In the commonly accepted and emotionally charged connotation of rape, no. Inseminating a cow is likely no different to the cow than an antibiotic shot.
Look at any thread on any social media platform featuring bestiality, esp. regarding dogs or cats. The vast majority of people will explicitly use the word rape, and also call for all kinds of horrible punishments for the perpetrator.
I can think of no sensible, morally relevant difference between these instances and what happens to female animals through artificial insemination. "It doesnt hurt" isn't an excuse, because you can certainly think of bestiality that doesn't hurt the animal (or features physical pain to the same degree as artificial insemination).
Yes