CN116138169A - Self-buffering type milking mechanical arm - Google Patents
Self-buffering type milking mechanical arm Download PDFInfo
- Publication number
- CN116138169A CN116138169A CN202211527612.7A CN202211527612A CN116138169A CN 116138169 A CN116138169 A CN 116138169A CN 202211527612 A CN202211527612 A CN 202211527612A CN 116138169 A CN116138169 A CN 116138169A
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- fixedly connected
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- self
- mounting
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- 239000008267 milk Substances 0.000 claims abstract description 24
- 235000013336 milk Nutrition 0.000 claims abstract description 24
- 210000004080 milk Anatomy 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims description 9
- 241000283690 Bos taurus Species 0.000 description 16
- 230000000694 effects Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 210000002445 nipple Anatomy 0.000 description 7
- 235000013365 dairy product Nutrition 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000010902 straw Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/04—Milking machines or devices with pneumatic manipulation of teats
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/04—Milking machines or devices with pneumatic manipulation of teats
- A01J5/06—Teat-cups with one chamber
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- External Artificial Organs (AREA)
Abstract
The utility model discloses a self-buffering type milking mechanical arm which comprises a bottom plate, wherein mounting brackets are fixedly connected to two sides of the upper surface of the bottom plate, an adjusting component is mounted in each mounting groove, a milk sucking device is mounted on each adjusting component, the lower end of each adjusting component is mounted on a transmission component, each transmission component is fixedly mounted on the inner wall of each mounting bracket, the milk sucking devices on two sides are connected with a milking cup through a conveying pipe, the milking cups are fixedly connected to the surfaces of the two sides of each mounting bracket.
Description
Technical Field
The utility model belongs to the technical field of milking, and particularly relates to a self-buffering type milking mechanical arm.
Background
Milking is an important group of developing the production potential of cows, and it is difficult to reach the desired milk without skilled technical milking methods and patience, not only manual milking but also machine milking, and the application number is: CN201520025537.3 provides a robotic arm auxiliary device and robotic arm system, the robotic arm carries out horizontal or vertical direction motion through the board control end, robotic arm auxiliary device is including being used for detecting the first detection device of robotic arm in the motion state in arbitrary direction in horizontal or vertical direction, be used for detecting the second detection device, relay and the power of robotic arm in the motion state of another direction, the relay includes coil and relay switch, power, first detection device, second detection device and coil establish ties, the board control end includes alarm signal terminal and robotic arm stop control module, the both ends of relay switch are connected respectively alarm signal terminal and robotic arm stop control module. The utility model can effectively avoid the problem of collision caused by simultaneous movement of the mechanical arm in the horizontal and vertical directions when the motor controller is abnormal, realize early warning and minimize loss.
The problems of the prior art are: during the milking process, the sucking pipe is used for milking the dairy cows, and the caliber of the sucking pipe is smaller, so that when the sucking pipe is aligned to the nipple of the dairy cows, the dairy cows can be frightened to cause the dairy cows to move or jump, and the problem of hurting users is caused unintentionally.
Disclosure of Invention
Aiming at the problems in the prior art, the utility model provides a self-buffering milking mechanical arm which has the advantage of automatically aligning the nipple of a cow, and solves the problems that the cow can move or jump due to the fact that the caliber of a suction pipe is smaller when the nipple of the cow is aligned, and a user is accidentally injured due to the fact that the cow is frightened when the caliber of the suction pipe is smaller.
The utility model discloses a self-buffering type milking mechanical arm, which comprises a bottom plate, wherein mounting brackets are fixedly connected to two sides of the upper surface of the bottom plate, two mounting grooves are formed in two sides of each mounting bracket, an adjusting component is arranged in each mounting groove, a milking device is arranged on each adjusting component, the lower end of each adjusting component is arranged on a transmission component, the transmission components are fixedly arranged on the inner wall of each mounting bracket, milking devices on two sides are connected with milking cups through conveying pipes, and the milking cups are fixedly connected to the surfaces of two sides of each mounting bracket.
As the preferable mode of the utility model, the adjusting component comprises a connecting plate, wherein the connecting plate is in a C shape, the middle part of the connecting plate is fixedly connected with a rotating rod, and the rotating rod is rotatably arranged on the inner wall of the mounting groove.
As the preferable mode of the utility model, the lower end of the connecting plate is fixedly connected with the extending plate, the middle part of the extending plate is provided with the limiting hole, the limiting rod is arranged in the limiting hole, and the limiting rod is fixedly connected with the upper surface of the bottom plate.
As the preferable mode of the utility model, the upper end of the connecting plate is rotatably provided with a rotating shaft, the rotating shaft is provided with a milk sucking device, one end of the rotating shaft is fixedly sleeved with a chain wheel, the other chain wheel is sleeved with a rotating block, the rotating block is fixedly connected to the output shaft of the second motor, and the two chain wheels are in transmission and are provided with chains.
As the utility model is preferable, the inner side surfaces of the connecting plates at both sides are fixedly connected with mounting bases, a second mounting rod is rotatably arranged between the mounting bases at both sides, and a first connecting rod is rotatably arranged on the second mounting rod at both sides.
As the preferable mode of the utility model, the other end of the first connecting rod is rotatably arranged on the first mounting rod, the first mounting rod is rotatably arranged between the inner walls of the grooves, and the grooves are arranged on two sides of the upper end of the lifting block.
As preferable, the transmission assembly comprises a first motor, the first motor is fixedly connected to the lower surface of the mounting bracket, an output shaft of the first motor is fixedly connected with a threaded rod, and the threaded rod is connected with a threaded ring through threaded engagement.
As the preferable mode of the utility model, the thread ring is arranged in the middle of the second connecting rod, two ends of the second connecting rod are fixedly connected with the support rod bracket, and the support rod is fixedly connected with the lower surface of the lifting block.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, the connecting plate is arranged in a C shape, the rotary rod is fixedly connected to the middle part of the connecting plate, and the rotary rod is rotatably arranged on the inner wall of the mounting groove, so that the connecting plate can be limited and connected, and the connecting plate can rotate around the rotary rod.
2. According to the utility model, the extension plate is fixedly connected with the lower end of the connecting plate, the middle part of the extension plate is provided with the limiting hole, the limiting rod is arranged in the limiting hole, and the limiting rod can play a role in limiting movement on the extension plate, so that the effect of limiting movement on the connecting plate is achieved.
3. According to the utility model, the rotary rod is driven to rotate by the motor II, the rotary block is arranged on the rotary shaft through the chain wheel and the chain transmission, so that the rotary shaft can be driven to rotate, and the milk sucking device is arranged in the middle of the rotary shaft, so that the milk sucking rotary shaft can rotate around the rotary shaft, and the milk sucking device can be better positioned at the nipple of the dairy cow.
4. According to the utility model, the second mounting rods are rotatably arranged between the mounting bases at two sides, the first connecting rods are rotatably arranged on the second mounting rods at two sides, the other ends of the first connecting rods are rotatably arranged on the first mounting rods, the first mounting rods are rotatably arranged between the inner walls of the grooves, and the grooves are arranged at two sides of the upper ends of the lifting blocks, so that the effect of limiting connection of the connecting plates at two sides can be achieved, and the connecting plates are driven to rotate by taking the rotating rods as the middle parts, so that the adjusting effect is achieved.
5. According to the utility model, the first motor drives the threaded rod to rotate, and as the threaded rod is connected with the threaded ring through threaded engagement, two sides of the threaded ring are fixedly connected to the supporting rod through the second connecting rod, and the supporting rod is fixedly connected to the lower surface of the lifting block, the lifting block can be driven to move up and down.
Drawings
FIG. 1 is a schematic perspective view of the overall structure provided by an embodiment of the present utility model;
FIG. 2 is a schematic perspective view of a partial structure provided by an embodiment of the present utility model;
FIG. 3 is a schematic perspective view of the adjusting assembly and the transmission assembly provided by the embodiment of the utility model;
FIG. 4 is a schematic perspective view of an adjusting assembly provided by an embodiment of the present utility model;
fig. 5 is a schematic perspective view of a cross-sectional structure of a connection board according to an embodiment of the present utility model.
In the figure: 1. a bottom plate; 2. a mounting bracket; 3. a mounting groove; 4. a milking cup; 5. a delivery tube; 6. an adjustment assembly; 7. a milk sucking device; 8. a transmission assembly;
601. a connecting plate; 602. a rotating rod; 603. a mounting base; 604. an extension plate; 605. a limiting hole; 606. a limit rod; 607. a lifting block; 608. a groove; 609. a first mounting bar; 610. a first connecting rod; 611. a second mounting rod; 612. a rotating block; 613. a rotating shaft; 614. a chain; 615. a motor II; 616. a sprocket;
801. a motor I; 802. a threaded rod; 803. a thread ring; 804. a second connecting rod; 805. and (5) supporting the rod.
Detailed Description
For a further understanding of the present utility model, its objects, features and advantages, reference should be made to the following examples which are illustrated in the accompanying drawings.
The structure of the present utility model will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the self-buffering type milking mechanical arm provided by the embodiment of the utility model comprises a bottom plate 1, wherein mounting brackets 2 are fixedly connected to two sides of the upper surface of the bottom plate 1, two mounting grooves 3 are formed in two sides of the mounting brackets 2, an adjusting component 6 is installed in each mounting groove 3, a milking device 7 is installed on the adjusting component 6, the lower end of the adjusting component 6 is installed on a transmission component 8, the transmission component 8 is fixedly installed on the inner wall of the mounting bracket 2, milking devices 7 on two sides are connected with milking cups 4 through conveying pipes 5, and the milking cups 4 are fixedly connected to the surfaces of two sides of the mounting bracket 2.
Referring to fig. 3, the adjusting assembly 6 includes a connection plate 601, the connection plate 601 is configured in a C shape, a rotation rod 602 is fixedly connected to the middle of the connection plate 601, and the rotation rod 602 is rotatably mounted on the inner wall of the mounting groove 3.
The scheme is adopted: through setting up to the C font by connecting plate 601, connecting plate 601 middle part fixedly connected with rotary rod 602, rotary rod 602 rotates to install in mounting groove 3 inner wall, just can play spacing connection's effect to connecting plate 601, makes connecting plate 601 take rotary rod 602 to rotate as the center.
Referring to fig. 3, an extension plate 604 is fixedly connected to the lower end of the connection plate 601, a limiting hole 605 is formed in the middle of the extension plate 604, a limiting rod 606 is installed in the limiting hole 605, and the limiting rod 606 is fixedly connected to the upper surface of the bottom plate 1.
The scheme is adopted: through connecting plate 601 lower extreme fixedly connected with extension board 604, extension board 604 middle part is provided with spacing hole 605, installs gag lever post 606 in the spacing hole 605, and gag lever post 606 can play spacing removal's effect to extension board 604 to just also play spacing removal's effect to connecting plate 601.
Referring to fig. 5, a rotating shaft 613 is rotatably mounted at the upper end of the connecting plate 601, a milk sucking device 7 is mounted on the rotating shaft 613, a sprocket 616 is fixedly sleeved at one end of the rotating shaft 613, another sprocket 616 is sleeved on the rotating block 612, the rotating block 612 is fixedly connected to the output shaft of the second motor 615, and a chain 614 is mounted on the two sprockets 616 in a transmission manner.
The scheme is adopted: the rotary rod 612 is driven to rotate by the motor 615 II, the rotary block 612 is arranged on the rotary shaft 613 through the transmission of the chain wheel 616 and the chain 614, the rotary shaft 613 can be driven to rotate, the milk sucking device 7 is arranged in the middle of the rotary shaft 613, the milk sucking rotary shaft 7 can rotate by taking the rotary shaft 613 as the center, and therefore the milk sucking device 7 can be better positioned on the nipple of a cow.
Referring to fig. 4, the inner side surface of the two side connecting plates 601 is fixedly connected with the mounting bases 603, the second mounting rods 611 are rotatably mounted between the two side mounting bases 603, the first connecting rods 610 are rotatably mounted on the second mounting rods 611, the other ends of the first connecting rods 610 are rotatably mounted on the first mounting rods 609, the first mounting rods 609 are rotatably mounted between the inner walls of the grooves 608, and the grooves 608 are arranged on two sides of the upper ends of the lifting blocks 607.
The scheme is adopted: install No. two installation poles 611 through rotating between the both sides installation base 603, rotate on the both sides No. two installation poles 611 and install No. one connecting rod 610, no. one connecting rod 610 other end rotates and installs on No. one installation pole 609, no. one installation pole 609 rotates and installs between the recess 608 inner wall, and recess 608 sets up in the both sides of lifter 607 upper end, just can play spacing connection's effect to both sides connecting plate 601 to drive connecting plate 601 and rotate in order to use rotary rod 602 to reach the effect of regulation.
Referring to fig. 3, the transmission assembly 8 includes a motor 801, the motor 801 is fixedly connected to the lower surface of the mounting bracket 2, an output shaft of the motor 801 is fixedly connected with a threaded rod 802, the threaded rod 802 is connected with a threaded ring 803 through threaded engagement, the threaded ring 803 is arranged in the middle of a second connecting rod 804, two ends of the second connecting rod 804 are fixedly connected to supports of supporting rods 805, and the supporting rods 805 are fixedly connected to the lower surface of the lifting block 607.
The scheme is adopted: the first motor 801 drives the threaded rod 802 to rotate, and as the threaded rod 802 is connected with the threaded ring 803 through threaded engagement, two sides of the threaded ring 803 are fixedly connected to the supporting rod 805 through the second connecting rod 804, and the supporting rod 805 is fixedly connected to the lower surface of the lifting block 607, the lifting block 607 can be driven to move up and down.
The working principle of the utility model is as follows:
when in use, the utility model is arranged into a C shape through the connecting plate 601, the middle part of the connecting plate 601 is fixedly connected with the rotating rod 602, the rotating rod 602 is rotatably arranged on the inner wall of the mounting groove 3, the connecting plate 601 can be subjected to limit connection, the connecting plate 601 rotates by taking the rotating rod 602 as the center, the extending plate 604 is fixedly connected through the lower end of the connecting plate 601, the middle part of the extending plate 604 is provided with the limit hole 605, the limit rod 606 is arranged in the limit hole 605, the limit rod 606 can perform limit movement on the extending plate 604, thereby having the effect of limit movement on the connecting plate 601, the rotating rod 612 is driven to rotate through the motor 615, the rotating block 612 is arranged on the rotating shaft 613 through the transmission of the chain wheel 616 and the chain 614, the rotating shaft 613 can be driven to rotate, the milk sucking device 7 is arranged in the middle of the rotating shaft 613, the milk sucking rotating shaft 7 can rotate by taking the rotating shaft 613 as the center, so that the milk sucking device 7 can be better positioned on the nipple of the dairy cow, the second mounting rods 611 are rotatably arranged between the mounting bases 603 on two sides, the first connecting rod 610 is rotatably arranged on the second mounting rods 611 on two sides, the other end of the first connecting rod 610 is rotatably arranged on the first mounting rod 609, the first mounting rod 609 is rotatably arranged between the inner walls of the grooves 608, the grooves 608 are arranged on two sides of the upper end of the lifting block 607, the effect of limiting connection can be achieved on the connecting plates 601 on two sides, the connecting plates 601 are driven to rotate by taking the rotating rods 602 as the middle, the adjusting effect is achieved, the threaded rod 802 is driven to rotate by the first motor 801, as the threaded rod 802 is connected with the threaded ring 803 through threaded engagement, two sides of the threaded ring 803 are fixedly connected to the supporting rods 805 through the second connecting rods 804, the supporting rods 805 are fixedly connected to the lower surfaces of the lifting block 607, the lifting block 607 is driven to move up and down.
To sum up: this self-buffering formula robotic arm of milking, through the cooperation between adjusting part 6 and the drive assembly 8, solved current in the milking process all use the straw to come to milking the work to the milk cow, because the bore of straw is less when aiming at the nipple of milk cow, the milk cow can be frightened and cause the milk cow to remove or jump, will not have the problem that leads to the injury user by accident.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. Self-buffering formula milking robot arm, including bottom plate (1), its characterized in that: the utility model discloses a milk expression device, including bottom plate (1), mounting bracket (2) are installed to bottom plate (1) upper surface both sides fixedly connected with, mounting bracket (2) both sides are provided with two mounting grooves (3), every all install adjusting part (6) in mounting groove (3), install on adjusting part (6) and inhale milk device (7), adjusting part (6) lower extreme is installed on drive assembly (8), drive assembly (8) fixed mounting is in mounting bracket (2) inner wall, both sides inhale milk device (7) and be connected with through conveyer pipe (5) milking cup (4), milking cup (4) fixed connection is in mounting bracket (2) both sides surface.
2. A self-buffering milking robot as claimed in claim 1, wherein: the adjusting component (6) comprises a connecting plate (601), the connecting plate (601) is in a C shape, a rotating rod (602) is fixedly connected to the middle of the connecting plate (601), and the rotating rod (602) is rotatably installed on the inner wall of the mounting groove (3).
3. A self-buffering milking robot as claimed in claim 2, wherein: the connecting plate (601) lower extreme fixedly connected with extension board (604), extension board (604) middle part is provided with spacing hole (605), install gag lever post (606) in spacing hole (605), gag lever post (606) fixed connection is in bottom plate (1) upper surface.
4. A self-buffering milking robot as claimed in claim 3, wherein: the milk sucking device is characterized in that a rotating shaft (613) is rotatably arranged at the upper end of the connecting plate (601), a milk sucking device (7) is arranged on the rotating shaft (613), a chain wheel (616) is fixedly sleeved at one end of the rotating shaft (613), a rotating block (612) is sleeved on the other chain wheel (616), the rotating block (612) is fixedly connected to an output shaft of a second motor (615), and a chain (614) is arranged in a transmission mode through the two chain wheels (616).
5. A self-buffering milking robot as claimed in claim 2, wherein: the two sides the inboard surface fixedly connected with installation base (603) of connecting plate (601), both sides install No. two installation pole (611) between installation base (603) rotation, both sides install No. one connecting rod (610) on No. two installation pole (611) rotation.
6. The self-buffering milking robot of claim 5, wherein: the other end of the first connecting rod (610) is rotatably arranged on the first mounting rod (609), the first mounting rod (609) is rotatably arranged between the inner walls of the grooves (608), and the grooves (608) are arranged on two sides of the upper end of the lifting block (607).
7. A self-buffering milking robot as claimed in claim 1, wherein: the transmission assembly (8) comprises a motor (801), the motor (801) is fixedly connected to the lower surface of the mounting bracket (2), the output shaft of the motor (801) is fixedly connected with a threaded rod (802), and the threaded rod (802) is connected with a threaded ring (803) through threaded engagement.
8. The self-buffering milking robot of claim 7, wherein: the thread ring (803) is arranged in the middle of the second connecting rod (804), two ends of the second connecting rod (804) are fixedly connected to support rods (805) supports, and the support rods (805) are fixedly connected to the lower surfaces of the lifting blocks (607).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211527612.7A CN116138169A (en) | 2022-11-30 | 2022-11-30 | Self-buffering type milking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211527612.7A CN116138169A (en) | 2022-11-30 | 2022-11-30 | Self-buffering type milking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116138169A true CN116138169A (en) | 2023-05-23 |
Family
ID=86353355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211527612.7A Pending CN116138169A (en) | 2022-11-30 | 2022-11-30 | Self-buffering type milking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116138169A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0726027A2 (en) * | 1991-10-04 | 1996-08-14 | Texas Industries Inc. | An implement for cleaning teats |
| KR20030096742A (en) * | 2002-06-17 | 2003-12-31 | 대한민국(관리부서:농촌진흥청) | The synchronizer system of teat-cup for milking system |
| CN112205298A (en) * | 2020-10-19 | 2021-01-12 | 宁夏牧乐机械有限公司 | Remote intelligent milking system and milking method based on 5G network |
| CN215602459U (en) * | 2021-09-15 | 2022-01-25 | 朱建平 | Novel milk cow milks device |
-
2022
- 2022-11-30 CN CN202211527612.7A patent/CN116138169A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0726027A2 (en) * | 1991-10-04 | 1996-08-14 | Texas Industries Inc. | An implement for cleaning teats |
| KR20030096742A (en) * | 2002-06-17 | 2003-12-31 | 대한민국(관리부서:농촌진흥청) | The synchronizer system of teat-cup for milking system |
| CN112205298A (en) * | 2020-10-19 | 2021-01-12 | 宁夏牧乐机械有限公司 | Remote intelligent milking system and milking method based on 5G network |
| CN215602459U (en) * | 2021-09-15 | 2022-01-25 | 朱建平 | Novel milk cow milks device |
Non-Patent Citations (1)
| Title |
|---|
| 李小明: "基于双目立体视觉的挤奶机自动奶杯套杯技术研究", 《中国奶牛》, no. 12, 31 December 2020 (2020-12-31), pages 42 - 45 * |
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