An intelligent milking mechanical arm suitable for rotary milking parlors

Abstract

The application relates to the technical field of intelligent milking, and discloses an intelligent milking mechanical arm suitable for a rotary disc type milking station, which comprises a stand column, a lifting assembly, a movable arm assembly and a cup sleeve assembly which are sequentially connected, the lifting assembly can vertically lift the movable arm assembly on the stand column, the movable arm assembly can horizontally move the cup sleeve assembly, the cup sleeve assembly comprises an execution arm and a flexible cup sleeve mechanism, the execution arm is connected with the movable arm assembly, the flexible cup sleeve mechanism comprises a cylinder, a pull rope, a tail end flexible block, a front end flexible block and a plurality of intermediate flexible blocks, and the flexible cup sleeve mechanism forms a pure flexible arm structure driven by the cylinder and the pull rope; the intelligent milking mechanical arm suitable for the rotary disc type milking station can directly replace and reform a stand column behind a milking position in an existing rotary disc type milking station, realizes automatic cup sleeve taking, has high cup sleeve taking efficiency, and cannot cause a stress reaction of a cow.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent milking, in particular to an intelligent milking mechanical arm suitable for a rotary disc type milking station. BACKGROUND

[0002] At present, the artificial milking mode has been gradually replaced by mechanical milking machines. Since an ordinary milking machine can only milk one cow at a time, the milking efficiency is low, which leads to an increase in labor costs. Therefore, a rotary disc type milking station appears.

[0003] The existing rotary disc type milking station includes a rotary disc, and a plurality of milking positions are uniformly distributed around the rotary disc near the outer periphery. A milking robot is arranged at each milking position. The cows are driven into the milking positions, and the milking operation is completed by the milking robot after the milking cups are fitted on the cows. The rotary disc type milking station can simultaneously milk multiple cows, greatly improving the milking efficiency. Although during the milking operation, with the rotation of the rotary disc, each milking position can be aligned with the operation station of the operator (which is located at the end of the milking position away from the center of the rotary disc) in turn, and the cup fitting and cup taking operations of the cows in each milking position can be completed by a small number of operators, the cup fitting and cup taking operations in the existing rotary disc type milking station still need to be completed manually, and the degree of automation still needs to be improved.

[0004] In order to realize fully automatic cup fitting and milking, related research has also been carried out in the prior art. For example, a rotary disc type milking machine capable of precisely positioning the teats of cows (application number: CN201910417074.8) is provided with a flexible mechanical arm at one end of each milking position near the center of the rotary disc to complete the automatic cup fitting process. However, at least the following defects exist in the actual application of the rotary disc type milking machine:

[0005] Firstly, the flexible mechanical arm is a six-degree-of-freedom mechanical arm, and a driving mechanism is arranged at each movement pair. In particular, a cylinder and a wrist swing servo motor are arranged at the execution end for rigid driving. The action process of the execution end is prone to mechanical jamming and mechanical noise. In the actual application, the execution end needs to be inserted into the lower abdomen of the cow to complete the connection between the milk cup and the teat. When the mechanical jamming and noise are applied to the cow's body through the milk cup, the cow is prone to stress reaction due to the collision feeling.

[0006] Secondly, in the existing rotary disc type milking station, the cows enter the milking position from the end of the milking position away from the center of the rotary disc. After entering, the cow's head faces the center of the rotary disc. In the milking process, forage is often provided at the end of the milking position near the center of the rotary disc to calm the cows. The flexible mechanical arm is arranged at the end of the milking position near the center of the rotary disc, and lacks an installation position. Moreover, the flexible mechanical arm is directly opposite the cow's head, and the action process of the flexible mechanical arm is also prone to causing stress reaction of the cow.

[0007] Thirdly, the front milk area and the rear milk area of the dairy cow each have two teats, and the milking work of the four teats needs to be completed during the milking operation. If the flexible mechanical arm is used, the full-cycle large-scale action process needs to be completed for each teat cup fitting and cup taking, the action time is long, and the cup fitting and cup taking efficiency is low.

[0008] In addition, in order to realize the full-automatic cup fitting and milking of the rotary disc type milking station, the actual situation of the milking environment must also be fully considered. On the one hand, the pasture environment has problems such as high humidity and cleaner corrosion. The traditional metal transmission components are prone to rust and jam, and the motor driving components are prone to damage due to dampness, which is not suitable for the milking environment. On the other hand, the space position of the milking operation area below the cow is small, and the design of the mechanical arm is also restricted by the small space. SUMMARY

[0009] The purpose of the present application is to overcome the shortcomings of the prior art and provide an intelligent milking mechanical arm suitable for a rotary disc type milking station. The intelligent milking mechanical arm can directly replace and reform the rear stand column of the existing rotary disc type milking station, realize automatic cup fitting and cup taking, has high cup fitting and cup taking efficiency, and will not cause stress reaction of the dairy cow.

[0010] The purpose of the present application is achieved by the following technical solutions:

[0011] An intelligent milking mechanical arm suitable for a rotary disc type milking station, comprising a stand column, a lifting assembly, a movable arm assembly and a cup fitting assembly connected in sequence. The lifting assembly can vertically lift the movable arm assembly on the stand column. The movable arm assembly can move the cup fitting assembly horizontally. The cup fitting assembly comprises an execution arm and a flexible cup fitting mechanism. The execution arm is connected with the movable arm assembly. The flexible cup fitting mechanism comprises a gas cylinder, a pull rope, a terminal flexible block, a front end flexible block and a plurality of intermediate flexible blocks. The plurality of intermediate flexible blocks are arranged in a straight line between the terminal flexible block and the front end flexible block. First and second perforations A are arranged side by side on the terminal flexible block. First and second perforations B are arranged side by side on the intermediate flexible blocks. First and second perforations C are arranged side by side on the front end flexible block. One end of the pull rope passes through the first perforation A, the plurality of first perforations B, the first perforation C, the second perforation C, the plurality of second perforations B and the second perforation A in sequence. Both ends of the pull rope are fixedly connected with the telescopic ends of the gas cylinder. The gas cylinder and the terminal flexible block are fixedly installed in the execution arm. The front end flexible block and the plurality of intermediate flexible blocks are located outside one end of the execution arm. The flexible cup fitting mechanism is driven by the gas cylinder and the pull rope, and constitutes a pure flexible arm structure. During cup fitting operation, the collision with the body of the dairy cow can be effectively reduced, and the mechanical noise is small, which is beneficial to reducing the stress reaction of the dairy cow. During cup taking operation, the flexible cup fitting mechanism does not need to intervene.

[0012] Specifically, the flexible cup mechanism further comprises a milk cup, which is detachably connected with the front-end flexible block.

[0013] Further, the flexible cup mechanism has four, two of which are respectively matched with two teat positions in the front milk area of the dairy cow, and the other two are respectively matched with two teat positions in the rear milk area of the dairy cow.

[0014] Specifically, the movable arm assembly comprises a first arm, a second arm and a third arm, the lifting assembly comprises a lifting seat, one end of the first arm is rotatably connected with the lifting seat, the other end of the first arm is rotatably connected with one end of the second arm, the other end of the second arm is rotatably connected with one end of the third arm, and the other end of the execution arm away from the front-end flexible block is fixedly connected with the third arm.

[0015] Specifically, the lifting seat is fixedly provided with a first motor, one end of the first arm is fixedly connected with an output shaft of the first motor, the first arm is fixedly provided with a second motor, one end of the second arm is fixedly connected with an output shaft of the second motor, the second arm is fixedly provided with a third motor, and one end of the third arm is fixedly connected with an output shaft of the third motor.

[0016] Specifically, the lifting assembly further comprises a lifting motor and a lead screw, the lead screw is vertically arranged and rotatably connected with the stand column, the lifting motor is used for driving the lead screw to rotate, the lifting seat is slidably connected with the stand column, and the lead screw is threadedly connected with the lifting seat.

[0017] Further, a visual camera and a controller are further included, the visual camera is fixedly arranged on the execution arm, the shooting direction of the visual camera is opposite to the extending direction of the front-end flexible block on the execution arm, the visual camera, the first motor, the second motor, the third motor and the lifting motor are electrically connected with the controller, the visual camera can monitor the relative position data between the corresponding milk cup and the teat of the dairy cow in real time, and the first motor, the second motor, the third motor and the lifting motor are controlled by the controller according to the relative position data, so that the precise butt joint of the milk cup and the teat of the dairy cow is realized.

[0018] The beneficial effects of the present application are:

[0019] The intelligent milking mechanical arm suitable for rotary milking parlors comprises a stand, a lifting assembly, a movable arm assembly and a cup assembly connected in sequence, the lifting assembly can vertically lift the movable arm assembly on the stand, and the movable arm assembly can horizontally move the cup assembly. The cup assembly comprises an execution arm and a flexible cup mechanism, the execution arm is connected with the movable arm assembly, and the flexible cup mechanism comprises a cylinder, a pull rope, a terminal flexible block, a front-end flexible block and a plurality of intermediate flexible blocks. The stand can directly replace the post stand behind the milking position in the existing rotary milking parlor, the movable arm assembly can retract the cup assembly to enable the cow to smoothly enter the milking position, the milk cup is carried on the front-end flexible block, and when the cylinder pulls the pull rope tight, the milk cup can be in a vertical state, the milk cup can be moved to a position aligned with the cow's udder through the movable arm assembly, and the milk cup can be lifted to complete accurate docking with the cow's udder through the lifting assembly.

[0020] The flexible cup mechanism forms a pure flexible arm structure driven by the cylinder and the pull rope, is gentle to the cow's body during cupping operation, can effectively reduce the collision with the cow's body, has small mechanical noise during operation, and is conducive to reducing the stress reaction of the cow; the flexible cup mechanism has a certain elastic deformation capacity, can avoid mechanical damage caused by hard pulling and collision during cupping operation, has the advantages of moisture resistance and acid and alkali resistance, is conducive to maintaining stable performance and reducing the risk of failure caused by environmental factors during long-term use in high-humidity pasture environments; in addition, the flexible cup mechanism has low power friction loss during operation, can reduce energy consumption, and the front-end flexible block, the terminal flexible block and the intermediate flexible blocks are modularly manufactured, the cost of each structure is low, replacement is convenient, the long-term maintenance cost of the equipment can be significantly reduced, and the equipment is convenient for modular upgrading and adaptation to future technology iteration. After the flexible cup mechanism completes the cupping operation, the pull rope is in a relaxed state, and when the cow's body moves during the subsequent milking process, the cow will not be interfered or pulled, which is conducive to avoiding the discomfort of the cow; after the milking process is completed, the flexible cup mechanism does not need to intervene again, and the milk cup can be directly detached from the cow's body to complete the cup removal process, and the milk cup will not fall to the ground after being pulled by the pull rope.

[0021] In application, four flexible cup mechanisms are carried on the execution arm and are used for cupping operation on the four teats of the cow. Since each flexible cup mechanism is in a relaxed state after completing the cupping operation, it will not interfere with the position adjustment of the execution arm, and the other flexible cup mechanisms can smoothly complete the cupping process. Therefore, the cupping operation on the four teats of the cow can be completed in a short time in the small space below the cow's abdomen, the four teats can be simultaneously put into the milking operation, the cupping and milking efficiency is improved, and during the process, the movable arm assembly and the lifting assembly only need to move in a small range, the movement amplitude is small, the action time is short, which is further conducive to improving the efficiency and reducing the energy consumption.

[0022] A vision camera is installed to monitor the relative position data between the corresponding milk cup and the cow's teat in real time, and based on this, the movement of the lifting component, boom component and each cup assembly is controlled in a closed loop, which helps to ensure the precise docking of the milk cup and the cow's teat. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of an intelligent milking robotic arm suitable for rotary milking stations according to the present invention.

[0024] Figure 2 This is a schematic diagram of the internal structure of the cup assembly in an intelligent milking robot arm suitable for rotary milking stations according to the present invention.

[0025] Figure 3 for Figure 2 A schematic diagram of the front flexible block in the cup assembly shown;

[0026] Figure 4 for Figure 2 A schematic diagram of the structure of the intermediate flexible block in the cup assembly shown;

[0027] Figure 5 for Figure 2 A schematic diagram of the structure of the flexible block at the end of the cup assembly shown;

[0028] Figure 6 This is a schematic diagram of the lifting component in an intelligent milking robot arm applicable to a rotary milking station according to the present invention.

[0029] Figure 7 This is a schematic diagram of the boom assembly in an intelligent milking robot arm applicable to a rotary milking station according to the present invention.

[0030] In the diagram, 10-column, 11-vision camera, 20-lifting assembly, 21-lifting seat, 22-lifting motor, 23-lead screw, 30-boom assembly, 31-first arm, 32-second arm, 33-third arm, 34-first motor, 35-second motor, 36-third motor, 40-cup assembly, 41-actuating arm, 42-cylinder, 43-end flexible block, 431-first through hole A, 432-second through hole A, 44-front flexible block, 441-first through hole C, 442-second through hole C, 443-rope groove, 45-middle flexible block, 451-first through hole B, 452-second through hole B, 46-milk cup. Detailed Implementation

[0031] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0032] like Figures 1 to 7As shown in the figure, an intelligent milking mechanical arm suitable for rotary milking parlors includes a stand 10, a lifting assembly 20, a movable arm assembly 30 and a cup assembly 40 connected in sequence. The stand 10 is made according to the shape and size of the rear stand of the milking position in the existing rotary milking parlor. The lifting assembly 20 can drive the movable arm assembly 30 to vertically ascend and descend on the stand 10. The movable arm assembly 30 can drive the cup assembly 40 to horizontally move.

[0033] As shown in the figure, Figure 2 The cup assembly 40 includes an execution arm 41 and a flexible cup mechanism. The execution arm 41 is connected with the movable arm assembly 30. The flexible cup mechanism includes a cylinder 42, a pull rope (not shown in the figure), a terminal flexible block 43, a front-end flexible block 44 and a plurality of intermediate flexible blocks 45. As shown in the figure, Figure 5 The terminal flexible block 43 can be selected as a cuboid rubber block. A bolt hole penetrating in the vertical direction is processed on the terminal flexible block 43, which is used to fix the terminal flexible block 43 on the execution arm 41 by a bolt. A first perforation A431 and a second perforation A432 are provided side by side on the terminal flexible block 43 in the horizontal direction. As shown in the figure, Figure 4 The intermediate flexible block 45 can be selected as a cuboid rubber block. A first perforation B451 and a second perforation B452 are provided side by side on the intermediate flexible block 45 in the horizontal direction. As shown in the figure, Figure 3 The front-end flexible block 44 can be selected as a rubber block with a T-shaped cross section, which includes a cuboid connecting part and a protruding part on one side of the connecting part. A first perforation C441 and a second perforation C442 are provided side by side on the connecting part in a direction parallel to the protruding part. A rope groove 443 is processed on the protruding part, and the two ends of the rope groove 443 are respectively matched with the first perforation C441 and the second perforation C442. As shown in the figure, Figure 2 In assembly, a plurality of intermediate flexible blocks 45 are arranged in a straight line between the terminal flexible block 43 and the front-end flexible block 44. One end of the pull rope is first sequentially inserted through the first perforation A431, a plurality of first perforations B451, the first perforation C441, then folded back to pass through the rope groove 443, and then sequentially inserted through the second perforation C442, a plurality of second perforations B452 and the second perforation A432. Then, the two ends of the pull rope are fixedly connected with the telescopic end of the cylinder 42. The cylinder 42 and the terminal flexible block 43 are fixedly installed in the execution arm 41. The front-end flexible block 44 and the plurality of intermediate flexible blocks 45 are located outside one end of the execution arm 41. When the telescopic end of the cylinder 42 is retracted, it can drive the pull rope to be straightened, and the front-end flexible block 44, the plurality of intermediate flexible blocks 45 and the terminal flexible block 43 are pulled to Figure 2 the straight line state shown in the figure. When the telescopic end of the cylinder 42 is extended, the pull rope is relaxed, and the front-end flexible block 44 and the plurality of intermediate flexible blocks 45 at the front end can naturally sag under the action of gravity. By reasonably designing the length of the pull rope and the stroke of the cylinder 42, the vertical distance of the front-end flexible block 44 sagging can also be limited.

[0034] In combinationFigure 1 、 Figure 2 As shown in FIGS. 1-3, the flexible cup mechanism further comprises a milk cup 46, which is a component of the milking robot in the rotary milking parlor and can be adsorbed on the body of the cow and complete the milking process after completing the cupping under the control of the milking robot, and can be separated from the body of the cow after completing the milking. The milk cup 46 is detachably connected with the front flexible block 44. The intelligent milking mechanical arm suitable for the rotary milking parlor can directly replace the rear post of the milking position in the existing rotary milking parlor during use. The working process of the cupping operation is as follows: first, the cup assembly 40 is driven by the arm assembly 30 to retreat to a space away from the cow entering the milking position; then the cow enters the milking position; then the extension end of the air cylinder 42 is retracted to drive the pull rope to be straight, and the front flexible block 44, the intermediate flexible blocks 45 and the end flexible block 43 are pulled to a straight state, at which time the milk cup 46 is in a vertical state; then the cup assembly 40 is driven by the arm assembly 30 to enter the position below the cow's abdomen from the side of the cow between the front and rear legs, so that the top of the milk cup 46 is opposite the cow's teats; then the arm assembly 30 and the cup assembly 40 are lifted by the lifting assembly 20 until the milk cup 46 is connected with the position of the cow's teats; then the milk cup 46 is adsorbed on the position of the cow's teats to complete the cupping under the control of the milking robot; after the cupping is completed, the extension end of the air cylinder 42 is extended, and the pull rope is in a relaxed state; then the milk cup 46 starts the milking process under the control of the milking robot; after the milking is completed, the milking robot releases the cupping adsorption state of the milk cup 46, and the milk cup 46 falls off under the action of gravity. The length of the pull rope controls that the milk cup 46 will not droop and fall to the ground.

[0035] As can be seen from the above process, the intelligent milking mechanical arm suitable for the rotary milking parlor can directly replace the rear post of the milking position in the existing rotary milking parlor, realize precise connection of the milk cup 46 with the position of the cow's teats without affecting the cow entering the milking position, and automatically complete the cupping and cup taking operation with the existing milking robot. The overall structure of the mechanical arm is simple and meets the lightweight requirement, and the cost is relatively low. Since the mechanical arm is arranged at the rear side of the cow, the movement process avoids the direct line of sight of the cow, which is helpful to reduce the stress reaction of the cow.

[0036] The flexible cup mechanism is driven by the air cylinder 42 and the pull rope, and is composed of the front flexible block 44, the end flexible block 43 and the intermediate flexible blocks 45 to form a pure flexible arm structure. In the milking operation, at least the following advantages are achieved:

[0037] Firstly, since the flexible cup mechanism is a pure flexible arm structure, it is not affected by the hard jamming during the driving process of the lifting assembly 20 during the cupping operation, the force of the milk cup 46 on the body of the cow is gentle, and it is helpful to reduce the stress reaction of the cow caused by collision.

[0038] Secondly, the flexible cup mechanism can greatly reduce mechanical noise during movement compared to the traditional rigid transmission structure, making the device run more quietly and reducing the stress response of cows due to noise. It should be understood that the execution arm 41 is a hollow structure, and the air cylinder 42 is arranged inside the execution arm 41. In implementation, the execution arm 41 shell part can be covered with sound insulation material to further block the noise generated during the operation of the air cylinder 42.

[0039] Thirdly, the flexible cup mechanism has a certain elastic deformation capacity. During the docking process of the cupping operation, when the milk cup 46 acts on the cow body, the front flexible block 44 and the plurality of intermediate flexible blocks 45 can be elastically deformed to avoid collision and mechanical damage caused by hard pulling.

[0040] Fourthly, during the milking process after the cupping is completed, the pull rope is in a completely relaxed state. When the cow body moves, the flexible cup mechanism will not interfere with the cow, which is beneficial to avoid the discomfort of the cow.

[0041] Fifthly, the traditional metal transmission components are prone to rust and jam due to high humidity and cleaning agent corrosion in the pasture environment. The air cylinder 42 in the flexible cup mechanism is arranged inside the execution arm 41 and is protected by the execution arm 41 shell. The structure outside the execution arm 41 only has the pull rope, the front flexible block 44 and the plurality of intermediate flexible blocks 45, which are simple structural parts and can resist humidity and acid and alkali. In long-term use, it is beneficial to maintain stable performance and reduce the risk of failure caused by environmental factors.

[0042] Sixthly, in the traditional rigid transmission mechanism, each component often has friction loss, and usually requires high driving force to overcome the friction resistance. In the flexible cup mechanism, the pure flexible arm structure is composed of the pull rope, the front flexible block 44, the end flexible block 43 and the plurality of intermediate flexible blocks 45, which greatly reduces the contact of metal components and has lower friction loss of flexible connection of each part, thereby reducing energy consumption. The front flexible block 44, the end flexible block 43 and the intermediate flexible block 45 are modularly manufactured, and the pull rope is also easy to obtain. Each structural part has low cost and is convenient to replace, which can significantly reduce the long-term maintenance cost of the device and is convenient for modular upgrading and adaptation to future technology iteration.

[0043] In specific implementation:

[0044] For example Figure 1 , Figure 2As shown, the flexible cup mechanism has four, two of which are respectively matched with the two teat positions of the front milk area of the dairy cow, and are named as front milk area flexible cup mechanism for convenience of description; the other two are respectively matched with the two teat positions of the rear milk area of the dairy cow, and are named as rear milk area flexible cup mechanism for convenience of description. The two front milk area flexible cup mechanisms are located in the middle position of the illustration, and the two rear milk area flexible cup mechanisms are located in the two side positions of the illustration. In the implementation, the air cylinder 42 of the front milk area flexible cup mechanism is selected as a 100mm long-stroke air cylinder, and the air cylinder 42 of the rear milk area flexible cup mechanism is selected as a 75mm short-stroke air cylinder. In the actual cupping operation, the cupping operation is first completed by the two front milk area flexible cup mechanisms in turn, and then the cupping operation is completed by the two rear milk area flexible cup mechanisms in turn.

[0045] As can be seen from the working process of the cupping operation, when each flexible cup mechanism completes the cupping operation to make the milk cup 46 adsorbed to the body of the dairy cow, the pull rope is in a relaxed state, at this time the execution arm 41 can be freely adjusted in position within the allowed range, and will not interfere with the cupping operation of the other teats when the execution arm 41 adjusts the position, thereby the process of sequentially cupping the four teats of the dairy cow can be successfully completed, and after the cupping is completed, the four milk cups 46 can simultaneously enter the milking operation process, and in addition, after the milking operation process of a certain milk cup 46 is completed, the milk cup 46 directly falls off, and will not interfere with the milking operation process of the other milk cups 46. It should be understood that in the process of sequentially completing the cupping operation of the four milk cups 46, the execution arm 41 only moves and adjusts the position in a small range below the cow's abdomen, the action amplitude in the adjustment process is small, and the adjustment time is short, which is beneficial to improve the cupping efficiency; and after milking is completed, the execution arm 41 does not need to move, and the milk cup 46 can be naturally taken off by the milking robot control to complete the cup taking process, and the cup taking process does not need the intelligent milking mechanical arm applicable to the rotary disc type milking station to intervene.

[0046] The structural design of the flexible cup mechanism has flexible adaptation capability when milking the four teats of the dairy cow, and can adapt to the position difference between the teats of different dairy cows. Since the interval between the two teats of the front milk area of the dairy cow and the interval between the two teats of the rear milk area are both smaller than the interval between the front milk area and the rear milk area of the dairy cow, in the implementation, the air cylinder 42 of the front milk area flexible cup mechanism is selected as a 100mm long-stroke air cylinder, and when the telescopic end of the air cylinder 42 is stretched forward, the pull rope has a longer relaxation space, which can provide more displacement space for the execution arm 41, so that the cupping can be successfully aligned and completed when the two teats of the rear milk area of the dairy cow are cupped.

[0047] As Figure 1 , Figure 2 , Figure 7As shown, the movable arm assembly 30 includes a first arm 31, a second arm 32 and a third arm 33, the lifting assembly 20 includes a lifting seat 21, one end of the first arm 31 is rotatably connected with the lifting seat 21, the other end of the first arm 31 is rotatably connected with one end of the second arm 32, the other end of the second arm 32 is rotatably connected with one end of the third arm 33, and the execution arm 41 is fixedly connected with the other end of the third arm 33 away from the front end flexible block 44. The movable arm assembly 30 is in a three-axis mechanical arm structure, and through the linkage control of the three actions of the rotating action of the first arm 31 around the lifting seat 21, the rotating action of the second arm 32 around the first arm 31, and the rotating action of the third arm 33 around the second arm 32, the execution arm 41 can be moved to any position in its stroke range in the horizontal direction to realize the precise butt joint of each teat of the dairy cow and the corresponding milk cup 46. Further, the first motor 34 is fixedly arranged on the lifting seat 21, one end of the first arm 31 is fixedly connected with the output shaft of the first motor 34, and the driving control of the rotating action of the first arm 31 around the lifting seat 21 can be realized through the first motor 34; the second motor 35 is fixedly arranged in the first arm 31, one end of the second arm 32 is fixedly connected with the output shaft of the second motor 35, and the driving control of the rotating action of the second arm 32 around the first arm 31 can be realized through the second motor 35; the third motor 36 is fixedly arranged in the second arm 32, one end of the third arm 33 is fixedly connected with the output shaft of the third motor 36, and the driving control of the rotating action of the third arm 33 around the second arm 32 can be realized through the third motor 36. The first arm 31 and the second arm 32 are both in a hollow structure, the second motor 35 is arranged in the first arm 31, and the third motor 36 is arranged in the second arm 32, which is conducive to the protection of the second motor 35 and the third motor 36. In the implementation, a protective cover can be additionally arranged outside the first motor 34 to avoid the failure of the first motor 34, the second motor 35 and the third motor 36 caused by the influence of high humidity in the pasture, cleaner corrosion and other problems. Further, in the implementation, a sound insulation layer can be additionally arranged in the first arm 31, the second arm 32 and the protective cover to block the noise generated when the first motor 34, the second motor 35 and the third motor 36 operate.

[0048] As shown in Figure 1 , Figure 6 , the lifting assembly 20 further includes a lifting motor 22 and a lead screw 23, the lead screw 23 is vertically arranged and rotatably connected with the stand column 10, the lifting motor 22 is arranged at the top end of the stand column 10, the output shaft of the lifting motor 22 is fixedly connected with the top end of the lead screw 23, the lifting seat 21 is slidably connected with the stand column 10, and the lead screw 23 is threadedly connected with the lifting seat 21, thereby forming a lead screw nut mechanism. When the lifting motor 22 drives the lead screw 23 to rotate, the lifting seat 21 can be lifted, thereby realizing the driving control of the vertical lifting action of the movable arm assembly 30 on the stand column 10.

[0049] Further, in combination with Figure 1 , Figure 2 ,Figure 6 、 Figure 7 As shown in FIG. 11, a visual camera 11 and a controller are further arranged, the visual camera 11 is fixedly arranged on the execution arm 41, and a shooting direction of the visual camera 11 is opposite to an extending direction of the front-end flexible block 44 on the execution arm 41, and the visual camera 11, the first motor 34, the second motor 35, the third motor 36 and the lifting motor 22 are electrically connected with the controller. The visual camera 11 can capture relative position data between the milk cup 46 and the corresponding teat of the dairy cow in real time, and feed the relative position data to the controller, and the controller adjusts the position of the execution arm 41 through the first motor 34, the second motor 35 and the third motor 36 according to the relative position data, so that the corresponding milk cup 46 and the teat of the dairy cow are aligned, and then the controller controls the lifting motor 22 to act to complete the precise butt joint of the milk cup 46 and the teat of the dairy cow. Through the online closed-loop control, the position accuracy of the teat of the dairy cow and the milk cup 46 during the cupping operation is facilitated to be ensured. It should be understood that, when the cupping operation is performed on two teats in the front milk area of the dairy cow or on two teats in the rear milk area of the dairy cow, the cupping operation process of the teat away from the position of the visual camera 11 is completed first, so as to avoid the shielding effect on the visual camera 11.

[0050] The above description is only the preferred embodiments of the present application, and it should be understood that the present application is not limited to the forms disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concepts described herein by the above-mentioned teaching or related technical or knowledge. The modifications and changes made by the person skilled in the art without departing from the spirit and scope of the present application shall be within the protection scope of the claims of the present application.

Claims

1. An intelligent milking robot arm suitable for use in a rotary milking parlour, characterised in that, The device comprises a stand, a lifting assembly, a boom assembly and a cup assembly connected in sequence, the lifting assembly can vertically lift the boom assembly on the stand, the boom assembly can horizontally move the cup assembly; The cup assembly comprises an execution arm and a flexible cup mechanism, the execution arm is connected with the boom assembly, the flexible cup mechanism comprises a cylinder, a pull rope, a terminal flexible block, a front-end flexible block and a plurality of intermediate flexible blocks, the plurality of intermediate flexible blocks are arranged in a straight line between the terminal flexible block and the front-end flexible block, the terminal flexible block is provided with first and second perforations A arranged side by side, the intermediate flexible blocks are provided with first and second perforations B arranged side by side, the front-end flexible block is provided with first and second perforations C arranged side by side, one end of the pull rope passes through the first perforation A, a plurality of first perforations B, the first perforation C, the second perforation C, a plurality of second perforations B and the second perforation A in sequence, both ends of the pull rope are fixedly connected with the telescopic end of the cylinder, the cylinder and the terminal flexible block are fixedly installed in the execution arm, and the front-end flexible block and the plurality of intermediate flexible blocks are located outside one end of the execution arm.

2. The intelligent milking robot arm suitable for rotary milking parlors according to claim 1, characterized in that, The flexible cup mechanism further comprises a milk cup which is detachably connected with the front-end flexible block.

3. The intelligent milking robot arm suitable for rotary milking parlors according to claim 2, characterized in that, The flexible cup mechanism has four, two of which are respectively matched with the positions of two teats in the front milk area of the dairy cow, and the other two are respectively matched with the positions of two teats in the rear milk area of the dairy cow.

4. The intelligent milking robot arm suitable for rotary milking parlors according to claim 1, characterized in that, The boom assembly comprises a first arm, a second arm and a third arm, the lifting assembly comprises a lifting seat, one end of the first arm is rotatably connected with the lifting seat, the other end of the first arm is rotatably connected with one end of the second arm, the other end of the second arm is rotatably connected with one end of the third arm, and one end of the execution arm away from the front-end flexible block is fixedly connected with the third arm.

5. The intelligent milking robot arm suitable for rotary milking parlors according to claim 4, characterized in that, A first motor is fixedly arranged on the lifting seat, one end of the first arm is fixedly connected with the output shaft of the first motor, a second motor is fixedly arranged in the first arm, one end of the second arm is fixedly connected with the output shaft of the second motor, a third motor is fixedly arranged in the second arm, and one end of the third arm is fixedly connected with the output shaft of the third motor.

6. The intelligent milking robot arm suitable for rotary milking parlors according to claim 5, characterized in that, The lifting assembly further comprises a lifting motor and a lead screw, the lead screw is vertically arranged and rotatably connected with the stand, the lifting motor is used to drive the lead screw to rotate, the lifting seat is slidably connected with the stand, and the lead screw is threadedly connected with the lifting seat.

7. The intelligent milking robot arm suitable for rotary milking parlors according to claim 6, characterized in that, A visual camera and a controller are further included, the visual camera is fixedly arranged on the execution arm, the shooting direction of the visual camera is opposite to the extension direction of the front-end flexible block on the execution arm, and the visual camera, the first motor, the second motor, the third motor and the lifting motor are electrically connected with the controller.

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