DE10351549A1 - Milk line position managing unit for use in livestock e.g. cow, enterprise, has two actuators activated to partially bend pipeline connected to milking cup for imparting moving force into teat of cattle, where cup is positioned by robot - Google Patents

Milk line position managing unit for use in livestock e.g. cow, enterprise, has two actuators activated to partially bend pipeline connected to milking cup for imparting moving force into teat of cattle, where cup is positioned by robot

Info

Publication number
DE10351549A1
DE10351549A1 DE2003151549 DE10351549A DE10351549A1 DE 10351549 A1 DE10351549 A1 DE 10351549A1 DE 2003151549 DE2003151549 DE 2003151549 DE 10351549 A DE10351549 A DE 10351549A DE 10351549 A1 DE10351549 A1 DE 10351549A1
Authority
DE
Germany
Prior art keywords
characterized
device
actuators
line
milk
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
DE2003151549
Other languages
German (de)
Inventor
Thomas Mader
Andreas Springer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WESTFALIASURGE GMBH, 59199 BöNEN, DE
Original Assignee
WestfaliaSurge GmbH
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.)
Filing date
Publication date
Application filed by WestfaliaSurge GmbH filed Critical WestfaliaSurge GmbH
Priority to DE2003151549 priority Critical patent/DE10351549A1/en
Publication of DE10351549A1 publication Critical patent/DE10351549A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00Milking machines or devices
    • A01J5/017Automatic attaching or detaching of clusters
    • A01J5/0175Attaching of clusters
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00Milking machines or devices
    • A01J5/04Milking machines or devices with pneumatic manipulation of teats
    • A01J5/044Milk lines or coupling devices for milk conduits
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J7/00Accessories for milking machines or devices
    • A01J7/02Accessories for milking machines or devices for cleaning or sanitising milking machines or devices
    • A01J7/025Teat cup cleaning, e.g. by rinse jetters or nozzles
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J7/00Accessories for milking machines or devices
    • A01J7/04Accessories for milking machines or devices for treatment of udders or teats, e.g. for cleaning

Abstract

The unit has a pipeline (1) with a flexible section, and two circularly shaped connecting units to connect two actuators (3) to the pipeline, where the actuators are arranged parallel to each other. The pipeline is coupled to a milking cup. The actuators are activated to partially bend the pipeline for imparting a moving force into the teat of the cattle. A cleaning device cleans a base area of the cup that is positioned by a robot.

Description

  • Of the 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.
  • Even though 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 be used.
  • One 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.
  • To the 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 robo assisted 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 it for 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 this activity 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 come.
  • In front 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 the possibility, 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.
  • In 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.
  • The 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 related reflux 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 for the Propagation of bacteria originating from the environment, thus Opportunity to penetrate the teat canal and an infection the gland trigger. 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.
  • It 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.
  • Of these, 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.
  • These 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.
  • The 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 the possibility, that the conduit has a plurality of flexible sections between which a rigid section is provided.
  • Of 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 curved 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.
  • It 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 variable length 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.
  • The unit according to the invention has many advantages. It is especially for application in dairy cattle farms suitable.
  • To 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 a spatial 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 are.
  • 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.
  • to 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 annular educated. This is a preferred embodiment of the connecting element. Other geometries and structures of fasteners are possible. 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 suitable is.
  • The unit according to the invention preferably has a conduit substantially over its whole length flexible is formed.
  • The unit according to the invention has many other advantages. It is in particular for Application suitable in dairy cattle farms, as it simplifies operations can be. 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.
  • Within 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 be split.
  • Of these, 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 carried out can be.
  • These 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.
  • The inventive device 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 claims 1 to 10 and / or at least one milk hose according to claim 11 having.
  • To 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.
  • Become 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.
  • Prefers 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 hoses 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 become.
  • 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 extends 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 it is possible, that the Ansetzaktorik uses relative coordinates. Possibly can 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.
  • to 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.
  • Under 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.
  • To 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 the possibility, 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.
  • To one more still according to one Another inventive idea is a cleaning device especially for proposed a dairy farm, which at least one unit according to one or more claims 1 to 10.
  • The 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 selected Areas of the wall of the container getting cleaned.
  • at a 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 getting cleaned.
  • Further Advantages and details of the invention will be apparent from the in the Drawing illustrated embodiments explains without the subject of the invention to these specific embodiments limited becomes.
  • It demonstrate:
  • 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 . 6 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 . 6 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.
  • To the 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 is.
  • 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.
  • Of the 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.
  • 1
    management
    2
    flexible section
    3
    actuator
    4
    gap
    5, 6
    connecting element
    7, 8th
    actuator
    9 10
    resilient element
    11
    electromotive unit
    12
    electric motor
    13
    winding unit
    14
    flexible element
    15
    milk hose
    16
    teat cups
    17
    cover
    18
    Milking claw
    19
    pulse bag
    20
    cluster
    21
    Beam
    22
    teat
    23
    recognizer
    24
    Facility
    25
    unit
    26
    projections
    27
    management
    28
    management
    29
    jet
    30
    box
    31
    cleaning unit
    32
    management
    33
    wall
    34
    container
    35
    Side wall
    36
    teat cups
    37, 38
    gripping claws
    39
    rigid limit
    40 41
    flexible limit
    42
    animal
    43
    driving device
    44
    flexible element
    45
    exaggerating head

Claims (26)

  1. Unit for changing the position of a line comprising at least one line ( 1 ) with preferably at least one channel, the at least one flexible section ( 2 ), at least one actuatable actuator ( 3 ), at least two mutually spaced fasteners ( 5 . 6 ), which has the least one actuator ( 3 ) indirectly and / or directly with the line ( 1 ), so that upon activation of the at least one Aktuartors ( 3 ) the section ( 2 ) is at least partially convertible from a curved to an at least less curved state or vice versa.
  2. Unit according to claim 1, characterized in that at least two actuators ( 3 . 7 . 8th ), the actuators ( 3 . 7 . 8th ) are arranged side by side and / or behind one another.
  3. Unit according to claim 2, characterized in that the actuators ( 3 . 7 . 8th ) distributed on an imaginary circumference of the line ( 1 ) surround.
  4. Unit according to claim 3, characterized in that the actuators ( 3 . 7 . 8th ) are arranged substantially equidistant from each other.
  5. Unit according to one of claims 1 to 4, characterized in that the actuators ( 3 . 7 . 8th ) or groups of actuators can be activated or deactivated simultaneously or sequentially.
  6. Unit according to one or more of the preceding claims 2 to 5, characterized in that at least one over at least a partial circumference of the line ( 1 ) extending connecting element ( 5 . 6 ) is provided.
  7. Unit according to claim 6, characterized in that the connecting element ( 5 . 6 ) is formed substantially annular.
  8. Unit according to one or more of the preceding claims 1 to 7, characterized in that the line ( 1 ) is designed to be flexible over substantially its entire length.
  9. Unit according to one or more of the preceding claims 1 to 8, characterized in that at least one actuator ( 3 . 7 . 8th ) is a fluid operable actuator.
  10. Unit after one or more previous ones claims 1 to 9, characterized in that at least one actuator electromechanically actuated Actuator is.
  11. Milk hose comprising at least one unit after one of the claims 1 to 10.
  12. Device for carrying out at least one action on a dairy cattle comprising at least one unit after one or more claims 1 to 10 and / or at least one milk hose according to claim 11.
  13. Device according to claim 12, characterized in that it comprises at least one milking cup ( 16 ), each milking cup ( 16 ) each with a milk hose ( 15 ) connected is.
  14. Device according to claim 12, characterized in that it comprises at least one milking cup ( 16 ), each milking cup ( 16 ) via a milk hose ( 15 ) with a milk collecting piece ( 18 ) connected is.
  15. Device according to claim 14, characterized in that in that at least one connecting element can be connected to the milk collecting piece is.
  16. Device according to claim 14 or 15, characterized that the milk collection piece at least having a connecting element.
  17. Device according to claim 16, characterized in that that the connecting element is an integral part of the milk collecting piece.
  18. Device according to one or more of claims 14 to 17, characterized in that the milk collecting piece over a long milk hose can be connected to a milking line.
  19. Device according to one or more preceding claims 12 to 18, characterized in that this at least one positioning device having.
  20. Device according to claim 19, characterized in that that the positioning device for positioning and attachment of the milking cup to a teat of an animal is suitable.
  21. Device according to one or more preceding claims 12 to 20, characterized in that it has a removal device.
  22. Device according to one of claims 12 to 21, characterized in that it has a device for dispensing a fluid.
  23. Apparatus according to claim 22, characterized in that the device at least one cleaning unit ( 31 ) having.
  24. Device according to one or more of the preceding claims 12 to 23, characterized in that it comprises a driving device ( 43 ) having.
  25. Device according to one of claims 12 to 24, characterized that this has a gripping device.
  26. Cleaning device, in particular for a dairy farm comprising at least one unit according to one or more of claims 1 to 10th
DE2003151549 2003-11-03 2003-11-03 Milk line position managing unit for use in livestock e.g. cow, enterprise, has two actuators activated to partially bend pipeline connected to milking cup for imparting moving force into teat of cattle, where cup is positioned by robot Withdrawn DE10351549A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2003151549 DE10351549A1 (en) 2003-11-03 2003-11-03 Milk line position managing unit for use in livestock e.g. cow, enterprise, has two actuators activated to partially bend pipeline connected to milking cup for imparting moving force into teat of cattle, where cup is positioned by robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2003151549 DE10351549A1 (en) 2003-11-03 2003-11-03 Milk line position managing unit for use in livestock e.g. cow, enterprise, has two actuators activated to partially bend pipeline connected to milking cup for imparting moving force into teat of cattle, where cup is positioned by robot

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Cited By (7)

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DE102008035384A1 (en) 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Method and device for applying a teat cup to a teat of an animal
WO2014016588A1 (en) * 2012-07-25 2014-01-30 An Udder Ip Company Ltd Milking cluster
US8670867B2 (en) 2008-03-11 2014-03-11 Scott Milktech Limited Robot milking arm and a method of attaching milking cups
WO2014038997A1 (en) * 2012-09-04 2014-03-13 Delaval Holding Ab A support arm device for a milking member and a milking parlour comprising such a support arm device
WO2014037295A1 (en) * 2012-09-05 2014-03-13 Jakob Maier Automatic cleaning system and method for cleaning/treating teats of a dairy animal
EP2515632A4 (en) * 2009-12-24 2015-10-14 Farm Improvements Ltd Fluid delivery device
US9402364B2 (en) 2008-03-11 2016-08-02 Scott Milktech Limited Robot milking arm and a method of attaching milking cups

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DE3788484T2 (en) * 1986-09-08 1994-03-31 Sumitomo Electric Industries Optical cable with bending mechanism.
DE19905970A1 (en) * 1999-02-12 2000-08-31 Siemens Ag Miniature endoscope and method for the inspection of fuel elements
EP0990387B1 (en) * 1995-02-15 2002-10-02 Maasland N.V. An implement for milking animals
DE69807574T2 (en) * 1997-05-30 2003-08-07 Maasland Nv Device for automatic milking of animals

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Publication number Priority date Publication date Assignee Title
DE1214036B (en) * 1965-02-19 1966-04-07 Lorenz Widmann cluster
DE3788484T2 (en) * 1986-09-08 1994-03-31 Sumitomo Electric Industries Optical cable with bending mechanism.
EP0990387B1 (en) * 1995-02-15 2002-10-02 Maasland N.V. An implement for milking animals
DE69807574T2 (en) * 1997-05-30 2003-08-07 Maasland Nv Device for automatic milking of animals
DE19905970A1 (en) * 1999-02-12 2000-08-31 Siemens Ag Miniature endoscope and method for the inspection of fuel elements

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9402364B2 (en) 2008-03-11 2016-08-02 Scott Milktech Limited Robot milking arm and a method of attaching milking cups
US8670867B2 (en) 2008-03-11 2014-03-11 Scott Milktech Limited Robot milking arm and a method of attaching milking cups
DE102008035384A1 (en) 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Method and device for applying a teat cup to a teat of an animal
WO2010012625A2 (en) * 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Method and apparatus for positioning a milking cup on a teat of an animal
WO2010012625A3 (en) * 2008-07-29 2010-06-10 Gea Westfaliasurge Gmbh Method and apparatus for positioning a milking cup on a teat of an animal
EP2515632A4 (en) * 2009-12-24 2015-10-14 Farm Improvements Ltd Fluid delivery device
WO2014016588A1 (en) * 2012-07-25 2014-01-30 An Udder Ip Company Ltd Milking cluster
WO2014038997A1 (en) * 2012-09-04 2014-03-13 Delaval Holding Ab A support arm device for a milking member and a milking parlour comprising such a support arm device
WO2014037295A1 (en) * 2012-09-05 2014-03-13 Jakob Maier Automatic cleaning system and method for cleaning/treating teats of a dairy animal
US9795111B2 (en) 2012-09-05 2017-10-24 Jakob Maier Automatic cleaning system and method for cleaning/treating teats of a dairy animal

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