EP3240399A1 - Rotary milking system and method for operating a rotary milking system - Google Patents

Rotary milking system and method for operating a rotary milking system

Info

Publication number
EP3240399A1
EP3240399A1 EP15823532.5A EP15823532A EP3240399A1 EP 3240399 A1 EP3240399 A1 EP 3240399A1 EP 15823532 A EP15823532 A EP 15823532A EP 3240399 A1 EP3240399 A1 EP 3240399A1
Authority
EP
European Patent Office
Prior art keywords
milking
entry
platform
stalls
animals
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Withdrawn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
EP15823532.5A
Other languages
German (de)
French (fr)
Inventor
Mats Nilsson
Ulrika ÖHMAN
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.)
DeLaval Holding AB
Original Assignee
DeLaval Holding AB
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 DeLaval Holding AB filed Critical DeLaval Holding AB
Publication of EP3240399A1 publication Critical patent/EP3240399A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/12—Milking stations
    • A01K1/126—Carousels

Definitions

  • the technical field relates to rotary milking systems and methods for operation thereof.
  • a rotary milking system comprises a milking platform, which rotates during milking.
  • a plurality of milking stalls are arranged on the milking platform, each of which being provided with milking equipment and being arranged to house a milking animal during milking thereof, while the milking platform rotates.
  • the rotary milking system comprises an entrance area wherein the milking animals enter the milking stalls in a serial order as the rotating animal milking platform rotates.
  • the teats of the milking animals may be treated prior to the milking thereof, teat cups of the equipment of the milking stalls are attached to the milking animals present in the milking stalls, and the milking animals are milked.
  • the teats of the milking animals may be treated subsequent to the milking thereof, after which the milking animals leave the milking stalls and the milking platform at an exit area when the milking animals have rotated nearly a full revolution.
  • the rotational speed is adapted to the milking times of the milking animals such that ideally there is enough time for the milking animals on the milking platform to be milked appropriately.
  • robotic arrangements have been developed which may take care of one or more of the pre-milking treatment, the teat cup attachment, and the post- milking treatment actions.
  • the milking of a milking animal is not completed, or even started, when the milking animal reaches the exit area. This may be caused by a teat cup kick- or fall-off or a failed teat cup attachment.
  • a teat cup kick- or fall-off or a failed teat cup attachment there are two options. Either the milking animal is prevented from being allowed to leave the milking platform, by use of a closing gate or bar, and the milking animal will stay on the milking platform for another revolution thereof; or the milking animal is allowed to leave the milking platform, but is directly guided back to the entrance area to be milked again. Following both options, a milking stall is occupied for an additional revolution of the milking platform.
  • the rotational speed is adapted to the milking times of the milking animals in a customary manner
  • the tangential speed at the outer periphery of the milking platform may be so high that the milking animals experience difficulties to enter and, in particular, to exit the milking platform.
  • the rotational speed of the milking platform has to be reduced, which causes milking animals to experience waiting times after milking, or an optional post- milking treatment, before they can leave the milking platform at the exit area. This reduces obviously also the utilization of the rotary milking system.
  • a first aspect refers to a rotary milking system for milking a plurality of milking animals comprising a rotating milking platform with a plurality of milking stalls arranged about a periphery thereof, each of the milking stalls being provided with equipment for milking a milking animal present therein, while the milking platform is rotated.
  • a plurality of separated entry and exit areas are arranged outside the milking platform along the periphery thereof, wherein each such entry and exit area comprises an entry area, from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area, from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order.
  • the number of entry and exit areas is two. They may be located symmetrically opposite to each other with respect to the milking platform, or asymmetrically around the milking platform.
  • the number of entry and exit areas is three.
  • the entry and exit areas may be located symmetrically around the milking platform, i.e. with an angular separation of about 120 degrees. Alternatively, they are located asymmetrically around the milking platform, e.g. with different distances between each two neighboring entry and exit areas.
  • the number of entry and exit areas is four.
  • the entry and exit areas may be arranged symmetrically around the milking platform, i.e. with an angular separation of about 90 degrees, or they may be located asymmetrically around the milking platform, e.g. with different distances between each two neighboring entry and exit areas.
  • Pre-milking treatment, teat cup attachment, and post-milking treatment may be performed manually or automatically by robotic arrangements.
  • a robotic arrangement may be located outside the milking platform and configured to attach teat cups to milking animals, which have entered milking stalls through the entry of that entry and exit area, as the milking stalls pass by the robotic arrangement upon rotation of the milking platform. Further, the robotic arrangement for each of the entry and exit areas may be configured to perform a pre-milking treatment to the teats of milking animals, which have entered milking stalls through the entry of that entry and exit area.
  • each of the milking stalls is equipped with an individual device for automatic pre-milking treatment, teat cup attachment, and/or post- milking treatment.
  • each of the milking stalls may be equipped with a robotic arrangement for automatic attachment of teat cups to teats of a milking animal present in the milking stall.
  • the robotic arrangement for each of the entry and exit areas is configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal, which has entered a milking stall through the entry of another entry and exit area.
  • a robotic arrangement fails to perform any of its tasks with respect to a milking animal, and this milking animal moves out of the working area of that robotic arrangement.
  • the next robotic arrangement into the working area of which the milking animal enters upon rotation of the milking platform (if it does not leave the platform before), may perform the missing task, which the previous robotic arrangement failed to perform.
  • a second aspect refers to a method for operating a rotary milking system of the first aspect. According to the method, milking animals are guided to the entries of the separated multiple entry and exit areas, milking animals are allowed to enter the milking platform and milking stalls thereof from the multiple entry and exit areas, milking animals present in the milking stalls are milked, milking animals in milking stalls are allowed to leave the milking stalls and the milking platform from the exits of the multiple entry and exit areas, and milking animals are guided from the exits of the multiple entry and exit areas.
  • a milking animal when a milking animal is not fast enough to enter the first available empty milking stall on the milking platform from an entry area of an entry and exit area, another milking animal in an entry area of another entry and exit area may enter the empty milking stall on the milking platform, and therefore a milking stall will not be left empty for a full revolution of the milking platform.
  • the other animal entering the empty milking stall is waiting in the entry and exit area, which the empty milking stall next passes during the rotation of the milking stall.
  • a milking stall will only be left empty for l/m of a full revolution, where m is the number of entry and exit areas of the rotary milking system, for a rotary milking system with symmetrically arranged entry and exit areas around the milking platform.
  • a milking stall will only be left empty for even a smaller rotation of the milking platform if two entry and exit areas are located more closely, and if the milking animal, which fails to enter the milking platform, is located in the one of the two entry and exit areas that the milking stall passes shortly before.
  • the milking animal when the milking of a milking animal, e.g. including any post-milking treatment, is completed, the milking animal is allowed to leave the milking stall, in which it is located, and the milking platform as soon as the milking stall passes an exit area of an entry and exit area irrespective of where the milking animal entered the milking stall.
  • the step of allowing the animal to leave the milking stall may be performed by simply removing the teat cups from the teats thereof, which may typically be performed automatically by a teat cup removing device, or by operating a device, such as a gate or bar, which my be switched between an open position, in which it allows a milking animal to enter or leave the milking stall, and a closed position, in which it prevents a milking animal from entering or leaving the milking stall.
  • a device such as a gate or bar
  • Such device may be switched to the open position when the milking is completed, e.g. when a post-milking treatment has been made, and back to the closed position when another milking animal has entered the milking stall.
  • a milking animal may need to rotate less than nearly a full revolution, nearly a full revolution, or more than a full revolution, but less than nearly two revolutions.
  • the dead time for a milking stall i.e. the time lapsed from the time when a milking of a milking animal is completed and until this milking animal can leave the milking station is reduced as compared to the prior art method using a rotary milking system with only one entry and exit area.
  • the animals are separated in different groups, wherein the number of groups is equal to the number of entry and exit areas of the rotary milking system used, wherein the entry and exit areas may be symmetrically arranged around the rotating platform.
  • the milking animals in each group are entering milking stalls through an entry area of a respective one of the entry and exit areas, are milked, and are allowed to leave the milking stall only through the exit area of the next entry and exit area, which the milking stalls housing the milking animals in that group come to upon rotation of the milking platform.
  • the animals may rotate nearly half a revolution (or additionally one or more full revolutions), if there are three symmetrically arranged entry and exit areas, the animals may rotate nearly 1/3 of a revolution (or additionally one or more full revolutions), and if there are four symmetrically arranged entry and exit areas, the animals may rotate nearly 1/4 of a revolution (or additionally one or more full revolutions).
  • the rotational speed of the milking platform has to be reduced and adapted to the desired rotational distance between two neighboring entry and exit areas.
  • This embodiment may additionally be suitable for very large rotating milking systems, wherein the rotational speed would be too high for a milking animal to safely enter and exit the rotating platform if the milking animals were to rotate nearly a full revolution. By the reduced rotational speed, the entries and exits of milking animals are facilitated.
  • the groups may be selected arbitrarily and occasionally, a milking animal may be allowed to leave a milking stall from an exit area of an entry and exit area, which is not the usual exit area for that milking animal.
  • the rotational speed is simply adapted so that a majority of the milking animals milked in the rotary milking system is milked during rotation between two neighboring ones of the entry and exit areas.
  • the above embodiment may be modified, so that the groups of milking animals are formed based on the expected milking times of the milking animals.
  • the group of milking animals having shortest expected milking time may be milked between the two most closely located neighboring ones of the entry and exit areas, the group of milking animals having second shortest expected milking time may be milked between the two second most closely located neighboring ones of the entry and exit areas, etc.
  • Figs. 1-6 illustrate each schematically, in a top view, an embodiment of a rotary milking system.
  • Fig. 7 illustrates schematically, in a flow scheme, an embodiment of a method of operating a rotary milking system.
  • Fig. l illustrates schematically, in a top view, an embodiment of a rotary milking system 20 for milking a plurality of milking animals 24 comprising a milking platform 22 with a plurality of milking stalls 42 arranged about a periphery thereof, wherein each of the milking stalls is provided with equipment for milking a milking animal 24 present therein, while the milking platform is rotated in the direction indicated by arrow 22a.
  • a stationary perimeter railing 26 surrounds the platform 22.
  • Each of the milking stalls is defined by two vertical bars or posts 43 at the perimeter of the platform 22 and radially aligned horizontal bars 45.
  • the rotary milking system 20 comprises further first A and second B entry and exit areas.
  • the first entry and exit area A includes an entry area 30 A, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40A, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order.
  • the second entry and exit area B includes an entry area 30B, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40B, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order.
  • the first A and second B entry and exit areas are located opposite to each other with respect to the milking platform 22, i.e. with an angular separation of about 180 degrees.
  • a milking animal 24 may enter a milking stall 42 of the milking platform 22 either through the entry 30A of the first entry and exit area A or through the entry 30B of the second entry and exit area B preferably as the milking platform 22 rotates.
  • the teats of the milking animal 24 may be treated prior to the milking thereof, teat cups of the equipment of the milking stall 42, in which the milking animal 24 is located, are attached to the milking animal 24 and the milking animal 24 is milked.
  • the teats of the milking animal 24 may be treated subsequent to the milking thereof, after which the milking animal 24 may leave the milking stall 42 and the milking platform 22 either through the exit 40A of the first entry and exit area A or through the exit 40B of the second entry and exit area B.
  • the animal 24 may thus leave the milking platform 22 after it has rotated nearly a half revolution, nearly a full revolution, nearly one and a half revolution, nearly two revolutions, etc.
  • the milking animal 24 backs out of the milking stall 42.
  • the platform 22 rotates continuously, but the rotation is relatively slow so the milking animal should be able to step off the milking platform 22 without difficulty.
  • the pre-milking treatment, the teat cup attachment, and the post-milking treatment may be performed manually.
  • a robotic arrangement 50A; 50B which may be configured to attach teat cups to milking animals 24, which have entered milking stalls 42 through the entry 30A; 30B of that entry and exit area A; B. That is, the robotic arrangement 50A for the first entry and exit area A is configured to attach teat cups to milking animals 24, which have entered milking stalls 42 through the entry 30A of the first entry and exit area A, whereas the robotic arrangement 50B for the second entry and exit area B is configured to attach teat cups to milking animals 24, which have entered milking stalls 42 through the entry 30B of the second entry and exit area B.
  • the robotic arrangement 50A; 50B for each of the entry and exit areas A; B may also be configured to perform a pre-milking treatment to the teats of milking animals 24, which have entered milking stalls 42 through the entry 30A; 30B of that entry and exit area 50A, 50B.
  • each of the robotic arrangements 50A; 50B may comprise more than one robot.
  • the robotic arrangement 50A; 50 B for each of the entry and exit areas A; B may be configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal 24, which has entered a milking stall 42 through the entry 30B; 30A of the other entry and exit area B; A.
  • the robotic arrangement 50A for the first entry and exit area A may be configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal 24, which has entered a milking stall 42 through the entry 30B of the second entry and exit area B, while the robotic arrangement 50B for the second entry and exit area B may be configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal 24, which has entered a milking stall 42 through the entry 30 A of the first entry and exit area A.
  • Fig. 2 illustrates schematically, in a top view, an alternative embodiment of a rotary milking system.
  • This embodiment differs from the embodiment of Fig. 1 in that the rotary milking system 20 comprises also a third entry and exit area C, in that a robotic arrangement 50C is provided for the third entry and exit area C, and in that the entry and exit areas A, B, C are arranged symmetrically around the milking platform 22, i.e. with an angular separation of about 120 degrees.
  • the third entry and exit area C includes an entry area 30C, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40C, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order.
  • An animal entering a milking stall 42 and the rotating platform 22 may here rotate nearly n times i/3 th revolution on the platform before leaving the milking stall 42 and the rotating platform 22, wherein n is a positive integer.
  • the robotic arrangement 50C provided for the third entry and exit area C may be similar to the robotic arrangements 50A, 50B provided for the first A and second B entry and exit areas.
  • Figs. 3-6 illustrate each, in a top view, an alternative embodiment of a rotary milking system. While these embodiments are very schematic and show only the milking platform, the entry and exit areas, and the robotic arrangements, it should be appreciated that they may comprise any of the detailed features disclosed with reference to Figs. 1 and 2.
  • the embodiment of Fig. 3 differs from the embodiment of Fig. 1 in that the two entry and exit areas A, B are located asymmetrically around the milking platform 22.
  • the embodiment of Fig. 4 differs from the embodiment of Fig. 2 in that the three entry and exit areas A, B, C are located asymmetrically around the milking platform 22.
  • the embodiment of Fig. 5 differs from the embodiment of Fig. 2 in that the rotary milking system 20 comprises also a fourth entry and exit area D, in that a robotic arrangement 50D is provided for the fourth entry and exit area D, and in that the four entry and exit areas A, B, C, D are arranged symmetrically around the milking platform 22, i.e. with an angular separation of about 90 degrees.
  • the fourth entry and exit area D includes an entry area 30D, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40D, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order.
  • An animal entering a milking stall 42 and the rotating platform 22 may here rotate nearly n times 1/4* revolution on the platform before leaving the milking stall 42 and the rotating platform 22, wherein n is a positive integer.
  • the robotic arrangement 50D provided for the fourth entry and exit area D may be similar to the robotic arrangements 50A, 50B, 50C provided for the first A, second B, and third C entry and exit areas.
  • the embodiment of Fig. 6 differs from the embodiment of Fig. 5 in that the four entry and exit areas A, B, C, D are located asymmetrically around the milking platform 22, i.e. with different distances between each two neighboring entry and exit areas..
  • each of the milking stalls may be equipped with an individual device for automatic pre-milking treatment, teat cup attachment, and/or post-milking treatment.
  • each of the milking stalls may be equipped with a robotic arrangement for automatic attachment of teat cups to teats of a milking animal present in the milking stall.
  • Fig. 7 illustrates schematically, in a flow scheme, an embodiment of a method of operating a rotary milking system such as any of the rotary milking systems disclosed with reference to Figs. 1-6.
  • milking animals are, in a step 61, guided to the entries of multiple entry and exit areas.
  • Milking animals are, in a step 62, allowed to enter the milking platform and milking stalls thereof from the entries of the multiple entry and exit areas.
  • Milking animals present in the milking stalls are, in a step 63, milked.
  • Milking animals in milking stalls are, in a step 64, allowed to leave the milking stalls and the milking platform from the exits of the multiple entry and exit areas.
  • Milking animals are, in a step 65, guided from the exits of the multiple entry and exit areas.
  • a milking animal when a milking animal is not fast enough to enter an empty milking stall on the milking platform from an entry area of an entry and exit area, another milking animal in an entry area of another entry and exit area is allowed to enter the empty milking stall on the milking platform.
  • the other animal allowed to enter the empty milking stall is waiting in the entry area of the entry and exit area, which the empty milking stall next passes during the rotation of the milking platform.
  • the milking animal when the milking of a milking animal, e.g. including any post-milking treatment, is completed, the milking animal is allowed to leave the milking stall, in which it is located, and the milking platform as soon as the milking stall passes an exit area of an entry and exit area during the rotation of the milking platform irrespective of where the milking animal entered the milking stall.
  • This may be implemented by means of simply removing the teat cups from the teats of the milking animal or by switching a device from a closed position to an open position, wherein the device prevents a milking animal from entering or leaving the milking stall in the closed position and allows a milking animal to enter or leave the milking stall in the open position.
  • the rotational speed is adapted so that a majority of the milking animals milked in the rotary milking system is milked during rotation between two neighboring ones of the multiple entry and exit areas.
  • the animals may be guided to different entry and exit areas based on their expected milking times, such that milking animals having shorter expected milking times may leave the milking platform after having rotated a shorter distance on the milking platform, whereas milking animals having longer expected milking times may leave the milking platform after having rotated a longer distance on the milking platform.
  • this embodiment is implemented in the rotary milking system illustrated in Fig.
  • the milking animals having shortest expected milking times are guided to enter the milking platform 22 at the entry and exit area A and are allowed to leave the milking platform 22 at the entry and exit area B
  • the milking animals having second shortest expected milking times are guided to enter the milking platform 22 at the entry and exit area B and are allowed to leave the milking platform 22 at the entry and exit area C, etc.
  • This embodiment increases the throughput of milking animals through the rotary milking system.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • External Artificial Organs (AREA)

Abstract

A rotary milking system (20) for milking a plurality of milking animals (24) comprises a milking platform (22) with a plurality of milking stalls (42) arranged about a periphery thereof, each of the milking stalls being provided with equipment for milking a milking animal (24) present therein; a first entry and exit area (A) including an entry area (30A), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40A), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order; and a second entry and exit area (B) separated from the first entry and exit area (A) and including an entry area (30B), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40B), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order.

Description

ROTARY MILKING SYSTEM AND METHOD FOR OPERATING A ROTARY MILKING SYSTEM
TECHNICAL FIELD
The technical field relates to rotary milking systems and methods for operation thereof.
DESCRIPTION OF RELATED ART
A rotary milking system comprises a milking platform, which rotates during milking. A plurality of milking stalls are arranged on the milking platform, each of which being provided with milking equipment and being arranged to house a milking animal during milking thereof, while the milking platform rotates.
Further, the rotary milking system comprises an entrance area wherein the milking animals enter the milking stalls in a serial order as the rotating animal milking platform rotates. During rotation of the rotating animal milking platform, the teats of the milking animals may be treated prior to the milking thereof, teat cups of the equipment of the milking stalls are attached to the milking animals present in the milking stalls, and the milking animals are milked. The teats of the milking animals may be treated subsequent to the milking thereof, after which the milking animals leave the milking stalls and the milking platform at an exit area when the milking animals have rotated nearly a full revolution. The rotational speed is adapted to the milking times of the milking animals such that ideally there is enough time for the milking animals on the milking platform to be milked appropriately.
During the last years robotic arrangements have been developed which may take care of one or more of the pre-milking treatment, the teat cup attachment, and the post- milking treatment actions.
SUMMARY
Several scenarios may reduce the throughput of milking animals through the rotary milking system, and thus reduce the utilization of the milking capacity of the rotary milking system. Sometimes a milking animal is not fast enough to enter the first available empty milking stall on the milking platform, and as such a milking stall will be left empty for a full revolution of the milking platform.
In other situations, the milking of a milking animal is not completed, or even started, when the milking animal reaches the exit area. This may be caused by a teat cup kick- or fall-off or a failed teat cup attachment. In such instance, there are two options. Either the milking animal is prevented from being allowed to leave the milking platform, by use of a closing gate or bar, and the milking animal will stay on the milking platform for another revolution thereof; or the milking animal is allowed to leave the milking platform, but is directly guided back to the entrance area to be milked again. Following both options, a milking stall is occupied for an additional revolution of the milking platform.
Further for very large rotating milking systems, if the rotational speed is adapted to the milking times of the milking animals in a customary manner, the tangential speed at the outer periphery of the milking platform may be so high that the milking animals experience difficulties to enter and, in particular, to exit the milking platform. Then, the rotational speed of the milking platform has to be reduced, which causes milking animals to experience waiting times after milking, or an optional post- milking treatment, before they can leave the milking platform at the exit area. This reduces obviously also the utilization of the rotary milking system.
In view of the above, it is an aim to provide a rotary milking system and a method for operating a rotary milking system by which higher throughput of milking animals through the rotary milking system can be obtained as compared to prior art systems and methods. Hereby, the utilization rate of the capacity of the rotary milking system can be increased.
A first aspect refers to a rotary milking system for milking a plurality of milking animals comprising a rotating milking platform with a plurality of milking stalls arranged about a periphery thereof, each of the milking stalls being provided with equipment for milking a milking animal present therein, while the milking platform is rotated. A plurality of separated entry and exit areas are arranged outside the milking platform along the periphery thereof, wherein each such entry and exit area comprises an entry area, from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area, from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order.
In one embodiment the number of entry and exit areas is two. They may be located symmetrically opposite to each other with respect to the milking platform, or asymmetrically around the milking platform.
In another embodiment the number of entry and exit areas is three. The entry and exit areas may be located symmetrically around the milking platform, i.e. with an angular separation of about 120 degrees. Alternatively, they are located asymmetrically around the milking platform, e.g. with different distances between each two neighboring entry and exit areas.
In yet another embodiment the number of entry and exit areas is four. The entry and exit areas may be arranged symmetrically around the milking platform, i.e. with an angular separation of about 90 degrees, or they may be located asymmetrically around the milking platform, e.g. with different distances between each two neighboring entry and exit areas.
Pre-milking treatment, teat cup attachment, and post-milking treatment may be performed manually or automatically by robotic arrangements.
In one embodiment, for each of the entry and exit areas, a robotic arrangement may be located outside the milking platform and configured to attach teat cups to milking animals, which have entered milking stalls through the entry of that entry and exit area, as the milking stalls pass by the robotic arrangement upon rotation of the milking platform. Further, the robotic arrangement for each of the entry and exit areas may be configured to perform a pre-milking treatment to the teats of milking animals, which have entered milking stalls through the entry of that entry and exit area.
In alternative embodiment, each of the milking stalls is equipped with an individual device for automatic pre-milking treatment, teat cup attachment, and/or post- milking treatment. In particular, each of the milking stalls may be equipped with a robotic arrangement for automatic attachment of teat cups to teats of a milking animal present in the milking stall.
In one embodiment, the robotic arrangement for each of the entry and exit areas is configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal, which has entered a milking stall through the entry of another entry and exit area. This may typically be the case if a robotic arrangement fails to perform any of its tasks with respect to a milking animal, and this milking animal moves out of the working area of that robotic arrangement. Then, occasionally, the next robotic arrangement, into the working area of which the milking animal enters upon rotation of the milking platform (if it does not leave the platform before), may perform the missing task, which the previous robotic arrangement failed to perform.
A second aspect refers to a method for operating a rotary milking system of the first aspect. According to the method, milking animals are guided to the entries of the separated multiple entry and exit areas, milking animals are allowed to enter the milking platform and milking stalls thereof from the multiple entry and exit areas, milking animals present in the milking stalls are milked, milking animals in milking stalls are allowed to leave the milking stalls and the milking platform from the exits of the multiple entry and exit areas, and milking animals are guided from the exits of the multiple entry and exit areas.
In one embodiment, when a milking animal is not fast enough to enter the first available empty milking stall on the milking platform from an entry area of an entry and exit area, another milking animal in an entry area of another entry and exit area may enter the empty milking stall on the milking platform, and therefore a milking stall will not be left empty for a full revolution of the milking platform. Preferably, the other animal entering the empty milking stall is waiting in the entry and exit area, which the empty milking stall next passes during the rotation of the milking stall. In such case, a milking stall will only be left empty for l/m of a full revolution, where m is the number of entry and exit areas of the rotary milking system, for a rotary milking system with symmetrically arranged entry and exit areas around the milking platform. A milking stall will only be left empty for even a smaller rotation of the milking platform if two entry and exit areas are located more closely, and if the milking animal, which fails to enter the milking platform, is located in the one of the two entry and exit areas that the milking stall passes shortly before.
In another embodiment, when the milking of a milking animal, e.g. including any post-milking treatment, is completed, the milking animal is allowed to leave the milking stall, in which it is located, and the milking platform as soon as the milking stall passes an exit area of an entry and exit area irrespective of where the milking animal entered the milking stall. The step of allowing the animal to leave the milking stall may be performed by simply removing the teat cups from the teats thereof, which may typically be performed automatically by a teat cup removing device, or by operating a device, such as a gate or bar, which my be switched between an open position, in which it allows a milking animal to enter or leave the milking stall, and a closed position, in which it prevents a milking animal from entering or leaving the milking stall. Such device may be switched to the open position when the milking is completed, e.g. when a post-milking treatment has been made, and back to the closed position when another milking animal has entered the milking stall.
By the above method, a milking animal may need to rotate less than nearly a full revolution, nearly a full revolution, or more than a full revolution, but less than nearly two revolutions. As soon as the milking animal has left the milking stall it is free to be occupied by another milking animal. Hereby, the dead time for a milking stall, i.e. the time lapsed from the time when a milking of a milking animal is completed and until this milking animal can leave the milking station is reduced as compared to the prior art method using a rotary milking system with only one entry and exit area.
In the embodiment, the animals are separated in different groups, wherein the number of groups is equal to the number of entry and exit areas of the rotary milking system used, wherein the entry and exit areas may be symmetrically arranged around the rotating platform. The milking animals in each group are entering milking stalls through an entry area of a respective one of the entry and exit areas, are milked, and are allowed to leave the milking stall only through the exit area of the next entry and exit area, which the milking stalls housing the milking animals in that group come to upon rotation of the milking platform. That is, if there are two symmetrically arranged entry and exit areas, the animals may rotate nearly half a revolution (or additionally one or more full revolutions), if there are three symmetrically arranged entry and exit areas, the animals may rotate nearly 1/3 of a revolution (or additionally one or more full revolutions), and if there are four symmetrically arranged entry and exit areas, the animals may rotate nearly 1/4 of a revolution (or additionally one or more full revolutions). The rotational speed of the milking platform has to be reduced and adapted to the desired rotational distance between two neighboring entry and exit areas.
This embodiment may additionally be suitable for very large rotating milking systems, wherein the rotational speed would be too high for a milking animal to safely enter and exit the rotating platform if the milking animals were to rotate nearly a full revolution. By the reduced rotational speed, the entries and exits of milking animals are facilitated. The groups may be selected arbitrarily and occasionally, a milking animal may be allowed to leave a milking stall from an exit area of an entry and exit area, which is not the usual exit area for that milking animal.
By such embodiment suitable for very large rotating milking systems, the rotational speed is simply adapted so that a majority of the milking animals milked in the rotary milking system is milked during rotation between two neighboring ones of the entry and exit areas.
If the multiple entry and exit areas are arranged asymmetrically around the milking platform, the above embodiment may be modified, so that the groups of milking animals are formed based on the expected milking times of the milking animals. The group of milking animals having shortest expected milking time may be milked between the two most closely located neighboring ones of the entry and exit areas, the group of milking animals having second shortest expected milking time may be milked between the two second most closely located neighboring ones of the entry and exit areas, etc.
Further characteristics of the invention and advantages thereof will be evident from the following detailed description of embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS
Figs. 1-6 illustrate each schematically, in a top view, an embodiment of a rotary milking system. Fig. 7 illustrates schematically, in a flow scheme, an embodiment of a method of operating a rotary milking system.
Similar features are denoted by same reference numerals throughout the drawings. DETAILED DESCRIPTION OF EMBODIMENTS
Fig. l illustrates schematically, in a top view, an embodiment of a rotary milking system 20 for milking a plurality of milking animals 24 comprising a milking platform 22 with a plurality of milking stalls 42 arranged about a periphery thereof, wherein each of the milking stalls is provided with equipment for milking a milking animal 24 present therein, while the milking platform is rotated in the direction indicated by arrow 22a. A stationary perimeter railing 26 surrounds the platform 22. Each of the milking stalls is defined by two vertical bars or posts 43 at the perimeter of the platform 22 and radially aligned horizontal bars 45.
The rotary milking system 20 comprises further first A and second B entry and exit areas. The first entry and exit area A includes an entry area 30 A, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40A, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order. Similarly, the second entry and exit area B includes an entry area 30B, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40B, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order. The first A and second B entry and exit areas are located opposite to each other with respect to the milking platform 22, i.e. with an angular separation of about 180 degrees.
Thus a milking animal 24 may enter a milking stall 42 of the milking platform 22 either through the entry 30A of the first entry and exit area A or through the entry 30B of the second entry and exit area B preferably as the milking platform 22 rotates. During rotation of the milking platform 22, the teats of the milking animal 24 may be treated prior to the milking thereof, teat cups of the equipment of the milking stall 42, in which the milking animal 24 is located, are attached to the milking animal 24 and the milking animal 24 is milked. The teats of the milking animal 24 may be treated subsequent to the milking thereof, after which the milking animal 24 may leave the milking stall 42 and the milking platform 22 either through the exit 40A of the first entry and exit area A or through the exit 40B of the second entry and exit area B. The animal 24 may thus leave the milking platform 22 after it has rotated nearly a half revolution, nearly a full revolution, nearly one and a half revolution, nearly two revolutions, etc.
In a rotary milking system 20 with parallel stall configuration, the milking animal 24 backs out of the milking stall 42. Typically, the platform 22 rotates continuously, but the rotation is relatively slow so the milking animal should be able to step off the milking platform 22 without difficulty.
The pre-milking treatment, the teat cup attachment, and the post-milking treatment may be performed manually.
However, in the illustrated embodiment, there is provided, for each of entry and exit area A, B, a robotic arrangement 50A; 50B, which may be configured to attach teat cups to milking animals 24, which have entered milking stalls 42 through the entry 30A; 30B of that entry and exit area A; B. That is, the robotic arrangement 50A for the first entry and exit area A is configured to attach teat cups to milking animals 24, which have entered milking stalls 42 through the entry 30A of the first entry and exit area A, whereas the robotic arrangement 50B for the second entry and exit area B is configured to attach teat cups to milking animals 24, which have entered milking stalls 42 through the entry 30B of the second entry and exit area B.
The robotic arrangement 50A; 50B for each of the entry and exit areas A; B may also be configured to perform a pre-milking treatment to the teats of milking animals 24, which have entered milking stalls 42 through the entry 30A; 30B of that entry and exit area 50A, 50B. For this purpose, each of the robotic arrangements 50A; 50B may comprise more than one robot.
Further, the robotic arrangement 50A; 50 B for each of the entry and exit areas A; B may be configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal 24, which has entered a milking stall 42 through the entry 30B; 30A of the other entry and exit area B; A. That is the robotic arrangement 50A for the first entry and exit area A may be configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal 24, which has entered a milking stall 42 through the entry 30B of the second entry and exit area B, while the robotic arrangement 50B for the second entry and exit area B may be configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal 24, which has entered a milking stall 42 through the entry 30 A of the first entry and exit area A.
Fig. 2 illustrates schematically, in a top view, an alternative embodiment of a rotary milking system. This embodiment differs from the embodiment of Fig. 1 in that the rotary milking system 20 comprises also a third entry and exit area C, in that a robotic arrangement 50C is provided for the third entry and exit area C, and in that the entry and exit areas A, B, C are arranged symmetrically around the milking platform 22, i.e. with an angular separation of about 120 degrees.
The third entry and exit area C includes an entry area 30C, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40C, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order. An animal entering a milking stall 42 and the rotating platform 22 may here rotate nearly n times i/3th revolution on the platform before leaving the milking stall 42 and the rotating platform 22, wherein n is a positive integer.
The robotic arrangement 50C provided for the third entry and exit area C may be similar to the robotic arrangements 50A, 50B provided for the first A and second B entry and exit areas.
Figs. 3-6 illustrate each, in a top view, an alternative embodiment of a rotary milking system. While these embodiments are very schematic and show only the milking platform, the entry and exit areas, and the robotic arrangements, it should be appreciated that they may comprise any of the detailed features disclosed with reference to Figs. 1 and 2.
The embodiment of Fig. 3 differs from the embodiment of Fig. 1 in that the two entry and exit areas A, B are located asymmetrically around the milking platform 22. The embodiment of Fig. 4 differs from the embodiment of Fig. 2 in that the three entry and exit areas A, B, C are located asymmetrically around the milking platform 22.
The embodiment of Fig. 5 differs from the embodiment of Fig. 2 in that the rotary milking system 20 comprises also a fourth entry and exit area D, in that a robotic arrangement 50D is provided for the fourth entry and exit area D, and in that the four entry and exit areas A, B, C, D are arranged symmetrically around the milking platform 22, i.e. with an angular separation of about 90 degrees.
The fourth entry and exit area D includes an entry area 30D, from which milking animals 24 can enter the milking platform 22 and milking stalls 42 thereof in a sequential order, and an exit area 40D, from which milking animals 24 in milking stalls 42 can leave the milking stalls 42 and the milking platform 22 in a sequential order. An animal entering a milking stall 42 and the rotating platform 22 may here rotate nearly n times 1/4* revolution on the platform before leaving the milking stall 42 and the rotating platform 22, wherein n is a positive integer.
The robotic arrangement 50D provided for the fourth entry and exit area D may be similar to the robotic arrangements 50A, 50B, 50C provided for the first A, second B, and third C entry and exit areas.
The embodiment of Fig. 6 differs from the embodiment of Fig. 5 in that the four entry and exit areas A, B, C, D are located asymmetrically around the milking platform 22, i.e. with different distances between each two neighboring entry and exit areas..
The above robotic arrangements may be dispensed with if teat cup attachment is performed manually. Similarly, they may be dispensed with if each of the milking stalls is equipped with an individual device for automatic pre-milking treatment, teat cup attachment, and/or post-milking treatment. In particular, each of the milking stalls may be equipped with a robotic arrangement for automatic attachment of teat cups to teats of a milking animal present in the milking stall.
Fig. 7 illustrates schematically, in a flow scheme, an embodiment of a method of operating a rotary milking system such as any of the rotary milking systems disclosed with reference to Figs. 1-6. According to the method, milking animals are, in a step 61, guided to the entries of multiple entry and exit areas. Milking animals are, in a step 62, allowed to enter the milking platform and milking stalls thereof from the entries of the multiple entry and exit areas. Milking animals present in the milking stalls are, in a step 63, milked. Milking animals in milking stalls are, in a step 64, allowed to leave the milking stalls and the milking platform from the exits of the multiple entry and exit areas. Milking animals are, in a step 65, guided from the exits of the multiple entry and exit areas.
The above method is general, whereas a few more specific embodiments are shortly described in the following.
In one specific embodiment, when a milking animal is not fast enough to enter an empty milking stall on the milking platform from an entry area of an entry and exit area, another milking animal in an entry area of another entry and exit area is allowed to enter the empty milking stall on the milking platform. Preferably, the other animal allowed to enter the empty milking stall is waiting in the entry area of the entry and exit area, which the empty milking stall next passes during the rotation of the milking platform.
In another embodiment, when the milking of a milking animal, e.g. including any post-milking treatment, is completed, the milking animal is allowed to leave the milking stall, in which it is located, and the milking platform as soon as the milking stall passes an exit area of an entry and exit area during the rotation of the milking platform irrespective of where the milking animal entered the milking stall. This may be implemented by means of simply removing the teat cups from the teats of the milking animal or by switching a device from a closed position to an open position, wherein the device prevents a milking animal from entering or leaving the milking stall in the closed position and allows a milking animal to enter or leave the milking stall in the open position.
In yet another embodiment, the rotational speed is adapted so that a majority of the milking animals milked in the rotary milking system is milked during rotation between two neighboring ones of the multiple entry and exit areas. In case the entry and exit areas are arranged asymmetrically around the milking platform, the animals may be guided to different entry and exit areas based on their expected milking times, such that milking animals having shorter expected milking times may leave the milking platform after having rotated a shorter distance on the milking platform, whereas milking animals having longer expected milking times may leave the milking platform after having rotated a longer distance on the milking platform. For instance, if this embodiment is implemented in the rotary milking system illustrated in Fig. 6, the milking animals having shortest expected milking times are guided to enter the milking platform 22 at the entry and exit area A and are allowed to leave the milking platform 22 at the entry and exit area B, the milking animals having second shortest expected milking times are guided to enter the milking platform 22 at the entry and exit area B and are allowed to leave the milking platform 22 at the entry and exit area C, etc. This embodiment increases the throughput of milking animals through the rotary milking system.
It shall be appreciated by a person skilled in the art that the embodiments disclosed herein are merely example embodiments, and that any details and measures are purely given as examples.
The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.

Claims

1. A rotary milking system (20) for milking a plurality of milking animals (24) comprising
- a milking platform (22) with a plurality of milking stalls (42) arranged about a periphery thereof, each of the milking stalls being provided with equipment for milking a milking animal (24) present therein, while the milking platform is rotated;
- a first entry and exit area (A) including an entry area (30A), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40 A), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order, characterized in that said rotary milking system comprises
- a second entry and exit area (B) separated from the first entry and exit area (A) and including an entry area (30B), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40B), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order.
2. The system of claim 1 wherein said rotary milking system comprises
- a third entry and exit area (C) including an entry area (30C), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40C), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order.
3. The system of claim 2 wherein said rotary milking system comprises
- a fourth entry and exit area (D) including an entry area (30D), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40D), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order.
4. The system of any of claims 1-3 wherein said entry and exit areas are arranged symmetrically around said milking platform.
5. The system of any of claims 1-3 wherein said entry and exit areas are arranged asymmetrically around said milking platform.
6. The system of any of claims 1-3 wherein said entry and exit areas are arranged with a different distance between each two neighboring ones of the entry and exit areas.
7. The system of any of claims 1-6 comprising, for each of said entry and exit areas, a robotic arrangement (50A-D) arranged outside the milking platform and configured to attach teat cups to milking animals, which have entered milking stalls through the entry of that entry and exit area, as the milking stalls pass by the robotic arrangement upon rotation of the milking platform.
8. The system of claim 7 wherein the robotic arrangement for each of said entry and exit areas is configured to perform a pre-milking treatment to the teats of milking animals, which have entered milking stalls through the entry of that entry and exit area.
9. The system of claim 7 or 8 wherein the robotic arrangement, for each of said entry and exit areas, is configured to perform a pre-milking treatment and/or a teat cup attachment to the teats of an isolated milking animal, which has entered a milking stall through the entry of another entry and exit area.
10. The system of any of claims 1-6 wherein each of the milking stalls comprises a device for automatically attaching teat cups to teats of a milking animal present in the milking stall.
11. A method for operating a rotary milking system (20) for milking a plurality of milking animals (24) comprising a milking platform (22) with a plurality of milking stalls (42) arranged about a periphery thereof, each of the milking stalls being provided with equipment for milking a milking animal (24) present therein, while the milking platform is rotated; and separated multiple entry and exit areas (A, B), each of which including an entry area (30A, 30B), from which milking animals can enter the milking platform and milking stalls thereof in a sequential order, and an exit area (40A, 40B), from which milking animals in milking stalls can leave the milking stalls and the milking platform in a sequential order, the method being characterized by the steps of: - guiding (61) milking animals to the entries of the multiple entry and exit areas;
- allowing (62) milking animals to enter the milking platform and milking stalls thereof from the entries of the multiple entry and exit areas;
- milking (63) milking animals present in the milking stalls;
- allowing (64) milking animals in milking stalls to leave the milking stalls and the milking platform from the exits of the multiple entry and exit areas; and
- guiding (65) milking animals from the exits of the multiple entry and exit areas.
12. The method of claim 11 wherein when a milking animal is not fast enough to enter an empty milking stall on the milking platform from an entry area of an entry and exit area, another milking animal in an entry area of another entry and exit area is allowed to enter the empty milking stall on the milking platform.
13. The method of claim 12 wherein said other animal allowed to enter the empty milking stall is waiting in the entry area of the entry and exit area, which the empty milking stall next passes during the rotation of the milking platform.
14. The method of any of claims 11-13 wherein when the milking of a milking animal, e.g. including any post-milking treatment, is completed, the milking animal is allowed to leave the milking stall, in which it is located, and the milking platform as soon as the milking stall passes an exit area of an entry and exit area during the rotation of the milking platform irrespective of where the milking animal entered the milking stall.
15. The method of claim 14 wherein the milking animal is allowed to leave the milking stall, in which it is located, and the milking platform as soon as the milking stall passes an exit area of an entry and exit area by means of removing the teat cups from the teats of the milking animal or by switching a device from a closed position to an open position, wherein the device prevents a milking animal from entering or leaving the milking stall in the closed position and allows a milking animal to enter or leave the milking stall in the open position.
16. The method of any of claims 11-15 comprising adapting the rotational speed so that a majority of the milking animals milked in the rotary milking system is milked during rotation between two neighboring ones of the entry and exit areas.
EP15823532.5A 2014-12-29 2015-12-14 Rotary milking system and method for operating a rotary milking system Withdrawn EP3240399A1 (en)

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NL1002792C2 (en) * 1996-04-04 1997-10-07 Maasland Nv Construction with a device for milking animals.
WO1998053671A2 (en) * 1997-05-28 1998-12-03 Manuirirangi, Tongawhiti, Warwick A rotary animal handling complex
US20120216748A1 (en) * 2010-07-06 2012-08-30 Technologies Holdings Corp. System and Method for Using Robots in Conjunction With a Rotary Milking Platform

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