The invention relates to a unit for change of position
a line, in particular a milk line, a device
to carry out
at least one act associated with at least one
Dairy cattle, as well as a method for applying a milking cup
to a teat of a dairy cattle.
in the following the invention in connection with a milking system for
Milking cows described
It should be noted that the subject matter of the invention,
especially for use in milking sheep, goats, llamas,
Camels, dromedaries, buffaloes,
Mares, donkeys, yaks and other milk-giving animals. The
Invention can be used both in robotic milking systems and
in fully automatic, semi-automatic and conventional milking systems
The dairy farm has many systems for dairy farming
are of importance. A milking system may include a plurality of milking stalls,
each equipped with a milking facility. The milking facility
has at least one teat cup, which over a long milk hose
connected to a milk transport line. There are also facilities
known in which the teat cups each have a short milk tube
with a milk collection container
connected, wherein the milk collection container via a long milk hose
optionally with the interposition of a measuring container with
the milk transport line are connected.
Milking an animal, it is necessary that the milking cups to the
Teats of a dairy cattle are attached. At milking facilities,
they do not have any
Attaching the teat cups to the teats of a dairy cattle, takes place
the attachment of the teat cups to the teats manually. To do this
an operator the milking cup and attach it to the teat.
Due to the fact that the milk hose, both the short
Milk hose as well as the long milk hose, which has a certain flexibility, is
the operator necessary, with the opening hanging downwards
Rotate the milking cup so that the opening of the milking cup goes after
above, d. H. towards the teat, is aligned. For example
a cow three times a day
milked, the operator must do this movement twelve times on
Perform day per animal.
With a big one
Number of animals will be alone for
a considerable amount of time needed. In addition, it can be at a
Variety of animals that are milked per milking at the
Operator to a fatigue
and / or after a milking operation, the animal may become one
Subjected to treatment. For example, the treatment may be
a cleaning of the teats and the udder act. It also exists
that the udder of the animal and possibly the teats of a massage
undergo a stimulation of the animal
shall be. In a stimulated animal can be a facilitated
Milk delivery during one
Milking process can be achieved.
Dairy farms have a certain risk of transmission
of infectious agents on and into the mammary gland of an animal. mastitis
are therefore valid in many countries
with a developed dairy industry as the most significant damage factor
in animal production.
Infection injection for
The pathogen that is widespread in the environment of dairy animals is the
Teat canal. The transfer
the infectious agent during the
Dehydration whose transport through the teat canal can be controlled by a
Reduction of one with the combined occurrence of cyclic and regular vacuum fluctuations
be reduced by milk. However, it remains at the end of the milk withdrawal
Sticking milk in the form of a drop or film to the gland opening,
those with suckler cows
eliminated from the calf with the tongue. Such a situation is
in dairy cows,
which are milked by machine, not given. Will this drop
or film is not removed, the milk forms a nutrient medium
Propagation of bacteria originating from the environment, thus
Opportunity to penetrate the teat canal and an infection
The adhesion of the germs is caused by fissures of the skin at the tip of the head
and partial protuberances
the duct canal mucosa promoted,
so that this area is permanent
Exciter reservoir can serve.
is therefore a target of preventive measures, the teatcup of
pathologenic pathogens as possible
to keep free. This can be done by an antiseptic treatment of
Teat can be reached following the milk withdrawal. They are different
Treatment methods known. When dipping the teats are in a
Dipping agent immersed. The dipping agent can be next to the disinfecting ingredients
also containing nourishing substances such as glycerol or lanolin.
By the nourishing substances a refatting of the teats is achieved
so that the teat skin remains soft and supple.
Another method of treatment is spraying. Here is a means by a spray direction sprayed on the teat. This agent may be a cleaning and / or disinfecting agent. Such a treatment method is described in WO 99/66787: WO 99/66787 discloses a milking device which has a spraying device, by means of which an agent is sprayed onto the teat. For this, the teat is inside the milking cup. This procedure is not uncritical, since the cleaning and / or disinfecting agent is used within the milk-carrying parts. There is a relatively high level of technical effort required to ensure that contamination of the milk by the means does not occur.
Based on the present invention, the objective is based,
a unit for change of position
specify a line, especially in dairy cattle farms
can be used.
Objective is achieved by
a unit for change of position
achieved a line with the features of claim 1. advantageous
Further developments and embodiments of the unit are the subject
the dependent claims.
unit according to the invention
to change the situation
a line comprises at least one line, preferably at least
a channel. The conduit has at least one flexible section.
It can also be designed to be flexible overall. It also exists
that the conduit has a plurality of flexible sections between which
a rigid section is provided.
Furthermore, the unit has at least one actuatable actuator. Of the
at least one actuator is indirectly and / or directly through
at least two mutually spaced fasteners with
connected to the line. The connection is designed in this way
that upon activation of the at least one actuator, the section
at least partially from a curved to an at least less
Condition or vice versa is feasible.
This embodiment according to the invention of a unit for changing the position of a line creates the possibility that the line can be converted as required from a curved to an at least less curved state or vice versa. The actuator may, for example, be a fluid-actuatable actuator. Such an actuator is for example from the EP 0 161 750 A1
known. The actuator described there has an elastic body extending between two head pieces, the interior of which can be acted upon by a fluidic pressure medium. When the flexible body is subjected to a pressure medium, the body is contracted longitudinally, so that the length of the body changes. By cooperating with the conduit, it is transferred from a curved state to a less curved state. Depending on the overall design and / or the pressurization of the actuator, it may be up to a substantially rectilinear alignment of the line. Conversely, there is also the possibility that in an initial state, the line is aligned substantially in a straight line, wherein upon activation of the actuator, the line can be converted into a curved state. It goes without saying that the line can also be curved in an initial state, wherein activation of the actuator can transform it into a more curved state.
there is also the possibility
that the actuator is an electric motor acting actuator. For example
For example, the actuator may have an electric drive that is connected via a
Coupling agent is connected to the line, wherein the coupling agent
is. In a simplest case, it is the coupling agent
to a flexible means, in particular a rope, depending on
is shortened or lengthened from the activation state of the actuator,
which affects the curvature
the line has. Instead of a rope, it may be the coupling agent
also act, for example, a scissor-shaped agent.
unit according to the invention
has many advantages. It is especially for application in dairy cattle farms
an advantageous embodiment of the unit is proposed
that at least two actuators are provided, wherein the actuators side by side
and / or arranged one behind the other. This measure will
an improved, d. H. achieved a more targeted change in position of the line.
It will also be the possibility
created with a plurality of actuators arranged one behind the other
are, even wires that are over
one or more flexible sections or over a greater length, can be operated. As a result of that
the actuators are arranged side by side, it is achieved that
Deflection of the line can be carried out selectively. For this purpose is
in particular suggested that the actuators on an imaginary
Circumference distributed surround the line. Preferred is an embodiment
in which the actuators arranged substantially equidistant from each other
Does the unit have multiple actuators, so the actuators can be activated simultaneously or sequentially. There is also the possibility that several actuators are grouped together, which can be activated or deactivated simultaneously or sequentially. By this measure, a possibility is created to realize a desired change in position of the line with relaitv simple means.
Connection of the at least one actuator to the line is proposed
that at least one over
at least a part of the circumference of the conduit extending connecting element
is provided. The connecting element is preferably substantially
educated. This is a preferred embodiment
of the connecting element. Other geometries and structures of fasteners
There is also the possibility
for example, a plurality of equidistantly arranged actuators
between two annular
trained connecting elements are arranged. These form
with the connecting elements a modular unit, the
Construction of higher-speed modules
unit according to the invention
preferably has a conduit substantially over its
flexible is formed.
unit according to the invention
has many other advantages. It is in particular for
Application suitable in dairy cattle farms, as it simplifies operations
In particular, it is proposed that the milk hose be at least
a unit according to one of claims 1 to 10. at
the milk hose may be, for example, a short milk hose
act, which serves to connect a milking cup with a milk collecting piece.
The milk hose can also be a long milk hose, the one
Milking cup connects with a milk collecting line.
of a dairy farm are different actions at one
Dairy cattle to be carried out directly or indirectly. In these actions
it may be, for example, a milking process, a cleaning process
or act a drive. These processes are here in the broad sense
to understand. You can
in further processes
be split. For example, the milking process can be done in one
Stimulation process, a Vormelkvorgang, a Hauptmelkvorgang,
be subdivided a Nachmelkvorgang, with a piecing and
a decrease in milking cups can be added to the milking process.
The piecing process and the removal process of the teat cups can turn
in further sub-operations
Based on the present invention, the objective
underlying, an apparatus for performing at least one action
to propose to a dairy cattle through which the action is more effective
Objective is achieved by
a device for carrying out
at least one act on a dairy cattle with the characteristics of
Claim 12 reached. Advantageous developments and refinements
the device are the subject of the dependent claims.
to carry out
at least one action on a dairy cattle is characterized by this
from that these at least one unit after one or more
1 to 10 and / or at least one milk hose according to claim 11
an advantageous embodiment of the device is proposed
that it has at least one milking cup, each milking cup
each connected to a milk hose. The advantage of a
Such apparatus can be seen in that, in devices,
in which the teat cups manually attached to the teats of the animals
By activating the actuator, the teat cups are thus provided
be that opening
the teat cup is pointing upwards substantially. This will be a
Work easier for
the operator achieves.
the milking cups attached to the teats by means of a robot, so
the device has the advantage that a robotic arm does not like
is known from the prior Tech nik, engages the teat cup itself,
but he can also reach below the milking cup. hereby
becomes a possible
Injury of an animal during
a positioning and attaching a milking cup to a
Teat reduced by a robotic arm.
According to an advantageous embodiment of the device is proposed that it has at least one milking cup, each milking cup is connected via a respective milk hose with a milk collecting piece. Optionally, the milk collecting piece can be connected via a long milk hose to a milk collecting line. There is the possibility that at least one milk hose, which connects a milking cup to the milk collecting piece, is equipped with at least one actuator. Likewise, a long milk hose may be provided with at least one actuator. This embodiment of the device has the advantage that initiated by activation of the actuator on the long milk hose, during a Nachmelkvorgangs a tensile force in the teat becomes. This measure ensures that an emptying of the udder is achieved.
is an embodiment in which at least one connecting element
with the milk collecting piece
is connectable. In particular, it is proposed that the milk collecting piece at least one
Has connecting element. It can also have several fasteners
be provided. Is the milk collection piece with four milking cups over appropriate
connected, it is proposed that the milk collecting piece four
Has connecting elements. In addition, at least one
Connecting element be provided to the milk collecting piece with at least
an actuator of a long milk tube and / or a pulse tube
connect to. An embodiment of the milk collecting piece is preferred
the connecting element is an integral part of the milk collecting piece.
The milk collection piece
may be made of a plastic, for example. The connecting element
can already do so during
the manufacturing process of the milk collecting piece or parts thereof formed
According to one
Yet another advantageous embodiment of the device is proposed that
the device has at least one positioning device.
In this case, an embodiment of the device is preferred in which
the positioning device for positioning and attachment at least
a teat cup to a teat of an animal is suitable. The positioning device
can have a support arm, the individual milking cups on the
individual teats of an animal. There is also the possibility
that the support arm is connectable to the collecting piece. The support arm
grab the milk pick,
provided the milk collector is not
firmly connected to the support arm. The support arm is with the milk collecting piece and the,
with the milk collecting piece
associated milking cups under the animal to be milked. At the latest, if
the teat cups are below the animal, at least
an actuator is activated so that the teat cup is substantially vertical
and his mouth
pointing upwards. The position of the teats is detected. The detection
can be done for example with an optical and / or acoustic system.
Optionally, the position of the teat cup is detected. Was
such a detection, then finds a correlation of the coordinates
the Ansetzaktorik with the coordinates of the teat cup instead. These
Coordinates are set in relation to the coordinates of the teat
and the Ansetzakktorik moved so far until a preparation of the milking cup
can be done to the teat of the animal.
it is possible,
that the Ansetzaktorik uses relative coordinates. Possibly
the obtained coordinates of the teat cups and the teats in
Correlation with a world coordinate system (absolute coordinate system)
to be brought. While
of the piecing process, there is also the possibility that the coordinates
be checked on an ongoing basis,
so that at a mögli chen
Movement of the animal, the Ansetzaktorik insofar on the change in position
the teats can react.
Taking a milking cup, the device has at least one
Pickup on. This preferably has at least one
Unit for change of position
a lead on.
The term positioning device may also include a device
be understood, with the help of which an animal in a box, in particular
a milk box, is positioned. For example, a line,
which is designed to be substantially flexible, in the longitudinal direction
extend the box. If an animal enters a box, so can
Activation of an actuator, the line is converted into a less curved state,
whereby the line comes to rest against the body of the animal and
forces the animal into a predetermined position. The line can here
also in the leg or foot area
of the animal. This line can have several flexible sections
have, so that an adaptation to the body of the animal is possible.
a still further advantageous embodiment of the device
It is proposed that these at least one means of delivery
having a fluid. This device may be a cleaning device
form, with the help of which, for example, the udder of the animal cleaned
becomes. After cleaning the udder with the help of a liquid
For example, a drying of the udder can take place. For this purpose can
the device have corresponding lines. It also exists
that the pipe has several channels
has, brought by the different fluids to the udder
become. These may be, for example, cleaning fluids
or also a drying fluid, in particular air. It
there is also the possibility
that by means of the device, for example, disinfectant
to the teat, in particular the tip of the teat is applied.
In addition to disinfectants can
Other agents, such as lanolin, are applied.
According to yet another advantageous embodiment of the device, it is proposed that the device has at least one driving device. The driving device is formed by a line which cooperates with the actuator. The line does not necessarily have to be tubular. There is also the possibility that the line is not designed as a hollow body but as at least partially flexible solid body. The Trei can be arranged at different locations of dairy cattle operation. This can also be connected to a movable unit, so that animals are driven for milking from a predetermined area in the milking area. The driving device can also be arranged at the outlet of a box, in particular a milk box.
one more still according to one
Another inventive idea is a cleaning device
proposed a dairy farm, which at least one unit
according to one or more claims
1 to 10.
Cleaning device can be used to clean individual component or
Be provided components within the dairy farm. Here can
For example, they are containers
act. In the container
protrudes into a conduit which has at least one nozzle through which a
Cleaning fluid can escape. By activating the actuator can
the direction of the jet of fluid is varied so that at least
Areas of the wall of the container
For example, it can also be a trough. The cleaning device
can also serve a surface cleaning
for example, within a box. So, for example
by a defined movement of the at least one line the
Box to be cleaned. The cleaning device according to the invention can
also be used in other areas, for example in the playpen area,
so that walkways
and / or boxes, in particular cubicles are cleaned. Also the
necessary for milking equipment and aggregates can by
the device according to the invention cleaned
become. Thus, for example, by a suitable arrangement of
Cleaning device at least one teat cup both from the inside
as well as from the outside
Advantages and details of the invention will be apparent from the in the
Drawing illustrated embodiments
without the subject of the invention to these specific embodiments
1 a first embodiment of a unit for changing the position of a line,
2 A second embodiment of a unit for changing the position of a line,
3 the unit after 2 with an activated actuator,
4 A third embodiment of a unit for changing the position of a line,
5 the unit after 4 with an activated actuator,
6 a teat cup with a milk hose,
7 A second embodiment of a milking cup with a milk hose,
8th a sectional view along the section line AA after 7 .
9 A third embodiment of a milking cup with a milk hose,
10 schematically a milking cluster with deactivated actuators,
11 the milking parlor after 10 with activated actuators,
12 a device for applying a milking cup,
13 schematically a device with a device for dispensing a fluid,
14 A second embodiment of a device with a device for dispensing a fluid,
15 A third embodiment of a device with a device for dispensing a fluid,
16 A fourth embodiment of a device with a device for dispensing a fluid,
17 A first embodiment of a cleaning device,
18 an embodiment of a cleaning device for cleaning a box,
19 A second embodiment of a cleaning device for cleaning a box,
20 A third embodiment of a cleaning device for cleaning a milking stall,
21 a cleaning device for cleaning a trough,
22 a cleaning device for cleaning a container,
23 schematically an embodiment of a gripper,
24 a positioning device,
25 a first embodiment of a driving device and
26 A second embodiment of a driving device.
1 schematically shows a first embodiment of a unit for changing the position of a line 1 , The administration 1 has at least one flexible section 2 on. With the line 2 are spaced from each other two connecting elements 5 . 6 connected. The distance between the fasteners 5 . 6 is chosen so that the flexible section 2 the line 1 between the connecting elements 5 . 6 lies.
With the connecting elements 5
is an actuator 3
connected. The actuator 3
, is in the area of the outside of the curvature of the flexible section 2
arranged. At the actuator 3
it may be, for example, a pneumatically actuated actuator, as he, for example, by the EP 0 161 750 A1
is known. The one by the EP 0 161 750 A1
known actuator has two fittings, which are connected to the connecting means 5
get connected. Between the fittings, an elastic body is provided, which is acted upon by a fluid. When the actuator is acted upon by a fluid, in particular by compressed air, a contraction of the elastic body occurs, so that in this way the section 2
is transferred from a curved to an at least less curved state.
In the 1 Dashed is an actuator 3 shown on an inside of the curvature of the section 2 is arranged. This actuator may also be a pneumatically actuable actuator. Activation of the actuator becomes the flexible section 2 the line 1 converted from a curved state to a more curved state. There is also the possibility that in the "normal state" the section 2 runs in a straight line, so that upon activation of an actuator, the line 1 can be converted into a curved state.
2 shows a second embodiment of a unit for changing the position of a line. In the illustrated embodiment, two connecting elements 5 . 6 provided, which are arranged at a distance from each other. The connecting elements 5 . 6 are formed substantially annular. With the connecting elements 5 . 6 are three actuators 3 . 7 . 8th connected. They are arranged equidistant to one another. This is not mandatory. There is also the possibility that several actuators are provided. It is also possible to choose an arrangement in which the spacings of the actuators differ from one another. The actuators 3 . 7 . 8th surround a line, not shown, extending in the longitudinal direction through a gap 4 extends through. The unillustrated line 1 is with the fasteners 5 . 6 connected.
In the in the 2 Actuators shown are preferably pneumatically actuated actuators. In the illustrated embodiment according to 2 prevails in the actuators 3 . 7 . 8th the same pressure, so that they extend substantially straight in the longitudinal direction. 3 shows a situation where the actuator 8th is subjected to a higher pressure than the actuators 3 . 7 , This leads to a shortening of the length of the actuator 8th so that the connecting element 5 is deflected. In a similar way, the line 1 deflected when this with the fasteners 5 . 6 connected is. The representation after 3 shows a situation in which the connecting element 6 For example, connected to a wall, so that there is no deflection of the connecting element 6 comes. Depending on the actuation of the actuators 3 . 7 . 8th with different pressures, the connecting element can 5 be inclined differently, so that also a movement of the line 1 is made possible in the room.
By several actuators acting between the connecting elements 5 . 6 can be arranged, an even more accurate deflection of a line 1 be achieved.
4 shows a further embodiment of a unit comprising a conduit 1 , The administration 1 is flexible in the illustrated embodiment over its entire length. With the line 1 are two connecting elements 5 . 6 connected. The connecting elements 5 . 6 are spaced from each other. Schematically illustrated are between the connecting elements 5 . 6 elastic elements 9 . 10 , With the elastic elements 9 . 10 For example, they can be compression springs. With the connecting element 6 is an electromotive unit 11 connected. The electromotive unit 11 includes an electric motor 12 that with a winding device 13 connected is. A flexible element 14 , which may be, for example, a rope, is connected to the connecting element 5 and the winding unit 13 , which are below the connecting element 6 is arranged, connected.
By shortening the length of the flexible element 14 becomes the distance between the fasteners 5 . 6 changed. This change in the distance leads to a deflection of the line 1 , This situation is in the 5 shown. Since it is the elastic elements 9 . 10 is about compression springs, the connecting element takes 5 the home position automatically when the length of the flexible element 14 is increased, which by unwinding of the flexible element of the winding unit 13 is reached.
With the flexible elements 9 . 10 they may be different configurations or shapes of flexible elements. It is understood that the flexible element may also have a plurality of parts. For example, it is possible to form a flexible element in that it consists of at least two springs having different spring characteristics, whereby the force required to deflect the line 1 necessary, can be varied.
6 shows an embodiment of a milk hose 15 holding a milking cup 16 connected is. The milk hose 15 is with fasteners 5 . 6 connected. At the fasteners 5 . 6 may be beispielswei se to ring-shaped fasteners. Between the connecting elements 5 . 6 are actuators in the illustrated embodiment 3 intended. In the illustrated embodiment, four actuators between each two connecting elements 5 . 6 intended. The actuators 3 are arranged equidistant from each other, ie they are offset by 90 ° to each other. The embodiment in the 6 shows that the milk hose 15 with several fasteners 5 . 6 is connected, between which the actuators are arranged. A connecting element 6 is with the milking cup 16 connected. By activation of individual actuators or a group of actuators, the milk hose 15 be deflected differently. This makes it possible to position the milking cup.
7 . 8th show a further embodiment of a milk hose-milking cup arrangement. A milk hose 15 is surrounded by actuators 3 in a protective case 17 are arranged. The number of actuators 3 can be different. This means that a different number of actuators can be provided in the circumferential direction of the milk hose. There may also be several actuators one behind the other in the longitudinal direction of the milk hose 15 be provided.
The advantage of in the 7 and 8th illustrated embodiment can be seen in that through the protective cover 17 no dirt gets between the actuators and the milk hose, so that the movement possibilities are not hindered by the dirt.
9 shows a still further embodiment of an arrangement of a milk hose 15 with a milking cup 16 , The number of actuators 3 Can meet the movement requirements of the milking cup 16 be adjusted so that through the actuators also the milk hose 15 is deflected accordingly.
In the in the 6 to 9 The illustrated milk tube may be a short milk tube connecting a milking cup to a milk collecting piece. There is also the possibility that the milk hose is a so-called long milk hose, so that a milking cup is directly connected to a milk collecting line.
The 10 and 11 show a milking machine for milking an animal, especially a cow. In the illustrated embodiment are exemplified two milking cups 16 shown, each with a milk hose 15 with a milk collection piece 18 are connected. The milk collection piece 18 is with a pulse tube 19 connected. Not shown is a long milk hose, the milk collection piece 18 connects with a milk manifold, not shown.
The milk collection piece 18 each has a connecting element 5 on. The connecting element may also be an integral part of the milk collecting piece 18 be. With every milk hose 15 is in each case a connecting element 6 connected. The connecting element 6 can also be alternative with the relevant milking cup 16 be connected. Between the connecting elements 5 . 6 is each an actuator 3 intended. 10 shows a state of the milking parlor, in which the actuators 3 are disabled. The milking cups 16 hang down, leaving the opening of the teat cup 16 directed downwards. For milking an animal, especially a cow, it is necessary that the opening of the milking cup 16 pointing upwards. By activating the actuators 3 it comes to an erection of the milking hose 15 so the milking cups 16 take the desired orientation. This makes it easier for an operator to apply the teat cups to the teats of an animal, since the operator no longer has to individually pivot the teat cups to the desired position. 11 shows the situation in which the actuators 3 are activated. It is not mandatory that each actuator is activated. Activation of the actuators can also take place one after the other. That in the 10 and 11 The milking parlor shown may also be used in conjunction with devices that are to be automatically turned on sets of milking cups to the teats of an animal are suitable.
Also the pulse tube 19 and possibly a long milk hose can be formed with corresponding actuators, so that the position of the milk collecting piece 18 can be specified in the room. Indicates the pulse tube 19 or a long milk hose, which is not shown, corresponding actuators, so they can also be used for Nachmelken. During a Nachmelkvorgangs can be initiated on the milking a traction.
automatic teat cups on the teats of an animal
Different methods are known. Here are the teat cups
individually and successively grabbed by a robot arm and after
Locate the position of a teat attached to this. There are too
Method known, in which all
Milking cups are positioned simultaneously under the animal, with
the teat cups are attached one after the other to the teats. adversely
In such a method is that the milking cups substantially
are vertically movable, which is problematic in the different udder forms
12 shows a device which a milking machine 20 having. The milking machine 20 includes a milk collection piece 18 which is about milk tubes 15 with milking cups 16 are connected. Furthermore, at least one actuator 3 a milk hose 15 assigned. The milking machine 20 is about a support arm 21 connected to an operating unit, not shown. To detect the position of at least one teat 22 is a recognition device 23 intended.
At the detection device 23 it may be an optical or acoustic detection device.
For applying a milking cup 16 becomes an actuator 3 , the corresponding milking cup 16 is assigned, activated. This situation is in the 12 shown. The recognition device 23 detects the position of the teat, and passes this data to an evaluation device, not shown. By means of the evaluation device, the drive unit is driven so that the support arm 21 is brought to the appropriate position. There is also the possibility that the actuator 3 for fine positioning of the milking cup is controlled accordingly. Activation of the actuator 3 can also be done when a coarse positioning was done. After a first teat cup has been attached to a first teat, the other teat cups are sequentially attached to the teats. For this purpose, the actuators associated with the individual milking cups can be activated.
To increase the accuracy of the position of the teat cups, as these may be due to pressure fluctuations within a pressure-actuatable actuator 3 may vary, it is suggested that the detection device 23 also the coordinates of the individual milking cups 16 detected and the data thus obtained are taken into account in the positioning. It is also possible to transform the data into a world coordinate system.
Within a dairy farm, different actions are performed on an animal. For example, there is a need to clean the teats of an animal before performing a milking operation. The 13 to 16 show embodiments of devices that are suitable for cleaning at least one teat. The devices have a device 24 for the release of a fluid on. The fluid may be, for example, a cleaning agent, disinfectant and / or desiccant.
The device 24 is with one unit 25 equipped to change the position of a line. This unit comprises a flexible conduit, not shown, in particular a hose, in the device 24 empties. Connected to the hose is at least one actuator, which is suitable for the deflection of the hose, so that the device 24 according to the activation of the actuator can take the selected position. It can also be provided a plurality of actuators, which surround the hose or which are connected in series. The possibilities of movement of the device 24 are in the 13 and 14 shown schematically. It is also possible, for example, to store the teat geometry or arrangement as an animal-specific variable, and to pass these on to the device for cleaning the teats, so that they correspond to the device 24 controls.
15 shows yet another embodiment of a device for dispensing a fluid, in particular for dispensing a cleaning agent. The device 24 has finger-like extensions 26 on, which are movable by means of actuators, which are not shown. The directions of movement and movements of the finger-like extensions 26 can be freely selected by different number and arrangement of actuators. The surface of the extensions 26 can be designed differently. These may for example be provided with fabric, rubber knobs, brushes or the like, so that the teat is cleaned by the movement of the extensions. The extensions may also have outlet openings through which a fluid to a teat 22 is delivered. The fluid can be too to act a detergent or disinfectant. It is also possible to blow, for example warmed drying air against the teat and / or the udder.
16 shows yet another embodiment of a device comprising means for delivering a fluid. The device has a line 1 on, which is equipped with actuators, not shown, so that the line 1 having a fluid dispenser at its free end, can be positioned so that the fluid at least in the direction of a teat 22 is delivered. 16 shows that the line 1 is introduced laterally under the animal. There is also the possibility of a line 27 to provide, which has corresponding actuators, wherein in the 16 The administration 27 is moved from the rear side of the animal in the direction of the udder.
The in the 13 to 16 illustrated embodiments are not only suitable for cleaning at least one teat of an animal, but also for the output of a so-called dipping means after milking process of an animal.
The object of the invention is not only suitable for cleaning at least one teat of an animal, but also for cleaning components or aggregates within a dairy farm. For example, shows the 17 a device by means of which a milking cup 16 can be cleaned. The device has a conduit 28 on, which is connected to at least one actuator, not shown, so that the line 28 is moved in accordance with the activation of the actuator. The administration 28 has at least one nozzle 29 through which a cleaning fluid can be sprayed in the direction of the milking cup. The teat cup as such may also be at least pivotable about a longitudinal axis, so that a full cleaning of the teat cup 16 is possible.
18 shows several boxes 30 equipped with at least one cleaning unit 31 are equipped. The cleaning unit comprises at least one line, which is connected to at least one actuator, so that at least a portion of the box 30 can be cleaned by a fluid emerging from the line. The area may be the bottom area of the milk box. It can also the components of the milk box, in particular gates, grates, etc. by means of cleaning unit 31 getting cleaned.
For surface cleaning of a box 30 is preferably a conduit 32 provided, at least over part of the length of the box 30 extends, as in the 19 and 20 is shown. The administration 32 has viewed in the longitudinal direction successively arranged nozzles through which a liquid can be sprayed. The administration 32 is provided with at least one actuator, so that the line 32 for example, in the 19 can perform shown movement. This movement is a pan about a point 33 , wherein during this pivotal movement of the overrun area of the bottom of the box 30 is cleaned.
When in the 20 illustrated embodiment of the line 32 this extends over the entire length of the box 30 as well as part of the width of the box 30 , The administration 32 has individual nozzles through which a cleaning agent can be sprayed. The administration 32 is equipped with actuators, not shown. The actuators are so controllable that this is a wave-like movement of the line 32 produce. Dashed is in the 20 a position of the pipe 32 shown in which some of the actuators have been activated.
21 and 22 show the possibility of cleaning containers 34 , At the container 34 to 21 For example, it is a trough. Above the trough 34 is a lead 33 with a nozzle 29 intended. Through the Aktua tor can be a movement of the line 33 be generated. Preferably, the movement of the conduit 33 so chosen that from the nozzle 29 exiting fluid jet the entire inner surface of the container 34 overstretched, so that a cleaning of the trough is achieved.
In the in the 22 illustrated embodiment, the line 33 with an actuator, not shown, in a side wall 35 of the container 34 arranged. At the side wall 35 it is preferably a lid. The administration 33 is also provided with at least one actuator, which is preferably a pneumatically actuated actuator, so that movement of the line 33 can be achieved through the one from the nozzle 29 exiting jet the side walls of the container 34 cleans.
In the 23 a gripping device is shown. The illustrated gripping device comprises two gripping claws 37 . 38 , Between the gripping jaws 37 . 38 is a milking cup 36 shown in a plan view. The gripping jaws are each formed by a line which is at least partially flexible, wherein the line has at least one preferably pneumatically actuated actuator. Activation of the actuators turns the gripping jaws 37 . 38 so to the plant on the milking cup 36 brought that the gripping jaws a sufficiently large force on the milking cup 36 exercise that the milking cup can be moved by means of the gripping device. Instead of a milking cup 36 The gripping device can also other objects are attacking. The gripping device is not limited to being used in the dairy farm. There are also numerous other possibilities for the application of such a gripping device. An advantage of the device according to the invention with a gripping device can also be seen in the fact that the force which exerts at least one gripping claw on the object to be gripped is adapted in accordance with the requirements. Thus, a relatively small force can be exerted on the object, which is sufficiently large to allow movement of the object without the object being deformed.
In a dairy farm, there is also the requirement that an animal be positioned within a box. Such a requirement may be present when, for example, an animal is to be milked. A device by means of which positioning of an animal in a box is made possible, which shows 24 ,
In the illustrated embodiment, the box has a lateral rigid boundary 39 on. The rigid limit 39 is formed in the illustrated embodiment in plan view substantially L-shaped.
The box has a first flexible boundary 40 on, which extends in the longitudinal direction of the box. The flexible limit 40 is formed by at least one line and at least one actuator. By activating or deactivating the actuator, the flexible restriction can be applied to the body of an animal 42 to be brought. In the illustrated embodiment, a second flexible boundary 41 provided, which extends substantially transversely to the longitudinal direction of the box. Also the second flexible limit 41 is preferably formed by at least one conduit having at least one flexible portion, wherein the flexible boundary has at least one actuator, which is indirectly and / or directly connected to the conduit, so that upon activation of the at least one actuator, the flexible portion at least in Direction of the animal 42 is moved, in particular for attachment to the body 42 of the animal. There is a possibility that a plurality of flexible boundaries superimposed in a vertical direction 41 . 42 are provided. The flexible limits 40 . 41 have the preference that these attach themselves to the body of the animal 42 snuggle up and apply pressure so that the animal 42 must occupy a predetermined position within a box.
25 shows a first embodiment of a driving device 43 , The driving device 43 has at least one flexible element 44 on, which is connected to an actuator, not shown. Activation of the actuator preferably results in a whip-like movement of the flexible element 44 reached. The direction of movement is indicated by the arrow in the 25 shown. The driving device 43 is arranged so that upon activation of the actuator, the flexible element 44 in contact with an animal 42 can be brought. The driving device 43 For example, it may be provided at the exit of a milking facility so that an animal, if it does not voluntarily leave the milking facility, leaves the milking facility by action of the flexible element 44 is expelled. In the context of the invention, the driving device can be arranged at any location where a driving of an animal, in particular a dairy cattle, preferably a cow is considered useful.
The 26 shows a second embodiment of a driving device 43 , Also this blowing device 43 has at least one flexible element 44 which is connected to at least one actuator. Preferably, the flexible element 44 at its free end a driving head 45 on. By means of the driving head 45 An electrical, mechanical or fluidic effect on the animal to be driven can be achieved. Activation of the actuator becomes the flexible element 44 so deflected that this is the driving head 45 for attachment to the animal 42 brings. The area where a driving device 43 may also be provided with monitoring means to check whether the action of the driving device on an animal has been successful. If this is not the case, repeated exposure to the animal can be carried out. For this purpose, the driving device 43 reactivated. There is also the possibility that the extent of the action is chosen differently. Thus, for example, with increasing frequency of exposure to an animal, the degree of intensity of the action can be increased.
The invention has numerous other advantages. He can
in different areas, especially within a dairy farm
be used. The term line can not only mean lines
become the leading ones
a fluid are suitable. There is also the possibility
extend the basic principle of the invention also to flexible bodies,
without leaving the basic idea of the invention.
- connecting element
- electric motor
- winding unit
- milk hose
- teat cups
- Milking claw
- pulse bag
- cleaning unit
- Side wall
- teat cups
- gripping claws
- driving device
- exaggerating head