Abstract:
The present invention relates to an apparatus for milking an animal comprising a first set of teatcups and a second set of teatcups, said first set of teatcups comprising at least two teatcups of the same size or shape, said second set of teatcups comprising at least two teatcups of the same size or shape, each said teatcups being elongated and comprising a rigid shell and a flexible liner forming a pulsation space, said liner being adapted to receive a teat at one end and to let out extracted milk at a second end. According to the invention the first set of teatcups comprises teatcups of a first size or shape and the second set of teatcups comprises teatcups of a second size or shape, the first size or shape being different from the second size or shape.

Description:
TECHNICAL BACKGROUND 
     The invention relates to an apparatus for milking an animal comprising a first set of teatcups and a second set of teatcups, said first set of teatcups comprising at least two teatcups of the same size or shape, said second set of teatcups comprising at least two teatcups of the same size or shape. Further the invention relates to an apparatus for milking an animal comprising at least one set of teat cups, which said set of teat cups comprises teatcups of different sizes and shapes, which are elongated and each comprises a rigid shell and a flexible liner forming a pulsation space, said liner being adapted to receive a teat at one end and to let out extracted milk at a second end. 
     Such an apparatus is known from WO 96/11567, which describes a milking robot provided with two sets of teatcups for allowing cleaning of the first set of teatcups while the second set of teatcups is attached to the teats of an animal. 
     OBJECT OF THE INVENTION 
     The object of the present invention is to improve the reliability of said apparatus, and any milking apparatus in general, disregarding whether milking is performed automatically (automatic teatcup attachment and automatic teatcup detachment), semi-automatically (manual teatcup attachment and automatic teatcup detachment), or manually (manual teatcup attachment and manual teatcup detachment). 
     SUMMARY OF THE INVENTION 
     This has been solved by the apparatus of the initially defined kind, which is characterised in that each of said teatcups is elongated and comprises a rigid shell and a flexible liner forming a pulsation space, said liner being adapted to receive a teat at one end and to let out extracted milk at a second end, the first set of teatcups comprising teatcups of a first size or shape and the second set of teatcups comprising teatcups of a second size or shape, the first size or shape being different from the second size or shape. Hereby, the teatcups are adapted to differently sized and shaped teats. 
     Suitably, the liner of said first set of teatcups has a longitudinal extension at the pulsation space, which is different from that of the liner of the second set of teatcups. Furthermore, the shells of the teatcups of said first set of teatcups have a longitudinal extension, which is different from that of the shells of the second set of teatcups. Hereby, the teatcups are adapted to receive teats of different lengths. 
     Suitably, said liner is provided with a thin, lip-like member, defining an opening of a predetermined diameter, a liner of the first set of teatcups having an opening, which is different from that of the liner of the second set of teatcups. Hereby, the teatcups are adapted to receive teats of different diameters. 
     Preferably, said lip-like member has a predetermined flexibility, said flexibility of the liner of the first set of teatcups being different from that of the liner of the second set of teatcups. Hereby, the teatcups are adapted to receive teats of different shapes. 
     Suitably, at least one of said first and second sets of teatcups is provided in a teatcup magazine. Hereby, a defined storage place is provided. 
     Preferably, said teatcup magazine is provided with a rinsing means. Hereby, the teatcups are allowed to be rinsed after performed milking. 
     Suitably, a milk meter is connectable via a valve to a teatcup of the first set of teatcups, respectively, each milk meter being connectable via said valve to a teatcup of the second set of teatcups, respectively, said valve allowing either of a teatcup of the first set of teatcups and a teatcup of the second set of teatcups to be connected to the milk meter, respectively. Hereby, a lower number of milk meters is needed. Furthermore, the milk meter is rinsed after each milking, disregarding which set of teatcups having been used. 
     Preferably, the apparatus further comprises a device for automatically attaching teatcups to the teats of an animal in response to a control means, and an animal identification means associated with said control means, the size of each teat of an animal individual being stored in a memory of said control means, said apparatus being adapted to choose at least one teatcup from either of said first and second sets of teatcups. Hereby, an automatic choice of teatcups is allowed to be performed. 
     Suitably, said device comprises a robot having a robot arm and a gripper for selectively gripping a teatcup from either of the first and the second sets of teatcups. Hereby, automatic teatcup attachment is allowed to be performed. 
     Preferably, said device comprises a teatcup identification means. Furthermore, said teatcup identification means device comprises a laser reader, each of said teatcups being provided with a bar code. Hereby, automatic selection and identification of a teatcup is allowed to be performed. 
     Suitably, the teatcups of said first set of teatcups are connectible to a first claw and the teatcups of said second set of teatcups are connectible to a second claw. Hereby, a lower number of milk tubes is needed. 
     Furthermore, a kit of parts is provided comprising at least one teatcup of a first size or shape and at least one teatcup of a second size or shape, the first size or shape being different from the second size or shape. 
     Alternatively, a kit of parts is provided comprising at least one liner for a teatcup of a first size and at least one liner for a teatcup of a second size, the first size being different from the second size. 
     The object of the invention has also been solved by the apparatus of the initially defined kind, which is characterized in that said set of teat cups comprises at least a first teat cup of a first size or shape and at least a second teat cup of a second size or shape, said first size or shape being different from said second size or shape. Hereby, the teat cups are adapted to differently sized and shaped teats. Two different types of teat sizes and shapes are hereby possible to attach with the teat cups. 
     Suitably, said set of teat cups comprises teat cups of a third size and shape and said third first size or shape being different from said first and second size or shape. Hereby three different types of teats, regarding their size and shape, are possible to attach. 
     Preferably, said set of teat cups comprises teat cups of a fourth size and shape and said fourth size or shape being different from said first, second and third size or shape. Hereby four different types of teats, regarding their size and shape, are possible to be attached in a smooth and exact manner. In this way a group of animals and their teats can be attached with a teat cup with a special size and shape. This can also be done to a particular animal with a particular sized and shaped teat. 
     Furthermore, said apparatus comprises a first and a second set of teat cups and said first set of teat cups is different from the second set of teat cups. Thereby is achieved that a teat cup with a special size and shape can be attached to a teat of a particular animal, of which animal the teat has individual size and shape or that this teat cup can be attached to another animal with the same size and shape. 
     Suitably, said set of teat cups comprises a plurality of teat cups, and wherein each teat cup has an individually size or shape. Hereby is it possible to attach a teat cup to a large number of different sizes and shapes of the teat. For example, if the set comprises 60 different teat cups, regarding their size and shape, it is possible to attach each teat cup to 60 different teats in an smooth and gentle manner. Of course, some of those animals will have a teat with the same size and shape. That means that a particular teat cup could be used to more than one animal. It means also that the availability is provided in a satisfactory manner. The robot can hereby freely choose a particular teat cup. Service and cleaning could also be performed uncomplicated, since there is a location of the teat cups within one arrangement means 
    
    
     DRAWING SUMMARY 
     In the following, the invention will be described in more detail with reference to the accompanying drawings, in which 
     FIGS. 1A and 1B illustrate different sizes and shapes of teats, 
     FIG. 2 schematically illustrates a milking plant according to a first embodiment, 
     FIG. 3 illustrates a milking plant according to a second embodiment, 
     FIGS. 4A to  4 D illustrate a teatcup comprising a shell and a liner, 
     FIGS. 5A to  5 F illustrate a liner, 
     FIG. 6 illustrates a liner with inserted teat, 
     FIG. 7 is a perspective view of an automatic milking plant, 
     FIG. 8 illustrates a teat cup with identification means, 
     FIG. 9 illustrates a milking plant with a number of sets of teat cups, 
     FIG. 10 illustrates a perspective view of an automatic milking plant with two sets, and 
     FIG. 11 illustrates a perspective view of an automatic milking plant with one set comprising a plurality of teat cups. 
    
    
     DETAILED DESCRIPTION 
     FIG. 1A shows a thin, elongated teat  1 , whereas FIG. 1B shows a thick and short teat  1 . 
     Teats are of different configurations depending on i.a. breed, age, number of births. The short teats often have a relatively large diameter, whereas long teats often have a relatively small diameter. However, there are also animals with short and thin teats and other with long and thick teats. Furthermore, there are animal individuals with differently shaped teats, i.e. it may have one or more teats of one size and shape and one or more teats of another size and shape. 
     FIG. 2 shows schematically a milking plant comprising a plurality of milking equipments  2  according to a first embodiment of the invention. Each milking equipment comprises a first set of teatcups  4  and a second set of teatcups  6 , each in the form of a milking cluster. Each milking cluster is provided with a claw  8 , to which teatcups  10 ,  12  are connected via a tubing  14 . 
     Each set of teatcups  4 ,  6  is provided with a rinsing means  15  provided with a rinsing nozzle  15   a  for each teatcup. 
     In order to fit different sizes of teats, the teatcups  10  are of a size or shape, which is larger than that of the teatcups  12 . Different sizes or shapes of the teatcups will be further discussed below in connection with FIGS. 4A-4D,  5 A- 5 F and  6 . 
     A tubing  16  connects the claw  8  to a three-way valve  18 , which in turn is connected to a milk meter  20  via a tubing  22 . A tubing  24  connects the milk meter  20  to a receiver  26 , which in turn is connected to a milk tank  28  via a tubing  30 . 
     A further milking equipment  2 ′ (shown in broken lines) may be connected to the tubing  24  (or to the tubing  30 ). 
     A person who is to manually attach teatcups to the teats of an animal chooses between the first set of teatcups and the second set of teatcups, depending on the size or shape of the teats of that animal. The teatcups  10  should then be attached to the teats of an animal having relatively large sized or shaped teats, whereas the teatcups  12  should be attached the teats of animal having relatively small sized or shaped teats. The valve  18  is set to connect the utilised set of teatcups  4  or  6  to a source of vacuum (not shown). 
     After performed milking, the teatcups of the set of teatcups  4 ,  6  that have been used are rinsed as well as the thereto belonging tubing  16 . The milk meter  20  is rinsed disregarding which set of teatcups has been utilised. 
     FIG. 3 illustrates schematically a milking plant, comprising a plurality of milking equipments  2  according to a second embodiment of the invention. Each milking equipment comprises a first set of teatcups  4  and a second set of teatcups  6 . The first set  4  has teatcups  10   a,    10   b,    10   c,    10   d  of a larger size or shape Man the teatcups  12   a,    12   b,    12   c,    12   d  of the second set of teatcups  6 , in order to fit different sizes or shapes of teats. The teatcups  10   a  and  12   a  are connected to a milk meter  20   a  via a three-way valve  18   a.  The teatcups  10   b  and  12   b  are connected to a milk meter  20   b  via a three-way valve  18   b  etc. Each teatcup is connectible to a rinse jetter  15   a  of a rinsing means  15 . 
     Each milk meter  20   a,    20   b,    20   c,    20   d  is connected to a receiver  26 , which in turn is connected to a milk tank  28 . 
     A further milking equipment  2 ′ (shown in broken lines) may be connected to the tubing leading to the tank  28 . 
     A person who is to attach teatcups to the teats of an animal chooses between teatcups  10   a,    10   b,    10   c  and  10   d  of the first set of teatcups  4  and teatcups  12   a,    12   b,    12   c  and  12   d  of the second set of teatcups  6 , depending on the size or shape of each one of the teats of that animal. A teatcup  10   a,    10   b,    10   c  or  12   d  should then be attached to a relatively large sized or shaped teat, whereas a teatcup  12   a,    12   b,    12   c  or  12   d  should be attached a relatively small shaped or sized teat. In the figure, the teatcups  10   a,    10   b,    12   c  and  12   d  have been chosen for milking an animal. Accordingly, the valves  18   a  and  18   b  have been set to connect the teatcups  10   a  and  10   b  to the milk meters  20   a  and  20   b,  respectively, whereas the valves  18   c  and  18   d  have been set to connect the teatcups  12   c  and  12   d  to the milk meters  20   c  and  20   d.    
     After performed milking, the teatcups having been used for milking are rinsed. The milk meters are cleaned at every rinsing operation. A valve (not shown) may be provided between the receiver  26  and the tank  28  for avoiding rinsing liquid to be fed into the tank  28 . 
     FIG. 4A shows a teatcup during a so called milking phase, i.e. while milk is extracted from the teat. The same pressure (vacuum) prevails in the teat space  38  and in the pulsation chamber  36 . 
     The relatively long teatcup  10  comprises a relatively long shell  32 . A liner  34  is detachably connected to the shell  32 . A pulsation chamber  36  is defined between the liner  34  and the shell  32 . The liner itself forms a teat space  38  and a teat introduction opening  40 . 
     The pulsation chamber  36  is connectible via a connection piece  42  to a pulsating source of vacuum (not shown), whereas the teat space  38  is connected to a milking vacuum via a short milk tube  44 , which may be an integrated part of the liner  34  (cf. FIG.  5 A). 
     A long teat  44  and a short teat  46  are indicated with broken lines, respectively. 
     FIG. 4B shows a teatcup during the so called massage phase, i.e. the liner is in a collapsed state due to atmospheric pressure in the pulsation chamber  36  and vacuum in the teat space  38 . A long teat  44  is introduced into the teat space  38  of the long teatcup  10 . FIG. 4C shows a short teat  46  introduced into the long teatcup  10 . FIG. 4D shows a short teat  46  introduced into a short shell  32 , together forming a short teatcup  12  with a short teat space  38 . 
     A long teat in a too small teatcup may be uncomfortable for the animal, whereas a too small teat in a long teatcup may cause bad attachment due to leakage of air into the teatcup. In such cases, the animal may try to kick the teatcup off the teat. 
     FIG. 5A shows a liner  34  to be inserted into a teatcup shell  32 . The liner  34  is provided with a so called lip  39 , i.e. a relatively thin wall at the upper end of the liner. The lip  39  defines an opening  39   a  of a relatively small diameter for fitting thin teats (cf. FIG.  5 B). 
     FIG. 5C shows a liner  34 , which is provided with a lip  39  defining an opening  39   b,  which is adapted to receive teats of a relatively normal diameter (see also FIG.  5 D). 
     FIG. 5E shows a liner  34 , the lip  39  of which defines an opening, which has a large diameter for receiving relatively thick teats. 
     A teat introduced into a liner having a too large opening  39   a  may be uncomfortable for the animal, as it may cause leakage of air into the teatcup, which may be uncomfortable for the animal. In such cases, the animal may try to kick the teatcup off the teat. 
     FIG. 6 is a cross-section of a liner  34  with an introduced teat. The lip  39  flexes as the teat is drawn towards into the interior if the liner  38 . 
     In order to fit a teat of a particular size or shape, the flexibility of the lip  39  is varied in different liners. Accordingly, a teat of a small diameter (cf. FIG. 1A) requires a lip of less flexibility than a teat of large diameter (cf. FIG.  11 ), for avoiding leakage of air between the teat and the teatcup. 
     It should be noted that in order to cover all kinds of sizes and shapes of teats, the liners  34  having different openings  39   a,    39   b,    39   c,  may each be provided with a lip low or high flexibility. Furthermore, any liner  34  of such a combination of size of opening  39   a,    39   b,    39   c  and flexibility of lip  39  may be made for different lengths of of shells  32 . 
     FIG. 7 shows an animal stall  50  provided with a milking robot  52 , having a robot arm  56  and a gripper  58 . A teat locating means  60 , such as a video camera, a laser sensor or an ultrasonic sensor is provided on the robot arm  56 . 
     In accordance with the second embodiment (cf. FIG. 2) a teatcup magazine  62  comprising the first set of teatcups  4 , and a teatcup magazine  64  comprising the second set of teatcups  6  is provided at the animal stall  50 . Each teatcup magazine  62 ,  62  is provided with a rinsing means  15 . 
     The valves  18   a,    18   b,    18   c,    18   d,  the milk meters  20   a,    20   b,    20   c,    20   d,  the receiver  26  etc. have been omitted from FIG. 4 for clarity reasons, but are of course included in the manner illustrated in FIG.  2 . 
     An animal that enters the animal stall  50  is identified by a transponder reader  66  arranged at the animal stall for reading a transponder  68  arranged on a belt around the neck of the animal. In a memory of a control means (not shown), the sizes of each teat of the each animal individual is stored. 
     The control means of the robot  52  is programmed to perform teatcup attachment in a particular order, e.g. the rear left teat first, then the front left teats, then the rear right teat and last the front right teat. The robot arm thus fetches from one of the magazines  62 ,  64  a teatcup suitable for each teat, regarding its size and shape, i.e. a long teatcup or a short teatcup, and/or a teatcup with a liner  34  having a suitable opening  39   a,    39   b,    39   c  and/or a teatcup having a liner provided with lip  39  of a desired flexibility. 
     In order to allow identification of each teatcup  10   a,    10   b,    10   c,    10   d,    12   a,    12   b,    12   c,    12   d,  a bar code  66  is provided on each of them (see FIG.  8 ). The teat locating means  60  comprises a laser reader, which is adapted to identify each teatcup. 
     Alternatively, the teatcups may be marked by means of a colour code. In this case, the teatcups are identified by viewing by means of a video camera, and analysing the captured image by colour (RGB) analysis. 
     Of course, it is not enough with two sets of teatcups for all the different kinds of teatcups described above. However, the farmer performs an analysis regarding the sizes and shapes of the animals on the farm in question and chooses two sizes or shapes suitable for the animals on that farm. 
     FIG. 9 shows an example of the invention, in which parts denoted with a reference sign correspond to parts of the above described figures. FIG. 9 illustrates a milking plant with a number of sets of teat cups with different sizes and shapes. In the figure just one set of teat cups is illustrated with unbroken lines and further two sets with dotted lines. The teatcups  110 ′,  110 ″,  110 ′″,  110 ″″;  112 ′,  112 ″,  112 ′″,  112 ″″; 
       114 ′,  114 ″,  114  ′″,  114 ″″ are in the FIG. 9 illustrated with the same size and shape, but are according to this invention with different sizes and shapes. 
     FIG. 10 shows an example of the invention, in which parts denoted with a reference sign correspond to parts of FIG.  7 . FIG. 10 shows an animal stall  50  provided with a milking robot  52 . In accordance with this embodiment two sets  200 ,  201  of teat cups  110 ′,  110 ″,  110 ′″,  110 ″″;  112 ′,  112 ″,  112 ′″,  112 ″″are provided at the animal stall  50 . Both sets are in this embodiment designed as two rotary teat cup magazines  200 ,  201 . Of course may other designs of the magazines be useful to achieve the object of the invention. The set of teat cups could also be arranged in a rack, in which the teat cups could be shifted automatically, depending on what particular teat cup which should be attached to the teat of the animal. 
     Hereby four different types of teats, regarding their size and shape, are possible to be attached in a smooth and exact manner. In this way a group of animals and their teats can be attached with a teat cup with a special size and shape. This can also be done to a particular animal with a particular sized and shaped teat. 
     Teats are of different configurations depending on i.a breed, age, number of births etc. There is therefore a large variation of sizes or shapes of the teats as described above. It is hereby possibly to provide the animal stall with a plurality of sets. For example, a herd with 60 animals may result an installation of 60 sets. But since the sizes and shapes of the teats of some animal are similar, may be just 30 sets is needed to be installed 
     FIG. 11 illustrates a perspective view of an automatic milking plant with one set comprising a plurality of teat cups. In the FIG. 11, in which parts denoted with a reference sign correspond to parts of FIG. 7, the set is a big flat rotary teat cup magazine  300 . The magazine comprises a large number of teat cups  110 ′,  110 ″,  110 ′″,  110 ″″;  112 ′,  112 ″,  112 ″′,  112 ″″;  114 ′,  114 ″,  114 ′″,  114 ″″ with different sizes and shapes (for clarity reasons not all teat cups in the figure have a reference sign). Of course may other designs of the magazine be useful to achieve the object of the invention. 
     In a memory of a control means (not shown), the sizes of each teat of the each animal individual is stored. A storage of data could be done for each animal. A transponder  68  is in the figure arranged on a belt around the neck of the animal. By measuring the herd of animals a number of different data concerning the sizes and shapes of the animal teat could be stored in said memory. 
     For example, if the set comprises 40 different teat cups, 40 teats with different sizes and shapes (that is 10 animal, for example cows) could be attached with a teat cup with a different size and shape. Of course some animals have teats which have the similar size and shape. This means that, maybe just 20 different teat cups could be attached to the teats to the 10 animals. 
     Above, reference has been made to an animal. It should be understood that lactating animal, such as a cow, a sheep, a goat, a buffalo or a horse is meant.