WO2022265156A1 - Appareil de traite automatique pour bétail - Google Patents

Appareil de traite automatique pour bétail Download PDF

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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
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WO
WIPO (PCT)
Prior art keywords
livestock
milk
hose
feed
teat
Prior art date
Application number
PCT/KR2021/011805
Other languages
English (en)
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.)
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Publication date
Application filed by 대한민국(농촌진흥청장), 주식회사 다운 filed Critical 대한민국(농촌진흥청장)
Priority to JP2023577506A priority Critical patent/JP2024524101A/ja
Publication of WO2022265156A1 publication Critical patent/WO2022265156A1/fr

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    • 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.

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  • 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

La présente invention concerne un appareil de traite automatique pour le bétail. Lorsque le bétail entre dans l'appareil par une porte d'entrée d'une partie de distribution d'aliments, un contenant pour aliments est tourné vers l'avant et vers l'arrière de telle sorte que le contenant pour aliments puisse être positionné devant le bétail, et ainsi, le bétail peut être nourri dans un espace régulé. En même temps, un bras robotisé déplace un gobelet trayeur vers un trayon du bétail par l'intermédiaire d'une ouverture, et simultanément, une partie de réglage de longueur de l'appareil de traite est déplacée vers le haut et vers le bas pour guider le déroulement d'un tuyau d'aspiration, puis, le lait est déplacé vers un contenant de collecte de lait par le tuyau d'aspiration et un tuyau de transport de lait pendant que le gobelet trayeur est aspiré autour du trayon du bétail en raison de la pression par le vide du tuyau d'aspiration. Ainsi, pendant que le bétail est nourri dans la partie de distribution d'aliments, la traite du lait du bétail est effectuée par l'appareil de traite. Selon la présente invention, le contenant pour aliments est automatiquement positionné de façon à correspondre à la taille du bétail dans la partie de distribution d'aliments, et ainsi, le bétail peut être facilement nourri. De plus, étant donné que le contenant pour aliments est situé devant le bétail, il n'y a pas d'inquiétude à avoir quant au déplacement du bétail vers l'avant et vers l'arrière dans la partie de distribution d'aliments. L'alimentation et la traite peuvent être effectuées simultanément, et au moment de la fin du processus de traite, le dispositif de réglage de longueur retire automatiquement le tuyau d'aspiration de telle sorte que le gobelet trayeur puisse être automatiquement séparé. Ainsi, il n'est pas nécessaire qu'un opérateur enlève et sépare le gobelet trayeur. De plus, lorsque l'aspiration du gobelet trayeur est effectuée de manière anormale, le tuyau de transport de lait est bloqué de telle sorte que l'état d'aspiration du gobelet trayeur soit automatiquement réajusté, et l'état et la contamination du lait s'écoulant dans le tuyau de transport de lait sont mesurées pour identifier si le lait est mauvais.
PCT/KR2021/011805 2021-06-15 2021-09-02 Appareil de traite automatique pour bétail WO2022265156A1 (fr)

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KR1020210077340A KR102363145B1 (ko) 2021-06-15 2021-06-15 가축용 자동착유장치

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003116386A (ja) * 2001-09-28 2003-04-22 Lely Enterprises Ag 動物の搾乳装置
KR20030096740A (ko) * 2002-06-17 2003-12-31 대한민국(관리부서:농촌진흥청) 자동착유용 스톨
KR101394529B1 (ko) * 2014-01-17 2014-05-14 소병현 착유기
KR101741000B1 (ko) * 2015-12-31 2017-06-15 대한민국 소 생체정보에 의한 생체리듬 음악을 제공하는 사료급여시스템
KR20200069560A (ko) * 2018-12-07 2020-06-17 주식회사 다운 가축용 자동착유장치
KR102220603B1 (ko) * 2020-06-18 2021-02-26 대한민국(농촌진흥청장) 통합형 착유 장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200169167Y1 (ko) 1999-07-15 2000-02-15 이상근 젖소용착유기의밀커유니트고정밴드

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003116386A (ja) * 2001-09-28 2003-04-22 Lely Enterprises Ag 動物の搾乳装置
KR20030096740A (ko) * 2002-06-17 2003-12-31 대한민국(관리부서:농촌진흥청) 자동착유용 스톨
KR101394529B1 (ko) * 2014-01-17 2014-05-14 소병현 착유기
KR101741000B1 (ko) * 2015-12-31 2017-06-15 대한민국 소 생체정보에 의한 생체리듬 음악을 제공하는 사료급여시스템
KR20200069560A (ko) * 2018-12-07 2020-06-17 주식회사 다운 가축용 자동착유장치
KR102220603B1 (ko) * 2020-06-18 2021-02-26 대한민국(농촌진흥청장) 통합형 착유 장치

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