KR100441625B1 - The synchronizer system of teat-cup for milking system - Google Patents

Abstract

The present invention relates to a milking cup synchro attachment device for milking, comprising: a milking cup synchro attachment device for milking cup coupled to one end of a manipulator: a coupling part is formed in a front part and connected to each step motor inside A milking mechanism driving unit provided with a first driving shaft and a second driving shaft to operate the milking machine; A hand grip part on one side of the milking body and a tool bar grip part on the other side, wherein the milking drive unit is coupled to a coupling part of the milking hand part; A milking cup holder having a plurality of milking cups provided on an upper side of the main body; It is installed on the inside of the main body and is coupled to the lower portion of the milking cup holder and comprises a nipple interval adjusting means for moving back and forth, left and right, the milking cup can be bonded to the nipple of the cow at the same time to solve the milking process at once It is possible to actively cope with different nipple intervals for each cow by adjusting the nipple spacing, so it is suitable for the milking physiology of cows and has the effect of reducing the working time and labor force by the unmanned automation of milking operation.

Description

Milking cup synchro attachment device for milking {The synchronizer system of teat-cup for milking system}

The present invention relates to a milking cup synchro attachment device for automatic milking, and more particularly, to provide an unmanned milking automatic system for attaching a milking cup to a cow's nipple position and attaching it at once when milking a cow's milk with a milking machine. It relates to a milking cup synchro attachment device for milking to make hygienic milking.

In general, the milk papilla of the cow's breast is divided into two compartments, two in the front and two in the rear, blocked by a diaphragm, which is collected in each of these wet branches produced in the cow's body. Milking is done with a wet milking machine.

The breast of the cow is different in size of the front and back breast, the front breast is about 40% of the size, and the size of the rear breast is about 60% of the amount of milk produced is also different.

If the milking operation is applied by applying the milking system without considering this point, excessive milking phenomenon is caused in the place where the milking is small, and cows suffer stress, and also cause infections such as mastitis.

In the conventional milking operation, the milking is performed by attaching an individual milking cup directly to the teat by hand. Thus, milking by manual labor was not only unsanitary, but also caused a lot of labor and excessive time.

Recently, the milking automation system has been researched and developed in advanced dairy countries, and some have been put to practical use. However, the milking of cows is divided into quarters. This is a state in which the technical problems corresponding thereto have not been solved.

The object of the present invention devised in view of the above problems, milking cup synchro for milking cups to integrate the milking cups in the milking machine to install the milking cup at a place where the cow's nipple is located at the time of milking so that milking can be done quickly and accurately It is to provide an attachment device.

Still another object of the present invention is to provide a milking cup synchro attachment device for milking, which can be hygienic milking by milking operation made of unmanned automation, thereby reducing labor and reducing work time.

Figure 1 is a schematic side view showing that the milking machine according to the milking cup synchro attachment apparatus of the present invention is installed in the manipulator,

Figure 2 is a schematic cross-sectional view showing a milking hand portion to which the milking machine of Figure 1 is mounted;

3 is a perspective view showing the milking machine of FIG.

4 is a side view of FIG. 3;

5 is an exploded perspective view showing main parts of the teat interval adjusting means installed in the milking machine of FIG. 3;

Figure 6 is a schematic cross-sectional view showing the left and right position adjusting unit of the teat interval adjusting means installed in the milking machine of Figure 3,

Figure 7 is a schematic cross-sectional view showing the front and rear position adjusting portion of the teat interval adjusting means installed in the milking machine of Figure 3;

Figure 8 is a plan view showing the cover portion of the milking machine of FIG.

(Explanation of symbols for the main parts of the drawing)

One ; Milking machine 2; Manipulator

3; Rotary arm 4; Connection

5; Coupling part 7; Milking Hand

10; Vertical positioning means 13,25; Step motor

15; Screw 17; Worm Gear

19; Hinge axis 20; Milking machine operation part

21; First drive shaft 23; 2nd drive shaft

31; Main body 32; cover

33; Hand grip section 34; Pulsation line

35; Milking cup 36; Connection bracket

37; Milking Cup Holder 38; housing

38a; Receiving portion 38b; Guide bar

39; Toolbar grip part 50; Nipple spacing control means

51; Left and right position adjusting section 52,62; Actuating Gear Shaft

53,54; Worm gears 55,56; Transmission gear

57; Connecting shaft 61; Front and rear position adjustment part

63,64 1st, 2nd bevel gear 65; Screw gear

66; Rack member 67; Pivot

In the present invention for achieving the above object, in the milking cup synchro attachment device for milking coupled to one end of the manipulator: a coupling portion is formed in the front portion, the first drive shaft and the second connected to each step motor therein; A milking mechanism driving unit provided with a drive shaft to operate the milking machine; A hand grip part on one side of the milking body and a tool bar grip part on the other side, wherein the milking drive unit is coupled to a coupling part of the milking hand part; A milking cup holder having a plurality of milking cups provided on an upper side of the main body; It is installed on the inside of the main body is coupled to the lower portion of the milking cup holder, characterized in that it comprises a nipple interval adjusting means for moving the position forward and backward, left and right.

The milking machine includes a main body; A cover coupled to the upper side of the main body; A connecting bracket configured to receive a milking cup holder having a milking cup penetrating through the cover and to be coupled to the main body; A housing accommodating a connection bracket coupled to a lower end of the milking cup holder; It may be configured to include a teat interval adjusting means that is engaged to the housing and the connection bracket.

The nipple spacing adjusting means includes an operating gear shaft coupled to the first driving shaft of the milking mechanism driving unit, front and rear worm gears engaged with the operating gear shaft, a transmission gear coupled to the shaft of the worm gear, and a transmission gear. Left and right position adjusting unit including a connecting shaft engaged with the connecting bracket and the gear to the other side; And an actuating gear shaft coupled to the second driving shaft of the milking mechanism drive unit, a first bevel gear connected to one end of the actuating gear shaft, a second bevel gear meshed with the first bevel gear, and the second bevel gear. And a screw gear formed extending upward, a rack member engaged with the screw gear, and a rack member fixed to one side of the housing, and a rotating shaft connected to the housing and the main body. It can be composed of wealth.

Milking cup synchro attachment device of the present invention having such a configuration is capable of attaching the four milking cups installed on the milking machine at the same time to the cow's nipple and milking can shorten the milking time, as well as nipple spacing control means As it is possible to actively cope with different nipple intervals for each cow, it can meet different body type for each cow's individual, and it can save working time and labor force by unmanned automation. have.

Hereinafter, a preferred embodiment of the present invention as described above will be described in more detail with reference to the accompanying drawings.

1 is a schematic side view showing that the milking machine according to the milking cup synchro attachment device of the present invention is installed in the manipulator, FIG. 2 is a schematic cross-sectional view showing a milking hand unit on which the milking machine of FIG. 1 is mounted, and FIG. The perspective view which showed the milking machine, and FIG. 4 have shown the side view of FIG.

1 to 4, the milking cup synchro attachment device for automatic milking according to an embodiment of the present invention, the milking machine (1) equipped with a milking cup (35) and the milking machine (1) is mounted Manipulator connected to the milking hand 7, the up and down position adjusting means 10 for moving the milking hand 7 up and down, and the rotary arms 3 for horizontally moving the milking machine 1 (2), and a light-sensing portion 8 provided above the milking hand portion 7 to check the nipple position of the cow during milking.

The milking machine 1 has a main body 31 and a cover 32 coupled to an upper side of the main body 31 to protect the inside thereof, and the milking hand 7 at the side surface of the main body 31. The hand grip portion 33 to which the coupling portion 5 of the coupling is formed. In addition, a milking cup holder 37 is installed to penetrate the cover 32 in the main body 31 and accommodates a plurality of milking cups 35 inside the upper end thereof.

The milking cups 35 are two in the front and two behind the four units. The gap between the front milking cups 35 is narrow and the width of the gap between the milking cups 35 is wide. In this way, the interval between the milking cups 35 is because the front and rear teat positions of the cow's breast are different.

One side of the milking cup 35 is connected to a pulsation line 34 for milking milk.

The pulsation line 34 is connected to milk the cow's milk as a general known technique, and the pulsation line 34 is connected to one side of the milking cup to make a vacuum state and milking is already well known technique, and thus description thereof will be omitted. .

On the other hand, the milking cup holder 37 for receiving the milking cup 35 has a lower end is coupled to the connecting bracket 36 in the body 31 through the cover 32, the pulsating line 34 upwards The connected milking cups 35 serve to fix and guide the position of the cup in the main body 31 when moving to the position of the nipple, and milking to accommodate the milking cup 35 to which the pulsation line 34 is connected. A guide groove 37a is formed at one side of the upper circumference of the cup holder 37.

The housing 38 is installed in the main body 31 to be rotated. The housing 38 is provided with a receiving space portion 38a for receiving the connection bracket 36 coupled to the milking cup holder 37 on both sides, and the milking cup to the nipple position of the cow inside the lower portion of the center. Nipple spacing adjusting means (50) for moving the position (35) is connected and installed on both sides of the housing (38) so as to be pivotable in the main body (31) with shaft support in a housing hole (68) in which bearings are stored. Coaxial 67 is provided.

On the other hand, one side of the main body 31 is provided with a toolbar grip portion 39 for mounting the milking machine 1 to a washing room installed in a toolbar (not shown) provided by the automatic milking system. And the balance of the milking cup holder 37 at the periphery of the milking cup holder 37 protruding upwards of the lid 32 while preventing the foreign matter from penetrating into the housing 38 when the milking cup 35 is milked. Corrugated connection portion 40 is provided to maintain.

The milking hand portion 7 has a connecting portion 4 which is coupled to one end of the rotary arm 3, and a coupling portion 5 for mounting the milking machine 1 on the other end thereof is formed, and each inside thereof. The first driving shaft 21 and the second driving shaft 23 connected to the step motor 25 of the milking machine 1 is provided with a milking mechanism driving part 20 for controlling the movement of the milking cup 35 of the milking machine 1. .

The manipulator 3 is connected to a plurality of rotary arms 3 so as to rotate and install the milking machine 1 at the milking hand 7 connected to one end of the rotary arm 3. It is. And the upper and lower position adjusting means 10 for vertically flowing the milking machine 1 in the rotary arm 3 is provided.

The vertical position adjusting means 20 is provided with a step motor 13 having a screw 15 at one end inside the rotary arm 3, and the gear portion 15a of the screw 15. A worm gear 17 to be engaged is installed, and the worm gear 17 is configured to be coupled to the connecting portion 4 and the connecting shaft 19 of the milking hand portion 7. The up and down position adjusting means 20 rotates the milking machine 1 carried by the manipulator 3 to rotate the milking machine 1 up and down by an optical sensor (camera) which is detected near the breast of the cow to hold the milking position. To work.

The light sensor unit 8 is installed in the milking hand unit 7 to detect the nipple position of the cow during milking with a sensor, and inputs and detects a detection signal to a main controller (not shown). It is preferable.

5 is a partial partial perspective view showing the nipple spacing adjusting means installed in the milking machine of FIG. 3, FIG. 6 is a schematic sectional view showing the left and right position adjusting part of the nipple spacing adjusting means installed in the milking machine of FIG. 7 is a schematic cross-sectional view showing the front and rear position adjusting unit of the teat interval adjusting means installed in the milking machine of FIG. 3 and FIG. 8 is a plan view showing the cover part of the milking machine of FIG.

Referring to the teat interval adjusting means 50 installed in the milking machine 1 as shown.

The nipple spacing adjusting means 50 includes a left and right position adjusting unit 51 controlled by the first driving shaft 21 of the milking machine driving unit 20 installed in the milking hand unit 7, and the milking machine driving unit 20. It is comprised by the front-back position adjusting part 61 controlled by the 2 drive shaft 23. As shown in FIG.

The left and right position adjusting unit 51, the screw and the left and right worm gears 53 formed on the operating gear shaft 52, the first driving shaft 21 of the milking mechanism driving unit 20 is received and coupled to the inside of the main body 31; (54) is engaged, and the transmission gears (55) and (56) are formed to interlock with the gear (55) formed at one end of the worm gear (53) (54) and the shaft, and the transmission gear (56) is coaxial with one end. A connecting shaft 57 having a gear formed therein is gear-coupled with the connecting bracket 36 so that the connecting bracket 36 is in contact with the guide bar 38b in the housing 38 according to the rotation direction of the connecting shaft 57. As it moves forward and backward, the milking cup holder 37 is moved left and right to adjust the position.

The front and rear position adjusting unit 61 is provided with an operating shaft 62 having one end coupled to the second driving shaft 22 of the milking drive unit 20, and the other end of the operating shaft 62 has a first bevel gear ( 63 is installed, and the second bevel gear 64 meshed with the first bevel gear 63 is installed in a right angle direction.

A screw gear 65 is formed on the upper side of the second bevel gear 64, and a screw part 66a meshed with the screw gear 65 is formed and the other side is fixed to one side of the housing 38. The rack member 66 is formed.

On the other hand, the other side and both sides of the housing 38 is formed with a receiving hole 68 for receiving the bearing and is rotatably connected to the rotation shaft 67 through one side of the main body 31, Rotation causes the housing 38 to be rotatable within the body 31.

Here, the left and right position adjusting unit and the front and rear position adjusting unit is configured to move the milking cup 35 back and forth and left and right according to the operation of the drive shafts 21 and 23 of the milking machine driving unit 20.

Referring to the operation state of the automatic milking cup synchro attachment device according to the present invention configured as described above are as follows.

In the operation sequence, first, by adjusting the up and down position adjusting means 10 provided in the rotary arm 3 of the manipulator 2, the milking machine 1 is adjusted up and down to fit the cow's nipple position to adjust the angle. Then, when the nipple position is secured by the optical sensor 8 installed in the milking hand unit 7, the video signal is output to the main controller. Subsequently, power is transmitted to the drive shafts 21 and 23 connected to the step motor 25 in the milking hand portion 7 according to the control signal of the manipulator 3, and then the left and right positions of the teat interval adjusting means 50. As the control operation of the control unit 51 and the front and rear position adjusting unit 61, the front nipple spacing, the rear nipple spacing, and the front and rear teat spacing are adjusted so that the milking cups 35 are in contact with the nipple of the cow accurately.

Here, the operation process of the left and right position adjusting unit 51, when the operating gear shaft 52 connected to the first driving shaft 21 of the milking drive unit 20 is rotated, the worm gear 53 engaged with the rotation rotates, and then the worm gear and The meshed transmission gears 55 and 56 rotate. At this time, the connecting shaft 57 coupled to the lower transmission gear 56 is rotated together, and the gear portion of the connecting shaft 57 and the connecting bracket 36 are engaged so that the connecting bracket 36 is connected to the connecting shaft 57. In accordance with the degree of rotation of the) is moved along the guide bar 38b formed on the inner wall of the housing 38 to the left and right. As a result, the milking cup holder 37 in which the milking cup 35 connected to both sides of the housing 38 is accommodated is flowed left and right so that the milking cup 35 is exactly left and right in contact with the cow's nipple.

Operation of the front and rear position adjusting unit 61, the first bevel formed on one end of the operating gear shaft 62 when the operating gear shaft 62 connected to the second driving shaft 23 of the milking drive unit 20 is rotated The second bevel gear 64 meshed with the gear 63 rotates. Accordingly, the screw gear 65 formed at the upper end of the second bevel gear 64 is rotated, and the rack member 66 engaged with the second bevel gear 64 is vertically moved. At this time, since the rack member 66 is fixed to the housing 38 and the housing 38 is rotatably coupled to the pivot shaft 67, the housing 38 also moves up and down. Therefore, the milking cup 35 coupled to the housing 38 is adjusted to move forward and backward so that the milking cup 35 can be brought into contact with the front and rear nipples of the cow.

Previously, the milking cup 35 was attached one by one, the attachment device can adjust the interval so that the four milking cups 35 can be mounted at the same time, it is possible to actively cope with different teat intervals for each milk introduction body.

This technology belongs to the step motor control technology, high-precision position control technology is combined, and because it targets the cow life, unlike the general machine must be complete processing suitable for non-physiological milking cows It is an important system device.

The present invention as described above is not limited to the above embodiment, and can be modified as much as possible within the technical idea of the present invention.

As described above, the milking cup synchro attachment device for automatic milking of the present invention can adjust the intervals so that the four milking cups can be mounted at the same time, and can actively cope with different nipple intervals for each cow. It can reduce labor time and labor by simplification of milking work and it can reduce labor cost and time by unmanned automation.

In addition, it is possible to shorten the entire milking operation time by solving the milking cup attachment made of four iterations at once. The device is designed to match the milking physiology of cows and to achieve the proper balance between machinery and organisms.

Claims (3)

In the milking cup synchro attachment device for milking combined with one end of the manipulator (2): A coupling part 5 is formed in the front part, and a milking mechanism driving part for operating the milking machine 1 is provided with a first driving shaft 21 and a second driving shaft 23 connected to each step motor 25 therein. 20; A hand grip part 33 on one side of the milking body 31 coupled to the coupling part 5 of the milking hand part 7 in which the milking mechanism driving part 20 is installed, and a toolbar grip part 39 on the other side; A milking cup holder 37 having a plurality of milking cups 35 provided on an upper side of the main body 31; The milking cup for automatic milking, which is installed inside the main body 31 and is combined with a lower portion of the milking cup holder 37, and includes a nipple interval adjusting means 50 for moving the position back, left, and right. Synchro attachment. The milking machine (1) according to claim 1, A main body 31; A cover 32 coupled to the upper side of the main body 31; A connection bracket 36 for allowing the milking cup holder 37 having the milking cup 35 penetrating the lid 32 to be received inside the main body 31 and coupled to the main body; A housing 38 in which a connection bracket 36 coupled to the lower end of the milking cup holder 37 is accommodated; Milking cup synchro attachment device for milking, characterized in that it comprises a teat interval adjusting means 50 is engaged with the housing 38 and the connecting bracket (36). The method according to claim 1 or 2, wherein the teat interval adjusting means 50, An actuating gear shaft 52 coupled to the first driving shaft 21 of the milking mechanism driving unit 20; front and rear worm gears 53 and 54 meshing with the actuating gear shaft 52; and the worm gear 53 ( Left and right position control including a transmission gear 55, 56 coupled to the shaft of the 54 and the connecting shaft 57 is coupled to the coupling bracket 36 and the gear to the other side is arranged in the transmission gear 56 Part 51; And An actuating gear shaft 62 coupled to the second driving shaft 22 of the milking mechanism driving unit 20, a first bevel gear 63 connected to one end of the actuating gear shaft 62, and the first bevel; A second bevel gear 64 meshed with the gear 63, a screw gear 65 extending upward of the second bevel gear 64, and a screw portion 66a meshed with the screw gear 65; Is formed and fixed to one side of the housing 38, the rack member 66 and the front and rear position adjusting unit is installed, including a rotating shaft 67 is connected to the housing 38 and the main body 31 in communication with ( Milking cup synchro attachment device for milking, characterized in that consisting of 61).