Milking execution mechanism and milking robot

Abstract

The utility model relates to a milking executing mechanism and a milking robot, and belongs to the technical field of milking equipment for dairy animals, the milking executing mechanism comprises a shell, a plurality of groups of milk cup assemblies, a traction assembly and an overturning assembly, the traction assembly is connected with the milk cup assemblies through a flexible traction piece and can tighten the milk cup assemblies, and the overturning assembly is connected with the shell. After the milk cup assembly is connected with a nipple of an animal to be milked, the milk cup assembly can be released, the turnover assembly is located on an extending path of the flexible traction piece, when the flexible traction piece is in a tightened state, the milk cup assembly and the turnover assembly are combined into a whole, the turnover assembly rotates around a turnover shaft, and the milk cup assembly is switched between a vertical posture and an inclined posture. The technical problems that in the prior art, the degree of freedom of a milk cup in a parking position is large, the milk cup is easily kicked by a milking animal and is clamped, and the next operation cannot be carried out can be solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to dairy animal milking equipment technical field, concretely relates to a kind of milking execution mechanism and milking robot. BACKGROUND

[0002] With the rapid economic development, people's demand for dairy products greatly increases, thereby promoting the development of animal husbandry, and the introduction of efficient and intelligent milking robots is the trend of the development of animal husbandry. The milking robot can greatly save the daily operating cost of the ranch, improve the production efficiency of the ranch and the overall quality of the milk source. One embodiment of the patent US9426966B2 brings the teat cup to the lower side of the cow by the robot arm, and at the same time, the teat cup is pulled by the flexible pulling member. In the non-working state, the teat cup is in the parking position and assumes an inclined posture. In the working state, the teat cup is first moved from the parking position to the basic vertical positioning posture and then to the milking posture. In the milking posture, the teat cup is hung on the corresponding teat of the animal to be milked. When the milking operation is completed, the teat cup is released from the teat and moved back to the positioning posture and then moved back to the parking position. When the teat cup is in the parking posture, the flexible pulling member is in a relaxed state, and the teat cup is inclined and inclined under the action of gravity, resulting in a large degree of freedom of the teat cup, which is tilted and unstable in posture, is easily kicked by the animal to be milked, and is easily stuck, which prevents the next operation from being performed. US9426966B2 discloses that the at least two pulling elements are relaxed, and the teat cup is moved to the parking position or the milking position by gravity. The practical implementation device of the patent often appears the above-mentioned stuck phenomenon, which must be solved by manual intervention. CONTENT OF THE UTILITY MODEL

[0003] In view of various deficiencies of the prior art, the present application provides a milking execution mechanism and a milking robot to solve the technical problem that the teat cup in the parking position has a large degree of freedom, is easily kicked by the animal to be milked and is stuck, which prevents the next operation from being performed.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] A milking execution mechanism includes a housing, a plurality of teat cup assemblies and a pulling assembly corresponding to each teat cup assembly. The pulling assembly is connected to the teat cup assembly by a flexible pulling member. The teat cup assembly can be tightened, and after the teat cup assembly is connected to the teat of the animal to be milked, the teat cup assembly can be released for milking operation. The milking execution mechanism also includes a turnover assembly corresponding to each teat cup assembly. The turnover assembly is located on the extension path of the flexible pulling member, and the turnover assembly is rotatably connected to the housing by a turnover shaft. The turnover assembly has an end face combined with the teat cup assembly.

[0006] When the flexible traction member is in the tightened state, the teat cup assembly is integrated with the turnover assembly, and the turnover assembly rotates around the turnover shaft, so that the teat cup assembly can be switched between the vertical posture and the inclined posture, and the teat cup end inlet of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0007] The technical scheme is further provided that the flexible traction member penetrates the turnover assembly.

[0008] The technical scheme is further provided that the flexible traction member is perpendicular to and penetrates the central axis of the turnover shaft, so that when the turnover assembly is turned over, the length of the flexible traction member in the tightened state does not change, and the tensioning force is constant.

[0009] The technical scheme is further provided that the turnover assembly is provided as a turnover seat, and a positioning pin is arranged between the turnover seat and the turnover shaft, the positioning pin being perpendicular to the turnover shaft, so that the turnover seat is integrated with the turnover shaft.

[0010] The technical scheme is further provided that the turnover seat and the turnover shaft are both provided with fan-shaped accommodation slots for accommodating the flexible traction member, the two fan-shaped accommodation slots being aligned in the axial direction of the turnover shaft and having the same center, the center being located on the central axis of the turnover shaft, so that the turning angle of the turnover assembly does not change the tensioning degree of the flexible traction member.

[0011] The technical scheme is further provided that the turnover seat has two adjacent straight edges at a specific angle, and the two straight edges are transitioned by an arc surface, the axis of the arc surface being located on the central axis of the turnover shaft, and the cosine of the angle formed by the two straight edges being equal to the turning angle of the turnover seat, the turnover seat being respectively abutted against the inner wall of the shell by the two straight edges as the turnover limiting.

[0012] The technical scheme is further provided that the turnover driving assembly is further provided, and the flexible traction member is always in the tightened state during the turnover process of the teat cup assembly driven by the turnover driving assembly.

[0013] The technical scheme is further provided that the turnover driving assembly is a pneumatic cylinder.

[0014] The technical scheme is further provided that the turnover driving assembly is an electric cylinder.

[0015] The technical scheme is further provided that the turnover driving assembly adopts a combined structure of a turnover driving pneumatic cylinder, a rack and a gear, the rack being connected with the cylinder rod of the turnover driving pneumatic cylinder, the extension direction of the turnover driving pneumatic cylinder being parallel to the extension path of the flexible traction member, the gear being installed on the turnover shaft and being fixed with the turnover seat by a pin shaft, and the gear being engaged with the rack.

[0016] The technical solution is further configured such that the flexible traction member passes through the fixing bolt hole of the flip drive cylinder.

[0017] The technical solution is further configured such that the relatively straight surfaces of the teeth of the rack are provided with supporting elements that abut against them, and the pressing force applied by the supporting elements to the rack is adjustable.

[0018] The technical solution is further configured such that each traction assembly is connected to at least two flexible traction members arranged side by side.

[0019] The present technical solution is further configured such that a circular concave hole is provided on the joint end surface of the flip assembly and the milk cup assembly, and a circular boss is correspondingly provided on the joint end surface of the milk cup assembly and the flip assembly. When the milk cup assembly and the flip assembly are combined into one, the concave hole and the boss are combined in a concave-convex manner, so that the milk cup assembly and the flip assembly can be positioned and oriented together, and the setting positions of the concave hole and the boss are interchangeable.

[0020] The technical solution is further configured such that the number of the concave holes, the bosses and the flexible traction members is the same, and a through hole for the flexible traction member to pass through is provided at the center axis of the concave holes and the bosses.

[0021] The technical solution is further configured to include a traction drive assembly, wherein the traction drive assembly and the traction assembly adopt a linear motion mode to change the state of the flexible traction member to tighten and release the teat cup assembly.

[0022] The technical solution is further configured such that the traction drive assembly adopts a cylinder.

[0023] The technical solution is further configured such that the traction drive assembly adopts an electric cylinder.

[0024] The technical solution is further configured such that the traction assembly is configured as a traction roller with an annular groove, the flexible traction member first surrounds the annular groove, then passes through the flip assembly and is connected to the teat cup assembly, and at least one end of the flexible traction member serves as a fixed end.

[0025] The technical solution is further configured such that the fixed end is provided with a tension adjustment component;

[0026] The tension adjusting assembly comprises a slidingly connected adjusting seat and a guide sleeve matched with a rotation stopping rib, the adjusting seat is provided with a long slot hole accommodating the rotation stopping rib, the inside of the adjusting seat is provided with a compression spring, the guide sleeve is embedded in the inside of the adjusting seat and abuts against the compression spring, the inside of the guide sleeve is embedded with a hollow tension adjusting bolt in threaded connection with the guide sleeve, and the flexible traction member penetrates the adjusting seat, the guide sleeve and the tension adjusting bolt in sequence and extends to the outside of the tension adjusting bolt, and the knot forms a fixed end.

[0027] The technical scheme is further provided with upper and lower guide grooves on the linear motion path of the traction roller, the upper and lower guide grooves form a guide space to bear and guide the linear reciprocating motion of the traction roller and the traction flexible traction member, and prevent the flexible traction member from winding around the traction roller and accessories thereof.

[0028] In addition, the utility model also provides a milking robot, including mechanical arm and the milking executive mechanism of described, mechanical arm with the milking executive mechanism is connected, still including the visual camera of installation on the casing, the teat of the animal to be milked is positioned, and the action of mechanical arm provides positioning data.

[0029] The utility model has the advantages of:

[0030] When the milk cup assembly is switched between the vertical posture and the inclined posture, the flexible traction member is in the tightening state, the tension of the flexible traction member is kept unchanged during the process, the reset accuracy of each posture of the milk cup assembly is ensured, the milk cup assembly is prevented from being stuck to fail to realize the milking cup posture preparation, the milk cup assembly and the turnover assembly are always combined as a whole when the milk cup assembly is not adsorbed with the teat, and only the angle change in the two-dimensional plane exists, the end entrance of the milking cup of the milk cup assembly in the inclined posture is lower than that of the milk cup assembly in the vertical posture, space is provided for the milking cup posture preparation, and the degree of freedom of the milk cup assembly in the inclined posture is small, and the milk cup assembly can be prevented from being kicked by the animal to be milked. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The shaft view of the milking executive mechanism when the milk cup assembly in the utility model embodiment is in the vertical posture;

[0032] Figure 2 The plan view of the milking executive mechanism when the milk cup assembly in the utility model embodiment is in the vertical posture;

[0033] Figure 3 For Figure 2 The middle C-C sectional view;

[0034] Figure 4 For Figure 2Cross-sectional view along line D-D;

[0035] Figure 5 Axial view of the milking execution mechanism when the teat cup assembly is in the release position;

[0036] Figure 6 Plan view of the milking execution mechanism when the teat cup assembly is in the release position;

[0037] Figure 7 Axial view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 6 Cross-sectional view along line E-E;

[0038] Figure 8 Plan view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 6 Cross-sectional view along line F-F;

[0039] Figure 9 Plan view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 3 Partial view of line A-A;

[0040] Figure 10 Axial view of the milking execution mechanism when the teat cup assembly is in the release position;

[0041] Figure 11 Plan view of the milking execution mechanism when the teat cup assembly is in the release position;

[0042] Figure 12 Plan view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 11 Cross-sectional view along line G-G;

[0043] Figure 13 Plan view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 11 Cross-sectional view along line H-H;

[0044] Figure 14 Plan view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 11 Cross-sectional view along line J-J;

[0045] Figure 15 Plan view of the milking execution mechanism when the teat cup assembly is in the release position; Figure 4 Partial view of line B-B;

[0046] Figure 16 Assembly view of the teat cup assembly and the flexible traction element;

[0047] Figure 17 Axial view of the tensioning adjustment assembly;

[0048] Figure 18 Internal cross-sectional view of the tensioning adjustment assembly;

[0049] Figure 19 Axial view of the turnover assembly;

[0050] Figure 20 is a front view of the turnover assembly in the embodiment of the utility model;

[0051] Figure 21 is Figure 20 is a K-K cross-sectional view in the embodiment of the utility model;

[0052] Figure 22 is Figure 20 is a L-L cross-sectional view in the embodiment of the utility model;

[0053] Figure 23 is a schematic view of the milking robot in the embodiment of the utility model;

[0054] Figure 24 is a schematic view of the flexible traction member and the fan-shaped accommodation slot in the embodiment of the utility model.

[0055] In the drawings: 100, shell; 200, teat cup assembly; 201, teat cup assembly mounting seat; 202, boss; 300, turnover assembly; 301, turnover shaft; 302, positioning pin; 303, fan-shaped accommodation slot; 304, recess; 305, first straight edge; 306, second straight edge; 307, gear mounting cavity; 308, turnover shaft mounting hole; 400, flexible traction member; 401, fixed end; 500, traction assembly; 600, traction driving assembly; 700, turnover driving assembly; 701, turnover driving cylinder; 702, rack; 703, gear; 704, turnover driving cylinder mounting seat; 800, tension adjusting assembly; 801, adjusting seat; 802, compression spring; 803, guide sleeve; 804, tension adjusting bolt; 900, support element; 901, first support arm; 902, second support arm; 903, support adjusting member; 110, guide groove; 120, mechanical arm; 130, milking actuating mechanism; 140, visual camera. DETAILED DESCRIPTION

[0056] In order to make the personnel in the art better understand the technical scheme of the utility model, the technical scheme of the utility model is described clearly and completely below in combination with the drawings of the utility model, based on the embodiments in the application, other similar embodiments obtained by the personnel in the art without making creative labor should all belong to the protection scope of the application. In addition, the direction words mentioned in the following embodiments, such as 'up', 'down', 'left', 'right' and the like are only the directions of the drawings, therefore, the direction words used are used to explain but not to limit the creation of the utility model.

[0057] According to the utility model embodiment, a milking actuating mechanism is provided, please refer to Figures 1 to 13, including a shell 100, several groups of teat cup assemblies 200, and a traction assembly 500 corresponding to each group of teat cup assemblies 200, the traction assembly 500 is connected with the teat cup assembly 200 through a flexible traction member 400, the teat cup assembly 200 can be tightened, and after the teat cup assembly 200 is connected with the teat of the animal to be milked, the teat cup assembly 200 can be released, and the milking operation is carried out, and the turnover assembly 300 corresponding to each group of teat cup assemblies 200 is also included, the turnover assembly 300 is located on the extension path of the flexible traction member 400, and the turnover assembly 300 is rotatably connected with the shell 100 through a turnover shaft, and the turnover assembly 300 has an end face combined with the teat cup assembly 200;

[0058] When the flexible traction member 400 is in the tightened state, the teat cup assembly 200 is integrated with the turnover assembly 300, the turnover assembly 300 rotates around the turnover shaft, so that the teat cup assembly 200 can switch between the vertical posture and the inclined posture, and the teat cup assembly in the inclined posture has an entrance lower than the teat cup assembly in the vertical posture.

[0059] Specifically, the vertical posture of the teat cup assembly 200, please refer to Figures 1 to 4 , the teat cup assembly 200 is adsorbed on the corresponding teat of the animal to be milked to prepare for the milking posture, at this time, the flexible traction member 400 is in the tightened state; the release posture of the teat cup assembly 200, please refer to Figures 10 to 13 , the teat cup assembly 200 is adsorbed on the corresponding teat of the animal to be milked, and the flexible traction member 400 is in the relaxed state; the inclined posture of the teat cup assembly 200, please refer to Figures 5 to 8 , to provide space for the milking posture, at this time, the flexible traction member 400 is in the tightened state. In particular, please refer to Figure 10 , the states of the four groups of teat cup assemblies 200 are not the same, one group of teat cup assemblies 200 is in the vertical posture, two groups of teat cup assemblies 200 are in the inclined posture, and another group of teat cup assemblies 200 is in the release posture, that is, the several groups of teat cup assemblies 200 are independent of each other and do not affect each other.

[0060] It should be noted that by arranging the turnover assembly 300 on the extension path of the flexible traction member 400, the flexible traction member 400 is in a tightening state when the milk cup assembly 200 is switched between the vertical posture and the inclined posture, so as to ensure that the tension of the flexible traction member 400 is constant during the process, thereby ensuring the reset accuracy of each posture of the milk cup assembly 200, effectively avoiding the situation that the milk cup assembly 200 is stuck and cannot realize the milking cup posture preparation, and also realizing that the milk cup assembly and the turnover assembly are always integrated as a whole when the milk cup assembly is not adsorbed with the teat, and only the angle change in the two-dimensional plane exists; the end entrance of the milking cup of the milk cup assembly in the inclined posture is lower than that of the milk cup assembly in the vertical posture, so as to provide space for the milking cup posture preparation, and at the same time, the degree of freedom of the milk cup assembly in the inclined posture is small, which can avoid being kicked by the animal to be milked.

[0061] Preferably, the flexible traction member 400 is a pull rope made of a steel wire rope or a nylon rope.

[0062] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 4 、 Figure 9 , the flexible traction member 400 penetrates the turnover assembly 300.

[0063] Specifically, the flexible traction member 400 is perpendicular to and penetrates the central axis of the turnover shaft 301, so that the length of the flexible traction member 400 in the tightening state does not change and the tension is constant when the turnover assembly 300 is turned over.

[0064] It should be noted that by arranging the flexible traction member 400 to be perpendicular to and penetrate the central axis of the turnover shaft 301, the movement track of the part of the flexible traction member 400 penetrating the turnover assembly 300 is an arc during the turnover process of the turnover assembly 300 around the turnover shaft 301, and the center of the arc is the intersection point of the flexible traction member 400 and the central axis of the turnover shaft 301, so as to ensure that the length of the flexible traction member 400 in the tightening state does not change and the tension is constant.

[0065] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 4 、 Figure 9 、 Figures 19 to 11 , the turnover assembly 300 is arranged as a turnover seat, and the turnover seat and the turnover shaft 301 are arranged with a positioning pin 302, the positioning pin 302 is perpendicular to the turnover shaft 301, so that the turnover seat and the turnover shaft 301 are connected as a whole.

[0066] It should be noted that the turnover seat is provided with a turnover shaft mounting hole 308 for the turnover shaft 301 to penetrate, the turnover seat is provided with a mounting groove, the positioning pin 302 is located in the mounting groove, and the housing 100 is provided with a through hole corresponding to the turnover shaft mounting hole 308 and the mounting groove respectively; the end of the positioning pin 302 has a certain taper, and correspondingly, the turnover shaft 301 is provided with a V-shaped positioning groove; by embedding the end of the positioning pin 302 into the V-shaped positioning groove, the fitting degree of the positioning pin 302 and the turnover shaft 301 is improved, so that the turnover seat and the turnover shaft 301 are connected as a whole.

[0067] In the milking actuator of the embodiment, please refer to Figures 1 to 8 , and Figure 24 , the turnover seat 300 and the turnover shaft 301 are both provided with a fan-shaped accommodation groove 303 accommodating the flexible traction member 400, the two fan-shaped accommodation grooves 303 are aligned in the axial direction of the turnover shaft 301, and both have the same center, which is located on the central axis of the turnover shaft 301.

[0068] It should be noted that when the teat cup assembly 200 is in the vertical posture and the release posture, the flexible traction member 400 is in contact with the first side wall of the fan-shaped accommodation groove 303, please refer to Figure 4 , Figure 13 ; when the teat cup assembly 200 is in the inclined posture, the flexible traction member 400 is in contact with the second side wall of the fan-shaped accommodation groove 303, please refer to Figure 8 ; that is to say, when the teat cup assembly 200 is switched between the vertical posture and the inclined posture, the fan-shaped accommodation groove 303 provides accommodation space for the flexible traction member 400, so that the change of the turnover angle of the turnover assembly 300 does not change the tension degree of the flexible traction member 400.

[0069] In the milking actuator of the embodiment, please refer to Figures 1 to 8 , Figures 19 to 21 , the turnover seat has two adjacent straight edges with a certain angle, and the two straight edges are transitioned by a circular arc surface, the axis of the arc surface is located on the central axis of the turnover shaft 301, and the cosine of the angle formed by the two straight edges is equal to the turnover angle of the turnover seat, the turnover seat is respectively abutted with the inner wall of the housing 100 by the two straight edges as turnover limiting.

[0070] Specifically, the two straight edges are a first straight edge 305 and a second straight edge 306, when the teat cup assembly 200 is in the vertical posture, the second straight edge 306 is abutted with the inner wall of the housing 100; after the turnover of the turnover seat, the first straight edge 305 is abutted with the inner wall of the housing 100 when the teat cup assembly 200 is in the inclined posture, thereby playing a role of turnover limiting. Preferably, the turnover angle of the turnover seat is 130°.

[0071] In the milking actuator of the embodiment, please refer to Figures 1 to 9、 Figures 19 to 21 , the flexible traction member 400 is always in the tightening state during the overturning process of the cup assembly 200 combined with the overturning seat as a whole.

[0072] Specifically, the overturning driving assembly 700 is a pneumatic cylinder or an electric cylinder. In addition, the overturning driving assembly 700 can also adopt a combined structure of an overturning driving pneumatic cylinder 701, a rack 702 and a gear 703. The rack 702 is connected with the cylinder rod of the overturning driving pneumatic cylinder 701, the extension direction of the overturning driving pneumatic cylinder 701 is parallel to the extension path of the flexible traction member 400, the gear 703 is installed on the overturning shaft 301 and fixed with the overturning seat as a whole by a pin shaft, and the gear 703 is engaged with the rack 702.

[0073] It should be noted that the cylinder rod of the overturning driving pneumatic cylinder 701 pushes the rack 702 to move along a straight line. Since the gear 703 is engaged with the rack 702, the linear movement of the rack 702 is converted into the rotary movement of the gear 703. In addition, the gear 703 is installed on the overturning shaft 301 and fixed with the overturning seat as a whole by a pin shaft, so the gear 703 drives the overturning seat to rotate synchronously. In addition, when the flexible traction member 400 is in the tightening state, the cup assembly 200 is combined with the overturning assembly 300 (i.e. the overturning seat) as a whole, so the overturning seat drives the cup assembly 200 to overturn.

[0074] Specifically, the inside of the overturning seat is provided with a gear installation cavity 307, and the wheel surface of the gear 703 is fixed with the overturning seat by a pin shaft, so as to realize the overturning of the gear 703 and the overturning seat around the overturning shaft 301.

[0075] It should be noted that please refer to Figures 1 to 9 、 Figure 14 , the overturning driving pneumatic cylinder 701 is fixedly connected with the shell 100 through an overturning driving pneumatic cylinder mounting seat 704. The overturning driving pneumatic cylinder 701 and the overturning driving pneumatic cylinder mounting seat 704 are provided with fixed bolt holes. The flexible traction member 400 penetrates through the fixed bolt holes and then penetrates through the overturning assembly 300, so as to ensure that the flexible traction member 400 extends along the horizontal direction.

[0076] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 9 , the opposite straight surface of the tooth of the rack 702 is provided with a support element 900 abutting against it, and the pressing force applied to the rack 702 by the support element 900 is adjustable.

[0077] It is worth mentioning that the rack 702 is supported by the support element 900, that is, the rack 702 is pressed to prevent the engagement of the rack 702 and the gear 703 from being affected by the inclination of the rack 702. Specifically, the support element 900 can adopt a guide wheel to reduce the friction between the guide wheel and the rack 702.

[0078] In addition, the support element 900 is rotatably connected with the first support arm 901, the middle part of the first support arm 901 is rotatably connected with the second support arm 902, the top part of the second support arm 902 is fixedly connected with the shell 100, and the bottom part of the second support arm 902 is provided with the support adjusting element 903 penetratingly, the support adjusting element 903 is threadedly matched with the second support arm 902, and the end of the support adjusting element 903 abuts against the first support arm 901; that is, by screwing the support adjusting element 903, the pressing force of the support element 900 on the rack 702 is adjusted, so that the support element 900 always abuts against the bottom part of the rack 702.

[0079] In the milking actuator of the embodiment, please refer to Figures 1 to 20 Each traction assembly 500 is connected with at least two flexible traction elements 400 arranged side by side.

[0080] That is, the same teat cup assembly 200 is connected with at least two flexible traction elements 400 arranged side by side to improve stability. Specifically, in the embodiment, the same teat cup assembly 200 is connected with two flexible traction elements 400 arranged side by side.

[0081] In the milking actuator of the embodiment, please refer to Figures 1 to 22 The combination end face of the teat cup assembly 200 and the turnover assembly 300 is provided with a circular recess hole 304, and the combination end face of the teat cup assembly 200 and the turnover assembly 300 is correspondingly provided with a circular boss 202. When the teat cup assembly 200 and the turnover assembly 300 are combined into one, the recess hole 304 and the boss 202 are combined in concave-convex mode, so that the teat cup assembly 200 and the turnover assembly 300 can be combined in position and orientation, and the positions of the recess hole 304 and the boss 202 can be interchanged.

[0082] It is worth mentioning that the teat cup assembly 200 is provided with a teat cup assembly mounting seat 201, and the boss 202 is located on the teat cup assembly mounting seat 201. When the boss 202 is embedded in the recess hole 304, the teat cup assembly 200 and the turnover assembly 300 can be combined in position and orientation.

[0083] It is worth noting that the number of the recess hole 304, the boss 202 and the flexible traction element 400 is the same, and the middle axis of the recess hole 304 and the boss 202 is provided with a through hole for the flexible traction element 400 to penetrate.

[0084] In the milking actuator of the embodiment, please refer to Figures 1 to 13 , further comprising a traction drive assembly 600 connected with the traction assembly 500, the traction drive assembly 600 and the traction assembly 500 adopt linear motion mode to change the state of the flexible traction member 400, tighten and release the cup assembly 200.

[0085] It should be noted that the traction drive assembly 600 adopts a cylinder, which can be a double-acting cylinder or a single-acting cylinder, and adopts linear motion mode to pull the flexible traction member 400; please refer to Figure 3 and Figure 4 , when the traction assembly 500 is in the first position, the flexible traction member 400 is in the tightened state, the flexible traction member 400 pulls the cup assembly 200 to make it in the vertical posture, at this time, the cup assembly 200 is combined with the turnover assembly 300 as a whole; please refer to Figure 12 and Figure 13 , when the traction assembly 500 is in the second position, the flexible traction member 400 is in the relaxed state, the cup assembly 200 is in the released posture, at this time, the cup assembly 200 is separated from the turnover assembly 300. In addition, the traction drive assembly 600 can also adopt an electric cylinder, and the traction process of the electric cylinder is the same as that of the cylinder, which will not be repeated here.

[0086] In the milking actuator of the embodiment, please refer to Figures 1 to 13 , the traction assembly 500 is provided as a traction roller with a ring groove, the flexible traction member 400 is first wound around the ring groove, then penetrates through the turnover assembly 300 and is connected with the cup assembly 200, and at least one end of the flexible traction member 400 serves as a fixed end.

[0087] It should be noted that the flexible traction member 400 is wound around the traction roller, which has compact structure and can realize large stroke in limited space.

[0088] In the milking actuator of the embodiment, please refer to Figures 1 to 13 , Figure 15 , Figure 17 and Figure 18 , the fixed end is provided with a tension adjusting assembly 800, the length of the tension adjusting assembly 800 is adjustable to adjust the tension of the flexible traction member 400.

[0089] Specifically, the tension adjusting assembly 800 comprises a slidingly connected adjusting seat 801 and a guide sleeve 803 with a rotation-stopping rib, the adjusting seat 801 is provided with a long slot hole accommodating the rotation-stopping rib, the adjusting seat 801 is internally provided with a compression spring 802, the guide sleeve 803 is embedded in the interior of the adjusting seat 801 and abuts against the compression spring 802, the interior of the guide sleeve 803 is embedded with a hollow tension adjusting bolt 804 which is threadedly connected with the guide sleeve 803, and the flexible traction member 400 penetrates the adjusting seat 801, the guide sleeve 803 and the tension adjusting bolt 804 in sequence and extends to the outside of the tension adjusting bolt 804, and the nodule forms a fixed end 401.

[0090] It should be noted that the tension adjusting bolt 804 is screwed to change the length of the tension adjusting bolt 804 outside the guide sleeve 803, so as to fine-tune the tension of the flexible traction member 400, and at the same time, under the action of the tension of the flexible traction member 400 and the elastic force of the compression spring 802, the guide sleeve 803 slides relative to the adjusting seat 801 until the tension of the flexible traction member 400 and the elastic force of the compression spring 802 reach a balanced state; the tension adjusting assembly 800 changes the length of the tension adjusting assembly 800 to change the position of the fixed end 401, so as to adjust the tension of the flexible traction member 400 and avoid that the breast cup assembly 200 is pulled out of position.

[0091] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 14 The upper and lower guide grooves 110 are arranged on the linear motion path of the traction roller and form a guide space to bear and guide the linear reciprocating motion of the traction roller which pulls the flexible traction member 400, and prevent the flexible traction member 400 from winding around the traction roller and its accessories.

[0092] It should be noted that the upper and lower guide grooves 110 play a guiding and limiting role on the flexible traction member 400, preventing the flexible traction member 400 from winding around the traction roller and its accessories.

[0093] Especially, it should be noted that the part of the flexible traction member 400 after being released is stored in the guide space, after the breast cup assembly 200 is combined with the teats of the animal to be milked, the milking execution mechanism moves to position other teats, and in the moving process, the part of the flexible traction member 400 stored in the guide space is pulled out or taken out without resistance.

[0094] According to the embodiment of the utility model, a milking robot is provided, please refer to Figures 1 to 23 , comprising a mechanical arm 120 and the milking execution mechanism 130, the mechanical arm 120 is connected with the milking execution mechanism 130.

[0095] It needs to be explained that the milking execution mechanism 130 is moved to the lower side of the teat of the animal to be milked by the mechanical arm 120, so as to prepare for milking.

[0096] In the milking robot of the embodiment, please refer to Figures 1 to 23 It also comprises a visual camera 140 arranged above the milking execution mechanism 130, and the installation height of the visual camera 140 is lower than the entrance height of the milking cup end of the milk cup assembly in the vertical posture.

[0097] It needs to be explained that the visual camera 140 is used to obtain the position of the teat of the animal to be milked, so as to provide positioning data for the movement of the mechanical arm and ensure that the auxiliary milk cup assembly 200 is accurately adsorbed in place; the installation height of the visual camera 140 is lower than the entrance height of the milking cup end of the milk cup assembly in the vertical posture, so as to prevent the visual camera 140 from interfering with the adsorption of the milk cup assembly 200 to the teat.

[0098] The above has made a detailed description of the utility model, and the above is only a preferred embodiment of the utility model, which cannot limit the implementation range of the utility model, that is, any equivalent change and modification made within the scope of the application shall still belong to the scope covered by the utility model.

Claims

1. A milking actuator, comprising a housing, a plurality of teat cup assemblies, and a traction assembly corresponding to each teat cup assembly, wherein the traction assembly is connected to the teat cup assembly via a flexible traction member, and can tighten the teat cup assembly. After the teat cup assembly is connected to the teat of an animal to be milked, the teat cup assembly can be released to perform a milking operation, characterized in that: The teat cup assembly is combined with the turnover assembly as a whole when the flexible traction member is in the tightening state, and the turnover assembly is rotated around the turnover shaft, so that the teat cup assembly can be switched between the vertical posture and the inclined posture, and the teat cup end inlet of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture. The flexible traction member penetrates the turnover assembly.

2. A milking execution mechanism according to claim 1, characterized in that The flexible traction member is perpendicular to and penetrates the central axis of the turnover shaft, so that the length of the flexible traction member in the tightening state does not change when the turnover assembly is turned over, and the tensioning force is constant.

3. A milking execution mechanism according to claim 2, characterized in that The turnover assembly is provided as a turnover seat, and a positioning pin is arranged between the turnover seat and the turnover shaft, which is perpendicular to the turnover shaft, so that the turnover seat is combined with the turnover shaft as a whole.

4. A milking execution mechanism according to claim 2, characterized in that The turnover seat and the turnover shaft are both provided with a fan-shaped accommodation slot for accommodating the flexible traction member, the two fan-shaped accommodation slots are aligned in the axial direction of the turnover shaft, and the two fan-shaped accommodation slots have the same center, which is located on the central axis of the turnover shaft, so that the change of the turnover angle of the turnover assembly does not change the tensioning degree of the flexible traction member.

5. A milking execution mechanism according to claim 4, characterized in that The turnover seat has two adjacent straight edges, and the two straight edges are transitioned by a circular arc surface, the axis of the circular arc surface is located on the central axis of the turnover shaft, and the cosine of the angle formed by the two straight edges is equal to the turnover angle of the turnover seat, and the two straight edges are respectively abutted against the inner wall of the shell as turnover limiting.

6. A milking execution mechanism according to claim 4, characterized in that The turnover driving assembly is used to drive the teat cup assembly combined with the turnover seat during the turnover process, and the flexible traction member is always in the tightening state.

7. A milking execution mechanism according to any one of claims 4-6, characterized in that The turnover driving assembly is a pneumatic cylinder.

8. A milking execution mechanism according to claim 7, characterized in that The turnover driving assembly is an electric cylinder.

9. A milking execution mechanism according to claim 7, characterized in that The turnover driving assembly adopts a combined structure of a turnover driving pneumatic cylinder, a rack and a gear, the rack is connected with the cylinder rod of the turnover driving pneumatic cylinder, the extension direction of the turnover driving pneumatic cylinder is parallel to the extension path of the flexible traction member, the gear is installed on the turnover shaft and is fixed with the turnover seat as a whole by a pin shaft, and the gear is engaged with the rack.

10. A milking execution mechanism according to claim 7, characterized in that The flexible traction member penetrates the fixing bolt hole of the turnover driving pneumatic cylinder.

11. A milking execution mechanism according to claim 10, characterized in that The relative straight surface of the teeth of the rack is provided with a supporting element abutting against the relative straight surface, and the pressing force applied to the rack by the supporting element is adjustable.

12. A milking execution mechanism according to claim 10, characterized in that Each traction assembly is connected with at least two flexible traction members arranged side by side.

13. A milking execution mechanism according to claim 1, characterized in that The combined end surface of the turnover assembly and the teat cup assembly is provided with a circular recess, and the combined end surface of the teat cup assembly and the turnover assembly is correspondingly provided with a circular boss, and when the teat cup assembly and the turnover assembly are combined as a whole, the recess and the boss are combined in a concave-convex manner, so that the teat cup assembly and the turnover assembly can be combined in a positioning and orienting manner, and the positions of the recess and the boss can be interchanged.

14. A milking execution mechanism according to claim 1, characterized in that The number of the recesses, the bosses and the flexible traction members is the same, and the central axis of each recess and boss is provided with a through hole for the flexible traction member to penetrate.

15. A milking execution mechanism according to claim 14, characterized in that ​ 16. A milking execution mechanism according to claim 1, characterized in that Also included is a traction drive assembly, which, together with the traction assembly, adopts linear motion to change the state of the flexible traction member, tighten and release the teat cup assembly.

17. A milking execution mechanism according to claim 16, characterized in that The traction drive assembly adopts a pneumatic cylinder.

18. A milking execution mechanism according to claim 16, characterized in that The traction drive assembly adopts an electric cylinder.

19. A milking execution mechanism according to claim 1 or 16, characterized in that The traction assembly is provided as a traction roller with a ring groove, the flexible traction member first surrounds the ring groove, then penetrates the turnover assembly and is connected with the teat cup assembly, and at least one end of the flexible traction member serves as a fixed end.

20. A milking execution mechanism according to claim 19, characterized in that The fixed end is provided with a tension adjusting assembly. The tension adjusting assembly includes a slidingly connected adjusting seat and a guide sleeve with a rotation-stopping rib, the adjusting seat is provided with a long slot accommodating the rotation-stopping rib, the inside of the adjusting seat is provided with a compression spring, the guide sleeve is embedded in the inside of the adjusting seat and abuts against the compression spring, the inside of the guide sleeve is embedded with a tension adjusting bolt which is threadedly connected with the guide sleeve and hollow, the flexible traction member penetrates the adjusting seat, the guide sleeve and the tension adjusting bolt in sequence and extends to the outside of the tension adjusting bolt, and a knot forms the fixed end.

21. A milking execution mechanism according to claim 19, characterized in that Upper and lower guide grooves are arranged on the linear motion path of the traction roller, the upper and lower guide grooves form a guide space to bear and guide the linear reciprocating motion of the traction roller and the traction flexible traction member, and prevent the flexible traction member from winding around the traction roller and its accessories.

22. A milking robot, characterized in that The milking execution mechanism includes a mechanical arm and the milking execution mechanism according to any one of claims 1-21, the mechanical arm is in transmission connection with the milking execution mechanism, and a visual camera mounted on the shell is used to position the teat of the animal to be milked and provide positioning data for the movement of the mechanical arm.

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