An implement for milking animals

Abstract: An implement for milking an animal, for example a cow, is provided with attachment means (20) for automatically attach­ ing the teat cups (21) to the teats of the animal's udder. After a teat cup (21) has been attached to a teat, there remains only a flexible connection (38) between the teat cup (21) and its carrier (20). Such flexible connection means (38) may consist of a cord or wire. The cord or wire (38) can pull the teat cup (21) towards the carrier (20) after the milking operation has been terminated.

Description: The invention relates to an implement for milking an animal. A suchlike implement is known from US-A- 3,726,252. In the therein described implement the positioning and attachment means are handled manually. When, with the aid of the drive means and the flexible connection members, the teat cups are pulled off the teats and fall downwardly, they are hanging at the carrying means in an undefined position. From this position they can be connected to the teats again only by hand. It is an object of the invention to overcome these disadvantages or at least to come to, in a certain extent, a more favourable construction. According to the invention this can be achieved by the features as described in claim 1. Within such a construction the connection member constitutes, after that the teat cup has been attached, a flexible connection between the teat cup and the attachment member, so that no mechanical forces can be passed on, and so that the risk of dislocation of the attachment or guiding member is strongly reduced. In accordance with a further feature of the invention, the connection member is connected at its one end near the lower end of the teat cup and with its other end extends The drive means may be provided with a pneumatical cylinder, use being made of the vacuum source employed for the suction of the milk. In accordance with a still further feature of the invention, said drive means are provided in the attachment member, which attachment member is provided with a tubular member, near one end of which a teat cup is connected by means of the flexible connection member. According to the invention, the connection member is then arranged through at least part of the tubular member. In accordance with a still further feature of the invention, the drive means for pulling the connection member are arranged at least partly in the tubular member. In accordance with a still further feature of the invention, the contiguous parts of the teat cup on the one hand and the attachment member on the other hand are formed complementary in such a manner that the teat cup is brought to a speific position when the connection member is pulled, so that the said contiguous parts are set together. According to the invention, when the connection member is pulled, the teat cup is substantially in alignment with and at the end of an oblong portion of the attachment member. The oblong portion of the attachment member is then directed substantially upwardly, while the teat cup attached in alignment therewith also assumes a substantially vertical position, which is required for attachment thereof to the teat. Furthermore, according to the invention, there is arranged about the connection member, between the teat cup and the attachment member, a bead-shaped element which, when the connection member is pulled, is accommodated in a recess of corresponding shape in the teat cup and the attachment member. Said connection member is then formed by a cord, e.g. of metal wire and/or synthetic material. Also, according to the invention, the connection member may be formed by the milk tube and/or the pulsation tube. The milk tube and/or the pulsation tube is/are then arranged through the tubular member of the attachment member. In accordance with a still further feature of the invention, the attachment member is provided with an elongate, axially slidable portion which from a position below a milking parlour floor is moved substantially axially towards a position wherein said slidable portion extends through an aperture in the floor to above said floor and near an animal's udder, the teat cup being connected to an end of said slidable portion via the connection member. The slidable portion may be of a tubular configuration. In accordance with a still further feature of the invention, the attachment member is supported pivotally capable of pivotal movement about at least two axes, which axes include an angle with the horizontal plane and which axes substantially intersect in the central portion of the aperture in the milking parlour floor, through which aperture the attachment member may extend. The attachment member is then supported by a first and a second frame portion, said first frame portion being pivotal about a first pivot axis and said second frame portion, to which the attachment member is connected, being connected pivotally about a second pivot axis to said first frame portion. In this connection, there may be provided means for bringing the attachment member in a predetermined position by pivoting about said pivot axes, which means may include stepper motors. Furthermore, according to the invention, the slidable portion is slidable axially through a guide portion, and the slidable portion is seized near the other end by a drive member effecting the axial movement. Said drive member is provided with a screw spindle unit, the length of which can be controlled by means of an electrical signal, e.g. by means of a potentiometer measuring the length of the screw spindle unit. Furthermore, in accordance with a still further feature of the invention, the displacement of the slidable portion by means of the lever action of a rod system may be greater than the change in length of the screw spindle unit. According to the invention, the teat cup is attached to a teat of an animal's udder by pivoting the attachment in a predetermined position and sliding the axially slidable portion over a predetermined distance, so that the teat cup arranged near an end of the slidable portion slides over the teat op the animal's udder. After the teat cup has been connected to the teat by means of a vacuum applied therein, the attachment member is retracted somewhat, whereafter the connection between the teat cup and the attachment member is constituted by the flexible connection member. According to the invention, there may be provided one or more apertures in the milking parlour floor, through each of which apertures may extend an attachment member, said apertures being arranged in a raised portion relative to the floor, whereby the animal stands with her hindlegs on both sides of said raised portion. In accordance with a still further feature of the invention, a teat cup is brought in a reversed position having its opening directed downwardly by relaxing the connection member. This may be of importance when the implement is in the non-operative condition and in order to avoid contamination of the teat cup or in order to drain superfluous liquid form the teat cup after cleaning thereof. Furthermore, according to the invention, the milk tube and the pulsation tube may be designed at least partly coaxially. Furthermore, the invention relates to an implement for milking animals, wherein a teat cup is attached to a teat of the animal's udder by means of an attachment member capable of movement from a position substantially below a miking parlour floor to a position wherein said member extends upwardly through an aperture in or near said floor to near the animal's udder. With such an implement, a plurality of parts are located below the milking parlour floor, thus causing a sensitivity to contamination. It is of importance to have a proper screening off between the milking parlour and said milking implement parts, in which connection the openings therebetween should be of a minimum size. The invention contemplates an implement for milking animals, wherein the means for attaching the teat cups are of a simple and effective construction. For this purpose, according to the invention, the attachment member is supported pivotally capable of pivotal movement about at least two axes, whih axes include an angle with the horizontal plane and which axes substantially intersect in the central portion of the aperture, through which the attachment member may extend. In this manner it will suffice for the aperture to be comparatively small, while the attachment member may extend therethrough in various directions. Furthermore, according to the invention, the attachment member is supported by a first and a second frame portion, said first frame portion being pivotal about a first pivot axis and said second frame portion, to which the attachment member is connected, being connected pivotally about a second pivot axis to said first frame portion. Furthermore, according to the invention, there may be present means for bringing the attachment member in a predetermined position by pivoting about said pivot axes, which means may include stepper motors. In accordance with a further feature of the invention, the attachment member is provided with an axially slidable portion, near the end of which there is arranged a teat cup. In this manner the attachment member having the teat cup at its end may be moved upwardly through the aperture in the floor to near the animal's udder. In accordance with a still further feature of the invention, the slidable portion is slidable axially through a guide portion, and the slidable portion is seized near the other end, at the lower side, by a drive member effecting the axial movement. In accordance with a still further feature of the invention, said drive member is provided with a screw spindle unit, the length of which can be controlled by means of an electrical signal. In this connection, the displacement of the slidable portion by means of a lever action of a rod system may be greater than the change in length of the screw spindle unit, as a result of which a comparatively quick displacement of the attachment member is effected. In practice it has been found that, in spite of the lever action, the accuracy of the displacement of the attachment member is sufficiently great. In accordance with a still further feature of the invention, a teat cup is attached to a teat of an animal's udder by pivoting the attachment member in a predetermined position and sliding the axially slidable portion over a predetermined distance, so that the teat cup arranged near an end of the slidable portion slides over a teat of the animal's udder. Furthermore, according to the invention, there are provided one or more apertures, through each of which extends an attachment member, said apertures being arranged in a raised portion relative to the floor, whereby the animal stands with her hindlegs on both sides of said raised portion. According to the invention, there is provided in the raised portion a sensor for determining the position of the udder and/or one or more of the teats. Said sensor is arranged in or below an aperture in said raised portion. In accordance with a still further feature of the invention, the sensor is capable of pivoting in order to scan the udder for the establishment of the position of an udder. The sensor emits a sonic signal, so that the distance to any surface reflecting said sonic signal can be established. In accordance with a still further feature of the invention, the attachment member with its support is capable of movement in the longitudinal direction relative to the animal. Furthermore, according to the invention, the axially slidable portion may be tubular, and the milk tube and/or the pulsation tube may extend, at least partly, through said tubular portion. In accordance with a still further feature of the invention, there is provided a flexible connecting member connecting the teat cup to the end of the said axially slidable portion. Said connection member is attached at one end to the teat cup and with the other end is so passed through the slidable portion that the teat cup is spaced apart from the slidable portion when the connection member is in a relaxed state while the teat cup is pulled against the end of the slidable portion when the connection member is pulled. In this connection there may be arranged means for pulling the connection member in said slidable portion, preferably at the end of the slidable portion facing away from the teat cup. In accordance with a still further feature of the invention, the contiguous parts of the teat cup on the one hand and the slidable portion on the other are formed complementary in such a manner that the teat cup is brought to a specific position when the connection member is pulled. In this connection, when the connection member is pulled, the teat cup is substantially in alignment with the elongate slidable portion. Furthermore, according to the invention, there is arranged about the connection member, between the teat cup and the slidable portion, a bead-shaped element which, when the connection member is pulled, is accommodated in a recess of corresponding shape between the teat cup and the slidable portion. According to the invention, said connection member is formed by a cord, e.g. of metal wire and/or synthetic material. The connection member may also be formed by the milk pipe and/or the pulsation pipe, which may be designed coaxially. For a better understanding of the invention and to show how the same may be carried into effect, reference will now be made, by way of example, to some embodiments shown in the drawings, in which: Figure 1 shows an animal located in the milking parlour; Figure 2 is a plan view of part of the milking implement, taken on the line II - II in Figure 1; Figure 3 is a partial view, taken on the line III - III in Figure 2; Figure 4 is a partial view, taken on the line IV -IV in Figure 2; Figure 5 is a partial view of an attachment member, and Figure 6 is a view of a second embodiment of an attachment member. In the various drawings, which are only schematical renderings, corresponding parts are indicated by the same reference numerals. The animal shown in Figure 1 is located in a milking parlour. Said milking parlour is a space confined by guide rods 2, as a result of which the animal 1 enjoys only a limited freedom of movement in the laterial direction. At its front side, the milking parlour is provided with a hingeable boundary 3, to which is attached a manger 4 and which by means of pivot arms 5 can be moved to above the level of the animal 1. The animal 1 can leave the milking parlour in the forward direction. Near the rear side of the animal 1, there is arranged a positioning arm 6 which can pivot about pivot shaft 7 and can be driven by operating cylinder 8, e.g. a pneumatical cylinder, using the vacuum present for the milking operation. When the positioning arm 6 is pivoted upwardly, the animal can enter the milking parlour by moving forwardly, she being inclined to proceed so far that her head reaches to near the manger 4. In order to ensure that the animal proceeds to a sufficient extent and, in addition, in order to limit the animal's freedom of movement in the longitudinal direction, the pivot arm 6 can subsequently be pivoted downwardly to near the rear end of the animal. Below the floor 9 of the milking parlour is situated the milking implement portion which attends to the automatic attachment of the teat cups. In Figure 1 this has been indicated only roughly, a raised portion 10 present below the animal's udder extending to above the floor 9. The hindlegs 11 of the animal 1 are located on both sides of the raised portion 10, which reaches through a longitudinally elongate aperture in the milking parlour floor 9. The milking implement portion arranged below the floor 9 is capable of a slight movement by means of guide wheels 12, so that the raised portion 10, at least in the longitudinal direction of the animal, can be moved to such an extent that it is positioned approximately directly below the udder. Figure 2 shows, in a plan view, the apparatus for the automatic attachment of the teat cups as is situated below the floor 9 in Figure 1. The apparatus is mounted in a frame 13 which is capable of movement in the longitudinal direction of the milking parlour. In the frame 13 there is arranged a first frame portion 14 which by means of pivot 15 is suspended pivotally in said frame 13. Pivot 15 is situated obliquely to the plane of the drawing in Figure 2. The pivotal movement of the first frame portion 14 about pivot 15 is effected by means of a drive member 16 which at one end is suspended in the frame 13 and at the other end is connected to the first frame portion 14. The apparatus furthermore comprises a second frame portion 17 which by means of pivot 18 is connected to the first frame portion 14. The pivotal movement of the second frame portion relative to the first frame portion is effected by a drive member 19 which at one end is connected to the second frame portion 17 and at the other end to the first frame portion 14. The second frame portion 17 comprises an axially movable attachment member 20 (Figure 3) carrying at its top end a teat cup 21. As is apparent from Figure 2, the implement according to the embodiment comprises four attachment members, each of which is supported by a second frame portion 17 and a first frame portion 14. By energizing the drive means 16 and 19, each of the attachment members can be brought in a desired position. In Figure 2 there is furthermore shown a sensor 22, which sensor by means of a sonic signal is capable of measuring the distance to an object. The sensor 22 is pivotal about two axes 23 and 24 which are perpendicular relative to each other, said pivotal movement being effected by means of the electric motors 25 and 26. In this manner the sensor 22 can determine the distance to the animal's udder in various directions, so that the position of the udder's teats can be established. In this connection, the end of a teat is recognized by the sensor 22 because an object is perceived, the distance from which to the sensor is less than that of parts of the udder that are situated near said teat end. Figures 3 and 4 show the apparatus for the attachment of the teat cups in further detail. The axially slidable attachment member 20 is slidable through guide portion 27, which guide portion 27 is mounted on the second frame portion 17. The axial movement of the attachment member 20 through the guide portion 27 is effected by means of drive member 28 which at one end is connected to the second frame portion 17 and at the other end to a lever 29. The lever 29 is connected at one end to the end of the attachment member 20 and at the other end to the end of a connection rod 30 connected to the second frame portion 17. It will be obvious that, when the drive member 28 is energized, the axial position of the attachment member 20 can be set, namely in such a manner that upon a certain lengthening of drive member 28 a much greater displacement of the attachment member is effected as a result of the lever action of lever 29. The drive member 28 is, for example, of the type provided with a spindle, an electric motor and a potentiometer, by means of which the change in length can be set accurately. Since it may be of importance for the teat cup to be attached as quickly as possible after detection of the teat, the rate at which drive member 28 acts is increased by means of lever 29. In Figures 3 and 4 the attachment member 20 is shown in the lowermost position, while the teat cup 21 arranged at the top end is situated below a covering hood 31, which covering hood 31 constitutes the raised portion 10 of the floor 9 in Figure 1. Consequently, the covering hood 31 reaches upwardly through an elongate aperture in the milking parlour floor to between the hindlegs 11 of the animal 1. In the covering hood 31 there are provided a plurality of apertures 32, 33. Aperture 32 is situated above the sensor 22, so that the lower side of the animal, in particular the udder, gets within the measuring range of the sensor. Furthermore there is provided for each attachment member an aperture 33, through which it may extend when it moves upwardly. The apertures 32, 33 may be provided with a cover, e.g. a slidable lid or the like. The apertures 33 may also be provided with a flexible flap, which is pushed aside by the attachment member when it extends therethrough. As is apparent from Figures 3 and 4, the axes 44 and 45 of the pivots 15 and 18, respectively, go through the central portion of the aperture 33, through which the relevant attachment member may extend. Owing to this construction, the attachment member is always situated approximately in the middle of the aperture when pivoting about the pivots 15 and 18, so that the apertures 33 may be comparatively small. Between the attachment members 20 shown in Figures 3 and 4 there is situated the milking claw 34 which by means of line 35 is connected to the teat cup 21. Line 35 is, for example, the milk tube or a combination of the milk tube and the pulsation tube. In order to slightly guide the line 35 during the axial movement of the attachment member 20, a connection cord 20 is arranged between the lower end of the attachment member 20 and said line 35. As a result thereof, the line 35 is partly pulled along upon downward movement of attachment member 20. The drawings, in particular Figures 3 and 4, fail to show the lines required for operating the drive members 16, 19 and 28 as well as other lines, such as the one to the sensor and that for the discharge of the milk. Figure 5 shows a first embodiment of the attachment member with the teat cup connected thereto. The attachment member 20 consists of a metal tube connected at its lower side to lever 29. At said lower side is also attached a pneumatical cylinder 37, at the other side of which there is arranged a flexible connection member 38, e.g. a cord. The other end of the flexible connection member 38 is connected to the lowermost portion 39 of the teat cup 21. It will be obvious that thus the teat cup is pulled against the of the attachment member 20 when the connection member 38 is tensioned. The tension in the connection member can be removed by lengthening of pneumatical cylinder 37, as a result of which the teat cup may be located at some distance from the attachment member. About the connection member 38 there is arranged a bead-shaped element 40, the shape of which corresponds on the one hand to a recess in the lowermost portion 39 of the teat cup and on the other to a recess in the top side 46 of the attachment member. The presence of the bead-shaped element 40 facilitates the proper positioning of teat cup 21 when the connection member 38 is pulled by cylinder 37. Furthermore are shown in Figure 5 the pulsation tube 41 and the milk tube 42. Figure 6 shows a second embodiment of the attach ment member, in which the milk tube and/or the pulsation tube is/are conducted through the tubular attachment member. This combined line 47 also constitutes the flexible connection member between the teat cup and the drive member, about which there is also provided the bead-shaped element 40. The line 47 is connected to the top end of the pneumatical cylinder 37 by means of clamp 43. The implement for milking animals operates as follows. After the animal, e.g. a cow, has entered the milking parlour and is located in the desired position, the frame 13 can be moved forwardly or rearwardly in order to come approximately in the middle below the animal's udder. In this connection, it is possible to use a so-called cow recognition system, according to which e.g. by means of a transmitter on the animal's collar it is perceived which animal is present in the milking parlour, in consequence of which the movement of the frame in the longitudinal direction can be effected. It is equally possible, in dependence on this information, to deposit a desired amount of fodder in the manger 4, which can all be done automatically, whether or not controlled by a central computer system. When the frame 13 is in the proper position below the udder, the sensor 22 can scan the udder in order to establish the positions of the teats. In this connection, the end of a teat can be recognized by the comparatively shorter distance to the sensor than that from parts surrounding said teat end to the sensor. As soon as the sensor has established the spacial position of a teat, an attachment member 20 can be brought in the proper position by means of drive members 16 and 19, whereafter the attachment member having at its end the teat cup 21 is pushed upwardly over a specific distance by energizing drive member 28. The teat cup 21 pulled against the end of the attachment member by means of connection member 38 is then moved through aperture 33 to the relevant teat, whereafter the teat cup by means of the vacuum generated therein is attached to said teat. Subsequently, pneumatic cylinder 37 is energized such that the connection member 38 is relaxed and the teat cup 21 may be located at some distance from the attachment member, whereafter the attachment member is moved slightly downwardly. As a result there is produced a freedom of movement for the teat cup, which is required when the animal moves slightly or when the shape of the udder changes due to the decrease of the quantity of milk present. All the teat cups can be attached consecutively as described, the various actions overlapping each other in time. For example, the sensor can already search for the following teat during the movement of the teat cup 21 towards the earlier found teat. After the milking operation, the teat cup can be withdrawn from the teat by pulling of the connection member 38, whereby the teat cup is pulled again in the specific position against the attachment member 20. Subsequently, the teat cup 21 can be brought again to a position below the milking parlour floor. In order to avoid contamination of the teat cup, it is possible, e.g. when the teat cup is situated below the milking parlour floor, to completely or partly relax the connection member 38, so that the open portion of the teat cup can be directed downwardly.

Claims: An implement for milking an animal (1), such as a cow, provided with teat cups (21) and with a positioning and attachment means for individually bringing and subsequently attaching the teat cups to the respective teats of the animal's udder, the positioning and attachment means comprising for each teat cup a carrying means (14, 17, 20) for carrying one teat cup and a moving means (16, 19, 28) for moving the teat cup automatically to the respective teat, each carrying means comprising an attachment member (20) carrying the respective teat cup, a flexible connection member (38 or 47) being provided for each teat cup, each teat cup being connected to the positioning and attachment means by the respective flexible connection member to form a flexible connection during milking, a drive means (37) being provided for each teat cup which drive means is connected to the respective teat cup by means of the flexible connection member (38), each drive means (37), after attachment of the teat cup to the respective teat, being energized to relax the flexible connection member so as to form said flexible connection, so that each teat cup, during milking, is spaced apart from the attachment member, while after milking each drive means (37) being energized to pull by means of the flexible connection member the respective teat cup towards and against the attachment member in a predetermined position. An implement as claimed in claim 1, characterized in that the connection member (38) is connected at its one end near the lower end of the teat cup (21) and with its other end extends through an aperture in the attachment member (20). An implement as claimed in claim 1 or 2, characterized in that the drive means (37) are provided with a pneumatic cylinder. An implement as claimed in claim 3, characterized in that the pneumatic cylinder (37) is connectable to the vacuum source employed for the suction of the milk. An implement as claimed in claim 3 or 4, characterized in that the drive means (37) are provided in the attachment member (20). An implement as claimed in any one of the preceding claims, characterized in that the attachment member (20) is provided with a tubular member, near one end of which a teat cup (21) is connected by means of the flexible connection member (38). An implement as claimed in claim 6, characterized in that the connection member (38) is arranged through at least part of the tubular member. An implement as claimed in claim 7, characterized in that the drive means (37) for pulling the connection member (38) are arranged at least partly in the tubular member. An implement as claimed in any one of the preceding claims, characterized in that the contiguous parts of the teat cup (21) on the one hand and the attachment member (20) or the other are formed complementary in such a manner that the teat cup (21) is brought to a specific position when the connection member (38) is pulled. An implement as claimed in any one of the preceding claims, characterized in that, when the connection member (38) is pulled, the teat cup (21) is substantially in alignment with and at the end of an oblong portion of the attachment member (20). An implement as claimed in any one of the preceding claims, characterized in that there is arranged about the connection member (38), between the teat cup (21) and the attachment member (20), a bead-shaped element (40) which, when the connection member is pulled, is accommodated in a recess of corresponding shape between the teat cup (21) and the attachment member (20). An implement as claimed in any one of the preceding claims, characterized in that the connection member (38) is formed by a cord, e.g. of metal wire and/or synthetic material. An implement as claimed in any one of the preceding claims, characterized in that the connection member (38) is formed by the milk tube (42) and/or the pulsation tube (41). An implement as claimed in any one of claims 6 to 13, characterized in that the milk tube (42) and/or the pulsation tube (41) is/are arranged through the tubular member. An implement as claimed in any one of the preceding claims, characterized in that the attachment member (20) is provided with an elongate, axially slidable portion which from a position below a milking parlour floor (9) is moved substantially axially towards a position wherein said slidable portion extends through an aperture (33) in the floor to above said floor (9) and near an animal's udder, the teat cup (21) being connected to an end of said slidable portion via the connection member (38). An implement as claimed in claim 15, characterized in that said slidable portion is of a tubular configuration. An implement as claimed in claim 15 or 16, characterized in that the attachment member (20) is supported pivotally capable of pivotal movement about at least two axes (15, 18), which axes (15, 18) include an angle with the horizontal plane and which axes (15, 18) substantially intersect in the central portion of the aperture (33) in the milking parlour floor (9). An implement as claimed in claim 17, characterized in that the attachment member (20) is supported by a first (14) and a second (17) frame portion, said first frame portion (14) being pivotal about a first pivot axis (15) and said second frame portion (17), to which the attachment member (20) is connected, being connected pivotally about a second pivot axis (18) to said first frame portion (14). An implement as claimed in claim 17 or 18, characterized by means for bringing the attachment member (20) in a predetermined position by pivoting about said axes (15, 18). An implement as claimed in claim 19, characterized in that said means include stepper motors. An implement as claimed in any one of claims 15 to 20, characterized in that the slidable portion is slidable axially through a guide portion (27), and that the slidable portion is seized near the other end by a drive member (28) effecting the axial movement. An implement as claimed in claim 21, characterized in that said drive member (28) is provided with a screw spindle unit, the length of which can be controlled by means of an electrical signal. An implement as claimed in claim 22, characterized in that the displacement of the slidable portion by means of the lever action of a rod system (29, 30) is greater than the change in length of the screw spindle unit. An implement as claimed in any one of the preceding claims, characterized in that there are provided one or more apertures (33), through each of which apertures (33) may extend an attachment member (20), said apertures being arranged in a raised portion relative to the floor (9), whereby the animal stands with her hindlegs on both sides of said raised portion. An implement as claimed in any one of the preceding claims, characterized in that a teat cup (21) is brought in a reversed position having its opening directed downwardly by relaxing the connection member (38). An implement as claimed in any one of the preceding claims, characterized in that the milk tube (42) and the pulsation tube (41) are designed at least partly coaxially. An implement as claimed in claims 11 to 26, characterized in that the bead-shaped element (40) is substantially globular.

Inventors: VAN DEN BERG KAREL, VAN DER LELY ARY, VAN DEN BERG, KAREL, VAN DER LELY, ARY
Applicants: MAASLAND NV, MAASLAND N.V.
Application year: 1987
Main classification: A01J7
IPC codes: A01J5