Robot for performing medicated bath on dairy cow

Abstract

The utility model provides a robot for conducting medicated bath on dairy cows, which comprises a robot body installed on a machine frame, a spraying assembly installed at the execution end of the robot body, a video probe and a cleaning assembly respectively arranged on the spraying assembly, a medicine supply assembly arranged on one side of the machine frame, a medicine supply barrel detachably arranged at the feeding end of the medicine supply assembly, and a medicine storage barrel detachably arranged at the feeding end of the medicine supply assembly. The discharging end of the medicine supply assembly is connected to the spraying assembly and the cleaning assembly, the medicine supply barrel is used for providing medicated bath liquid for the spraying assembly, and the cleaning assembly is used for cleaning the video probe. According to the robot for conducting medicated bath on the dairy cow, the robot body transfers the spraying assembly to the position where medicated bath is to be conducted, medicated bath is conducted on the designated point of the 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 labor intensity of workers is lowered. The medicated bath robot is convenient to install and use, and the equipment investment cost is low.

Description

Technical Field

[0001] The utility model belongs to the field of dairy cow care, and particularly relates to a robot for medicating dairy cows. Background Art

[0002] In the prior art of dairy cow breeding, a milking machine is usually used to milk dairy cows automatically. Before and after milking, it is necessary to clean the teats of dairy cows to prevent the unqualified hygienic environment of the teats of dairy cows, which is likely to cause disease transmission, reduce milk production, and even affect the quality of milk. In the prior art, it is usually to manually spray medicament on the teats of dairy cows before and after milking, with slow working efficiency and uncontrollable medicating quality. Summary of the Invention

[0003] In view of this, the utility model aims to provide a robot for medicating dairy cows 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 robot for medicating dairy cows includes a robot body installed on a frame. A spraying assembly is installed at the execution end of the robot body, and a video probe and a cleaning assembly are respectively arranged on the spraying assembly. A medicine supply assembly is arranged on one side of the frame. The feeding end of the medicine supply assembly is detachably provided with a medicine supply bucket, and the discharging ends of the medicine supply assembly are respectively connected to the spraying assembly and the cleaning assembly. The medicine supply bucket is used to provide medicating liquid to the spraying assembly, and the cleaning assembly is used to clean the video probe.

[0006] Further, the spraying assembly includes a mounting plate, and a first spray head is arranged on the mounting plate. The cleaning assembly includes a second spray head, and the second spray head is installed on the mounting plate. A video probe is arranged on the mounting plate, and the second spray head is located on one side of the video probe. The first spray head and the second spray head are respectively connected to the medicine supply assembly through pipelines.

[0007] Further, the mounting plate is connected to the execution end of the robot body through a floating assembly. The floating assembly includes a mounting seat, and the mounting seat is fixedly installed at the execution end of the robot body. One end of the mounting seat is rotatably connected to one end of the mounting plate, and a tension spring is arranged on the mounting seat. One end of the tension spring is fixedly connected to one side of the mounting plate.

[0008] Further, a baffle is arranged on the mounting plate, and a stop pin is arranged on the mounting seat. One side of the baffle can abut against the periphery of the stop pin.

[0009] Further, the medicine supply assembly includes a box body, in which a pneumatic diaphragm pump, a flow meter, a solenoid valve and a pneumatic control fluid valve are respectively arranged. The box body is installed on the frame. The inlet end of the pneumatic diaphragm pump is connected to the medicine supply barrel through a hose, and a solenoid valve and a filter are respectively arranged on the hose. The outlet end of the pneumatic diaphragm pump is connected to the pneumatic control fluid valve through a pipe body, and a flow meter is arranged on the pipe body. The pneumatic control fluid valve is connected to the first spray head and the second spray head through pipelines respectively.

[0010] Compared with the prior art, the robot for medicating cows of the present utility model has the following beneficial effects: The robot body transfers the spraying assembly to the position to be medicated, and medicates the designated points of the cows through the medicine supply assembly and the spraying assembly. During the medicating process, the video probe will be contaminated, and the cleaning assembly can clean the video probe to ensure the stable operation of the equipment. This medicating robot is convenient to install and use, does not require any modification to the existing rotary milking machine, and only needs to perform basic signal docking with the turntable after installation to run automatically, with low equipment investment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] 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:

[0012] Figure 1 is a schematic structural diagram of a robot for medicating cows according to an embodiment of the present utility model;

[0013] Figure 2 is a schematic structural diagram of the medicine supply assembly according to an embodiment of the present utility model;

[0014] Figure 3 is a schematic structural diagram of the spraying assembly according to an embodiment of the present utility model.

[0015] Description of the reference numerals:

[0016] 1 - frame; 2 - robot body; 3 - spraying assembly; 31 - mounting plate; 32 - first spray head; 33 - mounting seat; 34 - tension spring; 35 - baffle; 36 - stop pin; 4 - cleaning assembly; 5 - medicine supply barrel; 6 - video probe; 7 - medicine supply assembly; 71 - box body; 72 - pneumatic diaphragm pump; 73 - flow meter; 74 - solenoid valve; 75 - pneumatic control fluid valve; 76 - filter. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] 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.

[0018] 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. Therefore, it should not 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 specifying 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.

[0019] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may 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 circumstances.

[0020] The present utility model will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0021] As Figures 1 - 3As shown in the figure, a robot for medicating cows includes a robot body 2 installed on a frame 1. A spraying assembly 3 is installed at the execution end of the robot body 2, and a video probe 6 and a cleaning assembly 4 are respectively arranged on the spraying assembly 3. A medicine supply assembly 7 is arranged on one side of the frame 1. A medicine supply bucket 5 is detachably arranged at the feeding end of the medicine supply assembly 7. The discharging end of the medicine supply assembly 7 is respectively connected to the spraying assembly 3 and the cleaning assembly 4. The medicine supply bucket 5 is used to provide medicating liquid for the spraying assembly 3. The cleaning assembly 4 is used to clean the video probe 6. The video probe 6 is a CCD camera of the prior art, and the control mode of this embodiment is controlled by a controller, and the controller is a PLC. The control circuit of the controller can be realized by simple programming by those skilled in the art. The provision of power supply 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 2 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 tails of cows and the surrounding areas. 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 medicating positions, and the robot body 2 provides data support. Then the robot body 2 transfers the spraying assembly 3 to the position to be medicated. The controller controls the medicine supply assembly 7 and the spraying assembly 3 to medicate the designated points of the cows. During medicating, the video probe 6 will be polluted. The cleaning assembly 4 can clean the video probe 6 to ensure the stable operation of the equipment. This medicating robot is convenient to install and use, does not require any modification to the existing rotary milking machine, and only needs to perform basic signal docking with the turntable after installation to run automatically. The equipment investment cost is low.

[0022] The spraying assembly 3 includes a mounting plate 31, and a first spray head 32 is arranged on the mounting plate 31. The cleaning assembly 4 includes a second spray head. The second spray head is installed on the mounting plate 31, and the video probe 6 is arranged on the mounting plate 31. The second spray head is located on one side of the video probe 6. The first spray head 32 and the second spray head are respectively connected to the medicine supply assembly 7 through pipelines. The second spray head is used to clean the video probe 6. The first spray head 32 is used to medicate the cows, and both the first spray head 32 and the second spray head are high-pressure spray heads of the prior art.

[0023] The mounting plate 31 is connected to the execution end of the robot body 2 through a floating component. The floating component includes a mounting base 33. The mounting base 33 is fixedly mounted on the execution end of the robot body 2. One end of the mounting base 33 is rotatably connected to one end of the mounting plate 31. A tension spring 34 is arranged on the mounting base 33. One end of the tension spring 34 is fixedly connected to one side of the mounting plate 31. A baffle 35 is arranged on the mounting plate 31. A stop pin 36 is arranged on the mounting base 33. One side of the baffle 35 can abut against the periphery of the stop pin 36. The cooperation between the baffle 35 and the stop pin 36 is used to define the initial position and the reset position of the mounting plate 31, preventing the mounting plate 31 from having an uncertain position after being collided and causing the problem that the equipment cannot operate normally.

[0024] The floating component is the last line of defense in the case of the failure of software and electrical interlock protection, avoiding irreversible collisions between the robot and the bracket and causing damage to the cows and the equipment. Its floating principle is that the tension spring 34 always has a resilient force of resilience, so that the baffle 35 on the mounting plate 31 always abuts against the periphery of the stop pin 36. When the mounting plate 31 is impacted, the mounting plate 31 can rotate around the mounting base 33 to prevent impact on the cows or the milking machine. When the mounting plate 31 disengages from the cows or the milking machine, the mounting plate 31 and the mounting base 33 are reset by the tension spring 34.

[0025] The medicine supply component 7 includes a box body 71 and a pneumatic diaphragm pump 72, a flow meter 73, a solenoid valve 74 and a pneumatic control fluid valve 75 respectively arranged therein. The pneumatic diaphragm pump 72, the flow meter 73, the solenoid valve 74 and the pneumatic control fluid valve 75 are existing technologies. The model of the pneumatic diaphragm pump 72 in this embodiment is DP-60, and the model of the pneumatic control fluid valve 75 is DCV100-4OQ pneumatic control multi-way valve. The box body 71 is mounted on the frame 1. The inlet end of the pneumatic diaphragm pump 72 is connected to the medicine supply barrel 5 through a hose, and a solenoid valve 74 and a filter 76 are respectively arranged on the hose. The model of the filter 76 is WR1000 pressure reducing filter 76. The outlet end of the pneumatic diaphragm pump 72 is connected to the pneumatic control fluid valve 75 through a pipe body, and a flow meter 73 is arranged on the pipe body. The pneumatic control fluid valve 75 is connected to the first nozzle 32 and the second nozzle through pipelines respectively.

[0026] As Figure 3 shown, the medicine supply barrel 5 is used to store the medicated bath liquid. The pneumatic diaphragm pump 72 is the power for medicine supply. The pneumatic control fluid valve 75 is used to control the opening and closing of the first nozzle 32 and the second nozzle. There are a total of 4 pneumatic control fluid valves 75, three of which respectively correspond to one first nozzle 32, and the other corresponds to the second nozzle for high-pressure cleaning. The solenoid valve 74 is used to control the opening and closing of the pneumatic control fluid valve 75. The flow meter 73 is used to count the flow rate of spraying medicine. The filter 76 is used to filter impurities in the medicated bath to avoid blocking the first nozzle 32 and the second nozzle with impurities.

[0027] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robot for medicating cows, characterized in that: It includes a robot body (2) installed on a frame (1). A spraying assembly (3) is installed at the execution end of the robot body (2). A video probe (6) and a cleaning assembly (4) are respectively arranged on the spraying assembly (3). A medicine supply assembly (7) is arranged on one side of the frame (1). A medicine supply bucket (5) is detachably arranged at the feeding end of the medicine supply assembly (7). The discharging ends of the medicine supply assembly (7) are respectively connected to the spraying assembly (3) and the cleaning assembly (4). The medicine supply bucket (5) is used to provide a medicated bath solution to the spraying assembly (3), and the cleaning assembly (4) is used to clean the video probe (6).

2. The robot for medicating cows according to claim 1, characterized in that: The spraying assembly (3) includes a mounting plate (31), and a first nozzle (32) is arranged on the mounting plate (31). The cleaning assembly (4) includes a second nozzle. The second nozzle is installed on the mounting plate (31), and the video probe (6) is arranged on the mounting plate (31). The second nozzle is located on one side of the video probe (6). The first nozzle (32) and the second nozzle are respectively connected to the medicine supply assembly (7) through pipelines.

3. A robot for medicating cows according to claim 2, characterized in that: The mounting plate (31) is connected to the execution end of the robot body (2) through a floating assembly. The floating assembly includes a mounting seat (33). The mounting seat (33) is fixedly installed at the execution end of the robot body (2). One end of the mounting seat (33) is rotatably connected to one end of the mounting plate (31), and a tension spring (34) is arranged on the mounting seat (33). One end of the tension spring (34) is fixedly connected to one side of the mounting plate (31).

4. A robot for medicating cows as claimed in claim 3, wherein: A baffle (35) is arranged on the mounting plate (31), and a stop pin (36) is arranged on the mounting seat (33). One side of the baffle (35) can abut against the periphery of the stop pin (36).

5. The robot for medicating cows according to claim 2, wherein: The medicine supply assembly (7) includes a box body (71), and a pneumatic diaphragm pump (72), a flow meter (73), a solenoid valve (74) and a pneumatic control fluid valve (75) are respectively arranged inside it. The box body (71) is installed on the frame (1). The inlet end of the pneumatic diaphragm pump (72) is connected to the medicine supply bucket (5) through a hose, and a solenoid valve (74) and a filter (76) are respectively arranged on the hose. The outlet end of the pneumatic diaphragm pump (72) is connected to the pneumatic control fluid valve (75) through a pipe body, and a flow meter (73) is arranged on the pipe body. The pneumatic control fluid valve (75) is connected to the first nozzle (32) and the second nozzle respectively through pipelines.

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