Abstract: A piston and cylinder arrangement for opening and closing entrance or exit doors or both in a milking compartment of a fully automated milking system. The piston and cylinder arrangement comprises an elongated cylinder having two pistons connected in tandem to an elongated piston rod. The cylinder is hermetically divided into two cylindrical portions each containing one of the pistons. The piston acts against a liquid in one portion and in the other portion the piston is actuated by pneumatic pressure. The piston rod is extended through the end of the cylinder and is connected to open and close an entrance door. The cylindrical portion containing the liquid has the liquid on both sides of the piston connected by a check-valve and a by-pass valve. To block movement of the pistons, the by-pass valve is retained in a closed position by pneumatic pressure from a supply of pressurized gas for actuating the piston in the pneumatic side of the cylinder.

Abstract: An apparatus for automatically milking animals, is provided with a milking robot which includes a robot arm that carries teat cups, each teat cup being carried in its own housing in a supporting element in the robot arm. When the teat cups are in an inoperative position, the openings on their upper sides are shielded by the supporting element. Each robot arm portion comprises a plurality of housings, one for each teat cup. Piston and cylinder members are disposed in each housing to move the teat cups from their shielded inoperative position to an open operative position under the teats of the animal to be milked and then upwardly to connect the teat cups to the teats of the animal to be milked. Thereafter the supporting element is lowered and the teat cups which remain on the teats are connected thereto only by flexible members.

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: 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: 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: A method for milking animals, such as cows, wherein the cows enter a milking compartment where teat cups of a milking apparatus are automatically attached to their teats. In the milk conduit system leading from the teat cups, sensors are placed to measure a variety of parameters and provide data to a computer for processing and presenting the data which the computer receives from the sensors. This data includes information from a flow sensitive sensor, a temperature sensitive sensor, and a sensor sensitive to electric conductivity of the milk. Information is also provided from the milking compartment to the computer on how much food is consumed by each animal, and how many times each animal enters the milking compartment. The computer compares the data received from the various sensors with similar data from immediately preceding selected periods of time, whereby a progressive average of the relevant data is available and compared for each animal.

Abstract: A milking apparatus comprising a circulation line in a milk circuit which includes a bulk milk tank, and a pump for circulating milk around the circuit including through the tank and through the circulation line. There are one or more milking compartments for automatically milking animals, such as cows, which are connected to the circulation line by supply lines. A milk filter can be incorporated in a circulation line or in a supply line or both. In one embodiment the milk filter is automatically renewable. It comprises a band of filtration material wound on two bobbins wherein the filter band intercepts the milk line at a bias cut between two clamping plates, one of which can be pivoted whereby the filter band is advanced automatically on a bobbin. Other filtration units are disclosed which may be manually replaced, one of which is contained in the bulk milk tank.

Abstract: A method an apparatus for automatically cleaning the udder and teats of an animal, following milking, wherein after the teat cups have been automatically removed from the teats of the animal, a robot arm moves under the teats of the animal which sprays an after-treating liquid upwardly in a fan-shaped pattern against the animal's udder and teats. The teat cups are moved away from the animal's udder and teats while they are being sprayed in a manner so that the teat cups which have been removed are never under an area which has just been sprayed by the fan-shaped pattern.

Abstract: An implement for milking animals, especially cows, automatically, is provided with teat cups. In the line system from a teat cup down to the location where the milk lines from the teat cups join, there is provided a vacuum-sensitive sensor and/or milk-sensitive sensor and/or a temperature sensitive sensor and/or a sensor sensitive to the electrical conductivity of the milk flow. Furthermore, there is provided a computer for processing and reproducing information conveyed from these sensors.

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.

Abstract: A milking plant for cows is provided with a milking machine comprising teat cups, which are connected separately to the teats of an animal. The milk obtained from each udder quarter is conveyed through a separate line to a milk measuring device. The milk measuring device includes four milk meters, one for each teat cup, having separate discharge lines coupled to common discharge lines which connect with a circulation line or loop that includes a bulk milk cooling tank, a two-speed or variable speed pump, and a plurality of heat exchangers for precooling the milk received from the common discharge lines before it is received in the bulk milk cooling tank and to recirculate and cool the milk received in the bulk milk cooling tank. After the milk has been discharged from the bulk milk cooling tank and the system is to be disinfected, washed and rinsed, the heat exchangers being used in a heat pump arrangement, can heat the fluid therein as selected and desired for sanitizing the system.

Abstract: A milking plant for cows is provided with a milking machine comprising teat cups, which are connected separately to the teats of an animal. The milk obtained from each udder quarter is conveyed through a separate line to a milk measuring device. The milk measuring device includes four milk meters, one for each teat cup, having separate discharge lines coupled to common discharge lines which connect with a circulation line or loop that includes a bulk milk cooling tank, a two-speed or variable speed pump, and a plurality of heat exchangers for precooling the milk received from the common discharge lines before it is received in the bulk milk cooling tank and to recirculate and cool the milk received in the bulk milk cooling tank. After the milk has been discharged from the bulk milk cooling tank and the system is to be disinfected, washed and rinsed, the heat exchangers being used in a heat pump arrangement, can heat the fluid therein as selected and desired for sanitizing the system.

Abstract: A milking plant for cows is provided with a milking machine comprising teat cups, which are connected separately to the teats of an animal. The milk obtained from each udder quarter is conveyed through a separate line to a milk measuring device. The milk measuring device includes four milk meters, one for each teat cup, having separate discharge lines coupled to common discharge lines which connect with a circulation line or loop that includes a bulk milk cooling tank, a two-speed or variable speed pump, and a plurality of heat exchangers for precooling the milk received from the common discharge lines before it is received in the bulk milk cooling tank and to recirculate and cool the milk received in the bulk milk cooling tank. After the milk has been discharged from the bulk milk cooling tank and the system is to be disinfected, washed and rinsed, the heat exchangers being used in a heat pump arrangement, can heat the fluid therein as selected and desired for sanitizing the system.

Abstract: A milking system for dairy animals comprising individual teat cups attachable to the respective teats of the animal's udder, a measuring device to determine the volume of milk discharged from individual teats, a central vacuum system to aid the discharge of the milk from the teats as well as to propel both the milk and the cleaning fluid through the system's fluid lines, a cooling tank, and an array of sensors to determine various parameters of the milk and milking system, including temperature sensors, milk conductivity sensors, air-to-milk ratio sensors, pressure sensors and fluid level sensors. The sensors are arranged at various points in the milking system, including in the individual teat cups, the milk measuring device and the discharge lines, and are optionally coupled to a central computer which controls both the individual components of the milking system and working parameters of the system as a whole, including an automatic cleaning system for cleaning the teat cups, fluid lines and cooling tank.

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.