Method of automatically milking animals and a fully automatic milking machine provided with a milking robot, said milking machine being suitable for performing same

Abstract

A method of training animals that are milked in a fully automated milking system wherein they enter a milking parlor at their own volition, not to enter the milking parlor too soon after the previous milking by causing the animal that does so to experience unpleasant procedures. The circumstance that the animal is visiting a milking parlor too soon after its last visit is sensed by the milk flow from at least one of the teats or because the automatic milking machine is unable to connect the teat cups to the animal's teats. In the latter event, the animal is immediately caused to depart from the milking parlor. In the former event, either the teat cups are immediately disconnected and the animal is caused to depart or the animal is milked for a prolonged period of time which is less than pleasant to the animal and then caused to depart. The prolonged milking may be coincident with alteration of the milk vacuum level. On the other hand, the milking parlor includes many attractions such as feed and drink to entice the animal to enter the milking compartment. The unpleasant procedures which occur when the animal enters the milking parlor too soon after a previous milking teaches it to space its entries into the milking parlor to when it needs to be milked.