WO1994023565A1 - Automatic milking apparatus for animals - Google Patents

Automatic milking apparatus for animals Download PDF

Info

Publication number
WO1994023565A1
WO1994023565A1 PCT/NL1994/000076 NL9400076W WO9423565A1 WO 1994023565 A1 WO1994023565 A1 WO 1994023565A1 NL 9400076 W NL9400076 W NL 9400076W WO 9423565 A1 WO9423565 A1 WO 9423565A1
Authority
WO
WIPO (PCT)
Prior art keywords
teat
control mechanism
arm
milking
cow
Prior art date
Application number
PCT/NL1994/000076
Other languages
French (fr)
Inventor
Pieter Adriaan Oosterling
Joost Dessing
Original Assignee
Prolion B.V.
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 Prolion B.V. filed Critical Prolion B.V.
Publication of WO1994023565A1 publication Critical patent/WO1994023565A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/12—Milking stations

Definitions

  • the invention relates to an apparatus for milking a mammal such as a cow, consisting of a milking parlour for positioning the animal, a driven arm movable in and out of this milking parlour, at least one teat cup carried by this arm for each teat of the animal, a control mechanism for driving the arm, at least one detection member form ⁇ ing part of the control mechanism for determining the location of one or more of the teats.
  • the invention has for its object to obviate the above stated problem and provides for this purpose an apparatus which is distinguished in that an element is arranged for connection to a predetermined teat or teat area of the udder and controlled by the control mechanism, which element is provided with position determining means for following that element, which position determining means provide a signal to the control mechanism.
  • the improvement according to the invention is based on the idea of having to determine the position of only one teat, which can take place with a determined uncer ⁇ tainty, but, once this first teat has been defined, the element connected to this teat can then be accurately followed by randomly embodied position determining means which give a signal to the control mechanism so that the other teats can easily be connected to the associated teat cup(s) .
  • fig. 1 and 2 show in each case a schematic top view of a milking parlour bounded by a fence, with two vari ⁇ ants of a milking system
  • fig. 3 shows a schematic top view of a first follow- er element for a teat in a mechanical embodiment
  • fig. 4 shows a perspective top view of the follower element of fig. 3 fixed to a follower arm
  • fig. 5 is a perspective view of a follower element embodied as a teat cup
  • fig. 6 is a perspective view corresponding with fig. 5 of a follower element as teat cup, arranged on a fol ⁇ lower arm.
  • the milking parlour in which a mammal such as a cow can be milked automatically.
  • the milking parlour is provided for this purpose with a milking system, the teat cups 2 of which are arranged in each case round a teat of the cow.
  • the teat cups are herein provided in known manner with milk conduits and pulsating conduits connected thereto, which are not shown.
  • the teat cups shown in fig. 1 are mounted on a milking rack 4.
  • the milking rack is moved in the space of the milking parlour 1 by an automatically controlled milking arm 7 such that a teat cup is carried in each case under the teat and then moved upward by means of a lever 5 at the moment the teat cup is situated under the teat of the cow for milking.
  • the embodiment shown in fig. 2 is a variant in respect of the milking system.
  • the teat cups 2 are herein arranged in a rack 6 along the milking parlour and, using a gripper 8 which takes hold of these cups, these teat cups are carried one by one under the cow and the teat on an automatically controlled milking arm 7 and placed round this teat by an upward directed movement.
  • the milking parlour in both embodiments of fig. 1 and fig. 2 is provided in each case with a feed trough 9 for displacing in longitudinal direction.
  • the correct length is assumed known from the memory of the control system 11 in which the cow data is stored, which data is provided by the control system as soon as the identity of the cow is established using the identification element 10 round the cow. This identification will usually take place in the access space to the milking parlour 1 where- by the latter is immediately adjusted to length before the cow enters the stall.
  • a reference point on the cow which is determined and subsequently followed by a follower, wherein the changes in the posi ⁇ tion of the reference point are passed on to the control system for positioning of the teat cups 2.
  • Fig. 3 shows a first embodiment of such a follower system. It consists of a follower element in the form of a light gripper 12, the levers 14 of which place the fork-like guides 13 round the teat of the cow. Arranged in the fork-like guides 13 are sensors 15 which determine whether the gripper encloses the teat.
  • This data can be a component of the retrieved cow data, which data is entered manually the first time by means of measurements and later brought up to date as a result of supplementary data obtained during connection.
  • the automatically controlled arm 7 moves the gripper 12 to the location determined for a particular cow.
  • the articulated system 16 shown in fig. 4 which is adjustable in vertical direction along an upright guide 19 by means of a step ⁇ ping motor 17.
  • the height of the plane in which the articulated system moves is derived from the cow data.
  • a closing mechanism (not further shown) .
  • the teat is grasped by the guides 13, wherein the teat will exert a force on the inside of the fork-like guides 13 which will then be displaced and thus carry along the articulated system 16 until the teat is clamped fixedly in the middle of the gripper 12.
  • the sensors 15 detect that a teat is held, whereafter the position of the teat is made known to the control 11 via the position determining means 18 in the form of sensors. Because the guides 13 cover a large area the difference between the position to which the automatic arm 7 carries the gripper and the actual position of the teat may be relatively great.
  • the automatic arm 7 places a sensor system (not shown) between the teats with which the mutual position of the teats is determined. This will also show whether the correct teat is held by the gripper. If the wrong teat is held the position of the desired teat known from the cow data is adapted with the now known data and the gripper is placed again.
  • the position of gripper 12 is followed by a position determining system which con ⁇ sists for instance of two points of rotation with rota ⁇ tion sensors 18 and which is coupled to the control. On the basis of this position determining data the control knows the position of the held teat and the cow movements can also be followed.
  • the embodiment of fig. 5 has a sensor system 20 which is mounted on the automatic control arm and which consists here of two ultrasonic sensors 21.
  • the radiation beams 23 of these sensors detect one of the teats of the cow, wherein the teat cup belonging on this teat is arranged round the teat.
  • Reflecting materials 24 are arranged according to the invention on the teat cups, whereby the relevant teat cup can be used as follower element.
  • the position of this cup can be followed especially well.
  • the sensor system is provided with ultrasonic sensors the radiation reflection of the metal teat cup is sufficient, but when light sensors are used extra-reflective material on this cup will then provide a better signal.
  • the position of the re ⁇ maining teats is detected relative to this cup by means of a sensor system arranged temporarily between the teats, whereafter the other teat cups can be placed.
  • the same sensor system which searches for the first teat is therefore also used to follow the first teat cup, whereby determining of the location of the other teats can take place better. No use is made of historic data in finding the first teat, so that this system can respond flexibly to any change in the contours of the cow.
  • This embodiment has the further advantage that operation can take place without historic data, wherein the susceptibility to disruption is reduced to a minimum.
  • the invention is not limited to the above described embodiments.
  • the follower element can be attached to the udder wall in the neighbourhood of the predetermined teat.
  • the follower element may be an annular member placed around the teat against the udder and held positively thereon by means of suction or the like.

Abstract

An apparatus for milking a mammal such as a cow, consisting of a milking parlour (1) for positioning the animal, a driven arm (7) movable in and out of this milking parlour, at least one teat cup (2) carried by this arm for each teat of the animal, a control mechanism for driving the arm, at least one detection member forming part of the control mechanism for determining the location of one or more of the teats, wherein an element is arranged for connection to a predetermined teat and controlled by the control mechanism, which element is provided with position determining means for following that element, which position determining means provide a signal to the control mechanism whereby placing of the teat cups is considerably simplified.

Description

AUTOMATIC MILKING APPARATUS FOR ANIMALS
The invention relates to an apparatus for milking a mammal such as a cow, consisting of a milking parlour for positioning the animal, a driven arm movable in and out of this milking parlour, at least one teat cup carried by this arm for each teat of the animal, a control mechanism for driving the arm, at least one detection member form¬ ing part of the control mechanism for determining the location of one or more of the teats.
In such apparatus as described in the preamble use is made of sensor systems to determine the position of the teats while the cow is standing in a milking parlour. The cow moves within determined limits in the milking parlour and it is therefore necessary to accurately follow the teats in order to enable placing of the teat cups on the teats. This changing of the teat position has to be measured and transmitted to the control of the milking apparatus. A number of systems have been devel¬ oped for measuring the position which all have the prob¬ lem that the position of all teats must be determined within very precise limits.
The invention has for its object to obviate the above stated problem and provides for this purpose an apparatus which is distinguished in that an element is arranged for connection to a predetermined teat or teat area of the udder and controlled by the control mechanism, which element is provided with position determining means for following that element, which position determining means provide a signal to the control mechanism. The improvement according to the invention is based on the idea of having to determine the position of only one teat, which can take place with a determined uncer¬ tainty, but, once this first teat has been defined, the element connected to this teat can then be accurately followed by randomly embodied position determining means which give a signal to the control mechanism so that the other teats can easily be connected to the associated teat cup(s) .
The invention will be further elucidated with refer¬ ence to a number of embodiments. In the drawing: fig. 1 and 2 show in each case a schematic top view of a milking parlour bounded by a fence, with two vari¬ ants of a milking system, fig. 3 shows a schematic top view of a first follow- er element for a teat in a mechanical embodiment, fig. 4 shows a perspective top view of the follower element of fig. 3 fixed to a follower arm, fig. 5 is a perspective view of a follower element embodied as a teat cup, fig. 6 is a perspective view corresponding with fig. 5 of a follower element as teat cup, arranged on a fol¬ lower arm.
Designated in fig. 1 with the numeral 1 is the milking parlour in which a mammal such as a cow can be milked automatically. The milking parlour is provided for this purpose with a milking system, the teat cups 2 of which are arranged in each case round a teat of the cow. The teat cups are herein provided in known manner with milk conduits and pulsating conduits connected thereto, which are not shown.
The teat cups shown in fig. 1 are mounted on a milking rack 4. The milking rack is moved in the space of the milking parlour 1 by an automatically controlled milking arm 7 such that a teat cup is carried in each case under the teat and then moved upward by means of a lever 5 at the moment the teat cup is situated under the teat of the cow for milking.
The embodiment shown in fig. 2 is a variant in respect of the milking system. The teat cups 2 are herein arranged in a rack 6 along the milking parlour and, using a gripper 8 which takes hold of these cups, these teat cups are carried one by one under the cow and the teat on an automatically controlled milking arm 7 and placed round this teat by an upward directed movement. The milking parlour in both embodiments of fig. 1 and fig. 2 is provided in each case with a feed trough 9 for displacing in longitudinal direction. The correct length is assumed known from the memory of the control system 11 in which the cow data is stored, which data is provided by the control system as soon as the identity of the cow is established using the identification element 10 round the cow. This identification will usually take place in the access space to the milking parlour 1 where- by the latter is immediately adjusted to length before the cow enters the stall.
It has become known from research that the position of the teats on an udder on the same cow varies in the course of the day between values which make arranging of teat cups on the basis of historic data impossible. This is partly because the opening in a teat cup is quite narrow since it may only be a little larger than the teats themselves.
In the automatic milking system according to the invention as described above use is made of a reference point on the cow which is determined and subsequently followed by a follower, wherein the changes in the posi¬ tion of the reference point are passed on to the control system for positioning of the teat cups 2. Fig. 3 shows a first embodiment of such a follower system. It consists of a follower element in the form of a light gripper 12, the levers 14 of which place the fork-like guides 13 round the teat of the cow. Arranged in the fork-like guides 13 are sensors 15 which determine whether the gripper encloses the teat.
In such a system the position of the teat must however be known within determined limits. This data can be a component of the retrieved cow data, which data is entered manually the first time by means of measurements and later brought up to date as a result of supplementary data obtained during connection.
Using this data the automatically controlled arm 7 moves the gripper 12 to the location determined for a particular cow. Coupled to gripper 12 is the articulated system 16 shown in fig. 4 which is adjustable in vertical direction along an upright guide 19 by means of a step¬ ping motor 17. The height of the plane in which the articulated system moves is derived from the cow data. As soon as the gripper has arrived at the determined point it is closed by a closing mechanism (not further shown) . During this closing the teat is grasped by the guides 13, wherein the teat will exert a force on the inside of the fork-like guides 13 which will then be displaced and thus carry along the articulated system 16 until the teat is clamped fixedly in the middle of the gripper 12. The sensors 15 detect that a teat is held, whereafter the position of the teat is made known to the control 11 via the position determining means 18 in the form of sensors. Because the guides 13 cover a large area the difference between the position to which the automatic arm 7 carries the gripper and the actual position of the teat may be relatively great.
After the gripper has been arranged round the first teat, the automatic arm 7 places a sensor system (not shown) between the teats with which the mutual position of the teats is determined. This will also show whether the correct teat is held by the gripper. If the wrong teat is held the position of the desired teat known from the cow data is adapted with the now known data and the gripper is placed again.
In the horizontal plane the position of gripper 12 is followed by a position determining system which con¬ sists for instance of two points of rotation with rota¬ tion sensors 18 and which is coupled to the control. On the basis of this position determining data the control knows the position of the held teat and the cow movements can also be followed.
The above described embodiment is simple and only makes use of sensors which operate remotely during deter- mining of the mutual position of the teats. This takes place at a short distance whereby there is little suscep¬ tibility to disruption. the embodiment of fig. 5 has a sensor system 20 which is mounted on the automatic control arm and which consists here of two ultrasonic sensors 21. The radiation beams 23 of these sensors detect one of the teats of the cow, wherein the teat cup belonging on this teat is arranged round the teat.
Reflecting materials 24 are arranged according to the invention on the teat cups, whereby the relevant teat cup can be used as follower element. The position of this cup can be followed especially well. When the sensor system is provided with ultrasonic sensors the radiation reflection of the metal teat cup is sufficient, but when light sensors are used extra-reflective material on this cup will then provide a better signal. After arranging of the first teat cup on the teat the position of the re¬ maining teats is detected relative to this cup by means of a sensor system arranged temporarily between the teats, whereafter the other teat cups can be placed. In this embodiment the same sensor system which searches for the first teat is therefore also used to follow the first teat cup, whereby determining of the location of the other teats can take place better. No use is made of historic data in finding the first teat, so that this system can respond flexibly to any change in the contours of the cow.
In the embodiment according to fig. 6 both the above described embodiments are combined. Use is made here of a sensor system which is mounted on the automatic milking arm. One of the teats of the cow is detected with this sensor system, whereafter the associated teat cup is arranged thereon. An articulated system 22 with position determining means in the form of rotation sensors 25 is arranged on this teat cup. After arrangement, where the held teat is situated is known exactly in the control via the rotation sensors. This information is not affected by possible disruption factors which have an adverse effect on the first sensor system, whereby the control for arranging the three remaining teat cups can take place without hindrance.
This embodiment has the further advantage that operation can take place without historic data, wherein the susceptibility to disruption is reduced to a minimum. The invention is not limited to the above described embodiments.
Instead of the follower element being connected to the teat itself, the follower element can be attached to the udder wall in the neighbourhood of the predetermined teat. According to a preferred embodiment the follower element may be an annular member placed around the teat against the udder and held positively thereon by means of suction or the like.

Claims

1. Apparatus for milking a mammal such as a cow, consisting of a milking parlour for positioning the animal, a driven arm movable in and out of this milking parlour, at least one teat cup carried by this arm for each teat of the animal, a control mechanism for driving the arm, at least one detection member forming part of the control mechanism for determining the location of one or more of the teats, characterized in that an element is arranged for connection to a predetermined teat or teat area of the udder and controlled by the control mechanism, which element is provided with position determining means for following that element, which position determining means provide a signal to the control mechanism.
2. Apparatus as claimed in claim 1, characterized in that the follower element is arranged on an arm connected to a frame and the means detect the length change and/or angular displacement of the arm.
3. Apparatus as claimed in claim 1 or 2, character- ized in that the position determining means are provided with reflection surfaces arranged on the follower member for a radiation transmitting and receiving sensor con¬ nected to the control mechanism.
4. Apparatus as claimed in any of the claims 1-3, characterized in that the follower member is formed by a teat cup.
5. Apparatus as claimed in any of the claims 1-3, characterized in that the follower member is adapted to be attached to the udder wall near or around the teat.
6. Apparatus as claimed in claim 5, characterized in that the follower member has an annular shape adapted to be attached to the udder wall around the teat.
PCT/NL1994/000076 1993-04-14 1994-04-14 Automatic milking apparatus for animals WO1994023565A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9300632 1993-04-14
NL9300632A NL9300632A (en) 1993-04-14 1993-04-14 Automatic milking equipment for livestock.

Publications (1)

Publication Number Publication Date
WO1994023565A1 true WO1994023565A1 (en) 1994-10-27

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Family Applications (1)

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Country Status (2)

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NL (1) NL9300632A (en)
WO (1) WO1994023565A1 (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997015183A1 (en) * 1995-10-27 1997-05-01 Tetra Laval Holdings & Finance S.A. An apparatus for moving an animal related means and a method therefor
WO1999001025A1 (en) * 1997-07-01 1999-01-14 Alfa Laval Agri Ab Animal stall with two different positions for an animal related means
WO2001028315A1 (en) * 1999-10-20 2001-04-26 Delaval Holding Ab Teat treating device
WO2001030134A1 (en) * 1999-10-26 2001-05-03 Delaval Holding Ab Means for improved milking
US7131394B2 (en) 2000-03-17 2006-11-07 Delaval Holding Ab Device for at least one milking stall and a parlour comprising a plurality of milking stalls
WO2012081972A1 (en) 2010-12-17 2012-06-21 Lely Patent N.V. Method and device for connecting teatcups to a dairy animal
WO2014067966A1 (en) * 2012-11-02 2014-05-08 Gea Farm Technologies Gmbh Control box unit for a milking station, and milking station arrangement
US8807080B2 (en) 2006-09-05 2014-08-19 Maasland N.V. Implement for automatically milking a dairy animal
US10440931B2 (en) 2014-05-20 2019-10-15 Gea Farm Technologies Gmbh Arm device for a milking parlor arrangement for the automatic milking of milk-producing animals, divider for a milking parlor arrangement, and milking parlor arrangement
US10694717B2 (en) 2012-03-14 2020-06-30 Gea Farm Technologies Gmbh Milking parlor arrangement with an inner robot device
US10849304B2 (en) 2012-03-14 2020-12-01 Gea Farm Technologies Gmbh Space divider of a milking parlor arrangement, and milking parlor arrangement
US11013209B2 (en) 2011-03-18 2021-05-25 Gea Farm Technologies Gmbh Milking cluster and milking parlor having such a milking cluster

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0213660A1 (en) * 1985-09-04 1987-03-11 Multinorm B.V. Milking apparatus
EP0232568A1 (en) * 1985-12-27 1987-08-19 Prolion B.V. System for the control of a member for following a moving object, an automatic milking apparatus and a method for automatic milking
WO1990007268A1 (en) * 1989-01-04 1990-07-12 National Research Development Corporation Milking
EP0467489A1 (en) * 1988-09-21 1992-01-22 C. van der Lely N.V. An implement for milking an animal
WO1993000001A1 (en) * 1991-06-20 1993-01-07 British Technology Group Ltd. Automatic milking

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0213660A1 (en) * 1985-09-04 1987-03-11 Multinorm B.V. Milking apparatus
EP0232568A1 (en) * 1985-12-27 1987-08-19 Prolion B.V. System for the control of a member for following a moving object, an automatic milking apparatus and a method for automatic milking
EP0467489A1 (en) * 1988-09-21 1992-01-22 C. van der Lely N.V. An implement for milking an animal
WO1990007268A1 (en) * 1989-01-04 1990-07-12 National Research Development Corporation Milking
WO1993000001A1 (en) * 1991-06-20 1993-01-07 British Technology Group Ltd. Automatic milking

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997015183A1 (en) * 1995-10-27 1997-05-01 Tetra Laval Holdings & Finance S.A. An apparatus for moving an animal related means and a method therefor
US6055930A (en) * 1995-10-27 2000-05-02 Alfa Laval Agri Ab Apparatus for moving an animal related means and a method therefor
WO1999001025A1 (en) * 1997-07-01 1999-01-14 Alfa Laval Agri Ab Animal stall with two different positions for an animal related means
WO2001028315A1 (en) * 1999-10-20 2001-04-26 Delaval Holding Ab Teat treating device
WO2001030134A1 (en) * 1999-10-26 2001-05-03 Delaval Holding Ab Means for improved milking
US7131394B2 (en) 2000-03-17 2006-11-07 Delaval Holding Ab Device for at least one milking stall and a parlour comprising a plurality of milking stalls
US8807080B2 (en) 2006-09-05 2014-08-19 Maasland N.V. Implement for automatically milking a dairy animal
US10743512B2 (en) 2006-09-05 2020-08-18 Maasland N.V. Implement for automatically milking a dairy animal
US10750712B2 (en) 2006-09-05 2020-08-25 Maasland N.V. Implement for automatically milking a dairy animal
WO2012081972A1 (en) 2010-12-17 2012-06-21 Lely Patent N.V. Method and device for connecting teatcups to a dairy animal
US11013209B2 (en) 2011-03-18 2021-05-25 Gea Farm Technologies Gmbh Milking cluster and milking parlor having such a milking cluster
US10694717B2 (en) 2012-03-14 2020-06-30 Gea Farm Technologies Gmbh Milking parlor arrangement with an inner robot device
US10849304B2 (en) 2012-03-14 2020-12-01 Gea Farm Technologies Gmbh Space divider of a milking parlor arrangement, and milking parlor arrangement
US11388882B2 (en) 2012-03-14 2022-07-19 Gea Farm Technologies Gmbh Space divider of a milking parlor arrangement, and milking parlor arrangement
US11903363B2 (en) 2012-03-14 2024-02-20 Gea Farm Technologies Gmbh Space divider of a milking parlor arrangement, and milking parlor arrangement
WO2014067966A1 (en) * 2012-11-02 2014-05-08 Gea Farm Technologies Gmbh Control box unit for a milking station, and milking station arrangement
US10440931B2 (en) 2014-05-20 2019-10-15 Gea Farm Technologies Gmbh Arm device for a milking parlor arrangement for the automatic milking of milk-producing animals, divider for a milking parlor arrangement, and milking parlor arrangement

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