CN108157188B - Automatic fixing device for milking cups for livestock raising - Google Patents
Automatic fixing device for milking cups for livestock raising Download PDFInfo
- Publication number
- CN108157188B CN108157188B CN201810025748.5A CN201810025748A CN108157188B CN 108157188 B CN108157188 B CN 108157188B CN 201810025748 A CN201810025748 A CN 201810025748A CN 108157188 B CN108157188 B CN 108157188B
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- China
- Prior art keywords
- hydraulic cylinder
- support
- fixed
- fixing device
- buckle
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- 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.)
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- 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
An automatic fixing device for milking cups for animal husbandry belongs to the field of equipment for animal husbandry. The intelligent camera is installed on a main shaft of the second hydraulic cylinder, the milking cup placing device is installed on a main shaft of the first hydraulic cylinder, the photoelectric sensor is fixed to the rightmost end of the lower portion of the support, the controller is installed on the back of the upper portion of the support, and the movable handle is fixed to the top of the back of the support. According to the invention, the intelligent camera is used for identifying the position of the milk tray, and the hydraulic cylinder drivers are used for controlling the hydraulic cylinders to reach the positions corresponding to the milk tray, so that the milking cups clamped in the limit buttons are automatically fixed on the milk tray, the process of manually fixing the milking cups is replaced, and the manual labor is reduced.
Description
Technical Field
The invention relates to an automatic fixing device for milking cups for animal husbandry, in particular to a device which identifies the specific position of a milk tray through an intelligent camera and drives each hydraulic cylinder through a hydraulic cylinder driver to ensure that the milking cups placed on a limit buckle are accurately fixed on the milk tray, and belongs to the field of equipment for animal husbandry.
Background
With the rapid development of the livestock breeding industry in China, large-scale milk farms are increasing, and in order to ensure the freshness and no pollution of milk sources, modern milking equipment is also applied to the production of milk products. The milking cups are fixed on milk trays of dairy cows, and the pressure generated by the milking cups enables milk to flow into the storage tank along the conduit behind the milking cups, thereby greatly reducing the labor amount of manual milking.
However, the milking cups used in the world still depend on manual fixation, which not only needs a large amount of manpower, but also can introduce bacteria and other polluted milk liquid in the fixation process, and in the fixation process, the accidents that the dairy cows are violently injured due to improper operation of workers also happen occasionally, which can bring economic loss to enterprises, and meanwhile, the fixation process of the milking cups is also a very tiring work, which brings huge burden to the bodies of the workers.
Disclosure of Invention
In order to overcome the defects, the invention provides an automatic fixing device for the milking cup for animal husbandry.
The invention is realized by the following technical scheme: an automatic fixing device for milking cups for livestock comprises a support, a first hydraulic cylinder, a hydraulic cylinder driver, a second hydraulic cylinder, an intelligent camera, a milking cup placing device, a photoelectric sensor, a controller, a moving handle, wheels, a wheel support and universal wheels, wherein the support is an L-shaped iron plate, the upper part and the lower part of the support form a 90-degree included angle, the first hydraulic cylinder is fixed at the top end of the upper part of the support, the hydraulic cylinder driver is fixed at the central position of the upper part of the support and is arranged right below the first hydraulic cylinder, the second hydraulic cylinder is fixed at the lower end of the upper part of the support and is arranged right below the hydraulic cylinder driver, the intelligent camera is arranged on a main shaft of the second hydraulic cylinder, the milking cup placing device is arranged on the main shaft of the first hydraulic cylinder, the photoelectric sensor is fixed at the rightmost end of the lower part of the support, the controller is installed at the back on support upper portion, and its position is located the rear of pneumatic cylinder driver, it fixes the back top at the support to remove the handle, the wheel has two to be fixed on the wheel support, the wheel support has two both sides of installing respectively in the support bottom, the left end at the support lower part is fixed to the universal wheel.
The intelligent camera comprises a first support, a second support, a first motor, a first ultrasonic sensor, a third support, an intelligent camera, a brush device, a fourth support and a second ultrasonic sensor, wherein the first support is connected with the second support, the second support is a square chassis, the first motor is fixed in the center of the second support, the direction of a main shaft of the first motor is vertical upwards, the first ultrasonic sensor is installed on the third support, the third support is fixed at the left side of the first motor, the intelligent camera is fixed at the front end of the second support, the brush device is installed on the first motor, the direction of a brush of the first motor is downward, the fourth support is fixed at the right side of the first motor, and the second ultrasonic sensor is fixed above the fourth support.
The teat cup placing device comprises a first limit buckle, a third hydraulic cylinder, a fourth hydraulic cylinder, a second limit buckle, a fifth hydraulic cylinder base, a sixth hydraulic cylinder, a third limit buckle, a hydraulic cylinder fixing device and a seventh hydraulic cylinder, wherein the first limit buckle is a circular ring-shaped device and is fixed at the top end of the third hydraulic cylinder, the third hydraulic cylinder is fixed on the hydraulic cylinder fixing device, the fourth hydraulic cylinder is fixed on the hydraulic cylinder fixing device, the second limit buckle is fixed at the top end of the fourth hydraulic cylinder, so that the fifth hydraulic cylinder is fixed on the fifth hydraulic cylinder base which is a square iron block, the sixth hydraulic cylinder is fixed at one side of the hydraulic cylinder fixing device, the third limit buckle is connected with the sixth hydraulic cylinder, the hydraulic cylinder fixing device is a cube and is fixed at the top of the fifth hydraulic cylinder, the seventh hydraulic cylinder is connected with the hydraulic cylinder fixing device, and the fourth limit buckle is fixed at the top end of the seventh hydraulic cylinder.
The first limiting buckle, the second limiting buckle, the third limiting buckle and the fourth limiting buckle are identical in structure, and the inner diameter of the first limiting buckle is equal to the outer diameter of the milking cup.
The third hydraulic cylinder, the fourth hydraulic cylinder, the sixth hydraulic cylinder and the seventh hydraulic cylinder are identical in structure and are respectively fixed on four side faces of the hydraulic cylinder fixing device.
The invention has the advantages that the device can be freely dragged to move by moving the handle, and can be moved to a required position according to the actual use condition; the position of the milk plate is accurately found through the identification of the intelligent camera, and the data are transmitted to the controller for control; the second hydraulic cylinder drives the intelligent camera to move back and forth, so that milk is prevented from being dripped onto the intelligent camera during working; the first motor drives the brush device to rotate at regular time to clean the camera of the intelligent camera; detecting the position of the brush device through the first ultrasonic sensor and the second ultrasonic sensor to prevent the position from exceeding the range; the first hydraulic cylinder drives the milking cup placing device to move, so that the intelligent camera can be prevented from blocking sight when detecting the position of the milk tray; the third hydraulic cylinder, the fourth hydraulic cylinder, the sixth hydraulic cylinder and the seventh hydraulic cylinder are driven by the hydraulic cylinder drivers, so that the milking cup on which the limit button is placed can be moved to a position corresponding to the milk tray; the fifth hydraulic cylinder drives the hydraulic cylinder fixing device to move up and down, so that the milking cup is accurately adsorbed to the milk tray; through the use of the device, can replace the manual work and fix the milking cup, reduced the amount of labour, improved production efficiency.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic left front view of FIG. 1 according to the present invention.
Fig. 3 is a left rear structural view of fig. 1 according to the present invention.
Fig. 4 is a rear right side view of fig. 1 according to the present invention.
FIG. 5 is a schematic diagram of the smart camera shown in FIG. 1 according to the present invention.
Fig. 6 is a schematic view of the teat cup placing device according to the invention in fig. 1.
Fig. 7 is a rear view of the structure of fig. 1 according to the present invention.
FIG. 8 is a top view of the FIG. 1 embodiment of the present invention.
In the figure, 1, a bracket, 2, a first hydraulic cylinder, 3, a hydraulic cylinder driver, 4, a second hydraulic cylinder, 5, a smart camera, 501, a first bracket, 502, a second bracket, 503, a first motor, 504, a first ultrasonic sensor, 505, a third bracket, 506, a smart camera, 507, a brush device, 508, a fourth bracket, 509, a second ultrasonic sensor, 6, a teat cup placing device, 601, a first limit buckle, 602, a third hydraulic cylinder 603, a fourth hydraulic cylinder 604, a second limit buckle 605, a fifth hydraulic cylinder 606, a fifth hydraulic cylinder base 607, a sixth hydraulic cylinder 608, a third limit buckle 609, a hydraulic cylinder fixing device 610, a seventh hydraulic cylinder 611, a fourth limit buckle 7, a photoelectric sensor 8, a controller 9, a movable handle 10, wheels 11, a wheel support 12 and a universal wheel.
Detailed Description
The invention is realized by the following technical scheme: an automatic fixing device for milking cups for livestock comprises a support 1, a first hydraulic cylinder 2, a hydraulic cylinder driver 3, a second hydraulic cylinder 4, a smart camera 5, a milking cup placing device 6, a photoelectric sensor 7, a controller 8, a moving handle 9, wheels 10, a wheel support 11 and universal wheels 12, wherein the support 1 is an L-shaped iron plate, the upper part and the lower part of the support form an included angle of 90 degrees, the first hydraulic cylinder 2 is fixed at the top end of the upper part of the support 1, the hydraulic cylinder driver 3 is fixed at the central position of the upper part of the support 1 and is arranged right below the first hydraulic cylinder 2 and used for driving each hydraulic cylinder, the second hydraulic cylinder 4 is fixed at the lower end of the upper part of the support 1 and is arranged right below the hydraulic cylinder driver 3, the smart camera 5 is arranged on a main shaft of the second hydraulic cylinder 4 and used for identifying milk pans and transmitting data to the controller 8, the teat cup placing device 6 is mounted on a main shaft of the first hydraulic cylinder 2, the photoelectric sensor 7 is fixed at the rightmost end of the lower portion of the support 1 and is vertically upward, the controller 8 is mounted on the back of the upper portion of the support 1 and is located behind the hydraulic cylinder driver 3, the moving handle 9 is fixed at the topmost back of the support 1, two wheels 10 are fixed on a wheel support 11, two wheel supports 11 are respectively mounted on two sides of the bottom of the support 1, and the universal wheel 12 is fixed at the left end of the lower portion of the support 1.
The smart camera 5 includes a first bracket 501, a second bracket 502, a first motor 503, a first ultrasonic sensor 504, a third bracket 505, a smart camera head 506, a brush device 507, a fourth bracket 508 and a second ultrasonic sensor 509, the first bracket 501 is connected with a second bracket 502, the second bracket 502 is a square chassis, the first motor 503 is fixed at the center of the second bracket 502, the main axis direction of the ultrasonic sensor is vertically upward, the first ultrasonic sensor 504 is arranged on a third bracket 505, the third bracket 505 is fixed at the left of the first motor 503, the smart camera 506 is fixed at the front end of the second bracket 502, the brush device 507 is installed on the first motor 503, the brush direction is downward, the fourth holder 508 is fixed to the right of the first motor 503, and the second ultrasonic sensor 509 is fixed above the fourth holder 508.
The teat cup placing device 6 comprises a first stop buckle 601, a third hydraulic cylinder 602, a fourth hydraulic cylinder 603, a second stop buckle 604, a fifth hydraulic cylinder 605, a fifth hydraulic cylinder base 606, a sixth hydraulic cylinder 607, a third stop buckle 608, a hydraulic cylinder fixing device 609 and a seventh hydraulic cylinder 610, wherein the first stop buckle 601 is a circular ring-shaped device which is fixed on the top end of the third hydraulic cylinder 602, the third hydraulic cylinder 602 is fixed on a hydraulic cylinder fixing device 609, the fourth hydraulic cylinder 603 is fixed on the hydraulic cylinder fixing device 609, the second stop buckle 604 is fixed on the top end of the fourth hydraulic cylinder 603, so that the fifth hydraulic cylinder 605 is fixed on the fifth hydraulic cylinder base 606, the fifth hydraulic cylinder base 606 is a square iron block, the sixth hydraulic cylinder 607 is fixed on one side of the hydraulic cylinder fixing device 609, and the third stop buckle 608 is connected with the sixth hydraulic cylinder 607, the hydraulic cylinder fixing device 609 is a cube and is fixed at the top of the fifth hydraulic cylinder 605, the seventh hydraulic cylinder 610 is connected with the hydraulic cylinder fixing device 609, and the fourth limit buckle 611 is fixed at the top end of the seventh hydraulic cylinder 610.
The first limit buckle 601, the second limit buckle 604, the third limit buckle 608 and the fourth limit buckle 611 have the same structure, and the inner diameter of the first limit buckle is equal to the outer diameter of the milking cup.
The third hydraulic cylinder 602, the fourth hydraulic cylinder 603, the sixth hydraulic cylinder 607 and the seventh hydraulic cylinder 610 have the same structure and are respectively fixed on four side surfaces of a hydraulic cylinder fixing device 609.
The working principle is as follows: before the working, the milking cup placing device 6 is in a retracted state, four limit buttons on which four milking cups are placed are arranged, and the first hydraulic cylinder 2 is retracted to drive the milking cup placing device 6 to leave the upper part of the intelligent camera 5. During operation, the movable handle 9 is pushed to move to the position below a cow, the device is opened, the position of a milk plate is identified by the intelligent camera 506, data are transmitted to the controller 8 to be processed, then the controller 8 sends a control signal to the hydraulic cylinder driver 3 to drive each hydraulic cylinder to start working, firstly, the second hydraulic cylinder 4 drives the intelligent camera 5 to fold up, milk drops are prevented from dropping on the intelligent camera 5 to pollute lenses, then, the second hydraulic cylinder 2 drives the milking cup placing device 6 to extend to the position below the milk plate, the third hydraulic cylinder 602, the fourth hydraulic cylinder 603, the sixth hydraulic cylinder 607 and the seventh hydraulic cylinder 610 respectively drive each limit buckle to expand for a proper distance to enable the limit buckle to be aligned with each cow, finally, the fifth hydraulic cylinder 605 works to enable the limit buckle to be lifted, and the milking cups clamped in the limit buckle reach the position of the cow, and therefore, automatic fixation of the milking cups is achieved. After the milking operation is completed, the fifth cylinder 605 is lowered, the first cylinder 2 is retracted and the second cylinder 4 is extended, ready for the next operation. The first motor 503 periodically drives the brush device 507 to rotate to clean the camera 506 of the smart camera, and the first ultrasonic sensor 504 and the second ultrasonic sensor 509 detect the rotation to prevent the brush device 507 from exceeding the range of the smart camera 5. And after all the operations are finished, taking down the milking cups in the limit buttons and closing the machine.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (3)
1. The utility model provides a poultry is with crowded teatcup automatic fixing device, includes support, first pneumatic cylinder, pneumatic cylinder driver, second pneumatic cylinder, smart camera, crowded teatcup placer, photoelectric sensor, controller, removal handle, wheel support and universal wheel, its characterized in that: the support is an L-shaped iron plate, the upper part and the lower part of the support form an included angle of 90 degrees, the first hydraulic cylinder is fixed at the top end of the upper part of the support, the hydraulic cylinder driver is fixed at the central position of the upper part of the support and is installed under the first hydraulic cylinder, the second hydraulic cylinder is fixed at the lower end of the upper part of the support and is located under the hydraulic cylinder driver, the intelligent camera is installed on a main shaft of the second hydraulic cylinder, the milking cup placing device is installed on the main shaft of the first hydraulic cylinder, the photoelectric sensor is fixed at the rightmost end of the lower part of the support and is vertically upward, the controller is installed on the back surface of the upper part of the support and is located behind the hydraulic cylinder driver, the movable handle is fixed at the upmost back surface of the support, two wheels are fixed on wheel supports, and two wheel supports are respectively, the universal wheel is fixed at the left end of the lower part of the bracket; the intelligent camera comprises a first support, a second support, a first motor, a first ultrasonic sensor, a third support, an intelligent camera, a hairbrush device, a fourth support and a second ultrasonic sensor, wherein the first support is connected with the second support, the second support is a square chassis, the first motor is fixed in the center of the second support, the main shaft direction of the first motor is vertically upward, the first ultrasonic sensor is installed on the third support, the third support is fixed on the left side of the first motor, the intelligent camera is fixed at the front end of the second support, the hairbrush device is installed on the first motor, the hairbrush direction of the hairbrush device is downward, the fourth support is fixed on the right side of the first motor, and the second ultrasonic sensor is fixed above the fourth support; the teat cup placing device comprises a first limit buckle, a third hydraulic cylinder, a fourth hydraulic cylinder, a second limit buckle, a fifth hydraulic cylinder base, a sixth hydraulic cylinder, a third limit buckle, a hydraulic cylinder fixing device and a seventh hydraulic cylinder, wherein the first limit buckle is a circular ring-shaped device and is fixed at the top end of the third hydraulic cylinder, the third hydraulic cylinder is fixed on the hydraulic cylinder fixing device, the fourth hydraulic cylinder is fixed on the hydraulic cylinder fixing device, the second limit buckle is fixed at the top end of the fourth hydraulic cylinder, so that the fifth hydraulic cylinder is fixed on the fifth hydraulic cylinder base which is a square iron block, the sixth hydraulic cylinder is fixed at one side of the hydraulic cylinder fixing device, the third limit buckle is connected with the sixth hydraulic cylinder, the hydraulic cylinder fixing device is a cube and is fixed at the top of the fifth hydraulic cylinder, the seventh hydraulic cylinder is connected with the hydraulic cylinder fixing device, and the fourth limit buckle is fixed at the top end of the seventh hydraulic cylinder.
2. The automatic teat cup fixing device for animal husbandry as claimed in claim 1, wherein: the first limiting buckle, the second limiting buckle, the third limiting buckle and the fourth limiting buckle are identical in structure, and the inner diameter of the first limiting buckle is equal to the outer diameter of the milking cup.
3. The automatic teat cup fixing device for animal husbandry as claimed in claim 1, wherein: the third hydraulic cylinder, the fourth hydraulic cylinder, the sixth hydraulic cylinder and the seventh hydraulic cylinder are identical in structure and are respectively fixed on four side faces of the hydraulic cylinder fixing device.
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 CN108157188A (en) | 2018-06-15 |
| CN108157188B true CN108157188B (en) | 2020-06-16 |
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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 (4)
| 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 |
| CN101511165A (en) * | 2006-09-05 | 2009-08-19 | 马斯兰股份有限公司 | A milking implement |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE602004000749T2 (en) * | 2003-09-30 | 2007-02-08 | Lely Enterprises Ag | Device and method for milking a dairy animal |
| NL1035763C2 (en) * | 2008-07-28 | 2010-01-29 | Lely Patent Nv | Automatic milking installation. |
-
2018
- 2018-01-11 CN CN201810025748.5A patent/CN108157188B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| CN101511165A (en) * | 2006-09-05 | 2009-08-19 | 马斯兰股份有限公司 | A milking implement |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN108157188A (en) | 2018-06-15 |
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| 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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| 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 |