Robotic milking system comprising teat treatment device

Abstract

A robotic milking system (1) has at least one robotic milking device (3-1, 3-2), each provided with milking means with milking cups (14), a robot arm for attaching the milking cups to the teats of the dairy animal, and a teat treatment device (7-1, 7-2) for applying a teat treatment agent to the teats. The robotic milking system further comprises a first and a second ingredient container (8, 9) containing ingredients for the teat treatment agent. Each teat treatment device comprises an application device (7-1, 7-2), which is attached to the robot arm or grippable thereby, for the teat treatment agent, a feed line for the teat treatment agent, a first and a second ingredient line (11, 12) from the respective ingredient container to a first (36-1) and, respectively, second connection (36-2) to the feed line (38), each of which is provided with an ingredient metering device (31-1, 31-2) comprising a positive-displacement pump, and a control unit. The connections are closer to the application device than to the respective ingredient containers. This provides a device which is burdened to a lesser extent by the often relatively aggressive teat treatment agent, is safer due to a reduced risk of leakage, is more accurate regarding mixing ratio due to a reduced influence of viscosity differences, and more flexible due to an adjustable mixing ratio.

Description

[0001] Robotic milking system comprising teat treatment device

[0002] The present invention relates to a robotic milking system comprising at least one robotic milking device for fully automatic milking of a dairy animal, wherein each robotic milking device is provided with milking means with milking cups for placing on teats of the dairy animal, a robot arm for attaching the milking cups to the teats, and a teat treatment device for applying a teat treatment agent to the teats, wherein the robotic milking system further comprises a first ingredient container containing a first ingredient for the teat treatment agent, and a second ingredient container containing a second ingredient for the teat treatment agent, wherein the teat treatment device of each robotic milking device comprises an application device, which is attached to the robot arm or releasably grippable by the robot arm, for applying the teat treatment agent, a feed line for feeding the teat treatment agent to the application device, a first ingredient line which runs from the first ingredient container to a first connection to the feed line, and a second ingredient line which runs from the second ingredient container to a second connection to the feed line.

[0003] During milking, it is important, and often even prescribed by law, that the teats of a dairy animal after a milking operation are treated with a teat treatment agent. During conventional milking, it is usually the case that the milker dips the teats into a cup or another container containing the teat treatment agent. In the case of a robotic milking device, there is no milker present, and the teat treatment agent has to be applied to the teats by means of an automatic device.

[0004] It is currently the case for a number of teat treatment agents that these are effective for a limited time, or at least are not stable over time. For that reason, a stabilizing substance or substance mixture is sometimes added to the teat treatment agent, as for example known from W015200827A1 . It is also known for such a teat treatment agent to be created shortly before use from two, or sometimes even more, ingredients. This is for example known from US11446618.

[0005] In these known systems, the addition of one or more substances to the teat treatment agent makes the latter unnecessarily complex and sometimes expensive. In addition, it may be the case specifically in robotic milking devices in which dairy animals can be milked entirely of their own volition that there is no milking of a dairy animal for a long period of time, such as at night, or in the event of a malfunction. A non-stabilized teat treatment agent will then run the risk of losing its effect, with the result that it has to be removed. It will be apparent that the amount of material to be removed should be limited as much as possible. In addition, the teat treatment agent itself, due to its properties, also often places quite rigorous demands on the application device. It is therefore desirable to limit the impact of these properties as much as possible.

[0006] It is advantageous if the respective connections of the ingredient lines to the feed line of the teat treatment agent are provided closer to the application device than to the respective ingredient containers. Here, it is noted that the two, or more, ingredients are mixed in the feed line to form the teat treatment agent from the position at which both, or all, respectively, of the ingredients are available therein. That is, in principle, from the position of the connection which is closest to the application device. Of course, it is also possible for the first and the second connection to both be located the same distance from the application device, for example by virtue of both connections being connected to the feed line at the same position.

[0007] Providing respective connections that are closer to the application device than to the respective product container affords a number of advantages. For instance, the length of the feed line that has to be resistant to the properties of the teat treatment agent is relatively limited in comparison to the situation where the ingredients have already been mixed close to the ingredient containers. The teat treatment agent often has disinfecting properties, which are burdensome for the material of the feed line, whereas the ingredients are often much less burdensome. Thus, a greater portion of the pipework can be selected from more, and also less durable, materials.

[0008] It may be that one or more properties of the teat treatment agent are not stable, and become weaker over time. By mixing the teat treatment agent from the ingredients only relatively close to the application device, the risk of a property of the teat treatment agent no longer being according to specification is reduced. Another advantage is that, if the robotic milking system is at a standstill for a relatively long period of time, and the teat treatment agent has to be discarded owing to an excessive decline in the desired property (properties), in order to be replaced with freshly created teat treatment agent, the quantity of teat treatment agent to be discarded is lower.

[0009] It will be apparent that the above-mentioned advantages can become more pronounced as the respective connections are provided closer to the application device.

[0010] US5711251 discloses a system as described hereinabove, wherein two separate pumps, each via a dedicated ingredient line, bring the ingredients together only in an end spray gun. The ingredient lines are each shut off by a valve. A trigger in the end spray gun operates the valves simultaneously, such that the ingredients are pumped in simultaneously, mixed and sprayed by the end spray gun. In this known device, the mixing ratio is often inaccurate. For example because the temperature, and thus the viscosity ratio of the ingredients, varies greatly in a milking robot environment. In addition, the pumps, or the valve throughflow or timing, may differ. In addition, there is the danger that, in the event of a failing valve, the associated pump (pumps) pumps away the entire content of the ingredient container, which is obviously undesirable.

[0011] In light of the foregoing, it is an object of the present invention to improve a robotic milking device of the type specified above in such a way that at least some of the above-mentioned disadvantages are alleviated or eliminated.

[0012] The present invention achieves this object by means of a robotic milking device according to Claim 1.

[0013] According to the invention, each of the ingredient metering devices comprises a positive-displacement pump. These are suitable for displacing a fixed volume from a low pressure to a high pressure, and can thus reliably meter in the ingredients for the teat treatment agent. In this case, the low pressure is (approximately) ambient pressure, at least the pressure in the ingredient container, and the high pressure is the pressure desired in the application device to allow the latter to function properly. This pressure is for example a few bar. Incidentally, the pressure for drawing in an ingredient by displacement of a piston, diaphragm or the like of the pump may require a somewhat higher pressure than ambient pressure, but this pressure does not act directly on the ingredient in the ingredient line. Each stroke in principle delivers a fixed displaced volume. As a result, the mixing ratio is fixed, and this is also stable over time, as well as in the case of changing temperatures or otherwise modified physical properties of the ingredients. Another major advantage of the present invention is that the pump in question can also be positioned close to the application device, such that the maximum required pressure is lower than when the resistance of a long line also has to be overcome. Also, if a valve in the displacement pump were to fail, no large-scale leakage of ingredients will occur, because the volume to be pumped in one pumping operation is inherently limited, and then stops.

[0014] Providing respective ingredient metering devices has advantages. In principle, it is specifically possible to use one and the same metering device for both, or respectively all, of the ingredients, this metering device then for example simultaneously drawing in a volume of each of the ingredients and metering them into the feed line. However, it is possible that the viscosity of the ingredients varies to differing extents, such as due to temperature fluctuations or ageing. In such a case, it is more difficult to ensure that the mixing ratio remains the same, since there is the possibility that, when the agent with higher viscosity is being drawn in, some of the volume is unintentionally occupied by the agent with lower viscosity. By providing a separate metering device per ingredient in accordance with the present invention, this risk is greatly reduced. In addition, it offers the advantage that the line length placed under pressure by the metering device can be relatively small. The risk of leakage due to excessive pressure is then also reduced, it being noted that, due to the low pressure difference with respect to the environment, the drawing in of the respective ingredient will rarely lead to problems, and at most to dripping, but not to spraying under pressure. Moreover, it may be that the metering device itself requires a somewhat higher pressure than 1 bar in order to operate properly, but this pressure is independent of the suction pressure from the ingredient container, the latter in principle being pressureless, thus at ambient pressure. Furthermore, it is also not insignificant that it is much easier to adjust or even completely change a mixing ratio by setting up or programming one or more of the metering devices differently.

[0015] It will be apparent that the above-mentioned advantages associated with the separate ingredient metering devices become clear particularly, but not exclusively, if the respective ingredient metering devices are provided close to the associated connection to the feed line. Thus, the total volume that has to be placed under pressure by the ingredient metering device can be kept as small as possible.

[0016] Furthermore, the following is noted here regarding the feed line. In this case, the feed line can be considered to be that part of the line system for ingredients in which both, or at least two, ingredients for the teat treatment agent are provided. The feed line ends no further than the application device. In this case, it is possible for the ingredient lines, or at least the respective connections thereof, to be attached directly to the application device. In that case, at least the internal part of the application device, up to an exit opening, can still be considered to be the feed line.

[0017] The control unit is configured to operate both metering devices. Of course, this operation will take place simultaneously if the ingredients have to actually be mixed. Nevertheless, where applicable it is possible to operate a single metering device, in this case positive-displacement pump, such as if only one ingredient is necessary.

[0018] Further embodiments and advantages of the invention are described in the dependent claims, and in the part of the description that now follows.

[0019] In principle, it may suffice to combine the two, or more, ingredients to obtain a suitable teat treatment agent. Advantageously, however, the feed line or the application device comprises a mixing device. It is thus possible to better ensure that the ingredients are also actually sufficiently mixed.

[0020] In appealing embodiments, the robotic milking system according to the invention comprises two or more robotic milking devices. Of course, it is still the case here that all of the, thus the two or more, robotic milking devices are each provided with the teat treatment device with the ingredient lines. An important advantage of the invention relates to the fact that in practice the robotic milking system will have a separate space where the ingredient containers are stored, and when necessary replaced or refilled. This is often necessary from a safety perspective. The two or more robotic milking devices will in practice be arranged at a relatively large distance from this separate space. According to the prior art, the teat treatment agent mixed or provided on-site from this space would then have to be transported over great distances before it arrives at a respective application device, with all the disadvantages that have already been mentioned above. Due to the fact that, according to the invention, only the often much less dangerous or aggressive, and much more stable ingredients have to be displaced over a large distance, a safer robotic milking system is provided, in which the teat treatment agent will degrade or be wasted to a lesser extent.

[0021] The position of the first and / or second connection is not subjected to any particular limitation, except that they should be closer to the application device than to the respective ingredient container. Advantageously, however, the first connection and / or the second connection are / is located on the robot arm. The length of the feed line can thus be kept as short as possible. In practice, the length of such a feed line can then for example be limited to 2 metres or less, whereas the distance from the ingredient container to the feed line can quickly amount to many metres, up to dozens of metres. The absolute amount of mixed teat treatment agent can thus also remain limited, whereas the ratio between the amount of mixed teat treatment agent in the feed line and the consumption of the teat treatment agent in the time span for which the properties of the teat treatment agent can be ensured can thus be as favourable as possible. As an alternative, the position of the first and / or the second connection may be provided in a housing directly alongside or adjacent to a milking station of the robotic milking device. In this case, the robotic milking device has a milking station at which the dairy animal to be milked is milked, which is almost always in the form of a milking stall. Located alongside the milking station, in this case milking stall, is then a housing in which auxiliary equipment for the milking device is provided, such as a vacuum pump, cleaning device, etc. In such an arrangement, the or each connection may also be provided in said housing. The application device may be displaceable with at least part of the feed line, as will be explained in more detail below, wherein the or each connection either remains in the housing or also moves during the displacement of the application device.

[0022] Suitable examples of positive-displacement pumps are in particular a diaphragm pump, a peristaltic pump, a piston pump or a plunger pump. These have reliable technology, and can accurately pump in determined amounts. Nevertheless, other types of positive-displacement pump are not ruled out.

[0023] In embodiments, the teat treatment agent is a teat disinfectant, in particular comprising chlorine dioxide. Chlorine dioxide is a substance which is often used for treating, in particular disinfecting, teats. However, it is an aggressive substance, which is also unstable. Thus, the robotic milking system according to the invention is suitable for use of this substance in a teat treatment agent.

[0024] In particular, the first ingredient comprises a chlorite salt, in particular sodium chlorite, and the second ingredient comprises an acid, in particular lactic acid. These substances ensure, after being combined, a chemical reaction which results in a chlorine dioxide solution. This can subsequently be administered as the teat treatment agent to the teats via the application device. It is noted that sodium chlorite and lactic acid are proportionately less aggressive substances than chlorine dioxide (solution). Moreover, other precursors for chlorine dioxide are also possible, as known per se to those skilled in the art in the field.

[0025] In favourable embodiments, the application device comprises a sprayer which is configured to spray the teats with the teat treatment agent. Such a sprayer is a widely used application device. As an alternative, the application device for example comprises a teat cup which is configured to contain a volume of teat treatment agent for dipping one of the teats therein. Such a teat-treating cup corresponds to a manually operated cup for the dipping of the teats, and is also known per se in robotic milking devices.

[0026] The invention will be explained below on the basis of some non-limiting exemplary embodiments and the drawing. In the drawing:

[0027] Figure 1 shows a schematic top view of a robotic milking system according to the invention;

[0028] Figure 2 schematically shows part of the robotic milking system 1 according to Figure 1 ; and

[0029] Figure 3 schematically shows the teat treatment device with a sprayer 7-1 according to Figure 2 in more detail.

[0030] Figure 1 shows a schematic top view of a robotic milking system 1 according to the invention. The system 1 comprises, in an animal environment 2, two robotic milking devices 3-1 and 3-2, comprising a milking stall 4-1 , 4-2, a milking robot 5-1 , 5-2 with a robot arm 6-1 , 6-2, and a sprayer 7-1 and a treating cup 7-2, respectively.

[0031] Also provided in a chemical space 10 is a first ingredient container 8 and a second ingredient container 9, with a first ingredient line 11 and a second ingredient line 12, respectively.

[0032] The shown robotic milking system 1 is provided in an animal environment, such as an animal shed, for dairy animals (not shown here). In the animal shed 2, the robotic milking system in this case comprises two robotic milking devices 3-1 , 3-2. However, the invention is also applicable with only a single robotic milking device, or else with more than two robotic milking devices. The robotic milking devices 3-1 , 3-2 are configured for the fully automatic attachment of milking cups to teats of the dairy animals, as known per se in the prior art. For that reason, the robotic milking devices are not shown in great detail. It is noted here that broadly two types of robotic milking device are known, specifically one in which the milking cups are fixedly connected to the robot arm, such as the Lely Astronaut® system, and one in which the robot arm picks up the cups one by one from a magazine, such as the DeLaval VMS™. For the sake of clarity, the milking cups are not shown here.

[0033] The upper robotic milking device 3-1 here comprises a robot arm 6-1 having attached thereto a sprayer 7-1 which serves to spray the teats with teat treatment agent. The lower robotic milking device 3-2 here comprises a treating cup 7-2 which is gripped by the robot arm 6-2 and configured to dip the teats in a treatment agent. For both robotic milking devices, the teat treatment agent is created from first and second ingredients which are fed in via a first ingredient line 11 and a second ingredient line 12, respectively, and are thus combined close to the sprayer and to the treating cup, respectively. The first ingredient is provided in a first ingredient container 8, and the second ingredient is provided in a second ingredient container 9. Both ingredient containers are provided in a shielded space or "chemical space". They are thus located outside of the animal shed 2, thus outside the reach of the dairy animals. Unauthorized persons also in principle have no access to these agents.

[0034] It is also apparent that the distance over which the ingredients have to be transported is significant. By contrast, the distance over which the ingredients mixed to form the teat treatment agent have to be transported is extremely limited, which is not only safer but also saves on the materials and amount thereof that come into contact with the generally much more aggressive teat treatment agent, specifically in the line therefor. Figure 2 schematically shows part of the robotic milking system 1 according to Figure 1. Identical reference numerals represent the same components.

[0035] The robotic milking device 5-1 again comprises a robot arm 6-1 having thereon a sprayer 7-1 and provided with a gripper 13 for grabbing a milking cup 14 from a magazine 15. The sprayer 7-1 sprays a mist 16. Furthermore, a dairy animal 20 with teats 21 is in the milking stall 4-1.

[0036] Here, the shown robotic milking device 5-1 is of the type that uses a gripper 13 to grab the milking cups 14 one by one from a magazine 15 in order to attach them to the teats 21 of the dairy animal 20, such as a cow. To this end, it comprises components which are known per se, such as a teat detection device, which is not shown here. As an alternative, the robotic milking device may also be configured to carry four milking cups (for dairy cows), which remain releasably connected to the robot arm.

[0037] Here, the sprayer 7-1 is shown with a mist 16, which in use is obviously directed at the teats. Here, the ingredient lines 11 and 12 are shown as separate lines which merge only in the sprayer. This means that the mixing takes place only in the housing of the sprayer 7-1 , and the feed line to the nozzle of the sprayer is very short, and the respective metering devices are very close to this nozzle. It is also possible for the respective ingredient lines to be merged sooner, for example in order to give the mixture of ingredients more time to mix and possibly to enter into a chemical reaction. In a specific example, the first ingredient in the container 8 / line 11 is sodium chlorite, or at least an aqueous solution thereof, and the second ingredient in the container 9 / line 12 is lactic acid, or at least an aqueous solution thereof. Combining these two ingredients results, in a chemical reaction, in the formation of chlorine dioxide, which has a strong disinfecting effect. However, it is additionally a substance which places a relatively great burden on lines, valves, etc., and therefore it is favourable to only form this substance close to the sprayer 7-1 .

[0038] Figure 3 schematically shows the teat treatment device with a sprayer 7-1 according to Figure 2 in more detail.

[0039] In this case, the first and, respectively, second ingredient line 11 has a check valve 30-1 , 30-2, and leads to a first and, respectively, second metering device 31-1 , 31- 2, in this case a piston pump with a housing 32-1 , 32-2 around a piston volume 33-1 , 33- 2 defined by a piston 34-1 , 34-2 which is movable in the directions of the double-headed arrow with the aid of an actuator 35-1 , 35-2.

[0040] The two ingredient lines merge at a first connection 36-1 and second connection 36-2, respectively, in an optional mixing device 37, from which a feed line 38 leads to the sprayer 7-1 with a housing 39, an optional check valve 40 and a nozzle 41 for the mist 16.

[0041] The shown components of the teat treatment device may all be provided on the robot arm. As an alternative, they are provided in a housing at or alongside the milking stall 4 in Figure 1.

[0042] The first ingredient is drawn in via the first ingredient line 11 to the piston volume 33-1 by the first metering device 31-1 , by virtue of the actuator 35-1 moving the piston 34-1 downwards. In this case, at most a low negative pressure prevails in the first ingredient line 11. The second ingredient is drawn in in a similar manner from the second ingredient line 12, by the second piston 34-2.

[0043] The two actuators 35-1 and 35-2 will then push in their associated piston 34-1 , 34-2, and in so doing empty their respective piston volume. The actuation is effected in a substantially overlapping manner or even entirely simultaneously, under the control of a control unit, which is not shown separately here. The two amounts of ingredient are combined via a first connection 36-1 and second connection 36-2, respectively, in the mixing device 37, the latter further mixing the two ingredients, such as by means of a stirrer. However, the mixing device is not a necessary step or component. Under the pressure of the metering devices 31-1 , 31-2, the now mixed teat treatment agent moves further through the feed line 38 to the sprayer 7-1 , where it is pushed into the housing 39, through the check valve 40 to the nozzle 41 . There, the teat treatment agent exits the sprayer in the form of a mist 16.

[0044] It will be apparent that the relatively aggressive effect of the teat treatment agent is only exerted on the components where it is actually present, thus in this case the mixing device 37, the feed line 38 and the sprayer 7-1. Only these components have to be resistant to this relatively aggressive teat treatment agent. This is only a very short distance to be travelled in comparison to the ingredient lines 11 and 12, which can be manufactured from completely different, for example less expensive materials. It is important here that the respective first and second connections 36-1 and 36-2 are close to the sprayer 7-1 (or dipping cup or the like), or at least closer to it than to the ingredient containers 8, 9 in Figure 1. If the mixing device 37 is not provided, the first and second connection 36-1 , 36-2 will connect directly to the feed line 38.

[0045] The separate metering devices 31-1 and 31-2 offer the advantage that differences in the viscosity (ratio) of the ingredients caused by, for example, temperature changes have little to no influence on the mixing ratio of the ingredients. This could be the case if both ingredients were to be drawn in by one and the same metering device. In addition, it is the case that the mixing ratio can be changed or adapted in a very simple manner, for example by changing the stroke of one or both pistons 34-1 , 34-2. Thus, the teat treatment device, and therefore the robotic milking system, according to the invention is suitable for various ingredients and recipes for teat treatment agents.

Claims

CLAIMS1. Robotic milking system comprising at least one robotic milking device for fully automatic milking of a dairy animal, wherein each robotic milking device is provided with- milking means with milking cups for placing on teats of the dairy animal,- a robot arm for attaching the milking cups to the teats, and- a teat treatment device for applying a teat treatment agent to the teats, wherein the robotic milking system further comprises- a first ingredient container containing a first ingredient for the teat treatment agent, and- a second ingredient container containing a second ingredient for the teat treatment agent, wherein the teat treatment device of each robotic milking device comprises- an application device, which is attached to the robot arm or releasably grippable by the robot arm, for applying the teat treatment agent,- a feed line for feeding the teat treatment agent to the application device,- a first ingredient line which runs from the first ingredient container to a first connection to the feed line and is provided with a first ingredient metering device,- a second ingredient line which runs from the second ingredient container to a second connection to the feed line and is provided with a second ingredient metering device, and- a control unit which is configured to operate at least the first and the second ingredient metering device, wherein the first connection and the second connection, respectively, are closer to the application device than to the first ingredient container and to the second ingredient container, respectively, wherein each of the ingredient metering devices comprises a positive-displacement pump.

2. Robotic milking system according to Claim 1 , comprising two or more robotic milking devices.

3. Robotic milking system according to either of the preceding claims, wherein the first connection and / or the second connection are / is located on the robot arm.

4. Robotic milking system according to one of the preceding claims, wherein the positive-displacement pump comprises a diaphragm pump, a peristaltic pump, a piston pump or a plunger pump.

5. Robotic milking system according to one of the preceding claims, whereinthe teat treatment agent is a teat disinfectant, in particular comprising chlorine dioxide.

6. Robotic milking system according to Claim 5, wherein the first ingredient comprises a chlorite salt, in particular sodium chlorite, and the second ingredient comprises an acid, in particular lactic acid.

7. Robotic milking system according to one of the preceding claims, wherein the application device comprises a sprayer which is configured to spray the teats with the teat treatment agent.

8. Robotic milking system according to one of Claims 1-6, wherein the application device comprises a teat cup which is configured to contain a volume of teat treatment agent for dipping one of the teats therein.

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