WO2013130000A1 - Système et procédé pour le traitement des pis d'animaux dans un système de traite, et système de traite - Google Patents

Système et procédé pour le traitement des pis d'animaux dans un système de traite, et système de traite Download PDF

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Publication number
WO2013130000A1
WO2013130000A1 PCT/SE2013/050175 SE2013050175W WO2013130000A1 WO 2013130000 A1 WO2013130000 A1 WO 2013130000A1 SE 2013050175 W SE2013050175 W SE 2013050175W WO 2013130000 A1 WO2013130000 A1 WO 2013130000A1
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WO
WIPO (PCT)
Prior art keywords
treating
location
udder
substance
stalls
Prior art date
Application number
PCT/SE2013/050175
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
Publication of WO2013130000A1 publication Critical patent/WO2013130000A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/12—Milking stations
    • A01K1/126—Carousels
    • 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

Definitions

  • the present invention relates generally to dairy farming and particularly to treatment systems and methods for treating udders of animals in milking systems as well as to milking systems comprising such treatment systems.
  • milking equipment is connected to the cow's udder to extract the milk by providing a low pressure to draw the milk out from the udder.
  • a disinfectant such as iodine
  • this process is accomplished by a person who treated each udder by hand with a spraying device. This required having an extra person on staff and oftentimes the udder was not thoroughly treated.
  • U.S. Patent No. 6,443,094 discloses an apparatus for sanitizing the udder of a cow either before or after milking in a stall of a rotating milking parlour.
  • the apparatus has an extension arm with a discharging portion so that when a cow is in a cleaning location the extension arm will be moved underneath a cow's udder and discharge cleaning fluid onto the cow's udder.
  • a sensing system is used that detects the rotation of the parlour to determine if a cow is at a cleaning location. Further, the sensing system detects whether a cow is present in a stall of the rotary milking parlour.
  • the inventor of the present invention has noted a few shortcomings with such an apparatus. Firstly, the time window usable for the treating of the udder of each animal is very limited. Thus, it may be difficult to provide a sufficiently thorough treatment. Secondly, cleaning substance may not reach all necessary areas of the udder of the animal due to self-occlusion.
  • a treatment system for treating udders of animals is provided in a milking system, wherein there is a plurality of stalls arranged on a moving platform to move through a milking cycle, and the milking system comprises an entrance region, a milk extracting location where milking machines extract milk, and an exit location.
  • the treatment system comprises an udder treating apparatus, which is positioned at a treating location intermediate the entrance region and the milk extracting location, or intermediate the milk extracting location and the exit location, with the stalls passing by the treating location, and comprises (i) a mounting structure at the treating location, and (ii) a treating section which is movable between a retracted position which is out of a path of travel of the stalls and a treating position when the treating section applies a substance onto an udder of the animal which is in a stall at the treating location. Further the treating section is, at least when being at the treating location, turnable around a horizontally located axis being perpendicular to a movement direction of each of the stalls at the treating location.
  • a control system comprising a location sensor, responsive to the location of the stalls and arranged to provide signals identifying arrival times at which each of the stalls is at the treating location, wherein the control system is arranged to cause the treating section to move, relative to the arrival times, from the retracted position to the treating position to apply the substance onto the udder of the animal, then to retract the treating section from the treating position to complete a treating cycle.
  • control system is arranged to cause the treating section to turn around the horizontal axis during the application of the substance onto the udder of the animal.
  • the control system is arranged to cause the treating section to turn around the horizontal axis during the application of the substance onto the udder of the animal.
  • control system is caused to move the treating section from the retracted location to the treating location and to turn the treating section around the horizontal axis in a fixed movement scheme. This can be realized in a number of manners.
  • the treating section comprises an extension arm at which a substance discharging portion is positioned, which extension arm moves on a path of travel from the retracted position to the treating position where at least a portion of the extension arm is beneath the animal which is in the stall at the treating location, while the extension arm is turned around the horizontal axis.
  • the extension arm is arranged so that the path of travel extends between two legs of the animal, preferably between two hind legs of the animal.
  • the extension arm has a substantially vertical arm portion and a substantially horizontal arm portion; the substance discharging portion is positioned at an outer end portion of the substantially horizontal arm portion; and the horizontal axis, around which the extension arm is turned, is spaced from a central axis of the substantially horizontal arm portion.
  • the extension arm is turned in a direction such that the substantiaEy horizontal arm portion is moved in the movement direction of each of the stalls. This enables longer treatment times than what is possible in the prior art.
  • the extension arm maybe moved such that the outer end portion of the substantially horizontal arm portion and the substance discharging portion are moved diagonally below the udder of the animal while the substance is discharged toward the udder of the animal to further apply the substance from a variety of angles.
  • the substance discharging portion is tumably mounted on the extension arm such that the substance discharging portion is capable of being turned with respect to the extension arm around a further horizontal axis being perpendicular to a movement direction of each of the stalls at the treating location.
  • the control system is caused to turn the treating section around the horizontal axis and to turn the substance discharging portion around the further horizontal axis, advantageously in the same directions, in a fixed movement scheme.
  • the treating section comprises a plurality of substance discharging portions positioned at the extension arm and arranged for applying substance upwards towards the udder of the animal.
  • control system is caused to move the extension arm on a path of travel from the retracted position to the treating position, during which the substance discharging portion is moved beneath the animal and passed by the teats of the animal.
  • the present invention includes also a rotary milking system comprising any of the animal udder treatment systems disclosed above.
  • a treating method for treating udders of animals in a milking system, wherein there is a plurality of stalls arranged on a moving platform to move through a milking cycle, and the milking system comprises an entrance region, a milk extracting location where milking machines extract milk, and an exit location.
  • a treating section of an udder treating apparatus is moved between a retracted position which is out of a path of travel of the stalls and a treating position in which an outer portion of the treating section is moved into a location beneath the udder of a animal which is in a stall at the treating location; a substance is applied onto the udder of the animal; and the treating section is retracted from the treating position to complete a treating cycle.
  • the treating section is, during the treating cycle, turned around a horizontally located axis being perpendicular to a movement direction of each of the stalls at the treating location.
  • the treating section is turned around the horizontal axis during the application of the substance onto the udder of the animal.
  • Fig. 1 shows a plan view of a rotary milking system according to an embodiment of the invention.
  • Fig. 2 is a side elevation view of a cow udder cleaning system that is attached to the perimeter railing of a rotary milking system with the cleaning arm of the present invention in its retracted position.
  • Fig. 3 is a rear view of the cow udder cleaning system of Fig. 2, looking inwardly toward the center of the rotating platform of the rotary milking system.
  • Fig. 4 is a side elevational view of the cow udder cleaning system of Fig. 2, where the cleaning arm is in its extended position between a cow's legs and is applying a disinfectant.
  • Fig. 5a- e are rear views of parts of a cow udder cleaning system, looking inwardly toward the center of the rotating platform of the rotary milking system, during different phases of a cow udder cleaning method according to an embodiment of the invention.
  • Figs. 6a-c are schematic rear views of parts of a cow udder cleaning system, looking outwardly toward the periphery of the rotating platform of the rotary milking system, during cleaning according to an embodiment of the invention.
  • Fig. 7 is a schematic side elevational view of a cow udder cleaning system according to an embodiment of the invention, where the cleaning arm is in its extended position between a cow's legs and is applying a cleaning substance.
  • Fig. 8 is a schematic side elevational view of a cow udder cleaning system according to an embodiment of the invention.
  • Fig. 1 shows a rotary milking system 20 which comprises a rotating platform 22 on which the cows 24 are standing during milking while the rotating platform 22 rotates, and a stationary perimeter railing 26 surrounding the platform 22.
  • the platform 22 comprises a plurality of stalls 42, wherein each stall is defined by two vertical bars or posts 43 at the perimeter of the platform 22 and radially aligned horizontal bars 45.
  • each stall 42 comprises milking equipment such that a cow 24 present in the stall can be milked during the rotation of the platform 22.
  • a cow udder treating or cleaning system of the present invention is shown at 28.
  • cow udder cleaning system While this system will be referred to as a cow udder cleaning system, it shall be appreciated that it can not only be used for cleaning in a broad sense, but also for different kinds of treatments such as e.g. application of a salve, or an ointment.
  • the milking operation has seven stages and there are seven locations that correspond to seven physical proximate locations of a cow at which certain operations are executed through the milking operation.
  • the cows enter stalls 42 of the rotating platform in a sequential order.
  • the teats of the cows are pretreated and/ or pre- milked.
  • the pretreatment in one embodiment, is made manually, it is in other instances made automatically, e.g. by means of a robot provided for the purpose.
  • the inventive cow udder cleaning system 28 is arranged at the pretreatment location 31 in order to pretreat the teats of the cows, and in an other embodiment, two inventive cow udder cleaning systems 28 are provided; one at the illustrated position and one at the pretreatment location 31 for pretreating the teats of the cows 24.
  • teat cups of the milking equipment in the stalls are attached to the cows present in the stalls 42 passing the location.
  • the teat cups may be attached manually or automatically, e.g. by means of a robot provided for the purpose.
  • the cows are milked, and subsequently thereto, at the teat cup removal location 36, the teat cups are removed from the teats of the cows. This may be performed by turning off the vacuum and using a spring loaded device to return the teat cups to a loading position.
  • the cow's udder is treated with iodine or other cleaning or disinfecting substance by the cow udder cleaning device 28 of the present invention, or if the cow udder cleaning device 28 is located at the pretreatment location 31, by any other device known in the art.
  • the term "clean” or “cleaning” shall be referred to as any sanitizing, spraying, or killing bacteria or remove debris on an udder or teat surface. This includes spraying iodine, other chemical agents in liquid or powder form, or other liquids or powder on to the udder.
  • the cows back out of the stalls 42.
  • the platform 22 rotates continuously, but the rotation is relatively slow and the cows can step off the rotating platform 22 without much difficulty.
  • the cow udder cleaning device 28 is illustrated in detail in Figs. 2-4 and comprises a vertical mounting plate 48, a swing arm 46, a first pivoting arrangement 60, a second pivoting arrangement 61, a cleaning substance delivery arrangement 93, 47, 116, a sensor arrangement 58, and a processor or control system 52.
  • a coordinate system is indicated, wherein x is the radial direction with respect to the rotating platform 22, y is the tangential direction, and z is the vertical direction.
  • the mounting plate 48 is rigidly attached to the stationary perimeter railing 26 and functions as a base plate to which key components of the cow udder cleaning system 28 are mounted.
  • the swing arm 46 is pivotably attached to the vertical mounting plate 48 at pivoting location 100, preferably by means of a ball joint or similar to allow the swing arm 46 to be pivoted in two perpendicular directions; partly radially inwardly and outwardly as being indicated by arrows 79 and 80 in Fig. 2, partly tangentially with and against the movement of the rotating platform 22 as indicated by arrows 91 and 92 in fig. 3.
  • the swing arm 46 comprises a vertical arm portion 82, and a horizontal arm portion 83 that is located in a lower portion of the vertical arm portion 82.
  • the horizontal arm portion 83 can be made from a flexible material to withstand the potential abuse from the cow's hooves.
  • the horizontal arm portion 83 should also be relatively thin in the tangential direction y so that it can more easily slip in between the cow's hind legs.
  • the first pivoting arrangement 60 may comprise a vertical plate 49 mounted parallel with the mounting plate 48 such that the vertical plate 49 is slidably movable with respect to the mounting plate 48 in the vertical plane comprising the tangential direction y of the rotating platform 22. Bearings may be provided to reduce friction between the plates 48 and 49. Further, the first pivoting arrangement 60 may comprise a cylinder portion and a piston rod 78 driven by a hydraulic fluid or gas and interconnected between a middle portion of the vertical arm portion 82 and the vertical plate 49 via respective pivot means 102, 108. " When the first pivoting arrangement 60 moves the swing arm 46 to the retracted position as shown in Fig.
  • the cylinder portion and the piston rod can be provided with an internal spring which biases the piston rod to the retracted position of the swing arm 46 shown in Fig. 2, and when pressure is applied to the cylinder portion, the piston rod will retract within the cylinder portion and hence move the swing arm 46 radially inwardly to the extended position shown in Fig. 4.
  • other means may be provided to obtain the function of the first pivoting arrangement 60, i.e. to move the swing arm 46 from its retracted position shown in Figs. 2-3 to the extended position between a cow's legs as shown in Fig. 4, and back to the retracted position after cleaning.
  • the vertical arm portion 82 may be exchanged for a parallel arm arrangement that can move the horizontal arm portion 83 from the retracted position to the extended position shown without altering the orientation of the horizontal arm portion 83, i.e. it is kept exactly horizontal during the movement.
  • the entire swing arm 46 is moved from the retracted position to the extended position linearly, e.g. by means of a linear electric motor.
  • the vertical arm portion 82 and/ or the horizontal arm portion 83 may be telescopic wherein their lengths are adjusted during the movement of swing arm 46 from the retracted position to the extended position.
  • the second pivoting arrangement 61 comprises a cylinder portion and a piston rod 88 driven by a hydraulic fluid or gas and interconnected between the vertical plate 49 and the mounting plate 48 via respective pivot means 89, 90.
  • the cylinder portion and the piston rod 88 can be provided with an internal spring which biases the piston rod to a first or right hand end position of the swing arm 46 as seen from the view of Fig. 3. "
  • the internal cylinder is pressurized and the force exerted on the piston rod moves the swing arm 46 in the tangential direction y (with respect to the rotating platform 22) to the second end position.
  • the swing arm 46 will rotate about pivot location 100 tangentially back as indicated by arrow 92 in Fig. 3 towards the first end position.
  • the cylinder portion and the piston rod can be provided with an internal spring which biases the piston rod to the second end position of the swing arm 46, and when pressure is applied to the cylinder portion, the piston rod will retract within the cylinder portion and hence move the swing arm 46 as indicated by arrow 92 in Fig. 3 to the first end position. When the pressure is released, the swing arm 46 will rotate about pivot location 100 tangentially back as indicated by arrow 91 in Fig. 3 towards the second end position.
  • other means may be provided to obtain the function of the second pivoting arrangement 61, i.e. to move the swing arm 46 in the directions of arrows 91 and 92 in Fig. 3 as made during the cleaning of the udder of the cow and/ or before and after the cleaning of the udder of the cow.
  • the vertical arm portion 82 may be telescopic wherein its length is adjusted during the pivoting movement in the directions of arrows 91 and 92 in Fig. 3 such that the vertical distance between the horizontal arm portion 83 and the rotating platform 22 is kept constant.
  • first 60 and second 61 pivoting arrangements can be operated independently of one another.
  • the operation of the second pivoting arrangement 61 is locked, or has an operation which is predetermined, in relation to the operation of the first pivoting arrangement 60 either in the control thereof or by means of sharing electrical or mechanical components such as a hydraulic or pneumatic medium for operating the respective piston rod in the respective cylinder portion.
  • the pivoting arrangement 61 maybe dispensed with and instead, the pivoting of the swing arm 46 in the tangential direction y is realized by other means such as for instance a mechanical arrangement linked to the movement of the rotating platform 22.
  • a movement in the direction y of the tangential movement of the rotating platform 22 may be obtained by a flange or similar mounted on the floor in each of the stalls 42, which flange engages with the swing arm 46 when the swing arm 46 has reached a certain distance into the rotating platform 22 and thus brings the swing arm 46 to the left hand end position, upon which the swing arm is disengaged from the flange by means of retracting the swing arm 46 radially outwards towards the retracted position and is forced by the spring to return to the right hand end position.
  • the cleaning substance delivery arrangement comprises a discharging portion 47 located at an upper portion of the distal end of the horizontal arm portion 83, and comprises a vertically oriented nozzle.
  • the nozzle is in communication with a cleaning section 93 which comprises a cleaning substance source connected to the nozzle by a hose or line 116.
  • the cleaning substance source holds disinfectant fluid or powder (such as iodine) or other substance and is adapted to discharge this disinfectant fluid or powder in a fanlike or expanding spray like manner upwards as schematically shown at 89 in Fig. 4 during cleaning.
  • the sensor arrangement 58 is provided for indicating the position of a stall 42 such that the stall 42 is in proper position for the udder cleaning device 28 to operate. Further, the sensor arrangement 58 is provided for indicating that the stall 42 comprises a cow, optionally a cow that is or has been milked.
  • the sensor arrangement 58 may be an optical sensor, such as a camera, arranged to detect the position of a stall 42.
  • the vertical posts 43 of each stall 42 may be provided with an easily detectable visual mark such as e.g. a white spot at a suitable height, in order for the sensor arrangement 58 to easily detect the position of each stall 42.
  • Such optical sensor can also be provided to detect whether a cow occupies a stall 42 or not.
  • the sensor arrangement comprises one or several cow identification devices for indicating, for each stall 42, whether that stall 42 comprises a cow.
  • a milk flow meter, a milk amount measuring device, or similar, at each of the stalls 42 maybe comprised in the sensor arrangement 58 to indicate whether a cow in a stall 42 is or has been milked.
  • the sensor arrangement 58 may comprise two separate sensors for indicating the position of a stall 42 and for indicating whether the stall comprises a cow, such as e.g. a contact sensor for indicating the position of the stall and an optical sensor for indicating whether the stall comprises a cow as being disclosed in US 6,443,094 Bl, the contents of which being hereby incorporated by reference.
  • the sensor arrangement 58 may be provided to instead detect the legs, i.e. the hind legs, of the cow present in the stall 42. After all, the swing arm 46 should be entered between the hind legs of the cow, and by directly detecting the position of the hind legs of the cow, exact information is obtained as to when the swing arm 46 can be entered between the hind legs of the cow.
  • the control system 52 is operatively connected to the first pivoting arrangement 60, the second pivoting arrangement 61, the cleaning substance delivery arrangement, and the sensor arrangement 58.
  • the control system 52 can, for each of the stalls 42, be supplied with information regarding the position of the stall 52, whether the stall comprises a cow, and optionally whether the cow is or has been milked, and can, for each of the stalls 42, control the first pivoting arrangement 60 and the second pivoting arrangement 61 to thereby control the movement of the swing arm 46, and control the cleaning substance delivery arrangement to apply cleaning substance onto the teats of the cow present in the stall 42 during each cleaning cycle.
  • the sensor arrangement 58 and the control system 52 may be realized in the form of a mechanical arrangement.
  • the sensor arrangement 58 may in some instances be dispensed with.
  • the cow udder cleaning system 28 may be located in the udder cleaning location 38 of the rotary milking system 20, and it is the final stage of the milking operation.
  • the milking operation is essentially a continuous one, meaning the rotating platform 22 constantly rotates and the cows 24 continuously enter onto and exit from the rotating platform 22.
  • the rotating platform 22 rotates clock wise, which means that the rotating platform 22 and a cow in a stall 42 thereon moves from right to left in Fig. 3.
  • the sensor arrangement 58 is provided for indicating the position of a stall 42 e.g. by means of detecting a vertical post 43 of the stall 42 when it comes onto the detection area of the sensor arrangement 58.
  • the exact times of operation of the cow udder cleaning system 28 for the cleaning of the udder of a cow present in a stall 42 can be determined.
  • the indication of the stall position is forwarded to the control system 52.
  • the sensor arrangement 58 would detect the lack of a presence of a cow in the stall 42 and forward this back to the control system 52. Then the control system 52 will take no action for the swing arm 46 and the cleaning substance delivery arrangement and will be ready for the next signal sent from the sensor arrangement 58, which would indicate that the next stall is coming into position.
  • the cleaning or sanitizing operation can take place without the detection of whether a cow is present in the stall 42; however, the spraying action would then take place regardless of whether a cow is present in the stall.
  • a cleaning cycle is performed.
  • the control system 52 controls the first pivoting arrangement 60 to thereby control the movement of the swing arm 46 in such a manner that the swing arm 46 is moved from the retracted position of Fig. 2 to the extended position of Fig. 4. Ffereby, the discharging portion 47 is moved from behind the cow 24, between the hind legs of the cow, and to a position beneath the udder of the cow in the stall 42.
  • the control system 52 further controls the cleaning substance delivery arrangement to apply cleaning substance onto the teats of the cow.
  • the cleaning position may thus be any location along the path of travel of the extension arm from the retracted position to the extended position where the discharging portion can adequately spray material onto the cow's udder.
  • control system 52 controls the second pivoting arrangement 61 to thereby control the movement of the swing arm 46 in such a manner that the swing arm 46 is moved tangentially as indicated by arrow 91 and/or arrow 92 during the application of the cleaning substance onto the teats of the cow.
  • the cleaning substance can be discharged towards the udder of the cow in a plurality of angles, thereby providing an appropriate cleaning of the entire area of the teats and the udder around the teats of the cow, and avoiding problems with self- occlusion.
  • the movement of the swing arm 46 in the tangential direction is preferably made along the direction of the movement of the stall 42, i.e. in the direction of arrow 91 as the stall 42 moves from right to left in Fig. 3.
  • the discharging portion 47 can thus be moved diagonally beneath the udder of the cow.
  • the swing arm 46 may be moved alternatively in the two opposite tangential directions (arrows 91 and 92 in Fig. 3), thereby causing the discharging portion 47 to move in a zig zag pattern beneath the udder of the cow.
  • the inventive udder cleaning cycle may be performed in response thereto, such that for instance only udders of cows having been milked are cleaned by the cow udder cleaning system 28. It shall be appreciated that the cleaning by the cow udder cleaning system 28 can be performed before the milking operation begins and/ or at a variety of locations around the rotating platform 22 such as e.g. at the pretreatment location 31.
  • Figs. 5a- e are rear views of parts of a cow udder cleaning system, looking inwardly toward the center of the rotating platform of the rotary milking system, during different phases of a cow udder cleaning method according to an embodiment of the invention.
  • the cow 24 moves from right to left in relation to the cow udder cleaning system and its ball joint 100.
  • the cow udder cleaning system may be any of those disclosed above with reference to Figs. 1-4.
  • the swing arm 46 is in, or moved to, the right hand end position, and as soon as the left hind leg of the cow has passed the lower parts of the swing arm 46 (i.e. the horizontal arm portion 83) the swing arm 46 can be moved from the retracted position, between the hind legs of the cow, and towards the extended position in the x direction.
  • the inventive pivoting of the swing arm 46 in the tangential direction y provides for an earlier movement of the swing arm 46 into the area between the hind legs of the cow as compared to prior art. The larger the angle a between the swing arm 46 and the vertical plane is, the earlier the swing arm can be entered between the hind legs of the cow.
  • the cleaning substance delivery arrangement begins to discharge cleaning substance from the discharging portion 47 upwards towards the udder of the cow.
  • Fig. 5b shows the situation after which cleaning substance has been started to be discharged. Still the swing arm 46 has not been swung in the tangential direction y. The cleaning substance is discharged in a fan like beam 89.
  • Fig. 5d shows the situation where the swing arm 46 has reached the left hand end position and Fig. 5c shows an intermediate position of the swing arm 46. It is important that the pivot angle of the swing arm 46 and the time of swinging the swing arm relative to the tangential speed of the stall are selected such that the swing arm will not come into contact with the left hind leg of the cow during the swinging of the swing arm 46.
  • the cleaning substance delivery arrangement ends the discharging of cleaning substance.
  • Fig. 5e shows the situation after which the discharging of the cleaning substance has ended.
  • the tangential pivoting of the swing arm 46 enables longer cleaning times.
  • the times are not only set by the distances between cows' hind legs and the tangential speed of the stalls, but depend now also on the tangential movement of the swing arm 46.
  • the cleaning substance is sprayed onto the teats of the cow in a plurality of directions, which provides for appropriate cleaning wherein no hidden places, e.g. depending on self- occlusion, are missed to be sprayed with the cleaning substance.
  • Figs. 6a- c are schematic rear views of parts of a cow udder cleaning system, looking outwardly toward the periphery of the rotating platform of the rotary milking system, during cleaning according to an embodiment of the invention.
  • Figs. 6a-c correspond to Figs. 5a, 5c, and 5e with respect to the tangential position of the swing arm 46.
  • the cow udder cleaning system of Figs. 5a-e has a discharging portion 47 with a vertically arranged nozzle that is parallel with the vertical arm portion 82. This means that when the swing arm 46 is pivoted tangentially an angle a, also the nozzle is swung the angle a. However, in some instances it is desirable that the nozzle is swung an angle ⁇ that is greater than the angle a with which the swing arm 46 is pivoted tangentially.
  • Figs. 6a-c discloses such a solution.
  • the discharging portion 47 is pivotably attached to the horizontal arm portion 83.
  • a pivoting arrangement (not illustrated) is provided for pivoting the discharging portion 47.
  • such pivoting arrangement is locked, or has an operation which is predetermined, in relation to the operation of the first pivoting arrangement 60 e.g. by means of a mechanical arm arrangement, or has a piston and cylinder arrangement which shares with the second pivoting arrangement 61 a hydraulic or pneumatic medium for operating the respective piston rod in the respective cylinder portion.
  • the pivoting arrangement of the discharging portion 47 is independently controlled by the control system 52.
  • the cow udder cleaning system of Figs. 6a-c is similar to any of those disclosed above.
  • Fig. 7 is a schematic side elevational view of a cow udder cleaning system according to a further embodiment of the invention, where the cleaning arm is in the extended position between a cow's legs and is applying a cleaning substance.
  • the cleaning substance delivery arrangement comprises a plurality of discharging portions 47 located at an upper portion of the distal end of the horizontal arm portion 83, wherein each discharging portion 47 comprises a vertically oriented nozzle.
  • Each nozzle is in communication with a cleaning section with a cleaning substance source connected to the nozzles by a hose or disinfectant line.
  • the cleaning substance source holds disinfectant fluid or powder (such as iodine) or other cleaning substance and is adapted to discharge this in a fanlike or expanding spray like manner upwards, from each of the nozzles as schematically shown at 89 in Fig. 4.
  • the first pivoting arrangement is arranged to move the swing arm 46 from the retracted position to an extended position which is different from that of Figs. 2-4.
  • the swing arm is swung further, to a position which is passed a vertical position of the vertical arm portion 82 and which defines an angle ⁇ with the vertical plane.
  • Fig. 8 is a schematic side elevational view of a cow udder cleaning system, where the cleaning arm is in the retracted position, according to an embodiment of the invention which is substantially similar to the embodiment of Figs. 2-4 except instead of having pivot portion 100 in a position above the udder of the cows, it is positioned onto a fixed a mounting structure below the rotating platform 22 and the horizontal arm portion 83 is positioned at an upper end portion of the vertical arm portion 82.
  • the extended position is schematically indicated by dashed lines at 111.
  • the cow udder cleaning system is similar to the cow udder cleaning systems above and is operated in a similar manner.
  • the moving platform it is not necessary for the moving platform to be a rotary platform, the platform need not comprise bars 43, 45 defining the stalls, and if there are bars or posts 43, these need not be vertical.
  • the treating substance could be applied onto the udder of the cow continuously during the movement of the treating section, or in one or several "shots" at certain positions during the movement.
  • the treating substance could be applied by other means than being discharged from a nozzle, e.g. by a sponge.
  • the horizontal arm portion 83 could be bent so that it will more easily pass between the legs of the cow.
  • hydraulic or pneumatic cylinders have been described, the same function could instead be accomplished by e.g. electric motors.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
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  • Biodiversity & Conservation Biology (AREA)
  • Housing For Livestock And Birds (AREA)

Abstract

Système (28) de traitement pour le traitement des pis d'animaux (24) dans un système de traite (20), une pluralité de stalles (42) étant agencée sur une plate-forme (22) mobile pour se déplacer pendant un cycle de traite, le système de traite comprenant une zone d'entrée (30), un emplacement d'extraction de lait (34) dans lequel des machines à traire assurent l'extraction de lait, et un emplacement de sortie (40). Le système de traitement comporte un appareil (48, 46, 60, 61) de traitement de pis positionné dans un emplacement de traitement (38, 31), intercalé entre la zone d'entrée et l'emplacement d'extraction de lait, ou entre l'emplacement d'extraction de lait et l'emplacement de sortie, les stalles passant par l'emplacement de traitement. L'appareil de traitement du pis comprenant : (i) une structure de montage (48) dans l'emplacement de traitement, et (ii) une section de traitement (46) qui est mobile entre une position rétractée hors d'un trajet de déplacement des stalles, et une position de traitement lorsque la section de traitement applique une substance sur un pis de l'animal qui se trouve dans une stalle dans l'emplacement de traitement. La section de traitement peut, au moins lorsqu'elle se trouve dans l'emplacement de traitement, tourner autour d'un axe (x) horizontal perpendiculaire à une direction de mouvement (y) de chacune des stalles à l'emplacement de traitement.
PCT/SE2013/050175 2012-03-01 2013-02-26 Système et procédé pour le traitement des pis d'animaux dans un système de traite, et système de traite WO2013130000A1 (fr)

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US61/605,361 2012-03-01
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WO2015094092A1 (fr) * 2013-12-18 2015-06-25 Delaval Holding Ab Effecteur, robot et système de traite rotatif
US20210037780A1 (en) * 2012-03-14 2021-02-11 Gea Farm Technologies Gmbh Space divider of a milking parlor arrangement, and milking parlor arrangement
US20230189751A1 (en) * 2021-12-18 2023-06-22 Beco Dairy Automation Inc. Spraying system, methods of making and using the same, and computer-readable medium for controlling the same

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US11997982B2 (en) * 2021-12-18 2024-06-04 Beco Dairy Automation Inc. Spraying system, methods of making and using the same, and computer-readable medium for controlling the same

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