RU2404570C2 - System and method of animal milking - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: invention relates to system of animal milking and method of milking by means of claimed system. System of animal milking contains a set of milking machines, vacuum aggregate and system of vacuum cables, connecting each of milking machines to vacuum aggregate via device of air flow regulation, provided with vacuum sensor. Each of devices of air flow regulation contains fixed flow limiter, vacuum sensor being placed higher upstream than said limiter. Each of devices of air flow regulation additionally contains valve for regulation of air flow, outgoing from milking machine, to which valve is switched, depending on vacuum level, measured by vacuum sensor. Method of animal milking in system of animal milking includes operations of measuring level of air flow, outgoing from each milking machine, and regulation of air flow, outgoing of each milking machine, depending on measured level of corresponding air flow.

EFFECT: invention allows to apply vacuum apparatus for vacuuming of various milking machines with own specific requirements to vacuum level and air flow.

12 cl, 3 dwg

Description

FIELD OF THE INVENTION

The present invention relates to an animal milking system comprising a vacuum unit and a set of milking machines, each of which is connected to the specified unit through a corresponding vacuum wire (hereinafter referred to as the connecting line). In addition, the invention relates to a method for milking animals using the proposed system.

State of the art

In modern automated dairy farms, vacuum is applied to the milking machine to perform such necessary operations as milking and cleaning.

With robotic milking, each milking point (individual milking machine) usually has to be equipped with its own special vacuum pump. Since such a solution to the problem is not optimal for multi-point dairy farms, various options have been proposed for supplying vacuum to a set of milking points using a common vacuum unit.

On larger automated robotic dairy farms, a herd of dairy animals can serve two or more automated milking points. Such automated points will be characterized by general total requirements for vacuum parameters, from which it is necessary to determine the performance of vacuum pumps. In addition, the machines of this type operate in various operating modes, from which milking, peeling of the nipples, washing of the milking machine and being in reserve can be mentioned. Each mode presents individual requirements for vacuum parameters. For example, during washing of the milking machine, there may be a strong air flow accompanied by a drop in the vacuum level, and for milking the indicated level must be stable and high. Thus, for vacuum pumps, it is necessary to choose a capacity that allows you to control the situation in which all milking machines operate in the most unfavorable operating conditions for vacuum supply. In turn, washing the milking machine may include several different steps (steps), such as washing the teatcups, rinsing the teatcups, rinsing the pipelines, pre-and rinsing with intermediate rinsing, drying, etc. In a typical case, washing the milking machine can be divided into short rinsing of the teat cups and pipelines, which can be carried out between the milking of each animal, and washing the entire milking machine (this procedure can be carried out only once, twice or three times a day).

For example, assuming that washing the machine may require a strong air flow of about 500 l / min, accompanied by a possible drop in the vacuum level to about 30 kPa, and milking requires a stable vacuum of 45 kPa and air flows of 150 l / min, with a system containing two milking machines, it is serviced by a single vacuum pump, pump performance should provide both a stable vacuum of 45 kPa with an air flow of 650 l / min and a vacuum level of approximately 30 kPa with an air flow of 1000 l / min.

However, two milking machines can only happen to be in a situation where the washing procedure is performed for them simultaneously. More often they solve various problems, moreover, one of the machines may present lower requirements to the vacuum pump. Thus, usually the characteristics of the vacuum pump must meet conditions that will not occur very often. Of course, such a pump with the appropriate performance will be more expensive both when it is purchased and in operation.

On very large farms with a large number of milking machines, each of which is evacuated from a common vacuum unit, it is not economically feasible to coordinate the parameters of such a unit with the worst of all possible situations (for example, in the case when nine machines undergo cleaning, creating strong air currents in the vacuum system and one machine is used for milking, which requires a stable and high level of vacuum).

EP 1369033 describes a milking system comprising a vacuum unit and a common annular vacuum wire to which at least two milking robots are connected. In the specified vacuum wire, the first vacuum level takes place, and individual robots use the second (lowered) vacuum level, regulated by the control means and the valve.

Disclosure of invention

The main task to which the present invention is directed is to develop a milking system and method that at least partially solve the above problems.

In this regard, a special problem solved by the invention is to develop a system and method that allows the use of a vacuum unit for evacuating various milking machines, each of which provides the opportunity to present their own specific requirements for the level of vacuum and air flow.

Another objective is the development of a system and method capable of controlling the level of air flow from a milking machine attached to a vacuum unit.

According to a first aspect of the invention, these problems are solved, among other problems, by means of an animal milking system comprising a set of milking machines, a vacuum unit and a system of vacuum wires connecting each machine to said unit. Moreover, each of the milking machines is connected to the specified unit through the corresponding device for adjusting the air flow.

According to a second aspect of the invention, these problems are solved, among other problems, by a method of milking animals in the proposed system comprising a set of milking machines, a vacuum unit and a system of vacuum wires connecting each of the milking machines to the specified unit. Moreover, the proposed method includes the operation of measuring the level of air flow coming from each milking machine, and regulating such a flow depending on the measured level of the corresponding air flow.

Preferably, the air flow coming from each milking machine is controlled with attenuation below a threshold value. In particular, the maximum level of such a flow is limited by an appropriate control device.

According to one embodiment of the invention, the milking machine is equipped with a milking robot for automatically attaching milking cups to the nipples of the animal before milking. Other types of machines are also acceptable.

According to a further embodiment of the invention, the vacuum unit comprises at least one vacuum pump and a vacuum tank with attached vacuum wires. The specified tank performs the function of a vacuum buffer, which ensures a stable vacuum.

According to yet another embodiment, each milking machine is designed to operate in one of the modes independent of the operating mode of the remaining machines and selected from a set of different modes presenting individual requirements to the vacuum parameters. The kit may include conditions such as milking, cleaning the teat cups and washing the machine.

In one embodiment, each airflow adjustment device comprises a fixed flow restrictor, a vacuum sensor located upstream of said restrictor, and designed to measure the level of vacuum. This device also contains a valve for regulating the air flow coming from the milking machine to which the valve is connected, depending on the level of vacuum measured by the vacuum sensor. This technical solution allows you to construct a very simple and inexpensive device for adjusting the air flow.

In another embodiment, each airflow adjusting device comprises a flow sensor connected to the milking machine and evaluating the level of the air flow coming from it, as well as a valve controlling the air flow depending on the level of vacuum measured by the sensor.

Other features and advantages of the invention will be apparent from the following detailed description of embodiments thereof, which should be read in conjunction with the accompanying drawings. All drawings are given only as an illustration and do not impose any restrictions on the invention.

In the following description, the term "animals" refers to cows. However, the invention is not limited to this particular type of animal and is applicable to any animal with the ability to produce milk, such as sheep, goats, buffalo, horses, etc.

Brief Description of the Drawings

Figure 1 in the form of a simplified block diagram represents a milking system according to one of the embodiments of the present invention.

Figure 2 is a schematic illustration of an airflow adjustment device according to the invention.

Figure 3 is a schematic illustration of an alternative airflow adjustment device according to the invention.

The implementation of the invention

Figure 1 in the form of a simplified block diagram shows a milking system according to one embodiment of the invention. A common annular vacuum wire 101 is connected to the vacuum tank 102. To supply vacuum to the indicated tank and the vacuum wire, the vacuum tank is connected to three vacuum pumps 103, 104 and 105 (in the preferred embodiment, these pumps are variable frequency controlled). The pumps together with the vacuum tank form the vacuum unit 114. Of course, based on the needs of the actual application, the number of vacuum pumps can be increased or decreased. For example, the number of pumps and their performance may depend on the number of milking machines connected to a common ring vacuum wire 101.

A vacuum sensor 51 is provided in the vacuum tank 102 for measuring the vacuum level. Vacuum pumps 103, 104 and 105, together with a vacuum sensor 51, are connected to a control device 52 responsible for controlling the vacuum unit 114.

In the international application WO 03/045133 (the contents of which are incorporated into this description by reference thereto), a vacuum pump design is provided that can be partially or fully used in the practice of the present invention.

Vacuum from a common ring vacuum wire 101 is supplied to the milking machines through connecting lines 106a-106l. In this embodiment, the vacuum wire system comprises twelve such lines connecting twelve milking machines to it (one of them, machine 107, shown in FIG. 1). The milking machine 107 may be equipped, for example, with a conventional milking robot, through which one or more animals can be milked. For milking and other tasks related to animals, the milking machine uses a vacuum, which is fed into it by vacuum pumps 103, 104 and 105 through a common annular vacuum wire 101, connecting line 106, check valve 100 and air flow adjustment device 108. One of the characteristic features of the milking machine 107 is that it uses vacuum not only for milking, but also for other purposes, such as cleaning the nipples, washing the teat cups, as well as rinsing, washing and drying the entire machine. At the same time, each of these additional tasks can present specific requirements to the vacuum level and air flow.

The vacuum pumps shown in FIG. 1 must be able to maintain a strong air flow. Examples of different operating modes in which each milking machine can operate at a given moment are given below in Table 1. Such modes, differing from each other, require significantly different levels of vacuum and create very different air flows in the vacuum system.

Table 1 Milking Machine Modes Mode Function Vacuum Requirements 0 Machine is off No vacuum one Milking Required vacuum level = 45 kPa, low air flow ~ 150 l / min 2 Nipple cleansing Required vacuum level <45 kPa, strong air flow ~ 1000 l / min 3 Flushing the milking machine Required vacuum level <45 kPa, strong air flow ~ 500 l / min four Maintenance Low vacuum, very low air flow ~ 20 l / min

In mode 0, the milking machine is turned off, i.e. vacuum is not in demand. In mode 1, the animal is milked, and not only for the health of the animal, but, for example, to achieve a good milking result, it is necessary that the vacuum is stably maintained at a given level of 45 kPa. During milking, the air flow is relatively weak and approximately 150 l / min. However, it should be noted that, as is well known to specialists in this field, during milking, it may be necessary for various purposes (such as achieving a milder milking mode) to deliberately change the level of vacuum. Nevertheless, maintaining a selected vacuum level in all situations remains an important condition, i.e. large unintentional changes in the vacuum level should not occur.

In mode 2, the nipples are cleaned, creating a strong air flow of the order of, for example, 1000 l / min. In well-known milking systems, where each milking machine is equipped with its own vacuum pump, the pump assigned to the machine was usually tuned to maintain a level of 45 kPa. However, due to the strong air flow, conditions arose in which the pump was unable to maintain such a level, and the vacuum dropped to about 30 kPa. This known effect was considered acceptable, since during this mode, the value of a specific vacuum level did not belong to important parameters. It is obvious that in the milking system according to the invention it is impossible to control an individual vacuum pump, because milking machine 107 does not have a pump assigned to it. Therefore, it is likely that another milking machine located on the same common ring vacuum wire 101 may end up in mode 1 and milking with special requirements for the vacuum level.

Of course, it would be possible to choose the total capacity of the vacuum pumps connected to the vacuum tank 102, so that it would cope with a situation in which all milking machines operate in mode 2 and nonetheless maintain a vacuum of 45 kPa. But such a technical solution would be very unprofitable, because it would require very powerful pumps for extremely rare conditions. Shown in figure 1, an additional common annular vacuum wire 109, similar to the vacuum wire 101 and associated with additional milking machines, would worsen the situation even more. Instead, according to the invention, each milking machine, as described below, is equipped with an airflow adjustment device 108.

In some installations, a teapot similar to a teat cup is used to clean the nipples. When using such a glass, water and compressed air are introduced into it as intended, after which the water is removed, creating a vacuum in the glass. The consequence of this is the strong air flow mentioned above. In alternative embodiments, other means, such as brushes and similar devices for which vacuum is not needed at all, can be used to clean the nipples.

In mode 3, the milking machine is washed, and the air flow can reach approximately 500 l / min.

In mode 4, the milking machine is in a maintenance state. In the case of a robotic automated milking machine, this mode can be used, in particular, on the length of time when the machine "expects" the entry of a new animal. The air flow is usually weak and approximately 20 l / min.

Milking machines attached to a common ring vacuum wire 101 operate completely independently of each other, i.e. each of them can work in any mode in isolation from the operating modes of other machines.

The device 108 according to the invention is intended to bring the air flow coming from the milking machine to which the device is connected to a level below a threshold value. This means that during operation in conditions that cause a strong vacuum drop, according to the invention, the flow entering the vacuum system is reduced. The vacuum drop in the milking machine is not critical when it operates in modes 2 or 3.

Figure 2 presents an embodiment of a device 108 for adjusting the air flow. A fixed flow restrictor 113 (throttle) is located in the milking machine connecting line 106d, a vacuum sensor 110, positioned relative to the restrictor 113 upstream of the air flow, is used to measure the vacuum level, and the valve 111 performs the function of controlling the level of air flow coming from the milking machine 107 depending on the vacuum level measured by the vacuum sensor 110.

Valve 111 is a vacuum control device positioned relative to restrictor 113 and vacuum sensor 110 upstream of the air stream. The specified valve consists of upper and lower chambers 201 and 202, respectively, separated by a flexible membrane 203. The upper chamber 201 is connected through a vacuum line 204 and a check valve 112 to a vacuum sensor 110. In the lower chamber 202 there is a piston 205 mounted for vertical movement up and down depending on the position of the flexible membrane 203. As a result of this movement, the channel connecting the milking machine 107 with its connecting line 106d opens and closes.

In response to the vacuum level in the indicated line 106d, the sensor 110 controls the vacuum in the vacuum line 204 and thus in the upper chamber 201 of the valve 111.

With the right choice of dimensional parameters, a too large vacuum drop in the milking machine 107, caused by the influx of strong airflow into its connecting line 106d, will cause the sensor to reduce the vacuum in the vacuum line 204 and in the upper chamber 201 of the valve 111. In turn, this will result in a flexible membranes 203 onto a piston 205, which will reduce the size of the channel between the milking machine 107 and the connecting line 106d. Thus, in the specified line due to the weakening of the incoming air flow into it, the vacuum level decreases. The result of the continuous operation of the proposed regulatory device will be a stable state with a stabilized air flow entering the connecting line 106d of the milking machine and, therefore, with a stabilized vacuum level in the specified line.

It is possible to adjust the airflow adjustment device 108 in such a way that the combination of the vacuum unit 114 (which by itself when creating the airflow has a high capacity, possibly exceeding 10,000 l / min) and the airflow adjustment device 108 is equivalent to a standard vacuum pump used for a standalone milking machine and having a capacity of approximately 1000 l / min at 30 kPa.

Thus, a circuit that does not have an airflow adjustment device would seek to maintain a vacuum level in the milking machine 107 in the presence of corresponding strong flows even in a situation where the specified level is not required to be maintained. The system according to the invention, using the specified device 108, limits the air flow coming from the milking machine 107, and accordingly allows the vacuum level in it to decrease, without affecting the vacuum level or air flow corresponding to any other milking machine connected to a common ring vacuum wire 101.

Typically, valve 111 is fully open during operation in operating mode 1 (milking) and at least partially closes during operation in operating modes 2 or 3 (peeling and flushing of the milking machine).

Figure 3 presents an alternative embodiment of the device 108 adjust the air flow. In the indicated device, the vacuum sensor and fixed restrictor used in the circuit shown in FIG. 2 are replaced by a sensor 301, which directly measures the air flow in the connecting line 106d connecting the milking machine 107 to the vacuum unit 114. The air flow sensor 301 controls the valve 111 in the same way. as a vacuum sensor in the device shown in figure 2. It should be borne in mind that a fragment of the connecting line 106d is depicted in figure 3 in a greatly enlarged scale.

In any case, it must be emphasized that in order to implement the present invention, instead of the devices shown in FIGS. 2 and 3, any other means of adjusting the air flow, which is known from the prior art or will be known in the future, can be used.

It should also be understood that various modifications of the present invention are possible. Such modifications should not be considered outside the scope of the invention. In addition, any modifications obvious to those skilled in the art should also be included within the scope of the invention defined by the appended claims. In particular, the vacuum unit 114 may use a vacuum wire in configurations other than a ring.

Claims (12)

1. An animal milking system comprising a set of milking machines (107), a vacuum unit (102-105), a system of vacuum wires (101, 106a-106l) connecting each of the milking machines to a vacuum unit through an air flow adjustment device (108) equipped with a vacuum sensor (110) for measuring the vacuum level, characterized in that each of the air flow control devices contains a fixed flow restrictor (113), and the vacuum sensor (110) is placed upstream of the specified limiter, while each of the lips oystv adjusting the air flow further comprises a valve (111) for regulating the air flow coming from the milking machine to which the valve is connected, depending on the vacuum level measured by the vacuum sensor. 2. The system according to claim 1, characterized in that the valve is a valve controlled by a vacuum level and installed upstream of the air flow than a fixed limiter and a vacuum sensor. 3. An animal milking system comprising a set of milking machines (107), a vacuum unit (102-105) and a system of vacuum wires (101, 106a-106l) connecting each of the milking machines to a vacuum unit through an air flow adjustment device (108) characterized in that each of the airflow adjustment devices comprises a flow sensor (301) for measuring the level of air flow coming from the milking machine to which the sensor is connected, and a valve (111) for regulating the air flow depending on the measured level The appropriate air flow. 4. The system according to claim 3, characterized in that said valve is placed upstream of the air stream than said sensor. 5. The system according to claim 1 or 3, characterized in that the vacuum unit contains at least one vacuum pump (103-105) and a vacuum tank (102), and the vacuum wires are connected to a vacuum tank. 6. The system according to claim 1 or 3, characterized in that each of these air flow control devices is designed to control the air flow coming from the milking machine to which the specified device is connected so that the specified flow is weaker than the threshold value. 7. The system according to claim 1 or 3, characterized in that each of the milking machines is designed to operate, regardless of the operating mode of each of the other milking machines, in one of the operating modes selected from a set of different modes having different requirements for parameters vacuum. 8. The system according to claim 6, characterized in that the specified set of different modes includes milking, washing the teat cups and washing the milking machine. 9. The system according to claim 1 or 3, characterized in that said vacuum wire system comprises at least one annular vacuum wire (101) connected to a vacuum unit and a set of connecting lines (106a-106l) of milking machines moreover, these lines are designed to connect each milking machine to the annular vacuum wire. 10. The system according to claim 9, characterized in that each of the air flow control devices is installed on the connecting line of the corresponding milking machine. 11. The method of milking animals in a system containing a set of milking machines (107), a vacuum unit (102-105) and a system of vacuum wires (101, 106a-106l) connecting each of the milking machines to a vacuum unit, characterized in that it includes the operation of measuring the level of air flow coming from each milking machine, and regulating the air flow coming from each milking machine, depending on the measured level of the corresponding air flow. 12. The method according to claim 11, characterized in that the air flow coming from each milking machine is controlled so that it is weaker than the threshold value.

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