Automated milking station

Abstract

Automated milking station designed to contain the body of an animal, said station comprising an anthropomorphic robotic arm (102), a housing (103) for the actuation devices of the milking process by means of said anthropomorphic arm (102), and an animal containment box (101), in which the containment box(101) consists of rectangular structure equipped with a first pair of structures (101.1, 101.2) positioned on the short sides parallel to each other, and a second pair of structures (101.3, 101.4) positioned on the long sides parallel to each other and orthogonal to the pair of lateral structures (101.1, 101.2) positioned on the short sides, said first and second pair of structures (101.1, 101.2,101.3,101.4) each being constituted by a rectangular frame in which a pair of side gates (101.5, 101.6) is associated with the second pair of structures (101.3, 101.4), and in which the anthropomorphic arm (102) and the milking process actuation devices using said anthropomorphic arm (102) is are positioned externally to said structure said anthropomorphic arm (102) being positioned along the development direction of one (101.4) of the lateral structures (101.3, 101.4), said automated milking stration characterized in that the lateral structure (101.4) positioned on the long side opposite to the long side where the pair of side gates (101.5, 101.6) is located has an end covered by paneling (101.7) that extends orthogonally from the lower base to the upper base of the structure (101.4) said paneling (101.7) being positioned in alignment with the side of the box (101) facing the anthropomorphicarm (102) and corresponding to the animal's head.Form the subject of this patent application request is a perfected automated milking station.

Description

[0001] Title: Automated milkingstation

[0002] DESCRIPTION

[0003] The subject of this patent application request is an automated milking station, that includes a containment box for the animal and an anthropomorphic robotic milking device.

[0004] The subject of this patent application request finds application in the livestock care automated devices construction sector.

[0005] In particular, the subject of this patent application request finds application in the dairy cattle milking devices construction sector for the achievement of the operation known in the reference sector with the term "automated milking" accordingto the preamble of claim 1.

[0006] State of the art:

[0007] In the milking of dairy cattle, particularly in medium / large farms, the use of automated systems in substitution to the manual milking made by an operator is known.

[0008] The automated milking procedure, although significantly advantageous in terms of use of resources compared to manual milking, entails a series of disadvantages about the well-being of the animal a nd, consequently, the quality of the milk milked.

[0009] In particular, the automated milking systems known are made up of a series of devices such as automated milking machines linked to animal uddersand systemsfor extracting a nd conveying milk into collection containers.

[0010] Examples of automated mil king devices of the known type are described for example in documents EP3125679, EP1334656 or FR2462858.

[0011] Notoriously, the quality of the dairy product that will be made with the extracted milk is determined by a series of factors related to the animal itself such as, for example, the presence of mastitis in the udder.

[0012] Mastitis, or inflammation of the bovine udder, is often caused by mechanical manipulation carried out usingautomatic milking machines which applya completelydifferent and harmful compression and suction action compared to manipulation carried out by a human operator.

[0013] Anotherfactor that determinesthe quality of milk is the hygiene of the udderfrom which the milk is extracted.

[0014] In short, in order to obtain a milk with higher safety standards is necessary to bring the milking station to an acceptable level of safety facing a series of variables such as feeding, handling, hygiene, control of disease in animals subjected to mil king a nd level of stress in animals subjected to milking. Conventionally the milking stations are located in a specific area into the farm and at a specific hourly interval the animalswhich have to be milked are brought to each station.

[0015] At the state of the art are also known structures, such as containment structures, appropriately made in order to drive the cows which have to be milked to the automated milkingstation.

[0016] Typically, the contain ment / conveya nee structures are made up of transition corridors from a space in which the cows are substantially free to move up to narrowerspaces in which each cow is located one perstation.

[0017] An example ofthis kind of structure is shown in document DE102021130324.

[0018] The document WO 2014 / 055002 describes an automated milking station consistingof manyfeeding stations which include a feeding trough and a dispenser device for dosing a specific a mount of feed. In front of each feeder there is a neck locking device which locks the neck of the animal that has pushed its head onto or into the feeder of the individual feeding station.

[0019] According to the subject described in the aforementioned document, the feeding stations are configured as mi Iking stations: when the animal approachesthe feeding / milkingstation, the animal is first identified a nd it is established whetherthe animal is ready for milking. In this case the animal is secured using the neck locking device and then milked. The block of the neck movement often makes the animal restless which can moves hindering the connection of the milking cups to the animal's udder.

[0020] A further example of contain ment / conveya nee structures is described in document EP3506739.

[0021] The disadvantage of known systems of the type described, which involve the animal staying in a milking place and therefore being separated from the other members of the herd, is due to the fact that the animal becomes restless and therefore anxious following this operation, which does not lead to an efficient milkingand it can compromise the quality ofthe milk.

[0022] Furthermore, according to the above-mentioned solutions, the animals must independently go to the milking place, this means that some space in the stable must be reserved for the necessary movements of the animals.

[0023] In orderto face these issues it has been suggested to mount the milking equipment on one or more self-propelled mobile roboticdevices andto provide a navigation system to allowthe mobile devices to move around the stable in order to find and milk an animal suitable for milkingand take the milk produced by the animal to an emptying station where the collected milk is transferred from a storage containeron the mobile device to a bulkstorage tank. For example, the documents EP1188367A1, EP1336337A1 and EP 1523878A1 describe solutions in where a mobile robotic device with the necessary equipment for the milking operation, including teat cups, milk storage container, vacuum pump and the teats attaching tool.

[0024] EP152878 Al also describes a construction where a mobile robotic device is designed to carry the teats, the mi Ik storage container a nd the vacuum pump, while another mobile robotic device carries a robotic arm which is used to connect the teats to the animal udder. These constructions are also described in EP 1523879A1, EP 1523880A1, EP 1523881A1 and EP 1523882A1 which further describe rotatingfeeding platforms where alsothe mobile roboticdevices can be used. Even ifthese proposals overcome the perceived disadvantages of having a fixed automatic milking station, they are not limitations less.

[0025] The previously proposed mobile robotic devices have rechargeable batteries that are used to provide energy to motors that move the wheels that drive the devices, and to provide all the energy for the operation ofthe milkingequipment carried by the mobile robotic devices.

[0026] So there is a large energy requirement, than the batteries must be large and will require frequent charging. Furthermore, mobile devices are not available for mi Iking anima Is du ring battery charging periods because the charging operationtakes place in a station farfrom the one where the animals are milked, this means that in a system created for a given number of animals more mobile robot devices are needed than would be needed in case the mobile devices were available for milking anima Is for a greater percentage of the time, and this obviously has cost implications. Furthermore, when all mil king equipment is mounted on mobile robot devices, so this increases the weight ofthe mobile devices and then the energy spent due to the moving mobile devices.

[0027] Another disadvantage of state-of-the-art solutions is that the same milking equipment is used to milk all the animals that visit the milking station.

[0028] This means that mi Iking equipment, at best, is chosen as the best compromise for all animals in the herd, and the equipment chosen will not be optimal for most herd members. The above-cited publications describing mobile robotic devices carrying milking equipment do not recognize this issue or find any solution to it.

[0029] Document US10136615 "A MILKING STALL" describes the creation of an automated milking station with an anthropomorphic robotic a rm, a case for the necessary devices for the milking process that are moved by the aforementioned anthropomorphic arm and an animal containment box, where the containment box substantially is made of a rectangular frame equipped with a first pair of structures positioned on the short sides parallel to each other a nd a pair of structures positioned at the long sides parallel to each other and orthogonal to the pair of lateral structures positioned on the short sides, these pairs of structures being in their turn made up of a substantially rectangular frame and that the anthropomorphic arm is positioned along the direction of development of one of the lateral structures .

[0030] The solution proposed in the aforementioned document includes the creation of a box made up of a series of horizontal and vertical elements where the animal can move inside, so that remains in constant visual contact with the milking equipment and than can be constantly disturbed by the movement of the equipment as well as the noise emitted by itself, so the optimal condition of minimum stress cannot be reached.

[0031] The aim of the invention which is the subject of the present patent application is therefore to resolve the disadvantages of the known state of the art, in particular by creating an automated milking station which involves optimal conditions both in terms of the quality of the milk drawn and also in terms of the animal condition being milked.

[0032] The present invention therefore provides an automated milking device comprising a box-type structure accessible to a single animal, this station being equipped with a robotic arm for milking positioned laterally to the aforementioned box-type structure.

[0033] In particular, the robotic arm which the automated milking station is equipped with is of the anthropomorphic roboticarm type and is positioned laterally respect to the animal's body.

[0034] Further characteristics and peculiarities of the current invention will appear to a greater extent in the following description, about some preferential executive formes of the milking station which is the subject of the present patent application and claimed here exclusively, these executive formes given for indicative and exemplary purposes, but not limiting, with the help of the attached Figures in which:

[0035] Fig 1: overall view of the automated mi Iking station which is the subject of this patent application. Fig 2: detail view of the automated milkingstation which isthe subject of this patent application.

[0036] Detailed description

[0037] Referring to Fig 1 and Fig 2, an automated milking station (100) is illustrated, consisting of a box (101) suitable forcontainingthe animal and a milkingdevice (102) consisting of an anthropomorphic roboticarm.

[0038] In particular, with reference to Fig 3 and Fig 3. a, the containment box (101) is made of a substantially rectangular fra me equipped with a first pair of structures (101.1,101.2) positioned on the short sides parallel to each other and a pairof structures (101.3,101.4) positioned on the long sides parallel to each other and orthogonal to the pair of lateral structures (101.1,101.2) positioned on the short sides, these pairs of structures (101.1,101.2) are in their turn made of a substantially rectangular frame.

[0039] With reference to Fig 3 and Fig 3. a, both structures positioned on the short sides (101.1,101.2) of the containment box (101) are made up of a gate-type element, this gate (101.1,101.2) being associated with a side of the corresponding structure (101.3,101.4) positioned on the long side and hinged to it so as to constitute an access door (101.2) and exit one (101.1).

[0040] With reference to Fig 3 and Fig 3. a, the structures positioned (101.3,101.4) on the long sides are made up of a substantially quadrangular frame; in particular, the structure (101.3) located along one of the longsides of the box (101) and opposite the position ofthe milkingdevice (102) also has a second pair of gates (101.5,101.6) associated with a couple of elements orthogonal to the structure (101.3) and hinged to them to constitute a lateral access (101.6) and a lateral exit (101.5). With reference to Fig 2, the lateral structure (101.4) positioned on the long side opposite to the long side where the pairof lateral gates (101.5, 101.6) is present, has one end covered by paneling (101.7) which develops orthogonallyfrom the lower base to the upper base of the structure (101.4).

[0041] According to the subject of the present patent application, an automated milking device of the anthropomorphic robotic arm type (102) of the known type is positioned along the direction of development of the lateral structure (101.4).

[0042] The anthropomorphic roboticarm (102) is equipped, accordingto the known technique, with tools for cleaning the udder, for stimulating it a nd for applying mi Iking tubes to the animal's udder.

[0043] According to the subject of the present patent application, a cabin-type structure (103) for housing the hydraulic system and the control and adjustment instruments of the anthropomorphic arm (102).

[0044] According to the subject of the present patent application, the containment box (101) made as described is equipped with a detection system of the receiving antenna type, this detection system being used to detect the approach of the animal, to which an emitter device is associated, and activate the closure of the front and side entrances (101.2, 101.6).

[0045] With reference to Fig 3. a and Fig 4, according to the subject of the present patent application, at least one automated milking station (100) created as previously described, is positioned inside a stable wherein it circulates freely a series of animals, each equipped with an emitter identification device. When not occupied by the animal, the front access door (101.2) and the side access door (101.6) are in the open position while the front exit door (101.1) and the side exit door (101.5) are in the closed position .

[0046] To facilitate the animal's entry into the containment box (101), near to front exit (101.1) the box (101) is equipped with devices able to dispense both solid and liquid foods, these being also administered duringthe milking phase.

[0047] Once the animal has entered the containment box (101.), the detection system identifies its presence and orders the automatic closing of the front access door (101.2) and side access door (101.6) and the automatic milking by means of the robotic a rm (102).

[0048] At the end of milking, the front exit door (101.1) and / or the side exit door (101.5) open a I lowing the animal to exit the box (101) and at the same time the front access doors (101.2) and the lateral one (101.6) are reopened to allowthe possible entry of anotheranimal.

[0049] Since each animal is equipped with an emitter device, the receiving system on the box (101) allows the identification of the animal that have to be milked from the animal that does not require milking because insufficient time has elapsed since the previous milking. It followsthat the milkingstation (100) created as previously described, allows the milking operation of the animal while keeping stress for the animal to a minimum, in particular thanks to the positioningof the anthropomorphic robot (102) in a lateral position respect to the animal itself, whose tranquility during the milking operation is also guaranteed by the presence of the paneling elements (101.7) positioned on the side of the box (101) facing the arm anthropomorphic (102) and in correspondence with the head of the animal which therefore does not perceive the lateral mechanism maintaining its calm.

[0050] In fact, the animal does not see the anthropomorphicarm acting in its manipulation and therefore does not distract the animal from its feeding activity, actually perceiving the milking action as an action carried out by man given the characteristics of the arm (102) milking.

[0051] The possibility of lateral opening via the lateral entry and exit doors (101.6,101.5) also allows the structure to be adaptable even to small spaces.

Claims

CLAIMS1. Automated milking station designed to contain the body of an animal, said station comprisingan anthropomorphic roboticarm (102), a housing(103) forthe actuation devices of the milking process by means of said anthropomorphic arm (102), and an animal containment box (101), in which the containment box (101) consists of rectangular structure equipped with a first pair of structures (101.1, 101.2) positioned on the short sides parallel to each other, and a second pair of structures (101.3, 101.4) positioned on the long sides parallel to each other and orthogonal to the pair of lateral structures (101.1, 101.2) positioned on the short sides, said first and second pair of structures (101.1, 101.2,101.3,101.4) each being constituted by a rectangular frame in which a pair of side gates (101.5, 101.6) is associated with the second pair of structures (101.3, 101.4), and in which the anthropomorphicarm (102) and the milking process actuation devices usingsaid anthropomorphic arm (102) Is are positioned externally to said structure said anthropomorphic arm (102) being positioned along the development direction of one (101.4) ofthe lateral structures (101.3, 101.4), said automated milkingstration characterized in that the lateral structure (101.4) positioned on the long side opposite to the long side where the pairof sidegates (101.5, 101.6) is located hasan end covered by paneling(101.7) that extends orthogonally from the lower base to the upper base of the structure (101.4) said paneling (101.7) being positioned in alignment with the side of the box (101) facing the anthropomorphicarm (102) and correspondingto the animal's head.

2. Milking station as claimed in claim 1, characterized by the fact that both of the first pair of structures (101.1, 101.2) positioned on the short sides of the containment box (101) are constituted by a gate-like element, said gate being associated with one side of the correspondingstructure (101.3, 101.4) positioned on the longside and hinged to it so as to constitute an access door and an exit door.

3. Milking station as in the previous claims, characterized by the fact that the second pair of structures (101.3, 101.4) positioned on the long sides are constituted by a substantially quadrangular fra me in which the structure positioned a long one ofthe long sides of the box and opposite to the lateral structure along which the milkingdevice is positioned also has a second pair of gates associated with a set of elements orthogonal to the structure (101.3) and hinged to them to form a side entrance (101.5) and a side exit (101.6).

4. Milking station as per the preceding claims, characterized by the fact that the containment box (101) comprises a detection system of the receiving antenna type, said detection system being designed to detect the approach of the animal. It is associated with an emitting device to identify conditions for initiating milking based on the time elapsed since the previous mil king a nd to activate the closure of the front and side entrances (101.2, 101.6).

5. Milking station as per the preceding claims, characterized by the fact that the box (101) is equipped with means for dispensing both solid and liquid feed, said feeds being administered even duringthe milking phase.

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