基于TRIZ理论的转盘式挤奶机器人结构设计

为解决转盘式挤奶机智能化程度不足的问题,设计了一种适用于大中型牧场的高效率智能化挤奶设备。基于TRIZ(theory of inventive problem solving)理论,采用九屏分析法和因果轴分析法,得出影响牧场智能化发展的因素;结合现场实际情况,运用技术矛盾法、物理矛盾法和物场-模型法对分析出的问题进行求解,对执行机械臂、末端执行器、三轴平移装置等关键部件进行创新设计,完成了转盘式挤奶机器人的结构设计,并搭建了实验样机,进行了奶杯抓取和套杯实验。结果表明,机器人抓取奶杯成功率为100%,套杯成功率为97.2%,平均每次花费时间为5.8 s。相较于人工挤奶,效率至少提高了98%。所设计转盘式挤奶机器人满足使用要求,为转盘式挤奶机器人产品开发及后续的牧场智能化研究提供了依据。

Design and Analysis of A New Rotary Milking Robot Based on TRIZ Theory

In order to solve the problem that the intelligent degree of rotary milking machine is insufficient, a kind of high efficiency intelligent milking equipment is designed for large and medium-sized pastures. Based on TRIZ theory, nine-screen analysis method and cause-and-effect axis analysis method were used to get the factors affecting the development of intelligent pasture. Combining with the actual situation, using the method of technical contradiction, physical contradiction method and field - model method to analysis the problem solving, against the mechanical arm, the end executor, three axis translation device innovation on the key parts such as design, completed the milking disc structure design of the robot,set the experimental prototype. Set up a milk cup grab and a set of experiments, the results show that the robot grab milk cup success rate was 100%, the set of cup success rate was 97.2%, the average time of 5.8 s at a time. Compared with manual milking, the efficiency improved by at least 98 %. The designed rotary milking robot meets the requirements of use. milking disc intelligent robot product development and subsequent pasture research to provide the basis.