Classifications

• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01J—MANUFACTURE OF DAIRY PRODUCTS
  • A01J5/00—Milking machines or devices
  • A01J5/007—Monitoring milking processes; Control or regulation of milking machines
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01J—MANUFACTURE OF DAIRY PRODUCTS
  • A01J5/00—Milking machines or devices
  • A01J5/04—Milking machines or devices with pneumatic manipulation of teats

Definitions

• the present invention relates to a milking device for milking a dairy animal and provided with a plurality of, and in particular four, milking cups for connection to a plurality of respective teats of the dairy animal to be milked, which milking cups are provided with a teat chamber and a pulsation chamber, a control device for controlling the milking device, a vacuum device for applying an underpressure, a pulsation device, having for each milking cup a respective first pressure connection from the pulsation chamber of this milking cup to the vacuum device, which first pressure connection is controllably openable and closable by the control device, and for each milking cup a respective second pressure connection from the pulsation chamber of this milking cup to a source for a second pressure, higher than said underpressure, which second pressure connection is controllably openable and closable by the control device, said source comprising, in particular, the environment, wherein the pulsation device is configured to apply in each of the milking cups, in a manner controllable
• Milking devices of this type are known.
• the pulsation pressure is measured, for example, and the pulsation of the milking cups is set on the basis of the measured pulsation pressure in order to be able to adapt to changes therein.
• Such changes can arise, for example, through aging of the milking cup, and in particular the liner thereof, through changes in the teat during milking, through changes in the milk flow, et cetera.
• the object of the present invention is to at least partially solve the abovementioned problems, and to provide a milking device of said kind which can work longer and with greater reliability.
• the invention achieves this object with a milking device according to claim
• a milking device for milking a dairy animal and provided with a plurality of, and in particular four, milking cups for connection to a plurality of respective teats of the dairy animal to be milked, which milking cups are provided with a teat chamber and a pulsation chamber, a control device for controlling the milking device, a vacuum device for applying an underpressure, a pulsation device, having for each milking cup a respective first pressure connection from the pulsation chamber of this milking cup to the vacuum device, which first pressure connection is controllably openable and closable by the control device, and for each milking cup a respective second pressure connection from the pulsation chamber of this milking cup to a source for a second pressure, higher than said underpressure, which second pressure connection is controllably openable and closable by the control device, said source comprising, in particular, the environment, wherein the pulsation device is configured to apply in each of the milking cups, in a manner controllable by the
• the milking device offers the advantage that the pressure sensor can be used for more than 1 pulsation chamber, thereby reducing the complexity of the device, especially with regard to a complicated and sensitive component thereof.
• Pressure gauges age especially as a function of the number of pressure variations. The inventors have realized that the pressure gauge which measures the pulsation pressure is virtually constantly exposed to pressure variations. After all, a milking machine, especially a robotic milking machine with voluntary movement of animals, is virtually ceaselessly active. Since, moreover, the pressure varies approximately twice per second for a large part of this operating time, the pressure gauge is exposed to some tens of millions of pressure variations per annum. But the pressure variations are not all relevant to the working of the milking device.
• this factor can according to the invention expediently be utilized by testing the first connected milking cup over the course of a few pulsations, and next the following connected milking cup, et cetera. Note that in the milking device described in NL-2012716, there are in any case four valves present, but then each for one pressure sensor.
• the four valves are provided to operate individual connections between the pulsation chambers of four milking cups to one and the same pressure gauge, which pressure gauge in any case had a much longer working life as a result of the only temporary measurement of the pressure.
• This pressure gauge thus replaces four pressure gauges and still has a sufficiently extended working life compared with the working life of pressure gauges from the other known prior art.
• this principle works already if two pulsation chambers per pressure gauge are combined, such as, for example, for a specific two-cup goat milking device.
• the vacuum device for applying an underpressure can be composite, i.e. a separate vacuum subdevice for each pulsation chamber, or that one single vacuum device is provided for two or more, or even for all milking cups.
• This vacuum device provides a vacuum for use in the teat chamber, thus for the actual milking, as well as for the pulsation chamber, thus for the pulsating opening and closing of the liner of the milking cup.
• This principle is widely known per se for mechanical milking, and details on this can be found in any manual.
• a separate pulsation device for each milking cup or a pulsation device for every two or more, or even for all, milking cups, which is not to say, moreover, that all these plurality of milking cups are also simultaneously driven with the same pressure pattern, since also the pressure outlets of this composite pulsator can vary for each milking cup.
• the controlling of the pulsation device thus at least for one milking cup, possibly for a plurality of or all milking cups, takes place according to the invention on the basis of the determined pressure, or of the respective pressures as determined for the plurality of milking cups.
• the controlling of the milking cups takes place individually on the basis of the pulsation pressure determined for the respective milking cups, although it is not precluded to average out, for example, the pulsation pressure determined per milking cup in order to drive a plurality of, or even all milking cups, on the basis thereof.
• this pressure-dependent controlling of the pulsation is not necessary, and it can be sufficient to monitor whether the pressure which is achieved meets predetermined minimum requirements, such as lie within a predetermined range.
• the pressure-determining device has a closable ambient pressure connection to ambient pressure, which pressure connection can be controllably shut off by the control device. With the aid of this connection, it is possible to calibrate the pressure-determining device, since the pulsator in most cases has the ambient pressure as the higher pressure and thus also as the reference pressure.
• the sensor valve system comprises for each pressure-measuring connection a sub-valve controllable by the control device.
• This is a simple and functional design, which makes all pressure-measuring connections separately controllable.
• it is also possible to achieve this with a single multiway valve, with a slide valve having a single hole therein, et cetera.
• the sensor valve system comprises a main valve, which is controllable by the control device and is located between the pressure sensor and each of the sub-valves.
• a main valve which is controllable by the control device and is located between the pressure sensor and each of the sub-valves.
• the control device is configured to place the pressure-measuring connections, by means of the sensor valve system, alternately and one by one in open connection with the pressure sensor. It can thereby be ensured that the pressure is determined of all pulsation chambers.
• the control system is configured to determine the pressure in the first connected milking cup, followed by determination of the pressure in the second connected milking cup, et cetera.
• the control system it is also possible for the control system to be configured to voluntarily vary the sequence of the milking cups whereof the (pulsation) pressure is determined.
• control device is configured to place the pressure-measuring connections alternately and one by one targetedly in open connection with the pressure sensor on the basis of a criterion.
• the control device in consideration of the criterion, can measure precisely that pulsation pressure which with the greatest probability is momentarily the most relevant.
• the present milking device it is not the aim, or even possible, to measure the respective pulsation pressure of all milking cups simultaneously.
• it might happen that a pulsation pressure is measured of a first milking cup, whereas it would be more relevant to measure at that moment the pulsation pressure of another, second milking cup.
• the criterion comprises a predetermined time span, more particularly a minimum number of pulsations or seconds.
• this time span is chosen to such a length that the pressure too can be reliably determined without switch-on effects being able to cause excessively large deviations in the pressure sensor.
• this time span is chosen as a number of seconds, such as 5 seconds. In this time, in dependence on the pulsator setting, a number of pulsations have occurred, such as approximately 5.
• the average of the last three pulsations can then, for example, be taken, or some others determined on the basis of the measurement values during the time span.
• a practical test will easily be able to provide a suitable time.
• the momentary pressure can be determined with sufficient accuracy within 10 s. If it further appears from calibration measurements that the pressure varies by maximally 2%/min and there is a permitted pressure margin of 5%, then it can be sufficient to measure for 10 s, next to test the other milking cup(s), and then to let the sensor rest for up to 2 min. 30 s in total. In the case of four milking cups, the sensor is then in operation for 40 seconds of the 2 min.
• time span on the basis of a predetermined number of pulsations, such as 5 or 10 or the like, so that the processing of measurement values relating to individual pulsations can be more easily realized.
• a predetermined number of pulsations such as 5 or 10 or the like
• the criterion is related to milking of the teats to which the at least one milking cup is connected.
• the control system is configured to set the pulsation device on the basis of the milking, especially a milking phase, and hence to relate the measured pressure values of the pulsation to adjustments pertaining to the set pulsation. In this way, the milking device can milk in a yet more accurate and/or animal-friendly manner, as well as more reliably.
• the criterion comprises whether, and in particular a moment at which, a milk flow of the teat to which the milking cup pertaining to this pressure- measuring connection is connected passes a threshold value, which threshold value is in particular animal-dependent and/or dependent on the time in lactation of that dairy animal.
• the milking device can here be configured to receive this information from outside, such as from a management system.
• the milking device further comprises a milk flow meter, configured to measure a milk flow of at least one of the milking cups.
• the pulsation device can then switch over to normal pulsation. Conversely, the pulsation device can switch over to so-called "post-milking" when the milk flow drops below a specific threshold value.
• the pressure-determining device can thus, for example, limit the measurement of the pressure in the respective pulsation chamber of the milking cups to those moments or periods at which measurements should be taken according to the criterion, such as when a threshold value is passed, even though this pressure-determining device has just a single pressure sensor.
• the net measuring period for the pressure-determining device can in this way be limited, and the working life extended. Moreover, it is very unlikely that this passing takes place for two or more milking cups at the same time.
• the criterion comprises that the measured pressure exhibits more than a predetermined difference relative to a desired pressure value. In other words, as long as the measured pressure value deviates by more than the predetermined difference from the desired pressure value, the pressure value will be measured. This is especially of importance if the pulsation device is self-adjusting, wherein the settings of the pulsation device change in order to achieve the desired pressure value.
• the pressure sensor can here then serve to control the pulsation device on the basis of the measured pressure value. More particularly, the criterion comprises that said difference is exhibited for a predetermined measurement period. This means that a random peak or "spike" is insufficient to meet the criterion.
• the measurement period can therefore also be made up of parts of successive pulses, in particular those parts of the pulses during which at least a minimal underpressure prevails, such as the so-called b-phase or suction phase of a pulse, whether or not combined with the a- and c-phases, i.e. the transition phases.
• the milking is divided into a plurality of periods having different pulsator settings, wherein the control device is configured to open at least once during at least one of these periods, and in particular during each of these periods, for each milking cup, the pressure connection of the pulsation chamber with the pressure sensor, for example during a predetermined opening time span chosen for each period.
• the settings of the pulsation device can change during the milking, for example in dependence on the time or the measured milk flow. Such a change in the settings can result in a change of pressure in the pulsation chamber, either as regards absolute magnitude, or as regards pattern over time.
• the sensor valve device In order to have a reliable measurement even after a possible change of this type, according to these embodiments it can be chosen to measure at least once in one or more of these periods, in aid of which the sensor valve device is opened. It is herein possible, but not essential, to conduct such a measurement during a predetermined open time span chosen for each period, such as 10 s or 10 pulses or the like. Note that the open time span may differ for each period.
• - figure 1 shows in schematic representation and not to scale, in a partially cutaway side view, an embodiment of the milking device according to the invention
• - figure 2 shows in schematic representation a timeline of a pulsation pressure in the four milking cups, as well as a representation of the measurement from the pressure sensor 16;
• FIG. 3 shows in schematic representation graphics, placed one above another, of milk flow in two milking cups, pulsation pressure and measurement from the pressure sensor, parallelly in time.
• FIG. 1 describes in schematic representation, not to scale and in partially cut-away view, an embodiment of the milking device according to the invention.
• the milking device is denoted in general terms by the reference numeral 1 , and comprises four milking cups 2-1 to 2-4.
• a milking cup, as well as a component thereof, will be denoted in general terms by a numeral without suffix. It should be understood that this is realized four times in each case.
• a different number of milking cups such as two for, for example, goats, is likewise possible.
• optional components of the milking device such as a robot arm and teat detection device in the case of automated milking devices, are not represented here.
• the milking cup 2 comprises an outer wall 3 and a liner 4, containing a teat chamber 5 for receiving a teat to be milked and, between the outer wall and the liner, a pulsation chamber 6.
• a control device of the milking device is denoted by 7, and a milk flow meter by 21.
• the milking device 1 further comprises a pulsation device, which comprises a vacuum device 8 having a first pressure connection 9 to the pulsation chamber, which can be shut off by means of a first pulsator valve 13.
• the pulsation device also comprises a second pressure connection 1 1 from the pulsation chamber to the environment 10 and can be shut off with a second pulsation valve 12. After the pulsator valves, the first and second pressure connections meet in the pulsation line 14.
• a pressure-determining device having a pressure sensor 16 and a pressure system denoted in general terms by 17. This comprises pressure-measuring connections 18 from the pressure sensor 16 to the respective pulsation chamber, which connections can be shut off with a sub-valve 19.
• 20 denotes a three-way main valve, which connects the pressure sensor to the pressure-measuring connections 18 as well as to the environment 10.
• the control device 7 will operate the pulsation device to vary with pulses the pressure in the pulsation chamber 6. This leads in a known manner to a situation in which the liner 4, given low pressure in the pulsation chamber 6, leaves open the teat chamber 5, whereby the teat which is then located in the teat chamber 5 is subjected to a milking vacuum, whereby milk is drawn out of the teat.
• the control device 7 controls the pulsation device such that the pressure in the pulsation chamber 6 increases, whereby the liner 4 will snap shut and will shut off the teat chamber, whereupon the milking vacuum no longer acts on the teat, or at least the liner 4 can massage the teat.
• This principle of pulsating milking is known per se.
• the pulsation device comprises on the one hand a vacuum device 8, and on the other hand a source of higher pressure, here the environment 10.
• the pulsation device 15 is configured to bring the pulsation line 14 alternately into connection with the vacuum device 8 via the first pressure connection 9 by opening of the first pulsator valve 13, and with the environment 10 via the second pressure connection 1 1 by opening of the second pulsator valve 12.
• the controlling of the valves can be realized according to each known pulsation method.
• a pressure-determining device 15 For the monitoring of the pulsation action, a pressure-determining device 15 is provided, having a pressure sensor 16. If the pressure sensor 16 were to be constantly directly connected to the pulsation chambers 6, as in the prior art, then the pressure sensor 16 would be for a very large part of the time under an alternating pressure, for example between 1 ata and approximately 0.5 ata. Moreover, the pressure sensor 16 would then be for a large part of the time under the low pressure. Both situations, that is to say alternating pressures and the low pressure, ensure aging of the pressure sensor 16, so that this then has only a limited working life. With the aid of the pressure connection system 17, the pressure sensor 16, if so desired, can be shut off from the low pressure and/or especially from the pressure variations.
• the pressure connection system 17 is here connected directly to the respective pulsation lines 14-1 to 14-4. It can be advantageous to provide the pressure connections between the pressure sensor 16 and the pulsation chambers 6 directly, that is to say not via the pulsation line.
• a direct connection, free from other pressure connections, has the advantage that the pressure is measured by (means of) a channel with less turbulent flow. The pressure values measured by the pressure sensor 16 will then be more reliable.
• the working life of the pressure sensor 16 can thus be extended by making the sensor measure only if desired and by exposing it to an (alternating) underpressure.
• the criterion for "if desired” can be chosen according to the invention, such as in a predetermined duty cycle.
• An example hereof is a first milking cup with 10 s measurement, a second milking cup with 10 s measurement, et cetera. If so desired, rest can be taken in-between by closing all sub-valves, certainly if no (large) changes are expected in the pressure pattern, such as during a main milking phase. It is herein assumed that the pulsation is sufficiently stable.
• an optional main valve 20 which can shut off the pressure sensor 16 from all pressure-measuring connections 18 and possibly connect it to the environment 10. This latter can mean an extra “rest” for the pressure sensor 16, but also in order to calibrate this latter with respect to the known ambient pressure.
• Figure 2 shows in schematic representation a timeline of a pulsation pressure in the four milking cups, as well as a representation of the measurement from the pressure sensor 16.
• the topmost part shows the pressure measured by the pressure sensor 16, respectively as a function of time t, and the four parts below this show the positions of the four sub-valves 19-1 to 19-4, wherein “0” stands for tightly shut and "1 " for open.
• the control system 7 sets the sub-valve 19-1 open for a time span ⁇ 1 .
• the pulsating pulsation pressure in the first pulsation chamber 6- 1 will be fed to the pressure sensor 16.
• This can be seen in the time-corresponding part of the graphic, which now exhibits a pulsating pattern.
• some further deviation is possible, as a sort of "starting-up" of the pressure sensor and/or the pressure-measuring connection 18-1.
• the deviation at the first pulsation is exaggerated for the sake of clarity. Nonetheless, it is advantageous, for the establishment of the actual pressure value and the pattern thereof, not to take the first pulsation into account.
• the first sub-valve 19-1 is closed.
• the control system 7 opens the second sub-valve 19-2 for a time span ⁇ 2, and subsequently the pulsation pressure in the second pulsation chamber 6-2 is measured during this time span.
• This same pattern is repeated for the two other pulsation chambers 6-3 and 6-4 of the respective milking cups 2-3 and 2-4, after which the process is started again with the milking cup 2-1.
• the interval between the time spans ⁇ can also be made longer in order thus to further extend the working life of the pressure sensor 16.
• the control system 7 chooses which pulsation pressure is to be measured. For instance, at the start of a milking, as well as toward the end of a milking, the pulsation pressure will in fact vary somewhat more, for example as a result of the development or, indeed, slow stoppage of the milk flow. That is especially the case in the connection of the milking cup 2 to a teat. In that case, the control system will be able to give instructions to successively measure the pressure of this specific milking cup until such time as this has become sufficiently regular. This will seldom pose a problem, however, since there is always some time involved in the finding of a teat and in the connection thereto by a milking robot.
• a milk flow meter is denoted by 21. This is configured to measure a milk flow out of the teat into the teat chamber 5.
• Figure 3 shows in schematic representation graphics, placed one above the other, of milk flow in two milking cups, pulsation pressure and measurement from the pressure sensor, parallelly in time.
• the situation represented in figure 3 is an example wherein the control of the pressure- determining device 15 is based on a value of a supplementary parameter, in this case the milk flow. It will be clear that the control of the pressure-determining device 15 will also be able to depend on other variables, such as the expected milking time and the like.

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• Life Sciences & Earth Sciences (AREA)
• Animal Husbandry (AREA)
• Environmental Sciences (AREA)
• Measuring Fluid Pressure (AREA)

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Citations (4)

• 2015
  • 2015-01-28 NL NL2014200A patent/NL2014200B1/nl not_active IP Right Cessation
• 2016
  • 2016-01-11 WO PCT/NL2016/050017 patent/WO2016122310A1/en active Application Filing

Patent Citations (4)

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