WO2019173908A1 - Système mobile de traite automatique d'animal - Google Patents

Système mobile de traite automatique d'animal Download PDF

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Publication number
WO2019173908A1
WO2019173908A1 PCT/CA2019/050300 CA2019050300W WO2019173908A1 WO 2019173908 A1 WO2019173908 A1 WO 2019173908A1 CA 2019050300 W CA2019050300 W CA 2019050300W WO 2019173908 A1 WO2019173908 A1 WO 2019173908A1
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WO
WIPO (PCT)
Prior art keywords
milking
mobile platform
animal
assembly
milking apparatus
Prior art date
Application number
PCT/CA2019/050300
Other languages
English (en)
Inventor
Josef Theiler
Original Assignee
Josef Theiler
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 Josef Theiler filed Critical Josef Theiler
Priority to CA3096957A priority Critical patent/CA3096957A1/fr
Publication of WO2019173908A1 publication Critical patent/WO2019173908A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/003—Movable milking machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • 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
    • A01K1/06—Devices for fastening animals, e.g. halters, toggles, neck-bars or chain fastenings
    • A01K1/0613—Devices for immobilisation or restraint of animals, e.g. chutes
    • 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

Definitions

  • the current disclosure relates to a milking system for animals such as cows, in particular to an automated milking system.
  • Dairy farmers may use milking systems to help milk their cows.
  • the milk system may use a robotic milk apparatus to reduce the amount of labour required by the farmer to milk the cows.
  • These existing milk apparatuses may be fully automated or semi- automated robotic solutions that can be mobile milking devices that automatically move under the animal for the farmer to manually connect the device to the animal’s udder.
  • Other systems may automatically move under the animal and then automatically connect the milking device to the animal’s udder.
  • the existing robotic solutions may require voluntary movement of the cow to or from the milking device. These systems may require to train the cow to voluntarily enter the milking device or may require hesitant animals to be prodded to enter the milking device. This reduces the farmer’s control over the time period between milking of any given cow as the device may have to wait for a cow to enter it before any cow can be milked and also adds labour to an otherwise automated system. This method also commonly relies on special and costly feeds to lure the animal into the milking device, and also increases the farmers cost of production.
  • a milking apparatus comprising: a mobile platform providing a support frame; a milking assembly supporting a robotic milking arm; an extendable support member coupled between the support frame of the mobile platform and the milking assembly to allow the milking assembly to be extended and retracted relative to the mobile platform; a holding arm positionable to restrain an animal being milked in position; and an automatic connector comprising: a removable milking line connector coupled to the robotic milking arm by at least one milk tube; and an actuator to connect and disconnect the milking line connector to an overhead supply line.
  • the extendable member extends to position the milking assembly at a side of the animal.
  • the holding arm is positioned around the animal when the extendable member is extended.
  • the robotic milking arm extends under the animal, from a side of the animal.
  • the mobile platform is mounted to an overhead beam.
  • the mobile platform is moveable along the overhead beam.
  • the supply line is attached to the overhead beam.
  • the mobile platform is mounted to a floor mounted track.
  • the mobile platform is moveable along the floor mounted track.
  • the mobile platform is mounted to a wheeled or tracked vehicle.
  • the extendable member extends in a horizontal direction.
  • the extendable member is formed of telescoping tubing, the telescoping tubing comprising an inner tube and an outer tube.
  • the telescoping tubing is rectangular tubing.
  • the inner tube comprises bearings located along a top and bottom of the inner tube.
  • the inner tube comprises bearings located along opposite sides of the inner tube.
  • the extendable member extends using a rack and pinion gear to extend the outer tube, the rack fixed to a surface of the outer tube and the pinion gear attached to a motor attached in a fixed position relative to the inner tube.
  • the milking apparatus further comprises a moveable counter weight for countering the weight of the extendable member when extended.
  • the counter weight is moveable along linear rails mounted on the support frame of the mobile platform.
  • the mobile platform further comprises an actuator for controlling the movement of the counter weight along the linear rails.
  • the extendable support member is slidingly connected to the support frame of the mobile platform to allow the milking assembly to move vertically.
  • the milking assembly is slidingly connected to the extendable support member to allow the milking assembly to move vertically.
  • the milking apparatus further comprises a wheel at a bottom of the milking assembly.
  • the mobile apparatus further comprises an additional pump for pumping milk to the milking line connector.
  • the animal is held in a tie stall.
  • the milking apparatus further comprises a bedding distributor.
  • the bedding distributor comprises: a feeding system for feeding bedding material to from a housing to an opening in the housing; and a spreader for spreading the bedding material from the opening in the housing.
  • the spreader spreads the bedding material into a stall for the animal.
  • the animal is held in a free stall.
  • the mobile platform further comprises one or more of a cleaning solution, a motor, and a controller.
  • a method of milking an animal comprising: moving a mobile platform of a mobile milking apparatus to a position adjacent an animal; extending a milking assembly from the mobile platform to a side of the animal, the milking assembly supporting a robotic milking arm; positioning a holding arm around the animal to restrain the animal to be milked; automatically connecting, using an actuator, a milking line connector to an overhead supply line, the milking line connector being coupled to the robotic milking arm; extending the robotic milking arm under the animal; and milking the animal with the robotic milking arm.
  • moving the mobile platform comprises determining a location to move the mobile platform to.
  • the location to move the mobile platform to is determined based on milking schedules of cows in tie stalls.
  • the location to move the mobile platform to is determined based on a milking need of a cow in a feeding station.
  • the method further comprises extending counter weights in opposition to the milking assembly as the milking assembly is extended.
  • the method further comprises: disconnecting the robotic milking arm from the animal; retracting the robotic milking arm; disconnecting, using the actuator, the milking line connector; positioning the holding arm to release the animal; retracting the milking assembly; and moving the mobile platform to another animal to be milked.
  • FIG. 1 depicts a milking apparatus milking a cow
  • FIG. 2 depicts the milking apparatus of FIG. 1 ;
  • FIG. 3 depicts details of an automatic milking line connector
  • FIG. 4 depicts a side view of the milking apparatus in a retracted position
  • FIG. 5 depicts a side view of the milking apparatus milking a cow
  • FIG. 6 depicts details of an extendable support member of the milking assembly
  • FIG. 7 depicts a further embodiment of a milking apparatus
  • FIGs. 8A and 8B depict details of an extendable support member
  • FIGs. 9A and 9B depict counterweights of a mobile platform
  • FIG. 10 depicts a further embodiment of a milking apparatus; and [0052] FIG. 1 1 depicts a method of milking a cow using the milking apparatus.
  • a fully automated robotic milking apparatus that can be used to milk animals that have not been trained and or lured to the milking apparatus.
  • the automated mobile milking apparatus provides the ability to automatically milk animals in both tie stall and free stall environments and provides the ability to determine regular milking intervals.
  • the milking apparatus may comprise a milking assembly that extends into a position beside the animal while it is secured to a tie stall or to a free stall. This means that no movement of the animal to or from the apparatus is required for the animal to be milked.
  • the animal is milked with a robotic milking arm that can automatically extend under the animal from the milking assembly.
  • the milking arm may move into a milking position without interfering with the other animals waiting to be milked.
  • the milk can then be pumped to an overhead supply milk line via a removable milk line connector.
  • the removable milk line connector allows the milking apparatus to connect to existing overhead supply milk lines used for manual milking operations.
  • FIG. 1 depicts a milking apparatus 100 milking a cow 102.
  • the milking apparatus 100 may be a fully automated robotic milking system that milks an animal while the animal is in a tie stall as depicted.
  • the milking apparatus may also be used with free stalls, which is depicted in FIG. 10.
  • the milking apparatus 100 is able to milk an animal without interfering with other animals in adjacent stalls.
  • FIG. 1 depicts the milking apparatus 100 in a position to milk the cow 102 in a tie stall. When the milking apparatus 100 is finished milking the cow 102 it may transition into a retracted position so that it can move to the next cow to be milked.
  • the milking apparatus 100 may comprise a milking assembly 104 for milking the cow 102 using a robotic milking arm 106 (shown in FIG. 2).
  • the robotic milking arm 106 may comprise a milking head for automatically milking the cow 102 as well as other sensors and actuators necessary for automatically identifying and connecting to the animal as well as disinfecting the animal prior to milking.
  • the milk from the cow 102 may then be pumped through the milking apparatus 100 to a milking line 108.
  • the milking line 108 may comprise a milk supply line or pipe that supplies the milk collected by the milking apparatus 100 to a centralized milk tank or other milk container.
  • the milking line 108 may also comprise one or more additional lines, pipes or hoses such as a vacuum line that provides a vacuum connection used by the robotic milking arm 106.
  • the connection of the milking apparatus 100 to the milking line 108 may be a standard milking line connector as known to a person of ordinary skill in the art that allows for connecting both the milk supply line and additional lines such as the vacuum line using the single connector.
  • the milking line 108 may have one half 1 14a of a connector located at numerous locations along the milking line 108. A second half of the connector 1 14 can be located on the milking apparatus that can be automatically connected to one of the connectors 1 14a on the milking line 108 depending upon where the milking apparatus is located.
  • the milking apparatus 100 may use the milking line connector to connect to existing milking lines in dairy barns without requiring new milk line equipment.
  • the milking apparatus 100 can automatically control the connection and disconnection of the milking line connector, and will be further described below with reference to FIG. 3.
  • the milking assembly 104 may mounted to a mobile platform 1 10.
  • the mobile platform 1 10 allows the milking assembly 104 to be moved to the location of the cow 102 to be milked.
  • the milking assembly 104 can be moveably mounted to the mobile platform 1 10 to allow the milking assembly 104 to be extended beside the cow when milking the cow, and to be retracted when milking is complete.
  • an extendable support member 1 16 may be connected between the mobile platform 1 10 and the milking assembly 104 to allow the milking assembly to be extended and retracted relative to the mobile platform.
  • the milking assembly 104 may also include a holding arm 1 18 that can hold or restrain the animal in location once the milking assembly 104 has been positioned beside the cow.
  • the mobile platform 1 10 can be suspended from an overhead support, such as an T beam 1 12.
  • the mobile platform 1 10 may be mounted to the overhead support by roller connections that allow the mobile platform to be moved and positioned along the overhead support 1 12.
  • the milking line 108 may be connected or secured to the overhead support 1 12.
  • the milking apparatus 100 may also include a bedding distributor 120.
  • the bedding distributor may be supported by the overhead support 1 12 in a similar manner as the mobile platform 1 10 and can move to a position to automatically distribute bedding material into the tie stall after the cow has been milked by the milking assembly 104.
  • FIG. 2 depicts the milking apparatus of FIG. 1 .
  • the milking apparatus 100 may comprise a milking assembly 104 that is moveably connected to a mobile platform 1 10.
  • the milking assembly 104 can be extended beside a cow to be milked by an extendable support member 1 16 used to connect the milking assembly 104 to the mobile platform 1 10.
  • the extendable member 1 16 may be provided by, for example, one or more telescoping members that can extend and retract relative to the mobile platform. As depicted the extendable support member 1 16 may be mounted to the mobile platform 1 10 in a horizontal arrangement. The extendable support member 1 16 may be used to move the milking assembly 104between an extended milking position that positions the milking assembly beside the cow for milking and a transport position in which the milking assembly is retracted to the mobile platform 1 10 to allow the milking apparatus to be moved to another cow. When a cow is ready to be milked the mobile platform 1 10 may be automatically moved along the I-beam 1 12 into a position adjacent the cow 102, which allows the milking assembly to be extended beside the cow without requiring the cow to move.
  • the supporting I-beam 1 12 may extend across the length or width of the barn along the ceiling, along a wall, or may connect to opposing walls of the barn. Although the supporting I-beam and mobile platform 1 10 is depicted as being positioned behind the cow 102 in FIG. 1 , it will be appreciated that I-beam and mobile platform may be behind, beside, in front, or above the cow depending upon the particular design of the tie stalls.
  • the milking apparatus 100 may further comprise a holding arm 1 18 for restraining or holding the cow 102 in position while the milking apparatus 100 is milking the cow 102.
  • the holding arm 1 18 may connect to the milking assembly 104 or to the extendable member 1 16 so that the holding arm 1 18 moves in coordination with the milking assembly 104.
  • the holding arm 1 18 is connected to the milking apparatus to move to an extended position when the milking assembly 104 is in an extended position.
  • the holding arm 1 18 is thus positioned around the cow 102 when the holding assembly is positioned for milking.
  • the holding arm 1 18 may be formed of telescopic tubing that extends or retracts a side generally parallel to the milking assembly 104 depending on the size of the cow 102, or the holding arm 1 18 may be sized to accommodate an average cow size, or a range of cow sizes.
  • the holding arm 1 18 may be shaped and sized to fit around a cow 102 so that the holding arm 1 18 extends from a side of the cow 102 to an opposite side of the cow 102.
  • the holding arm 1 18 may extend around the cow 102 and hold or restrain the cow in place between the holding arm and the milking assembly 104.
  • the milking line connector can be automatically connected to the overhead milking line 108 and the extendable member 1 16 extended so that the milking assembly 104 is positioned beside the cow 102.
  • the holding arm 1 18 may be retracted to restrain the cow in place and the robotic milking arm 106 may extend from the milking assembly 104 under the cow 102 and commence milking of the cow 102.
  • the milk may be pumped up to a milk line 108 via the milking line connector 1 14.
  • the milking arm 106 may be retracted back to the milking assembly 104 and the milking assembly 104 retracted to the mobile platform 1 10 so that the milking apparatus can move along the I-beam 1 12 to the next cow to be milked.
  • the robotic arm 106 may retract into the milking assembly 104, the holding arm 1 18 can be extended to release the cow, the extendable member 1 16 may retract so that the milking assembly 104 is no longer beside the cow, and the milk line connector 1 14 may disconnect from the milk line 108.
  • the milking apparatus 100 may further comprise a bedding distributer 120.
  • the bedding distributor 120 may house bedding material, such as hay or straw, that is to be spread into the stalls of the cows before or after each cow 102 is to be, or has been milked.
  • the bedding distributor 120 may comprise a housing that holds the bedding material.
  • a conveyor 122a may be located on the bottom of the housing in order to move the bedding material to a delivery opening in the housing.
  • the bedding material may be moved out of the delivery hole by the conveyor 122a onto a spreader 122 that can distribute the bedding material. It is desirable to periodically spread new bedding material to the cows in tie stalls; however when doing so, the cow must be standing. Since the cow will necessarily be standing before and after milking, distributing the bedding in coordination with the milking, by using a bedding distributor in the milking apparatus, allows the bedding distribution to be done automatically.
  • FIG. 3 depicts the connection of the milking apparatus to a milk line 108.
  • the milking line connection of the milking apparatus 100 allows the milking apparatus 100 to automatically connect to existing overhead supply milk lines as well as vacuum lines in dairy barns.
  • the milk line 108 may be attached to the I-beam 1 12 and may extend to a central milk tank or a milk container for storing the milk.
  • the milk line connection may comprise an actuator 124 that may be used to connect and disconnect the milk line connector 1 14b of the milking apparatus to the connector 1 14a of the milking line 108.
  • the actuator 124 moves the connector 1 14b to engage, and disengage the connector 1 14a which connects lines and hoses 132, 134 of the milking apparatus to respective overhead lines and hoses of the milking line 108.
  • the milk may be pumped from the cow 102 by a robotic milking arm 106 to the milk line connector 1 14a via tubes, hoses or pipes.
  • the milking apparatus 100 may comprise additional pumps, and/or storage tanks, to help transfer the recovered milk from the robotic milking arm 106 to the milk line connector 1 14b, through the connector 1 14a and into the milk supply lines 108. These additional pumps may be present in the milking assembly 104, the extendable member 1 16, or the mobile platform 1 10.
  • the milk line connector may be automatically connected to the milk line 108, using the actuator 124, before the robotic milking arm 106 starts milking the cow 102.
  • the milk line connector may then be automatically disconnected from the milking line 108, using the actuator 124, once all of the milk that was milked from the cow 102 has be pumped to the milk line 108.
  • the milk may then flow through the milking line 108 to milk tank or milk container.
  • Using a standard milking line connector to connect the robotic milking arm to the a milk line allows the use a traditional milking machine on the same milking line as the automated milking platform so that, in the event of a mechanical or electrical failure, the animals can still be milked traditionally. This reduces lost milk and revenue potential caused by a breakdown.
  • the milking apparatus 100 has been described as connecting directly to a milking line 108 via the connector 1 14a to transfer the milk to a milk tank, it will be appreciated that the milk obtained from a cow 102 may be stored in a holding tank mounted on the support frame of the mobile platform 1 10 while the robotic milking arm 106 is milking the cow 102. Any milk stored in the holding tank may subsequently be transferred to a bulk milk tank, such as the centralized milk tank or container.
  • the milking apparatus may detect when the holding tank is full (or almost full), and respond by automatically moving the mobile platform 1 10 along the I-beam 1 12 to a location with a connection point 1 14a to enable the milk in the holding tank to be automatically transferred to the bulk tank.
  • the milking system may determine that the holding tank does not have sufficient remaining capacity to accept all of the milk that may be obtained from a cow 102, and respond by moving the mobile platform 1 10 to a transfer location with a connection point 1 14a to enable the milk in the holding tank to be automatically transferred to the bulk tank.
  • the support frame of the mobile platform 1 10 may further comprise cleaning supplies for cleaning the milking apparatus 100, motors for controlling the extension of the extendable member 1 16 and movement of the mobile platform 1 10, and a pump to pump the milk to the milk line connector 1 14b.
  • the mobile platform 1 10 may further comprise the control system of the milking apparatus 100.
  • the control system allows for the automatic transitions of the milking apparatus 100 to and from extended and retracted positions.
  • the control system may control the movement of the mobile platform 1 10 along the I-beam 1 12, the transition of the milking assembly 104 to the extended and retracted positions, the connection and disconnection of the milk line connector 1 14, the milking of the cow 102 with the robotic milk arm 106, and the pumps to pump the milk to the milk line 108.
  • FIG. 4 depicts a side view of the milking apparatus 100 in a retracted position.
  • the milking apparatus 100 may move along the I-beam 1 12 behind the stalls of the cows. It will be appreciated that although the milking apparatus 100 is depicted as moving behind the cows, the milking apparatus 100 may move along the I- beam 1 12 above or in front of the cows. This allows the milking apparatus 100 to move from cow to cow without interfering with the cows.
  • the milking apparatus 100 may also be mounted to wheeled apparatus or track that is mounted on the floor.
  • the milking apparatus 100 may be in the retracted position before any cows have been milked, when the milking apparatus 100 is not in use, and when the milking apparatus 100 is moving from one cow to the next.
  • the milking assembly 104 and the extendable member 1 16 are in a retracted position.
  • the retracted position of the extendable member 1 16 and the milking assembly 104 allow the components to not interfere with any of the cows in the stalls while the milking apparatus 100 moves along the I-beam 1 12.
  • the milking assembly 104 may be positioned below the mobile platform 1 10 when in the retracted position to ensure no animals are struck while the mobile platform 1 10 is moving.
  • the robotic milking arm 106 may also be in a retracted position in the milking assembly 104 so that it does not interfere with the cows when the milking apparatus 100 is moving from cow to cow, or when the milking assembly 104 is transitioning into a retracted or extended position.
  • FIG. 5 depicts a side view of the milking apparatus 100 milking a cow 102.
  • the milking apparatus 100 is in an extended position.
  • the milking apparatus 100 may automatically transition into an extended position once the milking apparatus 100 has moved along the I-beam 1 12 and positioned itself adjacent to a cow 102 to be milked.
  • the milk line connector 1 14 may automatically connect to the milk line 108, and the milking assembly 104 may automatically transition into an extended position.
  • the extendable support member 1 16 may extend in a direction away from the mobile platform 1 10 so that the milking assembly 104 is positioned beside the cow 102.
  • the extendable support member 1 16 may extend in a horizontal direction as shown in FIG. 5, or may extend in a vertical direction as will be described further below.
  • the robotic milking arm 106 may extend under the cow 102 between the front legs and rear legs from the milking assembly 104 to connect to the udder of the cow 102.
  • the robotic milking arm 106 may comprise a milking head to connect to the udder to milk the cow 102.
  • the robotic milking arm 106 may be, for example, a commercially available milking robot of the type manufactured by GEA Farm Technologies, of Bonen, Germany. While the robotic milking arm 106 is milking the cow 102, the milk may be pumped through the milking apparatus 100 to the milk connector 1 14 and then to the milk line 108.
  • the milk line connector 1 14 may then automatically disconnect from the milk line 108 using the actuator 124, the robotic milking arm 106 may return to its retracted position, and the extendable member 1 16 may retract so that the milking assembly 104 is positioned under the mobile platform 1 10.
  • FIG. 6 depicts the extendable member 1 16 of the milking apparatus 100.
  • the extendable member 1 16 may be formed of a telescopic tubing as shown in FIG. 6.
  • the telescopic tubing may comprise two nested rectangular tubes, an inner tube 126 and an outer tube 128. It will be appreciated that the telescopic tubing may be formed with more than one inner tube, each inner tube fitting inside another.
  • the inner tube 126 may be connected to the mobile platform 1 10 and the outer tube, which can move on the inner tube 126 relative to the mobile platform, is connected to the milking assembly 104.
  • the inner tube 126 may have bearings 130a spaced along the length of the inner tube 126, along a top and bottom of the inner tube 126.
  • the bearings 130a may be roller type bearings as depicted in FIG. 6.
  • the bearings 130a may be spaced along the inner tube 126 to reduce the friction of the inner tube 126 sliding against the outer tube 128 during extension.
  • bearings 130b may be spaced along the opposite sides of the inner tube 126.
  • the extendable support member 1 16 may extend by extending the outer tube 128 in a direction away from the mobile platform 1 10.
  • the inner tube 126 may be fixed in a position on the supporting frame of the mobile platform 1 10.
  • the inner tube 126 may be at a fixed position so that only the outer tube 128 is moving during extension.
  • the extendable member 1 16 may automatically extend using an actuator, such as a motor, hydraulic cylinder, linear actuator, or other actuator.
  • an actuator such as a motor, hydraulic cylinder, linear actuator, or other actuator.
  • the use of bearings 130a, 130b to reduce the friction of inner tube 126 sliding against outer tube 128 may allow a smaller motor or actuator to be used to extend the extendable member 1 16.
  • the actuator may be housed in the support frame of the mobile platform 1 10.
  • the motor may be controlled to automatically extend the outer tube 128 in a direction away from the mobile platform 1 10. This transitions the milking assembly 104 into the extended position beside the cow 102 to be milked.
  • FIG. 7 depicts a further embodiment of a milking apparatus.
  • the milking apparatus 200 is similar to the milking apparatus 100 described above, and as such only the differences will be discussed further.
  • the milking assembly 104 is moveably connected to the mobile platform 1 10. However, rather than only being moveable in the horizontal direction, the milking assembly 104 is moveable both horizontally by extending a horizontal support member 216, and vertically. In order to move vertically, the horizontal support member 216 and the milking assembly 104 may be connected to a moving frame 218 that is slidingly mounted to the mobile platform 1 10 by a one or more vertical rails 220a, 220b.
  • the vertical rails 220a, 220b allow the moving frame to slide up and down relative to the mobile platform 1 10.
  • the moving frame 218 may be connected to an actuator 222 that can retract, or pull up, the moving frame 218.
  • the actuator 222 may also extend the moving frame 218, however it may not be necessary to push the moving frame 218 downward, but rather only allow the moving frame to move downward under the force of gravity.
  • the milking apparatus 200 may be suspended from an overhead support beam 1 12.
  • the milking lines 108 may also be connected to the overhead support beam 1 12.
  • the milking lines 108, and the overhead support beam they may be connected to, may be mounted at a slight angle to allow the milk connected to flow down to a bottom of the milking line 108.
  • the milking lines and overhead support beam may only have a slight angle, over the entire run, it may result in a height difference of several inches, or feet.
  • the vertical moving frame 218 allows the milking assembly to lower to an appropriate milking position, possibly resting on the ground, regardless of the height above the ground the overhead support beam is at the milking location. Further, by lowering the milking assembly 104 to rest on the ground, possibly on feet on the bottom of the milking assembly, the milking assembly may provide a more solid platform from which the milking arm can extend.
  • FIGs. 8A and 8B depict details of a horizontal extendable support arm.
  • the extendable support arm 216 comprises an inner tube 226 that is nested within an outer tube 228.
  • the inner tube 226 may be mounted to the mobile platform 1 10, or to the moving frame 218.
  • the inner tube 226 may include a plurality of bearings, depicted as roller bearings, 230a arranged along a top and bottom of the inner tube 226. Additional bearings 230b can be located along opposite sides of the inner tube.
  • the bearings 230a, 230b help reduce the sliding friction between the inner tube 226 and outer tube 228 when the support member 216 is extended and retracted.
  • the inner tube 226 may be connected to the moving platform 1 10 or moving frame 218 at a front and back of the inner tube.
  • a front connection plate 232 may extend through a channel 234 in the side of the outer tube 228 that allows the front end of the inner tube to be connected to a frame, while still allowing the outer tube to extend and retract.
  • the extension and retraction may controlled by a motor 236 with a connected pinion gear 238 driving a rack 240 fixed to the outer tube 228.
  • the rack is depicted as being provided by a chain secured to the top of the outer tube 228.
  • the motor 236 may be connected to the inner tube, for example at the connection plate 232, or to the mobile platform 1 10 or moving frame 218 so that the motor remains in a fixed position relative to the inner tube 226.
  • the outer tube could be fixed to the moving platform 1 10 or moving frame 218 and the inner tube moving in and out with the milking assembly.
  • the motor 236 may be connected to inner tube at for example the connection plate 232, which causes the motor 236 to move with the inner tube 226 as it is extended or retracted.
  • the rack and pinion arrangement depicted in FIGs. 8A, and 8B is considered to be a simple and effective arrangement, other actuators are possible.
  • the inner or outer tubes may be extended or retracted using a hydraulic cylinder or linear actuator.
  • FIGs. 9A and 9B depict details of counterweights of the mobile platform. If the mobile platform is suspended by a single point, or axis, such as the overhead support beam, a torque moment may be created when the milking assembly is extended. The torque may cause the entire mobile platform, and extending milking assembly, to dip down.
  • the mobile platform 1 10 may further comprise moveable counter weights 242.
  • the counter weights 242 may be used to counter at least a portion of the weight of the extendable member 1 16 when extended.
  • the counter weights 242 may be connected to linear rails 244 that allow the counter weights to move opposite the extendable support member 216 as it is extended.
  • the movement of the counter weights 242 may be controlled using a linear actuator, hydraulic cylinder, motor or other actuator, or the movement may be mechanically coupled to the movement of the extendable support member 216.
  • the movement of the counter weight 242 is controlled so that when the support member 216 is retracted, the counter weights 242 are retracted into a neutral position depicted in FIG. 9A and as the support member 216 is extended the counter weights 242 move to an extended to a countering position depicted in FIG. 9B.
  • the counter weights may automatically move in a direction opposite the direction of the outer tube 128 during extension of the extendable member 1 16.
  • the counterweights 242 when the extendable support member 216 is retracted, and the moving frame 218 is retracted upwards, the counterweights 242 are moved to a retracted position and the center of gravity of the mobile platform may be generally located below the overhead support beam so that the mobile platform will no tilt.
  • the counter weights 242 are extended away from the extending milking assembly and counter balance the mobile platform from tipping. The counter weights may not fully prevent the mobile platform from tipping, however, it is sufficient to stop the tipping until the milking assembly is extended over possible obstacles.
  • the tie stalls may have gutters that if the mobile platform were to tip without the counterweights would prevent the milking platform to extend further.
  • the counter weights may also reduce the force the tipping causes the milking assembly to hit the ground with and so may reduce the damage.
  • a wheel or rollers may be provided on a front of the milking assembly to reduce the resistance of extending the milking assembly once it has contacted the ground. The wheel may roll along the bottom of the stall during transition. The wheel may also transfer some of the weight of the extendable member 1 16, during extension, to the floor of the stall to help lower the weight on the extendable support member.
  • the axel of the wheel may accommodate the drop by displacing upwards. This upward displacement may allow the milking assembly 104 to stay level. It will be appreciated that the milking assembly 104 may not drop during transition to the extended position, and instead the feet of the milking assembly 104 may extend to rest on the floor of the stall, or the milking assembly may rotate slightly so that the bottom feet contact the ground.
  • FIG. 10 depicts an embodiment of a milking apparatus 200.
  • the milking apparatus 200 may allow an extendable member 216 to extend in a vertical direction instead of a horizontal direction as shown in FIGs. 4 and 5.
  • the milking apparatus 200 is depicted as being used in a free stall environment, although it may be used to milk cows in tie stalls or free stall environments.
  • the milking apparatus 200 may comprise a mobile platform 210 which may mount to the I-beam 1 12 and move along the I-beam 1 12.
  • the milking apparatus 200 may move along the I-beam 1 12 above the cows so that when a cow 202 is to be milked, a milking assembly 204 transitions into an extended position so that the milking assembly 204 is positioned beside the cow 202.
  • a robotic milking arm 206 may then extend under the cow 202 from the milking assembly 204 to milk the cow 202.
  • the milking assembly 204 may transition into an extended position (shown in FIG. 7), or into a retracted position with the extendable member 216.
  • the retracted position of the milking assembly 204 may position the milking assembly 204 below the mobile platform 210 and above the cows so that when the milking apparatus 200 moves along the I-beam 212, the milking apparatus 200 does not interfere with the cows.
  • the extendable member 216 may comprise telescopic tubing as described above.
  • the extension of the extendable member 216 may not require counter weights, as the movement of the extendable member 216 may be in a vertical direction.
  • the extension of the extendable member 216 in a vertical direction may require a larger motor or actuator for the retraction of the extendable member 216 in comparison to that required to retract the horizontal extendable support member 1 16 described above.
  • the milking apparatus 200 may further comprise a holding arm 218 for restraining the cow 202 to be milked. While the cow 202 is being milked by the robotic milking arm 206, the milk may be pumped from the robotic milking arm 206 to the milk line connector 1 14 which connects to the milk line 108.
  • the milk line connector 1 14 may be supported by a support frame at the mobile platform 210.
  • the vertical displacement of the milk to the milk line 108 may use multiple pumps throughout the milking apparatus 200 or may use a pump designed to accommodate the large vertical displacement of the milk.
  • the milking assembly 204 may comprise feet on its bottom so that when the milking assembly 204 is in the extended position, the milking assembly 204 can rest on the floor of the stall.
  • the vertical arrangement of the milking assembly 204 depicted in FIG. 10 may be used in a free stall environment. Rather than milking a cow in a tie stall, the cow may be milked when the cow is at a feeding station.
  • the feeding station may include a locking headgate mechanism that can be controllably locked to restrain a cow that has placed its head through the headgate. Once the headgate has locked a cow in place, the milking apparatus 200 can be moved into position and the cow milked.
  • a detector may read a microchip affixed to (or inserted within) the cow in order to obtain information identifying the specific cow at the particular feeding station. This information can be passed to a controller system, so that both the identity and the location of the cow can be recorded. The controller system may then determine, for example by accessing a database to determine when the cow was last milked, whether or not it is time for that particular cow to be milked. If it is, then the controller system may cause the automated headgate mechanism in the particular feeding station to close and thereby retain the cow at the feeding station. The milking apparatus 200 can then be moved into position and the restrained cow milked.
  • cows can be allowed to move freely within the dairy barn, and can still be milked on a schedule that is controlled by the farmer.
  • the cow can freely access food while it is waiting to be milked and during the milking operation.
  • the controller system may cause the automated headgate mechanism in the feeding station to open and thereby release the cow from the feeding station.
  • a detector such as a Radio Frequency Identifier (RFID) detector associated with each feeding station in order to obtain information identifying the specific cow that has entered a given feeding station.
  • RFID Radio Frequency Identifier
  • other means may be used to determine this information.
  • GPS Global Positioning System
  • one or more imaging systems can be used to capture images of the cows at particular feeding stations and then image processing and facial recognition techniques may be used to determine the particular cow at the particular feeding station.
  • This information can be used to identify a section of one or more feeding stations within which a specific cow is located, which enables that section of feeding stations to be controlled to secure the cow.
  • Other telemetry or remote detector techniques may also be used to identify the location and identity of each cow within the barn, such as, for example, Infra-Red (IR) and short range radio.
  • IR Infra-Red
  • FIG. 1 1 depicts a method of milking a cow using a milking apparatus.
  • the method 400 may control milking a cow using a milking apparatus such as milking apparatus100, 200, 300.
  • the method 400 may be performed by one or more computer systems (not shown) and/or a controller of the milking apparatus.
  • the method 400 comprises moving a mobile platform of the milking apparatus to a position adjacent an animal to be milked (402).
  • the location of the animal to be milked may be determined in various ways. For example, in tie stall environments, the location of the animals and their milking schedule may be known, and as such the mobile platform can be moved to the particular tie stall location according to the milking schedule.
  • the identity of a cow at a feeding station can be determined, for example using an RFID reader at the particular feeding station to read an RFID tag of the cow in the feeding station, or using other techniques.
  • the identity of the cow can be used to determine if it should be milked, and if it does need to be milked, the headgate may be locked, securing the cow in the feeding location, and the mobile platform moved to the feeding station.
  • the mobile platform may move into a position behind, in front, or above the animal to be milked.
  • a milking assembly may then automatically extend beside the animal (404).
  • An extendable member that connects the milking assembly to the mobile platform may extend in a horizontal direction or in a vertical direction depending on the position of the mobile platform and the extension capabilities of the extendable member.
  • a holding arm may be moved into a position around the animal (406).
  • the holding arm may be used to restrain the animal to be milked.
  • the holding arm may restrain the animal by extending from a side of the animal, over the top of the animal to the opposite side, or by extending from a side of the animal, around the back of the animal to the opposite side.
  • An actuator may then be used to automatically connect a milking line connector to an overhead milking line (408).
  • the milking line may be attached to the I-beam as described above.
  • the milking line connector may be used to allow the milk that is milked from the animal is properly pumped from the cow to the milking line.
  • the milking line connector may be supported by the support frame of the mobile platform.
  • a robotic milking arm may then extend from the milking assembly to a position under the animal (410).
  • the robotic milking arm may be used to milk the animal (412). While the robotic milking arm is milking the animal the milk is pumped through the milking line connector to the milking line. Once the cow has been milked, the robotic milking arm may retract into the milking assembly.
  • the extendable member may automatically retract so that the milking assembly is in a retracted position and the milk line connector may automatically disconnect from the milk line.
  • the control system of the milk line apparatus may then automatically move the mobile platform along the I-beam to the next animal to be milked.
  • the method 400 may be repeated for each animal in the barn until all the animals have been milked or until the control system is turned off. Once all of the animals have been milked, the control system may automatically move the milking apparatus to a home or resting position out of the way when the system is not in use.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Zoology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Housing For Livestock And Birds (AREA)
  • Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)

Abstract

La présente invention concerne un appareil de traite automatique qui comprend une plate-forme mobile qui peut se déplacer vers une vache qui doit être traite. Un ensemble de traite qui supporte un bras de traite robotisé peut être étendu à côté de l'animal. L'appareil de traite peut raccorder automatiquement l'appareil de traite à des lignes de traite aériennes et le bras de traite robotisé peut être étendu pour traire l'animal.
PCT/CA2019/050300 2018-03-12 2019-03-12 Système mobile de traite automatique d'animal WO2019173908A1 (fr)

Priority Applications (1)

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CA3096957A CA3096957A1 (fr) 2018-03-12 2019-03-12 Systeme mobile de traite automatique d'animal

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA2,997,978 2018-03-12
CA2997978A CA2997978A1 (fr) 2018-03-12 2018-03-12 Systeme de traite

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WO2019173908A1 true WO2019173908A1 (fr) 2019-09-19

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0951823A2 (fr) * 1993-07-19 1999-10-27 Maasland N.V. Construction pour la traite automatique d'animaux
US6205949B1 (en) * 1997-02-12 2001-03-27 Maasland N.V. A Dutch Company Method of milking animals
WO2008030086A1 (fr) * 2006-09-05 2008-03-13 Maasland N.V. Trayeuse automatique pour un animal laitier
WO2010014002A1 (fr) * 2008-07-28 2010-02-04 Lely Patent N.V. Dispositif de traite automatique
US20120180729A1 (en) * 2009-11-13 2012-07-19 Lely Patent N.V. Animal position sensor
WO2013089628A1 (fr) * 2011-12-16 2013-06-20 Delaval Holding Ab Salle de traite rotative agencée pour accueillir des animaux à traire
WO2016026034A1 (fr) * 2014-08-18 2016-02-25 Milkomax, Solutions Laitières Inc. Dispositif de traitement automatique d'animaux
CN205233074U (zh) * 2015-12-03 2016-05-18 黑龙江省农业机械工程科学研究院 三自由度自动挤奶装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0951823A2 (fr) * 1993-07-19 1999-10-27 Maasland N.V. Construction pour la traite automatique d'animaux
US6205949B1 (en) * 1997-02-12 2001-03-27 Maasland N.V. A Dutch Company Method of milking animals
WO2008030086A1 (fr) * 2006-09-05 2008-03-13 Maasland N.V. Trayeuse automatique pour un animal laitier
WO2010014002A1 (fr) * 2008-07-28 2010-02-04 Lely Patent N.V. Dispositif de traite automatique
US20120180729A1 (en) * 2009-11-13 2012-07-19 Lely Patent N.V. Animal position sensor
WO2013089628A1 (fr) * 2011-12-16 2013-06-20 Delaval Holding Ab Salle de traite rotative agencée pour accueillir des animaux à traire
WO2016026034A1 (fr) * 2014-08-18 2016-02-25 Milkomax, Solutions Laitières Inc. Dispositif de traitement automatique d'animaux
CN205233074U (zh) * 2015-12-03 2016-05-18 黑龙江省农业机械工程科学研究院 三自由度自动挤奶装置

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CA3096957A1 (fr) 2019-09-19

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