WO2022265156A1 - Automatic milking apparatus for livestock - Google Patents

Automatic milking apparatus for livestock Download PDF

Info

Publication number
WO2022265156A1
WO2022265156A1 PCT/KR2021/011805 KR2021011805W WO2022265156A1 WO 2022265156 A1 WO2022265156 A1 WO 2022265156A1 KR 2021011805 W KR2021011805 W KR 2021011805W WO 2022265156 A1 WO2022265156 A1 WO 2022265156A1
Authority
WO
WIPO (PCT)
Prior art keywords
livestock
milk
hose
feed
teat
Prior art date
Application number
PCT/KR2021/011805
Other languages
French (fr)
Korean (ko)
Inventor
최희철
기광석
김태일
이현정
김현종
한만희
임동현
최영경
Original Assignee
대한민국(농촌진흥청장)
주식회사 다운
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 대한민국(농촌진흥청장), 주식회사 다운 filed Critical 대한민국(농촌진흥청장)
Publication of WO2022265156A1 publication Critical patent/WO2022265156A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/007—Monitoring milking processes; Control or regulation of milking machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/04—Milking machines or devices with pneumatic manipulation of teats
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J7/00—Accessories for milking machines or devices
    • A01J7/04—Accessories for milking machines or devices for treatment of udders or teats, e.g. for cleaning
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
    • A01K5/01—Feed troughs; Feed pails
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/02—Food
    • G01N33/04—Dairy products

Definitions

  • the present invention relates to an automatic milking device, and more particularly, to induce feed intake by entering a livestock into a feeding unit, but with a robot arm adsorbing the teat cup to the nipple of the livestock, the milking device applies vacuum pressure to the teat cup. It relates to an automatic milking device for livestock that allows milk to be milked with a suction hose to be stored in a milk collecting jar through a milking hose.
  • a milking device is a device that adsorbs a teat cup around a nipple of a livestock, sucks milk from the livestock through the adsorbed teat cup, and milks the milk through a suction hose connected to the teat cup.
  • Patent Document 1 (KR20-0169167 Y1) relates to a pulsation system of a conventional dairy milking machine.
  • an oil pipeline a vacuum pipe formed below the oil pipeline to generate suction pressure in the oil pipeline, Front and back nipple cups inserted into the front and back nipples of the cow, and a milk hose with one end connected to the nipple cup and the other end connected to the milk supply pipe to move the milk flowing in through the front and rear nipple cups to the milk supply pipe , forming a deferred hose with one end connected to the pressure and trailing edge teat cups and the other end connected to the pulsation system installed between the oil pipeline and the vacuum pipe.
  • the front and rear induction cups are adsorbed to the cow's front and rear teats, respectively. In that state, milk is sucked from the cow through the front and rear teat cups. .
  • the milk sucked into the front and rear nipple cups is moved to the milk supply pipe through the milk hose, and is then moved along the milk supply pipe.
  • the front and rear teat cups are attached to the front and rear of the cow, and while milking, the pulsation system measures the pulsation number and pulsation rate of the cow to check the state of the cow.
  • Patent Document 1 as described above, after the operator grips the front and rear teat cups and inserts them into the front and rear teats, respectively, the front and rear teat cups are re-gripped at the time when milking from the milk is completed. There is an inconvenience of separation, and milking is performed while feeding livestock in an open space, and the teat cup is easily separated from the milk as the livestock moves forward, backward, or left and right, and the milking cup is separated from the milking cup. The work is delayed, and the worker has to frequently remove and attach a plurality of front and rear teat cups, so the milking time is delayed and must always stay around the teat cups.
  • the present invention is to solve the above-mentioned problems, and the teat cup is seated in the hole of the holder, and the suction hose of the teat cup is installed to pass through the length adjusting device of the milking device, so that the oil collecting jar is connected to the inside. It is connected to the hose, and an inlet door through which livestock enters one side of the milking device and an opening is formed on the other side opposite to the inlet door.
  • Form a feed supply unit equipped with a feed container and install a robot arm that moves a teat cup around the nipple of a livestock on one side of the opening, so that when livestock enters through the inlet door of the feed supply unit, the feed container is positioned in front of the livestock.
  • the robot arm moves the teat cup to the nipple of the livestock through the opening, and as the length adjustment part of the milking device moves up and down, At this time, in a state where the teat cup is adsorbed around the nipple of the livestock by the suction hose connected to the suction hose and the vacuum pressure in the collecting jar, the milk is moved to the collecting jar through the suction hose and the feeding hose.
  • an automatic milking device for livestock comprises: a teat cup for milking milk by forming an adsorption hose at one end and adsorbed around a nipple of a livestock; a cradle for holding the tea cup by forming a plurality of holes through which the tea cup is hung; A length adjusting device is formed on the front side to guide the adsorption hose of the teat cup to be pulled or released by lifting operation, and a vacuum state is formed on the inside to form a milk collection jar for storing milk milked from livestock.
  • a milking device having a vacuum device for forming a vacuum pressure in the jar and the oil feeding hose; It has a hollow shape with an open front, is installed on one side of the milking device, forms an inlet door that allows livestock to enter the inner space on one side, and forms an opening on the other side opposite to the inlet door, and the opening on the front side.
  • Feed supply unit forming a rotating feed container; It is characterized in that it consists of; a robot arm installed at one side of the opening of the feed supply unit and moving the teat cup around the teat of livestock through the opening so that the teatcup is adsorbed around the teat.
  • the milking device includes: a housing having a hollow shape, forming the length adjusting device on the front side, and having the milk collection jar and a vacuum device on the inside; an auxiliary jar provided in the housing, connected to the milk collecting jar, receiving milk overflowing from the milk collecting jar, and preventing the milk in the milk collecting jar from flowing back into the oil feeding hose; a first shut-off valve installed on the path of the oil supply hose provided in the housing to open or block the oil supply hose; a vacuum measuring sensor installed at a rear end of the first shut-off valve to measure a suction pressure in the oil supply hose; a conductivity sensor provided at a rear end of the vacuum measuring sensor, installed on the path of the oil feeding hose, and measuring the contamination concentration of the milk moving to the milk collection jar through the feeding hose; a flow rate measuring sensor provided at a rear end of the vacuum measuring sensor, installed on the path of the oil feeding hose, and measuring the flow rate of
  • the cradle is rotatably installed on one side of the cradle in the shape of a plate, covers the upper part of the tea cup with a lower surface, and sterilizes water or steam to the inside of the tea cup.
  • a water supply unit is further formed, and the milking device includes a three-way valve installed between the suction hose and the oil supply hose; a second shutoff valve installed on an outer surface of the three-way valve to determine whether the three-way valve is open or closed; a polluted water discharge hose having one end connected to the three-way valve and discharging polluted water or steam in the adsorption hose;
  • the contaminated water tank has a hollow shape and is installed to connect between the polluted water discharge hose and the vacuum device, and stores the polluted water discharged through the polluted water discharge hose by forming a vacuum pressure in the internal space by the vacuum device. It is characterized in that it further includes;
  • the milking device includes: a washing water storage tank installed in an inner space, connected to the sterilizing water supply unit, and supplying washing water to the sterilizing water supply unit; It is characterized in that it further comprises; a steam generator installed on one side of the washing water storage tank, connected to the sterilizing water supply unit, and supplying steam to the sterilizing water supply unit.
  • the contaminated water tank comprises: a contaminated water discharge valve on a bottom surface thereof for discharging the contaminated water in the contaminated water tank to the outside; a vacuum control device installed to connect between the contaminated water tank and the vacuum device, and guiding the air in the contaminated water tank to be sucked into the vacuum device or releasing the vacuum pressure in the contaminated water tank by receiving outside air; It is characterized in that it further comprises.
  • the milking device is connected to the teat cup and supplies washing water and air into the teat cup adsorbed to the teat of the livestock to wash the teat of the livestock or the teat. It is characterized by further forming an integrated teat washer that sprays the dip agent into the cup and applies the dip agent to the nipples of livestock.
  • the cradle further forms an induction roller on the upper surface thereof to guide the unwinding or winding of the suction hose connected to the teat cup in the length adjusting device, and the length adjusting device.
  • the device includes a cylinder; a lifting rod that is coupled to the cylinder and moves up and down; and a guide coupled to the lower end of the elevating rod, forming a pair of guide rollers facing each other in the upper and lower directions, and passing the suction hose of the tea cup between the guide rollers.
  • the feed supply unit includes a main body having an open front surface and having the inlet door, the opening and the outlet door; an opening/closing cylinder installed on an upper surface of the main body, connected to each of the inlet door and the outlet door, and rotationally opening and closing the inlet door and the outlet door; a weighing plate installed on the bottom surface of the main body to measure the weight of livestock entering the main body; It may further include an RFID device installed on one side of the exit door so as to face the inside of the body, recognizing a tag of a livestock entering the body, and outputting livestock information to the outside.
  • the exit door of the feed supply unit is installed to wrap and cover the outer circumferential surface of the feed container, and one side thereof is rotatably installed on one side of the main body, determined by the opening/closing cylinder. It is rotated at an angle to open the front of the feed supply unit, and a rotating cylinder is formed on an inner wall surface, and the feed container forms a rotation shaft rotatably installed at the top of the exit door, and is recessed on the inside to form a space inside the feed container. It forms a feed receiving groove for accommodating feed, and is characterized in that the lower front surface is connected to the rotating cylinder and rotated in the front and rear directions by the rotating cylinder.
  • the robot arm is characterized in that a camera and a laser sensor for checking the position of the nipple of the livestock are further formed at the end of the robot arm.
  • the feed container is automatically positioned in front of the livestock to correspond to the size of the livestock entering the feed supply unit, so that the livestock can easily consume the feed, and the feed container is located in the front of the livestock so that the livestock moves in the feed supply unit.
  • feeding and milking can be performed simultaneously by adsorbing the teat cup to the teat of the livestock that is consuming feed, and the length adjustment device automatically pulls the suction hose at the completion of milking.
  • the teat cup is detached from the livestock, and the teatcup detached from the livestock is automatically placed on the cradle to ensure hygiene and cleanliness.
  • the teat cup is completed at the time of completion of the milking operation.
  • FIG. 1 is a perspective view showing an automatic milking device for livestock according to the present invention.
  • FIG. 2 is a perspective view of FIG. 1 viewed from the right side;
  • Figure 3 is a view of Figure 1 viewed from the front;
  • Figure 4 is a view of Figure 1 viewed from the right side;
  • Figure 5 is a perspective view showing a teat cup of the automatic milking device for livestock according to the present invention.
  • Figure 6 is a perspective view showing a cradle and length adjustment device of the automatic milking device for livestock according to the present invention.
  • Figure 7 is a perspective view showing a milking device of an automatic milking device for livestock according to the present invention.
  • Figure 8 is an opening flow chart showing the configuration of the milking device of the automatic milking device for livestock according to the present invention.
  • Figure 9 is a perspective view showing a feed supply of the automatic milking device for livestock according to the present invention.
  • Fig. 10 is a plan view of Fig. 9;
  • Figure 11 is a perspective view showing the access door and feed container of the automatic milking device for livestock according to the present invention.
  • FIG. 12 is a perspective view showing a robot arm of an automatic milking device for livestock according to the present invention.
  • the teat cup 100 forms an adsorption hose 101 at one end, and is adsorbed around the nipple of the livestock to milk milk.
  • the teat cup 100 is adsorbed around the nipple of the livestock by the suction hose 101 maintaining a vacuum state.
  • the suction hose 101 passes through the length adjusting device 301 of the milking device 300, and its end is connected to the three-way valve 314.
  • the teat cup 100 is inserted into the hole 201 of the holder 200 and is placed on the holder 200 .
  • the holder 200 forms a plurality of holes 201 through which the tea cup 100 is hung, and the tea cup 100 is seated therein.
  • the cradle 200 is preferably installed connected to the lower end of the length adjusting device 301 of the milking device 300.
  • the cradle 200 supports the tea cup 100 so as to be positioned at a predetermined height from the ground.
  • the hole 201 is installed in a line direction on one side of the holder 200, allowing the tea cup 100 to be seated in a horizontal state.
  • a sterilizing water supply unit 202 is rotatably installed on one side of the holder 200 in the shape of a plate, covers the upper part of the tea cup 100 on the bottom surface, and supplies washing water or steam to the inside of the tea cup 100.
  • the sterilizing water supply unit 202 is connected to the washing water storage tank 318 and the steam generator 319.
  • the sterilizing water supply unit 202 cleans the inside of the suction hose 101 by pushing out milk and foreign substances remaining in the tea cup 100 and the suction hose while supplying washing water into the tea cup 100. .
  • the sterilizing water supply unit 202 receives steam from the steam generator 319 and discharges the steam into the tea cup 100 to sterilize the inner space of the tea cup 100 .
  • the sterilizing water supply unit 202 covers the upper portions of the plurality of tea cups 100 in an airtight state and sprays washing water or steam into the tea cups 100 .
  • the cradle 200 allows the tea cup 100 to be inserted into the hole 201, and the tea cup 100 is seated and fixed in the hole 201.
  • the holder 200 further forms an induction roller 203 on one side thereof to guide the unwinding or winding of the suction hose 101 connected to the teat cup 100 in the length adjusting device 301.
  • the suction hose 101 released from the length adjusting device 301 of the induction roller 203 is moved by the robot arm 500. It is guided to move in the direction of (500).
  • the milking device 300 is lifted up and down on the front to form a length adjusting device 301 that guides the suction hose 101 of the teat cup 100 to be pulled or released, and a vacuum state is formed inside, so that livestock Forms a milk collecting jar 302 for storing milk milked from, one end is connected to the suction hose 101, and the other end is connected to the milk collecting jar 302 to milk milked through the suction hose 101 forms an oil supply hose 303 that guides supply to the oil collecting jar 302, is connected to the oil collecting jar 302 at one side of the inside, and vacuum pressure is applied to the oil collecting jar 302 and the oil supply hose 303 To form a vacuum device 304 to form.
  • the milk feeding hose 303 guides the milk suctioned and moved to the suction hose 101 to move toward the milk collecting jar 303 .
  • the milk collection jar 302 stores milk milked from livestock.
  • the milk collecting jar 302 is controlled by the controller 313 to deliver milk to an externally connected cooler or discharge milk to a waste container (not shown) through a waste hose (not shown).
  • the milking device 300 has a hollow shape, the length adjusting device 301 is formed on the front side, and the housing 305 having the milk collection jar 302 and the vacuum device 304 on the inside, and the housing ( 305) is connected to the milk collecting jar 302, receives milk overflowing from the milk collecting jar 302, and prevents milk in the milk collecting jar 302 from flowing back into the oil feeding hose 303.
  • an auxiliary jar 306 installed on the path of the oil feed hose 303 provided in the housing 305, and a first shutoff valve 307 for opening or blocking the oil feed hose 303, the first shutoff valve
  • a vacuum measuring sensor 308 installed at the rear end of the valve 307 to measure the suction pressure in the oil feed hose 303, provided at the rear end of the vacuum measuring sensor 308, and installed on the path of the oil feed hose 303 and a conductivity sensor 309 measuring the contamination concentration of the milk moving to the milk collection jar 302 through the oil feed hose 303, provided at the rear end of the vacuum measurement sensor 306, and the oil feed hose 303
  • a flow rate measurement sensor 310 installed on a path and measuring the flow rate of milk moving to the milk collecting jar 302 through the milk feeding hose 303 to check the milking state of livestock, and the vacuum measurement sensor 306 )
  • An oil quality measuring sensor 311 provided at the rear end, installed on the path of the oil feeding hose 303, and measuring the nutrient state
  • the auxiliary jar 306 is installed above the milk collecting jar 302 to store milk that overflows into the upper part of the milk collecting jar 302 .
  • the auxiliary jar 306 is connected to the oil collecting jar 302 by a connection pipe 306a, and is moved up and down by the milk overflowing in the connection pipe 306a to move inside the connection pipe 306a.
  • a floating ball (306b) that opens and closes.
  • the floating ball 306b is moved upward along the connection pipe 306a by the milk overflowing in the collecting jar 302 so that the auxiliary jar 306 and the collecting jar 302 communicate with each other. Thus, the milk in the collecting jar 302 is allowed to move to the auxiliary jar 306.
  • the floating ball 306b is located at the bottom of the connection pipe 306a by a free fall method to close the connection pipe 306a, and is located at the top of the connection pipe 306a to open the connection pipe 306a. open up
  • the first shut-off valve 307 is opened and closed by the control unit 313 to open so that the suction hose 101 and the oil supply hose 303 are in communication, or the suction hose 101 and the oil supply hose 303 are opened. ) close between them.
  • the first shutoff valve 307 is closed for a time determined by the control unit 313 to increase suction pressure in the suction hose 101 .
  • the first shutoff valve 307 is closed by the control unit 313, and the washing water or steam sucked into the adsorption hose 101 moves toward the contaminated water tank 317 through the three-way valve 314. guide you to do
  • the vacuum measuring sensor 308 measures the suction pressure in the suction hose 101 and outputs this signal to the controller 313.
  • the conductivity sensor 309 measures the contamination concentration of milk, displays the contamination concentration on a display (not shown) installed outside, and transmits a signal to the control unit 313 at the same time.
  • the flow rate measurement sensor 310 is preferably installed at the rear end of the conductivity sensor 309.
  • the flow rate measurement sensor 310 measures the flow rate of milk and transmits the signal to the control unit 313.
  • the oil quality measurement sensor 311 is preferably installed at the rear end of the flow rate measurement sensor 310 .
  • the milk quality measurement sensor 311 measures the nutrient state of milk and transmits a signal to the control unit 313.
  • the flow rate measurement sensor 312 is preferably installed at the rear end of the oil quality measurement sensor 311 .
  • the flow measurement sensor 312 measures the total amount of milk and transfers it to the control unit 313.
  • the controller 313 receives a signal from the vacuum measuring sensor 308 that measures the suction pressure in the oil supply hose 303, and if the suction pressure is less than or equal to a predetermined pressure, the first shutoff valve 307 is turned on for a predetermined time. After controlling the oil supply hose 303, the first shut-off valve 307 is opened so that suction pressure is regenerated in the teat cup 100, so that the teat cup 100 is placed around the nipple of the livestock. to be adsorbed.
  • the control unit 313 receives a signal from the flow rate measurement sensor 310, and when a flow rate value relatively lower than a preset flow rate value is measured by the flow rate measurement sensor 310, the first shutoff valve 307 By controlling, the oil transfer hose 303 is blocked.
  • the controller 313 determines the milking state of livestock by receiving the measurement signal from the flow rate sensor 310 for 15 to 20 minutes based on the time point at which the flow rate value relatively lower than the preset flow rate value is measured.
  • the control unit 313 receives signals from each of the vacuum measurement sensor 308, conductivity sensor 309, flow rate measurement sensor 310, and oil quality measurement sensor 311, compares them with preset values, and compares the signals. Depending on the value, whether or not the milk is defective is determined.
  • the control unit 313 transmits signals received from the vacuum measurement sensor 308, conductivity sensor 309, flow rate measurement sensor 310, oil quality measurement sensor 311, and flow measurement sensor 312 to an external display (Mido). o) output.
  • the milking device 300 is installed on the outer surface of the three-way valve 314 and the three-way valve 314 installed between the suction hose 101 and the oil delivery hose 303 to determine whether the three-way valve 314 is open or closed.
  • a second shutoff valve 315 that determines, one end connected to the three-way valve 314, and a polluted water discharge hose 316 for discharging polluted water or steam in the adsorption hose 101, in a hollow shape, for the contamination It is installed to connect between the water discharge hose 316 and the vacuum device 304, and the vacuum device 304 forms a vacuum pressure in the inner space of the contaminated water discharge hose 316 to discharge the contaminated water.
  • a contaminated water tank 317 for storing is further included.
  • the route of the three-way valve 314 is determined by the first and second shutoff valves 307 and 315, and guides the milk sucked into the suction hose 101 to move to the oil supply hose 303, or Alternatively, washing water or steam sucked into the adsorption hose 101 through the teat cup 100 is guided to move to the contaminated water tank 317.
  • the second shutoff valve 315 and the first shutoff valve 307 cross each other to open and close, allowing milk sucked into the suction hose 101 to move to the oil delivery hose 303.
  • the contaminated water discharge hose 316 guides the contaminated water or steam flowing into the three-way valve 314 through the adsorption hose 101 to move toward the contaminated water tank 317 .
  • the contaminated water discharge hose 316 moves the contaminated water and steam toward the contaminated water tank 317 when the first shutoff valve 307 is closed and the second shutoff valve 315 is opened. guide
  • the inner space of the contaminated water tank 317 is maintained in a vacuum state by the vacuum device 304, so that the contaminated water and steam supplied to the three-way valve 314 flow toward the contaminated water discharge hose 316. Suction pressure is formed in the polluted water discharge hose 316 and the adsorption hose 101 so that the water flows in.
  • the contaminated water tank 317 has a contaminated water discharge valve 317a on its bottom surface for discharging the contaminated water in the contaminated water tank 317 to the outside, and between the contaminated water tank 317 and the vacuum device 304. , and guides the air in the contaminated water tank 317 to be sucked into the vacuum device 304 or releases the vacuum pressure in the contaminated water tank 317 by receiving external air ( 317b) is further included.
  • the contaminated water discharge valve 317a is opened and closed so that the contaminated water in the contaminated water tank 317 from which the vacuum pressure is released is discharged downward in a free fall manner.
  • the contaminated water discharge valve 317a is opened and closed by a user's manipulation to discharge the contaminated water.
  • the vacuum control device 317b is formed so that one end thereof is opened and closed so that the inside of the contaminated water tank 317 maintains a vacuum state, or one end thereof is opened to supply external air into the contaminated water tank 317. , The vacuum pressure in the contaminated water tank 317 is released.
  • the vacuum control device 317b is operated manually by the user or when the water level in the contaminated water tank 317 rises above a predetermined level by receiving a signal from the control unit 313, and is operated to open the contaminated water tank 317. ) can release the vacuum pressure inside.
  • the milking device 300 is connected to the sterilizing water supply unit 202 in the inner space, and the washing water storage tank 318 for supplying washing water to the sterilizing water supply unit 202, and one side of the washing water storage tank 318 and a steam generator 319 connected to the sterilizing water supply unit 202 and supplying steam to the sterilizing water supply unit 202.
  • the washing water storage tank 318 receives hot water or cold water having a predetermined temperature and supplies the washing water to the sterilizing water supply unit 202 .
  • the washing water storage tank 318 supplies washing water to the sterilizing water supply unit 202 and the integrated teat washer 320 .
  • the steam generator 319 supplies steam into the tea cup 100 through the sterilizing water supply unit 202 .
  • the milking device 300 is connected to the teat cup 100, and supplies washing water and air into the teat cup 100 adsorbed to the teat of the livestock to wash the teat of the livestock or the teat cup 100.
  • An integrated teat washer 320 is further formed to apply the dipping agent to the nipples of livestock by spraying the dipping agent into the inside.
  • the integrated teat washer 320 sprays washing water, air, or immersion agent through the teat cup 100 around the teat of the livestock adsorbed in the teat cup 100 .
  • the integrated teat washer 320 receives a signal from the control unit 313 and discharges washing water and air around the teat in the teat cup 100, At the same time as washing, remove the water attached to the nipple with air.
  • the integrated teat washer 320 is connected to the teat cup 100 through a connection hose H, and sprays washing water, air, and immersion agent into the teat cup 100 through the connection hose H. desirable.
  • the integrated teat washer 320 receives a signal from the control unit 313 when milking is completed, applies the soaking agent around the teat in the teat cup 100, and when the suction of the teat cup 100 is released, , Washing the connection hose (H) connected between the integrated teat washer 320 and the teat cup 100 while supplying washing water and air into the teat cup 100, immersing in the connection hose H remove the je
  • the integrated teat washer 320 is connected to the washing water storage tank 318 to spray washing water to the teat cup, and an air device (not shown) for spraying air to the inside of the teat cup 100 and an immersion agent. Forms an immersion liquid storage container (not shown) for spraying.
  • the length adjusting device 301 is coupled to a cylinder 301a, a lift rod 301b coupled to the cylinder 301a and moved up and down, and a pair coupled to the lower end of the lift rod 301b and facing each other in the upper and lower directions.
  • the guide roller 301c-1 is formed and the guide part 301c passes the suction hose 101 of the tea cup 100 between the guide rollers 301c-1.
  • the guide part 301c moves upward by the lifting rod 301b to pull the suction hose 101, and moves downward to guide the suction hose 101 to be released.
  • the feed supply unit 400 has a hollow shape with an open front, is installed on one side of the milking device 300, and forms an inlet door 401 on one side that allows livestock to enter the internal space, and the inlet door 401 ), form an opening 402 on the opposite side, and rotate at a predetermined angle toward the opening 402 on the front side to form an exit door 403 opening the front side, and forming an exit door 403 at the top of the exit door 403 Doedoe rotatably installed in, to accommodate the feed therein to form a feed container 404 that rotates forward and backward toward the livestock direction or the opposite direction to the livestock.
  • the inlet door 401 is opened and closed to allow livestock to enter the feed supply unit 400, but one side of the feed supply unit 400 is closed while milking milk from the livestock.
  • the opening 402 allows the robot arm 500 to enter the teat cup 100 around the teat of the livestock located in the feed supply unit 400 .
  • the exit door 403 is sealed while milking milk from livestock in the feed supply unit 400, and is rotated at a predetermined angle to open the front of the feed supply unit 400, so that the livestock feeds the feed supply unit 400. ) guide to move to the outside through the front.
  • the exit door 403 integrally rotates the feed container 404.
  • the feed box 404 accommodates the feed therein, and is rotated close to the front of the livestock entering the feed supply unit 400 so that the livestock consumes the feed.
  • the feed supply unit 400 is installed on a main body 405 having a front surface open and having the inlet door 401, the opening 402 and the outlet door 403 formed, and the upper surface of the main body 405, and each An opening/closing cylinder 406 installed in connection with the inlet door 401 and the outlet door 403 to rotate and open the inlet door 401 and the outlet door 403, installed on the bottom surface of the main body 405 and a weighing plate 407 for measuring the weight of livestock entering the main body 405, installed on one side of the exit door 403 so as to face the inside of the main body 405, and the main body 405 It is composed of an RFID device 408 that recognizes the tag of livestock entering the inside and outputs information about the livestock to the outside.
  • the main body 405 is formed in a hollow shape, allows livestock to enter the inside, and prevents livestock from moving forward, backward, left, and right.
  • the opening/closing cylinder 406 opens the inlet door 401 to allow livestock to enter the main body 405, but closes the inlet door 401 so that livestock that have entered the main body 405 cannot enter the main body 405. (405) Prevent movement to the outside.
  • the opening/closing cylinder 406 rotates and opens the exit door 403 to guide the livestock to move outside through the front of the main body 405 .
  • the weighing plate 407 measures the weight of livestock entering the main body 405 and transmits the weight value of livestock to an external device (not shown).
  • the RFID device 408 recognizes the tag attached to the livestock and outputs the living body (eg, weight, size, health condition) of the livestock to an external device (not shown).
  • the living body eg, weight, size, health condition
  • the exit door 403 of the feed supply unit 400 is installed to wrap and cover the outer circumferential surface of the feed container 404, and one side thereof is rotatably installed on one side of the main body 405, and is connected to the opening/closing cylinder 406. is rotated at a predetermined angle to open the front of the feed supply unit 400 and form a rotating cylinder 403a on the inner wall surface.
  • the rotary cylinder 403a rotates and moves the lower end of the feed container 404 forward and backward, so that the feed container 404 is located in front of the livestock entering the main body 405.
  • the rotary cylinder 403a receives a signal from the RFID device 408 and rotates the feed container 404 to correspond to the size of livestock.
  • the feed container 404 forms a rotational shaft 404a rotatably installed at the top of the exit door 403, and is recessed inside to form a feed receiving groove 404b for accommodating feed in its internal space, ,
  • the bottom front is connected to the rotary cylinder 403a, and is rotated in the front and rear directions by the rotary cylinder 403a.
  • the lower end of the feed container 404 is moved forward and backward with respect to the rotating shaft 404a, and is positioned in front of the livestock entering the main body 405.
  • the robot arm 500 is installed on one side of the opening 402 of the feed supply unit 400, and moves the teat cup 100 around the teat of livestock through the opening 402 so that the teat cup 100 is around the teat. (100) is adsorbed.
  • the robot arm 500 has a joint structure and freely rotates in multiple directions.
  • the robot arm 500 further forms a camera 501 and a laser sensor 502 to check the position of the nipple of the livestock at its end.
  • the camera 501 checks the position of the nipple of the livestock, and the laser sensor 502 measures the distance between the nipple of the livestock and the robot arm 500 .
  • the automatic milking device for livestock according to the present invention configured as described above is used as follows.
  • the livestock is moved so that the livestock moves around the inlet door 401 of the feed supply unit 400.
  • the opening/closing cylinder 406 is operated to open the inlet door 401, and at this time, through the opened inlet door 401, guide the livestock to enter the main body 405 of the feed supply unit 400. do.
  • the RFID device 408 recognizes the tag attached to the livestock and measures the weight with an external device.
  • the current weight of the livestock measured on the plate 407 and the living body (eg, weight, size, and health condition) of the livestock previously input through the RFID device 408 are simultaneously output.
  • the opening/closing cylinder 406 is operated to close the inlet door 401 and the outlet door 403 at the same time, and an external device (not shown) operates on the outlet door 403 according to the biorhythm state signal of the livestock.
  • an external device (not shown) operates on the outlet door 403 according to the biorhythm state signal of the livestock.
  • the rotary cylinder 403a is operated to move the lower end of the feed container 404 forward or rearward, and at this time, the feed container 404 is rotated forward or backward with respect to the rotational axis 404a to the front of the livestock. It is positioned close to, and the livestock consumes the feed accommodated in the feed receiving groove 404b of the feed container 404.
  • the livestock that has entered the main body 405 is moved so that the buttocks are located at the rear end of the main body 405 and the feed container 404 is located in front of the livestock in that state, so that within the main body 405 It is prevented that livestock move forward or backward in
  • the sterilizing water supply part 202 is separated from the tea cup 100. Let it be.
  • the vacuum device 304 of the milking device 300 forms vacuum pressure in the oil collecting jar 302 so that vacuum pressure is formed in the oil feeding hose 303 and the suction hose 101.
  • the robot arm 500 grips the teat cup 100 mounted on the holder 200, and in that state enters the main body 405 through the opening 402 of the feed supply unit 400, After confirming the position of the livestock nipple with the camera 501 and laser sensor 502 of the robot arm 500, the teat cup 100 is inserted into the livestock nipple.
  • the suction hose 101 connecting the teat cup 100 and the feeding hose 303 is pulled by the robot arm 500.
  • the cylinder 301a of the length adjusting device 301 moves the lifting rod 301b downward, and the guide part 301c installed under the lifting rod 301b moves downward while the suction hose (101) is guided to be released.
  • the guide roller 301c-1 of the guide part 301c is rotated by friction with the outer surface of the suction hose 101 pulled by the robot arm 210 and guides the suction hose 101 to be released. do.
  • the guide roller 203 installed on the upper surface of the holder 200 guides the suction hose 101 to be released in the moving direction of the robot arm 500, so that the suction hose 101 is twisted or bent. prevented
  • the teat cup 100 forms a suction pressure by the vacuum pressure formed in the suction hose 101, and is adsorbed around the nipple of the livestock by the suction pressure.
  • the vacuum measurement sensor 308 signal is transmitted to the control unit 313, and the pressure in the oil supply hose 303 transmitted to the control unit 313 is proportional to a predetermined pressure value preset in the control unit 313. If it is or is high, it is determined that the teat cup 100 is normally adsorbed around the nipple of the livestock.
  • the teat cup 100 is defective around the nipple of the livestock.
  • the first shut-off valve 307 is controlled so that the oil supply hose 303 is blocked. Afterwards, the oil supply hose 303 is reopened to form the teat cup 100 at the moment it is formed. The suction force induces the teat cup 100 to be normally adsorbed around the nipple of the livestock.
  • the control unit 313 closes the first shutoff valve 307 and simultaneously opens the second shutoff valve 315 to absorb the suction.
  • the hose 101 communicates with the contaminated water discharge hose 316.
  • the vacuum device 304 forms a vacuum pressure in the contaminated water tank 317, so that suction pressure is applied to the contaminated water discharge hose 316 and the adsorption hose 101 connected to the contaminated water tank 317. maintain.
  • the washing water is sprayed into the teat cup 100 through the integrated teat washer 320, so that the teats around the teat of the livestock Foreign matter is washed, and then, air is blown into the teat cup 100 to remove water remaining on the nipples of livestock.
  • the integrated teat washer 320 receives water from the washing water storage tank 318 and sprays it to the teat cup 100, and sprays air through an air device (not shown) installed therein. desirable.
  • washing water sprayed into the teat cup 100 to wash livestock teats and the foreign matter separated from the teats by the air pass through the three-way valve 314 by the suction pressure of the adsorption hose 101 and the contaminated water It is moved to the discharge hose 316 and stored in the contaminated water tank 317.
  • the controller 313 opens the first shutoff valve 307 and simultaneously the second shutoff valve 315 ) is blocked, and the adsorption hose 101 and the oil transfer hose 303 are communicated.
  • the conductivity installed on the path of the oil supply hose 303 The sensor 309 measures the contamination concentration of milk and transmits the signal to the controller 313, so that the controller 313 determines whether the milk is defective.
  • the first shutoff valve 307 installed on the path of the oil supply hose 303 remains open, and on the contrary, the second shutoff valve 315 installed on the path of the polluted water discharge hose 316 The milk passing through the three-way valve 314 after being blocked is moved to the oil supply hose 303.
  • the milk passing through the conductivity sensor 309 passes through the flow rate sensor 310 while moving along the oil delivery hose 303, and at this time, the flow rate of milk measured by the flow rate sensor 310 The value is transmitted to the controller 313.
  • the flow rate sensor 310 measures the flow rate value of the milk passing through the oil feeding hose 303 for a predetermined time, and transmits the signal to the control unit 313. At this time, the control unit 313 Comparatively calculates the flow rate value measured by the flow rate sensor 310 and the preset flow rate value.
  • the flow rate value measured by the flow rate sensor 310 is relatively higher than or proportional to the preset flow rate value, the milking state of the livestock is determined to be normal, and milk is supplied through the teat cup 100. It is continuous inhalation.
  • the controller 313 receives the signal from the flow rate sensor 310, At this time, if the flow rate value measured by the flow rate sensor 310 continuously for 15 to 20 minutes is relatively lower than the preset flow rate value, it is determined that the milking condition of the livestock is poor, and the control unit 313 determines that the milking condition of the livestock is poor. By controlling the first shut-off valve 307 to block the oil delivery hose 303, milking is stopped.
  • the milk passing through the flow rate measurement sensor 310 moves along the oil feeding hose 303 and passes through the oil quality measurement sensor 311.
  • the oil quality measurement sensor 311 measures the nutrient state of milk and transmits this signal to the control unit 313.
  • control unit 313 compares and calculates the nutrient state of milk measured by the oil quality measurement sensor 311 with the predetermined nutrient state of milk, and if the nutrient state of milk measured by the oil quality measurement sensor 311 is high, it is normal. , and if the nutrient state of the milk measured by the milk quality measurement sensor 311 is low, it is determined to be defective.
  • the flow rate measurement sensor 312 calculates the total amount of milk milked from the livestock, and sends it to the control unit 313. convey
  • control unit 313 checks the total amount of milk and outputs it to an external display (not shown), so that the worker can check the total amount of milk milked from the livestock.
  • the milk moved through the milk feeding hose 303 is accommodated in the milk collecting jar 302, and at this time, the milk stored in the milk collecting jar 303 is the milk milked from one livestock.
  • control unit 313 receives signals from the conductivity sensor 309, the flow rate measurement sensor 310, the oil quality measurement sensor 311, and the flow rate measurement sensor 312, and calculates the signal value to produce livestock and milk. By determining whether it is normal or defective, it is determined whether the milk contained in the milk collecting jar 302 is sent to an external waste container (not shown) or to a cooler (not shown).
  • connection pipe 306a If milk is supplied in excess of a predetermined amount in the milk collection jar 302, the milk in the milk collection jar 302 overflows into the connection pipe 306a and moves the floating ball 306b upward, Accordingly, while the floating ball 306b is positioned above the connection pipe 306a, the connection pipe 306a is opened.
  • connection pipe 306a the milk that overflows through the connection pipe 306a is discharged upward through the connection pipe 306a and supplied into the auxiliary jar 306, and accordingly, the milk in the collecting jar 302 flows through the oil feeding hose ( 303) to prevent backflow.
  • the integrated teat washer 320 sprays the dipping agent into the teat cup 100, which maintains an adsorbed state around the nipple, so that the dipping agent is applied around the nipple of the livestock .
  • the integrated nipple washer 320 forms an immersion liquid storage container (not shown) therein, and sprays the immersion agent stored in the immersion liquid storage container (not shown) to the teat cup 100.
  • control unit 313 transmits a signal to the length adjusting device 301 so that the cylinder 301a of the length adjusting device 301 moves the lifting rod 301b upward, and at this time, the lifting and lowering
  • the guide part 301c formed at the end of the rod 301b pulls the suction hose 101 so that the teat cup 100 adsorbed around the nipple of the livestock is separated from the nipple of the livestock.
  • the guide roller 301c-1 of the guide part 301c pulls the suction hose 101 while rotating, so that the suction hose 101 is pulled by the guide roller 301c-1.
  • the teat cup 100 at the end of the suction hose 101 separated from the livestock is caught in the hole 201 of the holder 200 and is placed on the holder 200.
  • the controller 313 closes the first shutoff valve 307 and opens the second shutoff valve 315, thereby forming a vacuum pressure by the vacuum device 304 in the contaminated water tank ( Suction pressure is maintained in the contaminated water discharge hose 316 connected to 317, the three-way valve 314, the suction hose 101, and the teat cup 100.
  • the sterilizing water supply unit 202 of the holder 200 is rotated to cover and seal the top of the teat cup 100, and in that state, the integrated teat washer 320 pours washing water into the teat cup 100. and air is sprayed so that the immersion agent in the connection hose (H) connecting the integrated teat washer 320 and the teat cup 100 is washed, and at the same time, the teat cup through the sterilizing water supply unit 202. Washing water and air are sprayed into (100).
  • the sterilizing water supply unit 302 receives the washing water from the washing water storage tank 318 and sprays it into the teat cup 100, and at this time, the washing water supplied into the teat cup 100 is supplied to the integrated teat washer. It is mixed with the washing water supplied into the teat cup 100 through the teat cup 100 through the teat cup 100, the suction hose 101, and the polluted water discharge hose 316 to the contaminated water tank 317. move is saved
  • the adsorption hose 101 allows the washing water to pass through and the remaining milk or dregs are pushed by the washing water and moved to the contaminated water tank 317, so that the tea cup 100 and the adsorption hose 101 ) inside is washed.
  • the washing water sprayed into the teat cup 100 moves to the contaminated water tank 317 by the suction pressure formed in the teat cup 100, the adsorption hose 101, and the polluted water discharge hose 316. .
  • the connection with the vacuum device 304 is cut off and the vacuum control device 317b is opened to allow external air to flow into the contaminated water tank 317. ), the vacuum pressure in the contaminated water tank 317 is released, and at this time, the contaminated water discharge valve 317a is opened to release the contaminated water in the contaminated water tank 317 by a free fall method. is to release it to the outside.
  • the vacuum controller 317b is opened manually by a user or when contaminated water is supplied to a level higher than a predetermined level in the contaminated water tank 317, it is automatically opened and the vacuum pressure in the contaminated water tank 317 is reduced. can be unlocked.
  • the rotation cylinder 403a of the feed supply unit 400 is operated, and at this time, the feed container 404 feeds the livestock based on the rotation shaft 404a.
  • the outlet door 403 is rotated at a predetermined angle using the opening/closing cylinder 406 to open the front of the main body 405 of the feed supply unit 400.
  • the opening/closing cylinder 406 is operated to open the inlet door 401, but the exit door 403 ) to return to its original position.
  • the livestock is allowed to enter the feed supply unit 400, and milking is performed while supplying feed in that state.
  • the structure of supplying feed to the livestock by entering the livestock into the feed supply unit 400 and milking the livestock from the livestock while consuming the feed corresponds to the size of the livestock entering the feed supply unit 400.
  • the feed container 404 is automatically positioned in front of the livestock so that the livestock can easily consume feed, and the feed container 404 is placed in front of the livestock so that there is no fear of moving the livestock forward or backward within the feed supply unit 400.
  • the length adjusting device 301 automatically removes the adsorption hose 101 at the point of milking completion.
  • the tea cup 100 is detached from the livestock by a simple pulling motion, and the tea cup 100 detached from the livestock is automatically placed on the holder 200 to maintain hygiene.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Birds (AREA)
  • Medicinal Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)

Abstract

The present invention relates to an automatic milking apparatus for livestock. When livestock enters the apparatus through an inlet door of a feed supply portion, a feed container is rotated forward and backward so that the feed container can be positioned in front of the livestock, and thus, the livestock can be fed within a regulated space. At the same time, a robot arm moves a teat cup to a teat of the livestock through an opening, and simultaneously, a length adjusting portion of the milking apparatus is moved up and down to guide unwinding of a suction hose, and then, milk is moved to a milk collecting jar through the suction hose and a milk transport hose while the teat cup is sucked around the teat of the livestock due to the vacuum pressure of the suction hose. Thus, while the livestock is fed in the feed supply portion, milking of milk from the livestock is carried out through the milking apparatus. According to the present invention, the feed container is automatically positioned to correspond to the size of the livestock in the feed supply portion, and thus, the livestock can be easily fed. In addition, because the feed container is located in front of the livestock, there is no concern about the livestock moving back and forth in the feed supply portion. The feeding and milking can be carried out simultaneously, and at the time of finishing the milking process, the length adjusting device automatically pulls the suction hose so that the teat cup can be automatically separated. Thus, an operator does not need to remove and separate the teat cup. In addition, when the suction of the teat cup is abnormally carried out, the milk transport hose is blocked so that the suction state of the teat cup is automatically readjusted, and the condition and contamination of the milk flowing through the milk transport hose are measured to identify whether the milk is bad.

Description

가축용 자동착유장치Automatic milking device for livestock
본 발명은 자동착유장치에 관한 것으로서, 더욱 상세하게는 사료공급부 내로 가축을 진입시켜 사료 섭취를 유도하되, 로봇암으로 티트컵을 가축의 젖꼭지에 흡착한 상태로 착유장치에 의해 티트컵에 진공압이 형성되도록 하여, 흡착호스로 착유되는 우유가 송유호스를 통해 집유항아리에 저장되도록 하는 가축용 자동착유장치에 관한 것이다.The present invention relates to an automatic milking device, and more particularly, to induce feed intake by entering a livestock into a feeding unit, but with a robot arm adsorbing the teat cup to the nipple of the livestock, the milking device applies vacuum pressure to the teat cup. It relates to an automatic milking device for livestock that allows milk to be milked with a suction hose to be stored in a milk collecting jar through a milking hose.
일반적으로, 착유장치는 가축의 젖꽂지 주변에 티트컵을 흡착시키되, 이 흡착된 티트컵을 통해 가축으로부터 우유를 흡입하여, 티트컵에 연결된 흡착호스를 통해 우유를 착유하는 장치이다.In general, a milking device is a device that adsorbs a teat cup around a nipple of a livestock, sucks milk from the livestock through the adsorbed teat cup, and milks the milk through a suction hose connected to the teat cup.
특허문헌 1(KR20-0169167 Y1)은 종래의 젓소용착유기의 맥동시스템에 관한 것으로서, 이를 참조하면, 송유배관과, 이 송유배관 하부에 형성되어 송유배관에 흡입압을 형성하는 진공파이프관과, 젖소의 앞젓 및 뒷젓 각각에 끼워지는 앞, 뒷젓 유두컵과, 일단이 유두컵에 연결되되 타단이 송유배관에 연결되어, 앞, 뒷전 유두컵을 통해 유입되는 우유를 송유배관으로 이동시키는 우유호스와, 일단이 압, 뒷전 유두컵과 연결되고 타단이 송유배관과 진공파이프관 사이에 설치된 맥동시스템에 연결되는 이연호스를 형성한다.Patent Document 1 (KR20-0169167 Y1) relates to a pulsation system of a conventional dairy milking machine. Referring to this, an oil pipeline, a vacuum pipe formed below the oil pipeline to generate suction pressure in the oil pipeline, Front and back nipple cups inserted into the front and back nipples of the cow, and a milk hose with one end connected to the nipple cup and the other end connected to the milk supply pipe to move the milk flowing in through the front and rear nipple cups to the milk supply pipe , forming a deferred hose with one end connected to the pressure and trailing edge teat cups and the other end connected to the pulsation system installed between the oil pipeline and the vacuum pipe.
여기서, 앞, 뒷전 유두컵을 파지한 상태로, 이 앞, 뒷전 유도컵 각각을 젓소의 앞젓 및 뒷젓 각각에 흡착되도록 하고, 그 상태에서 앞, 뒷전 유두컵을 통해 젖소로 부터 우유를 흡입하게 된다. Here, while holding the front and rear teat cups, the front and rear induction cups are adsorbed to the cow's front and rear teats, respectively. In that state, milk is sucked from the cow through the front and rear teat cups. .
그러면, 앞, 뒷전 유두컵으로 흡입되는 우유가 우유호스를 통해 송유배관으로 이동되고, 이어서, 상기 송유배관을 따라 이동되는 것이다.Then, the milk sucked into the front and rear nipple cups is moved to the milk supply pipe through the milk hose, and is then moved along the milk supply pipe.
한편, 앞, 뒷전 유두컵을 젓소의 앞, 뒷전에 흡착하여, 우유를 착유하는 동안, 맥동시스템이 젓소의 맥동수 및 맥동비율을 측정하여, 젓소의 상태를 확인하는 것이다.On the other hand, the front and rear teat cups are attached to the front and rear of the cow, and while milking, the pulsation system measures the pulsation number and pulsation rate of the cow to check the state of the cow.
하지만, 상기와 같은 특허문헌 1은, 작업자가 앞, 뒷전 유두컵을 파지하여 젓소의 앞, 뒷젓 각각에 끼워준 후, 젓으로 부터의 착유가 완료되는 시점에 앞, 뒷전 유두컵을 재 파지하여 직접 분리해야 하는 불편함이 있고, 개방된 공간 내에서 가축에게 사료를 공급하면서 착유를 진행하여, 가축이 전, 후 또는 좌, 우로 이동되면서 유두컵이 젖에서 손쉽게 이탈되며, 이 착유컵 이탈로 착유작업이 지연되고, 또한, 작업자가 복수개의 앞, 뒷전 유두컵을 수시로 탈, 부착해야 하는 작업으로 착유시간이 지연과 동시에 유두컵 주변에 항상 머물러야 하며, 앞, 뒷전 유두컵이 젖소의 앞, 뒷젓에 불량하게 흡착되는 경우, 앞, 뒷전 유두컵 각각을 재 조정해야 하는 불편함이 있고, 복수의 젖소로 부터 착유를 동시에 진행하는 경우, 서로 다른 시간에 착유가 완료되어 근거리 또는 먼거리에 있는 유두컵을 일일이 젖소로부터 제거하도록 이동해야 하며, 특히, 착유 완료후 젓소의 젓을 별도로 세척해야 하는 불편함으로 인해, 제품의 신뢰성이 저하되는 문제점이 있다.However, in Patent Document 1 as described above, after the operator grips the front and rear teat cups and inserts them into the front and rear teats, respectively, the front and rear teat cups are re-gripped at the time when milking from the milk is completed. There is an inconvenience of separation, and milking is performed while feeding livestock in an open space, and the teat cup is easily separated from the milk as the livestock moves forward, backward, or left and right, and the milking cup is separated from the milking cup. The work is delayed, and the worker has to frequently remove and attach a plurality of front and rear teat cups, so the milking time is delayed and must always stay around the teat cups. In case of poor adsorption, there is an inconvenience of having to readjust each of the front and rear teat cups, and when milking from multiple cows is performed at the same time, milking is completed at different times, so the teat cups are close or far away In particular, there is a problem in that the reliability of the product is lowered due to the inconvenience of having to separately wash the cow's milk after completion of milking.
본 발명은 상술한 바와 같은 문제점을 해결하기 위한 것으로서, 거치대의 홀에 티트컵을 안착 하되, 이 티트컵의 흡착호스를 착유장치의 길이조절장치를 통과하도록 설치하여, 내측에 집유항아리와 연결된 송유호스와 연결하고, 착유장치 일측에 가축이 진입되는 인입도어 및 이 인입도어와 반대되는 타측에 개구부를 형성하며, 그 전면에 회전개방되는 출구도어 및 이 출구도어 내측에 설치되어 전, 후로 회전되는 사료통을 구비한 사료공급부를 형성하며, 개구부 일측에 티트컵을 가축의 젖꼭지 주변으로 이동시키는 로봇암을 설치함으로써, 사료공급부의 인입도어를 통해 가축이 진입되면, 가축의 전방에 사료통이 위치되도록 사료통을 전, 후방으로 회전시켜, 가축이 정해진 공간 내에서 사료를 섭취하도록 함과 동시에 로봇암이 개구부를 통해 티트컵을 가축의 젖꼭지로 이동시켜, 착유장치의 길이조절부가 상, 하로 이동되면서 흡착호스의 풀림을 안내하고, 이때, 이 흡착호스와 연결된 송유호스 및 집유항아리 내의 진공압력에 의해 티트컵이 가축의 젖꼭지 주변에 흡착된 상태에서, 흡착호스 및 송유호스를 통해 우유를 집유항아리로 이동시켜, 사료공급부 내에서 가축이 사료를 섭취하는 동안 착유장치를 통해 가축으로 부터 우유 착유를 진행하는 가축용 자동착유장치를 제공하는 것이다.The present invention is to solve the above-mentioned problems, and the teat cup is seated in the hole of the holder, and the suction hose of the teat cup is installed to pass through the length adjusting device of the milking device, so that the oil collecting jar is connected to the inside. It is connected to the hose, and an inlet door through which livestock enters one side of the milking device and an opening is formed on the other side opposite to the inlet door. Form a feed supply unit equipped with a feed container, and install a robot arm that moves a teat cup around the nipple of a livestock on one side of the opening, so that when livestock enters through the inlet door of the feed supply unit, the feed container is positioned in front of the livestock. rotates forward and backward, so that the livestock consumes feed within the designated space, and at the same time, the robot arm moves the teat cup to the nipple of the livestock through the opening, and as the length adjustment part of the milking device moves up and down, At this time, in a state where the teat cup is adsorbed around the nipple of the livestock by the suction hose connected to the suction hose and the vacuum pressure in the collecting jar, the milk is moved to the collecting jar through the suction hose and the feeding hose. To provide an automatic milking device for livestock that milks milk from the livestock through the milking device while the livestock consumes feed in the feed supply unit.
상기와 같은 본 발명의 목적을 달성하기 위하여, 본 발명에 따른 가축용 자동착유장치는, 일단에 흡착호스를 형성하고, 가축의 젖꽂지 주변에 흡착되어 우유를 착유하는 티트컵과; 상기 티트컵이 걸림되도록 하는 복수개의 홀을 형성하여, 상기 티트컵을 안착시키는 거치대; 전면에 승강 작동되어 상기 티트컵의 흡착호스를 당기거나 혹은 풀어지도록 안내하는 길이조절장치를 형성하고, 내측에 진공 상태를 형성하여, 가축으로부터 착유한 우유를 저장하는 집유항아리를 형성하며, 일단이 상기 흡착호스와 연결되되, 타단이 상기 집유항아리에 연결되어 상기 흡착호스를 통해 착유되는 우유가 상기 집유항아리로 공급되도록 안내하는 송유호스를 형성하고, 내부 일측에 상기 집유항아리에 연결되어, 상기 집유항아리 및 상기 송유호스에 진공압을 형성하는 진공장치를 형성한 착유장치; 전면이 개방된 중공형상으로, 상기 착유장치 일측에 설치되고, 일면에 가축이 내부 공간으로 진입되도록 허용하는 인입도어를 형성하며, 상기 인입도어와 반대되는 타면에 개구부를 형성하고, 전면에 상기 개구부 방향을 향해 정해진 각도로 회전되어, 전면을 개방하는 출구도어를 형성하고, 상기 출구도어 상단에 회전가능하게 설치되되, 그 내부에 사료를 수용하여 가축 방향 또는 가축과 반대되는 방향을 향해 전, 후 회전되는 사료통을 형성한 사료공급부; 상기 사료공급부의 개구부 일측에 설치되고, 상기 티트컵을 상기 개구부를 통해 가축의 젖꼭지 주변으로 이동시켜, 젖꼭지 주변에 상기 티트컵이 흡착되도록 하는 로봇암;으로 구성된 것을 특징으로 한다.In order to achieve the object of the present invention as described above, an automatic milking device for livestock according to the present invention comprises: a teat cup for milking milk by forming an adsorption hose at one end and adsorbed around a nipple of a livestock; a cradle for holding the tea cup by forming a plurality of holes through which the tea cup is hung; A length adjusting device is formed on the front side to guide the adsorption hose of the teat cup to be pulled or released by lifting operation, and a vacuum state is formed on the inside to form a milk collection jar for storing milk milked from livestock. It is connected to the suction hose, the other end of which is connected to the milk collecting jar to form a milk supply hose for guiding the milk milked through the suction hose to be supplied to the milk collecting jar, and is connected to the milk collecting jar at one side of the inside to form the milk collecting jar. A milking device having a vacuum device for forming a vacuum pressure in the jar and the oil feeding hose; It has a hollow shape with an open front, is installed on one side of the milking device, forms an inlet door that allows livestock to enter the inner space on one side, and forms an opening on the other side opposite to the inlet door, and the opening on the front side. It is rotated at a predetermined angle toward the direction to form an exit door that opens the front, and is rotatably installed at the top of the exit door, and accommodates feed therein, forward and backward toward the livestock direction or the opposite direction to the livestock. Feed supply unit forming a rotating feed container; It is characterized in that it consists of; a robot arm installed at one side of the opening of the feed supply unit and moving the teat cup around the teat of livestock through the opening so that the teatcup is adsorbed around the teat.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 착유장치는, 중공형상으로, 전면에 상기 길이조절장치를 형성하고, 내측에 상기 집유항아리 및 진공장치를 구비한 하우징과; 상기 하우징 내에 구비되어 상기 집유항아리와 연결되고, 상기 집유항아리에서 오버플로우 되는 우유를 공급받아, 상기 집유항아리 내의 우유가 상기 송유호스로 역류되는 것을 방지하는 보조항아리; 상기 하우징 내에 구비된 상기 송유호스 경로 상에 설치되어, 상기 송유호스를 개방 또는 차단하는 제1차단밸브; 상기 제1차단밸브 후단에 설치되어, 상기 송유호스 내의 흡입압력을 측정하는 진공측정센서; 상기 진공측정센서 후단에 구비되어, 상기 송유호스 경로 상에 설치되고, 상기 송유호스를 통해 상기 집유항아리로 이동하는 우유의 오염농도를 측정하는 전도도센서; 상기 진공측정센서 후단에 구비되어, 상기 송유호스 경로 상에 설치되고, 상기 송유호스를 통해 상기 집유항아리로 이동하는 우유의 유속을 측정하여, 가축의 착유상태를 확인하는 유속측정센서; 상기 진공측정센서 후단에 구비되어, 상기 송유호스 경로 상에 설치되고, 상기 송유호스를 통해 상기 집유항아리로 이동하는 우유의 영양분 상태를 측정하는 유질측정센서; 상기 진공측정센서 후단에 구비되어, 상기 송유호스 경로 상에 설치되고, 상기 송유호스를 통해 상기 집유항아리로 이동하는 우유량을 측정하여, 착유된 우유의 총량을 측정하는 유량측정센서; 상기 하우징 내에 설치되고, 상기 진공측정센서, 전도도센서, 유속측정센서, 유질측정센서, 유량측정센서의 신호를 입력받아, 가축의 젖꽂지 주변에 흡착되는 티트컵의 흡착여부 및 우유의 불량여부를 판별하여, 상기 제1차단밸브를 제어하는 제어부;로 구성된 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the milking device includes: a housing having a hollow shape, forming the length adjusting device on the front side, and having the milk collection jar and a vacuum device on the inside; an auxiliary jar provided in the housing, connected to the milk collecting jar, receiving milk overflowing from the milk collecting jar, and preventing the milk in the milk collecting jar from flowing back into the oil feeding hose; a first shut-off valve installed on the path of the oil supply hose provided in the housing to open or block the oil supply hose; a vacuum measuring sensor installed at a rear end of the first shut-off valve to measure a suction pressure in the oil supply hose; a conductivity sensor provided at a rear end of the vacuum measuring sensor, installed on the path of the oil feeding hose, and measuring the contamination concentration of the milk moving to the milk collection jar through the feeding hose; a flow rate measuring sensor provided at a rear end of the vacuum measuring sensor, installed on the path of the oil feeding hose, and measuring the flow rate of milk moving to the milk collecting jar through the feeding hose to check the milking state of livestock; an oil quality measuring sensor provided at a rear end of the vacuum measuring sensor, installed on the path of the oil feeding hose, and measuring a nutrient state of the milk moving to the milk collecting jar through the feeding hose; a flow rate measuring sensor provided at the rear end of the vacuum measurement sensor, installed on the path of the milk supply hose, and measuring the total amount of milked milk by measuring the amount of milk moving to the milk collection jar through the milk supply hose; It is installed in the housing and receives signals from the vacuum measurement sensor, conductivity sensor, flow rate measurement sensor, oil quality measurement sensor, and flow measurement sensor to determine whether the teat cup adsorbed around the nipple of the livestock is adsorbed and whether the milk is defective. It is characterized in that it consists of; a controller for determining and controlling the first shut-off valve.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 거치대는, 판재 형상으로 상기 거치대 일측에 회전 가능하도록 설치되고, 저면에 상기 티트컵 상부를 덮어, 상기 티트컵 내부로 세척수 또는 스팀을 공급하는 살균수공급부를 더 형성하고, 상기 착유장치는, 상기 흡착호스와 송유호스 사이에 설치된 삼방밸브와; 상기 삼방밸브 외면에 설치되어, 상기 삼방밸브의 개폐여부를 결정하는 제2차단밸브; 일단이 상기 삼방밸브와 연결되어, 상기 흡착호스 내의 오염수 또는 스팀을 배출하는 오염수배출호스; 중공형상으로, 상기 오염수배출호스 및 상기 진공장치 사이를 연결하도록 설치되고, 상기 진공장치에 의해 그 내부공간에 진공압을 형성하여 상기 오염수배출호스로 배출되는 오염수를 저장하는 오염수탱크;를 더 포함하는 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the cradle is rotatably installed on one side of the cradle in the shape of a plate, covers the upper part of the tea cup with a lower surface, and sterilizes water or steam to the inside of the tea cup. A water supply unit is further formed, and the milking device includes a three-way valve installed between the suction hose and the oil supply hose; a second shutoff valve installed on an outer surface of the three-way valve to determine whether the three-way valve is open or closed; a polluted water discharge hose having one end connected to the three-way valve and discharging polluted water or steam in the adsorption hose; The contaminated water tank has a hollow shape and is installed to connect between the polluted water discharge hose and the vacuum device, and stores the polluted water discharged through the polluted water discharge hose by forming a vacuum pressure in the internal space by the vacuum device. It is characterized in that it further includes;
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 착유장치는, 내측 공간에 설치되고, 상기 살균수공급부와 연결되어, 상기 살균수공급부로 세척수를 공급하는 세척수저장탱크; 상기 세척수저장탱크 일측에 설치되고, 상기 살균수공급부와 연결되어, 상기 살균수공급부로 스팀을 공급하는 스팀발생기;를 더 포함하는 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the milking device includes: a washing water storage tank installed in an inner space, connected to the sterilizing water supply unit, and supplying washing water to the sterilizing water supply unit; It is characterized in that it further comprises; a steam generator installed on one side of the washing water storage tank, connected to the sterilizing water supply unit, and supplying steam to the sterilizing water supply unit.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 오염수탱크는, 그 저면에 상기 오염수탱크 내의 오염수를 외부로 배출하는 오염수배출밸브와; 상기 오염수탱크와 상기 진공장치 사이를 연결하도록 설치되고, 상기 진공장치로 상기 오염수탱크 내의 공기가 흡입되도록 안내하거나 또는 외부공기를 공급받아 상기 오염수탱크 내의 진공압을 해제하는 진공제어장치;를 더 포함하는 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the contaminated water tank comprises: a contaminated water discharge valve on a bottom surface thereof for discharging the contaminated water in the contaminated water tank to the outside; a vacuum control device installed to connect between the contaminated water tank and the vacuum device, and guiding the air in the contaminated water tank to be sucked into the vacuum device or releasing the vacuum pressure in the contaminated water tank by receiving outside air; It is characterized in that it further comprises.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 착유장치는, 상기 티트컵과 연결되고, 가축의 젖꼭지에 흡착된 상기 티트컵 내로 세척수 및 에어를 공급하여, 가축의 젖꼭지를 세척하거나 또는 상기 티트컵 내로 침지제를 분사하여 가축의 젖꼭지에 침지제를 도포하는 통합유두세척기를 더 형성한 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the milking device is connected to the teat cup and supplies washing water and air into the teat cup adsorbed to the teat of the livestock to wash the teat of the livestock or the teat. It is characterized by further forming an integrated teat washer that sprays the dip agent into the cup and applies the dip agent to the nipples of livestock.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 거치대는, 그 상면에 상기 티트컵에 연결된 흡착호스가 상기 길이조절장치에서 풀림되거나 혹은 감기는 것을 안내하는 유도롤러를 더 형성하고, 상기 길이조절장치는, 실린더와; 상기 실린더에 결합되어 승강 이동되는 승강로드; 및 상기 승강로드 하단에 결합되고, 상, 하로 서로 대향되는 한 쌍의 안내롤러를 형성하여, 이 안내롤러 사이로 상기 티트컵의 흡착호스를 통과시키는 안내부;로 구성된 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the cradle further forms an induction roller on the upper surface thereof to guide the unwinding or winding of the suction hose connected to the teat cup in the length adjusting device, and the length adjusting device. The device includes a cylinder; a lifting rod that is coupled to the cylinder and moves up and down; and a guide coupled to the lower end of the elevating rod, forming a pair of guide rollers facing each other in the upper and lower directions, and passing the suction hose of the tea cup between the guide rollers.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 사료공급부는, 전면이 개방되어, 상기 인입도어, 개구부 및 출구도어를 형성한 본체와; 상기 본체 상면에 설치되고, 각각의 상기 인입도어 및 상기 출구도어와 연결 설치되어, 상기 인입도어 및 상기 출구도어를 회전 개폐하는 개폐실린더; 상기 본체 바닥면에 설치되어, 상기 본체 내로 진입한 가축의 중량을 측정하는 중량측정판; 상기 본체 내측 방향을 향하도록 상기 출구도어 일 측면에 설치되고, 상기 본체 내로 진입하는 가축의 태그를 인식하여, 가축의 정보를 외부로 출력하는 RFID장치;를 더 포함하는 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the feed supply unit includes a main body having an open front surface and having the inlet door, the opening and the outlet door; an opening/closing cylinder installed on an upper surface of the main body, connected to each of the inlet door and the outlet door, and rotationally opening and closing the inlet door and the outlet door; a weighing plate installed on the bottom surface of the main body to measure the weight of livestock entering the main body; It may further include an RFID device installed on one side of the exit door so as to face the inside of the body, recognizing a tag of a livestock entering the body, and outputting livestock information to the outside.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 사료공급부의 출구도어는, 상기 사료통 외주면을 감싸 커버하도록 설치되고, 그 일면이 상기 본체 일측면에 회전가능하게 설치되되, 상기 개폐실린더에 의해 정해진 각도로 회전되어 상기 사료공급부 전면을 개방하고, 내측 벽면에 회전실린더를 형성하며, 상기 사료통은, 상기 출구도어 상단에 회전가능하게 설치되는 회전축을 형성하고, 그 내측에 함몰형성되어 그 내부 공간에 사료를 수용하는 사료수용홈을 형성하며, 하단 전면이 상기 회전실린더와 연결되어, 상기 회전실린더에 의해 전, 후 방향으로 회전되는 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the exit door of the feed supply unit is installed to wrap and cover the outer circumferential surface of the feed container, and one side thereof is rotatably installed on one side of the main body, determined by the opening/closing cylinder. It is rotated at an angle to open the front of the feed supply unit, and a rotating cylinder is formed on an inner wall surface, and the feed container forms a rotation shaft rotatably installed at the top of the exit door, and is recessed on the inside to form a space inside the feed container. It forms a feed receiving groove for accommodating feed, and is characterized in that the lower front surface is connected to the rotating cylinder and rotated in the front and rear directions by the rotating cylinder.
본 발명에 따른 가축용 자동착유장치에 있어서, 상기 로봇암은, 그 말단에 가축의 젖꼭지 위치를 확인하는 카메라 및 레이저센서를 더 형성한 것을 특징으로 한다.In the automatic milking device for livestock according to the present invention, the robot arm is characterized in that a camera and a laser sensor for checking the position of the nipple of the livestock are further formed at the end of the robot arm.
본 발명에 따르면, 사료공급부 내로 진입된 가축 크기에 대응하도록 사료통이 가축 전방에 자동위치되어, 가축이 사료를 손쉽게 섭취할 수 있고, 사료통을 가축 전방에 위치시켜, 사료공급부 내에서 가축이 전, 후로 이동할 우려가 없으며, 이때, 사료를 섭취중인 가축의 젖꼭지에 티트컵을 흡착하여, 사료공급 및 우유 착유를 동시에 진행할 수 있고, 착유 완료시점에서 길이조절장치가 흡착호스를 자동으로 당기는 단순 동작에 의해 티트컵이 가축으로부터 이탈되며, 가축에서 이탈된 티트컵이 거치대 상에 자동 거치되어 위생이 청결하고, 또한, 다수의 가축으로부터 동시에 착유 작업을 진행하는 경우, 착유 작업이 완료되는 시점에 티트컵이 자동으로 이탈되어 작업자가 티트컵을 이탈 분리해야 하는 번거로움이 없으며, 특히, 티트컵의 흡착 불량시 송유호스가 차단되어 티트컵의 흡착 상태를 자동으로 재 조정하며, 이어서, 송유호스를 통해 이동하는 우유의 상태 및 오염도로 우유의 불량여부를 확인하여, 제품의 신뢰성이 향상되는 장점이 있다.According to the present invention, the feed container is automatically positioned in front of the livestock to correspond to the size of the livestock entering the feed supply unit, so that the livestock can easily consume the feed, and the feed container is located in the front of the livestock so that the livestock moves in the feed supply unit. At this time, feeding and milking can be performed simultaneously by adsorbing the teat cup to the teat of the livestock that is consuming feed, and the length adjustment device automatically pulls the suction hose at the completion of milking. The teat cup is detached from the livestock, and the teatcup detached from the livestock is automatically placed on the cradle to ensure hygiene and cleanliness. In addition, in the case of concurrent milking from multiple livestock, the teat cup is completed at the time of completion of the milking operation. This automatically separates the tea cup, so there is no hassle for the operator to separate the tea cup. In particular, when the tea cup adsorption is poor, the oil supply hose is blocked to automatically readjust the tea cup adsorption state. There is an advantage in that the reliability of the product is improved by checking whether or not the milk is defective by the state and degree of contamination of the moving milk.
도 1은 본 발명에 따른 가축용 자동착유장치를 나타낸 사시도.1 is a perspective view showing an automatic milking device for livestock according to the present invention.
도 2는 도 1을 우측에서 바라본 사시도.2 is a perspective view of FIG. 1 viewed from the right side;
도 3은 도 1을 정면에서 바라본 도면.Figure 3 is a view of Figure 1 viewed from the front;
도 4는 도 1을 우측면에서 바라본 도면.Figure 4 is a view of Figure 1 viewed from the right side;
도 5는 본 발명에 따른 가축용 자동착유장치의 티트컵을 나타낸 사시도.Figure 5 is a perspective view showing a teat cup of the automatic milking device for livestock according to the present invention.
도 6은 본 발명에 따른 가축용 자동착유장치의 거치대 및 길이조절장치를 나타낸 사시도.Figure 6 is a perspective view showing a cradle and length adjustment device of the automatic milking device for livestock according to the present invention.
도 7은 본 발명에 따른 가축용 자동착유장치의 착유장치를 나타낸 사시도.Figure 7 is a perspective view showing a milking device of an automatic milking device for livestock according to the present invention.
도 8은 본 발명에 따른 가축용 자동착유장치의 착유장치 구성을 나타낸 개통 흐름도.Figure 8 is an opening flow chart showing the configuration of the milking device of the automatic milking device for livestock according to the present invention.
도 9은 본 발명에 따른 가축용 자동착유장치의 사료공급부를 나타낸 사시도.Figure 9 is a perspective view showing a feed supply of the automatic milking device for livestock according to the present invention.
도 10은 도9를 평면에서 바라본 도면.Fig. 10 is a plan view of Fig. 9;
도 11은 본 발명에 따른 가축용 자동착유장치의 출입도어 및 사료통을 나타낸 사시도.Figure 11 is a perspective view showing the access door and feed container of the automatic milking device for livestock according to the present invention.
도 12는 본 발명에 따른 가축용 자동착유장치의 로봇암을 나타낸 사시도.12 is a perspective view showing a robot arm of an automatic milking device for livestock according to the present invention.
이하, 본 발명의 실시예를 첨부된 도면을 참조하여 더욱 상세하게 설명한다.Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.
도 1 내지 도 12를 참조하면, 티트컵(100)은 일단에 흡착호스(101)를 형성하고, 가축의 젖꽂지 주변에 흡착되어 우유를 착유한다.1 to 12, the teat cup 100 forms an adsorption hose 101 at one end, and is adsorbed around the nipple of the livestock to milk milk.
상기 티트컵(100)은 진공상태를 유지하는 상기 흡착호스(101)에 의해 가축의 젖꽂지 주변에 흡착된다.The teat cup 100 is adsorbed around the nipple of the livestock by the suction hose 101 maintaining a vacuum state.
상기 흡착호스(101)는 상기 착유장치(300)의 길이조절장치(301)를 통과하여, 그 말단이 상기 삼방밸브(314)에 연결된다.The suction hose 101 passes through the length adjusting device 301 of the milking device 300, and its end is connected to the three-way valve 314.
상기 티트컵(100)은 상기 거치대(200)의 홀(201)로 삽입되어, 상기 거치대(200)에 거치된다.The teat cup 100 is inserted into the hole 201 of the holder 200 and is placed on the holder 200 .
거치대(200)는 상기 티트컵(100)이 걸림되도록 하는 복수개의 홀(201)을 형성하여, 상기 티트컵(100)을 안착시킨다.The holder 200 forms a plurality of holes 201 through which the tea cup 100 is hung, and the tea cup 100 is seated therein.
상기 거치대(200)는 상기 착유장치(300)의 길이조절장치(301) 하단에 연결 설치되는 것이 바람직하다.The cradle 200 is preferably installed connected to the lower end of the length adjusting device 301 of the milking device 300.
상기 거치대(200)는 상기 티트컵(100)이 지면에서 정해진 높이 상에 위치되도록 지지한다.The cradle 200 supports the tea cup 100 so as to be positioned at a predetermined height from the ground.
상기 홀(201)은 상기 거치대(200)의 일 측면에 일렬방향으로 설치되어, 상기 티트컵(100)이 수평상태로 안착되도록 허용한다.The hole 201 is installed in a line direction on one side of the holder 200, allowing the tea cup 100 to be seated in a horizontal state.
판재 형상으로 상기 거치대(200) 일측에 회전 가능하도록 설치되고, 저면에 상기 티트컵(100) 상부를 덮어, 상기 티트컵(100) 내부로 세척수 또는 스팀을 공급하는 살균수공급부(202)를 더 형성한다.A sterilizing water supply unit 202 is rotatably installed on one side of the holder 200 in the shape of a plate, covers the upper part of the tea cup 100 on the bottom surface, and supplies washing water or steam to the inside of the tea cup 100. form
상기 살균수공급부(202)는 상기 세척수저장탱크(318) 및 상기 스팀발생기(319)와 연결된다.The sterilizing water supply unit 202 is connected to the washing water storage tank 318 and the steam generator 319.
상기 살균수공급부(202)는 상기 티트컵(100) 내로 세척수를 공급하면서, 상기 티트컵(100) 및 상기 흡착호스 내에 잔류된 우유 및 이물을 밀어내어, 상기 흡착호스(101) 내부를 세척한다.The sterilizing water supply unit 202 cleans the inside of the suction hose 101 by pushing out milk and foreign substances remaining in the tea cup 100 and the suction hose while supplying washing water into the tea cup 100. .
상기 살균수공급부(202)는 스팀발생기(319)로 부터 스팀을 공급받아 상기 티트컵(100) 내로 스팀을 토출하여, 상기 티트컵(100) 내부 공간을 살균한다.The sterilizing water supply unit 202 receives steam from the steam generator 319 and discharges the steam into the tea cup 100 to sterilize the inner space of the tea cup 100 .
상기 살균수공급부(202)는 복수개의 상기 티트컵(100) 상부를 덮어 밀폐한 상태에서, 그 내부로 세척수 또는 스팀을 분사한다.The sterilizing water supply unit 202 covers the upper portions of the plurality of tea cups 100 in an airtight state and sprays washing water or steam into the tea cups 100 .
상기 거치대(200)는 상기 홀(201)로 상기 티트컵(100)이 삽입되도록 허용하여, 상기 홀(201) 내에 상기 티트컵(100)을 안착 고정한다.The cradle 200 allows the tea cup 100 to be inserted into the hole 201, and the tea cup 100 is seated and fixed in the hole 201.
상기 거치대(200)는 그 일 측면에 상기 티트컵(100)에 연결된 흡착호스(101)가 상기 길이조절장치(301)에서 풀림되거나 혹은 감기는 것을 안내하는 유도롤러(203)를 더 형성한다.The holder 200 further forms an induction roller 203 on one side thereof to guide the unwinding or winding of the suction hose 101 connected to the teat cup 100 in the length adjusting device 301.
상기 유도롤러(203)는 상기 로봇암(500)에 의해 상기 티트컵(100)이 가축의 젖꼭지 방향으로 이동하는 동안, 상기 길이조절장치(301)에서 풀림되는 흡착호스(101)가 상기 로봇암(500) 방향으로 이동하도록 안내한다.While the teat cup 100 is moved in the direction of the livestock nipple by the robot arm 500, the suction hose 101 released from the length adjusting device 301 of the induction roller 203 is moved by the robot arm 500. It is guided to move in the direction of (500).
착유장치(300)는 전면에 승강 작동되어 상기 티트컵(100)의 흡착호스(101)를 당기거나 혹은 풀어지도록 안내하는 길이조절장치(301)를 형성하고, 내측에 진공 상태를 형성하여, 가축으로부터 착유한 우유를 저장하는 집유항아리(302)를 형성하며, 일단이 상기 흡착호스(101)와 연결되되, 타단이 상기 집유항아리(302)에 연결되어 상기 흡착호스(101)를 통해 착유되는 우유가 상기 집유항아리(302)로 공급되도록 안내하는 송유호스(303)를 형성하고, 내부 일측에 상기 집유항아리(302)에 연결되어, 상기 집유항아리(302) 및 상기 송유호스(303)에 진공압을 형성하는 진공장치(304)를 형성한다.The milking device 300 is lifted up and down on the front to form a length adjusting device 301 that guides the suction hose 101 of the teat cup 100 to be pulled or released, and a vacuum state is formed inside, so that livestock Forms a milk collecting jar 302 for storing milk milked from, one end is connected to the suction hose 101, and the other end is connected to the milk collecting jar 302 to milk milked through the suction hose 101 forms an oil supply hose 303 that guides supply to the oil collecting jar 302, is connected to the oil collecting jar 302 at one side of the inside, and vacuum pressure is applied to the oil collecting jar 302 and the oil supply hose 303 To form a vacuum device 304 to form.
상기 송유호스(303)는 상기 흡착호스(101)로 흡입 이동되는 우유가 상기 집유항아리(303) 방향으로 이동하도록 안내한다.The milk feeding hose 303 guides the milk suctioned and moved to the suction hose 101 to move toward the milk collecting jar 303 .
상기 집유항아리(302)는 가축으로 부터 착유한 우유를 저장한다.The milk collection jar 302 stores milk milked from livestock.
상기 집유항아리(302)는 상기 제어부(313)에 제어되어, 외부로 연결된 냉각기로 우유를 전달하거나 혹은 폐호스(미도시)를 통해 폐통(미도시)으로 우유를 배출한다.The milk collecting jar 302 is controlled by the controller 313 to deliver milk to an externally connected cooler or discharge milk to a waste container (not shown) through a waste hose (not shown).
상기 착유장치(300)는 중공형상으로, 전면에 상기 길이조절장치(301)를 형성하고, 내측에 상기 집유항아리(302) 및 진공장치(304)를 구비한 하우징(305)과, 상기 하우징(305) 내에 구비되어 상기 집유항아리(302)와 연결되고, 상기 집유항아리(302)에서 오버플로우 되는 우유를 공급받아, 상기 집유항아리(302) 내의 우유가 상기 송유호스(303)로 역류되는 것을 방지하는 보조항아리(306), 상기 하우징(305) 내에 구비된 상기 송유호스(303) 경로 상에 설치되어, 상기 송유호스(303)를 개방 또는 차단하는 제1차단밸브(307), 상기 제1차단밸브(307) 후단에 설치되어, 상기 송유호스(303) 내의 흡입압력을 측정하는 진공측정센서(308), 상기 진공측정센서(308) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유의 오염농도를 측정하는 전도도센서(309), 상기 진공측정센서(306) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유의 유속을 측정하여, 가축의 착유상태를 확인하는 유속측정센서(310), 상기 진공측정센서(306) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유의 영양분 상태를 측정하는 유질측정센서(311), 상기 진공측정센서(306) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유량을 측정하여, 착유된 우유의 총량을 측정하는 유량측정센서(312), 상기 하우징(305) 내에 설치되고, 상기 진공측정센서(308), 전도도센서(309), 유속측정센서(310), 유질측정센서(311), 유량측정센서(312)의 신호를 입력받아, 가축의 젖꽂지 주변에 흡착되는 티트컵(100)의 흡착여부 및 우유의 불량여부를 판별하여, 상기 제1차단밸브(307)를 제어하는 제어부(313)로 구성된다.The milking device 300 has a hollow shape, the length adjusting device 301 is formed on the front side, and the housing 305 having the milk collection jar 302 and the vacuum device 304 on the inside, and the housing ( 305) is connected to the milk collecting jar 302, receives milk overflowing from the milk collecting jar 302, and prevents milk in the milk collecting jar 302 from flowing back into the oil feeding hose 303. an auxiliary jar 306 installed on the path of the oil feed hose 303 provided in the housing 305, and a first shutoff valve 307 for opening or blocking the oil feed hose 303, the first shutoff valve A vacuum measuring sensor 308 installed at the rear end of the valve 307 to measure the suction pressure in the oil feed hose 303, provided at the rear end of the vacuum measuring sensor 308, and installed on the path of the oil feed hose 303 and a conductivity sensor 309 measuring the contamination concentration of the milk moving to the milk collection jar 302 through the oil feed hose 303, provided at the rear end of the vacuum measurement sensor 306, and the oil feed hose 303 A flow rate measurement sensor 310 installed on a path and measuring the flow rate of milk moving to the milk collecting jar 302 through the milk feeding hose 303 to check the milking state of livestock, and the vacuum measurement sensor 306 ) An oil quality measuring sensor 311 provided at the rear end, installed on the path of the oil feeding hose 303, and measuring the nutrient state of milk moving to the milk collection jar 302 through the oil feeding hose 303, the It is provided at the rear end of the vacuum measuring sensor 306 and is installed on the path of the oil feeding hose 303, and measures the amount of milk moving to the milk collection jar 302 through the feeding hose 303, thereby measuring the total amount of milk that has been milked. A flow measurement sensor 312 for measuring, installed in the housing 305, the vacuum measurement sensor 308, the conductivity sensor 309, the flow rate measurement sensor 310, the oil quality measurement sensor 311, the flow measurement sensor Upon receiving the signal of (312), whether or not the teat cup 100 adsorbed around the nipple of the livestock and the amount of milk It is composed of a control unit 313 that determines whether or not it is defective and controls the first shutoff valve 307.
상기 보조항아리(306)는 상기 집유항아리(302) 상부에 설치되어, 상기 집유항아리(302) 상부로 오버플로우 되는 우유를 저장하는 것이 바람직하다.Preferably, the auxiliary jar 306 is installed above the milk collecting jar 302 to store milk that overflows into the upper part of the milk collecting jar 302 .
상기 보조항아리(306)는 상기 집유항아리(302)와 연결배관(306a)에 의해 연결되고, 이 연결배관(306a) 내에 오버플로우 되는 우유에 의해 상, 하로 승강이동되어 상기 연결배관(306a) 내부를 개폐하는 부유볼(306b)을 형성한다.The auxiliary jar 306 is connected to the oil collecting jar 302 by a connection pipe 306a, and is moved up and down by the milk overflowing in the connection pipe 306a to move inside the connection pipe 306a. Forms a floating ball (306b) that opens and closes.
상기 부유볼(306b)은 상기 집유항아리(302) 내에서 오버플로우 되는 우유에 의해 상기 연결배관(306a)을 따라 상방으로 이동되어, 상기 보조항아리(306)와 상기 집유항아리(302)가 연통되도록 하여, 상기 집유항아리(302) 내의 우유가 상기 보조항아리(306)로 이동하도록 허용한다.The floating ball 306b is moved upward along the connection pipe 306a by the milk overflowing in the collecting jar 302 so that the auxiliary jar 306 and the collecting jar 302 communicate with each other. Thus, the milk in the collecting jar 302 is allowed to move to the auxiliary jar 306.
상기 부유볼(306b)은 자유낙하 방식에 의해 상기 연결배관(306a) 하단에 위치되어, 상기 연결배관(306a)을 폐쇄하고, 상기 연결배관(306a) 상단에 위치되어 상기 연결배관(306a)을 개방한다.The floating ball 306b is located at the bottom of the connection pipe 306a by a free fall method to close the connection pipe 306a, and is located at the top of the connection pipe 306a to open the connection pipe 306a. open up
상기 제1차단밸브(307)는 상기 제어부(313)에 의해 개폐작동되어 상기 흡착호스(101)와 상기 송유호스(303)가 연통되도록 개방 하거나 혹은 상기 흡착호스(101)와 상기 송유호스(303) 사이를 폐쇄한다.The first shut-off valve 307 is opened and closed by the control unit 313 to open so that the suction hose 101 and the oil supply hose 303 are in communication, or the suction hose 101 and the oil supply hose 303 are opened. ) close between them.
상기 제1차단밸브(307)는 상기 제어부(313)에 의해 정해진 시간동안 폐쇄되어, 상기 흡착호스(101)에 흡입압력을 상승시킨다.The first shutoff valve 307 is closed for a time determined by the control unit 313 to increase suction pressure in the suction hose 101 .
상기 제1차단밸브(307)는 상기 제어부(313)에 의해 폐쇄되어, 상기 흡착호스(101)로 흡입되는 세척수 또는 스팀이 상기 삼방밸브(314)를 통해 상기 오염수탱크(317) 방향으로 이동하도록 안내한다.The first shutoff valve 307 is closed by the control unit 313, and the washing water or steam sucked into the adsorption hose 101 moves toward the contaminated water tank 317 through the three-way valve 314. guide you to do
상기 진공측정센서(308)는 상기 흡착호스(101) 내의 흡입압력을 측정하여, 상기 제어부(313)로 이 신호를 출력한다.The vacuum measuring sensor 308 measures the suction pressure in the suction hose 101 and outputs this signal to the controller 313.
상기 전도도센서(309)는 우유의 오염농도를 측정하여 외부에 설치된 디스플레이(미도시)로 오염농도를 표시함과 동시에 상기 제어부(313)로 신호를 전달한다.The conductivity sensor 309 measures the contamination concentration of milk, displays the contamination concentration on a display (not shown) installed outside, and transmits a signal to the control unit 313 at the same time.
상기 유속측정센서(310)는 상기 전도도센서(309) 후단에 설치되는 것이 바람직하다.The flow rate measurement sensor 310 is preferably installed at the rear end of the conductivity sensor 309.
상기 유속측정센서(310)는 우유의 유속 상태를 측정하여, 그 신호를 상기 제어부(313)로 전달한다.The flow rate measurement sensor 310 measures the flow rate of milk and transmits the signal to the control unit 313.
상기 유질측정센서(311)는 상기 유속측정센서(310) 후단에 설치되는 것이 바람직하다.The oil quality measurement sensor 311 is preferably installed at the rear end of the flow rate measurement sensor 310 .
상기 유질측정센서(311)는 우유의 영양분 상태를 측정하여 상기 제어부(313)로 신호를 전달한다.The milk quality measurement sensor 311 measures the nutrient state of milk and transmits a signal to the control unit 313.
상기 유량측정센서(312)는 상기 유질측정센서(311) 후단에 설치되는 것이 바람직하다.The flow rate measurement sensor 312 is preferably installed at the rear end of the oil quality measurement sensor 311 .
상기 유량측정센서(312)는 우유의 총량을 측정하여 상기 제어부(313)로 전달한다.The flow measurement sensor 312 measures the total amount of milk and transfers it to the control unit 313.
상기 제어부(313)는 상기 송유호스(303) 내의 흡입압을 측정하는 진공측정센서(308) 신호를 전달받아, 이 흡입압력이 정해진 압력 이하이면, 정해진 시간동안 상기 제1차단밸브(307)를 제어하여, 상기 송유호스(303)를 차단하였다가 상기 티트컵(100)에 흡입압이 재 생성되도록 상기 제1차단밸브(307)를 개방하여, 상기 티트컵(100)이 가축의 젖꼭지 주변에 흡착되도록 한다.The controller 313 receives a signal from the vacuum measuring sensor 308 that measures the suction pressure in the oil supply hose 303, and if the suction pressure is less than or equal to a predetermined pressure, the first shutoff valve 307 is turned on for a predetermined time. After controlling the oil supply hose 303, the first shut-off valve 307 is opened so that suction pressure is regenerated in the teat cup 100, so that the teat cup 100 is placed around the nipple of the livestock. to be adsorbed.
상기 제어부(313)는 상기 유속측정센서(310)로 부터 신호를 전달받되, 상기 유속측정센서(310)에 기 설정된 유속값 보다 상대적으로 낮은 유속값이 측정되면, 상기 제1차단밸브(307)를 제어하여, 상기 송유호스(303)를 차단한다.The control unit 313 receives a signal from the flow rate measurement sensor 310, and when a flow rate value relatively lower than a preset flow rate value is measured by the flow rate measurement sensor 310, the first shutoff valve 307 By controlling, the oil transfer hose 303 is blocked.
상기 제어부(313)는 기 설정된 유속값 보다 상대적으로 낮은 유속값이 측정된 시점을 기준으로, 15~20분간 상기 유속측정센서(310) 측정 신호를 전달받아 가축의 착유상태를 판단한다.The controller 313 determines the milking state of livestock by receiving the measurement signal from the flow rate sensor 310 for 15 to 20 minutes based on the time point at which the flow rate value relatively lower than the preset flow rate value is measured.
상기 제어부(313)는 각각의 상기 진공측정센서(308), 전도도센서(309), 유속측정센서(310), 유질측정센서(311)의 신호를 전달받아, 기 설정된 값과 비교하고, 이 비교값에 따라 우유의 불량여부를 판별한다.The control unit 313 receives signals from each of the vacuum measurement sensor 308, conductivity sensor 309, flow rate measurement sensor 310, and oil quality measurement sensor 311, compares them with preset values, and compares the signals. Depending on the value, whether or not the milk is defective is determined.
상기 제어부(313)는 상기 진공측정센서(308), 전도도센서(309), 유속측정센서(310), 유질측정센서(311) 및 유량측정센서(312)로부터 입력받은 신호를 외부의 디스플레이(미도시)로 출력한다.The control unit 313 transmits signals received from the vacuum measurement sensor 308, conductivity sensor 309, flow rate measurement sensor 310, oil quality measurement sensor 311, and flow measurement sensor 312 to an external display (Mido). o) output.
상기 착유장치(300)는 상기 흡착호스(101)와 송유호스(303) 사이에 설치된 삼방밸브(314)와, 상기 삼방밸브(314) 외면에 설치되어, 상기 삼방밸브(314)의 개폐여부를 결정하는 제2차단밸브(315), 일단이 상기 삼방밸브(314)와 연결되어, 상기 흡착호스(101) 내의 오염수 또는 스팀을 배출하는 오염수배출호스(316), 중공형상으로, 상기 오염수배출호스(316) 및 상기 진공장치(304) 사이를 연결하도록 설치되고, 상기 진공장치(304)에 의해 그 내부공간에 진공압을 형성하여 상기 오염수배출호스(316)로 배출되는 오염수를 저장하는 오염수탱크(317)를 더 포함한다.The milking device 300 is installed on the outer surface of the three-way valve 314 and the three-way valve 314 installed between the suction hose 101 and the oil delivery hose 303 to determine whether the three-way valve 314 is open or closed. A second shutoff valve 315 that determines, one end connected to the three-way valve 314, and a polluted water discharge hose 316 for discharging polluted water or steam in the adsorption hose 101, in a hollow shape, for the contamination It is installed to connect between the water discharge hose 316 and the vacuum device 304, and the vacuum device 304 forms a vacuum pressure in the inner space of the contaminated water discharge hose 316 to discharge the contaminated water. A contaminated water tank 317 for storing is further included.
상기 삼방밸브(314)는 상기 제1, 제2차단밸브(307, 315)에 의해 그 경로가 결정되어, 상기 흡착호스(101)로 흡입되는 우유가 상기 송유호스(303)로 이동하도록 안내하거나 또는 상기 티트컵(100)을 통해 상기 흡착호스(101)로 흡입되는 세척수 또는 스팀이 오염수탱크(317)로 이동하도록 안내한다.The route of the three-way valve 314 is determined by the first and second shutoff valves 307 and 315, and guides the milk sucked into the suction hose 101 to move to the oil supply hose 303, or Alternatively, washing water or steam sucked into the adsorption hose 101 through the teat cup 100 is guided to move to the contaminated water tank 317.
상기 제2차단밸브(315)는 상기 제1차단밸브(307)와 서로 교차 개폐작동되어, 상기 흡착호스(101)로 흡입되는 우유가 상기 송유호스(303)로 이동하도록 허용한다.The second shutoff valve 315 and the first shutoff valve 307 cross each other to open and close, allowing milk sucked into the suction hose 101 to move to the oil delivery hose 303.
상기 오염수배출호스(316)는 상기 흡착호스(101)를 통해 상기 삼방밸브(314)로 유입되는 오염수 또는 스팀이 상기 오염수탱크(317) 방향으로 이동하도록 안내한다.The contaminated water discharge hose 316 guides the contaminated water or steam flowing into the three-way valve 314 through the adsorption hose 101 to move toward the contaminated water tank 317 .
상기 오염수배출호스(316)는 상기 제1차단밸브(307)를 폐쇄하고, 상기 제2차단밸브(315)를 개방한 시점에 오염수 및 스팀을 상기 오염수탱크(317) 방향으로 이동하도록 안내한다.The contaminated water discharge hose 316 moves the contaminated water and steam toward the contaminated water tank 317 when the first shutoff valve 307 is closed and the second shutoff valve 315 is opened. guide
상기 오염수탱크(317)는 상기 진공장치(304)에 의해 그 내부공간이 진공상태를 유지하여, 상기 삼방밸브(314)로 공급되는 오염수 및 스팀이 상기 오염수배출호스(316) 방향으로 유입되도록, 상기 오염수배출호스(316) 및 상기 흡착호스(101)에 흡입압을 형성한다.The inner space of the contaminated water tank 317 is maintained in a vacuum state by the vacuum device 304, so that the contaminated water and steam supplied to the three-way valve 314 flow toward the contaminated water discharge hose 316. Suction pressure is formed in the polluted water discharge hose 316 and the adsorption hose 101 so that the water flows in.
상기 오염수탱크(317)는 그 저면에 상기 오염수탱크(317) 내의 오염수를 외부로 배출하는 오염수배출밸브(317a)와, 상기 오염수탱크(317)와 상기 진공장치(304) 사이를 연결하도록 설치되고, 상기 진공장치(304)로 상기 오염수탱크(317) 내의 공기가 흡입되도록 안내하거나 또는 외부공기를 공급받아 상기 오염수탱크(317) 내의 진공압을 해제하는 진공제어장치(317b)를 더 포함한다.The contaminated water tank 317 has a contaminated water discharge valve 317a on its bottom surface for discharging the contaminated water in the contaminated water tank 317 to the outside, and between the contaminated water tank 317 and the vacuum device 304. , and guides the air in the contaminated water tank 317 to be sucked into the vacuum device 304 or releases the vacuum pressure in the contaminated water tank 317 by receiving external air ( 317b) is further included.
상기 오염수배출밸브(317a)는 진공압이 해제된 상기 오염수탱크(317) 내의 오염수가 자유낙하 방식에 의해 하방으로 배출되도록 개폐작동된다.The contaminated water discharge valve 317a is opened and closed so that the contaminated water in the contaminated water tank 317 from which the vacuum pressure is released is discharged downward in a free fall manner.
상기 오염수배출밸브(317a)는 사용자의 조작에 의해 개폐작동되어, 오염수를 배출하는 것이 바람직하다.Preferably, the contaminated water discharge valve 317a is opened and closed by a user's manipulation to discharge the contaminated water.
상기 진공제어장치(317b)는 그 일단이 개폐되도록 형성되어, 상기 오염수탱크(317) 내부가 진공상태를 유지하도록 하거나 혹은 그 일단이 개방되어 상기 오염수탱크(317) 내로 외부공기를 공급하여, 상기 오염수탱크(317) 내의 진공압을 해제한다.The vacuum control device 317b is formed so that one end thereof is opened and closed so that the inside of the contaminated water tank 317 maintains a vacuum state, or one end thereof is opened to supply external air into the contaminated water tank 317. , The vacuum pressure in the contaminated water tank 317 is released.
상기 진공제어장치(317b)는 사용자에 의해 수동으로 조작되거나 또는 상기 제어부(313) 신호를 입력받아 상기 오염수탱크(317) 내의 수위가 정해진 수위 이상 상승되면, 개방작동되어 상기 오염수탱크(317) 내의 진공압을 해제할 수 있다.The vacuum control device 317b is operated manually by the user or when the water level in the contaminated water tank 317 rises above a predetermined level by receiving a signal from the control unit 313, and is operated to open the contaminated water tank 317. ) can release the vacuum pressure inside.
상기 착유장치(300)는 내측 공간에 상기 살균수공급부(202)와 연결되어, 상기 살균수공급부(202)로 세척수를 공급하는 세척수저장탱크(318)와, 상기 세척수저장탱크(318) 일측에 설치되고, 상기 살균수공급부(202)와 연결되어, 상기 살균수공급부(202)로 스팀을 공급하는 스팀발생기(319)를 구비한다.The milking device 300 is connected to the sterilizing water supply unit 202 in the inner space, and the washing water storage tank 318 for supplying washing water to the sterilizing water supply unit 202, and one side of the washing water storage tank 318 and a steam generator 319 connected to the sterilizing water supply unit 202 and supplying steam to the sterilizing water supply unit 202.
상기 세척수저장탱크(318)는 정해진 온도를 갖는 온수 또는 냉수를 수용하여, 상기 살균수공급부(202)로 세척수를 공급한다.The washing water storage tank 318 receives hot water or cold water having a predetermined temperature and supplies the washing water to the sterilizing water supply unit 202 .
상기 세척수저장탱크(318)는 상기 살균수공급부(202) 및 상기 통합유두세척기(320)로 세척수를 공급하는 것이 바람직하다.Preferably, the washing water storage tank 318 supplies washing water to the sterilizing water supply unit 202 and the integrated teat washer 320 .
상기 스팀발생기(319)는 상기 살균수공급부(202)를 통해 상기 티트컵(100) 내로 스팀을 공급한다.The steam generator 319 supplies steam into the tea cup 100 through the sterilizing water supply unit 202 .
상기 착유장치(300)는 상기 티트컵(100)과 연결되고, 가축의 젖꼭지에 흡착된 상기 티트컵(100) 내로 세척수 및 에어를 공급하여, 가축의 젖꼭지를 세척하거나 또는 상기 티트컵(100) 내로 침지제를 분사하여 가축의 젖꼭지에 침지제를 도포하는 통합유두세척기(320)를 더 형성한다.The milking device 300 is connected to the teat cup 100, and supplies washing water and air into the teat cup 100 adsorbed to the teat of the livestock to wash the teat of the livestock or the teat cup 100. An integrated teat washer 320 is further formed to apply the dipping agent to the nipples of livestock by spraying the dipping agent into the inside.
상기 통합유두세척기(320)는 상기 티트컵(100)을 통해 세척수, 에어 또는 침지제를 상기 티트컵(100) 내에 흡착된 가축의 젖꼭지 주변으로 분사한다.The integrated teat washer 320 sprays washing water, air, or immersion agent through the teat cup 100 around the teat of the livestock adsorbed in the teat cup 100 .
상기 통합유두세척기(320)는 상기 티트컵(100)이 가축의 젖꼭지에 흡착되면, 상기 제어부(313)의 신호를 전달받아 상기 티트컵(100) 내의 젖꼭지 주변으로 세척수 및 에어를 토출하여, 젖꼭지 세척과 동시에 에어로 젖꼭지에 뭍어있는 물기를 제거한다.When the teat cup 100 is attached to the teat of a livestock, the integrated teat washer 320 receives a signal from the control unit 313 and discharges washing water and air around the teat in the teat cup 100, At the same time as washing, remove the water attached to the nipple with air.
상기 통합유두세척기(320)는 상기 티트컵(100)과 연결호스(H)로 연결되어, 이 연결호스(H)를 통해 세척수, 에어 및 침지제를 상기 티트컵(100) 내측으로 분사하는 것이 바람직하다.The integrated teat washer 320 is connected to the teat cup 100 through a connection hose H, and sprays washing water, air, and immersion agent into the teat cup 100 through the connection hose H. desirable.
상기 통합유두세척기(320)는 착유가 완료된 시점에 상기 제어부(313)의 신호를 전달받아 상기 티트컵(100) 내의 젖꼭지 주변으로 침지제를 도포하고, 상기 티트컵(100)의 흡착이 해제되면, 상기 티트컵(100) 내로 세척수 및 에어를 공급하면서 상기 통합유두세척기(320)와 상기 티트컵(100) 사이를 연결한 연결호스(H)를 세척하여, 연결호스(H) 내에 뭍어있는 침지제를 제거한다.The integrated teat washer 320 receives a signal from the control unit 313 when milking is completed, applies the soaking agent around the teat in the teat cup 100, and when the suction of the teat cup 100 is released, , Washing the connection hose (H) connected between the integrated teat washer 320 and the teat cup 100 while supplying washing water and air into the teat cup 100, immersing in the connection hose H remove the je
상기 통합유두세척기(320)는 상기 세척수저장탱크(318)와 연결되어 상기 티트컵으로 세척수를 분사하고, 그 내측에 상기 티트컵(100)으로 에어를 분사하는 에어장치(미도시) 및 침지제를 분사하는 침지액저장통(미도시)을 형성한다.The integrated teat washer 320 is connected to the washing water storage tank 318 to spray washing water to the teat cup, and an air device (not shown) for spraying air to the inside of the teat cup 100 and an immersion agent. Forms an immersion liquid storage container (not shown) for spraying.
상기 길이조절장치(301)는 실린더(301a)와, 상기 실린더(301a)에 결합되어 승강 이동되는 승강로드(301b) 및 상기 승강로드(301b) 하단에 결합되고, 상, 하로 서로 대향되는 한 쌍의 안내롤러(301c-1)를 형성하여, 이 안내롤러(301c-1) 사이로 상기 티트컵(100)의 흡착호스(101)를 통과시키는 안내부(301c)로 구성된다.The length adjusting device 301 is coupled to a cylinder 301a, a lift rod 301b coupled to the cylinder 301a and moved up and down, and a pair coupled to the lower end of the lift rod 301b and facing each other in the upper and lower directions. The guide roller 301c-1 is formed and the guide part 301c passes the suction hose 101 of the tea cup 100 between the guide rollers 301c-1.
상기 안내부(301c)는 상기 승강로드(301b)에 의해 상방으로 승강 이동되어 상기 흡착호스(101)를 당기고, 하방으로 이동되어 상기 흡착호스(101)가 풀어지도록 안내한다.The guide part 301c moves upward by the lifting rod 301b to pull the suction hose 101, and moves downward to guide the suction hose 101 to be released.
사료공급부(400)는 전면이 개방된 중공형상으로, 상기 착유장치(300) 일측에 설치되고, 일면에 가축이 내부 공간으로 진입되도록 허용하는 인입도어(401)를 형성하며, 상기 인입도어(401)와 반대되는 타면에 개구부(402)를 형성하고, 전면에 상기 개구부(402) 방향을 향해 정해진 각도로 회전되어, 전면을 개방하는 출구도어(403)를 형성하고, 상기 출구도어(403) 상단에 회전가능하게 설치되되, 그 내부에 사료를 수용하여 가축 방향 또는 가축과 반대되는 방향을 향해 전, 후 회전되는 사료통(404)을 형성한다.The feed supply unit 400 has a hollow shape with an open front, is installed on one side of the milking device 300, and forms an inlet door 401 on one side that allows livestock to enter the internal space, and the inlet door 401 ), form an opening 402 on the opposite side, and rotate at a predetermined angle toward the opening 402 on the front side to form an exit door 403 opening the front side, and forming an exit door 403 at the top of the exit door 403 Doedoe rotatably installed in, to accommodate the feed therein to form a feed container 404 that rotates forward and backward toward the livestock direction or the opposite direction to the livestock.
상기 인입도어(401)는 개폐작동되어 상기 사료공급부(400) 내로 가축이 진입되도록 허용하되, 가축으로 부터 우유를 착유하는 동안 상기 사료공급부(400) 일면을 폐쇄한다.The inlet door 401 is opened and closed to allow livestock to enter the feed supply unit 400, but one side of the feed supply unit 400 is closed while milking milk from the livestock.
상기 개구부(402)는 상기 로봇암(500)에 의해 상기 사료공급부(400) 내에 위치한 가축의 젖꼭지 주변으로 상기 티트컵(100)이 진입되도록 허용한다.The opening 402 allows the robot arm 500 to enter the teat cup 100 around the teat of the livestock located in the feed supply unit 400 .
상기 출구도어(403)는 상기 사료공급부(400) 내에서 가축으로 부터 우유를 착유하는 동안 밀폐되어 있고, 상기 사료공급부(400) 전면을 개방하도록 정해진 각도로 회전되어, 가축이 상기 사료공급부(400) 전방을 통해 외부로 이동하도록 안내한다.The exit door 403 is sealed while milking milk from livestock in the feed supply unit 400, and is rotated at a predetermined angle to open the front of the feed supply unit 400, so that the livestock feeds the feed supply unit 400. ) guide to move to the outside through the front.
상기 출구도어(403)는 상기 사료통(404)을 일체로 회전시키는 것이 바람직하다.Preferably, the exit door 403 integrally rotates the feed container 404.
상기 사료통(404)은 그 내부에 사료를 수용하되, 상기 사료공급부(400) 내로 진입한 가축의 전방에 위치되도록 근접 회전되어, 가축이 사료를 섭취하도록 한다.The feed box 404 accommodates the feed therein, and is rotated close to the front of the livestock entering the feed supply unit 400 so that the livestock consumes the feed.
상기 사료공급부(400)는 전면이 개방되어, 상기 인입도어(401), 개구부(402) 및 출구도어(403)를 형성한 본체(405)와, 상기 본체(405) 상면에 설치되고, 각각의 상기 인입도어(401) 및 상기 출구도어(403)와 연결 설치되어, 상기 인입도어(401) 및 상기 출구도어(403)를 회전 개폐하는 개폐실린더(406), 상기 본체(405) 바닥면에 설치되어, 상기 본체(405) 내로 진입한 가축의 중량을 측정하는 중량측정판(407), 상기 본체(405) 내측 방향을 향하도록 상기 출구도어(403) 일 측면에 설치되고, 상기 본체(405) 내로 진입하는 가축의 태그를 인식하여, 가축의 정보를 외부로 출력하는 RFID장치(408)로 구성된다.The feed supply unit 400 is installed on a main body 405 having a front surface open and having the inlet door 401, the opening 402 and the outlet door 403 formed, and the upper surface of the main body 405, and each An opening/closing cylinder 406 installed in connection with the inlet door 401 and the outlet door 403 to rotate and open the inlet door 401 and the outlet door 403, installed on the bottom surface of the main body 405 and a weighing plate 407 for measuring the weight of livestock entering the main body 405, installed on one side of the exit door 403 so as to face the inside of the main body 405, and the main body 405 It is composed of an RFID device 408 that recognizes the tag of livestock entering the inside and outputs information about the livestock to the outside.
상기 본체(405)는 중공형상으로 형성되고, 그 내부로 가축이 진입되도록 허용하여 가축이 전, 후 및 좌, 우로 이동하는 것을 방지한다.The main body 405 is formed in a hollow shape, allows livestock to enter the inside, and prevents livestock from moving forward, backward, left, and right.
상기 개폐실린더(406)는 상기 인입도어(401)를 개방하여 가축이 상기 본체(405) 내로 진입되도록 하되, 상기 인입도어(401)를 폐쇄하여, 상기 본체(405) 내로 진입한 가축이 상기 본체(405) 외부로 이동하는 것을 방지한다.The opening/closing cylinder 406 opens the inlet door 401 to allow livestock to enter the main body 405, but closes the inlet door 401 so that livestock that have entered the main body 405 cannot enter the main body 405. (405) Prevent movement to the outside.
상기 개폐실린더(406)는 상기 출구도어(403)를 회전 개폐하여, 가축이 상기 본체(405)의 전방을 통해 외부로 이동하도록 안내한다.The opening/closing cylinder 406 rotates and opens the exit door 403 to guide the livestock to move outside through the front of the main body 405 .
상기 중량측정판(407)은 상기 본체(405) 내로 진입한 가축의 중량을 측정하여, 가축의 중량값을 외부 장치(미도시)로 전달한다.The weighing plate 407 measures the weight of livestock entering the main body 405 and transmits the weight value of livestock to an external device (not shown).
상기 RFID장치(408)는 가축에 부착된 태그를 인식하여, 이 가축의 생체(예컨대, 중량, 크기, 건강상태) 상태를 외부기기(미도시)로 출력한다.The RFID device 408 recognizes the tag attached to the livestock and outputs the living body (eg, weight, size, health condition) of the livestock to an external device (not shown).
상기 사료공급부(400)의 출구도어(403)는 상기 사료통(404) 외주면을 감싸 커버하도록 설치되고, 그 일면이 상기 본체(405) 일측면에 회전가능하게 설치되되, 상기 개폐실린더(406)에 의해 정해진 각도로 회전되어 상기 사료공급부(400) 전면을 개방하고, 내측 벽면에 회전실린더(403a)를 형성한다.The exit door 403 of the feed supply unit 400 is installed to wrap and cover the outer circumferential surface of the feed container 404, and one side thereof is rotatably installed on one side of the main body 405, and is connected to the opening/closing cylinder 406. is rotated at a predetermined angle to open the front of the feed supply unit 400 and form a rotating cylinder 403a on the inner wall surface.
상기 회전실린더(403a)는 상기 사료통(404)의 하단을 전, 후 방향으로 회전 이동시켜, 상기 사료통(404)이 상기 본체(405) 내로 진입한 가축의 전방에 위치되도록 한다.The rotary cylinder 403a rotates and moves the lower end of the feed container 404 forward and backward, so that the feed container 404 is located in front of the livestock entering the main body 405.
상기 회전실린더(403a)는 상기 RFID장치(408)의 신호를 입력받아, 가축의 크기에 대응하도록 상기 사료통(404)을 회전 이동시킨다.The rotary cylinder 403a receives a signal from the RFID device 408 and rotates the feed container 404 to correspond to the size of livestock.
상기 사료통(404)은 상기 출구도어(403) 상단에 회전가능하게 설치되는 회전축(404a)을 형성하고, 그 내측에 함몰형성되어 그 내부 공간에 사료를 수용하는 사료수용홈(404b)을 형성하며, 하단 전면이 상기 회전실린더(403a)와 연결되어, 상기 회전실린더(403a)에 의해 전, 후 방향으로 회전된다.The feed container 404 forms a rotational shaft 404a rotatably installed at the top of the exit door 403, and is recessed inside to form a feed receiving groove 404b for accommodating feed in its internal space, , The bottom front is connected to the rotary cylinder 403a, and is rotated in the front and rear directions by the rotary cylinder 403a.
상기 사료통(404)은 상기 회전축(404a)을 기준으로 그 하단이 전, 후 방향으로 이동되어, 상기 본체(405) 내로 진입한 가축의 전방에 위치된다.The lower end of the feed container 404 is moved forward and backward with respect to the rotating shaft 404a, and is positioned in front of the livestock entering the main body 405.
로봇암(500)은 상기 사료공급부(400)의 개구부(402) 일측에 설치되고, 상기 티트컵(100)을 상기 개구부(402)를 통해 가축의 젖꼭지 주변으로 이동시켜, 젖꼭지 주변에 상기 티트컵(100)이 흡착되도록 한다.The robot arm 500 is installed on one side of the opening 402 of the feed supply unit 400, and moves the teat cup 100 around the teat of livestock through the opening 402 so that the teat cup 100 is around the teat. (100) is adsorbed.
상기 로봇암(500)은 관절 구조로 이루어져 다방향으로 자유롭게 회전된다.The robot arm 500 has a joint structure and freely rotates in multiple directions.
상기 로봇암(500)은 그 말단에 가축의 젖꼭지 위치를 확인하는 카메라(501) 및 레이저센서(502)를 더 형성한다.The robot arm 500 further forms a camera 501 and a laser sensor 502 to check the position of the nipple of the livestock at its end.
상기 카메라(501)는 가축의 젖꼭지 위치를 확인하고, 상기 레이저센서(502)는 가축의 젖꽂지와 로봇암(500) 사이의 거리를 측정한다.The camera 501 checks the position of the nipple of the livestock, and the laser sensor 502 measures the distance between the nipple of the livestock and the robot arm 500 .
상기와 같이 구성되는 본 발명에 따른 가축용 자동착유장치는 다음과 같이 사용된다.The automatic milking device for livestock according to the present invention configured as described above is used as follows.
먼저, 가축을 이동시켜, 이 가축이 상기 사료공급부(400)의 인입도어(401) 주변으로 이동하도록 한다.First, the livestock is moved so that the livestock moves around the inlet door 401 of the feed supply unit 400.
그러면, 상기 개폐실린더(406)가 작동되어 상기 인입도어(401)를 개방하고, 이때, 이 개방된 인입도어(401)를 통해 상기 사료공급부(400)의 본체(405) 내로 가축이 진입되도록 안내한다.Then, the opening/closing cylinder 406 is operated to open the inlet door 401, and at this time, through the opened inlet door 401, guide the livestock to enter the main body 405 of the feed supply unit 400. do.
*여기서, 상기 본체(405) 내로 가축이 진입되면서, 중량측정판(407)을 누름 가압하되, 이와 동시에 상기 RFID장치(408)가 가축에 부착되어 있는 태그를 인식하여, 외부장치로 상기 중량측정판(407)에 측정된 가축의 현재 중량 및 상기 RFID장치(408)를 통해 가축의 기 입력되어 있는 생체(예컨대, 중량, 크기 및 건강상태) 상태를 동시에 출력한다.*Here, as the livestock enters the main body 405, the weighing plate 407 is pressed and pressed, and at the same time, the RFID device 408 recognizes the tag attached to the livestock and measures the weight with an external device. The current weight of the livestock measured on the plate 407 and the living body (eg, weight, size, and health condition) of the livestock previously input through the RFID device 408 are simultaneously output.
이어서, 상기 개폐실린더(406)가 작동되어 상기 인입도어(401) 및 출구도어(403)를 동시에 폐쇄하되, 가축의 생체리듬 상태 신호에 따라 외부장치(미도시)가 상기 출구도어(403)의 회전실린더(403a)를 작동시켜, 상기 사료통(404)이 가축의 전방에 위치되도록 회전 이동시킨다.Subsequently, the opening/closing cylinder 406 is operated to close the inlet door 401 and the outlet door 403 at the same time, and an external device (not shown) operates on the outlet door 403 according to the biorhythm state signal of the livestock. By operating the rotary cylinder 403a, the feed container 404 is rotated so as to be located in front of the livestock.
즉, 상기 회전실린더(403a)가 작동되어 상기 사료통(404)의 하단부를 전방 또는 후방으로 이동시키고, 이때, 상기 사료통(404)이 회전축(404a)을 기준으로 전방 또는 후방으로 회전되면서 가축의 전방에 근접 위치되어, 사료통(404)의 사료수용홈(404b) 내에 수용된 사료를 가축이 섭취하는 것이다.That is, the rotary cylinder 403a is operated to move the lower end of the feed container 404 forward or rearward, and at this time, the feed container 404 is rotated forward or backward with respect to the rotational axis 404a to the front of the livestock. It is positioned close to, and the livestock consumes the feed accommodated in the feed receiving groove 404b of the feed container 404.
여기서, 상기 본체(405) 내로 진입한 가축은 그 둔부가 상기 본체(405)의 후단에 위치되고, 그 상태에서 상기 사료통(404)이 가축의 전방에 위치하도록 이동됨으로써, 상기 본체(405) 내에서 가축이 전, 후방으로 이동하는 것이 방지된다.Here, the livestock that has entered the main body 405 is moved so that the buttocks are located at the rear end of the main body 405 and the feed container 404 is located in front of the livestock in that state, so that within the main body 405 It is prevented that livestock move forward or backward in
이후, 상기 착유장치(300)의 거치대(200)에 안착된 티트컵(100) 상단을 덮고 있는 살균수공급부(202)를 회전시켜, 살균수공급부(202)가 상기 티트컵(100)에서 이탈되도록 한다.Then, by rotating the sterilizing water supply part 202 covering the upper end of the tea cup 100 seated on the holder 200 of the milking device 300, the sterilizing water supply part 202 is separated from the tea cup 100. Let it be.
그리고, 상기 착유장치(300)의 진공장치(304)로 상기 집유항아리(302)에 진공압을 형성하여, 상기 송유호스(303) 및 흡착호스(101)에 진공압이 형성되도록 한다.Then, the vacuum device 304 of the milking device 300 forms vacuum pressure in the oil collecting jar 302 so that vacuum pressure is formed in the oil feeding hose 303 and the suction hose 101.
이후, 상기 로봇암(500)으로 거치대(200)에 거치된 티트컵(100)을 파지하고, 그 상태에서 상기 사료공급부(400)의 개구부(402)를 통해 상기 본체(405) 내로 진입시키되, 상기 로봇암(500)의 카메라(501) 및 레이저센서(502)로 가축의 젖꼭지 위치를 확인한 후, 가축의 젖꼭지에 티트컵(100)이 삽입되도록 한다.Thereafter, the robot arm 500 grips the teat cup 100 mounted on the holder 200, and in that state enters the main body 405 through the opening 402 of the feed supply unit 400, After confirming the position of the livestock nipple with the camera 501 and laser sensor 502 of the robot arm 500, the teat cup 100 is inserted into the livestock nipple.
이때, 상기 티트컵(100)을 가축의 젖꼭지 방향으로 이동시킴에 따라, 상기 티트컵(100)과 송유호스(303) 사이를 연결하는 흡착호스(101)가 상기 로봇암(500)에 의해 당겨짐과 동시에 상기 길이조절장치(301)의 실린더(301a)가 상기 승강로드(301b)를 하방으로 이동시켜, 이 승강로드(301b) 하부에 설치된 상기 안내부(301c)가 하방으로 이동되면서 상기 흡착호스(101)가 풀어지도록 안내한다.At this time, as the teat cup 100 is moved in the direction of the livestock nipple, the suction hose 101 connecting the teat cup 100 and the feeding hose 303 is pulled by the robot arm 500. At the same time, the cylinder 301a of the length adjusting device 301 moves the lifting rod 301b downward, and the guide part 301c installed under the lifting rod 301b moves downward while the suction hose (101) is guided to be released.
여기서, 상기 안내부(301c)의 안내롤러(301c-1)는 상기 로봇암(210)에 의해 당겨지는 상기 흡착호스(101) 외면과의 마찰로 회전되면서 상기 흡착호스(101)가 풀어지도록 안내한다.Here, the guide roller 301c-1 of the guide part 301c is rotated by friction with the outer surface of the suction hose 101 pulled by the robot arm 210 and guides the suction hose 101 to be released. do.
특히, 상기 거치대(200) 상면에 설치된 유도롤러(203)는 상기 흡착호스(101)가 상기 로봇암(500)의 이동방향으로 풀어지도록 안내하여, 상기 흡착호스(101)가 꼬임 또는 꺽임되는 것이 방지된다.In particular, the guide roller 203 installed on the upper surface of the holder 200 guides the suction hose 101 to be released in the moving direction of the robot arm 500, so that the suction hose 101 is twisted or bent. prevented
한편, 상기 티트컵(100)은 흡착호스(101)에 형성된 진공압에 의해 흡입압을 형성하고, 이 흡입압에 의해 가축의 젖꼭지 주변에 흡착되는 것이다.On the other hand, the teat cup 100 forms a suction pressure by the vacuum pressure formed in the suction hose 101, and is adsorbed around the nipple of the livestock by the suction pressure.
만약, 젖꼭지로 삽입된 상기 티트컵(100)의 흡착이 불량한 경우에는, 이 티트컵(100)을 통해 외부공기가 유입되고, 이에따라, 상기 흡착호스(101)를 통해 상기 송유호스(303)로 공급되는 흡입압을 상기 진공측정센서(308)로 측정하게 된다.If the suction of the teat cup 100 inserted into the teat is poor, outside air flows in through the teat cup 100, and thus, through the suction hose 101 to the oil supply hose 303. The supplied suction pressure is measured by the vacuum measuring sensor 308.
이때, 상기 진공측정센서(308) 신호는 상기 제어부(313)로 전달되고, 이 제어부(313)에 전달되는 상기 송유호스(303) 내의 압력이 상기 제어부(313)에 기 설정된 정해진 압력값에 비례하거나 혹은 높은 경우, 상기 티트컵(100)이 가축의 젖꽂지 주변에 정상 흡착된 것으로 판단한다.At this time, the vacuum measurement sensor 308 signal is transmitted to the control unit 313, and the pressure in the oil supply hose 303 transmitted to the control unit 313 is proportional to a predetermined pressure value preset in the control unit 313. If it is or is high, it is determined that the teat cup 100 is normally adsorbed around the nipple of the livestock.
반면, 상기 제어부(313)에 전달되는 상기 송유호스(303) 내의 압력이 상기 제어부(313)에 기 설정된 정해진 압력값 보다 상대적으로 낮은 경우, 상기 티트컵(100)이 가축의 젖꽂지 주변에 불량 흡착된 것으로 판단하여, 상기 제1차단밸브(307)를 제어하여 상기 송유호스(303)가 차단되도록 하되, 이후, 상기 송유호스(303)를 재 개방하여 상기 티트컵(100)에 형성되는 순간 흡입력에 의해 상기 티트컵(100)이 가축의 젖꼭지 주변에 정상 흡착되도록 유도하는 것이다.On the other hand, when the pressure in the oil feeding hose 303 transmitted to the controller 313 is relatively lower than the predetermined pressure value preset in the controller 313, the teat cup 100 is defective around the nipple of the livestock. When it is determined that the adsorption is detected, the first shut-off valve 307 is controlled so that the oil supply hose 303 is blocked. Afterwards, the oil supply hose 303 is reopened to form the teat cup 100 at the moment it is formed. The suction force induces the teat cup 100 to be normally adsorbed around the nipple of the livestock.
이후, 상기 티트컵(100)이 가축의 젖꼭지 주변에 정상 흡착되면, 상기 제어부(313)가 상기 제1차단밸브(307)를 폐쇄함과 동시에 상기 제2차단밸브(315)를 개방하여 상기 흡착호스(101)가 상기 오염수배출호스(316)와 연통되도록 한다.Thereafter, when the teat cup 100 is normally adsorbed around the nipple of a livestock, the control unit 313 closes the first shutoff valve 307 and simultaneously opens the second shutoff valve 315 to absorb the suction. The hose 101 communicates with the contaminated water discharge hose 316.
이때, 상기 진공장치(304)는 상기 오염수탱크(317) 내에 진공압을 형성함으로써, 상기 오염수탱크(317)와 연결된 오염수배출호스(316) 및 상기 흡착호스(101)에 흡입압력이 유지된다.At this time, the vacuum device 304 forms a vacuum pressure in the contaminated water tank 317, so that suction pressure is applied to the contaminated water discharge hose 316 and the adsorption hose 101 connected to the contaminated water tank 317. maintain.
그리고, 상기와 같이 상기 티트컵(100)이 가축의 젖꼭지 주변에 흡착된 상태에서, 상기 통합유두세척기(320)를 통해 상기 티트컵(100) 내로 세척수를 분사하여, 가축의 젖꼭지 주변에 뭍어있는 이물을 세척하고, 이어서, 상기 티트컵(100) 내로 에어를 분사하여 가축의 젖꼭지에 잔여된 물기를 제거한다.And, as described above, in a state where the teat cup 100 is adsorbed around the nipple of the livestock, the washing water is sprayed into the teat cup 100 through the integrated teat washer 320, so that the teats around the teat of the livestock Foreign matter is washed, and then, air is blown into the teat cup 100 to remove water remaining on the nipples of livestock.
이때, 상기 통합유두세척기(320)는 상기 세척수저장탱크(318)로 부터 물을 공급받아 상기 티트컵(100)으로 분사하되, 그 내부에 설치된 에어장치(미도시)를 통해 에어를 분사하는 것이 바람직하다.At this time, the integrated teat washer 320 receives water from the washing water storage tank 318 and sprays it to the teat cup 100, and sprays air through an air device (not shown) installed therein. desirable.
또한, 상기 티트컵(100) 내로 분사되어 가축의 젖꼭지를 세척한 세척수 및 에어에 의해 젖꼭지에서 이탈된 이물은 상기 흡착호스(101)의 흡입압에 의해 상기 삼방밸브(314)를 거쳐 상기 오염수배출호스(316)로 이동되어, 상기 오염수탱크(317)로 저장된다.In addition, the washing water sprayed into the teat cup 100 to wash livestock teats and the foreign matter separated from the teats by the air pass through the three-way valve 314 by the suction pressure of the adsorption hose 101 and the contaminated water It is moved to the discharge hose 316 and stored in the contaminated water tank 317.
여기서, 가축의 젖꼭지 세척 작업을 8~15초 이내로 진행한 후, 젖꼭지 세척 작업이 완료되면, 상기 제어부(313)가 상기 제1차단밸브(307)를 개방함과 동시에 상기 제2차단밸브(315)를 차단하여, 상기 흡착호스(101)와 상기 송유호스(303)를 연통 시킨다.Here, after the nipple washing operation of livestock is performed within 8 to 15 seconds and the nipple washing operation is completed, the controller 313 opens the first shutoff valve 307 and simultaneously the second shutoff valve 315 ) is blocked, and the adsorption hose 101 and the oil transfer hose 303 are communicated.
이후, 상기 티트컵(100)을 통해 흡입되는 우유가 상기 흡착호스(101) 및 삼방밸브(314)를 거쳐 상기 송유호스(303)로 이동하도록 하면, 상기 송유호스(303) 경로상에 설치된 전도도센서(309)가 우유의 오염농도를 측정하여, 상기 제어부(313)로 이 신호를 전달함으로써, 상기 제어부(313)가 우유의 불량 여부를 판별하게 된다.Then, when the milk sucked through the teat cup 100 moves to the oil supply hose 303 via the suction hose 101 and the three-way valve 314, the conductivity installed on the path of the oil supply hose 303 The sensor 309 measures the contamination concentration of milk and transmits the signal to the controller 313, so that the controller 313 determines whether the milk is defective.
여기서, 상기 송유호스(303)의 경로상에 설치된 제1차단밸브(307)는 개방된 상태로 유지되고, 이와 반대로 상기 오염수배출호스(316) 경로상에 설치된 제2차단밸브(315)는 차단되어 상기 삼방밸브(314)를 통과한 우유가 상기 송유호스(303)로 이동되는 것이다.Here, the first shutoff valve 307 installed on the path of the oil supply hose 303 remains open, and on the contrary, the second shutoff valve 315 installed on the path of the polluted water discharge hose 316 The milk passing through the three-way valve 314 after being blocked is moved to the oil supply hose 303.
그리고, 상기 전도도센서(309)를 통과한 우유는 상기 송유호스(303)를 따라 이동하면서 상기 유속측정센서(310)를 통과하게 되고, 이때, 상기 유속측정센서(310)에 측정된 우유의 유속값이 상기 제어부(313)로 전달된다.In addition, the milk passing through the conductivity sensor 309 passes through the flow rate sensor 310 while moving along the oil delivery hose 303, and at this time, the flow rate of milk measured by the flow rate sensor 310 The value is transmitted to the controller 313.
즉, 상기 유속측정센서(310)가 상기 송유호스(303)를 통해 통과되는 우유의 유속값을 정해진 시간동안 측정하여, 그 신호를 상기 제어부(313)로 전달하고, 이때, 상기 제어부(313)는 유속측정센서(310)에 측정된 유속값과 기 설정된 유속값을 비교 산출한다.That is, the flow rate sensor 310 measures the flow rate value of the milk passing through the oil feeding hose 303 for a predetermined time, and transmits the signal to the control unit 313. At this time, the control unit 313 Comparatively calculates the flow rate value measured by the flow rate sensor 310 and the preset flow rate value.
이때, 상기 유속측정센서(310)에 측정된 유속값이 기 설정된 유속값 보다 상대적으로 높거나 혹은 비례하는 경우에는, 가축의 착유 상태를 정상으로 판단하여, 상기 티트컵(100)을 통해 우유를 연속 흡입하는 것이다.At this time, when the flow rate value measured by the flow rate sensor 310 is relatively higher than or proportional to the preset flow rate value, the milking state of the livestock is determined to be normal, and milk is supplied through the teat cup 100. It is continuous inhalation.
반면, 상기 유속측정센서(310)에 측정된 유속값이 기 설정된 유속값 보다 낮게 측정된 시점을 기준으로 15~20분간, 상기 제어부(313)가 상기 유속측정센서(310) 신호를 입력받고, 이때, 15~20분간 연속하여 상기 유속측정센서(310)에 측정된 유속값이 기 설정된 유속값 보다 상대적으로 낮은 경우에는, 가축의 착유 상태가 불량한 것으로 판단되어, 상기 제어부(313)가 상기 제1차단밸브(307)를 제어하여 상기 송유호스(303)를 차단함으로써, 착유가 정지되는 것이다.On the other hand, for 15 to 20 minutes based on the time when the flow rate value measured by the flow rate sensor 310 is lower than the preset flow rate value, the controller 313 receives the signal from the flow rate sensor 310, At this time, if the flow rate value measured by the flow rate sensor 310 continuously for 15 to 20 minutes is relatively lower than the preset flow rate value, it is determined that the milking condition of the livestock is poor, and the control unit 313 determines that the milking condition of the livestock is poor. By controlling the first shut-off valve 307 to block the oil delivery hose 303, milking is stopped.
이어서, 가축의 착유가 정상적으로 진행되면, 상기 유속측정센서(310)를 통과한 우유가 상기 송유호스(303)를 따라 이동하다가 상기 유질측정센서(311)를 통과하게 되고, 이때, 상기 유질측정센서(311)가 우유의 영양분 상태를 측정하여, 이 신호를 상기 제어부(313)로 전달한다.Subsequently, when the milking of livestock proceeds normally, the milk passing through the flow rate measurement sensor 310 moves along the oil feeding hose 303 and passes through the oil quality measurement sensor 311. At this time, the oil quality measurement sensor 311 measures the nutrient state of milk and transmits this signal to the control unit 313.
그러면, 상기 제어부(313)는 상기 유질측정센서(311)에 측정된 우유의 영양분 상태와 기 설정된 우유의 영양분 상태를 비교 산출하여, 유질측정센서(311)에 측정된 우유의 영양분 상태가 높으면 정상으로 판단하고, 만약, 유질측정센서(311)에 측정된 우유의 영양분 상태가 낮으면 불량으로 판단하는 것이다.Then, the control unit 313 compares and calculates the nutrient state of milk measured by the oil quality measurement sensor 311 with the predetermined nutrient state of milk, and if the nutrient state of milk measured by the oil quality measurement sensor 311 is high, it is normal. , and if the nutrient state of the milk measured by the milk quality measurement sensor 311 is low, it is determined to be defective.
이후, 상기 유질측정센서(311)를 통과한 우유는 상기 유량측정센서(312)를 통과하여, 상기 유량측정센서(312)가 가축으로부터 착유하는 우유의 총량을 산출하여, 상기 제어부(313)로 전달한다.Thereafter, the milk that has passed through the milk quality measurement sensor 311 passes through the flow rate measurement sensor 312, the flow rate measurement sensor 312 calculates the total amount of milk milked from the livestock, and sends it to the control unit 313. convey
이때, 상기 제어부(313)는 우유의 총량을 확인하여, 외부에 구비된 디스플레이(미도시)로 출력함으로써, 작업자가 가축으로 부터 착유한 우유의 총량을 확인할 수 있는 것이다.At this time, the control unit 313 checks the total amount of milk and outputs it to an external display (not shown), so that the worker can check the total amount of milk milked from the livestock.
그 다음, 상기 송유호스(303)를 통해 이동되는 우유는 상기 집유항아리(302) 내로 수용되고, 이때, 상기 집유항아리(303) 내에 저장되는 우유는 가축 한마리에서 착유한 우유인 것이다.Then, the milk moved through the milk feeding hose 303 is accommodated in the milk collecting jar 302, and at this time, the milk stored in the milk collecting jar 303 is the milk milked from one livestock.
여기서, 상기 제어부(313)는 상기 전도도센서(309), 유속측정센서(310), 유질측정센서(311) 및 유량측정센서(312) 신호를 전달받되, 이 신호값을 산출하여 가축 및 우유의 정상 또는 불량 여부를 판단하여, 상기 집유항아리(302) 내에 수용된 우유가 외부에 구비된 폐통(미도시)으로 보내지거나 혹은 냉각기(미도시)로 보내지도록 결정한다.Here, the control unit 313 receives signals from the conductivity sensor 309, the flow rate measurement sensor 310, the oil quality measurement sensor 311, and the flow rate measurement sensor 312, and calculates the signal value to produce livestock and milk. By determining whether it is normal or defective, it is determined whether the milk contained in the milk collecting jar 302 is sent to an external waste container (not shown) or to a cooler (not shown).
만약, 상기 집유항아리(302) 내에 우유가 정해진 량을 초과하도록 공급되면, 상기 집유항아리(302) 내의 우유가 상기 연결배관(306a) 내로 오버플로우 되면서 상기 부유볼(306b)을 상방으로 상승 이동시키고, 이에따라, 상기 부유볼(306b)이 상기 연결배관(306a) 상방에 위치되면서, 상기 연결배관(306a)이 개방된다.If milk is supplied in excess of a predetermined amount in the milk collection jar 302, the milk in the milk collection jar 302 overflows into the connection pipe 306a and moves the floating ball 306b upward, Accordingly, while the floating ball 306b is positioned above the connection pipe 306a, the connection pipe 306a is opened.
그러면, 상기 연결배관(306a)을 통해 오버플로우 되는 우유는 상기 연결배관(306a) 상방으로 토출되어 상기 보조항아리(306) 내로 공급되고, 이에따라, 상기 집유항아리(302) 내의 우유가 상기 송유호스(303)를 통해 역류되는 것이 방지된다.Then, the milk that overflows through the connection pipe 306a is discharged upward through the connection pipe 306a and supplied into the auxiliary jar 306, and accordingly, the milk in the collecting jar 302 flows through the oil feeding hose ( 303) to prevent backflow.
이후, 상기와 같이 가축으로부터 착유를 진행하다가, 상기 유속측정센서(310)에 측정되는 우유의 유속값이 상기 제어부(313)에 기 설정된 정해진 유속값 보다 상대적으로 낮게 측정되면, 착유가 완료된 것으로 판단하여, 상기 제어부(313)가 상기 제1차단밸브(307)를 차단한다.Thereafter, while milking the livestock as described above, when the flow rate value of milk measured by the flow rate sensor 310 is measured to be relatively lower than the predetermined flow rate value set in the control unit 313, it is determined that milking is completed. Thus, the controller 313 blocks the first shutoff valve 307.
그리고, 상기와 같이 착유가 완료되면, 상기 통합유두세척기(320)가 젖꼭지 주변에 흡착된 상태를 유지하는 상기 티트컵(100) 내로 침지제를 분사하여, 가축의 젖꼭지 주변에 침지제가 도포되도록 한다.In addition, when milking is completed as described above, the integrated teat washer 320 sprays the dipping agent into the teat cup 100, which maintains an adsorbed state around the nipple, so that the dipping agent is applied around the nipple of the livestock .
이때, 상기 통합유두세척기(320)는 그 내부에 침지액저장통(미도시)을 형성하여, 이 침지액저장통(미도시) 내에 저장된 침지제를 상기 티트컵(100)으로 분사하는 것이다.At this time, the integrated nipple washer 320 forms an immersion liquid storage container (not shown) therein, and sprays the immersion agent stored in the immersion liquid storage container (not shown) to the teat cup 100.
이후, 상기 제어부(313)는 상기 길이조절장치(301)로 신호를 전달하여, 상기 길이조절장치(301)의 실린더(301a)가 상기 승강로드(301b)를 상방으로 이동시키고, 이때, 상기 승강로드(301b) 말단에 형성된 안내부(301c)가 상기 흡착호스(101)를 당겨 가축의 젖꼭지 주변에 흡착된 티트컵(100)이 가축의 젖꼭지에서 이탈되는 것이다.Thereafter, the control unit 313 transmits a signal to the length adjusting device 301 so that the cylinder 301a of the length adjusting device 301 moves the lifting rod 301b upward, and at this time, the lifting and lowering The guide part 301c formed at the end of the rod 301b pulls the suction hose 101 so that the teat cup 100 adsorbed around the nipple of the livestock is separated from the nipple of the livestock.
여기서, 상기 안내부(301c)의 안내롤러(301c-1)는 회전되면서 상기 흡착호스(101)를 당김으로써, 상기 흡착호스(101)가 상기 안내롤러(301c-1)에 의해 당겨지는 것이다.Here, the guide roller 301c-1 of the guide part 301c pulls the suction hose 101 while rotating, so that the suction hose 101 is pulled by the guide roller 301c-1.
그리고, 가축에서 이탈된 흡착호스(101) 말단의 티트컵(100)은 상기 거치대(200)의 홀(201)에 걸림되어, 상기 거치대(200) 상에 거치된다.Then, the teat cup 100 at the end of the suction hose 101 separated from the livestock is caught in the hole 201 of the holder 200 and is placed on the holder 200.
이때, 상기 제어부(313)는 상기 제1차단밸브(307)를 폐쇄하되, 상기 제2차단밸브(315)를 개방함으로써, 상기 진공장치(304)에 의해 진공압을 형성하는 상기 오염수탱크(317)와 연결된 오염수배출호스(316), 삼방밸브(314), 흡착호스(101) 및 티트컵(100) 내에 흡입압력이 유지된다.At this time, the controller 313 closes the first shutoff valve 307 and opens the second shutoff valve 315, thereby forming a vacuum pressure by the vacuum device 304 in the contaminated water tank ( Suction pressure is maintained in the contaminated water discharge hose 316 connected to 317, the three-way valve 314, the suction hose 101, and the teat cup 100.
이어서, 상기 거치대(200)의 살균수공급부(202)가 회전작동되어 상기 티트컵(100)의 상단을 덮어 밀폐하고, 그 상태에서 상기 통합유두세척기(320)가 상기 티트컵(100) 내로 세척수 및 에어를 분사하여, 상기 통합유두세척기(320)와 상기 티트컵(100)을 연결하는 연결호스(H) 내의 침지제가 세척되도록 하고, 이와 동시에 상기 상기 살균수공급부(202)를 통해 상기 티트컵(100) 내로 세척수 및 에어를 분사한다.Subsequently, the sterilizing water supply unit 202 of the holder 200 is rotated to cover and seal the top of the teat cup 100, and in that state, the integrated teat washer 320 pours washing water into the teat cup 100. and air is sprayed so that the immersion agent in the connection hose (H) connecting the integrated teat washer 320 and the teat cup 100 is washed, and at the same time, the teat cup through the sterilizing water supply unit 202. Washing water and air are sprayed into (100).
즉, 상기 살균수공급부(302)는 상기 세척수저장탱크(318)로 부터 세척수를 공급받아 상기 티트컵(100) 내로 분사하고, 이때, 상기 티트컵(100) 내로 공급되는 세척수는 상기 통합유두세척기(320)를 통해 상기 티트컵(100) 내로 공급된 세척수와 혼합되어, 상기 티트컵(100), 흡착호스(101), 상기 오염수배출호스(316)를 통해 상기 오염수탱크(317)로 이동 저장된다.That is, the sterilizing water supply unit 302 receives the washing water from the washing water storage tank 318 and sprays it into the teat cup 100, and at this time, the washing water supplied into the teat cup 100 is supplied to the integrated teat washer. It is mixed with the washing water supplied into the teat cup 100 through the teat cup 100 through the teat cup 100, the suction hose 101, and the polluted water discharge hose 316 to the contaminated water tank 317. move is saved
이때, 상기 흡착호스(101)는 세척수를 통과시키면서, 그 내부에 잔여된 우유 또는 찌꺼기가 세척수에 밀려 상기 오염수탱크(317)로 이동되도록 함으로써, 상기 티트컵(100) 및 상기 흡착호스(101) 내부가 세척된다.At this time, the adsorption hose 101 allows the washing water to pass through and the remaining milk or dregs are pushed by the washing water and moved to the contaminated water tank 317, so that the tea cup 100 and the adsorption hose 101 ) inside is washed.
그리고, 상기 티트컵(100) 내로 분사되는 세척수는 상기 티트컵(100), 흡착호스(101), 오염수배출호스(316)에 형성되는 흡입압력에 의해 상기 오염수탱크(317)로 이동한다.Then, the washing water sprayed into the teat cup 100 moves to the contaminated water tank 317 by the suction pressure formed in the teat cup 100, the adsorption hose 101, and the polluted water discharge hose 316. .
이후, 상기와 같이 세척수에 의해 세척이 완료되면, 상기 살균수공급부(202)를 통해 스팀발생기(319)에서 생성된 스팀을 공급하여, 상기 티트컵(100) 및 흡착호스(101)의 살균을 진행하는 것이다.Thereafter, when washing is completed with the washing water as described above, steam generated by the steam generator 319 is supplied through the sterilizing water supply unit 202 to sterilize the tea cup 100 and the adsorption hose 101. going to proceed
여기서, 상기 오염수탱크(317)로 오염수가 정해진 수위 이상으로 공급되면, 상기 진공장치(304)와의 연결을 차단하고, 상기 진공제어장치(317b)를 개방하여 외부공기가 상기 오염수탱크(317)로 유입되도록 함으로써, 상기 오염수탱크(317) 내의 진공압이 해제되고, 이때, 상기 오염수배출밸브(317a)를 개방하여, 상기 오염수탱크(317) 내의 오염수를 자유낙하 방식에 의해 외부로 배출하는 것이다.Here, when contaminated water is supplied to the contaminated water tank 317 above a predetermined water level, the connection with the vacuum device 304 is cut off and the vacuum control device 317b is opened to allow external air to flow into the contaminated water tank 317. ), the vacuum pressure in the contaminated water tank 317 is released, and at this time, the contaminated water discharge valve 317a is opened to release the contaminated water in the contaminated water tank 317 by a free fall method. is to release it to the outside.
이때, 상기 진공제어장치(317b)는 사용자에 의해 수동방식으로 개방되거나 또는 상기 오염수탱크(317) 내에 정해진 수위 이상으로 오염수가 공급되면, 자동으로 개방되어 상기 오염수탱크(317) 내의 진공압을 해제할 수 있다.At this time, the vacuum controller 317b is opened manually by a user or when contaminated water is supplied to a level higher than a predetermined level in the contaminated water tank 317, it is automatically opened and the vacuum pressure in the contaminated water tank 317 is reduced. can be unlocked.
한편, 상기 티트컵(100)이 가축으로 부터 분리되면, 상기 사료공급부((400)의 회전실린더(403a)가 작동되고, 이때, 상기 사료통(404)이 상기 회전축(404a)을 기준으로 가축으로 부터 후퇴 이동하도록 회전된 후, 상기 개폐실린더(406)로 상기 출구도어(403)를 정해진 각도로 회전시켜 상기 사료공급부(400)의 본체(405) 전면을 개방한다.On the other hand, when the teat cup 100 is separated from the livestock, the rotation cylinder 403a of the feed supply unit 400 is operated, and at this time, the feed container 404 feeds the livestock based on the rotation shaft 404a. After being rotated to move backward from the inside, the outlet door 403 is rotated at a predetermined angle using the opening/closing cylinder 406 to open the front of the main body 405 of the feed supply unit 400.
그러면, 상기 본체(405) 내로 진입한 가축이 전방으로 이동하여 상기 본체(405) 외부로 이탈되면, 상기 개폐실린더(406)가 작동되어 상기 인입도어(401)를 개방하되, 상기 출구도어(403)를 원위치로 복귀시키는 것이다.Then, when the livestock entering the main body 405 moves forward and leaves the main body 405, the opening/closing cylinder 406 is operated to open the inlet door 401, but the exit door 403 ) to return to its original position.
그리고, 상기와 동일한 방법으로 상기 사료공급부(400) 내로 가축이 진입되도록 하고, 그 상태에서 사료를 공급하면서 착유를 진행한다.Then, in the same way as above, the livestock is allowed to enter the feed supply unit 400, and milking is performed while supplying feed in that state.
상기와 같이 사료공급부(400) 내로 가축을 진입시켜 가축에게 사료를 공급함과 동시에, 사료를 섭취하는 동안 가축으로 부터 우유 착유 작업을 진행하는 구조는, 사료공급부(400) 내로 진입된 가축 크기에 대응하도록 사료통(404)이 가축 전방에 자동 위치되어, 가축이 사료를 손쉽게 섭취할 수 있고, 사료통(404)을 가축 전방에 위치시켜, 사료공급부(400) 내에서 가축이 전, 후로 이동할 우려가 없으며, 이때, 사료를 섭취중인 가축의 젖꼭지에 티트컵(100)을 흡착하여, 사료공급 및 우유 착유를 동시에 진행할 수 있고, 착유 완료시점에서 길이조절장치(301)가 흡착호스(101)를 자동으로 당기는 단순 동작에 의해 티트컵(100)이 가축으로부터 이탈되며, 가축에서 이탈된 티트컵(100)이 거치대(200) 상에 자동 거치되어 위생이 청결하다.As described above, the structure of supplying feed to the livestock by entering the livestock into the feed supply unit 400 and milking the livestock from the livestock while consuming the feed corresponds to the size of the livestock entering the feed supply unit 400. The feed container 404 is automatically positioned in front of the livestock so that the livestock can easily consume feed, and the feed container 404 is placed in front of the livestock so that there is no fear of moving the livestock forward or backward within the feed supply unit 400. , At this time, by adsorbing the teat cup 100 to the teat of the livestock eating feed, feeding and milking can be performed simultaneously, and the length adjusting device 301 automatically removes the adsorption hose 101 at the point of milking completion. The tea cup 100 is detached from the livestock by a simple pulling motion, and the tea cup 100 detached from the livestock is automatically placed on the holder 200 to maintain hygiene.
이상에서 설명한 본 발명에 따른 가축용 자동착유장치는 상기한 실시예에 한정되지 않고, 이하의 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 본 발명이 속하는 분야에서 통상의 지식을 가진 자라면 누구든지 다양하게 변경하여 실시할 수 있는 범위까지 그 기술적 정신이 있다.The automatic milking device for livestock according to the present invention described above is not limited to the above embodiments, and those skilled in the art to which the present invention belongs without departing from the gist of the present invention claimed in the following claims There is a technical spirit to the extent that anyone can change and implement it in various ways.

Claims (10)

  1. 일단에 흡착호스(101)를 형성하고, 가축의 젖꽂지 주변에 흡착되어 우유를 착유하는 티트컵(100)과;a teat cup 100 having an adsorption hose 101 formed at one end and adsorbed around the nipple of a livestock to milk milk;
    상기 티트컵(100)이 걸림되도록 하는 복수개의 홀(201)을 형성하여, 상기 티트컵(100)을 안착시키는 거치대(200);a cradle (200) for seating the tea cup (100) by forming a plurality of holes (201) through which the tea cup (100) is hung;
    전면에 승강 작동되어 상기 티트컵(100)의 흡착호스(101)를 당기거나 혹은 풀어지도록 안내하는 길이조절장치(301)를 형성하고, 내측에 진공 상태를 형성하여, 가축으로부터 착유한 우유를 저장하는 집유항아리(302)를 형성하며, 일단이 상기 흡착호스(101)와 연결되되, 타단이 상기 집유항아리(302)에 연결되어 상기 흡착호스(101)를 통해 착유되는 우유가 상기 집유항아리(302)로 공급되도록 안내하는 송유호스(303)를 형성하고, 내부 일측에 상기 집유항아리(302)에 연결되어, 상기 집유항아리(302) 및 상기 송유호스(303)에 진공압을 형성하는 진공장치(304)를 형성한 착유장치(300);A length adjusting device 301 is formed on the front side to guide the suction hose 101 of the tea cup 100 to be pulled or released by lifting operation, and a vacuum state is formed on the inside to store milk milked from livestock. One end is connected to the suction hose 101 and the other end is connected to the milk collecting jar 302 so that the milk milked through the suction hose 101 is passed through the suction hose 101. ), and is connected to the oil collecting jar 302 on one side of the inside to form a vacuum pressure in the oil collecting jar 302 and the oil feeding hose 303. 304) forming a milking device 300;
    전면이 개방된 중공형상으로, 상기 착유장치(300) 일측에 설치되고, 일면에 가축이 내부 공간으로 진입되도록 허용하는 인입도어(401)를 형성하며, 상기 인입도어(401)와 반대되는 타면에 개구부(402)를 형성하고, 전면에 상기 개구부(402) 방향을 향해 정해진 각도로 회전되어, 전면을 개방하는 출구도어(403)를 형성하고, 상기 출구도어(403) 상단에 회전가능하게 설치되되, 그 내부에 사료를 수용하여 가축 방향 또는 가축과 반대되는 방향을 향해 전, 후 회전되는 사료통(404)을 형성한 사료공급부(400);It has a hollow shape with an open front, is installed on one side of the milking device 300, and forms an inlet door 401 that allows livestock to enter the inner space on one side, and on the other side opposite to the inlet door 401. Form an opening 402, rotate at a predetermined angle toward the opening 402 on the front side, form an exit door 403 that opens the front side, and is rotatably installed at the top of the exit door 403. , a feed supply unit 400 that accommodates feed therein and forms a feed container 404 that is rotated forward and backward toward the livestock direction or in the opposite direction to the livestock;
    상기 사료공급부(400)의 개구부(402) 일측에 설치되고, 상기 티트컵(100)을 상기 개구부(402)를 통해 가축의 젖꼭지 주변으로 이동시켜, 젖꼭지 주변에 상기 티트컵(100)이 흡착되도록 하는 로봇암(500);It is installed on one side of the opening 402 of the feed supply unit 400, and the teat cup 100 is moved around the teat of livestock through the opening 402 so that the teat cup 100 is adsorbed around the teat. a robot arm 500;
    으로 구성된 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that consisting of.
  2. 제 1항에 있어서,According to claim 1,
    상기 착유장치(300)는,The milking device 300,
    중공형상으로, 전면에 상기 길이조절장치(301)를 형성하고, 내측에 상기 집유항아리(302) 및 진공장치(304)를 구비한 하우징(305)과;A housing 305 having a hollow shape, having the length adjusting device 301 formed on the front side and having the oil collecting jar 302 and a vacuum device 304 inside;
    상기 하우징(305) 내에 구비되어 상기 집유항아리(302)와 연결되고, 상기 집유항아리(302)에서 오버플로우 되는 우유를 공급받아, 상기 집유항아리(302) 내의 우유가 상기 송유호스(303)로 역류되는 것을 방지하는 보조항아리(306);It is provided in the housing 305 and is connected to the milk collecting jar 302, receives milk overflowing from the milk collecting jar 302, and the milk in the milk collecting jar 302 flows back to the oil feeding hose 303. Auxiliary jar 306 to prevent being;
    상기 하우징(305) 내에 구비된 상기 송유호스(303) 경로 상에 설치되어, 상기 송유호스(303)를 개방 또는 차단하는 제1차단밸브(307);A first shut-off valve 307 installed on the path of the oil supply hose 303 provided in the housing 305 to open or block the oil supply hose 303;
    상기 제1차단밸브(307) 후단에 설치되어, 상기 송유호스(303) 내의 흡입압력을 측정하는 진공측정센서(308);a vacuum measuring sensor 308 installed at the rear end of the first shut-off valve 307 to measure the suction pressure in the oil supply hose 303;
    상기 진공측정센서(308) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유의 오염농도를 측정하는 전도도센서(309);A conductivity sensor provided at the rear end of the vacuum measurement sensor 308, installed on the path of the oil feed hose 303, and measuring the contamination concentration of milk moving to the milk collection jar 302 through the oil feed hose 303. (309);
    상기 진공측정센서(306) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유의 유속을 측정하여, 가축의 착유상태를 확인하는 유속측정센서(310);It is provided at the rear end of the vacuum measuring sensor 306, installed on the path of the oil feed hose 303, and measures the flow rate of milk moving to the milk collecting jar 302 through the oil feed hose 303, Flow rate measurement sensor 310 for checking the milking state;
    상기 진공측정센서(306) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유의 영양분 상태를 측정하는 유질측정센서(311);It is provided at the rear end of the vacuum measurement sensor 306 and is installed on the path of the oil feed hose 303, and measures the nutrient state of milk moving to the milk collecting jar 302 through the oil feed hose 303. sensor 311;
    상기 진공측정센서(306) 후단에 구비되어, 상기 송유호스(303) 경로 상에 설치되고, 상기 송유호스(303)를 통해 상기 집유항아리(302)로 이동하는 우유량을 측정하여, 착유된 우유의 총량을 측정하는 유량측정센서(312);It is provided at the rear end of the vacuum measuring sensor 306 and is installed on the path of the oil feeding hose 303, and measures the amount of milk moving to the milk collection jar 302 through the milk feeding hose 303, Flow measurement sensor 312 for measuring the total amount;
    상기 하우징(305) 내에 설치되고, 상기 진공측정센서(308), 전도도센서(309), 유속측정센서(310), 유질측정센서(311), 유량측정센서(312)의 신호를 입력받아, 가축의 젖꽂지 주변에 흡착되는 티트컵(100)의 흡착여부 및 우유의 불량여부를 판별하여, 상기 제1차단밸브(307)를 제어하는 제어부(313);It is installed in the housing 305 and receives signals from the vacuum measurement sensor 308, conductivity sensor 309, flow rate measurement sensor 310, oil quality measurement sensor 311, and flow measurement sensor 312, a control unit 313 that controls the first shut-off valve 307 by determining whether the teat cup 100 adsorbed around the nipple and whether the milk is defective;
    로 구성된 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that consisting of.
  3. 제 1항에 있어서,According to claim 1,
    상기 거치대(200)는,The cradle 200,
    판재 형상으로 상기 거치대(200) 일측에 회전 가능하도록 설치되고, 저면에 상기 티트컵(100) 상부를 덮어, 상기 티트컵(100) 내부로 세척수 또는 스팀을 공급하는 살균수공급부(202)를 더 형성하고,A sterilizing water supply unit 202 is rotatably installed on one side of the holder 200 in the shape of a plate, covers the upper part of the tea cup 100 on the bottom surface, and supplies washing water or steam to the inside of the tea cup 100. form,
    상기 착유장치(300)는,The milking device 300,
    상기 흡착호스(101)와 송유호스(303) 사이에 설치된 삼방밸브(314)와;a three-way valve 314 installed between the suction hose 101 and the oil supply hose 303;
    상기 삼방밸브(314) 외면에 설치되어, 상기 삼방밸브(314)의 개폐여부를 결정하는 제2차단밸브(315);a second shutoff valve 315 installed on an outer surface of the three-way valve 314 to determine whether the three-way valve 314 is open or closed;
    일단이 상기 삼방밸브(314)와 연결되어, 상기 흡착호스(101) 내의 오염수 또는 스팀을 배출하는 오염수배출호스(316);a polluted water discharge hose 316 having one end connected to the three-way valve 314 and discharging polluted water or steam in the adsorption hose 101;
    중공형상으로, 상기 오염수배출호스(316) 및 상기 진공장치(304) 사이를 연결하도록 설치되고, 상기 진공장치(304)에 의해 그 내부공간에 진공압을 형성하여 상기 오염수배출호스(316)로 배출되는 오염수를 저장하는 오염수탱크(317);It has a hollow shape and is installed to connect between the polluted water discharge hose 316 and the vacuum device 304, and the vacuum device 304 forms a vacuum pressure in its internal space so that the polluted water discharge hose 316 ) Contaminated water tank 317 for storing the contaminated water discharged to;
    를 더 포함하는 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that it further comprises.
  4. 제 3항에 있어서,According to claim 3,
    상기 착유장치(300)는,The milking device 300,
    내측 공간에 설치되고, 상기 살균수공급부(202)와 연결되어, 상기 살균수공급부(202)로 세척수를 공급하는 세척수저장탱크(318);a washing water storage tank 318 installed in the inner space and connected to the sterilizing water supply unit 202 to supply washing water to the sterilizing water supply unit 202;
    상기 세척수저장탱크(318) 일측에 설치되고, 상기 살균수공급부(202)와 연결되어, 상기 살균수공급부(202)로 스팀을 공급하는 스팀발생기(319);a steam generator 319 installed on one side of the washing water storage tank 318 and connected to the sterilizing water supply unit 202 to supply steam to the sterilizing water supply unit 202;
    를 더 포함하는 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that it further comprises.
  5. 제 3항에 있어서,According to claim 3,
    상기 오염수탱크(317)는,The contaminated water tank 317,
    그 저면에 상기 오염수탱크(317) 내의 오염수를 외부로 배출하는 오염수배출밸브(317a)와;a polluted water discharge valve 317a on its bottom surface to discharge the polluted water in the polluted water tank 317 to the outside;
    상기 오염수탱크(317)와 상기 진공장치(304) 사이를 연결하도록 설치되고, 상기 진공장치(304)로 상기 오염수탱크(317) 내의 공기가 흡입되도록 안내하거나 또는 외부공기를 공급받아 상기 오염수탱크(317) 내의 진공압을 해제하는 진공제어장치(317b);It is installed to connect between the contaminated water tank 317 and the vacuum device 304, and guides the air in the contaminated water tank 317 to be sucked into the vacuum device 304 or receives external air to remove the contamination. a vacuum controller 317b for releasing the vacuum pressure in the water tank 317;
    를 더 포함하는 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that it further comprises.
  6. 제 1항에 있어서,According to claim 1,
    상기 착유장치(300)는,The milking device 300,
    상기 티트컵(100)과 연결되고, 가축의 젖꼭지에 흡착된 상기 티트컵(100) 내로 세척수 및 에어를 공급하여, 가축의 젖꼭지를 세척하거나 또는 상기 티트컵(100) 내로 침지제를 분사하여 가축의 젖꼭지에 침지제를 도포하는 통합유두세척기(320)를 더 형성한 것을 특징으로 하는 가축용 자동착유장치.It is connected to the teat cup 100 and supplies washing water and air into the teat cup 100 adsorbed to the teat of livestock to wash the teat of livestock or by spraying an immersion agent into the teat cup 100 for livestock An automatic milking device for livestock, characterized in that further forming an integrated teat washer 320 for applying an immersion agent to the nipple of the.
  7. 제 1항에 있어서,According to claim 1,
    상기 거치대(200)는,The cradle 200,
    그 상면에 상기 티트컵(100)에 연결된 흡착호스(101)가 상기 길이조절장치(301)에서 풀림되거나 혹은 감기는 것을 안내하는 유도롤러(203)를 더 형성하고,An induction roller 203 is further formed on the upper surface thereof to guide the unwinding or winding of the suction hose 101 connected to the teat cup 100 in the length adjusting device 301,
    상기 길이조절장치(301)는,The length adjustment device 301,
    실린더(301a)와;cylinder 301a;
    상기 실린더(301a)에 결합되어 승강 이동되는 승강로드(301b); 및a lifting rod 301b coupled to the cylinder 301a to move up and down; and
    상기 승강로드(301b) 하단에 결합되고, 상, 하로 서로 대향되는 한 쌍의 안내롤러(301c-1)를 형성하여, 이 안내롤러(301c-1) 사이로 상기 티트컵(100)의 흡착호스(101)를 통과시키는 안내부(301c);A pair of guide rollers 301c-1 coupled to the lower end of the lifting rod 301b and facing each other in the upper and lower directions is formed, and the suction hose of the tea cup 100 is inserted between the guide rollers 301c-1. 101) through the guide portion 301c;
    로 구성된 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that consisting of.
  8. 제 1항에 있어서,According to claim 1,
    상기 사료공급부(400)는,The feed supply unit 400,
    전면이 개방되어, 상기 인입도어(401), 개구부(402) 및 출구도어(403)를 형성한 본체(405)와;a main body 405 having a front surface open and having the inlet door 401, the opening 402, and the outlet door 403;
    상기 본체(405) 상면에 설치되고, 각각의 상기 인입도어(401) 및 상기 출구도어(403)와 연결 설치되어, 상기 인입도어(401) 및 상기 출구도어(403)를 회전 개폐하는 개폐실린더(406);An opening/closing cylinder installed on the upper surface of the main body 405 and connected to each of the inlet door 401 and the outlet door 403 to rotate and open and close the inlet door 401 and the outlet door 403 ( 406);
    상기 본체(405) 바닥면에 설치되어, 상기 본체(405) 내로 진입한 가축의 중량을 측정하는 중량측정판(407);a weighing plate 407 installed on the bottom surface of the main body 405 to measure the weight of livestock entering the main body 405;
    상기 본체(405) 내측 방향을 향하도록 상기 출구도어(403) 일 측면에 설치되고, 상기 본체(405) 내로 진입하는 가축의 태그를 인식하여, 가축의 정보를 외부로 출력하는 RFID장치(408);An RFID device 408 installed on one side of the exit door 403 so as to face the inside of the main body 405, recognizing a tag of a livestock entering the main body 405, and outputting livestock information to the outside ;
    를 더 포함하는 것을 특징으로 하는 가축용 자동착유장치.Automatic milking device for livestock, characterized in that it further comprises.
  9. 제 8항에 있어서,According to claim 8,
    상기 사료공급부(400)의 출구도어(403)는,The exit door 403 of the feed supply unit 400,
    상기 사료통(404) 외주면을 감싸 커버하도록 설치되고, 그 일면이 상기 본체(405) 일측면에 회전가능하게 설치되되, 상기 개폐실린더(406)에 의해 정해진 각도로 회전되어 상기 사료공급부(400) 전면을 개방하고, 내측 벽면에 회전실린더(403a)를 형성하며,It is installed to surround and cover the outer circumferential surface of the feed container 404, and one side thereof is rotatably installed on one side of the main body 405, and is rotated at a predetermined angle by the opening/closing cylinder 406 so that the front side of the feed supply unit 400 is opened, forming a rotating cylinder (403a) on the inner wall surface,
    상기 사료통(404)은,The feed container 404,
    상기 출구도어(403) 상단에 회전가능하게 설치되는 회전축(404a)을 형성하고, 그 내측에 함몰형성되어 그 내부 공간에 사료를 수용하는 사료수용홈(404b)을 형성하며, 하단 전면이 상기 회전실린더(403a)와 연결되어, 상기 회전실린더(403a)에 의해 전, 후 방향으로 회전되는 것을 특징으로 하는 가축용 자동착유장치.A rotational shaft 404a rotatably installed at the upper end of the exit door 403 is formed, and a feed receiving groove 404b is formed recessed inside to accommodate feed in the inner space, and the lower front surface is rotated. Automatic milking device for livestock, characterized in that connected to the cylinder (403a) and rotated in the forward and backward directions by the rotating cylinder (403a).
  10. 제 1항에 있어서,According to claim 1,
    상기 로봇암(500)은,The robot arm 500,
    그 말단에 가축의 젖꼭지 위치를 확인하는 카메라(501) 및 레이저센서(502)를 더 형성한 것을 특징으로 하는 가축용 자동착유장치.An automatic milking device for livestock, characterized in that a camera 501 and a laser sensor 502 are further formed at the end thereof to check the position of the nipple of the livestock.
PCT/KR2021/011805 2021-06-15 2021-09-02 Automatic milking apparatus for livestock WO2022265156A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2021-0077340 2021-06-15
KR1020210077340A KR102363145B1 (en) 2021-06-15 2021-06-15 Automatic milking equipment for livestock

Publications (1)

Publication Number Publication Date
WO2022265156A1 true WO2022265156A1 (en) 2022-12-22

Family

ID=80325253

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2021/011805 WO2022265156A1 (en) 2021-06-15 2021-09-02 Automatic milking apparatus for livestock

Country Status (2)

Country Link
KR (1) KR102363145B1 (en)
WO (1) WO2022265156A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003116386A (en) * 2001-09-28 2003-04-22 Lely Enterprises Ag Device for milking animal
KR20030096740A (en) * 2002-06-17 2003-12-31 대한민국(관리부서:농촌진흥청) The stall system for automatic milking system
KR101394529B1 (en) * 2014-01-17 2014-05-14 소병현 Milking units
KR101741000B1 (en) * 2015-12-31 2017-06-15 대한민국 Feeding system providing biorhythmic music based on biometric Information of cattle
KR20200069560A (en) * 2018-12-07 2020-06-17 주식회사 다운 Automatic milking equipment for livestock
KR102220603B1 (en) * 2020-06-18 2021-02-26 대한민국(농촌진흥청장) Apparatus for Milking Cluster

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200169167Y1 (en) 1999-07-15 2000-02-15 이상근 Support band of milking machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003116386A (en) * 2001-09-28 2003-04-22 Lely Enterprises Ag Device for milking animal
KR20030096740A (en) * 2002-06-17 2003-12-31 대한민국(관리부서:농촌진흥청) The stall system for automatic milking system
KR101394529B1 (en) * 2014-01-17 2014-05-14 소병현 Milking units
KR101741000B1 (en) * 2015-12-31 2017-06-15 대한민국 Feeding system providing biorhythmic music based on biometric Information of cattle
KR20200069560A (en) * 2018-12-07 2020-06-17 주식회사 다운 Automatic milking equipment for livestock
KR102220603B1 (en) * 2020-06-18 2021-02-26 대한민국(농촌진흥청장) Apparatus for Milking Cluster

Also Published As

Publication number Publication date
KR102363145B1 (en) 2022-02-15

Similar Documents

Publication Publication Date Title
EP1089614B1 (en) Teat cup holder rack
US6257169B1 (en) Milking device with control system and sensors
US5479876A (en) Automatic milking
EP1279327B1 (en) An implement for automatically milking animals
KR101179310B1 (en) A teat cup carrier
CA2611384C (en) Liner contact automatic teat dip applicator
US6729262B2 (en) Live capture automated milking apparatus and method
JP2761808B2 (en) Automatic milking equipment
WO2022265156A1 (en) Automatic milking apparatus for livestock
JP3657997B2 (en) Structure containing animal milking equipment
EP1258189B1 (en) A construction including an implement for automatically milking animals
WO2023140690A1 (en) Eyeball cleaning device for treating dry eye syndrome
WO2014104458A1 (en) Apparatus for automatic transfer of container, and ice cream vending machine comprising same
KR102163580B1 (en) Automatic milking equipment for livestock
WO2022035060A1 (en) Automatically opening/closing feed dispenser
KR101394529B1 (en) Milking units
JP2024524101A (en) Automatic livestock milking equipment
US5687461A (en) Yarn end aspiration apparatus
JP2002524094A (en) Automatic milking equipment for animals such as dairy cows
WO2019146957A1 (en) Hydraulic steering mechanism for agricultural vehicle
WO1999031970A1 (en) An animal related apparatus
WO2018004087A1 (en) Upstream injection adapter
KR100533885B1 (en) Apparatus and method for controlling a cleaning process of a conveyer belt for a atmospheric pressure chemical vapor deposition equipment
WO2000011934A1 (en) Device for cleaning teat cups used for milking dairy animals
SU701606A1 (en) Device for removing teat cups from udder teats and for removing the milking device from under the cow

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21946167

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2023577506

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21946167

Country of ref document: EP

Kind code of ref document: A1