RU2388216C1 - Portable manipulator for preparation of cows for start-up in process of milking - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: invention relates to agriculture, in particular to devices for livestock sector mechanisation. Portable manipulator of linear milking plant includes milking device, connected by rope to pneumatic cylinder, which, by means of loop, is fixed to stand, and control unit, which by means of socket is connected to milk line and vacuum line of milking plant, for instance ADM-8. Header comprises lever, which interacts with valve of milking device disconnection by one end, and to free end of which there is rope of pneumatic cylinder fixed.

EFFECT: invention improves efficiency of cows preparation for start-up in process of milking, increases labour efficiency and makes it possible to reduce number of cow mastitis cases.

4 cl, 6 dwg

Description

The invention relates to agriculture, in particular to devices for the mechanization of animal husbandry, and can be used to improve the efficiency of preparation of cows for launch in the process of milking.

The known manipulator of the milking unit SU 1750511 C1, 07/30/1992, including four milk flow sensors and finishing mechanisms made on each milking cup, as well as a milking machine, which contains two-chamber milking cups with vacuum regulators, a collector with cameras containing milk trays.

Known portable manipulator linear milking machine RU 2151499 C1, 06/27/2000, which consists of a milking machine, a cable connected to a pneumatic cylinder, which is attached by a hinge to the milk flow sensor, and the sensor, in turn, by means of a detachable connection is attached to the vacuum wire and milk line linear milking machine type ADM-8.

However, these devices do not provide increased efficiency in preparing cows for launching during milking.

Closest to the invention is a portable manipulator of a linear milking machine RU 2221417 C2, 01/20/2004, which consists of a milking machine connected by a cable to the pneumatic cylinder and through a milk hose and a pipe with a control unit with an electric energy source.

However, this manipulator also does not provide an increase in the efficiency of preparing cows for launching during milking.

The objective of the invention is to increase the efficiency of preparation of cows for launch in the process of milking.

To achieve this, the collector contains a lever, one end interacting with a shut-off valve of the milking machine, to the free end of which is attached a cable of the pneumatic cylinder; the cavity of the pneumatic cylinder with a vacuum wire is connected through a pneumatic amplifier, the control chamber of which communicates with the atmosphere or vacuum wire electrically controlled three-way valve; the milk flow sensor is made in the form of a milk trap, which is equipped with an electrode milk level sensor, calibrated in units of the intensity of the flow of milk from the milk trap with a float with a needle and magnet interacting with the reed switch with its lower position in the milk trap, and installed with the possibility of vertical movement as milk accumulates in it to a height equal to the length of the needle, and to ensure a linear relationship between the movement of the needle in the hole and the flow of milk through the hole, the surface of the needle performed in the form described by the equation of the form

,

,

where r is the radius of the drain hole, m; x, z - the current value of the radius of the needle along the X and Z axis, respectively, m; l is the length of the needle, m; a milk flow quencher made in the form of a helical channel formed by a milk trap body, a cylinder and a spiral tape coaxially mounted with it, and a pipe for supplying milk to the milk trap is installed tangentially to its body, and a vacuum pressure regulator in the suction cup of the milking cup, the control chamber of which the nozzle is in communication with the vacuum wire, and through the calibrated solenoid valve - with the atmosphere; a three-way valve, a calibrated electrovalve, a reed switch and an electrode sensor are electrically connected to an electronic unit with an integrator that implements an algorithm for preparing the cow for start-up during milking by controlling the milking mode depending on the milk flow rate, monitoring the milk yield and removing the milking machine from the cow's udder when the set value is reached level of milking in accordance with the preparation for launch.

The invention will be understood from the following description and the attached drawings. Figure 1 shows a portable manipulator for preparing cows for launch during milking, a General view; figure 2 - control algorithm for preparing cows for launch during milking; figure 3 - molokolovushka; figure 4 is a cross-section of the milk trap; figure 5 - movement of the float when filled with milk milk trap; figure 6 - to calculate the shape of the surface of the needle.

The portable manipulator of the linear milking machine (Fig. 1) consists of a milking machine 1, a cable 2 connected to a pneumatic cylinder 3, which is attached to a stand (not shown) through a loop 4 (with the possibility of swinging), and a control unit 5, which is connected via a connector 6 to the milk line 7 and the vacuum wire 8 of the milking unit, for example ADM-8. Milking cups 9 contain vacuum pressure regulators 10 in the inter-wall chambers 11, control chambers 12 of which are in communication with suction chambers 13 of the milking cups 9 and are equipped with valves 14 for air inlet into the suction cup 13 in a compression stroke. The collector 15 contains a lever 16, one end interacting with the shut-off valve 17 of the milking machine 1, and to the free end of which is attached a cable 2 of the pneumatic cylinder 3. The cavity of the pneumatic cylinder 3 with a vacuum wire 8 is connected through a pneumatic amplifier 18, the control chamber 19 of which is with the atmosphere or vacuum pipe 8 informs an electrically operated three-way valve 20. The control unit 5 contains a "Start" button (not shown), a pulsator 21, an electronic unit 22 with an integrator and a milk flow sensor made in the form of a milk trap 23, which is equipped with equipped with an electrode sensor 24 for the milk level, calibrated in units of the intensity of the milk flow from the milk trap 23 with a float 25 with a magnet 26 interacting with the reed switch 27 at its lower position in the milk trap 23, a milk flow quencher 28 and a vacuum gauge 29 in the suction cup 13 of the teat cup 9, the control chamber 30 of which is connected via a nozzle 31 to a vacuum wire 8, and through a calibrated solenoid valve 32 to the atmosphere. A three-way valve 20, a calibrated solenoid valve 32, a reed switch 27 and an electrode sensor 24 are electrically connected to an electronic unit 22 that implements an algorithm for preparing the cow for start-up during milking by controlling the milking mode depending on the milk flow rate, controlling the milk yield and removing the milking machine from the cow's udder upon reaching a given level of milking out (figure 2) in accordance with the period of preparation for launch. Moreover, the flooding depth of the electrode sensor 24 is tared in units of measuring the intensity of the flow of milk from the milk trap 23. The milk flow quencher 28 of the milk trap 23 (Fig. 1, Fig. 3) is made in the form of a screw channel 33 formed by the case of the milk trap 34, coaxially mounted with a cylinder 35 and a spiral tape 36, and the pipe 37 for supplying milk to the milk trap 23 is installed tangentially to its body (figure 4). The float 25 (FIG. 3) in its lower part contains a needle 38. At the bottom of the milk trap 23, a drain hole 39 is made, overlapped by the needle 38. The float 25 is installed in the milk trap 23 with the possibility of vertical movement as milk accumulates in it (FIG. 5) on a height equal to the length of the needle 38, and to ensure a linear relationship between the movement of the needle 38 in the hole 39 (float 25 in the milk trap 23) and the flow of milk through the hole 39, the surface of the needle is made in the form described by the equation of the form (Fig.6)

,

,

where r is the radius of the drain hole, m; x, z - the current value of the radius of the needle along the X and Z axis, respectively, m; l is the length of the needle, m

The manipulator works as follows. The manipulator (Fig. 1) is attached to a rack (not shown) by means of a loop 4 (with the possibility of swinging), and by means of a connector 6, a control unit 5 is connected to the milk line 7 and the vacuum wire 8, and according to the operation algorithm (Fig. 2), a cow is identified . At the same time, information about this animal is activated in the electronic unit 22. The vacuum pressure from the vacuum wire 8 is supplied to the pulsator 21 and then through the collector 15, the vacuum pressure regulators 10 of the milking cups 9 to the interstitial chambers 11, and from the milk line 7, the vacuum pressure enters the milk trap 23 and then through the vacuum gauge regulator 29 to the valve 17 of the collector 15. Press the "Start" button (not shown) on the control unit 5. In this case, the electronic unit 22 by means of a three-way valve 20 connects the control chamber 19 of the pulse amplifier 18 with the atmosphere, thereby ensuring access of atmospheric air into the cavity of the pneumatic cylinder 3, which leads to the release of the cable 2. Pulling the cable 2 out of the pneumatic cylinder 3 and opening the valve 17, the milking machine 1 is installed on the udder of the cow. In this case, the vacuum pressure through the open valve 17 enters the collector 15 and then into the suction chambers 13 of the teat cups 9. Since at the initial moment in the absence of milk in the milk trap 23, the float 25 occupies the lower position, the magnet 26 of the float interacts with the reed switch 27, the signal from which enters the electronic unit 22, which at the same time opens a calibrated solenoid valve 32, thereby communicating the control chamber 30 of the gauge of pressure gauge 29 with the atmosphere, which is simultaneously communicated via with an acoustical wire 8. As a result, a stimulating vacuum pressure is established in the control chamber 30, and hence after the vacuum gauge regulator 29 in the collector 15 and further in the suction chambers 13 of the milking cups 9, for example 33 kPa, which also comes into the suction chambers 13 control chambers 12 of the vacuum gauge regulators 10 of the milking cups 9, thereby limiting the pulsating vacuum gauge in the inter-wall chambers 11 coming from the pulsator 21.

So carry out milking in a stimulating mode before the allowance for milk.

Milk from the milking cups 9 (Fig. 1) enters the collector 15 and then through the regulator of vacuum pressure 29 through the nozzle 37 (Figs. 3, 4) and the milk flow extinguisher 28 made in the form of a helical channel 33 installed tangentially to the milk trap body 34; formed by the housing of the milk trap 34, the cylinder 35 coaxially mounted with it and the spiral tape 36, smoothly drains into the milk trap 23, filling it. When this float 25, floating in the milk (figure 5), moves the needle 38 in the hole 39, thereby forming a gap for draining milk. Since the shape of the surface of the needle 38 described by the above equation (Fig. 6) is such that it provides a linear relationship between the movement of the needle 38 (float) in the hole 39 by the intensity of the flow of milk flowing through the formed gap, it is obvious that with an increase in the intensity of milk intake to the milk trap 23 from the milking machine 1, the float 25 changes its position in the milk trap 23 (Fig. 5), thereby changing the degree of flooding of the electrode sensor 24, and thereby changing the signal from it to the electronic unit 22 (Fig. 1) and reflecting the intensity of the flow of milk from the milk trap 23 through the slot formed in the hole 39 by the needle 38. The float 25, floating up in the milk, removes the magnet 26 from the reed switch 27 (figure 5), which at the same time sends a signal to the electronic unit 22 about the start of the process of milk intake . As a result, in accordance with the control algorithm (Fig. 2), the electronic unit 22 includes an integrator that monitors the intensity of the milk flow through the milk trap 23, records the current milk yield, and also counts and stores the number of days of the current milking mode, compares the current milk yield with the base one, performs change of milking modes and degree of milking, gives a signal about the transfer of the cow to start at the end of the process of preparation for launch in the milking process.

During milking, the stimulating milking mode (33 kPa), the manipulator maintains up to a milk flow rate of 200 ml / min (figure 2). With a further increase in the intensity of milk removal, the milking machine 1 switches to milking in the nominal mode - 48 kPa. If the delay time for switching the milking mode from stimulating to nominal exceeds 1 min, switching to the nominal mode is performed by the electronic unit 22. To enable the nominal mode, the electronic unit 22 sends a signal to the calibrated solenoid valve 32 (Fig. 1), thereby blocking the access of atmospheric air to the control chamber 30 of the vacuum gauge pressure regulator 29. As a result, in the control chamber 30, the vacuum pressure increases to the nominal pressure, which causes a synchronous increase in vacuum pressure in the suction cups 13 of the milking cups 9, control chambers 12 of the vacuum gauge regulators 10 of the milking cups 9, and therefore in the inter-chamber chambers 11. During milking in the “Compression” stroke, the valve 14 provides air inlet into the suction cup 13 of the milking cup 9 thereby increasing the efficiency of transporting milk to the milk pipe 7.

So carry out milking in nominal mode.

In the process of milking, the electronic unit 22 (Fig. 1) monitors the current milk yield and, when the degree of under-maturity is reached according to the algorithm (Fig. 2), at the command of the electronic unit 22, a three-way valve 20 connects the control chamber 19 of the pulse amplifier 18 to the vacuum -wire 8, as a result of which the pulse amplifier 18 connects the cavity of the pneumatic cylinder 3 with the vacuum wire 8. In this case, the pneumatic cylinder 3 pulls in the cable 2, which, acting on the lever 16 of the manifold 15, closes the valve 17, thereby disconnecting the milking machine 1, and removes the milking machine 1 from the udder of the cow.

The electronic unit 22 stores in memory information about the stage of the preparation mode of the cow for launch, taking into account the current milking.

The manipulator is disconnected from the milk line 7 and the vacuum wire 8. The milking process is completed.

The use of this portable cow milking manipulator on ADM-8 milking machines can increase the efficiency of preparing a cow for launch, increase labor productivity by 35-40% and reduce the incidence of mastitis of cows by 12-14%.

Information sources

1. SU 1750511 C1, 5 A01J 7/00, 07/30/1992.

2. RU 2151499 C1, 7 A01J 7/00, 5/007, 06/27/2000.

3. RU 2221417 C2, 7 A01J 5/007, 01.20.2004.

Claims (4)

1. A portable manipulator of a linear milking unit, including a milking unit, connected by a cable to a pneumatic cylinder, which is looped to the rack, and a control unit, which is attached via a connector to the milk line and vacuum pipe of the milking unit, for example ADM-8, characterized in that the collector contains a lever interacting at one end with a shut-off valve of the milking machine, and a pneumatic cylinder cable is attached to its free end. 2. The portable manipulator according to claim 1, characterized in that the cavity of the pneumatic cylinder with a vacuum pipe is connected through a pneumatic amplifier, the control chamber of which communicates with the atmosphere or vacuum pipe with an electrically controlled three-way valve. 3. The portable manipulator according to claim 1, characterized in that the milk flow sensor is made in the form of a milk trap, which is equipped with an electrode milk level sensor, calibrated in units of milk flow rate from the milk trap, a float with a needle and a magnet interacting with the reed switch at its lower position in the milk trap, and installed with the possibility of vertical movement as milk accumulates in it to a height equal to the length of the needle, and to ensure a linear relationship between the movement of the needle in the hole and milk and the flow rate through the orifice of the needle surface is made in the form described by an equation of the form

,
where r is the radius of the drain hole, m; x, z - the current value of the radius of the needle along the X and Z axis, respectively, m; l is the length of the needle, m;
a milk flow quencher made in the form of a helical channel formed by a milk trap body, a cylinder and a spiral tape coaxially mounted with it, and a pipe for supplying milk to the milk trap is installed tangentially to its body, and a vacuum pressure regulator in the suction cup of the milking cup, the control chamber of which the nozzle is connected to the vacuum pipe, and through the calibrated solenoid valve to the atmosphere. 4. The portable manipulator according to claim 1, characterized in that the three-way valve, calibrated solenoid valve, reed switch and electrode sensor are electrically connected to an electronic unit with an integrator that implements an algorithm for preparing the cow for start-up during milking by controlling the milking mode depending on the intensity of the milk flow , control of milk yield and removal of the milking machine from the udder of the cow when reaching a predetermined level of milking in accordance with the preparation for launch.

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