The Structure Design Research Of Milking Robot Equipment

The dairy industry is the important part of agriculture,and the development level of dairy industry is the important symbol of modern animal husbandry.The enhancement of the intelligent level of stock breeding machine which can help to achieve the unmanned milking operation which is closest to the natural state,is an important technical measure to keep cows healthy.Stock breeding machine also can increase milk production,expand the scale of breeding,save labor greatly,and take control of milk quality.In conclusion,it is important to develop automatic milking equipment,which also means the significance of the research and development of the milking robot.Without the support of intelligent control technology,milking robot can not achieve automatic milking work.Because that automatic milking work needs to use the visual recognition system to identify the distribution of the cows' standing positions and their nipple positions,and then completes the corresponding process through the intelligent control mechanism.Therefore,different from the common mechanical milking equipment,intelligent milking robot needs designing structure scheme in line with the established visual identification system,intelligent control system and drive system to enable milking robot to work efficiently.This paper mainly concerns on the development situation of mechanical milking equipment at home and abroad.Following the reference object Lely milking robot,this paper concerns with structure design and research of milking robot.According to the task and the requirements of technical parameters of milking robot,this paper puts forward the overall structure of the equipment.On this basis,it puts forward a three degrees of freedom articulated tandem milking robot arm through the analysis of cows biological characteristics,the existing form of milk robot mechanism and the characteristics of robotic milking.This paper carries on the modelling by Solidworks.At the same time,the detailed design and detail optimization of key mechanism are done to ensure the good performance of equipment.The paper uses an easy and simple method of engineering design to determine the main structure parameters.And the D-H method is used to establish the kinematics model of the mechanical milking arm and derive the inverse kinematics equation of mechanical arm.Matlab software is also be used to analyze and verify workspace of mechanical milking arm in this paper.Each position of the whole mechanical arm system and key parts of mechanical arm are strongly checked with ANSYS finite element analysis software of mechanical arm.And this thesis gives first six modes of the whole mechanical arm system to make sure milking robot mechanical structure strength meets the demands of working.The dynamics equation of mechanical arm is established and the dynamic simulation is analyzed based on Lagrange equation,and as the reference basis,parameters of the model for each joint mechanical arm drive cylinder are chosen;Positioning and control principle of the selected cylinder and the controller is analyzed and studied,and the mechanical arm pneumatic control loop is designed.