CN209931160U - Rotary disc type milking machine capable of accurately positioning cow nipples - Google Patents
Rotary disc type milking machine capable of accurately positioning cow nipples Download PDFInfo
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- CN209931160U CN209931160U CN201920718024.9U CN201920718024U CN209931160U CN 209931160 U CN209931160 U CN 209931160U CN 201920718024 U CN201920718024 U CN 201920718024U CN 209931160 U CN209931160 U CN 209931160U
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- 210000002445 nipple Anatomy 0.000 title claims abstract description 30
- 239000008267 milk Substances 0.000 claims abstract description 33
- 235000013336 milk Nutrition 0.000 claims abstract description 33
- 210000004080 milk Anatomy 0.000 claims abstract description 33
- 238000004140 cleaning Methods 0.000 claims abstract description 30
- 238000005192 partition Methods 0.000 claims abstract description 23
- 210000001503 joint Anatomy 0.000 claims abstract description 17
- 238000005406 washing Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 210000000707 wrist Anatomy 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000002351 wastewater Substances 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 5
- 239000000741 silica gel Substances 0.000 claims description 5
- 229910002027 silica gel Inorganic materials 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims description 2
- 239000003651 drinking water Substances 0.000 claims description 2
- 235000020188 drinking water Nutrition 0.000 claims description 2
- 210000003437 trachea Anatomy 0.000 claims description 2
- 238000001125 extrusion Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 abstract description 7
- 238000009423 ventilation Methods 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 241000283690 Bos taurus Species 0.000 description 45
- 235000013365 dairy product Nutrition 0.000 description 6
- 238000003860 storage Methods 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 208000034656 Contusions Diseases 0.000 description 1
- 241000255925 Diptera Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a rotary disc type milking machine capable of accurately positioning cow nipples, which comprises a chassis, wherein a rotary disc is movably connected on the chassis, a butt joint block is movably arranged in the installation groove, a support groove is arranged in the butt joint block, a computer and a PLC (programmable logic controller) are fixedly arranged above a partition plate, a binocular camera and the PLC are electrically connected on the computer, and the PLC is electrically connected with a flexible mechanical arm; and a milking device and a cleaning device are respectively arranged on two sides of the flexible mechanical arm. The utility model discloses a carousel formula extrusion press passes through the use of two mesh cameras, can be accurate fix a position the milk cow nipple to can be fine fix a position and spacing to milking retainer cup or washing retainer cup, avoided colliding the condition that causes the damage to equipment on every side to the milk cow, make carousel formula extrusion press all obtain very big promotion in the function of drainage, circuit and ventilation, the practicality is very strong, is worth very much promoting.
Description
Technical Field
The utility model relates to a carousel formula extrusion press technical field specifically is a carousel formula extrusion press that can accurate location cow nipple.
Background
In the prior art, a turntable type milking machine with application number '201820931448.9' for intelligently controlling the feeding and discharging of cows comprises a base, a motor and a plurality of milking machines, wherein a singlechip is arranged on a spacing rod and is electrically connected with a water flow sensor; the milking machine is arranged on the rotary table and positioned between the spacing rods, and the water flow sensor is arranged on the milk outlet pipe between the sleeve cup and the milk storage tank; reset switch swing joint has electric putter, electric putter is fixed in on the montant, the montant is fixed in on the spacer bar, and electric putter electric connection is on the singlechip. Through the setting of singlechip to realize the purpose that the intelligent control carousel stopped, after the volume of milking reached standard, no longer need observe the retainer cup of milking machine, it is more convenient, but directly through electric putter's concertina movement, control carousel stall to shift out the carousel with the milk cow, practiced thrift milking space and time in the very big degree, promoted milking efficiency greatly.
However, the existing rotary milking pan still has the following obvious defects in the using process: 1. the nipple of the cow cannot be positioned better and more accurately, and the milking sleeve cup cannot be sleeved on the cow nipple for milking more quickly, so that the time is wasted, and the working efficiency is greatly reduced; 2. during the use process of the milking sleeve cup and the cleaning sleeve cup, the sleeve cup cannot be well positioned and limited, and the sleeve cup after the completion of work cannot be well recycled, collected and protected; 3. after the dairy cow enters the milking area, the legs of the dairy cow cannot be limited, so that the legs of the dairy cow still exert force to cause bruising damage to surrounding equipment after the dairy cow is disturbed; 4. no provision is made for the structure of the drain, the electric circuit and the ventilation of the milking machine, so that the use of the milking machine cannot be better utilized and facilitated.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a carousel formula extrusion press that can accurate location cow nipple to solve the problem that provides among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a rotary disc type milking machine capable of accurately positioning cow nipples comprises a chassis, wherein a rotary disc is movably connected to the chassis, a stepping motor is arranged at the center of the rotary disc, a rotating shaft is fixed on the stepping motor, a connecting rod plate is fixedly connected to the rotating shaft, one end, far away from the rotating shaft, of the connecting rod plate is fixed to the rotary disc, an inner fence is fixed to the rotary disc, an outer fence is fixed to the outer edge of the chassis, a plurality of groups of symmetrically-arranged partition plates are arranged between the inner fence and the outer fence, and a milking area is formed between each group of symmetrically-arranged partition plates;
mounting grooves are formed in the side walls of the partition plates at two sides of the milking area, butt-joint blocks are movably arranged in the mounting grooves, supporting grooves are formed in the butt-joint blocks, top plates are fixedly arranged in the supporting grooves, supporting push rods are fixedly connected to the top plates, one ends of the supporting push rods, far away from the top plates, are fixedly connected to the inner side walls of the mounting grooves, and a plurality of main sleeve cup grooves are formed in one sides, close to the partition plates, of the butt-joint blocks;
the two sides of the butt joint block are symmetrically provided with inner cavities, an extension block is movably arranged in each inner cavity, an extension groove is formed in each extension block, an extension push rod is arranged in each extension groove, one side, close to the support groove, of each extension push rod is fixedly connected to the side wall of each inner cavity, and one side, close to the main sleeve cup groove, of each extension block is provided with a plurality of auxiliary sleeve cup grooves;
the upper surface of the butt joint block is fixedly connected with an installation block, a binocular camera is embedded in the installation block, a computer and a PLC (programmable logic controller) are fixedly arranged above the partition plate, the binocular camera and the PLC are electrically connected to the computer, and the PLC is electrically connected with a flexible mechanical arm;
the flexible mechanical arm is arranged on one side of the rotary table close to the rotary shaft and comprises a base, a big arm, a connecting rod and an installation support, the base is fixed on the rotary table, a rotary support is movably arranged on the base and connected with a base rotary servo motor, the big arm is connected on the rotary support and connected with a big arm swing servo motor, the connecting rod is connected on the rotary support through a connecting rod transmission shaft, the connecting rod transmission shaft is connected with the connecting rod servo motor, the installation support is connected at one end of the big arm and the connecting rod far away from the rotary support, a pneumatic cylinder is connected on the installation support, one end of the pneumatic cylinder far away from the installation support is connected with a wrist, the wrist is connected with a wrist swing servo motor, the pneumatic cylinder is connected with a pneumatic cylinder rotary servo motor, the front-end paw is provided with a manipulator;
and a milking device and a cleaning device are respectively arranged on two sides of the flexible mechanical arm.
Preferably, milking device is including depositing milk case, milking set cup and vacuum pump, it connects in milking set cup lower extreme to deposit milk case through the milk pipe, milking set cup inside wall is provided with the silica gel inside lining, the vacuum pump passes through the trachea and connects on milking set cup lateral wall, milking set cup lateral wall swing joint has clamping device.
Preferably, belt cleaning device includes waste water tank, washing retainer cup, water pump and clean water tank, waste water tank passes through outlet pipe connection in washing retainer cup lower extreme, wash the retainer cup inside wall and seted up the water cavity, the purge hole has been seted up to the water cavity inside wall, the water pump advances water piping connection on the milking retainer cup lateral wall, and the water pump still through drinking-water pipe connection on clean water tank, washing retainer cup lateral wall swing joint has clamping device.
Preferably, the clamping device comprises a support column, a cross rod and a support sleeve ring, the support column is fixed on the turntable, the cross rod is fixedly connected to the support column, one end of the cross rod, far away from the support column, is fixedly connected with the support sleeve ring, and the support sleeve ring is movably sleeved on the milking sleeve cup or the cleaning sleeve cup.
Preferably, the manipulator is provided with a position sensor, a corner sensor and a speed sensor which are all electrically connected to the PLC.
Preferably, a power box is fixedly arranged on the rotary plate between the milking areas, the peripheral fence is provided with an opening, the opening is provided with a cattle feeding table, and the cattle feeding table is movably connected with the rotary plate.
Preferably, the rotating disc is provided with drain holes at the symmetrically arranged partition plates.
Preferably, the partition plates are symmetrically arranged, a mounting support is fixedly connected between the partition plates, and a ventilating fan is connected to one side, close to the rotary table, of the mounting support.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model can accurately position the nipples of the milk cow by using the binocular camera, and the flexible mechanical arm with six degrees of freedom is driven to work by the PLC, so that the mechanical arm drives the milking sleeve cup or the cleaning sleeve cup to move to the nipples of the milk cow for use, the milking or the cleaning is completed, the positioning efficiency is better and faster, and the working efficiency is greatly improved;
2. when the flexible mechanical arm drives the milking sleeve cup or the cleaning sleeve cup to move to the position below the nipple, the milking sleeve cup or the cleaning sleeve cup is correspondingly inserted into the main sleeve cup groove or the auxiliary sleeve cup groove at first, and the milking sleeve cup or the cleaning sleeve cup is made to complete the adsorption with the nipple, so that the milking sleeve cup or the cleaning sleeve cup can be well positioned and limited, and after the milking or the cleaning is completed and the adsorption effect is failed, the sleeve cup can be protected through the main sleeve cup groove or the auxiliary sleeve cup groove and is convenient to recover;
3. the utility model drives two butt-joint plates in the milking area to be butted under the action of the supporting push rod after the milking area of the milk cow is carried out, and then the extension block extends out of the inner cavity to limit four corbels of the milk cow, so that the legs of the milk cow can not exert force well after the milk cow is disturbed, thereby avoiding the damage to the surrounding equipment caused by the collision of the milk cow;
4 the utility model discloses a structural design to the carousel for carousel formula extrusion press has all obtained very big promotion, and is very effective in the function of drainage, circuit and ventilation.
The utility model discloses a carousel formula extrusion press passes through the use of two mesh cameras, can be accurate fix a position the milk cow nipple, thereby can be fine fix a position and spacing to milking retainer cup or washing retainer cup, can protect and be convenient for retrieve the retainer cup through main retainer cup groove or vice retainer cup groove, can make can't fine power of exerting oneself in milk cow after the disturbance shank, avoided colliding the condition that causes the damage to equipment on every side to the milk cow, make carousel formula extrusion press at the drainage, circuit and ventilation all obtain very big promotion in the function, the practicality is very strong, be very worth promoting.
Drawings
FIG. 1 is a schematic view of the whole structure of a rotary plate milking machine of the present invention;
fig. 2 is a schematic structural view of the flexible mechanical arm of the present invention;
FIG. 3 is a schematic structural view of the milking device of the present invention;
FIG. 4 is a schematic structural view of the cleaning device of the present invention;
FIG. 5 is a schematic view of the connection structure between the manipulator and the milking device of the present invention;
FIG. 6 is a schematic view of the internal structure of the milking sleeve of the present invention;
FIG. 7 is a schematic view of the internal structure of the cleaning sleeve of the present invention;
FIG. 8 is an enlarged schematic view of the structure of area A of the present invention;
FIG. 9 is an enlarged schematic view of the structure of the area B of the present invention;
fig. 10 is a schematic structural view of the butt joint state of the butt joint blocks of the present invention;
FIG. 11 is a schematic structural view of a sidewall of a partition plate according to the present invention;
fig. 12 is a schematic structural view of the docking block of the present invention located inside the mounting groove;
fig. 13 is a schematic structural view of the docking block of the present invention extending out of the mounting groove;
fig. 14 is a schematic structural view of the extension block of the present invention extending out of the inner cavity;
FIG. 15 is a schematic view of the fitting structure of the butt-joint block and the bracket of the present invention;
fig. 16 is an enlarged schematic view of the structure of the C region of the present invention;
fig. 17 is an enlarged schematic view of the structure of the D region of the present invention.
In the figure: 1 chassis, 2 turntables, 3 stepping motors, 4 rotating shafts, 5 connecting rod plates, 6 inner fences, 7 outer surrounding fences, 8 partition plates, 80 milking areas, 81 mounting grooves, 82 butt-joint blocks, 83 supporting grooves, 84 top plates, 85 supporting push rods, 86 main sleeve cup grooves, 87 inner cavities, 88 extending blocks, 89 extending grooves, 810 extending push rods, 811 auxiliary sleeve cup grooves, 812 mounting blocks, 813 binocular cameras, 814 computers, 815 PLC controllers, 9 power supply boxes, 10 cattle feeding tables, 11 water discharging holes, 12 mounting brackets, 13 ventilating fans, 100 flexible mechanical arms, 101 bases, 102 rotating brackets, 103 base rotating servo motors, 104 big arms, 105 big arm swinging servo motors, 106 connecting rods, 107 connecting rod transmission shafts, 108 connecting rod servo motors, 109 mounting brackets, pneumatic cylinders 1010, 1011 wrists, 1012 front end claws, 1013 swinging servo motors, 1014 rotating pneumatic cylinder servo motors, manipulator, 1015, 105 wrists, 1012 wrist swinging servo motors, 1013 front end claws, 1013 swinging servo motors, 1014 pneumatic cylinders servo motors, 1015 mechanical arms, robot arms, The system comprises a 1016 position sensor, a 1017 rotation angle sensor, a 1018 speed sensor, a 200 milking device, a 201 milk storage box, a 202 milk pipe, a 203 milking sleeve cup, a 2031 silica gel lining, a 204 vacuum pump, a 205 air pipe, a 300 cleaning device, a 301 waste water box, a 302 water outlet pipe, a 303 cleaning sleeve cup, a 3031 water cavity, a 3032 cleaning hole, a 304 water pump, a 305 water inlet pipe, a 306 water suction pipe, a 307 clean water box, a 400 support column, a 401 cross bar, a 402 support collar and 500 cow legs.
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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-17, the present invention provides a technical solution:
the utility model provides a can accurate carousel formula milking machine of location cow nipple, which comprises a base plate 1, chassis 1 is as the base plate of milking machine, swing joint has carousel 2 on the chassis 1, carousel 2 can rotate on chassis 1, 2 centre of a circle departments of carousel are provided with step motor 3, be fixed with pivot 4 on the step motor 3, fixedly connected with connecting rod plate 5 on the pivot 4, connecting rod plate 5 keeps away from 4 one end of pivot and is fixed in on carousel 2, step motor 3 chooses for use 21000 series SIZE8 rotating electrical machines of Changzhou huhler motor company Limited, receive a pulse signal when step driver, it just drives step motor and rotates a fixed angle according to the direction of setting for, drive through step motor 3, can pass through the power transmission of connecting rod plate 5, drive carousel 2 and realize the rotation of wanting the speed.
An inner fence 6 is fixed on the rotary table 2, an outer fence 7 is fixed on the outer edge of the chassis 1, a plurality of groups of partition boards 8 which are symmetrically arranged are arranged between the inner fence 6 and the outer fence 7, the outer fence 7 is provided with an opening, a cow feeding platform 10 is arranged at the opening, the cow feeding platform 10 is movably connected with the rotary table 2, the front and the back of the cow entering the rotary table 2 are protected by the inner fence 6 and the outer fence 7, a milking area 80 is formed between each group of partition boards 8 which are symmetrically arranged, the cow is subjected to the operation of loading and milking cups for milking after entering the milking area 80, a power supply box 9 is fixedly arranged on the rotary table 2 between the milking areas 80, the power supply box 9 can supply power to electric devices in each milking area 80, the rotary table 2 is provided with drain holes 11 at the partition boards 8 which are symmetrically arranged, the drain holes 11 can drain water for the cow and other seepage situations, very convenient, can not form ponding again, fixedly connected with installing support 12 between the space bar 8 that the symmetry set up, installing support 12 is close to 2 one sides of carousel and is connected with ventilating fan 13, and ventilating fan 13 sets up directly over the milk cow, can blow to the milk cow, more can drive insects such as mosquito, forms the protection to the milk cow.
The side walls of the partition boards 8 at two sides of the milking area 80 are respectively provided with a mounting groove 81, the mounting grooves 81 are symmetrically arranged on the side wall of one side of the partition boards 8 close to each other, the interior of the mounting groove 81 is movably provided with a butt joint block 82, the butt joint blocks 82 at two sides can form butt joint after moving out from the mounting groove 81, a support groove 83 is arranged in the butt joint block 82, a top plate 84 is fixedly arranged in the support groove 83, a support push rod 85 is fixedly connected onto the top plate 84, one end of the support push rod 85 far away from the top plate 84 is fixedly connected onto the inner side wall of the mounting groove 81, so that the support push rod 85 does not occupy space when in use, the design of an internal insertion type push rod can ensure that the butt joint block 82 can be well inserted into the mounting groove 81 under the condition that a large space is not needed, the retraction of the butt joint block 82 is convenient, one side of, that is to be convenient for milking or wash the retainer cup and place and protect the retainer cup when milking cow, the structure that the big below in retainer cup top is little also can make the retainer cup can be fine insert and establish in main retainer cup groove 86.
The upper surface of the butt joint block 82 is fixedly connected with a mounting block 812, a binocular camera 813 is embedded on the mounting block 812, a computer 814 and a PLC 815 are fixedly arranged above the partition plate 8, the binocular camera 813 and the PLC 815 are electrically connected to the computer 814, the computer 814 can be selected from a common CPU on the market, the nipple parts of the dairy cows are photographed by using the binocular camera 813 so as to be transmitted to the computer 814 for analysis, then the computer 814 sends an instruction to the PLC 815, the PLC 815 is electrically connected with the flexible mechanical arm 100, so that the PLC 815 controls the flexible mechanical arm 100 to work to drive the sleeve cup to move to the nipple part of the dairy cow to be operated, the binocular camera 813 is selected from a DS-2CD6822V type camera of Haokiway, the PLC 815 is selected from an S7-200 type programming controller of Siemens company, each PLC 815 controls the work of a milking area 80, the output end is few, convenient to use.
The flexible mechanical arm 100 is arranged on one side of the turntable 2 close to the rotating shaft 4, the flexible mechanical arm 100 comprises a base 101, a big arm 104, a connecting rod 106 and a mounting support 109, the base 101 is fixed on the turntable 2, a rotating support 102 is movably arranged on the base 101, the rotating support 102 is connected with a base rotating servo motor 103, the big arm 104 is connected with the rotating support 102, the big arm 104 is connected with a big arm swinging servo motor 105, the connecting rod 106 is connected with the rotating support 102 through a connecting rod transmission shaft 107, the connecting rod transmission shaft 107 is connected with a connecting rod servo motor 108, one ends of the big arm 104 and the connecting rod 106 far away from the rotating support 102 are connected with the mounting support 109, the mounting support 109 is connected with a pneumatic cylinder 1010, one end of the pneumatic cylinder 1010 far away from the mounting support 109 is connected with a wrist, the wrist 1011 is connected with a, install manipulator 1015 on front end hand claw 1012, be provided with position sensor 1016 on the equal electric connection PLC controller 815 on the manipulator 1015, corner sensor 1017 and speed sensor 1018, the setting of sensor, can monitor the motion parameter of manipulator 1015, if machine trouble can in time detect out, the mechanical structure of six degrees of freedom is constituteed to above-mentioned structure, be convenient for carry out the position arrival at no dead angle to the milk cow nipple more, and be convenient for control, flexible arm 100 used motor all selects Zhejiang sun facing gear electromechanical limited's direct current to have brush motor XYD-15A type rotation motor, conveniently control, the pneumatic cylinder chooses the cylinder that the size is suitable for use can, because the bell cup quality is not big itself, so pneumatic cylinder and motor on the market all can carry out the bearing, be convenient for select the manufacturing.
The milking device 200 and the cleaning device 300 are respectively arranged on two sides of the flexible mechanical arm 100, and the flexible mechanical arm 100 correspondingly controls the milking device 200 and the cleaning device 300 to drive the cups of the milking device 200 and the cleaning device 300 to move to the corresponding cow nipples.
The milking device 200 comprises a milk storage box 201, a milking sleeve cup 203 and a vacuum pump 204, the milk storage box 201 is connected to the lower end of the milking sleeve cup 203 through a milk pipe 202, the inner side wall of the milking sleeve cup 203 is provided with a silica gel lining 2031, the vacuum pump 204 is connected to the side wall of the milking sleeve cup 203 through an air pipe 205, the outer side wall of the milking sleeve cup 203 is movably connected with a clamping device, the vacuum pump 204 selects a BYWY-550D type vacuum air pump of Jiangsu Boyu pump industry Co., Ltd, after the milking sleeve cup 203 sleeves a nipple, the vacuum pump 204 exhausts the silica gel lining 2031 back and forth through the air pipe 205 to form a one-squeezing-loosening operation on the nipple of the cow, milking is realized, and milk is transmitted to the milk storage box.
The cleaning device 300 comprises a waste water tank 301, a cleaning sleeve cup 303, a water pump 304 and a clean water tank 307, wherein the waste water tank 301 is connected to the lower end of the cleaning sleeve cup 303 through a water outlet pipe 302, a water cavity 3031 is formed in the inner side wall of the cleaning sleeve cup 303, a cleaning hole 3032 is formed in the inner side wall of the water cavity 3031, the water pump 304 is connected to the side wall of the milking sleeve cup 303 through a water inlet pipe 305, the water pump 304 is further connected to the clean water tank 307 through a water pumping pipe 306, a clamping device is movably connected to the outer side wall of the cleaning sleeve cup 303, the water pump 304 is an WPY350 type micro water pump of Duzhonghai motor manufacturing company Limited, when a nipple of a cow is sleeved by the cleaning sleeve cup 303, water pumping is performed through the water pump 304, clean water enters the water cavity 3031 through the water inlet pipe 305 and is sprayed out through the cleaning hole.
Clamping device includes support column 400, horizontal pole 401 and support collar 402, support column 400 is fixed in on the carousel 2, horizontal pole 401 fixed connection is on support column 400, support column 400 one end fixedly connected with support collar 402 is kept away from to horizontal pole 401, support collar 402 activity is cup jointed on milking retainer cup 203 or washing retainer cup 303, when milking retainer cup 203 and washing retainer cup 303 are out of work, place in support collar 402 that can be fine, support collar 402 design structure size is the same with vice retainer cup groove 811 and main retainer cup groove 86, be convenient for place the retainer cup.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The rotary disc type milking machine capable of accurately positioning the cow nipples comprises a chassis (1), wherein a rotary disc (2) is movably connected to the chassis (1), a stepping motor (3) is arranged at the center of a circle of the rotary disc (2), a rotary shaft (4) is fixed to the stepping motor (3), a connecting rod plate (5) is fixedly connected to the rotary shaft (4), one end, away from the rotary shaft (4), of the connecting rod plate (5) is fixed to the rotary disc (2), an inner fence (6) is fixed to the rotary disc (2), an outer fence (7) is fixed to the outer edge of the chassis (1), a plurality of groups of symmetrically-arranged partition plates (8) are arranged between the inner fence (6) and the outer fence (7), and a milking area (80) is formed between the symmetrically-arranged partition plates (8) of each group;
the method is characterized in that: mounting grooves (81) are formed in the side walls of the partition plates (8) on the two sides of the milking area (80), butt-joint blocks (82) are movably arranged in the mounting grooves (81), supporting grooves (83) are formed in the butt-joint blocks (82), top plates (84) are fixedly arranged in the supporting grooves (83), supporting push rods (85) are fixedly connected to the top plates (84), one ends, far away from the top plates (84), of the supporting push rods (85) are fixedly connected to the inner side walls of the mounting grooves (81), and a plurality of main sleeve cup grooves (86) are formed in one sides, close to the partition plates (8), of the butt-joint blocks (82);
inner cavities (87) are symmetrically formed in two sides of the butt joint block (82), an extension block (88) is movably arranged in each inner cavity (87), an extension groove (89) is formed in each extension block (88), an extension push rod (810) is arranged in each extension groove (89), one side, close to the support groove (83), of each extension push rod (810) is fixedly connected to the side wall of each inner cavity (87), and a plurality of auxiliary sleeve cup grooves (811) are formed in one side, close to the main sleeve cup groove (86), of each extension block (88);
the upper surface of the butt joint block (82) is fixedly connected with a mounting block (812), a binocular camera (813) is embedded in the mounting block (812), a computer (814) and a PLC (815) are fixedly arranged above the partition plate (8), the binocular camera (813) and the PLC (815) are electrically connected to the computer (814), and the PLC (815) is electrically connected with a flexible mechanical arm (100);
the flexible mechanical arm (100) is arranged on one side, close to the rotating shaft (4), of the turntable (2), the flexible mechanical arm (100) comprises a base (101), a large arm (104), a connecting rod (106) and a mounting support (109), the base (101) is fixed on the turntable (2), a rotating support (102) is movably arranged on the base (101), the rotating support (102) is connected with a base rotating servo motor (103), the large arm (104) is connected onto the rotating support (102), the large arm (104) is connected with a large arm swinging servo motor (105), the connecting rod (106) is connected onto the rotating support (102) through a connecting rod transmission shaft (107), the connecting rod transmission shaft (107) is connected with a connecting rod servo motor (108), one end, far away from the rotating support (102), of the large arm (104) and the connecting rod (106) is connected with the mounting support (109), the mounting support (109) is connected with a pneumatic cylinder (1010), one end, far away from the mounting support (109), of the pneumatic cylinder (1010) is connected with a wrist (1011), the wrist (1011) is connected with a wrist swinging servo motor (1013), the pneumatic cylinder (1010) is connected with a pneumatic cylinder rotating servo motor (1014), the wrist (1011) is connected with a front-end paw (1012), and the front-end paw (1012) is provided with a manipulator (1015);
a milking device (200) and a cleaning device (300) are respectively arranged on two sides of the flexible mechanical arm (100).
2. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 1, wherein: milking device (200) is including depositing milk case (201), milking sleeve cup (203) and vacuum pump (204), it connects in milking sleeve cup (203) lower extreme to deposit milk case (201) through milk pipe (202), milking sleeve cup (203) inside wall is provided with silica gel inside lining (2031), vacuum pump (204) are connected on milking sleeve cup (203) lateral wall through trachea (205), milking sleeve cup (203) lateral wall swing joint has clamping device.
3. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 1, wherein: cleaning device (300) include waste water tank (301), wash retainer cup (303), water pump (304) and clear water tank (307), waste water tank (301) are connected in washing retainer cup (303) lower extreme through outlet pipe (302), wash retainer cup (303) inside wall and seted up water chamber (3031), washing hole (3032) have been seted up to water chamber (3031) inside wall, water pump (304) are connected on milking retainer cup (203) lateral wall through inlet tube (305), and water pump (304) still connect on clear water tank (307) through drinking-water pipe (306), wash retainer cup (303) lateral wall swing joint has clamping device.
4. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 2 or 3, wherein: clamping device includes support column (400), horizontal pole (401) and support lantern ring (402), on support column (400) was fixed in carousel (2), horizontal pole (401) fixed connection was on support column (400), support column (400) one end fixedly connected with support lantern ring (402) is kept away from in horizontal pole (401), support lantern ring (402) activity is cup jointed on milking retainer cup (203) or wash retainer cup (303).
5. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 1, wherein: and the manipulator (1015) is provided with a position sensor (1016), a rotation angle sensor (1017) and a speed sensor (1018) which are all electrically connected to the PLC controller (815).
6. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 1, wherein: the milk cow feeding device is characterized in that a power box (9) is fixedly arranged on the rotary plate (2) between the milking areas (80), the peripheral fence (7) is provided with an opening, a cow feeding table (10) is arranged at the opening, and the cow feeding table (10) is movably connected with the rotary plate (2).
7. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 1, wherein: the rotary disc (2) is provided with drain holes (11) at the positions of the partition plates (8) which are symmetrically arranged.
8. The rotary milking disk capable of accurately positioning cow teats as set forth in claim 1, wherein: fixedly connected with installing support (12) between space bar (8) that the symmetry set up, installing support (12) are close to carousel (2) one side and are connected with ventilating fan (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920718024.9U CN209931160U (en) | 2019-05-20 | 2019-05-20 | Rotary disc type milking machine capable of accurately positioning cow nipples |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920718024.9U CN209931160U (en) | 2019-05-20 | 2019-05-20 | Rotary disc type milking machine capable of accurately positioning cow nipples |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209931160U true CN209931160U (en) | 2020-01-14 |
Family
ID=69133361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920718024.9U Withdrawn - After Issue CN209931160U (en) | 2019-05-20 | 2019-05-20 | Rotary disc type milking machine capable of accurately positioning cow nipples |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209931160U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997700A (en) * | 2019-05-20 | 2019-07-12 | 安徽永牧机械集团有限公司 | It is a kind of can precise positioning cow teats rotating disc type milking machine |
| CN112544448A (en) * | 2020-12-02 | 2021-03-26 | 安徽科技学院 | An automatic milking device |
-
2019
- 2019-05-20 CN CN201920718024.9U patent/CN209931160U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997700A (en) * | 2019-05-20 | 2019-07-12 | 安徽永牧机械集团有限公司 | It is a kind of can precise positioning cow teats rotating disc type milking machine |
| CN109997700B (en) * | 2019-05-20 | 2024-01-26 | 安徽永牧机械集团有限公司 | A rotary milking machine that can accurately position cow teats |
| CN112544448A (en) * | 2020-12-02 | 2021-03-26 | 安徽科技学院 | An automatic milking device |
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