Abstract: 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.

Abstract: The combination of a master vehicle which may be an agricultural tractor, transport or self-propelled implement, and one or more satellite vehicles which also may be tractors, agricultural transports or self-propelled agricultural implements. The satellite vehicle is controlled by a control system from the master vehicle, such control being exercised radiographically or by cable via a tramline system. The satellite vehicle has video cameras arranged to view both forwardly and to the rear and transmit views which can be seen on a monitor in the master vehicle. The control system includes computer programs for selectively causing the satellite vehicle to travel either parallel to the master vehicle at a selected distance therefrom or to follow the track of the master vehicle.

Abstract: At least part of the length of a teat cup for milking the teat of an animal is flexible or deformable or both. The teat cup is mounted on a robot arm in a fully automated milking system so as to be releasably retained on the robot arm in a fixed, predetermined orientation relative thereto. A compression spring coated with vulcanized rubber is retained in the cover or jacket of the teat cup. A cord connected to the upper part of the teat cup is pulled to bend the teat cup by at least about 90.degree. relative to the vertical so that undesired material is less likely to enter the opening at the top of the teat cup and the teat cup is more compact and shorter between milkings. The cord used to bend the teat cup also function to retain the teat cup firmly on the robot arm in its fixed orientation relative thereto when the teat cup is not connected or being connected to a teat. When the cord is released the spring in the teat cup's jacket causes the teat cup to assume its operable upright disposition.

Abstract: An implement for spreading granular material, such as fertilizer, wherein the flow of fertilizer from the hopper is controlled by the position of a metering slide under an outlet opening of the hopper. The metering slide has an indented asymmetric edge which cooperates with the outlet opening to control of the flow of fertilizer onto an underlying spreader. The metering slide is moved into its position under the outlet opening by the pivotal movement of a sector-shaped support in hinged connection with the metering slide. The metering slide is urged against the hopper and the sector shaped support by a spring. The flow of material from a plurality of outlet openings is selectively controlled either individually or in unison. Also, the implement can be tilted.

Abstract: 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.

Abstract: A sensor apparatus for determining the position of the teat of an animal to be milked present in a space relative to the sensor apparatus. The sensor apparatus is provided with two transmitter elements which are affixed to a housing and produce a ray or beam of rays received by a directional element which is a rotating mirror. The directional element directs the ray or beam of rays to two side-by-side sectors which overlap by two degrees. Reflections are received by two receiver elements spaced below the transmitter element via lenses. Mirrors affixed to the housing reflect the rays or beams of rays from the transmitter elements to the directional element which also transmits via such mirrors reflections of the teat from the ray or beam of rays to lenses included in the receiver elements. The receiver elements convert the reflections into signals which are evaluated to determine the position of the teat relative to the housing.

Abstract: A hay-making machine comprising motor-driven working members which rotate about upwardly orientated shafts. The working members are divided into three groups arranged in rows extending transversely to the direction of travel of the machine. A central group is at the rear of the machine and two outboard groups extend outwardly from a location forward of the central rear group in such a manner that the inner working member of each outboard group overlaps (as seen in the direction of travel) the outer working member of the central rear group. The machine includes a frame on which the three groups of working members are mounted. Each group includes four working members. The outer two working members of the outboard groups are foldable to a position over the two inner working members of each of these groups about horizontal axes. Then the outboard groups, as so folded, can be pivoted about vertical axes so that they are positioned along side the frame.

Abstract: A beverage composed essentially of orange juice from concentrate and tomato juice from concentrate in approximately equal portions, 60 to 1200 milligrams of ascorbic acid added to the mixture together with a food additive preservative substance comprising about 0.025% sodium benzoate and about 0.025% potassium sorbate.

Abstract: A portable gaseous fuel heated cooker which connects via flexible hose to a pressurized gas source such as a propane bottle. The cooker as such comprises four parts, a round bottom wok-like disk, a burner unit, a tubular post and a coplanar base. The disk has a threaded stud depending therefrom which is threadably received in the top of the burner unit, the bottom of the burner unit is similarly connectable to the tubular post which, in turn, is similarly connectable to the base. The burner unit has radial flanges which extend a short distance above a cylindrical shield of the burner unit, the overall unit is about thirty-two inches in height but with the tubular post removed is about twelve inches in height.

Abstract: An apparatus for automatically milking animals, such as cows, which comprises a rinsing circuit for cleaning milk and cleaning lines in the apparatus. The rinsing circuit includes a rinsing fluid tank, a cleaning member for cleaning the teats and udders of animals milked by the apparatus, and a cleaning device for cleaning the cleaning member. The cleaning device is connected to the rinsing tank via a line which includes a buffer vessel having a volume of approximately 3,000 cc and a measuring vessel having a volume of approximately 300 cc. Such line also contains valves plus a bleed/compressed air connection for delivering predetermined amounts of cleaning fluid to the cleaning device.

Abstract: 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.

Abstract: 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.

Abstract: A method and apparatus for detecting the presence of specific substances, such as contaminates, in milk from individual animals obtained at consecutive milkings. With the aid of a color sensor measuring system, the intensity of frequency bands of selected colors (red, yellow and blue) are determined and stored as data for each animal being milked in a computer for each milking. In the course of each milking of each animal, the animal's intensity values are compared both mutually and with corresponding intensity values recorded during one or more previous milkings. The results of the comparison are displayed on a computer monitor and/or in a printed record. The milk line system includes a diversion valve disclosed between the receptacle receiving milk from the teat cups and a bulk milk tank for diverting contaminated milk as sensed by the color sensor measuring system and detected by comparisons in the computer before that milk is conveyed to the bulk milk tank.

Abstract: 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.

Abstract: A method and apparatus for treating animals that are milked in an automated milking system. For the animals involved or groups of such animals, there is stored a predetermined desired weight pattern for such animals or groups of animals, which weight pattern is based on the animal's actual weight pattern which extends over a relatively long period of time including, at least, each animal's last lactation period, into a computer memory. An animal is weighed in a milking compartment where it is simultaneously milked and fed two to four times in each twenty-four hour period. On the basis of the animal's ongoing weights, having in view its earlier established desired weight values, there is determined average actual weight values taking into account the weight variations due to contents of the animal's digestive tract and udder to provide expected variations around the average value.

Abstract: 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.

Abstract: 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.

Abstract: An Apparatus for automatically milking animals, such as cows, by a milking robot which is connected to a refrigerated milk reservoir and controlled by a computer system. After emptying and cleaning the milk reservoir, cooling of the reservoir is automatically activated when the computer system senses that a predetermined amount of milk has entered the reservoir via the milking robot. An automatic cleansing system for the milking apparatus and an automatically replaceable milk filters are also disclosed.

Abstract: An apparatus and method for automatically cleaning the teat cups of a milking apparatus. The teat cups are automatically removed by a robot arm from the animal's teats. Nozzles are provided which are automatically inserted into the openings for the teats located on top of the teat cups. In the cleaning operation, the nozzles are, in effect, connected to the teat cups and spray a cleansing and/or rinsing liquid through an upper set of outlets from the nozzle to clean the upper surfaces of the teat cups and through a lower set of nozzle outlets to clean and rinse the interior of the teat cups as well as the lines connected therewith. Associated with the nozzles are rotatable cleaning members for cleaning the animals' teats and udders in the vicinity thereof. Brushes and spray nozzles are provided for automatically cleaning these cleaning members after use. All operations are programmed to occur automatically without human assistance or intervention.