WO2000074472A1

WO2000074472A1 - Method and device for the automatic milking of animals in milking positions which move in a revolving path

Info

Publication number: WO2000074472A1
Application number: PCT/NL2000/000381
Authority: WO
Inventors: Pieter Adriaan Oosterling
Original assignee: Prolion BV
Current assignee: Prolion BV
Priority date: 1999-06-09
Filing date: 2000-06-05
Publication date: 2000-12-14
Anticipated expiration: 2001-12-09
Also published as: NL1012276C2

Abstract

The invention relates to a method and device for the automatic milking of animals. The animals which are to be milked enter a first milking position which moves in a revolving and preferably circular path to the last milking position. The movement of the milking positions is started as a function of the presence of animals, an animal leaving the last milking position and the automatic attachment of the milking cups.

Description

Method and device for the automatic milking of animals in milking positions which move in a revolving path

The invention relates to a method according to the preamble of Claim 1. A method of this type is known from EP 0 689 761. The drawback of the known method is that, owing to a preprogrammed revolving movement of the milking positions, animals sometimes remain in the milking positions for an unnecessarily long time, and consequently the capacity of the milking device is unnecessarily limited. In order to avoid the above drawback, the method is carried out in accordance with the characterizing feature of Claim 1. This enables the rotating movement of the milking positions to be adapted to the presence of animals in the various milking positions and to whether or not the connection of the milking cups is complete. There are therefore no unnecessary waiting times, and in this way capacity is increased. According to one embodiment, the method is carried out in accordance with Claim 2. This ensures that the movement of the milking positions starts even if some milking positions remain empty. This prevents the animals from having to remain in milking positions between the entrance and the exit for a long time after the milking of these animals has been completed.

According to a further refinement, the method is carried out in accordance with Claim 3. In this embodiment, use is made of the expected milk yield of the animals to establish the minimum time they must remain in the milking positions, so that the movement of the milking positions is adapted to the milking time required for the animals which are present.

According to one embodiment, the method is carried out in accordance with Claim 4. In this way, the milking cups can be automatically attached to the teats during the movement of the milking position and, if appropriate, immediately after an animal has entered the milking position, thus saving time and increasing the capacity of the device.

According to a refinement, the method is carried out in accordance with Claim 5. This ensures that the milking cups can always be connected, even if the first attempt has been unsuccessful, without the waiting times becoming excessively long.

The invention also comprises a device in accordance with Claim 6. This enables the attachment means to attach the milking cups during the movement of the milking positions, so that there is no need to wait until a milking position has reached the location of the attachment means, thus avoiding waiting time.

According to one embodiment, the device is designed in accordance with Claim 7. This makes it possible, in a simple way, for the milking cups to be attached at a subsequent location of the milking position if the attachment at the first location using the first set of attachment means has been unsuccessful. Consequently, milking remains possible even if the first set of attachment means should fail as a result of a fault or if attachment is unsuccessful for other reasons.

According to one embodiment, the device is designed in accordance with Claim 8. This makes the distance between the milking cups and collection vessel as short as possible, so that milking can be carried out in a very controlled way.

According to a further refinement, the device is designed in accordance with Claim 9. In this way, the quality of the milk can be determined before it is pumped further.

According to a further refinement, the device is designed in accordance with Claim 10. In this way, the milk can be pumped to suitable milking tanks according to the determined quality of the milk, so that the different grades of milk are separated immediately.

According to one embodiment, the device is designed in accordance with Claim II. The result is a smooth revolving path of the milking positions, with the movements with respect to the centre point being minimal and the milking position and the attachment means adopting stable positions with respect to one another. As a result, the attachment means are better able to follow the position of the teats.

According to one embodiment, the device is designed in accordance with Claim 12. This allows easy access to the milking positions from the outside. According to one embodiment, the device is designed in accordance with Claim 13. This makes it possible, in a simple manner, for the milking cups to be attached by hand if necessary, so that in the event of a fault milking can still be carried out without problems.

The invention is explained below on the basis of a number of exemplary embodiments and with reference to a drawing, in which: Figure 1 shows a diagrammatic plan view of a first embodiment of a milking device,

Figure 2 shows a detail of the entrance and exit of the milking device from Figure 1,

Figure 3 shows a plan view of a milking stall of the milking device from Figure 1, Figure 4 shows a back view of the milking stall from Figure 3,

Figure 5 shows a detail of the milk collection from Figures 1 and 2, and Figure 6 shows a diagrammatic plan v ew of a second embodiment of a milking device.

Figure 1 shows a milking device 2 for milking cows. The milking device 2 is located in a shed 1. The animals enter the milking device 2 in an entry direction E and leave the device 2 in an exit direction 0. The milking device 2 is connected to areas where the cows live, can walk around freely and can take feed and drink. The animals themselves select the time at which they wish to enter the milking device 2 in order to be milked. If appropriate, they pass a selection device (not snown) , where it is determined, on the basis of the identity of the animals, whether they can be admitted to the milking device 2 or whether they are sent back since they must wait for a further period of time.

An animal which is to be milked arrives at an access gate 4 via an access path 3. The access gate

4 is positioned along the edge of a circular path of milking stalls 5. The milking stalls 5 are connected to a centre point by means of coupling tubes 6 and are moved in a direction of rotation R about an axis of rotation 7 by a drive (not shown) . The milking stalls

5 are coupled to one another by coupling rods 19. The milking stalls 5 move in the circular path in such a manner that the time between entering a milking stall 5 via the access path 3 and leaving the milking stall 5 via an exit path 9 is sufficiently long for the animal to be milked. This means that the mean rotational speed can be greater the more milking stalls 5 there are and the more animals are being milked at the same time, but also if the milking time per animal is reduced due to a higher daily milking frequency.

The milking stalls 5 are each provided with an automatic milking device having milking cups 49 (cf. Fig. 3) which can be attached to the teats of the udder of an animal in the milking stall. For automatic attachment to the teats, an attachment robot 18 is positioned along the revolving path of the milking stalls 5, which robot can move along a rail 17 as the milking stall 5 moves in an arc and can start to attach the milking cups as soon as a cow has entered the milking stall 5, and, as the milking stalls 5 move, can follow this movement over the curved path for a certain time, so that all the milking cups can be attached without delay.

A platform 8 is arranged between the milking stalls 5, on the coupling tubes 6. On the platform 8 there is auxiliary equipment 21, for example a vacuum installation for milking. The rotating auxiliary unit 21 is connected, in a known way, to solid ground, means being provided for supplying current and water and transmitting control data to the rotating part of the milking device 2. Beneath the platform 8 there is a milking space 15 with a milk collection 16 for collecting the milk from each milking stall 5 and further transportation for storage. Between a number of milking stalls 5, there is space for gaining access to the platform 8. On the outer circumference of the rotating milking stalls 5, the openings between the milking stalls 5 are closed by means of a fence 20, in order to prevent animals from becoming stuck between the milking stalls 5. Around the outer circumference there is a stationary fence 12, by means of which the animals can be kept in the milking stalls 5 during the rotating movement.

Along the outer circumference of the path of the milking stalls 5, in the vicinity of the location where the milking cups are attached to the udders, there is an inspection space 14 with a sunken area, so that the udders of the animals passing by are more or less at eye level of staff positioned in this space. If appropriate, in the event of failure by the attachment robot 18, operating staff can attach the milking cups 49 by hand from this inspection space 14.

Along the outer circumference of the path of the movable milking stalls 5, there is a feed store 13, in which enticement feed is stored and from which when a milking stall 5 moves past a temporary store 32 which is present on the said stall (cf. Figure 3) is filled.

Cows which leave a milking stall 5 at the exit path 9 can return to the living area in the exit direction 0. If the control system decides to do so, for example on the basis of data collected during milking or on the basis of data on the quality of the milk, a segregation gate 11 is opened, through which the animal is guided into a segregation area 10. This may, for example, be necessary if certain discrepancies are observed during milking. The device is controlled by a control system

(not shown) which may be composed of various parts.

Part of the control system will be accommodated in each milking stall 5. Also, a number of control components will be arranged in the vicinity of the auxiliary unit

21, and also on the stationary floor of the milking device 2. These components and embodiments are known to the person skilled in the art.

Figure 2 shows the milking stalls 5 in the vicinity of the access path 3 and the exit path 9 in more detail. At the front, the milking stall 5 has a front fence 28, on the long side it has a side fence 30 and on the rear side it has a rear fence 29. On the rear side, the milking stalls 5 are provided with a milking rack 24 with milking cups having a handle 25 for pulling the milking rack 24 under the cow in the event of manual attachment. In the milking stall 5, a longitudinally adjustable feed trough 27 is arranged on the front and a bracket 26 is arranged on the side, for positioning a cow in the milking stall 5. During rotation, the second side of the milking stall 5 is delimited by the stationary fence 12. If appropriate, there are other means for positioning the cow.

In the situation in which a milking stall 5 has been positioned with respect to the access path 3, as shown in Figures 1 and 2, a cow can enter the milking stall 5 when the access gate 4 has been opened by the control system. The access gate 4 is closed when a cow has entered the milking stall 5 or when it is necessary to prevent an animal from entering the milking stall 5 since there is a risk of it becoming stuck between the moving fences and gates of the milking stall 5, such as the front fence 28, the rear fence 29 or the bracket 26. If appropriate, sensors (not shown) are arranged in the access gate 4 for detecting that the gate is closed, so that it is certain that there is no animal present. It is also possible to position a sensor 31 for detecting animals, so that they cannot become stuck. In the situation shown in Figures 1 ana 2, another animal can leave the milking stall 5 positioned in the vicinity of the exit path 9 along the exit path 9. To do this, it pushes open an exit gate 31, if appropriate after being stimulated to do so by ejection means (not shown) , and walks in the exit direction 0 or, if appropriate, to the segregation space 10. To prevent animals which are in the exit path 9 from turning round and entering the milking stall 5 in the wrong direction, the exit gate 31 is designed as a oneway gate. Also, if appropriate, the exit gate 31 is provided with sensors for detecting whether it has closed. There may also be a sensor 32 for detecting animals in order to prevent the possibility of an animal becoming stuck as a result of the rotary movement of the milking stalls 5. Naturally, the exit gate 31 may also be actuable by the control system with the aid, for example, of air cylinders.

If appropriate, the sensors 30 and 31 may also be designed as cameras. By means of the measures described above, it is possible for the animals to enter and leave the milking stalls 5 without supervision, with the result that the milking stalls 5 can move automatically along the revolving path and the milking device 2 can operate unmanned.

The milking stalls 5 move intermittently, with the milking stalls 5 always standing still for a period of time in order to allow the animals to enter or leave a milking stall 5. After the control unit has established that it is impossible for any animals to get jammed between the moving parts of the milking device 2 and the stationary parts, the milking stalls 5 are moved to the next position.

The milking stalls 5 are provided with detectors (not shown) for detecting the presence of an animal in the milking stall 5. If appropriate, these detectors are combined with an identification system for recognizing the identity of the animal which is present in tne milking stall 5. In another embodiment, these αata are established on entry to tne milking stall 5, and the identification system is positioned at the access gate & . Then, the data for the specific milking stall 5 are recorded in a memory of the control unit. There are also sensors for determining, in a known way, the rotational position of the milking stalls 5. In this way, the control unit establishes at which rotational positions of the milking stalls 5 there are animals in the milking stalls, if appropriate being milked. The control unit also stores the time at which milking began, so that it is also known, or is possible to calculate, how much longer an animal needs to be milked for.

To prevent an animal from having to remain in the milking stall 5 for an excessively long period after the end of milking, the milking stalls 5 are sometimes moved to the next position even if no cow has yet entered the milking stall 5 in the vicinity of the access path 3. This situation may, for example, arise during the evening, when fewer cows are being milked. It is also possible that the milking of an animal may take longer than expected. In this situation, the milking stall 5 holding the animal in question is held in a position in front of the exit gate 31 until milking is complete, and the system waits until milking has finished. If appropriate, the exit gate 31 is provided with means with which it can be kept closed, and the cow cannot leave the milking stall 5 until the milking cups have been removed. In this situation, milking can be ended while the milking stall 5 is in the position at the exit gate 31.

Figure 2 shows how, in the position at the exit path 9, the milking stall 5 is position in such a manner that the collected milk can be released into a milking collector 23 and contaminated rinsing water and any bad milk is released into a dirty-water collector 22.

In another embodiment (not shown) , each milking stall 5 can be provided in a known way with an entry gate and an exit gate wnich can be actuated by the control system and by means of which the animal is enclosed and, at the same time, is positioned in the milking stall 5. In that case, it is possible to dispense with the access gate 4, the exit gate 31 and the stationary fence 12.

Figure 3 shows a plan view of the milking stall 5. The milking stall 5 is composed of a self-supporting floor 51 which, with wheels 36, forms a trolley which can travel along the revolving path. The coupling tube 6 is attached to the floor 51. The front fence 28, rear fence 29 and side fence 30 are mounted on the floor 51. The feed trough 27 is fitted on the front and can be displaced in the longitudinal direction by means of an adjustment device 35, with the result that the length of the milking stall 5 can be adapted to the length of the animal which is to be milked.

Above the feed trough 27, there is a temporary store 32, from which enticement feed can be metered into the feed trough 27 by means of a metering pipe 34 in order to entice and keep calm the animals which are to be milked. The temporary store 32 is filled from the feed store 13 through a filling opening 33. To further improve the accessibility of the udder, a guide 50 is arranged on the floor.

The milking rack 24 is attached, by means of milkmg-rack arms 45, to a support point 46 which is mounted on the floor 51. Milking cups 49 are mounted on the milking rack 24. The robot arms 47 of the attachment robot 18 can be coupled to the milking rack 24, if appropriate together with the sensor 48, for positioning the milking cups 49 around the teats of the udder. The attachment robot 18 is provided with a gπpper 41 which can grip a positioning pin 42, so that the attachment robot 18 can follow the movements of the trolley over its revolving path. The attachment robot 18 in this case moves along the rails 17, which are diagrammatically indicated. To move along the rails 17 independently of the trolley, the attachment robot 18 is provided with a drive motor 52, while sensors (not shown) are present for prior coupling and positioning of the attachment robot 18 with respect to the milking stall 5 which is moving along a path. After the milking cups 49 have been attached, the drive motor 52 is also used to move the attachment robot 18 along the rails 17 towards the next milking stall 5 and for recoupling there.

In addition to the mechanical coupling shown here, it is also possible to make the attachment robot 18 follow the movements of the milking stall in a different way, for example using a tracking system in which a sensor follows the movements of a specific part of the trolley and maintains a constant distance therefrom by controlling the drive motor 52.

On the side of the floor 51, there is a milking glass 43 with an outlet 44 through which the milk can flow out of the milking glass 43 into the milk collector 23 (cf. Figure 2) when the milking stall 5 is in the correct position. Also, a vessel for dirty water

38 with an outlet 39 is attached to the floor 51, and is able to interact with the dirty-water collector 22.

A vessel for rinsing liquid 36 and a vacuum buffer 40 are also arranged on the floor 51. Due to the presence of the vacuum buffer 40 and the rinsing-liquid vessel 37, which are connected to the auxiliary equipment 21, the milking equipment can function more smoothly. Also, the milking equipment is provided with means for measuring the quality of the milk which has been taken and with the required sensor valves and other means for cleaning the teats, cleaning the milking cups, if appropriate cleaning the lines, as conventionally used in stationary stalls for automatic milking. Figure 4 shows a back view of the milking stall

5 from Figure 3, from which it can be seen that the rail 17 hangs from a gantry 55, so that the platform 8 can rotate freely, supported by the coupling tubes 6. The various components of the milking installation are diagrammatically indicated.

A shut-off valve 53 is shown in the outlet 44 from the milking glass 43. The various lines and shut-off valves for milk and vacuum are not shown in further detail.

The wheels 36 travel along a track 54, which is designed in such a manner that the forces exerted by the wheels can be absorbed. In the exemplary embodiment, the floor 51 is supported by four wheels 36. However, it is also possible to use two wheels. In this case, the coupling rods 19 may be designed in such a way that part of the weight of one trolley is supported by the wheels 36 of the other trolley, or the coupling tubes 6 are designed in such a way that tilting of the trolley about its longitudinal axis is prevented. The drive for the revolving trolleys is arranged in one of the trolleys, for example by driving one of the wheels 36. Figure 5 shows a detail of the milk collector.

After the shut-off valve 53 has been opened, the milk flows out of the milking vessel 43 and the outlet 44 via a funnel 56 to a collection vessel 59. The funnel 56 is attached to a container 57 which has been moved upwards with a cylinder 58 around the outlet 44 so that splashing of milk and contamination are prevented. There is a similar structure for collecting the dirty water flowing out of the outlet 39.

The milk is stored in the collection vessel 59 for a short time, for example approximately 30 seconds. If appropriate, the amount of milk is measured, and the quality of the milk is determined by a measuring device 60, if appropriate in combination with the measurement data obtained during milking, which are determined using sensors present in the milking cups 49, such as sensors for measuring the conductivity of the milk. The measurement data are used to determine to which tank connection 64 the milk will be pumped by a pump 61. A heat exchanger 62 is arranged between the tank connection 64 and the pump 61, so that the milk is cooled before it is introduced into the storage means.

Figure 6 shows a second exemplary embodiment of a milking device according to the invention. In this exemplary embodiment, the milking stalls 5 move intermittently along a revolving path in the direction of rotation R. The animals which are to be milked enter the milking stall 5 at the access path 3. Each milking stall 5 is provided with an access gate 4, by means of which the animal can be enclosed in the milking stall 5 in a predetermined way. Then, the milking stalls 5 move to the next position. In the next position, a first attachment robot 65 is situated adjacent to the milking stall 5, by means of which robot the milking cups 49 are positioned around the teats of the animal which is to be milked. After the milking cups have been attached, the milking stall 5 moves to the next position, in which a second attachment robot 66 is situated adjacent to the milking stall 5. This second attachment robot is also able to attach milking cups 49. This can take place in this location if attachment has not been completely finished by the first attachment robot 65 which has, for example, attached two milking cups 49 within the time available. The second attachment robot 66 will then connect the next two milking cups. It may also be the case that connection has to be repeated altogether, since the cow in the milking stall 5 has kicked off the milking cups 49. Another possibility is that the first attachment robot 65 is being serviced or repaired, in which case the second attachment robot 66 is entirely responsible for attachment.

Figure 6 shows that the first attachment robot 65 and the second attachment robot 66 are positioned on the inside along the path of the milking stalls 5. For this purpose, they are each attached to a gantry 55. In another embodiment, the attachment robots 65 and 66 may be positioned on the outside along the path. It is also possible for the attachment robots 65 and 66 to be positioned on different sides of the path of the milking stalls 5, if appropriate opposite one another or, if appropriate, at the successive positions of the milking stall 5. As is clear from the above text, it is essential that each of the attachment robots 65 and 66 are independently able to attach all the milking cups 49 around the teats, so that they are fully interchangeable. The control system required for attachment and the necessary sensors are also present in duplicate.

The exit gate 31 is opened after the milking stalls 5 have been moved sufficiently far for a milking stall 5 holding an animal which has been milked to reach the exit path 9 and after milking has been completed, so that the milked animal can leave the milking stall 5.

Other embodiments of the invention are also possible, in addition to the variation described in the exemplary embodiments. For example, it is possible, instead of the separate milking stalls 5 for milking, to use a rotating platform on which the animals select their own milking position after they have entered the platform, after which the milking cups are automatically attached to the teats of the udder. If appropriate, after the animal has taken its place at a feeding trough, it is enclosed, for example, by a movable bracket. In this embodiment, it is also possible for the platform to rotate continuously, if the design prevents animals from becoming trapped. If appropriate, in this case, the rotation of the platform is stopped if a cow in the vicinity of the exit has not yet been fully milked and not all the milking cups have yet been removed from the udder. According to a refinement which is not shown, it is also possible, in the first embodiment, to refit a milking cup if it has become detached. In this situation, the attachment robot 18 and the corresponding animal are moved towards one another, for example by making the rail 17 very long and allowing it to pass a number of positions, or by moving the animals in the opposite direction. In the latter case, measures are taken to prevent the animals from being able to leave the milking stalls 5 too early at the exit path 9.

In addition to the abovementioned exemplary embodiments with milking stalls which follow a circular path, the invention can also readily be applied to the situation in which the milking stalls follow a path which is not circular and is, for example, adapted to the shape of the space available, with milking stalls following a specific path, for example by being guided along a rail.

Claims

1, Method for automatically milking animals in a milking device (2), the animals being milked in milking positions (5) which can move in a revolving and optionally circular path, a milking position being entered by an animal when it is at an entrance (3, 4) and being left by the animal when it is at an exit (9, 31), and milking cups (49) being attached to the teats of the udder by automatic attachment means (18) in the milking positions, characterized in that when at least one animal is present in the milking positions between the entrance (3, 4) and the exit (9, 31), the milking positions (5) are moved in the revolving path once the milking position at the exit (9, 31) is empty and the automatic attachment means (18) have finished attaching milking cups (49), if an animal is suitable for milking.

2. Method according to one of the preceding claims, characterized in that the movement of the milking positions (5) is started if the expected residence time of animals in the milking positions is longer than a permissible level.

3. Method according to Claim 2, characterized in that the permissible level is partly determined with reference to the expected milk yield of animals which are in the milking positions (5).

4. Method according to one of the preceding claims, characterized in that the automatic attachment means (18), during the attachment of the milking cups (49) to the teats of an animal, are coupled to the milking position (5) in which the animal is located.

5. Method according to one of the preceding claims, characterized in that two sets of automatic attachment means (65, 66) are arranged along the path of the milking positions (5) , and the milking cups (49) are attached by the second set of attachment means (66) after it has been observed that attachment by the first set of attachment means (65) is not possible or has been unsuccessful.

6. Device for carrying out a method according to one of the preceding claims, characterized in that the automatic attachment means (18) comprise guide means

(17) for moving along a path past the milking positions

(5) and coupling means (41, 42) for coupling the movements of the automatic attachment means and the milking positions.

7. Device for carrying out a method according to one of Claims 1-5, characterized in that two sets of attachment means (65, 66), which can connect the milking cups (49) independently of one another, are positioned along the path of the milking positions (5) .

8. Device according to Claim 6 or 7, characterized in that each milking position (5) comprises a mobile storage vessel (43) for temporary storage of milk, and preferably measurement means for determining properties of milk which has been collected in the mobile storage vessel.

9. Device according to Claim 8, characterized in that stationary storage means (22) are provided for storing milk which has been collected from the mobile storage vessel (43) , having a stationary collection vessel (59) and means (60) for determining the quality of milk collected from the mobile storage vessel (43).

10. Device according to Claim 9, characterized in that the stationary collection vessel (59) is provided with selection means (63) for conveying the milk to different storage means as a function of the quality of the milk.

11. Device according to one of Claims 6-10, characterized in that each milking position (5) comprises a trolley (51) which is connected by coupling means (6) to a centre point (7) .

12. Device according to Claim 11, characterized in that the automatic attachment means (18) are fixed to the inside of the milking positions, on a support member (17, 55) above the revolving path of the milking positions (5) and/or the coupling means (6).

13. Device according to one of Claims 6-12, characterized in that a working space (14) with a sunken floor is located opposite the automatic attachment means (18) along the path of the milking positions (5), for manually attaching the milking cups (49) to the udder.