KR102479798B1 - Automatic milk milking system - Google Patents

Abstract

The present invention relates to an automatic milking system, comprising a robot milking device for milking milk, a milk cooler connected to the robot milking device to cool and store milk, and an auxiliary tank between the robot milking device and the milk cooler. A three-way valve is formed between the robot milking device, the milk cooler and the auxiliary tank, and an open/close valve is formed between the milk cooler and the auxiliary tank so that the three-way valve automatically changes toward the auxiliary tank when cleaning the milk cooler or is washed. Upon completion, the three-way valve automatically changes its opening direction toward the milk cooler, and while milking milk is stored in the auxiliary tank or milk cooler, the milk stored in the auxiliary tank is simultaneously supplied by opening the opening/closing valve, and continuously through the milking device. Store milk being milked.
According to the present invention, the milk to be milked is stored in the auxiliary tank when washing the milk cooler, so that washing and milking operations can be performed simultaneously, and milk production is increased by continuously milking milk with the robot milking device. By milking milk at a set time from the beginning, the quality of milk can be improved and high-quality milk can be produced at the same time. Also, when the milk cooler is cleaned, the three-way valve is automatically opened toward the milk cooler, and the milked milk is stored and opened and closed by the milk cooler. As the valve opens, the milk stored in the auxiliary tank is supplied to the milk cooler, and the milk is cooled and stored in the milk cooler.

Description

Automatic milk milking system {Automatic milk milking system}

The present invention relates to a milking system, and more particularly, an auxiliary tank is installed between a robot milking device and a milk cooler, and the opening direction of a three-way valve is automatically changed to face the auxiliary tank during cleaning of the milk cooler, thereby reducing the milk cooler. It relates to an automatic milking system that milks milk in an auxiliary tank while washing.

Generally, in dairy farms, ranchers forcibly drive cows and directly milk them at set times 2 to 3 times a day. Once a day at a set time, a milk truck visits the farm to collect the milk stored in the milk cooling tank. After that, when the milk cooling tank is emptied, the rancher cleans the milk cooling tank before Keep it clean and ready for the next milking.

Patent Document 1 shows a conventional crude oil cooler, referring to this, a cooling water storage tank in which cooling water is stored, a main cooling unit connected to the cooling water storage tank and a first circulation line to cool to 2 to 6 degrees, and cooling water It is connected to the storage tank and the second circulation line and includes a preliminary cooling unit for preliminary cooling to 8 to 12 degrees by exchanging heat with crude oil before flowing into the main cooling unit.

Here, the main cooling unit includes a crude oil storage tank in which a storage space for storing crude oil pre-cooled in the preliminary cooling unit is provided inside, and a plurality of connections connected to the outer circumferential surface of the crude oil storage tank at regular intervals by being attached to the crude oil storage tank A cooling plate provided with parts and forming a cooling water passage through which cooling water flows between the connection parts, a cooling water inlet pipe and a cooling water discharge pipe installed on the cooling plate to communicate with the cooling water passage and connected to the first circulation line to provide

At this time, the first circulation line 1 is for supplying cooling water to the main cooling unit 50, and one end is connected to the lower part of the cooling water storage tank 10 and the other end passes through the main cooling unit 50 to provide cooling water. It is connected to the top of the storage tank 10. And the second circulation line 5 is for supplying cooling water to the pre-cooling unit 30, one end connected to the lower part of the cooling water storage tank 10 and the other end passing through the pre-cooling unit 30 to the cooling water storage tank. (10) It is connected to the upper part of the costume.

That is, the cooling water circulating through the second circulation line and the milked crude oil are pre-cooled to 8-12 degrees by heat exchange action, and then the pre-cooled crude oil is circulated through the first circulation line through a heat exchange action. It is cooled to 2-6 degrees by 2 to 6 degrees to prevent deterioration of the quality of milk milked in the ranch.

However, in Patent Document 1 as described above, while washing the main cooling unit for cooling and storing milk once a day at a fixed time, it is impossible to store milk with this main cooling unit, and it is impossible to continuously store milk, so the main cooling Milking work must be stopped according to the sub-washing time. In particular, milk production is drastically reduced due to the stoppage of milking work, and also, there is difficulty in milking at a fixed time, so the time the milk stays in the cow is shortened. As it increases, the quality of milk rapidly deteriorates, and it is difficult to produce high-quality milk due to the deterioration in the quality of milk, and thus, there is a problem in that the reliability of the product is lowered.

KR 10-1252234 B1

The present invention is to solve the above-described problems, and an object of the present invention is to provide a robot milking device for milking milk by adsorbing a teat cup to a teat of a livestock, and is connected to the robot milking device to cool and store milk. By forming a milk cooler that does, forming an auxiliary tank between the robot milking device and the milk cooler, forming a three-way valve between the robot milking device, the milk cooler and the auxiliary tank, and forming an on-off valve between the milk cooler and the auxiliary tank. , When cleaning the milk cooler, the three-way valve is automatically changed and opened to face the auxiliary tank, and the milk being milked through the milking machine is stored in the auxiliary tank, or when the milk cooler is cleaned, the three-way valve is automatically changed and opened to face the milk cooler, The present invention relates to an automatic milking system for storing milk milked in a robot milking device in a milk cooler, simultaneously receiving milk stored in an auxiliary tank by opening an opening/closing valve, and storing milk continuously milked through the milking device.

In order to achieve the object of the present invention as described above, the automatic milking system according to the present invention confirms the position of the nipple of the livestock, moves the teat cup to the teat position, and adsorbs the teat cup around the teat, A robot milking device for milking milk through a twin cup; a milk cooler that is connected to the robot milking device and cools and stores milk supplied by the robot milking device; an auxiliary tank installed between the robot milking device and the milk cooler, receiving and storing milk milked by the robot milking device, and supplying the stored milk to the milk cooler; It is installed between the robot milking device, the milk cooler and the auxiliary tank, and automatically changes the opening direction toward the milk cooler or the auxiliary tank, so that the milk milked by the robot milking device is supplied to the milk cooler or the auxiliary tank. A three-way valve that allows automatic supply to the tank; An on/off valve installed between the milk cooler and the auxiliary tank and automatically opened and closed to supply or shut off the milk in the auxiliary tank to the milk cooler.

In the automatic milking system according to the present invention, the milk cooler is installed on the outer surface and is operated by a coercive method, and outputs an ON operation signal to the three-way valve and the on-off valve, so that the robot milking device is connected to the robot milking device. The opening direction of the three-way valve is controlled toward the auxiliary tank, and an OFF operation signal is output to the three-way valve and the opening/closing valve so that the opening direction of the three-way valve connected to the robot milking device is directed toward the milk cooler. It is characterized by further forming a washing mode switch to do.

In the automatic milking system according to the present invention, the milk cooler checks the presence or absence of milk supplied from the robot milking device and the auxiliary tank on the inner bottom surface to control whether the washing mode switch can be operated. It is characterized in that a first fluid detection sensor is further formed.

In the automatic milking system according to the present invention, the milk cooler detects the milk level on the upper and lower surfaces of the inner wall, and when the milk cooler is filled with a predetermined amount or more, the signal is output to the three-way valve So, the opening direction of the three-way valve is controlled to face the auxiliary tank, the milk level is detected, and when the milk level drops below a predetermined amount in the milk cooler, the signal is output to the three-way valve, It is characterized in that a water level sensor for controlling the opening direction of the three-way valve toward the milk cooler is further formed.

In the automatic milking system according to the present invention, the auxiliary tank detects the presence or absence of milk received in the internal space and the presence or absence of milk detected by the first fluid sensor on the inner bottom surface, so that the milk cooler and the When it is detected that milk is simultaneously accommodated in the auxiliary tank, the opening/closing valve is opened. It is characterized in that a second fluid detection sensor is further formed to control the opening/closing valve to supply or shut off the milk cooler.

In the automatic milking system according to the present invention, the robot milking device includes: a base plate installed on a moving device that moves in the direction of a teat of livestock; a recognition camera fixedly installed on the upper surface of the base plate and recognizing the position of a teat of a livestock; A plurality of cylinder devices installed at a predetermined interval on the lower surface of the base plate; A stopper fixed to the upper surface of the base plate is provided, and a plurality of flexible blocks are installed to be aligned in a line at the front end of the stopper and are stretched or shortened. Fixed moving forward and backward by the flexible block at the front end of the flexible block A flexible rod portion forming a block; One end is connected to the cylinder device, the other end passes through the stopper and the flexible block of the flexible rod part and is connected to the fixed block, and is pulled or released by the cylinder device to apply or release a pulling force to the fixed block wire to do; It is characterized in that it consists of; fixedly installed at the front end of the fixed block of the flexible rod part and inserted into the teat of livestock to milk milk.

According to the present invention, the milk to be milked is stored in the auxiliary tank when washing the milk cooler, so that washing and milking operations can be performed simultaneously, and milk production is increased by continuously milking milk with the robot milking device. By milking milk at a set time from the start, the quality of milk can be improved and high-quality milk can be produced at the same time. In particular, when cleaning the milk cooler, the three-way valve automatically opens toward the auxiliary tank, so there is a risk of milk flowing into the milk cooler being cleaned. In addition, when the cleaning of the milk cooler is completed, the three-way valve automatically opens in the direction of the milk cooler to store milk in the cooler, and when the opening/closing valve opens, the milk stored in the auxiliary tank is supplied to the milk cooler. Milk is cooled and stored in the cooler, and thus, there is an advantage in that the quality of milk and the reliability of the product are improved at the same time.

1 is a developed view showing an automatic milking system according to the present invention.
Figure 2 is a perspective view showing a robot milking device of an automatic milking system according to the present invention.
Figure 3 is an operating state diagram of Figure 2;
Figure 4 is a partial cross-sectional view showing a milk cooler of the automatic milking system according to the present invention.
Figure 5 is a partial cross-sectional view showing the auxiliary tank of the automatic milking system according to the present invention.
Figure 6 is a schematic diagram showing a state of storing milk in the milk cooler of the automatic milking system according to the present invention.
Figure 7 is a schematic view showing a state of storing milk in the auxiliary tank of the automatic milking system according to the present invention.
Figure 8 is a schematic diagram showing a state in which milk is stored in the milk cooler of the automatic milking system according to the present invention, and the milk in the auxiliary tank is simultaneously supplied to the milk cooler.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 to 8, the robot milking device 100 checks the position of the nipple of the livestock, moves the teat cup 106 to the teat location, and adsorbs the teat cup 106 around the teat, Milk is milked through the cup 106.

The robot milking device 100 milks milk from livestock and supplies the milk to the milk cooler 200 or the auxiliary tank 300 .

The robot milking device 100 includes a base plate 101 installed on the moving device 10 that moves in the direction of the nipple of the livestock, and a recognition camera fixed to the upper surface of the base plate 101 to recognize the position of the teat of the livestock ( 102), a plurality of cylinder devices 103 installed at a predetermined interval on the bottom surface of the base plate 101, and a stopper 104a fixedly installed on the upper surface of the base plate 101, and lined up at the front end of the stopper 104a A flexible rod having a plurality of flexible blocks 104b installed to be aligned and stretched or shortened, and a fixed block 104c moving forward and backward by the flexible block 104b at the front end of the flexible block 104b. Part 104, one end is connected to the cylinder device 103, and the other end passes through the stopper 104a and the flexible block 104b of the flexible rod part 104 and is connected to the fixing block 104c, A wire 105 for applying or releasing a pulling force to the fixing block 104c while being pulled or released by the cylinder device 103, fixedly installed at the front end of the fixing block 104c of the flexible rod part 104 It is composed of a teat cup 106 that is inserted into the nipple of a livestock to milk milk.

The base plate 101 supports the flexible rod part 104 and the recognition camera 102 on its upper surface, and the cylinder device 103 is fixedly installed on its lower surface.

The base plate 101 is moved in a predetermined direction by the moving device 10 to move the position of the tea cup 106 installed on the flexible rod part 104.

Preferably, the base plate 101 is maintained in a state of being suspended in the air by the moving device 10 .

The recognition camera 102 is fixedly installed on the upper surface of the base plate 101 to recognize the position of the nipple of the livestock.

The recognition camera 102 calculates the distance from the teat cup 106 installed on the flexible rod part 104 to the nipple of the livestock, and outputs a signal to the moving device 10 and the cylinder device 103 do.

It is preferable that the recognition camera 102 calculates the location of the teats of livestock in a 3D scanning method.

A plurality of cylinder devices 103 are installed on the lower surface of the base plate 101 at a predetermined interval.

The cylinder device 103 receives a signal from the recognition camera 102 and pulls the wire 105 or releases the pulling force of the wire 105, and the teat cup installed on the flexible rod part 104 ( 106) is maintained adsorbed to different teats of livestock.

The cylinder device 103 receives a signal from the recognition camera 102 and adjusts the pulling force of the wires 105 so that each wire 105 maintains a different length or the same length.

The stopper 104a blocks the flexible block 104b moving backward by the fixing block 104c, so that the flexible block 104b moves backward by a predetermined distance or more in the rear end direction of the base plate 101 block it out

The flexible block 104b is pressed by the fixing block 104c, but its movement is limited by the stopper 104a, and is fixed between the fixing block 104c and the stopper 104a.

The fixing block 104c presses the flexible block 104b in the direction of the stopper 104a while being pulled by the wire 105.

The fixing block 104c releases the pressing force that presses the flexible block 104b by releasing the pulling force of the wire 105, allowing the plurality of flexible blocks 104b to flow flexibly.

The wire 105 is pulled by the cylinder device 103 or its pulling force is released.

The wire 105 pulls the fixing block 104c so that the fixing block 104c presses the flexible block 104b.

As the pulling force of the wire 105 is released by the cylinder device 103, the pulling of the fixing block 104c is released, so that the fixing block 104c presses the flexible block 104b. do.

The wire 105 moves toward the flexible rod part 104 or the cylinder device 103 by the cylinder device 103 .

The teat cup 106 forms a milking hose 106a and a vacuum suction path 106b on the bottom surface.

The teat cup 106 forcibly sucks the air in the teat cup 106 through the vacuum suction path 106b to form a suction pressure in the inner space.

The milking hose 106a of the teat cup 106 is connected to the milk cooler 200 and the auxiliary tank 300 .

The milk cooler 200 is connected to the robot milking device 100, receives milk milked from the robot milking device 100, and cools and stores the milk.

The milk cooler 200 cools the inner space to a predetermined temperature so that the milk accommodated therein remains cooled to a predetermined temperature.

The milk cooler 200 is installed on the outer surface and is operated by a coercive method, and outputs an ON operation signal to the three-way valve 400 and the on-off valve 500, and the robot milking device 100 and the connected The opening direction of the three-way valve 400 is controlled toward the auxiliary tank 300, and an OFF operation signal is output to the three-way valve 400 and the on-off valve 500, so that the robot milking device 100 and A washing mode switch 201 for controlling the opening direction of the connected three-way valve 400 toward the milk cooler 300 is further formed.

Preferably, the washing mode switch 201 is forcibly manipulated by the user.

When the washing operation in the milk cooler 200 is completed, the washing mode switch 201 is forcibly manipulated by the user to be turned OFF, and outputs this signal to the three-way valve 400, so that the three-way valve 400 is controlled to open toward the milk cooler 200.

The washing mode switch 201 forms a lamp (not shown) indicating an operable state.

The milk cooler 200 checks the presence or absence of milk supplied from the robot milking device 100 and the auxiliary tank 300 on the inner bottom surface to control whether the washing mode switch 201 can be operated. A first fluid detection sensor 202 is further formed.

The first fluid sensor 202 turns on/off the lamp of the washing mode switch 201 to externally indicate whether the washing mode switch 201 can be operated.

The first fluid detection sensor 202 detects the milk accommodated in the milk cooler 200, and turns off the lamp of the washing mode switch 201 as soon as milk is detected, thereby operating the washing mode switch 201. is limited, and if milk is not detected, the lamp of the washing mode switch 201 is turned on to allow the operation of the washing mode switch 201.

The first fluid detection sensor 202 checks whether or not there is milk accommodated in the milk cooler 200 and outputs a signal to the second fluid detection sensor 301 of the auxiliary tank 300.

The milk cooler 200 detects the milk level on the upper and lower inner walls, and outputs a signal to the three-way valve 400 when the milk cooler 200 is filled with a predetermined amount or more of milk. The opening direction of the three-way valve 400 is controlled toward the auxiliary tank 300, the milk level is detected, and when the milk level drops below a predetermined amount in the milk cooler 200, the signal is sent A water level sensor 203 is further formed, which outputs the water to the three-way valve 400 and controls the opening direction of the three-way valve 400 toward the milk cooler 200.

The water level detection sensor 203 prevents the milk cooler 200 from being filled with more than a predetermined amount of milk or lowering the amount of milk within the milk cooler 200 below a predetermined amount.

The water level sensor 203 is formed in a pair symmetrically up and down, and the water level sensor 203 installed on the upper part detects that the milk cooler 200 is filled with milk of a predetermined amount or more, but the lower part The water level sensor 203 installed in the milk cooler 200 detects that the milk in the milk cooler 200 is lower than a predetermined amount.

The milk cooler 200 preferably forms a discharge pipe (unsigned) for discharging the milk accommodated in the inner space on the outer surface.

The auxiliary tank 300 is installed between the robot milking device 100 and the milk cooler 200, receives and stores milk milked from the robot milking device 100, and stores the stored milk in the milk cooler ( 200) is supplied.

The auxiliary tank 300 operates the washing mode switch 201 of the milk cooler 200 to receive and store milk from the robot milking device 100 when cleaning the milk cooler 200.

The auxiliary tank 300 detects the milk presence signal detected by the first fluid detection sensor 202 on the inner bottom surface and the presence of milk accommodated in the inner space, so that the milk cooler 200 and the auxiliary tank ( When it is detected that milk is simultaneously accommodated in 300), the on-off valve 500 is opened, and when it is detected that milk is not accommodated in any one of the milk cooler 200 and the auxiliary tank 300, the on-off valve ( 500) is closed to further form a second fluid detection sensor 301 that controls the opening/closing valve 500 to supply or shut off the milk in the auxiliary tank 300 to the milk cooler 200.

The second fluid detection sensor 301 opens the opening/closing valve 500 to allow the milk stored in the auxiliary tank 300 to be supplied to the milk cooler 200, and blocks the opening/closing valve 500. Thus, the back flow of milk in the milk cooler 200 to the auxiliary tank 300 is prevented.

The three-way valve 400 is installed between the robot milking device 100, the milk cooler 200, and the auxiliary tank 300, and the opening direction is directed toward the milk cooler 200 or the auxiliary tank 300. is automatically changed so that the milk milked in the robot milking device 100 is automatically supplied to the milk cooler 200 or the auxiliary tank 300.

The three-way valve 400 receives the ON/OFF operation of the washing mode switch 201 and the signal of the water level sensor 2103, and the opening direction is directed toward the milk cooler 200 or the auxiliary tank 300. Changed.

As the opening direction of the three-way valve 400 is changed, the milk milked in the robot milking device 100 is continuously supplied toward the milk cooler 200 or the auxiliary tank 300 .

The opening/closing valve 500 is installed between the milk cooler 200 and the auxiliary tank 300 and is automatically opened and closed to supply or shut off the milk in the auxiliary tank 300 to the milk cooler 200.

The opening/closing valve 500 operates in correspondence with the three-way valve 400 or operates independently of the three-way valve 400 to supply or shut off the milk in the auxiliary tank 300 to the milk cooler 200. .

The opening/closing valve 500 is opened to supply milk in the auxiliary tank 300 to the milk cooler 200, and closed to allow the milk in the milk cooler 200 to flow back into the auxiliary tank 300. block it out

The opening/closing valve 500 is controlled by the second fluid detection sensor 301 of the auxiliary tank 300 to open and operate.

The automatic milking system according to the present invention configured as described above is used as follows.

First, the position of the nipple of the livestock is confirmed by the recognition camera 102, and the distance between the teat cup 106 and the nipple of the livestock is calculated, and a position signal is output to the moving device 10 and the cylinder device 103.

Then, the moving device 10 moves the base plate 101 in a predetermined direction so that one of the plurality of tea cups 106 is positioned directly below the nipple of the livestock, and in that state, the lift is operated. The teat cup 106 is inserted in the direction of the nipple.

Here, when the air in the tea cup 106 is forcibly sucked through the vacuum suction path 106b of the tea cup 106 and a suction pressure is formed in the inner space of the tea cup 106, the tea cup 106 ) is maintained in an adsorbed state around the teats of the livestock while the milking operation proceeds.

At this time, the cylinder device 103 connected to the teat cup 106 adsorbed to the nipple of the livestock releases the pulling force of the wire 105, and accordingly, the pulling force pulling the fixing block 104c is released. The pressing force of the fixing block 104c pressing the flexible block 104b is simultaneously released.

Then, while the plurality of fixing blocks 104c are separated from each other, the flexible block 104b is maintained in a flexible and flexible state, so that the teat cup 106 is maintained adsorbed to the teats of livestock.

Thereafter, when the moving device 10 moves directly downward, the flexible blocks 104b are separated from each other while being separated from each other, and the gap between the flexible blocks 104b is stretched so that the teat cup 106 is a livestock It maintains an adsorbed state around the nipple.

Then, when the recognition camera 102 recognizes the other nipple of the livestock and outputs a position signal to the moving device 10 and the other cylinder device 103, the moving device 10 in the same way as above. ) is moved to allow the other teat cup 106 to enter the teat of the livestock.

Thereafter, when milking operation is performed by adsorbing each of the teat cups 106 to the teats of the livestock, the milk milked through the teats of the livestock is moved to the milking hose 106a through the teat cups 106 Afterwards, the milk is supplied to the milk cooler 200, and the milk supplied to the milk cooler 200 is changed to a temperature determined to correspond to the temperature inside the milk cooler 200, thereby maintaining freshness.

Here, the second fluid detection sensor 301 in the auxiliary tank 300 receives the signal of the first fluid detection sensor 202 of the milk cooler 200, and determines whether milk is present in the auxiliary tank 300. At this time, milk in the auxiliary tank 300 is not detected, so that the opening/closing valve 500 maintains a closed state.

Accordingly, the opening/closing valve 500 blocks the milk accommodated in the milk cooler 200 from flowing back to the auxiliary tank 300 while maintaining a blocked state.

In addition, the temperature of milk maintained in a cooled state in the milk cooler 200 is preferably within 2 to 6 degrees.

On the other hand, when milk is continuously stored in the milk cooler 200 as described above, the water level of milk gradually rises in the milk cooler 200, and at this time, the milk cooler 200 is installed up and down. When milk is detected by the water level sensor 203 installed on the upper part of the water level sensor 203, the water level sensor 203 outputs a signal to the three-way valve 400, and the three-way valve 400 The direction of is changed to face the auxiliary tank 300.

Then, the milk milked through the robot milking device 100 is moved toward the auxiliary tank 300 by the three-way valve 400, and the milk is stored in the auxiliary tank 300.

Here, when the milk in the milk cooler 200 is discharged to the outside through the discharge pipe (unsigned), the milk level in the milk cooler 200 is gradually lowered and lowered to the lower part of the water level sensor 203 at the bottom. , the water level sensor 203 outputs a signal to the three-way valve 400, and opens the three-way valve 400 toward the milk cooler 200.

Then, the milk milked in the robot milking device 100 is supplied in the direction of the milk cooler 200, and at this time, the first fluid sensor 202 installed in the milk cooler 200 detects the second fluid A signal is output to the sensor 301.

Then, the second fluid detection sensor 301 detects whether milk is present in the milk cooler 200 from the first fluid detection sensor 202, and then detects the milk contained in the auxiliary tank 300 at the same time. Thus, the on-off valve 500 is opened.

At this time, the milk accommodated in the auxiliary tank 300 passes through the opening/closing valve 500 and is supplied to the milk cooler 200, and the second fluid detection sensor 301 detects that the milk in the auxiliary tank 300 is not As soon as it is detected, the opening/closing valve 500 is shut off to prevent the milk in the milk cooler 200 from flowing back to the auxiliary tank 300.

On the other hand, when the milk cooler 200 is to be cleaned, the operation of the water level detection line 203 is stopped and the milk in the milk cooler 200 is discharged to the outside through the discharge pipe (uncoded). , Milk is not detected by the first fluid detection sensor 202 in the milk cooler 200, and at this time, the first fluid detection sensor 202 outputs a signal to the washing mode switch 201, and the washing A lamp is turned on in the mode switch 201.

Then, the user forcibly presses the washing mode switch 201 to turn it on, and at this time, the three-way valve 400 receiving the washing mode switch 201 signal is directed toward the auxiliary tank 300. When the opening is operated, the milk milked through the robot milking device 100 is continuously stored in the auxiliary tank 300.

And, while milk is stored in the auxiliary tank 300, washing water is supplied to the inside of the milk cooler 200 to clean the inner space of the milk cooler 200.

At this time, it is preferable to discharge the washing water injected into the milk cooler 200 to the outside through the discharge pipe (not marked).

Then, when the washing of the inside of the milk cooler 200 is completed, the washing mode switch 201 is pressed and operated to turn the washing mode switch 201 OFF. At this time, the washing mode switch 201 By outputting a signal to the three-way valve 400, the three-way valve 400 is changed to open toward the milk cooler 200.

Then, the milk milked in the robot milking device 100 is supplied to the milk cooler 200, and at this time, the first fluid sensor 202 detects the milk supplied to the milk cooler 200, A signal is output to the second fluid detection sensor 301 .

The second fluid detection sensor 301 detects milk in the milk cooler 200 from the first fluid detection sensor 202 and simultaneously detects milk in the auxiliary tank 300, thereby opening and closing the The valve 500 is opened.

At this time, the milk in the auxiliary tank 300 is supplied to the milk cooler 200 through the opening/closing valve 500, and the second fluid detection sensor 301 detects no milk in the auxiliary tank 300. As soon as the opening/closing valve 500 is closed, the reverse flow of milk in the milk cooler 200 to the auxiliary tank 300 is prevented.

On the other hand, while continuously supplying milk to the milk cooler 200 as described above, the inside of the auxiliary tank 300 may be washed to keep the auxiliary tank 300 clean.

As described above, by installing the auxiliary tank 300 between the robot milking device 100 and the milk cooler 200, the robot milking device automatically changes to the opening direction of the three-way valve 400 when the milk cooler 200 is washed. The structure for storing the milk continuously milked in the auxiliary tank 300 in the 100 is to store the milk milked into the auxiliary tank 300 when the milk cooler 200 is washed, so that the washing and milking operations can be performed at the same time, Milk production is increased by continuously milking milk with the robot milking device 100, and milking milk at a fixed time from cows can improve the quality of milk and produce high-quality milk at the same time, in particular, a milk cooler (200) During washing, the three-way valve 400 is automatically opened in the direction of the auxiliary tank 300, so that milk does not flow into the milk cooler 200 being washed.

The automatic milking system according to the present invention described above is not limited to the above embodiment, and anyone having ordinary knowledge in the field to which the present invention belongs without departing from the gist of the present invention claimed in the claims below It has its technical spirit to the extent that it can be changed and implemented in various ways.

10: moving device 100: robot milking device
101: base plate 102: recognition camera
103: cylinder device 104: flexible rod part
104a: stopper 104b: flexible block
104c: fixed block 105: wire
106: teat cup 106a: milking hose
106b: vacuum suction furnace 200: milk cooler
201: washing mode switch 202: first fluid detection sensor
203: water level sensor 300: auxiliary tank
301: second fluid detection sensor 400: three-way valve
500: on-off valve

Claims (6)

Robotic milking device 100 that checks the position of the nipple of the livestock, moves the teat cup 106 to the teat location, adsorbs the teat cup 106 around the teat, and milks milk through the teat cup 106 Wow;
A milk cooler 200 connected to the robot milking device 100 and receiving and storing the milk milked in the robot milking device 100 by cooling it; and
An assistant installed between the robot milking device 100 and the milk cooler 200, receiving and storing the milk milked from the robot milking device 100, and supplying the stored milk to the milk cooler 200. tank 300;
It is installed between the robot milking device 100, the milk cooler 200, and the auxiliary tank 300, and automatically changes the opening direction toward the milk cooler 200 or the auxiliary tank 300, a three-way valve 400 for automatically supplying milk from the robot milking device 100 to the milk cooler 200 or the auxiliary tank 300;
An opening/closing valve 500 installed between the milk cooler 200 and the auxiliary tank 300 and automatically opening and closing to supply or shut off milk in the auxiliary tank 300 to the milk cooler 200;
consists of,
The milk cooler 200,
It is installed on the outer surface and is operated by a coercive method, and an ON operation signal is output to the three-way valve 400 and the on-off valve 500 to open the three-way valve 400 connected to the robot milking device 100. The direction is controlled to face the auxiliary tank 300,
An OFF operation signal is output to the three-way valve 400 and the on-off valve 500 to control the opening direction of the three-way valve 400 connected to the robot milking device 100 toward the milk cooler 200. It is characterized by further forming a washing mode switch 201 to
The milk cooler 200,
A first fluid detection sensor 202 that controls whether the washing mode switch 201 can be operated by checking the presence or absence of milk supplied from the robot milking device 100 and the auxiliary tank 300 on the inner bottom surface. ) is characterized by further forming,
The milk cooler 200,
The milk level is detected on the top and bottom of the inner wall surface, and when the milk cooler 200 is filled with a predetermined amount or more of milk, the signal is output to the three-way valve 400 to open the three-way valve 400 The direction is controlled to face the auxiliary tank 300,
The milk level is detected, and when the milk level drops below a predetermined level in the milk cooler 200, the signal is output to the three-way valve 400 so that the opening direction of the three-way valve 400 is the milk Characterized in that a water level sensor 203 for controlling the cooler 200 is further formed,
The auxiliary tank 300,
By detecting the presence or absence of milk received by the first fluid detection sensor 202 on the inner bottom surface and the presence or absence of milk accommodated in the internal space, the milk is simultaneously accommodated in the milk cooler 200 and the auxiliary tank 300. When it is detected, the on-off valve 500 is opened, and when it is detected that milk is not accommodated in any one of the milk cooler 200 and the auxiliary tank 300, the on-off valve 500 is closed, Automatic milk milking system, characterized in that further forming a second fluid detection sensor 301 for controlling the on-off valve 500 to supply or block the milk in the auxiliary tank 300 to the milk cooler 200. delete delete delete delete According to claim 1,
The robot milking device 100,
a base plate 101 installed on the moving device 10 that moves in the direction of the cattle nipple;
A recognition camera 102 fixedly installed on the upper surface of the base plate 101 to recognize the position of the nipple of the livestock;
A plurality of cylinder devices 103 installed at a predetermined interval on the lower surface of the base plate 101;
A stopper 104a fixedly installed on the upper surface of the base plate 101 is provided, and a plurality of flexible blocks 104b are installed to be aligned in a line at the front end of the stopper 104a to be stretched or shortened, and the flexible block ( 104b) a flexible rod part 104 having a fixed block 104c moving forward and backward by the flexible block 104b at the front end;
One end is connected to the cylinder device 103, and the other end passes through the stopper 104a and the flexible block 104b of the flexible rod part 104 and is connected to the fixing block 104c, and the cylinder device 103 A wire 105 that gives or releases a pulling force to the fixing block 104c while being pulled or released by );
a teat cup (106) fixed to the front end of the fixing block (104c) of the flexible rod part (104) and inserted into a teat of a livestock to milk milk;
Automatic milking system, characterized in that consisting of.

Images