Mobile milking robot with minimal footprint

• US 10,638,718 B2
• Filed: 09/21/2016
• Issued: 05/05/2020
• Est. Priority Date: 09/21/2015
• Status: Active Grant

• Current Assignee: Afimilk Agricultural Cooperative, Ltd.
• Original Assignee: Afimilk Agricultural Cooperative, Ltd.
• Inventors: Pinsky, Niv, Garti, Efraim, Shalem, Doron, Shachar, Adar, Amnon, Haviv
• Primary Examiner(s): Hayes, Kristen C
• Application Number:
  US15/533,654
• Publication Number:
  US 20190053459A1
• Time in Patent Office: 1,322 Days
• CPC Class Codes: A01J 5/003 Movable milking machines
• CPC Class Codes: A01J 5/007 Monitoring milking processes; Control or regulation of milking machines
• CPC Class Codes: A01J 5/0175 Attaching of clusters
• CPC Class Codes: A01J 5/04 with pneumatic manipulation of teats
• CPC Class Codes: A01J 7/04 for treatment of udders or teats, e.g. for cleaning
• CPC Class Codes: A01K 1/12 Milking stations
• CPC Class Codes: A01K 1/123 Mobile milking parlours
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Disclosed is a system for treating dairy livestock having fore legs and hind legs, wherein the system comprises a milking parlor ramp, livestock stalls positioned along at least part of the milking parlor ramp, wherein each stall is configured to contain one dairy livestock, at least one vertical upright teat cup holder comprising teat cups and a mobile unit. The mobile unit comprises equipment for treating livestock and a processor, where the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the milking parlor ramp and use the equipment to perform at least one action related to a treatment of the dairy livestock. Also disclosed is that the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock.

Claims

1. A system for treating dairy livestock having fore legs and hind legs comprising:

a rotary milking parlor ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, wherein the at least one vertical upright teat cup holder is positioned between two stalls.

2. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, and

wherein the arm comprises a lengthwise double gripper.

3. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock;

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, and

wherein at least two teat cups are of different lengths.

4. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock;

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock; and

at least one non-planar leg separator on the ramp in each stall, wherein said at least one non-planar leg separator is positioned between the hind leg of an animal, when standing in the stall.

5. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock,

the system further comprising an autonomous pre-milking brush that may be utilized manually or by the mobile unit in order to sanitize the animal'"'"'s teat and to stimulate milk release.

6. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock,

the system further comprising a post-milking disinfection tool and a filling station, wherein the post-milking disinfection tool comprises a dipping chamber and a filling detection element.

7. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, wherein the arm is further configured to remove the teat cups from the dairy livestock, after which they are returned to the vertical upright teat cup holder and wherein the arm is configured to withdraw the teat cups from the upright teat cup holder in a first order and return the teat cups thereto in a second order.

8. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, wherein the arm is further configured to remove the teat cups from the dairy livestock, after which they are returned to the vertical upright teat cup holder and wherein the system further comprises means for exerting a pulling force on tubes connected to the teat cups, such that the system is configured to have the teat cups returned to the teat cup holder by said means.

9. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock,

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock;

a rail stretching along at least part of the ramp,

wherein the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the ramp and along the rail;

wherein the rail provides electricity to the mobile unit under wet and unsanitary conditions;

and wherein the rail comprises an internal housing that houses contactors and a gliding cart in contact with the contactor, wherein said gliding cart is prepared from a conducting material and is coupled to the mobile unit via a conductive rod.

10. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, wherein the teat cups comprise holes in which the teats are positioned, and in which the teat cups are positioned vertically upright in the teat cup holder, such that the holes in which the teats are positioned face upwards, wherein the vertical upright teat cup holder comprises;

a first step and a second step being positioned at different heights, thereby forming a difference in height between the first step and the second step; and

a first teat cup and a second teat cup, each having a top, wherein there is a difference in length between the first teat cup and the second teat cup, and wherein the difference in height between the first step and the second step is approximately the same as the difference in length between the first teat cup and the second teat cup, such that when the first teat cup rests on the first step and the second teat rests on the second step, the position of the tops of the first and second teat cups is approximately at the same height.

11. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, and wherein the teat cups comprise holes in which the teats are positioned, and in which the teat cups are positioned vertically upright in the teat cup holder, such that the holes in which the teats are positioned face upwards;

said system further comprising a manifold attached to tubes leading milk from the teat cups and to another tube leading milk into a main milk line.

12. A system for treating dairy livestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, wherein each stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups connected directly to a main milk line and at least one flap for covering the teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unit configured to;

travel between the fore legs and hind legs of the dairy livestock on the ramp; and

use the equipment to perform at least one action related to a treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock, and wherein the teat cups comprise holes in which the teats are positioned, and in which the teat cups are positioned vertically upright in the teat cup holder, such that the holes in which the teats are positioned face upwards, and wherein the vertical teat cup holder further comprises at least one integrated teat cup and tube separator that protrudes out of the vertical upright teat cup holder.