MILKING MACHINE WITH ELECTROPULSATOR

The authors proposed a technology of machine milking of cows. The milking mode is controlled by the new pulsator. The pulsator has a linear-moving actuator. This allows to specify the transient time from sucking to compression in the milking cup. Previously, researchers have found that the transient time of 120 milliseconds has positive effect on the animal during milking and corresponds to the physiological characteristics of the cow milking process. Construction of the pulsator is protected by several patents. At this stage of research, laboratory and manufacture testing of the milking machine with the new pulsator were conducted. The article describes the control system operating the pulsator modes. The control system allows milking in adaptive mode, which allows to get the maximum amount of milk per milking. The pulsator equipment consisting of four linear motors allows to milk every quarter of the udder in an adjustable independent mode. The same principle is used in modern milking robots, and it allows to fully automate the process of milking. The feature of the control system is the presence of two independent channels, with the current feedback. The most universal and flexible way to create full controllers is the use of a specialized microcontroller module with digital signal processing. This solution is economically advantageous due to a smaller number of electronic components than it is needed when using analog devices. The proposed control system increases the reliability of the device and can change the functionality at the software level without changing the circuit design. The article also describes how to obtain the oscillogram of pressure changes and determine the transient time in the interval chambers of the milking cups.