A milking bath robot based on visual recognition

Abstract

The utility model belongs to the technical field of milk production, and is particularly a milking medicated bath robot based on visual recognition, including a base, a mounting plate, a clamping box, two visual cameras and two mechanical arms, a rotation switching mechanism is provided between the base and the two mechanical arms, the mounting plate and the clamping box are respectively fixedly connected to one end of the corresponding mechanical arm, and a spray disc for medicated bathing of dairy cows is fixedly connected to the top of the mounting plate. The utility model has a reasonable structural design, and the rotation switching between the spray disc and the squeezing plate is facilitated by the rotation switching mechanism, so that the nipple can be medicated before milking, and then the milking can be post-medicated, making the work more automated and improving the efficiency of production. At the same time, the azimuth and inclination of the visual camera can be adjusted, so that the visual camera has a wider shooting range, avoiding the situation where the medicated bath and milking cannot be aligned due to the influence of the later visual recognition positioning.

Description

Technical Field

[0001] The utility model relates to the technical field of milk production, in particular to a milking medicinal bath robot based on visual recognition. Background Art

[0002] Pathogenic bacteria infection is the most important cause of mastitis in dairy cows, and pathogenic bacteria usually include bacteria (such as Staphylococcus aureus, Escherichia coli and Streptococcus), viruses, fungi and mycoplasma. In dairy farming, the commonly used prevention method is to use medicated bath liquid to treat the nipples in time before milking (pre-medicated bath) and after milking (post-medicated bath); currently, medicated bathing for dairy cows is generally done manually, but frequent medicated bathing in dairy farms is labor-intensive and relatively inefficient. After searching: Patent No. CN117137673A is a dairy cow medicated bath device, including a rotating platform, a control cabinet and a multi-axis robot, a turntable fence is installed on the rotating platform, a speed measuring structure is provided on one side of the rotating platform, a spraying structure is installed on the output end of the multi-axis robot, and a liquid medicine storage box and a diaphragm pump are provided on one side of the multi-axis robot, and the input and output ends of the diaphragm pump are respectively connected to the liquid medicine storage box and the spraying structure. In the present invention, the cow stands on a rotating platform, the turntable fence restricts the cow, the wheel encoder contacts the rotating platform, reads the rotation speed of the rotating platform in real time, and provides accurate tracking data for the machine to identify the position of the cow, the proximity sensor is used to detect the characteristic points of each fence to identify the fence interval, and then the multi-axis robot controls the movement of the spraying structure, uses the visual camera to identify the part that needs a drug bath, and then the diaphragm pump draws the drug liquid from the drug liquid storage box and sprays it from the atomizing nozzle to spray the drug bath part, thereby realizing automatic drug bath.

[0003] However, the above-mentioned cow medicated bath device still has some shortcomings. It only has the function of automatic medicated bathing for cows, but does not have the function of milking. The process of medicated bathing is to medicate the cows first, then milk them, and then medicated bathing after milking, which reduces the use effect of the robot. In addition, a visual camera is used for visual identification of the parts that need medicated bathing, but the visual camera is relatively fixed and it is inconvenient to adjust the angle, which makes the shooting range small, affects the later visual identification and positioning, and it is easy to cause the medicated bathing and milking to be misaligned. Therefore, we propose a milking medicated bath robot based on visual recognition to solve the above problems. Utility Model Content

[0004] The utility model aims to solve the above-mentioned shortcomings and proposes a milking medicated bath robot based on visual recognition.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A milking medicated bath robot based on visual recognition comprises a base, a mounting plate, a clamping box, two visual cameras and two mechanical arms, a rotation switching mechanism is arranged between the base and the two mechanical arms, the mounting plate and the clamping box are respectively fixedly connected to one end of the corresponding mechanical arm, a spray disc for medicated bathing of dairy cows is fixedly connected to the top of the mounting plate, an angle adjustment mechanism for adjusting the angle of the visual camera is arranged on the top of the mounting plate and the clamping box, and a squeezing mechanism for milking teats is arranged on the clamping box.

[0007] Specifically, the rotation switching mechanism includes a rotating motor fixedly connected to the top of the base, a rotating shaft fixedly connected to the output shaft of the rotating motor, a turntable fixedly connected to the top of the rotating shaft, and two mechanical arms are rotatably connected to the outside of the turntable.

[0008] Specifically, the angle between the two robotic arms is 90 degrees.

[0009] Specifically, the extrusion mechanism includes a driving motor fixedly connected to one side of the clamping box, a double-headed screw is fixedly connected to the output shaft of the driving motor, two driving plates are provided on the outer threaded sleeve of the double-headed screw, and the front sides of the two driving plates are fixedly connected to the extrusion plates.

[0010] Specifically, the two driving plates are both slidably sleeved in the clamping box.

[0011] Specifically, a rectangular opening is opened on the front side of the clamping box, and the two extrusion plates are slidably sleeved in the rectangular opening.

[0012] Specifically, the angle adjustment mechanism includes a lower motor, and the two lower motors are respectively fixedly connected to the top of the mounting plate and the clamping box, the output shaft of the lower motor is fixedly connected to a rotating seat, the top of the rotating seat is fixedly connected to two support plates, the front side of the front support plate is fixedly connected to the upper motor, the sides of the two support plates close to each other are rotatably connected to the rotating shaft, the output shaft of the upper motor is fixedly connected to the front end of the rotating shaft on the front side, and the visual camera is fixedly connected between the two rotating shafts.

[0013] Specifically, one end of the two rotating shafts close to each other is fixedly connected with a fixing plate, both sides of the visual camera are fixedly connected with a connecting plate, the outer side of the fixing plate is threadedly connected with two screws, and the fixing plate is fixedly connected to one side of the connecting plate by the two screws.

[0014] Specifically, the top of the spray plate is fixedly connected to a plurality of spray heads, and the front side of the spray plate is fixedly connected to a hose.

[0015] Specifically, a pump body and a medicine liquid tank are fixedly connected to the top of the base, the pump body is communicated with the medicine liquid tank, and one end of the hose is communicated with the liquid outlet end of the pump body.

[0016] In the utility model, a milking medicated bath robot based on visual recognition identifies the part that needs medicated bath through the visual camera on the mounting plate, drives the mounting plate and the spray plate to move to the part to be medicated bathed through the mechanical arm, and pumps the liquid medicine into the hose and the spray plate through the pump body, and finally sprays it from multiple nozzles to bathe the nipples, achieving the purpose of pre-medicated bathing. After the pre-medicated bath is completed, the pump body is closed, and the mounting plate is retracted through the mechanical arm so as not to hinder the subsequent rotation switching, and the rotating motor is started, and the rotating motor drives the rotating shaft to rotate 90 degrees, so that the clamping box rotates The robot detects the position of the nipple, and then uses the visual camera on the clamping box to identify the nipple to be milked, and uses the mechanical arm to move the clamping box and the two squeezing plates to the outside of the nipple, and starts the driving motor, which drives the rotation of the double-headed screw, and the double-headed screw drives the two driving plates and the squeezing plates to approach each other, so as to simulate the human squeezing the nipple, and uses the mechanical arm to simulate the human pulling down the nipple, and when moving up, the squeezing plate is separated and released, and the above steps are repeated, and then through the setting of the squeezing plate and the mechanical arm, the process of simulating human milking is achieved, so as to perform automatic milking;

[0017] In the utility model, the milking drug bath robot based on visual recognition, after milking is completed, after retracting the clamping box, the rotating motor is started in reverse, so that the turntable is reversed 90 degrees, and then the mounting plate and the spray plate are reset to the position of the nipple. According to the above steps, the drug bath after milking can be achieved, making the work more automated and improving the production efficiency. In the process of visual recognition, the lower motor can be started, and the lower motor drives the rotation of the rotating seat, so that the azimuth angle of the visual camera can be adjusted. The upper motor drives the vertical rotation of the rotating shaft and the visual camera, and then the inclination angle of the visual camera can be adjusted, which can effectively increase the shooting range of the visual camera, avoid affecting the later visual recognition positioning and causing the drug bath and milking to be unable to be aligned. The setting of the connecting plate, the fixing plate and the screws facilitates the disassembly and assembly of the visual camera, which is convenient for later maintenance work.

[0018] The utility model has a reasonable structural design. Through the rotary switching mechanism, it is convenient for the rotation switching between the spray disc and the squeezing plate. The nipples can be bathed in medicine before milking, and then bathed in medicine after milking, so that the work is more automated and the production efficiency is improved. At the same time, the azimuth and inclination of the visual camera can be adjusted, so that the visual camera has a wider shooting range, avoiding the situation where the drug bath and milking cannot be aligned due to the influence on the later visual recognition positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a first-person perspective stereogram of a milking medicated bath robot based on visual recognition proposed by the utility model;

[0020] Figure 2 This is a second-angle stereoscopic image of a milking medicated bath robot based on visual recognition proposed by the utility model;

[0021] Figure 3 for Figure 1 The structural diagram of part A in the figure;

[0022] Figure 4 This is a cross-sectional view of a clamping box of a milking bath robot based on visual recognition proposed by the utility model;

[0023] Figure 5 This is a side view of a support plate, a visual camera and a rotating shaft of a milking bath robot based on visual recognition proposed by the utility model.

[0024] In the figure: 1. base; 2. rotating motor; 3. rotating shaft; 4. turntable; 5. mechanical arm; 6. mounting plate; 7. spray disc; 8. nozzle; 9. hose; 10. liquid medicine tank; 11. pump body; 12. clamping box; 13. driving motor; 14. extrusion plate; 15. lower motor; 16. rotating seat; 17. visual camera; 18. support plate; 19. upper motor; 20. rectangular opening; 21. double-headed screw; 22. driving plate; 23. rotating shaft; 24. fixing plate; 25. connecting plate; 26. screw. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] Reference Figure 1-5 A milking medicated bath robot based on visual recognition comprises a base 1, a mounting plate 6, a clamping box 12, two visual cameras 17 and two mechanical arms 5. A rotation switching mechanism is arranged between the base 1 and the two mechanical arms 5. The mounting plate 6 and the clamping box 12 are respectively fixedly connected to one end of the corresponding mechanical arm 5. A spray disc 7 for medicated bathing of dairy cows is fixedly connected to the top of the mounting plate 6. An angle adjustment mechanism for adjusting the angle of the visual camera 17 is arranged on the top of the mounting plate 6 and the clamping box 12. A squeezing mechanism for milking teats is arranged on the clamping box 12.

[0027] Furthermore, the rotary switching mechanism includes a rotary motor 2 fixedly connected to the top of the base 1, a rotary shaft 3 fixedly connected to the output shaft of the rotary motor 2, a turntable 4 fixedly connected to the top of the rotary shaft 3, two mechanical arms 5 are rotatably connected to the outside of the turntable 4, and the angle between the two mechanical arms 5 is 90 degrees. After the front drug bath is completed, the rotary motor 2 is started, and the rotary motor 2 drives the rotary shaft 3 to rotate 90 degrees, so that the clamping box 12 rotates to the position of the nipple, and then milking can be carried out. After milking is completed, the rotary motor 2 is started in the reverse direction, so that the mounting plate 6 and the spray disc 7 are rotated 90 degrees in the reverse direction to reset, so as to carry out the post-drug bath.

[0028] Furthermore, the squeezing mechanism includes a driving motor 13 fixedly connected to one side of the clamping box 12, and a double-headed screw 21 is fixedly connected to the output shaft of the driving motor 13. The outer threaded sleeve of the double-headed screw 21 is provided with two driving plates 22, and the front sides of the two driving plates 22 are fixedly connected to the squeezing plates 14. When the driving motor 13 is started, the driving motor 13 drives the rotation of the double-headed screw 21, and the double-headed screw 21 drives the two driving plates 22 and the squeezing plates 14 to approach each other, so as to simulate a person squeezing the nipple, and the robot arm 5 simulates a person pulling down the nipple. When moving upward, the squeezing plate 14 is moved away and released, and the above steps are repeated, and then through the setting of the squeezing plate 14 and the robot arm 5, the process of simulating a person milking is achieved, so as to perform automatic milking.

[0029] Furthermore, the two driving plates 22 are slidably mounted in the clamping box 12. A rectangular opening 20 is provided on the front side of the clamping box 12. The two extrusion plates 14 are slidably mounted in the rectangular opening 20, which facilitates guiding the extrusion plates 14 and makes their movement more stable and smooth.

[0030] Furthermore, the angle adjustment mechanism includes a lower motor 15, and the two lower motors 15 are respectively fixedly connected to the top of the mounting plate 6 and the clamping box 12, and a rotating seat 16 is fixedly connected to the output shaft of the lower motor 15. The top of the rotating seat 16 is fixedly connected to two support plates 18, and the front side of the front support plate 18 is fixedly connected to the upper motor 19. The two support plates 18 are rotatably connected to the rotating shaft 23 on one side close to each other, and the output shaft of the upper motor 19 is fixedly connected to the front end of the rotating shaft 23 on the front side. The visual camera 17 is fixedly connected between the two rotating shafts 23. During the visual recognition process, the lower motor 15 can be started, and the lower motor 15 drives the rotation of the rotating seat 16, so that the azimuth angle of the visual camera 17 can be adjusted. The upper motor 19 drives the vertical rotation of the rotating shaft 23 and the visual camera 17, so that the inclination angle of the visual camera 17 can be adjusted, which can effectively increase the shooting range of the visual camera 17 and avoid affecting the later visual recognition positioning and causing the drug bath and milking to be unable to be aligned.

[0031] Furthermore, one end of the two rotating shafts 23 close to each other is fixedly connected with a fixing plate 24, and both sides of the visual camera 17 are fixedly connected with a connecting plate 25. The outer side of the fixing plate 24 is threadedly connected with two screws 26, and the fixing plate 24 is fixedly connected to one side of the connecting plate 25 by the two screws 26. The setting of the connecting plate 25, the fixing plate 24 and the screws 26 facilitates the disassembly and assembly of the visual camera 17, which is convenient for later maintenance work.

[0032] Furthermore, a plurality of nozzles 8 are fixedly connected to the top of the spray disc 7, a hose 9 is fixedly connected to the front side of the spray disc 7, a pump body 11 and a medicine liquid tank 10 are fixedly connected to the top of the base 1, the pump body 11 is connected to the medicine liquid tank 10, and one end of the hose 9 is connected to the liquid outlet end of the pump body 11, so as to provide high-pressure medicine liquid to the spray disc 7 so as to be sprayed from the nozzle 8 for bathing the nipples.

[0033] In the utility model, when the cow is bathed in medicine, the visual camera 17 on the mounting plate 6 is used to identify the part that needs the bath, and then the mechanical arm 5 drives the mounting plate 6 and the spray plate 7 to move to the part to be bathed in medicine, and the medicine liquid can be pumped into the hose 9 and the spray plate 7 through the pump body 11, and finally sprayed from the multiple nozzles 8 to bathe the nipples, so as to achieve the purpose of the pre-bath. After the pre-bath is completed, the pump body 11 is closed, and the mounting plate 6 is retracted through the mechanical arm 5 so as not to hinder the subsequent rotation switching, and then the rotating motor 2 is started, and the rotating motor 2 The rotating shaft 3 is driven to rotate 90 degrees, so that the clamping box 12 is rotated to the position of the nipple, and then the visual camera 17 on the clamping box 12 identifies the nipple to be milked, and the clamping box 12 and the two squeezing plates 14 are moved to the outside of the nipple through the mechanical arm 5, and the driving motor 13 is started. The driving motor 13 drives the rotation of the double-headed screw 21, and the double-headed screw 21 drives the two driving plates 22 and the squeezing plate 14 to approach each other, so as to simulate the personnel squeezing the nipple, and the mechanical arm 5 simulates the personnel pulling down the nipple, and the upper When the milking is completed, the clamping box 12 is retracted, and the rotating motor 2 is started in the reverse direction, so that the turntable 4 is reversed by 90 degrees, and the mounting plate 6 and the spray plate 7 are reset to the position of the nipple. According to the above steps, the medicated bath after milking can be achieved, making the work more automated and improving the production efficiency. In the process of visual recognition, the lower motor 15 can be started, and the lower motor 2 can be started. The machine 15 drives the rotation of the rotating seat 16, so that the azimuth angle of the visual camera 17 can be adjusted. The upper motor 19 drives the vertical rotation of the rotating shaft 23 and the visual camera 17, so that the inclination angle of the visual camera 17 can be adjusted, which can effectively increase the shooting range of the visual camera 17, avoid affecting the later visual recognition positioning and causing the drug bath and milking to be unable to be aligned. The setting of the connecting plate 25, the fixing plate 24 and the screws 26 facilitates the disassembly and assembly of the visual camera 17, which is convenient for later maintenance work.

Claims

1. A milking bath robot based on visual recognition, characterized in that: The invention comprises a base (1), a mounting plate (6), a clamping box (12), two visual cameras (17) and two mechanical arms (5); a rotation switching mechanism is arranged between the base (1) and the two mechanical arms (5); the mounting plate (6) and the clamping box (12) are respectively fixedly connected to one end of the corresponding mechanical arm (5); a spray plate (7) for medicinal bathing of dairy cows is fixedly connected to the top of the mounting plate (6); an angle adjustment mechanism for adjusting the angle of the visual camera (17) is arranged on the top of the mounting plate (6) and the clamping box (12); and a squeezing mechanism for milking teats is arranged on the clamping box (12).

2. A milking medicated bath robot based on visual recognition according to claim 1, characterized in that: The rotary switching mechanism comprises a rotary motor (2) fixedly connected to the top of a base (1); a rotary shaft (3) is fixedly connected to the output shaft of the rotary motor (2); a rotary disk (4) is fixedly connected to the top of the rotary shaft (3); and two mechanical arms (5) are rotatably connected to the outside of the rotary disk (4).

3. The milking medicated bath robot based on visual recognition according to claim 1, characterized in that: The angle between the two mechanical arms (5) is 90 degrees.

4. The milking medicated bath robot based on visual recognition according to claim 1, characterized in that: The extrusion mechanism comprises a driving motor (13) fixedly connected to one side of a clamping box (12); a double-headed screw (21) is fixedly connected to the output shaft of the driving motor (13); two driving plates (22) are provided on the outer thread sleeve of the double-headed screw (21); and the front sides of the two driving plates (22) are fixedly connected to an extrusion plate (14).

5. The milking medicated bath robot based on visual recognition according to claim 4, characterized in that: The two driving plates (22) are both slidably sleeved in the clamping box (12).

6. The milking medicated bath robot based on visual recognition according to claim 4, characterized in that: The front side of the clamping box (12) is provided with a rectangular opening (20), and the two extrusion plates (14) are both slidably sleeved in the rectangular opening (20).

7. The milking medicated bath robot based on visual recognition according to claim 1, characterized in that: The angle adjustment mechanism comprises a lower motor (15), wherein the two lower motors (15) are respectively fixedly connected to the top of the mounting plate (6) and the clamping box (12), a rotating seat (16) is fixedly connected to the output shaft of the lower motor (15), and the top of the rotating seat (16) is fixedly connected to two support plates (18), the front side of the front support plate (18) is fixedly connected to the upper motor (19), and the sides of the two support plates (18) close to each other are both rotatably connected to a rotating shaft (23), the output shaft of the upper motor (19) is fixedly connected to the front end of the rotating shaft (23) on the front side, and the visual camera (17) is fixedly connected between the two rotating shafts (23).

8. The milking medicated bath robot based on visual recognition according to claim 7, characterized in that: The ends of the two rotating shafts (23) that are close to each other are fixedly connected to a fixing plate (24), and the two sides of the visual camera (17) are fixedly connected to a connecting plate (25). The outer side of the fixing plate (24) is threadedly connected to two screws (26), and the fixing plate (24) is fixedly connected to one side of the connecting plate (25) by the two screws (26).

9. The milking medicated bath robot based on visual recognition according to claim 1, characterized in that: The top of the spray plate (7) is fixedly connected to a plurality of spray heads (8), and the front side of the spray plate (7) is fixedly connected to a hose (9).

10. The milking medicated bath robot based on visual recognition according to claim 9, characterized in that: A pump body (11) and a medicine liquid tank (10) are fixedly connected at the top of the base (1); the pump body (11) is in communication with the medicine liquid tank (10); and one end of the hose (9) is in communication with a liquid outlet end of the pump body (11).

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