SU1699385A1 - Manipulator of milking parlour - Google Patents

Abstract

The invention relates to agriculture, to whom the owner, the purpose of the invention is to improve the milking regime. The milking manipulator contains sensors 14-17 with control chambers. If the control chamber of the first sensor 14 is connected to the vacuum line 38, then the control camera of the downstream sensor 15 is connected via the vacuum hose 43 and the channel in the plunger 30 of the previous sensor 14 to its control camera at the lower position of the float 24, and the channel of the plunger 30 of the last sensor 17 is connected to a pneumatic amplifier 48, controlling a pneumatic clamp 53 located on the milk hose 21 and connected to pneumatic cylinders 3 and 6 of the output of the teat cups 130 Sensors 14-17 contain atmospheric pressure chambers that tell The canal in the plunger 30 is equipped with an extension chamber of 51 pneumatic cylinders 3 with atmospheric pneumatic cylinders 3 are installed with the possibility of rotation in a horizontal plane, the rotation angle is limited to the limiting body. On the rods 1 of the pneumatic components 3 the holders of 11 milking cups 13 are fixed. With the increase in the intensity of milk output, the float pops up and the sensor begins to monitor the operation mode. A decrease in the intensity of milk output ensures that the float is lowered If, when the pneumatic cylinders 3 are put into operation, the milk flow increases, the float rises up and the sensor relieves the vacuum in the booster chamber 51 of the pneumatic cylinder 3. With a further decrease in the milk yield rate, the vacuum enters the booster chamber 51 again. 4 s. / o soco oo oo ate

Description

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

The known devices contain sensors for the presence of milk in the milk line and the pneumatic cylinders of the teat cups, however, they do not provide an optimal milking mode with

The purpose of the invention is to provide an optimal milking regime, "

The goal is achieved by the fact that the sensors contain control chambers, and if the control chamber of the first sensor is connected to the vacuum pipe, then the control chamber of the subsequent sensor

16, the pre-boom tube and the channel in the plunger of the previous sensor are connected to its control chamber at the lower position of the float, and the plunger channel of the last sensor is connected to the pneumatic amplifier, the control pneumatic clamp of the milk hose and the pneumatic | Cylinders of the milking cups; the sensors contain atmospheric pressure chambers that communicate through the channel in the plunger a chamber for the addition of pneumatic cylinders with the atmosphere; pneumatic cylinders are attached to the carrier rod with the possibility of rotation in the horizontal plane, and the angle of rotation is limited by the limiter; pneumatic cylinder rods contain traps for teat cups; teat cups contain calibrated holes

On Fig 1 1 shows the handle of the milking machine, a general view; Fig 2-2 mounting mechanism of pneumatic cylinders; in FIG. 3 a collector with a holder; Fig 4 - the sensor in the starting position; Fig. 5 shows a sensor in the doping mode; in figo 6, the sensor at the windows;

A milking manipulator consists of a carrier part and an automatic control unit. The bearing part of a manipulator - JTopa includes four rods 1, four control knobs 2, four pneumatic cylinders 3, a fastening mechanism of pneumatic cylinders 4, a pivoting lever 5, a pneumatic cylinder of the manipulator 6,

The fastening mechanism of the pneumatic cylinders of the teat cups consists of a supporting rod 7, four vertical supports 8 of the pneumatic cylinders 3 are welded to it.

On both sides of the uprights 8, the 9-turn stops are welded. Such mounting of pneumatic cylinders 3 allows them to make turns in a horizontal plane. Turn limiters 9 allow varying rotation of pneumatic cylinders 3 within different distances between the teats of the udder of cows.

A sleeve 10 is welded to the carrier rod 7, which is connected to the pivot arm 5 ". The hinged connection allows the mounting mechanism of the pneumatic cylinders 3 to make turns in the horizontal plane,

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A holder 11 is attached to each rod 1 of the manipulator, and a collector 12 of a teat cup 13 "

The control unit consists of sensors 14-17, each of which is connected by a milk hose 18 to a collector 12 and then to a teat cup 13. Each sensor is connected by milk pipes 19 and 20 to a milk hose of a manipulator 21, which is connected to a milk pipe 22 "On the milk hose manipulator torus 21 is a mechanical clip 23 "

In the case of sensors 14--17, floats 24 with 25 variable-section needles are installed. The case of each sensor has a calibrated orifice 26, a dividing wall 27, a milk supply 28 and a milk receptacle 29 nozzles. Each float 24 is connected to the plunger 30 by a switch.

The plunger housing 31 has an atmospheric pressure chamber 32, a constant vacuum chamber 33, an atmospheric pressure chamber 34, a control vacuum chamber 35

The vacuum chamber 33 of the sensor 14 is connected by the vacuum implants 36 and 37 to the vacuum pipe 38 and the vacuum hose 39 to the vacuum chamber 33 of the sensor 15, which is connected by the vacuum hose 40 to the vacuum chamber 33 of the sensor 16, and further to the camera 33 constant vacuum sensor 17 through the vacuum hose 41.

The chamber 35 of the control vacuum sensor 14 is connected by the vacuum hoses 42 and 37 s. vacuum line 38. The vacuum control chamber of the sensor 15 is connected by a vacuum hose 43 to the nozzle

44 sensors 14 "Control vacuum chamber 35 of sensor 16 with a vacuum hose

45 is connected to the nozzle 44 of the sensor 15 "The chamber 35 of the control vacuum of the sensor 17 is connected by a vacuum hose

46 with a nozzle 44 of the sensor 16 "The nozzle 44 of the plunger 30 of the sensor 17 is connected by a vacuum hose 47 to a pulsator 48, which through a vacuum hose 37 is connected to a vacuum pipe 38" The nozzle 49 of each sensor is connected by a vacuum hose 50 to the expansion chamber

51 of its pneumatic cylinder 30 Pneumatic amplifier 48 is connected with a vacuum hose

52 with a pneumatic clamp 53 and a vacuum hose 54 with a pneumatic cylinder of outlet 6 and a vacuum distributor 55, which is connected by vacuum hoses 56

with supporting chambers 57 pneumatic cylinders 3. A pulsator 58 is connected to a vacuum pipe 59 and a vacuum hose 60 with a variable vacuum valve 61, and from it through vacuum rods 62 to inter wall chambers of teat cups 13 o In the upper part of the sensor case, a start bracket 0 is installed Plunger 30 is equipped with channels 63, 64.; Channel 63 is connected to branch pipe 49, and channel 64 - with branch pipe 44 "Partition 27 divides the case of each sensor into chambers 65 and 66. Each sensor has a valve 67, which has channels 68"

The manipulator works as follows

After preparing the udder for milking, the operator sets the sensors 14-17 to the starting position by lifting the plungers 30 and fixing them with brackets. Then opens the mechanical clamp 23 and brings the teat cups 13 under the animal's mouth. Holding the handle 2 and pressing it down with one hand, lifts the teat Cup 13, and with the other hand puts the other glasses on the animal. Similarly, the other glasses are installed 130

The vacuum from the milk line 22 through the milk hose of the manipulator 21 via the hoses 20 and 19 through the sensors through the milk hoses 18, through the collectors 12 enters the podoskovye chambers of teat cups 13 “The vacuum from the vacuum line 59 goes through the pulsator 58 through the vacuum hose 60 to the variable distributor 61 vacuum, and from it through vacuum pipes 62 into the interstitial space of teat cups 13 °. When the sensors are in the starting position, their plungers 30 are in the upper position. In this position, the addition chamber 51 of each pneumatic cylinder 3 is connected to the atmosphere the sphere, through the vacuum hose 50 through the pipe 49 through the channel of the plunger 30 with the chamber 340

Also, the supporting chamber 57 of each pneumatic cylinder 3, pneumatic cylinder of the manipulator 6 outlet and pneumatic clamp 53 ° Air is connected to the atmosphere through channel 64 of plunger 30, through pipe 44 of the v17 sensor through vacuum hose 47 enters pneumatic amplifier 48 and then through hose 52 to pneumatic clamp 53 and vacuum hose 54 to the pneumatic output cylinder of the manipulator 6, and further to

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limit valve 55 and from it through hoses 56 to supporting chambers 57 pneumatic cylinders 3 "

Milk arriving at the beginning of the milking is brought into the milk line 22 through the calibrated orifice 26 via the milk ducts 20 and 21. With an increase in the intensity of milk flow, the milk does not have time to pass through the calibrated orifice 26 of the sensors, and their chambers 66 are filled with milk, which ensures the floats 24 Thereafter, the clamp is released from the head 69 of the plunger 30 by a force of gravity, and the sensor begins to monitor the mode of operation.

Most of the milk through the outlet pipe 29 and the milk hose 19 enters the milk hose of the manipulator 21 o

In this position, the float 24, the needle 25 of the sensor fully opens the calibrated hole 26. In each quarter of the udder, the milk delivery process takes place differently (in time according to the amount of milk), the sensors of the corresponding quarters of the udder also work. By reducing the intensity of the milk output, the output through the milk nozzle 29 is stopped and the milk is displaced only through the calibrated orifice 26.

A further decrease in the intensity of the flow ensures the lowering of the float 24, and therefore the needle 25 into the calibrated orifice 26.

When the intensity of the milk decreases, the udder portion (up to 120 g / min) is removed by the opening of the channel 63 of the plunger 30 is connected to the chamber of constant vacuum 33 (which is provided by the output section of the calibrated sensor opening 26). And the vacuum from the vacuum line 38 through the vacuum pipes 37, 36 through the constant vacuum chamber, through the channel 63, through the pipe 49, along the vacuum hose 50 enters the post-delivery chamber 51 of the pneumatic cylinder 3,

At the same time, the stem 1 is lowered down, the cup 13 is deflected, which contributes to the production of milk residues from a quarter of the udder. Each constant vacuum chamber 33 sensors are permanently connected to vacuum vacuum 33. Vacuum from vacuum vacuum 38 through vacuum hoses 37 and 36 enters the constant vacuum chamber 33 of sensor 14, then through vacuum hose 39 to constant vacuum chamber 33, then vacuum hose 40 to constant vacuum chamber 33 of sensor 16 and vacuum hose 41 to constant vacuum chamber 33 of sensor 17, so that regardless of the position of the other plunger 30 of the other sensors, each vacuum sensor 33 will have a vacuum

If, after the activation of the pneumatic motor 3, the intensity is molokovy-. control will increase (exceed 200 g / min) the float rises up, the opening of the channel 63 leaves the chamber of constant vacuum 33, the sensor removes the vacuum in the chamber of extension 51 to the outer cylinder 3 o With a further decrease in the intensity of milk excretion (up to 120 g / min) vacuum is applied to the dosing chamber 51.

With a further decrease in the intensity of milk withdrawal, the milk level in the sensor decreases, the float 24 descends, leads the channel 63 of the plunger 30 out of the constant vacuum chamber 33, therefore the dilution chamber 51 of the pneumatic cylinder 3 is removed more rarely

When reducing the intensity of milk withdrawal (up to 50 g / min), the float will be located (which is provided by the output variable cross section of the calibrated sensor opening 26) in the lower position, the valve 67 blocks the opening in the partition 27 and provides the connection of chambers 65 and 66 Valve 67 "Vacuum entering chamber 65 through channels 68, through vacuum hose 18 enters collector 12, where a predetermined vacuum (up to 250 mm Hg) is established by entering through a calibrated airflow opening 70, which contributes to NIJ teat cup 13 udder quarters.

At the same time, the opening of the channel 62 is connected to the atmospheric chamber 32, and the air through the channel 63 through the nozzle through the vacuum hose 50 enters the post-expansion chamber 51 of the pneumatic cylinder C. At the lower position, the float 24 of the channel 64 of the plunger 30 is connected to the control chamber 35.

Vacuum from vacuum line 38 through vacuum hoses 37 and 48 enters control chamber 35 of sensor 14.

The control chambers 35 of the sensors are connected so that the vacuum comes from the nozzle 44 of the sensor 17, only when

the end of the milking of all shares of the udder, t „e. the plungers of 30 sensors will take the lower position, regardless of the order of their lowering „

The vacuum from the control chamber 35 of the sensor 14 through the channel 64 of the plunger 30 will go to the nozzle 44, and from it via the vacuum hose 43 to the control camera 35 of the sensor 15, from it through the channel 64 of the plunger 30 through the vacuum hose go to the control camera 35 of the sensor 16, then from it through channel 64 of the plunger 30 through the vacuum tube 46 into the control chamber 35 of the sensor 17 and then through channel 64 of the plunger 30 to the nozzle 44. As soon as the last part of the udder decreases the flow rate of the milk flow (up to 50 g / min), the vacuum from the nozzle 44 sensor 17 will arrive via vacuum hatch 47 to pulsator 48 "Pulse amplifier 48 is activated, and the vacuum from the vacuum line 38 through the vacuum tube 37 through the pulsoal amplifier 48 simultaneously flows through the vacuum hose 52 to the pneumatic actuator 53, which is activated and closes the milk hose of the manipulator 21, as a result of which the pressure in the teat cage of the teat cups 13 approaches to atmospheric, after which the glasses 13 fall from their nipples into their traps; on the vacuum hose 54 to the pneumatic cylinder of the output of the manipulator torus 6 and withdraws the manipulator from under the cow.

At the same time, the vacuum goes to the vacuum distributor 55 and from it the yo to the vacuum hose 56 to the holding chambers 57 pneumatic cylinders 3, raise the rods 1 with the teat cups 13, excluding the blows of the teat cups on the polo

The operator closes the clamp 23, sets the floats 24 in the starting position. The manipulator is ready to pass the next animal.

Claims (3)

Invention Formula 1, A milking machine manipulator containing a milking machine with teat cups, augmentation and removal pneumatic cylinders of the milking machine from the udder, a vacuum pipe, a milk volume sensor, made in the form of a chamber with a drain hole connected to the milk hose, in which the float is placed and interacting with Him switch with a plunger, characterized in that, with the aim improve the milking mode, it is equipped with a pneumatic booster and additional milk volume sensors connected in series with each other, each of which and the main one are connected to respective teat cups, and each sensor switch is equipped with a control chamber, while connecting the control chamber of the first sensor with a vacuum line, the control chamber of the subsequent sensor in the lower position of its float communicates with the control camera of the previous sensor, while the last sensor plunger is connected with pneumatic amplification telem that controls the pneumatic clamp installed on the milk hose and connected to the pneumatic cylinders of the milking and removal of the milking machine 2. The manipulator by p. characterized in that the switch of each sensor has an atmospheric pressure chamber, by means of which, through its plunger, the pressure cylinder chamber communicates with the atmosphere. 3. The manipulator according to claim 1, about tl and - due to the fact that each milking cup is provided with a pneumatic cylinder, installed with the possibility of rotation in the horizontal plane, 40 Manipulator according to Clause 3, -o T l and - due to the fact that the pneumatic cylinders of the teat cups are equipped with limiters of their rotation. 5 "Manipulator according to claim 3, characterized in that it is provided with cup holders mounted on the rods of pneumatic cylinders" Fig 1 ъ ъ Fi.Z FIG. I four 25 26 FIG C 26 Fig 5 Fig 6