Milking cup

Abstract

The present disclosure relates to a milking cup (2) comprising a housing (11) for an exchangeable cartridge (12). The housing (11) comprises a base member (10, 10 ') having at least one first protrusion (52, 52', 52 '') and at least one second protrusion (54, 54 ', 54''), the first and second protrusions (52, 52', 52 '', 54, 54 ', 54'') extending from a tapered surface (80) of the base member (10, 10') of the housing (11) on opposite sides of a first imaginary plane (50) comprising a longitudinal central axis (15) of the housing (11). The at least one first protrusion (52, 52 ', 52 '') defines at least one first abutment surface (56, 56', 56'') and the at least one second protrusion (54, 54 ', 54 '') defines at least one second abutment surface (58, 58', 58''). Each of the first and second abutment surfaces (56, 56 ', 56 '', 58, 58', 58'') is configured to abut against a respective seat (63 ', 63 '') of the milking cup box (60).

Description

Technical Field

[0001] This invention relates to a milking cup comprising a housing for a replaceable cylinder configured to be disposed within the housing. The replaceable cylinder includes an inner liner, a milk outlet opening, a pulsating space, and an elongated sleeve. The inner liner defines a nipple space, the milk outlet opening is arranged to be in fluid communication with the nipple space, the pulsating space is arranged around the nipple space and demarcated from the nipple space by the inner liner, and the elongated sleeve extends circumferentially around the inner liner to form a pulsating space between the inner liner and the elongated sleeve. The housing has a longitudinal central axis, and the replaceable cylinder is insertable into the housing at a first end. The housing has a second end including a base member disposed opposite to the first end, wherein the base member of the housing has at least a partially tapered surface toward the second end. Background Technology

[0002] WO2019 / 083434 discloses a milking cup for replaceable cylinders. This milking cup is used for routine milking of animals. In a routine milking system, a milking cluster includes a paw with multiple short milk tubes connected to the same number of milking cups. A milking cluster for dairy cows has four milking cups connected to the paw via the same number of short milk tubes and short pulse tubes. The milking cluster is configured for routine or collective milking of all udder sections (all udder areas of a dairy cow). Thus, milking of the animal is performed on the udder as a whole.

[0003] When milking of each udder section (each udder section of a cow) is performed and controlled individually / independently, gentler and more efficient milking can be achieved. Therefore, in the case of milking cows, the so-called zone milking is referred to. Control of zone milking is based, for example, on the milk flow rate from each udder section individually. This zone milking is typically provided in automated milking systems. Thus, although milking of all udder sections begins after each milking cup is attached, the milking of each udder section can have a different duration and depends on the milk volume in the corresponding udder section. The result of zone milking is that when milking of a udder section is complete, each milking cup is individually removed. The pulsation and milking vacuum in each milking cup can also be controlled individually and automatically.

[0004] The normal method of milking a milking area is to supply a milking vacuum to each milking cup and transfer milk from each milking cup via a long milk tube. The long milk tube is also accompanied by a long pulse tube to provide pulsation to each milking cup. In some automated milking systems (such as the DeLaval Autonomous Milking System VMS), the milking cups are specifically stored in a milking cup holder. WO2012 / 033448 discloses such a milking cup holder. Each long milk tube and pulse tube is connected to a corresponding milking cup, and after milking, each milking cup retracts into the milking cup holder via its long milk tube and pulse tube. That is, when milking of the relevant udder area is completed, the milk and pulse tube are pulled into the milking cup holder, and the relevant milking cup retracts into the milking cup holder along with the milk and pulse tube.

[0005] When located in a milking cup holder, the milking cups are positioned in a storage location, allowing them to be easily retrieved by a milking robot and attached to the teat of the animal to be milked. This typically requires each milking cup to be stored in a milking cup holder with a specific positioning and orientation. WO2015 / 065275 hereby discloses a milking cup holder having milking cups including a first surface and a second surface extending perpendicular to the central axis of the milking cup. Within the holder, the first surface is adapted to abut against a first roller and the second surface is adapted to abut against a second roller. Thus, the milking cup holder is provided with seats for the first and second rollers, shaped to define the storage location of each milking cup. When the milking cup is in its storage location abutting against its seat / roller, it has a specific positioning and angular orientation for easy retrieval by a robotic arm. Therefore, the robotic arm is guided to a predetermined position to quickly and easily remove the milking cup from the holder for attachment to the teat.

[0006] However, the milking cups in the aforementioned box are designed for a standard liner, which is quite time-consuming and labor-intensive to replace. The standard liner is replaced by removing the milking cup from the milk and pulse tubes. A special tool is then used to remove the liner from the milking cup. The new liner is then installed into the milking cup housing using the same special tool, and the milking cup is reinstalled onto the milk and pulse tubes. This process is repeated for all four milking cups; it is time-consuming and may require a technician familiar with using the special tools to replace the standard liner. Summary of the Invention

[0007] The object of the present invention is to facilitate liner replacement in milking cups used in automated milking systems including milking cup holders, the milking cups being configured to employ the same storage location between milking sessions. More particularly, the object is to provide milking cups configured to be reliably positioned against a seat within the milking cup holder of an automated milking system (AMS).

[0008] These objectives are achieved by a milking cup having the features defined in independent claim 1.

[0009] Therefore, liner replacement is facilitated by removing and inserting a replaceable cartridge from and into the first end of the milking cup. It is not necessary to remove the milking cup from the milk and pulse tube in the milking cup holder, and no special tools are required to replace the cartridge with a new one. The cartridge can be easily replaced manually without the use of any tools. The cartridge can be locked to the base member of the milking cup housing via a bayonet coupling. A maintenance worker can loosen the cartridge from the base member of the housing by simply twisting it relative to the housing about its longitudinal central axis, and then pull the cartridge out of the housing. A new cartridge can be inserted into the housing and twisted in the opposite direction about its longitudinal central axis to secure it in the base member. Therefore, the milking cup of the present invention provides a significantly faster and easier replacement of the liner in the milking cup for automated milking systems including a milking cup holder.

[0010] Replaceable cylinders are known, but new milking cups for milking cup containers are specifically designed to accommodate such cylinders via a base member having at least a partially tapered surface toward a second end. This base member provides a tapered base for accommodating (sealing and securing) the replaceable cylinder within the base member of the milking cup housing. The base member is designed to be reliably positioned by having at least one first protrusion and at least one second protrusion extending from the tapered surface, arranged on opposite sides of a first imaginary plane. At least one first protrusion defines a first abutting surface, and at least one second protrusion defines a second abutting surface to abut against a corresponding seat (e.g., roller) of the milking cup container. In this way, each milking cup is configured to be reliably positioned against the seat within the milking cup container. In the AMS (Action Mechanism) where each milking cup is picked up by a robotic arm, precise positioning on each milking cup is thus achieved for quick and easy removal of the milking cup.

[0011] According to one embodiment, at least one first abutting surface includes a longitudinal extension perpendicular to the longitudinal central axis and parallel to a first imaginary plane, and at least one second abutting surface includes a longitudinal extension perpendicular to the longitudinal central axis and parallel to the first imaginary plane. In this way, the abutting surfaces ensure that the milking cup is reliably vertically positioned and properly angularly oriented in the milking cup box during storage.

[0012] According to yet another embodiment, at least one first adjacent surface includes a lateral extension extending along a portion of an imaginary first cylindrical surface, and at least one second adjacent surface includes a lateral extension extending along a portion of an imaginary second cylindrical surface. The corresponding seats for the first and second adjacent surfaces are preferably provided by a cylinder or a cylindrical roller. The cylinder or cylindrical roller can advantageously guide milk and pulse tubes connected to the milking cup within the milking cup cassette. Furthermore, this embodiment facilitates a more stable vertical positioning and angular orientation of the milking cup in its storage location within the milking cup cassette.

[0013] According to one embodiment, a first imaginary cylindrical surface has a first central axis and a second imaginary cylindrical surface has a second central axis, wherein the first central axis extends parallel to and perpendicular to the longitudinal central axis of a first imaginary plane. In this way, the first and second adjacent surfaces are arranged to abut against two parallel cylinders or cylindrical rollers. Furthermore, the parallel cylinders or cylindrical rollers provide good guidance for the milk and pulse tubes connected to the milking cup within the milking cup container.

[0014] According to another embodiment, the base member includes a first lateral protrusion extending from a tapering surface and parallel to a first imaginary plane, wherein the pulse tube connecting tube extends from the first lateral protrusion parallel to the longitudinal central axis. It can be noted that the milk outlet opening in the milking cup is specifically concentric with the longitudinal central axis. In this way, the connections of the pulse and the milk tube can be arranged parallel to each other to achieve beneficial guidance of the milk and the pulse tube within the milking cup cassette. Furthermore, the first lateral protrusion can serve as extended support for the milking cup within the milking cup cassette. For example, the first lateral protrusion can be positioned between two parallel cylindrical rollers of the cassette to achieve enhanced and stable positioning of the milking cup.

[0015] Furthermore, according to another embodiment, the longitudinal extensions of at least one first abutment surface and at least one second abutment surface can also extend transversely to the first lateral protrusion and parallel to the first imaginary plane. Thus, the first lateral protrusion provides extending first and second abutment surfaces in the longitudinal direction, which further enhances the retention of the milking cup in its storage position within the milking cup box in a vertically positioned and appropriately angularly oriented manner. The abutment surfaces of the milking cup can also be configured with longitudinal extensions for also abutting across the pulse tube connecting tube.

[0016] According to another embodiment, at least one first abutment surface is formed by a single first abutment surface, and at least one second abutment surface is formed by a single second abutment surface, wherein the longitudinal extensions of the single first abutment surface and the longitudinal extensions of the single second abutment surface extend at least between the longitudinal central axis and the pulse tube connecting tube. This provides extended abutment surfaces at and between the milk and the pulse tube for more reliable support and positioning in the milking cup cassette. The longitudinal extensions on both abutment surfaces may also obviously extend across the longitudinal central axis (in the direction opposite to the pulse tube connecting tube). It is indeed preferred that the first and second protrusions, each with its single abutment surface, be relatively larger and more extended. Base members with smaller-sized protrusions and / or separate abutment surfaces may wear out more quickly due to the milking cup accidentally hitting the ground during, for example, kicking, falling, or takeoff. Therefore, it is advantageous to design base members with a single, larger-sized, extended protrusion / abutment surface to ensure the positioning of the milking cup in the milking cup cassette over time. This is particularly beneficial if the base components and shell are produced cost-effectively in thermoplastic materials, as further explained below.

[0017] According to one embodiment, the base member includes a second lateral protrusion extending from a tapering surface and parallel to a first imaginary plane on the opposite side of the base member relative to the first lateral protrusion, wherein longitudinal extensions of a single first abutment surface and longitudinal extensions of a single second abutment surface further abut the second lateral protrusion and extend parallel to the first imaginary plane. Furthermore, this enhances the beneficial design of providing further extensions to the first and second abutment surfaces, which, as mentioned above, ensures more reliable positioning of the milking cup in the milking cup cassette over time. Additionally, as mentioned above regarding the first lateral protrusion, the second lateral protrusion can also be used to securely position the milking cup in the milking cup cassette. Therefore, the second lateral protrusion can also be positioned between two parallel cylindrical rollers of the cassette, these rollers forming seats for the first and second abutment surfaces. This embodiment further facilitates more reliable vertical positioning and angular orientation of the milking cup in its storage location, particularly after extended use of the milking cup.

[0018] According to one embodiment, the base member of the housing is provided with a through hole arranged concentrically with a longitudinal central axis, including a second imaginary plane of the longitudinal central axis extending perpendicular to a first imaginary plane, wherein at least one first protrusion includes two first protrusions and at least one first adjacent surface includes two first adjacent surfaces arranged on opposite sides of the second imaginary plane, and wherein at least one second protrusion includes two second protrusions and at least one second adjacent surface includes two second adjacent surfaces arranged on opposite sides of the second imaginary plane.

[0019] The milk tube connector can be positioned at the through hole. Therefore, the two first protrusions and two first abutment surfaces, as well as the two second protrusions and two second abutment surfaces, are arranged on opposite sides of the through hole and the milk tube connector, which also facilitates reliable positioning of the milking cup abutment within the milking cup holder. In other words, this is an alternative to the single and continuous first / second abutment surfaces mentioned above. The two first abutment surfaces and two second abutment surfaces exhibit the same lateral extension as their respective single abutment surfaces. Their longitudinal extensions also extend in the same direction as their respective single abutment surfaces; however, a single pair of double switches provides a smaller total abutment area. Therefore, the longitudinal extension is divided into two separate and spaced-apart first abutment surfaces. This embodiment may be a preferred design option if, for example, the base member is made of a more wear-resistant material.

[0020] According to another embodiment, at least two first protrusions include a third first protrusion extending from a first side toward the protrusion, the third first protrusion defining a third adjacent surface disposed at the pulse tube connection tube, and wherein at least two second protrusions include a third second protrusion extending from a first side toward the protrusion, the third second protrusion defining a third second adjacent surface disposed at the pulse tube connection tube.

[0021] According to another embodiment, the housing includes a cylindrical intermediate section between the base member and the first end, the intermediate section having radial extensions, wherein the base member includes a pair of longitudinally extending ribs having radial extensions corresponding to the radial extensions of the intermediate section. The end effector (gripper) on the robotic arm can therefore be provided with a lower support member for supporting the longitudinal ribs at the same radial position from the longitudinal central axis as at the intermediate (circular) cylindrical section. This enhances the stable gripping and support of the milking cup in an upright position within the end effector (gripper), which is advantageous from the perspective of milking cup attachment.

[0022] According to an alternative embodiment, the housing includes a cylindrical intermediate section arranged between the base member and the first end, the intermediate section having radial extensions, wherein the base member is provided with radial ribs having radial extensions corresponding to the radial extensions of the intermediate section. In this way, the end effector (gripper) of the robotic arm can also have a lower support member for the radial (horizontal) ribs at the same radial position from the longitudinal central axis as at the (circular) cylindrical intermediate section. This contributes to the stable support of the milking cup by longitudinally supporting it in an upright position, in the same manner as described in the above embodiments, which is advantageous from the perspective of milking cup attachment.

[0023] According to the embodiment, the housing includes a cylindrical intermediate section disposed between the base member and the first end, and the base member includes a bayonet coupling for securing the replaceable cylinder in the base member of the housing.

[0024] According to the embodiment, the milking cup includes a resilient annular buffer arranged circumferentially around the outer surface of the housing at its first end, wherein the resilient annular buffer forms an impact-absorbing member. The resilient annular buffer may be a rubber band arranged around the outer first (top) end of the milking cup. In this way, if the milking cup hits the ground during kicking, falling, and / or takeoff, the milking cup is protected by the resilient annular buffer. During takeoff, the milking cup may even impact parts of the milking compartment, such as the milking cup holder or a robotic arm. The top first end of the milking cup is typically the end that will impact the ground and / or environment during kicking, falling, and / or takeoff. Additionally, if a milking cup impacts an animal being milked during takeoff and / or falling, the impact is reduced by the resilient annular buffer, and discomfort or pain to the animal is avoided.

[0025] According to the embodiment, at least a portion of the shell, including the base member, is made of injection-molded thermoplastic material, and preferably, the shell, including its base member, is also integrally made of injection-molded thermoplastic material. In this way, as previously mentioned, the injection-molded base member (and shell) can be manufactured cost-effectively by providing an external interface surface for supporting the milking cup in the milking cup box and an internal interface surface for connecting a replaceable tube in the milking cup.

[0026] According to the implementation scheme, the outer metal sleeve is disposed around a portion of the injection-molded thermoplastic material of the housing. The inner injection-molded plastic housing is thus protected from impacts and other forces that may damage or destroy the plastic housing. Furthermore, if the end effector includes an electromagnetic gripper or a mechanical gripper, the outer metal sleeve is advantageously disposed within the magnetic material or metal handle of the gripper used on the robot arm.

[0027] Therefore, the milking cup is adapted for use in automated milking systems (AMS) designed for individual udder partitioning (or, in the case of cows, partitioning). Milking of individual teats of an animal can be performed using any automated milking algorithm. Purely by way of example, such a milking algorithm can vary one or more of the milking vacuum, pulsation ratio, and / or rate based on one or more of the current milk flow rate from the teat, the duration of the current milking operation, and / or the animal's historical milking data.

[0028] At least the base member of the housing is advantageously made of injection-molded thermoplastic material. More preferably, the housing, including its base member, is integrally made of injection-molded thermoplastic material. The first and second protrusions are adapted for injection molding and thus form portions of the injection-molded base member. The protrusions are preferably designed such that their dimensions or thickness are similar to other dimensions or thicknesses of the base member and the housing to facilitate injection molding from both mold filling and material cooling perspectives. In this way, by also including an internal interface surface for connecting a replaceable cylinder, the injection-molded base member and housing can be manufactured cost-effectively.

[0029] However, the outer metal sleeve is preferably disposed around the exterior of the injection-molded thermoplastic shell. The inner injection-molded plastic shell is thus protected from impacts and other forces that could damage the plastic shell in the automated milking system mentioned above.

[0030] The base member of the housing is preferably provided with two connecting members in the form of a tube section or a joint. A first connecting member can be connected to a long milk tube and a second connecting member can be connected to a long pulse tube. A short, flexible milk tube and pulse tube can also be connected to the first and second connecting members. The short, flexible milk tube and pulse tube can be of a flexible type as disclosed in WO00 / 12924 or a similar type. This short, flexible milk tube and pulse tube are then connected to the long milk tube and pulse tube to provide the corresponding functionality mentioned above.

[0031] The axial and radial references made herein are seen relative to the longitudinal central axis of the shell or milking cup. The term "protrusion" refers to a portion of a member, such as the base member of the shell in this case, that protrudes from the outer surface defining the profile of the member. Similarly, the term "protrusion" refers to a portion of a member, such as the base member of the shell in this case, that protrudes from the outer surface defining the profile of the member.

[0032] Further features and advantages of the invention will become apparent when the appended claims and the following detailed description are read. Attached Figure Description

[0033] Various aspects and embodiments of the invention, including their specific features and advantages, are further disclosed in the following detailed description and in the accompanying drawings, in which:

[0034] Figures 1a to 1d An example of a milking cup according to the detailed implementation plan is shown.

[0035] Figure 2 An example is shown of a longitudinal section along the longitudinal central axis of the milking cup.

[0036] Figure 3 An example of a longitudinal section passing through the shell of the milking cup is shown.

[0037] Figure 4a and Figure 4b Milking cups are illustrated in two different 3D diagrams.

[0038] Figure 5a and Figure 5b The diagram illustrates parts of the milking cup and milking cup holder, and

[0039] Figure 6a and Figure 6b An end view of each milking cup implementation is shown. Detailed Implementation

[0040] The aspects and detailed embodiments of the invention will now be described more fully. Similar reference numerals denote similar elements throughout the text.

[0041] Figure 1a and Figure 1b An example of a milking cup 2 according to the first detailed embodiment is shown. Figure 1a and Figure 1b In the diagram, milking cup 2 is shown in two different perspective views. Milking cup 2 is constructed for milking the teats of animals such as cows. Milking cup 2 forms the milk extraction section of an automated milking system designed for milking animals. Milking cup 2 is part of a milking cup assembly. The number of milking cups in the assembly is adapted to the species of animal intended to be milked, and more specifically, to the number of udder sections or teats of the animal. In the case of a cow, the milking cup assembly comprises four milking cups 2.

[0042] The milking cup 2 has a teat receiving opening 4 at its upper first end 30. During attachment of the milking cup 2, the teat of the animal to be milked is inserted into the teat receiving opening 4. At its lower second end 34, opposite the first end 30 and the teat receiving opening 4, the milking cup 2 is configured to connect to a flexible milk and pulse tube 3. Figure 1a The ends of the milk tube and pulse tube 3 are indicated by dashed lines.

[0043] A milking vacuum is applied, and milk is extracted from the milking cup 2 via a milk tube connector 40 located at the lower second end 34 opposite to the teat receiving opening 4. At the lower second end 34 of the milking cup, a pulsating pressure variation is applied to the milking cup 2. A pulse tube connector 7 is provided for this purpose. The pulsating pressure variation applied via the pulse tube connector 7 is a pulsating pressure that changes between sub-atmospheric pressure and atmospheric pressure.

[0044] In the automated milking system, the milk and pulse tube 3 are connected to the milk tube connecting tube 40 and the pulse tube connecting tube 7, respectively. As can be seen, the milk and pulse tube 3 comprises two parallel tubes, one for extracting the milked milk, as indicated by the single arrow, and the other for transmitting pulsating pressure changes, such as... Figure 1a It is indicated by two double arrows.

[0045] At the second end 34 at the bottom, such as Figure 1a and Figure 1b As shown, the housing 11 includes a base member 10 arranged opposite to the first end 30. The base member 10 has at least a partially tapered surface 80 toward the second end 34. The base member 10 of the housing 11 also includes a first protrusion 52 and a second protrusion 54. The first protrusion 52 extends from the tapered surface 80 on one side of the base member 10 and the second protrusion 54 extends from the tapered surface 80 on the opposite side of the base member 10.

[0046] The first protrusion 52 defines the downward-facing first adjacent surface 56 (see also...) Figure 6a The second protrusion 54 defines a downward-facing second adjacent surface 58. Each of the first adjacent surface 56 and the second adjacent surface 58 is configured to abut against a corresponding seat 63', 63'' of the milking cup container (see also...). Figure 5a That is, the first adjacent surface 56 is configured with a shape for abutting against the milking cup box 60 and a correspondingly formed first seat 63'', and the second adjacent surface 58 is configured in the same manner with a shape for abutting against the milking cup box 60 and a correspondingly formed second seat 63''.

[0047] The milking cup 2 is removed by the robotic arm of the automated milking system, thereby automatically attaching the milking cup to the animal's teat via the robotic arm. In a known manner, the milking cup 2 is provided with a handle 8 for a gripper mounted on the end effector of the robotic arm. However, if necessary, the milking cup 2 can also be manually attached to the animal's teat in the manual mode of the automated milking system.

[0048] Milking cup 2 includes a replaceable cylinder 12 arranged in housing 11, see also Figure 2 and Figure 3 The replaceable cylinder 12 will be referred to as cylinder 12 in the following text. Figure 2 Examples are shown along Figure 1a and Figure 1bThe diagram shows a longitudinal section of the milking cup 2 along its longitudinal central axis 15. As mentioned above, the milking cup 2 includes a housing 11 and a cylinder 12 disposed within the housing 11. The cylinder 12 includes an inner liner 16 defining a nipple space 18, a milk outlet opening 20 arranged in fluid communication with the nipple space 18, and a pulsating space 22 arranged around the nipple space 18 and demarcated from it by the inner liner 16. The cylinder 12 includes an elongated sleeve 24 extending circumferentially around the inner liner 16. The pulsating space 22 is formed between the inner liner 16 and the elongated sleeve 24. As seen along the longitudinal central axis 15, the nipple receiving opening 4 and the milk outlet opening 20 are disposed at opposite ends of the cylinder 12.

[0049] The flexible lip 26 of the cylinder 12 extends around the nipple receiving opening 4. The flexible lip 26 ensures that the milking cup 2 seals against the udder and / or nipple of the animal being milked. The inner liner 16 is flexible to ensure proper opening and closing of the liner during pulsation and proper milking function of the milking cup 2. On the other hand, the elongated sleeve 24 is rigid and is provided with pulsation holes so that during use of the milking cup 2, the pulsation pressure changes in the pulsation space 22 are used to close and open the flexible inner liner 16. In addition, a bayonet coupling 28 is provided between the elongated sleeve 24 and the base members 10, 10' of the housing 11 to lock and secure the cylinder 12 in the housing 11. The base members 10, 10' are provided at the second end 34 of the housing 11. The base members 10, 10' have at least a partially tapered surface 80 toward the second end 32, which provides tapered base members 10, 10' to receive (seal) and secure the cylinder 12 by means of a bayonet coupling 28 in the base members 10, 10'.

[0050] In the illustrated embodiment, base members 10, 10' include an outlet member 14. The outlet member 14 includes a milk tube connection pipe 40. In an alternative embodiment, the milk tube connection pipe 40 may be integrally formed with the base members 10, 10'.

[0051] During use of the milking cup 2, a fluid connection is formed through the milk outlet channel 36 of the outlet member 14 and the milk tube connecting pipe 40 to the teat space 18 for applying milking vacuum and the outlet for the extracted milk. A seal 38 is provided at its milk outlet opening 20 between the milk tube connecting pipe 40 and the cylinder 12. In this embodiment, the milk tube connecting pipe 40 and the seal 38 are installed in the base members 10, 10'.

[0052] A pulsating channel 37 for connecting to the pulsating space 22 surrounding the built-in liner 16 is formed in the base members 10, 10' of the housing 11. Another channel 37 extends through the pulse tube connecting pipe 7.

[0053] Figure 3An example is shown in the above reference figure 1 and Figure 2 The discussion focuses on the longitudinal section of the housing 11 of the milking cup 2. The longitudinal section extends along the longitudinal central axis 15 of the housing and along a first imaginary plane 50 including the longitudinal central axis 15. An opening 29 is provided in the upper first end 30 of the housing 11. The cylinder 12 can be inserted into the housing 11 through the opening 29, as... Figures 1a to 2 It is fixed therein as shown. The lower second end 34 of the housing includes base members 10, 10', and is arranged opposite to the upper first end 30 when viewed along the longitudinal central axis 15. The base members 10, 10' of the housing 11 are provided with through holes 32 at the second end 34 of the housing 11.

[0054] If possible Figure 2 As seen in the diagram, the outlet member 14 is installed and extends through the through-hole 32 of the base member 10'. In the housing 11 of the illustrated embodiment, the seal 38 of the outlet member 14 not only abuts against the cylinder 12 but also seals against the base members 10, 10' at the through-hole 32. The seal 38 typically extends within the base members 10, 10' of the housing 11, and the milk tube connection tube 40 typically extends outside the base members 10, 10' of the housing 11.

[0055] In the illustrated embodiment, the housing 11 and its base components 10, 10' are integrally formed in an injection-molded thermoplastic portion. The outer metal sleeve 13 (in...) Figure 2 (As shown in the diagram) It is mounted on an inner injection-molded plastic housing 11. The one-piece injection-molded thermoplastic housing 11 can be made of nylon (such as PA66), PBT (such as PBT-HI), or another thermoplastic material with sufficient mechanical strength while exhibiting suitable chemical and moisture resistance. The outer metal sleeve 13 can be made of stainless steel or other suitable metal material that can protect the inner injection-molded plastic housing 11 from impacts and other forces that may damage or destroy the injection-molded plastic housing 11. The outer metal sleeve 13 is advantageously provided with a handle 8 for a gripper of the robot arm. If the end effector of the robot arm includes an electromagnetic gripper, the outer metal sleeve is made of a magnetic material.

[0056] Figure 1c and Figure 1d An example of a milking cup 2 according to the second detailed embodiment is shown. Figure 6b In the second embodiment also shown, the base member 10' includes extending from the tapered surface 80 and located at... Figure 6bAt least two first protrusions 52', 52'' on opposite sides of the second imaginary plane 74 are shown. The base member 10' also includes at least two second protrusions 54', 54'' extending from the tapered surface 80 and located on opposite sides of the base member 10' and also on opposite sides of the second imaginary plane 74. The at least two first protrusions 52', 52'' define at least two downward-facing first adjacent surfaces 56', 56'' (see...). Figure 6b At least two second protrusions 54', 54'' also define at least two second adjacent surfaces 58', 58'', each facing downwards. Each of the two first adjacent surfaces 56', 56'' and the two second adjacent surfaces 58', 58'' is configured to abut against a corresponding seat of the milking cup container (see again). Figure 5a Therefore, each of the two first adjacent surfaces 56', 56'' is configured to abut against the first seat of the milking cup container. Furthermore, each of the two second adjacent surfaces 58', 58'' is configured to abut against the second seat of the milking cup container. Thus, the two first protrusions 52', 52'' define the two first adjacent surfaces 56', 56'', and the two second protrusions 54', 54'' define the two second adjacent surfaces 58', 58'' arranged at a distance from each other.

[0057] Figure 4a and Figure 4b Examples are shown in two different views. Figure 1c and Figure 1d The milking cup 2. A first imaginary plane 50, including the longitudinal central axis 15 of the housing 11, is indicated by a dashed line. More precisely, the first imaginary plane 50 includes the milk tube connection tube 40 and the pulse tube connection tube 7. Therefore, Figure 2 and Figure 3 The longitudinal section extends along the first imaginary plane 50.

[0058] Figure 5a An illustrative example Figures 1a to 1d The base member 10 at the second end 34 of the milking cup 2 and the seat of the milking cup box 60. In the illustrated example, the milking cup 2 is suspended in the milking cup box 60 by milk and pulse tubes (not shown), and its nipple receiving opening 4 faces downward. Figure 5b A first embodiment of a milking cup 2 in its inverted orientation in its storage position is shown. The tapered surface 80 of the base member 10, having a first protrusion 52 and a second protrusion 54, is shown. Additionally, in Figure 5a The first adjacent surface 56 and the second adjacent surface 58 are shown. The milking cup box 60 includes... Figure 5aThe form indicated by the dashed circle is the seat of two cylindrical rollers 62', 62''. Therefore, the two cylindrical rollers 62', 62'' are arranged in parallel and form the seat 63', 63'' of the milking cup cassette 60 for the milking cup 2. When the milking cup 2 is retracted into the milking cup cassette 60 after milking at the teat has been completed, the cylindrical rollers 62', 62'' also provide the additional functionality of guiding long milk and the pulse tube.

[0059] According to alternative embodiments, the seat for the milking cup 2 in the milking cup holder 60 can be provided by alternative means such as two parallel cylindrical and non-rotating members, two curved surfaces, or even a pair of flat surfaces. However, in the latter two cases, the first abutting surface 56 and the second abutting surface 58 on the base member 10' are configured with corresponding shapes for abutting against the curved or flat seat surface.

[0060] refer to Figures 4a to 5b In the two illustrated embodiments, each of the first adjacent surfaces 56, 56', 56'' includes a lateral extension extending along an imaginary first cylindrical surface 64 indicated by a portion of the first seat portion 63' or the cylindrical roller 62'. Furthermore, each of the second adjacent surfaces 58, 58', 58'' includes a lateral extension extending along an imaginary second cylindrical surface 66 indicated by a portion of the second seat portion 63'' or the cylindrical roller 62''.

[0061] Furthermore, the first imaginary cylindrical surface 64 has a first central axis 70 and the second imaginary cylindrical surface 66 has a second central axis 72. The first central axis 70 and the second central axis 72 extend parallel to each other and parallel to the first imaginary plane 50 and perpendicular to the longitudinal central axis 15. Therefore, the lateral extensions on the first adjacent surfaces 56, 56', 56'' and the second adjacent surfaces 58, 58', 58'' are adapted to securely abut against the first imaginary cylindrical surface 64. Figure 5a The cylindrical surfaces of the seats 63' and 63'' formed by the cylindrical rollers 62' and 62'' in the milking cup holder 60 are shown. Therefore, a first and a second adjacent surface are arranged to abut against two parallel seat members having cylindrical surfaces forming the first and second seats 63' and 63'' on the surfaces of the first and second cylindrical rollers 62' and 62'' respectively. This provides secure vertical positioning and angular orientation of the milking cup 2 against the first and second seats 63' and 63'' of the milking cup holder 60.

[0062] Figure 6a Examples Figure 1a and Figure 1b The bottom view of the milking cup 2 of the first embodiment is shown. Figure 6aThe view is of the base member 10 along the longitudinal central axis 15 toward the second end 34 of the housing 11. At least one first abutting surface forms a single and continuous first abutting surface 56 having a longitudinal extension perpendicular to the longitudinal central axis 15 and parallel to the first imaginary plane 50. Furthermore, at least one second abutting surface 58 forms a single and continuous second abutting surface 58 having a longitudinal extension perpendicular to the longitudinal central axis 15 and parallel to the first imaginary plane 50.

[0063] As mentioned above, the housing 11 has a through hole 32 located in the base member 10 at its second end 34. The through hole 32 is arranged concentrically with the longitudinal central axis 15. A second imaginary plane 74 including the longitudinal central axis 15 extends perpendicularly to the first imaginary plane 50. The first imaginary plane 50 and the second imaginary plane 74 extend perpendicularly to the plane of this figure.

[0064] Therefore, in Figure 6a and Figure 6b The first imaginary plane 50 and the second imaginary plane 74 are indicated by dashed lines. Figure 6b In the second embodiment shown, the base member 10' includes at least two first protrusions 52', 52'' disposed on the tapered surface 80 and located on opposite sides of the second imaginary plane 74. Additionally, the base member 10' includes at least two second protrusions 54', 54'' disposed on the tapered surface 80 and located on opposite sides of the second imaginary plane 74. Thus, the two first protrusions 52', 52'' define two first adjacent surfaces 56', 56'' and the two second protrusions 54', 54'' define two second adjacent surfaces 58', 58'' disposed at a distance from each other. Each of the first adjacent surfaces 56', 56'' and the second adjacent surfaces 58', 58'' has a longitudinal extension and a lateral extension designed in a corresponding manner as the single first adjacent surface 56 and second adjacent surface 58 described above. The two first adjacent surfaces 56', 56'' and the two second adjacent surfaces 58', 58'' can also provide safe and clear positioning of the seat 63', 63'' against the milking cup box 60.

[0065] According to the illustrated embodiment, at least two first protrusions 52', 52'', 52''' and at least two second protrusions 54', 54'', 54''' extend generally parallel to the second imaginary plane 74. In this way, the first and second protrusions extend away from the first imaginary plane 50 to provide two first abutting surfaces and two second abutting surfaces for positioning against the seat 63', 63'' of the milking cup holder 60.

[0066] If possible Figure 6bAs seen in the image, the base member 10' includes three first protrusions 52', 52'', 52''' and three second protrusions 54', 54'', 54'''. These protrusions are arranged or distributed along the extension of the first imaginary plane 50, which again provides a secure positioning against the seat of the milking cup box.

[0067] In the following text, especially refer to Figure 2 , Figure 6a and Figure 6b The housing 11 includes a pulse tube connecting pipe 7 on its base members 10, 10' at its second end 34. The pulse tube connecting pipe 7 extends parallel to the longitudinal central axis 15 of the housing 11. At least two first protrusions 52', 52'' are included. Figure 6b The third first protrusion 52''' shown extends from the first side toward the protrusion 76 at the pulse tube connecting pipe 7. Furthermore, the third second protrusion 54''' of at least two second protrusions 54', 54'' also extends from the first side toward the protrusion 76 at the pulse tube connecting pipe 7. Therefore, the third first protrusion 52''' and the third second protrusion 54''' provide corresponding third abutting surfaces 56''', 58''' at the pulse tube connecting pipe 7 for abutting against the seats 63', 63'' (rollers) of the milking cup cassette 60, thus providing more reliable support and positioning of the milking cup 2 at the pulse tube connecting pipe 7 of the milking cup 2.

[0068] In the following text, especially refer to Figure 1a , Figure 1b , Figures 3 to 4b and Figures 6a to 6b According to the illustrated embodiment, a first lateral protrusion 76 extends from the tapered surface 80 of the base members 10, 10'. The first lateral protrusion 76 extends from the tapered surface 80 and parallel to the first imaginary plane 50 (i.e., in a direction perpendicular to at least one first protrusion 52 and the second protrusion 54). Furthermore, as can be seen, the longitudinal extensions of the first abutment surface 56 and the longitudinal extensions of the second abutment surface 58 extend transversely to the first lateral protrusion 76 and parallel to the first imaginary plane 50. The first lateral protrusion 76 realizes an abutment surface extending in the longitudinal direction. When the milking cup 2 is retracted into the milking cup holder 60, the first lateral protrusion 76 is positioned between the two seats (cylindrical rollers) of the milking cup holder 60. The pulse tube connecting tube 7 also extends from the first lateral protrusion 76 parallel to the longitudinal central axis 15 and the milk tube connecting tube 40. This achieves reliable orientation and positioning of the milking cup 2 within the milking cup holder 60. Therefore, the first lateral protrusion 76, including the first and second adjacent surfaces, is guided and positioned between the two cylindrical rollers 62', 62'' of the milking cup cassette 60 shown in FIG. 5. Figure 6bIn the second embodiment shown, a corresponding third protrusion 52''', 54''' of at least two first protrusions 52', 52'' and at least two second protrusions 54', 54''' extends from the first side toward the protrusion 76.

[0069] According to the embodiment, the second lateral protrusion 78 also extends from the tapered surface 80 of the base members 10, 10' of the housing 11. The second lateral protrusion 78 also extends parallel to the first imaginary plane 50 on the opposite side of the base members 10, 10' relative to the first lateral protrusion 76. The longitudinal extensions of the individual first abutment surface 56 and the longitudinal extensions of the individual second abutment surface 58 further extend laterally against the second lateral protrusion 78 and parallel to the first imaginary plane 50, as can be... Figure 6a As seen in the figure. Therefore, the second lateral protrusion 78 achieves a further extended abutment surface in the longitudinal direction. When the milking cup 2 is retracted into the milking cup cassette, the second lateral protrusion 78 is also positioned between the two seats (cylindrical rollers) of the milking cup cassette 60. Therefore, the second lateral protrusion 78 is guided and positioned between the two cylindrical rollers 62', 62'' of the milking cup cassette 60 shown in Figure 5.

[0070] In the following text, especially refer to Figure 1a , Figure 1b , Figure 4a , Figure 4b , Figure 5a and Figure 5b Between the base members 10, 10' and the first end 30, the housing 11 includes a cylindrical intermediate section 82. The cylindrical intermediate section 82 has a radial extension R from the longitudinal central axis 15 (see [link to relevant documentation]). Figure 5a The base members 10, 10' include a pair of longitudinally extending ribs 53', 53'' that extend parallel to the longitudinal direction of the milking cup 2. Each longitudinal rib 53', 53'' is provided with a longitudinal portion having a radial extension r1 corresponding to the radial extension R of the cylindrical intermediate section 82. The longitudinal ribs 53', 53'' are arranged to support a lower support member (not shown) abutting against the end effector (gripper) at the same radial extension from the longitudinal central axis 15 as at the intermediate section 82. The milking cup can thus be securely held in a stable upright position during attachment.

[0071] Alternatively, such as Figure 5a As also indicated, the base members 10, 10' are provided with radial ribs 84 having radial extensions r2 corresponding to the radial extensions R of the cylindrical intermediate section 82. Therefore, the radial ribs 84 can abut against the support members on the end effector (gripper) at the same radial extension from the longitudinal central axis 15 as at the cylindrical intermediate section 82.

[0072] refer to Figures 1a to 2 The milking cup 2 includes an elastic annular buffer 88 arranged circumferentially around the outer surface of the housing 11 at its first end 30. The elastic annular buffer 88 is separate from the cylinder 12. Furthermore, the elastic annular buffer 88 is separate from the housing 11. The elastic annular buffer 88 forms an impact-absorbing member. The elastic annular buffer 88 may be an annular rib of silicone, thermoplastic elastomer, natural rubber, or synthetic rubber. The separation of the elastic annular buffer 88 from the cylinder 12 means that the elastic annular buffer 88 is a separate part from the cylinder 12 and is installed separately from the connection of the cylinder 12 to the housing 11.

Claims

1. A milking cup (2) comprising a housing (11) for a replaceable cylinder (12), the replaceable cylinder (12) being configured to be disposed within the housing (11), wherein The replaceable sleeve (12) includes an inner liner (16), a milk outlet opening (20), a pulsating space (22), and an elongated sleeve (24). The inner liner (16) defines a nipple space (18). The milk outlet opening (20) is arranged in fluid communication with the nipple space (18). The pulsating space (22) is arranged around the nipple space (18) and is demarcated from the nipple space (18) by the inner liner (16). The elongated sleeve (24) extends circumferentially around the inner liner (16) to form the pulsating space (22) between the inner liner (16) and the elongated sleeve (24). The housing (11) has a longitudinal central axis (15), and the replaceable cylinder (12) is insertable into the housing (11) at a first end (30), wherein The housing (11) has a second end (34) which includes a base member (10, 10') arranged opposite to the first end (30) as seen along the longitudinal central axis (15), and the base member (10, 10') of the housing (11) has at least a partially tapered surface (80) facing the second end (34). Its features The base member (10, 10') of the housing (11) includes at least one first protrusion (52, 52', 52'') extending from the tapered surface (80) and at least one second protrusion (54, 54', 54'') extending from the tapered surface (80), the first protrusion and the second protrusion (52, 52', 52'', 54, 54'', 54'') arranged on opposite sides of a first imaginary plane (50) including the longitudinal central axis (15), wherein the at least one first protrusion (52, 52', 52'') defines at least one first adjacent surface (56, 56', 56'') and the at least one second protrusion (54, 54', 54'') defines at least one second adjacent surface (58, 58', 58''), and wherein Each of the first adjacent surface and the second adjacent surface (56, 56', 56'', 58, 58', 58'') is configured to abut against the corresponding seat surface (63', 63'') of the milking cup box (60).

2. The milking cup (2) according to claim 1, wherein the at least one first adjacent surface (56, 56', 56'') includes a longitudinal extension perpendicular to the longitudinal central axis (15) and parallel to the first imaginary plane (50), and the at least one second adjacent surface (58, 58', 58'') includes a longitudinal extension perpendicular to the longitudinal central axis (15) and parallel to the first imaginary plane (50).

3. The milking cup (2) according to claim 1 or 2, wherein the at least one first adjacent surface (56, 56', 56'') includes a lateral extension extending along a portion of an imaginary first cylindrical surface (64), and the at least one second adjacent surface (58, 58', 58'') includes a lateral extension extending along a portion of an imaginary second cylindrical surface (66).

4. The milking cup (2) according to claim 3, wherein the first imaginary cylindrical surface (64) has a first central axis (70) and the second imaginary cylindrical surface (66) has a second central axis (72), and wherein the first central axis and the second central axis (70, 72) extend parallel to the first imaginary plane (50) and perpendicular to the longitudinal central axis (15).

5. The milking cup (2) according to any one of the preceding claims, wherein the base member (10, 10') includes a first lateral protrusion (76) extending from the tapered surface (80) and parallel to the first imaginary plane (50), wherein the pulse tube connecting tube (7) extends from the first lateral protrusion (76) parallel to the longitudinal central axis (15).

6. The milking cup (2) according to claims 2 and 5, wherein the longitudinal extension of the at least one first adjacent surface (56, 56''') and the longitudinal extension of the at least one second adjacent surface (58, 58''') lie across the first lateral protrusion (76) and extend parallel to the first imaginary plane (50).

7. The milking cup (2) according to claim 6, wherein the at least one first adjacent surface is formed by a single first adjacent surface (56), and the at least one second adjacent surface is formed by a single second adjacent surface (58), and wherein the longitudinal extension of the single first adjacent surface (56) and the longitudinal extension of the single second adjacent surface (58) extend at least between the longitudinal central axis (15) and the pulse tube connecting tube (7).

8. The milking cup (2) according to claim 7, wherein the base member (10) includes a second lateral protrusion (78) extending from the tapered surface (80) and parallel to the first imaginary plane (50) on the opposite side of the base member (10) relative to the first lateral protrusion (76), wherein the longitudinal extension of the single first adjacent surface (56) and the longitudinal extension of the single second adjacent surface (58) further abut against the second lateral protrusion (78) and extend parallel to the first imaginary plane (50).

9. The milking cup (2) according to any one of the preceding claims, wherein the base member (10') of the housing (11) is provided with a through hole (32) arranged concentrically with the longitudinal central axis (15), including a second imaginary plane (74) of the longitudinal central axis (15) extending perpendicularly to the first imaginary plane (50), wherein the at least one first protrusion includes two first protrusions (52', 52'') and the at least one first adjacent surface includes two first adjacent surfaces (56', 56'') arranged on opposite sides of the second imaginary plane (74), and wherein the at least one second protrusion includes two protrusions (54', 54'') and the at least one second adjacent surface includes two adjacent surfaces (58', 58'') arranged on opposite sides of the second imaginary plane (74).

10. The milking cup (2) according to any one of claims 5 or 6, wherein at least two first protrusions (52', 52'') include a third first protrusion (52''') extending from the first lateral protrusion (76), the third first protrusion (52''') defining a third abutting surface (56''') disposed at the pulse tube connecting tube (7), and wherein at least two second protrusions (54', 54'') include a third second protrusion (54''') extending from the first lateral protrusion (76), the third second protrusion (54''') defining a third second abutting surface (58''') disposed at the pulse tube connecting tube (7).

11. The milking cup (2) according to any one of the preceding claims, wherein between the base member (10, 10') and the first end (30), the housing (11) includes a cylindrical intermediate section (82) having a radial extension (R), and wherein the base member (10, 10') includes a pair of longitudinally extending ribs (53', 53'') having a radial extension (r1) corresponding to the radial extension (R) of the intermediate section.

12. The milking cup (2) according to any of the preceding claims, wherein the housing (11) comprises a cylindrical intermediate section (82) between the base member (10, 10') and the first end (30), and wherein the base member (10, 10') comprises a bayonet connector (28) for securing the replaceable cylinder (12) in the base member of the housing (11).

13. The milking cup (2) according to any one of the preceding claims, the milking cup (2) comprising an elastic annular buffer (88) arranged circumferentially around the outer surface of the housing (11) at its first end (30), and wherein the elastic annular buffer (88) forms an impact absorbing member.

14. The milking cup (2) according to any one of the preceding claims, wherein at least a portion of the shell (11) including the base members (10, 10') is made of injection-molded thermoplastic material, and preferably, the shell (11) including its base members (10, 10') is also integrally made of injection-molded thermoplastic material.

15. The milking cup (2) according to claim 14, wherein the outer metal sleeve (13) is disposed around a portion of the injection-molded thermoplastic material of the housing (11).

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