A soft pneumatic pulsating method for milking and a soft pneumatic pulsating teat cup thereof

Abstract

A soft pneumatic pulsating method for milking at least one teat of a plurality of livestock and a soft pneumatic pulsating device thereof are developed. The pulsating device comprises at least one soft pneumatic pulsating teat cup comprises at least two soft actuators, at least one separator ring, at least one pneumatic system, a self-healing polymer hydrogel, and a semi-liquid polymer gel. The soft pneumatic pulsating device is used in the dairy, livestock, and veterinary industries which cause a better and more stable performance compared to the conventional vacuum milking machines.

Description

A soft pneumatic pulsating method for milking and a soft pneumatic pulsating teat cup thereof

[0001] The present disclosure application claims priority from Iran patent application No. 140350140003003257, filed on 3 August 2024, entitled “A pulsating device for milking and a pulsating method thereof”, which is incorporated by reference herein in its entirety.

[0002] The present disclosure is related to a pulsating teat cup for milking a plurality of livestock, especially a smart soft pneumatic pulsating teat cup and a soft pneumatic pulsating device thereof.

[0003] The global surge in demand for dairy products, including cheese, butter, and yogurt, has made milk a staple in human diets. Consequently, the dairy industry has evolved into a technologically advanced field, constantly seeking innovations to optimize milk production. Modern milking machines operate by mimicking a calf's natural sucking action. They create a vacuum of approximately 45 kilopascals around the livestock's teat, causing it to stretch and release milk. This process, known as vacuum milking, has been the industry standard.

[0004] Unfortunately, conventional vacuum milking systems have several drawbacks that negatively impact both the livestock and the overall milking process. The constant vacuum can disrupt blood flow in the teat, leading to various health issues such as sensitivity, swelling, deformation, bacterial accumulation, mastitis, and tissue damage.

[0005] To address the aforementioned issue, rubber milking liners were introduced as a solution, aiming to create a pulsating vacuum and massage the teat to enhance blood circulation. However, this approach proved to be insufficient. The vacuum continued to exert pressure on the teat and its base, and the rubber liners themselves introduced new complications. These liners had a short lifespan of approximately 2500 milking rounds due to wear, degradation, and bacterial buildup from residual milk, resulting in significant replacement and maintenance costs for farmers. To prevent mastitis, a rigorous post-milking disinfection protocol for both liners and teats is necessary. Furthermore, tears or punctures in the liners can lead to teat swelling and milk retention in the pulsation chamber. Lastly, manual teat massage, while beneficial, is a labor-intensive and time-consuming process that requires specialized equipment or skilled personnel, adding to overall operational costs.

[0006] Therefore, the development and construction of a smart soft pneumatic pulsating device is required to overcome these problems without the need to using any vacuum and also without the need to wash and disinfect the teat and teat cups.

[0007] This summary is intended to provide an overview of the subject matter of this disclosure, and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of this disclosure may be ascertained from the claims set forth below in view of the detailed description below and the drawings.

[0008] In a general aspect, the present disclosure is directed to an exemplary soft pneumatic pulsating teat cup for milking a teat of a plurality of livestock. The exemplary soft pneumatic pulsating teat cup may comprise a body that may include at least two holes, at least two actuators in the body that may comprise a first actuator and a set of second actuators, at least one separator ring, and at least one soft pneumatic system that may comprise at least one compressed air tank, at least two pipes connected to the at least two holes, at least two control valves that may comprise a first control valve and a second control valve.

[0009] In an exemplary implementation, the at least one separator ring may be placed between the at least two actuators and may cause the sealing of the at least two actuators and the body.

[0010] In an exemplary implementation, when the first control valve is opened, the first actuator may be activated and may cause the milk of the at least one teat to be stuck.

[0011] In an exemplary implementation, when the second control valve is opened, the set of second actuators may be activated and cause the milk of the at least one teat to be milked.

[0012] The above general aspect may have one or more of the following features. In an exemplary implementation, the at least two actuators may comprise an external diameter, and an internal diameter. In an exemplary implementation, the internal diameter may comprises an inactive diameter and an active diameter. In an exemplary implementation, the external diameter may be larger than an internal diameter of the body to enable the at least one separator ring to create a complete seal. In an exemplary implementation, the inactive diameter may correspond to the closed state of the at least two control valves and the active diameter may correspond to the open state of the at least two control valves. In an exemplary implementation, the active diameter may be smaller than the inactive diameter. In an exemplary implementation, the active diameter may cause the milk of the teat to be stuck or / and to be milked. In an exemplary implementation, the active diameter may comprise at least two arms. In an exemplary implementation, when the at least two control valves are opened and compressed air may flow from the at least one compressed air tank, the inactive diameter may turn to the active diameter through an expansion of the at least two arms. In an exemplary implementation, a compressed air pressure to expand the at least two arms may be in a range of 1-2 atmospheres.

[0013] In an exemplary implementation, a material of the at least two actuators may comprise at least one shape memory rubber. In an exemplary implementation, the at least one shape memory rubber may comprise natural rubber, silicone, nitrile, or a combination thereof.

[0014] In an exemplary implementation, the exemplary soft pneumatic pulsating teat cup may further comprise a self-healing polymer hydrogel. In an exemplary implementation, the self-healing polymer hydrogel may fill the internal diameter and the teat may pass through the self-healing hydrogel. In an exemplary implementation, after removing the teat, the self-healing polymer hydrogel due to the self-healing property, may return to its original state. In an exemplary implementation, the self-healing polymer hydrogel may be non-sticky to the teat.

[0015] In an exemplary implementation, the exemplary soft pneumatic pulsating teat cup may further comprise a semi-liquid polymer gel. In an exemplary implementation, the semi-liquid polymer gel may fill a half of a gap space between the body and the at least two actuators. In an exemplary implementation, the semi-liquid polymer gel may be used for damping a soft pneumatic shock. In an exemplary implementation, the semi-liquid polymer gel may comprise guar gum with a concentration of 2-3% by weight, glycerin with a concentration of 24-26% by weight, water with a concentration of 29-31% by weight, and borax with a concentration of 1.6-2% by weight.

[0016] In an exemplary implementation, the at least two control valves may comprise an automatic control valve, a manual control valve, or a combination thereof.

[0017] In an exemplary implementation, a length and a diameter of the body may change based on an average length and diameter of the teat of the plurality of livestock. In an exemplary implementation, a number of the at least two actuators may be determined based on an average length of the teat of the plurality of livestock. In an exemplary implementation, the plurality of livestock may comprise a sheep, a cow, a goat, a camel, and a donkey.

[0018] In another general aspect, the present disclosure is directed to an exemplary polymer composition manufacturing method for make a self-healing polymer hydrogel. The exemplary polymer composition manufacturing method may comprise preparing a uniform solution by adding a guar gum composition to at least one hydrophilic polymer with a blend ratio range of 1:5-1:10 by weight and stirring it, preparation of a polar solution with a concentration of 8-52% by weight, preferably 30-40% by weight, by adding distilled water to the uniform solution and resting it in order to completely absorb the distilled water by the uniform solution in a period of time in a range of 1-3 hours, preparing a sanitary solution by adding at least one drug to the polar solution, and preparation of the self-healing polymer hydrogel by adding a cross-linking agent comprising borax with a concentration of 0.2-1.0% by weight, preferably 0.7-0.8% by weight. In an exemplary implementation, a viscosity of self-healing polymer hydrogel may be in a range of 10000-15000 poise.

[0019] The above general aspect may have one or more of the following features. In an exemplary implementation, the at least one hydrophilic polymer may comprise glycerin, polyethylene glycol, polyvinyl alcohol, or a combination thereof. In an exemplary implementation, the at least one drug may comprise an antiseptic aqueous solution, an antibacterial aqueous solution, a hydrating solution, or a combination thereof.

[0020] In another general aspect, the present disclosure is directed to an exemplary soft pneumatic pulsating device for milking at least one teat of a plurality of livestock. The exemplary soft pneumatic pulsating device may comprise at least one exemplary soft pneumatic pulsating teat cup, at least one sensor, a milk transfer assembly, and a milk collection container. In an exemplary implementation, the least one soft pneumatic pulsating teat cup connected to the milk collection container by the milk transfer assembly.

[0021] The above general aspect may have one or more of the following features. In an exemplary implementation, the milk transfer assembly may comprise a funnel connected to an end of a body of the at least one exemplary soft pneumatic pulsating teat cup and at least one pipe connected to the milk collection container.

[0022] In another general aspect, the present disclosure is directed to an exemplary soft pneumatic pulsating method for milking utilizing pulsating device. The exemplary soft pneumatic pulsating method may comprise a first step: placing a teat of a plurality of livestock inside a teat cup, a second step: opening a first control valve using a programmable logic controller and activating a first actuator after a period time in a range of 0.1-0.9 seconds has passed from the first step, wherein the second step may cause milk of the teat to be stuck in a milk transfer channel of the teat, a third step: opening a second control valve using the programmable logic controller and activating a set of second actuators simultaneously after a period time in a range of 0.1-0.9 seconds has passed from the second step, wherein the third step may cause milk coming out of the milk transfer channel of the teat, a fourth step: closing of the first control valve and second control valve which causes the first actuator and the set of second actuators simultaneously to be deactivated after a period time in a range of 0.0-0.9 seconds has passed from the third step, wherein the fourth step may cause the milk transfer channel of the teat to be refilled, and repeating the first step to the fourth step until the end of the milking.

[0023] The drawing figure only demonstrates one or more embodiments in accord with the present teaching, by way of example only, not by way of limitation. Therefore, the drawing figure does not limit the extent of the present disclosure. Also, reference numerals with similar numbers in the figures demonstrate similar or the same elements.Fig.1

[0024] illustrates a milking operation using a soft pneumatic pulsating device in three phases of A, B, and C, consistent with one or more exemplary embodiments of the present disclosure.Fig.2

[0025] illustrates different views of an inactive state of an exemplary soft pneumatic pulsating teat cupfor milking a teat of a plurality of livestock, consistent with one or more exemplary embodiments of the present disclosure.Fig.3

[0026] illustrates different views of an active state of an exemplary soft pneumatic pulsating teat cupfor milking a teat of a plurality of livestock, consistent with one or more exemplary embodiments of the present disclosure.Fig.4

[0027] illustrates an exploded view of the exemplary soft pneumatic pulsating teat cup, consistent with one or more exemplary embodiments of the present disclosure.Fig.5

[0028] illustrates a flowchart of an implementation of a general representation of a polymer composition manufacturing method for making a self-healing hydrogel, consistent with one or more exemplary embodiments of the present disclosure.Fig.6

[0029] illustrates a schematic view of an exemplary soft pneumatic pulsating devicefor milking at least one teat of a plurality of livestock, consistent with one or more exemplary embodiments of the present disclosure.Fig.7

[0030] illustrates a flowchart of an implementation of a general representation of a soft pneumatic pulsating method for milking utilizing a soft pneumatic pulsating device, consistent with one or more exemplary embodiments of the present disclosure.

[0031] In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent that the present teachings may be practiced without such details. In other instances, well-known processes, procedures, components, and / or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present teachings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present disclosure is defined only by the appended claims.

[0032] The following detailed description is presented to enable a person skilled in the art to make and use the processes and devices disclosed in exemplary embodiments of the present disclosure. For purposes of explanation, specific nomenclature is set forth provide a thorough understanding of the present disclosure. However, it will be apparent to one skilled in the art that these specific details are not required to practice the disclosed exemplary embodiments. Descriptions of specific exemplary embodiments are provided only as representative examples. Various modifications to the exemplary implementations will be readily apparent to one skilled in the art, and the general principles defined herein may be applied to other implementations and applications without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the implementations shown, but is to be accorded the widest possible scope consistent with the principles and features disclosed herein.

[0033] The present disclosure describes an exemplary soft pneumatic pulsating teat cup comprising at least two actuators, an exemplary soft pneumatic pulsating device for milking at least one teat of a plurality of livestock and an exemplary soft pneumatic pulsating method thereof. Some benefits of using the exemplary soft pneumatic pulsating device, as described in the present disclosure, compared to conventional vacuum milking machines may include, but are not limited to, greater effectiveness, improved stability, complete milk extraction, vacuum-free milk suction, vacuum-free teat cup retaining, no retaining arm required, automation, manual and electrical control, elimination of rubber liners, pulse shock absorption and damping ability, user-friendly design, no need for skilled labor, reduced financial and safety risks, eliminates the need for teat cleaning and disinfection, environmental friendliness, water conservation, maintains teat health, and enables treatment of udder diseases. In other words, the exemplary soft pneumatic pulsating device can be considerate potential alternative conventional milking machines because it prevents the release of chemical detergents into water sources, reduces water consumption, and minimizes potential hazards.

[0034] Additionally, in one or more exemplary embodiments, the present disclosure describes an exemplary polymer composition manufacturing method for make a self-healing polymer hydrogel. In an exemplary embodiment, the exemplary polymer composition manufacturing method may comprise at least three main steps. A first step may comprise preparation of a mixture of polymers and water. A second step may comprise adding at least one drug into the mixture of polymers and water. A third step may comprise preparation of the self-healing polymer hydrogel by adding a cross-linking agent into the mixture of polymers, water, and drug.

[0035] The word “soft " refers to the opposite of the word "stiff", soft like the tissue of a human hand, shock-absorbing, compatible with the skin of a plurality of livestock.

[0036] Biological mechanism and locomotion systems have inspired many robot engineers and scientists to study multifunctional systems. Innovative and creative results from such research have organized a new field of robotics and actuators called soft robotics and soft actuators. Soft actuators have distinguishable features compared to the conventional. Conventional actuators structures are made with high stiffness materials such as steel, aluminum, titanium, stainless steel, etc. On the other hand, soft actuators adopt hyper elastic materials for main body and moving parts such as polymer, rubber, silicone, or other flexible materials. Owing to their flexibility and compliance, soft actuators can adapt to complex and dynamic environments, which makes them exceptionally advantageous for physical interaction with fragile objects or living organisms. Material stiffness of soft actuators are often in the order of 104−109 Pa corresponding with biological skin or muscle tissue. Soft actuators are of notable interest because, unlike their rigid counterpart, they can easily deform while being mechanically resilient, adapt to the outer environment without harm to skin. Conventional rubber binders require complex protection or stability control algorithm whereas soft actuators do not require such methods due to shock absorbing property of the materials used.

[0037] In an exemplary embodiment, aspects and features of an exemplary soft pneumatic pulsating teat cup, an exemplary polymer composition manufacturing method for making a self-healing hydrogel, an exemplary soft pneumatic pulsating device for milking at least one teat of a plurality of livestock, and an exemplary soft pneumatic pulsating method for milking utilizing the exemplary soft pneumatic pulsating device will be described in greater detail, below.

[0038] ASOFT PNEUMATICPULSATINGTEAT CUPFOR MILKINGATEAT OF ATEAT OF APLURALITY OF LIVESTOCK

[0039] To address the challenges of traditional milking systems and enhance livestock health and welfare, the design and construction of a smart, soft pneumatic teat actuators are imperative. This device is designed to simulate human milking by utilizing actuators and hydrogels, equipped with an advanced pneumatic system, provides gentle and precise milking and stimulation to the udder without the need for vacuum. By improving blood circulation, it reduces the risk of mastitis.illustrates a milking operation using a soft pneumatic pulsating teat cup in three phases of A, B, and C, consistent with one or more exemplary embodiments of the present disclosure. The use of smart high-quality materials compatible with udder skin, combined with a smart control system, increases the device's lifespan and reduces maintenance costs. This innovative device not only significantly reduces disinfection and cleaning costs but also eliminates the mechanical damage caused by rubber liners.

[0040] In an exemplary embodiment, a soft pneumatic pulsating teat cup for milking a teat of a plurality of livestock developed to overcome above-mentioned problems.

[0041] In, Fig.2aillustrates an inactive state of an exemplary soft pneumatic pulsating teat cup 100 for milking a teat 102 of a plurality of livestock,Fig.2billustrates a cross-section side view of the inactive state of the exemplary soft pneumatic pulsating teat cup 100,Fig.2cillustrates a top view of the inactive state of the exemplary soft pneumatic pulsating teat cup 100, andFig.2d shows a 3-dimentional view of the inactive state of the exemplary soft pneumatic pulsating teat cup 100, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, an exemplary soft pneumatic pulsating teat cup 100 may comprise a body 104 that may include at least two holes 106, at least two actuators in the body that may comprise a first actuator 108 and a set of second actuators 110, at least one separator ring 112, and at least one pneumatic system that may comprise at least one compressed air tank 114, at least two pipes 116 connected to the at least two holes 106, at least two control valves that may comprise a first control valve 118 and a second control valve 120.

[0042] In an exemplary implementation, the at least one separator ring112may be placed between the at least two actuators and may cause the sealing of the at least two actuators and the body104.

[0043] In an exemplary implementation, when the first control valve118is opened, the first actuator108may be activated and may cause the milk of the at least one teat102to be stuck (phase B of). In an exemplary implementation, when the second control valve120is opened, the set of second actuators110may be activated and cause the milk of the teat102to be milked (phase C of).

[0044] In, Fig.3aillustrates an active state of an exemplary soft pneumatic pulsating teat cup 100 for milking a teat 102 of a plurality of livestock,Fig.3billustrates a cross-section side view of the active state of the exemplary soft pneumatic pulsating teat cup 100,Fig.3cillustrates a top view of the active state of the exemplary soft pneumatic pulsating teat cup 100, andFig.3dshows a 3-dimentional view of the active state of the exemplary soft pneumatic pulsating teat cup 100, consistent with one or more exemplary embodiments of the present disclosure. Also,illustrates an exploded view of the exemplary soft pneumatic pulsating teat cup 100.

[0045] In an exemplary implementation, the at least two actuators may comprise an external diameter202, and an internal diameter. In an exemplary implementation, the internal diameter may comprises an inactive diameter204and an active diameter206. In an exemplary implementation, the external diameter202may be larger than an internal diameter of the body104to enable the at least one separator ring112to create a complete seal. In an exemplary implementation, the inactive diameter204may correspond to the closed state of the at least two control valves and the active diameter206may correspond to the open state of the at least two control valves. In an exemplary implementation, the active diameter206may be smaller than the inactive diameter204. In an exemplary implementation, the active diameter206may cause the milk of the teat102to be stuck or / and to be milked. In an exemplary implementation, the active diameter206may comprise at least two arms, preferably at least four arms208. In an exemplary implementation, when the at least two control valves are opened and compressed air may flow from the at least one compressed air tank114, the inactive diameter204may turn to the active diameter206through an expansion of the at least two arms, preferably at least four arms208. The design of the at least two arms, preferably the at least four arms208must carefully consider factors such as their shape before and after activation, the reduction in the internal diameter of the milk transfer channel upon activation, and the arm thickness. The goal is to completely empty the teat of milk by applying the minimum necessary pressure, preventing any damage to the teat.

[0046] In an exemplary implementation, a compressed air pressure to expand the at least two arms, preferably at least four arms208may be in a range of 1-2 atmospheres. In an exemplary implementation, the compressed air pressure may be measured by a pressure gauge302.

[0047] In an exemplary implementation, a material of the at least two actuators may comprise at least one shape memory polymer. In an exemplary implementation, the at least one shape memory polymer may comprise shape memory rubber, shape memory rubber composite, shape memory rubber nanocomposite. In an exemplary implementation, the at least one shape memory polymer may comprise natural rubber, silicone, nitrile, polyurethane, polytetrafluoroethylene, polylactide, and ethylene-vinyl acetate, or a combination thereof. In an exemplary implementation, the at least one shape memory rubber nanocomposite may comprise zinc oxide nanoparticles, nano-carbon, nano-silica, or a combination thereof. The choice of polymer and formulation components for the at least one shape memory polymerdesigned for livestock skin contact requires meticulous attention. Beyond shape memory properties, this shape memory polymer must exhibit hygienic and biocompatible characteristics to prevent skin irritation and damage in livestock.

[0048] In an exemplary implementation, a thickness of the at least two actuators may be in a range of 0.3-1 mm.

[0049] In an exemplary implementation, the exemplary soft pneumatic pulsating teat cup100may further comprise a self-healing hydrogel118. In an exemplary implementation, the self-healing polymer hydrogel118may fill the internal diameter and the teat102may pass through the self-healing polymer hydrogel. In an exemplary implementation, after removing the at least one teat102, the self-healing polymer hydrogel118due to the self-healing property, may return to its original state. In an exemplary implementation, the self-healing polymer hydrogel118may be non-sticky to the teat102. Filling the internal diameter with self-healing polymer hydrogel118have advantages such as eliminating the washing and disinfection stage of the teat102, preventing damage to the teat102caused by the activation of actuators due to the damping and flexibility of the self-healing polymer hydrogel118, preventing teat102dryness due to the hydrophilic and moist nature of the self-healing polymer hydrogel118, and the possibility of treating udder diseases by injecting drugs into the self-healing polymer hydrogel118.

[0050] In an exemplary implementation, the exemplary soft pneumatic pulsating teat cup100may further comprise a semi-liquid polymer gel120. In an exemplary implementation, the semi-liquid polymer gel120may fill a half of a gap space between the body104and the at least two actuators. In an exemplary implementation, the semi-liquid polymer gel120may be used for damping a pneumatic shock. In an exemplary implementation, the semi-liquid polymer gel120may comprise a guar gum with a concentration of 2-3% by weight, glycerin with a concentration of 24-26% by weight, water with a concentration of 29-31% by weight, and borax with a concentration of 1.6-2% by weight.

[0051] In an exemplary implementation, the at least two control valves may comprise an automatic control valve, a manual control valve, or a combination thereof.

[0052] In an exemplary implementation, a length and a diameter of the body104may change based on an average length and diameter of the teat102of the plurality of livestock. In an exemplary implementation, a number of the at least two actuators may be determined based on an average length of the teat102of the plurality of livestock. In an exemplary implementation, the plurality of livestock may comprise a sheep, a cow, a goat, a camel, and a donkey.

[0053] APOLYMER COMPOSITIONMANUFACTURING METHODFOR MAKING A SELF-HEALING HYDROGEL

[0054] illustrates a flowchart of an implementation of a general representation of a polymer composition manufacturing method400for making a self-healing polymer hydrogel, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, as illustrated in, the exemplary polymer composition manufacturing method400may comprise preparing a uniform solution by adding a guar gum composition to at least one hydrophilic polymer with a blend ratio range of 1:5-1:10 by weight and stirring it402, preparation of a polar solution with a concentration of 8-52% by weight, preferably 30-40 % by weight, by adding distilled water to the uniform solution and resting it in order to completely absorb the distilled water by the uniform solution in a period of time in a range of 1-3 hours404, preparing a sanitary solution by adding at least one drug to the polar solution406, and preparation of the self-healing polymer hydrogel by adding a cross-linking agent comprising borax with a concentration of 0.2-1.0% by weight, preferably 0.7-0.8% by weight408. In an exemplary implementation, a viscosity of self-healing polymer hydrogel may be in a range of 10000-15000 poise.

[0055] In an exemplary implementation, the at least one hydrophilic polymer may comprise glycerin, polyethylene glycol, polyvinyl alcohol, or a combination thereof.

[0056] In an exemplary implementation, the at least one drug may comprise an antiseptic aqueous solution, an antibacterial aqueous solution, a hydrating solution, or a combination thereof. In a specific In an exemplary implementation, if a drug prescribed by a veterinarian is needed, it may be added to the self-healing polymer hydrogel by injection or solution, in such a way that the viscosity of the self-healing polymer hydrogel remains in the range of 15000-10000 poise.

[0057] ASOFT PNEUMATICPULSATINGDEVICEFOR MILKINGAT LEAST ONETEATOF APLURALITY OF LIVESTOCK

[0058] illustrates a schematic view of an exemplary soft pneumatic pulsating device200for milking at least one teat of a plurality of livestock, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary implementation, an exemplary soft pneumatic pulsating device200may comprise at least one exemplary soft pneumatic pulsating teat cup100, preferably the exemplary soft pneumatic pulsating teat cup100,at least one sensor, a milk transfer assembly, and a milk collection container304. In an exemplary implementation, the least one soft pneumatic pulsating teat cup100connected to the milk collection container304by the milk transfer assembly.

[0059] In an exemplary implementation, the milk transfer assembly may comprise a funnel308connected to an end of a body104of the at least one exemplary soft pneumatic pulsating teat cup100and at least one pipe310connected to the milk collection container304.

[0060] ASOFT PNEUMATICPULSATINGMETHODFOR MILKING UTILIZING ASOFT PNEUMATICPULSATING DEVICE

[0061] Smart soft pneumatic pulsating method is designed to simulate human milking by utilizing actuators and hydrogels in at least two phases. In the first phase, milk is trapped in the teat's milk transfer channel. In the second phase, the milk is extracted from the channel. This device aims to replicate the gentle, massaging action of a human hand, not only milking but also protecting and potentially treating the teat.

[0062] illustrates a flowchart of an implementation of a general representation of a soft pneumatic pulsating method500for milking utilizing a soft pneumatic pulsating device200, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary implementation, the exemplary soft pneumatic pulsating method500may comprise a first step: placing a teat of a plurality of livestock inside a teat cup502, a second step: opening a first control valve using a programmable logic controller and activating a first actuator after a period time in a range of 0.1-0.9 seconds has passed from the first step, wherein the second step may cause milk of the teat to be stuck in a milk transfer channel of the teat504, a third step: opening a second control valve using the programmable logic controller and activating a set of second actuators simultaneously after a period time in a range of 0.1-0.9 seconds has passed from the second step, wherein the third step may cause milk coming out of the milk transfer channel of the teat506, a fourth step: closing of the first control valve and second control valve which causes the first actuator and the set of second actuators simultaneously to be deactivated after a period time in a range of 0.0-0.9 seconds has passed from the third step, wherein the fourth step may cause the milk transfer channel of the teat to be refilled508, and repeating the first step to the fourth step until the end of the milking510.

[0063] By applying pressure to the upper part of the teat, the risk of milk being drawn back into the udder is reduced. Simultaneously, pressure applied to the lower part of the teat increases the hydrostatic pressure within the milk duct, causing the sphincter muscle at the teat end to relax and allowing for rapid milk flow.

[0064] “Activating the first actuators " or “activating the set of second actuators” refers to the process of converting the internal diameter from the inactive diameter to the active diameter by opening a control valve to allow compressed air to flow, which in turn causes at least two arms to extend.

[0065] The range of 0.1 to 0.9 seconds for opening and closing the control valves is considered optimal. This range not only ensures complete milk extraction at a high rate without damaging the teat but also ensures that the teat cup remains securely in place, eliminating the need for a retaining mechanism. This is achieved by balancing the milk flow rate and maintaining a vacuum in the system.

[0066] Using shape memory rubbers, self-healing hydrogels, and drag delivery through self-healing hydrogels make the exemplary soft pneumatic pulsating teat cup, the exemplary soft pneumatic pulsating method and the exemplary soft pneumatic pulsating device smart.Examples

[0067] EXAMPLE 1:milking from a cow by using an exemplary pulsating device

[0068] InExample 1, milking from a cow by using an exemplary soft pneumatic pulsating device was carried out, consistent with one or more exemplary embodiments of the present disclosure. In this example, in a first step, four cow's teats are inserted into four teat cups502. The teats protrude through the polymer hydrogel-filled internal diameter of the teat cups. The pulsation device employed in this system for each teat cup consists of three actuators and two electric control valves. The first two electric control valves activate the first two actuators of the two in front teat cups, trapping milk within the teat milk transfer channels of the two in front teat cups. The second electric control valves activate the second and third actuators of the two in front teat cups, expelling milk from the teat milk transfer channel. The milking process involves three repetitive phases: A, B, and C, as illustrated in.

[0069] For 0.3 seconds, compressed air at a pressure of approximately 1.4 atmospheres is supplied to the electric control valves from the compressed air reservoir. In phase A, although compressed air reaches the control valves, these valves remain closed, and the actuators are inactive. After this duration, the control valves receive a pre-programmed electrical command from the programmable logic controller, and in phase B, the first control valves will be opened, activating the first actuators. In other words, the active diameter`s four arms of the first actuator expand, preventing the milk from re-entering the udder504. In phase C, the second control valves also will be opened, causing the simultaneous expansion of the active diameter`s four arms of the second and third actuators506. In this phase, due to the increased hydrostatic pressure within the milk transfer channel, the sphincter muscle relaxes, and milk is rapidly expelled508.

[0070] After 0.3 seconds, phase A is repeated. In other words, both electric control valves close again, and milk flows from the udder to the teat. The same process occur for the two back teat cups after passing 0.2 0.3 seconds. These phases continue until the end of the milking510and milk within the udder is completely extracted.

[0071] While particular aspects of the present subject matter described herein have been shown and described, it will be apparent to those skilled in the art that, based upon the teachings herein, changes and modifications may be made without departing from this subject matter described herein and its broader aspects and, therefore, the appended claims are to encompass within their scope all such changes and modifications as are within the true spirit and scope of this subject matter described herein. Furthermore, it is to be understood that the invention is solely defined by the appended claims. It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and / or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations or two

[0072] It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first, second, and third and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” “include,” “including,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, apparatus, or device. An element proceeded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or device that comprises the element. Moreover, “may” and other permissive terms are used herein for describing optional features of various embodiments. These terms likewise describe selectable or configurable features generally, unless the context dictates otherwise.

Claims

1.A soft pneumatic pulsating teat cup for milking a teat of a plurality of livestock, comprising:A body including at least two holes;at least two actuators in the body comprising a first actuator and a set of second actuators;at least one separator ring, wherein the at least one separator ring is placed between the at least two actuators and causes the sealing of the at least two actuators and the body; andat least one pneumatic system comprising at least one compressed air tank, at least two pipes connected to the at least two holes, at least two control valves comprising a first control valve and a second control valve, wherein a first end of the at least two pipes connected to the at least two holes and a second end of and the at least two pipes connected to the at least one compressed air tank, wherein when the first control valves is opened, the first actuator is activated and causes the milk of the at least one teat to be stuck, wherein when the second control valves is opened, the set of second actuators is activated and causes the milk of the at least one teat to be milked.2.The soft pneumatic pulsating teat cup of claim 1, wherein the at least two actuators comprise an external diameter and an internal diameter, wherein the internal diameter comprises an inactive diameter and an active diameter, wherein the inactive diameter corresponds to the closed state of the at least two control valves and the active diameter corresponds to the open state of the at least two control valves, wherein the active diameter is smaller than the inactive diameter, wherein the active diameter causes the milk of the at least one teat to be stuck or / and to be milked.3.The soft pneumatic pulsating teat cup of claim 1 and 2, wherein the external diameter is larger than an internal diameter of the body to enable the at least one separator ring to create a complete seal.4.The soft pneumatic pulsating teat cup of claim 2, wherein the active diameter comprises at least two arms, wherein when the at least two control valves are opened and compressed air flows, the inactive diameter turns to the active diameter through an expansion of the at least two arms.5.The soft pneumatic pulsating teat cup of claim 4, wherein a compressed air pressure to expand the at least two arms is in a range of 1-2 atmospheres.6.The soft pneumatic pulsating teat cup of claim 1 or 2, wherein a material of the at least two actuators comprise at least one shape memory rubber.7.The soft pneumatic pulsating teat cup claim 6, wherein the at least one shape memory rubber comprises natural rubber, silicone, nitrile, or a combination thereof.8.The soft pneumatic pulsating teat cup of claim 1, further comprising a self-healing polymer hydrogel, wherein the self-healing polymer hydrogel fills the internal diameter and the teat passes through the self-healing polymer hydrogel, wherein after removing the teat, the self-healing polymer hydrogel due to the self-healing property, returns to its original state, wherein the self-healing polymer hydrogel is non-sticky to the teat.9.The soft pneumatic pulsating teat cup of claim 1, further comprising a semi-liquid polymer gel, wherein the semi-liquid polymer gel fills a half of a gap space between the body and the at least two actuators, wherein the semi-liquid polymer gel is used for damping a pneumatic shock.10.The soft pneumatic pulsating teat cup of claim 9, wherein the semi-liquid polymer gel comprises guar gum with a concentration of 2-3% by weight, glycerin with a concentration of 24-26% by weight, water with a concentration of 29-31% by weight, and, borax with a concentration of 1.6-2% by weight.11.The soft pneumatic pulsating teat cup of claim 1, wherein the at least two control valves comprise an automatic control valve, a manual control valve, or a combination thereof.12.The soft pneumatic pulsating teat cup claim 1, a length and a diameter of the body changes based on an average length and diameter of the teat of the plurality of livestock, wherein a number of the at least two actuators is determined based on an average length of the teat of the plurality of livestock, wherein the plurality of livestock comprises a sheep, a cow, a goat, a camel, and a donkey.13.A polymer composition manufacturing method for making a self-healing polymer hydrogel of claim 8, comprising:preparing a uniform solution by adding a guar gum composition to at least one hydrophilic polymer with a blend ratio range of 1:5-1:10 by weight and stirring it;preparation of a polar solution with a concentration of 8-52% by weight, preferably 30-40% by weight, by adding distilled water to the uniform solution and resting it in order to completely absorb the distilled water by the uniform solution in a period of time in a range of 1-3 hours;preparing a sanitary solution by adding at least one drug to the polar solution; andpreparation of the self-healing polymer hydrogel by adding a cross-linking agent comprising borax with a concentration of 0.2-1.0% by weight, preferably 0.7-0.8% by weight,wherein a viscosity of self-healing polymer hydrogel is in a range of 10000-15000 poise.14.The polymer composition manufacturing method of claim 13, wherein the at least one hydrophilic polymer comprises glycerin, polyethylene glycol, polyvinyl alcohol, or a combination thereof.15.The polymer composition manufacturing method of claim 13, wherein the at least one drug comprises an antiseptic aqueous solution, an antibacterial aqueous solution, a hydrating solution, or a combination thereof.16.A soft pneumatic pulsating device for milking at least one teat of a plurality of livestock, comprising:At least one soft pneumatic pulsating teat cup of any one of claims 1-12;at least one sensor;a milk transfer assembly; anda milk collection container, wherein the least one soft pneumatic pulsating teat cup connected to the milk collection container by the milk transfer assembly.17.The soft pneumatic pulsating device of claim 16, wherein the milk transfer assembly comprises a funnel connected to an end of a body of the at least one soft pneumatic pulsating teat cup and at least one pipe connected to the milk collection container.18.A soft pneumatic pulsating method for milking utilizing a soft pneumatic pulsating device of any one of claims 16 and 17, comprising:a first step: placing a teat of a plurality of livestock inside a self-healing polymer hydrogel of a teat cup;a second step: opening a first control valve using a programmable logic controller and activating a first actuator after a period time in a range of 0.1-0.9 seconds has passed from the first step, wherein the second step causes milk of the teat to be stuck in a milk transfer channel of the teat;a third step: opening a second control valve using the programmable logic controller and activating a set of second actuators simultaneously after a period time in a range of 0.1-0.9 seconds has passed from the second step, wherein the third step causes milk coming out of the milk transfer channel of the teat;a fourth step: closing of the first control valve and second control valve which causes the first actuator and the set of second actuators simultaneously to be deactivated after a period time in a range of 0.0-0.9 seconds has passed from the third step, wherein the fourth step causes the milk transfer channel of the teat to be refilled; andrepeating the first step to the fourth step until the end of the milking.

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