Cow milking device and cow milking method

Abstract

The invention relates to the technical field of agricultural equipment, in particular to a cow milking device and a cow milking method.The cow milking device comprises a support and a mechanical arm, a first fence is arranged at one end of the support, the mechanical arm is arranged at the other end of the support, a mounting platform is arranged at the bottom of the mechanical arm, and a plurality of suction nozzles are arranged at the top of the mounting platform; an opening is formed in the bottom of the support, the mechanical arm extends into the opening, a milk storage box and an air pump are arranged on the outer side of the support, the milk storage box is communicated with the suction nozzle through a vacuum pipe, the air pump is communicated with the top of the milk storage box, a connecting frame is arranged on the support, and a cleaning nozzle is arranged at the bottom of the connecting frame. The mechanical arm can position the suction nozzle to the breast position of the dairy cow, the suction nozzle is directly communicated to the milk storage box, external pollutants are effectively prevented from entering milk, the freshness and sanitary conditions of the milk are ensured, flowing of the milk is ensured through the design of the air pump, and meanwhile the cleaning nozzle arranged at the bottom of the connecting frame can clean the breast of the dairy cow. And the suction nozzle can be conveniently cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and particularly to a milking device for dairy cows and a milking method for dairy cows. Background Art

[0002] With the development of agricultural modernization, the traditional manual milking method has been difficult to meet the needs of large-scale pastures. Manual milking is not only inefficient, but also labor-intensive, easily leading to worker fatigue, which in turn affects the quality and yield of milk. In addition, it is difficult to strictly control the sanitary conditions during the manual operation process, increasing the risk of milk contamination. Therefore, developing an efficient and sanitary automatic milking device has become an inevitable trend in the development of modern animal husbandry.

[0003] Although the existing automatic milking equipment has improved the working efficiency to a certain extent, there are still some deficiencies. For example, some equipment has a complex structure and high maintenance costs, and is not suitable for small and medium-sized pastures; some equipment cannot fully guarantee the freshness and sanitary conditions of milk during the operation process, affecting the quality of the final product. In addition, some existing milking devices lack an effective cleaning mechanism, and are prone to dirt residue after long-term use, which has an adverse impact on the subsequent milking process. Summary of the Invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. For this purpose, the present invention provides a milking device for dairy cows and a milking method for dairy cows, which is an easily maintained and hygienic milking device for dairy cows to meet the needs of modern agriculture for high-quality and high-efficiency production tools.

[0005] A milking device for dairy cows according to some embodiments of the first aspect of the present invention includes a bracket and a robotic arm. One end of the bracket is provided with a first fence, the other end of the bracket is provided with a robotic arm, the bottom of the robotic arm is provided with a mounting platform, the top of the mounting platform is provided with a plurality of suction nozzles, the bottom of the bracket is provided with an opening, the robotic arm extends into the opening, the outside of the bracket is provided with a milk storage tank and an air pump, the milk storage tank is communicated with the suction nozzles through a vacuum tube, the air pump is communicated with the top of the milk storage tank, the bracket is provided with a connecting frame, and the bottom of the connecting frame is provided with a cleaning nozzle.

[0006] A milking device for dairy cows according to some embodiments of the first aspect of the present invention has at least the following beneficial effects:

[0007] The robotic arm of the present invention can position the suction nozzle at the position of the cow's udder. At the same time, a closed vacuum pipeline system is adopted, which is directly connected from the suction nozzle to the milk storage tank, effectively avoiding the entry of external pollutants into the milk, ensuring the freshness and hygiene conditions of the milk. The design of the air pump helps to maintain an appropriate pressure in the milk storage tank, ensuring the flow of milk. At the same time, the cleaning nozzle provided at the bottom of the connecting frame can conveniently clean the suction nozzle, ensuring hygiene. It is suitable for large-scale milking operations in large ranches and also suitable for small and medium-sized ranches.

[0008] A cow milking device according to some embodiments of the first aspect of the present invention, wherein a feeder is provided on the bracket, and the feeder is located at one end of the first fence.

[0009] A cow milking device according to some embodiments of the first aspect of the present invention, wherein an accommodation space is provided inside the bracket, an avoidance hole is provided outside the accommodation space, the avoidance hole is correspondingly arranged with the feeder, a rotating motor is provided on the inner wall of the accommodation space, a rotating shaft is provided at the edge of the feeder, the output end of the rotating motor is connected to the rotating shaft, and a protective fence is provided outside the feeder.

[0010] A cow milking device according to some embodiments of the first aspect of the present invention, including a second fence. A connecting column is provided at one end of the first fence away from the feeder. One side of the second fence is rotatably connected to the connecting column, and a hydraulic push rod is rotatably provided on the bracket, and the output end of the hydraulic push rod is rotatably connected to the second fence.

[0011] A cow milking device according to some embodiments of the first aspect of the present invention, wherein an installation frame is slidably provided at one end of the bracket away from the first fence, and the robotic arm is provided on the installation frame.

[0012] A cow milking device according to some embodiments of the first aspect of the present invention, wherein a first positioning groove is provided at the top of one end of the installation frame close to the first fence, a first bending part is provided at the top of the installation frame, the first bending part extends into the first positioning groove, a second positioning groove is provided at the bottom of the installation frame at one end close to the bracket, and a first positioning block is provided at the bottom of one end of the bracket away from the first fence, and the first positioning block extends into the second positioning groove.

[0013] A cow milking device according to some embodiments of the first aspect of the present invention, wherein a third positioning groove and a fourth positioning groove are provided in the middle of one end of the bracket away from the first fence, a second positioning block and a third positioning block are provided in the middle of the installation frame, the second positioning block extends into the third positioning groove, and the third positioning block extends into the fourth positioning groove.

[0014] A milking device for dairy cows according to some embodiments of the first aspect of the present invention. A driving motor is horizontally arranged at the top of the mounting frame. A gear is arranged at the output end of the driving motor. A limiting groove is arranged at the top of the bracket. A rack is arranged at the top of the limiting groove. The gear meshes with the rack.

[0015] A milking device for dairy cows according to some embodiments of the first aspect of the present invention. An installation frame is arranged in the middle of the mounting frame. A first hydraulic push rod is arranged in the middle of the lower end of the installation frame. Second hydraulic push rods are arranged on both sides of the upper end of the installation frame. The output end of the first hydraulic push rod is connected to the upper end inside the robotic arm. The output end of the second hydraulic push rod is connected to the middle part inside the robotic arm.

[0016] A milking method for dairy cows according to some embodiments of the second aspect of the present invention, which is applied to the milking device for dairy cows described in the embodiments of the first aspect. The method includes:

[0017] Step S100: The staff let the dairy cows enter the first fence.

[0018] Step S200: Operate the robotic arm to reach even the bottom of the dairy cow from the opening, so that the suction nozzle is aligned with the udder of the dairy cow.

[0019] Step S300: Start the suction nozzle and the air pump to let the milk flow into the milk storage tank.

[0020] Step S400: The staff let the dairy cows leave the first fence.

[0021] Step S500: Repeat steps S100 - S400 until all dairy cows have been milked.

[0022] The beneficial effects of a milking method for dairy cows according to some embodiments of the second aspect of the present invention have been described in the milking device for dairy cows described in the embodiments of the first aspect, and will not be elaborated here.

[0023] The additional aspects and advantages of the present invention will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0025] Figure 1 is the structural schematic diagram of the embodiment of the present invention Figure 1 .

[0026] Figure 2 is the structural schematic diagram of the embodiment of the present invention Figure 2 .

[0027] Figure 3 Structural schematic diagrams of the bracket and the robotic arm according to embodiments of the present invention.

[0028] Figure 4 Structural schematic diagram of the feeder according to embodiments of the present invention.

[0029] Reference numerals: 1, bracket; 2, robotic arm; 3, milk storage tank; 4, first fence; 5, mounting platform; 6, suction nozzle; 7, opening; 8, air pump; 10, connecting frame; 11, cleaning nozzle; 12, feeder; 13, accommodation space; 14, avoidance hole; 15, rotating motor; 16, rotating shaft; 17, protective fence; 18, second fence; 19, connecting column; 20, hydraulic push rod; 21, mounting frame; 22, first positioning groove; 23, first bending part; 25, first positioning block; 26, third positioning groove; 27, fourth positioning groove; 28, second positioning block; 29, third positioning block; 30, driving motor; 31, gear; 32, limiting groove; 33, rack; 34, mounting frame; 35, first hydraulic push rod; 36, second hydraulic push rod; 37, first liquid flow channel; 38, first box body; 39, through hole. Detailed implementation manners

[0030] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, left, right, front, back, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the module or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0032] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0033] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0034] As Figures 1-4As shown in the figure, an embodiment of the first aspect of the present invention provides a milking device for cows.

[0035] A milking device for cows includes a bracket 1 and a robotic arm 2. One end of the bracket 1 is provided with a first fence 4, and the other end of the bracket 1 is provided with a robotic arm 2. The bottom of the robotic arm 2 is provided with a mounting platform 5. The top of the mounting platform 5 is provided with a plurality of suction nozzles 6. The bottom of the bracket 1 is provided with an opening 7, and the robotic arm 2 extends into the opening 7. A milk storage tank 3 and an air pump 8 are provided outside the bracket 1. The milk storage tank 3 is communicated with the suction nozzles 6 through a vacuum tube (not shown), and the air pump 8 is communicated with the top of the milk storage tank 3. A connecting frame 10 is provided on the bracket 1, and a cleaning nozzle 11 is provided at the bottom of the connecting frame 10.

[0036] The robotic arm 2 of the present invention can position the suction nozzles 6 at the position of the cow's udder. At the same time, a closed vacuum pipeline system is adopted, which is directly communicated from the suction nozzles 6 to the milk storage tank 3, effectively avoiding the entry of external pollutants into the milk, ensuring the freshness and hygienic conditions of the milk. The design of the air pump 8 helps to maintain an appropriate pressure in the milk storage tank 3, ensuring the flow of milk. At the same time, the cleaning nozzle 11 provided at the bottom of the connecting frame 10 can conveniently clean the suction nozzles 6, ensuring hygiene. It is suitable for large-scale milking operations in large ranches and also suitable for small and medium-sized ranches.

[0037] In the milking device for cows described in this embodiment, a feeder 12 is provided on the bracket 1, and the feeder 12 is located at one end of the first fence 4. Specifically, setting the feeder 12 can attract cows into the area of the first fence 4, improving the cooperation and comfort of the cows, and helping to increase the smooth progress of the milking process.

[0038] In the milking device for cows described in this embodiment, an accommodation space 13 is provided inside the bracket 1. An avoidance hole 14 is provided outside the accommodation space 13, and the avoidance hole 14 is correspondingly arranged with the feeder 12. A rotary motor 15 is provided on the inner wall of the accommodation space 13. A rotary shaft 16 is provided at the edge of the feeder 12, and the output end of the rotary motor 15 is connected to the rotary shaft 16. A guardrail 17 is provided outside the feeder 12. Specifically, the feeder 12 is driven to rotate by the rotary motor 15. When cows need to come for milking, the rotary motor 15 can drive the feeder 12 to rotate, allowing the feeder to extend out of the accommodation space 13. A guardrail 17 is provided outside the feeder 12 to prevent cows from eating from the outside, enabling cows to enter the first fence 4. Feeding during milking can also soothe the cows' emotions. After milking is completed, the feeder 12 can be driven to extend into the accommodation space 13 to prevent cows from continuously eating, improving the milking efficiency.

[0039] A milking device for cows according to this embodiment includes a second fence 18. One end of the first fence 4 away from the feeder 12 is provided with a connecting column 19. One side of the second fence 18 is rotatably connected to the connecting column 19. A hydraulic push rod 20 is rotatably arranged on the bracket 1. The output end of the hydraulic push rod 20 is rotatably connected to the second fence 18. Specifically, the second fence 18 is rotatably connected to the connecting column 19, and the position adjustment is realized through the hydraulic push rod 20. The second fence 18 can be opened to allow cows to enter, and after the cows enter, the fence can be closed to prevent the cows from going out.

[0040] A milking device for cows according to this embodiment, an installation frame 21 is slidably arranged at one end of the bracket 1 away from the first fence 4. The robotic arm 2 is arranged on the installation frame 21. Specifically, the installation frame 21 is slidably arranged on the bracket 1, and the position of the robotic arm 2 can be adjusted to meet the requirements of different heights or positions, enhancing the flexibility and adaptability of the device.

[0041] A milking device for cows according to this embodiment, at the top of one end of the installation frame 21 close to the first fence 4, a first positioning groove 22 is provided. A first bending part 23 is provided at the top of the installation frame 21. The first bending part 23 extends into the first positioning groove 22. At the bottom of the installation frame 21, a second positioning groove is opened at one end close to the bracket 1. At the bottom of one end of the bracket 1 away from the first fence 4, a first positioning block 25 is provided. The first positioning block 25 extends into the second positioning groove. Specifically, by providing the positioning groove and the positioning block, the stable connection between the installation frame 21 and the bracket 1 is ensured, preventing displacement or shaking during use, and guaranteeing the stability of the device operation.

[0042] A milking device for cows according to this embodiment, at the middle part of one end of the bracket 1 away from the first fence 4, a third positioning groove 26 and a fourth positioning groove 27 are provided. At the middle part of the installation frame 21, a second positioning block 28 and a third positioning block 29 are provided. The second positioning block 28 extends into the third positioning groove 26. The third positioning block 29 extends into the fourth positioning groove 27. Specifically, the design of the third positioning groove 26, the fourth positioning groove 27 and the corresponding positioning blocks further strengthens the connection strength between the installation frame 21 and the bracket 1, provides additional support, and ensures the accuracy and reliability of the robotic arm operation.

[0043] A milking device for dairy cows according to this embodiment. A driving motor 30 is horizontally arranged at the top of the mounting frame 21. A gear 31 is arranged at the output end of the driving motor 30. A limiting groove 32 is arranged at the top of the bracket 1. A rack 33 is arranged at the top of the limiting groove 32. The gear 31 meshes with the rack 33. Specifically, the combination of the driving motor 30 and the gear 31 - rack 33 mechanism realizes the precise movement of the mounting frame 21 along the length direction of the bracket 1, ensures that the robotic arm 2 can accurately reach the predetermined working position, and improves the operation accuracy.

[0044] A milking device for dairy cows according to this embodiment. An installation frame 34 is arranged in the middle of the mounting frame 21. A first hydraulic push rod 35 is arranged in the middle of the lower end of the installation frame 34. Second hydraulic push rods 36 are arranged on both sides of the upper end of the installation frame 34. The output end of the first hydraulic push rod 35 is connected to the upper inner side of the robotic arm 2. The output ends of the second hydraulic push rods 36 are connected to the middle inner side of the robotic arm 2. Specifically, the design of the hydraulic push rods in the installation frame 34 enables the robotic arm 2 to be finely adjusted in multiple dimensions, meets the milking requirements at different angles and positions, and improves the operation flexibility and practicality of the equipment.

[0045] A milking device for dairy cows according to this embodiment. A first liquid flow channel 37 is opened at the bottom of the robotic arm 2. A first box body 38 is arranged at one end of the bracket 1. The milk storage tank 3 and the air pump 8 are both arranged in the first box body 38. A through hole 39 is opened on the outer side of the first box body 38. Specifically, the first liquid flow channel 37 is communicated with the through hole 39 through a vacuum tube, which is convenient for directly guiding the squeezed milk into the milk storage tank 3, avoiding the milk being exposed to the external environment, and maintaining the freshness and hygienic quality of the milk.

[0046] The second - aspect embodiment of the present invention provides a milking method for dairy cows.

[0047] A milking method for dairy cows, applied to the milking device for dairy cows in the first - aspect embodiment. The method includes:

[0048] Step S100: The staff let the dairy cows enter the first fence 4;

[0049] Step S200: Operate the robotic arm 2 to reach even under the dairy cows from the opening, so that the suction nozzle 6 is aligned with the udders of the dairy cows;

[0050] Step S300: Start the suction nozzle 6 and the air pump 8 to let the milk flow into the milk storage tank 3;

[0051] Step S400: The staff let the dairy cows leave the first fence 4;

[0052] Step S500: Repeat steps S100 - S400 until all dairy cows have been milked.

[0053] It can be understood that in step S100, the staff operates the rotation motor 15 to extend the feeder 12 out of the accommodation space 13 to attract the cows to enter. After the cows enter, the second fence 18 is closed. In step S400, the staff operates the rotation motor 15 to extend the feeder 12 into the accommodation space 13 to prevent the cows from continuously eating. At the same time, the second fence 18 is opened to let the cows leave the first fence 4.

[0054] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cow milking device, characterized in that: It includes a bracket and a robotic arm. One end of the bracket is provided with a first fence, and the other end of the bracket is provided with a robotic arm. The bottom of the robotic arm is provided with a mounting platform, and the top of the mounting platform is provided with a number of suction nozzles. The bottom of the bracket is provided with an opening, and the robotic arm extends into the opening. A milk storage tank and an air pump are provided outside the bracket. The milk storage tank is communicated with the suction nozzles through a vacuum tube, and the air pump is communicated with the top of the milk storage tank. A connecting frame is provided on the bracket, and a cleaning nozzle is provided at the bottom of the connecting frame.

2. The milking device for dairy cows according to claim 1, wherein: A feeder is provided on the bracket, and the feeder is located at one end of the first fence.

3. The milking device for dairy cows according to claim 2, characterized in that: An accommodation space is provided inside the bracket. Avoidance holes are provided outside the accommodation space, and the avoidance holes are correspondingly arranged with the feeder. A rotating motor is provided on the inner wall of the accommodation space. A rotating shaft is provided at the edge of the feeder, and the output end of the rotating motor is connected to the rotating shaft. A protective fence is provided outside the feeder.

4. The milking device for dairy cows according to claim 2, wherein: It includes a second fence. A connecting column is provided at one end of the first fence away from the feeder. One side of the second fence is rotatably connected to the connecting column. A hydraulic push rod is rotatably provided on the bracket, and the output end of the hydraulic push rod is rotatably connected to the second fence.

5. A milking device for cows according to claim 1, characterized in that: A mounting frame is slidably provided at one end of the bracket away from the first fence, and the robotic arm is provided on the mounting frame.

6. The milking device for dairy cows according to claim 5, characterized in that: A first positioning groove is provided at the top of the end of the mounting frame close to the first fence. A first bending part is provided at the top of the mounting frame, and the first bending part extends into the first positioning groove. A second positioning groove is provided at the bottom of the end of the mounting frame close to the bracket, and a first positioning block is provided at the bottom of the end of the bracket away from the first fence. The first positioning block extends into the second positioning groove.

7. The milking device for dairy cows according to claim 6, characterized in that: A third positioning groove and a fourth positioning groove are provided in the middle of the end of the bracket away from the first fence. A second positioning block and a third positioning block are provided in the middle of the mounting frame. The second positioning block extends into the third positioning groove, and the third positioning block extends into the fourth positioning groove.

8. The milking device for dairy cows according to claim 6, wherein: A driving motor is horizontally provided at the top of the mounting frame. A gear is provided at the output end of the driving motor. A limiting groove is provided at the top of the bracket, and a rack is provided at the top of the limiting groove. The gear meshes with the rack.

9. The milking device for cows according to claim 6, characterized in that: A mounting frame is provided in the middle of the mounting frame. A first hydraulic push rod is provided in the middle of the lower end of the mounting frame. Second hydraulic push rods are provided on both sides of the upper end of the mounting frame. The output end of the first hydraulic push rod is connected to the upper inner side of the robotic arm, and the output end of the second hydraulic push rod is connected to the middle inner side of the robotic arm.

10. A method for milking cows, characterized in that, Applied to the milking device for cows according to any one of claims 1-9, the method includes: Step S100: The staff let the cows enter the first fence. Step S200: Operate the robotic arm to extend from the opening to the bottom of the cows, so that the suction nozzles are aligned with the cow udders. Step S300: Start the suction nozzles and the air pump to let the milk flow into the milk storage tank. Step S400: The staff let the cows leave the first fence. Step S500. Repeat steps S100 - S400 until milking of all cows is completed.

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