CN208708378U - A kind of robotic milking machine - Google Patents

Abstract

The utility model discloses a kind of robotic milking machine, including robot body, the two sides of the main body case are symmetrically arranged with mechanical arm；The mechanical arm includes connecting rod one, connecting rod one is fixed on the lateral wall of the main body case, one end of the sliding rail is fixedly installed upper fixture block, lower fixture block is fixedly installed on the sliding block, half slot is offered in the upper fixture block and lower fixture block, travel switch is provided on the main body case, the travel switch and mechanical arm are electrically connected；Milk-storage tank is provided in the main body case, the milk-storage tank is communicated with multiple bellows, and the through-hole that the bellows is opened up through main body case side wall is simultaneously communicated with teatcup, is provided with liner in the teatcup, the liner surrounds milking chamber, surrounds interseptal space between the teatcup and liner.The utility model provides robotic milking machine, can automatically complete the milking operation to domestic animal, easy to use, and the stimulation of the massage to domestic animal breast can be completed while milking, effectively improves the output of milk.

Description

A kind of robotic milking machine

Technical field

The utility model relates to milking machine technical field, specially a kind of robotic milking machine.

Background technique

In the preparation process of dairy produce, milking is essential a part, if not only being held by manually milking Certain damage is easily caused to domestic animal, and milking efficiency is low, there is still a need for human assistance operations mostly for existing milking machine, use Inconvenience, meanwhile, traditional milking work is completed by manually, and during milking, milker can be in advance to the breast of domestic animal Massage stimulation is carried out, so that domestic animal can produce more milk, although manpower can be saved using common milking machine, its The massage processes to domestic animal breast are omitted, substantially reduce out milk amount.

In the prior art, application No. is a kind of goat milker of " 201810114854.0 ", including pedestal, pedestal Lower end is equipped with walking mechanism, and the upper end of pedestal is fixedly connected with two pieces of starting staves, is equipped with lifter plate between two pieces of starting staves, Starting stave is equipped with the elevating mechanism for lifter plate to be adjusted, and the upper end two sides of lifter plate are fixedly connected to support Plate, the upper end of two pieces of support plates are fixedly connected with the same station, and the upper end of station is equipped with the first groove, in the first groove Translation plates are slidably connected, the regulating mechanism for translation plates to be adjusted, the upper end two of translation plates are equipped in the first groove Side is fixedly connected to the second riser, and the upper end side of station is rotatably connected to rotor plate, the side of one of second riser Mandril is fixedly connected on wall, which may be implemented the automatic milking to goat, greatly reduce operator Labor intensity, and be conducive to improve milking efficiency, guarantee the fresh of goat milk.

But in use, however it remains more apparent defect: 1, there is still a need for artificial controls in use process System operates not succinct enough；2, lack the device for carrying out massage stimulation to the breast of domestic animal, and ignore massage processes and will lead to out milk Amount reduces, and is also unfavorable for the health of domestic animal.

Utility model content

The purpose of this utility model is to provide a kind of robotic milking machines, to solve mentioned above in the background art ask Topic.

To achieve the above object, the utility model provides the following technical solutions:

A kind of robotic milking machine, including robot body, the robot body include head box, neck link block, Main body case and supporting leg, the head box are fixedly connected with main body case by neck link block, and the two sides of the main body case are symmetrically set It is equipped with mechanical arm, the bottom symmetrical of the main body case is provided with supporting leg, is provided with display control panel in the head box；

The mechanical arm includes connecting rod one, and connecting rod one is fixed on the lateral wall of the main body case, and the connecting rod one passes through Live bearing one is connected with connecting rod two, and the connecting rod two-way crosses live bearing two and is connected with connecting rod three, the connecting rod Three one end far from live bearing two are fixed on sliding rail, and one end of the sliding rail is fixedly installed upper fixture block, on the sliding rail It is movably set with sliding block, lower fixture block is fixedly installed on the sliding block, offers half slot in the upper fixture block and lower fixture block, The lower fixture block is fixedly connected on miniature electromotive handspike one far from the side of upper upper fixture block, is provided with stroke on the main body case Switch, the travel switch and mechanical arm are electrically connected；

Milk-storage tank is provided in the main body case, the milk-storage tank is communicated with multiple bellows, and the bellows passes through It is through at the through-hole that main body case side wall opens up and is communicated with teatcup, liner is provided in the teatcup, the liner surrounds crowded Milk chamber, surrounds interseptal space between the teatcup and liner, the milking chamber is communicated with vacuum pipeline one, the vacuum pipeline one It is connected to vacuum tank, the interseptal space is communicated with vacuum pipeline two, and the vacuum pipeline two is connected to vacuum tank, and the vacuum is led The intermediate connection of pipe two has air conduit, and supporting block is fixed in the air conduit, is fixedly installed in the supporting block micro- Type electric pushrod two, the miniature electromotive handspike two are connected with sealing block by connecting rod, be provided on the vacuum tank vacuum pump, Vacuum instrumentation, vacuum governor and pulsator.

Preferably, on the supporting plate, the support plate is fixed on sliding rail for the miniature electromotive handspike fixed setting.

Preferably, the teatcup is symmetrically fixed with concave block close to the side of bellows, and the concave block is fixed on On the side wall of main body case, the teatcup is symmetrically arranged with sensor far from the side of concave block.

Preferably, the vacuum pipeline one is provided with check valve close to the side of milking chamber, sets above the check valve It is equipped with waterproof ventilated membrane.

Preferably, the sealing block is movably arranged on the interface of air conduit and vacuum pipeline two and size is equal to air The diameter of conduit.

Preferably, the air conduit is internally provided with strainer far from the side of supporting block.

Compared with prior art, the utility model has the beneficial effects that

1, parameter setting can be carried out on display control panel in advance, in milking operation without human intervention, using simple, It milks more efficient；

2, it is built-in with the structure for carrying out massage stimulation to domestic animal breast, massage operation is completed while milking, both saved Time can also pass through the milk producing ability that massage stimulation improves domestic animal.The utility model provides robotic milking machine, can be certainly Dynamicization completes the milking operation to domestic animal, easy to use, and the stimulation of the massage to domestic animal breast can be completed while milking, is had Effect improves the output of milk.

Detailed description of the invention

Fig. 1 is the overall structure main view of the utility model；

Fig. 2 is the main body case left view sectional view of the utility model；

Fig. 3 is the teatcup attachment structure schematic diagram of the utility model；

Fig. 4 is detail view at the A of the utility model.

In figure: 1 head box, 2 neck link blocks, 3 main body cases, 4 supporting legs, 5 display control panels, 6 connecting rods one, 7 movable axis Hold one, 8 connecting rods two, 9 live bearings two, 10 connecting rods three, 11 sliding rails, 12 upper fixture blocks, 13 sliding blocks, 14 lower fixture blocks, 15 half slots, 16 Miniature electromotive handspike one, 17 support plates, 18 travel switches, 19 milk-storage tanks, 20 bellows, 21 teatcups, 22 concave blocks, 23 pass Sensor, 24 liners, 25 milking chambers, 26 interseptal spaces, 27 vacuum pipelines one, 28 vacuum tanks, 29 check valves, 30 waterproof ventilated membranes, 31 Vacuum pipeline two, 32 air conduits, 33 supporting blocks, 34 miniature electromotive handspikes two, 35 connecting rods, 36 sealing blocks, 37 strainers, 38 vacuum Pump, 39 vacuum instrumentations, 40 vacuum governors, 41 pulsators.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Fig. 1-4 is please referred to, the utility model provides a kind of technical solution:

A kind of robotic milking machine, including robot body, robot body include head box 1, neck link block 2, master Body case 3 and supporting leg 4, head box 1 are fixedly connected with main body case 3 by neck link block 2, and the two sides of main body case 3 are symmetrically arranged with Mechanical arm, mechanical arm are used to clamp teatcup 21 and teatcup 21 is nested on domestic animal nipple, and the bottom symmetrical of main body case 3 is set It is equipped with supporting leg 4, pulley or other devices easy to remove is may be provided on supporting leg 4, is provided with display control panel in head box 1 5, display control panel 5 has the function of display parameters and setup parameter.

Mechanical arm includes connecting rod 1, and connecting rod 1 is fixed on the lateral wall of main body case 3, and connecting rod 1 passes through live bearing One 7 are connected with connecting rod 28, and connecting rod 28 is connected with connecting rod 3 10 by live bearing 29, and connecting rod 3 10 is far from living One end of dynamic bearing 29 is fixed on sliding rail 11, and one end of sliding rail 11 is fixedly installed upper fixture block 12, activity setting on sliding rail 11 There is sliding block 13, lower fixture block 14 is fixedly installed on sliding block 13, half slot 15, lower folder are offered in upper fixture block 12 and lower fixture block 14 Block 14 is fixedly connected on miniature electromotive handspike 1 far from the side of upper upper fixture block 12, starts miniature electromotive handspike 1, under Fixture block 14 can be under promotion close to upper fixture block 12, and the half slot 15 of upper fixture block 12 and lower fixture block 14 can combine to form circle, for pair Teatcup 21 is clamped, and travel switch 18 is provided on main body case 3, and travel switch 18 and mechanical arm are electrically connected, and stroke is opened 18 running tracks for controlling mechanical arm are closed, other models such as LL1D4D-R, LL9Z-T235 can be used in travel switch 18.

Milk-storage tank 19 is provided in main body case 3, milk-storage tank 19 is communicated with multiple bellows 20, and bellows 20 has can With extension elongation and the property shortened is squeezed, the through-hole that bellows 20 is opened up through 3 side wall of main body case is simultaneously communicated with milking Cup 21, liner 24 is provided in teatcup 21, and liner 24 surrounds milking chamber 25, surrounds interseptal space between teatcup 21 and liner 24 26, milking chamber 25 is communicated with vacuum pipeline 1, and vacuum pipeline 1 is connected to vacuum tank 28, and interseptal space 26 is communicated with vacuum and leads Pipe 2 31, vacuum pipeline 2 31 are connected to vacuum tank 28, and the intermediate connection of vacuum pipeline 2 31 has air conduit 32, air conduit It is fixed with supporting block 33 in 32, miniature electromotive handspike 2 34 is fixedly installed in supporting block 33, miniature electromotive handspike 2 34 passes through Connecting rod 35 is connected with sealing block 36, and vacuum pump 38, vacuum instrumentation 39, vacuum governor 40 and pulsator are provided on vacuum tank 28 41, other models such as WWY can be used in vacuum pump 38, are the devices for generating and maintaining vacuum, and vacuum instrumentation 39 can be used Other models such as AE15-181, DMVU3/8, for showing vacuum pressure registration, HydroVRH- is can be used in vacuum governor 40 Other models such as HL-P06A can be used in other models such as 2000-CL2, pulsator 41, and pulsator 41 can make in vacuum milking apparatus Air pressure with certain frequency shift, thus milking while formed the massage to domestic animal nipple stimulation, improve the output of milk.

Preferably as one, miniature electromotive handspike 16 is fixed in support plate 17, and support plate 17 is fixed on sliding rail 11 On, support plate 17 plays the role of support and limit.

Preferably as one, teatcup 21 is symmetrically fixed with concave block 22, bellows close to the side of bellows 20 Pulsating pump is provided on 20, for drawing the milk of extrusion, concave block 22 is fixed on the side wall of main body case 3, in order to improve milking The stability that cup 21 is placed, concave block 22 can be made of magnetic material, and magnetism is arranged in the corresponding sidewall locations of main body case 3 Attraction block, teatcup 21 are symmetrically arranged with sensor 23 far from the side of concave block 22, and sensor 23 can be used to detect domestic animal cream The position of head and the distance between with domestic animal nipple, it is ensured that the accurate nested household of teatcup 21 raises nipple.

Preferably as one, vacuum pipeline 1 is provided with check valve 29 close to the side of milking chamber 25, check valve 29 Setting chamber 25 so that gas can only milk from the arrival of vacuum tank 28, and cannot countercurrently, it is saturating that the top of check valve 29 is provided with waterproof Air film 30 avoids former milk from blocking vacuum pipeline 1.

Preferably as one, sealing block 36 is movably arranged on the interface and size of air conduit 32 and vacuum pipeline 2 31 Equal to the diameter of air conduit 32, miniature electromotive handspike 2 34 will drive the movement of sealing block 36 after starting, and block or be connected to sky Airway 32.

Preferably as one, air conduit 32 is internally provided with strainer 37 far from the side of supporting block 33, and strainer 37 is used to The impurity in air filtering is crossed, impurity is avoided to pollute former milk.

Working principle: before milking, relevant predefined parameter, such as stroke are set on display control panel 5 first Switch 18 controls the running track of mechanical arm, vacuum pump 38 needs vacuum degree, miniature electromotive handspike 1 and micro electric to be achieved Direction of motion and frequency of dynamic push rod 2 34 etc., then start to milk.

Mechanical arm can successively clamp the nipple of the nested household poultry of teatcup 21, and specifically, travel switch 18 can control machinery The running track of arm passes through 29 phase of live bearing 1 and live bearing respectively between connecting rod 1, connecting rod 28 and connecting rod 3 10 Even, biggish motion range and running precision are provided for mechanical arm, the half slot 15 of upper fixture block 12 is blocked into teatcup 21 On concave block 22 after, it is mobile to the direction close to upper fixture block 12 that miniature electromotive handspike 1 will push lower fixture block 14, until upper Fixture block 12 and lower fixture block 14 closely block concave block 22, then pull out teatcup 21,20 meeting of bellows by concave block 22 Extend because being stretched, the sensor 23 on teatcup 21 is able to detect the position of domestic animal nipple and guides teatcup 21 accurate Ground is nested on the nipple of domestic animal.

In milking operation, vacuum tank 28 can constantly make milking chamber 25 be maintained at vacuum shape by vacuum pipeline 1 State, miniature electromotive handspike 2 34 can drive sealing block 36 to move reciprocatingly by connecting rod 35, when sealing block 36 blocks vacuum pipeline When 2 31 inner sidewall, vacuum pipeline 2 31 and vacuum tank 38 are spaced, and vacuum pipeline 2 31 is connected to outside air at this time, when Milking chamber 25 is vacuum, when interseptal space 26 enters air, can squeeze under pressure difference effect and massage nipple, milk stop outflow； When sealing block 36 is shunk, vacuum pipeline 2 31 is connected with vacuum tank 38, and interseptal space 26 is in vacuum state, and interseptal space 26 is done Regularly state changes, and when milk chamber 25 and interseptal space 26 are in vacuum state, milk is sucked out under pressure difference effect.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims (6)

1. a kind of robotic milking machine, including robot body, it is characterised in that: the robot body include head box (1), Neck link block (2), main body case (3) and supporting leg (4), the head box (1) are fixedly connected with main body by neck link block (2) Case (3), the two sides of the main body case (3) are symmetrically arranged with mechanical arm, and the bottom symmetrical of the main body case (3) is provided with supporting leg (4), display control panel (5) are provided on the head box (1)；

The mechanical arm includes connecting rod one (6), and connecting rod one (6), the connecting rod one are fixed on the lateral wall of the main body case (3) (6) connecting rod two (8) is connected with by live bearing one (7), the connecting rod two (8) is connected by live bearing two (9) activity It is connected to connecting rod three (10), the connecting rod three (10) is fixed on sliding rail (11) far from one end of live bearing two (9), the sliding rail (11) one end is fixedly installed upper fixture block (12), is movably set with sliding block (13) on the sliding rail (11), the sliding block (13) On be fixedly installed lower fixture block (14), half slot (15) are offered in the upper fixture block (12) and lower fixture block (14), under described Fixture block (14) is fixedly connected on miniature electromotive handspike one (16) far from the side of upper fixture block (12), is set on the main body case (3) It is equipped with travel switch (18), the travel switch (18) and mechanical arm are electrically connected；

It is provided with milk-storage tank (19) in the main body case (3), the milk-storage tank (19) is communicated with multiple bellows (20), described Through-hole that bellows (20) is opened up through main body case (3) side wall is simultaneously communicated with teatcup (21), in the teatcup (21) Be provided with liner (24), the liner (24) surround milking chamber (25), surrounded between the teatcup (21) and liner (24) every Between chamber (26), the milking chamber (25) is communicated with vacuum pipeline one (27), and the vacuum pipeline one (27) is connected to vacuum tank (28), the interseptal space (26) is communicated with vacuum pipeline two (31), and the vacuum pipeline two (31) is connected to vacuum tank (28), institute The intermediate connection for stating vacuum pipeline two (31) has air conduit (32), is fixed with supporting block (33) in the air conduit (32), Miniature electromotive handspike two (34) is fixedly installed on the supporting block (33), the miniature electromotive handspike two (34) passes through connecting rod (35) it is connected with sealing block (36), vacuum pump (38), vacuum instrumentation (39), vacuum governor is provided on the vacuum tank (28) (40) and pulsator (41).

2. a kind of robotic milking machine according to claim 1, it is characterised in that: the miniature electromotive handspike one (16) is solid Fixed to be arranged on support plate (17), the support plate (17) is fixed on sliding rail (11).

3. a kind of robotic milking machine according to claim 1, it is characterised in that: the teatcup (21) is soft close to stretching The side of pipe (20) is symmetrically fixed with concave block (22), and the concave block (22) is fixed on the side wall of main body case (3), described to squeeze Cream jug (21) is symmetrically arranged with sensor (23) far from the side of concave block (22).

4. a kind of robotic milking machine according to claim 1, it is characterised in that: the vacuum pipeline one (27) is close to crowded The side of milk chamber (25) is provided with check valve (29), is provided with waterproof ventilated membrane (30) above the check valve (29).

5. a kind of robotic milking machine according to claim 1, it is characterised in that: the sealing block (36) is movably arranged on The interface and size of air conduit (32) and vacuum pipeline two (31) are equal to the diameter of air conduit (32).

6. a kind of robotic milking machine according to claim 1, it is characterised in that: the air conduit (32) is far from support The side of block (33) is internally provided with strainer (37).