WO2001028315A1 - Dispositif de traite de pis - Google Patents

Dispositif de traite de pis Download PDF

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Publication number
WO2001028315A1
WO2001028315A1 PCT/SE2000/002039 SE0002039W WO0128315A1 WO 2001028315 A1 WO2001028315 A1 WO 2001028315A1 SE 0002039 W SE0002039 W SE 0002039W WO 0128315 A1 WO0128315 A1 WO 0128315A1
Authority
WO
WIPO (PCT)
Prior art keywords
teat
rigid body
teat cup
wall member
inner space
Prior art date
Application number
PCT/SE2000/002039
Other languages
English (en)
Inventor
Jan Eriksson
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 AU11848/01A priority Critical patent/AU1184801A/en
Publication of WO2001028315A1 publication Critical patent/WO2001028315A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J7/00—Accessories for milking machines or devices
    • A01J7/04—Accessories for milking machines or devices for treatment of udders or teats, e.g. for cleaning
    • 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 a device for fitting and resiliently holding at least one teat treating member onto an animal teat during a teat cleaning or milk sampling operation, each teat treating member comprising a substantially rigid body intended to be attached to a manipulating arm of a robot for placing said device below the teat to be treated and a teat cup having drainage means and being supported by the rigid body.
  • One essential step in the milking process is to effectively clean the teats of an ani- mal, such as cows, to avoid dirt contaminating the collected milk.
  • a teat cup having cleaning means, such as brushes or nozzles may be provided for cleaning teats one at a time.
  • a computer controlled manipulating arm of a robot may accomplish the attachment and detachment of the teat cup prior to and after the cleaning operation as well as supporting the teat cup during said operation.
  • the manipulating arm has to compensate for these movements otherwise the teat cup could be unintentionally detached during the cleaning operation. This would be unfortunate since the attachment procedure is to be repeated. However, the manipulating arm may have difficulties in compensating for these small movements, particularly if the movements are rapid and the processing skills of the computer are unsatisfactory.
  • the German document DE 4113 700 Al discloses a device intended for milking animals and is supportable by means of a manipulating arm of a robot.
  • the device comprises a tray having four inflatable bellows where each bellow is provided, on there upper surfaces, with a telescopic means having an annular cylinder and a matching piston.
  • a teat cup is attached to an end portion of each of said pistons. Pipes for transferring pressurised air are drawn through the manipulating arm via the tray and to each bellow and cylinder.
  • the teat cups When the bellows are provided with an overpressure the teat cups are erected into substantial vertical positions, and by also providing the cylinders with an overpressure the teat cups are elevated and can thereby be attached to a corresponding teat.
  • the overpressure is removed from the bellows, only the overpressure in the cylinders remains.
  • the teat cup is flexibly supported and tiltable up to 40° in its lateral directions and can compensate for horizontal movements of the animal. Since the overpressure remain in the cylinder the teat cup is also flexible in the longitudinal direction of the teat cup so as to compensate for vertical movements of the animal.
  • This device is however unnecessarily complicated, e.g. it requires movable mechanical parts to accomplish elevation of the teat cup.
  • An object of the invention is to improve known technical solutions.
  • a device as imtially defined and characterised in that said teat cup is resiliently supported by the rigid body by means of at least one expandable and contractible wall member at- tached to the teat cup and to the rigid body such that an inner space is formed therebetween, the volume of which being variable by varying the pressure of a gaseous medium supplied to said inner space, whereby the teat cup is movable essentially in its axial direction relative the rigid body from a first position in which the teat cup is located below the teat and in which said wall member is contracted, to a second position in which the teat is inserted into the teat cup and in which said wall member is expanded.
  • the device is able to resiliently hold a teat treating member onto a teat during a teat cleaning or milk sampling operation, without being unintentionally detached.
  • Fig. la shows a perspective view of a device, according to a first preferred embodi- ment of the invention, together with a manipulating arm of a robot for fitting and resiliently holding a teat treating member onto an animal teat.
  • Fig. lb shows a partly cross-sectional side view of the device in Fig. la prior to said fitting.
  • Fig. lc shows a partly cross-sectional side view of the device in Fig. la during said holding.
  • Fig. 2a shows a perspective view of a device, according to a second embodiment of the invention, together with a manipulating arm of a robot for fitting and resiliently holding a teat treating member onto an animal teat.
  • Fig. 2b shows a partly cross-sectional side view of the device according to the second embodiment prior to said fitting.
  • Fig. 2c shows a partly cross-sectional side view of the device in Fig. 2a during said holding.
  • Figure la shows a perspective view of a device 1 according to a first preferred embodiment of the invention.
  • a manipulating arm 3 of a robot having a gripper 5 for holding the device 1, is intended to manoeuvre the device 1 to a desired position below an udder 7 of an animal upon commencement of a teat cleaning- or a milk sampling operation.
  • the determination of the desired position is accomplished by means of various sensors (not shown), which function is well known in the art and thus not part of the invention.
  • the device 1 comprises a rigid body 9, intended to be gripped and manoeuvred by said gripper 5, first and second expandable and contractible wall members 11, 13, and a teat treating member, such as teat cup 15.
  • the rigid body 9 is substantially tubular and hollow with not shown upper and lower openings and is mainly coaxially arranged about the longitudinal axis of the teat cup 15.
  • the first wall member 11 is seahngly attached to an upper circumferential portion of the rigid body 9, so as to enclose the upper opening, and attached to an upper circumferential portion of the teat cup 15. The latter attachment also improves the lateral stability of the teat cup 15.
  • the second wall member 13 is seahngly attached to a lower circumferential portion of the rigid body 9, so as to enclose the lower opening, and attached to a circumferential portion of a hose 21, which hose 21 is protruding from the teat cup 15.
  • the wall members 11, 13 are preferably made from rubber or any other suitable expandable and contractible material.
  • Each wall mem- ber 11, 13 comprises an accordionlike bellow 11, 13 having annular crinkles.
  • the wall members 11, 13 will from now on be referred to as bellows 11, 13.
  • the rigid body 9 is together with the teat cup 15 and said bellows 11, 13 defining an inner space 10 (shown in Figs, lb-c) or a sealed cavity, which volume may be pressurised by means of a gaseous medium supplied thereto, e.g. compressed air.
  • a compressed-air supplying means 27 connected to a not shown compressed air supply, is provided on the manipulating arm 3 of the robot and is with the aid of valve means 29a-b connected to said inner space 10.
  • the valve means 29a-b is preferably of a dockable type, i.e. comprising a first 29a and a second 29b valve part, where the first valve part 29a is disposed on the manipulating arm 3 while the second valve part is disposed in a wall of the rigid body 5.
  • the first and second valve parts will mutually cooperate and the inner space 10 is simultaneously fluidly connected to the compressed air supply.
  • Said wall is also provided with valve means 31 for evacuation of compressed air from the inner space 10 and for venting ambient air into the inner space 10.
  • the supply of compressed air as well as said evacuation and venting are controlled by not shown control means, such as a computer.
  • the hose 21 is basically a covering shell and comprises a plurality of pipes and tubes, e.g. liquid supplying means 33 for supplying said teat cup 15 with cleaning liquid, drainage means 35, such as a hose or a pipe, for drainage of cleaning liquid during the cleaning operation and vacuum supplying means 37 for providing said teat cup 15 with and under-pressure, which under-pressure serve to facilitate evacuation of drainage liquid but also for extraction of milk if desired.
  • liquid supplying means 33 for supplying said teat cup 15 with cleaning liquid
  • drainage means 35 such as a hose or a pipe
  • vacuum supplying means 37 for providing said teat cup 15 with and under-pressure, which under-pressure serve to facilitate evacuation of drainage liquid but also for extraction of milk if desired.
  • the first bellow 11 has a larger expandable capacity, i.e. a larger area when fully expanded compared with the second bellow 13 when fully expanded. This will en- able an upwardly directed vertical elevation of the teat cup 15 when the inner space 10 is pressurised.
  • the purpose of the bellows 11, 13 is to enhance a correct attach- ment and detachment of the teat cup 15 prior to respective after a cleaning operation, but also to resiliently hold the teat cup 15 onto a teat 39 during said cleaning operation, so as to avoid an unintentionally detachment.
  • the attachment is proceeded, by raising the teat cup 15 in relation to the rigid body 9 from a first position, in which position the teat cup 15 is located below the teat 39 and the first bellow 11 is substantially contracted and the second bellow 13 is substantially expanded to a second position, in which position the teat 39 is inserted in the teat cup 15 and the first bellow 11 is substantially expanded and the second bellow 13 is substantially contracted.
  • the detachment is accomplished by lowering the teat cup 15 in relation to the rigid body 9 from said second position to said first position. This procedure is more exhaustively described below in connection with Fig. lb-c.
  • Fig. lb-c show schematic side views of the device 1 according to the preferred embodiment of the invention.
  • the manipulating arm 3 of the robot is in Fig. lb holding the device 1 below the teat 39 to be cleaned prior to commencement of the teat cleaning operation.
  • This is the aforementioned first position and the inner space 10 of the device 1 is not pressurised, i.e. having the same pressure as the ambient.
  • the first bellow 11 is in this situation, as said before, substantially contracted and the second bellow 13 is substantially expanded.
  • the second bellow 13 Since the second bellow 13 already is substantially expanded, it has little remaining expandable capacity.
  • the teat cup 15 When the teat cup 15 comes in contact with the udder 7 further elevation is prevented and the teat may be considered as being inserted in the teat cup.
  • the teat cleaning operation or the milk sampling operation may now commence.
  • the first bellow 11 exhibits a substantially funnel like shape. This shape improves the stability in the lateral directions. If the animal, during said operations, moves a little bit, e.g. changing it's centre of gravity, the teat cup 15 will not be unintentionally detached. Since the first bellow 11 is crinkled and flexible, it will tilt in its lateral directions in relation to the rigid body thereby maintaining a correct attachment of the teat cup 15 onto the teat. If the animal is curtsying the first bellow 11 will absorb the associated movement in the vertical direction due to the pressurised inner space 10. The second bellow 13 serve to further enhance these effects.
  • the compressed air is evacuated from the inner space 10 and the pressure of the inner space is decreasing. So the teat cup 15 is moving vertically downwards due to gravity, while the first bellow 11 is contracting and the second bellow 13 is expanding.
  • the manipulating arm 3 may continue to an other teat for repetition of the procedure.
  • FIG. 2a shows a perspective view of a device 101 according to a second embodi- ment of the invention.
  • a manipulating arm 103 of a robot having a gripper 105 for holding the device 101, is manoeuvring the device 101 to a de- sired position below an udder 107 of an animal upon commencement of a teat cleaning- or a milk sampling operation.
  • the determination of the desired position is accomplished by means of not shown sensors which function is well known in the art and thus not part of the invention.
  • the device 101 comprises a rigid body 109, intended to be gripped and manoeuvred by said gripper 105, an expandable and contractible wall member 111, and a teat treating member, such as teat cup 115 from which a hose 121 is debouching.
  • the rigid body 109 is substantially tubular and hollow with not shown upper and lower openings and is mainly coaxially arranged about the longitudinal axis of the teat cup 115.
  • the wall member 111 is seahngly attached to an upper circumferential portion of the rigid body 109, so as to enclose the upper opening, and attached to an upper cir- cumferential portion of the teat cup 115. The latter attachment also improves the lateral stability of the teat cup 115.
  • the hose 121 is slidably and seahngly attached to a sealing bearing means 122 disposed in the lower opening of the rigid body 109.
  • the wall member 111 is preferably made from rubber or any other suitable expandable and contractible material.
  • the wall member 111 comprises an accordionlike bellow 111 having annular crinkles. The wall member 111 will from now on be referred to as the bellow 111.
  • the rigid body 109 is together with the teat cup 115, the sealing bearing means 122 and said bellow 111, defining an inner space 110 or a sealed cavity, which volume may be pressurised by means of a gaseous medium supplied thereto, e.g. compressed air.
  • a compressed-air supplying means 127 connected to a not shown compressed air supply, is provided on the manipulating arm 103 of the robot and is with the aid of valve means 129a-b connected to said inner space 110.
  • the valve means 129a-b is preferably of a dockable type, i.e. comprising a first 129a and a second 129b valve part, where the first valve part 129a is disposed on the manipulating arm 103 while the second valve part is disposed in a wall of the rigid body 105.
  • the gripper 105 grips the rigid body 109 the first and second valve parts will mutually cooperate and the inner space 110 is simultaneously fluidly connected to the compressed air supply.
  • Said wall is also provided with valve means 131 for evacuation of compressed air from the inner space 110 and for venting ambient air into the inner space 110.
  • the supply of compressed air as well as said evacuation and venting are controlled by not shown control means, such as a computer.
  • the hose 121 is basically a covering shell and comprises liquid supplying means
  • the bellow 111 enables a vertical elevation of the teat cup 115 when the inner space 110 is pressurised, so as to facilitate a correct attachment and detachment of the teat cup 115 prior to respective after a cleaning operation, but also to resihently hold the teat cup 115 onto a teat 139 during said cleaning operation, so as to avoid an unintentionally detachment
  • the attachment is proceeded by raising the teat cup 115 in relation to the rigid body 109, from a first position, in which position the teat cup 115 is located below the teat 139 and the bellow 111 is substantially contracted to a second position, in which position the teat 139 is inserted in the teat cup 115 and the bellow 111 is substantially expanded.
  • the detachment is proceeded by lowering the teat cup 115 in relation to the rigid body 109 from said second position to said first position. This procedure is more exhaustively described below in connection with Fig. 2b-c.
  • Fig. 2b-c show a schematic side view of the device 101 according to the second embodiment of the invention.
  • the manipulating arm 103 of the robot is in Fig.
  • the teat cup 115 When the teat cup 115 comes in contact with the udder 107 further elevation is prevented and the teat may be considered as being inserted.
  • the teat cleaning operation or the milk sampling operation can now commence.
  • the bellow 111 exhibits a substantially funnel like shape. This shape improves the stability in the lateral directions. If the animal, during said operations, moves a little bit, e.g. changing it's centre of gravity, the teat cup 115 would not be unintentionally detached. Since the bellow 111 is crinkled and flexible, it will tilt in its lateral directions in relation to the rigid body thereby mamtaining a correct attachment of the teat cup 115 onto the teat.
  • the bellow 111 will absorb the associated movement in the vertical direction due to the pressurised inner space 110.
  • the compressed air is evacuated from the inner space 110 the pressure of the inner space is decreasing.
  • the teat cup 115 is moving vertically downwards due to gravity, while the bellow 111 is contracting.
  • the manipulating arm 103 may continue to an other teat for repetition of the procedure.
  • the teat treating member may not only constitute a teat cup comprising cleaning means for cleaning a teat, but may also constitute a teat cup comprising milk extracting means.
  • compressed air can be supplied to the inner space by means of any prior art solutions known to a skilled person.
  • the expandable and contractible wall members may instead of being made from accordionlike walls be made from a material with an internal elasticity making it expandable and contractible.
  • the second wall member can be made of different materials in different portion of the wall member. If the hose for example more or less rests against one particular portion of the second wall member causing the wall member to deflect, the portion can be made of a material with a greater stiffness for neutralising this deflection.
  • the rigid body may be provided with a guide means in the form of an annular and funnel shaped flange extending vertically in the longitudinal direction of the teat cup.
  • a guide means in the form of an annular and funnel shaped flange extending vertically in the longitudinal direction of the teat cup.
  • the bellows may be provided with circumferential stiffening elements, such as annular rings of steel disposed in the crinkles. These rings enhances a vertical expansion and contraction of the bellows without reducing the flexibility in the lateral di- rections.
  • the demands on the hose may be different. It may be more flexible so as to maintain the desired tiltabil- ity of the teat cup to avoid an unintentionally detachment.

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  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Cleaning In General (AREA)

Abstract

La présente invention concerne un dispositif (1) destiné à être fixé et à accrocher de façon souple au moins un élément de traite de pis sur un pis (39) d'animal lors d'une opération de nettoyage de pie ou d'échantillonnage de lait. Chaque élément de traite de pie comprend un corps (9) sensiblement rigide qui se fixe à un bras de manipulation (3) d'un robot destiné à mettre en place ledit dispositif (1) sous le pie (39) à traiter et le gobelet trayeur (15) possédant un dispositif de drainage (35) et étant soutenu par le corps rigide (9). Le dispositif est caractérisé par le fait que ledit gobelet trayeur (15) est soutenu de façon souple par le corps rigide (9) à l'aide d'au moins un élément de paroi (11) extensible et contractible fixé au gobelet trayeur (15) et au corps rigide (9), formant ainsi un espace intérieur (10). On peut faire varier le volume en modifiant la pression d'un élément gazeux introduit dans ledit espace interne (10), le gobelet trayeur (15) pouvant être déplacé essentiellement selon une direction axiale près du corps rigide (9), d'une première position dans laquelle le gobelet trayeur (15) est situé en-dessous du pie (39) et dans laquelle ledit élément de paroi (11) est contracté, à une seconde position dans laquelle le pie (39) est inséré dans le gobelet trayeur (15) et dans laquelle ledit élément de paroi (11) est étendu.
PCT/SE2000/002039 1999-10-20 2000-10-20 Dispositif de traite de pis WO2001028315A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU11848/01A AU1184801A (en) 1999-10-20 2000-10-20 Teat treating device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9903788-9 1999-10-20
SE9903788A SE515687C2 (sv) 1999-10-20 1999-10-20 Spenbehandlingsanordning

Publications (1)

Publication Number Publication Date
WO2001028315A1 true WO2001028315A1 (fr) 2001-04-26

Family

ID=20417427

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2000/002039 WO2001028315A1 (fr) 1999-10-20 2000-10-20 Dispositif de traite de pis

Country Status (3)

Country Link
AU (1) AU1184801A (fr)
SE (1) SE515687C2 (fr)
WO (1) WO2001028315A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016108749A1 (fr) * 2014-12-30 2016-07-07 Delaval Holding Ab Système de traite rotative

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4113700A1 (de) * 1991-04-26 1992-10-29 Dieter Dipl Ing Schillingmann Verfahren zum automatischen melken von in melkboxen stehenden milchkuehen, sowie melkbox, roboter und melkmodul zur durchfuehrung dieses verfahrens
EP0513932A2 (fr) * 1991-05-17 1992-11-19 Prolion B.V. Manchon trayeur et unité de traite equipée d'un ou plusieurs de ces manchons trayeurs et une installation de traite automatique
WO1994023565A1 (fr) * 1993-04-14 1994-10-27 Prolion B.V. Appareil de traite automatique pour animaux
EP0801893A2 (fr) * 1996-04-17 1997-10-22 Maasland N.V. Machine pour la traite d'animaux, tels que des vaches

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4113700A1 (de) * 1991-04-26 1992-10-29 Dieter Dipl Ing Schillingmann Verfahren zum automatischen melken von in melkboxen stehenden milchkuehen, sowie melkbox, roboter und melkmodul zur durchfuehrung dieses verfahrens
EP0513932A2 (fr) * 1991-05-17 1992-11-19 Prolion B.V. Manchon trayeur et unité de traite equipée d'un ou plusieurs de ces manchons trayeurs et une installation de traite automatique
WO1994023565A1 (fr) * 1993-04-14 1994-10-27 Prolion B.V. Appareil de traite automatique pour animaux
EP0801893A2 (fr) * 1996-04-17 1997-10-22 Maasland N.V. Machine pour la traite d'animaux, tels que des vaches

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016108749A1 (fr) * 2014-12-30 2016-07-07 Delaval Holding Ab Système de traite rotative

Also Published As

Publication number Publication date
SE515687C2 (sv) 2001-09-24
SE9903788D0 (sv) 1999-10-20
AU1184801A (en) 2001-04-30
SE9903788L (sv) 2001-04-21

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