Structural Design And Kinematics Analysis Of Rotary Table Milking Robot

At present,rotary milking machine is the preferred equipment for automatic milking in the field of mechanization equipment of large dairy cattle ranch.However,it requires workers to repeat operation for a long time in work location with high labor intensity and bad working environment,and improper milking operation will pollute milk source.In order to solve this problem,this thesis puts forward the design of rotary milking robot,which can realize unmanned automatic intelligent milking,improve the operation efficiency,and ensure the safety of milk source.Firstly,based on TRIZ theory,the existing industrial robots are analyzed by nine screen method,functional component method and causal axis method,and then solved by technical contradiction method,physical contradiction method and matter-field model method.The overall design of the rotary milking robot is summarized and evaluated,which is mainly composed of rail,lifting device,feeding device and drive control integrated manipulator,etc.The key components and the structure of the drive and control integrated manipulator were designed in detail.Secondly,based on the finite element method of statics and kinematics analysis was carried out on the system,and the statics strength of the whole and key parts was analyzed by ANSYS under the limit condition,which proved that the mechanical structure strength met the use requirements.Modal analysis was carried out on the system,and the safety of the vibration frequency of the robot is verified by combining with the actual working situation.Then,kinematics and dynamics modeling of the rotary milking robot system were carried out based on MDH method and Lagrange equations.Forward and inverse kinematics solutions were obtained through derivation,and the accuracy of kinematics solution was verified by selecting random working points at the end.Then through MATLAB software simulation of the robot’s workspace and movement trajectory,to ensure that the movement performance and workspace meet the needs of use.Finally,the dynamics equation of the robot was solved by Lagrange equations,and the driving torque of the rotary milking robot was analyzed by ADAMS software,and the correctness of the motor design was verified.Finally,the control system of rotary milking robot is designed according to the control principle of permanent magnet synchronous motor.Combined with the actual working situation,the main structure of the prototype,the hardware of the control system and the hardware of the vision system are designed and built.Based on the prototype,the cup-matching error experiment and dynamic response cup-matching experiment of the robot were carried out,which ensured the accuracy and success rate of cup-matching when the prototype was working,and verified the feasibility of the mechanical structure and control system design of the prototype.Figure [73] Table [15] Reference [92]...