WO2000072665A1 - A connecting device for a teat cup - Google Patents

A connecting device for a teat cup Download PDF

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Publication number
WO2000072665A1
WO2000072665A1 PCT/SE2000/001080 SE0001080W WO0072665A1 WO 2000072665 A1 WO2000072665 A1 WO 2000072665A1 SE 0001080 W SE0001080 W SE 0001080W WO 0072665 A1 WO0072665 A1 WO 0072665A1
Authority
WO
WIPO (PCT)
Prior art keywords
teat cup
carrier member
holding means
teat
magnetic feature
Prior art date
Application number
PCT/SE2000/001080
Other languages
French (fr)
Inventor
Martin SJÖLUND
Tomas LANNÉR
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Priority to EP00937459A priority Critical patent/EP1191837A1/en
Priority to AU52629/00A priority patent/AU5262900A/en
Publication of WO2000072665A1 publication Critical patent/WO2000072665A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters

Definitions

  • the present invention relates to an apparatus for an animal related operation, according to the preamble of claim 1.
  • Known apparatus for an animal related operation comprises different kind of carrier members and holding means for connection of the teat cup to the carrier member.
  • a number of on/off switchable electromagnets connect the teat cups to the carrier member.
  • Known devices suffers from disadvantages in that they do not include any satisfactory supervision of a successful connection.
  • An electromagnet or a plurality of electromagnets may, by means of on-switching, make a connection between the teat cups against or on the carrier member when the electromagnet is switched on.
  • Known technique means however that a fixed orientation of the teat cups in relation to the carrier member is difficult to provide.
  • the teat cups have a tendency to slip and may fall off due to a diagonal fitting of a particular teat cup to the carrier member or other improper gripping.
  • An object of the present invention is to overcome the disadvantages of the known devices.
  • An other object of the invention is to provide a holding means for the teat cup arranged at the carrier member of a robot arm, said robot arm being associated with a control unit for automatically milking an animal.
  • an apparatus as initially defined which is characterized in that the teat cup is connectable to the carrier member by means of at least one magnetic feature holding means associated with the control unit and arranged at the carrier member for carrying the at least one teat cup between a part of the automatic milking device and the teat of the udder of an animal to be milked.
  • at least one teat cup can be carried between a part of the automatic milking machine, that is for example a teat cup rack or a cleaning or storage box, and the teat of the udder of an animal.
  • the at least one magnetic feature holding means comprises at least one permanent magnet for making an attachment between the carrier member and the at least one teat cup.
  • the absence of electrical wires provides a simple technical arrangement, thereby reducing costs for service and operation.
  • the at least one magnetic feature holding means comprises at least one disconnecting means controlled by the control unit for making a disconnection of the at least one teat cup from the carrier member after that the at least one teat cup has been carried from the part of the automatic milking device to the teat of the udder of an animal to be milked and vice versa.
  • the permanent magnet is arranged with a disconnecting means. That is, when the teat cup is connected to the carrier member and, for example, also is connected to the teat of an animal or to the teat cup rack, it will be possible to disconnect the teat cup from the carrier member by means of the control unit.
  • the at least one disconnecting means comprises at least one compressed-air blow out hole arranged at the carrier member, for releasing the at least one teat cup from the carrier member with a force higher than the magnetic force of the at least one permanent magnet.
  • the at least one disconnecting means comprises at least one ejector pin arranged at the carrier member.
  • means for disconnecting the teat cup from the carrier member by means of a mechanical device.
  • This device can be controlled by a servo or associated with the control unit.
  • driving means arranged for the ejector pin be provided, and further more similar member for pushing the teat cup of the carrier member can be used.
  • the at least one magnetic feature holding means comprises one switchable electromagnet with its two poles oriented in a longitudinal direction of the teat cup for making an attachment between the carrier member and the at least one teat cup.
  • the teat cup can be oriented in a fixed position, that is the poles of the electromagnet or the permanent magnet determines the orientation of the teat cup in a particular direction onto the carrier member.
  • the teat cup preferably is designed with a circular cross-section, the arrangement at the carrier member has a maximum width which is greater than the maximum width of the teat cup. Thereby is achieved an up-taking section of the gripper which will complement further on described guiding members to guide the teat cup into a fixed orientation.
  • control unit is adapted with a control function and a supervision function for respectively controlling the at least one magnetic feature holding means and supervision of the connection of the teat cup to the carrier member by means of using an impedance signal generated by the switchable electromagnet when an electrical connection is established via a fastening member mounted at the teatcup.
  • the fastening member could be an elongated metallic plate inserted in the casing of the teat cup. Subsequently, a successful connection of the teat cup to the carrier member can be controlled by the control unit associated with the supervision function without using any other supervision devises, for example sensors or cameras.
  • the fastening member is mounted at and is oriented in a longitudinal direction of the at least one teat cup, which teat cup being oriented in the direction of the switchable electromagnet when the at least one teat cup is connected to the carrier member.
  • fastening member is provided for electrical communication arranged at the teat cup in prefered orientation, independent of the material of the teat cup.
  • control unit is adapted with a control function for controlling the connection and the disconnection of the at least one teat cup by means of a reversion of the switchable electromagnet.
  • control unit provided in the automatic milking device.
  • connection means is provided, making an integrated orientation function with a disconnecting function.
  • the at least one magnetic feature holding means comprises a number of guiding member for guiding the at least one teat cup into the at least one permanent magnet in a concave cut-in portion in the carrier member corresponding to the at least one teat cup and its longitudinal direction. Subsequently, the teat cup can safely be guided to the carrier member, during the connection of the teat cup to the carrier member.
  • Fig. 1 illustrates an apparatus for an animal related operation comprising the magnetic feature holding means
  • Fig. 2 illustrates a magnetic feature holding means comprising a permanent magnet mounted at a carrier member of a robot arm provided for an automatic milking machine
  • Fig. 3 illustrates a disconnecting means comprising a compressed-air blow out hole according to Fig. 2
  • Fig. 4 illustrates the disconnecting means comprising an ejector pin mounted in the carrier member
  • Fig. 5 illustrates a magnetic feature holding means comprising a switchable electromagnet as an second embodiment of the invention.
  • Fig. 1 shows schematically an apparatus for an animal related operation, of which parts which are not relevant for the present invention have been omitted from the figure for the sake of clarity of illustration.
  • the figure shows also a part of an animal to be milked.
  • the apparatus comprises an automatic milking device 2, which is provided with a control unit 1, which is adapted for controlling the milking process and comprises furthermore a robot arm 10.
  • the robot arm 10 comprises a carrier member 3 adapted to carry a teat cup 5 between a teat of the udder of the animal and a teat cup rack 4.
  • the magnetic feature holding means 6 comprises a permanent magnet 7 according to a first embodiment of the invention.
  • Fig. 2 shows an example of the first embodiment of the invention.
  • the figure shows a part of the robot arm 10 of the apparatus for the animal related operation.
  • the control unit 1 adapted for controlling the milking process is associated with the carrier member 3.
  • a teat cup 5 is in the figure connected to the carrier member 3 at the end of the robot arm 10.
  • a permanent magnet 7 is holding the teat cup 5 to the carrier member 3.
  • the position of the magnetic feature holding means 6 is controlled by the control unit 1 for making a movement of the connected teat cup 5 between for example a teat of an udder of an animal and a part 4 of the automatic milking device 2.
  • the carrier member 3 is furthermore provided with guiding member 17 for guiding the teat cup into position during the connection.
  • Fig. 3 also shows an example of the first embodiment of the invention, in which parts denoted with a reference sign correspond to parts of figure 1 with the same reference sign.
  • Fig. 3 illustrates two compressed-air blow out holes 15 arranged at the carrier member 3 for a disconnection of the teat cup 5 from the carrier member 3. The blow out is activated by means of the control unit 1 when the teat cup is to be disconnected from the carrier member 3.
  • Fig. 4 shows an example of a second embodiment of the invention, in which parts denoted with a reference sign correspond to parts of figs. 1, 2 and 3 with the same reference sign.
  • an ejector pin 14 is arranged at the carrier member 3 between two permanent magnets 7 for pushing the teat cup 5 from the carrier member 3 controlled by the control unit 1 when the teat cup 5 is to be disconnected.
  • the ejector pin 14 may for example be actuated by compressed air.
  • Fig. 5 shows an example of a third embodiment of the invention, in which parts denoted with a reference sign correspond to parts off fig. 2 with the same reference sign.
  • a switchable electromagnet 9 is arranged at the carrier member 3.
  • the orientation of the switchable electromagnet 9 is provided so that the connection of the teat cup 5 will have a position vertical as seen in the figure, that is the poles of the switchable electromagnet 9 are in the fig. 5 oriented in the longitudinal direction of the teat cup 5.
  • a supervision of the teat cup to the carrier member may be done by measuring the impedance changes in the electromagnet generated by the switchable electromagnet 9 when an electrical communication is established via a fastening member mounted at the teatcup. Subsequently, a successful connection of the teat cup 5 to the carrier member 3 can be controlled by the control unit associated (not shown) with the supervision function without using any other supervision devises, for example sensors or cameras. This can be done by superimposing a variation in order to measure the inductance in the electromagnet. If the switchable electromagnet is supplied with a.c, it is possible to measure the inductance in said electromagnet in a directly manner.
  • a reversing switch of the switchable electromagnet 9 can be controlled by the control unit 1 provided in the automatic milking device. In this way a connection means is provided, making an integrated orientation function with a disconnecting function.
  • the control unit 1 controls the robot arm 10, comprising the carrier member 3, to grip the teat cup 5 by means of sensors or cameras (not shown) associated with the control unit 1 and provides, when the magnetic feature holding means 6 is in near distance to or in contact with the teat cup 5, a connection between the carrier member 3 and the teat cup 5 by means of a permanent magnet 7. It may also be done by means of a switchable electromagnet 9.
  • the teat cup 5 can be located in for example a teat cup rack 4, at the teat of an animal, in a cleaning station or storage box or elsewhere if the teat cup has to be picked up from any other position.
  • the carrier member 3 is associated with the control unit 1 for controlling and finding the teat cup 5 by means of for example a camera.
  • the teat cup 5 is guided by means of guiding members 17 in right position.
  • the teat cup 5 will rest against a cut-in section 19, designed with a substantially U-shaped cross-section, which has a maximum width which is greater than the maximum width of the teat cup, when connected.
  • the teat cup 5 will thereafter be moved to another position or held in its taken position, by means of the gripping member 3.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Manipulator (AREA)

Abstract

An apparatus for an animal related operation, comprising a control unit (1) controlling the milking process, an automatic milking device (2) with a carrier member (3) adapted to carry at least one teat cup (5) which is connectable to the teat of the udder of an animal to be milked. Said teat cup (5) is connectable with said carrier member (3) by means of at least one magnetic feature holding means (6) and arranged at said carrier member (3) for carrying said at least one teat cup (5) between a holding means (4) of said automatic milking device (2) and the teat of the udder of an animal to be milked.

Description

A connecting device for a teat cup
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an apparatus for an animal related operation, according to the preamble of claim 1.
Known apparatus for an animal related operation comprises different kind of carrier members and holding means for connection of the teat cup to the carrier member. As, for example, in EP 0 551 956 a number of on/off switchable electromagnets connect the teat cups to the carrier member. Known devices suffers from disadvantages in that they do not include any satisfactory supervision of a successful connection. An electromagnet or a plurality of electromagnets may, by means of on-switching, make a connection between the teat cups against or on the carrier member when the electromagnet is switched on. Known technique means however that a fixed orientation of the teat cups in relation to the carrier member is difficult to provide. The teat cups have a tendency to slip and may fall off due to a diagonal fitting of a particular teat cup to the carrier member or other improper gripping.
It is, accordingly, an object of the present invention to overcome the disadvantages of the known devices. An other object of the invention is to provide a holding means for the teat cup arranged at the carrier member of a robot arm, said robot arm being associated with a control unit for automatically milking an animal.
SUMMARY OF THE INVENTION
This has been solved by an apparatus as initially defined, which is characterized in that the teat cup is connectable to the carrier member by means of at least one magnetic feature holding means associated with the control unit and arranged at the carrier member for carrying the at least one teat cup between a part of the automatic milking device and the teat of the udder of an animal to be milked. Hereby at least one teat cup can be carried between a part of the automatic milking machine, that is for example a teat cup rack or a cleaning or storage box, and the teat of the udder of an animal.
Preferably, the at least one magnetic feature holding means comprises at least one permanent magnet for making an attachment between the carrier member and the at least one teat cup. In this way the absence of electrical wires provides a simple technical arrangement, thereby reducing costs for service and operation.
Suitably, the at least one magnetic feature holding means comprises at least one disconnecting means controlled by the control unit for making a disconnection of the at least one teat cup from the carrier member after that the at least one teat cup has been carried from the part of the automatic milking device to the teat of the udder of an animal to be milked and vice versa. Thereby the permanent magnet is arranged with a disconnecting means. That is, when the teat cup is connected to the carrier member and, for example, also is connected to the teat of an animal or to the teat cup rack, it will be possible to disconnect the teat cup from the carrier member by means of the control unit.
Preferably, the at least one disconnecting means comprises at least one compressed-air blow out hole arranged at the carrier member, for releasing the at least one teat cup from the carrier member with a force higher than the magnetic force of the at least one permanent magnet. In this way means is provided for disconnecting the teat cup from the carrier member by means of a compressed-air blow out hole, wherein the compressed-air blow may be generated from a compressor source provided for the automatic milking device, that is for pneumatic actuators and other driving means. The solution according to the invention make an economic and uncomplicated technical arrangement, because no extra driving forces or electricity have to be used. Suitably, the at least one disconnecting means comprises at least one ejector pin arranged at the carrier member. In this way means is provided for disconnecting the teat cup from the carrier member by means of a mechanical device. This device can be controlled by a servo or associated with the control unit. Of course may other driving means arranged for the ejector pin be provided, and further more similar member for pushing the teat cup of the carrier member can be used.
Preferably, the at least one magnetic feature holding means comprises one switchable electromagnet with its two poles oriented in a longitudinal direction of the teat cup for making an attachment between the carrier member and the at least one teat cup. Subsequently, the teat cup can be oriented in a fixed position, that is the poles of the electromagnet or the permanent magnet determines the orientation of the teat cup in a particular direction onto the carrier member. Since the teat cup preferably is designed with a circular cross-section, the arrangement at the carrier member has a maximum width which is greater than the maximum width of the teat cup. Thereby is achieved an up-taking section of the gripper which will complement further on described guiding members to guide the teat cup into a fixed orientation.
Suitably, the control unit is adapted with a control function and a supervision function for respectively controlling the at least one magnetic feature holding means and supervision of the connection of the teat cup to the carrier member by means of using an impedance signal generated by the switchable electromagnet when an electrical connection is established via a fastening member mounted at the teatcup. The fastening member could be an elongated metallic plate inserted in the casing of the teat cup. Subsequently, a successful connection of the teat cup to the carrier member can be controlled by the control unit associated with the supervision function without using any other supervision devises, for example sensors or cameras.
Preferably, wherein the fastening member is mounted at and is oriented in a longitudinal direction of the at least one teat cup, which teat cup being oriented in the direction of the switchable electromagnet when the at least one teat cup is connected to the carrier member. In this way fastening member is provided for electrical communication arranged at the teat cup in prefered orientation, independent of the material of the teat cup.
Suitably, the control unit is adapted with a control function for controlling the connection and the disconnection of the at least one teat cup by means of a reversion of the switchable electromagnet. Hereby, by means of a reversing switch the teat cup can be respectively disconnected from or connected to the carrier member. The reversing switch can be controlled by the control unit provided in the automatic milking device. In this way a connection means is provided, making an integrated orientation function with a disconnecting function.
Preferably, the at least one magnetic feature holding means comprises a number of guiding member for guiding the at least one teat cup into the at least one permanent magnet in a concave cut-in portion in the carrier member corresponding to the at least one teat cup and its longitudinal direction. Subsequently, the teat cup can safely be guided to the carrier member, during the connection of the teat cup to the carrier member.
DRAWING SUMMARY
The invention will now be described more closely by examples with reference to the accompanying drawings, in which
Fig. 1 illustrates an apparatus for an animal related operation comprising the magnetic feature holding means,
Fig. 2 illustrates a magnetic feature holding means comprising a permanent magnet mounted at a carrier member of a robot arm provided for an automatic milking machine, Fig. 3 illustrates a disconnecting means comprising a compressed-air blow out hole according to Fig. 2,
Fig. 4 illustrates the disconnecting means comprising an ejector pin mounted in the carrier member, and
Fig. 5 illustrates a magnetic feature holding means comprising a switchable electromagnet as an second embodiment of the invention.
DETAILED DESCRIPTION OF THE INVENTION
Fig. 1 shows schematically an apparatus for an animal related operation, of which parts which are not relevant for the present invention have been omitted from the figure for the sake of clarity of illustration.
The figure shows also a part of an animal to be milked.
The apparatus comprises an automatic milking device 2, which is provided with a control unit 1, which is adapted for controlling the milking process and comprises furthermore a robot arm 10. The robot arm 10 comprises a carrier member 3 adapted to carry a teat cup 5 between a teat of the udder of the animal and a teat cup rack 4.
The magnetic feature holding means 6 comprises a permanent magnet 7 according to a first embodiment of the invention.
Parts of the automatic milking device 2 which are not relevant for the present invention have been omitted from the figs 2, 3, 4 and 5 for the sake of clarity of illustration.
Fig. 2 shows an example of the first embodiment of the invention. The figure shows a part of the robot arm 10 of the apparatus for the animal related operation. The control unit 1 adapted for controlling the milking process is associated with the carrier member 3. A teat cup 5 is in the figure connected to the carrier member 3 at the end of the robot arm 10.
In fig. 2 a permanent magnet 7 is holding the teat cup 5 to the carrier member 3. The position of the magnetic feature holding means 6 is controlled by the control unit 1 for making a movement of the connected teat cup 5 between for example a teat of an udder of an animal and a part 4 of the automatic milking device 2.
The carrier member 3 is furthermore provided with guiding member 17 for guiding the teat cup into position during the connection.
Fig. 3 also shows an example of the first embodiment of the invention, in which parts denoted with a reference sign correspond to parts of figure 1 with the same reference sign. Fig. 3 illustrates two compressed-air blow out holes 15 arranged at the carrier member 3 for a disconnection of the teat cup 5 from the carrier member 3. The blow out is activated by means of the control unit 1 when the teat cup is to be disconnected from the carrier member 3.
Fig. 4 shows an example of a second embodiment of the invention, in which parts denoted with a reference sign correspond to parts of figs. 1, 2 and 3 with the same reference sign. In this embodiment an ejector pin 14 is arranged at the carrier member 3 between two permanent magnets 7 for pushing the teat cup 5 from the carrier member 3 controlled by the control unit 1 when the teat cup 5 is to be disconnected. The ejector pin 14 may for example be actuated by compressed air.
Fig. 5 shows an example of a third embodiment of the invention, in which parts denoted with a reference sign correspond to parts off fig. 2 with the same reference sign. In this embodiment a switchable electromagnet 9 is arranged at the carrier member 3. The orientation of the switchable electromagnet 9 is provided so that the connection of the teat cup 5 will have a position vertical as seen in the figure, that is the poles of the switchable electromagnet 9 are in the fig. 5 oriented in the longitudinal direction of the teat cup 5.
A supervision of the teat cup to the carrier member may be done by measuring the impedance changes in the electromagnet generated by the switchable electromagnet 9 when an electrical communication is established via a fastening member mounted at the teatcup. Subsequently, a successful connection of the teat cup 5 to the carrier member 3 can be controlled by the control unit associated (not shown) with the supervision function without using any other supervision devises, for example sensors or cameras. This can be done by superimposing a variation in order to measure the inductance in the electromagnet. If the switchable electromagnet is supplied with a.c, it is possible to measure the inductance in said electromagnet in a directly manner.
Furthermore a reversing switch of the switchable electromagnet 9 can be controlled by the control unit 1 provided in the automatic milking device. In this way a connection means is provided, making an integrated orientation function with a disconnecting function.
OPERATION
The control unit 1 controls the robot arm 10, comprising the carrier member 3, to grip the teat cup 5 by means of sensors or cameras (not shown) associated with the control unit 1 and provides, when the magnetic feature holding means 6 is in near distance to or in contact with the teat cup 5, a connection between the carrier member 3 and the teat cup 5 by means of a permanent magnet 7. It may also be done by means of a switchable electromagnet 9.
The teat cup 5 can be located in for example a teat cup rack 4, at the teat of an animal, in a cleaning station or storage box or elsewhere if the teat cup has to be picked up from any other position. The carrier member 3 is associated with the control unit 1 for controlling and finding the teat cup 5 by means of for example a camera. During the connection process, the teat cup 5 is guided by means of guiding members 17 in right position. The teat cup 5 will rest against a cut-in section 19, designed with a substantially U-shaped cross-section, which has a maximum width which is greater than the maximum width of the teat cup, when connected.
The teat cup 5 will thereafter be moved to another position or held in its taken position, by means of the gripping member 3.

Claims

1. An apparatus for an animal related operation, comprising a control unit (1) controlling the milking process, an automatic milking device (2) with a carrier member (3) adapted to carry at least one teat cup (5) which is connectable to the teat of the udder of an animal to be milked, wherein said teat cup (5) is connectable with said carrier member (3) by means of at least one magnetic feature holding means (6) and arranged at said carrier member (3) for carrying said at least one teat cup (5) between a holding means (4) of said automatic milking device (2) and the teat of the udder of an animal to be milked, characterized in that said apparatus further comprises at least one disconnection means (13) controlled by said control unit (1) for making a disconnection of said at least one teat cup (5) from said carrier member
(3) after that said at least one teat cup (5) has been carried from said holding means
(4) of said automatic milking device (2) to the teat of the udder of an animal to be milked.
2. An apparatus according to claim 1, wherein said at least one disconnecting means (13) comprises at least one compressed-air blow out hole (15) arranged at said carrier member (3), for releasing said at least one teat cup (5) from said carrier member (3) with a force higher than the magnetic force of said at least one magnetic feature holding means (6).
3. An apparatus according to claim 1, wherein said at least one disconnecting means (13) comprises at least one ejector pin (14) arranged at said carrier member (3).
4. An apparatus according to claim 1, wherein said control unit (1) is associated with said at least one magnetic feature holding means (6).
5. An apparatus according to claim 1, wherein said at least one magnetic feature holding means (6) comprises at least one permanent magnet (7) for making an attachment between said carrier member (3) and said at least one teat cup (5).
6. An apparatus according to claim 1, wherein said at least one magnetic feature holding means (6) comprises a switchable electromagnet (9) for making an attachment between said carrier member (3) and said at least one teat cup (5).
7. An apparatus according to claim 6, wherein said at least one magnetic feature holding means (6) is oriented with its two poles in a longitudinal direction of said teat cup (5) for making an attachment between said carrier member (3) and said at least one teat cup (5) in a longitudinal direction of said teat cup (5).
8. An apparatus according to claims 6 or 7, wherein said control unit (1) is adapted with a control function and a supervision function for respectively controlling said at least one magnetic feature holding means (6) and supervision of the connection of said teat cup (5) to said carrier member (3) by means of using an impedance signal generated by said switchable electromagnet (9) when an electrical communication is established via a fastening member (16) mounted at said teatcup (5).
9. An apparatus according to claim 6, wherein said control unit (1) is adapted with a control function for controlling the connection and the disconnection of said at least one teat cup (5) by reversing the poles of said switchable electromagnet (9).
10. An apparatus according to anyone of claims 6-9, wherein said switchable electromagnet (9) is supplied with d.c.
11. An apparatus according to anyone of claims 6-9, wherein said switchable electromagnet (9) is supplied with a.c.
12. An apparatus according to anyone of claims 6-10, wherein said switchable electromagnet (9) has a superimposed variation in order to measure the inductance in said electromagnet (9).
13. An apparatus according to anyone of claims 11, wherein said switchable electromagnet (9) has a superimposed variation in order to measure the inductance in said electromagnet (9) in a directly manner.
14. An apparatus according to anyone of the preceding claims, wherein said at least one magnetic feature holding means (6) comprises a number of guiding member (17) for guiding said at least one teat cup (5) into said at least one magnetic feature holding means (6) in a concave cut-in portion (19) in said carrier member (3) corresponding to said at least one teat cup (5) and its longitudinal direction.
PCT/SE2000/001080 1999-05-28 2000-05-26 A connecting device for a teat cup WO2000072665A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP00937459A EP1191837A1 (en) 1999-05-28 2000-05-26 A connecting device for a teat cup
AU52629/00A AU5262900A (en) 1999-05-28 2000-05-26 A connecting device for a teat cup

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9901965A SE514439C2 (en) 1999-05-28 1999-05-28 Coupling device for a teat cup
SE9901965-5 1999-05-28

Publications (1)

Publication Number Publication Date
WO2000072665A1 true WO2000072665A1 (en) 2000-12-07

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Application Number Title Priority Date Filing Date
PCT/SE2000/001080 WO2000072665A1 (en) 1999-05-28 2000-05-26 A connecting device for a teat cup

Country Status (4)

Country Link
EP (1) EP1191837A1 (en)
AU (1) AU5262900A (en)
SE (1) SE514439C2 (en)
WO (1) WO2000072665A1 (en)

Cited By (7)

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Publication number Priority date Publication date Assignee Title
WO2005122753A1 (en) * 2004-06-22 2005-12-29 Delaval Holding Ab Gripper device, robot arm, and milking robot
WO2007027137A1 (en) 2005-09-02 2007-03-08 Delaval Holding Ab Detecting arrangement and method for a magnetic gripper device
EP2060169A1 (en) * 2007-11-16 2009-05-20 Delaval Holding AB Apparatus and method for cleaning a milking system
WO2010072586A3 (en) * 2008-12-22 2010-10-07 Delaval Holding Ab An arrangement for gripping at least one teat cup
US8464655B2 (en) 2006-10-18 2013-06-18 Delaval Holding Ab Cleaning within a milking system
EP3420810A1 (en) * 2013-03-07 2019-01-02 Technologies Holdings Corporation Gripper for arranging teat cups on an animal for milking, robot arm and milking machine provided therewith, and method therefor
US10238082B2 (en) 2013-10-29 2019-03-26 Delaval Holding Ab Teat cup shell teat cup and arrangement for automatically milking animals

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WO1993000001A1 (en) * 1991-06-20 1993-01-07 British Technology Group Ltd. Automatic milking
EP0551956A1 (en) * 1992-01-17 1993-07-21 C. van der Lely N.V. An implement for automatically milking an animal
EP0611004A1 (en) * 1993-02-08 1994-08-17 Maasland N.V. A construction for milking animals
WO1996007314A1 (en) * 1994-09-07 1996-03-14 Maasland N.V. An implement for and a method of milking animals

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WO2005122753A1 (en) * 2004-06-22 2005-12-29 Delaval Holding Ab Gripper device, robot arm, and milking robot
EP2845467A1 (en) 2004-06-22 2015-03-11 DeLaval Holding AB Milking robot and milking system
US8286585B2 (en) 2004-06-22 2012-10-16 Delaval Holding Ab Gripper device, robot arm, and milking robot
US7908998B2 (en) 2004-06-22 2011-03-22 Delaval Holding Ab Gripper device, robot arm, and milking robot
EP1919274A4 (en) * 2005-09-02 2010-09-08 Delaval Holding Ab Detecting arrangement and method for a magnetic gripper device
US8037845B2 (en) 2005-09-02 2011-10-18 Delaval Holding Ab Detecting arrangement and method for a magnetic gripper device
WO2007027137A1 (en) 2005-09-02 2007-03-08 Delaval Holding Ab Detecting arrangement and method for a magnetic gripper device
EP1919274A1 (en) * 2005-09-02 2008-05-14 Delaval Holding AB Detecting arrangement and method for a magnetic gripper device
US8464655B2 (en) 2006-10-18 2013-06-18 Delaval Holding Ab Cleaning within a milking system
EP1913811B1 (en) * 2006-10-18 2014-02-26 DeLaval Holding AB Cleaning within a milking system
EP2060169A1 (en) * 2007-11-16 2009-05-20 Delaval Holding AB Apparatus and method for cleaning a milking system
US8342124B2 (en) 2007-11-16 2013-01-01 Delaval Holding Ab Apparatus and method for cleaning a milking system
WO2009063227A1 (en) * 2007-11-16 2009-05-22 Delaval Holding Ab Apparatus and method for cleaning a milking system
AU2008322743B2 (en) * 2007-11-16 2013-07-25 Delaval Holding Ab Apparatus and method for cleaning a milking system
US8578881B2 (en) 2008-12-22 2013-11-12 Delaval Holding Ab Arrangement for gripping at least one teat cup
WO2010072586A3 (en) * 2008-12-22 2010-10-07 Delaval Holding Ab An arrangement for gripping at least one teat cup
EP3155898A1 (en) * 2008-12-22 2017-04-19 DeLaval Holding AB An arrangement for gripping at least one teat cup
EP3420810A1 (en) * 2013-03-07 2019-01-02 Technologies Holdings Corporation Gripper for arranging teat cups on an animal for milking, robot arm and milking machine provided therewith, and method therefor
US10349617B2 (en) 2013-03-07 2019-07-16 Technologies Holdings Corp. Gripper for arranging teat cups on an animal for milking, robot arm and milking machine provided therewith, and method therefor
US10238082B2 (en) 2013-10-29 2019-03-26 Delaval Holding Ab Teat cup shell teat cup and arrangement for automatically milking animals

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SE514439C2 (en) 2001-02-26
SE9901965L (en) 2000-11-29
AU5262900A (en) 2000-12-18
SE9901965D0 (en) 1999-05-28
EP1191837A1 (en) 2002-04-03

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