teatcup

Abstract

The disclosure concerns a teatcup (2) comprising a shell (11) for an exchangeable cartridge (12). The shell (11) comprises base member (10, 10') with 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 tapering surface (80) of the base member (10, 10') of the shell (11) on opposite sides of a first imaginary plane (50) which includes a longitudinal centre axis (15) of the shell (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 for abutment against a respective seat (63', 63'') of a teatcup magazine (60).

Description

[0001] Teatcup

[0002] TECHNICAL FIELD

[0003] The invention relates to a teatcup comprising a shell for an exchangeable cartridge configured to be arranged in the shell. The exchangeable cartridge includes an in-built liner that defines a teat space, a milk outlet opening arranged in fluid communication with the teat space, a pulsation space arranged around and delimited from the teat space by the in-built liner, and an elongated sleeve extending circumferentially around the in-built liner to form the pulsation space between the in-built liner and the sleeve. The shell has a longitudinal centre axis, and the exchangeable cartridge is insertable into the shell at a first end of the shell. The shell has a second end comprising a base member arranged opposite to the first end, wherein the base member of the shell has an at least partially tapering surface towards the second end.

[0004] BACKGROUND

[0005] A teatcup for an exchangeable cartridge is disclosed in WO2019 / 083434. This teatcup is utilised for conventional milking of an animal. In a conventional milking system, a milking cluster comprises a claw with a number of short milk tubes connected to the same number of teatcups. A milking cluster for a cow has four teatcups connected to the claw by the same number of short milk tubes and short pulse tubes. The milking cluster is configured for conventional or collective milking of all udder partitions (all udder quarters of a cow). Milking of the animal is thereby performed on the udder as a whole.

[0006] A more gentle and efficient milking of an animal may be achieved when the milking of each udder partition of the animal (each udder quarter of a cow) is performed and controlled separately / independently. Accordingly, in the case of milking cows, reference is made to so- called quarter milking. The control of quarter milking is based on for instance the milk flow from each udder quarter individually. Such quarter milking is typically provided in automatic milking systems. Thus, while milking of all udder quarters starts after attachment of each teatcup, the milking of each udder quarter may have different durations and depends on the amount of milk in the respective udder quarter. A consequence of quarter milking is that each teatcup is detached individually when milking of the udder quarter is finished. Pulsation and milking vacuum in each teatcup may also be controlled individually and automatically.

[0007] A normal way of providing quarter milking is to supply milking vacuum to each teatcup and to conduct milk from each teatcup via a long milk tube for each teatcup. The long milk tube is also accompanied by a long pulse tube for providing pulsation to each teatcup. The teatcups are hereby stored in a teatcup magazine in some automatic milking systems (such as the DeLaval voluntary milking system VMS). WO2012 / 033448 discloses such a teatcup magazine. Each long milk and pulse tube is connected to one respective teatcup and, after milking, each teatcup is retracted into the teatcup magazine via its long milk and pulse tubes. That is, the milk and pulse tubes are pulled into the teatcup magazine when milking of a relevant udder quarter has finished and together with the milk and pulse tubes, the relevant teatcup is retracted into the teatcup magazine.

[0008] When located in the teatcup magazine, the teatcups are positioned in a storing position such that they can be easily fetched by a milking robot and attached to the teats of an animal to be milked. This typically requires that each teatcup is stored in a particular position and orientation within the teatcup magazine. WO2015 / 065275 hereby discloses a teatcup magazine with a teatcup comprising first and second surfaces extending perpendicular to a centre axis of the teatcup. The first surface is adapted to abut against a first roller and the second surface is adapted to abut against a second roller in the magazine. Accordingly, the teatcup magazine is provided with a seat in the form of the first and second rollers defining the storing position for each teatcup. When the teatcup is in its storing position against its seat / rollers, the teatcup has a particular position and angular orientation to be easily fetched by the robot arm. Thus, the robot arm is directed to predetermined positions to quickly and easily fetch the teatcups from the magazine for attachment to the teats.

[0009] However, the teatcup of the above-mentioned magazine is designed for a conventional liner, which takes a significant time and effort to replace. A conventional liner is replaced by removing the teatcup from the milk and pulse tubes. The liner is subsequently removed from the teatcup using a special tool. A new liner is mounted into the teatcup shell using the special tool and the teatcup is mounted back onto the milk and pulse tubes. The sequence is repeated for all four teatcups, which is time consuming and may require skilled personnel who knows how to replace the conventional liners using the special tool.

[0010] SUMMARY

[0011] It is an object of the invention to facilitate a liner replacement in a teatcup for an automatic milking system comprising a teatcup magazine, which teatcup is configured to adopt one and the same storing position between milkings. It is more particularly an object to provide such a teatcup that is configured to be reliably positioned against a seat in a teatcup magazine of an automatic milking system (AMS).

[0012] These objects are achieved by a teatcup having the features defined in independent claim 1. Thus, a liner replacement is facilitated by the exchangeable cartridge that is removed and inserted from and into the first end of the teatcup. There is no need to remove the teatcup from the milk and pulse tubes in the teatcup magazine and there is no need to use any special tool to replace the cartridge with a new one. The cartridge is easily replaced manually without the use of any tool. The cartridge may be locked to the base member of the teatcup shell by a bayonet coupling. Service personnel can loosen a cartridge from the base member of the shell by simply twisting the cartridge in relation to the shell about the longitudinal centre axis and thereafter pull the cartridge out of the shell. A new cartridge may be inserted into the shell and twisted in an opposite direction about the longitudinal centre axis to secure the cartridge in the base member. The teatcup of the present invention therefore provides a significantly faster and easier replacement of the liner in the teatcup for the automatic milking system comprising the teatcup magazine.

[0013] The exchangeable cartridge is known per se, but the new teatcup for the teatcup magazine is hereby designed to accommodate such cartridges by having a base member comprising an at least partially tapering surface towards the second end, which provides a tapering base member for accommodating (sealing and securing) the exchangeable cartridge in the base member of the teatcup shell. 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 tapering surface, the at least one first and second protrusion being arranged on opposite sides of a first imaginary plane. The at least one first protrusion defines a first abutment surface and the at least one second protrusion defines a second abutment surface for abutment against a respective seat (e.g., a roller) of the teatcup magazine. In this way, each teatcup is configured to be reliably positioned against the seat in the teatcup magazine. In an AMS where each teatcup is picked up by a robot arm, the precise location on each teatcup is hereby achieved for quick and easy fetching of teatcups.

[0014] According to an embodiment, the at least one first abutment surface comprises a lengthwise extension, which is perpendicular to the longitudinal centre axis and in parallel with the first imaginary plane, and the at least one second abutment surface comprises a lengthwise extension, which is perpendicular to the longitudinal centre axis and in parallel with the first imaginary plane. In this way, the abutment surfaces ensure that the teatcup is held in a reliable vertical position and proper angular orientation in the stored position in the teatcup magazine. According to yet a further embodiment, the at least one first abutment surface comprises a crosswise extension, which is extending along a portion of an imaginary first cylindrical surface, and the at least one second abutment surface comprises a crosswise extension, which is extending along a portion of an imaginary second cylindrical surface. A respective seat for the first and second abutment surfaces is preferably provided by a cylinder or cylindrical roller. The cylinders or cylindrical rollers may beneficially guide the milk and pulse tubes, that are connected to the teatcups, within the teatcup magazine. Moreover, the embodiment promotes a more stable vertical position and angular orientation of the teatcup in its stored position in the teatcup magazine.

[0015] According to an embodiment, the first imaginary cylindrical surface has a first centre axis, and the second imaginary cylindrical surface has a second centre axis, wherein the first and second centre axes extend in parallel with the first imaginary plane and perpendicularly to the longitudinal centre axis. In this manner, the first and second abutment surfaces are arranged for abutment against two parallel cylinders or cylindrical rollers. Again, the parallel cylinders or cylindrical rollers provide for excellent guiding of the milk and pulse tubes, that are connected to the teatcups, within the teatcup magazine.

[0016] According to yet an embodiment, the base member comprises a first lateral projection, which is extending from the tapering surface and in parallel with the first imaginary plane, wherein a pulse tube connection pipe extends from the first lateral projection in parallel with the longitudinal centre axis. It may be noted that the milk outlet opening in the teatcup is hereby concentric with the longitudinal centre axis. In this manner, the connection of the pulse and milk tubes may be arranged in parallel with each other for beneficial guiding of the milk and pulse tubes within the teatcup magazine. Moreover, the first lateral projection may be utilised for extended support of the teatcup in a teatcup magazine. For instance, the first lateral projection may be positioned in between two parallel cylindrical rollers of the magazine for enhanced stable positioning of the teatcup.

[0017] Moreover, this embodiment enables in accordance with a further embodiment that, the lengthwise extension of the at least one first abutment surface and the lengthwise extension of the at least one second abutment surface may also extend alongside the first lateral projection and in parallel with the first imaginary plane. Thus, the first lateral projection provides for extended first and second abutment surfaces in the lengthwise direction, which further enhances a holding of the teatcup in the vertical position and proper angular orientation in the stored position in the teatcup magazine. The abutment surfaces of teatcup may hereby also be configured with lengthwise extensions for abutment across the pulse tube connection pipe as well.

[0018] According to a further embodiment, the at least one first abutment surface is formed by a single first abutment surface, and the at least one second abutment surface is formed by a single second abutment surface, wherein the lengthwise extension of the single first abutment surface and the lengthwise extension of the single second abutment surface extend between at least the longitudinal centre axis and the pulse tube connection pipe. This provides for extended abutment surfaces at and between the milk and pulse tubes for more reliable support and positioning in the teatcup magazine. The lengthwise extensions on both abutment surfaces may obviously also extend passed the longitudinal centre axis (in the direction opposite to the pulse tube connection pipe). It is in fact preferable to make the first and second protrusions with their single abutment surfaces relatively larger and more extended. A base member with smaller sized projections and / or divided abutment surfaces may wear out quicker due to the teatcups inadvertently hitting the ground during for instance kick-off, fall-off or take-off. It is thereby beneficial to design the base member with single larger sized and extended projections / abutment surfaces to safeguard the positioning of the teatcups in the teatcup magazine over time. This is particularly beneficial if the base member and shell is cost-efficiently produced in a thermoplastic material as explained further below.

[0019] According to an embodiment, the base member comprises a second lateral projection, which is extending from the tapering surface and in parallel with the first imaginary plane, at an opposite side of the base member in relation to the first lateral projection, wherein the lengthwise extension of the single first abutment surface and the lengthwise extension of the single second abutment surface further extend alongside the second lateral projection and in parallel with the first imaginary plane. Again, this enhances the beneficial design of providing further extended first and second abutment surfaces that safeguards a more reliable positioning of the teatcups in the teatcup magazine over time as mentioned above. Moreover, the second lateral projection may also - as mentioned above in relation to the first lateral projection - be exploited for securely positioning the teatcup in a teatcup magazine. Thus, the second lateral projection may also be positioned in between two parallel cylindrical rollers of the magazine, which rollers form seats for the first and second abutment surfaces. This embodiment further promotes a more reliable vertical positioning and angular orientation of the teatcup in its stored position, in particular after an extended use of the teatcup.

[0020] According to an embodiment, the base member of the shell is provided with a through hole, the through hole being arranged concentrically with the longitudinal centre axis, wherein a second imaginary plane, which includes the longitudinal centre axis, extends perpendicularly to the first imaginary plane, wherein the at least one first protrusion comprises two first protrusions and the at least one first abutment surface comprises two first abutment surfaces that are arranged on opposite sides of the second imaginary plane, and wherein the at least one second protrusion comprises two second protrusions and the at least one second abutment surface comprises two second abutment surfaces that are arranged on opposite sides of the second imaginary plane.

[0021] A milk tube connection pipe may be arranged at the through hole. Thus, the two first protrusions and the two first abutment surfaces as well as the two second protrusions and the two second abutment surfaces are arranged on opposite sides in relation to the through hole and the milk tube connection pipe, which also promotes reliable positioning of the teatcup against the seats in the teatcup magazine. In other words, this is an alternative to the above-mentioned single and continuous first / second abutment surface. The two first abutment surfaces and the two second abutment surfaces exhibit the same crosswise extensions as their respective single abutment surface. Their lengthwise extensions are both also extending in the same directions as their respective single abutment surface, yet the single-to-two switch provides a smaller sized total abutment area. Hence, the lengthwise extension is divided into two separate and distanced first abutment surfaces. The embodiment may be a preferable design option, if for instance the base member is made in more wear-resistant materials.

[0022] According to a further embodiment, the at least two first protrusions comprise a third first protrusion extending from the first lateral projection, the third first protrusion defining a third abutment surface arranged at the pulse tube connection pipe, and wherein the at least two second protrusions comprise a third second protrusion extending from the first lateral projection, the third second protrusion defining a third second abutment surface arranged at the pulse tube connection pipe.

[0023] According to a further embodiment, the shell comprises an intermediate section of cylindrical shape, between the base member and the first end, the intermediate section having a radial extension, wherein the base member comprises a pair of longitudinally extending ribs having a corresponding radial extension as the radial extension of the intermediate section. An end effector (gripper) on the robot arm can thereby be provided with a lower support member for supporting the longitudinal ribs at the same radial location from the longitudinal centre axis as at the intermediate (circular) cylindrical section. This enhances a stable grip and support of the teatcup in an upright position in the end effector (gripper), which is advantageous from a teatcup attachment aspect.

[0024] According to alternative embodiments, the shell comprises an intermediate section of cylindrical shape, which is arranged between the base member and the first end, the intermediate section having a radial extension, wherein the base member is provided with a radial rib having a corresponding radial extension as the radial extension of the intermediate section. In this manner, the end effector (gripper) of the robot arm can also be provided with a lower support member for the radial (horizontal) rib, at the same radial location from the longitudinal centre axis as at the (circular) cylindrical intermediate section. This, in the same manner as described in the embodiment above, aids a stable support of the teatcup by longitudinally supporting it in an upright position, which is advantageous from the teatcup attachment aspect.

[0025] According to embodiments, the shell comprises an intermediate section of cylindrical shape, which is arranged between the base member and the first end, and the base member comprises a bayonet coupling for securing the exchangeable cartridge in the base member of the shell.

[0026] According to embodiments, the teatcup comprises a resilient annular bumper arranged circumferentially around an exterior of the shell at its first end, wherein the resilient annular bumper forms an impact absorbing member. The resilient annular bumper may be a rubber band arranged around the exterior first (top) end of the teat cup. In this manner, the teatcup is protected by the resilient annular bumper if it hits the ground during a kick-off, fall-off and / or take-off. The teatcup may even strike into portions of a milking stall such as the teatcup magazine or the robot arm during take-off. The top first end of the teatcup is typically the end that will strike the ground and / or environment during kick-, fall- and / or take-off. In addition, should one of the teatcups hit the animal being milked during a take-off and / or fall- off, the impact is reduced by the resilient annular bumper, and the animal is spared discomfort or pain.

[0027] According to embodiments, at least a portion of the shell comprising the base member is made of an injection moulded thermoplastic material, and preferably also the shell including its base member is made in one piece of an injection moulded thermoplastic material. In this way, as previously mentioned, the injection moulded base member (and shell) can be manufactured in a cost-efficient manner with the provision of the external interface surfaces for supporting the teatcup in the teatcup magazine, as well as the internal interface surfaces for connecting the exchangeable cartridge in the teatcup.

[0028] According to embodiments, an outer metal sleeve is provided around a portion of the injection moulded thermoplastic material of the shell. The inner injection moulded plastic shell is hereby protected from impacts and other forces that may damage or crack the plastic shell. Furthermore, if the end effector includes an electro-magnetic gripper or mechanical gripper, the outer metal sleeve is beneficially provided in magnetic material or a metal handle for the gripper on the robot arm.

[0029] Thus, the teatcup is adapted to be used in the automatic milking system (AMS) devised for individual udder partition milking (quarter milking in the case of cows). Milking of the individual teat of the animal may be performed by utilising any automatic milking algorithm. Mentioned purely as examples, such milking algorithm may vary one or more of the milking vacuum, pulsation ratio and / or rate based on one or more of a current milk flow rate from the teat, duration of a current milking operation, and / or historic milking data of the animal.

[0030] At least the base member of the shell is beneficially manufactured by injection moulding a thermoplastic material. More preferably the shell including its base member is made in one piece of the injection moulded thermoplastic material. The first and second protrusions lend themselves for injection moulding and thus, form part of the injection moulded base member. The protrusions are preferably designed such that their dimensions or thicknesses are similar to other dimensions or thicknesses of the base member and shell to facilitate the injection moulding from a mould filling aspect and material cooling aspect. In this way the injection moulded base member and shell can be manufactured in a cost-efficient manner by also including the internal interface surfaces for connecting the exchangeable cartridge.

[0031] However, an outer metal sleeve is preferably provided around an outer portion of the injection moulded thermoplastic shell. The inner injection moulded plastic shell is hereby protected from impacts and other forces that may damage the plastic shell in the automatic milking system as mentioned above.

[0032] The base member of the shell is preferably provided with two connection members in the form of pipe portions or nipples. A first connection member is connectable to a long milk tube and a second connection member is connectable to a long pulse tube. A short flexible milk and pulse tube may also be connectable to the first and second connection members. The short flexible milk and pulse tube may be of a kind that is easily bendable as disclosed in WOOO / 12924 or of a similar kind. Such short flexible milk and pulse tube is in turn connected to the long milk and pulse tubes to provide the respective functionality mentioned above.

[0033] Axial and radial references made herein are seen in relation to the longitudinal centre axis of the shell or teatcup. The term protrusion refers to a portion of a member, such as the base member of the shell in this case, which portion protrudes from an outer surface that defines the outline of the member. Similarly, the term projection refers to a portion of a member, such as the base member of the shell in this case, which portion protrudes from an outer surface that defines the outline of the member.

[0034] Further features of, and advantages with, the invention will become apparent when studying the appended claims and the following detailed description.

[0035] BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Various aspects and embodiments of the invention, including its particular features and advantages, is further disclosed in the detailed embodiments of the following detailed description and the accompanying drawings, in which:

[0037] Figs. 1a - 1d illustrate a teatcup according to detailed embodiments,

[0038] Fig. 2 illustrates a longitudinal section along a longitudinal centre axis of the teatcup,

[0039] Fig. 3 illustrates a longitudinal section through a shell of the teatcup,

[0040] Figs. 4a and 4b illustrate the teatcup in two different perspective views,

[0041] Figs. 5a and 5b schematically illustrates portions the teatcup and teatcup magazine, and Figs. 6a and 6b illustrates an end view of each teatcup embodiment.

[0042] DETAILED DESCRIPTION

[0043] Aspects and detailed embodiments of the invention will now be described more fully. Like numbers refer to like elements throughout.

[0044] Figs. 1a and 1 b illustrate a teatcup 2 according to a first detailed embodiment. In Figs. 1a and 1 b the teatcup 2 is shown in two different perspective views. The teatcup 2 is configured for milking a teat of an animal such as a cow. The teatcup 2 forms a milk extraction portion of an automatic milking system devised for milking animals. The teatcup 2 is part of a set of teatcups. The number of teatcups of the set of teatcups is adapted to the kind of animal intended to be milked and more specifically, to the number of udder partitions or teats of the animal. In the case of the animal being a cow, the set of teatcups includes four teatcups 2. The teatcup 2 has a teat receiving opening 4 at an upper first end 30 of the teatcup. During attachment of the teatcup 2, the teat of the animal to be milked is inserted into the teat receiving opening 4. At a lower second end 34 of the teacup 2 opposite to the first end 30 and the teat receiving opening 4, the teatcup 2 is configured to be connected to a flexible milk and pulse tube 3. An end portion of the milk and pulse tubes 3 is indicated with broken lines in Fig. 1a.

[0045] A milking vacuum is applied, and milk is extracted from the teatcup 2, via a milk tube connection pipe 40 provided at the lower second end 34 opposite to the teat receiving opening 4. At the lower second end 34 of the teatcup, a pulsating pressure change is applied to the teatcup 2. A pulse tube connection pipe 7 is provided for this purpose. The pulsating pressure change applied via the pulse tube connection pipe 7 is a pulsating pressure that changes between a sub-atmospheric pressure and an atmospheric pressure.

[0046] In the automatic milking system, the milk and pulse tubes 3 are connected to the milk tube connection pipe 40 and to the pulse tube connection pipe 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 another for communicating the pulsating pressure change, as indicated by the two double arrows in Fig. 1a.

[0047] At the lower second end 34, as shown in Figs. 1a and 1b, the shell 11 comprises a base member 10 arranged opposite to the first end 30. The base member 10 has an at least partially tapering surface 80 towards the second end 34. The base member 10 of the shell 11 further comprises a first protrusion 52 and a second protrusion 54. The first protrusion 52 is extending from the tapering surface 80 on one side of the base member 10 and the second protrusion 54 is extending from the tapering surface 80 on an opposite side of the base member 10.

[0048] The first protrusion 52 defines a first abutment surface 56 facing downwards (see also Fig. 6a), and the second protrusion 54 defines a second abutment surface 58 facing downwards. Each of first and second abutment surfaces 56, 58 is configured for abutment against a respective seat 63’, 63” of a teatcup magazine (see also Fig. 5a). That is, the first abutment surface 56 is configured with a shape for abutment against a correspondingly shaped first seat 63’ of the teatcup magazine 60 and the second abutment surface 58 is configured in the same manner with a shape for abutment against a correspondingly shaped second seat 63” of the teatcup magazine 60. The teatcup 2 is fetched by a robot arm of the automatic milking system, whereby the teatcup is automatically attached to the teat of animal by the robot arm. In a known manner, the teatcup 2 is provided with a handle 8 for a gripper provided on an end effector of the robot arm. The teatcup 2, if necessary, may however also be attached manually to the teat of the animal in a manual mode of the automatic milking system.

[0049] The teatcup 2 comprises an exchangeable cartridge 12 arranged in the shell 11 , see also Figs. 2 and 3. The exchangeable cartridge 12 is hereinafter referred to as simply the cartridge 12. Fig. 2 illustrates a longitudinal section along a longitudinal centre axis 15 of the teatcup 2 shown in Figs. 1a and 1b. As mentioned above, the teatcup 2 comprises the shell 11 and the cartridge 12 arranged in the shell 11. The cartridge 12 includes an in-built liner 16 that defines a teat space 18, a milk outlet opening 20 arranged in fluid communication with the teat space 18, and a pulsation space 22 arranged around and delimited from the teat space 18 by the in-built liner 16. The cartridge 12 comprises an elongated sleeve 24, which extends circumferentially around the in-built liner 16. The pulsation space 22 is formed between the in-built liner 16 and the elongated sleeve 24. As seen along the longitudinal centre axis 15, the teat receiving opening 4 and the milk outlet opening 20 are arranged at opposite ends of the cartridge 12.

[0050] A flexible lip 26 of the cartridge 12 extends around the teat receiving opening 4. The flexible lip 26 ensures that the teatcup 2 seals against the udder and / or the teat of the animal being milked. The in-built liner 16 is flexible to ensure a proper opening and closing of the liner, during pulsation, and proper milking function of the teatcup 2. The elongated sleeve 24, on the other hand, is rigid and provided with pulsation holes such that during use of the teatcup 2, a pulsating pressure change in the pulsation space 22 for closing and opening of the flexible in-built liner 16. In addition, a bayonet coupling 28 is provided between the elongated sleeve 24 and a base member 10, 10’ of the shell 11 to lock and secure the cartridge 12 in the shell 11. The base member 10, 10’ is provided at the second end 34 of the shell 11. The base member 10, 10’ has an at least partially tapering surface 80 towards the second end 32, which provides a tapering base member 10, 10’ to accommodate (seal) and secure the cartridge 12 by means of the bayonet coupling 28 in the base member 10, 10’.

[0051] In the illustrated embodiment, the base member 10, 10’ comprises an outlet member 14. The outlet member 14 comprises the milk tube connection pipe 40. In an alternative embodiment, the milk tube connection pipe 40 may be formed in one piece with the base member 10, 10’. During use of the teatcup 2, a milk outlet passage 36 through the outlet member 14 and the milk tube connection pipe 40 forms a fluid connection to the teat space 18 for application of a milking vacuum and outlet for the extracted milk. A sealing 38 is provided between the milk tube connection pipe 40 and the cartridge 12, at its milk outlet opening 20. In the embodiment, the milk tube connection pipe 40 and the sealing 38 is mounted into the base member 10, 10’.

[0052] A pulsation passage 37 for a pulsating pressure change connection to the pulsation space 22 surrounding the in-built liner 16 is formed in the base member 10, 10’ of the shell 11. The further passage 37 extends through the pulse tube connection pipe 7.

[0053] Fig. 3 illustrates a longitudinal section through the shell 11 of the teatcup 2 discussed above with reference to Figs. 1 and 2. The longitudinal section extends along the longitudinal centre axis 15 of the shell and along a first imaginary plane 50 which includes the longitudinal centre axis 15. An opening 29 is provided in the upper first end 30 of the shell 11. The cartridge 12 is insertable through the opening 29, into the shell 11 , to be secured therein as shown in Figs. 1a - 2. The lower second end 34 of the shell comprises the base member 10, 10’ and is arranged opposite to the upper first end 30 as seen along the longitudinal centre axis 15. The base member 10, 10’ of the shell 11 is provided with a through hole 32 at the second end 34 of the shell 11.

[0054] As can be seen in Fig. 2, the outlet member 14 is mounted and extends through the through hole 32 of the base member 10’. In the shell 11 of the illustrated embodiment, the sealing 38 of the outlet member 14 seals not only against the cartridge 12 but also against the base member 10, 10’ at the through hole 32. The sealing 38 is generally extending within the base member 10, 10’ of the shell 11 and the milk tube connection pipe 40 is generally extending outside the base member 10, 10’ of the shell 11.

[0055] In the illustrated embodiment, the shell 11 and its base member 10, 10’ is formed in one piece in an injection moulded thermoplastic portion. An outer metal sleeve 13 (shown in Fig. 2) is mounted on the inner injection moulded plastic shell 11. The one-piece injection moulded thermoplastic shell 11 may be made from Nylon (such as PA66), PBT (such as PBT-HI) or another thermoplastic material having sufficient mechanical strength, while exhibiting adequate chemical and moisture resistance. The outer metal sleeve 13 may be made from stainless steel or other suitable metal material that may protect the inner injection moulded plastic shell 11 from impacts and other forces that may damage or crack the injection moulded plastic shell 11. The outer metal sleeve 13 is beneficially provided with the handle 8 for the gripper of the robot arm. If the end effector of the robot arm includes an electro-magnetic gripper, the outer metal sleeve is made of magnetic material.

[0056] Figs. 1c and 1d illustrate a teatcup 2 according to a second detailed embodiment. In the second embodiment also shown in Fig. 6b, the base member 10’ comprises at least two first protrusions 52’, 52” extending from the tapering surface 80 and on opposite sides of a second imaginary plane 74 shown in Fig. 6b. The base member 10’ further comprises at least two second protrusions 54’, 54” extending from the tapering surface 80 and on an opposite side of the base member 10’ and on opposite sides of the second imaginary plane 74. The at least two first protrusions 52’, 52” define at least two first abutment surfaces 56’, 56” respectively facing downwards (see Fig. 6b). The at least two second protrusions 54’, 54” also define at least two second abutment surfaces 58’, 58” respectively facing downwards. Each of the two first and second abutment surfaces 56’, 56”, 58’, 58” is configured for abutment against the respective seat of the teatcup magazine (see again Fig. 5a). Thus, each of the two first abutment surfaces 56’, 56” is configured for abutment against a first seat of the teatcup magazine. Moreover, each of the two second abutment surfaces 58’, 58” is configured for abutment against a second seat of the teatcup magazine. Thus, the two first protrusions 52’, 52” define two first abutment surfaces 56’, 56” and the two second protrusions 54’, 54” define two second abutment surfaces 58’, 58” arranged at a distance from each other.

[0057] Figs. 4a and 4b illustrate the teatcup 2 of Figs. 1c and 1d in two different views. A first imaginary plane 50 which includes the longitudinal centre axis 15 of the shell 11 is indicated with dash-dotted lines. More precisely, the first imaginary plane 50 includes the milk tube connection pipe 40 and the pulse tube connection pipe 7. Thus, the longitudinal sections of Fig. 2 and 3 extends along the first imaginary plane 50.

[0058] Fig. 5a schematically illustrates the base member 10 at the second end 34 of the teatcup 2 of Figs. 1a - 1d and the seats of the teatcup magazine 60. In the illustrated example, the teatcup 2 is hanging in the teacup magazine 60 by the milk and pulse tube (not shown) with its teat receiving opening 4 facing downwardly. Fig. 5b is showing the first embodiment of the teatcup 2 in the upside-down orientation in its storing position. The tapering surface 80 of the base member 10 with the first and second protrusions 52, 54 are shown. Also, the first and second abutment surfaces 56, 58 are shown in Fig. 5a. The teatcup magazine 60 comprises seats in the form of two cylindrical rollers 62’, 62”, which are indicated by broken line circles in Fig. 5a. Thus, the two cylindrical rollers 62’, 62” are arranged in parallel and form seats 63’, 63” for the teatcup 2 in the teatcup magazine 60. The cylindrical rollers 62’, 62” also provides additional functionality of guiding the long milk and pulse tubes as the teatcup 2 is retracted into the teatcup magazine 60 after milking of the teat has finished.

[0059] According to alternative embodiments, the seats for the teatcup 2 in the teatcup magazine 60 may be provided by alternative means, such as two parallel cylindrical and non-rotating members, two curved surfaces, or even a couple of flat surfaces. However, in the latter two cases, the first abutment surface 56 and the second abutment surface 58 on the base member 10’ is configured with a corresponding shape for abutment against the curved or flat seat surfaces.

[0060] With reference to Figs. 4a - 5b, in the illustrated two embodiments, each of the first abutment surface(s) 56, 56’, 56” comprises a crosswise extension, which is extending along an imaginary first cylindrical surface 64 indicated by a portion of the first seat 63’ or cylindrical roller 62’. Furthermore, each of the second abutment surface(s) 58, 58’, 58” comprises a crosswise extension, which is extending along an imaginary second cylindrical surface 66 indicated by a portion of the second seat 63” or cylindrical roller 62”.

[0061] In addition, the first imaginary cylindrical surface 64 has a first centre axis 70 and the second imaginary cylindrical surface 66 has a second centre axis 72. The first and second centre axes 70, 72 extend in parallel with each other as well as the first imaginary plane 50 and perpendicularly to the longitudinal centre axis 15. Thus, the crosswise extensions on first and second abutment surfaces 56, 56’, 56”, 58, 58’, 58” are adapted to securely abut against the cylindrical surfaces of the seats 63’, 63” formed by the cylindrical rollers 62’, 62” in the teatcup magazine 60 shown in Fig. 5a. Accordingly, the first and second abutment surfaces are arranged for abutment against two parallel seat members having cylindrical surfaces forming the first and second seats 63’, 63” on the surfaces of the first and second cylindrical rollers 62’, 62”. A secure vertical positioning and angular orientation of the teatcup 2 against the first and second seats 63’, 63” of the teatcup magazine 60 is thereby provided.

[0062] Fig. 6a illustrates a bottom end view of the teatcup 2 of the first embodiment shown in Figs. 1a and 1b. The view of Fig. 6a is along the longitudinal centre axis 15 towards the base member 10 at the second end 34 of the shell 11. The at least one first abutment surface forms a single and continuous first abutment surface 56 having a lengthwise extension, which is perpendicular to the longitudinal centre axis 15 and in parallel with the first imaginary plane 50. Furthermore, the at least one second abutment surface 58 forms a single and continuous second abutment surface 58 having a lengthwise extension, which is perpendicular to the longitudinal centre axis 15 and in parallel with the first imaginary plane 50.

[0063] As mentioned above, the shell 11, at its second end 34, is provided with a through hole 32 in the base member 10. The through hole 32 is arranged concentrically with the longitudinal centre axis 15. A second imaginary plane 74, which includes the longitudinal centre axis15, extends perpendicularly to a first imaginary plane 50. The first and second imaginary planes 50, 74 extend perpendicularly to the plane of the figure.

[0064] Accordingly, the first and second imaginary planes 50, 74 are indicated with dash-dotted lines in Figs. 6a and 6b. In the second embodiment shown in Fig. 6b, the base member 10’ comprises at least two first protrusions 52’, 52” arranged on the tapering surface 80 and on opposite sides of the second imaginary plane 74. In addition, the base member 10’ comprises at least two second protrusions 54’, 54” arranged on the tapering surface 80 and on opposite sides of the second imaginary plane 74. Thus, the two first protrusions 52’, 52” define two first abutment surfaces 56’, 56” and the two second protrusions 54’, 54” define two second abutment surfaces 58’, 58” arranged at a distance from each other. Each of the first and second abutment surfaces 56’, 56”, 58’, 58” has a lengthwise and crosswise extension designed in the corresponding way as the single first and second abutment surfaces 56, 58 described above. The two first and two second abutment surfaces 56’, 56”, 58’, 58” respectively may also provide for a secure and well-defined positioning against the seats 63’, 63” of a teatcup magazine 60.

[0065] According to the shown embodiment, the at least two first protrusions 52’, 52”, 52’” and the at least two second protrusions 54’, 54”, 54’” generally extend in parallel with the second imaginary plane 74. In this manner, the first and second protrusions extend away from the first imaginary plane 50 to provide the two first abutment surfaces and two second abutment surfaces for positioning against the seats 63’, 63” of the teatcup magazine 60.

[0066] As can be seen in Fig. 6b, the base member 10’ comprises three first protrusions 52’, 52”, 52’” and three second protrusions 54’, 54”, 54’”. The protrusions are provided or distributed along an extension of the first imaginary plane 50, which again provides secure positioning against seats of the teatcup magazine.

[0067] In the following reference is made inter alia to Figs. 2, 6a and 6b. The shell 11 comprises a pulse tube connection pipe 7 on the base member 10, 10’ at its second end 34. The pulse tube connection pipe 7 extends in parallel with the longitudinal centre axis 15 of the shell 11. A third first protrusion 52”’ as shown in Fig. 6b of the at least two first protrusions 52’, 52” is extending from the first lateral projection 76 at the pulse tube connection pipe 7. Moreover, a third second protrusion 54’” of the at least two second protrusions 54’, 54” is also extending from the first lateral projection 76 at the pulse tube connection pipe 7. Thus, the third first and second protrusions 52’”, 54’” provide corresponding third abutment surfaces 56’”, 58’” at the pulse tube connection pipe 7 for abutting against seats 63’, 63” (rollers) of the teatcup magazine 60 to provide a more reliable support and positioning of the teatcup 2 also at its pulse tube connection pipe 7.

[0068] In the following reference is made inter alia to Figs. 1a - 1b, 3 - 4b, and 6a - 6b. According to the illustrated embodiments, a first lateral projection 76 extends from the tapering surface 80 of the base member 10, 10’. The first lateral projection 76 is extending from the tapering surface 80 and in parallel with the first imaginary plane 50, i.e. , in a direction perpendicularly to the at least one first and second protrusions 52, 54. Moreover, as can be seen, the lengthwise extension of the first abutment surface 56 and the lengthwise extension of the second abutment surface 58 extend alongside the first lateral projection 76 and in parallel with the first imaginary plane 50. The first lateral projection 76 enables extended abutment surfaces in the lengthwise direction. The first lateral projection 76 is positioned in between two seats (cylindrical rollers) of the teatcup magazine 60 when the teatcup 2 is retracted into the teatcup magazine. The pulse tube connection pipe 7 also extends from the first lateral projection 76 in parallel with the longitudinal centre axis 15 and the milk tube connection pipe 40. A reliable orientation and positioning of the teatcup 2 in the teatcup magazine 60 is hereby achieved. Thus, the first lateral projection 76 comprising the first and second abutment surfaces is guided and positioned between the two cylindrical rollers 62’, 62” of the teatcup magazine 60 shown in Fig. 5. In the second embodiment shown in Fig. 6b, a respective third protrusion 52’”, 54’” of the at least two first and at least two second protrusions 52’, 52”, 54’, 54” extend from the first lateral projection 76.

[0069] According to the embodiments, a second lateral projection 78 also extends from the tapering surface 80 of the base member 10, 10’ of the shell 11. The second lateral projection 78 is also extending in parallel with the first imaginary plane 50 at an opposite side of the base member 10, 10’ in relation to the first lateral projection 76. The lengthwise extension of the single first abutment surface 56 and the lengthwise extension of the single second abutment surface 58 further extend alongside the second lateral projection 78 and in parallel with the first imaginary plane 50, as can be seen in Fig. 6a. Thus, the second lateral projection 78 enables further extended abutment surfaces in the lengthwise direction. The second lateral projection 78 is also positioned in between two seats (cylindrical rollers) of the teatcup magazine 60 when the teatcup 2 is retracted into the teatcup magazine. Thus, the second lateral projection 78 is guided and positioned between the two cylindrical rollers 62’, 62” of the teatcup magazine 60 shown in Fig. 5.

[0070] In the following reference is made inter alia to Figs. 1a, 1b, 4a, 4b, 5a and 5b. Between the base member 10, 10’ and the first end 30, the shell 11 comprises an intermediate section 82 of circular cylindrical shape. The circular cylindrical intermediate section 82 has a radial extension R from the longitudinal centre axis 15 (see Fig. 5a). The base member 10, 10’ comprises a pair of longitudinally extending ribs 53’, 53” that extend in parallel along a longitudinal direction of the teatcup 2. Each longitudinal rib 53’, 53” is provided with a longitudinal portion having a corresponding radial extension r1 as the radial extension R of the circular cylindrical intermediate section 82. The longitudinal ribs 53’, 53” is arranged for support against a lower support member (non-shown) on an end effector (gripper) at the same radial extension from the longitudinal centre axis 15 as at the intermediate section 82. The teatcup can hereby be held firmly in a stable upright position during attachment.

[0071] Alternatively, as also indicated in Fig. 5a, the base member 10, 10’ is provided with a radial rib 84 having a corresponding radial extension r2 as the radial extension R of the cylindrical intermediate section 82. Thus, the radial rib 84 may abut against the support member on the end effector (gripper) the same radial extension from the longitudinal centre axis 15 as at the circular cylindrical intermediate section 82.

[0072] With reference to Figs. 1a - 2, the teatcup 2 comprises a resilient annular bumper 88 arranged circumferentially around an exterior of the shell 11 at its first end 30. The resilient annular bumper 88 is separate from the cartridge 12. Also, the resilient annular bumper 88 is separate from the shell 11. The resilient annular bumper 88 forms an impact absorbing member. The resilient annular bumper 88 may be an annular band of silicone, thermoplastic elastomer, natural rubber, or synthetic rubber. The resilient annular bumper 88 being separate from the cartridge 12 means that the resilient annular bumper 88 is a part separate from the cartridge 12 and is mounted to the shell 11 separately from connecting the cartridge 12 to the shell 11.

Claims

CLAIMS1. A teatcup (2) comprising a shell (11) for an exchangeable cartridge (12) configured to be arranged in the shell (11), wherein the exchangeable cartridge (12) includes an in-built liner (16) that defines a teat space (18), a milk outlet opening (20) arranged in fluid communication with the teat space (18), a pulsation space (22) arranged around and delimited from the teat space (18) by the in-built liner (16), and an elongated sleeve (24) extending circumferentially around the in-built liner (16) to form the pulsation space (22) between the in-built liner (16) and the elongated sleeve (24), wherein the shell (11) has a longitudinal centre axis (15), and the exchangeable cartridge (12) is insertable into the shell (11) at a first end (30) of the shell (11), wherein the shell (11) has a second end (34) comprising a base member (10, 10’) arranged opposite to the first end (30) seen along the longitudinal centre axis (15), and the base member (10, 10’) of the shell (11) has an at least partially tapering surface (80) towards the second end (34), characterised in that the base member (10, 10’) of the shell (11) comprises at least one first protrusion (52, 52’, 52”) that extends from the tapering surface (80) and at least one second protrusion (54, 54’, 54”) that extends from the tapering surface (80), the first and second protrusions (52, 52’, 52”, 54, 54’, 54”) being arranged on opposite sides of a first imaginary plane (50) which includes the longitudinal centre axis (15), wherein 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”), and wherein each of the first and second abutment surfaces (56, 56’, 56”, 58, 58’, 58”) is configured for abutment against a corresponding seat surface (63’, 63”) of a teatcup magazine (60).

2. The teatcup (2) according to claim 1, wherein the at least one first abutment surface (56, 56’, 56”) comprises a lengthwise extension, which is perpendicular to the longitudinal centre axis (15) and in parallel with the first imaginary plane (50), and the at least one second abutment surface (58, 58’, 58”) comprises a lengthwise extension, which is perpendicular to the longitudinal centre axis (15) and in parallel with the first imaginary plane (50).

3. The teatcup (2) according to claim 1 or 2, wherein the at least one first abutment surface (56, 56’, 56”) comprises a crosswise extension, which is extending along a portion of an imaginary first cylindrical surface (64), and the at least one second abutment surface (58,58’, 58”) comprises a crosswise extension, which is extending along a portion of an imaginary second cylindrical surface (66).

4. The teatcup (2) according to claim 3, wherein the first imaginary cylindrical surface (64) has a first centre axis (70), and the second imaginary cylindrical surface (66) has a second centre axis (72), and wherein the first and second centre axes (70, 72) extend in parallel with the first imaginary plane (50) and perpendicularly to the longitudinal centre axis (15).

5. The teatcup (2) according to any one of the preceding claims, wherein the base member (10, 10') comprises a first lateral projection (76), which is extending from the tapering surface (80) and in parallel with the first imaginary plane (50), wherein a pulse tube connection pipe (7) extends from the first lateral projection (76) in parallel with the longitudinal centre axis (15).

6. The teatcup (2) according to claims 2 and 5, wherein the lengthwise extension of the at least one first abutment surface (56, 56”’) and the lengthwise extension of the at least one second abutment surface (58, 58’”) extend alongside the first lateral projection (76) and in parallel with the first imaginary plane (50).

7. The teatcup (2) according to claims 6, wherein the at least one first abutment surface is formed by a single first abutment surface (56), and the at least one second abutment surface is formed by a single second abutment surface (58), and wherein the lengthwise extension of the single first abutment surface (56) and the lengthwise extension of the single second abutment surface (58) extend between at least the longitudinal centre axis (15) and the pulse tube connection pipe (7).

8. The teatcup (2) according to claim 7, wherein the base member (10) comprises a second lateral projection (78), which is extending from the tapering surface (80) and in parallel with the first imaginary plane (50), at an opposite side of the base member (10) in relation to the first lateral projection (76), wherein the lengthwise extension of the single first abutment surface (56) and the lengthwise extension of the single second abutment surface (58) further extend alongside the second lateral projection (78) and in parallel with the first imaginary plane (50).

9. The teatcup (2) according to any one of the preceding claims, wherein the base member (10’) of the shell (11) is provided with a through hole (32), the through hole (32) being arranged concentrically with the longitudinal centre axis (15), wherein a second imaginaryplane (74), which includes the longitudinal centre axis (15), extends perpendicularly to the first imaginary plane (50), wherein the at least one first protrusion comprises two first protrusions (52’, 52”) and the at least one first abutment surface comprises two first abutment surfaces (56’, 56”) that are arranged on opposite sides of the second imaginary plane (74), and wherein the at least one second protrusion comprises two protrusions (54’, 54”) and the at least one second abutment surface comprises two abutment surfaces (58’, 58”) that are arranged on opposite sides of the second imaginary plane (74).

10. The teatcup (2) according to any one of claims 5 or 6, wherein the at least two first protrusions (52’, 52”) comprises a third first protrusion (52’”) extending from the first lateral projection (76), the third first protrusion (52’”) defining a third abutment surface (56’”) arranged at the pulse tube connection pipe (7), and wherein the at least two second protrusions (54’, 54”) comprises a third second protrusion (54’”) extending from the first lateral projection (76), the third second protrusion (54’”) defining a third second abutment surface (58’”) arranged at the pulse tube connection pipe (7).

11. The teatcup (2) according to any one of the preceding claims, wherein between the base member (10, 10’) and the first end (30), the shell (11) comprises an intermediate section (82) of cylindrical shape, the intermediate section (82) having a radial extension (R), and wherein the base member (10, 10’) comprises a pair of longitudinally extending ribs (53’, 53”) having a corresponding radial extension (r1) as the radial extension (R) of the intermediate section.

12. The teatcup (2) according to any one of the preceding claims, wherein between the base member (10, 10’) and the first end (30), the shell (11) comprises an intermediate section (82) of cylindrical shape, and wherein the base member (10, 10’) comprises a bayonet coupling (28) for securing the exchangeable cartridge (12) in the base member of the shell (11).

13. The teatcup (2) according to any one of the preceding claims, comprising a resilient annular bumper (88) arranged circumferentially around an exterior of the shell (11) at its first end (30), and wherein the resilient annular bumper (88) forms an impact absorbing member.

14. The teatcup (2) according to any one of the preceding claims, wherein at least a portion of the shell (11) comprising the base member (10, 10’) is made of an injection moulded thermoplastic material, and preferably also the shell (11) including its base member (10, 10’) is made in one piece of an injection moulded thermoplastic material.

15. The teatcup (2) according to claim 14, wherein an outer metal sleeve (13) is provided around a portion of the injection moulded thermoplastic material of the shell (11).

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