Other

C. Van Der Lely N.v.

Texas Industries, Inc.

Maasland N.v.

Cornelis Van Der Lely

Ary Van Der Lely

Cornelis J Bom

Hendricus Jacobus Nieuwenhoven

Karel Van Den Berg

Olaf Van Der Lely

Karel Van Der Berg

A system for automatically milking animals comprising an area where the animals can move about freely. A milking robot in a milking compartment automatically connects teat cups to an animal's teats. The milking compartment has a concentrate station. The entire system is computer controlled. Doors in the milking compartment automatically open for the entry and departure of animals. An automatic cleaning member cleans the animal's teats and a cleaning system automatically cleans the entire milk line system or a selected part thereof. The herd is divided by a computer into milk production groups with a computer defined priority criteria for admitting a specific group of animals into the milking compartment prior to another group. Robot arms are controlled by three parallelogram structures in series, each being separately controlled by a piston and cylinder unit or an electromotor, the lowermost structures each being capable of extending a teat carrier under the cows udder, the forward structure, when so extended and as seen from above relative to a transverse vertical plane, being at an angle of roughly 45&deg; and the aft structure being at an angle of roughly 30&deg;. Retractable cables connect each teat cup to a teat cup carrier. Each teat cup is connected from its upper aspect by a cable to a spool mounted on the upper side of the milking compartment, each spool being computer controlled by an electromotor to retain the teat cups in upright positions after their disconnection from the teats when being retracted to the teat carriers.

Construction including an implement for automatically milking animals

An apparatus for automatically milking animals, such as cows, which comprises teat cups for connection to the teats of the animal to be milked and separate cups for connection to the teats of the animal for the purpose of cleansing, disinfecting or foremilking the animal. The apparatus is further provided with a switching device for alternately connecting the teat cups and the separate cups to the animal's teats. Each set of cups has its own compartment for being cleaned by a fluid spray. The process is controlled and recorded for each animal or groups of animals in a computer in association with an animal identification system. Robot arms separately move each set of cups to and from the animal's teats and to and from their respective cleaning compartments, and a further robot arm has a detector such as a laser, ultrasonic sensor or camera mounted thereon for locating the animal's teats so that the two sets of cups can be connected and disconnected therefrom. While one set of cups is received by the animal's teats, the other cup set is being cleaned in their respective compartment.

A system for automatically milking animals comprising an area where the animals can move about freely. A milking robot automatically connects teat cups to an animal's teats in a milking compartment having a concentrate station. The entire system, including the concentrate station, is computer controlled. Doors in the milking compartment automatically open for the entry and departure of animals. An automatic cleaning member cleans the animal's teats and an automatic cleaning system automatically cleans the entire milk line system or a selected part thereof. The herd is divided by a computer into milk production groups with a computer defined priority criteria for admitting a specific group of animals into the milking compartment prior to another group. Each robot arm is controlled by three parallelogram structures in series, each being separately controlled by a piston and cylinder unit or an electromotor, the lowermost structures being capable of extending teat carriers under the cows udder, the forward structure, when so extended, being at an angle of roughly 45.degree. and the aft structure being at an angle of roughly 60.degree.. Retractable cables connect each teat cup to a teat cup carrier. Each teat cup is connected from its upper aspect by a cable to a spool mounted on the upper side of the milking compartment, each spool being computer controlled by an electromotor to retain the teat cups in upright positions after their disconnection from the teats when being retracted to the teat carriers.

A milking robot has articulated arms extensible into a milking compartment to place teat cups onto each of the animal's teats. Also extended from outside into the compartment is a further articulated arm that carries a detector for ascertaining the location of the animal's teats, such information being used to connect the teat cups automatically. An electromagnetic gripper at the end of each robot arm has a seat to match the corresponding teat cup's shell. Each teat cup is loosely connected to two cables. A generally vertical cable connects it to an upper part of the milking compartment. A generally horizontal cable extends from a corresponding teat cup carrier located outside the parlor. The teat cups are moved to be received by the animal's teats by the robot arms and grippers which are then withdrawn from the milking compartment. Teat cups dislodged from teats are supported in approximately an upright position by their vertical cables and are pulled to teat cup carriers outside the compartment by their horizontal cables. Flexible milk and vacuum conduits for the teat cups extend therefrom out of the milking compartment on each side, curving upwardly to be received by a connector block. Because the flexible milk and vacuum conduits are curved and the teat cups are connected only loosely by the upper and lower cables, the animal cam move within limits while being milked.

Method of milking animals

An apparatus for milking animals, such as cows, comprising a movable floor which carries four milking compartments. Each milking compartment has a computer controlled milking robot. The movable floor may be a rotating circular platform on which the four milking compartments are located adjacent its periphery. The platform's rotary motion is governed by an automatically operative adjusting mechanism on the basis of the estimated milking time of the animals being milked in milking compartments on the platform or on their estimated residence time thereon. Each animal as it enters into a milking compartment on the platform is identified by an identification system. Also provided are guide members that extend around the periphery of the platform. Mounted on the guide members are a foremilking device, an udder massage device, an udder cleaning device, and a robot for replacing teat cups which may have fallen from the teats of animals being milked.

Apparatus for milking animals

An apparatus for automatically milking animals provided with one or more automatic milking robots, teat cups and milking compartments. The teat cups are disposed on a carrier of a milking robot arm so as to be in their inoperative position, inclined relative to the vertical and when being connected to a teat of an animal to be milked, the teat cups are moved from their inclined positions into substantially vertical positions. The carrier includes a box-shaped housing for each teat cup, and each housing contains tubes providing a passageway for the pulsating vacuum and a further passageway for milk received from a teat wherein the passageways as a whole have U-shaped configuration within their housing, the 'U' portion being composed of a relatively flexible material whereas the portion of the passageways between the 'U' and the teat cup is composed of a relatively stiff material and is movable so as to extend from and be drawn into the corresponding housing. Each milking compartment has a dung gutter and a dung collecting member that in its upper aspect bears against the rear of an animal in the compartment and which is movable within limits with the animal. The collecting member includes a tracking device for tracking movements which communicates with a milking robot disposed in the compartment to cause the milking robot to move in a manner the that conforms to the animal's movements.

Apparatus for automatically milking animals

A method and apparatus for automatically milking animals such as cows which includes one or more milking compartments, each milking compartment having a milking robot including teat cups which are supported by a robot arm member. A detector that generates beams and uses their reflections for determining the position of the teats of an animal in a milking compartment is disposed on a robot arm construction spacially separated from the robot arm member. The robot arm construction is maneuverable up and down and side-to-side and is mounted so that its beams can scan the animal's teats from different directions. The milking robot is capable of connecting the teat cups to the animal's teats selectively simultaneously or non-simultaneously and automatically uncoupling the teat cups from the animal's teats either simultaneously or non-simultaneously.

Apparatus and method for automatically milking animals

A shed for animals such as cows, having an overhead rail supported from the shed's roof which supports cleaning apparatus that is capable of being moved throughout the shed to remove manure and other debris from the floor. The cleaning apparatus includes a manure suction device, motor driven rotatable brushes and a connection to cleaning or disinfecting fluid. Containers for cleaning or disinfecting fluid and to receive manure are supported on a platform underlying the rail, the rotatable brushes and manure suction device being supported by articulated robotic arms which are controlled by piston and cylinder units to move transversely relative to the overhead rail and platform. Movement of the cleaning apparatus is guided by detectors and operatively associated controls so that the shed can be selectively cleaned. A suction device extends into the shed for removing manure into a container outside the shed as needed. A fodder pick-up device is also provided for moving fodder from a silo for distributing it into feed troughs in the shed. The pick-up device, which includes a gripping member, is also supported by a rail suspended from the shed's roof and can pick up fodder and other material at any place within the shed.

Construction including a shed for animals

An accommodation for animals, such as cows, including a massage member and a brushing member for massaging and brushing animals in a milking compartment wherein the animals are automatically milked. The milking compartment mounts longitudinal guide members on which the massage member and the brushing member can be moved in longitudinal directions relative to the animal while being manipulated to massage and brush the back, hind quarters and sides of the animal while the animal is being milked. The particular type and degree of brushing and/or massaging are customized to whatever is acceptable for the animal and is found to improve the animal's milk production and/or the quality of its milk. Each animal is identified and the massaging and/or brushing is applied in a manner based on parameters such as the time required to complete the milking and milk samples. In cold weather, warm air, water or oil may be applied to the animal from the massage member.

Construction including an accommodation for animals

A milking robot has articulated arms extensible into a milking compartment or parlor to place a teat cup onto each of the animal's teats. Also extended from outside into the parlor is a further articulated arm that carries a detector for ascertaining the location of the animal's teats, such information being used to connect the teat cups automatically. An electromagnetic gripper at the end of each robot arm has a seat to match the teat cup's shell. Each teat cup is loosely connected to two cables. A generally vertical cable connects it to an upper part of the milking parlor. A generally horizontal cable extends from a corresponding teat cup carrier located outside the parlor. The teat cups are moved to be received by the animal's teats by the robot arms and grippers which are then withdrawn from the milking parlor. Teat cups dislodged from teats are supported in approximately an upright position by their vertical cables and are pulled to teat cup carriers outside the parlor by their horizontal cables. Flexible milk and vacuum conduits for the teat cups extend therefrom out of the milking parlor on each side, curving upwardly to be received by a connector block. Because the flexible milk and vacuum conduits are curved and the teat cups are connected only loosely by the upper and lower cables, the animal can move within limits while being milked.

Apparatus for and a method of milking animals

A system for automatically milking animals, such as cows, by a milking robot which emplaces teat cups on the teats of the animal, wherein the milking of the animal commences for a predetermined short length of time or for a short period of time that it takes for a sensor to determine that foremilking of the animal has been completed. The foremilk is diverted from the milking conduit and the teat cups are removed, cleaned and replaced on the teats of the animal following foremilking, after which the conventional automatic milking of the animal is completed.

Method and apparatus for automatically milking animals, such as cows

An apparatus for automatically milking animals, such as cows, comprising a robotic mechanism, two computers each having a display screen and keyboard, the apparatus having a plurality of exchangeable parts provided with a signalling device to transmit information when an exchangeable part is malfunctioning, the signalling device also identifying the malfunctioning part on one of the display screens of a computer. An emergency electrical battery is provided at an individual compartment for milking an animal for providing electrical power in the event of failure of the main power, and a computer is provided for closing down non-vital functions in the event of such power failure or of malfunctioning of the part or parts concerned. The teat cups of the set of teat cups which are automatically installed and removed from the last animal being milked can also be individually installed manually on the animal's teats, and a second set of teat cups for similar manual installation and removal is also provided, including conduits for pulsating the teat cups of the second set connected to a vacuum source, and for conveying milk received in such teat cups to a receptacle.

Construction for automatically milking animals, such as cows

An apparatus for automatically milking animals, such as cows, comprising a milking robot provided for teat cups which are movably connected by articulated movable arms to the remainder of the milking robot. The articulated arms are configured by eight stepping motors which are controlled, via a computer, by signals from a detector on the milking robot which detects the location of the animal's teats, whereupon the teat cups are adjusted so that each teat cup is under a corresponding teat of the animal, and the teat cups are raised to be coupled with the animal's teats. The teat cups are connected to the pivotable robot arms by cords or cables which are connected on their other ends to cylinder/piston units so as to draw the teat cups taut against the ends of the arms when the teat cups are being emplaced on the animal's teats and the cords or cables are played out after such emplacement so that the animal can move, within limits, without dislodging the teat cups or being impeded by them. If a teat cup is accidentally dislodged from a teat during milking, it is pulled taut against the corresponding arm and again emplaced on the corresponding animal's teat. The teat cups are connectable to the animal's teats both simultaneously and individually, one after the other. The apparatus includes a compartment for milking an animal with an identification system which, based on data concerning the animal, controls whether the animal will be permitted to enter the compartment and be milked.

Construction including an implement for milking animals

The Invention relates to a construction including an implement for milking animals, such as cows, provided with a milk box (2). In the milk box (2) the floor (15) is designed as a flexible conveyer (16), below which there is disposed a flexible floor (31) supported against a metal plate (33). The floor (31), provided with recesses (32) at the underside, is relatively flexible. In the milk box (2) there is furthermore provided a trough (14) including a mixing device, by means of which a lure substance, such as treacle, can be added to the concentrate. Moreover, the milk box (2) is provided with a medical instrumenl (36), by means of which the blood pressure, the heartbeat, the temperature, etc. of an animal in the mild box (2) can be determined. In addition, the milk box (2) is provided with a sensor, by means of which the physical state of the animal's legs can be determined.

A feed wagon for feeding silage or concentrate, or both, to animals, such as cows, which comprises automatically operated loading and unloading mechanisms. The wagon selectively automatically loads silage at ground level at two slot silos and silage or concentrate at a standing silo. It discharges in a feed alley between stalls in a cowshed. The route between the slot silos, the standing silo, and the feed alley is marked by active or passive beacons. The wagon carries detectors for detecting the beacons and a computer which cooperates with the detectors and steering mechanisms for the wagon to move the wagon between the slot silos, the standing silo and the feed alley travelling on the route marked by the beacons. The method comprises automatically loading relatively small quantities of silage on the feed wagon, moving that silage to the feed alley by guidance from its onboard computer and detection of the passive beacons between the silos and the cowshed, automatically discharging the silage in the feed alley to be received by stalls, moving the feed wagon after discharging silage to a selected silo by guiding the onboard computer and detection of the beacons along the route and repeating these steps on a substantially continuous basis.

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Zug, Switzerland

Cornelis Van Der Lely