RU2447652C2 - Milking device - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: invention relates to agriculture. The proposed milking device according to clause 1 comprises a frame with at least one teat cup holder located on it with a teat cup, the changing position tool coupled with the teat cup, the intermediate lever, the means of mounting the teat cup holder in the given position combined with teat cup holder and the frame and, if desired, with the intermediate lever. The teat cup holder is movable relative to the cup. The intermediate lever is connected to the frame and the teat cup holder. It has the first and second joints relative to which, respectively, the teat cup holder and the intermediate lever are made with the ability to incline using the changing position tool. Version of milking device according to clause 9 additionally comprises an additional frame with a base connected to the frame and made with the ability to regulate its height relative to the frame, a milk pipeline which includes a flexible hose having the first end connected to the teat cup. At that the teat cup holder is attached to the base of the additional frame and made with an ability to incline at an angle α in the plane of inclination relative to the additional support frame. The hose extends in the said plane of inclination, at least near the first end. The milking devices of clauses 16 and 19 disclose specific embodiments of implementation of the changing position tool, generally containing a winding drum, the pulling device made with the possibility of winding it on the winding drum and reeling from this drum and directed through the teat cup holder, and the motor of winding with an engine control unit.

EFFECT: group of inventions enhances the compactness of the device and reduction of dirtying of teat cups.

20 cl, 12 dwg

Description

The present invention relates generally to a milking device.

In particular, the invention relates, in accordance with a first aspect, to a milking device comprising a frame with at least one milking cup holder arranged on it with a milking cup movable relative to the holder, and means for changing position connected to the milking cup.

Document NL-1024522-C discloses a holder for milking cups, carrying on its upper side milking cups and milking means. Milking cups are made with the possibility of their attachment in the working position by means of upwardly moving grippers for the milking cups.

A disadvantage of the known milking device is that it is impossible to hold the teat cups after use in a reliable manner and so that they take up little space and at the same time are protected from contamination.

The milking device in accordance with the first aspect of the invention is intended to provide the possibility of holding (storing) the teat cups, which provides compactness and protection of teat cups from contamination.

The invention in accordance with the first aspect achieves this goal by means of a milking device comprising a frame with at least one milking cup holder on it with a milking cup arranged to move relative to it, means for changing position connected to the milking cup, the frame further comprises an intermediate lever connected to the frame and to the holder of the milking cup and having a first joint and a second joint, respectively holding spruce teat cup and the intermediate lever can be pivoted by means of position changing means, and means for setting the teat cup holder in a predetermined position, connected to the teat cup holder and the frame and, if desired, with an intermediate lever. Such a milking device makes it possible to tilt the teat cups by means of the teat cup holder. This ensures that no contaminants get in or at least a significantly smaller amount of contaminants gets into the teatcup from above. The teatcups are preferably tilted horizontally and, more preferably, at an angle exceeding 90 ° relative to the vertical. With such an angle, it is in principle impossible to get contaminants into the teatcup from above.

In addition, due to the two-stage tilt, the whole set of additional support frame, intermediate lever and holder of the milking cup will become somewhat more compact, so that the milking device will require less space, and the milking machine will be more easily installed in a predetermined position, for example, under the next cow.

In addition, it is possible to tilt in two steps, namely the first tilt, in which the milking cup is lowered to some extent due to the favorable position of the tilt point, followed by a second tilt relative to the second tilt point, at which a large tilt angle is achieved relative to the vertical. This will be presented below with additional details.

In a particular embodiment, the first and second joints are tilted in the same plane. In the case of tilting in the same plane, it is possible to hold the milking cup on the holder of the milking cup in a compact manner in the milking device. If the joints were able to tilt in different planes, the milking cup would always protrude to some extent, although this is not excluded according to the invention.

In a particular embodiment, a line passing through the first joint and the second joint forms an angle b with respect to the frame. In this case, it is assumed that the frame is parallel to the horizontal, at least to the ground. In this case, the angle b is not equal to 0 and preferably is from 15 ° to 45 °, for example, approximately 30 °. If the first and second joints are located on a line forming an angle b with the frame, you can simply guarantee that when the first tilt, the milking cup will be lowered with a decrease in its height and subsequently, when tilted relative to the second tilt point, it can be tilted, for example, to the horizontal. In this case, it is assumed that the tilt point next to the teatcup is the highest tilt point.

In a specific embodiment, the first joint is configured to tilt at an angle c, wherein the angle c is at least as large as angle b. With such tilt angles, it is effectively guaranteed that the teat cup, when tilted with respect to the first joint located next to the teat cup, is lowered relative to the frame, and in particular, it is guaranteed that the teat cup is lowered, at least when tilted with respect to another, second tilt point.

In a particular embodiment, the second joint is configured to tilt at an angle d, wherein angle c and angle d form at least a right angle together. In this embodiment, it is effectively guaranteed that as a result of two tilts at an angle c from the first joint and at an angle d relative to the second joint, a position can be reached in which the milking cup forms at least a right angle with respect to the vertical and preferably even a larger angle to prevent contamination due to ingress of dirt. In this case, an additional advantage is that the tilt occurs in two stages by means of an intermediate lever, since due to the fact that there is no tilt at an angle exceeding 90 °, there is a possibility that the intermediate lever will hold the lower side of the milking cup somewhat above the additional support frame, so that it is possible to tilt the upper side of the milking cup by more than 90 °.

In a preferred embodiment, the milking device comprises a plurality of holders of teatcups, each of which has a teatcup, means for changing position, first and second joints and a spring. The spring is used to translate the milking cup into a vertical working position when the means of changing the position is weakened. In this regard, there is also the possibility of doing this with functional reversibility, that is, on the contrary, the milking cup will be moved to the (approximately) horizontal holding position when the position-changing means are weakened. One of ordinary skill in the art can perform such mechanical reversal in a simple manner.

In this case, the spring can be connected to the holder of the milking cup, an intermediate lever and an additional support frame. In the working position, the means for changing the position, for example, can pull in the first case the holder of the milking cup so that the latter will tilt relative to the first joint after overcoming the moment of force of the spring created by the spring relative to the first joint. Then, after completing the tilt around the first joint, it is possible that the means for changing the position after overcoming the moment of spring force generated by the spring relative to the second joint will subsequently tilt the intermediate arm relative to the second joint. In this case, it is preferable if the moment of spring force relative to the first joint is less than the moment of spring force relative to the second joint, so that two tilts will occur in the desired sequence.

In a particular embodiment, at least two teatcup holders have at least one joint containing a pivot axis enabling tilting in one tilting plane, wherein at least two of the tilting planes form an angle not equal to zero, relative to each other. In this case, preferably four holders of teatcups are provided, which are arranged in the form of a trapezoid, with the inclination planes intersecting at the short side of the trapezoid. Thus, a milking device has been created which is capable of holding the usual four milking cups in a very compact manner and which, moreover, is configured to be installed in a predetermined position in a simple manner between the hind legs and near the hind legs of a cow or other dairy animal. The nipples of a cow or similar animal are often very close to the hind legs, which limits the installation space. In this case, it is possible to place said embodiment in a simpler manner without irritating the cow.

In addition, the milking device may be provided with one or more of the specific features mentioned later in this description. It is emphasized here that the additional and possible features mentioned below for the first aspect are also applicable and, moreover, are possible for the second, third, fourth and fifth aspects of the invention, which will be mentioned below.

The frame contains, in particular, a movable vehicle, in particular an autonomous mobile vehicle. The milking device can be made in the form of a milking robot, in which the frame is a robot arm. In this case, the robot arm is movable, for example, to install an additional support frame with milking cups under a cow or the like. In this case, the dairy animal in question is brought to the milking parlor where the milking device is located. However, the invention relates in particular and very preferably to a standalone mobile vehicle. The latter embodiment, even more so than the stationary milking device, should be as compact as possible. An autonomous mobile milking device should not only perform maneuvering between legs, etc. A similar device often also has other auxiliary devices placed on it, such as a means for storing milk, a means for cleaning, etc. This makes it even more important to implement each component with the most compact design possible.

The frame may be provided with at least two means of movement, in particular tracks or wheels, preferably, in addition, at least one additional means of movement or a sliding element. For the frame, the mobility of which is ensured in this way, the presence of two wheels may be sufficient to ensure sufficiently smooth movement.

Preferably, the frame further comprises a component that facilitates movement at a third support point, such as an additional wheel or a sliding member. One or preferably two additional wheels are provided, so that in total four wheels will be provided, which ensures optimum comfort when moving. On the other hand, an additional wheel with a ball joint, for example, provides greater maneuverability. The possibly provided sliding element, on the other hand, has the advantage of making it possible to create an exceptionally reliable structure and that pollution does not interfere with it.

In a specific embodiment, the milking device further comprises a motor for driving at least one of the at least two of the means of movement. Due to such an engine, the milking device is self-propelled (self-propelled), and therefore, the operator should not move it. Such equipment, of course, has advantages from the point of view of the amount of work that must be performed by the operator, while the specified volume, thus, can become very small. An engine control unit is preferably provided for a drive motor. The latter can be connected, for example, with a global navigation and positioning system (GPS) or the like for orienting the milking unit in the area where it is located.

In a preferred embodiment, the milking device further comprises a container for storing milk. In this embodiment, the milking device is, in principle, completely self-contained. After milking a cow or other animal, or several animals, if there is a sufficient large container for storing milk, the milking device is configured to move it, either autonomously or not, to a larger reservoir for storing milk to supply the contents of the container for storing milk. The disadvantage of having such a container for storing milk is that, of course, a place for storing milk is required. However, the advantage is that no hoses are required that can be caught by an animal or device, etc. However, in another embodiment, the milking device can also be configured to connect it or can be connected to a milk storage tank through a milk pipe. In this case, it is possible to make such a milking device in the form of a particularly compact device.

In a particular embodiment, the milk storage container is located at least partially in the drum to create a pulsating vacuum and / or winding drum. In this embodiment, optimal use is made of the basically unused hollow space of the drum to create a pulsating vacuum and / or winding drum. By placing the container for storing milk in it, the indicated space is used in a useful manner, which results in a compact milking device.

In particular, the milking device further comprises nipple detection means, a nipple cleaning device and / or a device for cleaning the teat cups. Such means are known from the prior art and are used to obtain a milking device that is more reliable, more hygienic, etc. However, it is also possible for a person skilled in the art to combine the milking device with any other means known in the art to obtain the benefits associated with them.

In accordance with a second aspect, the invention relates to a milking device comprising a frame, an additional support frame provided with a base connected to the frame and configured to adjust its height relative to the frame, at least one milking cup holder provided with a milking cup made with the possibility of movement relative to it, attached to the base of the additional support frame, means for changing the position connected with the milking cup, and a milk pipe containing second flexible hose having a first end connected to the teat cup.

Document NL-1024522-C discloses a holder for milking cups carrying milking cups and milking means on its upper side. The teatcups are adapted to attach the teatcups in the working position using the upwardly moving grippers for the teatcups.

A disadvantage of the known device is that it is not compact enough in many situations, in particular in the case of cows with a low udder.

According to a second aspect, the object of the present invention is to provide a milking device which is more compact and which enables, in particular, the automatic milking of especially cows with a low udder in a more reliable manner.

The invention achieves this goal by means of a milking device of the type mentioned in the restrictive part of paragraph 15 of the claims, characterized in that the holder of the milking cup is made to be tilted at an angle a in the plane of inclination relative to the additional support frame.

By making the teatcup holder tiltable, it is possible to transfer the teatcups to a more even (“flat”) position, which facilitates the placement of the milking unit under a cow or other dairy animal.

In particular, the hose extends essentially in the indicated plane of inclination, at least near the first end. This prevents a situation in which the milk hose (milk line) will protrude sideways in the case of an inclined holder of the milking cup, which can lead to an undesirable width of the milking device. The specified unwanted width may cause the cow to push the milk pipe or run into the milk pipe, which creates a risk of damage or irritation.

The angle α is preferably at least 70 ° and preferably approximately 90 °, and at these angles, the lowering effect of the milking unit is significant.

In a preferred embodiment, the base comprises an opening extending at least partially under the hose, the hose being movable to an area under the base when the teat cup holder and teat cup are tilted. The base (lower part) of the milking device in accordance with the prior art often contains a more or less closed plate, intended, inter alia, to prevent contamination or to prevent a situation in which the milk pipe touches the ground, which is undesirable for hygienic reasons and also not allowed by the rules. In this embodiment, there is the possibility that the milk pipe will pass down through the base through an opening in the specified base. The base itself may not be closed if the milking unit as a whole continues to comply with the rules. For this, it is enough, for example, that the frame guarantees that the milk pipe (s) will not (will not) touch the ground. This will be explained hereinafter with further details. The main point is that the base of the additional support frame, made with a hole, allows the milk pipe (hose) to pass through the specified base and, thus, allows you to get a compact milking device with a tilt holder of the milking cup and without protruding outside the milk pipe (hose).

In one embodiment, the flexible hose comprises a second

an end that is fixedly connected to the frame. The second end is preferably connected to the frame in a place under the additional support frame, if the additional support frame is in the upper adjusted position. Thus, a relatively favorable and stable transportation of milk is guaranteed due to the fact that the milk pipeline has access to the place located below.

The hose (milk line) preferably has a second end connected to the additional support frame by means of connecting means, while the connecting means comprises a rotatable part that is rotatable so that the second end can be displaced below the base of the additional support frame when the milking holder is tilted cups with a milking cup. This ensures that, on the one hand, there is the possibility of placing the second end close to one end, that is, the milking cup, so that a small milk pipe is required, while, on the other hand, there is still very great freedom of movement of the milk pipe . This embodiment, in particular, makes it possible to guarantee, in spite of the short milk line used, that its second end will be in the lowest possible position during milking, so that smooth transport of milk is possible.

The pivoting part can be designed so that the second end can be substantially flush with the base of the additional support frame if the additional support frame is, for example, in a lower position, such as during placement or installation under the cow. This results in a compact design. In this case, it may be sufficient to move the rotary part to an appropriate position by means of a frame or even earth, but there is also the possibility of doing this in an active manner using a moving means such as an adjusting motor. When the additional support frame is moved up, the pivot part in this case can be rotated so that the second connection point can move below the base of the additional support frame.

In a particular embodiment, the pivoting part comprises a stop which is adapted to interact with the frame, with the lowest position of the pivoting part relative to the frame being set. In this embodiment, it is possible to effectively prevent a situation in which the milk pipe will be located on the ground, which is often not allowed according to regulatory documents, since in this case the milk pipe may be contaminated.

In a particular embodiment, the pivot part comprises a stop that is adapted to interact with the additional support frame, with the lowest position of the pivot part relative to the additional support frame being set. In this embodiment, a situation is effectively prevented in which the milk pipe and, in particular, its second end will be too low relative to, in particular, the first end of the milk pipe. Such a too low position may, for example, lead to compression of the milk line, which is undesirable. As in this embodiment, and in the previous embodiment, the emphasis may consist of an element protruding from the pivoting part, such as one or more crossbars, which (s) in this case are made / made so that she / they can / can lean on part of the frame or additional support frame, respectively.

In a particular embodiment, the frame comprises a main base extending at least under the flexible hose. By means of such a main base, a situation is effectively prevented in which the milk pipe touches the ground. In this case, it is sufficient if the main base, at least in the place where the milk pipe can touch the ground, for example, at its lowest point, will contain one or more components passing below it. In other words, the main base does not have to have a closed surface, but it is enough that the main base prevents contact with the ground in strategically important places.

The frame contains, in particular, a movable vehicle, in particular an autonomous mobile vehicle. The milking device can be made in the form of a milking robot, in which the frame is a robot arm. In this case, the robot arm is movable, for example, to install an additional support frame with milking cups under a cow or the like. In this case, the dairy animal in question is brought to the milking parlor where the milking device is located. However, the invention relates in particular and very preferably to a standalone mobile vehicle. The latter embodiment, even more so than the stationary milking device, should be as compact as possible. An autonomous mobile milking device should not only perform maneuvering between legs, etc. A similar device often also has other auxiliary devices placed on it, such as a means for storing milk, a means for cleaning, etc. This makes it even more important to implement each component with the most compact design possible.

In addition, a milking device may be provided with one or more of the specific elements (features) mentioned below.

The frame may be provided with at least two means of movement, in particular tracks or wheels, preferably, in addition, at least one additional means of movement or a sliding element. For the frame, the mobility of which is ensured in this way, the presence of two wheels may be sufficient to ensure sufficiently smooth movement. Preferably, the frame further comprises a component that facilitates movement at a third reference point, such as an additional means of movement or a sliding element. One or preferably two additional wheels are provided, so that in total four wheels will be provided, which ensures optimum comfort when moving. On the other hand, an additional wheel with a ball joint, for example, provides greater maneuverability. The possibly provided sliding element, on the other hand, has the advantage of making it possible to create an exceptionally reliable structure and that pollution does not interfere with it.

In a specific embodiment, the milking device further comprises a motor for driving at least one of the at least two means of movement. Due to such an engine, the milking device is self-propelled and, therefore, the operator must not move it. Such equipment, of course, has advantages from the point of view of the amount of work that must be performed by the operator, while the specified volume, thus, can become very small. An engine control unit is preferably provided for a drive motor. The latter can be connected, for example, with a global navigation and positioning system or the like for orienting the milking unit in the area where it is located.

In a preferred embodiment, the milking device further comprises a container for storing milk. In this embodiment, the milking device is, in principle, completely self-contained. After milking a cow or other animal, or several animals, if there is a sufficient large container for storing milk, the milking device is configured to move it, either autonomously or not, to a larger reservoir for storing milk to supply the contents of the container for storing milk. The disadvantage of having such a container for storing milk is that, of course, a place for storing milk is required. However, the advantage is that no hoses are required that the animal can catch on. However, in another embodiment, the milking device can also be configured to connect it or can be connected to a milk storage tank through a milk pipe. In this case, it is possible to make such a milking device in the form of a particularly compact device.

In particular, the milking device further comprises nipple detection means, a nipple cleaning device and / or a device for cleaning the teat cups. Such means are known from the prior art and are used to obtain a milking device that is more reliable, more hygienic, etc. However, it is also possible for a person skilled in the art to combine the milking device with any other means known in the art to obtain the benefits associated with them.

In particular, in accordance with a third aspect, the invention relates to a milking device comprising a frame with at least one milking cup holder with a milking cup, movable relative to the holder, position adjusting means coupled to the milking cup and a vacuum wire and a ventilation hole, while the milking cup contains an insert (nipple rubber) with a connected vacuum wire with a pulsating vacuum, while the vacuum wire with a pulsating vacuum is made with the possibility of alternating connection with the vacuum wire and with the ventilation hole through the channel, which is made with the possibility of its displacement relative to the vacuum wire with a pulsating vacuum, and the means for changing the position contains a winding drum, pulling means, which is made with the possibility of winding it on a winding drum and winding from the winding drum and which is guided through the holder of the milking cup, and the winding engine with the engine control unit, is intended for providing rotation of the winding drum, further comprising a drum for creating a pulsating vacuum with an engine designed for a drum for creating a pulsating vacuum, which is configured to connect the vacuum wire to the pulsating vacuum alternately with the vacuum wire and the ventilation hole by displacing the channel.

The known milking device comprises a teatcup equipped with teatcup, which is connected to a vacuum wire with a pulsating vacuum, which can be alternately connected to a vacuum wire and a ventilation hole, the aforementioned connection being made by means of a rotating drum.

Known milking device has the disadvantage that it is not particularly compact, which can be a negative property. This is because often there is only limited space for maneuvering under the body or between the legs of the cow.

Therefore, an object of the invention in accordance with a third aspect is to provide a milking device that is more compact.

The invention achieves this goal by means of a milking device of the type mentioned in the restrictive part of paragraph 28 of the claims, in which the channel made with the possibility of bias contains at least one recess in the drum to create a pulsating vacuum and in which the drum to create a pulsating vacuum with the ability to connect with a winding drum. By means of such a milking device, space can be saved due to the possibility of connecting the drum to create a pulsating vacuum with the winding drum. In practice, this is possible, since the periods of operation are basically divided and the functions of the drums do not affect each other in a negative way. When the drum for creating a pulsating vacuum is working, the winding drum does not work, since the pulling means has already been maximally wound, and thus the possibility of unimpeded movement of the pulling means is created. This means that the movement of the pulling device forward and backward, if any, will not be perceived negatively. On the contrary, it is believed that when the winding drum is working, the drum to create a pulsating vacuum does not work. Also, for this reason, there is no possibility that the operation of one of the two drums will adversely affect the operation of the other one. Nevertheless, the possibility of connecting the drum to create a pulsating vacuum and a winding drum saves space, since now there is the possibility of placing them as close to each other as desired.

In a specific embodiment, the engine designed for the drum to create a pulsating vacuum, and the motor for winding form a single unit. In addition, in this embodiment, a motor for a pulsating vacuum drum and a winding motor are connected. Preferably, these two engines are the same engine, wherein said engine in this case has a two-way function, that is, providing winding means for changing the position and ensuring that the vacuum wire is connected to the pulsating vacuum alternately with the vacuum wire and the ventilation hole. As indicated above, the two functions are separated in principle, so that it is possible to perform them in a simple manner by the same engine. It goes without saying that the engine control unit must be adapted to perform both functions, which can be provided by a person skilled in the art in a simple manner.

Preferably, the drum for creating a pulsating vacuum is connected to form one and still with the winding drum. Such an embodiment ensures a reliable connection between the drum to create a pulsating vacuum and the winding drum. In this case, the fact that the working actions of the two drums are separated in time is optimally used, so that the fixed connection of the two drums can lead to maximum gain in terms of space and, in addition, provides maximum reliability. Indeed, the pulsating vacuum drum and the winding drum form a single unit, preferably even one drum.

In a particular embodiment, the channel comprises several recesses distributed over the drum to create a pulsating vacuum. In accordance with this embodiment, the drum for creating a pulsating vacuum contains, with the exception of the part on which the pulling means can be wound, several recesses distributed over the drum to create a pulsating vacuum. However, in fact, only one recess is needed, which serves as a connecting channel between the drum to create a pulsating vacuum and, accordingly, the vacuum wire and the ventilation hole. In this regard, a ventilation duct may also be provided in which, for example, a filter is installed to prevent contamination. It may be preferable to make several recesses, because otherwise the drum to create a pulsating vacuum will need to be turned at a larger or smaller angle of rotation before the channel can be connected to the vacuum wire and / or ventilation hole. If there are several channels, that is, several recesses, the engine will have to provide on average a significantly smaller rotation of the drum before such a connection can be achieved. This provides a more efficient and faster execution of the corresponding operation. In addition, if the channel is damaged, blocked, or the like, it is possible to select another channel by allowing the engine to rotate with a slight additional rotation until the next recess is reached.

The recesses can be made on the peripheral periphery of the drum, that is, for example, next to the part that is used to wind the pulling means. In addition, recesses can be made on the upper or lower surface of the drum, in particular on a ring that is concentric with respect to the axis of rotation. The recesses need not be evenly distributed, but this, of course, is an advantage, since in this way the shortest installation time can be achieved on average.

Preferably, an engine designed for a pulsating vacuum drum is configured to bias the channel at an adjustable speed. In this embodiment, it is possible to control one or more characteristic phases of the milking cycle. This is due to the fact that in practice it was found that the four characteristic phases of the milking process, that is, the vacuum phase, the main milking phase, the ventilation phase and the letting phase, can be controlled by selecting the channel speed. This can be explained, for example, as follows.

Considering that there is a nipple rubber which is under ambient pressure and is not connected to either the vacuum wire or the ventilation hole, it is believed that in the first stage the nipple rubber will be connected to the vacuum wire by shifting the channel in the proper direction . Depending on the channel speed, the aforementioned connection between the pulsed vacuum vacuum line and the vacuum line will be maintained for a certain period of time. During this period of time, the vacuum wire can supply a certain vacuum to the nipple rubber. For example, a given vacuum will be less deep if the channel moves very quickly. The bias rate, which is necessary to achieve a certain vacuum, can be set experimentally in a simple manner.

Meanwhile, the vacuum to be applied to the nipple rubber may be selected depending on the currently prevailing milking phase, such as a pre-milking phase, a main milking phase or a post-milking phase. In any case, it will subsequently be possible to carry out a milking cycle under constant vacuum in the teatcup. The duration of the milking cycle can be adjusted by additionally shifting the channel faster or slower. In the next step, the nipple rubber is connected to the vent. In this case, it is also believed that in the case of a faster channel displacement, the pressure drop that must be achieved, in this case by ventilation, depends on the time of connecting the vacuum wire with a pulsating vacuum to the ventilation hole. If the connection time is short, a residual vacuum will occur. In conclusion, there is a release phase, in which again there is no connection between the vacuum wire with a pulsating vacuum and the vacuum wire or ventilation hole. As indicated above, the currently prevailing vacuum can be controlled by moving the duct faster or slower during ventilation.

In accordance with the features described above, it is possible to fully adjust the vacuum parameters in the nipple rubber during one full milking cycle by shifting the channel at a given speed. Separate adjustment of this speed is possible during four different phases of the milking cycle.

In a particular embodiment, the drum for creating a pulsating vacuum is configured to move it back and forth by an engine designed for the drum to create a pulsating vacuum. The drum for creating a pulsating vacuum, made with the possibility of moving it back and forth, provides the ability to connect the vacuum wire with a pulsating vacuum in a simple and effective way to the channel, in this case, only one recess on the drum is necessary to create a pulsating vacuum. It should be pointed out that in the embodiments according to the fourth aspect of the invention, the pulsating vacuum vacuum line is in principle located between the vacuum line and the air vent. If desired, a different sequence can be used, provided that the channel is configured accordingly.

In another embodiment, the drum for creating a pulsating vacuum is configured to rotate by a motor designed for the drum to create a pulsating vacuum. In this embodiment, the pulsating vacuum drum continues to rotate when it alternately connects to the vacuum wire and the vent. In this case, it is preferable if the connection with the winding drum is temporarily removed.

In particular, in accordance with a fourth aspect, the invention relates to a milking device comprising a frame with at least one milking cup holder with a milking cup, movable relative to the holder with a milk pipe connected to the milking cup, a position changing means coupled to a teatcup, wherein the means for changing the position comprises a winding drum, a pulling means, which is arranged to wind it on a winding drum and winding with us refine the drum and which is guided through the holder of the teat cup, a motor for winding, intended to ensure the winding drum rotation motor control unit for winding the pulling means in this manner.

Known milking device includes a holder for the teatcup with means for changing position connected to the teatcup. The milking device also comprises an overlapping means for the milk pipe, which is also connected to the teatcup. Such a blocking means is required to prevent a situation in which, by means of a vacuum during milking, which in principle is constantly supplied to the milk line, impurities are absorbed when the milking cup is not attached to the nipple.

The known device has the disadvantage that it is not very compact, since it requires a separate means of changing the position and overlapping means. This is undesirable, since in particular in order to allow free movement under the cows and between the cows, a milking device which is as compact as possible is desirable.

Therefore, in accordance with a fourth aspect, an object of the invention is to provide a milking device that is more compact.

The invention achieves this goal by means of a milking device of the type mentioned in the restrictive part of paragraph 19 of the claims, which further comprises a guide element concentric with respect to the winding drum and extending at least in a predetermined curved section, while guiding the milk pipe in the guide element, with the squeezing means extending in the direction of the guide element, is located on the winding drum so that at the same time, the milk line can be squeezed to the blocked state, at least in a predetermined curved section, using a squeezing means.

In such a milking device, the closure means is connected to the position changing means, in particular the squeezing means is connected to the winding drum, so that a very compact milking device is created. The squeezing means can be made in the form of a protrusion on the winding drum or reel, while, of course, the squeezing means interacts with the guide element in which the milk pipe is located. Such a guide element may be, for example, a U-shaped profile or the like. The shape of the squeezing element and the guiding element in combination must be such that they can interact to squeeze the milk pipe until it overlaps. All this can be determined in a simple manner based on the size and elastic properties of the milk pipe.

The predetermined curved section, of course, should cover less than 360 °, because otherwise the milk line will be constantly squeezed to an blocked state. More precisely, an incomplete curve provides the possibility of overlapping the milk line, when desired.

In a preferred embodiment, the predetermined curved portion comprises a curve not spanning more than 180 °. However, a predetermined curved section can also be certainly smaller. All this is connected with the (average) rotation performed by the winding drum when winding the pulling means. All this will be explained below with additional details regarding the operation of this milking unit.

In the first position, namely the position in which milking is possible, the pulling means is weakened as much as possible, and the squeezing means is not in the guide element. This means that the milk line is free and that milk can be absorbed through the milk line. After milking is complete, the reel will rotate to change the position of the teat cup on the teat cup holder. Since at this moment the milk line must be closed, it is preferable if, even with a slight rotation of the winding drum, the squeezing means will enter the guide element and squeeze the milk line until it is closed. Subsequently, the change in position of the milking cup on the holder of the milking cup is completed by providing a predetermined rotation of the winding drum. During the entire turn, the milk line must be closed.

For the next attachment of the teatcup to the teat, the teatcup is first placed on the teat. Subsequently, the winding drum will rotate in the opposite direction to a position in which the squeezing means comes out of the guide element and, thus, "free" the milk line. As a result of this, the vacuum during milking will be applied to the milking cup, and the milking cup will be sucked to the nipple. In addition, the winding drum will also release the teatcup by turning. At this point, the cycle will be completed, and the next cycle may begin.

In a particular and preferred embodiment, the frame comprises a mobile vehicle, in particular an autonomous mobile vehicle. The overlapping means integrated in the winding drum, designed to create a pulsating vacuum, provides the advantage of compactness, which is preferable in the case of (stand-alone) mobile milking devices. This is due to the fact that these devices must maneuver between, for example, the legs of dairy animals. In addition, they are often provided with additional accessories such as a milk storage container, a cleaning agent, a navigation aid, etc., so that any space saving may be preferred.

In particular, in accordance with a fifth aspect, the invention relates to a milking device comprising a frame with at least one milking cup holder with a milking cup movable relative to the holder, a position changing means coupled to the milking cup, wherein the position comprises a winding drum, a pulling means, which is arranged to wind it onto the winding drum and wind it from the winding drum and which is guided through your milking cup holder, and a winding motor with an engine control unit, designed to rotate the winding drum for winding the pulling means in this way with the winding force.

The known milking device comprises a similar position changing means with a winding drum and a winding engine, wherein the winding engine has an engine control unit that is configured to rotate the winding engine at certain revolutions, while the position changing means covers a substantially fixed distance. A disadvantage of the milking device is that in the event of an undesired displacement of the position change means when winding the position change means, etc. the positioning means will no longer function effectively. This is because in the case of an angle of rotation that is too small, the means for changing the position cannot reliably change the position of the milking cup on the holder of the milking cup.

The milking device in accordance with the fifth aspect of the invention is directed to a more reliable milking device, in particular with a more reliable means of changing position and controlling it.

The invention achieves this goal by means of a milking device of the type mentioned in the restrictive part of paragraph 49 of the claims, in which the engine control unit is configured to turn off the winding engine when the winding force exceeds a predetermined maximum winding force. In the case of such an engine control unit, a certain fixed rotation does not need to be taken into account, since the engine control unit simply continues to provide winding until it "collides" with a certain resistance in the form of a winding force. This means that the engine control unit always provides the possibility of changing the position of the milking cup in a reliable manner on the holder of the milking cup. Adaptation to lengthening, displacement, etc. means for changing the position can be performed in a simple manner.

For example, the hauling means is a cable or chain. Such a pulling means can be easily manufactured in a reliable and simple manner. Such a cable can be made, for example, of a synthetic material, such as nylon, of metal, such as a twisted cord or cable, or be a chain in the form of links of metal or synthetic material. However, other pulling means such as a leather belt or the like are not excluded.

In a particular embodiment, the engine control unit comprises a sensor for measuring a quantity depending on the winding force. The sensor measures a value depending on the winding force, on the basis of which a pulling force can subsequently be determined, for example, by means of an engine control unit. Based on this, the engine control unit makes a decision whether the winding motor should continue winding or not.

In a particular embodiment, the sensor comprises a speed meter, an ammeter, a tension meter, a torque meter or a tension meter. In principle, a speed meter and a tension meter measure on a pulling means, while an ammeter, a tension meter and / or a torque meter basically measure on a winding motor. Such gauges are widely used and can be installed in the engine control unit in a simple manner. Other sensors may also be used if desired.

In a particular embodiment, the engine control unit is adapted to adjust the winding engine so that its performance is reduced when the winding force remains below a certain value for a predetermined period of time.

This embodiment is suitable for providing the winding engine with less power or even shutting off the winding engine, for example, in case of failure of the pulling means. This is because in this case, the winding force will never exceed a predetermined maximum winding force. A certain value can be chosen equal to a predetermined maximum winding force, but can also be chosen less, if desired. A predetermined period of time can be determined in a simple manner based on dividing the average value of the rotation, which should be performed when winding the pulling means, by the average speed during this rotation (rotation). If desired, a safety factor such as a factor of 3 or the like may be included. The engine control unit is preferably configured to provide an alarm when the winding engine is turned off based on this condition.

In a specific embodiment, the engine control unit is configured to apply a predetermined pulling force after milking to the pulling means connected to the teat cup while the teat cup is in working position. In this case, the working position of the teatcup is the position on the nipple, while the milking vacuum is applied. This vacuum during milking ensures, among other things, that the teatcup remains firmly connected to the nipple. A pulling force after milking can be applied, for example, after the milking unit has determined that the phase has begun after milking. To this end, the engine control unit may be connected to the control unit of the milking device, which is either located on the milking device, or controls the milking device from an external position. The pulling force after milking is selected depending on the animal that is milked, and, if desired, on the additional properties of this animal. One of ordinary skill in the art can set these parameters in a simple manner in accordance with known principles.

In a particular embodiment, the pulling means is adapted to wind it over a winding length that is at least two times the maximum length of the pulling means in its free state between the winding drum and the milking cup when the milking cup is in the operating position. This embodiment has the advantage that in the event of a breakdown, in many cases it will be possible to repair the pulling means in a simple manner, and the pulling means can still function effectively after that. This is due to the fact that damage to the part of the pulling means located between the teat cup and the connection point on the teat cup holder, that is, in the free movement zone, occurs frequently. The reason for this is that this is the place of greatest friction or the greatest risk of damage from the outside. When changing the position of the milking cup in the case of a damaged pulling means, the engine control unit will detect that there has been a damage, stop winding and possibly give an alarm. In this case, the operator will be able to repair this pulling means, for example, by binding, welding or the like for a damaged pulling means. Even if the total length of the pulling means is changed due to this, there will be no operational errors, since in all cases the engine control unit can reliably change the position of the milking cup on the holder of the milking cup regardless of the length of the pulling means.

It should be noted that a milking device in which two or more of the aspects are combined may also be preferred due to the even more compactness that will be provided. In particular, each of the first to fifth aspects of the invention may be combined with at least one other of the first to fifth aspects of the invention.

The invention will be explained hereinafter with further details with reference to the drawings, which show some non-limiting, exemplary embodiments, and in which:

figa and 1b are schematic side views of one variant of implementation of the milking device in accordance with the invention;

figa, b and c schematically show three side views of a possible additional part in accordance with the first aspect of the invention;

3 shows a schematic plan view of one embodiment in accordance with a second aspect of the invention;

4 is a schematic side view of part of one embodiment of a milking device in accordance with a third aspect of the invention;

figure 5 shows in plan view a detail of figure 4;

6 shows in a schematic side view a detail of one embodiment in accordance with a fourth aspect of the invention;

Fig.7 shows the detail shown in Fig.6, in a view perpendicular to it;

Fig.8 shows an embodiment according to Fig.6 and 7 in a theoretical expanded form; and

9 is a schematic side view of part of one embodiment of a milking device in accordance with a fifth aspect of the invention.

1a and 1b are schematic side views of one embodiment of a milking device according to the invention in an upper and lower position, respectively.

In this case, reference numeral 2 denotes the floor on which the milking unit rests. The latter comprises a frame 10 and an additional support frame 20.

The frame 10 includes wheels 12 and a sliding shoe 14, as well as the vertical part 16. The additional support frame 20 includes a base (lower part) 22 and a casing 46 and a height adjustment device with a cylinder 18 and a parallelogram structure 24. In addition, there are only four holders 26 milking cups (two of which are visible), each of which is provided with a milking cup 28 and each of which is located on the tiltable intermediate arm 30. The milk lines 32 pass through the bracket 34 to the milk outlet pipe 36; reference numeral 38 denotes a pivot portion that is rotatable about a pivot axis 39 and which is provided with a stop 40.

Reference numeral 42 denotes a connection for a vacuum wire, and reference numeral 44 denotes a pulsating vacuum drum / winding drum that is located on the casing 46. The casing 46 is also equipped with a camera 48 for detecting nipples.

As shown in FIG. 1 a, the milking device comprises two wheels 12 and a sliding shoe 14. Thus, a good compromise is achieved between the mobility provided by the wheels, which are able to move quite easily, for example, through small obstacles, and the small height provided by the sliding shoe. The latter is very preferred when placing the milking device under the udder of the animal. Wheels 12, if required, can be driven by an (not shown) engine, preferably even each wheel can be driven by an engine. The latter option provides the advantage that there is no need for any axis between the wheels 12, and, in addition, the possibility of maneuvering is provided in a simple manner by independently controlling the wheels. An engine or engine control unit, and therefore a milking device, may also be provided on the device. Alternatively, the milking device can also be performed without an engine, the device being driven, for example, manually, in the area under the cow or otherwise transferred to the area under the cow.

It should be pointed out that only a mobile embodiment of a milking device according to the invention is shown here. An alternative embodiment comprises a stationary milking device with a movable robot arm. This can be "seen" in the figures, for example, by imagining that wheels 12 are excluded. Meanwhile, in practice, the robot arm will be designed as a robot arm, which is configured to fully bend laterally.

Returning to the illustrated embodiment, it can be noted that the frame 10 does not have to contain much more than the supporting structure, which is preferably designed in such a way that several floors of the milking device, such as milk lines 32, are prevented from touching the floor 2. This is explained in more detail in connection with fig.1b.

The additional support frame 20 is configured to adjust its height relative to the frame 10 and, therefore, relative to the floor 2. To this end, the device comprises a retractable and extendable cylinder 18, which is located between the frame 10 and the additional support frame 20 and connected, in particular with one of two parallel planks from the parallelogram structure 24. In particular, by pulling or extending the cylinder 18, the planks 24 of the parallelogram structure will be rotated, and the additional support frame 20 will be displaced. Height adjustment is desirable to allow attachment of the teat cups 28 at different heights (udders). Meanwhile, instead of a parallelogram design 24 and one cylinder 18, other height adjustment mechanisms, such as a combination of the crown gear and the gear wheel interacting with the crown gear, can also be used, with the additional support frame connected to one (gear) wheel and the frame is connected to another (gear) wheel, or, for example, many cylinders, etc.

The milk lines 32 pass through a guide bracket 34 to the milk discharge pipe 36, which is connected (not shown) to the (also not shown) milk storage. It can be seen that the ends of the milk lines 32 on the connection side with the milk outlet pipe 36 together with the milk outlet pipe 36 are lowered to the area under the base 22, which guarantees, inter alia, improved milk output. For this, the pivot portion 38 is rotatable about the pivot axis 39. To prevent too much deviation or rotation, if necessary, an emphasis 40 may be provided which is adapted to interact with the base 22. When considering FIG. 1b, this will be explained with further details. The components described in this paragraph and their properties are optional, with the exception of milk lines 32, and largely reflect the advantages of the second aspect of the invention.

A milk storage may be provided in the form of an external milk reservoir, in which case the milking unit and the milk reservoir will be connected to each other via a hose extending, for example, from the milk outlet pipe 36. Alternatively, a milk storage container is provided as part of the milking device, for example, in an area adjacent to the wheels 12 or between the wheels 12, or in a pulsating vacuum / winding drum 44.

In addition, the teatcups are connected by means of an unshown pulsating vacuum wire or vacuum wire with a corresponding connecting element 42, which itself is connected in working position to a pulsating vacuum / winding drum 44, which can be selected in accordance with the prior art , and its explanation is not provided with additional details. The drum 44 is located on the supporting structural element 46, which should not be much larger than the mounting plate or the like. Meanwhile, other pulsating rarefaction mechanisms may be selected, such as electromechanical valves, etc.

Additionally shown is a camera 48 for detecting nipples, designed to determine the position of the nipples of the animal to be milked. Such a nipple detection chamber is known per se to a person skilled in the art, and therefore, it will not be described here with further details. However, it should be pointed out that the camera may be additionally equipped for recognizing legs and other obstacles, as well as for navigation in areas such as awnings and milking parlors. Needless to say, the latter option will be especially useful if the milking unit is equipped with a drive to ensure its movement as the movement of an autonomous self-propelled device.

Fig.1b shows the milking device according to figa, but now located in the lowest position, for example, to enable placement of the device under the cow with a low udder. On fig.1b, as in the other figures of the drawings, the corresponding elements are denoted by the same reference position.

It can be seen that cylinder 18 is retracted (retracted) to the maximum extent, so that the additional support frame is in the lowest possible position and closest to frame 10.

Fig. 1b shows the advantages of the second aspect of the invention. The holders 26 of the teat cups are slightly inclined relative to the intermediate arms 30, the design being such that the teat cups 28 will be substantially horizontal. In this case, the milk lines 32 are lowered to the area under the base 22, and by, for example, a sliding shoe 14 or other means suitable for this and provided on the frame 10, the ground 2 is prevented from touching the milk lines 32. In addition, it is seen that the rotary part 38, which can no longer descend to the area under the base 22, is rotated upward so that it is substantially parallel to the base 22. The upward rotation can be accomplished by controlling it by the engine using a possible and not shown drive or it can happen passively, for example, since the milk lines 32 pass under tension as a result of turning the additional support frame down and, therefore, they will pull the rotary part. It is important that the milking unit as a whole be extremely compact. This is because the additional support frame can be lowered and the teatcups can be turned down, while the milk pipes can reach the lowest possible position, and in addition, the sliding shoe requires a minimum construction height. Thus, in practice, there is the possibility of creating a mobile or even self-moving milking device that is suitable for milking cows or other animals whose nipples are located at a height above the ground, which is only a few centimeters. Especially in the case of smaller dairy animals, this can provide significant advantages.

In this case, it is important that the milking unit as a whole be extremely compact. This is because the additional support frame can be lowered and the teatcups can be turned down, while the milk pipes can reach the lowest possible position, and in addition, the sliding shoe requires a minimum construction height. Thus, in practice, there is the possibility of creating a mobile or even self-moving milking device that is suitable for milking cows or other animals whose nipples are located at a height above the ground, which is only a few centimeters. Especially in the case of smaller dairy animals, this can provide significant advantages.

2a, b and c schematically show three side views of an additional detail of the invention.

Fig. 2a shows the situation during milking, that is, with a completely loose cable, while Figs. 2b and 2c show, respectively, the first and second phases of rotation of the milking cup.

Here, reference numeral 28 denotes a teatcup on the teatag holder 26 with a position change means 60 connected thereto, which is guided through the first guide member 78 and the second guide member 80, which are both attached to an intermediate arm 30 that is rotatable about an axis 76. The holder 26 of the milking cup is attached to the end of a small lever 62, which is made to rotate about an axis 64 and which is connected at the other end to a spring 66, which itself inena base 22.

In the shown position, the milking cup 28 is located vertically, that is, in the position usual for milking. This is achieved by tensioning the spring provided by the spring 66. The position changing means 60 is free of tension and the milking cup can move freely and therefore can also be disconnected from the cow milking cup holder if it moves, for example, to some extent.

When the milking is completed and the milking cup 28 is disconnected, the latter will be moved in the first case to the holder 26 of the milking cup. This occurs by winding the position change means 60. When the winding provides a change in the position of the milking cup and, therefore, achieving the situation shown in FIG. this will cause the holder 26 of the teat cup to be tilted with the teat cup 28, so that the risk of contaminants, for example falling from the cow, getting into the teat cup is reduced. In principle, the slope continues until the maximum angle a is reached, while the moment of force generated by the spring and the moment of pulling force acting on the cable side cancel each other relative to axis 64. This is shown in FIG. 2b. However, alternatively and / or additionally, a second tilt, and in particular, such as shown in FIG. 2c, may be provided.

In Fig. 2c, the pulling force acting on the cable side is sufficient to create spring resistance to tilt relative to axis 76. This will cause the intermediate lever to tilt further until milking cup 28 reaches, for example, a horizontal position. For this, the intermediate lever 30 must turn in this case by an angle b, while α + b = 90 °. There is also the possibility of rotation at a slightly smaller or even larger angle, so that not only that no dirt gets into the milking cup is guaranteed, but also that the milking cups will be located at the lowest possible height. To limit the angle b, the guide element 80 may interact, for example, with the base 22, or otherwise one or more stops may be provided.

FIG. 3 shows a schematic plan view of an embodiment in accordance with FIG. 1 a. In addition to the components already described in connection with FIG. 1, two motors 60 are shown here, as well as batteries 52, which are all optional. Batteries, one of which could also be, for example, a container for storing milk, serve to power the engines, cylinder 18, chamber 48 for detecting nipples, etc. The engines 50 provide the driving of the wheels 12, more precisely, independent driving, so that greater maneuverability can be guaranteed.

It is clearly seen that the milking device as a whole at the end located on the side of the milking cups 28 is as compact as possible and has a width that is determined essentially by the bracket 34, and a height that is determined by the camera 48 for detecting nipples. The specified end is preferably compact, because, thus, the risk of contact with legs or the like will be minimally possible. In this case, the holder (s) of the milking cup (s) and the intermediate arms 30, which, of course, determine the dimensions of the working part, but in principle have a “base”, which essentially corresponds to the size of the udder, are excluded .

4 is a schematic side view of part of an embodiment of a milking device in accordance with a third aspect of the invention. Figure 5 shows in plan view a detail of figure 4.

In this case, reference numeral 60 denotes a cable that is connected to the milking cup 28 through the holder 26 of the milking cup and wound around a winding drum 44 designed to create a pulsating vacuum. The drum 44 has a vertical edge 164 to prevent the cable from slipping off the winding drum. Drum 44 has a side surface 150 with recesses 166, the number of which in this case is eight. The recesses 166 are evenly distributed on a circle on the surface. Needless to say, fewer or more recesses can also be provided, with a minimum number of recesses being one. In addition, they do not have to be evenly distributed.

In addition, a lateral cross-section shows a vacuum wire 162 with a pulsating vacuum, a vacuum wire 170 and a ventilation line 172. The other end of the vacuum wire 162 with a pulsating vacuum is connected to the teatcup rubber of the milking cup 28. Here, it should be noted that the connecting The milk pipe element is not shown separately. The specified connecting element, for example, can be provided next to the connecting element of the vacuum wire with a pulsating vacuum, while it will be rotated by a small angle. Alternatively, there is the possibility of performing a milk line and a vacuum wire with a pulsating vacuum in the form of a single combined line. Thus, an extremely compact milking device is obtained.

The recesses 166 and the cross section and locations of the three lines 162, 170, 172 are such that the recess 166 can form a junction between the pulsating vacuum conduit 162 and the ventilation conduit 172 and / or vacuum conduit 170. Thus, there is a possibility of change pressure in the vacuum wire 162 with a pulsating vacuum, that is, in the nipple rubber in the teat cup 28. In this case, it is important that the dimensions of the recess 166 are such that it is also possible that the vacuum wire 162 with a pulsating time cutting will not be connected either to the ventilation line 172, or to the vacuum wire 170.

The change in pressure in the pulsating vacuum vacuum wire 162 is achieved by rotating the drum 44 so that a predetermined connection is achieved between the pulsating vacuum vacuum wire 162 and the ventilation pipe 172 or vacuum wire 170. All of this will be explained with further details with reference figure 3. Meanwhile, it should be emphasized here that the rotation of the drum 44 does not have any effect on the way the milking device operates, related to the position of the milking cup 28, if the milking cup is attached to the nipple, since the means 60 for changing the position allow much greater free movement than required to ensure given rotation (rotation).

Figure 5 shows in a schematic section and in a top view a detail of figure 4. Here, reference numeral 164 represents the edge of drum 44 with recesses 166 shown therein. In addition, a vacuum wire 170, a vacuum wire 162 with a pulsating vacuum and a ventilation pipe 172 are shown. They are fixed in the pipe mounting block 174.

Rotation of the drum 44 to translate the recess 166 to a predetermined position may occur by displacing the drum 44 or by reciprocating it. Needless to say, the latter provides the advantage that it will have the least effect on the length of free movement of the position changing means 60. The reciprocating movement can occur relative to the recess 166, but alternatively it is also possible to ensure that the drum 44 performs such a large rotation (rotation) that several recesses 166 will sequentially connect the vacuum wire 162 with a pulsating vacuum, respectively, with the ventilation pipe 172 and the vacuum wire 170 The reverse movement may occur, for example, after a turn spanning two, three or more recesses 166. This may be advantageous in terms of economy energy, because maintaining a fast reciprocating movement causes the consumption of more energy than rotation, which includes only rare reverse movements.

In the figure, the recess 166 is located so that the vacuum conduit 162 with a pulsating vacuum is connected to the vacuum conductor 170. Needless to say, all this also means that the pressure in the vacuum conduit 162 with a pulsating depression will decrease. If the drum 44 moves in the direction of arrow D, the connection to the vacuum wire 170 will be interrupted until the vacuum wire with a pulsating vacuum is connected to the ventilation line 172, after which the pressure in the vacuum wire 162 with a pulsating vacuum will increase again to a maximum value equal to the pressure of the environment.

Preferably, the edge 164 of the drum 44, the line attachment unit 174, which, by the way, is optional, and said lines 162, 170, 172 or, in any case, at least their ends are made of smooth and / or wear-resistant materials. For example, the edge of the drum 44 is made of stainless steel, which is preferably subjected to grinding, polishing, etc. The line attachment block 174 may comprise, for example, carbon having good lubricity and sliding ability. Needless to say, many other materials can also be used.

6 shows in a schematic side view another detail of an embodiment in accordance with a fourth aspect of the invention. Fig.7 shows the detail shown in Fig.6, in a view perpendicular to this figure. Fig. 8 shows an embodiment in accordance with Figs. 6 and 7 in a theoretical expanded form.

6 shows a milking cup 28, a winding drum 44, a cable 60 and a milk line 32. The cable 60 passes through an unshown milking cup holder from the milking cup 28 to the winding drum 44, in particular to the winding drum portion 44a. Furthermore, the milk line 32, in particular the milk line part 44b, extends from the milking cup 28 to the winding drum 44. Both the positioning means 60 and the milk line 32 can be guided by the guide wheels 88. By the way, they can also coincide for the most part, but for clarity, they are shown in different places. Both the cable 60 and the milk line 32 are partially wound around the winding drum 44. In this case, the milk line 32 is guided in the guide member 82. In addition, a protrusion 84 is provided on the winding drum 44. The inner and outer diameters of the milk line 32, as well as the distance between the winding the drum 44 and the guide element 82 and the dimensions of the protrusion 84 are selected so that the protrusion can provide compression of the milk pipe until it overlaps in the guide element.

The protrusion 84 is used to squeeze the milk pipe 32 to a closed state and, thus, to prevent a situation in which impurities can be sucked into the milk pipe due to the vacuum during milking, which is supplied in principle continuously. Thus, the protrusion functions as an overlapping means. The method of work is as follows. In practice, there will be a certain rotation that the winding drum 44 performs during rotation to detach the milking cup 28. The position changing means 60 will have a special free length corresponding to this rotation. When the milking cup 28 is attached to the teat of the udder, the vacuum must be applied after the milking cup 28 is properly installed. By attenuating the vacuum during milking, the milking cup 28 will be properly sucked to the teat and its falling will be prevented. Subsequently, it will be possible to loosen the position changing means 60 by rotating the winding drum 44 by a predetermined angle of rotation. During this rotation, the milk line 32 must be open. Therefore, the protrusion 84 must be located outside the guide element 82. In other words, the drum 44 in this case will be rotated so that the protrusion 84 will be located in the left half of the figure. Subsequently, at the set point, the milking operation will be completed. At this point, the vacuum should be removed, while the milk line 32 will in this case be squeezed to an off state. This again can occur due to the rotation of the protrusion 84 in the direction of the guide element 82, in which he can squeeze the milk line 32 to a closed state. In relation to the figure, this means that the protrusion 84 will be rotated with its "entrance" in the guide element 62 or from its upper side, or from its lower side. In addition, since subsequently the position change means 60 must be wound, this will in practice lead to its installation on the lower side of the guide element, after which the winding drum 44 will be rotated further in the direction of arrow E. During the rotation (rotation), the position change means 60 is wound further, while the protrusion 84 simultaneously moves through the guide element 82. It should be noted that in this case, the milk line 32 is stationary and therefore does not wrap, but slides along part 44b for the pier okkvarta. In addition, it should be pointed out that the milk line 32 is open during part of the rotation of the winding drum, that is, starting from the position at the end of the milking of the cow, characterized by a tensioned cable and the blocked milk line, to the starting position for milking the next cow. During this preparation for the next cow, the winding drum rotates in the opposite direction of arrow E, and the protrusion 84 comes out of the guide member 82 from its lower side after about half a turn. At the same time, the milk line opens, but the winding drum 44 must be rotated even further (approximately) half a turn to rewind the means 60 for changing the position. To this end, the winding portion 44a, in contrast to what is shown in the drawing, preferably contains only no more than one turn of position changing means 60. During rewinding, the milking cup 28 is not attached, but the milk line 32 is open. During this part, the milk line 32 should preferably be closed externally, although this is not necessary. After fully rewinding, there is also the possibility of placing the protrusion 84 again, if desired, in the upper part of the guide element and blocking the milk line 32 again as a result of this.

7 shows a drum 44 in another, perpendicular side view. The winding portion 44a and the milk pipe portion 44b are clearly visible. The position changing means 60 is shown here in a position in which it has been wound several times, which may be preferable if it breaks as a result of wear or the like and needs to be fastened again.

FIG. 8 shows a theoretical “unwound” or expanded model of a portion of the drum 44 in FIG. 2. In this case, the annular portion of FIG. 6 around the outer circumferential periphery of the drum 44 is shown in an expanded sectional view.

Therefore, only a portion of the drum 44, which is a wall, is shown here. In addition, the milk line 32 with the wall 33 of the milk line is shown in the guide element 82, made with the first and second guide elements 86-1 and 86-2 for feeding. The protrusion 84 squeezes the milk line 32 to the closed state in this position.

When the drum 44 is rotated, the protrusion 84 moves through the guide element 82 and will squeeze the milk line 32 to the closed state, while the latter is located in the guide element 82. Outside the guide element, the milk line will be open.

9 is a schematic side view of a portion of an embodiment of a milking device in accordance with a fifth aspect of the invention.

In this case, reference numeral 60 is a cable that is connected to the milking cup 28 through the holder 26 of the milking cup and wound around the pulsating vacuum / winding drum 44. The drum 44 has a vertical edge 164 to prevent the cable from slipping off the winding drum. Drum 44 has a side surface 150 and is rotatable around winding axis 168. A winding motor is not shown, which can be located, for example, in the winding drum 44 or can also be external and configured to drive the winding axis 168 “in motion” through the drive.

The winding engine is configured to provide winding of the cable 60 for changing the position of the milking cup 28 in this manner on the holder 26 of the milking cup. The winding engine then continues to provide winding until the milking cup 28 is fully reinstalled in a predetermined position on said milking cup holder 26. There is the possibility of determining this moment, since in this case the winding force is greatly increased. If the winding force is measured, for example, by means of a torque meter not shown on the winding motor or winding axis 168 or the like, it is possible to determine the moment of winding termination. In this case, the engine can provide either a complete stop or the application of a (significantly) less winding force, thereby fixing the teat cups in a reliable manner.

The moment of termination of the winding does not depend on the length of the cable, so also in the case of elongation, a change in position (reinstallation) remains reliable. In the event of a cable break, there will never be a moment when the winding force increases. Therefore, the winding motor preferably comprises a time relay device designed to make the cable fail after a certain period of time during which there is no increase in winding force and to stop winding.

In this regard, it should be emphasized here that the rotation of the drum 44 does not have any effect on the working method of the milking device associated with the position of the milking cup 28, if the latter is connected to the nipple, since the means 60 for changing the position provide the possibility of much greater free movement than required for ensuring a given rotation (rotation).

The invention is not limited to the embodiments shown. One skilled in the art will be able to make various modifications and adaptations within the scope of the invention, with the scope of protection for the invention being determined by the accompanying claims.

Claims (20)

1. Milking device containing:
- a frame (10) with at least one holder (26) of the teatcup located on it with a teatcup (28) that can be moved relative to it;
- means (60) for changing position connected to the teatcup;
wherein the frame (10) further comprises an intermediate lever (30) connected to the frame and to the holder of the milking cup and having a first joint and a second joint, with respect to which respectively the holder (26) of the milking cup and the intermediate arm (30) are tilted with using means (60) for changing the position, and means (66) for installing the holder of the milking cup in a predetermined position, connected to the holder (26) of the milking cup and the frame and, if desired, with an intermediate lever. 2. The milking device according to claim 1, in which the means for installing the holder of the teat cup in a predetermined position comprises a spring (66). 3. The milking device according to claim 1 or 2, in which the first and second joints are configured to tilt in the same plane. 4. The milking device according to claim 1, in which the line passing through the first joint and the second joint, forms an angle b relative to the frame. 5. The milking device according to claim 4, in which the first joint is configured to tilt at an angle c, while the angle c is at least equal to the angle b. 6. The milking device according to claim 5, in which the second joint is configured to tilt at an angle d, and in which the angle c and angle d together form a right angle. 7. A milking device according to claim 1, comprising a plurality of holders (26) of teatcups, each of which has a teatcup (28), means (60) for changing position, first and second joints and a spring. 8. The milking device according to claim 7, in which at least two holders of the milking cups have at least one joint containing an axis of rotation, allowing tilting in one plane of inclination, while at least two of tilt planes form an angle not equal to zero relative to each other. 9. A milking device comprising:
- frame (10);
- an additional support frame (20) with a base (22) connected to the frame and configured to adjust its height relative to the frame;
- at least one holder (26) of the teatcup provided with the teatcup (28) movable relative to it and attached to the base (22) of the additional support frame (20);
- means (60) for changing position connected to the teatcup (28);
- milk line (32) containing a flexible hose having a first end connected to the milking cup (28), characterized in that the holder (26) of the milking cup is made to be tilted at an angle α in the plane of inclination relative to the additional support frame (20), wherein the hose extends essentially in the indicated plane of inclination, at least near the first end. 10. The milking device according to claim 9, characterized in that the angle α is at least 70 ° and preferably up to about 90 °, and the base (22) contains an opening extending at least partially under the hose, while the hose is movable to an area under the base (22) when the holder (26) of the milking cup is tilted together with the milking cup (28). 11. The milking device according to claim 9 or 10, in which the flexible hose has a second end that is fixedly connected to the frame (10). 12. The milking device according to claim 9, in which the hose has a second end connected to the additional support frame (20) by means of a connecting means, while the connecting means comprises a rotary part (38), which is rotatable so that the second the end can be shifted under the base (22) of the additional support frame (20) by tilting the holder (26) of the milking cup along with the milking cup (28). 13. The milking device according to claim 9, in which the rotary part (38) contains a stop, which is configured to interact with the frame (10), while the lowest position of the rotary part (38) relative to the frame (10) is set. 14. The milking device according to claim 9, in which the rotary part (38) contains a stop, which is configured to interact with the additional support frame (20), while the lowest position of the rotary part (38) relative to the additional support frame (20) is set . 15. The milking device according to claim 9, in which the frame (10) comprises a main base extending at least under the flexible hose. 16. Milking device containing:
- a frame (10) with at least one holder (26) of a teatcup with a teatcup (28) made to move relative to it;
- means (60) for changing position connected to the teatcup (28);
- a vacuum wire (170) and a ventilation hole (172), while the milking cup (28) contains an insert with a connected vacuum wire (162) with a pulsating vacuum, while the vacuum wire (162) with a pulsating vacuum is made with the possibility of alternating connection with the vacuum wire (170) and with the ventilation hole (172) by means of a channel, which is made with the possibility of its displacement relative to the vacuum wire (162) with a pulsating vacuum, and the means for changing the position contains:
- winding drum (44);
- a pulling means (60), which is arranged to wind it onto the winding drum and wind it off from the winding drum and which is guided through the holder (26) of the milking cup;
- a winding engine with a motor control unit, designed to provide rotation of the winding drum (44);
additionally containing a drum for creating a pulsating vacuum with an engine designed for a drum for creating a pulsating vacuum, which is configured to connect the vacuum wire with a pulsating vacuum alternately with the vacuum wire (170) and the ventilation hole (172) by displacing the channel, and the displaced channel represents at least one recess (166) on the drum to create a pulsating vacuum, and the drum to create a pulsating vacuum is made with the possibility connection with the winding drum (44). 17. The milking device according to clause 16, in which the engine, designed for the drum to create a pulsating vacuum, and the motor for winding form a single unit. 18. The milking device according to item 16 or 17, in which the drum to create a pulsating vacuum is connected with the formation of one whole and motionless with the winding drum (44). 19. A milking device comprising:
- a frame (10) with at least one holder (26) of a teatcup with a teatcup (28) configured to move relative to it with a milk pipe (32) connected to the teatcup;
- means for changing the position connected to the milking cup, while the means for changing the position contains:
- winding drum (44);
- a pulling means (60), which is arranged to be wound onto a winding drum and wound from a winding drum and which is guided through the holder of the milking cup;
- a winding engine with an engine control unit, designed to provide rotation of the winding drum (44) for winding the pulling means (60) in this way; additionally containing a guiding element (82) concentric with respect to the winding drum (44) and extending at least in a predetermined curved section, while the milk duct is guided in the guiding element (82), while the squeezing means (84) passing into the direction of the guide element (82), is located on the winding drum (44) so that the milk pipe (32) is configured to squeeze it to a closed state, at least in a predetermined curved section e via the pinching means (84). 20. The milking device according to claim 19, in which a predetermined curved section contains a curve that does not cover more than 180 °.

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