RU2189737C2 - Mobile automatic cow milking machine - Google Patents

Abstract

FIELD: agriculture. SUBSTANCE: automatic machine has vacuum equipment for milking ladle, control unit, manipulator with rotary teat cup mechanism equipped with stripping mechanism, single-axle cart with stop. Milking ladle is mounted on single-axle cart and has closure with built-in control unit and permanent vacuum distributor. Control unit has four milk detectors, each connected through milk hose with related milk claw and further with teat cup. Milk hoses are provided with pneumatic clamp. Manipulator has pneumatic cylinder with lever, rotary mechanism for moving manipulator between right-handed and left-handed positions. Machine of such construction allows cow udder mastitis sick rate to be reduced. EFFECT: increased efficiency and provision for complete milking. 4 cl, 6 dwg

Description

 The invention relates to agriculture, in particular to the manipulators of milking plants.

 A device [1] is known, comprising a milking apparatus and a manipulator attached to the milking bucket. When using this device, there are inconveniences associated with its movement.

 Known unit for individual milking of cows AID-1 [2], containing a milking machine and vacuum equipment. The unit is made on the chassis of a uniaxial trolley. This unit does not provide gentle milking and final milking operations.

 Closest to the invention is the manipulator of the milking unit [3], including milking cups with a finishing mechanism, a manipulator, a control unit, a vacuum wire and a milk pipe. However, this device does not have mobility, which makes it inappropriate to use it in private farmsteads.

 The present invention is to optimize the milking mode and the creation of a mobile automatic milking machine for cows.

 To achieve this, a mobile cow milking machine is proposed, comprising a milking bucket, vacuum equipment, teat cups, vacuum and milk hoses, and a manipulator. It is equipped with a uniaxial trolley, and the manipulator is attached to the uniaxial trolley by means of a rotary mechanism made in the form of a fixed plate with two holes and a rod with a handle, to which a plate with a clamp and a plate pivotally connected to the pneumatic cylinder are attached. The cart is equipped with an emphasis made in the form of a tubular body with a groove interacting with a pin of the movable rod. Four milk presence sensors are installed in the lid of the milking bucket, each communicating with its own glass, the sensors being equipped with control chambers with plungers containing channels, constant vacuum chambers and a control vacuum, while the control chamber of the first sensor is in communication with the vacuum pump, and the control chambers of subsequent sensors communicated with the control chamber of the previous sensor through the short channels of their plungers at the lower position of the float, and the short channel of the plunger of the last sensor is communicated with air the amplifier controlling the pneumatic cylinders, the long channels of the plungers are connected with the corresponding finishing mechanisms. Each teatcup contains a finishing mechanism made in the form of two pneumatic cylinders, to the rods of which a thrust washer is attached by means of spherical joints, interacting with the udder lobe, and the pneumatic cylinders are rigidly attached to the cups.

 The invention will be apparent from the following description and the attached drawings.

 Figure 1 shows a mobile machine for milking cows, a General view; figure 2 is a diagram of a milking machine with a manipulator milking; figure 3 is a milk flow sensor; figure 4 - rotary mechanism; figure 3 - the mechanism of finishing; figure 6 - emphasis.

 A mobile milking machine for cows (Fig. 1) consists of vacuum equipment 1, a milking bucket 2, a control unit 3, a manipulator 4 with a rotary mechanism 5, milking cups 6 with a milking mechanism 7, a uniaxial trolley 8 with a stop 9.

 Vacuum equipment 1 includes a vacuum pump 10, a vacuum regulator 11 and a vacuum gauge 12.

 The milking bucket 2 is mounted on a uniaxial trolley 8 and has a lid with a mounted control unit 3 and a constant vacuum distributor 13.

 The control unit 3 is made in the form of four sensors for the presence of milk 14, 15, 16, 17 (Fig. 2), each of which is connected by a milk hose 18 to its collector 19 and then a milking cup 6. The milk hoses 18 are equipped with a pneumatic clamp 20.

 In the housing of the sensors 14-17 of the presence of milk installed floats 21 with needles 22, which are made with a variable cross-sectional length. The housing of each milk presence sensor 14-17 has a calibrated hole 23, a septum 24, milk supply 25 and milk pipe 26 nozzles. Each float 21 is connected to the plunger 27. The plunger body 28 (FIG. 2, FIG. 3) has four chambers: an atmospheric pressure chamber 29, a constant vacuum chamber 30, an atmospheric pressure chamber 31, and a control vacuum chamber 32.

 The constant vacuum chamber 30 of the first sensor 14 is connected by a vacuum hose 33 through a constant vacuum distributor 13 to the vacuum hose 34. The latter is connected to a vacuum pump 10 and is equipped with a mechanical clamp 35. The constant vacuum chamber 30 of the first sensor 14 is connected by a vacuum hose 36 to the chamber 30 constant vacuum of the subsequent sensor 15, which is connected by a vacuum hose 37 to the camera 30 constant vacuum of the next sensor 16 and then through the vacuum hose 38 to the camera 30 constant vacuum of the last sensor 17.

 The control vacuum chamber 32 of the first sensor 14 is connected by a vacuum hose 39 to the constant vacuum distributor 13. The control vacuum chamber 32 of the subsequent sensor 15 is connected by a vacuum hose 40 to the pipe 41 of the first sensor 14. The control vacuum chamber 32 of the third sensor 16 is connected by a vacuum hose 42 sec the nozzle 41 of the second sensor 15. The chamber 32 of the control vacuum of the last sensor 17 is connected by a vacuum hose 43 to the nozzle 41 of the third sensor 16. The nozzle 41 of the last sensor 17 is connected by a vacuum hose 44 to the pneumatic amplifier 45. The nozzle 46 ka of each milk presence sensor 14-17 is connected by a vacuum hose 47 to the mechanism 7 of the milking of each milking cup 6.

 In the upper part of the housing of the milk presence sensors 14-17, a starting bracket 48 is installed. The plunger 27 is provided with a short channel 49 and a long channel 50. The short channel 49 is connected to the pipe 41, and the long channel to the pipe 46.

 The partition 24 divides the housing of each milk presence sensor 14-17 into chambers 51 and 52. The latter is equipped with a valve 53 with a channel 54.

 The pneumatic amplifier 54 (Fig. 2) is connected by a vacuum hose 55 to a vacuum pump 10, a vacuum hose 56 to a pneumatic clamp 20, a vacuum hose 57 to a pneumatic cylinder 58, a vacuum hose 59 to a pneumatic cylinder 60 of the output of the manipulator.

 The pulsator 61 is connected to a vacuum pump 10 and a vacuum hose 62 with a variable vacuum distributor 63, and then by means of vacuum hoses 64 with interwall chambers of the teat cups 6.

 The manipulator of the mobile cow milking machine includes a pneumatic cylinder 58 with a lever 65, a rotary lever 66, a pneumatic cylinder 60 of the output of the manipulator, a rotary mechanism 5 for moving the manipulator to the right and left working positions. The latter consists of a housing 67 (figure 4), including a plate 68 with two holes 69 for fixing. In the housing 67 is a rod 70 with a handle 71, made for rotation in the same plane. A plate 72 with a spring clip 73, a plate 74, pivotally connected to the plate 75 is rigidly fixed to the rod 70. The latter is pivotally connected to the manipulator output cylinder 60. The lever of the manipulator 76 is pivotally connected to the pivoting arm 66 and to the shaft 70.

 The milking cups 6 (FIG. 5) are equipped with a milking mechanism 7. The latter includes two pneumatic cylinders 77 rigidly fixed to the milking cup 6. The piston 78 of each pneumatic cylinder is connected to the thrust washer 81 via two rods 79 and spherical joints 80. Each milking cup 6 has a collector 19, which is provided with a calibrated hole. Each manifold 19 is attached to a bracket that is connected to a lever 65.

 The stop 9 (FIG. 1) consists of a tubular body 82 (FIG. 6) with a groove 83 that allows the position of the movable rod 84 to be fixed by means of a pin 85. To change the position, the movable rod 84 is equipped with a handle 86.

 A mobile milking machine for cows works as follows.

 The operator drives a uniaxial trolley 8 (figure 1) between two cows. Moves the stop 9 to the operating position, for which, by means of the handle 86 (Fig. 6), the movable rod 84 is rotated. In this case, the pin 85 leaves the upper fixed position in the groove 83 located in the tubular body 82 and moves to the lower position. Then the operator by means of the handle 86 rotates the movable rod 84, while the pin 85 occupies a lower fixed position.

 Then the operator translates the rotary mechanism 5 (figure 4) in the right or left working position, depending on the order of milking cows. For this, with the help of the handle 71, the operator rotates the shaft 70 in the housing 67, and the spring clip 73 located on the plate 72 enters the hole 69 located on the plate 68. In this case, the manipulator lever 76 and the plate 74 are rotated. The plate 75 is pivotally connected to plate 74, while turning in the opposite direction, entraining a pneumatic cylinder 60 output manipulator.

 After that, the operator turns on the vacuum apparatus 1 (Fig. 1) and, according to the readings of the vacuum gauge 12, sets the working vacuum by means of the vacuum regulator 11. After preparing the udder for milking, the operator sets the sensors 14-17 (figure 2) of the presence of milk in the starting position by lifting the plungers 27 and fixing them with the starting brackets 48. Then he opens the mechanical clamp 35 and brings the milking cups 6 under the udder of the animal. Holding the collectors 19 with one hand, he lifts the milking cups 6, and with the other hand puts them on the udder of the animal. The vacuum from the vacuum pump 10 through the vacuum hose 34 through the distributor 13 of constant vacuum enters the milking bucket 2 and through the sensors 14-17 the presence of milk through the hoses 18 through the collectors 19 enters the suction cups of the milking cups 6. The vacuum from the vacuum pump 10 through the pulsator 61 through a vacuum hose 62 it enters an alternating vacuum distributor 63 and then through a vacuum hose 64 into the inter-wall chambers of the teat cups 6. When the sensors 14-17 for milk are in the starting position, their plungers 36 are in the upper position. The finishing mechanism 7 of each milking cup 6 is connected to the atmosphere through a vacuum hose 47, a pipe 46 (Fig. 3), a long channel 50 of the plunger 27 with an atmospheric chamber 29.

 The pneumatic cylinder 58, the manipulator output pneumatic cylinder 60 and the pneumatic clamp 20 are also connected to the atmosphere (Fig. 2). Air (Fig. 3) through the short channel 49 of the plunger 27 through the pipe 41 of the last milk availability sensor 17 (Fig. 2) via a vacuum hose 44 enters the pneumatic amplifier 45, and then through the vacuum hose 56 to the pneumatic clamp 20 and through the vacuum hoses 57 and 59 into the pneumatic cylinder 58 and the pneumatic cylinder 60 of the output of the manipulator.

 The milk coming in at the beginning of milking is discharged into the milking bucket 2 through a calibrated hole 23. With an increase in milk transfer intensity, milk does not have time to pass through a calibrated hole 23 of the milk presence sensors 14-17, and their chambers 51 are filled with milk, which provides some rise in the floats 21. In this case, the starting bracket 48 is released from the stop in the head of the plunger 27 and under the influence of gravity takes the lower position, and the milk presence sensor begins to monitor the operation mode.

 Most of the milk through the outlet pipe 26 enters the milking bucket 2, and a small part of the milk flows out through the calibrated hole 23, in which the lower part of the needle 22 is located. Vertical vibrations of the float 21 together with the needle 22 ensure that the calibrated hole 23 is cleaned from clogging. In each quarter of the udder, the milk transfer process takes place differently (in time and amount of milk), and sensors 14-17 for the presence of milk in the corresponding quarters of the udder also work. With a decrease in the intensity of milk transfer, the milk output through the pipe 26 stops and it is displaced only through the calibrated hole 23. A decrease in the intensity of milk transfer causes the float 21 with the needle 22 to drop into the calibrated hole 23. When the intensity of milk production decreases, the udder fraction (up to 120 g / min) opens a long channel 50 (FIG. 2, FIG. 3) of the plunger 27 will be connected to the constant vacuum chamber 30, and the vacuum from the milking bucket 2 through the constant vacuum distributor 13, via the vacuum hose 38, through the constant pressure chamber 30 of the sensors ika 14 of the presence of milk, through a long channel 50, through the pipe 46, through a vacuum hose 47 enters the mechanism 7 for milking the teat cup 6.

 By means of a vacuum installed in the pneumatic cylinders 77 (FIG. 5) of each milking cup 6, the pistons 78, by means of the rods 79 and the spherical hinges 80, act on the thrust washer 81 in contact with the circumosseous space of the quarter of the udder. As a result, the milking cup 6 moves downward relative to the thrust washer 81, i.e. finishing process takes place.

 Each chamber 30 (FIGS. 2, 3) of the constant vacuum of the milk presence sensors 14-17 is constantly connected to the constant vacuum distributor 13. The vacuum from the constant vacuum distributor 13 is connected to the vacuum hose 33 through the constant vacuum chamber 30 of the first milk presence sensor 14 through the vacuum the hose 36 enters the constant vacuum chamber 30 of the subsequent milk presence sensor 15, then through the vacuum hose 37 into the constant vacuum chamber 30 of the milk presence sensor 16 and through the vacuum hose 38 to the constant vacuum chamber 30 of the last milk presence sensor 17. So, regardless of the position of the plunger 27 of the remaining sensors, there will be a vacuum in the constant vacuum chamber 30 of each sensor.

 If, after turning on the after-feeding mechanism 7, the intensity of milk generation increases, the float 21 rises, the opening of the long channel 50 (Fig. 3) leaves the constant vacuum chamber 30 and the milk presence sensor relieves the vacuum from the after-feeding mechanism 7.

 The thickened portion of the needle 22 exits the calibrated hole 23, increasing its throughput. With a further decrease in the intensity of milk excretion (up to 120 g / min), rarefaction reappears in the after-feeding mechanism 7.

 With a further decrease in milk yield, a further lowering of the float 21 with the plunger 27 occurs. With a decrease in the intensity of milk production (up to 50 g / min, which is ensured by the output variable cross section of the calibrated hole 23), the float 21 occupies the lower position (Fig. 3), valve 53 closes the hole in the partition 24 and provides a connection between the chamber 51 and the camera 52 of the milk presence sensor only through the channels 54 of the valve 53. The vacuum enters the chamber 52 through the channels 54 of the valve 53 through the hose 18 (figure 2) enters the collector 19, where due to the post Lenia air flow through the calibrated opening set a predetermined vacuum (to 250 ml Hg. v.), thereby retaining the teat cup 6 on the udder quarter.

 At the same time, the opening of the long channel 50 (Fig. 3) is connected to the atmospheric chamber 31, and the air through the long channel 50 through the nozzle 46 through the vacuum hose 47 will enter the mechanism 7 of the milking cup 6. In the lower position of the float 21, the hole of the short channel 49 of the plunger 27 will connect to the control camera 32.

 The vacuum from the constant vacuum distributor 13 (figure 2) through the vacuum hose 39 enters the chamber 32 of the control vacuum of the first sensor 14 for the presence of milk. The control vacuum chambers 32 of the milk presence sensors 14-17 are connected so that the vacuum comes from the pipe 41 of the last milk presence sensor 17 only at the end of the milking of all shares of the udder, i.e. the plungers of 27 sensors 14-17 of the presence of milk will occupy the lower position, regardless of the order of their lowering.

 The vacuum from the chamber 32 of the control vacuum (2, 3) of the first sensor 14 for the presence of milk through a short channel 49 of the plunger 27 enters the pipe 41, and from it through the vacuum hose 40 to the control chamber 32 of the subsequent sensor 15 for the presence of milk, then from it through a short channel 32 of the plunger 27 through a vacuum hose 42 will enter the control chamber 32 of the milk availability sensor 16, from it through a short channel 49 of the plunger 27 through the vacuum hose 43 into the control chamber 32 of the last milk availability sensor 17 and through the short channel 49 of the plunger 27 to pipe 41.

As soon as the intensity of milk transfer in the last portion of the udder decreases to 50 g / min, the vacuum from the pipe 41 (Fig. 2) of the milk presence sensor 17 will enter through the vacuum hose 44 to the pneumatic booster 45, which is activated, and the vacuum from the vacuum pump through the vacuum hose 55 through the pneumatic amplifier 45 simultaneously enters
- through a vacuum hose 56 to the pneumatic clamp 20, which operates and closes the milk hoses 18, as a result of which the pressure in the suction cups of the teat cups 6 approaches atmospheric pressure and the teat cups 6 fall from the nipples;
- through the vacuum hose 57 into the pneumatic cylinder 58, as a result of which the pneumatic cylinder 58 lifts the lever 65 with the milking cups 6, thereby eliminating damage to the milking cups 6;
- on the pneumatic hose 59 into the pneumatic cylinder 60 output of the manipulator, which displays the manipulator from under the cow.

 The operator closes the mechanical clamp 35, sets the floats 21 in the starting position. A mobile cow milking machine is ready for the next animal.

 The use of a mobile machine for milking cows will reduce the incidence of mastitis of the udder of cows, increase the completeness of delivery and productivity.

 The economic effect can be obtained by increasing labor productivity and animal productivity.

Sources of information
1. Auth. St. USSR 1291086, class A 01 J 7/00, 1987.

 2. The unit of individual milking AID-1-01 / Passport AID. 0.000-01 PS. Rezensky milking plant.

 3. Auth. St. USSR 1750511, class A 01 J 7/00, 1992.

Claims (4)

 1. A mobile cow milking machine comprising a milking bucket, vacuum equipment, teat cups, vacuum and milk hoses and a manipulator, characterized in that it is equipped with a uniaxial cart, the manipulator being attached to the uniaxial cart by means of a rotary mechanism made in the form of a fixed plate with two holes and a rod with a handle to which a plate with a retainer and a plate pivotally connected to the pneumatic cylinder are attached.  2. The machine according to claim 1, characterized in that the trolley is equipped with a stop made in the form of a tubular body with a groove interacting with a pin of the movable rod.  3. The machine according to claim 1, characterized in that four milk sensors are installed in the lid of the milking bucket, each communicating with its own glass.  4. The machine according to claim 3, characterized in that each milking cup contains a finishing mechanism made in the form of two pneumatic cylinders, to the rods of which a thrust washer is attached by means of spherical joints, interacting with the udder lobe, and the pneumatic cylinders are rigidly attached to the cups.

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