CN213214729U - Four-degree-of-freedom mechanical arm of intelligent milking robot - Google Patents

Abstract

The utility model relates to a milking robot technical field discloses an intelligence milking robot four degrees of freedom arms, comprising a base bod, the lower part of base member is fixed with guide rail, upper portion and is provided with X axle module, one side overlap joint of base member has member one, the one side of member is provided with Z axle module, the right side is fixed with guide rail two, Z axle module and two sliding connection of guide rail have member two, the one end of member two is passed through the hinged joint and is fixed with member three, and this intelligence milking robot four degrees of freedom arms have increased on the basis of triangle degree arm on the market around Z axle rotation angle to fix a position the teatcup with more accurate mode.

Description

Four-degree-of-freedom mechanical arm of intelligent milking robot

Technical Field

The utility model relates to a milking robot technical field specifically is an intelligence milking robot four degrees of freedom arms.

Background

The milk industry is an important component of agriculture in China, and the development level of the milk industry is an important mark for the current situation of animal husbandry. The intelligent level of the welfare breeding machine of the dairy cows is improved, the unmanned milking operation closest to the natural state of the dairy cows is realized, and the method is an important technical measure for ensuring the health of the dairy cows, effectively controlling the quality, safety and sanitation of the milk, improving the milk yield, enlarging the feeding scale and greatly saving the labor force.

However, the independent research and development of the milking machine equipment technology in China are mainly focused in the fields of physical mechanical research and development, appearance design and the like of mobile, fishbone, parallel and rotary milking machine skeleton structures, and the like, and the research on core technology equipment products is relatively less, such as a milk meter, a pedometer, a milk quality detection magic box, a pasture management system and the like, is mainly completed by means of international import. According to the investigation statistics of the agricultural machinery test and identification master station in the rural area, the milking machine system is investigated for 90 products, wherein 57% of the 90 products are independently assembled and produced by enterprises; 31% of the processing and production of enterprises; the agency sale of foreign products accounts for 12%. Therefore, in China, a certain gap exists in the technical innovation of milking machines compared with the foreign countries, and urgent breakthrough is needed. In recent years, with the increasing level of the request for farm management, automatic milking robots are being increasingly popular and appreciated by the industry. The automatic milking robot can be close to the natural milk production state of the dairy cow to the greatest extent, and not only can effectively control the quality of raw milk and create better welfare life for the dairy cow while helping the pasture to reduce the production cost and labor force, but also can ensure the health of the dairy cow. Therefore, related enterprises, research institutions and scholars at home and abroad are actively invested in the research of the milking robot, and the milking robot has great market potential.

In order to more intelligently and quickly milking cows, a plurality of three-free-angle mechanical arms are available in the market to better cooperate with automatic control to milking cows, but the improvement is still available.

SUMMERY OF THE UTILITY MODEL

The utility model provides a four degree of freedom arms of intelligence extrusion robot, this four degree of freedom arms of intelligence extrusion robot improve three degree of freedom arms on the market.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

a four-degree-of-freedom mechanical arm of an intelligent milking robot comprises a base body, wherein a guide rail is fixed to the lower portion of the base body, an X-axis module is arranged on the upper portion of the base body, a first rod piece is lapped on one surface of the base body, a Z-axis module is arranged on one surface of the first rod piece, a second guide rail is fixed to the right side of the first rod piece, the Z-axis module and the second guide rail are connected in a sliding mode, a third rod piece is fixed to one end of the second rod piece through a hinge, a milk tray and a milk tray placing seat are arranged in the middle of one side of the third rod piece, a fourth rod piece is fixed to one end, far away from the second rod piece, of the second rod piece, far away from the Z-axis module, a driving electric cylinder is fixed to one side of the;

the X-axis module and the Z-axis module are both composed of a ball screw and a servo motor;

the ball screw on the X-axis module is fixed with the upper surface of the base body, the ball screw on the Z-axis module is fixed with the left side of one surface of the rod piece, and one end of the ball screw is connected with the output end of the servo motor;

the milk tray and the milk tray placing seat comprise a lower part of the milk tray placing seat, a cylinder, an upper part of the milk tray placing seat, a milk tray rack and milk cups;

the bottom end of the lower part of the milk tray placing seat is fixed with one side of the rod piece III through a transverse plate, the air cylinder is fixed with the top of the inner cavity of the lower part of the milk tray placing seat, one end of the upper part of the milk tray placing seat is movably connected with the lower part of the milk tray placing seat through a rotating shaft of the milk tray placing seat, the other end of the upper part of the milk tray placing seat is fixed with a milk tray rack, and one side of the milk;

the milk plate rack comprises an electromagnet, a milk cup holder, a support frame, a front end bearing of a connecting rod rack, a roller, the connecting rod rack, a second air cylinder, a nylon rope and a coil spring;

the electro-magnet is fixed with milk plate rail one side inner wall, the one end of teatcup support extends to the outside of milk plate rail one side and fixed with the lower extreme of teatcup, the teatcup support passes through teatcup pivot and support frame both sides inner wall swing joint, the one end of connecting rod frame is fixed with the gyro wheel, the other end is fixed with the output of cylinder two, the one end of nylon rope is fixed with one side of teatcup support lower part, the other end is fixed nest and is rolled up the spring, and the one end of nest and roll up the spring is fixed with the inner chamber bottom of milk plate rail.

Preferably, two ends of the first rod piece are respectively fixed on the X-axis module and the Z-axis module through moving sleeves in the ball screws.

Preferably, the connecting rod frame is positioned in the inner cavity of the supporting frame, and the roller on the connecting rod frame is attached to one surface of the milk cup holder.

Preferably, the cylinder two-way is fixed with the inner wall of the milk tray frame through a cylinder mounting plate.

Preferably, the lengths of the third rod part and the fourth rod part are 0.8 meter and 0.5 meter respectively.

Borrow by above-mentioned technical scheme, the utility model provides an intelligence extrusion robot four degrees of freedom arms. The method at least has the following beneficial effects:

(1) this four degree of freedom arms of intelligence milking robot, give PLC when host computer give-out order, PLC control servo motor drive arm moves near the milk cow breast with safe orbit, the accurate positioning camera is installed to the arm end, 4 milk cow nipple position information that will catch sends for the host computer, PLC receives host computer information and drives the arm and wash respectively 4 milk cow nipples in proper order, massage, the pouring cup, milks, take off the cup, a series of procedures such as dipping, the end of milking at last, the arm returns.

(2) This four degree of freedom arms of intelligence milking robot, the teatcup is the back of suction cancellation on the nipple, and the volute spiral spring passes through the nylon rope and acts on the teatcup, and on the teatcup got back to the teatcup stand through elasticity, the elasticity that leans on the volute spiral spring stood upright on the teatcup stand.

(3) According to the four-degree-of-freedom mechanical arm of the intelligent milking robot, when the milk cup and the milk plate are placed on the milk plate placing seat, the rotating shaft of the milk plate placing seat is pushed by the cylinder to rotate, the milk plate placing seat is driven to rotate by 60 degrees, the inclination angles of the milk cups are added, the milk cups are combined to incline by 20 degrees, cleaning liquid can automatically flow out of the milk cups conveniently, and after cleaning is finished, the milk plate placing seat is driven to rotate through cylinder recovery, and the milk plate placing seat is moved to the;

(4) this four degree of freedom arms of intelligence milking robot, for the diversity of the direction of rotation of better assurance arm, through the rotatory motion of the servo motor drive rocking arm of difference, drive member three or member four and carry out multi-angle motion.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application:

fig. 1 is a schematic structural view of the present invention;

fig. 2 is a side view of the X-axis module of the present invention;

fig. 3 is a front view of the Z-axis module of the present invention;

fig. 4 is a side view of the Z-axis module of the present invention;

FIG. 5 is a front view of the second and third rods of the present invention;

fig. 6 is a side view of a fourth rod member of the present invention;

fig. 7 is a side view of the milk tray and the milk tray placing seat of the present invention;

fig. 8 is a sectional view of the inner cavity of the milk tray rack of the present invention;

fig. 9 is a schematic diagram of three turning angles of the rod member of the present invention;

fig. 10 is a schematic view of four initial turning angles of the rod member of the present invention;

fig. 11 is a schematic view of four end corners of the rod of the present invention.

In the figure: the milk plate comprises a base body 1, a guide rail 2, a 3X-axis module, a first 4 rod piece, a 5Z-axis module, a second 6 guide rail, a second 7 rod piece, a third 8 rod piece, a milk plate and milk plate placing seat 9, a fourth 10 rod piece, an electric 11 driving cylinder and a machine vision 12;

9 milk trays and milk tray placing seats, 91 milk tray placing seat lower parts, 92 air cylinders, 93 milk tray placing seat upper parts, 94 milk tray racks and 95 milk cups;

94 milk tray rack, 941 electromagnet, 942 milk cup holder, 943 support frame, 944 connecting rod rack front end bearing, 945 roller, 946 connecting rod rack, 947 cylinder II, 948 nylon rope, 949 nest coil spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-11, the present invention provides a technical solution:

a four-degree-of-freedom mechanical arm of an intelligent milking robot comprises a base body 1, a guide rail 2 is fixed on the lower portion of the base body 1, an X-axis module 3 is arranged on the upper portion of the base body 1, a first rod piece 4 is lapped on one side of the base body 1, two ends of the first rod piece 4 are fixed in moving sleeves in ball screws on the X-axis module 3 and the Z-axis module 5 respectively, a Z-axis module 5 is arranged on one side of the first rod piece 4, a second guide rail 6 is fixed on the right side of the first rod piece 5, the Z-axis module 5 and the second guide rail 6 are connected with a second rod piece 7 in a sliding mode, a third rod piece 8 is fixed at one end of the second rod piece 7 through a hinge, the third rod piece 8 rotates within 90 degrees, the designed length is 0.8 meter, the third rod piece 8 and the fourth rod piece 10 are respectively 0.8 and 0.5 meter in length, a milk tray and a milk tray placing seat 9 are arranged in the middle of one side of the third rod 8, a fourth rod piece 8 end, the driving electric cylinder 11 adopts AI65-S150-T-R5-M4-C4-P2, the driving electric cylinder 11 is respectively connected with a third rod piece 8 and a fourth rod piece 10 through a pull rod transfer arm, and the upper part of one end of the fourth rod piece 10 is fixed with a machine vision 12;

the X-axis module 3 and the Z-axis module 5 are both composed of a ball screw and a servo motor, and the ball screw adopts an AG200-L5-S1000-0-BC-750W sliding table module;

a ball screw on the X-axis module 3 is fixed with the upper surface of the base body 1, a ball screw on the Z-axis module 5 is fixed with the left side of one surface of the first rod piece 4, and one end of the ball screw is connected with the output end of the servo motor;

the milk tray and milk tray placing seat 9 comprises a milk tray placing seat lower part 91, an air cylinder 92, a milk tray placing seat upper part 93, a milk tray rack 94 and milk cups 95;

the bottom end of the lower part 91 of the milk tray placing seat is fixed with one side of the third rod piece 8 through a transverse plate, the air cylinder 92 is fixed with the top of the inner cavity of the lower part 91 of the milk tray placing seat, one end of the upper part 93 of the milk tray placing seat is movably connected with the lower part 91 of the milk tray placing seat through a rotating shaft of the milk tray placing seat, the other end of the upper part 93 of the milk tray placing seat is fixed with a milk tray rack 94, and one side of the;

the milk cup rack 94 comprises an electromagnet 941, a milk cup holder 942, a support bracket 943, a connecting rod rack front end bearing 944, a roller 945, a connecting rod rack 946, a cylinder II 947, a nylon rope 948 and a coil spring 949;

electro-magnet 941 is fixed with milk plate rail 94 one side inner wall, the one end of teatcup support 942 extends to the outside of milk plate rail 94 one side and is fixed with teatcup 95's lower extreme, teatcup support 942 passes through teatcup pivot and support frame 943 both sides inner wall swing joint, the support frame passes through the screw installation on teatcup support inside panel, and the teatcup support articulates promotes the link lever and moves forward when the pneumatic cylinder stretches out on the support frame, the link lever passes through the gyro wheel and promotes the teatcup support, it is rotatory to drive the teatcup support under the effect of link thrust, thereby realize the slope of crowded teatcup. After the device is in place, the device is fixed by the attraction of the electromagnet. The cylinder contracts, and the milk cup stands upright under the action of the flavor returning force of the volute spiral spring through the power failure of the electromagnet. Therefore, the tilting of four milking cups can be realized through the telescopic action of one air cylinder, the vertical state of a single milking cup can be realized through the electromagnet and the volute spiral spring, one end of the connecting rod frame 946 is fixed with the roller 945, the other end of the connecting rod frame 946 is fixed with the output end of the air cylinder II 947, the connecting rod frame 946 is positioned in the inner cavity of the supporting frame 943, the roller 945 on the connecting rod frame 946 is attached to one surface of the milking cup holder 942, the air cylinder II 947 is fixed with the inner wall of the milking cup frame 94, one end of the nylon rope 948 is fixed with one side of the lower part of the milking cup holder 942, the volute spiral spring 949 is fixed at the other end, the nylon rope with the selected line is recovered, the nylon rope not only has the characteristics of small density, good rebound resilience, good fatigue resistance, good thermal stability and the like, but also has the advantages of wear resistance and high strength, is an important engineering plastic, the volute spiral spring, and one end of the pocket coil spring 949 is fixed to the bottom of the cavity of the milk tray frame 94.

It is right above the utility model provides an intelligence milking robot four degrees of freedom arms have carried out detailed introduction. The utility model discloses it is right to have used specific individual example the utility model discloses a principle and implementation have been elucidated, and the explanation of above embodiment is only used for helping understanding the utility model discloses a method and core thought thereof. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (5)

1. The utility model provides an intelligence milking robot four-degree-of-freedom arm, includes base member (1), its characterized in that: the lower part of the base body (1) is fixed with a guide rail (2), the upper part of the base body is provided with an X-axis module (3), one surface of the base body (1) is lapped with a first rod piece (4), one surface of the first rod piece (4) is provided with a Z-axis module (5), the right side of the first rod piece is fixed with a second guide rail (6), the Z-axis module (5) and the second guide rail (6) are connected with a second rod piece (7) in a sliding way, one end of the second rod piece (7) is fixed with a third rod piece (8) through a hinge, the middle part of one side of the third rod piece (8) is provided with a milk tray and milk tray placing seat (9), one end of the third rod piece (8) far away from the second rod piece (7) is fixed with a fourth rod piece (10) through a hinge, one surface of the second rod piece (7) far away from the Z-axis module (5) is fixed with a, the upper part of one end of the rod piece four (10) is fixed with a machine vision (12);

the X-axis module (3) and the Z-axis module (5) are both composed of a ball screw and a servo motor;

a ball screw on the X-axis module (3) is fixed with the upper surface of the base body (1), a ball screw on the Z-axis module (5) is fixed with the left side of one surface of the first rod piece (4), and one end of the ball screw is connected with the output end of the servo motor;

the milk tray and the milk tray placing seat (9) comprise a milk tray placing seat lower part (91), an air cylinder (92), a milk tray placing seat upper part (93), a milk tray rack (94) and milk cups (95);

the bottom end of the lower part (91) of the milk tray placing seat is fixed with one side of the rod piece III (8) through a transverse plate, the air cylinder (92) is fixed with the top of an inner cavity of the lower part (91) of the milk tray placing seat, one end of the upper part (93) of the milk tray placing seat is movably connected with the lower part (91) of the milk tray placing seat through a rotating shaft of the milk tray placing seat, the other end of the upper part of the milk tray placing seat is fixed with a milk tray frame (94), and one side of the milk tray frame (94) is provided;

the milk plate rack (94) comprises an electromagnet (941), a milk cup holder (942), a support frame (943), a connecting rod rack front end bearing (944), a roller (945), a connecting rod rack (946), a second cylinder (947), a nylon rope (948) and a coil spring (949);

the utility model discloses a milk cup support, including electro-magnet (941) and milk tray frame (94), the one end of breast cup support (942) extends to the outside of milk tray frame (94) one side and is fixed with the lower extreme of teatcup (95), breast cup support (942) is through teatcup pivot and support frame (943) both sides inner wall swing joint, the one end and the gyro wheel (945) of connecting rod frame (946) are fixed, the other end is fixed with the output of cylinder two (947), the one end of nylon rope (948) is fixed with one side of breast cup support (942) lower part, the other end is fixed nest volume spring (949), and the one end of nest volume spring (949) is fixed with the inner chamber bottom of milk tray frame (94).

2. The intelligent milking robot four-degree-of-freedom mechanical arm of claim 1, wherein: and two ends of the first rod piece (4) are respectively fixed on the X-axis module (3) and the Z-axis module (5) through moving sleeves in the ball screws.

3. The intelligent milking robot four-degree-of-freedom mechanical arm of claim 1, wherein: the connecting rod frame (946) is located in an inner cavity of the supporting frame (943), and the roller (945) on the connecting rod frame (946) is attached to one surface of the milk cup holder (942).

4. The intelligent milking robot four-degree-of-freedom mechanical arm of claim 1, wherein: the second air cylinder (947) is fixed with the inner wall of the milk tray frame (94).

5. The intelligent milking robot four-degree-of-freedom mechanical arm of claim 1, wherein: the lengths of the third rod piece (8) and the fourth rod piece (10) are 0.8 meter and 0.5 meter respectively.

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