Abstract: 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.

Abstract: An apparatus for automatically shaving animals' udder and part of their legs while they are in a milking compartment for automatically milking animals. A shaving device is movably connected to one side of the milking compartment and is movable both transversely and longitudinally as well as vertically relative to the milking compartment for automatically shaving animals in a period of about 30 seconds in preselected areas in the vicinity of their udders and hind legs. The shaving machine has a robot arm with a shaver provided on its end. The shaving machine is preferably hingeably connected to the side of the milking compartment and its operations are controlled by a computer so that animals identified by an identification system are shaved, say, every tenth time that they enter the milking compartment to be milked therein, or are shaved therein after a selected duration of time after being previously shaved in the milking compartment.

Abstract: An adjusting member which comprises a computer which is included in an apparatus for automatically milking animals and which adjusts the period the time that the animal is milked during a milking run to obtain optimal milk production from the animal over an extended period of time. A time duration plot of the milking run is initially determined based on milk quantity produced by the animal per unit time whereby an optimal duration of milking time during a milking run is calculated by the computer in consideration of the total milk produced by the animal over an extended period of time and the period of time according to the time duration plot that the milk flow rate is optimal. By limiting the duration of a milking run to approximately three minutes it has been determined that the total amount of milk produced by the animal over an extended period such as twenty-four hours is increased.

Abstract: 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.

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: 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: 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 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 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: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: Apparatus and method for automatically milking animals such cows confined within a milking compartment. The milking apparatus includes four robotic arms for individually emplacing and removing teat cups from the animal's teats and a separate robot arm for scanning the animal's teats to effect a computer-controlled emplacement of the teat cups on the animals' teats. The detector includes a laser which beams through a window on the detector carried by an omnidirecting member having a four-bar parallelogram member whereby beams are both horizontally and vertically movable. A cleaning member for spraying cleaning fluid on the detector window is mounted on the milking compartment so that the fluid is sprayed on the window. The longitudinal sides of the milking compartment have spray members for cleaning the teat cups which, when not used for milking, are under the spraying members.

Abstract: Apparatus and method for automatically milking animals, such as cows, including a milking robot with a laser detector for locating and emplacing teat cups on an animal's teats while in a milking compartment, milking the animal, and upon concluding the milking operation, withdrawing the teat cups and moving them from underneath the animal. The milking compartment has at its forward end a feeding trough and one or more devices for measuring the weight and/or quantity of fodder in the feeding trough. The apparatus also has a metering device for dispensing fodder, such as fodder concentrate, into the feeding trough. The metering device is computer controlled. With the aid of the computer, the anticipated feeding period is predetermined based on the animal's identity.

Abstract: An apparatus for milking animals, such as cows, which includes a milking robot for automatically connecting and disconnecting teat cups to and from the teats of an animal, and a milking machine for automatically milking the animal. Sensors for detecting contamination of the milk are installed in each discharge line from a teat cup, in the claw or a jar which receives the individual lines from the teat cups, in the discharge from the claw or jar, and in a milk conduit connected to a three-way valve which selectively conveys milk to a bulk milk tank or to a rinsing fluid reservoir. The latter is in a recirculation system for cleaning the teat cups, the claw or jar which receives the discharge lines from the teat cups, and the discharge line from the claw or jar, there being a recirculation pump in such discharge line. The sensors send data to a computer as to the degree of contamination which they individually sense at their various locations.