CN112544448A

CN112544448A - Automatic milking equipment

Info

Publication number: CN112544448A
Application number: CN202011394843.6A
Authority: CN
Inventors: 王磊; 乔印虎; 陈立辛; 刘纯利; 国海; 李双喜; 王乐; 胡福志
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-03-26

Abstract

The invention discloses automatic milking equipment, which belongs to the technical field of automatic equipment of dairy farms and comprises a rotary table, wherein a plurality of cow containing units are arranged on the rotary table along the circumferential direction of the rotary table, a milking robot comprises an arc guide slide rail, the arc guide slide rail and the rotary table are coaxially arranged, the lower part of a telescopic mechanism is slidably arranged on the arc guide slide rail, a six-axis cooperative robot body is arranged at the output end of the telescopic mechanism, the telescopic mechanism drives the six-axis cooperative robot body to be close to or far away from the rotary table, a transverse moving mechanism is arranged at one side of the arc guide slide rail far away from the rotary table, one end of a flexible connecting mechanism is arranged at the output end of the transverse moving mechanism, the other end of the flexible connecting mechanism is rotatably connected with the bottom of the telescopic mechanism, the moving direction of the transverse moving mechanism is mutually vertical to the moving direction of the telescopic mechanism, a milk cup accommodating mechanism is arranged between the rotary table. The device enables automatic milking operations of cows.

Description

Automatic milking equipment

Technical Field

The invention belongs to the technical field of automatic equipment in dairy farms, and particularly relates to automatic milking equipment for milk.

Background

At present, the automation degree of milking of a domestic large farm is low, the milking process is a dynamic process, and the traditional automation equipment field is not wanted. The automatic milking process relates to a milk cow with vital characteristics, and during the milking process, the artificial milking needs to be simulated as much as possible to improve the comfort of the milk, and meanwhile, the milking efficiency needs to be considered.

Along with the increase of labor cost, related automatic equipment is urgently needed in domestic large-scale pastures, and equipment for efficiently milking cows can be realized. The chinese patent application CN111699976A discloses a milk milking device, which is used for milking milk under a milk lying device, and needs to manually guide the cows to lie down and go up and down stairs, and has low milking efficiency and different posture from the traditional manual milking posture, and puts high requirements on compliance of the cows.

Chinese patent CN210226483U discloses a teat cup tray for a milking robot, in which the moving stroke of the teat cups is limited and the automation degree of milking is limited. At present, no equipment capable of automatically milking exists in China.

Disclosure of Invention

The invention aims at the technical problem and provides automatic milking equipment which comprises an automatic milking robot and a milk cup receiving mechanism matched with the automatic milking robot and is used for carrying out automatic milking operation on cows.

The technical scheme adopted by the invention is as follows: an automatic milking device comprises a milking robot, a milk cup accommodating mechanism and a rotary table, wherein the rotary table is provided with fences at uniform intervals along the circumferential direction, the fences enclose a plurality of identical milk cow accommodating units, milk cows enter the milk cow accommodating units from the outer side of the rotary table, the milking robot comprises an arc guide slide rail, a telescopic mechanism, a six-axis cooperative robot body and a tail end executing mechanism, the arc guide slide rail is coaxially arranged with the rotary table and is positioned at the outer side of the rotary table, the lower part of the telescopic mechanism is slidably arranged on the arc guide slide rail, the six-axis cooperative robot body is arranged at the output end of the telescopic mechanism, the telescopic mechanism drives the six-axis cooperative robot body to be close to or far away from the rotary table, the tail end executing mechanism is arranged at the output end of the six-axis cooperative robot body, a transverse moving mechanism is arranged at one side of the arc guide slide rail, the transverse moving mechanism drives one end of the flexible connecting mechanism to move, the other end of the flexible connecting mechanism is rotationally connected with the bottom of the telescopic mechanism, the moving direction of the transverse moving mechanism is perpendicular to the moving direction of the telescopic mechanism, the milk cup containing mechanism is arranged between the rotary disc and the milking robot, and the milking robot grabs the milk cups from the milk cup containing mechanism and places the milk cups at the nipple positions.

Furthermore, the flexible connection mechanism comprises a linear rail mounting plate, the linear rail mounting plate is mounted at the output end of the transverse moving mechanism, the linear slide rail is mounted on the linear rail mounting plate, the linear slide block is nested on the linear slide rail, the lower part of the linear slide block is fixedly connected with the connection rotary table, and the connection rotary table is rotatably connected with the bottom of the telescopic mechanism.

Furthermore, telescopic machanism includes circular arc sliding base, second connection riser and flexible arm, and circular arc sliding base nestification is connected with circular arc sliding base rotation on circular arc direction slide rail, the connection revolving stage, and the lower part of riser is connected with circular arc sliding base's upper portion to the second and links to each other, the one end of flexible arm is installed on the upper portion that the riser is connected to the second, the other end at flexible arm is installed to six axis cooperation robot bodies.

Furthermore, a plurality of rotating pulleys are arranged below the arc sliding base, the rotating pulleys are fixed on two sides of the lower end face of the arc sliding base along the moving direction of the arc sliding base, and the external protrusions on two sides of the arc guide sliding rail are respectively in contact with the grooves of the rotating pulleys on two sides of the arc guide sliding rail.

Furthermore, the tail end executing mechanism comprises a gripper bottom plate, one end of the gripper bottom plate is connected with the output end of the six-axis cooperative robot body, a finger cylinder is installed at the other end of the gripper bottom plate, and a clamping jaw is installed at the output end of the finger cylinder relatively; the gripper bottom plate is provided with a plurality of hollowed holes, the industrial camera is installed on the gripper bottom plate, and the industrial camera shoots through the hollowed holes on the gripper bottom plate to calculate the clamping position.

Further, teatcup receiving mechanism includes teatcup storage rack, the teatcup rim of a cup is vertical to be placed at teatcup storage rack down, drive mechanism sets up the one side at teatcup storage rack, the cylinder is vertical to be installed in pulling the frame, drive mechanism is including pulling the frame, fixed pulley and movable pulley, the trachea connects, the milk pipe connects all to set up at the up end of pulling the frame, the fixed pulley rotates to be set up on pulling frame upper portion, the movable pulley support links to each other with the jar pole of cylinder, the movable pulley rotates to be installed on the movable pulley support, the cylinder drives the vertical motion of movable pulley, the trachea passes through the vacuum interface of teatcup in proper order, the fixed pulley, the movable pulley inserts the trachea and connects, milk flow pipe passes through the milk passageway interface of teatcup in proper order, fixed pulley and movable pulley insert the milk.

Furthermore, the milk collecting rack further comprises a guiding mechanism, the guiding mechanism is arranged between the milk cup collecting rack and the fixed pulley, the milk flow pipe sequentially enters the fixed pulley through the milk channel interface and the guiding mechanism of the milk cup, and the air pipe sequentially enters the fixed pulley through the vacuum interface and the guiding mechanism of the milk cup.

Furthermore, guiding mechanism includes two parallel arrangement's guide bar, and the cylinder cover is in the outside of guide bar, and trachea and milk circulation pipe are located between two guide bars.

Furthermore, the milk channel interface and the vacuum interface are both arranged on the upper end surface of the milk cup.

The milk collecting device is characterized by further comprising a containing disc, the lower end face of the containing disc is fixed to the upper end face of the milk cup, the containing disc is of a hollow structure, the milk channel interface and the vacuum interface are located inside the containing disc, the upper portion of the containing disc is provided with a through groove similar to a runway shape, and the middle portions of the milk circulating pipe and the air pipe penetrate through the through groove.

The beneficial effect of this scheme: (1) through the matching of the fixed pulley and the movable pulley, the milk cup can be stably placed on the milk cup containing frame when milking is not needed, the milk cup is taken out of the milk cup containing frame when milking, the moving stroke of the milk cup is large, and the milk cup is suitable for automatic milking operation; (2) the six-axis cooperative robot body, the telescopic mechanism, the transverse moving mechanism and the flexible connecting mechanism jointly drive the tail end executing mechanism to move, so that the milking robot with a large moving area is formed, and the milking efficiency and the milking flexibility are improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention.

Fig. 2 is a schematic view of the top view of the milking robot in the apparatus of the present invention.

Fig. 3 is a partial structural view of the flexible mechanism of the device of the present invention.

FIG. 4 is a partial schematic view of another perspective of the compliant mechanism of the device of the present invention.

FIG. 5 is a schematic view of a partial structure of an end effector of the apparatus of the present invention.

Fig. 6 is a perspective view of the teat cup receiving structure of the arrangement according to the invention.

Fig. 7 is a left side view of fig. 6.

Fig. 8 is a schematic structural diagram of the device of the invention at the position of the movable pulley.

Fig. 9 is a schematic view of the structure of the mounting post and its upper part of the device of the present invention.

Fig. 10 is a schematic cross-sectional view of a teat cup holder in the arrangement according to the invention.

Fig. 11 is a schematic view of the structure of the teat cups in the arrangement according to the invention.

In the figure: 1. a fence; 2. a turntable 2; 3. a circular arc guide slide rail; 4. a flexible connection mechanism; 401. a linear sliding base; 402. a first connecting vertical plate; 403. a wire rail mounting plate; 404. a linear slide rail; 405. a linear slider; 406. connecting the rotary table; 5. a traversing mechanism; 6. a telescoping mechanism; 601. a circular arc sliding base; 602. a second connecting vertical plate; 603. rotating the pulley; 7. a six-axis cooperative robot body; 8. a terminal actuator; 801. a clamping jaw; 802. a finger cylinder; 803. connecting the bottom plate; 804. an industrial camera; 9. a teat cup storing mechanism; 901. a cylinder; 902. a guide mechanism; 9201. an upper slide block; 9202. a lower slide block; 9203. a connecting shaft; 9204. a connecting plate; 903. a tractor frame; 904. a gas pipe joint; 905. a milk tube connector; 906. a fixed pulley bracket; 907. a fixed pulley; 908. a guide mechanism; 9801. a guide bar; 9802. a drum; 909. milk cups; 9901. a milk channel interface; 9902. a vacuum interface; 9903. a storage tray; 9904. a through groove; 9905. a baffle ring; 910. a teat cup accommodating rack; 9101. an access hole; 9102. a receiving hole; 911. a movable pulley; 912. a movable pulley bracket; 913. and (5) mounting a vertical rod.

Detailed Description

As shown in fig. 1-4, an automatic milking apparatus comprises a milking robot, a teat cup receiving mechanism 9 and a rotary table 2, wherein the rotary table 2 is provided with fences 1 at even intervals along the circumferential direction thereof, the fences 1 enclose a plurality of identical cow holding units, preferably, the cow holding units are fan-shaped, cows enter the cow holding units from the outer side of the rotary table 2, the milking robot comprises an arc guide slide rail 3, a telescopic mechanism 6, a six-axis cooperative robot body 7 and an end actuating mechanism 8, the arc guide slide rail 3 is coaxially arranged with the rotary table 2 and is positioned at the outer side of the rotary table 2, the lower part of the telescopic mechanism 6 is slidably mounted on the arc guide slide rail 3, the six-axis cooperative robot body 7 is mounted at the output end of the telescopic mechanism 6, the telescopic mechanism 6 drives the six-axis cooperative robot body 7 to approach or separate from the rotary table 2, the end actuating mechanism 8 is mounted at the output end of the six, the transverse moving mechanism 5 is arranged on one side, far away from the rotary table 2, of the arc guide sliding rail 3, one end of the flexible connecting mechanism 4 is installed at the output end of the transverse moving mechanism 5, the transverse moving mechanism 5 drives one end of the flexible connecting mechanism 4 to move, the other end of the flexible connecting mechanism 4 is rotatably connected with the bottom of the telescopic mechanism 6, the moving direction of the transverse moving mechanism 5 is perpendicular to the moving direction of the telescopic mechanism 6, the milk cup accommodating mechanism 9 is arranged between the rotary table 2 and the milking robot, and the milking robot grabs the position of a milk cup, where the milk is placed, from the milk cup accommodating mechanism 9.

As shown in fig. 2 and 3, the traverse mechanism 5 includes a rotating motor and a traverse module, and the traverse module is disposed along a tangential direction of the middle portion of the arc guide rail 3. The flexible connecting mechanism 4 comprises a linear sliding base 401, a first connecting vertical plate 402 and a line rail mounting plate 403, the linear sliding base 401 is mounted at the output end of the transverse moving module, the rotating motor drives the linear sliding base 401 to move through the transverse moving module, the upper end and the lower end of the first connecting vertical plate 402 are respectively connected with the linear sliding base 401 and the line rail mounting plate 403, the linear sliding rail 404 is mounted on the line rail mounting plate 403, a linear sliding block 405 is nested on the linear sliding rail 404, the lower portion of the linear sliding block 405 is fixedly connected with a connecting rotary table 406, and the connecting rotary table 406 is rotatably connected with the bottom of the telescopic mechanism 6.

As shown in fig. 3, the telescopic mechanism 6 includes an arc sliding base 601, a second connecting upright 602 and a telescopic arm, the arc sliding base 601 is nested on the arc guiding slide rail 3, a bearing seat is disposed on an upper end surface of the arc sliding base 601, a rolling bearing is mounted on the bearing seat, and a lower portion of the connecting rotary table 406 is mounted in the rolling bearing, so that the connecting rotary table 406 is rotatably connected with the arc sliding base 601 through the bearing seat. The lower portion of the second connecting vertical plate 602 is fixedly connected with the upper portion of the arc sliding base 601, one end of a telescopic arm is installed on the upper portion of the second connecting vertical plate 602, the six-axis cooperative robot body 7 is installed at the other end of the telescopic arm, and the telescopic arm drives the six-axis cooperative robot body 7 to be close to or far away from the turntable 2.

The transverse moving mechanism 5 drives the flexible connecting mechanism 4 to move, the flexible connecting mechanism 4 drives the telescopic mechanism 6 and the upper part thereof to move along the arc guide sliding rail 3, and the linear sliding block 405 moves relatively along the linear sliding rail 404 to adjust the vertical distance between the bottom of the telescopic mechanism 6 and the transverse moving mechanism 5. The connecting turntable 406 is rotatably connected with the bottom of the telescopic mechanism 6, that is, the connecting turntable 406 and the arc sliding base 601 rotate to adjust the angle between the traversing mechanism 5 and the telescopic mechanism 6.

As shown in fig. 4, a plurality of rotating pulleys 603 are provided at the lower portion of the arc sliding base 601, the plurality of rotating pulleys 603 are arranged at both sides of the lower end surface of the arc sliding base 601 along the moving direction of the arc sliding base, and the outer protrusions at both sides of the arc guide sliding rail 3 are respectively in contact with the grooves of the rotating pulleys 604 at both sides thereof.

As shown in fig. 5, the end actuator 8 includes a gripper base plate 803, one end of the gripper base plate 803 is connected to the output end of the six-axis cooperative robot body 7, a finger cylinder 802 is installed at the other end of the gripper base plate 803, and a gripping jaw 801 is installed opposite to the output end of the finger cylinder 802; the hand grip bottom plate 803 is provided with a plurality of hollowed holes, the industrial camera 804 is installed on the hand grip bottom plate 803, and the industrial camera 804 photographs through the hollowed holes on the hand grip bottom plate 803 to calculate the gripping position.

The action process of the milking robot is as follows: the telescopic mechanism 6 drives the six-axis cooperative robot body 7 and the upper components thereof to be close to the turntable 2, and the six-axis cooperative robot body 7 takes the milk cup from the milk cup accommodating mechanism 9 and then places the milk cup at a position to be sucked at the breast part of milk. The telescopic mechanism 6 drives the six-axis cooperative robot body 7 and the upper parts thereof to be far away from the rotary table 2, and the transverse moving mechanism 5 drives the telescopic mechanism 6 to slide along the arc guide slide rail 3, so as to place the milk cup on the breast part of the milk cow in the other adjacent milk cow containing unit.

In order to improve the milking efficiency, the sector area of the rotary table 2 corresponding to the arc guide sliding rail 3 is matched with the same number of teat cup receiving mechanisms 9 according to the number of the cow containing units in the area, a plurality of teat cup receiving mechanisms 9 are coaxially arranged with the rotary table 2 and are positioned at the outer side of the rotary table, and each teat cup receiving mechanism 9 provides a teat cup for one milk containing unit, so that the milking operation can be carried out on a plurality of cows, and the milking efficiency is improved.

As shown in fig. 6 to 11, the teat cup holding mechanism 9 includes a teat cup holding frame 910, teat cups 909 are vertically placed on the teat cup holding frame 910 with their mouths facing downward, a traction mechanism is disposed on one side of the teat cup holding frame 910, the traction mechanism includes a traction frame 903, a fixed pulley 907 and a movable pulley 911, an air pipe joint 904 and a milk pipe joint 905 are both disposed on the upper end face of the traction frame 903, the traction frame 903 includes a fixed base, a connecting vertical plate and an upper plate, the connecting vertical plate is disposed vertically, and the upper plate and the fixed base are respectively mounted on the upper end and the lower end of the connecting vertical plate. The fixed pulley support 906 is mounted on the lower end face of the upper plate, the fixed pulley 907 is rotatably mounted on the fixed pulley support 906, the air cylinder 901 is vertically mounted in the traction frame 903 and connected to a vertical plate, the movable pulley support 912 is connected with a cylinder rod of the air cylinder 901, the movable pulley 911 is rotatably mounted on the movable pulley support 912, the air cylinder 901 drives the movable pulley 911 to vertically move, an air pipe sequentially passes through a vacuum port 9902 of a milk cup 909, the fixed pulley 907 and the movable pulley 911 to be connected to the air pipe joint 904, and a milk flow pipe sequentially passes through a milk channel port 9901 of the milk cup 909, the fixed pulley 907 and the movable pulley 911 to be connected to the milk pipe joint 905.

The outer diameter of the middle of the teat cup 909 is smaller than the smallest aperture of the teat cup holder 910, and the teat cup 909 is held on the teat cup holder 910 by means of friction between the milk flow duct and the milk passage opening 9901 of the teat cup 909.

The milk cup 909 is taken down from the lower part of the milk cup containing frame 910, the air cylinder 901 drives the movable pulley 911 to move upwards, the air pipe and the milk circulating pipe slide along the fixed pulley 907 and the movable pulley 911, and the moving stroke of the milk cup 909 is equal to the stroke of the air cylinder 901, namely the sliding distance of the movable pulley 911 driven by the air cylinder 901.

For the retraction stroke of the milk cup 909, the rodless cylinder 901 is selected as the cylinder 901, so that the movement distance of the movable pulley 911 is increased within the same vertical length.

In order to reduce the bending of the air pipe and the milk flow pipe, a guide mechanism 908 is provided between the teat cup storage rack 910 and the fixed pulley 907, the milk flow pipe is connected to the lower end of the milk pipe joint 905 through the milk passage port 9901, the guide mechanism 908, the fixed pulley 907 and the movable pulley 911 of the teat cup 909 in sequence, and the air pipe is connected to the lower end of the air pipe joint 904 through the vacuum port 9902, the guide mechanism 908, the fixed pulley 907 and the movable pulley 911 of the teat cup 909 in sequence.

As shown in fig. 9, the guide 908 includes two guide rods 9801 arranged in parallel to rotate, a roller 9802 is sleeved outside the guide rods 9801, and an air pipe and a milk flow pipe are arranged between the two guide rods 9801. The guide 908 limits the movement area and direction of the air tube and the milk flow tube.

As shown in fig. 9, the teat cup receiving rack 910 and the guiding mechanism 908 are both detachably mounted on one side of the mounting vertical rod 913, a vertical chute is formed in the mounting vertical rod 913, and the position of the teat cup receiving rack 910 and the guiding mechanism 908 relative to the mounting vertical rod 913 is adjustable in the vertical direction, i.e. the height difference between the teat cup receiving rack 910 and the fixed pulley 907 is adjustable.

For the motion stability of the air cylinder 901, a guide mechanism 902 is arranged, the guide mechanism 902 comprises a guide sliding rail and a sliding block, the guide sliding rail is arranged along the motion direction of a cylinder rod in the air cylinder 901, the sliding block is embedded on the guide sliding rail, the sliding block is connected with the cylinder rod in the air cylinder 901 through a connecting plate 9204, and the sliding block is fixedly connected with a movable pulley bracket 912, so that the air cylinder 901 drives the movable pulley 911 to vertically move through the sliding block.

For the installation space of movable pulley 911, the slider is split type slider, and the slider includes upper slider 9201 and lower slider 9202, and lower slider 9202 passes through the connecting plate 9204 with the jar pole of cylinder 901 and links to each other, and upper slider 9201 links to each other with movable pulley support 912, links firmly through connecting axle 9203 between upper slider 9201 and the lower slider 9202 to guarantee upper slider 9201 and lower slider 9202 simultaneous movement.

In order to improve the milking efficiency of the cow, a plurality of holding units, preferably four holding units, are provided on the teat cup holding rack 910, one teat cup 909 is placed in each holding unit of the teat cup 909, each holding unit of the teat cup 909 is provided with a traction mechanism, and the traction mechanisms are independent from each other in movement. Therefore, multiple teat positions of the same milk can be milked, the milking time of single milk is shortened, and the milking efficiency is improved.

As shown in fig. 11, in order to facilitate the removal and replacement of the teat cup 909 from and to the teat cup receiving rack 910, the milk passage port 9901 is provided on the upper end surface of the teat cup 909, and the vacuum port 9902 of the teat cup 909 is also provided on the upper end surface of the teat cup 909, which is an improvement over the conventional arrangement in which the vacuum port 9902 is offset from the outer surface of the teat cup 909, and which facilitates the removal and replacement of the teat cup 909 from and to the lower side of the teat cup receiving rack 910.

When the milk cup 909 is replaced, the six-axis cooperative robot body 7 grips the milk cup 909 from the milk cup storage mechanism 9, the vacuum port 9902 stops pumping air, the milk passage port 9901 stops pumping air, the six-axis cooperative robot body 7 takes the milk cup 909 down from the breast of milk, the milk cup 909 is driven to return, the air cylinder 901 drives the movable pulley 911 to move down, and the milk cup 909 enters the milk cup storage rack 910.

As shown in fig. 11, in order to prevent the rotation of the air pipe and the milk circulation pipe, the milk circulation pipe further includes a storage tray 9903, a lower end surface of the storage tray 9903 is fixed on an upper end surface of the teat cup 909, the storage tray 9903 is of a hollow structure, the milk passage port 9901 and the vacuum port 9902 are located inside the storage tray 9903, a through groove 9904 similar to a standard runway shape is formed in an upper portion of the storage tray 9903, and the milk circulation pipe and the air pipe pass through the through groove 9904. The outer surfaces of the air tube and the milk circulating tube are in contact with the through groove 9904 to prevent the air tube and the milk circulating tube from rotating. On the other hand, when the return is prevented, the six-axis cooperative robot body 7 interferes with the vacuum port 9902 and the milk passage port 9901, adversely affecting the airtightness and preventing the teat cup 909 from falling.

The upper outer side of the receiving tray 9903 is provided in the shape of a boss, so that the teat cups 909 can be easily inserted into the teat cup receiving rack 910.

As shown in fig. 10, the milk cup storage rack 910 is provided with an inlet hole 9101 and a storage hole 9102 in sequence from bottom to bottom, the aperture of the inlet hole 9101 is gradually reduced from top to bottom, so that the milk cup 909 can conveniently enter the milk cup storage rack, the storage hole 9102 is a vertical through hole, the middle part of the milk cup 909 penetrates through the storage hole 9102, a retaining ring 9905 is arranged at the lower part of the milk cup 909, and the retaining ring 9905 and the inlet hole 9101 are in a profiling design. When the upper part of the milk cup 909 enters the milk cup storage rack 910 from the lower part to the lower part, and the retaining ring 9905 is in contact with the access hole 9101, so that the milk cup 909 is limited to move upwards continuously, and a limiting effect is achieved. The bore diameter of the receiving hole 9102 is larger than the outer diameter of the middle of the teat cup 909.

Above-mentioned teatcup receiving mechanism 9 cooperation six axis cooperation robot bodies 7 can carry out automatic milking to milk, practices thrift artifically, and milk quality is high.

The invention and its embodiments have been described above schematically, without limitation, and the illustrations shown in the drawings are only one embodiment of the invention, and the actual construction may be varied in many ways. Without departing from the spirit of the invention, the invention also falls into the protection scope of the invention without creatively designing the similar structural mode and implementation example to the technical proposal.

Claims

1. The automatic milking equipment is characterized by comprising a milking robot, a milk cup accommodating mechanism (9) and a rotary table (2), wherein the rotary table (2) is provided with fences (1) with uniform intervals along the circumferential direction of the rotary table, the fences (1) enclose a plurality of identical milk cow accommodating units, milk cows enter the milk cow accommodating units from the outer side of the rotary table (2), the milking robot comprises an arc guide slide rail (3), a telescopic mechanism (6), a six-axis cooperative robot body (7) and a tail end executing mechanism (8), the arc guide slide rail (3) and the rotary table (2) are coaxially arranged and are positioned at the outer side of the rotary table (2), the lower part of the telescopic mechanism (6) is slidably arranged on the arc guide slide rail (3), the six-axis cooperative robot body (7) is arranged at the output end of the telescopic mechanism (6), and the telescopic mechanism (6) drives the six-axis cooperative robot body (7) to be close to or far away from the rotary, the tail end executing mechanism (8) is installed at the output end of the six-axis cooperative robot body (7), the transverse moving mechanism (5) is arranged on one side, away from the rotary table (2), of the arc guide sliding rail (3), the output end of the transverse moving mechanism (5) is installed at one end of the flexible connecting mechanism (4), the transverse moving mechanism (5) drives one end of the flexible connecting mechanism (4) to move, the other end of the flexible connecting mechanism (4) is rotatably connected with the bottom of the telescopic mechanism (6), the moving direction of the transverse moving mechanism (5) is perpendicular to the moving direction of the telescopic mechanism (6), the milk cup accommodating mechanism (9) is arranged between the rotary table (2) and the milking robot, and the milking robot grabs milk cups (909) from the milk cup accommodating mechanism (9) and places the milk cups at the positions of the milk.

2. The automatic milking equipment according to claim 1, wherein the flexible connection mechanism (4) comprises a linear rail mounting plate (403), the linear rail mounting plate (403) is mounted at the output end of the traversing mechanism (5), the linear sliding rail (404) is mounted on the linear rail mounting plate (403), the linear sliding block (405) is nested on the linear sliding rail (404), the lower part of the linear sliding block (405) is fixedly connected with the connection rotary table (406), and the connection rotary table (406) is rotatably connected with the bottom of the telescoping mechanism (6).

3. The automatic milking equipment according to claim 2, wherein the telescopic mechanism (6) comprises an arc sliding base (601), a second connecting upright plate (602) and a telescopic arm, the arc sliding base (601) is nested on the arc guide sliding rail (3), the connecting rotary table (406) is rotatably connected with the arc sliding base (601), the lower part of the second connecting upright plate (602) is connected with the upper part of the arc sliding base (601), one end of the telescopic arm is arranged on the upper part of the second connecting upright plate (602), and the six-axis cooperative robot body (7) is arranged at the other end of the telescopic arm.

4. The automatic milking apparatus according to claim 3, wherein a plurality of rotating pulleys (911603) are provided under the arc sliding base (601), a plurality of rotating pulleys (911603) are fixed to both sides of the lower end surface thereof in the moving direction of the arc sliding base (601), and the outer protrusions of both sides of the arc guide sliding rail (3) are respectively in contact with the grooves of the rotating pulleys (911603) of both sides thereof.

5. The automatic milking equipment according to claim 1, wherein the end effector (8) comprises a gripper base plate (803), one end of the gripper base plate (803) is connected to the output end of the six-axis cooperative robot body (7), a finger cylinder (802) is mounted at the other end of the gripper base plate (803), and a gripper (801) is mounted opposite to the output end of the finger cylinder (802); the hand grip bottom plate (803) is provided with a plurality of hollowed holes, the industrial camera (804) is installed on the hand grip bottom plate (803), and the industrial camera (804) photographs through the hollowed holes in the hand grip bottom plate (803) to calculate the clamping position.

6. The automatic milking equipment according to claim 1, wherein the teat cup receiving mechanism (9) comprises a teat cup receiving frame (910), the teat cups (909) are vertically placed on the teat cup receiving frame (910) with their mouths facing downward, the traction mechanism is arranged on one side of the teat cup receiving frame (910), the air cylinder (901) is vertically installed on the traction frame (903), the traction mechanism comprises a traction frame (903), a fixed pulley (907) and a movable pulley (911), the air pipe joint (904) and the milk pipe joint (905) are both arranged on the upper end face of the traction frame (903), the fixed pulley (907) is rotatably arranged on the upper portion of the traction frame (903), the movable pulley support (912) is connected with a cylinder rod of the air cylinder (901), the movable pulley (911) is rotatably installed on the movable pulley support (912), the air cylinder (901) drives the movable pulley (911) to vertically move, and the air pipe sequentially passes through the vacuum interfaces (9902) and the vacuum interfaces (909) of the teat cups (909), The fixed pulley (907) and the movable pulley (911) are connected into the air pipe joint (904), and the milk flow pipe is connected into the milk pipe joint (905) through a milk channel interface (9901) of the milk cup (909), the fixed pulley (907) and the movable pulley (911) in sequence.

7. The automatic milking apparatus according to claim 1, further comprising a guide mechanism (902), wherein the guide mechanism (902) is disposed between the teat cup receiving rack (910) and the fixed pulley (907), the milk flow conduit passes through the milk passage port (9901) of the teat cup (909) and the guide mechanism (902) into the fixed pulley (907), and the air conduit passes through the vacuum port (9901) of the teat cup (909) and the guide mechanism (902) into the fixed pulley (907).

8. The automatic milking equipment according to claim 1, wherein the guiding mechanism (908) comprises two parallel arranged guiding bars (9801), the roller (9802) is sleeved outside the guiding bars (9801), and the air pipe and the milk flow pipe are located between the two guiding bars (9801).

9. The automatic milking apparatus according to claim 1, wherein the milk passage interface (9901), the vacuum interface (9902) are both provided on an upper end surface of a teat cup (909).

10. The automatic milking apparatus according to claim 9, further comprising a receiving tray (9903), wherein a lower end surface of the receiving tray (9903) is fixed to an upper end surface of the teat cup (909), the receiving tray (9903) has a hollow structure, the milk passage port (9901) and the vacuum port (9901) are located inside the receiving tray (9903), a through groove (9904) similar to a runway shape is formed in an upper portion of the receiving tray (9903), and a middle portion of the milk circulating pipe and the air pipe passes through the through groove (9904).