CN108157188A - A kind of herding teatcup automatic fixer - Google Patents
A kind of herding teatcup automatic fixer Download PDFInfo
- Publication number
- CN108157188A CN108157188A CN201810025748.5A CN201810025748A CN108157188A CN 108157188 A CN108157188 A CN 108157188A CN 201810025748 A CN201810025748 A CN 201810025748A CN 108157188 A CN108157188 A CN 108157188A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- fixed
- stent
- teatcup
- limit buckle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/003—Movable milking machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/007—Monitoring milking processes; Control or regulation of milking machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J7/00—Accessories for milking machines or devices
- A01J7/02—Accessories for milking machines or devices for cleaning or sanitising milking machines or devices
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- Life Sciences & Earth Sciences (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Studio Devices (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
A kind of herding teatcup automatic fixer, belongs to animal husbandry apparatus field.The hydraulic cylinder drive is fixed on the center upper portion position of stent, the second hydraulic cylinder is fixed at the top lower end of stent, its position is located at the underface of hydraulic cylinder drive, the smart camera is mounted on the main shaft of second hydraulic cylinder, the teatcup apparatus for placing is mounted on the main shaft of first hydraulic cylinder, the photoelectric sensor is fixed on the right end of stent lower part, the back side in the rack-mount portion of controller, and the moving handle is fixed on the back side the top of stent.The invention is identified the position of milk disk by smart camera, and pass through the position that hydraulic cylinder drive controls each hydraulic cylinder to reach corresponding milk disk, so as to which the teatcup clamped in limit buckle be made to be fixed on milk disk automatically, instead of the process of artificial fixed teatcup, reduce manual labor.
Description
Technical field
The present invention relates to a kind of herding teatcup automatic fixers, specifically a kind of to be identified by smart camera
The specific location of milk disk, and pass through hydraulic cylinder drive and each hydraulic cylinder is driven to make the teatcup for being placed on limit buckle accurately solid
Determine to the device on milk disk, belong to animal husbandry apparatus field.
Background technology
With the fast development of China's livestock breed aquatics industry, large-scale dairy farm is also more and more, in order to ensure milk supply
Fresh pollution-free, the milking equipment of modernization has also been applied in dairy products production.The milk disk of milk cow is fixed on by teatcup,
The conduit that generating pressure by teatcup makes milk after teatcup is flowed into storage bin, has been greatly reduced hand milking's
The amount of labour.
But teatcup used in the world still relies on artificial fixation at present, this not only needs a large amount of manpower, also
It is possible that the pollution milk such as bacterium can be introduced in fixation procedure, and in fixation procedure, operation is improper to lead to milk cow
The sudden and violent accident hurted sb.'s feelings that rises also happens occasionally, and economic loss can be brought to enterprise, while the fixation procedure of teatcup is also a pole
Its tiring work brings huge burden to the body of worker.
Invention content
Against the above deficiency, the present invention provides a kind of herding teatcup automatic fixers.
The present invention is achieved by the following technical solutions：A kind of herding teatcup automatic fixer, including stent,
First hydraulic cylinder, hydraulic cylinder drive, second hydraulic cylinder, smart camera, teatcup apparatus for placing, photoelectric sensor, controller,
Moving handle, wheel, wheel stand and universal wheel, the stent are a L-shaped iron plate, upper part and lower part in 90 degree of angles, institute
The upper end that first hydraulic cylinder is fixed on stent is stated, the hydraulic cylinder drive is fixed on the center upper portion position of stent,
Mounted on the underface of first hydraulic cylinder, the second hydraulic cylinder is fixed at the top lower end of stent, and position is located at hydraulic pressure
The underface of cylinder driver, the smart camera are mounted on the main shaft of second hydraulic cylinder, the teatcup apparatus for placing installation
On the main shaft of first hydraulic cylinder, the photoelectric sensor is fixed on the right end of stent lower part, and direction is vertically upward, described
The back side in the rack-mount portion of controller, position are located at the rear of hydraulic cylinder drive, and the moving handle is fixed on branch
The back side the top of frame, the wheel is there are two being fixed on wheel stand, and there are two be separately mounted to prop up the wheel stand
The both sides of frame bottom, the universal wheel are fixed on the left end of stent lower part.
The smart camera includes first support, second support, the first motor, the first ultrasonic sensor, third branch
Frame, smart camera camera, brush unit, the 4th stent and the second ultrasonic sensor, the first support and second support
It is connected, the second support is a rectangular chassis, and first motor is fixed on the center of second support, major axes orientation
Vertically upward, first ultrasonic sensor is mounted on third stent, and the third stent is fixed on the first motor
Left, the smart camera camera are fixed on the front end of second support, and the brush unit is mounted on the first motor,
Hairbrush is directed downward, and the 4th stent is fixed on the right of the first motor, and second ultrasonic sensor is fixed on
Above four stents.
The teatcup apparatus for placing includes the first limit buckle, third hydraulic cylinder, the 4th hydraulic cylinder, the second limit buckle, the
Five hydraulic cylinders, the 5th hydraulic cylinder pedestal, the 6th hydraulic cylinder, third limit buckle, hydraulic cylinder fixing device and the 7th hydraulic cylinder, it is described
First limit buckle is a circular device, is fixed on the top of third hydraulic cylinder, and the third hydraulic cylinder is fixed on hydraulic cylinder
In fixing device, the 4th hydraulic cylinder is fixed on hydraulic cylinder fixing device, and second limit buckle is fixed on the 4th hydraulic pressure
The top of cylinder, so the 5th hydraulic cylinder is fixed on the 5th hydraulic cylinder pedestal, the 5th hydraulic cylinder pedestal is a square iron
Block, the 6th hydraulic cylinder are fixed on hydraulic cylinder fixing device side, and the third limit buckle is connected with the 6th hydraulic cylinder, institute
Hydraulic cylinder fixing device is stated as a square, is fixed on the top of the 5th hydraulic cylinder, the 7th hydraulic cylinder is consolidated with hydraulic cylinder
Determine device to be connected, the 4th limit buckle is fixed on the top of the 7th hydraulic cylinder.
First limit buckle, the second limit buckle, third limit buckle are identical with the 4th limiting buckle structure, internal diameter and milking
The outer diameter of cup is equal.
The third hydraulic cylinder, the 4th hydraulic cylinder, the 6th hydraulic cylinder and the 7th hydraulic cylinder structure are identical, are separately fixed at liquid
On four sides of cylinder pressure fixing device.
The usefulness of the invention is, the invention by moving handle can freely dragging device move, can be according to actually making
Required place is moved to situation；By the identification of smart camera, the position of milk milk disk is accurately found, and transfers data to control
Device processed is controlled；Smart camera is driven to move forward and backward by second hydraulic cylinder, prevent thering is milk to drip to smart camera during work
On；Brush unit timing rotation is driven by the first motor, cleans smart camera camera；Pass through the first ultrasonic sensor
With the second ultrasonic sensor detection brush unit position, prevent it from going beyond the scope；Teatcup is driven to put by first hydraulic cylinder
Put device displacement, can prevent smart camera detect milk disk position when block vision；Third hydraulic pressure is driven by hydraulic cylinder drive
Cylinder, the 4th hydraulic cylinder, the 6th hydraulic cylinder and the 7th hydraulic cylinder are, it can be achieved that the teatcup for placing limit buckle is displaced to corresponding milk disk
Position；Hydraulic cylinder fixing device is driven to move up and down by the 5th hydraulic cylinder, teatcup is made accurately to be adsorbed onto on milk disk；Pass through
The use of the device can replace artificial fixed teatcup, reduce the amount of labour, improve production efficiency.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the left front structure diagram of Fig. 1 of the present invention.
Fig. 3 is the left back structure diagram of Fig. 1 of the present invention.
Fig. 4 is the right back structure diagram of Fig. 1 of the present invention.
Fig. 5 is smart camera structure diagram in Fig. 1 of the present invention.
Fig. 6 is teatcup apparatus for placing structure diagram in Fig. 1 of the present invention.
Fig. 7 is the rear structure schematic diagram of Fig. 1 of the present invention.
Fig. 8 is the top structure schematic diagram of Fig. 1 of the present invention.
In figure, 1, stent, 2, first hydraulic cylinder, 3, hydraulic cylinder drive, 4, second hydraulic cylinder, 5, smart camera, 501,
First support, 502, second support, the 503, first motor, the 504, first ultrasonic sensor, 505, third stent, 506, intelligence
Can camera camera, 507, brush unit, the 508, the 4th stent, the 509, second ultrasonic sensor, 6, teatcup apparatus for placing,
601st, the first limit buckle, 602, third hydraulic cylinder, the 603, the 4th hydraulic cylinder, the 604, second limit buckle, the 605, the 5th hydraulic cylinder,
606th, the 5th hydraulic cylinder pedestal, the 607, the 6th hydraulic cylinder, the 608, third limit buckle, 609, hydraulic cylinder fixing device, the 610, the 7th
Hydraulic cylinder, the 611, the 4th limit buckle, 7, photoelectric sensor, 8, controller, 9, moving handle, 10, wheel, 11, wheel stand,
12nd, universal wheel.
Specific embodiment
What the invention is realized by the following technical scheme：A kind of herding teatcup automatic fixer, including stent 1,
First hydraulic cylinder 2, hydraulic cylinder drive 3, second hydraulic cylinder 4, smart camera 5, teatcup apparatus for placing 6, photoelectric sensor 7,
Controller 8, moving handle 9, wheel 10, wheel stand 11 and universal wheel 12, the stent 1 are a L-shaped iron plate, and upper part is under
Portion is in 90 degree of angles, and the first hydraulic cylinder 2 is fixed on the upper end of stent 1, and the hydraulic cylinder drive 3 is fixed on stent
1 center upper portion position is mounted on the underface of first hydraulic cylinder 2, for driving each hydraulic cylinder, the second hydraulic cylinder
4 are fixed at the top lower end of stent 1, and position is located at the underface of hydraulic cylinder drive 3, and the smart camera 5 is mounted on
On the main shaft of second hydraulic cylinder 4, for identifying milk disk and transferring data to controller 8, the teatcup apparatus for placing 6 is installed
On the main shaft of first hydraulic cylinder 2, the photoelectric sensor 7 is fixed on the right end of 1 lower part of stent, direction vertically upward,
The controller 8 is mounted on the back side on 1 top of stent, and position is located at the rear of hydraulic cylinder drive 3, the moving handle 9
The back side the top of stent 1 is fixed on, for the wheel 10 there are two being fixed on wheel stand 11, the wheel stand 11 has two
A both sides for being separately mounted to 1 bottom of stent, the universal wheel 12 are fixed on the left end of 1 lower part of stent.
The smart camera 5 includes first support 501, second support 502, the first motor 503, the first supersonic sensing
Device 504, third stent 505, smart camera camera 506, brush unit 507, the 4th stent 508 and the second ultrasonic sensor
509, the first support 501 is connected with second support 502, and the second support 502 is a rectangular chassis, first electricity
Motivation 503 is fixed on the center of second support 502, and major axes orientation vertically upward, install by first ultrasonic sensor 504
On third stent 505, the third stent 505 is fixed on the left of the first motor 503, the smart camera camera
506 are fixed on the front end of second support 502, and the brush unit 507 is mounted on the first motor 503, hairbrush direction court
Under, the 4th stent 508 is fixed on the right of the first motor 503, and second ultrasonic sensor 509 is fixed on the 4th
508 top of stent.
The teatcup apparatus for placing 6 includes the first limit buckle 601, third hydraulic cylinder 602, the 4th hydraulic cylinder 603, second
Limit buckle 604, the 5th hydraulic cylinder 605, the 5th hydraulic cylinder pedestal 606, the 6th hydraulic cylinder 607, third limit buckle 608, hydraulic cylinder
609 and the 7th hydraulic cylinder 610 of fixing device, first limit buckle 601 are a circular device, are fixed on third hydraulic cylinder
602 top, the third hydraulic cylinder 602 are fixed on hydraulic cylinder fixing device 609, and the 4th hydraulic cylinder 603 is fixed on
On hydraulic cylinder fixing device 609, second limit buckle 604 is fixed on the top of the 4th hydraulic cylinder 603, so the 5th hydraulic cylinder
605 are fixed on the 5th hydraulic cylinder pedestal 606, and the 5th hydraulic cylinder pedestal 606 is a square iron block, the 6th hydraulic pressure
Cylinder 607 is fixed on 609 side of hydraulic cylinder fixing device, and the third limit buckle 608 is connected with the 6th hydraulic cylinder 607, described
Hydraulic cylinder fixing device 609 is a square, is fixed on the top of the 5th hydraulic cylinder 605, the 7th hydraulic cylinder 610 and liquid
Cylinder pressure fixing device 609 is connected, and the 4th limit buckle 611 is fixed on the top of the 7th hydraulic cylinder 610.
First limit buckle 601, the second limit buckle 604, third limit buckle 608 are identical with 611 structure of the 4th limit buckle,
Its internal diameter is equal with the outer diameter of teatcup.
The third hydraulic cylinder 602, the 4th hydraulic cylinder 603, the 6th hydraulic cylinder 607 are identical with 610 structure of the 7th hydraulic cylinder,
It is separately fixed on four sides of hydraulic cylinder fixing device 609.
Operation principle：Before start-up operation, teatcup apparatus for placing 6 is collapsed state, what four teatcups were placed on it
Four limit buckles, first hydraulic cylinder 2 shrink the top that teatcup apparatus for placing 6 is driven to leave smart camera 5.During work, push
9 mobile device of moving handle opens equipment, smart camera camera 506 identifies the position of milk milk disk, will to the lower section of milk cow
Data are transmitted to controller 8 and are handled, and controller 8 sends control signal to hydraulic cylinder drive 3 later, drives each hydraulic cylinder
It starts to work, second hydraulic cylinder 4 drives smart camera 5 to pack up first, prevents milk from dropping onto on smart camera 5 and pollutes eyeglass,
Second hydraulic cylinder 2 drives teatcup apparatus for placing 6 to reach below milk disk later, third hydraulic cylinder 602, the 4th hydraulic cylinder 603,
6th hydraulic cylinder 607 and the 7th hydraulic cylinder 610 drive each limit buckle that suitable distance is unfolded respectively, it is made to be directed at each milk
Head, last 5th hydraulic cylinder 605 work are lifted limit buckle, and the teatcup clamped in limit buckle is reached at teat, so as to fulfill
The automatic fixation of teatcup.After the completion of milking work, the 5th hydraulic cylinder 605 is fallen, and first hydraulic cylinder 2 is packed up while the second liquid
Cylinder pressure 4 stretches out, and prepares next subjob.First motor 503 must periodically drive the rotation cleaning smart camera of brush unit 507
Camera 506, and prevent brush unit 507 from exceeding by the first ultrasonic sensor 504 and the detection of the second ultrasonic sensor 509
The range of smart camera 5.After the completion of all operations, the teatcup in limit buckle, closing machine are removed.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case of spirit, the changes, modifications, replacement and the modification that are carried out to embodiment still fall within protection scope of the present invention it
It is interior.
Claims (5)
1. a kind of herding teatcup automatic fixer, including stent, first hydraulic cylinder, hydraulic cylinder drive, the second hydraulic pressure
Cylinder, smart camera, teatcup apparatus for placing, photoelectric sensor, controller, moving handle, wheel, wheel stand and universal wheel,
It is characterized in that：The stent is a L-shaped iron plate, and upper part and lower part are in 90 degree of angles, and the first hydraulic cylinder is fixed on branch
The upper end of frame, the hydraulic cylinder drive are fixed on the center upper portion position of stent, are being mounted on first hydraulic cylinder just
Lower section, the second hydraulic cylinder are fixed at the top lower end of stent, and position is located at the underface of hydraulic cylinder drive, described
Smart camera is mounted on the main shaft of second hydraulic cylinder, and the teatcup apparatus for placing is mounted on the main shaft of first hydraulic cylinder,
The photoelectric sensor is fixed on the right end of stent lower part, direction vertically upward, the rack-mount portion of controller
The back side, position is located at the rear of hydraulic cylinder drive, and the moving handle is fixed on the back side the top of stent, the vehicle
For wheel there are two being fixed on wheel stand, the wheel stand is described universal there are two the both sides for being separately mounted to frame bottom
Wheel is fixed on the left end of stent lower part.
2. a kind of herding teatcup automatic fixer as described in claim 1, it is characterised in that：The smart camera packet
Include first support, second support, the first motor, the first ultrasonic sensor, third stent, smart camera camera, hairbrush
Device, the 4th stent and the second ultrasonic sensor, the first support are connected with second support, and the second support is one
Rectangular chassis, first motor are fixed on the center of second support, major axes orientation vertically upward, first ultrasonic wave
Sensor is mounted on third stent, and the third stent is fixed on the left of the first motor, the smart camera camera
The front end of second support is fixed on, the brush unit is mounted on the first motor, and hairbrush is directed downward, described 4th
Frame is fixed on the right of the first motor, and second ultrasonic sensor is fixed on above the 4th stent.
3. a kind of herding teatcup automatic fixer as described in claim 1, it is characterised in that：The teatcup is placed
Device includes the first limit buckle, third hydraulic cylinder, the 4th hydraulic cylinder, the second limit buckle, the 5th hydraulic cylinder, the 5th hydraulic cylinder base
Seat, the 6th hydraulic cylinder, third limit buckle, hydraulic cylinder fixing device and the 7th hydraulic cylinder, first limit buckle are circular for one
Device is fixed on the top of third hydraulic cylinder, and the third hydraulic cylinder is fixed on hydraulic cylinder fixing device, the 4th liquid
Cylinder pressure is fixed on hydraulic cylinder fixing device, and second limit buckle is fixed on the top of the 4th hydraulic cylinder, so the 5th hydraulic pressure
Cylinder is fixed on the 5th hydraulic cylinder pedestal, and the 5th hydraulic cylinder pedestal is a square iron block, and the 6th hydraulic cylinder is fixed
In hydraulic cylinder fixing device side, the third limit buckle is connected with the 6th hydraulic cylinder, and the hydraulic cylinder fixing device is one
Square is fixed on the top of the 5th hydraulic cylinder, and the 7th hydraulic cylinder is connected with hydraulic cylinder fixing device, and the described 4th
Limit buckle is fixed on the top of the 7th hydraulic cylinder.
4. a kind of herding teatcup automatic fixer as described in claim 1, it is characterised in that：First limiting
Button, the second limit buckle, third limit buckle are identical with the 4th limiting buckle structure, and internal diameter is equal with the outer diameter of teatcup.
5. a kind of herding teatcup automatic fixer as described in claim 1, it is characterised in that：The third hydraulic pressure
Cylinder, the 4th hydraulic cylinder, the 6th hydraulic cylinder and the 7th hydraulic cylinder structure are identical, are separately fixed at four sides of hydraulic cylinder fixing device
On face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810025748.5A CN108157188B (en) | 2018-01-11 | 2018-01-11 | Automatic fixing device for milking cups for livestock raising |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810025748.5A CN108157188B (en) | 2018-01-11 | 2018-01-11 | Automatic fixing device for milking cups for livestock raising |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108157188A true CN108157188A (en) | 2018-06-15 |
| CN108157188B CN108157188B (en) | 2020-06-16 |
Family
ID=62518190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810025748.5A Expired - Fee Related CN108157188B (en) | 2018-01-11 | 2018-01-11 | Automatic fixing device for milking cups for livestock raising |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108157188B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002514057A (en) * | 1996-11-01 | 2002-05-14 | マースランド エヌ・ヴィ | Automatic animal milking equipment |
| US20070245964A1 (en) * | 2003-09-30 | 2007-10-25 | Lely Enterprises Ag | Device and method for determining teat positions |
| CN101511165A (en) * | 2006-09-05 | 2009-08-19 | 马斯兰股份有限公司 | A milking implement |
| US20110114024A1 (en) * | 2008-07-28 | 2011-05-19 | Lely Patent N.V. | Automatic milking device |
| CN105993965A (en) * | 2016-06-28 | 2016-10-12 | 冯晋芳 | Rotary milking platform |
| CN106212291A (en) * | 2016-08-20 | 2016-12-14 | 王坑花 | A kind of herding milk cow milking device |
-
2018
- 2018-01-11 CN CN201810025748.5A patent/CN108157188B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002514057A (en) * | 1996-11-01 | 2002-05-14 | マースランド エヌ・ヴィ | Automatic animal milking equipment |
| US20070245964A1 (en) * | 2003-09-30 | 2007-10-25 | Lely Enterprises Ag | Device and method for determining teat positions |
| CN101511165A (en) * | 2006-09-05 | 2009-08-19 | 马斯兰股份有限公司 | A milking implement |
| US20110114024A1 (en) * | 2008-07-28 | 2011-05-19 | Lely Patent N.V. | Automatic milking device |
| CN105993965A (en) * | 2016-06-28 | 2016-10-12 | 冯晋芳 | Rotary milking platform |
| CN106212291A (en) * | 2016-08-20 | 2016-12-14 | 王坑花 | A kind of herding milk cow milking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108157188B (en) | 2020-06-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200526 Address after: 350200 44 Building, 19 # Building, Heyang Building, Wuhang Town, Changle City, Fuzhou City, Fujian Province Applicant after: CHANGLE QIAOTONG INDUSTRIAL DESIGN Co.,Ltd. Address before: 431809 No. 38, Six Groups, Lujiacun, Luodian Town, Jingshan County, Jingmen City, Hubei Province Applicant before: Li Xiyong |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200616 Termination date: 20220111 |