JP3416665B2 - Post-treatment method for milking animal nipples and milking animal instrument for performing the method - Google Patents

Description

Detailed Description of the Invention

TECHNICAL FIELD The present invention relates to an automatic device for milking animals such as dairy cows. More particularly, the present invention relates to a method for post-treating a breast and / or nipple of a milking animal with an automatic milking device for animals, and an automatic milking device for carrying out the method.

DISCLOSURE OF THE INVENTION The present invention relates to a method for automatically cleaning a teat cup of an apparatus for milking animals such as cows.
Cleaning of the teat cup is important for hygienic reasons and for the quality requirements imposed on the milk. That is, it is important to remove dirt from the outside of the nipple cup, especially from the top that contacts the animal's breast.

A method of cleaning a teat cup of a device for a milking animal such as a dairy cow according to the present invention is characterized in that after milking an animal, the teat cup is removed from the animal's breast and automatically washed by a washing device. Since the nipple cup is soiled each time one milking cow is milked, according to the invention, the flushing solution is flushed with each milking, in particular above the teat cup. In other words, the outside of the teat cup, in particular the upper side, is washed after each milking. In order to clean the inside of the teat cup and the inside of the milking line connected to this teat cup, the standards are different.

According to the present invention, after the milking, the washing liquid is flown to the teat cup and the milking line connected to the teat cup without putting the animal to be milked next into the milking chamber. This prevents the growth of bacteria and the milk left in the teat cup and in the line connecting it is not dried. The degree of dryness depends on the outside temperature, and in any case, the teat cup and the line connected to it are washed within a predetermined time of about 1 hour after milking before putting another animal to be milked in the milking room. Is desirable. However, this predetermined time is preferably on the order of 5 minutes. According to a special method of the invention, the rinsing fluid is flowed through separate channels on the upper side of the teat cup or in the teat cup with the milking line. Therefore, this enables a rinsing operation on the outer side of the nipple cup in addition to a cleaning operation on the inside of the nipple cup and the milking line connected thereto.

During milking, the milk supplied by the animal is transported from the teat cup and its associated milking line to the milk tank. A three-way valve can be incorporated in the milking line at an effectively selected location, which interrupts the connection between the teat cup and the milk tank and enables the connection with the liquid material tank. Therefore, it is possible to flow the rinsing liquid from the liquid material tank to the injection nozzle, and from there to the nipple force cup incorporated in the rinsing liquid circuit, the associated milking line connected thereto and the three-way valve to the liquid material tank. . In this way, it is possible to rinse the teat cup and the milking line connected thereto, whereby the milk remaining in the teat cup and in the milking line connected thereto can be removed. Such a combination system of rinsing line and milking line is EP-A
-0385539.

The invention relates not only to a method for cleaning a teat cup, but also to a milking animal implement having a device for cleaning a teat cup, by means of which the method according to the invention can be carried out. The device is provided with a rinsing fluid circuit having injection nozzles, each of which can be fitted with a distal end of a teat cup incorporated into the rinsing fluid circuit, each injection nozzle having one or more outflow holes, Rinse fluid is run through the outflow hole into a teat cup that connects to it.

It is important, however, that the teat cup not only cleans the outside and especially the upper side where it comes into contact with the animal's breast, but also the inside. Therefore, in the device according to the present invention, each injection nozzle of the cleaning device is provided with a single outflow hole or a plurality of first outflow holes and a second outflow hole, and the rinsing liquid to the injection nozzle is connected to the injection nozzle by the first outflow hole. It becomes possible to pass through the inside of the teat cup, and the outside of the teat cup connected to the second outflow hole can be washed away. In the preferred embodiment, a separation duct is provided in the injection nozzle for flowing the rinse liquid through the first and second outflow holes. It is therefore possible to rinse the inside of the teat cup separately from the rinse on the outside of the teat cup, in particular on the upper side. It is also possible to apply different pressures to the rinse liquid flow. In particular, in order to properly clean the upper side of the teat cup, it is desirable that the second outflow hole be annular.

In this situation, the second outflow hole is in particular positioned in a plane perpendicular to the longitudinal axis of the injection nozzle and the nipple force cup associated therewith. In the preferred embodiment, a vacuum is applied to the nipple cup to connect the nipple cup and the spray nozzle, and the nipple cup is pulled upward to cause a second
A second outflow hole is provided in the injection nozzle at a height such that the outflow hole closes when there is at least no hydraulic pressure in the duct leading to the outflow hole. In this case, when the nipple cup is in the connected state, the first outflow hole (single or plural) is positioned in the injection nozzle at a height such that it is positioned just below the upper edge of the nipple cup. Or multiple). In the specific example, the distance between the first outflow hole and the second outflow hole is about 5 to 10 mm.

In a preferred embodiment according to the invention, the device cleaning device is provided with a carrying element to which the spray nozzle is connected. According to another characteristic of the invention, the carrying element has a duct, through which the rinsing liquid can be introduced into the injection nozzle. According to a further feature of the invention, the carrying element is provided with a first duct device through which the rinsing liquid can be introduced into the first outflow hole (s) of the injection nozzle. Further, according to another feature of the present invention, the carrier element is provided with a second duct device, through which the rinsing liquid can be introduced into the second outflow hole (single or plural) of the injection nozzle. Therefore, only two supply lines need to be connected to the washer for the rinse.

Thus, it is not necessary to provide a separate supply line for each outlet of the injection nozzle. Therefore, the cleaning device can be implemented with an extremely compact structure. A nipple cup (single or plural) that is connected by providing a screen around the cleaning device or around each spray nozzle so that the rinse liquid flowing above the nipple cup through the second outflow hole is not excessively sprayed in the lateral direction. ) To cover the upper end. Nipple cup rinsing is especially important during automatic milking of animals. According to a further feature of the invention, the cleaning device is associated with a milking robot forming part of a milking implement. In this case, the washing device is fixed to the milking robot at a position where the nipple cup attached to the robot arm forming a part of the milking robot when the milking robot is not milking can be connected to the washing device by the upward movement of the robot arm. .

In a further embodiment according to the invention, a cleaning element is provided for cleaning the teats of the animal to be milked.
As a result, the device of the present invention is versatile as it can wash both the teat cup and the animal's teat. According to another characteristic of the invention, the device of the invention comprises a cleaning device for cleaning the cleaning element. By using the cleaning device, the cleaning member itself can be cleaned after the nipple is cleaned by the cleaning member, so that the next animal can work under extremely high sterilization conditions. By working under such conditions, the total number of somatic cells in milk becomes relatively low, for example,
The risk of infection due to mastitis between animals is extremely low.

According to another characteristic of the invention, the cleaning device according to the invention comprises a box-shaped housing having an opening into which the cleaning element of the cleaning element can be pushed. After cleaning the nipple with the cleaning element, the cleaning element can be stored in the box-shaped housing. According to still another feature of the present invention, one or more rinsing members and one or more brushes are provided in the box-shaped housing to allow the rinsing liquid to be introduced into the box-shaped housing. During cleaning of the cleaning element in the box-shaped housing, the cleaning element is sprayed with a rinsing liquid, at the same time that the cleaning element rotates with respect to the brush.

In order to properly position the cleaning device and the cleaning member in the box-shaped housing according to the invention, the box-shaped housing is provided with a positioning device which also serves as a locking element. By the positioning device, the cleaning device and the cleaning member are introduced into and held in a predetermined position with respect to the box-shaped housing every time they are stored in the box-shaped housing. Thus, the positions of the cleaning device and the cleaning member are relatively easy to determine because the toothing applied to the milking robot and the arm of the milking robot re-track the cleaning device and the cleaning member each time and come to the same position again.

Such a device comprises a milking chamber having a fixed frame on at least one of its longitudinal sides, said frame comprising a first upper frame part for mounting a milking robot for automatic milking of animals and a milking robot. A second lower frame part that is supported and allows the arm of the milking robot to move under the animal in the milking chamber along the underside, the milking robot further comprising a carrying frame for another part of the milking robot. And the carrying frame is movable along the upper frame portion. In this state, the washing device can be fixed to the carrying frame of the milking robot. In particular, another part of the milking robot has a robot arm provided with a teat cup, the washing device or the washing device being provided with a carrier frame in which the milking robot is not milking, especially where the teat cup can be connected with the washing device by upward movement. Connect with. Therefore, according to a further feature of the invention, the mutual spacing of the teat cups is equal to the mutual spacing of the spray nozzles of the cleaning device.

According to a preferred embodiment of the invention, the robot arm has a post-treatment device for post-treatment of the breast and / or nipple of a milking animal.

The invention therefore also relates to an automatic appliance for milking animals such as dairy cows, characterized in that it is provided with a post-treatment device for automatically post-treating the breast and / or nipples of the milking animal. Disinfection of the milk and / or nipples of milking animals slows the rate of infection of the animals. According to yet another feature of the invention,
The aftertreatment device has an injection nozzle and a supply line incorporating a valve. According to the invention, a valve is provided near the injection nozzle. Therefore, opening and closing the valve eliminates the initial and final phenomena in the liquid supply to the injection nozzle, so that the injection nozzle desirably forms a fan-type injection pattern almost immediately after the opening of the valve. In the preferred embodiment of the invention,
A jet nozzle is placed at the end of the arm of a milking robot for automatic milking of animals. According to the invention, the injection nozzle is positioned between two teat cups located at the distal end of the robot arm. Thus, after automatic milking, the udder and / or nipple of the animal can be disinfected without human intervention.

Further in accordance with a feature of the present invention, at or at the distal end of the arm of an automatic milking robot for animals to provide a fan-like jet pattern forward and upward relative to the distal end of the arm. Place an injection nozzle in the vicinity. According to another feature of the invention, the fan-type spray pattern extends through the front teat cup at an angle of 10 to 50 degrees with respect to a vertical plane. The fan-shaped pattern faces forward and upward so that no liquid will fall into the teat cup during jetting of the breast and / or nipple.

Further, the present invention relates to a method for post-treating a nipple of a milking animal in an automatic milking device for an animal, wherein a nipple cup is removed from the nipple of the animal after the milking of the animal, and the post-treatment liquid is automatically applied to the udder and / or the nipple. To jet. Thus, the milk and / or nipples of a milking animal are automatically disinfected after each milking operation has been performed without human intervention, which has a positive effect on animal hygiene and health. Further, the present invention provides that after the post-treatment liquid is sprayed on the fan-shaped pattern, the pattern moves during spraying in a direction corresponding to a direction extending from below the surface of the fan-shaped pattern to the teat cup under the breast. To a method characterized by. Even if the breast and / or nipple is treated with the post-treatment liquid in this manner, the nipple cup moves to a different stream from the jetting surface during jetting, so that the liquid from the fan-shaped pattern and / or the breast / nipple is stored in the teat cup. Never fall into.

The present invention not only relates to a lactating animal instrument provided with a cleaning device as described herein, but also to a cleaning device adapted for the device and / or the method described herein.

DETAILED DESCRIPTION OF THE INVENTION The present invention will now be described in detail with reference to the accompanying drawings, which show, by way of non-limiting example, embodiments of the invention in order to better understand the invention and to show how it may be implemented. The device illustrated in FIGS. 1 and 2 has a milking chamber 1 surrounded by a handrail 2 which limits the freedom of movement of the animal. Animals can be admitted from the rear side of the milking room and they can likewise exit from the front side. Since the feed is supplied to the front end of the milking room, the cow can move forward a sufficient distance and reach a position where milking is easy. A handrail on the longitudinal side of the milking room, which is different from the side where the inlet and the outlet are provided.
A fixed frame 3 forming a part of 2 is provided, which has a first frame part 4 and a second frame part 5.
The first frame part 4 is parallel to the second frame part 5 and longer (predominantly over) than the second frame part 5.

In this situation, the first frame part 4 is securely connected to the outside of the two vertical columns 6 and 7 forming part of the handrail 2 and the second frame part 5 is the two columns 6 and 7 It is surely put in Europe between each other. Automatic milking robots for milking animals 8
Is movably connected to the first frame part 4, while the milking robot 8
The arm is supported by the second frame portion 5 provided at an appropriate height, and can move at its lower limit position to reach below the cow in the milking room. Milking robot 8
Has a carrier frame 9 as its addition. By providing the upper frame part 4 as a rail, the carrier frame 9 and the entire milking robot 8 can be easily moved along this frame part.

The carrying frame 9 is composed of a beam 10 parallel to the first frame 4 and a support column extending vertically downward and fixed to the beam 10.
It is composed of 11 and two braces 12. The pair of supporting members 13 are provided near both ends of the beam 10. The two rollers 16 forming the pair of roller members 15 are connected to the support members 13 of each pair at an angle of about 45 degrees by a support plate that is physically connected to the support member 13, and the carrying frame 9 is an upper frame. A carrying frame 9 is arranged so as to be suspended from the upper frame part 4 so as to be easily movable along the part 4. On either side, the beam 10 of the carrier frame 9 has two carriers
Provide 17. A motor 19 is attached to the carrier so that it can move about a pivot 18. This motor 19 drives a roller 20, which preferably has a rubber surface, in which case this roller is pressed against the upper frame part 4 by a spring member 21. Since the spring member 21 operates between the motor 19 and the carrying frame 9, the roller 20 driven by the motor 19 is held in a state of being pressed by the upper frame portion 4,
Therefore, when the motor is driven, the entire carrying frame 9 along with the roller moves in the longitudinal direction along with the upper frame 4.

The sensor 22 using, for example, a laser is connected to the rearmost support member 13 when viewed from the direction of the milking room. By means of this sensor 22, the milking robot can be moved from a rest position in the longitudinal direction of the milking chamber to a start position where the arm of the milking robot moves below the animal in the milking chamber, the movement of the animal in the milking chamber in the longitudinal direction. It is possible to follow. For this purpose, the sensor 22 cooperates with a support member 23 which is movable on the rear side of the animal. In the present case, by means of a rod system constituted by a quadrilateral, in particular a parallelogram structure 24, said support member 23 is mounted on said structure so as to be pivotable with respect to the milking room floor. The temporary rod 26 is provided on the support member 23 by the two rods 25 described above, but in this case, the plate is located laterally outside the frame portions 4 and 5, and
It is arranged so that it can reflect the signal transmitted by 22.

After the sensor 22 picks up the reflected signal, the sensor generates a control signal which is an actual measurement value such as a measured distance between the plate 26 and the sensor 22, and the motor 19 can be driven by this control signal. Then, the milking robot 8
Driving is performed in the longitudinal direction of the milking room so that the distance between the plate 26 and the sensor 22 becomes a predetermined value and is maintained at that value. When the milking robot 8 is in the rest position, the robot is in a position to be pushed rearward as much as possible with respect to the frame parts 4, 5, and in this state, the milking robot 8 engages with the plate 26 via the contact member 27. Then, the support member (23) is held at a position where the support member (23) is pushed backward as much as it is pushed. In other words, the support member
23 is locked by the milking robot 8 when it is in the rest position.

When the milking robot is driven from the rest position in the longitudinal direction of the milking chamber to the starting position, the arm of the milking robot moves under the animal in the milking chamber and then the support member 23 is unlocked. , Parallelogram structure 24 and handrail 2
It is pressed against the rear side of the dairy cow at that time in the milking chamber by the spring action provided by the spring. As the cow moves forward or backward, the support member 23 continues to be pressed against the back of the animal by the pressure of the spring 28 so that the position of the plate 26 is determined longitudinally with respect to the position of the animal in the milking chamber. The sensor 22 allows the milking robot to follow the longitudinal movement of the cow in the milking room while maintaining the longitudinal distance between the plate 26 and the sensor 22.

In the case of this embodiment, the supporting member 11 of the carrying frame 9
Extends vertically below the second frame portion 5 in the vertical direction. On the bottom side of the strut 11 is a strip plate 29 that extends horizontally and extends rearward.
And a freely rotatable roller member 30 is provided on the strip. The lower frame part 5 is constituted by a rail, in particular by a U-beam type rail, so that the freely rotatable roller member 30 is movable between two upright edges of the U-beam. Will be placed. In this way, the milking robot 8 is supported by the lower frame part 5, and in this state, when the milking robot 8 moves along the first frame part 4 by the motor, it can easily move along the second frame part 5. Becomes

In addition to the carrying frame 9, the milking robot
It has a robot arm structure (31) mainly movable in a vertical direction with respect to the carrier frame (9) by an operating cylinder (32). The robot arm structure 31 is movably connected to the carrying frame 9 by a rectangular structure 33. In the illustrated embodiment, the upper arm 34 of the rectangular structure 33 has a constant length, but the lower arm 35 has an adjustable length. Therefore, the orientation of the robot arm structure 31 can be adjusted within the limited range. The robot arm structure 31 is mainly composed of a vertical robot arm 36 and a robot arm 37 mainly movable in a horizontal plane. The robot arm 36 is supported by the rectangular structure 33 and supports 11 of the supporting frame 9.
Connect with. The operating schilling 32 operates between the carrier frame 9 and the robot arm 36.

The robot arm 36 is oriented in a rectangular structure 33.
The contact position of the working cylinder 32 on the robot arm 36 is not spatially well defined since it can be adjusted slightly by the lower arm 35 of the robot arm. For this purpose, the carrier plate 38, which is connected to the beam 10 of the carrier frame 9, is provided with a housing for the actuating silling 32, which can be driven at least to a limited extent. A support 39 is attached to the carrier plate 38, and the housing of the working cylinder 32 is movable between them in the pivot axis direction 40. In this embodiment, the working cylinder is a servo air type positioning silling. That is, the position feedback rod 43 is fitted to the lower end of the piston rod 41 by the plate 42 which is securely connected to the piston rod 41,
This causes a signal to be drawn by the potentiometer indicating the position of the piston rod with respect to the cylinder housing to the part 57 of the actuating cylinder, the position of the piston rod 41 with respect to the cylinder housing being adjustable to a predetermined position by means of this signal supplied by this potentiometer. .

In addition, the actuation cylinder 32 is provided with an overload protector which allows the animal in the milking room to move the robot arm assembly 31 as soon as it presses against it, for example by kicking it with its foot. It can be moved to its lowest position. In the case of FIGS. 2 and 4, the milking robot 8 is in the rest position and is moving as far back as possible with respect to the frame parts 4, 5, and the robot arm assembly 31 is as close to the ground as possible. I'm in a low position. When the cow is in the milking room and the milking process is started, the milking robot 8 comes from the rest position to the start position. That is, the arm of the milking robot 8 can be adjusted to a position where it can move under the cow.

In this embodiment, the milking room is provided with arms 44, 45, 46 for this purpose. The arms 44 and 45 are provided at a fixed angle of 90 degrees with respect to each other. Therefore, the arms 44 and 45 are interlocked with each other by an operating seal 47 provided between a support plate 48 fixed to the robot arm 36 and a connecting member 49 provided between the two arms 44 and 45. The two arms 44 and 45 are rotatable between a support plate 48 and a support plate 50 mainly about a vertical pivot axis direction, and the support plate 50 is also securely connected to the robot arm 36 especially at the bottom side. Connect to. The arm 46 is rotatable with respect to the arm 45 mainly about a vertical pivotal axis direction 51, and the arm 46 located near the connecting member 49 and an actuating silling 52 provided between the arm 46 and the arm 46 cause the arm 46 to rotate. Rotate about axis 51.

Nipple force tabs 53, 54 that can be connected to the nipples of dairy cows
Is provided near the end of arm 46. A slide movable along the arm 46 is provided between the two teat cups 54, on which a sensor 55 is provided which is capable of accurately determining the position of the teat by means of a fan-shaped sequential scanning movement. The schillings 32, 47, and 52 are computer controllable so that the teat cup can be coupled to the teat in any suitable manner. As the robot arms 44-46 move under the cow, the rear arm is in a relatively low position, but in this position the sensor 55 has not yet detected the nipple.

Robot arm using working cylinder 32
44-46 are stepped up until the sensor 55 locates the nipple of one or more animals. During this upward movement, when the robot arms 44 to 46 are raised to such a height that the upper edge of the sensor 55 is pressed against the cow's abdomen by the switch 56 provided above the sensor 55 in this case, the robot arm can move downward again. After that, the robot arm is gradually raised by the sensor 55 to enable the spelling of the position determination of the nipple.

As mentioned above, the device according to the invention further comprises a cleaning device 57 for the teat cups 53,54. The cleaning device 57 is securely connected to the downward supporting member 11. Cleaning device 57
Has a tetravalent downward jet nozzle 58. Each injection nozzle 58
Each has two separate cleaning liquid ducts 59, 60. The duct 59 extends from the top of the injection nozzle to the center through the bottom, and near the lower end of the duct, the first outflow hole 61 in the lateral direction is provided.
Is provided, which ends near the upper edge of the teat cup when the teat cup is connected to the associated spray nozzle.

The second duct 60 is the first duct 59 of the injection nozzle.
Is provided substantially concentrically with the injection nozzle and an annular second outflow hole 62 located on the plane perpendicular to the longitudinal one coaxial line of the nipple cup connected to the injection nozzle. The first duct 59 of each injection nozzle 58 is connected to the cleaning liquid supply line 63. The second duct of each injection nozzle is connected to the pipe portion 64, and the pipe portion 64 of each injection nozzle is terminated as a distributor member 65 connected to the cleaning liquid supply line 66. Cleaning liquid supply line 63
Can be connected to a cleaning liquid tank via a pump (the pump and the cleaning liquid tank are not shown).

When the milking robot does not operate for milking, it is in the state shown in FIG. 1, in which case the teat cups 53, 54 are just below the injection nozzle 58, so that the upward movement of the robot arm carrying the teat cup. By means of this the teat force tab can be connected with the associated spray nozzle 58. FIG. 2 shows the state in which the robot arm has not yet moved until the teat cup is just below the spray nozzle of the cleaning device.

If it is necessary to wash the teat cup and the milking line connected to it between milking operations of different animals or after milking the animal, the robot arm cum teat cups carrying the teat cups are sprayed. Move to the bottom of the nozzle and move up until the injection nozzle engages the upper hole of the teat cup. In this position, the first
The outflow hole 61 is located just below the upper edge of the teat cup, and the second outflow hole 62 is located almost directly above the upper edge of the teat cup. By subsequently supplying the cleaning liquid via lines 63, 66, it passes on the one hand above the teat cup and on the other hand it is introduced into the teat cup.

At the time of cleaning, the connection between the teat cup and the milk tank is interrupted by using a milk tank for centrally positioning the milking line for connection with the teat cup and a three-way valve for connection during milking. Connects with the tank. When operated in this way, the liquid can be circulated by the pump through the supply line 63 and the duct 59 of the injection nozzle, and then the cleaning liquid is conveyed to the tank through the teat cup and the milking line connected thereto. . A wash solution supply line 66 in which the liquid circulates through the nipple cup and associated milking lines as the wash solution passing over the upper side of the nipple cup via line 66 and duct 60 falls to the ground and exits there through a groove. It is important that is not connected to the wash tank. The line 66 is therefore connected directly to the water tap or indirectly, for example via a member to which special detergents or germicides can be added simultaneously. After washing, the washing liquid must be sucked in from the associated milking line.

When the teat cup is connected to the injection nozzle, a vacuum is created inside the teat cup. As a result, the teat cup is lifted slightly above the lower end of the associated injection nozzle and the second outflow hole 62 of each injection nozzle is closed in this case. The distance between the first outflow hole 61 and the second outflow hole 62 is therefore relatively small. The spacing is, for example, in the range of 5 to 10 mm,
A 7 mm spacing was chosen for the specific example. When the cleaning liquid is supplied at an increasing pressure through the duct 60 and the pipe portion 64,
Liquid exiting the second outflow opening 62 is forced between the lower edge of the second outflow opening 62 and the slightly elastic upper edge of the associated teat cup and is jetted laterally. In this case, a nipple cup in which a screen 67 is connected around the cleaning device or around each spray nozzle.
It is provided so as to cover the upper end (single or plural).

The invention is not limited to the embodiments described here, but is applied to any variant of the cleaning device without departing from the scope of protection of claim 1 of the appended claims. It is something. Further, the present invention is not limited only to the device for cleaning the teat cup itself, but to a device including the device for cleaning in a manner that allows the teat cup of the milking robot in the rest position to be easily connected to the cleaning device. Is also related.

FIG. 5 shows a second embodiment of the cleaning device 68. This alternative cleaning device 68 has a carrier surface 69 with four downward spray nozzles 58 mounted thereon. As shown in FIG. 7, each injection nozzle 58 has two separate cleaning liquid ducts 59, 60. As described in the previous embodiment, the cleaning liquid ducts 59 and 60 become the first outflow hole 61 and the second outflow hole 62, respectively. On the carrying surface 69, the injection nozzle 58 has a first portion 70 and a second portion 70.
Fastened between part 71. As shown in FIG. 6, a first duct device 72 is provided on the surface of the first portion. The first portion 70 is preferably an aluminum plate and is provided with the pattern of the first duct device. The four end portions 73 to 76 of the first duct device 72 become the four cleaning liquid ducts 59 of the injection nozzle 58. Further, the carrying surface 69 is the second portion provided with the second duct device 77.
It consists of 71 (Fig. 8). The second portion 71 of the carrying surface 69 is provided with four holes 78 into which the injection nozzle 58 is pushed.

Further, the second portion 71 includes four boring portions from the side.
Provide 79. The boring portions 79 are arranged so that each extends through the center of the hole 78 (FIG. 8), and both become the first vertical boring portion 80 provided in the second portion 71. A first communication nipple 81 is provided on the first vertical boring portion 80 before the boring portion 79 is provided on the second portion 71 of the carrying surface 69. When the boring portion T9 is provided, the first communication nipple 81 is bored. After providing the boring portion 79, the second portion 7
The boring part is sealed with a sealing cap 82 at the edge of 1.

Further, the second portion 71 has a second connecting nipple 82A.
A second vertical boring portion 80A for positioning is provided. Bearing surface 69
The first portion 70 and the second portion 71 are fastened together by bolts 83, so that the first portion 70 constitutes a sealing plate for the first and second vertical boring portions 80, 80A. The second boring part 80A is the first
The first duct device 72 provided in the portion 70 is terminated. The second part 71 of the carrying surface 69, together with its surface in a tightened state, constitutes a sealing plate for the first duct device 72 provided on the surface of the first part 70.

FIG. 9 is a plan view of the carrying surface 69 and shows a pattern in which the first duct device 72 and the second duct device 77 are arranged in the two parts 70 and 71. Tightened part 7
In order to properly seal the 0 and 71, it is desirable to form the second portion 71 with a relatively soft plastic material and the first portion 70 with aluminum.

In a further embodiment according to FIG. 10, the washing device 57 has a washing member 84 for washing the nipples of milking animals. The cleaning member 84 has two adjacent cleaning members in the form of profiled rollers 85 which are axially rotatably supported in a gearbox 86. The profile roller 85 is driven by an electric motor 87 mounted on the side of the gear box 86. The cleaning member 84 is bolted to the gearbox 86 on the carrying surface 69 by means of two bolts 83. Spacer ring between gearbox 86 and bearing surface 69
88 is provided.

When it is desired to wash the nipple of the animal to be milked, the carrying surface 69 is sucked on via the teat cup 54 on the arm 45 of the milking robot 8 (FIG. 11). After this sensor 55
The position of the nipple of the milking animal is determined by means of which the roller 85 can reach the nipple or nipples. After the positioning of the roller 85, the nipple enters between the profile roller rollers that rotate at the opposite positions, so that the dirt is reliably removed from the nipple by the friction between the roller 85 and the nipple. After cleaning the nipple and preferably rinsing the nipple cup 54, the carrying surface 69 is moved to the robot arm 45.
Removed from. Next, the carrying surface 69 is stored in a carrying body or the like (not shown).

The appliance further comprises a cleaning device 89 for cleaning the cleaning member 84. The cleaning device 89 is an L-shaped box strip
It includes a box-shaped housing 90 mounted on the beam 11 of the carrier frame 9 by 93 (FIG. 11). Openings 91 are provided on both adjacent sides of the box-shaped housing 90. The opening 91 is covered with a row of bristles 92. The width of the opening 91 is selected to extend the diameter of the profile roller 85. Thus, the robot arm 37 can dispose the profile roller 85 in the box-shaped housing 90.

In order to dispose the roller 85 in the box-shaped housing 90, the arm 45 must reach the front of the roller at the height of the opening 91. Arm on horizontal plane
By moving 45 towards opening 91, roller 85
Is then introduced into the box-shaped housing 90. Gearbox in this case
86 and the bearing surface 69 remain outside the box-shaped housing 90.
12 to 15 show a method of positioning the roller 85 in the box-shaped housing 90. Roller 85 with box-shaped housing 90
After placement therein, the underpressure in the teat cup 54 is removed and the robot arm 45 is therefore disengaged from the jet nozzle 58 of the carrier surface 69.

A locking and positioning device 94 is provided on the bottom side of the carrying surface 69 so that the carrying surface 69 is a box-shaped housing 90.
Can be placed in a fixed position. The locking and positioning device 94 has two U-shaped strips 95 of similar type to the edges of the bearing surface 69. The U-shaped strip 95 is arranged on either side of the box-shaped housing 90. The first U-shaped strip 95 has an opening 91.
Located on the bottom side of the box-shaped housing 90 on the opposite side of
It is securely fixed to the L-shaped band plate 93 provided on the box-shaped housing 90 by the support body 96A. The second U-shaped strip 95 is arranged near the opening 91 on the bottom side of the box-shaped housing 90. The second U-shaped strip 95 can be driven around a pivot shaft 96. Cylinder
Attach the lever 97 to the end of the 98 piston rod
Connect to 96. The other end of the schilling 98 is connected to the vertical shaft 99. The vertical axis 99 is clamped between two horizontal spacer strips 100. The strip 100 is securely connected to the box-shaped member 101 attached to the L-shaped box-shaped strip 93.

13 to 15 show a state in which the carrying surface 69 is held in the box-shaped housing 90 by the locking and positioning device 94. The edge of the bearing surface 69 is a cylinder 98
Since the two U-shaped strips 95 are locked after being energized, the carrying surface 69 is always in the same position with respect to the box-shaped housing 90. Since the bearing surface 69 can be unlocked by reenergizing the cylinder 98, the second U-shaped strip 95 pivots in the direction of the beam 11 (FIG. 15). When the second U-shaped strip 95 has finished pivoting, the carrying surface 69 is free to rotate in the horizontal plane towards the opening 91, so that the robot arm 45 causes the profile roller 85 to be cleaned for the next teat. It can be taken out from the box-shaped housing 90. Cylinder 98 is preferably an air cylinder.

After cleaning the animal's nipple with the profile roller 85, the roller is stored by the robot arm 45 in the box-like housing 90. FIG. 14 is a sectional view showing a method of positioning the profile roller 85 in the box-shaped housing 90. Two jetting members 102 are arranged on the upper side of the box-shaped housing 90 for cleaning the profile roller 85. The aforementioned injection member 10
2 has a perforated tube, one end of which is closed and the other end is connected to the line. Through the line, the cleaning liquid is supplied to the ejection member 102 during the cleaning of the profile roller 85. The ejection member 102 is perforated so that the cleaning liquid is ejected to the profile roller 85. On the upper side of the box-shaped housing 90, a row of brush bristles 103 extending to the profile rollers 85 is provided above each profile roller 85. During the cleaning of the profile roller 85, the cleaning liquid is sprayed through the spraying member 102 to the roller 85 which rotates against the brush bristles 103. A hole 104 is provided on the lower side of the box-shaped housing 90 to connect the discharge line and the hole. During cleaning, the cleaning liquid from the ejection member 102 is discharged through the discharge line. The bottom of the box-shaped housing 90 is preferably inclined at an angle such that the cleaning liquid flows toward the drain hole 104.

According to a further embodiment of the invention, the robot arm 45 comprises a post-treatment device 105 for disinfecting the breast and / or the nipple of a milked animal. The post-treatment shaft 105 includes a pressure vessel 106 containing a cleaning / disinfecting solution inside, and a spray nozzle 1
08 has a line 107 for supplying a liquid (FIG. 16). Another line 109 is connected to the pressure vessel 106, so that the inside of the pressure vessel 106 is overcompressed. The overpressure in the pressure vessel 106 is 3
Atmospheric pressure is preferred. A valve 110 is installed in the supply line 107 to the injection nozzle 108, whereby the injection nozzle 10
The liquid flow up to 8 can be opened and closed. The valve 110 may be a solenoid valve.

In the preferred embodiment of the invention, the valve is located near the injection nozzle 108 so that the line segment between the valve 110 and the injection nozzle 108 is relatively short. Therefore, after valve 110 is opened, the pressurized liquid in line 107 need only cover a relatively short passage to injection nozzle 108. The advantage of the liquid covering such a relatively short passage is that the injection nozzle after the opening of the valve
It is to be injected into the fan type almost immediately by 108. Therefore, at the same time as the opening and closing of the valve 110, the initial and final phenomena do not occur when the fan type injection pattern is formed by the injection nozzle 108.

As shown in FIG. 12, the injection nozzle 108 has two
Located at the distal end of the robot arm 45 between the front nipple cups 53. FIG. 17 shows a method of disposing the injection nozzle 108 at the end of the robot arm 45. The injection nozzle 108 is located below the carrying surface 111 on which the nipple cup 53 is placed.
The injection nozzle 108 is positioned in a holder 112 that connects with a plate 113 perpendicular to the carrying surface 111. The injection nozzle 108 is a holder
Positioned within 112, the fan-type spray pattern is forward and backward with respect to the distal end of robot arm 45. In this regard, the fan-type injection nozzle pattern is a plate
It has an angle of about 20 degrees with respect to 113. Holes 11 on the support surface 111
4 is provided, and the jet liquid of the jet nozzle is jetted through the hole.

The post-treatment device 105 operates as follows.
After the milking process is completed, the nipple cup 53 removed from the nipple is retracted to the robot arm 45, and supported there by the carrying surface 111. Next, the robot arm 45 is positioned so that the fan-type injection pattern from the injection nozzle 108 surely contacts the rear side of the breast of the milking animal. The positioning of the robot arm 45 is performed by the sensor 56 and / or in advance.
The control is performed by the same kind of animal that is supplied to the computer. After positioning the robot arm 45, the valve 110 is opened, and at the same time, the robot arm moves on the horizontal plane toward the front side of the animal.

Thus, the fan-type injection pattern is injected over the entire breast. The fan-type injection pattern is directed forward and upward with respect to the distal end of the robot arm 45, and since the injection of the breast is performed from the rear in the direction of the front of the breast,
It is possible to prevent the spray liquid from the breast and / or the fan-shaped spray pattern from falling into the teat cup 53. The path to be covered by the robot arm 45 in the horizontal plane and the height of the injection nozzle 108 that hits the animal's breast are pre-supplied to the control computer of the robot arm 45 depending on the animal. Similarly, the height and distance to be determined by the sensor 56 can be supplied.

Naturally, the above-mentioned embodiments of the washing device and the aftertreatment device, in combination with a (automatic) device for milking animals,
Alternatively, it can be applied alone.

[Brief description of drawings]

1 is a side view of an automatic animal milking implement having a cleaning device according to the invention.

2 is a plan view of a portion of the instrument of FIG. 1, showing the cleaning device according to the invention in a plan view.

FIG. 3 is a side view of an injection nozzle of the cleaning device according to the present invention.

FIG. 4 is a cross-sectional view of an injection nozzle connected to a teat cup.

FIG. 5 is a side view of an alternative cleaning device having an injection nozzle according to the present invention.

FIG. 6 is an arrow VI of FIG. 5 showing a part of an alternative cleaning device.
It is a sectional view in -VI.

7 is a sectional view taken along the arrow VII-VII in FIG.

FIG. 8 is an arrow VI showing a portion of the alternative cleaning device of FIG.
It is the figure seen from the direction of II-VIII.

FIG. 9 is a plan view of the alternative cleaning device of FIG.

FIG. 10 is a side view of another embodiment of the device according to the invention with a cleaning device and a cleaning member for cleaning the nipple of the breast of the animal to be milked.

11 is a view of the device of FIG. 1 on a robot arm, FIG.
FIG. 11 shows the apparatus of FIG. 10 and a cleaning device for cleaning the cleaning member of FIG.

12 is a plan view of the device according to FIG.

13 is a side view of the device shown in FIG. 12 taken along line XIII-XIII. FIG.

14 is a cross-sectional view taken along the line XIV-XIV of FIG.

FIG. 15 is a plan view of the device according to FIG.

FIG. 16 is a schematic view showing how to install a post-treatment device for post-treating a breast and / or a nipple after milking an animal.

FIG. 17 is an enlarged view of the post-treatment device of FIG. 16, which is narrowed into the device of FIG. 12, taken along line XVII-XVII of FIG.

[Explanation of symbols]

8 milking robot 45 robot arm 53, 54 nipple cup 105 Aftertreatment device 107 supply line 108 injection nozzle 110 valves 111 support surface

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Francen, Rene Enuel-3135 Zette Die Fradingen, Prince Hendley Crane 6 (56) References: Kaihei 3-79645 (JP, U) US Patent 3012566 (US, A) (58) Fields surveyed (Int.Cl. ⁷ , DB name) A01J 7/00 B08B 3/02

Claims (14)

(57) [Claims] 1. A self-cleaning device for cleaning animal nipples prior to milking.
A dynamically operable cleaning member (84) and a teat cup (5
3, 54) for connecting the animal nipple to the arm (4
5) with a milking robot (8) with
(45) post-treats the udder and / or nipple of a milking animal
Automatic post-processing device (105) for operation
An automatic device for milking animals such as dairy cows, characterized by: 2. The post-treatment device (105) comprises an injection nozzle (1).
08) and valve (110) incorporated supply line (10)
7. A device according to claim 1, characterized in that it comprises 7). 3. A valve (11) near the injection nozzle (108).
0) is arranged. 4. A milking robot (8) for automatic milking of animals.
Device according to claim 2 or 3, characterized in that the injection nozzle (108) is arranged at the end of the arm (45) of the. 5. Two teat cups (53) with a spray nozzle (108) located at the end of the robot arm (45).
5. The device according to claim 4, wherein the devices are positioned between each other. 6. The injection nozzle (108) is attached to the teat cup (5).
6. Device according to claim 5, characterized in that it is positioned below the bearing surface (111) of the robot arm (45) supporting the robot arm (3, 54). 7. A distal end of an arm (45) of a milking robot (8) for automatic milking of an animal such that a forward and upward fan-type injection pattern is taken with respect to the distal end of the arm (45) or 7. A device as claimed in any one of claims 2 to 6, characterized in that an injection nozzle (108) is provided near the distal end. 8. Device according to claim 7, characterized in that the fan-type spray pattern extends through the front teat cup (53) with respect to a vertical plane at an angle in the range 10 to 50 degrees. 9. Device according to claim 1, characterized in that the apex angle of the fan-type injection pattern obtained by the injection nozzle (108) is approximately 45 degrees. 10. The device according to claim 1, wherein the post-treatment liquid contains a bactericide. 11. After milking an animal, the teat cup is removed from the teat of the animal, and the post-treatment liquid is automatically sprayed to the breast and / or the teat. Method for post-processing. 12. The post-treatment liquid is sprayed in a fan-shaped pattern, and during spraying, the pattern moves under the breast in a direction extending from the surface of the fan-shaped pattern to the nipple cup. Item 11. The method according to Item 11. 13. The method according to claim 12, wherein the post-treatment liquid is sprayed from the rear side of the breast to the front side thereof every time the animal is milked. 14. The robot arm is introduced into a position such that the face of the fan-type spray pattern is in exact contact with or slightly outside the breast after the nipple cup is removed and before spraying the breast and / or the nipple. The method according to claim 12, wherein the method is performed.