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 animal milking equipment.The milking executing mechanism comprises a shell, a plurality of sets of milk cup assemblies, flexible traction pieces correspondingly connected with the milk cup assemblies, telescopic assemblies and milk cup positioning pieces, one ends of the flexible traction pieces are fixed to the shell, and the other ends of the flexible traction pieces are fixed to the telescopic assemblies; the other end of the telescopic assembly is connected with the milk cup assembly, and the telescopic assembly can extend and retract relative to the shell; the telescopic assembly completely extends out of the shell and can tighten the flexible traction piece, so that the milk cup assembly and the milk cup positioning piece are combined into a whole, the milk cup assembly is in a vertical posture, and the milk cup assembly is in a to-be-milked positioning state; under the action of the mechanical arm and the visual camera, after the milk cup assembly is connected with a nipple of an animal to be milked, the telescopic assembly completely retracts to the shell, the milk cup assembly can be completely released, milking operation is conducted, and the technical problems that in the prior art, a milk cup inclines, positioning of all postures of the milk cup is not accurate, and next-step operation cannot be carried out can be solved.

Description

Technical Field

[0001] This utility model belongs to the technical field of milking equipment for dairy animals, specifically relating to a milking actuator and a milking robot. Background Technology

[0002] With rapid economic development, the demand for dairy products has increased significantly, driving the development of animal husbandry. The introduction of efficient and intelligent milking robots is a trend in animal husbandry. Milking robots can greatly reduce the daily operating costs of farms and improve farm production efficiency and the overall quality of milk. In one embodiment of patent US9426966B2, the milk cup is carried under the cow by a robotic arm. Simultaneously, the milk cup is pulled by a flexible traction component. In the non-working state, the milk cup is in a stationary position with an inclined posture. During operation, the milk cup first moves from the stationary position to a near-vertical positioning posture and then to the milking posture. In the milking posture, the milk cup is suspended on the corresponding teat of the animal to be milked. When the milking operation is finished, the milk cup is released from the teat and moved back to the positioning posture, and then back to the stationary position. The segmented unit has several intermediate segments arranged between the inclined segment and a fixed segment. Figure 4 The parking position shown is in the retracted position. In this case, all intermediate segments are adjacent to each other and abut against the fixed segment in a positive locking manner. The segmented unit adopts a segmented structure. When it is in the extended state, there are gaps between adjacent intermediate segments. The number of gaps and mating end faces is relatively large, which increases the probability of impurities entering. This causes the milk cup to tilt after the segmented unit retracts, resulting in inaccurate positioning of the milk cup in various postures, making it impossible to carry out the next operation. Utility Model Content

[0003] In view of the shortcomings of existing technologies, a milking actuator and a milking robot are proposed to solve the technical problems of milk cup tilting, inaccurate positioning of milk cups in various postures, and inability to carry out the next operation in existing technologies.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] In a first aspect, this utility model provides a milking actuator, which includes a housing, a plurality of milk cup assemblies, and a flexible traction member connected to each milk cup assembly. One end of the flexible traction member is fixed to the housing, and the other end is connected to the milk cup assembly. The actuator is characterized by further including a telescopic component and a milk cup positioning component corresponding to each milk cup assembly. The telescopic component is located on the extension path of the flexible traction member. The telescopic component can extend and retract relative to the housing. The milk cup positioning component is disposed at the end of the telescopic component and has an end face that engages with the milk cup assembly.

[0006] When the telescopic component is fully extended from the housing, it can tighten the flexible traction member, so that the milk cup component and the milk cup positioning member are integrated into one, and the milk cup component is in a vertical position. At this time, the milk cup component is in a milking positioning state. Under the action of the robotic arm and vision camera, after the milk cup component is connected to the teat of the animal to be milked, the telescopic component is fully retracted into the housing, and the milk cup component can be completely released to carry out the milking operation.

[0007] The technical solution is further configured such that after the telescopic component fully extends out of the shell, it partially retracts, the taut flexible traction member is appropriately relaxed, the milk cup component detaches from the milk cup positioning member, and hangs down under its own gravity and is in an inclined posture, so that the milk cup inlet end in the inclined posture is lower than the milk cup component in the vertical posture.

[0008] The technical solution is further configured such that the milk cup positioning component is a flip seat that can rotate at a certain angle, and the flip seat is rotatably connected to the telescopic component via a flip shaft;

[0009] After the telescopic component fully extends out of the housing, it tightens the flexible traction member and integrates the milk cup assembly with the flipping seat. The flipping seat rotates around the flipping axis, allowing the milk cup assembly to switch between a vertical and an inclined posture. When the milk cup assembly is in the inclined posture, the milking cup end inlet is lower than that of the milk cup assembly in the vertical posture.

[0010] The technical solution is further configured such that the flexible traction member passes through the telescopic assembly.

[0011] The technical solution is further configured such that the telescopic component extends and retracts along a linear guide component disposed on the housing.

[0012] The technical solution is further configured to include a telescopic drive component, wherein the telescopic drive component and the telescopic component adopt a linear motion mode to change the state of the flexible traction member and tighten and release the milk cup component.

[0013] The technical solution is further configured such that the telescopic drive assembly is a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0014] The technical solution is further configured such that the flexible traction member passes through the telescopic assembly and the flip seat disposed at its end.

[0015] The technical solution is further configured such that the flexible traction member is perpendicular to and passes through the central axis of the flipping shaft, so that when the flipping seat flips, the length of the flexible traction member in the taut state does not change and the tension is constant.

[0016] The technical solution is further configured such that a positioning pin is provided between the flip base and the flip shaft, and the positioning pin is perpendicular to the flip shaft, so that the flip base and the flip shaft are connected as one unit.

[0017] The technical solution is further configured such that both the flipping seat and the flipping shaft are provided with fan-shaped relief grooves to accommodate the flexible traction component. The two fan-shaped relief grooves are aligned axially on the flipping shaft and are concentric, with the center located on the central axis of the flipping shaft, so that the change of the flipping angle of the flipping seat does not change the tension of the flexible traction component.

[0018] The technical solution is further configured such that the flipping seat has two limiting steps at a specific angle, and the two limiting steps are connected by a cylindrical surface. The axis of the cylindrical surface is located on the central axis of the flipping shaft, and the angle formed by the two limiting steps is equal to the flipping angle of the flipping seat. The flipping seat uses the two limiting steps to abut against the end face of the telescopic component as flipping limits.

[0019] The technical solution is further configured to include a flipping drive component, wherein during the flipping process of the milk cup assembly which is integrated with the flipping seat, the flexible traction component is always in a taut state.

[0020] The technical solution is further configured such that the flipping drive component is a pneumatic cylinder or an electric cylinder.

[0021] The technical solution is further configured such that the flipping drive assembly adopts a combination structure of a flipping drive cylinder, a rack and a gear. The rack is connected to the cylinder rod of the flipping drive cylinder, and the extension and retraction direction of the flipping drive cylinder is parallel to the extension path of the flexible traction member. The gear is mounted on the flipping shaft and fixed to the flipping seat as a whole by a pin. The gear meshes with the rack.

[0022] The technical solution is further configured such that the cylinder rod of the tilting drive cylinder is connected to the guide rod, and the guide rod is connected to the rack.

[0023] The technical solution is further configured such that the tilting drive cylinder is disposed inside the telescopic assembly, the tilting drive cylinder is connected to the telescopic assembly through a tilting drive cylinder bracket, a positioning sleeve is provided between the fixing bolt hole of the tilting drive cylinder and the positioning hole of the tilting drive cylinder bracket, and the flexible traction member passes through the positioning sleeve.

[0024] This technical solution is further configured such that a cylinder is used as both the telescopic component and the telescopic drive component. The rod end of the cylinder is fixed to the housing, and the cylinder body serves as the telescopic component. The cylinder body can extend and retract from the housing. The linear guide component is made of a low-friction coefficient material, and part of the linear guide component is embedded in the magnetic switch slots on the left and right sides of the cylinder body. The width of the embedded part matches the width of the magnetic switch slot to form a guiding fit, guiding the cylinder body to perform directional linear motion.

[0025] This technical solution is further configured such that the flexible traction component passes through the fixing bolt hole of the cylinder body.

[0026] The technical solution is further configured such that the end face of the cylinder body extending out of the housing is provided with the flipping seat and the flipping drive assembly.

[0027] The technical solution is further configured such that each milk cup assembly is connected to at least two flexible traction components arranged side by side.

[0028] The technical solution is further configured such that a circular concave hole is provided on the end face of the milk cup positioning component, and a circular protrusion is provided on the milk cup assembly accordingly. When the milk cup assembly and the milk cup positioning component are combined into one piece, the concave hole and the protrusion engage in a concave-convex engagement, so that the milk cup assembly and the milk cup positioning component can be positioned and oriented. The positions of the concave hole and the protrusion can be interchanged.

[0029] The technical solution is further configured such that the number of the concave holes, the protrusions and the flexible traction members are the same, and the concave holes and the protrusions are all provided with through holes for the flexible traction members to pass through at their central axes.

[0030] The technical solution is further configured such that at least one end of the flexible traction member serves as a fixed end, and the fixed end is provided with a tension adjustment component;

[0031] The tension adjustment assembly includes a slidingly connected adjustment seat and a guide sleeve with an anti-rotation rib. The adjustment seat has an elongated hole for accommodating the anti-rotation rib. A compression spring is provided inside the adjustment seat. The guide sleeve is embedded inside the adjustment seat and abuts against the compression spring. A hollow tension adjustment bolt is threadedly connected to the guide sleeve. The flexible traction member passes through the adjustment seat, the guide sleeve, and the tension adjustment bolt in sequence and extends to the outside of the tension adjustment bolt, with a nodule forming a fixed end.

[0032] Secondly, this utility model provides a milking robot, including a robotic arm and the milking execution mechanism, wherein the robotic arm is connected to the milking execution mechanism by transmission, and also includes a vision camera mounted on the housing to locate the teats of the animal to be milked, providing positioning data for the movement of the robotic arm.

[0033] The beneficial effects of this utility model are:

[0034] By incorporating a telescopic component that can extend and retract relative to the housing, when the telescopic component is fully extended, the flexible traction element is tightened, allowing the milk cup component and the telescopic component to integrate into one unit. The milk cup component is in a vertical position, thus being in a milking-ready positioning state. After the milk cup component is connected to the teat of the animal to be milked, it is in a positioned state. At this point, the telescopic component is fully retracted into the housing, allowing the milk cup component to be completely released for milking operations. This saves installation space for the telescopic component, facilitating equipment miniaturization. Furthermore, the integrated structure of the telescopic component prevents dirt and grime buildup, ensuring effective and reliable operation of the milk cup component in all positions. This effectively avoids the inability to achieve the correct milking cup-feeding posture due to inaccurate positioning of the milk cup component in different positions. Attached Figure Description

[0035] Figure 1 This is an axonometric view of the milking actuator when the milk cup assembly is in a vertical and tilted position, respectively, in the embodiments of this utility model.

[0036] Figure 2 for Figure 1 Top view;

[0037] Figure 3 for Figure 2 DD section view;

[0038] Figure 4 for Figure 2 EE section view;

[0039] Figure 5 for Figure 2 FF section view;

[0040] Figure 6 for Figure 2 Middle GG sectional view;

[0041] Figure 7 This is an axonometric view of the milking actuator when the milk cup assembly is in a positioning state, a vertical posture, and an inclined posture, respectively, according to an embodiment of this utility model.

[0042] Figure 8 for Figure 7 Top view;

[0043] Figure 9 for Figure 8 KK section view;

[0044] Figure 10 for Figure 8 Middle LL section view;

[0045] Figure 11 for Figure 5 Partial schematic diagram at point A in the middle;

[0046] Figure 12 This is a schematic diagram of the flip-up seat in an embodiment of the present invention;

[0047] Figure 13 This is a schematic diagram of the flip-up seat in an embodiment of the present invention;

[0048] Figure 14 This is a side view of the flip seat in an embodiment of the present invention;

[0049] Figure 15 for Figure 14 Sectional view of JJ;

[0050] Figure 16 This is a schematic diagram of the tension adjustment component in an embodiment of the present invention;

[0051] Figure 17 This is an internal cross-sectional view of the tension adjustment component in an embodiment of this utility model;

[0052] Figure 18 This is a schematic diagram of the flexible traction member and the fan-shaped relief groove in an embodiment of this utility model;

[0053] Figure 19 This is a schematic diagram of the flexible traction member and the fan-shaped relief groove in an embodiment of this utility model;

[0054] Figure 20 This is a schematic diagram of the milking actuator and the vision camera in an embodiment of this utility model;

[0055] Figure 21 This is an axonometric view of another embodiment of the milking actuator when the milk cup assembly is in a vertical and tilted position, respectively, according to the present utility model.

[0056] Figure 22 for Figure 21 Top view;

[0057] Figure 23 for Figure 22 Middle BB cross-section;

[0058] Figure 24 for Figure 22 CC section view;

[0059] Figure 25 This is an axonometric view of another embodiment of the milking actuator when the milk cup assembly is in a positioning state, a vertical posture, and an inclined posture, respectively, according to the present utility model.

[0060] Figure 26 for Figure 25 Top view;

[0061] Figure 27 for Figure 26 Middle HH section view;

[0062] Figure 28 for Figure 25 Side view;

[0063] Figure 29 for Figure 28 PP section view;

[0064] Figure 30 for Figure 25 Partial schematic diagram at point B in the middle.

[0065] In the attached diagram: 100, housing; 200, milk cup assembly; 201, boss; 300, telescopic assembly; 301, cylinder; 302, rod end; 400, flexible traction component; 500, tilting seat; 501, tilting shaft; 502, positioning pin; 503, tilting shaft mounting hole; 504, mounting groove; 505, fan-shaped clearance groove; 506, first limiting step; 507, second limiting step; 508, gear mounting cavity; 509, concave hole; 600, telescopic drive assembly; 700, tilting drive assembly; 701, tilting drive cylinder; 702, rack; 703, gear; 704, floating joint; 705, guide rod; 800, tension adjustment assembly; 801, adjustment seat; 802, compression spring; 803, guide sleeve; 804, tension adjustment bolt; 900, vision camera; 110, linear guide assembly. Detailed Implementation

[0066] To enable those skilled in the art to better understand the technical solution of this utility model, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, the directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the creation of this utility model.

[0067] According to an embodiment of this utility model, a milking actuator is provided. Please refer to [link / reference]. Figure 1 and Figure 7The device includes a housing 100, several sets of milk cup assemblies 200, and a flexible traction member 400 connected to each set of milk cup assemblies 200. One end of the flexible traction member 400 is fixed to the housing 100, and the other end is connected to the milk cup assembly 200. The device also includes a telescopic component 300 and a milk cup positioning member corresponding to each set of milk cup assemblies 200. The telescopic component 300 is located on the extension path of the flexible traction member 400. The telescopic component 300 can extend and retract relative to the housing 100. The milk cup positioning member is disposed at the end of the telescopic component 300 and has an end face that engages with the milk cup assembly 200.

[0068] When the telescopic component 300 is fully extended from the housing 100, it can tighten the flexible traction member 400, so that the milk cup component 200 and the milk cup positioning member are integrated into one, and the milk cup component 200 is in a vertical position. At this time, the milk cup component 200 is in a milking positioning state. Under the action of the robotic arm and vision camera, after the milk cup component 200 is connected to the teat of the animal to be milked, the telescopic component 300 is fully retracted into the housing 100, and the milk cup component 200 can be completely released for milking operation.

[0069] For details, please refer to Figure 1 , Figure 2 , Figure 5 as well as Figure 6 When the milk cup assembly 200 is in a vertical position, it is in preparation for attaching to the corresponding teat of the animal to be milked, and the flexible traction component 400 is in a taut state. Please refer to [link to relevant documentation]. Figures 7 to 10 When the milk cup assembly 200 is in the positioned state, it is attached to the corresponding teat of the animal to be milked, the flexible traction member 400 is in a relaxed state, and the milk cup assembly 200 is in a released posture. Simultaneously, the milk cup assembly 200 must be connected to each teat of the animal to be milked one by one. Please refer to [link to relevant documentation]. Figures 1 to 4 When the milk cup assembly 200 is in an inclined position, it provides space for preparing the milking cup position; at this time, the flexible traction member 400 is in a taut state. Specifically, please refer to... Figure 7 The four sets of milk cup components 200 are in different states: one set of milk cup components 200 is in a vertical position, two sets of milk cup components 200 are in a tilted position, and the other set of milk cup components 200 is in a released position. In other words, the milk cup components 200 are independent of each other and do not affect each other.

[0070] It should be noted that by setting a telescopic component 300 that can extend and retract relative to the housing 100, and with a flexible traction member 400 passing through the telescopic component 300, when the telescopic component 300 is fully extended from the housing 100, the flexible traction member 400 can be tightened, so that the milk cup component 200, the milk cup positioning member, and the telescopic component 300 are integrated into one unit, and the milk cup component 200 is in a vertical position, at which time the milk cup component 200 is in a milking positioning state; after the milk cup component 200 is connected to the teat of the animal to be milked, the milk cup component 200 is in a positioning state, at which time the telescopic component 300 is fully retracted into the housing 100, and the milk cup component 200 can be completely released for milking operation, saving installation space for the telescopic component 300, which is conducive to equipment miniaturization. At the same time, the telescopic component 300 is an integral structure, avoiding the accumulation of dirt and grime, thus ensuring that the milk cup component 200 can be operated effectively and reliably in all positions, effectively avoiding the inability to achieve the milking cup preparation position due to inaccurate positioning of the milk cup component 200 in various positions.

[0071] Preferably, the flexible traction member 400 is a pull rope made of steel wire rope or nylon rope.

[0072] In the milking actuator of this embodiment, please refer to Figures 21 to 27 The telescopic component 300 extends fully out of the housing 100 and then partially retracts, the taut flexible traction component 400 relaxes appropriately, the milk cup component 200 detaches from the milk cup positioning component, hangs down under its own weight and is in an inclined position, so that the milk cup inlet end in the inclined position is lower than the milk cup component in the vertical position.

[0073] It should be noted that you should refer to [link / reference]. Figures 21 to 23 When the milk cup assembly 200 is in an upright position, it is in preparation for attaching to the corresponding teat of the animal to be milked, and the telescopic assembly 300 is fully extended from the housing 100, while the flexible traction member 400 is in a taut state; please refer to Figure 21 , Figure 22 as well as Figure 24 The telescopic component 300 extends fully out of the housing 100 and then partially retracts, the taut flexible traction component 400 relaxes appropriately, and the milk cup component 200 hangs down appropriately under its own weight and is in an inclined position. When the milk cup component 200 is in an inclined position, it provides space for preparing the milking cup position. At this time, the flexible traction component 400 is in a partially taut state; please refer to Figures 25 to 27 When the milk cup assembly 200 is in the positioned state, it is attached to the corresponding teat of the animal to be milked. The telescopic component 300 is fully retracted into the housing 100, the flexible traction member 400 is completely relaxed, and the milk cup assembly 200 is in a released position. In particular, please refer to... Figure 25The four sets of milk cup components 200 are in different states: one set of milk cup components 200 is in a vertical position, two sets of milk cup components 200 are in a tilted position, and the other set of milk cup components 200 is in a released position. In other words, the milk cup components 200 are independent of each other and do not affect each other.

[0074] In the milking actuator of this embodiment, please refer to Figures 1 to 4 The milk cup positioning component is a flip seat 500 that can rotate at a certain angle. The flip seat 500 is rotatably connected to the telescopic component 300 via a flip shaft 501.

[0075] After the telescopic component 300 is fully extended from the housing 100, it tightens the flexible traction member 400 and integrates the milk cup component 200 with the flipping seat 500. The flipping seat 500 rotates around the flipping axis 501, which allows the milk cup component 200 to switch between a vertical posture and an inclined posture. When the milk cup component is in the inclined posture, the milking cup end inlet is lower than that of the milk cup component in the vertical posture.

[0076] It should be noted that the flipping seat 500 is located on the extension path of the flexible traction member 400. When the milk cup assembly 200 switches between the vertical and tilted postures, the flexible traction member 400 is always in a taut state, ensuring that the tension of the flexible traction member 400 remains constant during the process. This ensures the accuracy of the reset of the milk cup assembly 200 in each posture and also ensures that when the milk cup assembly is not attached to the nipple, the milk cup assembly 200 and the flipping seat 500 are always integrated, with only angular changes in a two-dimensional plane. The milking cup of the milking cup assembly in the tilted posture has a lower end inlet than that of the milking cup assembly in the vertical posture, providing space for preparing the milking cup posture. At the same time, the milking cup assembly in the tilted posture has less freedom, which can prevent it from being kicked by the animal to be milked.

[0077] In the milking actuator of this embodiment, please refer to Figures 1 to 4 The telescopic component 300 extends and retracts along a linear guide component disposed on the housing 100.

[0078] It should be noted that the linear guide assembly may adopt a guide rail and slider structure, wherein the guide rail is set along the moving direction of the telescopic assembly 300; the installation positions of the guide rail and slider can be interchanged.

[0079] In the milking actuator of this embodiment, please refer to Figures 1 to 10 It also includes a telescopic drive assembly 600, which, along with the telescopic assembly 300, adopts a linear motion to change the state of the flexible traction member 400 and tighten and release the milk cup assembly 200.

[0080] In the milking actuator of this embodiment, please refer to Figures 1 to 10 The telescopic drive assembly is a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0081] It should be noted that the telescopic drive assembly 600 uses a cylinder, which can be a double-acting cylinder or a single-acting cylinder, and drives the telescopic assembly 300 in a linear motion; please refer to [link to relevant documentation]. Figure 5 as well as Figure 6 When the telescopic drive assembly 600 is in the first position, the telescopic assembly 300 extends out of the housing 100, and the flexible traction member 400 is in a taut state. The flexible traction member 400 pulls the milk cup assembly 200 to a vertical position. At this time, the milk cup assembly 200 and the flipping seat 500 are integrated. The flipping seat 500 rotates around the flipping axis 501, which allows the milk cup assembly 200 to be in a tilted position. Please refer to [link to relevant documentation]. Figure 3 as well as Figure 4 Please see Figures 7 to 10 When the telescopic drive assembly 600 is in the second position, the telescopic assembly 300 retracts into the housing 100, the flexible traction member 400 is in a relaxed state, and the milk cup assembly 200 is in a released posture. At this time, the milk cup assembly 200 separates from the flipping seat 500. Alternatively, the telescopic drive assembly 600 can also be an electric cylinder or a hydraulic cylinder. The traction process of electric cylinders and hydraulic cylinders is the same as that of pneumatic cylinders, and will not be described further.

[0082] In the milking actuator of this embodiment, please refer to Figures 1 to 10 The flexible traction member 400 passes through the telescopic assembly 300 and the flip seat 500 disposed at its end.

[0083] Specifically, the flexible traction member 400 is perpendicular to and passes through the central axis of the flipping shaft 501, so that when the flipping seat 500 flips, the length of the flexible traction member 400 in the taut state does not change and the tension is constant.

[0084] It should be noted that by setting the flexible traction member 400 to be perpendicular to and pass through the central axis of the flipping shaft 501, the movement trajectory of the flexible traction member 400 passing through the flipping shaft 501 during the flipping process of the flipping seat 500 is an arc. The center of this arc is the intersection point of the flexible traction member 400 and the central axis of the flipping shaft 501, thereby ensuring that the length of the flexible traction member 400 in the taut state does not change and the tension is constant.

[0085] In the milking actuator of this embodiment, please refer to Figures 1 to 12 A positioning pin 502 is provided between the flip base 500 and the flip shaft 501. The positioning pin 502 is perpendicular to the flip shaft 501, so that the flip base 500 and the flip shaft 501 are connected as one unit.

[0086] It should be noted that the flip base 500 is provided with a flip shaft mounting hole 503 for the flip shaft 501 to pass through, and the flip base 500 is provided with a mounting groove 504. The positioning pin 502 is located in the mounting groove 504. The telescopic component 300 is provided with through holes corresponding to the flip shaft mounting hole 503 and the mounting groove 504. The end of the positioning pin 502 has a certain taper. Correspondingly, the flip shaft 501 is provided with a V-shaped positioning groove. By embedding the end of the positioning pin 502 into the V-shaped positioning groove, the fit between the positioning pin 502 and the flip shaft 501 is improved, so that the flip base and the flip shaft 501 are connected as one unit.

[0087] In the milking actuator of this embodiment, please refer to Figures 1 to 19 Both the flipping seat 500 and the flipping shaft 501 are provided with fan-shaped relief grooves 505 to accommodate the flexible traction member 400. The two fan-shaped relief grooves 505 are axially aligned on the flipping shaft 501 and are concentric, with the center located on the central axis of the flipping shaft 501, so that the change of the flipping angle of the flipping seat 500 does not change the tension of the flexible traction member 400.

[0088] It should be noted that when the milk cup assembly 200 is in the vertical and released positions, the flexible traction member 400 contacts the first sidewall of the fan-shaped clearance groove 505. Please refer to [link / reference needed]. Figure 6 , Figure 10 , Figure 18 When the milk cup assembly 200 is in an inclined position, the flexible traction member 400 contacts the second sidewall of the fan-shaped relief groove 505. Please refer to [link / reference]. Figure 4 , Figure 19 In other words, when the milk cup assembly 200 switches between a vertical and tilted posture, the fan-shaped clearance groove 505 provides clearance space for the flexible traction member 400, so that the change in the flipping angle of the flipping seat 500 does not change the tension of the flexible traction member 400.

[0089] In the milking actuator of this embodiment, please refer to Figures 1 to 15 The flip seat 500 has two limiting steps at a specific angle, and the two limiting steps are connected by a cylindrical surface. The axis of the cylindrical surface is located on the central axis of the flip shaft 501, and the angle formed by the two limiting steps is equal to the flip angle of the flip seat 500. The flip seat 500 abuts against the end face of the telescopic component 300 with the two limiting steps respectively, as a flip limit.

[0090] Specifically, the two limiting steps are the first limiting step 506 and the second limiting step 507. When the milk cup assembly 200 is in the vertical and released positions, the second limiting step 507 abuts against the end face of the telescopic assembly. Please refer to [link / reference]. Figure 6 , Figure 10When the flipping seat flips, causing the milk cup assembly 200 to be in an inclined position, the first limiting step 506 abuts against the end face of the telescopic assembly, thus playing a flipping limiting role. Please refer to [link / reference needed]. Figure 4 .

[0091] In the milking actuator of this embodiment, please refer to Figures 1 to 12 It also includes a flipping drive assembly 700. During the flipping process of the milk cup assembly 200, which is integrated with the flipping seat 500, the flexible traction member 400 is always in a taut state.

[0092] Specifically, the tilting drive assembly 700 is a cylinder or an electric cylinder. Alternatively, the tilting drive assembly 700 may employ a combination structure of a tilting drive cylinder 701, a rack 702, and a gear 703. The rack 702 is connected to the cylinder rod of the tilting drive cylinder 701, and the extension / retraction direction of the tilting drive cylinder 701 is parallel to the extension path of the flexible traction member 400. The gear 703 is mounted on the tilting shaft 501 and fixed integrally with the tilting seat 500 by a pin. The gear 703 meshes with the rack 702.

[0093] It should be noted that the cylinder rod of the flipping drive cylinder 701 pushes the rack 702 to move in a straight line. Since the gear 703 meshes with the rack 702, the linear movement of the rack 702 is converted into the rotational motion of the gear 703. The gear 703 is mounted on the flipping shaft 501 and fixed to the flipping seat 500 by a pin. Therefore, the gear 703 drives the flipping seat 500 to rotate synchronously. In addition, when the flexible traction member 400 is in a taut state, the milk cup assembly 200 and the flipping seat 500 are integrated. Therefore, the flipping seat 500 drives the milk cup assembly 200 to flip.

[0094] Specifically, the inside of the flipping seat 500 is provided with a gear mounting cavity 508, and the wheel surface of the gear 703 is fixed to the flipping seat 500 as a whole by a pin, thereby realizing the rotation of the gear 703 and the flipping seat 500 around the flipping shaft 501.

[0095] It is worth noting that, please refer to Figures 1 to 10 The tilting drive cylinder 701 is disposed inside the telescopic assembly 300. The tilting drive cylinder 701 is fixedly connected to the telescopic assembly 300 through the tilting drive cylinder bracket. A positioning sleeve is provided between the fixing bolt hole of the tilting drive cylinder 701 and the positioning hole of the tilting drive cylinder bracket. The flexible traction member 400 passes through the positioning sleeve and then through the tilting seat 500 to ensure that the flexible traction member 400 extends in the horizontal direction.

[0096] In the milking actuator of this embodiment, please refer to Figures 1 to 11The cylinder rod of the flipping drive cylinder 701 is connected to the guide rod 705 through the floating joint 704. The guide rod is connected to the rack 702. The telescopic assembly 300 is provided with a guide sleeve through which the guide rod 705 passes.

[0097] It should be noted that the linear displacement of the cylinder rod of the tilting drive cylinder 701 is transmitted to the rack 702 through the floating joint 704 and the guide rod 705, which in turn drives the gear 703 and the tilting seat 500 to tilt around the tilting shaft 501; the rack 702 is slidably connected to the inner wall of the telescopic component 300.

[0098] In the milking actuator of this embodiment, please refer to Figures 25 to 30 A cylinder is used as the telescopic component 300 and the telescopic drive component 600. The rod end 302 of the cylinder rod is fixed to the housing 100. The cylinder body 301 serves as the telescopic component 300 and can extend and retract from the housing 100. The linear guide component 110 is made of a low-friction coefficient material, and part of the linear guide component 110 is embedded in the magnetic switch slots on the left and right sides of the cylinder body 301. The width of the embedded part matches the width of the magnetic switch slot to form a guiding fit, guiding the cylinder body 301 to perform directional linear movement.

[0099] It should be noted that the linear guide assembly 110 is fixed to the inner wall of the housing 100 by bolts. At the same time, the linear guide assembly 110 is partially embedded in the magnetic switch slots on the left and right sides of the cylinder 301. Under the self-drive of the cylinder and the guidance of the linear guide assembly 110, the cylinder 301 makes directional linear movement to extend or retract the housing 100. One end of the flexible traction member 400 is connected to the housing 100, and the other end passes through the fixing bolt hole on the cylinder 301 and is connected to the milk cup assembly 200. Meanwhile, the end face of the cylinder 301 extending out of the housing 100 is provided with the flipping seat 500 and the flipping drive assembly 700. The structure and operating principle of the flipping seat 500 and the flipping drive assembly 700 are the same as those described above and will not be repeated.

[0100] In the milking actuator of this embodiment, please refer to Figures 1 to 10 Each milk cup assembly 200 is connected to at least two flexible traction members 400 arranged side by side.

[0101] In other words, the same milk cup assembly 200 is connected to at least two parallel flexible traction members 400 to improve stability. Specifically, in this embodiment, the same milk cup assembly 200 is connected to two parallel flexible traction members 400.

[0102] In the milking actuator of this embodiment, please refer to Figures 1 to 15The end face of the milk cup positioning component is provided with a circular recessed hole. Taking the flip base 500 as an example, the mating surface of the flip base 500 and the milk cup assembly 200 is provided with a circular recessed hole 509. The mating surface of the milk cup assembly 200 and the flip base 500 is provided with a corresponding circular boss 201. When the milk cup assembly 200 and the flip base 500 are combined into one piece, the recessed hole 509 and the boss 201 are mated together, so that the milk cup assembly 200 and the flip base 500 can be positioned and oriented. The positions of the recessed hole 509 and the boss 201 can be interchanged.

[0103] It should be noted that the milk cup assembly 200 is provided with a milk cup assembly mounting base, and the boss 201 is located on the milk cup assembly mounting base; when the boss 201 is embedded in the recess 509, the milk cup assembly 200 and the flip base 500 can be positioned and oriented to be integrated into one.

[0104] It is worth noting that the number of the recessed holes 509, the bosses 201 and the flexible traction members 400 are the same, and the recessed holes 509 and the bosses 201 are all provided with through holes at their central axes for the flexible traction members 400 to pass through.

[0105] In the milking actuator of this embodiment, please refer to Figures 1 to 17 At least one end of the flexible traction member 400 serves as a fixed end, and the fixed end is provided with a tension adjustment component 800. The length of the tension adjustment component 800 is adjustable to adjust the tension of the flexible traction member 400.

[0106] Specifically, the tension adjustment assembly 800 includes a slidingly connected adjustment seat 801 and a guide sleeve 803 with an anti-rotation rib. The adjustment seat 801 is provided with an elongated hole to accommodate the anti-rotation rib. A compression spring 802 is provided inside the adjustment seat 801. The guide sleeve 803 is embedded inside the adjustment seat 801 and abuts against the compression spring 802. A hollow tension adjustment bolt 804 is threadedly connected to the guide sleeve 803. The flexible traction member 400 passes through the adjustment seat 801, the guide sleeve 803 and the tension adjustment bolt 804 in sequence and extends to the outside of the tension adjustment bolt 804, with the nodule forming a fixed end.

[0107] It should be noted that by turning the tension adjusting bolt 804, its length outside the guide sleeve 803 is changed, thereby fine-tuning the tension of the flexible traction member 400. 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 component 800 changes its own length, thereby changing the position of the fixed end of the flexible traction member to adjust the tension of the flexible traction member 400 and prevent the milk cup assembly 200 from being pulled off course.

[0108] Secondly, this utility model provides a milking robot, including a robotic arm and the milking execution mechanism, wherein the robotic arm is connected to the milking execution mechanism by transmission, and also includes a vision camera 900 mounted on the housing 100 to locate the teats of the animal to be milked and to provide positioning data for the movement of the robotic arm.

[0109] It should be noted that the robotic arm drives the milking actuator to move to a position below the teat of the animal to be milked, preparing for milking. The installation height of the vision camera 900 is lower than the inlet height of the milking cup end of the vertically positioned milk cup assembly 200, preventing the vision camera 900 from interfering with the process of the milk cup assembly 200 adsorbing the teat. The vision camera 900 is used to acquire the position of the teat of the animal to be milked, providing positioning data for the robotic arm's movements and assisting the milk cup assembly 200 in accurately adsorbing the teat.

[0110] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of this application should still fall within the scope of the present invention.

Claims

1. A milking actuator, comprising a housing, a plurality of milk cup assemblies, and a flexible traction member correspondingly connected to each milk cup assembly, wherein one end of the flexible traction member is fixed to the housing, and the other end is connected to the milk cup assembly, characterized in that, It also includes a telescopic component and a milk cup positioning component corresponding to each milk cup assembly. The telescopic component is located on the extension path of the flexible traction component. The telescopic component can extend and retract relative to the housing. The milk cup positioning component is disposed at the end of the telescopic component and has an end face that engages with the milk cup assembly. When the telescopic component is fully extended from the housing, it can tighten the flexible traction member, so that the milk cup component and the milk cup positioning member are integrated into one, and the milk cup component is in a vertical position. At this time, the milk cup component is in a milking positioning state. Under the action of the robotic arm and vision camera, after the milk cup component is connected to the teat of the animal to be milked, the telescopic component is fully retracted into the housing, and the milk cup component can be completely released to carry out the milking operation.

2. The milking actuator according to claim 1, characterized in that, After the telescopic component fully extends out of the housing and then partially retracts, the taut flexible traction component relaxes appropriately, the milk cup component detaches from the milk cup positioning component, and hangs down under its own gravity and is in an inclined posture, so that the milk cup inlet end in the inclined posture is lower than the milk cup component in the vertical posture.

3. The milking actuator according to claim 1, characterized in that, The milk cup positioning component is a rotating base that can rotate at a certain angle, and the rotating base is rotatably connected to the telescopic component via a rotating shaft; After the telescopic component fully extends out of the housing, it tightens the flexible traction member and integrates the milk cup assembly with the flipping seat. The flipping seat rotates around the flipping axis, allowing the milk cup assembly to switch between a vertical and an inclined posture. When the milk cup assembly is in the inclined posture, the milking cup end inlet is lower than that of the milk cup assembly in the vertical posture.

4. A milking actuator according to claim 2 or 3, characterized in that, The flexible traction element penetrates the telescopic assembly.

5. A milking actuator according to claim 4, characterized in that, The telescopic assembly extends and retracts along a linear guide assembly disposed on the housing.

6. A milking actuator according to claim 5, characterized in that, It also includes a telescopic drive assembly, which and the telescopic assembly adopt a linear motion to change the state of the flexible traction member and tighten and release the milk cup assembly.

7. A milking actuator according to claim 6, characterized in that, The telescopic drive assembly uses a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

8. A milking actuator according to claim 3, characterized in that, The flexible traction element extends through the telescopic assembly and the flip seat located at its end.

9. A milking actuator according to claim 8, characterized in that, The flexible traction member is perpendicular to and passes through the central axis of the flipping shaft, so that when the flipping seat flips, the length of the flexible traction member in the taut state does not change and the tension is constant.

10. A milking actuator according to claim 9, characterized in that, A positioning pin is provided between the flip base and the flip shaft, and the positioning pin is perpendicular to the flip shaft, so that the flip base and the flip shaft are connected as one unit.

11. A milking actuator according to claim 9, characterized in that, Both the flipping seat and the flipping shaft are provided with fan-shaped relief grooves to accommodate the flexible traction component. The two fan-shaped relief grooves are aligned axially on the flipping shaft and are concentric, with the center located on the central axis of the flipping shaft, so that the change of the flipping angle of the flipping seat does not change the tension of the flexible traction component.

12. A milking actuator according to claim 3, characterized in that, The flipping seat has two limiting steps at a specific angle, with a cylindrical surface between them. The axis of the cylindrical surface is located on the central axis of the flipping shaft, and the angle formed by the two limiting steps is equal to the flipping angle of the flipping seat. The flipping seat uses the two limiting steps to abut against the end face of the telescopic component as flipping limits.

13. A milking actuator according to claim 3, characterized in that, It also includes a flipping drive assembly, in which the flexible traction member is always kept taut during the flipping process of the milk cup assembly that is integrated with the flipping seat.

14. A milking actuator according to claim 13, characterized in that, The flipping drive component is a pneumatic cylinder or an electric cylinder.

15. A milking actuator according to claim 13, characterized in that, The flipping drive assembly adopts a combination structure of flipping drive cylinder, rack and gear. The rack is connected to the cylinder rod of the flipping drive cylinder, and the extension and retraction direction of the flipping drive cylinder is parallel to the extension path of the flexible traction member. The gear is mounted on the flipping shaft and fixed to the flipping seat by a pin. The gear meshes with the rack.

16. A milking actuator according to claim 15, characterized in that, The cylinder rod of the tilting drive cylinder is connected to the guide rod, and the guide rod is connected to the rack.

17. A milking actuator according to claim 15, characterized in that, The tilting drive cylinder is disposed inside the telescopic assembly. The tilting drive cylinder is connected to the telescopic assembly through a tilting drive cylinder bracket. A positioning sleeve is provided between the fixing bolt hole of the tilting drive cylinder and the positioning hole of the tilting drive cylinder bracket. The flexible traction member passes through the positioning sleeve.

18. A milking actuator according to claim 13, characterized in that, A cylinder is used as both the telescopic component and the telescopic drive component. The telescopic drive component and the telescopic component adopt a linear motion mode to change the state of the flexible traction member, tighten and release the milk cup component. The telescopic component extends and retracts along the linear guide component set on the housing. The end of the cylinder rod is fixed to the housing. The cylinder body serves as the telescopic component, and the cylinder body can extend and retract from the housing. The linear guide component is made of a low-friction coefficient material, and part of the linear guide component is embedded in the magnetic switch slots on the left and right sides of the cylinder body. The width of the embedded part matches the width of the magnetic switch slot to form a guiding fit, guiding the cylinder body to make directional linear motion.

19. A milking actuator according to claim 18, characterized in that, The flexible traction component passes through the fixing bolt hole of the cylinder body.

20. A milking actuator according to claim 18, characterized in that, The cylinder body has the tilting seat and the tilting drive assembly on the end face of the end that extends out of the housing.

21. A milking actuator according to claim 1, characterized in that, Each milk cup assembly is connected to at least two flexible traction components arranged side by side.

22. A milking actuator according to claim 2 or 3, characterized in that, The milk cup positioning component has a circular recessed hole on its end face, and the milk cup assembly has a corresponding circular protrusion. When the milk cup assembly and the milk cup positioning component are combined into one piece, the recessed hole and the protrusion engage, enabling the milk cup assembly and the milk cup positioning component to be positioned and oriented. The positions of the recessed hole and the protrusion can be interchanged.

23. A milking actuator according to claim 22, characterized in that, The number of recesses, protrusions and flexible traction members is the same, and each recess and protrusion has a through hole at its central axis for the flexible traction member to pass through.

24. A milking actuator according to claim 1, characterized in that, At least one end of the flexible traction member serves as a fixed end, and the fixed end is provided with a tension adjustment component. The tension adjustment assembly includes a slidingly connected adjustment seat and a guide sleeve with an anti-rotation rib. The adjustment seat has an elongated hole for accommodating the anti-rotation rib. A compression spring is provided inside the adjustment seat. The guide sleeve is embedded inside the adjustment seat and abuts against the compression spring. A hollow tension adjustment bolt is threadedly connected to the guide sleeve. The flexible traction member passes through the adjustment seat, the guide sleeve, and the tension adjustment bolt in sequence and extends to the outside of the tension adjustment bolt, with a nodule forming a fixed end.

25. A milking robot, characterized in that, The device includes a robotic arm and a milking actuator as described in any one of claims 1-24, wherein the robotic arm is connected to the milking actuator via a transmission connection, and further includes a vision camera mounted on the housing to locate the teats of the animal to be milked, providing positioning data for the movement of the robotic arm.

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