Milking system and method with pre- and post-dipping in teat liners

Abstract

Systems and methods for milking a dairy animal involve manually attaching a cluster of milking cups to a teat of the dairy animal. When the teat of the dairy animal is positioned in a liner of the milking cup, a pre-soak, a milk, and a post-soak process are performed. The cluster of milking cups is then detached from the teat of the dairy animal. The system can be implemented in a parallel linear, a rotary, or a herringbone milking parlor configuration.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Application No. 63 / 239,214, filed August 31, 2021, pursuant to 35 U.SC §119, the entire contents of which are expressly incorporated herein by reference. Background Technology

[0003] Commercial milking systems for dairy animals are generally divided into manual milking systems and automatic milking systems. Automatic milking systems, such as the one disclosed in U.S. Patent No. 9,763,421, automatically attach milking cup assemblies to the dairy animal's teats, automatically pre-dip the teats, automatically milk the dairy animal, automatically post-dip the teats, and automatically separate the milking cup assemblies from the teats. In contrast, manual milking systems require manual pre-dip application, manual attachment of the milking cup assemblies to the teats, and manual post-dip application of the teats after milking.

[0004] Automated milking systems are significantly more expensive than manual milking systems because automation requires additional equipment, including robotic arms for moving milking cups to and from the teats (as well as attaching and removing them), and sensors and processors for identifying the position of each teat so that milking cups can be automatically attached to each. In many cases, automated milking systems can perform the milking process much faster than manual systems, including applying pre-dip and post-dip. Therefore, the higher upfront costs are considered to be offset by the more efficient milking process.

[0005] Manual milking parlors typically have milking cubicles arranged in a line (or two parallel lines, i.e., a parallel-line milking parlor), a herringbone pattern (i.e., a herringbone milking parlor), or a circle (i.e., a rotating milking parlor). In these configurations, the space in each milking cubicle is usually sized to provide minimal lateral space between the dairy cow and the partitions between adjacent milking cubicles. Therefore, there is no necessary space in the cubicles of a manual milking parlor to allow for the modification of cubicles for an automated milking system.

[0006] Therefore, installing an automated milking system requires reconfiguring the milking parlor, which further increases the upfront costs of deploying the automated milking system.

[0007] The goal is to improve the efficiency of manual milking parlors without reconfiguring milking cubicles or incurring the high costs of additional equipment required for automatically attaching and detaching milking cup assemblies from dairy cow teats. Summary of the Invention

[0008] According to an embodiment, a dairy cow milking system includes a qualified milk container, a defective milk container, a pre-impregnating liquid storage container, a post-impregnating liquid storage container, and a milking compartment configured to accommodate milking cows. The milking compartment includes a milking cup assembly comprising a plurality of milking cups, a bushing at least partially disposed in each of the plurality of milking cups, and a pulsation chamber disposed between each of the plurality of milking cups and the bushing at least partially disposed therein. A support is fixed to one side of the milking compartment and configured to detach the milking cup assembly from one side of the milking compartment. A first fluid line fluidly connects the interior of each of the plurality of bushings to the pre-impregnating liquid storage container via at least one first valve, and fluidly connects the interior of each of the plurality of bushings to the post-impregnating liquid storage container via at least one second valve 119. A second fluid line fluidly connects the downstream end of each of the plurality of bushings to the qualified milk container via at least one third valve, and fluidly connects the downstream end of each of the plurality of bushings to the defective milk container via at least one fourth valve. The pulsator is fluidly connected to a pulsation chamber located between each of a plurality of milking cups and a bushing at least partially disposed therein. The milking compartment also includes a switch and a processor connected to at least one first valve, at least one second valve, at least one third valve, at least one fourth valve, the pulsator, and the switch. The processor is configured to, in response to the activation of the switch, control at least one first valve to fluidly connect a prepreg storage container to the interior of each of the plurality of bushings and to control at least one fourth valve to fluidly connect a defective milk container to the downstream end of each of the plurality of bushings. The processor is also configured to control the pulsator to apply a first pulsation rate to the pulsation chamber between each of the plurality of milking cups and the bushing at least partially disposed therein during prepreg supply. The processor is also configured to control at least one first valve to isolate the prepreg storage container from the interior of each of the plurality of bushings. The processor is further configured to control the pulsator to apply a second pulsation rate to the pulsation chamber between each of the plurality of milking cups and the bushing at least partially disposed therein. The processor is also configured to control at least one third valve to fluidly connect the downstream end of each of the plurality of bushings to a qualified milk container. The processor is also configured to control at least one second valve to fluidly connect a post-immersion storage container to the interior of each of the plurality of bushings, control at least one third valve to fluidly isolate the qualified milk container from the downstream end of each of the plurality of bushings, and control at least one fourth valve to fluidly connect a non-qualified milk container to the downstream end of each of the plurality of bushings.

[0009] According to an embodiment, there is a method for milking dairy animals. A milking cup assembly is manually attached to the animal by manually inserting each of a plurality of teats into a corresponding one of a plurality of milking cups. Each of the plurality of milking cups includes a corresponding bushing at least partially disposed within the milking cup. Milking of the animal with the manually attached milking cup assembly is initiated. Milking of the animal involves controlling at least one first valve to fluidly connect a prepreg storage container to the interior of each of the bushings and controlling at least one fourth valve to fluidly connect a defective milk container to the downstream end of each of the bushings. Each of the teats is prepreg-coated by supplying prepreg to the interior of each of the bushings. A pulsator operates at a first pulsation rate to a pulsation chamber disposed between each milking cup and each corresponding bushing and directs the prepreg to a waste milk line. At least one first valve is controlled to isolate the prepreg storage container from the interior of each of the bushings. The pulsator operates at a second pulsation rate to the pulsation chamber to draw milk from each of the plurality of teats. At least one third valve is controlled to fluidly connect the downstream end of each of the plurality of bushings to a qualified milk container, such that milk from the dairy cow is supplied to the qualified milk container. At least one second valve is controlled to fluidly connect a post-immersion storage container to the interior of each of the plurality of bushings, at least one third valve is controlled to fluidly isolate the qualified milk container from the downstream end of each of the plurality of bushings, and at least one fourth valve is controlled to fluidly connect a non-qualified milk container to the downstream end of each of the plurality of bushings. After milk is drawn from each of the plurality of teats, post-immersion coating is performed on each of the plurality of teats by supplying post-immersion to the interior of each of the plurality of bushings. The milking cup assembly is then separated by removing each of the plurality of teats from its corresponding milking cup. Attached Figure Description

[0010] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate one or more embodiments and explain these embodiments together with the specification. In the drawings:

[0011] Figure 1A and 1B This is a schematic diagram of a milking system according to an embodiment;

[0012] Figure 2 This is a flowchart of a method for a milking system according to an embodiment;

[0013] Figure 3A and 3B According to the embodiments Figure 1A and 1B A detailed schematic diagram of an exemplary embodiment of the milking system shown;

[0014] Figure 4A and4B This is a schematic diagram of the valve arrangement in different panels of the milking system according to an embodiment;

[0015] Figures 5A-5C The different panel arrangements of the parallel line milking parlor, the rotating milking parlor, and the herringbone milking parlor according to the embodiments are shown respectively;

[0016] Figure 6A and 6B This is a timing diagram of the operation of the milking system according to an embodiment;

[0017] Figure 7A and 7B The open and closed bushings according to the embodiments are shown respectively;

[0018] Figure 8 A milking cup assembly according to an embodiment is shown; and

[0019] Figure 9A and 9B A vacuum supply receiver according to an embodiment is shown. Detailed Implementation

[0020] Exemplary embodiments will now be described with reference to the accompanying drawings. The same reference numerals in different drawings denote the same or similar elements. The following detailed description does not limit the invention. Rather, the scope of the invention is defined by the appended claims. For simplicity, the following embodiments will be discussed with respect to the terminology and structure of a milking system for dairy animals.

[0021] Figure 1A and 1B This is a schematic diagram of a milking system according to an embodiment. The dairy milking system includes a good milk container 102, a bad milk container 104, a pre-soaking liquid storage container 106, a post-soaking liquid storage container 108, and a milking compartment 110 configured to accommodate dairy animals for milking. The good milk container 102 contains milk obtained from the milked dairy animals to be sold, while the waste container 104 includes bad milk, foremilk, pre-soaking and post-soaking chemicals, water, and debris detached from the teats of the dairy animals during the pre-soaking process. The pre-soaking liquid storage container 106 includes chemicals for cleaning the teats of the dairy animals before milking, and the post-soaking liquid storage container 108 includes chemicals for treating the teats of the dairy animals after milking. The milking compartment 110 may be one of a plurality of adjacent milking compartments arranged in parallel lines, in a swivel, or in a herringbone configuration. As will be understood from the discussion below in conjunction with Figures 3-9B, the milking system may also include air and water lines used during the pre-soaking and post-soaking processes.

[0022] Milking compartment 110 includes a milking cup assembly 112 having a plurality of milking cups 112A, a bushing 112B at least partially disposed in each of the plurality of milking cups 112A, and a pulsating chamber 112C disposed between each of the plurality of milking cups 112A and the bushing 112B therein. When the dairy animal is a cow, the plurality of milking cups and bushings will be four, corresponding to the four teats of the dairy animal. If the milking system is used for other types of dairy animals, the number of the plurality of milking cups and bushings will be different.

[0023] Milking compartment 110 also includes a support 114 fixed to one side of milking compartment 110 and configured for detaching milking cup assembly 112 from one side of milking compartment 110. According to embodiments, milking cup assembly 112 can be detached manually, partially automatically, or fully automatically. In rotating milking parlors and straight milking parlors, the dairy cow is arranged in the compartment with its rear facing a partially enclosed side of the compartment, and the support 114 is fixed to this partially enclosed side of milking compartment 110. In a herringbone milking parlor, the milking cup assembly is fixed to the dairy cow from its side, and in this arrangement, the support 114 is fixed to the partially enclosed side of milking compartment 110 located on the lateral side of the dairy cow.

[0024] Milking compartment 110 also includes a first fluid line 116, which fluidly connects the interior of each of the plurality of bushings 112B to a pre-impregnating liquid storage container 106 via at least one first valve 118. The first fluid line 116 is fluidly connected to a post-impregnating liquid storage container 108 via at least one second valve 119. Milking compartment 110 also includes a second fluid line 120, which fluidly connects the downstream end of each of the plurality of bushings 112B to a good milk container 102 via at least one third valve 122. The second fluid line 120 is also fluidly connected to the downstream end of each of the plurality of bushings 112B to a bad milk container 104 via at least one fourth valve 123.

[0025] The milking system 110 also includes a pulsator 124 and a switch 126. The pulsator 124 is fluidly coupled to a pulsation chamber 112C located between each of a plurality of milking cups 112A and a bushing 112B at least partially disposed therein. The milking system also includes a processor 128 coupled to at least one first valve 118, at least one second valve 119, at least one third valve 122, at least one fourth valve 123, the pulsator 124, and the switch 126. The processor 128 may be a microprocessor, a programmable logic controller (PLC), an application-specific integrated circuit (ASIC), and / or a field-programmable gate array.

[0026] Processor 128 is configured to control the milking system in response to the activation of switch 126 to perform pre-impregnation, milking, and post-impregnation when the teats are in bushes 112B. Switch 126 is actuated before the milking cup assembly 112 is manually attached to the dairy animal. Specifically, actuation of the switch causes a vacuum to be applied to a pulsating chamber 112C between each of the plurality of milking cups 112A and a bush 112B at least partially disposed therein, and then once it is detected that all the teats of the dairy animal have been inserted into the corresponding bushes 112B, processor 128 begins the milking process, which includes applying pre-impregnation when the teats are in bushes 112B, milking, and applying post-impregnation.

[0027] Processor 128 is configured to control at least one first valve 118 to fluidly connect pre-impregnated liquid storage container 106 to the interior of each of the plurality of bushings 112B, and to control at least one fourth valve 123 to fluidly connect defective milk container 104 to the interior of each of the plurality of bushings 112B. At least one third valve 122 should already be in a closed state; however, if not, the step also includes closing at least one third valve 122 to prevent pre-impregnated liquid and any debris from entering the acceptable milk storage container 102. The fluid connection between the pre-impregnated liquid storage container 106 and the interior of the bushings 112B can originate from the downstream end of the bushings 112B, the upstream end of the bushings 112B, or between the upstream and downstream ends of the bushings 112B. Processor 128 is also configured to control pulsator 124 to apply a first pulsation rate to pulsation chamber 112C between each of the plurality of milking cups 112A and the bushings 112B disposed therein, while supplying pre-impregnated liquid.

[0028] The processor 128 is further configured to control at least one first valve 118 to isolate the prepreg storage container 106 from the interior of each of the plurality of bushings 112B. The processor 128 is also configured to control a pulsator 124 to apply a second pulsation rate to a pulsation chamber 112C between each of the plurality of milking cups 112A and a bushing 112B disposed therein.

[0029] The processor 128 is also configured to control at least one third valve 122 and at least one fourth valve 123 to fluidly connect the downstream end of each of the plurality of bushings 112B to the qualified milk container 102 and to fluidly isolate the downstream end of each of the plurality of bushings 112B from the unqualified milk container 104. The processor 128 is further configured to control at least one second valve 119 to fluidly connect the post-immersion storage container 108 to the interior of each of the plurality of bushings 112B and to control at least one fourth valve 123 to fluidly connect the unqualified milk container 104 to the interior of each of the plurality of bushings 112B, and to control at least one third valve 122 to fluidly isolate the downstream end of each of the plurality of bushings 112B from the qualified milk container 102. The fluid connection between the post-immersion storage container 108 and the interior of the bushings 112B may originate from the downstream end of the bushing 112B, the upstream end of the bushing 112B, or between the downstream and upstream ends of the bushings 112B.

[0030] Depending on the specific type of processor used, the processor 128 configured in the above manner can be implemented based solely on hardware or based on a combination of hardware and software.

[0031] Now we will combine Figure 1A , Figure 1B and Figure 2 An exemplary method for operating a milking system is described. First, a milking cup assembly 112 is manually attached to the dairy animal by manually inserting each of the animal's multiple teats into a corresponding one of a plurality of milking cups 112A (step 205). Each of the plurality of milking cups 112A includes a corresponding bushing 112B that is at least partially disposed within the milking cup 112A. Milking of the dairy animal with the manually attached milking cup assembly 112 is then initiated (step 210). Milking of the dairy animal involves steps 215-250.

[0032] At least one first valve 118 is controlled by processor 128 to fluidly connect the prepreg storage container 106 to the interior of each of the plurality of bushings 112B, and at least one fourth valve 123 is controlled by processor 128 to fluidly connect the defective milk container 104 to the downstream end of each of the plurality of bushings 112B (step 215). Prepreg application is performed on each of the plurality of nipples by supplying prepreg to the interior of each of the plurality of bushings 112B (step 220). Processor 128 can control the supply of prepreg.

[0033] The pulsator 124 operates the pulsation chamber 112C at a first pulsation rate. The pulsation chamber 112C is arranged between each milking cup 112A and the corresponding bushing 112B and guides the pre-impregnated liquid to the waste milk line (step 225).

[0034] At least one first valve 118 is controlled by processor 128 to isolate the prepreg storage container 106 from the interior of each of the plurality of bushings 112B (step 230). Pulsator 124 is then operated at a second pulsation rate to actuate pulsation chamber 112C to draw milk from each of the plurality of teats (step 235). Processor controls at least one third valve 122 to fluidly connect the downstream end of each of the plurality of bushings 112B to a qualified milk container 102, such that milk from the dairy animal is supplied to the qualified milk container 102 (step 240). After milk is expressed, the processor then controls at least one second valve 119 to fluidly connect the post-immersion storage container 108 to the interior of each of the plurality of bushings 112B, controls at least one third valve 122 to fluidly isolate the qualified milk container 102 from the downstream end of each of the plurality of bushings 112B, and controls at least one fourth valve 123 to fluidly connect the unqualified milk container 104 to the downstream end of each of the plurality of bushings 112B (step 245).

[0035] After milk is drawn from each of the plurality of nipples, a post-immersion solution is applied to each of the plurality of nipples by supplying the post-immersion solution to the interior of each of the plurality of bushings 112B (step 250). The supply of the post-immersion solution can be controlled by the processor 128.

[0036] Once the milking process, including the post-dip soaking, is completed, the milking cup assembly 112 is separated from the multiple nipples by removing each of the multiple milking cups 112A from the corresponding one (step 255). Separation of the milking cup assembly 112 from the multiple nipples occurs due to the release of the vacuum acting on the bushing of the milking cup, resulting in the separation of the milking cup assembly from the nipples.

[0037] For example, due to different government regulations, the above systems and methods can be implemented in many different ways. Now, we will combine... Figure 3A-8 B describes a non-restrictive implementation scheme.

[0038] Figure 3A and 3B The arrows in the diagram indicate the direction of fluid flow. For clarity, in... Figure 3A and 3B The fresh water supply line 328 and the air supply line 332 are shown separately; however, it should be recognized that... Figure 3A and 3B The fresh water supply line 328 in the middle is the same line and Figure 3A and Figure 3B The air supply line 332 in the middle is the same supply line.

[0039] Figure 3A The flow of milk and other fluids originating from bushing 112B is shown, wherein the udder of the dairy animal is placed in bushing 112B, and Figure 3B The flow of fluids is shown, specifically the flow of pre-impregnating solution, post-impregnating solution, water, and air used in the pre-impregnation and post-impregnation processes. Therefore, although... Figure 3A and 3B Milking cup assembly 112 and bushing 112B are shown respectively, but it should be understood that bushing 112B is inserted into milking cup 112A of milking cup assembly 112.

[0040] First of all, let's look at Figure 3A The milking cup assembly 112 is connected to a pipeline including a flow sensor 302 and then a color sensor 304. These sensors can also be arranged in reverse order, and the flow sensor 302 can be omitted if desired. The pipeline then connects to a qualified milk valve 306 and a disqualified milk valve 308, both used to control whether fluid and other materials in the pipeline are fluidly connected to the qualified milk container 102 or the disqualified milk container 104. Thus, when the qualified milk valve 306 is open, the disqualified milk valve 308 is closed, and vice versa.

[0041] Air supply line 310 is connected to qualified milk valve 306 and unqualified milk valve 308 via pneumatic pilot valve block 312, which consists of an arrangement of more than one valve. Figure 3B As shown, the air supply line 310 is connected to the pre-immersion safety valve 314, the post-immersion safety valve 316 and the post-immersion liquid metering valve 318 via the pneumatic pilot valve 312.

[0042] Return to Figure 3A When the qualified milk valve 306 is open and the unqualified milk valve 308 is closed, fluid (in this case, milk) from the milking cup assembly 112 passes through the milk meter 320 to measure the milk quantity and is then transferred to the qualified milk line 322, which is fluidly connected to the qualified milk container 102. When the unqualified milk valve 308 is open and the qualified milk valve 306 is closed, fluid and any substances in the fluid are transferred to the diversion valve 324, which supplies fluid and any substances in the fluid to the unqualified milk line 326, which is fluidly connected to the unqualified milk container 104.

[0043] A diverting valve 324 connects a water supply line 328 to the milking cup assembly 112 via a backflush valve 330, and an air supply line 332 to the milking cup assembly 112 via a backflush air purification valve 334. Therefore, water and air can be supplied to the milking cup assembly 112 to remove substandard milk, foremilk, and any debris contained therein from the lines before supplying qualified milk through these lines, preventing substandard milk, foremilk, and debris from contaminating the qualified milk.

[0044] Turn again Figure 3BA pre-impregnating solution supply line 336, connected to the pre-impregnating solution storage container 106, supplies pre-impregnating solution to the bushing 112B via a pre-impregnating solution metering valve 338, a pre-impregnating safety valve 314, and an impregnating solution distribution manifold 340. This allows pre-impregnating solution to be supplied to the bushing 112B, which houses the dairy animal's udder, for use in the pre-impregnating process. A post-impregnating solution supply line 342, connected to the post-impregnating solution storage container 108, supplies post-impregnating solution to the bushing 112B via a post-impregnating solution metering valve 318, a post-impregnating solution check valve 344, and an impregnating solution distribution manifold 340.

[0045] Water supply line 328 and air supply line 332 are used to flush parts of the milking system after the immersion solution is supplied to the teats of dairy animals. Specifically, the fresh water supply line is connected to an immersion valve 346 and a water check valve 348, the immersion valve 346 controlling whether water is fluidly connected to the rest of the system, and the water check valve 348 preventing any liquid from flowing back into the fresh water supply line 328. Water passing through the water check valve 348 passes through an immersion safety valve 316 to clean the immersion solution distribution manifold 340 and bushing 112B. Air supply line 332 is also connected to the immersion solution distribution manifold 340 and bushing 112B via a pre-immersion degassing valve 352, a water check valve 348, and an immersion safety valve 316. The pre-immersion degassing valve 352 is configured to push the pre-immersion solution toward the teats in bushing 112B and water toward milking cup 112A during the backwash sterilization process. Valve 350 is configured to allow post-dip liquid to be pushed toward the teat in bushing 112B at the end of milking, but also to prevent water and post-dip liquid from flowing back into the system. Additionally, water supply line 328 and air supply line 332 can be connected to milking cup 112A to wash and dry the dairy cow's udder during pre-dip and post-dip processes. Specifically, after the application of pre-dip or post-dip chemicals, water can be applied to the udder to wash away any residual chemicals (or, in the case of the pre-dip process, other debris and foremilk), and air can be supplied to the udder to dry it.

[0046] Now refer to Figure 1A , 1B As can be understood from the above discussion, connecting bushing 112B to at least one third valve 122 of qualified milk container 102 includes qualified milk valve 306, and connecting bushing 112B to at least one fourth valve 123 of unqualified milk container 104 includes unqualified milk valve 308 and diverting valve 324.

[0047] Now refer to Figure 1A , 1B As can be understood from the above discussion, at least one first valve 118 includes a pre-impregnating liquid metering valve 338 and a pre-impregnating liquid safety valve 314, and at least one second valve 119 includes a post-impregnating liquid metering valve 318, a post-impregnating liquid check valve 344, and a post-impregnating liquid safety valve 316. As mentioned above, the arrangement of the valves can vary depending on the government regulations applied in the geographical location of the milking system.

[0048] The disclosed milking system is designed for installation in existing milking parlors and therefore must comply with the limited existing space requirements. Therefore, as... Figure 4A and 4B As shown, a valve for controlling the milk flow from the milking cup bushing can be arranged on a panel. Figure 4A On the 400A), and the valves for controlling the fluid flow to and from the milking cup liner related to the pre-impregnation and post-impregnation processes can be arranged in a separate panel. Figure 4B (400B in the text). For ease of illustration, the fresh water supply line 328 and the air supply line 332 are... Figure 4A and 4B Each is shown separately; however, it should be recognized that, Figure 4A and 4B The fresh water supply pipeline 328 is the same pipeline, and Figure 3A and 3B The air supply line 332 in the middle is the same supply line.

[0049] like Figure 4A As shown, the milk determination valve and backflushing panel 400A (hereinafter referred to as the milk panel) include an air supply line 310 connected to three two-position / three-position valves 402-406, corresponding to a pneumatic pilot valve block 312. Valve 402 connects the air supply line 310 to the qualified milk valve 306, valve 404 connects the air supply line 310 to the unqualified milk valve 308, and valve 406 connects the air supply line 310 to valve 428, which connects between the unqualified milk valve 308 and the unqualified milk line 324. Valve 428 corresponds to the diverting valve 324. Figure 4A and 4B In the specific examples shown, qualified milk valve 306 and unqualified milk valve 308 are shut-off-drain-shut-off valves as required by U.S. regulations. When implemented outside the United States, these valves are not required to have a shut-off-drain-shut-off configuration.

[0050] Milking cup assembly 112 is connected to qualified milk valve 306 and unqualified milk valve 308 via color sensor 304. It should be understood that this connection is via the milk outlet of the milking cup assembly and the milk outlet, which is typically located downstream of the milking cup. When the pre-soaking process is complete and the lines are cleaned, color sensor 304 can be used to determine whether the milk from milking cup assembly 112 is qualified or unqualified, and whether qualified milk valve 306 and unqualified milk valve 308 are controlled accordingly. When information from the color sensor indicates that qualified milk is flowing from milking cup assembly 112, qualified milk determination valves 410-414 open to allow milk to proceed into qualified milk line 322, and unqualified milk determination valves 420-424 close. During the pre-drip and post-drip processes, and when information from the color sensor indicates that the milk from milking cup assembly 112 is substandard, the qualified milk determination valves 410-414 close, and the substandard milk determination valves 420-424 open to allow chemicals from the pre-drip and post-drip solutions, as well as the substandard milk, to be directed to the substandard milk line 324. When the qualified milk valve 306 is open, the fluid path to the qualified milk discharge port 416 is closed, and when the qualified milk valve 306 is closed, the fluid path is open. Similarly, when the substandard milk valve 308 is open, the fluid path to the substandard milk discharge port 426 is closed, and when the substandard milk valve 308 is closed, the fluid path is open.

[0051] Valve 430 connects water supply line 328 to milking cup assembly 112, valve 432 connects air supply line 332 to milking cup assembly 112, and valve 434 connects backflushing line 432 to milking cup assembly 112. Valve 430 corresponds to backflushing water valve 330, and valve 432 corresponds to backflushing air purification valve 334. Fluid in water supply line 328, air supply line 332, and backflushing line 432 can be supplied after milking of dairy animals to clean milking cup assembly 112 and the lines and valves located between milking cup assembly 112 and qualified milk lines 322 and unqualified milk lines 324.

[0052] Milking cup assembly 112 is connected to immersion panel 400B via check valve 436. Now turn Figure 4BCheck valve 436 is connected to water supply line 328 via valve 438, allowing water to be supplied to milking cup assembly 112 before switching the flow path from milking cup assembly 112 from the non-conforming milk line 324 to the conforming milk line 322 to flush foremilk, debris, and pre-soaking liquid from milking cup assembly 112 to non-conforming milk valve 308. Check valve 436 is also connected to air supply line 332 via valve 440, allowing air to be supplied to milking cup assembly 112 to push water downstream of non-conforming milk valve 308 as part of a rinsing process before switching valves, thereby establishing a fluid path from milking cup assembly 112 to conforming milk line 322.

[0053] The lines in the immersion manifold can also be cleaned using water supply line 328 and air supply line 332. Specifically, water supply line 328 is connected to the lines in the immersion manifold via valve 442, which is connected to check valve manifold 444. The check valve manifold includes water check valve 444A (corresponding to water check valve 348), air evacuation check valve 444B (corresponding to air evacuation check valve 350), and valve 444C (corresponding to post-immersion check valve 344).

[0054] Valve 442 corresponds to the post-immersion water valve 346. Similarly, air supply line 332 is connected to a line in the immersion manifold via valve 446, which is also connected to check valve manifold 444. Valve 468 corresponds to the post-immersion venting valve 352. Check valve manifold 444 prevents air and post-immersion chemicals from returning to water supply line 328 and air supply line 332.

[0055] Pre-impregnating liquid supply line 336 is connected to the dairy cow teats in milking cup assembly 112 via valves 448, 450, and 452 and check valves connected to each milking cup. Valve 448 corresponds to pre-impregnating liquid metering valve 338, valve 450 corresponds to pre-impregnating safety valve 314, and valve 452 corresponds to post-impregnating safety valve 316. Post-impregnating liquid supply line 342 is connected to the dairy cow teats in milking cup assembly 112 via post-impregnating valve 454, accumulator 456, check valve of check valve manifold 444, valve 452, and check valves connected to each milking cup. Valve 454 corresponds to post-impregnating liquid metering valve 318. For example, pre-impregnating liquid and post-impregnating liquid can be supplied upstream of milking cups 112A and bushings 112B, a connection distinct from the downstream connection used for milk collection and discharge of substandard milk, foremilk, and other debris. Pre-impregnation and post-impregnation can alternatively be supplied to the downstream end of milking cup 112A and bushing 112B or between the upstream and downstream ends of milking cup 112A and bushing 112B.

[0056] Exhaust port 458 is connected to valve 450 via valve 460 and to valve 452 via valve 462 to vent air, allowing immersion safety valve 450 to move freely back and forth. Air lines 464 and 466 are connected to valves 460, 462, and 468, allowing air to pass through the valves and lines of the immersion panel to clean and dry the lines at the end of the pre-immersion and post-immersion processes. Valves 460, 462, and 468 form the valves of pneumatic pilot valve block 312.

[0057] Turn now Figure 5A In a straight milking parlor (only half of a parallel milking parlor is shown), the immersion valve panel 400B can be installed in the upper housing, while the milk valve panel 400A can be installed in the lower panel. If there is a tunnel beneath the straight milking parlor, the milk valve panel 400A and the immersion valve panel 400B can be installed... Figure 5A The tunnel beneath the milking parlor section is shown. There are several different ways to control this arrangement. In one embodiment, each valve panel 400A1-400A4 and 400B1-400B4 has a separate processor. In the illustrated embodiment, one of the immersion panels 400B1 includes a processor, such as a PLC, communicatively connected to the three additional immersion panels 400B2-400B4 to control the operation of the valves on those panels. The PLC could be, for example, a 750-8101 controller from Wago Corporation. Each of these additional immersion panels 400B2-400B4 includes, for example, an extender that allows communication between these additional immersion panels 400B2-400B4 and the main immersion panel 400B1. The extender could be, for example, a 750-628 bus extender module from Wago Corporation. The main immersion panel 400B1 is communicatively connected to a computer (not shown) via communication line 502 (e.g., Ethernet or RS-485 cable) for controlling and collecting data from the milking system. Each additional immersion panel 400B2-400B4 is connected to the main immersion panel 400B1 via communication line 504 (e.g., Ethernet or RS-485 cable) for controlling and collecting data from each additional immersion panel 400B2-400B4.

[0058] Milk valve panels 400A1-400A4 have a similar configuration to immersion panels 400B1-400B4. Specifically, the main milk panel 400A1 includes a processor, such as a bus connector, communicatively connected to three additional milk panels 400A2-400A4 to control the operation of the valves on these panels. The bus connector can be, for example, the 750-362 field bus connector from Wago Corporation. Each of these additional milk panels 400A2-400A4 includes, for example, an extender that allows communication between these additional milk panels 400B2-400B4 and the main milk panel 400A1. The extender can be, for example, the 750-628 bus extender module from Wago Corporation. The main milk panel 400A1 is communicatively connected to a computer (not shown) via communication line 506 (e.g., Ethernet or RS-485 cable) for controlling the milking system and collecting data from the milking system. Each of the additional milk panels 400A2-400A4 is connected to the main milk panel 400A1 via a communication line 508 (e.g., Ethernet or RS-485 cable) for controlling each of the additional milk panels 400A2-400A4 and collecting data from them.

[0059] Implementing these valve panels in this way reduces the overall cost because only one processor is needed for the four immersion panels and only one processor is needed for the four milk panels, instead of implementing a processor in each immersion panel and each milk panel.

[0060] Although this non-limiting embodiment includes a main immersion panel that controls three additional immersion panels and a main milk panel that controls three additional milk panels, the main immersion panel may control more or fewer than three immersion panels, and the main milk panel may control more or fewer than three milk panels.

[0061] For example Figure 5A As shown, each milking compartment includes a control panel 510 with a switch 126 for initiating the milking cycle. Specifically, before manually attaching the milking cup to the cow's teat, the operator actuates switch 126, which opens a vacuum. After manually attaching the milking cup to the cow's teat, the pre-dip, milking, and post-dip processes are automatically executed while the teat is inside the milking cup. Therefore, control panel 502 is communicatively connected to milk panel 400A1 and immersion panel 400B1, such that valves in these panels are controlled to supply immersion before and after the milking process and to block the supply of immersion during the milking process. Milk panel 400A1 and immersion panel 400B2 are respectively connected to the corresponding control panel (not labeled) for that milking position, and other additional milk and immersion panels are similarly configured. In this embodiment, processor 128 controls control panel 502, as well as the immersion and milk panels.

[0062] Turn now Figure 5B The rotating milking parlor may include milk panels 400A1-400A4 and liquid-soaking panels 400B1-400B4, which are communicatively connected in a manner similar to that described above in conjunction with the linear milking parlor; therefore, the communication lines between the panels are not shown for clarity. The liquid-soaking panels 400B1-400B4 may be installed in a housing that accommodates the existing control panel 510 and switch 126, and the milk panels 400A1-400A4 may be installed inside the lower panel of the rotating device, which has a tunnel underneath. Alternatively, the milk panels 400A1-400A4 and the liquid-soaking panels 400B1-400B4 may be installed in a tunnel inside the rotating platform.

[0063] Now refer to Figure 5C The herringbone milking parlor may include milk panels 400A1-400A4 and liquid-soaking panels 400B1-400B4, which are communicatively connected in a manner similar to that described above for the combined straight milking parlor; therefore, the communication lines between the panels are not shown for clarity. Liquid-soaking panels 400B1-400B4 may be installed in the upper housing 512, and milk panels 400A1-400A4 may be installed inside the lower panel 514.

[0064] Figure 6A and 6B These are timing diagrams for the pre-soaking and post-soaking processes, respectively. First, turn... Figure 6A The pre-soaking process begins with the defective milk valve 308 in the open position and the acceptable milk valve 306 in the closed position. While the valves are in these positions, the pulser 124 applies a pulse to each nipple at a first pulse rate. This first pulse rate is used to stimulate the nipple, and as... Figure 7A As shown, when a pulse is supplied, the bushing in each milking cup opens. After the first pulse begins, pre-dip liquid is supplied to each teat. In this non-limiting example, after two pulses are applied, the pulser 124 pauses the application of pulses (or changes the pulse to a more closed ratio, such as 5% open and 95% closed), then water is supplied to each milking cup, followed by air supply to purge water, pre-dip liquid, foremilk, and debris from the cup assembly, allowing it to flow downwards through the non-conforming milk valve 308. Figure 7BAs shown, the cessation of the pulse causes the bushing 112B to be subjected to atmospheric pressure, which causes the bushing 112B to close, i.e., the bushing is fluidly isolated from the non-conforming milk line. During a predetermined period of this purification, the non-conforming milk valve 308 is closed and the conforming milk valve 306 is open. Then, after another predetermined period of time, the milking process begins and the pulser 124 applies a pulse to each teat at the milking pulse rate. Opening the conforming milk valve 306 before applying the pulse at the milking pulse rate causes a certain amount of milk collected in the bushing 112B to flow into the conforming milk container 102. Although this amount of milk is relatively small for each dairy animal, when this method is applied to many dairy animals, the amount of conforming milk that can be collected can result in the collection of more milk. In contrast, when the pre-dip is manually applied to the teat and then the milking cup assembly 112 is manually attached to the teat, the collected amount of milk will be directed to the non-conforming milk container 104 to ensure that the pre-dip does not mix with the milk in the conforming milk container 102.

[0065] Turn now Figure 6B Once milking is complete (and assuming the collected milk is qualified), the valves on the qualified milk lines remain open, the valves on the unqualified milk lines remain closed, and the post-dip process begins with the pulsator 124 continuing to apply pulses to each teat at the same pulsation rate used during milking. After a predetermined time following the pulsator 124 stopping the pulses (which causes the bushing 112B to be subjected to atmospheric pressure, thus closing the bushing 112B), air is supplied to the milking cup assembly 112 to remove any remaining milk from the milking cup assembly 112 and through the qualified milk valve 306. This removal helps collect any residual milk remaining in the bushing 112B before the application of the post-dip solution. After another predetermined time following the application of air, the valves on the qualified milk lines close and the valves on the unqualified milk lines open. After yet another predetermined time period, the post-dip solution is supplied to each teat. The post-dip solution is then removed from the milking cups during a backwashing operation performed after a complete milking cycle.

[0066] Figure 8 A non-limiting example of a milking cup assembly 112 that can be used in the disclosed systems and methods is shown. A manifold 502 is connected to a good milk line, a bad milk line, an air line, a water line, a pre-impregnating liquid line, and a post-impregnating liquid line, with the fluid entering the manifold controlled by the aforementioned valves. Manifold 502 is connected to a short milk line 504 (only one is labeled), which is connected to the downstream end of a bushing 112B in the milking cup 112A. Pre-impregnating liquid and post-impregnating liquid are supplied to the bushing via pre-impregnating liquid / post-impregnating liquid nozzles 506. A water nozzle 802 may be connected to each short milk line 504 (generally also referred to as a short milk line), such as... Figure 8 As shown, it can also be directly connected to the milking cup assembly 502.

[0067] Those skilled in the art will understand that the disclosed milking system operates using a vacuum. A non-limiting example of a vacuum supply receiver that can be used with the disclosed system is... Figure 9A and 9B As shown in the diagram, the vacuum receiver includes four pneumatic butterfly valves 902-908, which open and close the vacuum supply from the system pump. The receiver also includes two tanks 910 and 912, each including transparent windows 910A and 912B, on which liquid fill sensors 910B and 912B are arranged to measure the liquid level in the respective tank. When one of the liquid fill sensors 910B and 912B detects that a tank has been filled to a specific level, the pump on that side of the receiver is shut off, which opens a valve allowing liquid to flow into the receiver tank 914.

[0068] Both tanks 910 and 912 are connected to the common line 916, such as Figure 9B As shown, the public pipeline 916 includes multiple inlets 916A (only one of them is labeled) that connect to one of the milking cup sets in the milking parlor.

[0069] As will be understood from the above discussion, the disclosed system and method automate the pre-dip and post-dip processes by performing them within the milking cup liner, and correspondingly, once the milking cup is manually attached to the teat, the pre-dip, milking, and post-dip processes can be carried out within the liner. The disclosed system and method are adaptable to the limited space of existing milking parlors, where milking takes place only within the milking cup liner, and pre-dip and post-dip are performed manually. Therefore, the disclosed system and method do not require a robotic arm to move the milking cup assembly from its storage location to the milking location and attach the milking cup to the teat. The disclosed system and method also do not require sensors to identify the teat for robotic arm operation, nor do they require algorithms for controlling teat identification and attachment. Performing the pre-dip, milking, and post-dip processes within the liner provides a more efficient process, eliminates the need to reconfigure existing milking parlors, and avoids the additional costs associated with automating teat attachment via robotic arms and sensors.

[0070] Throughout this specification, references to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosed subject matter. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, in one or more embodiments, a particular feature, structure, or characteristic may be combined in any suitable manner.

[0071] The disclosed embodiments provide milking systems and methods that allow pre-dip, post-dip, and milking processes to be performed within the bushing of a milking cup manually attached to the teats of dairy animals. It should be understood that this description is not intended to limit the invention. Rather, the exemplary embodiments are intended to cover alternatives, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. Furthermore, numerous specific details are set forth in the detailed description of the exemplary embodiments to provide a full understanding of the claimed invention. However, those skilled in the art will understand that various embodiments may be practiced without these specific details.

[0072] Although features and elements of this exemplary embodiment are described in particular combinations in the embodiments, each feature or element may be used alone without other features and elements of the embodiments, or may be combined in various ways with or without other features and elements disclosed herein.

[0073] This written description uses examples of the disclosed subject matter to enable any person skilled in the art to practice these examples, including making and using any device or system and performing any incorporated methods. The patentable scope of this subject matter is defined by the claims and may include other examples that would occur to a person skilled in the art. Such other examples are intended to fall within the scope of the claims.

Claims

1. A milking system for dairy animals, comprising: Qualified milk container (102); Substandard milk container (104); Prepreg storage container (106); Post-immersion liquid storage container (108); and Milking stall (110), configured to accommodate dairy animals for milking, said milking stall includes A milking cup assembly (112) includes a plurality of milking cups (112A), a bushing (112B) at least partially disposed in each of the plurality of milking cups (112A), and a pulsation chamber (112C) disposed between each of the plurality of milking cups (112A) and the bushing (112B) at least partially disposed therein. A support member (114) is fixed to one side of the milking compartment (110) and configured to separate the milking cup assembly (112) from the side of the milking compartment (110); A first fluid line (116) fluidly connects the interior of each of the plurality of bushings (112B) to the prepreg storage container (106) via at least one first valve (118) and fluidly connects the interior of each of the plurality of bushings (112B) to the postpreg storage container (108) via at least one second valve (119). A second fluid line (120) fluidly connects the downstream end of each of the plurality of bushings (112B) to the qualified milk container (102) via at least one third valve (122), and fluidly connects the downstream end of each of the plurality of bushings (112B) to the unqualified milk container (104) via at least one fourth valve (123). A pulsator (124) is fluidly connected to a pulsation chamber (112C) located between each of the plurality of milking cups (112A) and a bushing (112B) at least partially disposed therein; Switch (126); and A processor (128) is coupled to the at least one first valve (118), the at least one second valve (119), the at least one third valve (122), the at least one fourth valve (123), the pulser (124), and the switch (126), wherein the processor (128) is configured to respond to the activation of the switch (126) Control the at least one first valve (118) to fluidly connect the prepreg storage container (106) to the interior of each of the plurality of bushings (112B), and control the at least one fourth valve (123) to fluidly connect the defective milk container (104) to the downstream end of each of the plurality of bushings (112B); The pulsator (124) is controlled to apply a first pulsation rate to each of the plurality of milking cups (112A) and the pulsation chamber (112C) between them and the bushing (112B) at least partially disposed therein while supplying prepreg; Control the at least one first valve (118) to isolate the prepreg storage container (106) from the interior of each of the plurality of bushings (112B); After isolating the prepreg storage container from the interior of each of the plurality of bushings and before controlling the pulsator to apply a second pulsation rate. The pulser is controlled to change the pulse applied to the pulsation chamber between each of the plurality of milking cups and the bushing to have a more closed ratio; a water valve is controlled to open to supply water to the line connecting the bushing to the manifold of the milking cup assembly, and then the water valve is controlled to close; an air valve is controlled to open to supply air to the line connecting the bushing to the manifold of the milking cup assembly, and then the air valve is controlled to close; at least one third valve (122) is controlled to fluidly connect the downstream end of each of the plurality of bushings (112B) to the qualified milk container (102); after the downstream end of each of the plurality of bushings (112B) is fluidly connected to the qualified milk container (102), the pulser (124) is controlled to apply a second pulsation rate to the pulsation chamber (112C) between each of the plurality of milking cups (112A) and the bushing (112B) at least partially disposed therein; and The at least one second valve (119) is controlled to fluidly connect the post-immersion storage container (108) to the interior of each of the plurality of bushings (112B), the at least one third valve (122) is controlled to fluidly isolate the qualified milk container (102) from the downstream end of each of the plurality of bushings (112B), and the at least one fourth valve (123) is controlled to fluidly connect the unqualified milk container (104) to the downstream end of each of the plurality of bushings (112B).

2. The milking system according to claim 1, wherein, The at least one first valve and the at least one second valve are arranged on the first panel, the at least one third valve and the at least one fourth valve are arranged on the second panel, and the first panel and the second panel are separate panels in the system.

3. The milking system according to claim 2, wherein, The milking compartment is arranged on a rotating platform, the first panel is arranged in a shell on the rotating platform, and the second panel is arranged below the rotating platform.

4. The milking system according to claim 2, wherein, The milking compartment is arranged on a rotating platform, and the first panel and the second panel are arranged in a tunnel below the rotating platform and on the inner side of the rotating platform.

5. The milking system according to claim 2, wherein, The milking compartment is arranged on a straight platform with other milking compartments. The first panel is arranged behind the upper housing above the straight platform, and the second panel is arranged below the straight platform.

6. The milking system according to claim 2, wherein, The milking cubicles are arranged on the platform in a herringbone pattern with the other milking cubicles. The first panel is located behind the upper shell above the platform, and the second panel is located below the platform.

7. The milking system according to claim 1, wherein, The at least one third valve includes a qualified milk valve, and the at least one fourth valve includes a non-qualified milk valve, wherein the processor is further configured to: The defective milk valve is kept in the open position, and the qualified milk valve is kept in the closed position until a predetermined time after the air valve is closed. Then the defective milk valve is kept in the closed position and the qualified milk valve is kept in the closed position.

8. The milking system according to claim 1, wherein, Before controlling the at least one second valve to fluidly connect the post-immersion storage container (108) to the interior of each of the plurality of bushings (112B) and before controlling the at least one fourth valve (123) to fluidly connect the defective milk container (104) to the downstream end of the bushing (112B), the processor is configured to: The pulser is controlled to stop applying pulses to the pulsation chamber between each of the plurality of milking cups (112A) and the bushing, so as to fluidly isolate the bushing from the milking system; The air valve is opened to supply air to the line that connects the bushing to the manifold of the milking cup assembly; and The at least one third valve is controlled to fluidly isolate the qualified milk container from the downstream end of each of the plurality of bushings (112B) and to fluidly connect the unqualified milk container to the downstream end of each of the plurality of bushings (112B).

9. The milking system according to claim 1, wherein, The at least one third valve includes a qualified milk valve that connects the downstream end of the bushing (112B) to a qualified milk container, and the at least one fourth valve is a non-qualified milk valve that connects the downstream end of the bushing (112B) to the non-qualified milk container.

10. The milking system according to claim 1, wherein, The milking compartment does not include a robotic arm connected to the milking cup assembly to secure the dairy animal's teats in the bushing.

11. A method for milking dairy animals, the method comprising: The milking cup assembly (112) is manually attached (205) to the dairy animal by manually inserting each of the multiple teats of the dairy animal into a corresponding one of the multiple milking cups (112A), each of the multiple milking cups (112A) including a corresponding bushing (112B) at least partially disposed within the milking cup (112A). Initiating (210) milking of dairy animals with manually attached milking cup sets (112), wherein milking of dairy animals includes Control (215) at least one first valve (118) to fluidly connect the prepreg storage container (106) to the interior of each of the plurality of bushings (112B) via a first fluid line, and control at least one fourth valve (123) to fluidly connect the defective milk container (104) to the downstream end of each of the plurality of bushings (112B). (220) Prepreg application is performed on each of the plurality of nipples by supplying prepreg to the interior of each of the plurality of bushings (112B); The pulsator (124) operates (225) at a first pulsation rate in the pulsation chamber (112C) between each of the milking cups (112A) and each of the corresponding bushings (112B), and guides the pre-impregnated liquid to the waste milk line; Control (230) the at least one first valve (118) to isolate the prepreg storage container (106) from the interior of each of the plurality of bushings (112B); The pulser is controlled to change the pulse applied to the pulsation chamber between each of the plurality of milking cups and the bushing to have a more closed ratio; Open the water valve to supply water to the line that connects the bushing to the manifold of the milking cup assembly, and then close the water valve. and Open the air valve to supply air to the line that connects the bushing to the manifold of the milking cup assembly, and then close the air valve; The at least one third valve (122) is controlled to fluidly connect the downstream end of each of the plurality of bushings (112B) to the qualified milk container (102) such that milk from the dairy animal is supplied to the qualified milk container (102). The pulsator (124) is operated (235) at a second pulsation rate to the pulsation chamber (112C) to draw milk from each of the plurality of nipples; Control (245) at least one second valve (119) to fluidly connect the post-immersion storage container (108) to the interior of each of the plurality of bushings (112B) via the first fluid line, control the at least one third valve (122) to fluidly isolate the qualified milk container (102) from the downstream end of each of the plurality of bushings (112B), and control the at least one fourth valve (123) to fluidly connect the unqualified milk container (104) to the downstream end of each of the plurality of bushings (112B); and After milk is drawn from each of the plurality of nipples, a post-immersion coating is performed on each of the plurality of nipples by supplying a post-immersion solution to the interior of each of the plurality of bushings (112B); and The milking cup group (112) is separated (255) by removing each of the plurality of nipples from the corresponding one of the plurality of milking cups (112A).

12. The method according to claim 11, wherein, The at least one third valve includes a qualified milk valve and the at least one fourth valve includes a non-qualified milk valve, the method further comprising: Open the non-conforming milk valve, close the conforming milk valve, and continue until a predetermined time after the air valve is closed. Then close the non-conforming milk valve and open the conforming milk valve.

13. The method according to claim 11, wherein, The method further comprises, prior to controlling the at least one second valve to fluidly connect the post-immersion storage container (108) to the interior of each of the plurality of bushings (112B) and prior to controlling the at least one fourth valve (123) to fluidly connect the defective milk container (104) to the downstream end of each of the plurality of bushings (112B): Stop the pulser from applying a pulse to the pulsation chamber between each of the plurality of milking cups (112A) and the bushing to fluidly isolate the bushing from the milking system; Open the air valve to supply air to the line connecting the bushing to the manifold of the milking cup assembly; and The at least one third valve is controlled to fluidly isolate the qualified milk container from the downstream end of each of the plurality of bushings (112B), and the at least one fourth valve is controlled to fluidly connect the unqualified milk container to the downstream end of each of the plurality of bushings (112B).

14. The method according to claim 11, wherein, Milking is initiated in response to the actuation of a switch that is activated before the milking cup assembly is manually attached.

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