Patent Grant
10849304
The invention relates to a space divider of a milking parlor arrangement. The invention also refers to a milking parlor arrangement.
A milking parlor arrangement of this type is used for mechanically milking milk-producing animals. Examples of milk-producing animals include cows, goats, sheep, etc. The milking parlor arrangement has milking parlors which are separated by space dividers. The milking operation can be automated by means of what are referred to as milking robots. Rotary milking parlors, for example, are used.
The term milking parlor arrangement is understood as meaning arrangements of milking parlors, wherein an angular position of an animal to be milked or an angular position of an imaginary longitudinal axis of an animal to be milked in a milking parlor with respect to a reference point or a reference line can be between 0° and 90°. A pit or an area occupied by the milking staff is used, for example, as a reference point. The longitudinal side of a straight pit or a tangent of a circular pit is used, for example, as a reference line.
Milking parlor arrangements are, for example, movable and immovable milking parlor arrangements. Movable milking parlor arrangements are, for example, rotary milking parlors in the form of external milking means and internal milking means, both types with an arbitrary direction of rotation. What are referred to as side-by-side milking parlors can also be designed as movable milking parlor arrangements. Furthermore, group milking parlors, such as, for example, herringbone milking parlors and tandem milking parlors, are also immovable. This listing is only by way of example and is not limiting.
EP 1 084 611 B1 describes a robot arm structure with a pivotable supporting unit for a milking cluster. The structure is movable on one or more rails along one or more milking boxes.
The existing automation technology is not suitable, or is suitable only to a limited extent, for large installations because of a low throughput. The ever more stringent requirements in particular for high throughput figures and continuous operation necessitate, in the case of modern milking robots, which are complex and expensive, common use for several milking stalls. This may have a disadvantageous effect, among other things because of a high degree of complexity and associated high failure probability, discontinuous operation, areas blocked to the staff (safety in the robot area).
Against this background, it is the object of the invention to provide an improved arrangement and a milking parlor and to improve the possible installation throughput.
A space divider according to the invention of a milking parlor arrangement for at least one milking parlor for milking milk-producing animals, wherein the space divider is arranged approximately parallel to a longitudinal axis of the animal to be milked, has an with a milking cluster, which is adjustable from a parking position into a working position and back. The arm device here with the milking cluster is arranged in the parking position in the space divider and is adjustable into the working position laterally with respect to the animal to be milked between the front and hind legs thereof in fully automatic operation or semi-automatic operation.
A further space divider according to the invention of a milking parlor arrangement for at least one milking parlor for milking milk-producing animals is arranged on a longitudinal side of the milking parlor and has an arm device with a milking cluster, which is adjustable from a parking position into a working position and back. The arm device with the milking cluster is arranged in the parking position in the space divider and is adjustable into the working position laterally with respect to an animal to be milked between the front and hind legs thereof in fully automatic operation or semi-automatic operation.
In the case of a milking parlor arrangement with rectangular milking parlors which are arranged next to one another and in each case have parallel longitudinal sides, as is the case, for example, in a side-by-side arrangement, the space divider is arranged parallel to an imaginary longitudinal axis of the animal to be milked. In this case, it is assumed for the purposes of simplification that, in an ideal state, the animal to be milked stands still with its imaginary longitudinal axis during the milking operation.
In the case of a milking parlor arrangement with milking parlors arranged in a circular manner, such as in the case of a rotary milking parlor, the longitudinal sides of the milking parlors are not parallel. In this case, the longitudinal sides are portions of radii of a circle of the rotary milking parlor and, in an imaginary extension, intersect in the center point of said circle or in the pivot point of the rotary milking parlor, where they form a center angle. In the ideal case, the imaginary longitudinal axis of the animal to be milked also extends through the pivot point and bisects the center angle. This case is abbreviated hereinbelow by the term “approximately parallel”.
An animal to be milked can enter the milking parlor, which is provided with the space divider, without coming into contact with the arm device. Only when the animal is in the milking parlor is the milking cluster adjusted from the side into the working position under the animal. In one embodiment, the space divider is designed in such a manner that no additional space is required. As a result, the advantage is afforded that the animals can continue to stand belly to belly. This has further advantages: firstly, in this way a large number of animals can be milked in the smallest possible space, as a result of which costs for the milking parlor arrangement and also for the associated building can be kept low. Secondly, the distances to be covered by the milking staff and the animals remain shorter, i.e. time is saved.
With the adjusting of the arm device with the milking cluster from the side between the front legs and hind legs under the udder of the animal, the milking cluster is moved outside the region between the hind legs. In the region between the hind legs, there is a greatly increased risk of contamination by animal excrement. This region is now avoided, which considerably reduces contamination of the milking cluster and of the arm device. As a result, cleaning times and therefore costs are also saved.
A further advantage of this compact method of construction is that it is possible to retrofit the space divider into existing installations without losing milking parlors/milking stalls.
Staff can intervene in the milking operation at any time and without being obstructed by devices, i.e. the supporting arm device and accessories, and has easy access. Additional protection devices are not required. If the milking parlor arrangement is a rotary milking parlor, the latter can maintain the rotation thereof without interruption since the milking staff are able to intervene, for example, anywhere from the outside. Any risk to the milking staff is considerably reduced.
In one embodiment, in the fully automatic operation, the arm device is adjustable from the parking position in the working position into a positioning position for automatically positioning the milking cluster onto the teats of the animal to be milked, wherein the milking cluster has at least one position sensor. The milking cluster is moved here by the arm device under the udder of the animal to be milked, and the teat cups are automatically positioned onto the teats with the aid of the position sensor for detecting the teats, the arm device and the drive unit. This operation is also referred to as an automatic operation.
Each of the teat cups here can be positioned individually.
Alternatively, it is provided, in another embodiment, that, in the semi-automatic operation, the arm device is adjustable from the parking position into the working position, wherein the working position is a fixed preliminary position which can be determined beforehand by stop means, wherein, in the preliminary position, the milking cluster is in a position favorable for a milker, but also for a robot device. The milking cluster here is adjusted with the aid of simple drive means, for example pneumatic cylinders, provided with adjustable stops into a fixed preliminary position, which is favorable in terms of handling for the milking staff or the robot device, under the udder of the animal to be milked. The milker standing behind the animal can then simply and easily grasp the teat cups and position them onto the teats. As soon as the first teat cup is positioned on a teat, this is identified, for example, with the aid of a pneumatic pressure sensor and the milking cluster is released from the fixed preliminary position into a free horizontal position. In a vertical position, the milking cluster remains in a suspended position, as in the case of the automatic positioning. It is thus ensured that, as in the case of the automatic positioning, after the positioning operation the milking cluster follows the movement of the animal to be milked.
In this what is referred to as semi-automatic milking, said preliminary positioning of the milking cluster with the arm device is designed in such a manner that the milker only has to move the teat cups very slightly for positioning on the teats and has to expend almost no force. This saves on force and time. Since, in this embodiment, neither a position sensor nor a drive device for activating all of the teat positions is required, but rather only a simple drive is required, this embodiment can advantageously be cost-effective. A further advantage here is that this semi-automatic embodiment can be upgraded into the automatic embodiment. This is possible because of a plurality of identical components.
In one embodiment, in the parking position and in the preliminary position, the teat cups of the milking cluster are held upright and close to one another above a collecting piece at a distance from said collecting piece, wherein the teat cups of the milking cluster are releasable to a limited extent from the preliminary position into a milking position, in which the teat cups of the milking cluster are movable to a limited extent, and therefore the distance of the teat cups of the milking cluster from the collecting piece is increased in the milking position, and are bringable back again into the preliminary position. In the preliminary position, the teat cups are thus brought into what is referred to as a presentation position close to one another for easy and rapid grasping by a milker or a robot. Said teat cups here can all be grasped at once.
The distance here of each teat cup in the parking position and in the preliminary position from the collecting piece is determined by in each case at least one segment element which is arranged in each case between each teat cup and the collecting piece. It is advantageous here if the at least one segment element has a passage through which at least one traction mechanism is guided, said traction mechanism being fastened by one end to the associated teat cup and being coupled by the other end to an actuating device. Such a traction mechanism can thus be integrated easily and in a space-saving manner.
In a further embodiment, the at least one traction mechanism can be tensioned by means of the actuating device in the parking position and in the preliminary position, wherein, in the parking position and in the preliminary position, the associated teat cup of the milking cluster is held upright above the collecting piece at the distance from said collecting piece. It is advantageous here that the traction mechanism is, for example, a cable or a chain which is easily tensionable.
In another embodiment, the collecting piece is fastened to a milking cluster carrier at a connection between the collecting piece and the milking cluster carrier, wherein said connection is held firmly together in the parking position and in the preliminary position and is loosened in the milking position. It is furthermore advantageous in this connection that, in the milking position, the collecting piece is loosened in such a manner that it is movable within certain limits relative to the milking cluster carrier. The advantage of this embodiment consists in that, with a small stroke of the actuating device, which may amount to, for example, 15-20 mm, not only can a maximum freedom of movement of the teat cups in the milking position be achieved, but also a possibility of moving the collecting piece relative to the milking cluster carrier, in a manner limited, for example, by a slotted guide, can make it easier, for example, to position the teat cups, in particular in the case of what are referred to as stepped udders.
In one embodiment, the actuating means is a pneumatic cylinder, a hydraulic cylinder or an electric motor drive.
The arm device has an upper arm and a lower arm which is coupled pivotably thereto. This results in a collapsible construction which, in the parking position, is accommodated and protected in the space divider.
In another embodiment, the lower arm can be designed as a milking cluster carrier with the milking cluster, and therefore a simple and compact construction, in particular for a semi-automatic embodiment, is produced.
In one embodiment, the arm device is connected to a drive unit which is arranged on the space divider outside the reach of, or above, the animal to be milked. However, the drive unit may also be arranged below a milking platform. All of the drive and control elements can therefore be provided in a central and integrated manner in the space divider.
In a further embodiment, the drive device has at least one servomotor. The at least one servomotor can be coupled to a suitable gearing. In yet another embodiment, the drive device has at least one direct drive.
If the drive unit has at least one torque motor, a certain degree of elasticity is produced. Overload protection of the arm device can therefore be assisted, for example against kicking by the animal to be milked. Since the torque motors do not require a gearing, the arm device can recede to a certain extent in the event of being kicked. Damage is reduced, both to the arm device and to the animal. The torque motors can yield when the arm device is manipulated, for example by being touched by the animal's legs. Furthermore, emergency milking is also possible if the milking cluster has to be applied by the milker without any current, since resistances of gearing and motor do not have to be overcome in the process. Even if the torque motors are currentless in terms of drive, the angle sensors thereof can be switched on, as a result of which information is always present about the position thereof and the position of the arm device with the milking cluster.
Of course, other drives, for example pneumatic cylinders, can also be used.
A further advantage here is that, as soon as all of the teat cups have been positioned on the teats of the udder, the motors can be switched currentlessly. And, as a result, smooth running of the arm device is achieved, and therefore the milking cluster can follow the movements of the animal. Negative lever forces are thereby not produced on the teats of the udder of the animal.
A further advantage of this what is referred to as passive tracking in contrast to active tracking with the aid of the drive unit is a large saving on energy, since energy is required only for the positioning of the milking cluster. This may be, for example, only approx. 5% of the milking time of an animal.
In a further embodiment, in the parking position, the arm device with the milking cluster is arranged in the space divider in an opening in a cladding of the space divider (4). This produces a compact and narrow construction.
In an alternative, the arm device with the milking cluster can be arranged in the parking position within a section of the space divider that is arranged below the milking parlor. Said section of the space divider can be formed here through a milking platform or around an edge thereof. For this purpose, the milking platform can also have a suitable cutout.
Furthermore, the opening in the cladding of the space divider with the arm device, which is arranged therein in the parking position and has the milking cluster, can be closeable with a protective covering. As a result, a risk of injury to the animals, in particular to unsettled animals, can be reduced.
In a further embodiment, a cleaning device for the milking cluster can be arranged in the space divider. The term cleaning device is also to be understood as meaning that the teat cups can be cleaned internally and externally. Of course, disinfection before and after milking is also possible. The milking cluster can also be disinfected in between. As a result, the compact construction is improved with additional functions. A requirement of time for the cleaning is reduced, i.e. movement distances to cleaning points are dispensed with, since this can be undertaken in situ.
In addition, a teat treatment device which disinfects the teats before and after milking can also be provided on the milking cluster.
In another embodiment, the arm device can have a parallel guide for the milking cluster. If the parallel guide has sliding rods and/or coupling rods, or is formed from parallel guide driving elements, neither measuring systems nor driving systems are necessary for a parallel guide. A narrow and space-saving construction is particularly advantageous if the parallel guide is arranged within the arms of the arm device. In addition, additional protection devices are not required.
In another embodiment, the parallel guide driving elements can be traction mechanisms, such as, for example, belts. The latter can assist the overload protection.
In a further embodiment, the arm device has at least one traction mechanism drive. Belts as traction mechanisms are extremely quiet. Toothed belts are advantageous for precise positioning.
In yet another embodiment, the space divider together with the functional units and components thereof forms a preassembled, complete unit. As a result, rapid installation and removal and also retrofitting of existing milking parlor arrangements can easily take place. The functional units and components of the space divider are the arm device and the milking cluster. Further ones can be the drive unit(s), the cleaning device, the protective covering, etc.
A milking parlor arrangement for milking milk-producing animals can be provided with the above-described space divider.
An alternative milking parlor arrangement with at least one milking parlor for milking milk-producing animals, and with at least one space divider, wherein the space divider is arranged approximately parallel to a longitudinal axis of the animal to be milked, said milking parlor arrangement comprising an arm device with a milking cluster, which is adjustable from a parking position into a working position and back, is designed in such a manner that, in the parking position, the arm device with the milking cluster is arranged below a milking platform and is adjustable into the working position behind the animal to be milked between or behind the hind legs thereof.
A further embodiment of a milking parlor arrangement with at least one milking parlor for milking milk-producing animals, and with at least one space divider is designed in such a manner that the space divider is arranged on a longitudinal side of the milking parlor. Said milking parlor arrangement has an arm device with a milking cluster, which is adjustable from a parking position into a working position and back. In the parking position, the arm device with the milking cluster is arranged below a milking platform and is adjustable into the working position behind the animal to be milked between or behind the hind legs thereof.
An even narrower embodiment of the space divider can thus be made possible.
The term “behind the hind legs thereof” is to be understood as meaning that it is not the region below the animal, i.e. below the belly thereof between hind legs and front legs, which is meant by this, but rather the region behind the animal.
In a further embodiment, in semi-automatic operation, the arm device is adjustable from the parking position into the working position, wherein the working position is a fixed preliminary position which is determinable beforehand by stop means, wherein, in the preliminary position, the milking cluster is in a favorable position for a milker or for a robot device. It is thus possible for milkers and robots to execute the positioning operation in an identical arrangement, and therefore the versatility is increased.
If the arm device is pivotable about a horizontal axis from the parking position into the working position and back, the region above the milking platform can be kept completely free during circulation of the animals. In addition, the arm device is invisible to the animal.
In a further embodiment, it is provided that, in the parking position of the arm device, the milking cluster connected to the arm device is bringable into contact with a cleaning device, as a result of which a saving on space and a reduction in movement operations are obtained.
In yet another embodiment, in the parking position, the milking cluster connected to the arm device is arranged upside-down. This produces a simplified and space-saving design.
In addition, the at least one drive unit of the arm device can be arranged in the space divider.
In another embodiment, at least one robot device is provided, said robot device being designed for positioning the milking cluster in the preliminary position from the working position onto the teats of the udder of an animal to be milked. The robot device can grasp and position the milking cluster, which is in the preliminary position, with respect to the animal from the front through the legs, laterally, from below or from the rear. This results in great versatility of use.
The milking parlor arrangement can be a rotary milking parlor. The rotary milking parlor can be designed as an external rotary milking parlor.
Further developments and refinements of the milking cluster and of the milking parlor are the subject matter of the respective dependent claims.
Further advantages and details emerge from the exemplary embodiment illustrated in the figures of the drawing, in which:
a show schematic views of a second exemplary embodiment of the milking parlor arrangement according to the invention with the space dividers according to the invention;
Identical or similar functional elements are provided with identical reference signs in the figures. A vertical direction z is specified in some figures.
The milking parlor arrangement 1 is constructed in the manner of what is referred to as an external rotary milking parlor. The animals to be milked stand here with their heads directed toward a center, i.e. a pivot point 2. The rotary parlor is rotatable here in a clockwise direction about the pivot point 2. Of course, in another embodiment, the rotary parlor can also be rotatable counterclockwise. In this example, thirty-six milking parlors 3 are arranged on the circumference of the rotary parlor and are separated by space dividers 4. The space dividers 4 are also referred to, for example, as space dividers and are oriented approximately parallel to the longitudinal axis of an animal to be milked. The milking parlor arrangement 1 is used for mechanically milking milk-producing animals, for example cows, by means of milking clusters 5. A milking cluster 5 is provided in each case for each milking parlor 3, said milking cluster being adjustable via an arm device 6 from a parking position into a working position under the udder of an animal to be milked, for example a cow, in a milking parlor 3. Each milking cluster 5 is arranged within a space divider 4. The positions will be explained in more detail below.
The animals can enter the rotary parlor via an entry 7 and can leave again via an exit 8. After an animal has entered a milking parlor 3, it is important for the animal to take up a predefined position. This is achieved by the space dividers 4 forming a restricted milking parlor 3. When the animal is standing in the milking parlor 3, the milking cluster 5 is adjusted, preferably within a circular portion, which is referred to here as the positioning region a, from the parking position in the space divider 4 into the working position from the side of the animal between the front legs and hind legs thereof under the udder of the animal and is positioned on said udder with the aid of a position sensor 13 (
On the outer circumference of the milking parlor arrangement 1, all of the milking parlors 3 are freely accessible by a milker, and therefore said milker is able to intervene in a milking operation at any time. This working region is therefore kept free of additional devices. Risk to the milker is minimized. The rotary milking parlor can remain constantly in rotation.
The milking cluster 5 is moved laterally toward the animal to be milked in the milking parlor 3 and is positioned from the side of the animal under the udder thereof.
The arm device 6 has an upper arm 10 and a lower arm 11 and has the function of supporting the milking cluster 5 so as to balance the weight and to be smooth-running such that it follows the movements of the animal to be milked.
A detailed description of the arm device 6 is provided below in more detail in various variations.
a illustrate schematic views of a second exemplary embodiment of the milking parlor arrangement 1′ according to the invention with the space dividers 4 according to the invention.
Two U-shaped passageways, which are separated by what is referred to as a pit G, are arranged in a mirror-inverted manner here. The pit G is the area occupied by a milker who, from here, can monitor the milking on both sides and can intervene in a helpful manner without being obstructed by the movement of the arm devices 6.
The space divider 4 here is designed as a housing in which the entire actuator technology for the arm device 6 and the milking cluster 5, and also control elements and drive units, are arranged. The space divider 4 is thus a complete unit which can be preassembled at a given location and is completely interchangeable or retrofittable.
The space divider 4 here is a tubular structure with a front post 4a, which is slightly inclined, and a rear post 4b. The posts 4a, 4b are connected via a horizontally extending horizontal bar 4c. At approximately half-height, the posts 4a, 4b are enveloped by a cladding 4d which extends approximately down to the feet of the posts 4a, 4b. The posts 4a, 4b and the horizontal bar 4c can also be produced integrally from bent tube. An opening 4e is made in the front half of the cladding 4d, as a result of which a receptacle is produced in the cladding 4d within the space divider 4, which receptacle can also bulge toward the sides (see, for example,
The milking cluster 5 is attached to the lower arm 11 of the arm device 6. In this exemplary embodiment, the milking cluster 5 has four teat cups 5a. Each of the four teat cups 5a can take up a different position independently of one another and can be automatically fixed or connected so as to be freely movable. Consequently, the teat cups 5a can take up individual positions in the positioned state, since the teat cups 5a are positioned individually. In addition, individual teat cup pre-positioning (not illustrated), by means of which a plurality of teat cups can then be positioned simultaneously, is also conceivable.
The milking cluster 5 is also provided with a position sensor 13 which is designed here as a three-dimensional optical sensor. The position sensor 13 is used to adjust the milking cluster 5 from the parking position into the working position according to
The milking cluster 5 can take up different positions in the working position. A positioning position serves, for example, to position the teat cups 5a in such a manner that said teat cups can in each case be suspended on a corresponding teat of an animal to be milked. During the milking operation, the arm device 6 supports the milking cluster 5 in such a manner that the weight of the milking cluster does not adversely affect the milking operation. After milking has ended, the teat cups 5a are released again from the udder of the milked animal.
The movement operations of the arm device 6 and of the milking cluster 5 are controlled by means of a control device, which is not shown here. The control device is connected to the position sensor 13 and to the drive unit 9. In this exemplary embodiment, the drive unit 9 is mounted on an upper end of an upper arm drive shaft 12 which has a vertical axis z1. The upper arm drive shaft 12 and, with the latter, the drive unit 9 and the arm device 6 with the milking cluster 5 are fastened on the horizontal bar 4c of the space divider 4 in a guide unit 18 and are guided in a rotatory manner and also in a vertically adjustable manner. The upper arm drive shaft 12 is fixedly connected by the lower end thereof to an end of the upper arm 10 of the arm device 6. The upper arm shaft 12 is coupled at the upper end thereof to a drive of the drive unit 9. A further shaft for driving the lower arm 11, which shaft is drivable by a further drive of the drive unit 9, is arranged in the upper arm shaft 12, which is designed as a hollow shaft. The upper arm drive shaft 12 and the arm device 6, which is connected to the latter and has the milking cluster 5, are vertically adjustable by a vertical drive 15 (see
The drives of the drive unit 9 can be realized in a different way, such as, for example, as servomotors with corresponding gearings, but also direct drive motors are possible. In addition, said drives are designed, for example, as what are referred to as torque motors, as a result of which a certain elasticity of the arm device 6 and of the milking cluster 5 is achieved. It is possible, for example, to cushion kicking by the animal to be milked.
Both the upper arm 10 and the lower arm 11 are thereby drivable in a specific manner independently of each other. The upper arm 10 and the lower arm 11 are pivotable relative to each other about a vertical axis z2. In addition, the lower arm 11 is connected pivotably here to the milking cluster 5 via a joint with a vertical axis z3. The vertical axes z1, z2 and z3 are arranged parallel to one another.
In one embodiment, the lower arm 11 and also the milking cluster 5 (in one embodiment, the lower arm 11 can also be at the same time the milking cluster carrier, which is explained in more detail below) can be pivotable without a dedicated drive by means of parallel guides 37 by the pivoting movement of the upper arm 10. For this purpose, for example, only one pivoting drive 14 of the drive unit 9 is required (see
The drive unit 9 here is arranged in the upper region of the space divider 4 above an animal to be milked and outside the reach thereof. This firstly has the advantage that the drive unit 9 does not lie in the region at risk from kicking. In addition, the upper region above the animal is better protected from moisture and the damage associated therewith. Furthermore, the particularly narrow structural form of the space divider 4 is therefore also possible. The arm device 6 with the milking cluster 5 is arranged in the lower region of the space divider 4 in such a manner that a required pivoting of the arm device 6 with the milking cluster 5 can take place from the side below the belly of an animal to be milked. In this case, the legs of the animal to be milked cannot be affected either.
In the parking position of the milking cluster 5 and of the arm device 6 within the cladding 4d of the space divider 4, the milking cluster 5 can be moved under a cleaning device 17 which is described in more detail below.
The space divider 4 according to the invention with the arm device 6 in the parking position is illustrated in a top view in
A start of milking is initiated by the control device having determined that the animal to be milked is in the milking position. This can be determined, for example, by camera or foot sensors, proximity sensors and the like. The milking begins with the positioning operation in the working position of the milking cluster 5. A rough positioning vertically can take place by means of a pneumatic cylinder as the vertical drive 20. A relative positioning of the teat cups onto the teats of the udder of the animal to be milked then takes place, with a positioning being undertaken with the position sensor 13 by the arm device 6 undertaking precise positioning of the milking cluster 5.
The animal T stands with its side tightly against the space divider 4, with an imaginary longitudinal axis of the animal T running approximately parallel to the longitudinal axis of the space divider 4. The lower side of the animal T having an udder 26 with four teats 26a is illustrated here.
In this variation of the arm device 6, the lower arm is designed as a milking cluster carrier 5b and the joint with the vertical axis z3 is not present. The upper arm 10 is connected to the one end of the milking cluster carrier 5b in an articulated manner about the vertical axis z2. The milking cluster 5, which is described in more detail below, is fastened to the other end of the milking cluster carrier 5b.
In
A start of milking can be initiated by the control device having determined that the animal T to be milked is in the milking position. The milking with this arm device 6 then begins such that the arm device 6 moves the milking cluster 5 into the working position (shown in
In the working position according to
Simple drives, such as, for example, compressed air cylinders, can be used here as the pivoting drive 14 and vertical drive 15. Of course, combinations with the motors referred to above are also possible.
In this embodiment, positioning with the position sensor 13 is not required. The position sensor 13 can either carry out rough positioning under the udder 26 below the animal T or can be entirely omitted. This is what is referred to as semi-automatic operation.
The milking cluster 5 used here is a conventional milking cluster 5 which is shown in
The milking cluster 5 here has four teat cups 5a which are also referred to as milking cups. The functions of teat cleaning, pre-dipping and post-dipping are integrated in the milking cluster 5.
In the example illustrated, the milking cluster carrier 5b is designed as a square rectangular tube, wherein the end with the joint and the vertical axis z2 as a means of coupling to the upper arm 10 of the arm device 6 is not shown. The other end of the milking cluster carrier 5b is connected to a collecting piece 27 which is preferably designed as a milk collecting piece according to DE 10 2008 063 715 A1 (since a milking vacuum here is released only when the teat cups are positioned onto the teats 26a). The description of the function of such a milk collecting piece can be gathered from DE 10 2008 063 715 A1.
The connection between the milking cluster carrier 5b and the collecting piece 27 is shown as a fixed connection in
Each of the four teat cups 5a is connected by the lower side thereof in a connecting section 5a-28 via an end piece 28a to a hose unit 28 which, for its part, is connected by a further, different end piece 28b to the collecting piece 27. Furthermore, each teat cup 5a is fastened on the lower side thereof, next to each end piece 28a of the respective hose unit 28, by one end of a traction mechanism 31, which is guided through a rigid segment element 29 (also referred to as center element), in a connecting section 5a-29. The traction mechanisms 31 can be, for example, cables, chains. Each segment element 29 here is of rectilinear design and has a crescent-shaped or banana-like cross section (see
The end section 29a of a respective segment element 29 is in contact with the connecting section 5a-29 of the respective teat cup 5a in the preliminary position by means of the tensile force of the traction mechanism 31 in such a manner that an external cone 29e of the end section 29a is in contact with an internal cone K′ of the connecting section 5a-29, with centering being brought about (
In the preliminary position, the end section 29b of a respective segment element 29 is in contact, on the upper side of the collecting piece 27, with a centering section 27e with a passage opening next to the end piece 28b of the associated hose unit 28 by means of the tensile force of the traction mechanism 31. The centering section 27e has an external cone K which corresponds to, and interacts with, an internal cone of the end section 29b of the segment element (
The respective traction mechanism 31, which emerges from the lower end of the segment element 29, is guided through the passage opening in the centering section 27e and then extends below the upper side of the collecting piece 27 into the milking cluster carrier 5b through the connection thereto. Furthermore, the traction mechanism 31 is coupled with the end thereof and with the ends of the other traction mechanisms 31 together to one end of an actuating bar 30a of an actuating device 30, for example a double-acting or rearwardly acting compressed air cylinder. The actuating device 30 is arranged within the milking cluster carrier 5b, which can be seen by a partially broken-open illustration of the milking cluster carrier 5b.
Not only in the parking position, but also in the preliminary position or gripping position in
In the release position or milking position (
In the variation according to
The recess 5e which is in the form of an elongated hole extends here in the longitudinal direction of the milking carrier 5b, and guides the guide element 27b to a limited extent through the elongated hole.
In the tensioned position of the traction mechanisms 31 that is shown in
The milking parlors 3 of this exemplary embodiment can be milking parlor arrangements 1 according to
The arm device 6′ is arranged on the outer edge of the milking platform 1b, on the lower side 1a thereof below the slot 1d and below an end region of the bridge 1c. The arm device 6′ has a retaining arm 33 which is mounted at an upper end in the lower region of the slot 1d at a joint with a horizontal axis 34, which runs tangentially to the milking platform 1b, which is circular here, so as to be pivotable about said horizontal axis 34. This joint with the horizontal axis can be arranged on, or fastened to, the milking platform 1b or a section of the space divider 4. The retaining arm 33 is fixedly connected at the lower end thereof to the milking cluster carrier 5b in such a manner that the milking cluster carrier 5b is arranged at right angles to the retaining arm 33 and the milking cluster 5, which is attached to the milking cluster carrier 5b and has the teat cups 5a, points downward in this parking position. The retaining arm 33 is used here as a milking-cluster presenting holder and as a hose holder.
The milking cluster 5 is designed, for example, in the manner as illustrated in
As soon as an animal T which is to be milked is in the milking parlor 3 and the milking platform 1b has moved away from the bridge 1c, the arm device 6′ is brought into the preliminary position from the parking position into the working position, as illustrated in
The drive of the retaining arm 33 is not shown here, but it is easily conceivable that the drive is located in the space divider 4 and pivots the retaining arm 33, for example, via a shaft with a gearing. A removal operation after milking is not described in more detail here and it can be understood that this proceeds in the reverse sequence.
The retaining arm 33 is arranged centrally with respect to the milking parlor 3, i.e. at the edge of the milking platform 1b centrally between two space dividers 4 of the milking parlor 3.
It is conceivable for the space divider 4 to be extended downward and to receive the cleaning device 17 and the arm device 6′ in the parking position. The retaining arm 33 here can first of all be moved, for example pivoted, from the parking position in the lower region of the space divider 4 into an intermediate position in the central position between the space dividers 4, and can be pivoted through 180° about the horizontal axis 34 into the gripping position.
Of course, a type of herringbone construction is also possible, with the milking parlors 3 being separated by the space dividers 4.
It is also possible in the case of the milking parlor arrangements 1′ according to
Finally,
The milking parlor arrangement 1′″ is an external rotary milking parlor, in a similar manner as described above in conjunction with
A positioning technique for adjusting the arm device 6 with the milking cluster 5 is provided in an interior space IR of the milking parlor arrangement 1′″ in the form of a robot device 20 in the form of an internal robot. In this exemplary embodiment, the robot device 20 comprises five robot arms each having a radial section 21 and a gripping arm 22 with a gripping section 23, which are movable independently of one another on a rail 24. In this exemplary embodiment, the rail 24 is arranged above the milking parlors 3 outside the reach of the animals and in a manner protected against soiling. In the case of this milking parlor arrangement 1′″, which is designed here as a rotary milking parlor with the pivot point 2, the rail 24 is likewise formed in a circular manner concentrically with the circular construction of the rotary milking parlor, with the pivot point 2 of the rotary milking parlor as the center point. In this manner, during a rotational movement of the milking parlor arrangement 1′″, the robot arms are also movable synchronously with said rotary movement. The rotary movement of the milking parlor arrangement 1′″ can be maintained without interruption.
That is to say, as soon as an animal has entered a milking parlor 3, and is settled and ready for milking, which is detectable, for example, via suitable animal sensor technology (for example, camera, movement sensor, acoustic sensor, etc.) and actuator technology (for example output/consumption of feed), the robot arm is moved from a starting position in the interior space IR, in which position said robot arm does not reach into the milking parlors 3, outward in the radial direction 25 between two milking parlors 3 in the region of the space divider 4 into the positioning position thereof, grasps the milking cluster 5, which is in the preliminary position or gripping position below the udder 26 (see
As soon as the teat cups 5a of the milking cluster 5 are positioned, the robot arm is released by the gripping section 23 thereof from the arm device 6 and moves back in the radial direction 25 into the starting position thereof in the interior space IR. The arm device 6 carries the milking cluster 5, and therefore the weight thereof, with only the teat cups 5a, positioned on the teats of the udder, hanging with a weight which is small in comparison to a weight of the milking cluster 5 and the arm device 6 and includes the hoses. During this positioning operation, the rotary milking parlor continues to move continuously without any interruption of the movement thereof, in the clockwise direction here about the pivot point 2. A rotational movement also in the counterclockwise direction is, of course, also possible. The robot arm (or the other ones likewise) moves/move on the rail 24 synchronously with respect to the rotary milking parlor in the same direction of rotation and at the same angular speed during the positioning operation, preferably in the positioning region a. The rail 24 is arranged above the milking parlors 3 outside the reach of the animals and in a manner protected against soiling and is preferably fastened on the milking parlor arrangement 1, i.e. on the moving part thereof.
The arm device 6 has the upper arm 10 and the lower arm 11, or the lower arm designed as the milking cluster carrier 5b, and is guided and mounted at one end of the upper arm 10 in a bearing unit 19 or in the guide unit 18 within the space divider 4 so as to be pivotable about the vertical axis z1 (see
All of the milking parlors 3 on the outer circumference of the milking parlor arrangement 1′″ are freely accessible from the exterior region by a milker M, and therefore the milker can intervene in a milking operation at any time. This working region is therefore kept free of additional devices, whereas the robot arms operate only in the interior space IR within a limited area. The milker M is thus not obstructed if he has to control, look after and intervene in a correcting manner in, the entire milking parlor arrangement 1′″. Even if a manual intervention of the milker M is necessary, for example if teat cups 5a of the milking cluster 5 have fallen off, the rotary milking parlor can continue to rotate.
After the milking operation is completed, the milking cluster 5 is automatically removed from the animal T being milked, or automatically drops again into the released position in the preliminary position and is finally pivoted again into the parking position, as described above. The rotary milking parlor also continues to move during this operation.
Of course, it is also possible for a differently designed robot device to undertake the positioning operation of the milking cluster 5 in the preliminary position, from the side, from the rear or from below with respect to the animal.
The invention is not restricted to the exemplary embodiments illustrated above, but rather can be modified within the scope of the appended claims.
It is thus conceivable, for example, that, in the case of the second exemplary embodiment of the milking parlor arrangement 1′ according to the invention as per
The position sensor 13, in an extension or merely in the form of a camera, can also supply, for example, images regarding the state of the udder of the animal to be milked and can consequently contribute to the knowledge of the state of health of the animal to be milked.
Each milking parlor 3 can be activated or blocked per se. The milking parlor arrangement 1 can continue to be operated even when milking parlors 3 are blocked, for example it is not necessary to stop the rotary milking parlor.
Each milking parlor 3 can be prepared individually for an animal, for example different predefined preliminary positions of the milking cluster 5 with the arm device 6. In other words, in the case of the semi-automatic version, the preliminary position of the milking cluster 5 can be automatically adapted to the animal to be expected in the respective milking parlor 3 if a recognition device (for example RFID) recognizes the respective animal which enters the milking parlor 3. In addition, it can be possible, in the case of a recognized animal, for a preliminary positioning of the teat cups 5a to be able to be carried out in a manner adapted to the udder dimensions of the recognized animal.
In addition, each milking parlor 3 can have a feeding device.
The milking cluster can, of course, also be used for milk-producing animals with udders which have a different number of teats, for example 2, 3 or 4.
The milking parlor arrangement 1 as a rotary milking parlor can be designed in such a manner that even a plurality of 360° rotations can be realized for a milking operation of a certain animal if this is necessary. In this case, the animal is prevented from leaving the milking parlor 3 when the animal arrives at the exit 8.
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