Milking equipment
Patent Information
- Application Number
- NL2039224
- Authority / Receiving Office
- NL · NL
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-12-03
- Publication Date
- 2026-06-23
- Estimated Expiration
- 2044-12-02
Smart Images
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Abstract
Description
The present invention relates to a milking a dairy animal with teats, comprising at least one milk cup for apply to one of the teats, which milk cup comprises a cup housing, one in the cup housing fitted nipple liner which a teat space immediately teat opening and a surrounds the cup milk drainage opening, whereby it is situated between the teat liner and the cup housing a pulsation room with a pulsation opening is located, a room that is equipped for receiving the milked milk and for milk-air separation, which chamber is located during referred to as milking fluid-connected extending from the milk drain opening, whereby said chamber a fluid connected to the cup milk drain opening comprises a milk inlet opening and a chamber milk drain opening, as well as a separate room air exhaust opening located above the during said milking chamber milk drain opening is located, whereby the furthermore comprises a control system, a milk collection vessel for temporarily collecting the milk from a milking, with a vat milk supply opening, one between the chamber milk drain opening and the a tank milk supply opening connected to a milk hose and a tank air vent opening, a controllable vacuum device designed to provide a pulsation vacuum Vp to the pulsation space via the pulsation opening, of a milk volume Vm to the chamber via the room air exhaust opening, and of a transport vacuum Vt via the vessel air exhaust opening to the milk collection tank and the milk hose, where the vacuum device is configured for settings of the transport vacuum Vt depending on a factor in the milking related parameter. and are in themselves known for more than a hundred years. Virtually work exclusively and through in a milk cup connected to a teat to apply a milk vacuum, with which milk is sucked from the teat. This milk is sucked from the milk cup into a milk glass or sometimes directly into a milk tank, using a transport vacuum. With most milk cups, the transport vacuum and the milk vacuum via the same line, the milk hose, on the milk cup, and thus applied to the teat. The milk vacuum is then in fact merely the resultant of what remains of the transport vacuum under the teat under the influence of the milk flow from that teat. In itself, U82020084994A1 is one of the ones in the introduction mentioned species known. A disadvantage of the well-known one is that it is not always optimal. tailored to the requirements for milking dairy animals, both in terms of physical requirements of the animals as requirements for the milk. The invention therefore aims to be one of the in the introduction to improve the mentioned type in such a way that it is better attunable to the requirements to the milking and the milk. The invention achieves this objective in accordance with claim 1. The invention is based on the insight that the transport vacuum in this type is in principle independent of the milk vacuum in particular, because air is extracted via a separate drain, above the chamber milk drain opening. As a result the milk can be collected and discharged as a single-phase liquid, and can The functions of both vacuums are separated. The milk vacuum extracts milk from the teat, and the transport vacuum transports the milk. This latter function can therefore are set independently of the actual milking requirements, such as being extra careful when milk that one wishes to handle with care. For example, this is important in cheese production. or other dairy products where the amount of free fatty acids should be as much as possible be limited, which can be achieved by handling as carefully as possible, so by being as subtle as possible. On the other hand, it can happen that a dairy animal a has a particularly high milk flow. To prevent the chamber from filling with milk, it may be necessary to increase the transport vacuum for this dairy cow, so that this one too a large flow of milk can be sucked out of the chamber in a controlled manner. It will be clear that the adaptability of the transport vacuum offers these and other possibilities. It is noted here that this adaptability, in particular to a The milking-related parameter is not mentioned or elaborated in the aforementioned document US2020084994A1. Naturally, a choice must have been made at some point regarding the transport vacuum, just like with the and with conventional milk cups. But with that, and the transport vacuum cannot even be set as such or varied, because it is inextricably linked to the milk flow. And at the no link has been made to the milking parameter in the said document to to adjust that transport vacuum. The benefits of the present invention will then do not perform there. In the invention pursuant to the present invention, the vacuum direction common parts such as a vacuum pump, a moisture wiper (sanitary trap), etc. In particular, one is provided with the pulsation opening. connected pulsation pipe, one connected to the room air exhaust opening milk vacuum line, and one connected to the tank air discharge opening transport vacuum line. Such components are entirely the responsibility of the specialist in the field known. Furthermore, in the present application, a "vacuum value" the size of a negative pressure is relative to ambient pressure, such that a "higher vacuum" or "Greater vacuum" actually implies a lower absolute pressure. Special versions are described in the dependent conclusions, as well as in the following part of the description. The mentioned parameter is not particularly limited. Some examples are mentioned in this application. In implementation forms, the said parameter includes to be provided milk vacuum Vm during milking. The pressure, the force with which the milk is effectively expelled from the The chamber discharge depends on the difference between the pressure in the chamber, or the milk vacuum, and the pressure in the milk collection vessel. By adjusting the transport vacuum Depending on the milk vacuum, the milk can be discharged from the chamber be optimally controlled. Note that the milk vacuum, for example, would be set can be as a function of the milk flow, or of the phase of the milking (start phase, plateau phase, finishing phase, post-milking phase). Note furthermore that with conventional milking cups the milk vacuum to be provided cannot be controlled, or cannot be controlled properly, because the milk vacuum is only indirectly influenced and cannot be actively adjusted. the milk flow varies during milking, and with a higher milk flow it becomes milk vacuum effectively lower. In addition, the milk vacuum is already slightly lower due to the Air supply to the milk cup, which is necessary for transporting the milk. Apart from this latter effect, in and of the type in question, the in principle, the milk vacuum also actually provides the teat prevailing vacuum. The manner in which the control system sets the transport vacuum as a function of The milk vacuum is not particularly limited either. For example, the control system is designed for setting the transport vacuum Vt equal to the milk vacuum Vm plus a preset certain pressure difference. Since the pressure difference is now constant in principle, it is therefore also the discharge rate is in principle constant. For example, it is mentioned that it is predetermined pressure difference between 2 and 10 kPa, more specifically between 5 and 10 kPa. In such cases Pressure differences ensure smooth milk drainage, without the milk becoming too saturated. loaded and without too much air being drawn in (air ingress). Nevertheless are other values, particularly higher values, still possible, for example for milk not intended for human consumption, or if the distance between milk cup and milk collection is very large. in alternative or additional forms of implementation, the said includes parameter a head ho of the milked milk in the milk hose. With this implementation forms is the insight that the effective transport vacuum can be influenced due to the height over which the milk must be pumped from the chamber to the milk collection tank. After all, gravity will work with or against you in this case. In the In particular, the parameter can be chosen equal to pme|k*g*ho. Here, pmelk is the density of milk (ii kg / dm3), and the lifting height is the height difference between a chamber level hk of the milk in the chamber and a front level hf of a front boundary of milk supplied in the milk tube. This difference in height determines the milk column that passes through the The transport vacuum must be moved, almost always upwards, except for example in milking parlors with conventional and. The front level starts during a milking naturally also in the room, and will rise to the highest point during milking. of the milk hose. If that is not the tank milk supply opening, so if the milk drops afterwards up to that tank milk supply opening, then in practice a siphon effect will occur, and is the effective column, so the effective height difference, the difference between a vertical position of the chamber, more precisely the chamber milk drain opening, and a vertical position of the tank milk supply opening. The height of the room can be approximated, for example, as from a average height of the teats of the herd, of the breed if desired. The height the frontal level can be calculated from the measured quantity of milked and the cross-section of the milk hose. The height of the vat milk supply opening is a fixed height, which has been measured in advance, for example. It is noted here that in the aforementioned document US2020084994A1 although a delivery head is determined, this is used to the influence on to calculate the milk flow past the milk valve used therein more accurately. On in no way is the influence on any transport vacuum suggested or explained In special versions, it furthermore includes a position detector for determining the position of the teat or of the aforementioned milk cup drain opening, where the control system is configured to determine the delivery head ho based on the measured position and a height position of the said The tank milk supply opening can thus be determined even more accurately by the control system. what the hydrostatic pressure of the milk column is, with which the transport vacuum must be taken into account, and which can therefore play a role in setting the desired transport vacuum. The "desired transport vacuum" here is the transport vacuum that effectively acts on the milk in the room. The position of the cup milk drain opening is the position where the milk hose connects to the milk cup, that is to say, its chamber. It is favorably located the opening is in the lowest position for the milk in the chamber, so that the chamber is well |eeg can |open. But in any case, the cup milk drain opening will be located at height of the connection of the milk hose to the milk cup, and the position of that The connection can be determined with the position detector. For example, it includes the position detector, an optical camera and image recognition for processing the camera images and recognizing the said connection therein. Alternatively, this would also be for example, a position of the top or the bottom of the milk cup can be determined, after which the control or position detector assigns a known value to that position, each time, of course, subtracts or adds the height. In embodiments, it furthermore includes a chamber milk level. meter designed for measuring the milk level of the milk in the room, whereby the said parameter includes the mentioned milk level. Thus, the control can the transport vacuum correct further. After all, the milk in the chamber will also exert hydrostatic pressure. exercise, which in this case actually supports the transport vacuum. It is noted It should be noted, however, that this hydrostatic pressure will not be very high in practice. Depending Depending on the size / height of the room, the milk level can be, for example, a maximum of 10 cm. amounts, and thus the maximum hydrostatic pressure of this milk is 1 kPa. Mention has already been made above of a also in the state of the technique: well-known valve in the milk hose, for (partially) regulating the outflow of milk from the chamber. A pressure drop will also occur across this valve, which will depend of the position of that valve. Therefore, in embodiments, there is furthermore in the milk hose a steerable milk valve with an adjustable flow position, and a pressure drop gauge for measuring a pressure drop across the milk valve, where the control system is configured to Transport vacuum Tv to be set depending on the stated pressure drop. This includes "in the milk hose" both directly in the chamber milk drain opening and in the milk hose itself. Note that the milk valve as well as the transport vacuum both have an influence on the Removing milk from the room. Depending on requirements, one or both of these can be done. are used to fulfill those wishes. For example, can, if a a virtually constant milk level in the chamber is desired, a milk valve with a small pressure drop only a limited control range is applied, whereby only at very high milk flows the transport vacuum is increased to maintain that constant milk level safeguards. In most situations, it is then possible to use a lower transport vacuum. stand, so that energy can be saved. In embodiments, the control is therefore configured to set the transport vacuum Vt depending on mentioned flow position of the control valve. In implementation forms, it comprises an animal identification device. for determining the animal identity of the dairy animal to be milked, whereby the said parameter the specific animal identity includes. For example, the control is configured to the to set milk vacuum per dairy animal, depending on the maximum to be met. milk flow. The vacuum device is then designed, for example, to control the transport vacuum, to be set depending on the milk vacuum set per dairy animal. The invention will be explained in further detail below by means of a non- restrictive execution example, as well as the drawing. It shows: - Figure 1 very schematically a 1 according to the invention; - Figure 2 in detail a milk cup 5 of 1 according to the invention; - Figure 3 schematically shows some details of another part of the according to the invention; and - Figure 4 schematically depicts the operation and benefits of the invention. Figure 1 shows a very schematic representation of a 1 according to the invention. The 1 here comprises a robot 2 with a robot arm 3 and a gripper 4, as well as a milk cup 5 and a vacuum device 6 with a pulsation line 7, a milk vacuum line 8 and a transport vacuum line 10 to a milk glass 11. With 9 is a milk hose is indicated and a control unit with 12. A milk line 13 pumps milk pump 14 milk to the milk tank 15 or via the three-way valve 16 to the sewer 17. Furthermore is a part of a dairy animal 100 shown, with teats 101, and an lD-tag 102 that is readable by a tag reader 103. The 1 shown here is a robot, which is capable to milk a dairy animal 100, such as a cow, entirely independently. The variant shown grabs milk cups 5 one by one to attach them to the teats 101. Alternative the robot arm 3 carries all milk cups 5 detachable without gripper, as in the Astronaut® system from Lely Industries. However, the invention also applies to conventional and without robot 2, where a human the milk cups 5 applies to the teats 101. For the sake of clarity, there is only a milk cup 5 here displayed, where the actual number is usually four, or two for example. goats. The dairy animals 100 carry an lD-tag 102 which serves to identification. In robots, that ID tag 102 is readable by a tag reader 103, and with conventional and either readable by an equivalent tag reader or readable by a human. Thus, the dairy animal can be controlled by the control system to become 12. linked to a linked file containing animal-related information. The The controller can then set the 1 according to that information. The vacuum device 6 comprises at least a vacuum pump, and provides various vacuum lines a vacuum, such as a pulsation vacuum on the pulsation line 7, which creates the inherently known pulsation vacuum in the pulsation space of the milk cup 5. The pulsator that switches the pressure is not shown here, but sufficiently known to the craftsman. Furthermore, the vacuum device 6 provides a milk vacuum on the milk vacuum line 8, a milk transport vacuum on the transport vacuum line 10 and thus to the milk glass 11 and furthermore to the milk hose 9. In milk glass 11, the milk from a milking is collected. After milking, the milk collected by the milk pump 14 via the milk pipeline 13 to the bulk milk tank 15 pumped, or, if the milk does not meet the requirements for human consumption, via the three-way valve 16 pumped to the sewer 17 or another destination. The milk pump 14 is not particularly limited in this respect, and is, for example, a centrifugal pump. Sometimes it has advantages of using a pump with self-priming action, such as a Fixed volume pump, for example a bellows pump. Figure 2 shows in detail a milk cup 5 of 1 according to the invention. The milk cup 5 comprises a cup housing 20 and a teat liner 21 which a surrounds teat space 22 with a teat opening 23 and a cup milk drainage opening 24. A pulsation chamber 25 with a pulsation opening 26 is connected to the pulsation line. 7. A chamber 29 is connected to a chamber milk supply opening 27 via a connector 28. connected to the cup milk drain opening 24, surrounds a milk collection space 30, and has a room air exhaust opening 31 and a room milk exhaust opening 32, as well as a milk level meter 33 with electrodes 34 and a lower electrode 35. The milk vacuum line 8 is connected to the room air exhaust opening 31, and has a milk vacuum sensor 37. The milk hose 9 is connected to the chamber milk drain opening 32, and has a controllable milk valve 39 for regulating the discharge of the milk 40, and a milk flow meter 41 for measuring that milk flow. The milk cup 5 receives a teat through the teat opening 23 in the teat room 22. In the pulsation room 25, an alternating current is supplied via the pulsation line 7. vacuum applied, which subjects the teat liner 21 to a pressure alternating in pulsations apply to the teat and simultaneously seal the teat off from the milk vacuum. The milk vacuum, which serves to milk milk from the teat, prevails in the teat chamber 22. The milk vacuum is provided via the milk vacuum line 8, the milk collection area 30 of chamber 29, the chamber milk supply opening 27, the connector 28 and the cup milk drain opening 24 to below the teat (not shown). It is noted here that the milk, which gushes out of the teat, is at most briefly fills the cup milk drain opening 24, and thus the direct connection of the the milk vacuum line to the teat area will also be blocked only temporarily at most. Most of the time, the milked milk 40 is located at the bottom of the milk collection room 29 of the room 30, and there is a direct open connection between the milk vacuum line 8 and the teat space 22. This means that the effective milk vacuum with which the teat is milked is very well manageable and in principle is not or hardly dependent on the milk flow or gushing of milk from the teat. With conventional milk cups, on the other hand the milk vacuum is provided via the same pipe as the milked milk is discharged. This means that the milked milk fills that pipe correctly and consequently the provided vacuum does not act directly on the teat, so also that the effective milk vacuum at the teat can vary more or less strongly with the size of the milk flow from the teat. This variation makes it difficult or virtually impossible to easy to adjust teat-side vacuum. With the according to the present invention, this is actually quite possible. The (teat-side) milk vacuum can be used for control are measured with the optional milk vacuum sensor 37. The milk collected at the bottom of the chamber 40 is discharged under action of a milk transport vacuum, which is provided via the milk hose 9. Note that this milk transport vacuum has little to no influence on the teat-side milk vacuum as long as there is sufficient milk 40 at the bottom of the milk collection space 39 to the to close chamber milk drain opening 32. This milk level can be measured with the provided milk level meter 33. This measures, for example, the conductivity between each of the electrodes 34 and the lower electrode 35. The highest electrode with a conductivity that indicates the presence of milk indicates the milk level. Incidentally, the milk level meter 33 could also be implemented differently, such as with a series of photoelectric cells. and detectors, or with an (optical) transmittance meter, etc. Room 29 is shown in this execution example as rigid and unitary. connected to the cup housing 20. This offers advantages in terms of protection of the sensors in the room, etc. However, it is also possible to the room on any to provide a distance of 20 from the cup housing, for example by the connecting piece 27 to be carried out as a flexible hose, as long as the flow of the milk after the cup milk drain opening 24 but is non-rising, so either partly horizontal, partly descending, either, and with advantage, continuously descending. Thus, the milk can also actually bags in the chamber, so that the milk vacuum can move unhindered to the teat area. Whether or not milk is sucked away through the milk tube 9 is regulated by the position of the controllable, in particular proportional, valve 39. Incidentally, it is also it is possible to use an "on-off" valve, and for example with pulse width modulation to let the milk flow be determined. The milk flow through the milk hose 9 can be measured with the optional milk flow meter 41. A pulsation vacuum sensor may optionally be present in pulsation line 7. provides which is equipped for measuring the pulsation vacuum and transmitting that value to the vacuum device. Thus, the latter can continuously provide a correct set the pulsation vacuum. Furthermore, there is also an optional transport vacuum sensor have been provided, which is designed for measuring the transmit transport vacuums of that value to the vacuum device. This The transport vacuum sensor is in principle not located in the milk hose, but either above in the frosted glass 11 or, for example and in particular, in the transport vacuum line 10. The milk vacuum sensor 37 is optionally provided for measuring the (teat-side) milk vacuum and transmitting that value to the vacuum device, so that it can adjust the milk vacuum if desired. Figure 3 schematically shows some details of another part of the according to the invention, with the milk glass 11, or the milk collecting vessel, with the above connected via the tank air discharge opening 50 transport vacuum line 10, and the one connected via the tank milk supply opening 51 milk hose 9. The vat contains milk 52, which can be pumped through the milk line 13 are to be discharged. Not shown are the tank milk supply openings for the others milk hoses, nor a valve to keep the tank closed during milking 11. The vat milk supply openings 51 are located almost at the top, so that the milk can flow downwards into the vessel 11 without a back pressure of milk 52 to experience. A transport vacuum prevails in the transport vacuum line 10, which via the vat air discharge opening 50 also prevails in vat 11. This vacuum "pulls" on the milk in the milk hose 9, and therefore transports it via the milk hose 9 from the not here shown milk cup 5. Figure 4 schematically shows the operation and benefits of the invention, to the hand of a detail of an execution example of the 1 according to the invention. Not shown to scale are a milk cup 5 on a teat 101 of an udder 102 of a dairy animal 100. All similar parts are indicated with the same VenNijzing figures, as in the entire drawing. Furthermore, 54 is a pressure drop meter. indicated, and with 55 a positioning camera. Finally, several different heights are indicated relative to the floor area 56: h1 is the height of the milk surface of the milk 40, hz is the height of the vat milk inlet opening 51, ha is the height of the base of the teat on which the milk cup 5 is installed, h4 is the height of the bottom of the milk cup 5 / chamber 29, and h5 is the height of the highest point of the milk hose 9. According to the invention, it is advantageous to have the transport vacuum in the milk hose 9 to be adjusted to the set and also prevailing milk vacuum above the milk 40 in the room 29, which also prevails in the teat area. after all, the power is with which the milk 40 is sucked from chamber 29 partly determined by the difference between the milk vacuum above the milk, and the transport vacuum "below" the milk. And on In turn, that force affects the speed at which the milk flows through the tube. 9 flows, which speed in turn influences the dropping of the milk level 40 in chamber 29. In some embodiments, it is desirable to keep this milk level as follows to keep as constant as possible. Alternatively or additionally, the steerable valve 39 is controlled by the control system to keep that milk level as constant as possible. The However, it is furthermore the case that a pressure drop will also occur across this valve 39, which at a known milk flow and valve position can be assumed to be known, for example from calibration measurements. However, if the milk flow can vary significantly, this pressure drop is much lower. unambiguously determined. In conclusion, it can be said that it is advantageous to the to allow milk flow to occur under as few unknown or further measurable parts as possible variables. And an important variable is the intrinsic pressure difference between the transport vacuum and the milk vacuum. If that is essentially constant, particularly the control of valve 39, to keep the milk level in chamber 29 constant, much be carried out more reliably and simply. Therefore, it is at least advantageous to adjust the transport vacuum to the milk vacuum, which at the the present one is, after all, also easily manageable. It is even more advantageous it as the pressure difference between the transport vacuum and the milk vacuum essentially is constant, such as 2 kPa, or 5 kPa, or any other value, for example between 1 and 15 kPa. However, it should be noted that the transport vacuum that is effective on the milk is 40 acts upon is influenced by various factors. The transport vacuum initially depends on the (negative) pressure in the milk glass 11, as supplied via the transport vacuum line 10. When furthermore the milk hose 9 is completely filled with milk, and this flows out into the milk glass 11 via the tank milk supply opening 51, the effective transport vacuum has decreased with the hydrostatic pressure of the milk, which then amounts to pme|kg*g*(hz - hi). This can be determined using the milk level meter 33 in the room 29, as well as by means of the height hs or h4. The height h3 is the height of the base of the teat on which the milk cup 5 is mounted. This height can for example, be determined at the beginning of milking using the positioning camera 55, which is (also) designed for teat position determination, for example. The Camera 55 is, for example, a 3D camera, a stereo camera, or alternatively a laser detector, in each case as known in the state of the art. The camera 55 is for example applied to the robot arm of a milking robot, or on a part of a (untoned) milking box in which the dairy animal is milked. It is also possible, as in this last example, that the camera 55 continuously the position of the base of the teat determines, because it can change during milking. Alternative or supplementary is it possible that the camera 55 the position of the bottom of the milk cup 5, and so of chamber 29, or of another characteristic part of the milk cup 5 determines. Since chamber 29 is preferably rigid, determining the position of the milk cup 5 sufficient to also the position of the underside of the chamber 29, so h4, to determine. If chamber 29 is flexibly connected to milk cup 5, the position of Chamber 29 itself must be determined, and is in principle less or not usable. Incidentally, the height hs can alternatively also be determined, or approximated, by the robot arm during attachment of the milk cup 5. | after all, the control system that the (not shows) actuators for the robot arm control also keep track of the position to which they guide the robot arm during that connection. Finally, the Hz height is in principle a fixed value, and needs to be determined only once. An important note here is that in practice the milk level in the room 29 often amount to only a few centimeters, such as less than 10 cm. The the contribution of the milk level to the hydrostatic pressure will then also be less than 1 kPa are. Moreover, if it is assumed that the control of the milk level within for example 1 to 2 to remain, that share will also be a maximum of 0.2 kPa vary. In the vast majority of cases, this variation is so slight that the milk level measurement for setting the transport vacuum can reasonably be neglected, or can be replaced by a fixed value of, for example, 5 cm, or 0.5 kPa. Note that as long as the milk in the milk tube 9 has not yet the each feed opening 51 has reached the hydrostatic pressure of the milk otherwise will and determined by the height above the v|oer 56 of the front of the milk in the hose 9. This is difficult to determine, so it is better to use the maximum height. to take n, and that is h5. If the milk tube 9 is sufficiently stiff, that is also a in fixed value, and if the hose is (very) flexible, one can work with a fitting. However, it is noted that this value is no longer relevant as soon as the k flows into the milk glass 11, due to the siphoning effect that then occurs. The examples described are not intended to be restrictive. The The scope of protection of the invention is determined by the attached claims.
Claims
1. for milking a dairy animal with teats, comprising at at least one milk cup for attachment to one of the teats, which milk cup comprises: - a cup house, - a teat liner fitted in the cup housing that has a teat space with a surrounds the teat opening and a cup milk drainage opening, whereby between the between the teat liner and the cup housing a pulsation chamber with a pulsation opening is located, - a room furnished for receiving the milked milk and for milk- air separation, which chamber during said milking is fluid-connected from the extends milk drain opening, where said chamber a liquid connected to the cup milk drain opening includes a milk inlet opening and a chamber milk drain opening, as well as a separate room air exhaust opening located above the during said milking chamber milk drain opening is located, which furthermore includes: - a control, - a milk collection vessel for temporarily collecting the milk from a milking, with a vat milk supply opening, one between the chamber milk drain opening and the barrel milk inlet opening connected to milk hose and a barrel air outlet opening, - a controllable vacuum device designed to provide a pulsation vacuum Vp to the pulsation chamber via the pulsation opening, of a milk volume Vm to the chamber via the room air exhaust opening, and of a transport vapor Vt via the tank air vent opening on the milk collection tank and the milk hose, where the vacuum device is designed for setting the transport vacuum Vt in dependence on a parameter related to milking.
2. according to conclusion 1, where the said parameter is mentioned to provide milk volume Vm during milking comprises.
3. in accordance with claim 2, where the control is designed for settings of the transport vacuum Vt equal to the milk vacuum Vm plus a prior certain pressure difference, in particular between 2 and 10 kPa, more specifically between 5 and 10 kPa.
4. Milking arrangement according to claim 1, where said parameter a lifting height ho of the milked milk in the milk hose comprises, in particular equal to pmeik*g*ho.
5. pursuant to claim 4, furthermore comprising a position detector for determining a position of the teat or of the said cup milk drainage opening, where the control system is configured to determine the head ho based on the measured position and a height position of the said vat milk supply opening.
6. in accordance with one of the preceding claims, furthermore comprising a chamber milk level meter designed for measuring the milk level of the milk in the chamber, where the said parameter comprises the said milk level.
7. according to one of the preceding conclusions, with furthermore in the milk hose a steerable milk valve with an adjustable flow position, and a pressure drop meter for measuring a pressure drop across the milk valve, where the control is configured to set the transport vacuum Tv depending on the aforementioned pressure drop.
8. in accordance with claim 7, where the control is designed to the transport vacuum Vt to be set depending on the said flow position of the control valve 9. according to one of the preceding claims, comprising a animal identification device for determining the animal identity of the dairy animal to be milked, where the said parameter comprises the specific animal identity.