...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>配管·装置·プラント技術 >Development of milking robot system in stanchion stall barns (part 1) - system component and concept of task planning for teat cup attachment
【24h】

Development of milking robot system in stanchion stall barns (part 1) - system component and concept of task planning for teat cup attachment

机译：Stanchion Stall Barns挤奶机器人系统的开发 - 奶术杯附件任务规划的系统组成和概念

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The aim of this study is to develop a milking robot system that satisfies the necessary requirements to attach teat-cups for cows automatically in stanchion stall barns. The prototype system consists of three components, a mobile truck that travels on rails, the cow's body positioning arm from the truck by roller, and the automatic milking unit mounted on one end of the cow's body positioning arm. The teat-cup manipulator is an articulated robot provided with three degrees of freedom in horizontal planes, where an AC servomotor controls each axis. A pneumatic gripper is used for the end-effector to hold the teat cup, and a local sensor with the area, 80 mm × 66 mm, a matrix of 10 infra-red light beams is arranged across the top of the end-effector to detect the teat and allow correction of the robot position to centralize the cup on the teat. For attachment the co-ordinates from the database are used to provide the approximate location for each teat. And then positional commands are sent to the servo drivers at intervals of 20ms via the positioning pulse distributor so that the deviation in less than the set value.
机译：本研究的目的是开发一种挤奶机器人系统，满足必要的要求，以自动在支柱停滞谷仓中自动连接奶牛的奶嘴。原型系统由三个组件组成，这是一种在轨道上行驶的移动卡车，牛的身体定位臂通过滚轮，自动挤奶单元安装在牛身体定位臂的一端。奶嘴机械手是一个在水平平面中提供三个自由度的铰接机器人，其中AC伺服电动机控制每个轴。用于末端效应器的气动夹具用于保持奶嘴，并且具有面积80mm×66mm的局部传感器，10个红外光束的矩阵横跨端部执行器的顶部布置在检测奶头并允许校正机器人位置以集中奶嘴的杯子。对于附件，数据库的协调用于提供每个乳头的近似位置。然后，通过定位脉冲分配器以20ms的间隔将位置命令发送到伺服驱动器，使得偏差小于设定值。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号