Construction for automatically milking animals

This invention relates to an apparatus for automatically milking animals which comprises a milking compartment which has a robotic milking machine that is movable via a linkage from the milking compartment to under an animal being milked to attach teat cups thereto and to withdraw teat cups upon termination of the milking process.

Such an apparatus whereby a controllable robot arm is employed for positioning or connecting the teat cups or doing both as well as to disconnect and withdraw the teat cups. Such a robot arm comprises a first controlled element, at the end of which there is further provided a further controlled element, and at the end of the further controlled element there may be provided another controlled element. In other words two or three controlled units are connected in series. This has, inter alia, the disadvantage that an error in controlling the first controlled unit affects the control of the further control units, and additionally that of the third controlled unit if one is provided. Errors in control consequently accumulate and reinforce each other.

It is an object of the invention to improve the controlled interconnecting linkage between the milking compartment and the robotic milking machine where it connects to the teat cups to the teats of an animal being milked. According to the invention this is achieved by disposing the teat cups on a carrier element so that it is movable in three dimensions by at least three controlled piston and cylinder elements which each separately interconnects the carrier element with the milking compartment. The three controlled piston and cylinder elements each have one end fastened to the milk compartment, so that an accurate and reliable control is achieved.

The invention will be explained in further detail with reference to the accompanying figures.

FIG. 1 shows schematically a perspective view of an apparatus according to the invention in a first position; and

FIG. 2 shows schematically an apparatus of FIG. 1 in a further position.

FIG. 1 shows schematically an apparatus according to the invention in a first position. This apparatus for automatically milking animals comprises a milking compartment with milking robot 2 of a type well known those skilled in the art which is provided with teat cups and means for connecting the teat cups to the teats of an animal that enters milking compartment 1 to be milked. The teat cups are disposed on a schematically shown carrier element 3 that is movable in three dimensions by means of at least three controlled piston and cylinder elements 4 , each of which has one end connected with the milking compartment.

There may further be provided means for spatial orientation of the carrier element 3 . Said means comprise at least one further controlled piston and cylinder element 4 or at least one further controlled element, such as a stepper motor.

In the preferred embodiment, carrier element 3 is movable in three dimensions and capable of being orientated by means of six controlled piston cylinders elements 4 , each of which has one end connected with milking compartment 1 . Carrier element 3 has substantially three contact points (which are not in alignment with other) for the controlled piston and cylinder elements 4 , each contact point being connected with two controlled piston and cylinder elements 4 . Controlled piston and cylinder elements 4 are also fastened in pairs to carrier element 3 by means of a corresponding ball joint. Control piston and cylinder elements 4 are preferably suitable for moving carrier element 3 in a manner whereby it remains substantially parallel to the floor of milking compartment 1 .

A part of carrier element 3 , on which the teat cups are disposed, may be movable relative to a further part of carrier element 3 , to which controlled piston and cylinder elements 4 are fastened. For that purpose carrier element 3 may be provided with a rotatable or a shiftable or a pivotable platform or a platform having any combination of such characteristics, for the teat cups. For the purpose of connecting the teat cups to the teats of the animal to be milked, carrier element 3 may also be provided with a lifting device for the teat cups. The means for connecting the teat cups to the teats of an animal being milked are preferably substantially disposed on the carrier element.

Although, we have disclosed the preferred embodiments of our invention, it is to be understood that it is capable of other adaptations and modifications within the scope of the following clams: