Design Of Cantilever Self-propelled Milking Robot

The milking industry has experienced manual milking by labor-intensive milkers to enriched semi-mechanized milking of herringbone type,mid-mounted type,etc.,and then to the current milking robots.Because of their intelligence and efficiency,they are widely used in In large-scale intensive pastures,the operating efficiency of the overall pasture and the stability of milk source quality can be significantly improved.The existing milking robots are low in efficiency and the overall degree of freedom is insufficient.Based on the TRIZ innovation theory,a new type of cantilever self-propelled milking robot is designed in this paper,which can significantly improve the efficiency of the milking process in the pasture.In accordance with the structural characteristics of the cantilever self-propelled milking robot and the requirements in the milking process,the paper carries out an innovative design and related theoretical analysis on the structure of the milking robot.The main research contents are as follows:The development status of milking technology and the application of robots in milking are introduced.The causal axis analysis of existing milking robots is carried out using TRIZ innovative theory,the ground rail device is installed,and the robot body with redundant degrees of freedom is simplified and designed.The 4-RPU parallel connection is the main body.The new end effector is connected to the main body of the robot through two adjustable cantilever beams.The new end effector is composed of two symmetrical series grippers.The end effector can be adjusted by controlling the angle adjustment device on the end effector.To meet the requirements of cupping operations for cow udders in different poses.The ANSYS Workbench simulation software was used to perform finite element analysis on the whole cantilever self-propelled milking robot,and the strength of each key component was checked to obtain the corresponding deformation cloud diagram and stress cloud diagram.At the same time,the first six-order modal analysis and harmonic response analysis are performed on the cantilever mechanism to obtain the corresponding deformation cloud diagram,stress cloud diagram,mode shape and natural frequency,which avoids the occurrence of resonance.The parallel mechanism is calculated by topological mechanism with two rotations and one translation with 3 degrees of freedom.At the same time,the forward and inverse kinematics of the 4-RPU parallel mechanism are solved,and the functional relationship between the length of each branch link and the pose parameter is obtained.The main body of the 4-RPU parallel mechanism is constructed in the simulation software ADAMS,and drives are added to the four branch chains to obtain the displacement,velocity,acceleration,and angular velocity function changes of the center of mass of the moving platform over time in the X-axis,Y-axis and Z-axis directions The curve verifies the correctness of the theoretical calculation.The positive kinematics of the end effector was modeled by the DH method,and the Monte Carlo method in the numerical method was used to import the link parameters corresponding to the coordinates of each joint point of the end effector into MATLAB,and the end effector of the cantilever self-propelled milking robot was obtained through simulation.The view of the accessible workspace verifies the rationality of the structural design and provides a theoretical basis for the application of the cantilever self-propelled milking robot.Figure[59]Table[11]Reference[92]...