Abstract: A method and apparatus for automatically milking animals which are allowed individually to visit a milking compartment associated with a milking robot for automatically milking animals therein. An animal visiting the milking compartment is milked by the milking robot only when, since it last visited the milking compartment, Q milkings of other animals in the milking compartment have occurred. Based on physiological characteristics, each animal is assigned a number x which indicates how often it should be milked per unit of time such as a day. Intervening milkings Q which must take place before the animal can be milked again is calculated as a function of the animal's corresponding number x. Physiological characteristics which determine x for each animal include its milk yield, its lactation period stage, its age, its movement activity, its feed consumption and its udder's health.

Abstract: A method and apparatus for milking animals, particularly goats, wherein the animals are arranged side by side in two rows of milking compartments in a milking parlor. A robot arm construction is provided which is moved along the rear of the animals in the milking compartments of each row. Teat cups are provided behind each of the milking compartments which are retained in holders by a tension mechanism. A pair of rails are provided behind each row of milking compartments along which the robot arm constructions move supported via rollers which engage the rails. Each robot arm construction has an acquiring mechanism for grasping individually the teat cups and moving them forward and aft, pivoting them about a vertical pivot axis, and raising and lowering them.

Abstract: A method and apparatus for ascertaining and measuring the quality of milk by analyzing reflected or absorbed colors or both with which the milk is irradiated. The milk is thus irradiated with three colors of light in wavelengths of red, green and blue and the intensity and color of the light reflected by the milk or absorbed thereby, or both, is measured. The light sources are periodically switched off whereby the receiving sensors measure the same red, green and blue wavelengths due to background sources to the extent that they are reflected or absorbed or both by the milk. This data is then compared with data with the light sources switched on to produce the net data which is relevant to the milk as it is being received from the animal being milked.

Abstract: A method of and apparatus for automatic milking of animals which comprises a number of steps such as cleaning the animal's teats, connecting teat receiving cups to the animal, foremilking, the milking operation as such, stripping, disconnecting the teat cups and disinfecting the teats. For each step, there are at least two variants. With the same animal, during a milking operation or in successive milking operations, different variants are applied, the variants being selected randomly by a random generator or to change periodically. The variants include the intensity and how the cleaning members are applied to the animal's teats, the sequence in which the teat cups are connected to the animal's teats, the locations of kinking places in the liner of the teat cup, the pulsation frequency, the release-suction phase ratio of pulsation, and the force with which the teat cups are decoupled from the animal's teats at the end of the milking operation.

Abstract: An apparatus for automatically milking animals wherein teat cups are applied to the animals' teats by an automated robot, each teat cup comprising a shell and liner composed of flexible elastic material wherein the liner has an opening at its top to receive an animal's teat and in its lower aspect discharges milk in pulses to a milk conduit connected to a container for receiving and sharing the milk. Each teat cup includes a sensor for continually measuring instantaneous magnitudes of milk being received from the teat and a pulsator which controls the duration of contractions by the liner. The milking operation comprises a foremilking stage, a main milking stage and a stripping stage, the durations of which, as such, and durations of individual pulsations in each stage are electronically controlled based on data received from the sensor.

Abstract: A racking, pickup and windrowing implement for moving crop lying on the ground laterally which includes a first machine comprising rake wheels that rotate about substantially vertical axes and move the crop inwardly where it is picked up by a pick-up implement and conveyed to a displacing device which displaces the crop laterally and discharges it back on the ground in a windrow which is proximate the boundary of the strip being worked or, in one embodiment, the windrow is formed by discharging it laterally from the displacing device at a further distance away from the boundary of the strip being worked which is substantially equal to the width of the strip being worked. The displacing device comprises two endless members in series. Such endless members and the rake wheels are foldable upwardly so that the entire machine combination has a width suitable for transport.

Abstract: An apparatus for milking animals comprising a milking compartment including a milking robot for automatically connecting and disconnecting teat cups from the animal's teats and for automatically milking the animal. Embodiments of cleaning members for automatically cleaning the teats of the animal before the teat cups are connected thereto are disclosed. The cleaning members include mechanisms applied to the teats of the animal for removing the foremilk therefrom before the milking operation, as such, commences. In lieu of the cleaning members which not only automatically clean the teats of the animal but also remove the foremilk, another group of teat cups are optimally provided for this purpose. The cleaning members comprise two-rotating elements of various cross-sections. Their phases of the rotation or the distance between their axes of rotation or the shape of the elements or a combination thereof can be selectively modified to remove foremilk or to clean the teats.

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 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: 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 and method for automatically milking animals which include a milking compartment or compartments which have a milking unit comprising an automatic milking machine secured to a robot arm which extends from under the teats of the animal being milked to outside of the milking compartment. The robot arm outside the milking compartment is supported by a sidewardly pivotal portion which includes a piston and cylinder member for raising and lowering the milking unit and a further piston and cylinder movement for pivoting sidewardly a carrier included in the portion. A rail is disposed over the milking compartment either centrally or to one side, or if there is more than one milking compartment which are disposed side-by-side, then the rail extends longitudinally between the milking compartments.

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: 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: In a method of positioning means for automatically milking animals, such as cows, there is used a robot construction. The means for automatically milking are positioned, by means of said robot construction, in the longitudinal direction of the milking parlour relative to a reference plane situated transversely to said longitudinal direction, in which reference plane the centre of gravity of the relevant animal is located.

Abstract: An apparatus for milking animals, such as cows, which comprises a milking compartment including a milking robot for automatically connecting teat cups to the teats of an animal to be milked in the compartment and automatically milking the animal. The apparatus is additionally provided with a milk container for receiving the milk from the animal. In at least one milk line and preferably in each of the milk lines, an auxiliary reservoir is disposed between the teat cups and the milk container. A fixed quantity of milk, in particular the foremilk, usually obtained at the commencement of the milking process, is collected in the auxiliary reservoir. Milk obtained thereafter is primarily guided to the milk container.

Abstract: An apparatus and method for rinsing and cleaning lines in which milk has flowed in a system for automatically milking animals. The circuit includes a tank for heating water, receiving hot or cold water or a regulated mixture thereof and receiving selectively acid or alkali cleaning agents. The circuit includes a jet rinser for each teat cup and a line from each teat cup to a common milking jar or claw. Fluid from the jar or claw can be recirculated via a pump to the tank or discharged to a sewer. A first supply line for the circuit provides a pre-rinsing liquid, and a second supply line provides a rinsing liquid which is obtained specifically from the tank. Each rinse jetter has an individual valve controlled by the pulsator which, in concert controlled by a computer, equalize the rinsing and cleaning fluids received by each teat cup. Supply lines to the tank from the acid and alkali sources control the mixture of water and the acid or alkali by means of an adjustable controlled Venturi element.

Abstract: Apparatus for automatically milking animals in a milking compartment by means of teat cups on a robot arm that also includes a sensing device for locating the teats of the animal to be milked. The robot arm is automatically positioned longitudinally under the animal to be milked and includes a cleaning element which is connected thereto by a further arm member that can pivot relative to the robot arm about substantially horizontal and vertical axes. The cleaning member is pivotable from a position for cleaning the animal's teats to a further position displaced therefrom. The cleaning member includes a cover plate thereunder which is disposed under the cleaning member and above the teat cups mounted on the robot arm when in position for cleaning the animal's teats. The cleaning member comprises motor rotated parallel horizontal profiled spaced apart rollers and a spraying device is provided on the cleaning member for moistening the rollers.