Patent Description:
Dairy milking systems as they relate to the present invention include a cluster of teat cups, each of which is matched with a flexible teat cup liner that is attached to a teat of a dairy animal with a vacuum. Vacuum is applied in pulses between the shell and liner to facilitate movement of the flexible liner to milk the dairy animals. Milk flows from the dairy animal through each flexible liner and then through a milk tube to a milker unit collecting assembly, which collects milk from all of the animal's teats. This combination of elements is known as a milker unit and can be used to milk cows, sheep, goats and other dairy animals. Each milker unit is used to milk multiple animals so it must be sanitized, at least periodically, to prevent transmission of dirt and germs into the milk, and to help prevent transmission of diseases from animal to animal.

Milk from individual animals flows from each milker unit collecting assembly through milk tubes and into a milk line that receives milk from all of the milker units in the dairy. The milk is then chilled and stored in a milk tank. The milk lines and storage systems must not be contaminated with dirt, debris, chemicals, pathogens, or contaminated milk. In the event that milk being collected is from a sick dairy animal, or a monitoring system determines the milk is unsellable, the milk would be diverted to a "bad milk" line or a "calf milk" line for feeding to calves.

Traditionally, dairy animal teats have been prepared for milking by cleaning the teats before milking using sanitizing teat dips, and protecting teats after milking by applying protective teat dips. These dips are broadly categorized as "pre-dips" and "post-dips. " Before automated systems were used, the pre-dips and post-dips were applied by dairy operators manually, with cloth wipes or specialized teat dip applicators. The teat dips were effective in cleaning and protecting teats from infection, but as automated milking systems came into commercial use, automated teat dip applicators were developed to realize the full benefit of automated milking.

Various types of automated (robotic) milking systems have been developed with automated systems for applying teat dip, air, and rinsing fluids (referred to herein as "teat dip fluids") applied and rinsed from the system in a manner that protects milk lines, and the milk therein, from being contaminated. Protecting milk lines and milk is mandated in the United States Food and Drug Administration's Pasteurized Milk Ordinance ("PMO"), Item 14r. , for example, as well as other regulatory agencies throughout the world.

To protect milk lines in the United States, they should be separated from potentially contaminating fluids using at least two automatically controlled valves or a double seat mixproof valve, with a drainable opening to the atmosphere between the valves or valve seats (PMO Item 14r). This arrangement is referred to as "block-bleed-block," and protects milk lines from contamination even when the valves or valve seats fail by draining fluid through the opening (bleed) rather than allowing it to pass through both valves or valve seats. Various embodiments of block-bleed-block valves and valve arrangements are known and operate effectively. See for example: <CIT>; <CIT>; and <CIT>.

Milk line protection systems can be complicated because pre-dipping and post-dipping require that teat dipping fluids be delivered in precise dosages and in a timely fashion to provide proper teat treatment, system cleaning, system timing, and milk line protection. Dosage valves for teat dips measure proper dosage quantities of teat dips and ensure that the doses are delivered under pressure and in proper sequence. Air can be used to "chase" the teat dip through the lines to overcome sluggishness due to friction in the lines and viscosity of the teat dip. Following teat dip application, the delivery system must be sufficiently cleaned and rinsed with water or other rinsing fluid, to sanitize equipment before subsequent milkings.

Further complicating teat dip delivery systems is the requirement that the teat dip, air, and rinsing fluids provided from main source lines must be accurately divided and delivered to each teat of the dairy animal. Typically, dividing dosages of teat dip fluids is performed through a teat dip fluid manifold that receives the fluids from one or more main supply lines and then divides the fluids into individual delivery lines. Given the short time durations in which teat dip must pass through the teat dip fluid manifold, providing adequate milk line protections can be challenging.

Further complicating teat dip fluid delivery systems is a desire to prevent cross-contamination of the various teat dip fluids. For example, water should not be allowed to contaminate teat dip before it is delivered to a teat because the dip can be diluted and possibly less effective. Conversely, teat dip should not be allowed to contaminate water and air lines, which could foul the system and require additional maintenance. Also, pre-dips should not be contaminated by post-dips, which could contain iodine or other antimicrobial composition that would then enter the milk lines during milking.

Thus, there is a need for a reliable automated milking stall unit that protects milk lines from contamination, and teat dip fluids from cross-contamination, while providing reliability and minimal maintenance.

An automated milking stall unit according to the invention is defined in claim <NUM>. Advantageous embodiments are set pout in the dependent claims.

An automated milking stall unit according to the invention comprises a teat dip delivery system comprising an automated teat dip manifold, which comprises at a conduit fluidically coupled to a rinsing fluid supply line via a rinsing fluid valve and fluidically coupled to an air supply line via an air valve. It further comprises an upstream valve having a closed position and an open position, wherein the upstream valve is a two-position, three-way valve and has a first inlet configured to receive teat dip, a second inlet coupled to said conduit, and an outlet, wherein the second inlet and the outlet are open to each other when the upstream valve is in the closed position. The automated teat dip manifold further comprises a downstream valve in fluid communication with said conduit having a closed position and an open position, wherein the downstream valve has an inlet coupled to the outlet of the upstream valve and an outlet coupled to a delivery line and a vent disposed between the inlet and the outlet to create a block-bleed-block arrangement; and a pressure monitor in communication with said conduit to sense pressure in the conduit when the upstream valve is in the closed position and the downstream valve is in the closed position; The automated milking stall unit further comprises a controller coupled to the upstream valve, the downstream valve, and the pressure monitor, wherein the controller is configured to control the upstream and downstream valves into the closed position, receive the sensed pressure in the conduit from the pressure monitor while the upstream valve is closed to teat dip at inlet and the downstream valve is closed for all fluids except at the vent, and to deactivate all or any portions of the teat dip delivery system depending on the received sensed pressure in the conduit.

In one embodiment of the automated milking stall unit the upstream valve defines a vent when the upstream valve is in the closed position. In a further embodiment the automated milking stall unit further comprises a pre-charge container that defines a fluid compartment disposed upstream from and in fluid communication with the upstream valve. In a further embodiment the automated milking stall unit further comprises a fluid drain in communication with the conduit. In further embodiments of the automated milking stall unit the conduit defines an air vent and/or the pressure monitor is a pressure switch.

Illustrated generally in <FIG> is an automated dairy animal milking stall unit <NUM> used in a dairy harvesting facility. The dairy animal milking stall unit <NUM> can be used in any type of dairy arrangement, including those with stationary or rotary milking stalls, and the present invention is not limited for use in the particular type of milking stall unit <NUM> depicted herein.

The automated dairy animal milking stall unit <NUM> includes: a frame <NUM> for mounting in or adjacent to a milking stall; a milker unit <NUM> mounted in the frame <NUM>; milk lines <NUM> as part of the milker unit <NUM>; milker arm controls <NUM> used to control movement of the milker unit <NUM> between a parked position (shown) and a milking position (not shown); and a teat dip fluid supply system <NUM>. Further, the frame <NUM> carries a milking module <NUM> for determining whether to direct milk to a "good milk" path, a "bad milk" path, or a "calf milk" path, for example. Also included, is a dipping module controller <NUM> that is programmed to monitor and control teat dipping, rinsing, and backflushing. The milking module <NUM> and the dipping module <NUM> are in communication with each other and coordinated by a programmable stall control <NUM>, preferably concealed in an upper portion of the frame <NUM>. It is preferred that all of the components described above be disposed in a single frame <NUM>, but multiple frames or mounting systems can be used, so long as the teat dip fluid supply system <NUM> is in fluid communication with the milker unit <NUM> or at least a teat dip delivery unit for delivering pre-dip, post-dip, or both types of dip to a dairy animal's teats that will be milked using the milker unit <NUM>.

The frame <NUM> can be open or enclosed or at least partially enclosed to protect the teat dip supply system <NUM>, the milker unit control module <NUM>, and the programmable stall control <NUM> from the harsh dairy environment and from being damaged by dairy animals.

The milker unit <NUM> can be of any suitable design and preferably includes teat cups and liner combinations <NUM>, each of which receives an animal teat for milking. Generally, milk travels from the liner through the milk lines <NUM> and downstream to suitable chilling and storage systems.

Preferably, the milker unit <NUM> also carries one or more hoses and teat dip delivery nozzles or openings to direct teat dip toward each animal teat. Also, preferably, the teat dip delivery nozzles or openings are formed in a teat cup liner, examples of such liners are disclosed in <CIT>, but other types of dispensers and/or liners can be used with the present invention.

To receive teat dip fluids such as teat dip, air, and rinsing fluids from appropriate sources and delivering them to individual dairy animal teats, the present invention includes at least one teat dip fluid manifold <NUM>, and the embodiment depicted in <FIG> and <FIG>, includes a second teat dip fluid manifold <NUM>. The first teat dip fluid manifold <NUM> delivers pre-dip fluids, and the second teat dip fluid manifold <NUM> delivers post-dip fluids. As described below, other embodiments of teat dip fluid manifolds can dispense both pre-dip fluids and post-dip fluids.

As used herein "teat dip fluids" can include teat dip for being applied before ("pre") or after ("post") milking, as well as, air to force teat dip through delivery lines, and rinsing fluids, such as water, for rinsing the teat dip fluid manifold, valves, delivery lines, and teat dip openings or nozzles. It is not necessary that all of these teat dip fluids be utilized in a single manifold <NUM>, <NUM>, but the present invention can be used to deliver one or more of these fluids effectively, efficiently, and reliably.

To simplify the following descriptions relating to <FIG>, only the first teat dip fluid manifold <NUM> will be described in detail, as the second teat dip fluid manifold <NUM> can have substantially the same construction or any other construction in accordance with the present invention. The teat dip fluid manifold <NUM> includes a housing <NUM>, a teat dip supply line <NUM>, an air supply line <NUM>, and a rinsing fluid supply line <NUM>. Other fluids can also be supplied to the teat dip fluid manifold <NUM>, if desired. Further, the teat dip supply line <NUM> could be divided into two teat dip inlets, so that one receives pre-dip <NUM> and the other receives post-dip <NUM>.

The teat dip fluids are then delivered to individual dairy animal teats through a number of delivery lines <NUM> (<FIG>) that communicate from the teat dip fluid manifold <NUM> to a corresponding teat cup and liner combination <NUM>.

The housing <NUM> preferably includes inlets <NUM> (<FIG>, <FIG>, <FIG>), outlets <NUM> (<FIG> and <FIG>), and control valves <NUM> (<FIG>, <FIG>, and <FIG>, and described in more detail below). The housing inlets <NUM> and outlets <NUM> can be formed in the housing <NUM> using any appropriate method, and preferably include associated connectors or couplings <NUM> for connecting to supply lines <NUM>, <NUM>, <NUM>, and <NUM>, and delivery lines <NUM>. Supply lines <NUM> and <NUM> can also serve as "pre-charge containers" for storing dip prior to being dispensed through the manifold <NUM>.

The housing <NUM> is formed of any suitable material that can withstand the dairy environment as well as teat dips and rinsing fluids that pass through the housing <NUM>. The housing <NUM> can be singular for containing most of the valve and seal components for use in either pre-dipping or post-dipping operations as described below in relation to <FIG>, for example, or the housing <NUM> can be separated into multiple housings <NUM> in fluid communication with one another using any suitable device such as tubes, hoses, conduits, for example, or in direct fluid communication with the individual conduits <NUM> (<FIG>) in which teat dip fluids pass to the teat cup and liner combinations <NUM>. Housing vents <NUM> can be provided for access to internal components during manufacturing, for example.

An electrical power source <NUM> is also provided for powering valves and actuators within the teat dip fluid manifold <NUM>, and computer controls may also be directly wired to the valves or power source for controlling valve operation. Wireless controls and interfaces can also be used.

Main supplies for teat dip, air, and water are preferably disposed at a central source location for convenience in supplying a number of teat dip fluid manifolds <NUM>. Alternatively, supplies can be disposed at various stations in the dairy harvesting facility or even at individual milking stalls. Teat dips, for example, can also be mixed on site or even as they are passing in the teat dip supply lines, <NUM>, <NUM> with various ingredients, such as concentrates, water, or ingredients with short shelf lives.

<FIG> is a schematic illustration of a first embodiment of a teat dip fluid manifold <NUM> in accordance with the present invention. The teat dip supply line <NUM> (or <NUM> for a post-dip), the air supply line <NUM>, and the rinsing fluid supply line <NUM> are illustrated in the upper left hand portion of the figure.

The teat dip supply line <NUM> connects to an inlet <NUM> protected by an optional mesh filter screen 71A (<FIG>) and enters a main dip conduit <NUM>, which is illustrated as a tube, but serves as a pre-charge container inside the housing <NUM>, which includes branches of individual conduits <NUM> corresponding to each teat. Each individual conduit <NUM> preferably includes the same arrangement of valves, so only one set will be described. Teat dip fluid flow through each individual conduit <NUM> is controlled by an upstream valve <NUM> and a downstream valve <NUM>. The individual conduits <NUM> are part of the main dip conduit <NUM> and terminate at the downstream valve <NUM> in the illustrated example. The upstream valve <NUM> in this embodiment is preferably a <NUM> position-<NUM> way valve. As seen in <FIG>, each <NUM> position-<NUM> way valve includes a first inlet <NUM>, a second inlet <NUM>, and an outlet <NUM>. The first inlet <NUM> receives teat dip, and the second inlet <NUM> can receive other teat dip fluids such as air and rinsing fluids, as described in more detail below.

The quantity of teat dip supplied to the teat dip fluid manifold <NUM> can be determined at an upstream location via a suitable dosage valve or it can be provided at a suitable back pressure, so that the upstream valve <NUM> can be opened for a predetermined interval to provide a desired quantity of teat dip while the upstream valve <NUM> is open.

Each downstream valve <NUM> is preferably a safety valve to provide added protection for milk lines in the dairy, but other types of valves can be used as well. The example of a downstream valve <NUM> illustrated is a safety valve and includes an inlet <NUM>, an outlet <NUM>, and a vent <NUM> disposed between the inlet <NUM> and the outlet <NUM> to create a block-bleed-bock arrangement.

The upstream valve <NUM> and the downstream valve <NUM> provide redundancy in protecting the milk lines from contamination from teat dip fluids. To add further protection, a conduit <NUM> is provided from an air check valve <NUM> and a rinse fluid check valve <NUM>, into and including individual conduits <NUM> extending to the downstream valve <NUM>. Included in this example of the conduit <NUM>, is the passage through the upstream valve <NUM> from the second inlet <NUM> to the outlet <NUM>. The conduit <NUM> is monitored for pressure by a pressure monitor <NUM>, which in conjunction with a controller <NUM>, monitors pressure in the conduit <NUM> when the upstream valve <NUM> is closed to teat dip at inlet <NUM>, and the downstream safety valve <NUM> is closed to all fluids, except at the vent <NUM>.

The individual conduits <NUM> of the conduit <NUM> extend through the upstream valve <NUM> second inlet <NUM> down to the downstream valve <NUM>. The positions of the upstream valve <NUM> and the downstream valve <NUM> are controlled by actuators <NUM> of any desired type including the solenoid valves illustrated in the figures. If the pressure rises or falls outside of a predetermined range, the pressure monitor <NUM> generates an appropriate signal that can send an alarm or other notice to a controller or a dairy operator indicating the abnormality. In such a case, the milking stall unit <NUM> can be taken out of service or the milk can be directed to a "bad milk" line, for example.

When the upstream valve <NUM> and the downstream valve <NUM> are both closed as described below, pressure inside the conduit <NUM> can rise or fall if one of the valves is leaking. Even small or subtle leakage can be detected and indicate that valve maintenance is required. Of course, more catastrophic valve failures can be detected and the pressure monitor's <NUM> signal can send data to the controllers <NUM> and/or <NUM> to deactivate all or any portions of the teat dip delivery systems or even the automated dairy milking stall unit <NUM> itself. Preferably, the pressure monitor <NUM> senses pressures of about <NUM>,<NUM> kPa (<NUM> psi), but any desirable pressure range can be selected.

The pressure monitor <NUM> is preferably a pressure switch that flips when it senses a certain pressure. Also preferably, the pressure switch is adjustable. Pressure sensors can also be used that monitor pressures at varying levels and rates.

This arrangement of a conduit <NUM> and a pressure monitor <NUM> can monitor for valve leakage as described above, but it can also be used to check for unsatisfactory air or rinsing fluid supplies. This procedure preferably takes place when there is no milking operation occurring. The downstream valve <NUM> is closed and air or rinsing fluid are introduced into the conduit <NUM> through their respective valves <NUM> or <NUM>. If the air pressure or rinsing fluid pressure is insufficient to reach a pressure at which the pressure monitor <NUM> is set, then this is an indication that supply pumps or anything affecting fluid pressures require attention. The failure of air or rinsing fluid pressure to meet predetermined standards can raise an alarm or even be used by the controller <NUM> to cease operations at that milking stall unit <NUM> or cause milk obtained at that stall unit <NUM> to be redirected to a "bad milk" line, for example.

The air supply line <NUM> connects to the housing <NUM> at a port <NUM>, and only requires controlling with an air valve <NUM>, which is preferably, a <NUM> position-<NUM> way pneumatic valve that is in fluid communication with the individual air conduits <NUM>, which each communicate with a corresponding upstream valve <NUM>. To prevent cross-contamination of the air supply line <NUM> by other teat dipping fluids, an air check valve <NUM> is provided downstream from the air valve <NUM>. Air (or any other suitable gas or gas mixture) provided to the teat dip fluid manifold <NUM> is preferably delivered immediately after a teat dip is sent from the teat dip fluid manifold <NUM>. The air provides a back pressure to force ("chase") the teat dip through delivery lines to ensure delivery of a complete dose of teat dip, as well as a timely delivery of teat dip in the precisely-timed operation of an automated dairy-milking system. A port mesh filter 73A is preferably used to prevent debris from entering.

Next, a rinsing fluid, such as water, can be delivered through a port <NUM> (with a preferred mesh filter 75A) from the rinsing fluid supply line <NUM> through a rinsing fluid valve <NUM>, which is preferably a <NUM> position-<NUM> way hydraulic valve to provide a block-bleed-block arrangement between the rinsing fluid supply line <NUM> and the rest of the teat dip fluid manifold <NUM> using a vent <NUM>. The rinsing fluid valve <NUM> preferably shares the individual air conduits <NUM> to delivery rinsing fluid through the rest of the teat dip fluid manifold <NUM> and the delivery lines <NUM>. Nonetheless, separate individual rinsing fluid conduits could be used. Preferably, a rinsing fluid check valve <NUM> is provided downstream from the rinsing fluid valve <NUM> to prevent teat dip or air from cross-contaminating the rinsing fluid supply line <NUM>.

In the embodiment of <FIG>, when teat dipping is required, the controller <NUM> activates the upstream valve <NUM> inlet <NUM> to open and the downstream safety valves <NUM> to open to allow pressurized teat dip to flow from the teat dip supply <NUM>, <NUM> through the conduits <NUM> and to the delivery lines <NUM>. When a desired amount of teat dip has passed through the upstream valve <NUM>, as determined by the period of time in which the upstream valve <NUM> is open for teat dip flow, the upstream valve <NUM> will be actuated to close to stop the teat dip supply <NUM>, <NUM>.

The upstream valve <NUM> inlet <NUM> will then be opened to the individual conduits <NUM> and the air valve <NUM> will be activated to open to supply pressurized air (or other gas) through each individual conduit <NUM>, the upstream valves <NUM>, the downstream valves <NUM> (which remain open from teat dip flow or are re-opened), and into the delivery lines <NUM> to "chase" the teat dip through the delivery lines <NUM> to the teats.

Once a desired amount of air is released, the air valve <NUM> closes, and the rinsing fluid valve <NUM> is activated to open to release rinsing fluid through the same path as the air traveled until a desired quantity of rinsing fluid has entered the system. Another activation of the air valve <NUM> could be used to "chase" the rinsing fluid through the system, if desired.

Once rinsing is complete, the rinsing fluid valve <NUM> and the air valve <NUM> are activated to be closed and the upstream valve <NUM> and the downstream safety valve <NUM> are activated to be closed. In this valve configuration, the teat dip fluid manifold <NUM> is in essentially a milking position because none of the teat dip fluids can reach the milk lines.

Further, in this milking position, the pressure monitor <NUM> monitors pressure levels in the conduit <NUM> (heavy lines in <FIG>), which includes individual conduits <NUM> and, as described above, generates data and/or warning signals if line pressure is outside of a desired or predetermined range, which might indicate that valve maintenance and/or replacement is necessary.

<FIG> illustrate a teat dip manifold substantially as illustrated in <FIG>, except that many of the conduits are formed from tubes that are part of the housing <NUM>. The teat dip fluid manifold <NUM> is depicted, (a second teat dip fluid manifold <NUM> would be substantially identical and can be used if separate manifolds were used for pre-and post-dips), including a housing <NUM> defining a teat dip inlet <NUM>, an air inlet <NUM>, a rinsing fluid inlet <NUM>, which feed into the housing <NUM> conduits to a respective outlet <NUM>, which in turn is connected to a delivery line <NUM>.

Flow through the air inlet <NUM> is controlled by an air valve <NUM>, and rinse fluid through the rinse fluid inlet <NUM> is controlled by a rinse fluid valve <NUM>. Both air and rinse fluid flow through the conduit <NUM> and the individual conduits <NUM> illustrated in <FIG>, for example. Flow through each of the individual conduits <NUM> is controlled by an upstream valve <NUM> and a downstream valve <NUM>.

A pressure monitor <NUM> is used to monitor pressure in the conduit <NUM> and the individual conduits <NUM>, and will send an appropriate signal to a controller, as described above, in the event pressure in the conduit <NUM> is outside of a predetermined range. Such a signal would indicate the need for valve or system maintenance.

In this embodiment, the housing <NUM> can in the form of a frame and include a hanger feature <NUM> with hooks <NUM> for attaching to corresponding receivers in a mounting panel, such as seen in <FIG> and <FIG>.

In another embodiment illustrated in <FIG>, a single teat dip fluid manifold <NUM> receives both pre-dip and post-dip, as well as air and rinsing fluid. In this embodiment, pre-dip teat dip is provided through the teat dip supply line <NUM>, through a pre-dip valve <NUM>, which is preferably a <NUM> position-<NUM> way valve, but other valves could be used. Downstream from the pre-dip valve <NUM>, is a pre-dip check valve <NUM> to prevent the pre-dip teat dip supply line <NUM> from being cross-contaminated by post-dip teat dip, rinsing fluids, and air. Pressurized teat dip is sufficient to open the check valve <NUM>.

The pre-dip teat dip supply line <NUM> is in fluid communication with the conduit <NUM> (bold lines) before splitting into the individual conduits <NUM>. Each individual conduit <NUM> is provided with a pre-charging vessel <NUM> to provide a premeasured dose of teat dip immediately upstream of a set of teat dip fluid manifold valves described below. This arrangement provides an immediate and accurately measured dose of teat dip or other teat dip fluid for delivery to a dairy animal teat or for rinsing the teat dip fluid manifold <NUM> and the delivery lines <NUM>. Preferably, the pre-charging vessel <NUM> is sized to receive and store a pressurized volume of between four and eight milliliters (ml) of teat dip fluid, but other volumes or masses can be measured or metered to provide a desired quantity of teat dip.

Downstream from the pre-charging vessel <NUM> is a drain valve <NUM> and a downstream valve <NUM>. The drain valve <NUM> is preferably a <NUM>-position-<NUM> way valve with a drain <NUM>, so that teat dip can be drained from the related pre-charging vessel <NUM> in the event it is not needed for any reason. For example, all of the charging vessels <NUM> must be charged simultaneously. If one of the teats is re-dipped for some reason and only one vessel <NUM> is emptied for that re-dipping, then the other vessels <NUM> must be emptied through the drain valves <NUM>. Although slightly wasteful, it provides a reliable means for re-dipping one or more teats, if necessary.

Each downstream safety valve <NUM> is preferably a suitable safety valve providing a block-bleed-block arrangement or a "block-monitor-block" arrangement as disclosed in patent application serial number <CIT>.

A post-dip dip supply <NUM> is controlled by a post-dip valve <NUM> arranged in series with the air supply line <NUM> and the rinsing fluid supply line <NUM>. Preferably, the post-dip valve is a <NUM>-position-<NUM> way valve for receiving post-dip, as well as, air and rinsing fluid through a separate valve inlet <NUM>. Of course, other valve configurations can be used.

The air supply line <NUM> is controlled by an air valve <NUM>, and the rinsing fluid supply line <NUM> is controlled by a rinsing fluid valve <NUM>, each of which is preferably a <NUM>-position-<NUM> way valve. An air check valve <NUM> is provided downstream from the air valve <NUM> to prevent cross-contamination by teat dip and rinsing fluid.

To further isolate the post-dipping teat dip supply line <NUM> in the teat dip fluid manifold <NUM>, a safety valve <NUM> is disposed downstream from the post-dip valve <NUM>. This safety valve <NUM> can be any desired configuration, including a block-bleed-block or a block-monitor-block, as mentioned above.

<FIG> illustrates an example of a teat dip fluid manifold valve arrangement that is not n accordance with the present invention. <FIG> shows a vent valve <NUM> in the upper right portion that includes an air vent <NUM> for releasing pressure from the conduit <NUM> while other fluids are entering. Venting the conduit <NUM> lowers conduit pressure to enable easier ingress of teat dip fluids into the manifold <NUM>, <NUM>. The conduit <NUM> can be simply vented to atmosphere, or a vacuum could be applied to evacuate the conduit <NUM> and even draw in teat dipping fluids, if desired.

As seen in <FIG>, air and rinsing fluid are supplied in series to the post-dip valve <NUM> and pass through the post-dip valve <NUM> when that valve is activated to open to the water and an air line <NUM>. This arrangement is efficient in terms of operation and space conservation.

Generally, when a milking operation is taking place, all of the valves are in closed positions, and an air pressure monitor <NUM> senses pressure in the conduit <NUM>, including the portions between the pre-charging vessel <NUM> and the downstream valve <NUM> for the purposes described above.

Before the milking operation, the pre-dip valve <NUM> is activated and pre-dip passes through the check valve <NUM> and the conduit <NUM>, and then is divided into each of the individual conduits <NUM> of the conduit <NUM> to charge the pre-charging vessels <NUM>. When pre-dip is desired, the downstream valve <NUM> opens and back pressure and air from the air valve <NUM> urge the pre-dip to pass through the delivery lines <NUM> to a teat cup and liner combination <NUM>. Should all or a portion of the pre-dip fail to reach the teat cup and liner combination <NUM>, the dip valves <NUM> or <NUM> can be activated to refill all of the pre-charging vessels <NUM>, and only the teat or teats that did not receive dip can be re-dipped. Afterward, the pre-charging vessels <NUM> having unused teat dip therein can be dumped through a corresponding drain valve <NUM>, so that all of the charging vessels <NUM> can receive the next teat dip fluid.

Subsequent to the pre-dip being passed through the manifold <NUM>, an air "chase" passes through the air valve <NUM>, the air check valve <NUM>, the air line <NUM>, the post-dip valve <NUM>, the safety valve <NUM>, the conduit <NUM>, and the rest of the path described above for the pre-dip.

Rinsing fluid can then be used, if desired, so that the rinsing fluid valve <NUM> will be activated to open and allow pressurized rinsing fluid to follow the same path as the "chase" air traveled, as described above.

Before milking is completed, post-dip can be released through an activated post-dip valve <NUM> and the valve <NUM>, through the conduit <NUM> and into the pre-charge vessels <NUM>. This part of the process preferably can take place during milking or immediately following milking, but before the teat cup and liner combination <NUM> is detached from the dairy animal.

After milking and before detachment, the downstream safety valve <NUM> is activated to open and permit the post-dip to flow toward the teat cup and liner combination <NUM>. Chase air and optional rinsing fluid can follow, as described above. Again, if post-dip fails to complete the delivery path, another dose can be provided, as described above in relation to the pre-dip teat dip. As illustrated, the valves include actuators <NUM>.

A further example that is not in accordance with the present invention is illustrated in <FIG>. It is similar to the example of <FIG>, because it includes a manifold <NUM> with a similar arrangement of a pre-dip valve <NUM>, and a pre-dip check valve <NUM>.

One benefit of this embodiment is that the pre-charging vessel <NUM> can be refilled if for some reason it fails to fill completely, or the teat dip is delivered at a time when a teat is not located in a corresponding teat cup and liner combination <NUM>. This refiling capability is less wasteful of teat dip compared to the <FIG> example, but requires more valves. The ability to refill individual (versus all) charging vessels <NUM> results from the use of an upstream valve <NUM>, and a second upstream valve <NUM> having an air vent <NUM>, which vents the pre-charging vessel <NUM> and related lines to allow the pre-charging vessel <NUM> to be re-charged and applied to an animal teat: This process can be performed manually or automatically based on other sensors or observation made downstream from the manifold <NUM>. As illustrated, the valves include actuators <NUM>.

Downstream from the pre-charging vessel <NUM>, is a downstream valve <NUM>, which is preferably a safety valve such as a <NUM> position-<NUM> way valve or a block-monitor-block valve.

In addition, as described above in relation to the second embodiment of <FIG>, is a post-dip valve <NUM>, an air valve <NUM>, an air check valve <NUM>, a rinsing fluid valve <NUM>, and a safety valve <NUM>, which all operate as described above.

The <FIG> example wastes less teat dip, but requires more valves and results in the conduit <NUM> not extending all the way to the downstream valves <NUM>.

In <FIG>, a further example not in accordance with the present invention is depicted, which is similar to the <FIG> embodiment, except that the teat dip fluid manifold <NUM> includes elements for dispensing both pre-dip teat dip fluids and post-dip teat dip fluids through a single housing <NUM>. A pre-dipping portion <NUM> and a post-dipping portion <NUM> are provided, and they are both in communication with a single air supply line <NUM> and a single rinsing fluid supply line <NUM>.

The pre-dipping portion <NUM> and the post-dipping portion <NUM> each include a conduit <NUM> with individual conduits <NUM>. In each individual conduit <NUM> there is an upstream valve <NUM> and a downstream valve <NUM>. The upstream valves <NUM> are preferably <NUM> position- <NUM> way valves for receiving teat dip through one inlet, and air and rinsing fluid through another inlet.

The other features of the first embodiment (<FIG>) are also present, including: a pre-dip supply line <NUM>; a post-dip supply line <NUM>; an air supply line <NUM>; a rinsing fluid supply line <NUM>; an air valve <NUM>; an air check valve <NUM>; a rinsing fluid valve <NUM>; and a rinsing fluid check valve <NUM>. In addition, a pre-dip/post-dip selection valve <NUM> is provided to direct air and rinsing fluid to the pre-dip portion <NUM>, when pre-dipping or to the post-dip portion <NUM>, when post-dipping. A simple <NUM> position-<NUM> way valve can be used for the selection valve <NUM>. Again, actuators and valve position sensors are used in relation to any or all of the valves described above.

The individual conduits <NUM> of the pre-dip portion <NUM> are protected from cross-contamination from the post-dip portion <NUM>, by a check valve <NUM> and the opposite is true because of the check valve <NUM>. Other types of protective valves could be used as well to prevent cross contamination.

In this example, a pressure sensor <NUM> is in fluid communication with each conduit <NUM> to detect abnormal pressures in each conduit <NUM>, which could indicate leakage in any of the various valves, as described above.

<FIG> illustrate a progression of valve positions that dispense pre-dip teat dipping fluids through a manifold <NUM>, in accordance with the present invention. In <FIG>, the "good milk state", the upstream valves are closed and the downstream valves <NUM> (not illustrated in these figures) are also closed. The air valve <NUM> and rinsing fluid valve <NUM> are also closed. The conduit <NUM>, including the individual conduits <NUM> is monitored by the pressure monitor <NUM> for leaks. The individual conduits <NUM> are in communication with the rest of the conduit <NUM> because the second inlet <NUM> and the outlet <NUM> in the upstream valve <NUM> are open to one another. (see: <FIG>, for example.

<FIG> illustrates the next step, "pre-cleaning," taking place by releasing rinsing fluid into the manifold <NUM>. In this configuration, the rinsing fluid vent <NUM> is closed and the rinsing fluid valve <NUM> is opened to permit rinsing fluid to pass through the rinsing fluid check valve <NUM> and into the conduit <NUM>, including the conduits <NUM>. The pressure monitor <NUM> can be used to check adequacy of the rinsing fluid supply, if desired.

<FIG> illustrates the next step, "pre-dipping," during which the air valve <NUM> and the rinsing fluid valve <NUM> are closed. Pre-dip is provided through the pre-dip line <NUM>, and in the illustrated example, only the first inlet <NUM> of the first upstream valve <NUM> and its corresponding downstream valve <NUM> (<FIG>) are opened, and only an associated teat will receive pre-dip. This can occur while the other teats are being connected to the milking unit <NUM>. Therefore, the first inlet <NUM> of the other upstream valves <NUM> remain closed until the other teats are attached.

<FIG> illustrates the "dip chase" step in which the first inlet <NUM> of the upstream valves <NUM> are closed, but air and then rinsing fluid are allowed via the air valve <NUM> and the rinsing fluid valve <NUM>, respectively, to enter the conduit <NUM> and pass through the upstream valve second inlet <NUM> to <NUM> and through the downstream valves (again, not illustrated in this figure) and through the remaining flow path.

<FIG> illustrate a progression of valve positions that dispense post-dip teat dipping fluids through a manifold <NUM>, in accordance with the present invention. In <FIG>, the "good milk state", the upstream valves are closed and the downstream valves <NUM> (not illustrated in these figures) are also closed. The air valve <NUM> and rinsing fluid valve <NUM> are also closed. The conduit <NUM>, including the individual conduits <NUM> is monitored by the pressure monitor <NUM> for leaks. The individual conduits <NUM> are in communication with the rest of the conduit <NUM> because the second inlet <NUM> and the outlet <NUM> in the upstream valve <NUM> are open to one another.

<FIG> illustrates the next step, "post-dipping," during which the air valve <NUM> and the rinsing fluid valve <NUM> are closed. Post-dip is provided through the post-dip line <NUM>, and in the illustrated example, only the upstream valve <NUM> and its corresponding downstream valve <NUM> (<FIG>) are opened, and only an associated teat will receive post-dip.

<FIG> illustrates the "dip chase" step in which the first inlet <NUM> of the upstream valves <NUM> are closed, but air and then rinsing fluid are allowed via the air valve <NUM> and the rinsing fluid valve <NUM>, respectively, to enter the conduit <NUM> and pass through the second upstream valve inlet <NUM> to the outlet <NUM> and through the downstream valves (again, not illustrated in this figure) and through the remaining flow path.

<FIG> illustrates the next step, "backflushing," taking place by releasing rinsing fluid into the manifold <NUM>. In this configuration, the rinsing fluid vent <NUM> is closed and the rinsing fluid valve <NUM> is opened to permit rinsing fluid to pass through the rinsing fluid check valve <NUM> and into the conduit <NUM>, including the conduits <NUM>. The pressure monitor <NUM> can be used to check adequacy of the rinsing fluid supply, if desired.

Claim 1:
An automated milking stall unit (<NUM>) comprising:
a teat dip delivery system comprising an automated teat dip manifold (<NUM>), which comprises
a conduit (<NUM>, <NUM>) fluidically coupled to a rinsing fluid supply line (<NUM>) via a rinsing fluid valve (<NUM>) and fluidically coupled to an air supply line (<NUM>) via an air valve (<NUM>);
an upstream valve (<NUM>) having a closed position and an open position, wherein the upstream valve (<NUM>) is a two-position, three-way valve and has a first inlet (<NUM>) configured to receive teat dip, a second inlet (<NUM>) coupled to said conduit (<NUM>, <NUM>), and an outlet (<NUM>), wherein the second inlet (<NUM>) and the outlet (<NUM>) are open to each other when the upstream valve (<NUM>) is in the closed position;
a downstream valve (<NUM>) in fluid communication with said conduit (<NUM>, <NUM>) having a closed position and an open position, wherein the downstream valve (<NUM>) has an inlet (<NUM>) coupled to the outlet (<NUM>) of the upstream valve (<NUM>) and an outlet (<NUM>) coupled to a delivery line (<NUM>) and a vent (<NUM>) disposed between the inlet (<NUM>) and the outlet (<NUM>) to create a block-bleed-block arrangement; and
a pressure monitor (<NUM>) in communication with said conduit (<NUM>, <NUM>) to sense pressure in the conduit (<NUM>, <NUM>) when the upstream valve (<NUM>) is in the closed position and the downstream valve (<NUM>) is in the closed position; and
the automated milking stall unit comprising a controller (<NUM>) coupled to the upstream valve (<NUM>), the downstream valve (<NUM>), and the pressure monitor (<NUM>), wherein the controller (<NUM>) is configured to control the upstream and downstream valves (<NUM>, <NUM>) into the closed position, receive the sensed pressure in the conduit (<NUM>, <NUM>) from the pressure monitor (<NUM>) while the upstream valve (<NUM>) is closed to teat dip at inlet (<NUM>) and the downstream valve (<NUM>) is closed for all fluids except at the vent (<NUM>), and to deactivate all or any portions of the teat dip delivery system depending on the received sensed pressure in the conduit (<NUM>, <NUM>).