SU1613067A1 - Cow milking device - Google Patents

Abstract

This invention relates to industrial livestock raising, in particular to devices for milking cows. The purpose of the invention is to increase operator productivity. When a signal is received about the presence of a free machine, the control unit 36 sends a signal to the electropneumatic switch 40 and through the valve 39 turns on the actuator 38 to open the platform section leaflets 18. The passage through the flap 18, the cow acts on the limit switch 37, sends a signal to the block 36. When the number of free machines and cows that have passed the flaps 18 is equal, the latter are closed. 6 Il.

Description

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This invention relates to industrial livestock raising, in particular to devices for milking cows.

The purpose of the invention is to increase operator productivity,

FIG. 1 shows the milking installation plan; Fig. 2 is a block diagram of a control device for one machine; in fig. 3 is a block diagram of a control unit of a group of machine tools B section; in fig. 4 is a circuit diagram of a control unit; Fig. 5 illustrates the operation algorithm of the control unit; in fig. b - diagram of the operation of the switches and intermediate relays.

The milking device for cows contains a domicile installation (Fig. 1), which consists of a milking platform 1, divided into sections and containing a system of corridors 2-5, and used for the work of operators, with machines installed on the longitudinal sides of cm 6. with trellised flooring 8 and flaps 9 and 10 for the admission and release of animals. The system of corridors 2-5 is equipped with self-closing doors 11-14 for releasing animals from the milking platform 1 to the subsequent platform 15 or to the pen 16.

Between the pre-mortuary platform 17 and the milking platform 1 there are installed shutters 18 and 19 for admitting cows to the sections of platform 1 along the system of corridors 2 and 3 to the machines 7.

The milking machine (Fig. 2) contains a grating 8 attached to the base 21 to the base 21 with a spring 22, cooperating with the stop 23, flaps 9 and 10 (similar and output respectively), kinematically associated with pneumatic actuators (pneumatic cylinders) 24 and 25 connected via electro-pneumatic valves 26 and 27 and control valves (taps) 28 and 29 to the outputs of control units 30 and 31, whose inputs are connected to the outputs of sensors 32 and 33 in the directional switches, which are corresponding to the thrust position sensors The 34 pistons of the pneumatic power mechanism of the milking machine 35 m nasril 8. Sensors 33 of the position of decking 8 are connected to the inputs of the position control unit 36 of the inlet flaps 18 Sol cows inlet in the section), the sensor 37 is connected to the input of the unit 36 as a position switch . The inlet doors 18 of the section are kinematically connected to a pneumatic actuator 38 connected via a control valve (tap) 39 and an electropneumatic switch 40 to the output of the control unit 36.

Milking machine 35 is connected to the unit.

41 controls connected through the gateway

pneumatic control valve 42

actuating mechanism (pneumatic cylinder) 43.

Sash 9, 10 and 18 are equipped with a manual mechanical drive 44.

The control unit 36 (Fig. 3) consists of a summing element 45, counting the number of cows leaving the section 7 machines, connected through element 46 to the summation element 47, (the number of cows entering the pre-dividing platform 17 into the section. The control unit 36 (Fig. 4) contains a KP1 start button, intermediate relays RP1, RP2, RPZ, path switches PP1, PP2, PPZ, VK1, VKP (according to the number of machines in the section), electropneumatic switches EP1, EP2, EPZ , step finders ШИ1 and ШИ2.

The device works as follows.

Initially, a manual mechanical drive 44 (FIG. 2) opens the entrance flap 18 of the section. The cows from the pre-milking platform 17 (Fig. 1) are admitted into the corridor 2 of the section of the milking platform 1 in an amount corresponding to the number of machines 7, and through 0 the entrance flaps 9 of the cow pass the named machines. At the same time, the floorings 8 (Fig. 2) are lowered to the stop 23 and position sensors 33 located under the flooring 8 send a signal to the control unit 30, which 5 commands the closing of the entrance flaps 9 of the machine 7. The operator puts on glasses 6 the milking machine 35 on a cow, having previously turned on the milking machine control unit 41.

At the end of the lactation, the milking unit control unit 41, through the valve 42, sends a control signal to the pneumatic actuator 43 to remove the milking unit 35 from the cow's udder, disconnecting the vacuum from the teat cups.

When the milking machine 35 is removed from the udder, the movable element 34 (piston) 50 of the pneumatic actuator 43 acts on the sensor 32, which. gives a pulse of control action to the electro-pneumatic switch 27, which through the control valve 29 55 turns on the pneumatic actuator 25 to open the output flaps 10 of the machine 7.

At the exit of the cow from the machine 7 flooring B, secured by the hinge 20 to the base 21, under the action of the spring 22

unfolding on the hinge 20, the sensor 33 rises and connected to the floor 8 via the control valve 28 turns on the actuator 24 to close the output flaps 10 of the machine 7. At the same time, the path switch is connected through the control unit 30. the electropneumatic switch 26, the valve 28 turns on the actuator 24 for opening the entrance doors of the machine 9 and sends a signal to the control unit for the position of the entrance leaf 18 of the section.

When a signal is received about the presence of a free machine, the control unit 36 sends a signal of a control action to the electropneumatic switch 40 and through the valve 39 turns on an actuator to open the section inlet flaps 18. When passing in the zone of the section 18 casement 18, the cow acts on the rod 37 through the rod. It sends a signal to the control unit 36 for controlling the position of the section 18 entrance doors. When the number of free machines 7 and cows that have passed through the inlet flaps 18 of the section is equal, the latter are closed.

If several of these machines are free, then the control unit 36 will not give commands to close the entrance leaf 18 of the section until the number of cows passes in the latter, equal to the number of free machines. In order to match the arrival of the cows to the section, the control unit 36 is provided with summing and differential elements.

By analogy, the process of filling in another section of the milking platform serviced by the operator occurs. The only difference is. that the cow inlet is through flaps 19 into corridor 3.

At the end of the milking of one group of animals of another, the group of animals is released into the subsequent site, for example, platform 16. By changing the path of movement of animals along corridors 4 and 5 by changing the position of the exit leaves 11-14 sections.

The control unit 36 for controlling the inlet flaps 18 of the section operates as follows. When a pulse signal is received from the SZgZZp flooring sensors 8i-8m, the summing element 45 counts the number of incoming signals.

When the pulses of the sender 37 of the input flaps 18, the summing element 47 counts the number of incoming signals.

As adders, it is possible, for example, to use stepper-finders with counter-enabled lamella contacts. For each pulse moving contacts

five

move one step. With an equal number of pulses from the position sensors, the difference element 46 generates a control signal and applies it to the electro-pneumatic switch 40. which switches the valve 39 to the closing of the valves 18 by the pneumatic actuator 38.

Blocks 30. 31 and 36 and 41 work on the 10 following program.

The system is started up using the KP1 button. When you turn on the button KP1 closes the circuit electropneumatic switch 40 (EP1). the latter switches the valve 39, and the pneumatic cylinder 15 of the cylinder 38 opens the inlet doors 18 of the section. All section machines are filled. Upon filling the machines, the circuit of the electropneumatic switch (EP1) is broken by the button KP1. the valve 39 switches and the pneumatic cylinder 20 of the cylinder 38 closes the inlet doors 18 of the section. The system begins to operate further in automatic mode.

Sash 18 of the entrance to the section closed. weekend and entrance doors 9 and 10 of the machines 25 7 are closed. Floorings 8 in the machines are omitted. Milking machines 35 are put on the cows. Unit 41 of the milking control device is on.

Consider the operation of the milking machine on the example of one machine.

At the end of the milking of the cow, the milk does not flow into the control unit 41, the latter through the valve 42 connects the pneumatic cylinder 43 to the vacuum source. The piston of the pneumatic cylinder 35 moves and by means of the grids 34 pulls the milking machine 35 out from under the cow, while the vacuum from the cups of the milking machine 35 is disconnected.

When moving the gig 34 the last 40 acts on the sensor 32 (track switch APS). which pulses the RPK relay circuit. The RPZ relay, in turn, blocks itself and creates a circuit to turn on the electropneumatic switch 27 5 (FTE). which leads to the flow of vacuum through the valve 29 to the pneumatic cylinder 25. and the latter opens the sash 10. provided the cow with the opportunity to exit the machine. The cow leaves the machine, releasing the flooring 8. The latter, turning on the hinge 2o, rises above the base 21. The departure from the stop 23 due to the force of the spring 22. Affects the position sensor 33.

Sensor 33 (PP2) unlocks the relay circuit 5 RPG, the latter with its contacts with a delay on opening (eg 3-7 s) breaks the circuit of the electropneumatic switch 27. which leads to the flow of vacuum through the valve 29 to the pneumatic cylinder 25. and the last closes the shutter 10.

The sensor 33 creates a PG12 circuit for switching on an electric pneumoswitch 26 (EP2), which leads to the flow of vacuum through the valve 28 onto the pneumatic cylinder 24. and the latter opens the flap 9,

In addition, when the decking from sensor 33 is created, a pulse BKi-VCP is created (1/60 s) to trigger a stepper finder W1 12. Relay RP2 closes normally closed contacts in the circuit of RP1 relay, lastly, it is activated, it is blocked by its normally closed contacts and switches on electropneumatic switch 10 (EP1), which leads to vacuum flow through valve 39 to air cylinder 38. several sensors 33 step finder ШИ2 moves the Failure moving contact along the lamella to the corresponding number of steps, but the shutter 18 is in the open position.

When the; 1 animal in the area of the valves 18, the latter acts on the sensor 37 (PP1). At the same time, the contacts in the circuit of the RP1 relay are impulsively opened and, koitaht in the circuit of the step-by-step finder SHI1 is closed. The step finder ШИ1 moves its moving contact one step, and when creating a circuit between the moving contacts of the step finders ShI1 and ШИ2, the RP2 relay is turned on. If, on the other hand, the number of steps of the step finder PI1 is less than the number of steps of the movable contact of the step finder PI2, then the circuit for turning on the turnkey RP2 is not created, the flaps 18 are not closed, i.e. there are free machines. In case of equality of developed machines and 7; The gold entered through the flaps 18 into the section, the number of steps of the moving contacts of the step finders is equal, and the RP2 relay is turned on during the period of a long pulse from the sensor 37 (ПП1) in the RP1 relay circuit. The relay RP1 deploys, and the circuit of the electropneumatic switch 40 (EP1) is broken, which leads to the flow of vacuum through valve 39 to the pneumatic cylinder 38, and the latter closes the flap 18.

A cow along corridor 2 enters machine 7. The mill 8 is lowered by the weight of the animal, turning on the hinge 20 relative to the base 21 until it stops 23, and compresses the spring 22. The sensor 33 breaks the ПП2 circuit of the electropneumatic switch 26 (ЖП2). which leads to the flow of vacuum through the valve 28 to the pneumatic cylinder 24. and the investigation closes the entrance leaf 9 of the machine 7.

Prior to preparing the cow, it turns on the milking control unit 41. Then the cycle is repeated.

The deployed cyclic algorithm of operation (program) of the control unit 30, 31, 35 and 41 is as follows, (n is the number of the included position sensors of the flooring, m is the number of operations of the position sensor of the section section leaflets); 1. The device is turned on.

2. If eO, then go to step 7, otherwise go to step 1.

3. If m О, then go to step 8, otherwise go to step 7.

4. If 1, then go to step 9, otherwise go to step 6.

5. If m О, then go to step 10, otherwise go to step 9.

6.If n - m k, then go to step 9, otherwise go to step 11.

7. Open the machine sash output and proceed to step 3.

8. Close the exit doors of the machine, open the doors of the machine, open

entrance section flaps and go to step 4.

9. Close the section entrance doors and proceed to step 5.

10. Close the entrance doors of the machine. 11. Turn on the alarm and go to

action 12. 12. End.

The cyclic algorithm presented has twelve actions, in fact

The number of actions performed by this algorithm is much larger, but the actions are the same, and the difference is that more animals pass through the machines and more

number of steps of step finders and cycles.

FIG. Figure 1 shows the algorithm of operation (program) of control blocks 30, 31, 36, 41, where diamonds are used to select blocks in which the process branching is specified, and rectangles represent blocks in which the resulting actions are recorded. The choice of one of two receivers in each case is made depending on the fulfillment of the condition recorded inside the rhombus.

If the condition is met, then proceed to the next block in the direction of the arrow yes; if the condition is not met, then

you need to go to the next block in the arrow no. A single arrow emanates from each box, since there is always only one receiver for each resulting action.

The presented algorithm can be implemented completely on pneumatic automation elements, but it requires a larger number of parts to be manufactured locally.

The use of the proposed device increases the productivity of the operator, and accordingly, reduces the cost of production.

Claims (1)

Formula of Invention Milking device for cows, comprising milking machines, with inlet and outlet flaps and decking, and a system of corridors with inlet flaps of sections equipped with actuators for controlling their position, characterized in that, in order to increase the protfi o five performance of the operator’s work, it is equipped with sensors for the position of milking machines and inlet flaps of sections of the corridor system and a control unit for the position of the inlet flaps of the corridor system, and the milking machines floors are spring-loaded and fitted with stops; the outputs of the position sensors of the milking machines, the second one with the outputs of the position sensors of the inlet flaps of the sections of the corridor system, and the outputs of the unit yn The controls are associated with actuators controlling the position of the inlet flaps of sections of the corridor system. Fia. FIG it Usr Sjr i-fnS.ce.ii Close You STV. s / l .dh.st6. cm ptg ex. st & seconds (ffOMfflf