WO2004062352A1

WO2004062352A1 - A milking plant

Info

Publication number: WO2004062352A1
Application number: PCT/SE2004/000012
Authority: WO
Inventors: Martin SJÖLUND; Anders HALLSTRÖM; Sten Mellberg
Original assignee: Delaval Holding Ab
Priority date: 2003-01-14
Filing date: 2004-01-09
Publication date: 2004-07-29
Also published as: SE0300058D0; SE524757C2; SE0300058L

Abstract

The present invention refers to a milking plant and a handling device. The plant includes a milking station (1) defining an animal position (2) for an animal to be milked and a control arrangement. The milking station comprises a milking machine (3) including teatcups (4) and a handling device (5) for attaching automatically said teatcups to a teat of the animal. The handling device comprises a base member (10), an arm arrangement, which is movably mounted to the base member and includes a first arm member, a second arm member (12), and a control unit (31) forming a part of the control arrangement for controlling the movements of the arm arrangement. The first arm member (11) is at least partly hollow defining an inner space in the first arm member. The control unit (31) is arranged within said inner space.

Description

A milking plant:

BACKGROUND OF THE INVENTION AND PRIOR ART

The present invention refers to a milking plant including at least a first milking station, which defines an animal position for an animal to be milked and which includes a milking machine including teatcups to be attached to the animal, and a handling device arranged to attach automatically said teatcups to a teat of the animal, the handling device comprising

- a base member,

- an arm arrangement, which is movably mounted to the base member and includes at least a first arm member and a second arm member, and

- a control arrangement including at least a first control unit arranged to control at least partly the movements of the arm arrangement, wherein the first arm member is at least partly hollow defining an inner space in the first arm member.

The invention also refers to a handling device arranged to attach automatically a teatcup to a teat of an animal to be milked, the device comprising

- a base member,

- an arm arrangement, which is movably mounted to the base member and includes at least a first arm member and a second arm member, and - a first control unit arranged to control at least partly the movements of the arm arrangement, wherein the first arm member is at least partly hollow defining an inner space in the first arm member.

In milking plants having eguipment for permitting automatic attachment of the teatcups to the teats of an animal by means of an automatic handling device or a so called milking robot, the control arrangement includes a number of different control units and components for controlling various parts of the milking plant. The control arrangement is today arranged in one or several separate control boxes at a suitable distance from the milking position and the automatic handling device.

The layout-solutions described above involve a significant quantity of different components and electric cables extending between the automatic handling device, the different control boxes, and the milking machine and various components thereof. The assembly of the milking plant is therefore a time-consuming work. The function of the handling device and the milking machine and its various components are difficult to check separately before the assembly of the whole plant is completed. During operation of the milking plant, there is also a risk that the control boxes are damaged by hits from the animals or by the milker.

A possible control arrangement could be based on a so called distributed technique, wherein the control arrangement includes a master computer unit, including a database, and a slave computer unit communicating with the master computer unit and arranged to control the movements of the milking robot. The database contains all relevant information about each individual animal regarding milking quantities, feeding instructions, health conditions, lactation status, etc

EP-A-663 146 discloses a milking plant including a number of milking machines and a number of milking robots. The milking plant includes a control arrangement including a common main computer and a number of second computers associated with a respective milking robot. The milking robots are jointly connected to the common main computer. Each second computer is capable of controlling the associated milking robot.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a milking plant with a new improved layout of the control arrangement.

This object is obtained by the milking plant initially defined, which is characterised in that the first control unit is arranged within said space. By such a solution the first control unit is well protected in the first arm member and cannot be reached directly by hits from an animal. Such a location also saves space in and around the milking station. By such a solution, the automatic handling device can also form a more complete independent component or module of the milking plant. Such an independent module can be finally completed and the function of the automatic handing device can be checked separately before the automatic handling device is incorporated in the milking, plant.

According to an embodiment of the invention, the first arm member has the shape of a tube defining said inner space and forming an enclosure around said inner space. Such a hollow tube has a high torsional rigidity and creates a space, which thus may be used in an advantageous manner.

According to a further embodiment of the invention, the first control unit is enclosed in a casing, wherein said casing is arranged within said inner space. According to this embodiment a double protection of the first control unit is obtained. According to a further embodiment of the invention, the inner space is delimited by an inner wall surface of the first arm member, wherein at least one attachment member is mounted to the inner wall surface and arranged to hold mechanically the first control unit. Said attachment member may then include a vibration-damping element, for instance a rubber bushing, wherein the first control unit may be protected against vibrations. Furthermore, the first arm member may include an openable cover member permitting access to the inner space and to the first control unit.

According to a further embodiment of the invention, the handling device includes at least one drive member for producing said movement of the arm arrangement in relation to the base member and one drive member for producing a movement of the gripping member, wherein the first control unit is arranged to control the movements of at least one of said drive members. Said drive members may, for instance, include a respective pneumatic drive member and a valve device for regulating the supply and/or discharge of a medium for producing the respective movement, wherein the first control unit is connected to said valve devices for controlling the valve devices. Advantageously, at least one of the valve devices may also be arranged within said inner space. The valve devices may then be connected to the respective pneumatic drive member via a medium line extending partly within the arm member.

According to a further embodiment of the invention, the milking station includes a primary sensor arranged to sense the position of the teats of the animal and to deliver a parameter defining the sensed position to the first control unit via a primary connection line. Such a primary sensor may include a video camera. The primary sensor may be mounted on the arm arrangement or beside the arm arrangement .

According to a further embodiment of the invention, the milking station includes a number of secondary sensors arrange^'d to sense the position of said arm members and to deliver a parameter defining the sensed positions to the first control unit via a secondary connection line. Said secondary sensors may be arranged on the arm arrangement, wherein said connection lines may extend at least partly within the first arm member.

According to a further embodiment of the invention, the control arrangement includes at least one further control unit arranged to control the milking machine and the milking process. The further control units may be arranged to control an input member for inputting instructions to the control arrangement, for instance in the form of a touch screen. Furthermore, the control arrangement may include a master computer unit holding a database containing animal- related data. Said control units communicate with the master computer unit, wherein one of the control units is arranged to control the transfer of data to and from the master computer unit .

According to a further embodiment of the invention, the milking plant also includes a second milking station as defined in the dependent claim 20. Thus, each handling device of each milking station may include a first control unit arranged within the inner space of the hollow tubular arm member. Each such first control unit may form a part of the overall control arrangement including the master computer unit delivering data to the first control units.

The object is also obtained by the handling device initially defined, which is characterised in that the first control unit is arranged within said inner space. The handling device may include one or more of the features specified in the dependent claims 2 to 20.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will now be described more closely by means of various embodiments thereof and with reference to the drawings attached hereto.

Fig 1 shows schematically a view of a milking plant according to an embodiment of the present invention. Fig 2 shows schematically a perspective view of a handling device of a milking station of the plant in Fig 1. Fig 3 shows schematically a cross-sectional view of an arm member of the handling device in Fig 2. Fig 4 shows schematically a control arrangement of the milking plant in Fig 1.

DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS OF THE INVENTION

Fig 1 discloses a milking plant including three milking stations 1 and a control arrangement. Each milking station 1 defines an animal position 2 for an animal to be milked. Each milking station 1 comprises a milking machine 3 including four teatcups 4 to be attached to the animal in the animal position 2. Each milking station 1 also comprises a handling device 5 arranged to attach automatically said teatcups 4 to a teat of the animal in the animal position 2. Furthermore, each milking station 1 comprises an enclosure 6 delimiting said animal position 2 and including an entrance device 7, having a gate adjustable to an open position and a closed position, and an exit device 8, having a gate adjustable to an open position and a closed position. In the front of the animal position 2 there is a controllable feeder member 9 offering feed to the animal. It is to be noted, that the milking plant may include another number of milking stations 1 than the ones disclosed, for instance only one or two milking stations 1 or more than three milking stations 1.

The handling device 5, which is disclosed more closely in Fig 2, comprises a stationary base member 10, which is mounted close to the animal position 2 but substantially outside the enclosure 6. The handling device 5 also comprises an arm arrangement, which is movably mounted to the base member 10 and includes a first arm member 11, a second arm member 12 and a third arm member 13. The second arm member 12 has a holding member 14 for holding the teatcup 4 to be attached to the teat of the animal. In the embodiment disclosed, the holding member 14 is also arranged to grip the teatcup. The second arm member 12 is connected to the third arm member 13 to perform a first rotary movement including a rotation around an axis a extending in the longitudinal direction of the second arm member 12. The third arm member 13 is connected to the first arm member 11 to perform a second rotary movement including a rotation around an axis b extending in the longitudinal direction of the first arm member 11, and a third rotary movement including a rotation around an axis c substantially perpendicular to the axis b. The first arm member 11 extends substantially vertically in a rest position and is connected to the base member 10 to perform a fourth movement around an axis d extending in parallel to the axis c. The gripping member 14 is also arranged to perform a fifth movement for gripping the teatcups 4.

These movements are provided by means of drive members 16 - 20, i.e. a first drive member 16 for the performance of the first movement, a second drive member 17 for the performance of the second movement, a third drive member 18 for the performance of the third movement, a fourth drive member 19 for the performance of the fourth movement and a fifth drive member 20 for the performance of the fifth movement. In the embodiment disclosed, the drive members 17 - 19 are realised as linear pneumatic cylinder drive members, whereas the drive members 16 and 20 are realised as rotary pneumatic drive members. The pneumatic drive members 16 - 20 also include a respective valve device 21 for regulating the supply and/or discharge of a medium to or from a source (not disclosed) for producing the respective movement. Fig 3 discloses schematically one such valve device 21. The pneumatic drive members 16-20 may be operated by the supply of a pressurised medium or by the application of a vacuum or sub-atmospheric pressure. It is to be noted that the drive members 16-20 also could be realised as hydraulic drive members or electric drive members, for instance.

The milking station 1 also includes a primary sensor 25 arranged to sense the position of the teats of the animal. In the embodiment disclosed the primary sensor 25 is realised by a video camera provided on the handling device 5, and more precisely mounted to the second member 12 of the arm arrangement. It is to be noted that the primary sensor

25 could be replaced or supplemented by one or more other primary sensors mounted to the arm arrangement or beside the arm arrangement, for instance to the enclosure 6. The milking station 1 also includes a number of secondary sensors 26 arranged to sense the position of the arm members

11-13 and the gripping member 14.

The milking plant also includes a control arrangement for controlling various components and functions of the milking stations 1 of the plant. The control arrangement is schematically disclosed in Fig 4. The control arrangement includes a master computer unit 28 including a database 29, which contains all relevant information about each individual animal, such as historical milking quantities, feeding instructions, health conditions, lactation status, etc. The master computer unit 28 is arranged to serve a number of milking stations 1, in the embodiment disclosed in Fig 1, three milking stations 1 are provided.

In the embodiments disclosed, each milking station 1 includes a number of control units 31-35 communicating with the master computer unit 28.

The first control unit 31 is arranged to control the handling device 5, and more precisely the movements of the arm arrangement, i.e. the movements of the drive members 16- 20. To this end, the first control unit 31 is connected to the valve devices 21 of each drive member 16-20, see Fig 3, and to the primary sensor 25 and the secondary sensors 26. The first control unit 31 is thus arranged to receive a primary parameter signal defining the sensed position of the teats from the primary sensor 25 via a primary connection line 36, and to receive a secondary parameter signal defining the sensed positions of the members 11-14 from the secondary sensors 26 via a schematically indicated secondary connection line 37. In response to these parameter signals, the first control unit 31 transfers a control signal to the valve devices 21.

The second control unit 32 is arranged to control the communication and transfer of data between all the control units 31-35 and the master computer unit 28 of the milking plant. The second control unit 32 is thus connected to the master computer unit 28 by means of a communication link and the control units 31,33-35 are connected to the second control unit 32 by means of a respective communication link. The different communication links referred to are indicated by dashed lines in Fig 4 and may be of any known kind, for instance a wireless communication line. The second control unit 32 is also arranged to control an inputting device 39, for instance a touch screen, by which the milker communicates with the milking station 1 and the master computer unit 28.

The third control unit 33 is arranged to control the milking machine 3 and the milking process. The third control unit 33 receives data from the database 29 of the master computer unit 28 via said communication link controlled by the second control unit 32. The third control unit 33 is thus arranged to initiate and terminate the milking process based on data from the master computer unit 28 and from various data delivering members, such as a milk flow meter (not disclosed) .

The fourth control unit 34 is arranged to control the opening and closing of the gates of the entrance device 6 and the exit device 7, respectively, for permitting entrance of animal to the milking station 1 and permitting exit of the animal from the milking station 1.

The fifth control unit 35 is arranged to control an identification device 38 located in the vicinity of the entrance device 6 for identifying the animal approaching and entering the animal position 2 in the milking station 1. Moreover, the fifth control unit 35 is arranged to control the feeder 9, and thus the supply of feed to the animal present in the animal position 2 based on animal-related data delivered from the database 29 via said communication link controlled by the second control unit 32.

The first arm member 11 of the handling device 5 is at least partly hollow and defines an inner space 41. In the embodiment disclosed, the first arm member 11 is formed by a tube. The tube defines the inner space 41, and forms an enclosure around the inner space 41, see Fig 3. The tube is substantially circular cylindrical and has an outer wall surface and an inner wall surface wall. The first control unit 31, forming a part of the control arrangement, is arranged within said inner space 41. In the embodiment disclosed, the first control unit 31 is enclosed in an openable primary casing 42, which in turn is arranged in the inner space 41 of the tube of the first arm member 11.

The primary casing 42 surrounding the first control member 31 is mounted in the inner space 41 by means of a number of attachment member 43 which are attached to the inner wall surface of the tube of the first arm member 11 by any suitable attachment means, such as screw bolts, welding etc. In Fig 3, two such attachment members 43 are disclosed, but of course the number can be adapted to the specific circumstances. Each attachment member 43 includes a vibration-damping element 44 in the form of a rubber bushing or the like. The primary casing 42 of the first control member 31 is supported by and rests on the vibration-damping elements 44. Preferably, the primary casing is mounted to be rigidly held by the attachment members 43 also when the first arm member 11 is moving.

The first arm member 11 also includes an openable cover member 45, schematically disclosed in Fig 3. The cover member 45 gives access to the inner space 41 and primary casing 42 with the first control unit 31. The primary- casing 42 can easily be dismounted and removed from the position within the inner space 41. Consequently, service and repair of the first control unit 31 is facilitated.

The connection lines 36, 37 are preferably also located in the first arm member 11, and may depending on the position of the respective sensors 25, 26 be arranged in the third and/or second arm member 13, 12. In case the communication links mentioned above are realised in a wireless manner, an antenna member connected to the first control unit 31 is preferably arranged outside the tube of the first arm member 11, for instance on the outer wall surface.

Also other components then the first control unit 31 may be arranged within the inner space 41. For instance, the valve devices 21 of one or more of the drive members 16-20 may be arranged in the first arm member 11, see Fig 3. In Fig 3 the only valve device 21 disclosed is arranged on a medium line 46 between the respective drive member 16-20 and a medium source (not disclosed) for the supply and/or discharge of a pneumatic medium. Also one or more .of the other control units 32, 33 and 34 may be mounted within the inner space 41. Alternatively, the other control units 32, 33 and 34 may be arranged outside the inner space 41.

The present invention is not limited to the embodiments disclosed, but it may be varied and modified within the scope of the following claims.

Claims

1. A milking plant including at least a first milking station (1) defining an animal position (2) for an animal to be milked and a control arrangement, the first milking station (1) comprising a milking machine (3) including teatcups (4) to be attached to the animal, and a handling device (5) arranged to attach automatically said teatcups (4) to a teat of the animal, the handling device comprising

- a base member (10),

- an arm arrangement (11-14), which is movably mounted to the base member (10) and includes at least a first arm member (11) and a second arm member (12) , and - at least a first control unit (31) forming a part of the control arrangement and arranged to control at least partly the movements of the arm arrangement (11-14), wherein the first arm member (11) is at least partly hollow defining an inner space (41) in the first arm member (11) , characterised in that the first control unit (31) is arranged within said inner space (41) .

2. A milking plant according to claim 1, characterised in that the first arm member (11) has the shape of a tube defining said inner space (41) and forming an enclosure around said inner space.

3. A milking plant according to any one of claims 1 and 2, characterised in that the first control unit (31) is enclosed in a casing (42) , wherein said casing is arranged within said inner space (41) .

4. A milking plant according to claim 2, characterised in that the inner space (41) is delimited by an inner wall surface of the first arm member (11), wherein at least one attachment member (43) is mounted to the inner wall surface and arranged to hold mechanically the first control unit (31).

5. A milking plant according to claim 4, characterised in that said attachment member (43) includes a vibration- damping element (44) .

6. A milking plant according to any one of the preceding claims, characterised in that the first arm member (11) includes an openable cover member (45) permitting access to the inner space (41) and the first control unit (31) .

7. A milking plant according to any one of the preceding claims, characterised in that the handling device (5) includes at least one drive member (17-19) for producing said movement of the arm arrangement (11-14) in relation to the base member (10) and one drive member (16, 20) for producing a movement of the gripping member (14) , wherein the first control unit (31) is arranged to control the movements of at least one of said drive members (16-20) .

8. A milking plant according to claim 7, characterised in that at least one of said- drive members (16-20) include a respective pneumatic drive member and a valve device (21) for regulating the supply and/or discharge of a medium for producing the respective movement, wherein the first control unit (31) is connected to said valve devices (21) for controlling the valve devices.

9. A milking plant according to claim 8, characterised in that the valve devices (21) are arranged within said inner space (41) .

10. A milking plant according to claim 9, characterised in that the valve devices (21) are connected to the respective pneumatic drive member (16-20) via a medium line (46) extending partly within the first arm member (11) .

11. A milking plant according to any one of the preceding claims, characterised in that the milking station (1) includes a primary sensor (25) arranged to sense the position of the teats of the animal and to deliver a parameter defining the sensed position to the first control unit (31) via a primary connection line (36) .

12. A milking plant according to claim 11, characterised in that the primary sensor (25) includes a video camera.

13. A milking plant according to any one of claims 11 and 12, characterised in that the primary sensor (25) is mounted on the arm arrangement (11-14) .

14. A milking plant according to any one of the preceding claims, characterised in that the milking station (1) includes a number of secondary sensors (26) arranged to sense the position of said members (11-14) of the arm arrangement and to deliver a parameter defining the sensed positions to the first control unit (31) via a secondary connection line (37) .

15. A milking plant according to claim 14, characterised in that the said secondary sensors (26) are arranged on the arm arrangement (11-14).

16. A milking plant according to any one of claims 11, 14 and 15, characterised in that said connection line (36, 37) extends substantially within the first arm member (11) .

17. A milking plant according to any one of the preceding claims, characterised in that the control arrangement includes at least one further control (32-33) unit arranged to control the milking machine (3) .

18. A milking plant according to any one of the preceding claims 17, characterised in that the control arrangement includes a master computer unit (28) holding a database (29) containing animal-related data.

19. A milking plant according to claims 17 and 18, characterised in that said control units communicate with the master computer unit (28) , wherein one of the control units (32) is arranged to control the transfer of data between the control units (31-35) and the master computer unit (28) .

20. A milking plant according to any one of the preceding claims, characterised in that the second arm member (12) has a holding member (14) for holding the teatcup (4) to be attached to the animal.

21. A milking plant according to any one of the preceding claims, characterised in that the milking plant also includes a second milking station (1) defining an animal position (2) for an animal to be milked, the second milking station (1) comprising a milking machine

(3) having teatcups (4) to be attached to the animal, and a handling device (5) arranged to attach automatically said teatcups (4) to a teat of the animal, the handling device comprising - a base member (10) ,

- an arm arrangement (11-14), which is movably mounted to the base member (10) and includes at least a first arm member (11) and a second arm member (12), and

- at least a first control unit (31) forming a part of said control arrangement and arranged to control at least partly the movements of the arm arrangement (11-14), wherein the first arm member (11) is at least partly hollow defining an inner space (41) in the first arm member (11) , and wherein the first control unit (11) is arranged within said inner space (41) .

22. A handling device arranged to attach automatically a teatcup (4) to a teat of an animal to be milked, the device comprising - a base member (10) ,

- an arm arrangement (11-14), which is movably mounted to the base member (10) and includes at least a first arm member (11) and a second arm member (12) , and

- a first control unit (31) arranged to control at least partly the movements of the arm arrangement (11-14), wherein the first arm member (11) is at least partly hollow defining an inner space (41) in the first arm member (11), characterised in that the first control unit (31) is arranged within said inner space (41) .