CONCEPTUAL TECHNICAL AND TECHNOLOGICAL SOLUTIONS IN ROBOTIC MILKING MACHINES WITH PAKETLERININ CONTROL THE MILKING PROCESS
Introduction: robotic technologies are applied in different spheres of human activity: medicine, military, industry, agriculture etc. While agriculture, in particular, milking robots have a significant specific related to the maintenance of biological objects (traumatic, high variability: the variation of the coordinates and sizes of udder teats, possible movement of the animal in the process of service, etc.), which significantly complicates the algorithms of automatic milking systems compared with industrial robots. Materials and Methods: the methodology of research consists in new methods and approaches to modeling and evaluation of interaction of the main elements of the robotic bio machine system «Man-machine-animal» during milking cows. Discussion: analysis of structural and kinematic schemes of industrial-type manipulators showed that angular and cylindrical manipulators are best suited for use in milking machines. However, to reduce the cost of the design and, especially its intellectual part, it is advisable to use a hybrid manipulator in multi box models, which, as it were, consists of two mechanical hands, one movable (connecting) with an image sensor, which can move between the machines, the other stationary, is located in each milking machine and provides support and disconnection of the milking cups. Results: a laboratory sample of milking manipulator with two pneumatic cylinders of support and withdrawal of the hanging part (in the center), artificial udder stand, 4 milking process control controllers for each quarter separately (at the top) and 4 milk flow sensors for each quarter (at the bottom) were developed. Conclusions: on the basis of their studies proposed a control algorithm and control the flow of milk in separate quarters of the udder.