Medicated bath robot matched with rotating disc type milking machine

Abstract

The medicated bath robot matched with the rotating disc type milking machine comprises a robot body, a spraying assembly, a medicine supply assembly and a cleaning assembly, the robot body is fixedly installed at a preset position, the spraying assembly and a video probe are installed at the execution end of the robot body, the spraying assembly is connected to the medicine supply assembly through a pipeline, and the video probe is connected to the robot body. A cleaning assembly is arranged on one side of the robot body and used for cleaning the video probe. According to the medicated bath robot matched with the rotating disc type milking machine, the robot body transfers the spraying assembly to a medicated bath waiting position, medicated bath is carried out on a designated point of a dairy cow through the medicine supply assembly and the spraying assembly, the video probe can be polluted during medicated bath, the video probe can be cleaned through the cleaning assembly, and the working efficiency is improved. And the cleaning assembly and the spraying assembly are installed in a split mode, the cleaning assembly can be adjusted in multiple positions, and workers can conveniently conduct installation and maintenance.

Description

Technical Field

[0001] The utility model belongs to the field of dairy cow breeding, in particular to a medicated bath robot cooperating with a rotary milking machine. Background Technique

[0002] Dairy cows are mammals of the genus Bos in the order Artiodactyla and family Bovidae. Dairy cows are tall and well-proportioned in structure, with thin skin, little fat, short and fine hair, and their coat colors are often significantly black and white or yellow. The udders of dairy cows are large and plump, generally having four teats, arranged in two even rows. The extra accessory teats are short and generally do not produce milk, and will atrophy naturally later. In the prior art of dairy cow breeding, dairy cows are usually milked by an automatic milking machine. Before and after milking, the teats of dairy cows need to be cleaned. Usually, the teats of dairy cows are sprayed with medicated bath manually, with slow working efficiency and uncontrollable medicated bath quality. Summary of the Invention

[0003] In view of this, the utility model aims to provide a medicated bath robot cooperating with a rotary milking machine to solve the problems of low cleaning efficiency and uncontrollable quality in the prior art of manually cleaning the teats of dairy cows.

[0004] To achieve the above object, the technical solution of the utility model is realized as follows:

[0005] A medicated bath robot cooperating with a rotary milking machine includes a robot body, a spraying assembly, a medicine supply assembly and a cleaning assembly. The robot body is fixedly installed at a preset position. The execution end of the robot body is respectively installed with the spraying assembly and a video probe. The spraying assembly is connected to the medicine supply assembly through a pipeline. A cleaning assembly is arranged on one side of the robot body, and the cleaning assembly is used to clean the video probe.

[0006] Further, the spraying assembly includes a mounting plate, and a nozzle is arranged on the mounting plate. The nozzle is connected to the medicine supply assembly through a pipeline, and the mounting plate is connected to the execution end of the robot body.

[0007] Further, the mounting plate is connected to the execution end of the robot body through a floating assembly. The floating assembly includes a spring, and both ends of the spring are respectively fixedly connected to one end of the mounting plate and the execution end of the robot body.

[0008] Further, the number of the springs is multiple, and the multiple springs are arranged in parallel. Both ends of each spring are respectively fixedly connected to one end of the mounting plate and the execution end of the robot body. An adapter pipe is arranged on the mounting plate, and the multiple springs are all located inside the adapter pipe. The upper end of the adapter pipe can abut against the execution end of the robot body.

[0009] Further, the cleaning assembly includes a bracket, and the bracket is of an L-shaped structure. A cleaning head is slidably connected to one side of the bracket, and the cleaning head is connected to tap water through a pipeline.

[0010] Further, the medicine supply assembly includes a liquid medicine tank filled with medicated bath liquid. An outlet pipe is installed on the liquid medicine tank. The outlet end of the outlet pipe is connected to a nozzle through a pipeline. The inlet end of the outlet pipe is located inside the liquid medicine tank and is equipped with a filter. A booster pump is arranged on the outlet pipe, and a flow meter is arranged on the pipeline.

[0011] Compared with the prior art, the medicated bath robot cooperating with the rotary milking machine of the present utility model has the following beneficial effects:

[0012] (1) For the medicated bath robot cooperating with the rotary milking machine of the present utility model, the robot body transfers the spraying assembly to the position to be medicated. The cow's designated point is medicated through the medicine supply assembly and the spraying assembly. During the medicated bath, the video probe will be contaminated. The cleaning assembly can clean the video probe to ensure the stable operation of the equipment. The cleaning assembly and the spraying assembly are separately installed, and the cleaning assembly can be adjusted at multiple positions, which is convenient for the staff to install and maintain.

[0013] (2) For the medicated bath robot cooperating with the rotary milking machine of the present utility model, the medicated bath robot is convenient to install and use. It does not require any modification to the existing rotary milking machine. After installation, it only needs to perform basic signal docking with the turntable to run automatically, and the equipment investment cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings constituting a part of the present utility model are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0015] Figure 1 is a schematic structural diagram of the medicated bath robot cooperating with the rotary milking machine according to the embodiment of the present utility model;

[0016] Figure 2 is a schematic structural diagram of the medicine supply assembly according to the embodiment of the present utility model;

[0017] Figure 3 is a schematic structural diagram of the spraying assembly according to the embodiment of the present utility model.

[0018] Description of the reference numerals:

[0019] 1 - robot body; 2 - spraying assembly; 21 - mounting plate; 22 - nozzle; 23 - spring; 24 - adapter pipe; 3 - medicine supply assembly; 31 - liquid medicine tank; 32 - outlet pipe; 33 - filter; 34 - booster pump; 35 - flow meter; 4 - cleaning assembly; 41 - bracket; 42 - cleaning head; 5 - video probe. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0021] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0022] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific situations.

[0023] The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0024] Such as Figures 1 - 3As shown in the figure, the medicated bath robot cooperating with the rotary milking machine includes a robot body 1, a spraying assembly 2, a medicine supply assembly 3, and a cleaning assembly 4. The robot body 1 is fixedly installed at a preset position. The execution end of the robot body 1 is respectively installed with the spraying assembly 2 and a video probe 5. The spraying assembly 2 is connected to the medicine supply assembly 3 through a pipeline. A cleaning assembly 4 is arranged on one side of the robot body 1. The cleaning assembly 4 is used to clean the video probe 5. The video probe 5 is a CCD camera of the prior art, and the control mode of this embodiment is controlled by a controller. The controller is a PLC. The control circuit of the controller can be realized by simple programming of those skilled in the art. The provision of power also belongs to the common knowledge in the art. And this article is mainly used to protect mechanical devices. The control mode and circuit connection are not explained in detail in this article. The robot body 1 is a lightweight six-axis collaborative robot TC6 series of the prior art. The CCD camera is used to collect high-definition images of the nipples, the cow's tail and the surrounding area. The controller analyzes and extracts key features in the images such as the shape, size, and position of the nipples, calculates the coordinates of the medicated bath position, and the robot body 1 provides data support. Then the robot body 1 transfers the spraying assembly 2 to the position to be medicated. The controller controls the medicine supply assembly 3 and the spraying assembly 2 to perform medicated bath on the designated points of the cow. During the medicated bath, the video probe 5 will be contaminated. The cleaning assembly 4 can clean the video probe 5 to ensure the stable operation of the equipment. The cleaning assembly 4 and the spraying assembly 2 are separately installed to reduce the waste of the liquid medicine. The cleaning assembly 4 can be adjusted in multiple positions to facilitate the installation and maintenance by the staff.

[0025] During use, the CCD camera identifies the cow's legs, and then the robot body 1 drives the spraying assembly 2 to enter between the two cow's legs. The CCD camera identifies the positions of 4 udders and nipples. The robot body 1 drives the spraying assembly 2 to move to the nipple positions in sequence according to the coordinates of the nipples and starts the spraying assembly 2 to spray medicine. The spraying time is 0.5 s to complete the spraying of 4 nipples. This medicated bath robot is convenient for installation and use. It does not require any modification to the existing rotary milking machine. After installation, it only needs to perform basic signal docking with the turntable to run automatically, and the equipment investment cost is low.

[0026] The spraying assembly 2 includes a mounting plate 21, and a nozzle 22 is arranged on the mounting plate 21. The nozzle 22 is connected to the medicine supply assembly 3 through a pipeline. The mounting plate 21 is connected to the execution end of the robot body 1. The mounting plate 21 is connected to the execution end of the robot body 1 through a floating assembly. The floating assembly includes a spring 23, and both ends of the spring 23 are fixedly connected to one end of the mounting plate 21 and the execution end of the robot body 1 respectively. The number of springs 23 is multiple, and the multiple springs 23 are arranged in parallel. Both ends of each spring 23 are fixedly connected to one end of the mounting plate 21 and the execution end of the robot body 1 respectively. And an adapter pipe 24 is arranged on the mounting plate 21. The multiple springs 23 are all located inside the adapter pipe 24, and the upper end of the adapter pipe 24 can abut against the execution end of the robot body 1.

[0027] The floating assembly is the last line of defense in the event of software and electrical interlock protection failures. It prevents irreversible collisions between the robot and the bracket, avoiding damage to the cows and the equipment. Its working principle is as Figure 3 shown. Four springs 23 are arranged inside the adapter pipe 24. The springs 23 are elastic and can move freely in all degrees of freedom. When the cows or the turntable equipment collide with the medicated bath rod, when a certain force (the value of the force can be adjusted to avoid damaging the cows and the equipment) is reached, the connecting part of the spring 23 will rotate or swing the mounting plate 21 due to the elastic effect, avoiding serious impacts.

[0028] The cleaning assembly 4 includes a bracket 41, and the bracket 41 is of an L-shaped structure. A cleaning head 42 is slidably connected to one side of the bracket 41. The cleaning head 42 is connected to tap water through a pipeline. During use, due to the poor on-site hygiene conditions, the lens of the CCD camera will get dirty, affecting the nipple position recognition accuracy. Therefore, it is necessary to regularly clean the lens of the CCD camera automatically. The cleaning time is determined by two methods, and cleaning is performed once when either of the following conditions is met: 1) The medicated bath robot cleans the lens regularly every time it medicates 10 cows; 2) The CCD camera automatically recognizes that the lens is dirty and starts a cleaning.

[0029] The medicine supply assembly 3 includes a liquid medicine tank 31 filled with medicated bath liquid. A liquid outlet pipe 32 is installed on the liquid medicine tank 31. The liquid outlet end of the liquid outlet pipe 32 is connected to the spray head 22 through a pipeline. The liquid inlet end of the liquid outlet pipe 32 is located inside the liquid medicine tank 31 and a filter 33 is installed. The filter 33 in this embodiment is a columnar sponge. A booster pump 34 is provided on the liquid outlet pipe 32. The model of the booster pump 34 is air DP-60. A flow meter 35 is provided on the pipeline. The flow meter 35 is a prior art. Both the flow meter 35 and the booster pump 34 are signal-connected to the controller. And a solenoid valve of the prior art is provided on the pipeline. The controller turns on and off the passage of the spray head 22 through the solenoid valve. In order to increase the function of automatically detecting the liquid level of the medicine supply assembly 3, a liquid level detection device can be provided inside the liquid medicine tank 31. And the liquid level detection device adopts the prior art. This embodiment is a liquid level sensor. And the model of the liquid level sensor is the submersible liquid level sensor BK-PM218. The liquid level sensor is signal-connected to the controller.

[0030] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. The medicated bath robot used in conjunction with a rotary milking machine is characterized by: The robot body (1) comprises a robot body (1), a spraying assembly (2), a medicine supply assembly (3) and a cleaning assembly (4); the robot body (1) is fixedly mounted at a preset position; the spraying assembly (2) and a video probe (5) are respectively mounted on the execution end of the robot body (1); the spraying assembly (2) is connected to the medicine supply assembly (3) via a pipeline; a cleaning assembly (4) is arranged on one side of the robot body (1); and the cleaning assembly (4) is used to clean the video probe (5).

2. The medicated bath robot for use with a rotary milking machine according to claim 1, characterized in that: The spraying assembly (2) comprises a mounting plate (21), and a spray head (22) is arranged on the mounting plate (21), the spray head (22) is connected to the medicine supply assembly (3) through a pipeline, and the mounting plate (21) is connected to the execution end of the robot body (1).

3. The medicated bath robot for use with a rotary milking machine according to claim 2, characterized in that: The mounting plate (21) is connected to the execution end of the robot body (1) via a floating assembly, the floating assembly comprises a spring (23), and the two ends of the spring (23) are respectively fixedly connected to one end of the mounting plate (21) and the execution end of the robot body (1).

4. The medicated bath robot for use with a rotary milking machine according to claim 3, characterized in that: The number of springs (23) is multiple, and the multiple springs (23) are arranged in parallel with each other, and the two ends of each spring (23) are respectively fixedly connected to one end of the mounting plate (21) and the execution end of the robot body (1), and an adapter tube (24) is arranged on the mounting plate (21), and the multiple springs (23) are all located in the adapter tube (24), and the upper end of the adapter tube (24) can abut against the execution end of the robot body (1).

5. The medicated bath robot for use with a rotary milking machine according to claim 1, characterized in that: The cleaning component (4) comprises a bracket (41), and the bracket (41) is an L-shaped structure. One side of the bracket (41) is slidably connected to a cleaning head (42), and a pipeline of the cleaning head (42) is connected to tap water.

6. The medicated bath robot for use with a rotary milking machine according to claim 2, characterized in that: The medicine supply component (3) comprises a medicine liquid tank (31), the medicine liquid tank (31) is filled with a medicine bath liquid, and a liquid outlet pipe (32) is installed on the medicine liquid tank (31), the liquid outlet end of the liquid outlet pipe (32) is connected to the nozzle (22) through a pipeline, the liquid inlet end of the liquid outlet pipe (32) is located in the medicine liquid tank (31) and is installed with a filter (33), a booster pump (34) is arranged on the liquid outlet pipe (32), and a flow meter (35) is arranged on the pipeline.

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