Full-automatic milking and cleaning system

Abstract

The invention discloses a full-automatic milking and cleaning system, which belongs to the technical field of milking machine cleaning and comprises a cleaning tank, a vacuum pump, a fluid control module, a control unit, a surge module and a human-computer interface. The vacuum pump adopts frequency conversion control, the control unit is preset with four modes of warm water flushing, alkali circulation cleaning, acid circulation cleaning and acid-alkali circulation cleaning, the human-computer interface is used for mode selection and user instruction interaction when the temperature is abnormal, and the control unit comprises a cleaning program. According to the method, an agent adding pump is suspended during water supplementing in alkali / acid circulation, concentration dilution is avoided, and agent adding is completed at a time within preset time.

Description

Technical Field

[0001] The invention belongs to the technical field of milking machine cleaning, and in particular relates to a full-automatic milking machine cleaning system. Background Art

[0002] The Automatic Milking System (AMS) is an intelligent device that integrates robotics, sensor systems, and intelligent control software to enable fully unmanned milking of dairy cows. It is not only an upgrade to traditional milking methods but also the core infrastructure of modern smart dairy farming, representing a key technology in the livestock industry's transition to digitalization and automation.

[0003] Traditional milking equipment cleaning requires manual, step-by-step operations, including acid and alkali solution addition, temperature adjustment, and valve control. This is inefficient and prone to errors. Existing automated CIP systems suffer from a single mode, rigid water replenishment logic, poor temperature tolerance, and imprecise surge control, resulting in inconsistent cleaning results. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a fully automatic milking and cleaning system.

[0005] The technical solution adopted to solve the above technical problems is: a fully automatic milking and cleaning system, including a cleaning tank, a vacuum pump, a fluid control module, a control unit, a surge module and a human-machine interface; The vacuum pump adopts frequency conversion control, the control unit presets four modes: warm water flushing, alkaline circulation cleaning, acid circulation cleaning and acid-base circulation cleaning, the human-machine interface is used for mode selection and user command interaction when the temperature is abnormal, and the control unit includes a cleaning program.

[0006] Through the above technical solution, the dosing pump can be paused when replenishing water in the alkali / acid cycle to avoid concentration dilution. Dosing is completed only once at the preset time. When the temperature is abnormal, an audible and visual alarm is triggered and an interactive option pops up, allowing the user to choose to continue or manually intervene to avoid process interruption. At the same time, four cleaning combinations are preset through the software to adapt to equipment with different pollution levels.

[0007] Furthermore, a water level sensor and a temperature sensor are provided in the cleaning tank to judge the temperature and water level in the cleaning tank during the cleaning operation. When the temperature does not meet the standard, an alarm is triggered and the user waits for confirmation of the instruction. When the water level is lower than the water replenishment level, water is replenished according to the set time. When the water replenishment time is exhausted, water replenishment is disabled.

[0008] Through the above technical solution, the water replenishment progress can be dually controlled in terms of water level and water replenishment time.

[0009] Further, the fluid control module includes a cold water valve, a hot water valve, an alkali pump, an acid pump, a water suction valve, a return water three-way valve, a milk collection tank sewage discharge valve, a water tank sewage discharge valve, and a gas top valve. The surge module includes a surge valve and a surge butterfly valve. The surge butterfly valve has a delay switch control logic. The milk collection tank sewage discharge valve and the water tank sewage discharge valve drain water in a cycle according to the water suction valve interval time, duration, and number of breaths.

[0010] Through the above technical solution, the discharge of residual liquid is parametrically controlled by the "water suction valve interval time + duration + number of breaths" to improve the pipeline emptying rate. The surge valve and the surge butterfly valve adopt the "power-on delay - cycle switch" logic to enhance the turbulence effect of the cleaning liquid.

[0011] Further, the cleaning program includes pre-rinsing, alkali circulation, alkali flushing, acid circulation, and acid flushing.

[0012] Further, the pre-rinsing includes the following specific steps: Step 1: Open the cold water valve and the hot water valve. After the water level in the cleaning tank reaches the set full water level, filter for 2 seconds and then close the cold and hot water valves. Step 2: Analyze the temperature of the water tank. If the temperature does not reach the set range, give an audible and visual alarm, and ask the user on the main screen whether to continue cleaning. If allowed, automatically execute the next step; if not allowed, manually drain and add water until the temperature is normal and then continue cleaning. Step 3: When the temperature of the water tank has reached the set range, start the vacuum pump frequency converter and close the surge butterfly valve. After the vacuum pressure reaches the set cleaning pressure value, open the water suction valve, close the milk collection tank sewage discharge valve, and start water suction. When the water suction valve is opened and delayed to the set surge power-on time value, the surge valve is powered on and automatic surge occurs. Step 4: When the surge valve is powered on and delayed to the surge butterfly valve delay set value, open the surge butterfly valve. After a delay in closing, it is opened again, and the surge butterfly valve is cycled. When the water level in the water tank is lower than the set replenishment water level, automatically open the cold and hot water valves to start replenishing water. After reaching the set replenishment time, close the cold and hot water valves to stop replenishing water. When the replenishment time is set to 0, replenishment is prohibited and the replenishment function fails. Step 5: After the water level in the cleaning tank drops to the set empty water level, delay for 3 seconds, close the water suction valve, delay to the water suction valve interval time set value, open the water suction valve, delay to the water suction valve duration set value, and cycle like this until the water suction valve number of breaths set value is reached, then close the water suction valve, and open the milk collection tank sewage discharge valve and the water tank sewage discharge valve. Step ⑥: Open the water tank sewage discharge valve and delay to the water tank sewage discharge time set value, then close the water tank sewage discharge valve. Open the milk collection tank sewage discharge valve and delay to the vacuum pump stop time set value, then stop the vacuum pump. Open the gas top valve. After the gas top valve is opened and delayed to the gas top time set value, close the gas top valve. The surge valve loses power and the surge butterfly valve is opened, and the pre-rinsing ends.

[0013] Through the above technical solution, the milk collection tank can be fully cleaned.

[0014] Further, the alkali circulation includes the following specific steps: Step 1: Open the hot water valve and start the alkali pump. After the water level in the cleaning tank reaches the set full water level, filter for 2 seconds and then close the hot water valve. After the alkali pump runs for the set alkali liquid addition time, stop the alkali pump. After the addition of hot water and alkali is completed, start to automatically judge whether the temperature of the water tank meets the standard; Step 2: If the temperature of the water tank does not reach the set range, give an audible and visual alarm, and the main screen asks the user whether to continue cleaning. If allowed, automatically execute the next step. If not allowed, it is necessary to manually drain the water, add water until the temperature is normal, and then continue cleaning; Step 3: When the temperature of the water tank has reached the set range, start the vacuum pump frequency converter and close the surge butterfly valve. After the vacuum pressure reaches the set cleaning pressure value, open the suction valve, open the return water three-way valve, close the milk collection tank sewage discharge valve, and start the water suction and circulating return water cleaning; Step 4: When the suction valve is opened, delay until the set surge power-on time value, the surge valve is powered on, automatic surge. When the surge valve is powered on, delay until the surge butterfly valve delay set value, open the surge butterfly valve, delay to close and then delay to open, cycle to switch the surge butterfly valve. The return water three-way valve is open. When the water level in the water tank is lower than the set make-up water level, automatically open the hot water valve to start making up water. After reaching the set make-up water time, close the hot water valve and stop making up water. The alkali pump has no action during water make-up and needs to be added once according to the total water addition volume at the preset alkali liquid addition time. When the make-up water time is set to 0, make-up water is prohibited and the make-up water function fails; Step 5: The return water three-way valve is open. Delay until the set alkali circulation cleaning time value, then close the return water three-way valve and start draining. After the water level in the cleaning tank drops to the set empty water level, delay for 3 seconds, close the suction valve, delay until the suction valve interval time set value, open the suction valve, delay until the suction valve continuous time set value, and so on until the suction valve breathing times set value, then close the suction valve, open the milk collection tank sewage discharge valve and the water tank sewage discharge valve; Step 6: The water tank sewage discharge valve is open. Delay until the set water tank sewage discharge time value, then close the water tank sewage discharge valve. The milk collection tank sewage discharge valve is open. Delay until the set vacuum pump stop time value, stop the vacuum pump, open the air top valve. When the air top valve is open, delay until the air top time set value, then close the air top valve, the surge valve loses power, open the surge butterfly valve, and end the alkali circulation.

[0015] Further, the execution process of the alkali flushing is the same as that of the pre-flushing, the execution logic of the acid circulation is the same as that of the alkali circulation, replace the alkali pump with an acid pump, and the parameters are the acid circulation set values. The execution process of the acid flushing is the same as that of the pre-flushing.

[0016] Furthermore, the warm water flushing adopts a pre-flushing operation, the alkaline circulation cleaning adopts a pre-flushing, alkaline circulation and alkaline flushing operation, the acid circulation cleaning adopts a pre-flushing, acid circulation and acid flushing operation, and the acid-base circulation cleaning adopts a pre-flushing, alkaline circulation, alkaline flushing, acid circulation and acid flushing in sequence.

[0017] The beneficial effects of the present invention are as follows: the present invention suspends the dosing pump when replenishing water in the alkali / acid cycle to avoid concentration dilution, and the dosing is completed only once at the preset time. The discharge of residual liquid is controlled by parameterization of "water suction valve interval time + duration + number of breaths" to improve the pipeline emptying rate. When the temperature is abnormal, an audible and visual alarm is triggered and an interactive option pops up, allowing the user to choose to continue or manually intervene to avoid process interruption. The surge valve and the surge butterfly valve adopt the "power delay-cycle switch" logic to enhance the turbulence effect of the cleaning liquid. At the same time, four cleaning combinations are preset through the software to adapt to equipment with different pollution levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a system flow chart of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] like Figure 1 As shown, a fully automatic milking and cleaning system of this embodiment includes a cleaning tank, a vacuum pump, a fluid control module, a control unit, a surge module and a human-machine interface; The vacuum pump adopts variable frequency control, and the control unit presets four modes: warm water flushing, alkali circulation cleaning, acid circulation cleaning and acid-base circulation cleaning. The human-machine interface is used for mode selection and user instruction interaction when the temperature is abnormal. The control unit includes a cleaning program, which can pause the dosing pump when replenishing water in the alkali / acid cycle to avoid concentration dilution. The dosing is completed only once at the preset time. When the temperature is abnormal, an audible and visual alarm is triggered and an interactive option pops up, allowing the user to choose to continue or manually intervene to avoid process interruption. At the same time, four cleaning combinations are preset through the software to adapt to equipment with different pollution levels.

[0021] The cleaning tank is provided with a water level sensor and a temperature sensor, which judge the temperature and water level in the cleaning tank during the cleaning operation. When the temperature does not meet the standard, an alarm is triggered and the user waits for confirmation of the instruction. When the water level is lower than the water replenishment level, water is replenished according to the set time. When the water replenishment time is exhausted, water replenishment is disabled. The water replenishment progress can be dually controlled in terms of water level and water replenishment time.

[0022] The fluid control module includes a cold water valve, a hot water valve, an alkali pump, an acid pump, a water suction valve, a return water three-way valve, a milk collection tank sewage discharge valve, a water tank sewage discharge valve, and an air top valve. The surge module includes a surge valve and a surge butterfly valve. The surge butterfly valve has a time-delay switch control logic. The milk collection tank sewage discharge valve and the water tank sewage discharge valve drain water cyclically according to the water suction valve interval time, duration, and number of breaths. The residual liquid discharge is parametrically controlled by the parameters of "water suction valve interval time + duration + number of breaths" to improve the pipeline emptying rate. The surge valve and the surge butterfly valve adopt a "power-on time-delay - cyclic switch" logic to enhance the turbulence effect of the cleaning liquid.

[0023] The cleaning program includes pre-rinsing, alkali circulation, alkali flushing, acid circulation, and acid flushing.

[0024] The pre-rinsing includes the following specific steps: Step 1: Open the cold water valve and the hot water valve. After the water level in the cleaning tank reaches the set full water level, filter for 2 seconds and then close the cold and hot water valves. Step 2: Analyze the temperature of the water tank. If the temperature does not reach the set range, give an audible and visual alarm, and ask the user on the main screen whether to continue cleaning. If allowed, automatically execute the next step; if not allowed, manually drain and refill the water until the temperature is normal and then continue cleaning. Step 3: When the temperature of the water tank has reached the set range, start the vacuum pump frequency converter and close the surge butterfly valve. After the vacuum pressure reaches the set cleaning pressure value, open the water suction valve, close the milk collection tank sewage discharge valve, and start water suction. When the water suction valve is opened, delay to the set surge power-on time value, the surge valve is powered on, and automatic surge occurs. Step 4: When the surge valve is powered on, delay to the surge butterfly valve delay set value, open the surge butterfly valve, delay to close and then delay to open, and cyclically switch the surge butterfly valve. When the water level in the water tank is lower than the set replenishment water level, automatically open the cold and hot water valves to start water replenishment. After reaching the set water replenishment time, close the cold and hot water valves to stop water replenishment. When the water replenishment time is set to 0, water replenishment is prohibited and the water replenishment function fails. Step 5: After the water level in the cleaning tank drops to the set empty water level, delay for 3 seconds, close the water suction valve, delay to the water suction valve interval time set value, open the water suction valve, delay to the water suction valve duration set value, and cycle like this until the water suction valve number of breaths set value, then close the water suction valve, and open the milk collection tank sewage discharge valve and the water tank sewage discharge valve. Step 6: Open the water tank sewage discharge valve, delay to the water tank sewage discharge time set value, close the water tank sewage discharge valve, open the milk collection tank sewage discharge valve, delay to the vacuum pump stop time set value, stop the vacuum pump, open the air top valve. When the air top valve is opened, delay to the air top time set value, close the air top valve, the surge valve loses power, open the surge butterfly valve, and the pre-rinsing ends, and the milk collection tank can be fully cleaned.

[0025] The alkali circulation includes the following specific steps: Step 1: Open the hot water valve and start the caustic pump. After the cleaning tank water level reaches the set full water level, filter for 2 seconds and then close the hot water valve. After the caustic pump runs for the set caustic liquid addition time, stop the caustic pump. After heating water and adding caustic are all completed, start automatically judging whether the water tank temperature reaches the standard; Step 2: If the water tank temperature does not reach the set range, give an audible and visual alarm, and the main screen asks the user whether to continue cleaning. If allowed, automatically execute the next step. If not allowed, it is necessary to manually execute draining, adding water until the temperature is normal, and then continue cleaning; Step 3: When the water tank temperature reaches the set range, start the vacuum pump frequency converter and close the surge butterfly valve. After the vacuum pressure reaches the set cleaning pressure value, open the suction valve, open the return water three-way valve, close the milk collection tank sewage discharge valve, and start water suction and circulating return water cleaning; Step 4: When the suction valve is opened, delay to the set surge power-on time value, the surge valve gets powered, automatic surge occurs. When the surge valve gets powered, delay to the surge butterfly valve delay set value, open the surge butterfly valve, delay to close and then delay to open, cycle to switch the surge butterfly valve. The return water three-way valve is open. When the water tank water level is lower than the set make-up water level, automatically open the hot water valve to start water make-up. After reaching the set water make-up time, close the hot water valve and stop water make-up. The caustic pump has no action during water make-up and needs to be added once according to the total water addition amount at the preset caustic liquid addition time. When the water make-up time is set to 0, water make-up is prohibited and the water make-up function fails; Step 5: The return water three-way valve is open. Delay to the set caustic circulation cleaning time value, then close the return water three-way valve and start draining. After the cleaning tank water level drops to the set empty water level, delay for 3 seconds, then close the suction valve. Delay to the suction valve interval time set value, open the suction valve. Delay to the suction valve duration set value, and so on in a cycle until the suction valve breathing times set value is reached, then close the suction valve, and open the milk collection tank sewage discharge valve and the water tank sewage discharge valve; Step 6: Open the water tank sewage discharge valve. Delay to the set water tank sewage discharge time value, then close the water tank sewage discharge valve. Open the milk collection tank sewage discharge valve. Delay to the set vacuum pump stop time value, stop the vacuum pump, open the air top valve. When the air top valve is open, delay to the air top time set value, then close the air top valve, the surge valve loses power, open the surge butterfly valve, and end the caustic circulation.

[0026] The execution process of the caustic flushing is the same as that of the pre-flushing. The execution logic of the acid circulation is the same as that of the caustic circulation, replacing the caustic pump with an acid pump, and the parameters are the acid circulation set values. The execution process of the acid flushing is the same as that of the pre-flushing.

[0027] The warm water flushing adopts the pre-flushing operation. The caustic circulation cleaning adopts the pre-flushing, caustic circulation, and caustic flushing operations. The acid circulation cleaning adopts the pre-flushing, acid circulation, and acid flushing operations. The acid-base circulation cleaning sequentially adopts the pre-flushing, caustic circulation, caustic flushing, acid circulation, and acid flushing.

[0028] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A fully automatic milking and cleaning system, characterized in that, It includes a cleaning tank, a vacuum pump, a fluid control module, a control unit, a surge module and a human-machine interface; The vacuum pump adopts variable-frequency control. The control unit pre-sets four modes: warm water flushing, alkali circulation cleaning, acid circulation cleaning and acid-alkali circulation cleaning. The human-machine interface is used for mode selection and user instruction interaction when temperature is abnormal. The control unit includes a cleaning program.

2. The fully automatic milking and cleaning system according to claim 1, characterized in that A water level sensor and a temperature sensor are provided in the cleaning tank. During the cleaning operation, the temperature and water level height in the cleaning tank are judged. When the temperature does not reach the standard, an alarm is triggered and the user is waited for to confirm the instruction. When the water level is lower than the make-up water level, water is replenished according to the set time. When the replenishing time is exhausted, the water replenishment is disabled.

3. The full-automatic milking and cleaning system according to claim 2, characterized in that, The fluid control module includes a cold water valve, a hot water valve, an alkali pump, an acid pump, a water suction valve, a return water three-way valve, a milk collection tank sewage discharge valve, a water tank sewage discharge valve and a gas top valve. The surge module includes a surge valve and a surge butterfly valve. The surge butterfly valve has a delay switch control logic. The milk collection tank sewage discharge valve and the water tank sewage discharge valve drain water in a cycle according to the interval time, duration and breathing times of the water suction valve.

4. The fully automatic milking and cleaning system according to claim 3, characterized in that, The cleaning program includes pre-rinsing, alkali circulation, alkali flushing, acid circulation and acid flushing.

5. The fully automatic milking and cleaning system according to claim 4, characterized in that, The pre-rinsing includes the following specific steps: Step 1: Open the cold water valve and the hot water valve. After the water level in the cleaning tank reaches the set full water level, filter for 2 seconds and then close the cold and hot water valves; Step 2: Analyze the temperature of the water tank. If the temperature does not reach the set range, give an audible and visual alarm, and ask the user on the main screen whether to continue cleaning. If allowed, automatically execute the next step; if not allowed, it is necessary to manually execute draining and adding water until the temperature is normal and then continue cleaning; Step 3: When the temperature of the water tank has reached the set range, start the vacuum pump frequency converter, close the surge butterfly valve. After the vacuum pressure reaches the set cleaning pressure value, open the water suction valve, close the milk collection tank sewage discharge valve, and start to suck water. When the water suction valve is opened, delay to the set surge power-on time value, the surge valve is powered on, and automatic surge occurs; Step 4: When the surge valve is powered on, delay to the surge butterfly valve delay set value, open the surge butterfly valve, delay to close and then delay to open, cycle to switch the surge butterfly valve. When the water level in the water tank is lower than the set make-up water level, automatically open the cold and hot water valves to start water replenishment. After reaching the set water replenishment time, close the cold and hot water valves and stop water replenishment. When the water replenishment time is set to 0, it means that water replenishment is prohibited and the water replenishment function fails; Step 5: After the water level in the cleaning tank drops to the set empty water level, delay for 3 seconds, close the water suction valve, delay to the water suction valve interval time set value, open the water suction valve, delay to the water suction valve duration set value, and so on in a cycle until the water suction valve breathing times set value is reached, then close the water suction valve, and open the milk collection tank sewage discharge valve and the water tank sewage discharge valve; Step 6: Open the water tank sewage discharge valve, delay to the water tank sewage discharge time set value, close the water tank sewage discharge valve, open the milk collection tank sewage discharge valve, delay to the vacuum pump stop time set value, stop the vacuum pump, open the gas top valve. When the gas top valve is opened, delay to the gas top time set value, close the gas top valve, the surge valve loses power, open the surge butterfly valve, and the pre-rinsing ends.

6. The fully automatic milking and cleaning system according to claim 5, characterized in that, The alkali circulation includes the following specific steps: Step 1: Open the hot water valve and the alkali pump. After the water level in the cleaning tank reaches the set full water level, filter for 2 seconds, close the hot water valve, and let the alkali pump run for the set time to add alkali solution. Then stop the alkali pump. After the heating of water and the addition of alkali are completed, it will automatically determine whether the water tank temperature meets the standard. Step 2: If the water tank temperature does not reach the set range, an audible and visual alarm will sound, and the main screen will ask the user whether to continue cleaning. If allowed, the next step will be automatically executed. If not allowed, the user needs to manually drain and add water until the temperature returns to normal before continuing cleaning. Step 3: When the water tank temperature has reached the set range, start the vacuum pump inverter, close the surge butterfly valve, and when the vacuum pressure reaches the cleaning pressure set value, open the water suction valve, open the return water three-way valve, close the milk tank drain valve, and start water suction and circulating water back to clean; Step 4: The suction valve opens, delays to the set surge power supply time value, the surge valve is energized, automatically surges, the surge valve is energized, delays to the surge butterfly valve delay setting value, opens the surge butterfly valve, delays closing and then delays opening, cycles the surge butterfly valve on and off, opens the return water three-way valve, and after the water level in the water tank is lower than the set water replenishment level, automatically opens the hot water valve to start replenishing water. After the set water replenishment time is reached, closes the hot water valve and stops replenishing water. The alkali pump does not work during water replenishment. It is necessary to add alkali solution at the preset water addition time according to the total water addition amount. When the water replenishment time is set to 0, water replenishment is prohibited and the water replenishment function is invalid. Step 5: Open the return water three-way valve, delay to the alkaline circulation cleaning time setting value, close the return water three-way valve, start draining, after the water level in the cleaning tank drops to the set empty water level, delay for 3 seconds, close the water suction valve, delay to the water suction valve interval time setting value, open the water suction valve, delay to the water suction valve duration setting value, cycle until the water suction valve breathing times setting value, close the water suction valve, open the milk collection tank drain valve and the water tank drain valve; Step 6: Open the water tank drain valve, delay to the water tank drain time setting value, close the water tank drain valve, open the milk collection tank drain valve, delay to the vacuum pump stop time setting value, stop the vacuum pump, open the gas cap valve, open the gas cap valve, delay to the gas cap time setting value, close the gas cap valve, the surge valve loses power, open the surge butterfly valve, and end the alkali circulation.

7. The fully automatic milking and cleaning system according to claim 6, characterized in that, The execution process of the alkaline flushing is the same as that of the pre-flushing, the execution logic of the acid circulation is the same as that of the alkaline circulation, the alkaline pump is replaced by the acid pump, the parameters are the acid circulation set values, and the execution process of the acid flushing is the same as that of the pre-flushing.

8. A fully automatic milking and cleaning system according to claim 7, characterized in that, The warm water flushing adopts a pre-flushing operation, the alkaline circulation cleaning adopts a pre-flushing, alkaline circulation and alkaline flushing operation, the acid circulation cleaning adopts a pre-flushing, acid circulation and acid flushing operation, and the acid-base circulation cleaning adopts a pre-flushing, alkaline circulation, alkaline flushing, acid circulation and acid flushing in sequence.

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