SU1777728A1 - Automated milking plant - Google Patents

Description

The invention relates to animal husbandry, in particular to automated milking installations of animals.

The purpose of the invention is to increase the productivity of the installation.

The goal is achieved by that. that a conveyor milking unit containing a base with a movable platform, mounted on the last milking machines with manipulators with holders of milking cups and a milking process control system, is equipped with a moving mechanism with an output link, a control mechanism for the moving mechanism, a registration unit containing an animal presence sensor, a position sensor the udder and the nipple position sensor, the udder position sensor is installed on the output link of the movement mechanism, and the nipple position sensor is installed on the milking glass, wherein the moving mechanism, a control system and the milking of the udder position sensor associated with the control gear shifting system, animal presence sensor is associated with the displacement control mechanism and control system milking system teat position sensor coupled to the control system of the milking process'. In addition, the udder position sensor is made in the form of a plate with sensor cells.

In FIG. 1 shows the Carousel milking complex, general view: in FIG. 2 - milking cell, side view; in FIG. 3 - udder position sensor, general view; in FIG. 4 movement mechanism, general view; in FIG.

1777728 A1

- a milking glass; in FIG. 6 - milking cell, top view.

The milking conveyor installation comprises a base 1 with a movable platform 2, on which milking machines 3 with manipulators 4 with four holders 6 of milking cups 7 and a milking process control system 8 with drive 5 are mounted on the last milking machine 3 (FIG. 2). Animals are conveyed to the conveyor milking unit from the preparatory hopper 9, in which they are washed. At the junction of the preparatory hopper 9 with the conveyor milking unit, a movement mechanism 10 with an output link 11 is mounted on the base 1. The movement mechanism 10 is controlled by a control system 12. which is connected to the udder position sensor 13 by the communication cable 14. The udder position sensor 13 is a plate ( Fig. 3), on the surface of which there are sensor cells 15 forming a sensor field, and each sensor cell 15 relative to the output link 11 of the movement mechanism 10 corresponds to a certain e coordinates which can define ultimate movement of the positioning mechanism 10 by number of triggered cells. The position sensor of the udder 13 is mounted on the handle 16, which in shape and size corresponds to the shape and size of the milking cup 7. On the bell 17 of the milking cup 7 (Fig. 5) there is a position sensor of the nipple 18 connected to the milking process control system 8. Milking cup 7 connected to the milk suction pipe 20 and the pneumatic pipe 21. The manipulator 4 has an additional holder 22 into which the position sensor of the udder 13 is placed in its inoperative state. In each milking machine 3 of the conveyor milking machine, a feeder 23. is mounted to which animal feed is supplied from the pipeline 24, and an animal presence sensor 25 is connected to the feeder, connected to the control system of the movement mechanism 12 and the milking process control system 8. Each machine also has movable partitions 26 and 27, covering the machine on both sides. In the area of the movement mechanism, an optical meter 28 and a photosensor 29 are connected to the control system of the movement mechanism 12 (Fig. 6) and are designed to detect the appearance of the milking machine 3 in the area of action of the movement mechanism 10. The mobile platform has a drive.

The proposed device operates as follows.

The platform with machines 3 (Fig. 1) is driven by a drive. After washing the animal in the preparatory hopper 9, a partition 25 opens and the animal enters the milking machine 3, where it goes to the feeder 23 and touches the sensor

26, which gives a command to the control system of the movement mechanism 12 and to the process control system of the manipulator 4, transferring the milking cups 7 to the udder of the animal and closing the partition

27. After turning the manipulator 4 and closing the partition 27 under the animal by the moving mechanism 10 from the MP1 position to the MP2 position, and then the udder position sensor 13 is transferred to the MP3 position, after which it is vertically lifted (Fig. 2).

The udder nipples touch the sensor cells 15 of the udder 13 position sensor (Fig. 3), and since each sensor cell 15 has its predetermined coordinates and is connected to the control system of the movement mechanism 12 via the communication cable 14, the final positioning of the movement mechanism by the number of triggered ones is determined cells. In the absence of all four nipples in the area of the position sensor of the udder 13 using the movement mechanism 10, a search is made for the nipples of the udder in a predefined area. Information about touching all four nipples of the udder of the animal is recorded. After determining the position of all four nipples, the movement mechanism installs the position sensor of the udder 13 in the holder 22 (MP4), switches to one of the positions MP5-MP8 and transfers the milking cups to a predetermined position of the nipples. The milking process control system 8 provides the entire milking process. As soon as one of the nipples enters the bell 17 of the teat cup 7. and it is put on the nipple under vacuum. The control system for the milking process 8 provides the removal of the manipulator 4 to its original position after milking the animal. When approaching the zone of the movement mechanism of the next milking machine 3, the optical emitter 28 and the photosensor 29 are triggered (Fig. 6) and a command is sent to the movement mechanism to prepare for a new operation cycle, etc.

As an example of a specific implementation, the Carousel conveyor milking machine was used, where the mass-produced Puma-250 robot was used as the movement mechanism 10, the Sphere-36 system was used as the robot control system 12, and the capacitive sensor was used as the position sensor of the nipple 18.

Using the proposed device allows to achieve the following technical and economic advantages: improving working conditions of workers by reducing downtime in anticipation of the animal, reducing the number of staff due to the complete automation of the milking process, increasing milk output by 12-17% due to the fact that the start of milking coincides with the desire of the animal to milk.

Claims (1)

Claim An automated milking unit comprising a movable platform and milking machines placed on it with feeders and manipulators of milking cups, connected to the milking process control system, an animal position sensor 5 and a teat position measuring device, characterized in that, in order to increase the productivity of the milking unit, milking cups equipped with sensors for the presence of nipples in them connected to the milking process control system 10, and a nipple position coordinate meter with a mechanism for its movement a control system associated with the milking process control system 15 when this animal position sensor is mounted in the trough, and the meter is designed as a plate with touch cells. FIG. 1. <P „g. B