base 20A, and the robotic arm 30 is controlled to move in the opposite direction of the longitudinal direction to engage with milk cup base 20B and drive milk cup base 20B to the teat of cow B. Cow B moves to a preset position in milking area B, and controls the milk cup assembly 210 of the milk cup base 20B to attach to the teat of cow B. During the milking of cow B in milking area B, the robotic arm 30 disengages from the milk cup base 20B and moves in the longitudinal direction to engage with the milk cup base 20A after milking, disengaging the milk cup assembly 210 of the milk cup base 20A from the teat of cow A and placing the milk cup base 20A at a certain position on the frame 10. Then, the robotic arm 30 moves again in the opposite direction of the longitudinal direction to engage with the milk cup base 20B after milking, disengaging the milk cup assembly 210 of the milk cup base 20B from the teat of cow B and placing the milk cup base 20B at a certain position on the frame 10, and so on. Therefore, the milking robot 1 provided in this embodiment of the invention utilizes a robotic arm 30 connected to a milk cup base 20A. During the milking period after the milk cup assembly 210 of the milk 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 connect to the milk cup base 20B, and the milk cup assembly 210 of the milk cup base 20B is attached to the teat of cow B in milking area B for milking. The milking time of cow A and cow B partially overlaps, thereby improving milking efficiency.

[0054] In this embodiment of the invention, the robotic arm 30 can be attached to the milk cup base 20 by vacuum adsorption, magnetic adsorption or clamping.

[0055] In this embodiment of the invention, see appendix. Figure 2The longitudinal drive assembly 40 includes a longitudinal drive component, 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. Both the longitudinal drive component and the longitudinal guide rail 420 are mounted on the frame 10. The longitudinal drive component is driveably connected to the longitudinal seat 430 to drive the longitudinal seat 430 to move along the longitudinal guide rail 420. The robotic arm 30 is driveably connected to the longitudinal seat 430. The phrase "both the longitudinal drive component and the longitudinal guide rail 420 are mounted on the frame 10" means that the longitudinal drive component and the longitudinal guide rail 420 can be directly mounted on the frame 10 or indirectly mounted on the frame 10. This configuration allows the longitudinal drive component to drive the longitudinal seat 430, thereby causing the robotic arm 30 to reciprocate along the longitudinal direction, enabling the robotic arm 30 to move between different milking zones to engage or disengage from the milk cup base 20 in different milking zones.

[0056] In this embodiment of the invention, the longitudinal movement drive can be a motor, an electric push rod, or a cylinder. For example, when the longitudinal movement drive is a motor, the motor is driven by a transmission assembly, which may include a driving wheel, a driven wheel, and a transmission belt meshing with both. The driving wheel is driven by the motor, the driven wheel is pivotally connected to the frame 10, and the longitudinal movement seat 430 is fixed to the transmission belt. Alternatively, when the longitudinal movement drive is a motor, the motor is driven by a transmission assembly, which may include a lead screw and a nut. The nut is threaded onto the lead screw and fixed to the longitudinal movement seat 430. The motor is driven by the lead screw, and the motor drives the lead screw to move the longitudinal movement seat 430 along the longitudinal movement guide rail 420 via the nut. Another example, when the longitudinal movement drive is a motor, the motor is driven by a transmission assembly, which may include a gear and a rack. The gear is driven by the motor, and the gear is driven by the rack. The rack is parallel to the longitudinal movement guide rail 420 and fixed to the longitudinal movement seat 430. The motor drives the gear to rotate, and the gear drives the rack to move the longitudinal movement seat 430 along the longitudinal direction.

[0057] In this embodiment of the invention, see appendix. Figure 2The frame 10 may also be provided with a transverse drive assembly 50, which includes a transverse drive component, a transverse guide rail 520, and a transverse seat 530 slidably connected to the transverse guide rail 520. The transverse guide rail 520 extends along the transverse direction. The transverse drive component is drively 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 drive component and the transverse guide rail 520 are both located on the frame 10, and the longitudinal drive component and the longitudinal guide rail 420 are both located on the transverse seat 530. The transverse direction is perpendicular to the longitudinal direction. The phrase "the transverse drive component and the transverse guide rail 520 are both located on the frame 10" means that the transverse drive component and the transverse guide rail 520 are both directly or indirectly located on the frame 10. This configuration enables the lateral drive unit to drive the lateral shift seat 530 to move the longitudinal shift seat 430 along the lateral direction, so that the robotic arm 30 can move closer to or further away from the milk cup base 20 along the lateral direction to engage or disengage from the milk cup base 20. In addition, when the robotic arm 30 engages with the milk cup base 20, the position of the milk cup base 20 relative to the cow along the lateral direction can be adjusted 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 this embodiment of the invention, the lateral movement drive can be a motor, an electric push rod, or a cylinder. For example, when the lateral movement drive is a motor, the motor is driven by a transmission assembly, which may include a drive wheel, a driven wheel, and a transmission belt meshing with both. The drive wheel is driven by the motor, the driven wheel is pivotally connected to the frame 10, and the lateral movement seat 530 is fixed to the transmission belt. Alternatively, when the lateral movement drive is a motor, the motor is driven by a transmission assembly, which may include a lead screw and a nut. The nut is threaded onto the lead screw and fixed to the lateral movement seat 530. The motor is driven by the lead screw, and the motor drives the lead screw to move the lateral movement seat 530 along the lateral movement guide rail 520 via the nut. Another example, when the lateral movement drive is a motor, the motor is driven by a transmission assembly, which may include a gear and a rack. The gear is driven by the motor, and the gear is driven by the rack. The rack is parallel to the lateral movement guide rail 520 and fixed to the lateral movement seat 530. The motor drives the gear to rotate, and the gear drives the rack to move the lateral movement seat 530 along the lateral direction.

[0059] In this embodiment of the invention, see appendix. Figure 2The frame 10 may also be provided with a lifting drive assembly 60, which includes a lifting drive component 610, a lifting guide rail 620, and a lifting seat 630 slidably connected to the lifting guide rail 620. The lifting guide rail 620 extends in the vertical direction. The lifting drive component 610 is connected to the lifting seat 630 for driving the lifting seat 630 to move along the lifting guide rail 620. The lifting drive component 610 and the lifting guide rail 620 are respectively provided on the frame 10, and the transverse drive component and the transverse guide rail 520 are both provided on the lifting seat 630. The vertical direction, the transverse direction, and the longitudinal direction are perpendicular to each other. This configuration enables the lifting drive unit 610 to drive the lifting seat 630, which in turn drives the transverse shift seat 530, the longitudinal shift seat 430, and the robotic arm 30 to move in the vertical direction. When the robotic arm 30 engages with the milk cup base 20, the height of the milk cup base 20 can be adjusted, thereby adjusting the height of the milk cup assembly 210. This adapts to the height of the teats of different cows, improving the practicality of the milking robot 1.

[0060] In this embodiment of the invention, the number of lifting guide rails 620, transverse guide rails 520, and longitudinal guide rails 420 is not limited; each can be one, two, or other quantities. Preferably, see Appendix. Figure 2 There are two lifting guide rails 620, which are spaced apart along the longitudinal direction on the frame 10; there are two transverse guide rails 520, which are spaced apart along the longitudinal direction on the lifting seat 630; there are two longitudinal guide rails 420, which are spaced apart along the transverse direction on the transverse seat 530.

[0061] In this embodiment of the invention, the lifting drive component 610 can be a motor, an electric push rod, or a cylinder. For example, when the lifting drive component 610 is a motor, the motor is driven by a transmission assembly, which may include a drive wheel, a driven wheel, and a transmission belt meshing with both. The drive wheel is driven by the motor, and both the drive wheel and the driven wheel are pivotally connected to the frame 10. The lifting seat 630 is fixed to the transmission belt. Alternatively, when the lifting drive component 610 is a motor, the motor is driven by a transmission assembly, which may include a lead screw and a nut. The nut is threaded onto the lead screw and fixed to the lifting seat 630. The motor is driven by the lead screw, and the motor drives the lead screw to move the lifting seat 630 along the lifting guide rail 620 via the nut. Another example, when the lifting drive component 610 is a motor, the motor is driven by a transmission assembly, which may include a gear and a rack. The gear is driven by the motor, and the gear is driven by the rack. The rack is parallel to the 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 move the lifting seat 630 along the lifting direction.

[0062] In this embodiment of the invention, see appendix. Figures 2-5The frame 10 is slidably connected to a support structure 70, which supports the milk cup base 20 of the corresponding milking area. The support structure 70 can move vertically. The support structure 70 can share the lifting drive component 610 with the lifting seat 630, or it can be independent of the lifting seat 630, that is, the lifting drive component 610 is set separately. Specifically, for example, taking the support structure 70 and the lifting seat 630 sharing the lifting drive component 610 as an example, see the appendix. Figure 3 and Figure 5 The lifting seat 630 is fixedly provided 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 support structure 70, which has at least two supports and is spaced apart on opposite sides of the lifting connecting beam 640 in the longitudinal direction, for example, as shown in the attached figure. Figure 3 As shown, the support structure 70 has two parts and is spaced apart along the longitudinal direction on opposite sides of the lifting connecting beam 640; the support structure 70 is configured to support the milk cup base 20 of the corresponding milking area; the support structure 70 can be engaged or disengaged from the lifting connecting beam 640, and when engaged, the support structure 70 can follow the lifting connecting beam 640 to move in the vertical direction.

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

[0064] Taking two support structures 70 as an example, the support structures 70 are support structure 70A and support structure 70B. Support structure 70A is used to support milk cup base 20A and corresponds to milking area A. Support structure 70B is used to support milk cup base 20B and corresponds to milking area B. The working principle of a milking robot 1 provided in this embodiment of the invention is as follows: When the support structure 70A is engaged with the lifting connecting beam 640, the lifting drive 610 drives the lifting seat 630 to move the robotic arm 30 vertically, while the lifting connecting beam 640 drives the support structure 70A to support the milk cup base 20A vertically, so that the end of the robotic arm 30 and the milk cup base 20A supported by the support structure 70A are at the same height, which facilitates the engagement of the robotic arm 30 with the milk cup base 20A supported by the support structure 70A; when the milk cup group 210 of the milk cup base 20A supported by the support structure 70A is at a certain height and adsorbed onto the teat of the cow A in the milking area A, the support structure 70A disengages from the lifting connecting beam 640 and is locked to the frame 10; wherein, the support structure 70A is locked to the frame 10 by means of a limiting pin or clamping method in the prior art. 0, which will not be elaborated further here; at this time, the lifting connecting beam 640 engages with the support structure 70B, and the lifting drive component 610 drives the lifting seat 630 again to move the robotic arm 30 in the vertical direction. At the same time, the lifting connecting arm drives the support structure 70B to support the milk cup base 20B in the vertical direction, so that the end of the robotic arm 30 and the milk cup base 20B supported by the support structure 70B are at the same height, which facilitates the robotic arm 30 engaging with the milk cup base 20B supported by the support structure 70B; that is, one of the two support structures 70 can be engaged with the lifting connecting beam 640, and the other can be detached from the lifting connecting beam 640, so that the two support structures 70 can move in the vertical direction independently following the lifting seat 630; in addition, the two support structures 70 can also be engaged with the lifting connecting beam 640 at the same time, so that the two support structures 70 can move in the vertical direction simultaneously following the lifting seat 630.

[0065] Taking a support structure 70 having two components as an example, the milking robot 1 provided in this embodiment of the invention has the following advantages: First, by setting a lifting connecting beam 640 on the lifting seat 630, when the lifting connecting beam 640 is engaged with the support structure 70 of the milk cup base 20, the support structure 70 and the robotic arm 30 move synchronously in the vertical direction. That is, the support structure 70 and the robotic arm 30 share the lifting drive component 610, which saves costs and reduces the size of the milking robot 1. Second, the support structure 70 has two components, which can be engaged with or disengaged from the lifting connecting beam 640 respectively, so that both support structures 70 can be engaged with the lifting connecting beam 640 simultaneously to move synchronously in the vertical direction, or they can be engaged with the lifting connecting beam 640 individually, 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 this embodiment of the invention, see appendix. Figure 3 and Figure 5 The frame 10 is provided with a vertically extending lifting slide rail 710; the support structure 70 includes a lifting slide 720, which is slidably connected to the lifting slide rail 710, and the milk cup base 20 is supported on the lifting slide 720. This configuration limits the movement of the milk cup base 20 in the vertical direction.

[0067] In this embodiment of the invention, see appendix. Figure 5 The support structure 70 also includes a longitudinal sliding rail 730 and a longitudinal sliding table 740. The longitudinal sliding rail 730 is located on the lifting sliding table 720 and extends along the longitudinal direction. The longitudinal sliding table 740 is driven by a driving component, which drives the longitudinal sliding table 740 to move along the longitudinal sliding rail 740. The driving component is located on the lifting sliding table 720, and the milk cup base 20 is supported on the longitudinal sliding table 740. The longitudinal sliding table 740 being driven by the driving component means that the longitudinal sliding table 740 is fixed to the power output end of the driving component or indirectly driven by it. This arrangement allows the milk cup base 20 to automatically extend into the milking area along the longitudinal direction to engage with the robotic arm 30, or to automatically retract into the milking area along the longitudinal direction, avoiding collisions with the cows.

[0068] In this embodiment of the invention, see appendix. 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 located on the transverse slide 770. The transverse slide 770 can engage or disengage with the lifting connecting beam 640. When engaged, the transverse slide 770 can follow the lifting connecting beam 640 to move in the vertical direction. This arrangement allows for easy adjustment of the relative positions of the lifting connecting beam 640 and the transverse slide 770, enabling the lifting connecting beam 640 to engage with the transverse slide 770.

[0069] In this embodiment of the 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 horizontal slide rail 760 is disposed on the first horizontal plate.

[0070] In this embodiment of the invention, see appendix. 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 engage or disengage from the lifting connecting beam 640.

[0071] In this embodiment of the invention, see appendix. Figure 5 One of the lifting connecting beam 640 and the transverse sliding table 770 is provided with a telescopic drive and a locking pin 641, while the other is provided with a locking hole 771. The telescopic drive is driven to the locking pin 641 and is used to drive the locking pin 641 to extend to engage with the locking hole 771 or retract to disengage from the locking hole 771. For example, as shown in the attached... Figure 5 As shown, the lifting connecting beam 640 is equipped with a telescopic drive component and a locking pin 641, and the transverse slide 770 is equipped with a locking hole 771; for example, the lifting connecting beam 640 is equipped with a locking hole 771, and the transverse slide 770 is equipped with a telescopic drive component and a locking pin 641. The telescopic drive component can be a cylinder or an electric push rod. This arrangement enables the engagement or disengagement of the lifting connecting beam 640 and the transverse slide 770.

[0072] In embodiments of the present invention, for example, see Appendix Figure 5 The driving component can be a linear drive component 750, which is disposed on the transverse slide 770 and drivenly connected to the longitudinal slide 740. The linear drive component 750 can be an electric actuator, a cylinder, or a linear motor. The linear drive component 750 being drivenly connected to the longitudinal slide 740 means that the longitudinal slide 740 is fixed to the power output end of the linear drive component 750; for example, the longitudinal slide 740 is fixed to the power output end of the cylinder; or, the power output end of the linear drive component 750 is indirectly drivenly connected to the longitudinal slide 740.

[0073] In this embodiment of the 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 driven between the longitudinal sliding table 740 and the milk cup base 20, as detailed below: See Appendix Figure 3 and Figure 5 The longitudinal sliding table 740 is driven by an X-shaped telescopic arm 780, which is driven by a support base 790. The milk cup base 20 is movably connected to the support base 790. The X-shaped telescopic arm 780 can have various structures, as detailed below:

[0074] For example, the X-shaped telescopic arm 780 includes at least two sequentially connected X-shaped telescopic units 782. The two ends of the first X-shaped telescopic unit 782 are slidably connected to a transverse slide 770 along the transverse direction. The intersection of one X-shaped telescopic unit 782 is pivotally connected to each other via a first pin, which is located on a longitudinal slide 740. One end of the last X-shaped telescopic unit 782 is pivotally connected to a support 790, and the other end is slidably connected to the support 790 along the transverse direction. Specifically, the transverse slide 770 is provided with a first groove extending along the transverse direction. The two ends of the first X-shaped telescopic unit 782 are slidably connected to the first groove via a pivot shaft; as shown in the attached figure. Figure 6As shown, the bottom of the support base 790 is provided with a second sliding groove 791 and a pivot hole 792. The second sliding groove 791 extends along the transverse direction, and the pivot hole 792 and the second sliding groove 791 are spaced apart along the transverse 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 via a pivot shaft, and the other end is slidably connected to the second sliding groove 791 via a pivot shaft. The first pin being located on the longitudinal sliding table 740 means that the first pin can be fixed to the longitudinal sliding table 740 or pivotally connected to the longitudinal sliding table 740 around the vertical direction. This arrangement reduces the size of the drive component that is connected to the longitudinal sliding table 740, and the displacement of the drive component is amplified by the extension and retraction of the X-shaped telescopic arm 780, thus increasing the displacement of the support base 790 along the longitudinal direction.

[0075] For example, as shown in the appendix Figures 3-6 As shown, the X-shaped telescopic arm 780 includes V-shaped telescopic units 781 and at least one X-shaped telescopic unit 782 connected in sequence. The intersection of the V-shaped telescopic units 781 is pivotally connected to each other by a second pin, which is located on the transverse slide 770. The intersection of one of the X-shaped telescopic units 782 is pivotally connected to each other by a first pin, which is located on the longitudinal slide 740. One of the two ends of the X-shaped telescopic unit 782 located at the tail end is pivotally connected to the support base 790, and the other end is slidably connected to the support base 790 along the transverse direction. Specifically, the second pin being located on the transverse slide 770 means that the second pin can be fixed to the transverse slide 770 or pivotally connected to the transverse slide 770 in the vertical direction; the first pin being located on the longitudinal slide 740 means that the first pin can be fixed to the longitudinal slide 740 or pivotally connected to the longitudinal slide 740 in the vertical direction; the bottom of the support base 790 is provided with a second slide groove 791 and a pivot hole 792. The second slide groove 791 extends along the transverse direction, and the pivot hole 792 and the second slide groove 791 are spaced apart along the transverse 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 via a pivot shaft, and the other end is slidably connected to the second slide groove 791 via a pivot shaft. This arrangement can reduce the size of the drive component that is connected to the longitudinal slide 740, and the displacement of the drive component is amplified by the extension and retraction of the X-shaped telescopic arm 780, thus amplifying the displacement of the support base 790 in the longitudinal direction.

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

[0077] For example, a rotary drive component is located on the transverse slide 770, and a lead screw and a nut are connected between the power output end of the rotary drive component and the longitudinal slide 740. Specifically, the rotary drive component is a motor, which is located on the transverse slide 770. The motor shaft of the motor is fixedly equipped with a lead screw, which is threadedly connected to a nut. The nut is slidably connected to the longitudinal slide rail 730 along the longitudinal direction and fixedly located on the longitudinal slide 740. The motor shaft drives the lead screw to rotate, and the lead screw drives the nut to move the longitudinal slide 740 along the longitudinal direction. The longitudinal slide 740 is connected to a support base 790, and the milk cup base 20 is movably connected to the support base 790.

[0078] For example, the longitudinal slide table 740 can also be connected to a multi-stage nested telescopic arm, which is connected to a support base 790. The milk cup base 20 is movably connected to the support base 790. Existing multi-stage nested telescopic arms can be used, as long as they can achieve the telescopic function to extend the stroke; no specific limitation is made here. This arrangement, through a nested multi-stage design, allows for a larger telescopic range and can also be shrunk to a smaller size.

[0079] In this embodiment of the invention, the way the milk cup base 20 is movably connected to the support base 790 is not limited. It can be connected to the support base 790 by vacuum adsorption, magnetic adsorption, rope fixing or clamping.

[0080] In this embodiment of the invention, see appendix. Figure 1 One end of the robotic arm 30 is pivotally connected to the longitudinal transfer seat 430, and it can rotate relative to the longitudinal transfer seat 430 in the vertical direction. This configuration allows the robotic arm 30 to rotate and extend into the milking area to engage with the milk cup base 20, and also allows the robotic arm 30 to rotate and retract away from the milking area to avoid collisions with the cows.

[0081] In this embodiment of the invention, one end of the robotic arm 30 is connected to a first rotation drive component, which is disposed on the longitudinal transfer seat 430 and is used to drive the robotic arm 30 to rotate relative to the longitudinal transfer seat 430 in a vertical direction. The first rotation drive component includes a motor and a reducer.

[0082] In this embodiment of the invention, see appendix. Figure 1 The robotic arm 30 includes a first arm 310 and a second arm 320. One end of the first arm 310 is pivotally connected to the longitudinal sliding seat 430, and the other end is pivotally connected to the second arm 320. The end of the second arm 320 can engage or disengage from the milk cup base 20 and can rotate relative to the first arm 310 in the vertical direction.

[0083] In this embodiment of the invention, a first rotation drive member is tractively connected to the first arm 310 and is used to drive the first arm 310 to rotate relative to the longitudinal shift seat 430 in a vertical direction; a second rotation drive member is tractively connected to the second arm 320 and is disposed on the first arm 310, and is used to drive the second arm 320 to rotate relative to the first arm 310 in a vertical direction. The second rotation drive member includes a motor and a reducer.

[0084] In this embodiment of the invention, see appendix. Figure 2 The robotic arm 30 is equipped with a vision component 330 for identifying the position of the animal's teat. This configuration guides the robotic arm 30 to attach the teat cup assembly 210 of the teat cup base 20 to the animal's teat.

[0085] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A milking robot, characterized in that, The utility model relates to a milking system, comprising: a rack (10), opposite side regions of the rack (10) are configured as milking areas arranged at intervals along a longitudinal movement direction; a milk cup base (20) having at least two milk cup bases (20) arranged at intervals along the longitudinal movement direction, each milk cup base (20) being provided with a milk cup group (210) for attaching to an animal's teat; and a mechanical arm (30) drivingly connected to a longitudinal movement driving assembly (40) mounted on the rack (10), the longitudinal movement driving assembly (40) comprising a longitudinal movement driving member, a longitudinal movement guide rail (420) extending along the longitudinal movement direction, and a longitudinal movement seat (430) slidingly connected to the longitudinal movement guide rail (420), the longitudinal movement driving member and the longitudinal movement guide rail (420) being both mounted on the rack (10), the longitudinal movement driving member being drivingly connected to the longitudinal movement seat (430), and the mechanical arm (30) being drivingly connected to the longitudinal movement seat (430), the longitudinal movement driving member being configured to drive the longitudinal movement seat (430) to move the mechanical arm (30) reciprocally along the longitudinal movement direction to engage with or disengage from the milk cup base (20), when the mechanical arm (30) engages with one of the milk cup bases (20), the mechanical arm (30) is capable of moving the milk cup base (20) to a preset position in the corresponding milking area, and when the mechanical arm (30) disengages from the milk cup base (20), the milk cup base (20) is fixedly arranged on the rack (10); the mechanical arm (30) comprises a first arm (310) and a second arm (320), one end of the first arm (310) being pivotally connected to the longitudinal movement seat (430), and the other end of the first arm (310) being pivotally connected to the second arm (320), the second arm (320) being capable of engaging with or disengaging from the milk cup base (20) and being capable of rotating relative to the first arm (310) around a vertical direction.

2. Milking robot according to claim 1, characterized in that, when the mechanical arm (30) engages with the milk cup base (20) in one of the milking areas and drives the milk cup group (210) in the milking area to attach to the animal's teat in the milking area, the mechanical arm (30) is capable of disengaging from the milk cup base (20) in the milking area and moving along the longitudinal movement direction to engage with the milk cup base (20) in another milking area and drive the milk cup group (210) in the milking area to attach to the animal's teat in the milking area; and / or, the mechanical arm (30) engages with the milk cup base (20) by means of vacuum adsorption, magnetic adsorption or clamping.

3. Milking robot according to claim 2, characterized in that, the rack (10) is provided with a transverse movement driving assembly (50) comprising a transverse movement driving member, a transverse movement guide rail (520) extending along a transverse movement direction, and a transverse movement seat (530) slidingly connected to the transverse movement guide rail (520), the transverse movement driving member being drivingly connected to the transverse movement seat (530) and configured to drive the transverse movement seat (530) to move along the transverse movement guide rail (520), wherein the transverse movement direction is perpendicular to the longitudinal movement direction. The horizontal moving driving member and the horizontal moving guide rail (520) are arranged on the rack (10), and the vertical moving driving member and the vertical moving guide rail (420) are arranged on the horizontal moving seat (530).

4. Milking robot according to claim 3, characterized in that, The rack (10) is provided with a lifting driving assembly (60), the lifting driving assembly (60) comprises a lifting driving 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 a vertical direction; the lifting driving member (610) is drivingly connected to the lifting seat (630) and used for driving the lifting seat (630) to move along the lifting guide rail (620), wherein the vertical direction, the horizontal moving direction and the vertical moving direction are perpendicular to each other; The lifting driving member (610) and the lifting guide rail (620) are arranged on the rack (10) respectively, and the horizontal moving driving member and the horizontal moving guide rail (520) are arranged on the lifting seat (630).

5. Milking robot according to claim 4, characterized in that, The lifting seat (630) is fixedly provided with a lifting connecting beam (640); The rack (10) is slidably connected with a support structure (70), the support structure (70) has at least two and is arranged on opposite sides of the lifting connecting beam (640) in the vertical moving direction, and 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 separated from the lifting connecting beam (640), and when the two are engaged, the support structure (70) can move along the vertical direction with the lifting connecting beam (640).

6. Milking robot according to claim 5, characterized in that, The rack (10) is provided with a lifting slide rail (710) extending in the vertical direction; The support structure (70) comprises a lifting slide table (720), the lifting slide table (720) is slidably connected to the lifting slide rail (710), and the teat cup base (20) is supported on the lifting slide table (720).

7. Milking robot according to claim 6, characterized in that, The support structure (70) further comprises a vertical moving slide rail (730) and a vertical moving slide table (740), the vertical moving slide rail (730) is arranged on the lifting slide table (720) and extends in the vertical moving direction, and the vertical moving slide table (740) is drivingly connected with a driving member, the driving member is used for driving the vertical moving slide table (740) to move along the vertical moving slide rail (730), the driving member is arranged on the lifting slide table (720), and the teat cup base (20) is supported on the vertical moving slide table (740).

8. Milking robot according to claim 7, characterized in that, The lifting slide table (720) is provided with a horizontal moving slide rail (760) and a horizontal moving slide table (770), the horizontal moving slide rail (760) extends in the horizontal moving direction, and the horizontal moving slide table (770) is slidably connected to the horizontal moving slide rail (760); The vertical moving slide rail (730) and the driving member are arranged on the horizontal moving slide table (770), the horizontal moving slide table (770) can be engaged with or separated from the lifting connecting beam (640), and when the two are combined, the horizontal moving slide table (770) can move along the vertical direction with the lifting connecting beam (640).

9. Milking robot according to claim 8, characterized in that, One of the lifting connecting beam (640) and the transverse moving slide table (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 in transmission connection with the clamping pin (641) for driving the clamping pin (641) to extend to be clamped in the clamping hole (771) or to retract to be disengaged from the clamping hole (771).

10. Milking robot according to claim 8, characterized in that, The driving member is a linear driving member (750) which is arranged on the transverse moving slide table (770) and in transmission connection with the longitudinal moving slide table (740). The longitudinal moving slide table (740) is in transmission connection with an X-shaped telescopic arm (780) which is in transmission connection with a support seat (790), and the milk cup base (20) is movably connected to the support seat (790). The X-shaped telescopic arm (780) comprises at least two X-shaped telescopic units (782) connected in sequence, two end heads of the X-shaped telescopic unit (782) at the leading end are slidably connected to the transverse moving slide table (770) along the transverse moving direction, one of the X-shaped telescopic units (782) is pivotally connected to the other through a first pin shaft, and the first pin shaft is arranged on the longitudinal moving slide table (740), one of the two end heads of the X-shaped telescopic unit (782) at the trailing end is pivotally connected to the support seat (790), and the other is slidably connected to the support seat (790) along the transverse moving direction; or, the X-shaped telescopic arm (780) comprises 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 pivotally connected to the other through a second pin shaft, the second pin shaft is arranged on the transverse moving slide table (770), the intersection of one of the X-shaped telescopic units (782) is pivotally connected to the other through a first pin shaft, and the first pin shaft is fixedly arranged on the longitudinal moving slide table (740), one of the two end heads of the X-shaped telescopic unit (782) at the trailing end is pivotally connected to the support seat (790), and the other is slidably connected to the support seat (790) along the transverse moving direction.

11. Milking robot according to any one of the claims 2-10, characterized in that, One end of the mechanical arm (30) is pivotally connected to the longitudinal moving seat (430) and can rotate relative to the longitudinal moving seat (430) around the vertical direction.

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