Milking execution mechanism and milking robot

Abstract

The utility model relates to a milking actuating mechanism and a milking robot, and belongs to the technical field of milking equipment for dairy animals, the milking actuating mechanism comprises a shell, a plurality of groups of milk cup components, flexible traction pieces correspondingly connected with each group of milk cup components, a rotating component and milk cup positioning pieces, one end of the flexible traction piece is fixed to the rotatable circumference of the rotating assembly, the other end of the flexible traction piece is connected with the milk cup assembly, the milk cup positioning piece is provided with an end face combined with the milk cup assembly, and when the rotating assembly rotates, the flexible traction piece is wound around the circumference of the rotating assembly, so that the flexible traction piece is tightened, and the milk cup assembly and the milk cup positioning piece are combined into a whole; when the rotating assembly rotates reversely, part of the length of the flexible traction piece wound on the circumference of the rotating assembly can be released, so that the flexible traction piece is in a loose state, the milk cup assembly and the milk cup positioning piece can be separated so as to release the milk cup assembly, and the technical problems that in the prior art, the structure is complex, operation is tedious, and the occupied space is large 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 robot is the trend of the development of animal husbandry. The milking robot can greatly save the daily labor cost of ranch, reduce labor intensity and improve milking efficiency. However, the existing milking robot has complex structure, cumbersome operation and large space occupation. CONTENT OF UTILITY MODEL

[0003] In view of various deficiencies of the prior art, a milking execution mechanism and a milking robot are provided to solve the technical problems of complex structure, cumbersome operation and large space occupation of the prior art.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] In the first aspect, the utility model provides a milking execution mechanism, which comprises a shell, a plurality of groups of teat cup assemblies and a flexible traction member corresponding to each group of teat cup assemblies, a rotating assembly and a teat cup positioning member. The rotating assembly is arranged on the shell and can rotate forward and reverse. One end of the flexible traction member is fixed on the rotatable circumference of the rotating assembly, and the other end is connected with the teat cup assembly. The teat cup positioning member is arranged on the shell and located between the rotating assembly and the teat cup assembly, and has an end surface combined with the teat cup assembly. When the rotating assembly rotates, the flexible traction member can be wound on the circumference thereof, so that the flexible traction member is taut to retract the teat cup assembly, and the teat cup assembly and the teat cup positioning member are integrated. When the rotating assembly reversely rotates, the length of the flexible traction member wound on the circumference thereof can be released, so that the flexible traction member is in a relaxed state, and the teat cup assembly and the teat cup positioning member can be separated to release the teat cup assembly.

[0006] In the further arrangement of the technical scheme, the rotating assembly is provided with a winding wheel, the winding wheel is provided with a groove with uniform depth along its circumferential surface, and the flexible traction member is wound in the groove.

[0007] In the further arrangement of the technical scheme, the length of the flexible traction member wound and released is less than the circumference of the groove.

[0008] In the further arrangement of the technical scheme, the circumferential surface of the winding wheel is provided with a groove along its axial direction, and the end of the flexible traction member is fixed in the groove and locked by a pressing block.

[0009] The winch wheel is provided with a guide wheel on one side, the guide wheel is provided with an annular groove on the circumference, a part of the flexible traction member is wound on the winch wheel, another part is reversely wound in the groove of the guide wheel, then penetrates through the teat cup positioning member, extends to the teat cup assembly and is connected with the teat cup assembly.

[0010] The winch wheel and the guide wheel are wound with the part of the flexible traction member, the outer side of the circumference of the winch wheel and the guide wheel is provided with a storage ring groove capable of surrounding and enclosing the flexible traction member, sufficient storage space is provided for the flexible traction member released by the rotating assembly, the tangle is avoided to form a dead knot, and the flexible traction member can be accurately wound in the groove of the winch wheel and the groove of the guide wheel, so that the dislocation caused by the disengagement is avoided.

[0011] The technical scheme is further provided with a rotating driving assembly, the rotating driving assembly drives the rotating assembly to rotate.

[0012] The rotating driving assembly adopts a motor, and the output end of the motor is connected with the rotating assembly.

[0013] The motor is a flat servo motor, and the output flange of the flat servo motor is connected with the rotating assembly.

[0014] The rotating driving assembly adopts a rotating cylinder or a swing cylinder.

[0015] The rotating driving assembly adopts a combination mechanism of a cylinder, a rack and a gear, the rack is connected with the cylinder rod, the gear is coaxially installed on the rotating assembly and is fixed as a whole with the rotating assembly, the gear is engaged with the rack, and the linear motion of the rack is converted into the rotary motion of the rotating assembly connected with the gear by the cylinder.

[0016] The end surface of the teat cup positioning member is provided with a circular recess, and the teat cup assembly is correspondingly provided with a circular boss, when the teat cup assembly and the teat cup positioning member are combined as a whole, the recess and the boss are concave-convex combined, so that the teat cup assembly and the teat cup positioning member can be positioned and oriented combined, and the setting positions of the recess and the boss are interchangeable.

[0017] The number of the recess, the boss and the flexible traction member is the same, and the central axis of the recess and the boss is provided with a through hole for the flexible traction member to penetrate.

[0018] The technical scheme is further provided that each teat cup assembly is connected with at least two flexible traction members arranged side by side.

[0019] The technical scheme is further provided that after the rotating assembly rotates and tightens the flexible traction member, the teat cup assembly is in a vertical posture, and then reversely rotates by a small angle, the tight flexible traction member is appropriately relaxed, the teat cup assembly is separated from the teat cup positioning member, and falls under the action of gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

[0020] The technical scheme is further provided that the teat cup positioning member is a turnover seat capable of rotating by a certain angle, the flexible traction member penetrates the turnover seat, and the turnover seat is connected with the shell through a turnover shaft.

[0021] After the rotating assembly rotates, the flexible traction member is tightened, and the teat cup assembly and the turnover seat are combined as a whole, the turnover seat rotates around the turnover shaft, the teat cup assembly can be switched between the vertical posture and the inclined posture, and the teat cup inlet end of the teat cup assembly in the inclined posture is lower than the teat cup assembly in the vertical posture.

[0022] The technical scheme is further provided that a positioning pin is arranged between the turnover seat and the turnover shaft, the positioning pin is perpendicular to the turnover shaft, and the turnover seat is connected with the turnover shaft as a whole.

[0023] 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 seat is turned over, the length of the flexible traction member in the tightening state does not change, and the tension force is constant.

[0024] The technical scheme is further provided 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 axially aligned on the turnover shaft and have the same center, and the center is located on the central axis of the turnover shaft, so that the change of the turning angle of the turnover seat does not change the tension degree of the flexible traction member.

[0025] The technical scheme is further provided that the turnover seat has two adjacent straight edges with a specific angle, the two straight edges are transitioned by an arc surface, the axis of the 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 turning angle of the turnover seat, the turnover seat is respectively abutted with the inner wall of the shell by the two straight edges as the turning limiting position.

[0026] The technical scheme is further provided that the turnover driving assembly is further provided, and the flexible traction member is always in the tightening state during the turnover process of the teat cup assembly driven by the turnover driving assembly.

[0027] The turning driving assembly is provided as a gas cylinder or an electric cylinder.

[0028] In a second aspect, the utility model also provides a milking robot, including mechanical arm and milking actuating mechanism, mechanical arm with milking actuating mechanism transmission connection, still include the visual camera of installation on the casing, the teat of the animal to be milked is positioned, and the action of mechanical arm is provided with positioning data.

[0029] The utility model has the advantages of:

[0030] When the rotating assembly rotates forwardly / reversely, the flexible traction member can be wound / released, the milk cup assembly is tightened or released in the winding mode of the winch, the posture of the milk cup assembly is changed, and the operation is convenient; meanwhile, only the rotating assembly needs to be arranged, various posture changes of the milk cup assembly can be realized, the structure is compact, the manufacturing cost is low, and space is saved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 Fig. 6 is an axial view of the milking actuating mechanism when the milk cup assembly is in the vertical posture and the inclined posture in the embodiment of the utility model;

[0032] Figure 2 Fig. 7 is a top view of the milking actuating mechanism; Figure 1

[0033] Figure 3 Fig. 8 is an A-A sectional view of the milking actuating mechanism; Figure 2

[0034] Figure 4 Fig. 9 is a D-D sectional view of the milking actuating mechanism; Figure 2

[0035] Figure 5 Fig. 10 is a B-B sectional view of the milking actuating mechanism; Figure 2

[0036] Figure 6 Fig. 11 is a C-C sectional view of the milking actuating mechanism; Figure 2

[0037] Figure 7 Fig. 12 is an axial view of the milking actuating mechanism when the milk cup assembly is in the vertical posture, the inclined posture and the released posture in the embodiment of the utility model;

[0038] Figure 8 Fig. 13 is a top view of the milking actuating mechanism; Figure 7

[0039] Figure 9 Fig. 14 is an E-E sectional view of the milking actuating mechanism; Figure 8

[0040] Figure 10 Fig. 15 is an F-F sectional view of the milking actuating mechanism; Figure 8 ​​​​​​​​

[0041] Figure 11 Assembling view of the rotating assembly and the flexible traction member in the embodiment of the utility model;

[0042] Figure 12 Exploded view of the rotating assembly, the rotating drive assembly and the flexible traction member in the embodiment of the utility model;

[0043] Figure 13 As Figure 11 side view;

[0044] Figure 14 As Figure 13 G-G section view in the embodiment of the utility model;

[0045] Figure 15 Assembling view of the rotating assembly, the guide wheel and the turnover seat when the teat cup assembly is in the releasing posture in the embodiment of the utility model;

[0046] Figure 16 Assembling view of the rotating assembly, the guide wheel and the turnover seat when the teat cup assembly is in the releasing posture in the embodiment of the utility model;

[0047] Figure 17 As the top view of another embodiment of the milking execution mechanism in the embodiment of the utility model;

[0048] Figure 18 As Figure 17 H-H section view in the embodiment of the utility model;

[0049] Figure 19 As the schematic view of the turnover seat in the embodiment of the utility model;

[0050] Figure 20 As Figure 19 side view;

[0051] Figure 21 As Figure 20 J-J section view in the embodiment of the utility model;

[0052] Figure 22 As the schematic view of one embodiment of the rotating drive assembly in the embodiment of the utility model;

[0053] Figure 23 As Figure 22 exploded schematic view;

[0054] Figure 24 As Figure 22 top view;

[0055] Figure 25 As Figure 24 K-K section view in the embodiment of the utility model;

[0056] Figure 26 AsFigure 22 side view of the device of

[0057] Figure 27 is Figure 22 P-P cross-sectional view of the device of

[0058] In the drawings: 100, housing; 200, teat cup assembly; 201, boss; 300, rotating assembly; 301, groove of the capstan; 302, pressure block; 303, recess; 400, flexible traction member; 500, rotary drive assembly; 501, air cylinder; 502, rack; 503, gear; 504, gland; 600, guide wheel; 601, groove of the guide wheel; 700, flip drive assembly; 800, teat cup positioning member; 801, flip shaft; 802, positioning pin; 803, sector accommodation slot; 804, recess; 805, flip shaft mounting hole; 806, first straight edge; 807, second straight edge; 900, protection member; 901, storage ring groove. DETAILED DESCRIPTION

[0059] 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 present application, other similar embodiments obtained by the person skilled in the art without making creative labor should all belong to the protection scope of the present 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.

[0060] According to the utility model embodiments, a kind of milking execution mechanism is provided, please refer to Figures 1 to 6, including a shell 100, a plurality of groups of teat cup assemblies 200, and flexible traction members 400 corresponding to each group of teat cup assemblies 200, further including a rotating assembly 300 and a teat cup positioning member 800, the rotating assembly 300 is arranged on the shell 100 and can rotate forward and reverse, one end of the flexible traction member 400 is fixed on the rotatable circumference of the rotating assembly 300, and the other end is connected with the teat cup assembly 200, the teat cup positioning member 800 is arranged on the shell 100 and located between the rotating assembly 300 and the teat cup assembly 200, and has an end surface combined with the teat cup assembly 200, when the rotating assembly 300 rotates, the flexible traction member 400 can be wound on its circumference, so that the flexible traction member 400 is taut to retract the teat cup assembly 200, and the teat cup assembly 200 is combined with the teat cup positioning member 800 as a whole, when the rotating assembly 300 reverses, it can release part of the length of the flexible traction member 400 wound on its circumference, so that the flexible traction member 400 is in a relaxed state, and the teat cup assembly 200 can be separated from the teat cup positioning member 800 to release the teat cup assembly 200.

[0061] Specifically, please refer to Figures 5 to 6 , when the rotating assembly 300 rotates to make the flexible traction member 400 taut, the teat cup assembly 200 is in a vertical posture, preparing for the teat cup assembly 200 to be adsorbed on the corresponding teat of the animal to be milked in a milking cup posture, at this time, the flexible traction member 400 is in a taut state; the teat cup assembly 200 is adsorbed on the corresponding teat of the animal to be milked, the flexible traction member 400 is in a relaxed state, and the teat cup assembly 200 is in a released posture, please refer to Figures 10 to 13 , and Figure 15 ; the inclined posture of the teat cup assembly 200, please refer to Figures 3 to 4 , and Figure 16 , providing space for preparing the milking cup posture, at this time, the flexible traction member 400 is in a taut state. In particular, please refer to Figure 7 , the states of the four groups of teat cup assemblies 200 are not the same, one group of teat cup assemblies 200 is in a vertical posture, two groups of teat cup assemblies 200 are in an inclined posture, and another group of teat cup assemblies 200 is in a released posture, that is, the plurality of groups of teat cup assemblies 200 are independent of each other and do not affect each other.

[0062] It should be noted that when the rotating assembly 300 rotates forward / reverses, it can wind / release the flexible traction member 400, and the winding of the winding can tighten or release the teat cup assembly 200, thereby changing the posture of the teat cup assembly 200, which is convenient to operate; at the same time, only the rotating assembly 300 needs to be arranged to realize the various posture changes of the teat cup assembly 200, which is compact in structure, low in manufacturing cost, and can significantly shorten the length and save space compared with the prior art.

[0063] Preferably, the flexible traction member 400 is a pull rope made of steel wire or nylon rope.

[0064] In the milking actuator of the present embodiment, referring to Figures 1 to 12 , the rotating assembly 300 is provided with a winding wheel, and the winding wheel is provided with grooves of uniform depth along its circumferential surface (i.e. the grooves 301 of the winding wheel), and the flexible traction member 400 is wound in the grooves 301 of the winding wheel.

[0065] Specifically, the length of the flexible traction member 400 wound and released is less than the circumference of the grooves 301 of the winding wheel.

[0066] It should be noted that the number of winding turns of the flexible traction member 400 on the winding wheel is less than 1, so that the length of the flexible traction member 400 wound and released is less than the circumference of the grooves 301 of the winding wheel, avoiding the disordered phenomenon of the flexible traction member 400 during winding and releasing due to too many winding turns; by selecting a winding wheel with a suitable radius, the spacing requirement between the milking actuator and the animal to be milked can be met under the premise that the length of the flexible traction member 400 wound and released is less than the circumference of the grooves 301 of the winding wheel.

[0067] In the milking actuator of the present embodiment, referring to Figures 1 to 12 , the circumferential surface of the winding wheel is provided with a groove 303 along its axial direction, and the end of the flexible traction member 400 is fixed inside the groove 303 and locked by a pressing block 302.

[0068] It should be noted that the groove 303 is in communication with the grooves 301 of the winding wheel, the end of the flexible traction member 400 is first fixed inside the groove 303, then the flexible traction member 400 is wound in the grooves 301 of the winding wheel, and the end of the flexible traction member 400 is pressed by the pressing block 302 and locked by a screw.

[0069] In the milking actuator of the present embodiment, referring to Figures 1 to 16 , one side of the winding wheel is provided with a guide wheel 600, and the circumferential surface of the guide wheel 600 is provided with an annular groove (i.e. the grooves 601 of the guide wheel), a part of the flexible traction member 400 is wound on the winding wheel, and the other part is first wound in the grooves 601 of the guide wheel in the opposite direction, then penetrates through the cup positioning member 800, then extends to the cup assembly 200 and is connected with the cup assembly 200.

[0070] It should be noted that the guide wheel 600 guides the flexible traction member 400 from the winding wheel to the cup assembly 200, and at the same time, the guide wheel 600 is rotatably connected with the housing 100, reducing the friction between the grooves 601 of the guide wheel and the flexible traction member 400.

[0071] In the milking actuator of the embodiment, please refer to Figures 1 to 14 The hoisting wheel and the guide wheel 600 are wound with the part of the flexible traction member 400, and the circumferential outer side of each is provided with a storage ring groove 901 capable of surrounding and enclosing the flexible traction member 400, so as to provide sufficient storage space for the flexible traction member 400 released by the rotating assembly 300, avoid the formation of a dead knot, and enable the flexible traction member 400 to be accurately wound in the groove 301 of the hoisting wheel and the groove 601 of the guide wheel, so as to avoid dislodging from the groove and causing disorder.

[0072] It should be noted that the housing 100 is provided with a protection member 900, and the inner wall of the protection member 900 is provided with a storage ring groove 901, which forms a sealing structure surrounding and enclosing the flexible traction member 400 with the groove 301 of the hoisting wheel. Similarly, the storage ring groove 901 forms a sealing structure surrounding and enclosing the flexible traction member 400 with the groove 601 of the guide wheel. The sealing structure provides sufficient storage space for the flexible traction member 400 released by the rotating assembly 300, avoids the formation of a dead knot, and enables the flexible traction member 400 to be accurately wound in the groove 301 of the hoisting wheel and the groove 601 of the guide wheel, so as to avoid dislodging from the groove and causing disorder.

[0073] Especially, it should be noted that the part of the flexible traction member 400 released is stored in the sealing structure, and after the teat cup assembly 200 is combined with the teat of the animal to be milked, the milking actuator is moved to position the other teat. In the moving process, the part of the flexible traction member 400 stored in the sealing structure is extracted or taken out without resistance.

[0074] In the milking actuator of the embodiment, please refer to Figures 1 to 10 It also comprises a rotating driving assembly 500, which drives the rotating assembly 300 to rotate.

[0075] It should be noted that the rotating driving assembly 500 provides rotating power for the rotating assembly 300. Specifically,

[0076] The rotating driving assembly 500 can adopt a motor, and the output end of the motor is connected with the rotating assembly 300. In particular, the motor is a flat servo motor, and the output flange of the flat servo motor is connected with the rotating assembly 300, please refer to Figure 12, the flexible traction member 400 can be wound / released in any length by using a servo motor. In particular, after the cup on the breast cup assembly 200 is completed to suck the nipple, other breast cup assemblies are in a vertical posture, and when the milking execution mechanism moves, the servo motor drives the winding wheel to release the flexible traction member 400, so that the breast cup assembly that has been sucked to the nipple is not pulled off.

[0077] In addition, please refer to Figures 1 to 27 , the rotating drive assembly 500 adopts a combined mechanism of a cylinder 501, a rack 502, and a gear 503. The rack 502 is connected with the cylinder rod, the gear 503 is coaxially installed on the rotating assembly 300 and fixedly connected with the rotating assembly 300, the gear 503 is engaged with the rack 502, and the linear motion of the rack 502 driven by the cylinder 501 is converted into the rotating motion of the rotating assembly 300 connected with the gear 503.

[0078] It should be noted that the rack 502 is arranged in parallel with the cylinder rod, and the two are connected through a connecting block; the rack 502 adopts a cylindrical rack, which penetrates the protection member 900 and is slidably connected with the protection member 900; the gear 503 is coaxially installed on the rotating assembly 300 and fixedly connected with the rotating assembly 300, the gear 503 is rotatably connected with the protection member 900, and at the same time, the protection member 900 is provided with a gland 504 for pressing the gear 503; the linear motion of the rack 502 driven by the cylinder 501 is converted into the rotating motion of the rotating assembly 300 connected with the gear 503, so that the rotating assembly 300 is wound and tightened or released by the breast cup assembly 200.

[0079] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 21 , the end surface of the breast cup positioning member 800 is provided with a circular recess hole 804, and the breast cup assembly 200 is provided with a circular boss 201 correspondingly, when the breast cup assembly 200 is combined with the breast cup positioning member 800, the recess hole 804 and the boss 201 are combined concave-convexly, so that the breast cup assembly 200 and the breast cup positioning member can be combined in position and orientation, and the positions of the recess hole 804 and the boss 201 can be interchanged.

[0080] It should be noted that the breast cup assembly 200 is provided with a breast cup assembly mounting seat, and the boss 201 is located on the breast cup assembly mounting seat; when the boss 201 is embedded in the recess hole 804, the breast cup assembly 200 and the breast cup positioning member 800 can be combined in position and orientation.

[0081] It is worth noting that the number of the concave holes 804, the number of the convex blocks 201 and the number of the flexible traction members 400 are the same, and the central axes of the concave holes 804 and the convex blocks 201 are provided with through holes for the flexible traction members 400 to pass through.

[0082] In the milking actuator of the embodiment, referring to Figures 1 to 16 , each teat cup assembly 200 is connected with at least two flexible traction members 400 arranged side by side.

[0083] That is, the same teat cup assembly 200 is connected with at least two flexible traction members 400 arranged side by side to improve stability. In the embodiment, the same teat cup assembly 200 is connected with two flexible traction members 400 arranged side by side, and specifically, the two flexible traction members 400 arranged side by side share one winding wheel and one guide wheel 600, and the grooves 301 of the winding wheel, the grooves 601 of the guide wheel, the protection member 900 and the storage ring groove 901 are all provided with two.

[0084] In the milking actuator of the embodiment, referring to Figure 17 and Figure 18 , after the rotating assembly 300 rotates and tightens the flexible traction members 400, the teat cup assembly 200 is in a vertical posture, and then reversely rotates by a small angle, the tightened flexible traction members 400 are appropriately relaxed, the teat cup assembly 200 is separated from the teat cup positioning member 800, and falls under the action of its own gravity and is in an inclined posture, so that the teat cup inlet end in the inclined posture is lower than the teat cup assembly in the vertical posture.

[0085] It is to be noted that the teat cup positioning member 800 is fixedly connected with the shell 100, when the rotating assembly 300 rotates, the flexible traction members 400 can be wound on the circumference of the rotating assembly 300, so that the flexible traction members 400 are tightened to retract the teat cup assembly 200, and the teat cup assembly 200 and the teat cup positioning member 800 are combined as a whole, and at the same time, the teat cup assembly 200 can be in a vertical posture, at this time, the teat cup assembly 200 is in a milking positioning state. After the rotating assembly 300 rotates and tightens the flexible traction members 400, and then reversely rotates by a small angle, the tightened flexible traction members 400 are appropriately relaxed, and the teat cup assembly 200 falls under the action of its own gravity and is in an inclined posture, and when the teat cup assembly 200 is in the inclined posture, space is provided for the teat cup assembly 200 to prepare for the milking posture, at this time, the teat cup assembly 200 is separated from the teat cup positioning member 800.

[0086] In the milking actuator of the embodiment, referring to Figures 1 to 16 , the teat cup positioning member 800 is a turnover seat that can rotate by a certain angle, the flexible traction members 400 pass through the turnover seat, and the turnover seat is connected with the shell 100 through a turnover shaft 801;

[0087] After the rotating assembly 300 rotates, the flexible traction member 400 is tightened, and the teat cup assembly 200 is integrated with the turnover seat, the teat cup assembly 200 is in a vertical posture, and the turnover seat rotates around the turnover shaft 801 to switch the teat cup assembly 200 between the vertical posture and an inclined posture, and the end entrance of the milking cup of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture.

[0088] It should be noted that the turnover seat is located on the extension path of the flexible traction member 400, and the flexible traction member 400 is in a tightened state when the teat cup assembly 200 switches between the vertical posture and the inclined posture, which ensures that the tension of the flexible traction member 400 is constant during the process, thereby ensuring the reset accuracy of each posture of the teat cup assembly 200, and also realizing that the teat cup assembly 200 is always integrated with the turnover seat when the teat cup assembly is not adsorbed to the teat, and only the angle in the two-dimensional plane changes; the end entrance of the milking cup of the teat cup assembly in the inclined posture is lower than that of the teat cup assembly in the vertical posture, which provides space for the milking posture, and at the same time, the degree of freedom of the teat cup assembly in the inclined posture is small, which can avoid being kicked by the animal to be milked.

[0089] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 21 A positioning pin 802 is arranged between the turnover seat and the turnover shaft 801, the positioning pin 802 is perpendicular to the turnover shaft 801, and the turnover seat is integrated with the turnover shaft 801.

[0090] It should be noted that the turnover seat is provided with a turnover shaft mounting hole 805 for the turnover shaft 801 to penetrate, the turnover seat is provided with a mounting groove, the positioning pin 802 is located in the mounting groove, the end of the positioning pin 802 has a certain taper, and correspondingly, the turnover shaft 801 is provided with a V-shaped positioning groove; by embedding the end of the positioning pin 802 into the V-shaped positioning groove, the fitting degree of the positioning pin 802 and the turnover shaft 801 is improved, and the turnover seat is integrated with the turnover shaft 801.

[0091] In the milking execution mechanism of the embodiment, please refer to Figures 1 to 21 The flexible traction member 400 is perpendicular to and penetrates the central axis of the turnover shaft 801, so that the length of the flexible traction member 400 in the tightened state does not change when the turnover seat turns, and the tension is constant.

[0092] It should be noted that by arranging the flexible traction member 400 to be perpendicular to and pass through the central axis of the turnover shaft 801, the movement track of the part of the flexible traction member 400 passing through the turnover seat during the turnover of the turnover seat around the turnover shaft 801 is an arc, the center of the arc is the intersection of the flexible traction member 400 and the central axis of the turnover shaft 801, so as to ensure that the length of the flexible traction member 400 in the taut state does not change, and the tension is constant.

[0093] In the milking actuator of the embodiment, as shown in Figures 1 to 21 , the turnover seat and the turnover shaft 801 are both arranged with a sector-shaped accommodation slot 803 for accommodating the flexible traction member 400, the two sector-shaped accommodation slots 803 are aligned in the axial direction of the turnover shaft 801 and have the same center, and the center is located on the central axis of the turnover shaft 801, so that the change of the turnover angle of the turnover seat does not change the tension degree of the flexible traction member 400.

[0094] It should be noted that when the teat cup assembly 200 is in the vertical posture and the released posture, the flexible traction member 400 is in contact with the first side wall of the sector-shaped accommodation slot 803, as shown in Figure 6 , Figure 10 ; 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 sector-shaped accommodation slot 803, as shown in Figure 3 ; that is, when the teat cup assembly 200 is switched between the vertical posture and the inclined posture, the sector-shaped accommodation slot 803 provides a space for the flexible traction member 400, so that the change of the turnover angle of the turnover seat does not change the tension degree of the flexible traction member 400.

[0095] In the milking actuator of the embodiment, as shown in Figures 1 to 21 , the turnover seat has two adjacent straight edges with a specific angle, and the two straight edges are connected by an arc surface, the axis of the arc surface is located on the central axis of the turnover shaft 801, and the cosine of the angle formed by the two straight edges is equal to the turnover angle of the turnover seat, and the turnover seat is limited by the two straight edges and the inner wall of the shell 100.

[0096] Specifically, the two straight edges are a first straight edge 806 and a second straight edge 807, when the teat cup assembly 200 is in the vertical posture, the second straight edge 807 is in contact with the inner wall of the shell 100, as shown in Figure 6 ; as shown in Figure 3 , when the teat cup assembly 200 is in the inclined posture after the turnover of the turnover seat, the first straight edge 806 is in contact with the inner wall of the shell 100, which plays a role of turnover limiting.

[0097] In the milking actuator of the embodiment, as shown in Figures 1 to 21It also comprises a turnover driving assembly 700 which drives the teat cup assembly 200 combined with the turnover seat during the turnover process, and the flexible traction member 400 is always in a taut state. Specifically, the turnover driving assembly 700 adopts a pneumatic cylinder or an electric cylinder.

[0098] According to the embodiment of the utility model, a milking robot is provided, please refer to Figures 1 to 21 , including mechanical arm and milking actuator, mechanical arm with milking actuator transmission connection, still include the visual camera of installation on the casing 100, the teat of the animal to be milked is positioned, and the action of mechanical arm provides positioning data.

[0099] It should be noted that the milking actuator is moved by the mechanical arm (not shown in the figure) to be below the teat of the animal to be milked, so as to prepare for milking; the installation height of the visual camera (not shown in the figure) is lower than the entrance height of the milking cup end of the teat cup assembly 200 in the vertical posture, so as to prevent the visual camera from interfering with the process of the teat cup assembly 200 sucking the teat; the visual camera is used to obtain the position of the teat of the animal to be milked, so as to provide positioning data for the action of the mechanical arm and assist the teat cup assembly 200 to accurately suck into position.

[0100] The utility model has been described in detail above, and the above is only a preferred embodiment of the utility model, which cannot limit the scope of the utility model, that is, any equivalent changes and modifications made within the scope of the application shall still fall within the scope of the utility model.

Claims

1. A milking execution mechanism comprising a housing, a number of groups of teat cup assemblies and a flexible traction member connected to each group of teat cup assemblies, characterized in that, The rotating assembly is provided on the shell and can rotate forward and reversely, one end of the flexible traction member is fixed on the rotatable circumference of the rotating assembly, and the other end is connected with the milk cup assembly, the milk cup positioning member is provided on the shell and located between the rotating assembly and the milk cup assembly, and has an end surface combined with the milk cup assembly, when the rotating assembly rotates, the flexible traction member can be wound on the circumference thereof, the flexible traction member is taut to retract the milk cup assembly, and the milk cup assembly is combined with the milk cup positioning member as a whole, When the rotating assembly reversely rotates, the length of the flexible traction member wound on the circumference thereof can be released, so that the flexible traction member is in a relaxed state, and the milk cup assembly can be separated from the milk cup positioning member to release the milk cup assembly.

2. A milking execution mechanism according to claim 1, characterized in that The rotating assembly is provided with a winding wheel, the winding wheel is provided with a groove with uniform depth along the circumferential surface thereof, and the flexible traction member is wound in the groove.

3. A milking execution mechanism according to claim 2, characterized in that The length of the flexible traction member wound and released is less than the circumference of the groove.

4. A milking execution mechanism according to claim 2, characterized in that The circumferential surface of the winding wheel is provided with a groove along the axial direction thereof, the end of the flexible traction member is fixed in the groove, and is locked by a pressing block.

5. A milking execution mechanism according to claim 2, characterized in that One side of the winding wheel is provided with a guide wheel, the circumferential surface of the guide wheel is provided with an annular groove, a part of the flexible traction member is wound on the winding wheel, another part is reversely wound in the groove of the guide wheel, penetrates through the milk cup positioning member, extends to the milk cup assembly and is connected with the milk cup assembly.

6. A milking execution mechanism according to claim 5, characterized in that The circumferential outer sides of the winding wheel and the guide wheel, which are wound with the part of the flexible traction member, are provided with storage ring grooves capable of surrounding and enclosing the flexible traction member, so as to provide sufficient storage space for the flexible traction member released by the rotating assembly, avoid the formation of dead knots, and enable the flexible traction member to be accurately wound in the groove of the winding wheel and the groove of the guide wheel, avoiding dislocation caused by disengagement.

7. A milking execution mechanism according to claim 1, characterized in that The rotating driving assembly drives the rotating assembly to rotate.

8. A milking execution mechanism according to claim 7, characterized in that The rotating driving assembly adopts a motor, and the output end of the motor is connected with the rotating assembly.

9. A milking execution mechanism according to claim 8, characterized in that The motor is a flat servo motor, and the output flange of the flat servo motor is connected with the rotating assembly.

10. A milking execution mechanism according to claim 7, characterized in that The rotating driving assembly adopts a rotary cylinder or a swing cylinder.

11. A milking execution mechanism according to claim 7, characterized in that The rotating driving assembly adopts a combined mechanism of a cylinder, a rack and a gear, the rack is connected with the cylinder rod, the gear is coaxially installed on the rotating assembly and fixed as a whole with the rotating assembly, the gear is engaged with the rack, and the linear motion of the rack driven by the cylinder is converted into the rotary motion of the rotating assembly connected with the gear.

12. A milking execution mechanism according to any one of claims 7-11, characterized in that The end surface of the milk cup positioning member is provided with a circular recess, and the milk cup assembly is correspondingly provided with a circular boss, when the milk cup assembly and the milk cup positioning member are combined as a whole, the recess and the boss are concave-convex combined, so that the milk cup assembly and the milk cup positioning member can be positioned and oriented combined, and the positions of the recess and the boss can be interchanged.

13. A milking execution mechanism according to claim 12, characterized in that The number of the concave holes, the convex posts and the flexible traction members is the same, and a through hole is arranged on the central axis of the concave hole and the convex post for the flexible traction member to pass through.

14. A milking execution mechanism according to claim 13, characterized in that Each teat cup assembly is connected with at least two flexible traction members arranged side by side.

15. A milking execution mechanism according to claim 12, characterized in that After the rotating assembly rotates and tightens the flexible traction member, the teat cup assembly is in a vertical posture, and then reversely rotates by a small angle, the tightened flexible traction member is relaxed appropriately, the teat cup assembly is separated from the teat cup positioning member, and falls under the action of gravity and is in an inclined posture, so that the teat cup entrance end in the inclined posture is lower than the teat cup assembly in the vertical posture.

16. A milking execution mechanism according to claim 12, characterized in that The teat cup positioning member is a rotatable turnover seat, the flexible traction member passes through the turnover seat, and the turnover seat is connected with the shell through a turnover shaft. After the rotating assembly rotates, the flexible traction member is tightened, and the teat cup assembly and the turnover seat are combined as a whole, the teat cup assembly is in a vertical posture, the turnover seat rotates around the turnover shaft, the teat cup assembly can be switched between the vertical posture and the inclined posture, and the teat cup entrance end of the teat cup assembly in the inclined posture is lower than the teat cup assembly in the vertical posture.

17. A milking execution mechanism according to claim 16, characterized in that A positioning pin is arranged between the turnover seat and the turnover shaft, the positioning pin is perpendicular to the turnover shaft, and the turnover seat is combined with the turnover shaft as a whole.

18. A milking execution mechanism according to claim 17, characterized in that The flexible traction member is perpendicular to and passes through 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 seat is turned over, and the tension force is constant.

19. A milking execution mechanism according to claim 18, 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 axially aligned on the turnover shaft and have the same center, and the center is located on the central axis of the turnover shaft, so that the change of the turnover angle of the turnover seat does not change the tension degree of the flexible traction member.

20. A milking execution mechanism according to claim 16, characterized in that The turnover seat has two adjacent straight edges, the two straight edges are transitioned by an arc surface, the axis of the 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, the turnover seat is respectively abutted with the inner wall of the shell by the two straight edges as turnover limiting.

21. A milking execution mechanism according to claim 16, characterized in that The turnover driving assembly is further arranged, and the flexible traction member is always in the tightening state during the turnover process of the teat cup assembly driven by the turnover driving assembly.

22. A milking execution mechanism according to claim 21, characterized in that The turnover driving assembly is a pneumatic cylinder or an electric cylinder.

23. A milking robot, characterized in that The milking execution mechanism is combined with the mechanical arm, and the milking execution mechanism is transmissionally connected with the mechanical arm, a visual camera is further arranged on the shell, the camera is used for positioning the teat of the animal to be milked, and positioning data is provided for the action of the mechanical arm.

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