WO1998042182A1

WO1998042182A1 - A method and an apparatus for preparing a lactating animal for milking

Info

Publication number: WO1998042182A1
Application number: PCT/SE1998/000557
Authority: WO
Inventors: Uzi Birk; Jonas Lundwall; Ann-Louise HÖRBERG; Nick Tillett; Benny ÖRNERFORS; Anders Björk; Göran HALLSTEN; Martin Rogersson; Niklas Svahn; Lars Andersson
Original assignee: Alfa Laval Agri Ab
Priority date: 1997-03-26
Filing date: 1998-03-26
Publication date: 1998-10-01
Also published as: EP0973376A1; AU6755398A; IL131747A0; JP2001518802A

Abstract

The invention relates to a method of preparing a lactating animal for milking comprising the following steps: localizing the udder of the animal and/or at least one teat; and stimulating said at least one teat and/or the udder in order to induce milk letdown. In one aspect of the invention, the method further includes the step of premilking; in another aspect of the invention, the method comprises cleaning of at least one teat and/or the udder. The invention also relates to a corresponding apparatus and an equipment for use in semi-automatic or automatic milking of animals. The invention further relates to a cleaning fluid to be used in one aspect of said method as well as a method of preparing said cleaning fluid.

Description

A METHOD AND AN APPARATUS FOR PREPARING A ACTATING ANIMAL FOR MILKING

TECHNICAL FIELD OF THE INVENTION The present invention relates to a method of preparing a lactating animal for milking.

The invention also relates to an apparatus for preparing a lactating animal for milking and an equipment for use in semi-automatic or automatic milking of animals. The invention further relates to a cleaning fluid to be used in one aspect of said method as well as a method of preparing said cleaning fluid.

BACKGROUND OF THE INVENTION It is a well-known fact that before the milking can start the teats and/or the udder of the animal to be milked must be stimulated or massaged in order to stimulate the milk ejection reflex and induce milk letdown. When the milking is made by hand, the person performing the milking normally stimulates the teats and/or the udder by massaging them with the hands. When the milk letdown has occurred the milking can start. Since there is a certain risk that the first droplets of the milk obtained may be contaminated due to contamination on the outside of the teat and/or in the teat orifice and/or the teat canal or teat cistern itself, the first droplets are discarded. This first phase of the milking is normally referred to as the premilking phase.

From WO-A-96/13151 is previously known an implement for milking animals including cleaning means and means for removing foremilk from the teats of the animal, which may be constituted by said cleaning means. These cleaning/ premilking means are configured as two rotating rollers, one on each side of the teat, and with a diameter dimension close to the longitudinal dimension of the teat. The rollers may have different cross section designs, such as circular, eccentric etc. During premilking the rollers are pressed against the teat thereby compressing that part of the teat which is on level with the axis of the rollers, they are counter-rotated and it is also indicated that they may be moved downwards along the teat. During cleaning the rollers are held against the teat, or at least they are pressed against the teat with a much lesser pressure force than during premilking. Nothing is mentioned about a massaging effect or an aim for such an effect.

During premilking it is normally desirable that the entire quantity of milk contained in the teat is extracted. This is primarily due to the wish of checking that the milk is acceptable for consumption and does not include any traces of mastitis or contamination, which for natural reasons are more likely to be present in the milk in the teat than in the milk in the udder cistern. Moreover, even though the teat normally is cleaned before the premilking takes place, it is not unusual that residues of dirt are present in the opening of the teat canal. At the same time, one does not wish to extract more milk during premilking than is absolutely necessary, since this milk is normally disposed off and therefore represents a cost. The implement disclosed in the above document has the disadvantage of not offering any means or possibility of obtaining such a controlled quantity of milk, i.e. of making sure that the entire quantity of milk contained in the teat is premilked, neither more nor less. From EP-A-0 630 557 is previously known an apparatus for milking comprising a teatcup, which may also be used for premilking. In one embodiment water may be applied to the teatcup thereby achieving a combined cleaning and massaging effect on the teat inside the teatcup. In EP-A-0 527 509 is disclosed a similar apparatus where a teatcup device is used for cleaning and is also stated to be suitable for milking, but no massaging effect is mentioned.

To use the milking teatcup also for cleaning of the teat, as in the above documents, has the drawback of requiring extremely thorough cleaning of the teatcup between the action of cleaning the teat and the premilking (or milking) . Otherwise there is a very high risk that the milk will be contaminated and a risk that large quantities of milk shall have to be discarded if contaminated milk reaches a milk container. Consequently, this technique is not very reliable. In addition, it is obvious that the cleaning will be quite inefficient since no mechanical means are used, thus making the risk for contaminated milk even higher.

It is also previously known devices performing only stimulation of teats combined with cleaning. Such devices, seemingly providing a more efficient massage and cleaning, are for example disclosed in FR-A-2 559 351 and DD-A-220 212. However, all these devices suffer from the drawback of not offering a device for premilking.

Finally, in this context, should also be mentioned SE-C-30278 in which is described an old type of milking machine where the milk extraction is achieved by a plate being pressed against the teat while a separate cut off means is pressed against the upper part of the teat in order to cut off the milk passage. This operation is cyclic. No mentioning of premilking, stimulation or cleaning is included.

Consequently the problem of providing an apparatus which effectively can perform premilking, and preferably also massaging and cleaning of teats, remains to be solved.

As mentioned, one essential step in the milking process is to effectively clean the teats and/or the udder of the animal to be milked before the actual milking can start. If the teats and/or the udder is not properly clean, the milk is likely to be contaminated and will not be accepted for human consumption. If milk from one animal, whose milk hap- pens to be contaminated, is collected in a large receptacle together with milk from other animals, large quantities of milk may have to be discarded. Furthermore, the whole milking system will have to be thoroughly cleaned before a new animal can be milked. Consequently, it will be both costly and time- consuming not to have cleaned the teats and/or the udder properly. Therefore the cleaning is an essential operation to take place before the actual milking can be performed. Another important step in the milking process is to perform an effective cleaning of the milking equipment, in particular the milking cluster and the teatcups . Improper cleaning of the milking cluster or the teatcups may result in the same serious problems as described above and be equally costly .

To obtain proper cleaning is especially difficult if an automatic milking system is used, since there is no natural checking performed by a person while doing the cleaning. One of the most frequent ways of cleaning teats and/or udders is to use some sort of mechanical cleaning device, such us brushes or textile discs, and having that device rubbing the teat and udder. Mostly such a device includes several brushes or similar equipment which perform cleaning by means of friction, which is the result of moving the brushes against the teats/udder. It may be performed as a dry cleaning or as a wet cleaning. In the case of dry cleaning no liquid is added, and in wet cleaning a (cleaning) liquid is added, which is considered to improve the cleaning process.

From the publication US-A-4 010 714 is previously known a device for cleaning the cow's udder by means of a large diameter rotary brush placed in a housing which is approached to the udder from underneath. A water jet is directed towards the udder during the cleaning process. It is also mentioned that the device could comprise one or several brushes and that the brushes, in addition to the cleaning, also stimulate the cow in order to induce milk letdown. It is not described how the rotary brush is driven but it may be assumed that it is a conventional brush driven by electricity. A similar device with a rotary brush is also known from US-A-2 952 860. This brush is electrically driven.

From SU-A-1147 299 is previously known a similar device comprising two brushes arranged in a bowl. These brushes perform an alternating turning motion. They are driven by a drive means connected to pneumatic cylinders . When the pneumatic cylinders perform their reciprocating motion the brushes first turn in one direction and then in the other direction.

A slightly different type of turning brush arrangement is disclosed in DD-A-127 384. From this publication is previously known a device with several brushes arranged on a turning plate. These brushes are standing upright on the substantially horizontal plate. The plate performs a time- controlled alternating turning motion. The drive means are only described as being any known means. Most of the described known cleaning devices are electrically driven which is a drawback in general terms, since electricity is not always immediately available at the cleaning and milking station. An electric outlet will then have to be supplied explicitly for these cleaning devices which constitutes an additional cost. In addition, particular safety conditions must be fulfilled when constructing, installing and using the devices.

In the case where the drive means are not electric but pneumatic cylinders the drive arrangement is rather sensitive to faults. In general, the use of turning alternating brushes makes the apparatus more complex and therefore more sensitive to disturbances.

These types of devices also have the drawback of risking to cause the animal an unpleasant experience when the teats, which are quite sensitive, are subjected to the friction from the brushes or similar elements.

Another frequent way of cleaning teats and udders is by spraying a cleaning fluid, mostly a liquid, against the teats and the udder, and in some cases also the teatcups. Such devices are for example disclosed in EP-A-0 332 231, EP- A-0 536 837, US-A-3 460 515 and US-A-4 010 714. However, it is quite obvious to anyone skilled in the art that to only spray a fluid against the teats is a very uncertain way of securing a properly cleaned teat and/or udder. In order to at least ascertain a certain effect the spray jet must be relatively hard, which may give the animal an unpleasant experi- ence, and under unfortunate circumstances even cause an injury to the animal.

The cleaning effect always has to be balanced against the risk of causing injury to the teat. It is also very important that the teats are not subjected to any excessive wear since such wear may result in injuries to the teat and a subsequent impossibility of milking the teat for some time .

In many cleaning devices the arrangements used also provide an inherent massage effect which is advantageous in order to stimulate the milk ejection reflex and induce milk letdown .

In addition to the above mentioned prior art documents, in which the devices also are believed to provide a massaging effect, it is previously known from DD-A-71 239 a method and apparatus for cleaning and massaging teats and udder by means of immersing them in a cleaning liquid and subjecting said liquid to low frequency oscillations.

Finally may be mentioned the document SU-A-1 313 396, which discloses a device only for massaging the teats and the udder. This device includes a bowl in which spherical elements are enclosed in a netbag. These spherical elements perform a massaging action upon the teats by means of the bowl being alternatingly subjected to vacuum and over- pressure. However, this device does not perform any cleaning of the teats and the udder, it is a simple massaging device.

SUMMARY OF THE INVENTION

The object of the present invention is primarily to solve the described problems with regard to previously known methods and apparatuses, by providing an improved method and apparatus for preparing a lactating animal for milking.

In the above as well as below reference is mainly made to the massaging and cleaning of one or several teats. However, it shall be understood that under many circumstances this also includes massaging and cleaning of at least parts of the udder, and therefore the word "teat" shall be inter- preted as also encompassing at least parts of the udder, when applicable .

The problems are solved by a method as initially defined comprising the following steps: localizing the udder of the animal and/or at least one teat of the animal, and stimulating said at least one teat and/or the udder in order to induce milk letdown.

In particular, and according to a first aspect of the present invention, the method further comprises: auto- matically approaching a performing means to said at least one teat and having said means automatically performing the following steps: stimulating the teat in order to induce milk letdown; premilking of a controlled quantity of milk by extracting the milk contained in the teat while preventing milk from moving from the udder cistern of the teat down into the teat, and also preventing milk in the teat from moving back into the udder cistern.

A corresponding apparatus as initially defined is characterized in that it comprises means for stimulating at least one teat and/or the udder of said animal in order to induce milk letdown.

In particular, and according to a first aspect of the present invention, the apparatus further comprises means for premilking including means for extracting milk and means for obtaining a controlled quantity of milk when extracting milk contained in the teat.

As an alternative the problems may be solved by a method, as initially defined and according to a second aspect of the present invention, comprising the following steps: automatically approaching a performing means to said at least one teat and having said means automatically performing the following steps: stimulating the teat in order to induce milk letdown, and premilking by cutting off the milk passage in the upper part of the teat by a cutting off means during the entire process of extracting the milk contained in the teat. An alternative apparatus as initially defined, according to a second aspect of the present invention and corresponding to the alternative method, is characterized in that it further comprises means for premilking including means for extracting milk and means for cutting off the milk passage in the upper part of said at least one teat in order to allow extraction of the milk contained in said teat.

These methods and apparatuses have the advantage that only a controlled quantity of milk is premilked, i.e. the milk contained in the teat cistern below said means for cutting off the milk passage in the upper part of the teat, preferably where the cisternal ringfold is located. If it is found necessary, the operation may be repeated. They further have the advantage that the premilking is preceded by a stimulation of the teat in order to induce milk letdown.

According to a further feature of the method in the first alternative it is explicitly expressed that the controlled quantity of milk is obtained by cutting off the milk passage in the upper part of the teat by a cutting off means, during the premilking.

Accordingly, the corresponding apparatus is further characterized in that the means for obtaining a controlled quantity of milk comprise means for cutting off the milk passage in the upper part of the teat while extracting milk contained in the teat.

It should be mentioned that instead of the ex- pression "cutting off the milk passage" it would also be suitable to describe this action or function as shutting off the milk passage, in other words the milk passage is blocked in some way or other whereby milk is prevented from passing in either direction. According to a further feature of the method in the second alternative it is explicitly expressed that a controlled quantity of milk is obtained during the step of premilking .

Accordingly, the apparatus corresponding to the second alternative is further characterized in that it comprises means for obtaining a controlled quantity of milk during the step of premilking. According to another characteristic of the apparatus according to the invention the means for extracting milk comprise at least two counter-rotatable members arranged laterally of the teat and with their respective axes sub- stantially horizontal during operation. Said counter- rotatable members also constitute said means for stimulation thus providing a combined means for stimulation and premilking. By having a combined means for stimulation and premilking a number of advantages are achieved. First of all it is naturally less expensive to have only one combined means instead of several devices. Compared to the previously discussed known devices the present combined means perform a more effective massage, it is easier to handle, apply or attach and more pleasant for the animal. Its construction is less complex, it is easier to maintain as well as timesaving. In short more cost effective.

Preferably said rotatable members are positioned parallel to each other. However, it would be conceivable to use other configurations, e.g. their relative positions may form a V-shape.

Said at least two counter-rotatable members are further characterized by means for moving at least one member in a lateral direction, substantially transverse to the axis of that member. This characteristic has the advantage of enabling variation of the interaxial distance between said members, for instance in order to permit applying a differentiated pressure to the teat and/or achieving adjustment to the size of the individual teat or size differences of the same teat. It also offers the opportunity to apply a differ- ent pressure during premilking compared to the stimulation pressure. Any suitable means may be used known per se, such as a pneumatic or hydraulic cylinder arrangement, or electromagnetic devices. Furthermore, said means for moving said members may be resiliently movable or pressed against the teat, e.g. spring-loaded. As an additional advantage it will be easier to apply the apparatus to the animal's teat. The apparatus may also comprise means for moving said members in their axial directions, in a direction transverse to the teat, and it may also comprise means for moving said members up and/or down along the teat. In the absence of the possibility of moving the members up and/or down along the teat it is preferred that the size and shape of said members are designed such that the entire length of the teat is covered by one member, i.e. the diameter of the brush, if such a member is used, slightly exceeds the maximum length expected of a teat.

As an additional feature the rotation of the counter-rotatable members may be reversed. It will be apparent, especially if the apparatus is used for a combined stimulation and cleaning, that it is advantageous if the counter-rotatable members rotate in a downwards direction along the teat. However, it may be preferred during the premilking phase that the members rotate in the opposite direction, i.e. upwards, thereby so to speak climbing down or descending alongside the teat. During the premilking it would also be preferred that the rotation is slowed down, and consequently the rotation speed is adjustable. It is also conceivable that the apparatus has no drive means for the rotatable members . In that case means for moving the members up and down along the teat are required and they would be self-driven by means of the friction between the members and the teat. In particular, it may be advantageous if they were driven by a drive means during the stimulation when combined with cleaning and then were allowed to become self-driven during the premilking in order not to expose the teat to unnecessary and excessive wear.

The counter-rotatable members are preferably of a substantially elongated shape or cylindrical shape and a number of alternative embodiments are conceivable. For instance, they may or may not be provided with rubbing ele- ments. Rubbing elements achieve the advantageous effect of further increasing the massaging effect of the members and also facilitating or at least not hindering the premilking. They also play an important part in the cleaning which will be discussed later on.

By the expression rubbing elements is understood any suitable element which would increase the rubbing effect, and thus the massaging and possibly cleaning effect, of the counter-rotatable members. However, only a slight rubbing is desired, since there must not be any risk that the teat is caused any harm or injury. Examples of such rubbing elements are bristles, fibres, textile discs, rubber discs, textile strips, warts or the like.

As a further characteristic said members may comprise an axial core, which at least partly constitutes an expandable core and that said apparatus further comprises means for expanding said core during the premilking. The advantage of an expandable core is that it may be expanded during the phase of premilking in order to increase the pressure on the teat and thereby facilitating the premilking.

As an alternative an axial portion of said core is designed with an increased diameter and said portion is used for the premilking. This may be configured, for example, as a core with one straight portion with an increased diameter and another straight portion with a lesser diameter, or a core with a fusiform shape.

As another alternative the counter-rotatable members may comprise two belts and said apparatus may further comprise two pairs of rolls, one pair on each side of the teat, of which at least one roll in each pair is a drive roll, and each belt is travelling in a substantially vertical direction, when in operation, over and between the two rolls in each pair by means of said drive roll, and that each belt with its two associated rolls constitute a belt unit.

This alternative may also include one of several alternative embodiments of the cutting off means in that the two uppermost rolls in said first two pairs of rolls may also constitute said cutting off means. This embodiment has the advantage of being narrower and in some aspects very easy to handle. For example it may be easier to attach to the teat since it may be transported with the two belt units hanging down and held only by one roll at one end. When it is to be applied to the teat it will not be necessary to insert the teat between the belts but it suffices applying one belt unit to the side of the teat and then lifting the other belt unit and the link element, which connects the two belt units, to surround the teat on three sides.

In analogy with the above, the method according to the invention may further include the feature that the action of cutting off the milk passage in the upper part of the teat and the action of extracting the milk are performed by the same means.

As an alternative, the method may include the feature that the two actions of cutting off the milk passage and extracting the milk are performed by two separate means. In accordance, the apparatus may be characterized in that the means for cutting off the milk passage and the means for extracting milk are two separate means.

The means for cutting off the milk passage may be conceived according to several different embodiments, of which one, referred to below as the fourth embodiment, has already been briefly described above. In a first and a second embodiment said constructive means is an inwardly expandable element applied externally on the upper part of the teat. The advantage achieved is that it is easy to apply such an element in its unexpanded state to the teat and after it has been properly positioned it may then be expanded. In the first embodiment said expandable element is further provided in the form of an inflatable annular element, preferably a ring. This ring may have any suitable cross section form. In the second embodiment said means has the general shape of an iris diaphragm with a certain thickness to its edges to avoid injury to the teat. As a variant the iris diaphragm may also form an inflatable annular element, in which case it will comprise what may be described as inflatable ring segments. Other suitable shapes are also conceivable. In a third embodiment said means for cutting off the milk passage may be in the form of at least two bars applied laterally on the upper part of the teat. This embodiment has the advantage of not having to insert the teat in said means and thereby being less demanding when it comes to localizing the teat with accuracy. This embodiment further has the advantage of the bars being easy to remove during the massage and/or cleaning phase. By using bars an uncomplicated regulation and better adjustment of the pressure applied by the cutting off means on the teat will also be possible.

In accordance with a further characteristic the method includes the step of analyzing the premilked milk and said apparatus comprises means for analyzing the premilked milk. Hereby the advantage is achieved that it will be possi- ble to determine whether the milk fulfils all conditions required to continue the milking process. This is particularly important in case the milk is contaminated, for example due to the cow in question having an infection or similar, or the teat orifice being dirty. Because, if the milk is con- taminated, this milk may contaminate the whole content of the milk tank.

There are numerous alternative ways of analyzing the premilked milk, e.g. by different types of sensors. According to a characteristic of the present invention said means for analyzing the milk includes a cup, preferably with a dark inside surface, into which premilked milk is sprayed, and visual control means, e.g. a video camera, for checking that the premilked milk does not contain any visible contaminations, such as clots or dirt. The dark surface is particu- larly suitable for detecting flakes or clots due to mastitis. The video camera may perform an analysis of the milk based on e.g. the colour or the contour of possible clots against the dark background. In the place of a video camera the visual control may be performed "manually", i.e. by a person looking directly at the milk. Other collecting means than said cup may also be used, as applicable. As alternatives, known per se, it would also possible to check for mastitis by providing the apparatus with a means for determining the electric conductivity of the premilked milk or the transparency. There is also the possibility of using chemical analyzing means.

Alternatively, the means for analyzing the milk may include a cup in which premilked milk is collected and which is provided with integrated sensor means for analysis of the milk, or said means for analyzing the milk may include a cup in which premilked milk is collected and which is provided with a discharge conveying the milk to an analyzing device. Finally, if it is found useful the analysis step may be repeated.

According to an additional feature of the invention the method is characterized in that the step of stimulating the teat also includes a simultaneous cleaning of said teat performed by the same means. Accordingly the apparatus according to the invention further comprises means for cleaning said at least one teat, wherein said combined means for stimulation of the teat and premilking also constitute said means for cleaning the teat, which means perform a si ultane- ous and combined stimulation and cleaning. The obvious advantage is that the same means are used for all three steps thereby simplifying the construction of the apparatus and making it more economic, as well as facilitating its use.

As a further characteristic the apparatus comprises means for supplying a cleaning fluid to said cleaning means and/or the teats. Said cleaning fluid is preferably a liquid, in most cases water, possibly with the addition of a cleaning agent or a disinfectant, but it may also be a gas, for example air. As an additional characteristic said apparatus may further include means for analyzing said cleaning fluid during and/or after the cleaning of the teat. In accordance, the method according to said invention may also include the step of using a cleaning fluid and further include the step of analyzing said cleaning fluid during and/or after the cleaning of the teat. Hereby the advantage is achieved that it may be determined whether said fluid fulfils all the requirements for the milking process to continue with the step of premilking. If the cleaning fluid contains more contamination than is allowed the cleaning step may be repeated.

It has been discovered that besides the importance of the teat being clean before the milking start it is also very important that the teat is spared from excessive cleaning. Since all cleaning results in a mechanical wear on the teat which even may lead to injuries to the teat with a subsequent infection and a difficulty or even impossibility of milking the teat, it is very important that the teat cleaning is limited to what is absolutely required. A limited teat cleaning will increase the capacity of the apparatus and minimize the time before milking can start. Consequently, it is an advantage to analyze the cleaning fluid, as is done according to the present invention.

As yet another characteristic the method is characterized in that all the steps are carried out in an uninterrupted sequence and without removing said performing means from the absolute vicinity of the teat, thus achieving a very efficient operation.

As a last characteristic the method, according to the first and second aspect, is characterized in that one or more of the steps may be repeated.

As a summary, according to a first and second aspect of the present invention, an apparatus is achieved which results in a fairly simple construction, which is simple to apply to an animals teat without very high demands for exact positioning, providing effective premilking, providing effective massage of the teats and preferably also cleaning with- out excessive wear and experience of unpleasantness for the animal, while ensuring a lesser risk for contaminated milk and less waste of good milk.

To continue, according to a particularly advantageous feature of the present invention relative to a third and a fourth aspect, the method further comprises cleaning of at least one teat and/or udder of the animal, and the appara- tus comprises means for cleaning of at least one teat and/or udder .

According to said third aspect, the method according to the present invention is further characterized in that it comprises supplying and directing a stream of drive fluid towards a rotatable cleaning means thereby driving said cleaning means in rotation.

As a further characteristic said method comprises using the drive fluid as a cleaning fluid by directing said fluid towards an area where the teat and/or udder is assumed to be located for cleaning purposes.

In accordance with this third aspect, the apparatus is being characterized in that it comprises at least one rotatable cleaning means applicable to said at least one teat and or udder and in that it further comprises a drive fluid supply means for the supply of a drive fluid which drives the cleaning means in rotation. By using a drive fluid the advantage is achieved that an effective cleaning may be obtained with rotatable cleaning means without having to use electric- ity, which as mentioned sometimes is hazardous in the more or less humid surroundings. It also has the advantage that no mechanical gears or similar are required. In addition, by using rotatable cleaning means instead of turning (alternating) cleaning means a simpler and more reliable construction is achieved.

As another feature the apparatus is characterized in that it comprises rotary fluid driven drive means for rotating the rotatable cleaning means and that the drive fluid drives said rotary fluid driven drive means. To provide the apparatus with rotary fluid driven drive means has the advantage of avoiding the complex drive means known from prior art. As a further characteristic the apparatus comprises means for directing the drive fluid towards the rotary fluid driven drive means . According to one alternative the rotatable cleaning means comprise rotatable members, preferably of a substantially cylindrical shape. The apparatus may further be char- acterized in that it comprises means for supporting the cleaning members at one of their ends, keeping the cleaning members in a substantially upright position. Such a support means may comprise an annular element in the shape of a ring or comprise a plate.

In one embodiment of the cleaning member it is characterized in that each cleaning member is provided with individual rotary fluid driven drive means . In another embodiment the support means is fixed while each cleaning member is free to rotate around its own central axis.

In yet another embodiment each cleaning member is free to rotate around its own central axis, the support means has a central axis, is rotatable around its own central axis and provided with rotary fluid driven drive means, whereby each cleaning member is rotatable both around its own central axis and the central axis of said support means.

In still another embodiment each cleaning member is fixed on the support means, said support means has a central axis, is rotatable around its own central axis and is pro- vided with rotary fluid driven drive means, whereby said support means with the fixed cleaning members is rotatable around the central axis of said support means.

To continue, the apparatus may be characterized in that the cleaning members are provided with cleaning elements on their surface, such as brushes, bristles, textile discs, textile strips, rubber discs, fibres, wart-shaped protrusions or the like. Any suitable type of cleaning element may be chosen which best fulfils the object of obtaining an effective cleaning without subjecting the teat and/or udder to excessive wear and unpleasantness to the animal. The cleaning elements also have the additional advantage that they also provide a massaging and stimulating effect which is beneficial for inducing milk letdown.

As another characteristic the cleaning members may be arranged with a diverging distance between their axes in such a way that said distance is at its maximum where the cleaning members are to be applied to the teat/udder. This arrangement, which may be compared with a cone-shape, has the advantage that it facilitates the use of the apparatus, i.e. it makes it easier to apply to the animal's teat and/or udder. It would also be conceivable to design each cleaning member with a cone-shape, with the largest diameter in its upper part.

In a particularly advantageous embodiment the apparatus, according to said third aspect, is characterized in that it comprises three cleaning members in the form of brushes provided with bristles and that the cleaning elements are said bristles .

The apparatus may in addition to the cleaning members be characterized in that it comprises a housing and that the cleaning members are arranged in said housing. As an alternative or a complement to the cleaning members the apparatus is characterized in that the rotatable cleaning means comprise a rotatable housing.

To provide a housing, rotatable or not, has the advantage of not giving the surroundings of the animal invol- untary showers of the drive fluid. Especially when the drive fluid is also the cleaning fluid, as will be discussed later on, it is advantageous that it is kept within a housing for practical reasons and for reasons of efficiency in the cleaning operation. The housing, rotatable or not, is preferably provided with cleaning elements, such as brushes, bristles, textile discs, textile strips, rubber discs, fibres, wart- shaped protrusions or the like, covering at least a part of the inside of said housing. The advantages of such elements have already been mentioned. The housing may be provided with cleaning elements on its entire inside surface or only part thereof, as applicable. Naturally, if the housing is provided with a bottom part, which may be the case if it is configured as a truncated cone, this bottom may be covered with cleaning elements which will offer the advantage of a better cleaning of the tip of the teat. As a particular feature the housing is provided with at least one wall and the fluid supply means comprise at least one opening in the housing wall through which the fluid is supplied and hits the rotary fluid driven drive means. Preferably, the housing has a substantially conical configuration. The conical configuration facilitates the use of the apparatus since it will be easier to apply to an animal's teat and/or udder. Preferably, the housing is configured as a truncated cone turned upside down, i.e. having the end with the smallest diameter facing downwards and the end with the largest diameter facing upwards, towards the teat/udder to be cleaned. However, the housing may have any other configuration which is found purposeful, e.g. a bowl shape.

The apparatus is further characterized in that the rotary fluid driven drive means comprise the cleaning elements . This feature has the important advantage that no auxiliary or outer drive means are required. Consequently, the apparatus may be directly driven by the drive fluid.

As an alternative or a complement it may be charac- terized in that the rotary fluid driven drive means comprise blade means, such as blade wheels, vanes, paddles, shovels, propellers or turbines. This feature has the advantage of offering a very simple solution when auxiliary drive means are deemed to be necessary or preferred. The blade means may have any suitable shape, and their size and number may be adapted to the requirements of each specific application case .

As a particular feature the apparatus may comprise a second housing including at least one wall and with sub- stantially the same shape as the first mentioned housing but slightly larger than said first housing and located outside said first housing, a space formed between the respective walls of said first and said second housing, means for supplying drive fluid to said space, and may be further charac- terized in that said first inner housing is provided with holes in the wall through which holes the fluid enters into said first housing. As yet another characteristic the means for supplying the drive fluid to the space formed between the respective walls of said first and said second housing is located at the lower end of the housings and it further comprises a means for dividing the stream of drive fluid into two streams, one stream entering said space and another stream being directed to drive blade means arranged at said lower end of the housings. To provide the double housing with this feature in particular has the advantage that, when the drive fluid is also the cleaning fluid, the driving function is mainly performed by means of the stream directed towards the blade means while a very good cleaning function is achieved by the stream entering the space between the housings and further into the inner housing where it works in combination with the cleaning elements.

Any one of the mentioned housings may be provided with an open upper end and an open, lower, bottom end. As an alternative they may be provided with an open upper end and a bottom at its lower end, and said bottom may be provided with an outlet for the evacuation of the supplied drive fluid. According to one alternative characteristic the drive fluid supply means is connected to a source of liquid, preferably water. According to a second alternative characteristic the drive fluid supply means is connected to a source of gas, preferably pressurized air. According to a third alternative characteristic the drive fluid supply means is connected to a source of vacuum. All these fluid sources have the advantage of generally being directly available at a milking station. Preferably the drive fluid also constitutes a cleaning fluid. The advantage of this has already been discussed in different contexts above. However, it should be stressed that this is one of the main advantages of the invention. By using the cleaning fluid also for the driving of the apparatus, and not having to use any auxiliary equipment or drive means, is achieved a very simple, safe and economic solution to the drive problem. It should be men- tioned though that auxiliary means of any kind for supplying a cleaning fluid, in addition to the drive fluid, may be arranged in connection with the apparatus. One way of supplying cleaning fluid would for example be through the axes of the cleaning members .

The apparatus according to the present invention is further characterized in that it comprises means for directing the drive fluid towards an area where the teat and/or udder is assumed to be located for cleaning purposes. In addition, the apparatus may be characterized in that it is applied to said at least one teat and/or the udder by moving said apparatus from underneath said at least one teat and/or the udder in an upward direction until the cleaning means enter into contact with said at least one teat and/or the udder.

Furthermore, the apparatus may be characterized in that it is supported by a robot arm and that said apparatus is automatically movable in relation to the udder and/or said at least one teat, by means of said robot arm, during a cleaning operation, in order to ensure that all parts of the udder and/or said at least one teat are cleaned, that said apparatus further includes sensor means indicating when the apparatus has reached the udder and/or said at least one teat, that said sensor means is connected to a control means for controlling the movements of said robot arm in response to said sensor means as well as controlling the operation of the apparatus, and that said robot arm places the apparatus beneath the udder and/or said at least one teat in preparation for the cleaning operation, moves the apparatus in an upward direction towards the udder and/or said at least one teat until said sensor means indicates that it has reached the udder and/or said at least one teat, as well as removes the apparatus from the udder and/or said at least one teat after a completed cleaning operation. The mentioned control means and sensor means may be of any suitable type known per se. For example, the sensor means may comprise a tactile sensor, a laser sensor, an ultrasound sensor, or a video camera working with RGB analysis .

Proceeding now to the above mentioned fourth aspect of the present invention, the method is being characterized in that it comprises the cleaning of at least one teatcup. It should be noticed that the expression "at least one teatcup" should be understood not only to mean a teatcup but also a whole milking cluster. The corresponding apparatus, according to this fourth aspect, comprises means for cleaning at least one teatcup. Hereby is achieved the advantage that not only the teats and the udder is cleaned but also the milking equipment may be cleaned by the same apparatus, resulting in a very economic system for preparing an animal for milking. According to this fourth aspect, a method as ini- tially defined is further being characterized by applying a cleaning fluid, comprising a dispersion of particulate material in a dispersion fluid, on the teats and/or the udder and/or at least one teatcup.

A corresponding apparatus, according to this fourth aspect and as initially defined, is characterized in that the means for cleaning includes a cleaning fluid and that it comprises means for applying a cleaning fluid on said teats and/or udder and/or at least one teatcup and means for preparing the cleaning fluid, and that said means for preparing the cleaning fluid comprise means for dispersing a particulate material in a dispersion fluid, means for supplying said particulate material to said dispersion means and means for supplying said dispersion fluid to said dispersion means.

In connection with the fourth aspect of the inven- tion, it is a further object of to provide a cleaning fluid which is used in the method and apparatus, and also a method of preparing this cleaning fluid.

Consequently, a cleaning fluid as initially defined, instrumental in achieving the object, is characterized in that it comprises a dispersion of particulate material in a dispersion fluid, and in addition a method, as initially defined, of preparing a cleaning fluid is being characterized by dispersing a particulate material in a dispersion fluid.

The method and the apparatus for cleaning teats, and/or an udder and/or at least one teatcup according to the fourth aspect of the invention, have the advantage that, by applying the present cleaning fluid, an effective cleaning is achieved without having to use mechanical cleaning means, such as for example brushes, which infallibly would cause mechanical wear on the teats and/or udder and possible injury to these sensitive parts of the animal. Compared to prior art, where only a fluid is used, the present cleaning fluid has the advantage of providing an improved cleaning effect due to the particulate material being dispersed in the fluid, which material has a certain abrasive or rubbing function, in order to achieve what may be referred to as a slight blasting effect. The particulate material may be any suitable kind of particulate material, known per se. The cleaning fluid with the dispersed particulate material would also have the additional advantage of automatically providing a massaging effect.

The claimed cleaning fluid is further characterized in that the dispersion fluid is a liquid, preferably water, and that said particulate material comprises bubbles of a gas, preferably air bubbles. As a variant said particulate material may comprise particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like. As an additional characteristic said particulate material may comprise both particles of a solid or essentially solid substance and bubbles of a gas, prefera- bly air bubbles. It should be mentioned that to mix air bubbles with a liquid, such as water, is previously known, for example from modern household taps and bubble baths and it has a well known cleaning and massaging effect, which is very kind to the teats. However, no such devices have yet been conceived for use in the present field.

As an alternative the cleaning fluid is characterized in that the dispersion fluid is a gas, preferably air, and said particulate material comprises drops of a liquid. As a variant, in analogy with the first alternative above, said particulate material may comprise particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like. As an additional characteristic said particulate material may comprise both particles of a solid or essentially solid substance and drops of a liquid. As a third alternative the cleaning fluid is characterized by said dispersion fluid comprising a mixture of a liquid, preferably water, and a gas, preferably air, and said particulate material comprising particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like.

The corresponding method of preparing the cleaning fluid can be alternatively characterized by selecting the dispersion fluid in the form of a liquid, preferably water, or a gas, preferably air, or a mixture of a liquid, preferably water, and a gas, preferably air. The method is further characterized by selecting the particulate material in the form of bubbles of a gas, preferably air bubbles, or in the form of small particles of a solid or essentially solid substance, such as salt crystals, plastic granules, saw dust or the like, or in the form of drops of a liquid. According to the method, the different dispersion fluids and particu- late materials may be combined in analogy with the above characteristics of the cleaning fluid.

The advantage achieved by the different alternatives is that a number of different types of particulate materials can be selected as additives to be dispersed in the fluid. By selecting the particulate material as a solid or essentially solid substance a more effective cleaning is achieved. Naturally any kind of particulate material may be chosen as long as it is compatible with the particular demands in connection with the specific use in the invention, which in short are: being effective for cleaning and massaging while being kind to the animal's teats. Finally, the method includes the further feature of adding a substance to the cleaning fluid, which enhances the drying of the cleaned object/objects, the cleaning fluid being characterized accordingly and the apparatus comprising a corresponding means. The addition of such a substance to the cleaning fluid has the advantage of making the cleaning less unpleasant for the teats than when ordinary drying means are used, since it is neither experienced as being hot, which is the case if warm air is being used for drying, nor experi- enced as being cold, which would be the case if non-heated air would be used for drying and which might inhibit the milk letdown. Naturally, it would also be possible to provide means for adding other substances, such as a detergent or a disinfectant to the cleaning fluid, as well as including the addition of such substances in the cleaning fluid and in the method of preparing the cleaning fluid.

The method, according to the fourth aspect of the present invention, is further characterized by collecting the cleaning fluid in a receptacle, agitating the cleaning fluid and applying said cleaning fluid by immersing said teats and/or udder and/or at least one teatcup in said cleaning fluid. As an alternative, or a complement, the method is characterized by applying the cleaning fluid by directing a stream of cleaning fluid onto the teats and/or udder and/or at least one teatcup.

By agitating the cleaning fluid an increased friction between the particles in the fluid and the subject of the cleaning is obtained and thereby an advantageous increased cleaning effect. As a very simple but surprisingly effective solution the agitating effect may be achieved by the stream of cleaning fluid and/or the particulate material, either in the form of solid particles or gas bubbles, being supplied under pressure directly inside the receptacle. However, separate agitating means are also conceivable, and the apparatus according to the invention may comprise special means for agitating the cleaning fluid. Examples of such means are devices imparting a pulsating pressure variation in the liquid in the receptacle or devices generating low or high frequency oscillations, e.g. ultrasound. Also mechanical agitating means are possible, such as a circulating pump or a receptacle with a double-wall bottom, known per se. The apparatus according to the fourth aspect of the invention is, in a first embodiment, characterized in that the means for applying the cleaning fluid comprise means for directing a stream of said cleaning fluid onto at least the teats of the animal, and that said apparatus is provided with a connection means connecting the dispersing means with the means for directing a stream of cleaning fluid onto the teats and/or the udder and/or at least one teatcup. This may be performed for example by directing a spray of a liquid containing dispersed solid particulate material or gas bubbles onto the teats, or a spray of a gas containing dispersed solid particulate material or drops of a liquid. To use spraying when applying the fluid provides a well known advantage in view of obtaining an effective cleaning.

As an additional characteristic the apparatus may comprise a receptacle inside which the means for directing a stream of cleaning fluid are located and inside which the cleaning fluid is applied. This feature has the advantage of preventing cleaning fluid from splashing about quite a large area. It also offers the advantageous possibility of collect- ing the cleaning fluid, as will be discussed later on.

In a second embodiment of the apparatus, according to the fourth aspect, the means for applying the cleaning fluid comprise a receptacle inside which said cleaning fluid is collected and applied through immersion of the teats and/or the udder and/or at least one teatcup therein, that said receptacle is provided with an inlet, and that a connection means is provided between said inlet and the dispersing means, whereby the cleaning fluid enters the receptacle via said inlet. In a third embodiment the apparatus is characterized in that the means for applying the cleaning fluid comprise a receptacle inside which said cleaning fluid is collected and applied through immersion of the teats and/or the udder and/or at least one teatcup therein, and that said receptacle is provided with a first inlet to which the means for supplying a particulate material is connected, a second inlet to which the means for supplying a dispersion fluid is connected and that the means for dispersing the particulate material in the dispersion fluid is connected to said first inlet, whereby the dispersion of the particulate material in the dispersion fluid occurs inside the receptacle. This may for example be performed by directing a stream of gas bubbles onto the teats while they are immersed in a liquid.

The feature of providing a receptacle, inside which the cleaning fluid is collected and applied through immersion of the teats and/or the udder and/or at least one teatcup therein, offers the advantage of not giving the surroundings of the cow involuntary showers of cleaning fluid. It is also advantageous that the cleaning fluid is kept within the receptacle for practical reasons and reasons of efficiency in the cleaning operation. It also prevents unnecessary waste of cleaning fluid. In addition it offers the advantage of being very kind to the teats, while still providing an effective cleaning effect as well as massaging effect.

The method, according to the fourth aspect, may further include picking up and conveying, by means of a robot arm, an apparatus for applying the cleaning fluid to an area where the teats and/or the udder and/or at least one teatcup are located and applying said cleaning fluid on said teats and/or the udder and/or said at least one teatcup in said area. As an alternative, the method may comprise picking up and conveying, by means of a robot arm, said at least one teatcup to a cleaning area and applying the cleaning fluid on said teatcup in said cleaning area. In short, the cleaning method offers the possibility of either transporting the apparatus to the objects which are to be cleaned, or vice versa.

Finally, the method according to the third and the fourth aspects of the present invention, is characterized in that the step of stimulating the teat and/or udder is performed simultaneously with the cleaning and by the same means. In accordance, the apparatus is characterized in that the means for stimulating the teat and/or udder and the means for cleaning the teat and/or udder is a combined means performing a simultaneous stimulation and cleaning and by the same means .

In addition to the above, the invention also includes an equipment for use in semi-automatic or automatic milking of animals including an apparatus according to the first and second aspects of the invention and also including a control unit for controlling the operations performed by said apparatus. Such a control unit may e.g. include control means for attaching the teatcups of a milking cluster only to teats which have produced approved milk during the premilking. It may also include any other control means usable in connection with the operations performed by the apparatus, namely massaging, cleaning, premilking, analysis of cleaning liquid and milk, etc. Furthermore, the present invention includes an equipment for use in automatic milking comprising an apparatus according to the fourth aspect of the invention. By the expression automatic milking equipment is understood a milking station including milking equipment with both auto- matic attachment of the teatcups to the teats and automatic removal of the teatcups, preferably by means of a milking robot. Naturally, the apparatus may also be used in semiautomatic milking equipment, where the attachment of the teatcups is manual and the removal is automatic, but this use seems less plausible for practical reasons, since it is very simple to perform a manual cleaning of the teats/udder/teatcups in connection with the manual attachment of the teatcups and to use an apparatus for this purpose may only seem cumbersome. The equipment, according to the invention, for automatic milking comprises the apparatus already described, according to the fourth aspect, and is further characterized in that it comprises a robot arm and that said apparatus is supported by said robot arm, that said apparatus is automatically movable in relation to the teats and/or the udder and/or said at least one teatcup, by means of said robot arm, during a cleaning operation, in order to ensure that all parts of the teats and/or the udder and/or said at least one teatcup are cleaned, that said apparatus further includes sensor means indicating when the apparatus has reached the teats and/or the udder and/or said at least one teatcup, that said sensor means is connected to a control means for controlling the movements of said robot arm in response to said sensor means as well as controlling the operation of the apparatus, and that said robot arm places the apparatus beneath the teats and/or the udder and/or said at least one teatcup in preparation for the cleaning operation, moves the apparatus in an upward direction towards the teats and/or the udder and/or said at least one teatcup until said sensor means indicates that it has reached the teats and/or the udder and/or said at least one teatcup, as well as removes the apparatus from the teats and/or the udder and/or said at least one teatcup after a completed cleaning operation. The mentioned control means and sensor means may be of any suitable type, known per se. The sensor means may for example comprise a tactile sensor, a laser sensor, an ultrasound sensor, or a video camera working with image analysis, such as RGB analysis.

As an alternative, the equipment, according to the invention, for use in automatic milking comprises the apparatus already described in connection with the fourth aspect, and is further characterized in that it comprises, when the apparatus is used for cleaning at least one teatcup, a robot arm for picking up and conveying said at least one teatcup to a cleaning area and applying the cleaning fluid on said teatcup in said cleaning area, that it further includes sensor means indicating when the robot arm has reached said at least one teatcup and sensor means indicating when the robot arm has reached the cleaning area, that said sensor means are connected to a control means for controlling the movements of said robot arm in response to said sensor means as well as controlling the other operations of the apparatus, and that said robot arm places the said at least one teatcup in the cleaning area by moving said at least one teatcup in a downward direction towards the means for applying the cleaning fluid until said sensor means indicates that it has reached said application means, as well as removes said at least one teatcup after a completed cleaning operation and returns it to its original position. Also in this case, the mentioned control means and sensor means may be of any suitable type, known per se. The sensor means may for example comprise a tactile sensor, a laser sensor, an ultrasound sensor, or a video camera working with image analysis, such as RGB analysis.

Both the mentioned alternatives of the equipment according to the fourth aspect achieve the effect of an effective cleaning of a teat/udder/teatcup . Either the cleaning apparatus is conveyed to the location of the ob- ject/objects to be cleaned (most likely the milking station) or the object/objects to be cleaned are conveyed to the location of the apparatus. No separate or additional cleaning equipment is for example necessary for each separate object to be cleaned, they can all be cleaned by using the same apparatus. Consequently a very cost-effective and time-saving solution .

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the invention, ex- emplifying embodiments will now be described with reference being made to the accompanying drawings in which:

Fig. 1 shows a schematic representation in perspective of a milking robot equipped with an apparatus according to a first or a second aspect of the invention and also showing an udder with teats of an animal to be premilked,

Fig. 2 shows a schematic cross sectional view of a teat, Fig. 3 shows a schematic cross sectional view of a first embodiment of an apparatus according to a first or second aspect of the invention, during the massage step or phase of a teat, Fig. 4 shows a schematic cross sectional view of the first embodiment illustrated in Fig. 3, when applied to a teat and during the premilking phase,

Fig. 5 shows a schematic view of the first embodiment of the apparatus, according to a first or a second aspect of the invention, applied to a teat, during the premilking phase, but with an alternative configuration of the counter-rotatable members, and including a first embodiment of an analyzing means,

Fig. 6 shows a schematic view from above of a second embodiment of the apparatus according to a first or second aspect,

Fig. 7 shows schematic view of a third embodiment of the apparatus, according to a first or second aspect of the invention, applied to a teat, during the premilking phase, Fig. 8a shows a schematic view in perspective of a fourth embodiment of the apparatus, according to a first or second aspect of the invention, applied to a teat,

Fig. 8b shows a schematic view of a fourth embodiment of the apparatus, according to a first or second aspect of the invention, applied to a teat, with the cutting off means activated,

Fig. 9 shows a schematic cross sectional view of a variant of an expanded core,

Fig. 10 shows a schematic cross sectional view of another variant of an expanded core,

Fig. 11 shows a schematic view of a second embodiment of the analyzing means,

Fig. 12 shows a schematic view of a third embodiment of an analyzing means, Fig. 13 shows a schematic representation in perspective of a first embodiment of the cleaning apparatus according to a third aspect of the present invention, Fig. 14 shows a schematic representation in perspective of a second embodiment of the apparatus according to the third aspect of the invention,

Fig. 15 shows a schematic representation in per- spective of a third embodiment of the apparatus according to the third aspect of the invention,

Fig. 16 shows a schematic representation in perspective of a fourth embodiment of the apparatus according to the third aspect of the invention, Fig. 17 shows a schematic representation in perspective of a fifth embodiment of the apparatus according to the third aspect of the invention,

Fig. 18 shows a schematic representation in perspective of a sixth embodiment of the apparatus according to the third aspect of the invention,

Fig. 19 illustrates the embodiment in Fig. 18 seen from above,

Fig. 20 shows a schematic representation in perspective of a seventh embodiment of the apparatus according to the third aspect of the invention,

Fig. 21 shows a schematic representation in perspective of an eighth embodiment of the apparatus according to the third aspect of the invention,

Fig. 22 shows a schematic representation in perspec- tive of a ninth embodiment of the apparatus according to the third aspect of the invention,

Fig. 23 shows a lateral view, in cross-section, of a first embodiment of an apparatus according to a fourth aspect of the invention, applied to the teats and the udder of an animal,

Fig. 24 shows a lateral view, in cross-section, of a second embodiment of an apparatus according to the fourth aspect of the invention,

Fig. 25 shows a lateral view, in cross-section, of a third embodiment of an apparatus according to the fourth aspect of the invention, and Fig. 26 shows a lateral view of at least one teatcup held by a robot arm and being cleaned by an apparatus according to the fourth aspect of the invention.

It should be stressed that all drawings are sche- matic and surrounding equipment has been excluded for reasons of simplicity.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

First of all it should be mentioned that Figs. 1-12 all serve as illustrations to a first or a second aspect of the invention.

Fig. 1 shows a milking robot 1, which may be automatic or semi-automatic, including a robot arm 3 carrying an apparatus 5 according to the present invention. By the ex- pression "semi-automatic" is understood a milking station where the teatcups of a milking cluster are attached manually and a milking robot performs automatic teatcup removal. By the expression "automatic" is understood automatic teatcup attachment as well as automatic teatcup removal performed by a milking robot. Fig. 1 also shows an udder 9 with teats 7 of an animal to be massaged and premilked.

As can be seen in Fig. 2, the teat 7 of a milking animal includes a teat cistern 10, which at its upper end communicates with a gland cistern or udder cistern 12. Be- tween the teat cistern and the gland cistern there is a narrow passage 13 encircled by the cisternal ringfold 14. By means of the cisternal ringfold the milk contained in the teat cistern is more or less separated from the milk in the gland cistern. Normally, i.e. when no milking takes place or is about to start, the teat cistern is empty, and it is also the cisternal ringfold 14 that prevents the milk m the udder from entering the teat cistern before the milk ejection reflex has been stimulated. The teat cistern 10 is at its lower end provided with a narrow canal, called the teat canal 16, with an opening called the teat orifice 17, and it is through the teat canal that the milk will leave the teat when the animal is being milked. The apparatus according to the present invention performs a stimulating motion in order to induce milk letdown and performs premilking by means of pressing out the milk in the teat. With reference now being made to Fig. 3, schemati- cally showing the general principle of the apparatus according to the invention during the first massage phase, means 20 are also shown for cutting off the milk passage 13, during premilking, in the upper part of the teat 7 where the cisternal ringfold 14 is located. Said means 20 can have different configurations as will be described in detail below.

In this figure said cutting off means 20 are only loosely held in the proximity of the upper part of the teat 7, since during the massage phase these cutting off means have no function. Depending on their configuration, they may even be completely withdrawn during this phase in order not to interfere with the massage and possible cleaning. The figure also shows two counter-rotatable members 22 and 23, one on each side of the teat and it is these members who perform the actual massage. During this massaging phase these members are only pressed slightly against the teat in order to achieve a stimulating effect and induce milk letdown. These members can be arranged to move up and down along the sides of the teat and also up towards the udder 9. It is also during this massaging phase that cleaning of the teats may be performed. The cleaning can either be a dry cleaning, with or without the addition of a gas, preferably air, or a wet cleaning, in which a cleaning liquid is added. To add a cleaning fluid, such as a gas or a liquid, is known per se and therefore means for supplying said fluid are only shown schematically in the figures. One often used way of supplying a fluid is to spray said fluid on the cleaning means or directly on the teat and/or udder. A schematic example of such a spraying means with a nozzle 8 is shown in Fig. 1. Another example with two nozzles 18, 19 spraying a cleaning fluid onto the teat from positions relatively close to the top of the teat is illustrated in Fig. 3. A third example with two spraying means configured as two vertical tubes 32, 33 provided with spray openings facing two sides of the teat is illustrated in Fig. 7.

The pressure exerted on the teat by the rotatable members must be adapted so that they not only perform an effective stimulation but also an effective cleaning.

It is also known per se to analyze the cleaning fluid in order to determine if the teat is clean enough for the process to continue with the premilking and therefore no analyzing means are illustrated in the figures. Any known means may be used, such as a collecting means and a sensor or a contamination measurement device.

In Fig. 4 is shown the general principle for the apparatus during premilking. It can be seen how the teat, in cross section, with its cisternal ringfold 14 and teat cis- tern 10 is subjected to the effect of the apparatus. The cisternal ringfold 14 between the udder cistern 12 and the teat cistern 10 is compressed by the means 20 for cutting off the passage 13 being applied on the sides of the teat and pressing or expanding inwards. A first embodiment of these means is illustrated in

Figs. 3, 4 and 5. According to this embodiment the means are an expandable element 20, configured as an inflatable ring. Fig. 3 illustrates the expandable element before expansion, while Figs. 4 and 5 show the expanded element, i.e. an in- flated ring element. The ring may have any suitable cross section form, e.g. circular or oval.

A second embodiment is illustrated in Fig. 6. In this embodiment, the cutting off means is also configured as an expandable element, but with the general shape of an inwardly expandable iris diaphragm 21. It is preferable that the iris diaphragm has a certain thickness to its edges in order to avoid injury to the teat 7. As a variant the iris diaphragm may also be designed as an inflatable annular element, in which case it would comprise what may be de- scribed as inflatable ring segments.

A third embodiment shown in Fig. 7 comprises of two bars 38, 39 applied laterally on the upper part of the teat. These bars may be made of any suitable material, such as a plastic, metal etc., and have any suitable cross sectional form, such as circular, semi-circular etc.

In Fig. 4 is also shown how the teat cistern, during premilking, is compressed by means of the rotating members 22 and 23 respectively pressing against the sides of the teat and subsequently moving downwards and thus pressing out the milk contained in the teat. When the rotating members are moving down along the teat their rotation is preferably considerably slower than during the massage and cleaning phase. However, the exerted pressure force is higher.

In Figs. 3 and 4 the rotatable members are shown as brushes or similar elements comprising an axial core 26, 27 provided with rubbing elements in the form of bristles 28, 29. This core may be expandable, e.g. inflatable. In Fig. 5 the same core 26, 27 is shown in an expanded state. By expanding the core an increased pressure can be applied on the teat. One advantage achieved by using an expandable core is that the bristles may be made softer than in the case without an expandable core, where it is in fact the bristles who are exerting the major part of the pressure on the teat and therefore they have to be made fairly hard and stiff. The core may be expandable and provided with bristles along the entire length of the rotatable member. As an alternative only a part of the member is provided with bristles or similar rubbing elements as will be discussed in detail below, and a part of the member is constituted by a core portion which has an increased diameter compared to the rest of the member. It is said portion with the increased diameter which is being used for the premilking, thereby achieving the effect that an increased pressure is applied to the teats, compared to if only bristles were used which are softer. Two variants of such a core are illustrated in Figs. 9 and 10. In one variant the core 126, 127 is configured with one straight portion with an increased diameter 124 and another straight portion with a lesser diameter 125, and according to the other variant the core 226, 227 is configured with a fusiform shape. In both variants the rotatable members 122, 123 and 222, 223 are rotatable about their own respective axes 130, 131 and 230, 231.

Another alternative configuration of the counter- rotatable members is illustrated in Fig. 7. In this alternative the rotatable members are cylinders upon the surfaces of which rubbing elements 34, 35 in the form of wart-like protrusions are provided. It is these wart-like protrusions that perform the massaging and cleaning function while they during the premilking phase have no explicit function. During the premilking it is essentially the cylindrical shape of the members that achieve the increased pressure and rolls down along the teat in order to press out the milk.

In all the shown figures the rotatable members are rotating in a downwards direction along the teat. However, a reverse direction of the rotation would be possible. Especially, an upwards direction of rotation along the teat would result in a descending motion of the members along the teat. However in such a case no rotational drive force can be exercised upon the members. They are free to rotate by means of the friction only between the members and the teat. It is also conceivable that the rotation speed is adjustable.

In Figs. 8a and 8b another alternative configuration of the counter-rotatable members is illustrated. This alter- native comprises two pairs of rolls 40, 41 and 42, 43, one pair on each side of the teat, of which at least one roll in each pair is a drive roll. It further comprises two belts 45, 46, each travelling in a substantially vertical direction, when in operation, over and between the two rolls in each pair by means of said drive roll. Each belt with its two associated rolls may be referred to as a belt unit. The belt units are connected at their lower ends by means of a link element 48. This link element is essentially horizontal during operation and it is preferably connected to the axle journal of each of the two lower rolls 42, 43. Preferably there is one link element at each end of the two rolls. The belts would preferably include some sort of rubbing elements (not illustrated in the figures) on their respective surfaces in order to be able to massage and possibly also clean the teat. In order to be able to achieve premilking the uppermost of the two rolls 40, 41 in the first two pairs of rolls may constitute a cutting off means, in a fourth embodiment of said means, achieving a cutting off effect by being pressed against the teat with an additional force, as illustrated in Fig. 8b. As illustrated the belts and the rotating rolls are preferably resiliently pressed against the teat. They are for instance spring-loaded 50. This would also mean that the link element 48 must allow a variable distance between the two lower rolls. This could for instance be arranged by having a groove in the link element in which one of the axle journals may run.

A description will now follow of the function of an apparatus including any one of the embodiments illustrated in Figs. 3-7. During the stimulation step, preferably also combined with cleaning, the counter-rotating members 22, 23, 30, 31 are slightly pressed against the teat while being moved in a direction downwards along the teat. During this step the cutting off means 20, 21, 38, 39 will be in their inactive state, i.e. not inflated or expanded or whatever is applicable, in other words they shall not exercise any pres- sure on the teat. If possible they may even be removed slightly from the teat. When the desired stimulation effect is achieved and the milk letdown has occurred, and the teat cistern is filled with milk, , the cutting off means will be activated by being pressed against the upper part of the teat, where the cisternal ringfold is located, in order to cut off the milk passage between the udder cistern and the teat. No more milk should then be able to pass from the udder cistern into the teat cistern. The members will then be moved to a position as close to the activated cutting off means as possible and will then again be moved downwards along the teat while being pressed against the teat, preferably with a higher pressure that during the stimulation step, in order to compress the teat cistern and press out all the milk contained in the teat. If, for some reason, a repetition of the procedure is required, the cutting off means will of course be opened again in order to allow milk to enter into the teat cistern.

The apparatus represented in Figs. 8a and 8b functions as follows: During the stimulation step, preferably also combined with cleaning, the belt units work in the position illustrated in Fig. 8a. If the two uppermost rolls 40, 41 are assumed to be the drive rolls, they are rotated in an inward direction, towards the teat, thereby causing the two belt units to move in a direction downwards along the teat. During this motion the stimulation and preferably also the cleaning will be achieved by the moving belts, preferably provided with rubbing and/or cleaning elements such as bristles or the like. In the next step of premilking the uppermost rolls 40, 41 will be pressed against the upper part of the teat thereby cutting off the milk passage in said upper part. By keeping the uppermost rolls pressed against the upper part of the teat, the belt units will exert a higher pressure on the teat during the movement downward along said teat and thereby the premilking will be achieved.

It should be pointed out that the apparatus illustrated in Figs 8a and 8b may very well be combined with separate cutting off means in accordance with any one of the other embodiments of these means. Naturally then the cutting off function of the two uppermost rolls is eliminated.

Also the previously illustrated alternative configurations of the counter-rotatable members have preferably members which are resiliently pressed against the teat. The counter-rotatable members may also be provided with means for moving at least one of said members in a lateral direction, substantially transverse to the axis of that member, enabling variation of the interaxial distance between said members, in order to permit applying a differentiated pressure to the teat and/or achieving adjustment to the size of the individual teat or size differences of the same teat. The apparatus according to the present invention may further comprise means for analyzing the milk obtained from the premilking. The purpose is to determine whether the milk fulfils all conditions required to continue the milking process. These means for analyzing the milk may include any means previously known per se, such as a sensor device. One advantageous embodiment is illustrated in Fig. 5. According to this embodiment said analyzing means includes a cup 55 positioned under the teat, preferably by means of a robot arm. Also preferably this cup is provided with an inside collecting surface 57 which is of a dark colour. When the premilked milk is collected in the cup 45 it will be easily visible if the milk contains any contamination in the form of clots, for example. Clots may be a symptom of mastitis and the milk will then not be acceptable for human consumption. The milking process would then be interrupted. The inspection of the milk may be performed by a person or a viewing means, such as a video camera, may be installed for viewing the milk. The video camera may perform an analysis of the milk based on e.g. the colour or the contour of possible clots against the dark background.

In Fig. 11 is shown a second embodiment of an analyzing means, in position under the teat 7 during premilking. In this illustration the apparatus illustrated in Figs. 8a and 8b is used but, naturally, any one of the described apparatuses may be used. The illustrated analyzing means include a cup 65 in which premilked milk is collected. Inside the cup a sensor means 68 is provided, which is connected to an analyzing device 69. In Fig. 12 a third embodiment of an analyzing means is shown. Also in this case any one of the above described apparatuses may be used for premilking. A cup 75 is placed under the teat 7 for collecting the premilked milk. The cup is provided with an outlet or discharge 78 which conveys the collected milk, via a tube 80, to a suit- able analyzing device 79.

A third aspect of the invention will now be described with reference being made to Figs. 13-22. The first embodiment illustrated in Fig. 13 comprises rotatable cleaning members 301,302,303 arranged substantially upright on a support means 308. However, it is advantageous if the cleaning members are arranged on said support means in such a way that they form a slightly conical shape, with the largest diameter facing upwards, which will facilitate fitting the apparatus to the teat/teats or udder of the animal. In Fig. 1 the support means illustrated is an annular element, but it could also be a plate or be designed in any other suitable shape. The support means is fixed while each cleaning member is free to rotate around its own central axis. The apparatus also includes drive fluid supply means 307, as well as means 309,310 for directing the drive fluid towards the cleaning members. Since there are three cleaning members in the illustrated embodiments, normally three fluid directing means would be required, of which only two 309,310 are seen in the figure. In the illustrated embodiment the cleaning members are schematically illustrated as brushes provided with bristles. These bristles are also referred to as the cleaning elements. In the present case the bristles, apart from their cleaning capacity, also function as rotary fluid driven drive means, which drive the rotatable cleaning members in rotation when the drive fluid hits said rotary fluid driven drive means. It would also be conceivable not to use the bristles as the rotary fluid driven drive means, but instead provide each cleaning member with blade means performing the function of the rotary fluid driven drive means .

In the second embodiment, according to the third aspect of the invention, illustrated in Fig. 14, the support means 316 is rotatable while the cleaning members 311,312,313 are fixed on said support means and are not rotatable. In this embodiment the rotary fluid driven drive means are configured as blade means 318, preferably arranged peripherally on the support means. Preferably the blade means are arranged around the entire circumference of the support means or peripherally along its inferior sides. The fluid supply means 317 is provided with a directing means 319 in the vicinity of the blade means 318, in order to direct a stream of drive fluid towards the blade means and thereby driving the support 316 in rotation.

The third embodiment illustrated in Fig. 15 is in many ways a combination of the two previously discussed embodiments. The cleaning members 321,322,323,324,325 are all rotatable around their respective axes while, simultaneously, a support means 326 is also rotatable around its axis. The cleaning elements may have journalling ends by means of which they are supported by the support means 326. The support means is configured as a plate provided with blade means 328. The apparatus is also provided with fluid supply means 327 comprising directing means 329,330 for directing the drive fluid towards the blade means 328, thereby driving the sup- port means 326 in rotation. In the illustrated embodiment no drive fluid is supplied or directed towards the cleaning members. However, such an arrangement is easily imaginable when contemplating Fig. 15 in combination with Fig. 13.

In the embodiment in Fig. 15 the number of cleaning members is five, in order to illustrate that the invention as such is not restricted to exactly three cleaning members, but any suitable number of cleaning members may be used. The cleaning members also have a slightly different configuration as compared to the two previous embodiments. In this embodi- ment the uppermost end of the cleaning members, i.e. the end which will be directed towards the animal, is provided with bristles forming a rounded top. This also serves to illustrate that the cleaning members may have different configurations. Finally, the embodiment includes two drive fluid supply means. Naturally any suitable number of drive fluid supply means may be provided, as applicable.

Fig. 16 illustrates a fourth embodiment of the apparatus, according to the third aspect of the present invention. In this embodiment the cleaning members 331,332,333 are arranged inside a housing 335 shown partly in cross-section. The cleaning members inside the housing may naturally be configured in accordance with any one of the three previous embodiments . In the figure they are arranged as cleaning members which are free to rotate about their own respective axes. They are supported by a support means 338, which in the illustrated embodiment is fixed. The cleaning members are illustrated as brushes provided with bristles. The bristles function both as cleaning means and as the rotary fluid driven drive means for driving the cleaning members in rotation. A drive fluid supply means 337 is connected to the housing and it has preferably three inlets into the housing, of which only two 339,340 are shown, by means of which the drive fluid is directed towards the rotary fluid driven drive means .

Yet another embodiment, a fifth embodiment, is illustrated in Fig. 17. This embodiment comprises a rotatable cleaning means in the form of a rotatable housing 345 provided with rotary fluid driven drive means 348, in the shape of blade means . In order to achieve the cleaning function the housing is provided with cleaning elements 344 on its inside. These cleaning elements may be constituted of bristles, as in the illustrated embodiment, or any other type of suitable cleaning elements. Examples of such elements are textile discs, textile strips, fibres, wart-shaped protrusions or the like. The apparatus is also provided with a fluid supply 347 comprising a means 349 for directing the drive fluid towards the blade means, thereby driving the housing in rotation.

In the sixth embodiment represented in Fig. 18 the cleaning apparatus comprises a housing 355, shown partly in cross-section, and cleaning members 351,352,353. The housing is provided with cleaning elements 354 on its inside and the cleaning members are also provided with cleaning elements. In the represented embodiment the cleaning members are rotated while the housing is in a fixed position. Consequently the cleaning members are supported by a support means 356, in the illustrated embodiment shown in the form of an annular ele- ment, provided with rotary fluid driven drive means in the shape of blade means 358. The apparatus also comprises a fluid supply means 357, provided with a means 359 for direct- ing a stream of drive fluid towards said blade means, thereby driving the cleaning members in rotation around the central axis of the support means. The cleaning members themselves may either be fixed on the support means, i.e. not be ro- tatable round their own axes, or may be free to rotate around their own respective axes. This embodiment also shows an example of a different configuration of the shape of the cleaning members, namely a conical shape instead of the previously shown cylindrical shape. Fig. 19 illustrates the embodiment in Fig. 18 seen from above.

Yet another, seventh, embodiment is represented in Fig. 20. In this embodiment both the housing 365, shown partly in cross-section, and the cleaning members 361,362,363 are rotatable. Accordingly the housing 365 is provided with rotary fluid driven drive means in the shape of blade means 38 and the support 366 for the cleaning members is also provided with rotary fluid driven drive means 360. Both sets of blade means are being driven in rotation by means of a drive fluid supplied through a supply means 367 and directed towards said blade means by means of a nozzle 369. The cleaning members may also be free to rotate around their own axes, if desired.

In the embodiment shown in Fig. 21, the eighth embodiment, the apparatus is provided with a first inner housing 375 and a second outer housing 370, both shown partly in cross-section. Cleaning members 371,372,373 are arranged inside the inner housing, preferably in the same manner as in the embodiment described with reference to Fig. 13. Accordingly the cleaning members are rotatable around their respective central axes. They are arranged on a support means 378. The inner housing 375 may or may not be provided with cleaning elements, such as bristles, on its inside. A drive fluid supply means 377 is arranged to supply drive fluid to the inner space formed between the respective walls of the first and the second housing. The first, inner, housing is provided with a plurality of openings 379 in the wall and the drive fluid is, by means of entering the inner housing through said openings, directed towards the cleaning members, thereby driving said members in rotation.

Yet another embodiment, the ninth embodiment, is illustrated in Fig. 22. This embodiment is very similar to the embodiment shown in Fig. 21. The only difference is that the cleaning members 381,382,383 are arranged on a support means 386 which is rotatable. The support means is provided with rotary fluid driven drive means shaped as blade means 388. The supplied drive fluid is, by means of a special dividing means 392, divided into two streams of fluid, one stream directed upwards into the space formed between the walls of the two housings 385,380, and a second stream of drive fluid directed towards said blade means 388. In this embodiment the cleaning members may be driven in rotation by both the blade means 388 and the fluid entering through the openings 389. Therefore, they may be free to rotate around their own axes, if desired. However, the main purpose of the openings 389, as well as the openings 379 described in con- nection with Fig. 21, is to let the drive fluid, when this also functions as the cleaning fluid, into the inside of the cleaning apparatus. The dividing means 392 may preferably have a substantially triangular or conical shape.

Turning now to Figs. 23-26, it should be noted that these figures pertains to a fourth aspect of the invention. The apparatus represented in Fig. 23 is a schematic illustration of a first embodiment of the fourth aspect of the present invention. The apparatus includes means for applying a cleaning fluid in the form of spray means 401 for directing a stream of the cleaning fluid, according to the present invention, i.e. a dispersion of particulate material in a fluid, onto the teats 403 and also parts of the udder 405. In the illustration in Fig. 23 said spray means 401 are arranged in a receptacle 407, shaped essentially as a bowl, but they could naturally be attached to a separate support without necessitating a receptacle. In the illustrated embodiment the cross-section of the receptacle 407 is in the shape of a rounded W. The receptacle is provided with a suitable drain, in the case of the illustrated embodiment two drains 409,411, situated in the lowermost parts in the two portions of the W. Where the spray means are situated, the receptacle is equipped with a double wall, offering an intermediate space between the two walls for the transportation of the cleaning fluid from the cleaning fluid inlet 413 to the respective spray means 401. As an alternative each spray means may be connected directly to a cleaning fluid supply means via appropriate tubing.

The fluid component of the cleaning fluid (said component also being referred to as the dispersion fluid) may in the illustrated embodiment be either a liquid or a gas, or even a mixture of the two. The fluid component is supplied via the tube 415. An example of a suitable liquid would be water, but other liquids are also possible. An example of a suitable gas would be air, but other gases are naturally also possible, as applicable.

The particulate material is supplied via the tube 417. The fluid and the particulate material are mixed, i.e. the particulate material is dispersed in the fluid, by means of a dispersion means including a control valve 419 and from said control valve a tube 421 transports the resulting cleaning fluid to the inlet 413. In the case when the fluid component is a liquid, the particulate material may be either a gas or a solid or essentially solid substance. An example of a gas would, as mentioned, be air, and examples of solid substances are salt crystals, plastic granules, sawdust or the like. The par- ticulate material may also be a mixture of both, however this possibility has not been illustrated.

In the case when the fluid component is a gas, the particulate material may be either a liquid, in the form of droplets, or a solid or essentially solid substance. An example of a liquid would naturally be water, and examples of solid substances are salt crystals, plastic granules, sawdust or the like, as mentioned above. The particulate material may also be a mixture of both, however this possibility has not been explicitly illustrated.

The particular shape of the receptacle 407 illustrated in Fig. 23 is intended to provide improved cleaning of the udder between the teats and also those sides of each teat which are facing the other teats.

The apparatus according to the embodiment in Fig. 23 is also provided with means 423 for applying the receptacle to the udder of the animal to be cleaned. These means may be in the form of a lip arranged on the upper part of the receptacle, and manufactured in a resilient material. The purpose of this lip, which may be attached around the entire upper circumference of the receptacle, is to prevent that cleaning fluid is sprayed all over the surroundings. If the dispersion fluid is a gas, the drain or drains 409,411 may be located differently. The drain or drains may also be provided with a valve-regulated discharge (not shown in Fig. 23), as applicable.

The apparatus can also be used for the cleaning of at least one teatcup (not shown) , simply by holding at least one teatcup and lowering the same in between the spray means in order for the streams of cleaning fluid to hit the teatcup or the cluster.

The second embodiment of the apparatus, according to the fourth aspect of the invention, is illustrated in Fig. 24. In this embodiment the dispersion fluid is a liquid, or possibly a mixture of a gas and a liquid, and the resulting cleaning fluid is supplied and dispensed to a receptacle 437 via an inlet 443. The receptacle has a general bowl-shape and is provided with a valve-regulated 438 drain 439 in its bottom. By means of this valve the cleaning fluid can be collected inside the receptacle and, after the cleaning has been successfully terminated, it serves for evacuation of the cleaning liquid. In this embodiment the fluid component is supplied via a tube 445 and the chosen particulate material is supplied via a tube 447. The fluid and the particulate material are mixed, i.e. the particulate material is dis- persed in the fluid, by means of a valve 449 and the resulting cleaning fluid is transported by means of a tube 441 to the cleaning fluid inlet 443. If the cleaning fluid inlet is open during the cleaning and cleaning fluid is continuously supplied, then the cleaning fluid may serve as an agitating means. If not, a separate agitating means may have to be connected to the apparatus. However, no such means have been shown in the figure, since they are known per se . Examples of such means are means for imparting a pulsating pressure variation in the liquid or devices for generating low or high frequency oscillations, e.g. ultrasound. Also mechanical agitating means are possible, such as a circulating pump or a receptacle with a double-wall bottom, known per se. In this embodiment the teats 403 of an animal and also parts of the udder 405 are immersed in the cleaning fluid 435 contained in the receptacle 437. It would also be possible to immerse at least one teatcup for cleaning.

The particulate material would in this embodiment preferably be of a solid or essentially solid substance such as salt crystals, plastic granules, sawdust or the like. A third embodiment is shown in Fig. 25. In this embodiments the cleaning fluid is also a liquid and the particulate material is in this case gas bubbles achieving a certain rubbing effect and also agitating the cleaning fluid. The receptacle 457 is provided with a drain 459 in its lowermost part. This drain is valve-regulated 458 in order to allow cleaning fluid to be collected in the receptacle and later on evacuated. It is also provided with a number of inlets 460,461,462 for the gas bubbles, preferably air bub- bles. These inlets are preferably in the shape of some kind of nozzles, each directing a stream of gas bubbles onto the teats and/or the udder and/or at least one teatcup, as applicable. The liquid component is supplied through an inlet 453 in the wall of the receptacle 457, and to which inlet a tube 454 is attached connected to a liquid supply source (not shown) . The gas is supplied from a gas source (not shown) , preferably under pressure, via a tube 467 and an inlet 463. The receptacle 457 may be provided with a double wall, at least where gas inlets are provided. Between the two walls of this double wall a space is provided for the transportation of the gas from the inlet 463 to the different outlets 460, 461,462. As an alternative each gas inlet may be connected directly to the gas supply source via appropriate tubing.

Finally, the receptacle 457 is designed with a particular shape. This shape is due to the desire of having a gas inlet situated in the bottom of the receptacle, in a position between two of the teats. This positioning of the gas inlet improves the cleaning of that part of the udder which is situated between the teats, and also those sides of the teats which are facing the other teats. However, it should be noted that also other configurations of the recep- tacle are possible, in particular the configuration already represented in Fig. 23.

In the embodiments of Fig. 23 and Fig. 25 it is not required to have a separate agitating means since the stream of cleaning fluid and the movement of the particulate mate- rial will provide an agitating effect.

The described apparatus, according to the fourth aspect of the invention, may be included in an equipment for automatic milking. Such an equipment would comprise a so called milking robot with a robot arm and control means. It may function according to the following. The robot arm seizes the cleaning apparatus, lifts it and conveys it to an area where the cow is located whose teats and/or udder are to be cleaned, or where at least one teatcup to be cleaned is placed. The robot arm moves the apparatus up towards the teats/udder/teatcup and ascertains that the apparatus is properly applied for the cleaning process to start. Then the cleaning process may be executed. After the cleaning is completed, the robot arm will remove the apparatus from the teats/udder/teatcup and transport it back to its original location. The operation is performed with the aid of suitable sensor means and control means. As an alternative, applicable for the cleaning of at least one teatcup, the robot arm will not move the cleaning apparatus but instead at least one teatcup. In Fig. 26 is illustrated how the arm 470 of a robot 471, preferably a so called milking robot, is used to pick up and convey at least one teatcup, which in the illustrated case is a milking cluster 473, to a cleaning area where a cleaning apparatus 475 according to the invention is located, and how the at least one teatcup then is lowered down into the receptacle of the apparatus for cleaning. After the cleaning is completed, the robot arm will transport the teatcup or the milking cluster back to its original location. Also this operation is performed with the aid of suitable sensor means and control means . Instead of being attached to a robot arm, as in the case of the equipment for automatic milking, the apparatus may be supported by what may be referred to as a service arm and be used m semi-automatic milking. The service arm may comprise a support carrying the apparatus and it should also be able to perform a vertical movement. The service arm is located in the vicinity of the milking parlour. The person performing the manual attachment of the milking cluster, which is part of the semi-automatic milking procedure, will have easy access to the service arm and can easily move the arm with the apparatus to the teats in order to perform the cleaning and then back again.

It is to be understood that the present disclosure of the invention and the described embodiments is merely illustrative and not limiting and that the invention compre- hends any modification and combination as will follow within the scope of the following claims. In particular it should be pointed out that any one of the embodiments of the cut off means may be combined with any one of the alternatives described with regard to the counter-rotatable members, mclud- mg any variant of the rubbing elements, such as bristles, fibres, textile strips, textile discs, rubber discs, warts or other arrangements known per se, as well as any variant of the expandable or expanded core, as applicable.

To continue, it deserves to be pointed out that any one of the embodiments of the cleaning members and their different rotary fluid driven drive means, i.e. the embodiments referring to Figs. 13-22 (the third aspect of the invention) , may be combined with any one of the alternatives described with regard to the housing or housings, and the corresponding drive means, as applicable. Furthermore, the cleaning members with their cleaning elements have in all the concerned figures been schematically represented as brushes with bristles. However, they may have any suitable configuration, in consistency with the following claims. Likewise, the cleaning elements on the inside of the housing may have any other suitable configuration, within the scope of the claims, than the illustrated bristles. Also the housing, which in the illustrated embodiments is substantially conical, may have other configurations, e.g. a bowl shape or straight walls. It would also be conceivable to provide the apparatus with any number of cleaning members, drive fluid supply means and directing means etc. that is deemed suitable. To continue, the blade means may have any suitable configuration, and their size and number may be adapted to the requirements of each case of application. Finally, it should be mentioned that the method and the apparatus according to this third aspect of the invention may be used as an independent invention, mainly for cleaning and possibly without an explicit aim to stimulate milk letdown.

In connection with the embodiments illustrated in Figs. 23-26 (the fourth aspect of the invention), it may be mentioned that if the apparatus in the first embodiment is configured with a support instead of a receptacle, it may be preferable to provide each spray means 1 with a separate inlet 413 for cleaning fluid, connected via individual tubes to the dispersion means or control valve 419. It should also be mentioned that a combination of the second and third embodiments would be conceivable, in such a way that a stream of cleaning fluid is fed to the receptacle via several groups of nozzles, similar to showerheads, and that this continues while the receptacle is being filled. Furthermore, regarding the third embodiment, one possible variant would be to supply a cleaning fluid, i.e. a dispersion liquid with solid or essentially solid particulate material dispersed therein, via the inlet 453 and to supply an additional particulate material, preferably gas bubbles, via the inlets 460,461,462. In addition, it has only been illustrated in the embodiments how the cleaning fluid is either prepared directly in the receptacle or by means of a dispersion means in the form of a valve. As an alternative to this, the dispersion fluid and the particulate material may be supplied to a separate container where they are mixed and the resulting cleaning fluid would from there be transported to suitable dispensing means, such as spray means or other inlets as applicable. Finally, it should be mentioned that, even though in the illustrated embodiments only teats and udders are shown as the cleaning objects, these teats and udders could in every embodiment be exchanged for at least one teatcup (or a milking cluster) as written in the claims. Also in this case, it should be mentioned that the method, the apparatus, the cleaning fluid as well as the method of preparing the cleaning fluid, according to this fourth aspect of the invention may used as an inde- pendent invention, mainly for cleaning and possibly without an explicit aim to stimulate milk letdown.

Claims

1. A method of preparing a lactating animal for milking comprising the following steps: - localizing the udder of the animal and/or at least one teat of the animal;

- stimulating said at least one teat and/or the udder in order to induce milk letdown.

2. A method according to claim 1, comprising the following step :

- automatically approaching a performing means to said at least one teat and having said means automatically performing the following steps: - stimulating the teat in order to induce milk letdown; and

- premilking of a controlled quantity of milk by extracting the milk contained in the teat while preventing milk from moving from the udder cistern of the teat down into the teat, and also preventing milk in the teat from moving back into the udder cistern .

3. A method according to claim 2, wherein the controlled quantity of milk is obtained by cutting off the milk passage in the upper part of the teat by a cutting off means, during the premilking.

4. A method according to claim 1, comprising the following steps:

- automatically approaching a performing means to said at least one teat and having said means automatically performing the following steps:

- stimulating the teat in order to induce milk letdown; and

- premilking by cutting off the milk passage in the upper part of the teat by a cutting off means dur- ing the entire process of extracting the milk contained in the teat.

5. A method according to claim 4, wherein a controlled quantity of milk is obtained during the step of premilking.

6. A method according to any one of claims 3-5, wherein the action of cutting off the milk passage in the upper part of the teat and the action of extracting the milk are performed by the same means.

7. A method according to any one of claims 3-5, wherein the action of cutting off the milk passage and the action of extracting the milk are performed by two separate means.

8. A method according to any one of claims 2-7, wherein it is followed by the step of analyzing the premilked milk in order to determine whether the milk fulfils all conditions required to continue the milking process.

9. A method according to any one of claims 2-8, wherein the step of stimulating the teat also includes a simultaneous cleaning of said teat performed by the same means .

10. A method according to claim 9, wherein said cleaning includes using a cleaning fluid and that said method further includes the step of analyzing said cleaning fluid during and/or after the cleaning of the teat in order to determine whether said fluid fulfils all the requirements for the milking process to continue with the step of premilking.

11. A method according to any one of claims 2-10, wherein all the steps in said method are carried out in an uninterrupted sequence and without removing the performing means from the absolute vicinity of the teat.

12. A method according to any one of claims 2-11, wherein one or more of the steps is repeated.

13. A method according to claim 1, characterized in that it further comprises cleaning of at least one teat and/or an udder of the animal.

14. A method according to claim 13, characterized in that it comprises supplying and directing a stream of drive fluid towards a rotatable cleaning means thereby driving said cleaning means in rotation.

15. A method according to claim 14, characterized in that it comprises using the drive fluid as a cleaning fluid by di- recting said fluid towards an area where the teat and/or udder is assumed to be located for cleaning purposes.

16. A method according to claim 1 or claim 13, characterized in that it comprises the cleaning of at least one teatcup.

17. A method according to claim 13 or claim 16, characterized by applying a cleaning fluid, comprising a dispersion of particulate material in a dispersion fluid, on said teats and/or udder and/or at least one teatcup.

18. A method according to claim 17, characterized by collecting the cleaning fluid in a receptacle, agitating the cleaning fluid and applying said cleaning fluid by immersing said teats and/or udder and/or at least one teatcup in said cleaning fluid.

19. A method according to claim 17 or claim 18, characterized by applying the cleaning fluid by directing a stream of the cleaning fluid onto said teats and/or udder and/or at least one teatcup.

20. A method according to any one of claims 17-19, characterized by picking up and conveying, by means of a robot arm, an apparatus for applying the cleaning fluid to an area where the teats and/or the udder and/or at least one teatcup are located and applying said cleaning fluid on said teats and/or the udder and/or said at least one teatcup in said area.

21. A method according to any one of claims 17-20, characterized by picking up and conveying, by means of a robot arm, at least one teatcup to a cleaning area and applying the cleaning fluid on said teatcup in said cleaning area.

22. A method according to any one of claims 13-21, characterized in that the step of stimulating the teat and/ or udder is performed simultaneously with the cleaning and by the same means .

23. A cleaning fluid for use in the method according to any one of claims 17-22, characterized in that it comprises a dispersion of particulate material in a dispersion fluid.

24. A cleaning fluid according to claim 23, characterized by said dispersion fluid being a liquid, preferably water, and said particulate material comprising bubbles of a gas, pref- erably air bubbles.

25. A cleaning fluid according to claim 23, characterized by said dispersion fluid being a liquid, preferably water, and said particulate material comprising particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like.

26. A cleaning fluid according to claim 25, characterized by said particulate material further comprising bubbles of a gas, preferably air bubbles.

27. A cleaning fluid according to claim 23, characterized by said dispersion fluid being a gas, preferably air, and said particulate material comprising drops of a liquid.

28. A cleaning fluid according to claim 23, characterized by said dispersion fluid being a gas, preferably air, and said particulate material comprising particles of a solid or ' essentially solid substance, such as salt crystals, plastic granules, sawdust or the like.

29. A cleaning fluid according to claim 28, characterized by said particulate material further comprising drops of a liquid.

30. A cleaning fluid according to claim 23, characterized by said dispersion fluid comprising a mixture of a liquid, preferably water, and a gas, preferably air, and said particulate material comprising particles of a solid or essentially solid substance, such as salt crystals, plastic gran- ules, sawdust or the like.

31. A cleaning fluid according to any one of claims 23-30, characterized by comprising a substance which enhances the drying of the cleaned object/objects.

32. A method of preparing a cleaning fluid for the cleaning of teats and/or the udder of an animal and/or at least one teatcup, characterized by dispersing a particulate material in a dispersion fluid.

33. A method according to claim 32, characterized by selecting said dispersion fluid in the form of a liquid, preferably water, and selecting the particulate material in the form of bubbles of gas, preferably air bubbles, which are mixed in with the liquid.

34. A method according to claim 32, characterized by selecting said dispersion fluid in the form of a liquid, preferably water, and selecting said particulate material in the form of particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like.

35. A method according to claim 34, characterized by fufther selecting the particulate material in the form of bubbles of gas, preferably air bubbles, which are mixed in with the liquid.

36. A method according to claim 32, characterized by selecting said dispersion fluid in the form of a gas, preferably air, and selecting the particulate material in the form of drops of a liquid.

37. A method according to claim 32, characterized by selecting said dispersion fluid in the form of a gas, preferably air, and selecting said particulate material in the form of particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like.

38. A method according to claim 37, characterized by further selecting the particulate material in the form of drops of a liquid.

39. A method according to claim 32, characterized by selecting said dispersion fluid in the form of a mixture of a liquid, preferably water, and a gas, preferably air, and se- lecting the particulate material in the form of particles of a solid or essentially solid substance, such as salt crystals, plastic granules, sawdust or the like.

40. A method according to any one of claims 32-39, charac- terized by adding a substance to the fluid, which enhances the drying of the cleaned object/objects.

41. An apparatus for preparing a lactating animal for milking, characterized in that it comprises means for stimulating at least one teat and/or the udder of said animal in order to induce milk letdown.

42. An apparatus according to claim 41, characterized in that it further comprises means for premilking including means for extracting milk and means for obtaining a controlled quantity of milk when extracting milk contained in the teat.

43. An apparatus according to claim 42, characterized in that the means for obtaining a controlled quantity of milk comprise means (20, 21, 38, 39, 40, 41) for cutting off the milk passage in the upper part of the teat while extracting milk contained in the teat.

44. An apparatus according to claim 41, characterized in that it further comprises means for premilking including means for extracting milk and means (20, 21, 38, 39, 40, 41) for cutting off the milk passage (13) in the upper part of said at least one teat (7) in order to allow extraction of the milk contained in said teat.

45. An apparatus according to claim 44, characterized in that it comprises means for obtaining a controlled quantity of milk during the step of premilking.

46. An apparatus according to any one of claims 42-45, characterized in that the means for extracting milk comprise at least two counter-rotatable members (22, 23; 30, 31; 45, 46) arranged laterally of the teat and with their respective axes substantially horizontal during operation, and that said counter-rotatable members also constitute said means for stimulation thus providing a combined means for stimulation and premilking.

47. An apparatus according to claim 46, characterized in that it comprises means (50) for moving at least one of said members (22, 23; 30, 31; 45, 46) in a lateral direction, substantially transverse to the axis of that member, enabling variation of the interaxial distance between said members, in order to permit applying a differentiated pressure to the teat (7) and/or achieving adjustment to the size of the individual teat or size differences of the same teat.

48. An apparatus according to any one of claims 46-47, characterized in that said members (22, 23; 30, 31; 45, 46) are of a substantially elongated shape and are provided with rubbing elements (28, 29; 34, 35) such as bristles, fibres, textile strips, textile discs, rubber discs, warts or the like.

49. An apparatus according to any one of claims 46-48, characterized in that said members (22, 23) comprise an axial core (26, 27), which at least partly constitutes an ex- pandable core and that said apparatus further comprises means for expanding said core during the premilking.

50. An apparatus according to any one of claims 46-48, characterized in that said members (122, 222) comprise an axial core (126, 226), that an axial portion of said core is designed with an increased diameter and that said portion is used for the premilking.

51. An apparatus according to any one of claims 46-48, characterized in that said counter-rotatable members comprise two belts (45, 46), that said apparatus further comprises two pairs of rolls (40, 41; 42, 43), one pair on each side of the teat, of which at least one roll in each pair is a drive roll, that each belt (45, 46) is travelling in a sub- stantially vertical direction, when in operation, over and between the two rolls (40, 42; 41, 43) in each pair by means of said drive roll, and that each belt with its two associated rolls constitute a belt unit.

52. An apparatus according to claim 51, characterized in that the two uppermost rolls (40, 41) in said first two pairs of rolls also constitute said cutting off means.

53. An apparatus according to any one of claims 43-51, characterized in that the means for cutting off the milk passage and the means for extracting milk are two separate means .

54. An apparatus according to claim 53, characterized in that said means for cutting off the milk passage is an in- wardly expandable element (20, 21) applied externally on the upper part of the teat (7) .

55. An apparatus according to claim 54, characterized in that said inwardly expandable element is an inflatable annu- lar element (20) .

56. An apparatus according to claim 54 or claim 55, characterized in that said inwardly expandable element has the general shape of an iris diaphragm (21) .

57. An apparatus according to claim 53, characterized in that said means for cutting off the milk passage (13) is in the form of at least two bars (38, 39) applied laterally on the upper part of the teat (7) .

58. An apparatus according to any one of claims 42-57, characterized in that it further comprises means for analyzing (55, 57) the milk obtained from the premilking in order to determine whether the milk fulfils all conditions required to continue the milking process.

59. An apparatus according to claim 58, characterized in that said means for analyzing the milk includes a cup (55) , preferably with a dark inside surface (57), into which premilked milk is sprayed, and visual control means, e.g. a video camera, for checking that the premilked milk does not contain any visible contaminations, such as clots or dirt.

60. An apparatus according to claim 58, characterized in that said means for analyzing the milk includes a cup (65) in which premilked milk is collected and which is provided with integrated sensor means (68) for analysis of the milk.

61. An apparatus according to claim 58, characterized in that said means for analyzing the milk includes a cup (75) in which premilked milk is collected and which is provided with a discharge (78) conveying the milk to an analyzing device (79) .

62. An apparatus according to any one of claims 42-61, characterized in that it further comprises means (22, 25; 30, 31; 45, 46) for cleaning said at least one teat (7), that said combined means for stimulation of the teat and extracting milk also constitute said means for cleaning the teat, which means perform a simultaneous and combined stimulation and cleaning.

63. An apparatus according to claim 62, characterized in that it further comprises means (8; 18, 19; 32, 33) for supplying a cleaning fluid to said cleaning means and/or the teats.

64. An apparatus according to claim 63, characterized in that said apparatus further includes means for analyzing said cleaning fluid during and/or after the cleaning of the teat in order to determine whether said fluid fulfils all the requirements for the milking process to continue.

65. An apparatus according to claim 41, characterized in that it further comprises means for cleaning at least one teat and/or an udder of the animal.

66. An apparatus according to claim 65, characterized in that it comprises at least one rotatable cleaning means (301,302,303; 311,312,313; 321,322,323,324,325; 331,332,333; 345; 351,352,353; 361,362,363,365; 371,372,373; 381,382,383) applicable to said at least one teat and/or udder and in that it further comprises a drive fluid supply means (307,309,310; 317,319; 327,329,330; 337,340; 347,349; 357,359; 367,369; 377,379; 387,389) for the supply of a drive fluid which drives said cleaning means in rotation.

67. An apparatus according to claim 66, characterized in that it comprises rotary fluid driven drive means (304,305,306; 328; 334,335,336; 348; 358; 360,368; 374,375,376; 388) for rotating the rotatable cleaning means (301,302,303; 311,312,313; 321,322,323,324,325; 331,332,333; 345; 351,352,353; 361,362,363,365; 371,372,373; 381,382,383) and that the drive fluid drives said rotary fluid driven drive means .

68. An apparatus according to claim 67, characterized in that it comprises means (309,310; 319; 329,330; 339,340; 349; 359; 369; 379; 389,392) for directing the drive fluid towards the rotary fluid driven drive means.

69. An apparatus according to claim 67 or claim 68, charac- terized in that the rotatable cleaning means comprise rotatable members (301,302,303; 311,312,313; 321,322,323,324,325; 331,332,333; 351,352,353; 361,362,363; 371,372,373; 381,382,383), preferably of a substantially cylindrical shape .

70. An apparatus according to claim 69, characterized in that it comprises means (308; 316; 326; 338; 356; 366; 37f. 386) for supporting the cleaning members at one of their ends, keeping the cleaning members in a substantially upright position.

71. An apparatus according to claim 70, characterized in that each cleaning member is provided with individual rotary fluid driven drive means.

72. An apparatus according to claim 70 or claim 71, charac- terized in that the support means (308; 338; 378) is fixed while each cleaning member (301,302,303; 331,332,333; 371,372,373) is free to rotate around its own central axis.

73. An apparatus according to claim 70 or claim 71, charac- terized in that each cleaning member (321,322,323,324,325;

351,352,353; 361,362,363; 381,382,383) is free to rotate around its own central axis, that the support means (326; 356; 366; 386) has a central axis, is rotatable around its own central axis and provided with rotary fluid driven drive means (328; 358; 360; 388), whereby each cleaning member is rotatable both around its own central axis and the central axis of said support means.

74. An apparatus according to claim 70, characterized in that each cleaning member (311,312,313) is fixed on the support means (316), that said support means has a central axis, is rotatable around its own central axis and is provided with rotary fluid driven drive means (318), whereby said support means with the fixed cleaning members is ro- tatable around the central axis of said support means.

75. An apparatus according to any one of claims 69-74, characterized in that the cleaning members (301,302,303; 311,312,313; 321,322,323,324,325; 331,332,333; 351,352,353; 361,362,363; 371,372,373; 381,382,383), are provided with cleaning elements (304,305,306; 314; 320; 334,336,336; 350; 364; 374,375,376; 384) on their surface, such as brushes, bristles, textile discs, textile strips, rubber discs, fibres, wart-shaped protrusions or the like.

76. An apparatus according to any one of claims 69-75, cha- racterized in that the cleaning members (301,302,303;

311,312,313; 321,322,323,324,325; 331,332,333; 351,352,353; 361,362,363; 371,372,373; 381,382,383), are arranged with" a diverging distance between their axes in such a way that said distance is at its maximum where the cleaning members are to be applied to the teat/udder.

77. An apparatus according to any one of claims 69-76, characterized in that it comprises three cleaning members (301,302,303; 311,312,313; 331,332,333; 351,352,353; 361,362,363; 371,372,373; 381,382,383) in the form of brushes provided with bristles and that the cleaning elements (304,305,306; 314; 334; 350; 364; 374,375,376; 384) are said bristles .

78. An apparatus according to any one of claims 69-77, characterized in that it comprises a housing (341; 355; 365; 370; 385) and that the cleaning members (331,332,333; 351,352,353; 361,362,363; 371,372,373; 381,382,383) are arranged in said housing.

79. An apparatus according to any one of claims 67-77, characterized in that the rotatable cleaning means comprise a rotatable housing (345,365).

80. An apparatus according to any one of claims 78 or 79, characterized in that the housing (345; 355; 365; 385) is provided with cleaning elements (344; 354; 364; 384), such as brushes, bristles, textile discs, textile strips, rubber discs, fibres, wart-shaped protrusions or the like, covering at least a part of the inside of said housing.

81. An apparatus according to any one of claims 78-80, characterized in that the housing (341; 370; 385) is provided with at least one wall and that the fluid supply means comprise at least one opening (339,340; 379; 389) in the housing wall through which the fluid is supplied and hits the rotary fluid driven drive means .

82. An apparatus according to any one of claims 78-81, characterized in that the housing (341; 345; 355; 365; 370; 385) has a substantially conical configuration.

83. An apparatus according to claim 75 or claim 80, characterized in that the rotary fluid driven drive means comprise the cleaning (304,305,303; 334,335,336; 374,375,376) ele- ments.

84. An apparatus according to any one of claims 69-83, characterized in that the rotary fluid driven drive means comprise blade means (318; 328; 348; 358; 360,368; 388).

85. An apparatus according to any one of claims 78-84, characterized in that it further comprises a second housing (370b; 380), including at least one wall, with substantially the same shape as the first mentioned housing (370; 385) but slightly larger than said first housing and located outside said first housing, that it comprises a space formed between the respective walls of said first and said second housing, that it comprises means (377; 387,392) for supplying drive fluid to said space, and that said first inner housing is provided with holes (379,389) in the wall through which holes the fluid enters into said first housing.

86. An apparatus according to claim 85, characterized in that the means (387,392) for supplying the drive fluid to the space formed between the respective walls of said first (385) and said second housing (380) is located at the lower end of the housings and that it further comprises a means (392) for dividing the stream of drive fluid into two streams, one stream entering said space and another stream being directed to drive blade means (388) arranged at said lower end of the housings .

87. An apparatus according to any one of claims 78-86, characterized in that the housing (341; 345; 355; 365; 3T0; 385) is provided with an open upper end and an open, lower, bottom end.

88. An apparatus according to any one of claims 78-86, characterized in that the housing is provided with an open upper end and a bottom at its lower end, and that said bottom is provided with an outlet for the evacuation of the supplied drive fluid.

89. An apparatus according to any one of claims 66-88, characterized in that the drive fluid supply means (307; 317; 327; 337; 347; 357; 367; 377; 387) is connected to a source of liquid, preferably water.

90. An apparatus according to any one of claims 66-89, characterized in that the drive fluid supply means (307; 317; 327; 337; 347; 357; 367; 377; 387) is connected to a source of gas, preferably pressurized air.

91. An apparatus according to any one of claims 66-88, characterized in that the drive fluid supply means (307; 317; 327; 337; 347; 357; 367; 377; 387) is connected to a source of vacuum.

92. An apparatus according to any one of claims 66-91, characterized in that the drive fluid also constitutes a cleaning fluid.

93. An apparatus according to any one of claims 66-92, characterized in that it comprises means for directing the drive fluid towards an area where the teat and/or udder is assumed to be located for cleaning purposes.

94. An apparatus according to any one of claims 66-93, characterized in that it is applied to said at least one teat and/or the udder by moving said apparatus from underneath said at least one teat and/or the udder in an upward direction until the cleaning means enter into contact with said at least one teat and/or the udder.

95. An apparatus according to any one of claims 66-94, characterized in that said apparatus is supported by a robot arm and that said apparatus is automatically movable in relation to the udder and/or said at least one teat, by means of said robot arm, during a cleaning operation, in order to ensure that all parts of the udder and/or said at least one teat are cleaned, that said apparatus further includes sensor means indicating when the apparatus has reached the udder and/or said at least one teat, that said sensor means is connected to a control means for controlling the movements of said robot arm in response to said sensor means as well as controlling the operation of the apparatus, and that said robot arm places the apparatus beneath the udder and/or said at least one teat in preparation for the cleaning operation, moves the apparatus in an upward direction towards the udder and/or said at least one teat until said sensor means indicates that it has reached the udder and/or said at least one teat, as well as removes the apparatus from the udder and/or said at least one teat after a completed cleaning operation.

96. An apparatus according to claim 41 or claim 65, characterized in that it comprises means for cleaning at least one teatcup .

97. An apparatus according to claim 65 or claim 96, characterized in that the means for cleaning includes a cleaning fluid and in that it comprises means ( 401; 437 ; 457 ) for apply- ing a cleaning fluid on said teats (403) and/or udder (405) and/or at least one teatcup and means for preparing the cleaning fluid, and that said means for preparing the cleaning fluid comprise means (419; 449; 460; 462) for dispersing a particulate material in a dispersion fluid, means

(417 ; 447 ; 467 ) for supplying said particulate material to said dispersion means and means (415; 445; 454 ) for supplying said dispersion fluid to said dispersion means.

98. An apparatus according to claim 97, characterized in that the means (401) for applying the cleaning fluid comprise means (401) for directing a stream of said cleaning fluid onto at least the teats of the animal, and that said apparatus is provided with a connection means (407,413,421) con- necting the dispersing means (419) with the means (401) for directing a stream of cleaning fluid onto the teats and/or the udder and/or at least one teatcup.

99. An apparatus according to claim 98, characterized in that it comprises a receptacle (407) inside which the means

(401) for directing a stream of cleaning fluid are located, and inside which the cleaning fluid is applied.

100. An apparatus according to claim 97, characterized in that the means for applying the cleaning fluid comprise a receptacle (437) inside which said cleaning fluid is collected and applied through immersion of the teats (403) and/or the udder (405) and/or at least one teatcup therein, that said receptacle is provided with an inlet (443), and that a connection means (441) is provided between said inlet (443) and the dispersion means (449), whereby the cleaning fluid enters the receptacle via said inlet.

101. An apparatus according to claim 97, characterized in that the means for applying the cleaning fluid comprise a receptacle (457) inside which said cleaning fluid is collected and applied through immersion of the teats (403) and/or the udder (405) and/or at least one teatcup therein, and that said receptacle is provided with a first inlet (463) to which the means (467) for supplying a particulate material is connected, a second inlet (453) to which the means (454) for supplying a dispersion fluid is connected and that the means for dispersing (460,462) the particulate material in the dispersion fluid is connected to said first inlet (463), whereby the dispersion of the particulate material in the dispersion fluid occurs inside the receptacle.

102. An apparatus according to any one of claims 97-101, characterized in that it comprises means for agitating the cleaning fluid.

103. An apparatus according to any one of claims 97-102, characterized in that it comprises means for adding a substance to the cleaning fluid which enhances the drying of the cleaned object/objects.

104. An apparatus according to any one of claims 65-103, characterized in that the means for stimulating the teat and/ or udder and the means for cleaning the teat and/or udder is a combined means performing a simultaneous stimulation and cleaning and by the same means.

105. An equipment for use in semi-automatic or automatic milking of animals including the apparatus according to any one of claims 42-64 and also including a control unit for controlling the operations performed by said apparatus .

106. An equipment for use in automatic milking comprising the apparatus according to any one of claims 97-104, characterized in that it comprises a robot arm and that said apparatus is supported by said robot arm, that said apparatus is automatically movable in relation to the teats and/or the udder and/or said at least one teatcup, by means of said robot arm, during a cleaning operation, in order to ensure that all parts of the teats and/or the udder and/or said at least one teatcup are cleaned, that said apparatus further includes sensor means indicating when the apparatus has reached the teats and/or the udder and/or said at least one teatcup, that said sensor means is connected to a control means for controlling the movements of said robot arm in response to said sensor means as well as controlling the operation of the apparatus, and that said robot arm places the apparatus beneath the teats and/or the udder and/or said at least one teatcup in preparation for the cleaning operation, moves the apparatus in an upward direction towards the teats and/or the udder and/or said at least one teatcup until said sensor means indicates that it has reached the teats and/or the udder and/or said at least one teatcup, as well as removes the apparatus from the teats and/or the udder and/or said at least one teatcup after a completed cleaning operation .

107. An equipment for use in automatic milking comprising the apparatus according to any one of claims 97-103, characterized in that it comprises, when the apparatus (475) is used for cleaning at least one teatcup, a robot arm (470) for picking up and conveying said at least one teatcup (473) to a cleaning area and applying the cleaning fluid on said teatcup in said cleaning area, that it further includes sensor means indicating when the robot arm has reached said at least one teatcup and sensor means indicating when the robot arm has reached the cleaning area, that said sensor means are connected to a control means for controlling the movements of said robot arm (470) in response to said sensor means as well as controlling the other operations of the apparatus, and that said robot arm (470) places the said at least one teatcup (473) in the cleaning area by moving said at least one teatcup in a downward direction towards the means (475) for applying the cleaning fluid until said sensor means indicates that it has reached said application means, as well as re- moves said at least one teatcup after a completed cleaning operation and returns it to its original position.