Abstract: A milking system for milking dairy animals includes a milking device, a milk line for transporting milk; a cleaning device for cleaning the milk line with a cleaning liquid; a first outlet for discharging the milk to a milk tank; a second outlet for discharging the cleaning liquid; a valve mechanism for controllably connecting the milk line to one of the first outlet and the second outlet; and a control unit for controlling the valve mechanism. The valve mechanism includes a first and a second valve, and a displacement device for displacing the first or the second valve housing between a cleaning position and a milking position.

Abstract: A milking system includes two or more milking devices for extracting a milking from a dairy animal; a central utility system connected with each milking device in the milking system, and a cleaning unit for cleaning the milking devices and milk-carrying parts of the central utility system. The cleaning unit includes a fluid transporting line for transport of cleaning fluid where each of the milking devices is in fluid connection with the fluid transport line, a buffer unit for receiving and temporarily storing extracted milk where the buffer unit is in fluid connection with each of the milking devices through a milk line, and a control unit for controlling the central utility unit. The cleaning unit cleans each milking device and milk line during a cleaning cycle, and at least one of the milking devices is available for extracting milk from a dairy animal during the cleaning cycle.

Abstract: A milking system for milking dairy animals includes a milking device, a milk line for transporting milk; a cleaning device for cleaning the milk line with a cleaning liquid; a first outlet for discharging the milk to a milk tank; a second outlet for discharging the cleaning liquid; a valve mechanism for controllably connecting the milk line to one of the first outlet and the second outlet; and a control unit for controlling the valve mechanism. The valve mechanism includes a first and a second valve, and a displacement device for displacing the first or the second valve housing between a cleaning position and a milking position.

Abstract: A milking robot for automated milking of milking animals, comprising a cylinder supporting movement of at least one movable component. The cylinder has a wall with a ventilation opening and a cylinder rod which can move in and out of the cylinder. The cylinder wall surrounds at least one variable volume part for movement of the cylinder rod. The opening configures the cylinder to remain in virtual pressure equilibrium with an environment. A gas capture device is connected which has a variable volume and which together with the variable volume part, forms an air-tight gas volume. Thus the variable volume part is kept at almost ambient pressure, so that no unnecessary counter-pressure occurs in the cylinder, during extension and retraction of the cylinder rod. Also less to no exchange of gas and dirt with the environment can take place for longer life and better reliability of the cylinder.

Abstract: A milking robot for the fully automatic milking of dairy animals includes at least one moving component and a cylinder configured to support a movement of the component. The cylinder has a cylinder wall having an aeration opening, as well as a cylinder rod slidable into and out of the cylinder. The cylinder wall surrounds at least one variable volume part, which volume part is free from pressure fluid connections for displacement of the cylinder rod. The cylinder is configured to remain, via the opening, substantially in pressure equilibrium with an environment of the cylinder. To the cylinder wall around the aeration opening is connected a gas collecting device which has a changeable volume and which, together with the variable volume part, forms an airtight gas volume. In addition, the gas collecting device has a minimum volume greater than zero.

Abstract: Milking robot device for automatically milking a dairy animal, comprising a milking box having milking cups and a robot arm having an end effector for applying the milking cups to the teats of the dairy animal, on which milking box the robot arm is suspended above the dairy animal to be milked. The robot arm comprises a first arm part connected to the milking box by a first joint, and a second arm part connected to the first arm part by a second joint and provided with an end effector. The first and second arm part, respectively, is pivotable in a vertical plane with respect to the milking box and the first arm part, respectively, by a first and second actuator, respectively. The end effector is movable within an operating range by the robot arm. The milking robot comprises a weight compensation device having a spring device between the milking box and the robot arm.

Abstract: A milking robot for the fully automatic milking of dairy animals includes at least one moving component and a cylinder configured to support a movement of the component. The cylinder has a cylinder wall having an aeration opening, as well as a cylinder rod slidable into and out of the cylinder. The cylinder wall surrounds at least one variable volume part, which volume part is free from pressure fluid connections for displacement of the cylinder rod. The cylinder is configured to remain, via the opening, substantially in pressure equilibrium with an environment of the cylinder. To the cylinder wall around the aeration opening is connected a gas collecting device which has a changeable volume and which, together with the variable volume part, forms an airtight gas volume. In addition, the gas collecting device has a minimum volume greater than zero.

Abstract: A milking robot for automated milking of milking animals, comprising a cylinder supporting movement of at least one movable component. The cylinder has a wall with a ventilation opening and a cylinder rod which can move in and out of the cylinder. The cylinder wall surrounds at least one variable volume part for movement of the cylinder rod. The opening configures the cylinder to remain in virtual pressure equilibrium with an environment. A gas capture device is connected which has a variable volume and which together with the variable volume part, forms an air-tight gas volume. Thus the variable volume part is kept at almost ambient pressure, so that no unnecessary counter-pressure occurs in the cylinder, during extension and retraction of the cylinder rod. Also less to no exchange of gas and dirt with the environment can take place for longer life and better reliability of the cylinder.

Abstract: Milking robot device for automatically milking a dairy animal, comprising a milking box having milking cups and a robot arm having an end effector for applying the milking cups to the teats of the dairy animal, on which milking box the robot arm is suspended above the dairy animal to be milked. The robot arm comprises a first arm part connected to the milking box by a first joint, and a second arm part connected to the first arm part by a second joint and provided with an end effector. The first and second arm part, respectively, is pivotable in a vertical plane with respect to the milking box and the first arm part, respectively, by a first and second actuator, respectively. The end effector is movable within an operating range by the robot arm. The milking robot comprises a weight compensation device having a spring device between the milking box and the robot arm.