U.S. patent application number 11/458468 was filed with the patent office on 2006-11-16 for milking parlor for the forward straight line animal ambulation and individual presentation of an animal to be milked in a milking stall located intermediate a holding area and a release area.
Invention is credited to Fangjiang Guo.
Application Number | 20060254523 11/458468 |
Document ID | / |
Family ID | 30442843 |
Filed Date | 2006-11-16 |
United States Patent
Application |
20060254523 |
Kind Code |
A1 |
Guo; Fangjiang |
November 16, 2006 |
Milking Parlor for the Forward Straight Line Animal Ambulation and
Individual Presentation of an Animal to be Milked in a Milking
Stall Located Intermediate a Holding Area and a Release Area
Abstract
A milking parlor has a holding gate and a parallel spaced
individually loaded-occupied-unloaded milking stall with an
operator pit located intermediate the holding gate and the milking
stall. The operator pit can be recessed from the holding gate and
the milking stall, wherein a bridge or a bridge cart selectively
connects a holding gate to an unoccupied milking stall. A robotic
or human operator can function from the operator pit to implement
the milking process.
Inventors: |
Guo; Fangjiang; (Ithaca,
NY) |
Correspondence
Address: |
Stephen B. Salai, Esq.;Harter, Secrest & Emery LLP
1600 Bausch & Lomb Place
Rochester
NY
14604-2711
US
|
Family ID: |
30442843 |
Appl. No.: |
11/458468 |
Filed: |
July 19, 2006 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10196789 |
Jul 17, 2002 |
7086348 |
|
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11458468 |
Jul 19, 2006 |
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Current U.S.
Class: |
119/14.03 |
Current CPC
Class: |
A01K 1/0613 20130101;
A01K 1/12 20130101; A22B 1/00 20130101; A01J 5/0175 20130101 |
Class at
Publication: |
119/014.03 |
International
Class: |
A01J 5/00 20060101
A01J005/00 |
Claims
1. A milking parlor for presenting an animal to be milked,
comprising: (a) a holding gate; (b) a milking stall co-linear with
the holding gate; and (c) an operator pit intermediate the holding
gate and the milking stall.
2. The milking parlor of claim 1, further comprising a robotic
operator in the operator pit.
3. The milking parlor of claim 1, further comprising a bridge cart
moveable between a first position intermediate the staging stall
and the milking stall, and a second position spaced from the
staging stall and the milking stall.
4. The milking parlor of claim 1, further comprising a plurality of
holding gates and a different plurality of milking stalls.
5. The milking parlor of claim 1, further comprising a plurality of
staging stalls and a corresponding plurality of milking stalls.
6. The milking parlor of claim 1, wherein the holding gate pivots
about one of a horizontal axis and a vertical axis.
7. The milking parlor of claim 1, further comprising a bridge cart
intermediate the holding gate and the milking stall.
8. A milking parlor for presenting an animal to be milked,
comprising: (a) a milking stall with an egress gate; and (b) a
holding gate co-linear with the milking stall.
9. The milking parlor of claim 8, further comprising an operator
pit intermediate the holding gate and the milking stall.
10. The milking parlor of claim 8, further comprising an ingress
gate operably connected to the milking stall.
11. The milking parlor of claim 8, wherein the holding gate is a
holding stall egress gate, and the holding stall includes an
ingress gate.
12. The milking parlor of claim 8, further comprising a bridge
intermediate the holding gate and the milking stall.
13. The milking parlor of claim 8, further comprising a platform
moveable between a first position and the second position
intermediate the holding gate and the milking stall.
14. The milking parlor of claim 8, further comprising a milking
robot operably connected the milking stall.
15. A milking parlor comprising: (a) a plurality of holding gates;
(b) a plurality of milking stall entrance gates spaced from the
plurality of holding gates; and (c) an operator pit intermediate
the plurality of holding gates and the plurality of milking
stalls.
16. The milking parlor of claim 15, wherein the plurality of
holding gates is greater than the plurality of milking stalls.
17. The milking parlor of claim 15, wherein the plurality of
holding gates is less than the plurality of milking stalls.
18. A milking parlor defining a travel path for an animal to be
milked, the travel path at least partially defined by a milking
stall and a bridge upstream of the milking stall.
19. The milking parlor of claim 18, further comprising an egress
gate in the milking stall.
20. The milking parlor of claim 18, further comprising an ingress
gate in the milking stall.
21. The milking parlor of claim 20, wherein the ingress gate
includes a manure gutter.
22. The milking parlor of claim 18, wherein the bridge moves at
least one of a vertical, a horizontal direction.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a division of U.S. application
Ser. No. 10/196,789, filed Jul. 17, 2002, of the same title, and
expressly incorporated by reference.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0002] Not applicable.
REFERENCE TO A "SEQUENCE LISTING"
[0003] Not applicable.
BACKGROUND OF THE INVENTION
[0004] 1. Field of the Invention
[0005] The present invention relates to the presentation of an
animal to be milked in a milking parlor, and more particularly, to
the straight line forward loading and forward unloading of an
animal to be milked in a milking stall.
[0006] 2. Description of Related Art
[0007] A milking parlor generally includes an array of individual
milking stalls, each milking stall being designed to hold a cow or
other dairy animal while being milked. Typically, an operator or
milking robot is required to perform such tasks as insuring that
the animals are properly situated in the milking stalls, washing
the udder prior to milking, applying milking units; monitoring and
attending to operation of the milking units and post dip the
teats.
[0008] Generally, there are two principle ways to milk cows. One
method is to bring the milking equipment to the cows while the cow
is retained in a, often described as around the barn pipeline, or
pipeline, tie-stall, and stanchion barn. The alternative method of
milking cows is to bring the cows to the milking equipment. This
arrangement is known as free-stall or milking parlor. There are
several ways to configure the milking system.
Pipeline Milking System
[0009] In the pipeline milking system, each cow is confined to its
own stall or stanchion (headlock device). In the stall, the cow is
fed, watered and can lie down. The cow is restrained to the stall
by tying (tie-stall) or stanchion.
[0010] A milk line is routed over the stalls along with a pulsator
line and any electrical lines needed to operate corresponding
milking units. Routing the milk line over the stalls is referred to
as a high line. The milk line routes the milk to a milk room by
gravity where the milk is pumped into a bulk tank. Ports or stall
cocks are located between the stalls to which individual milking
units connect.
[0011] In operation, the operator takes the milking unit to the
stall and operably connects the milking unit to the stall cock. The
milking unit is then applied to the cow. In this configuration, the
operator attaches milking unit from one side of the cow and in
between two adjacent two cows.
[0012] When the cow has been milked out, the operator removes the
unit and applies it to the next cow, moving the unit from stall
cock to stall cock as the process moves throughout the barn.
[0013] As with any system, there are efficiency benefits and
drawbacks to the pipeline milking system. One benefit is that the
system allows the operator to prepare the next cow for milking
while the previous cow is being milked. When the first cow is
finished milking, the unit can be immediately moved to the prepared
next cow. However, the pipeline system induces significant operator
fatigue. The milking process requires the operator to bend over or
squat down to access the udder for preparing, milking and post
dipping. There is also considerable freedom for the cow to move
around within the stall, which results in milking units being
kicked off or stepped on. Immediate attention is required by the
operator upon a milking unit being kicked off or stepped on.
Further, there is little to protect the operator from being kicked
or stepped on. As each stall requires a corresponding stall cock, a
large number of stall cocks are employed and any percentage of
failure or leakage results in required maintenance. Further, some
portions of the milk line may be soiled by milk and not cleaned for
hours, as the milking process has moved to another part of the
barn. Also, the relatively long pipe lengths cause hot washing
water to cool very quickly. In addition, once the milk has been
extracted from the cow, it must be lifted to the pipeline running
above the stall. Typically, this elevating process is done with the
same vacuum used to extract the milk. Thus, a stable vacuum at the
cow teats is very difficult to achieve. Although automation devices
such as milk meters and automatic take offs have inherent
individual benefits, it is difficult to implement these devices, as
they must be carried from cow to cow and secured to each stall.
Parlor Milking System
[0014] In the parlor milking system, each cow has a stall where it
can lay down, however, the cows are not restrained to the stall and
may move about the barn (free stall). For milking, the cows are
gathered and taken to the milking parlor. Fences or gates form the
milking stalls of the milking parlor and control the flow and
position of the cows in the parlor. The fences and gates also serve
to protect the operator from getting kicked or stepped on.
Typically, the milking stalls are considerably smaller than those
found in free stalls or tie stalls, as it is not intended that the
cows lay down in the milking stall. This closer confinement reduces
freedom of movement of the cow and results in less kick off of the
milking unit. As the milking equipment is not manually moved from
cow to cow, automatic take offs and milk meters can be permanently
mounted and utilized efficiently in the milking parlor system.
Herringbone Milking Parlor--Batch Operation
[0015] The herringbone-milking parlor includes two rows of milking
stalls separated by an operator pit. The milking stalls arrange the
cows for milking from the side. The cows enter the milking parlor
in a single file and turn at an angle away from the operator pit.
The cows overlap each other and thus form a herringbone pattern.
The operator works from the pit, which is a lowered area between
the opposing rows of milking stalls. In the lowered operator pit,
the operator is able to stand upright and attend to the cows
without having to bend or squat down. The milk line is located
along a side of the operator pit or in a basement below the parlor
floor and is lower than the cow udder. This configuration provides
for more stable vacuum at the teats, as the milk is not lifted by
vacuum. Locating the milk line lower than the cow's udder is
referred to as a low line system. However, as this herringbone
parlor is a batch processing, when the first cow is finished
milking it must wait until all the cows in the batch are finished
before the cow can leave. Therefore, inefficiencies are encountered
as milked cows in a batch cannot be replaced until the last cow in
the batch has been processed.
Tandem Parlor--Batch or Single Operation
[0016] The tandem parlor also includes two rows of milking stalls
separated by an operator pit. The milking stalls are arranged for
milking the cows from the side. The cows enter the milking parlor
single file and stop without turning away from the operator pit.
This configuration requires a much longer milking parlor than other
milking parlors having the same capacity. Adjacent milking units in
the tandem parlor are spaced by the length of a cow. This long
spacing between milking units causes the tandem parlor to have a
long walking distance for both animals and operators. Known
variations of this arrangement allow each stall to have its own
entrance and separate exit gate thereby allowing the operator to
release a cow when it is finished and let a new cow into that stall
even though the rest of the cows in that side are still milking.
Typically, the tandem parlor also employs a low line.
Parallel Parlor--Batch Operation
[0017] A parallel parlor also includes two rows of milking stalls
separated by an operator pit. The milking stalls arrange the cows
for milking from between the rear legs. The cows enter the parlor
in a single file and turn perpendicular to the operator pit in a
parallel cow-to-cow orientation. The parallel parlor allows for a
very short milking parlor with each milking unit being spaced by
only a cow width from the next adjacent milking unit. Further,
since the milking is done from between the rear legs, the milking
equipment is located where manure would fall upon it. A gutter is
required to catch the manure before it can soil the milking
equipment. The cows tail can also hinder milking from between the
rear legs. Often trimming or docking the tail enhances efficiency
of the parallel parlor.
Flat Barn Parlor--Single Operation
[0018] The flat barn-milking parlor includes one or two rows of
milking stalls with no recessed operator pit or an elevation change
in the milking parlor that can be handled by the cow stepping up.
It is similar to the pipeline type arrangement, wherein, the
operator milks the cows from the side and thus the operator must
bend or squat to access the udder. Like the pipeline type
arrangement, the operator has to attach milking units to the cow in
between two adjacent cows. It is difficult to attach the milking
unit from behind in between two rear legs of the cow. The operator
can be easily soiled or wetted by the cow. The front quarters of
the teats are hard to reach from behind.
[0019] Because there is no recessed operator pit, the cows can
enter the milking stalls from the rear of the stall without having
to move in a single file. This allows the operator to release a cow
from the stall as soon as the cow is finished milking. The next cow
may be then introduced into the milking stall from the rear of the
milking stall. Some flat barn parlors have small recessed operator
pits at each milking station where the operator steps down into the
pit and does not have to bend over as far to milk the cow.
Typically, these pits are located in between two adjacent milking
stalls and do not run the length of the milking parlor and to reach
more than two cows, the operator must step up out of one pit and
step down into the next pit. Most flat barn parlors use a high line
as cow traffic prevents the use of a low line. However, the
operator walking distance in a flat barn parlor is longer than
other parlor arrangements of equal capacity. That is, the stalls
are arranged either in a single row, or the two rows of stalls are
far enough apart to allow cow traffic between the rows. The flat
barn parlor induces operator fatigue from the long walking distance
and the need to either bend or squat to access the udder or climb
in and out of individual recessed operator pits.
Rotary Parlor--Single Operation
[0020] In an effort to overcome the considerable time for cows to
enter and fill the milking parlor in the herringbone and parallel
parlor configurations, the rotary parlor is employed. The rotary
parlor does not load and release cows in groups as do the
herringbone and parallel arrangements. In contrast, the rotary
parlor arranges a herringbone, tandem or parallel type stalls
around a moving platform. When an empty stall passes the loading
gate, a cow forwardly moves into the empty stall. The cow is milked
either from the side or between the rear legs, depending upon the
milking stall arrangement, as the milking parlor continues to
rotate. Prior to reaching the entrance gate, where the cows are
introduced, the milked cow is exposed to an exit gate. The speed of
the rotation of the parlor is usually set such that cows requiring
the longest time for milking are finished milking before reaching
the exit gate.
[0021] However, there is no provision for releasing a cow as soon
as the cow is finished and replacing the then empty milking stall
with a fresh cow.
[0022] In most rotary parlors, the operator(s) cannot see all of
the animals in the parlor. A unit fall off may go undetected until
an operator post dips the animal. If the operator detects a
condition that requires immediate attention, they must chase the
stall to remedy the situation.
[0023] The rotary parlor prevents the operator from having to wait
for groups of cows to load into the parlor, but cows having a
milking time that is less than the rotation time, must still wait
before they can exit the parlor.
[0024] The rotary parlor uses a low line. However, the rotation of
the rotary parlor requires a multitude of moving parts and enhanced
complexity to install and service. For example, service connections
to the parlor, including plumbing, vacuum, communications, and
electrical must be dynamic.
[0025] Therefore, a need still remains to enhance the efficiency in
milking cows by eliminating idle time for both the operator and the
equipment. The need exists for a method of presenting animals to be
milked, wherein milking equipment and associated automation devices
allow the operators to milk more cows faster than in a conventional
milking system. The further need exists for enhancing ergonomic
working conditions for operators.
BRIEF SUMMARY OF THE INVENTION
[0026] The present milking parlor provides for individual
sequencing of animals to be milked.
[0027] The milking parlor provides for a method of individually
presenting an animal to be milked, including forwardly loading the
animal into a milking stall through a rear ingress gate of the
milking stall; milking the animal; and forwardly unloading the
animal from the milking stall through a front egress gate. In a
preferred configuration, the animal does not change a direction of
travel during loading, milking and unloading. That is, the animal
does not navigate any turns, and ambulates along a single forward
straight path. Further, the milking stalls can be oriented to
provide for rear milking (similar to a conventional parallel parlor
operation), or underneath milking, or side milking (similar to a
conventional herringbone parlor operation) of the animals. Prior to
loading the animal into the milking stall, it is contemplated the
animal can be led from a holding gate. In a further embodiment, the
animal is passed through or over an operator pit intermediate the
holding gate and the milking stall.
[0028] Thus, the milking parlor includes holding gate, which
disposes a longitudinal axis of the animal parallel to milking
stall longitudinal axis. The milking stall includes a milking stall
entrance gate and a milking stall exit gate located on the milking
stall longitudinal axis. In certain configurations, the
longitudinal axis of the animal retained by the holding gate and
the milking stall longitudinal axis are co-linear.
[0029] The present disclosure contemplates three primary
configurations.
[0030] In the first primary configuration, the milking parlor has a
flat operator pit adjacent a rear of the animal to be milked. It is
understood a flat operator pit, may be recessed, but has a
sufficiently smaller recess such that the animals can negotiate
across the operator pit. In this primary configuration, a plurality
of milking stalls having rear ingress gates and front egress gates
are disposed along a side of the operator pit and a corresponding
plurality of holding gates disposed along an opposed side of the
operator pit. In this primary configuration there is a one-to-one
relationship between the holding gates and milking stall. It is
understood that if the width of the operator pit become so narrowed
the holding gates and the ingress gates of the milking stall can be
combined.
[0031] In the second primary configuration, a single holding gate
cooperates with a cart to translate an animal to one of a plurality
of milking stalls, which milking stall is unoccupied whereupon the
animal ambulates forwardly from the cart to occupy the stall. In
this primary configuration there is a one-to-many relationship
between the holding gates and milking stalls. Thus, there can be a
plurality of holding gates servicing a greater plurality of milking
stalls.
[0032] In a third configuration, the milking parlor includes a
plurality of milking stalls aligned along one edge of operator pit
and a corresponding plurality of holding gates aligned along an
opposing edge of the operator pit, wherein a bridge operably
connects a holding gate and corresponding unoccupied milking stall
to provide access from the holding gate to the milking stall. It is
understood different kind of bridges can be used. In this
configuration there is also a one-to-one relationship between the
holding gate and milking stall.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)
[0033] FIG. 1 is a top plan view of a one-to-one walk through
milking parlor with a flat operator pit.
[0034] FIG. 2 is a top plan view of a one-to-many walk through
milking parlor arrangement with a transport cart.
[0035] FIG. 3 is a top plan view of a one-to-one walk through
milking parlor arrangement, with a bridge, wherein the bridge
includes but is not limited to a translating, sliding, swing or
drop bridge.
[0036] FIG. 4 is a perspective view of a one-to-one walk through
milking parlor having a transport bridge.
[0037] FIG. 5 is a top plan view of the milking parlor of FIG.
4.
[0038] FIG. 6 is a side elevation view of the milking parlor of
FIG. 4.
[0039] FIG. 7 is a front elevation view of the milking parlor of
FIG. 4.
[0040] FIG. 8 is a perspective view of a one-to-one milking parlor
having a swing bridge.
[0041] FIG. 9 is a top plan view of the milking parlor of FIG.
8.
[0042] FIG. 10 is a side elevation view of the milking parlor of
FIG. 8.
[0043] FIG. 11 is a front elevation view of the milking parlor of
FIG. 8.
[0044] FIG. 12 is perspective view of the milking parlor having a
slide bridge.
[0045] FIG. 13 is a top plan view of the milking parlor of FIG.
12.
[0046] FIG. 14 is perspective view of the milking parlor having a
vertically translating bridge.
DETAILED DESCRIPTION OF THE INVENTION
[0047] The present milking parlor provides for individual
sequencing of animals to be milked.
[0048] The milking parlor provides for a method of individually
presenting an animal to be milked, including forwardly loading the
animal into a milking stall through a rear ingress gate of the
milking stall; milking the animal; and forwardly unloading the
animal from the milking stall through a front egress gate. In a
preferred configuration, the animal does not change a direction of
travel during loading, milking and unloading. That is, the animal
does not navigate any turns, and ambulates along a single forward
straight path. Further, the milking stalls can be oriented to
provide for rear milking (similar to a conventional parallel parlor
operation), or underneath milking, or side milking (similar to a
conventional herringbone parlor operation) of the animals. Prior to
loading the animal into the milking stall, it is contemplated the
animal can be led from a holding gate. In a further embodiment, the
animal is passed through or over an operator pit intermediate the
holding gate and the milking stall.
[0049] Thus, the milking parlor includes holding gate, which
disposes a longitudinal axis of the animal parallel to milking
stall longitudinal axis. The milking stall includes a milking stall
entrance gate and a milking stall exit gate located on the milking
stall longitudinal axis. In certain configurations, the
longitudinal axis of the animal retained by the holding gate and
the milking stall longitudinal axis are co-linear.
[0050] The present disclosure contemplates three primary
configurations.
[0051] In the first primary configuration, the milking parlor has a
flat operator pit adjacent a rear of the animal to be milked. It is
understood a flat operator pit, may be recessed, but has a
sufficiently smaller recess such that the animals can negotiate
across the operator pit. In this primary configuration, a plurality
of milking stalls having rear ingress gates and front egress gates
are disposed along a side of the operator pit and a corresponding
plurality of holding gates disposed along an opposed side of the
operator pit. In this primary configuration there is a one-to-one
relationship between the holding gates and milking stall. It is
understood that if the width of the operator pit become so narrowed
the holding gates and the ingress gates of the milking stall can be
combined.
[0052] In the second primary configuration, a single holding gate
cooperates with a cart to translate an animal to one of a plurality
of milking stalls, which milking stall is unoccupied whereupon the
animal ambulates forwardly from the cart to occupy the stall. In
this primary configuration there is a one-to-many relationship
between the holding gates and milking stalls. Thus, there can be a
plurality of holding gates servicing a greater plurality of milking
stalls.
[0053] In a third configuration, the milking parlor includes a
plurality of milking stalls aligned along one edge of operator pit
and a corresponding plurality of holding gates aligned along an
opposing edge of the operator pit, wherein a bridge operably
connects a holding gate and corresponding unoccupied milking stall
to provide access from the holding gate to the milking stall. It is
understood different kind of bridges can be used. In this
configuration there is also a one-to-one relationship between the
holding gate and milking stall.
[0054] The present system provides a milking parlor 10 for milking
a plurality of animals A on a continuous, individual basis, without
encountering the inherent limitations of batch processing.
[0055] As used herein, the term "rear milking" means accessing the
teats from between, or through the rear legs of the animal A. The
term "side-milking" means accessing the udders from between the
front leg and the rear leg along one side of the animal A.
[0056] Although the present system is described in terms of
presenting the animal to be milked, and specifically of milking
cows, it is understood the system is applicable to any domesticated
milk producing animal including, but not limited to goats, sheep,
bison, llamas and yaks. For the purpose of clarity the term "animal
to be milked" is shortened to "the animal."
[0057] The term "loading" the animal A into a stall means
introducing the animal into the stall. In contrast, the term
"unloading" the animal from a stall means extracting the animal
from the stall.
[0058] The modifier "forward" or "forwardly" when used in
connection with the animal means the animal proceeding in a
direction of travel being led by its head. The modifier "rearward"
or "back" when used in connection with the animal A means a
direction of travel that is led by the tail or hind legs of the
animal.
[0059] In this configuration, the term back or rear end of a
respective stall means that end which is adjacent the hind quarters
or rear legs of the animal A upon the animal being operably
retained within the stall. A front or forward end of the stall
corresponds to that end of the stall adjacent the front legs or
head of the animal A upon being operably retained in the stall.
[0060] The milking parlor 10 includes a holding area 20, at least
one holding gate 40, an operator pit 60, at least one milking stall
80 and a release area 100, to define a processing path from the
holding area through the holding gate, across the operator pit,
through the milking stall and to the release area. Optionally, the
milking parlor 10 can include or be operably connected to a
controller 120. The controller 120 is a processor or microprocessor
such as a computer, laptop computer or dedicated processor.
[0061] Prior to milking, the animals A are temporarily retained
within the holding area 20. The holding area 20 defines a space in
which the animals are collected from free stalls, grazing or other
non-milking activity. The holding area 20 is preferably connected
to the holding gates 40 by converging chutes 22. The chutes 22
direct and limit animal travel to a linear single file procession.
The chutes 22 can funnel animal traffic to a single holding gate.
Alternatively, a given chute 22 can funnel animals to a plurality
of holding gates 40.
[0062] The holding gate 40 includes a longitudinal axis LA.sub.HS.
The holding gate 40 can optionally cooperate with and include an
entrance gate 42 located along the longitudinal axis LA.sub.HS. The
entrance gate 42 can selectively define a barrier to the
corresponding chute 22. That is, the entrance gate 42 can permit
one way travel of an animal A from the chute 22 to the holding gate
40. Thus, once an animal A is disposed at a holding gate 40 the
animal cannot back up into the chute 22.
[0063] The holding gate 40 opens to provide access to the operator
pit 60.
[0064] The entrance gate 42 and the holding gate 40 can be any of a
variety of configurations. The entrance gate 42 and the holding
gate 40 can be of the same type, or different.
[0065] The entrance and holding gates 42, 40 can be any of a
variety of configurations including horizontally or vertically
swinging gates as well as vertically or horizontally translating
gates. That is, the entrance and holding gates 42, 40 can be a
swing gate, a slide gate or a lift gate. The entrance and holding
gates 42, 40 are movable between an opened and a closed position.
Movement of the entrance and holding gates 42, 40 between the
opened and the closed position can be provided by human or
automated actuators 46. The actuators 46 include, but are not
limited to pneumatic, gear, chain, and hydraulic or biased
actuators. The actuators 46 can be manually or automatically
triggered. That is, sensors (not shown) can be operably located
relative to the holding gate 40 or the entrance gate 42 to provide
a signal for opening or closing the entrance and holding gates.
Available sensors include position or location or pressure sensors,
as well as process sensors connected to the milking process and
particularly sensors to indicate termination of the milking process
in a corresponding milking stall 80. The actuators 46 and sensors
can be operably connected to the controller 120 for regulating the
opening and closing of the entrance and holding gates 42, 40.
[0066] The operator pit 60 is located intermediate the holding gate
40 and the milking stall 80, and can be at the same elevation as
the holding gate and the milking stall. Alternatively, the operator
pit 60 can be recessed, or at a lower elevation than the holding
gate 40 and the milking stall 80. The term recessed means at least
an elevational change that cannot be navigated by the animal during
progression through the milking parlor. Thus, the operator pit can
be flat or recessed.
[0067] In one configuration, the operator pit 60 is disposed at a
lower elevation than a floor of the holding gate 40 and milking
stall 80. The recessed configuration helps reduces operator
fatigue.
[0068] The operator pit 60 is configured to permit rear milking of
the animal A, upon confinement of the animal to the milking stall
80. An operator 50 is disposed in the operator pit 60 to attend the
milking process, including operating a milking machine. The
operator 50 can be a human or a robotic device. It is contemplated
the operator can be a human operator or a robotic operator, without
effecting the scope of the present invention. Thus, the operator
pit 60 can include any of a variety of commercially available
robotic milking machines. Alternatively, the operator pit 60 is
configured for human operators.
[0069] The dimension of the operator pit 60 extending between a
holding gate 40 and a milking stall 80 is at least partially
determined by intended operator 50. That is, if a robotic operator
50 is employed the dimension can be minimized.
[0070] The operator pit 60 can further include a mobile platform
translatable across a rear end of the plurality of milking stalls
80 to allow access to the rear of the animal A retained in the
respective milking stall. This allows the operator 50 to prepare
the teats and attach the milking units without incurring
significant stress or fatigue. In one configuration, the mobile
platform travels along a rail or set of rails adjacent the rear end
of the milking stalls 80.
[0071] In one configuration, employing a robotic operator, the
milking stall 80 includes a milking claw moveable between a
retracted position and an elevated milking position. The milking
claw is fluidly connected to the milking line by a hose, hoses or
pipe. Preferably, the connection of the milking claw to the milking
line is flexible, so that the milking claw has a range of motion
along the longitudinal and lateral dimension of the milking stall.
A robotic arm can selectively raise the milking claw to engage the
animal A and begin the milking process. Thus, the robotic actuating
arm can be operably associated with each milking stall 80.
Alternatively, the robotic arm is moveable across the rear end of
the milking stalls 80, so that a single robotic arm can be used to
selectively elevate a plurality of milking claws.
[0072] The robotic device can translate along a rail or set of
rails for alignment with a respective milking stall 80. The
actuating arm is moveable through at least one and typically three
degrees of freedom for operably locating a milking claw relative to
the teats. The actuating arm can be moved by any of a variety of
mechanisms known in the art, including, but not limited to,
hydraulics, pneumatics, servos, gearing, linkages and motors. In
the rear milking configuration, the robotic device operably locates
and withdraws the milking claw along a path between the rear legs
of the animal A.
[0073] The robotic device can be combined with an alternative
sensor means such as laser distance sensor, camera, infrared, touch
sensor, proximity sensor or data base to locate the teat position
before attaching the milking unit.
[0074] Each milking stall 80 includes a longitudinal axis LA.sub.ms
with an ingress gate 82 and an egress gate 84 located on the
longitudinal axis. The ingress gate 82 is located to permit
selective passage from the operator pit 60 into the milking stall
80 and the egress gate 84 is located to permit selective passage
from the milking stall to the release area 100.
[0075] The milking stall 80 is sized to confine the animal A to a
generally predetermined and fixed location in the stall. That is,
the animal A is not permitted to lay down, and has restricted
lateral tolerance.
[0076] The milking stall 80 can be oriented perpendicular to the
adjacent portion of the operator pit 60, or inclined (angled)
relative to the operator pit, such as a herringbone pattern. In a
preferred configuration, the longitudinal axis HA.sub.HS of the
holding gate 40 and the longitudinal axis LA.sub.ms of the milking
stall 80 are parallel. For some configurations, the longitudinal
axes are collinear.
[0077] In addition, the number of holding gates 40 can be greater,
equal to, or less than the number of milking stalls 80. Typically,
the milking parlor 10 configurations are one-to-many, or one-to-one
holding gates 40 to milking stalls 80.
[0078] As seen in FIGS. 4-11, in one configuration, the ingress
gate 82 of the milking stall 80 is a lift style gate. The ingress
gate 82 includes a splash shield 86, (manure gutter) and associated
outlets. The splash shield 86 outlet is fluidly connected to
discharge lines as known in the art.
[0079] It is understood the ingress gate 42, or a separate rail or
pusher bar can be employed to urge the cow through the holding gate
and into the milking stall.
[0080] The ingress gate 82 can be lifted by any of a variety of
mechanisms including, but not limited to pneumatic, gear, chain,
motor, servos, and hydraulic or biased actuators. Further, although
the ingress gate 82 is shown as a lift gate, it is understood the
ingress gate can be any of a variety of configurations including
horizontally or vertically swinging gates as well as vertically or
horizontally translating gates. That is, the ingress gate 82 can be
a swing gate, a slide gate or a lift gate.
[0081] Similarly, the egress gate 84 of the milking stall 80 can be
any of a variety of configurations including horizontally or
vertically swinging gates as well as vertically or horizontally
translating gates. That is, the egress gate 84 can be a swing gate,
a slide gate or a lift gate.
[0082] The ingress and egress gates 82, 84 are movable between an
open and a closed position. Movement of the ingress and egress
gates 82, 84 between the open and the closed position can be
provided by human or automated actuators. The actuators 88 include,
but are not limited to pneumatic, gear, chain, and hydraulic or
biased actuators. The actuators 88 can be manually or automatically
triggered. That is, sensors 90 can be operably located relative to
the milking stall 80 to provide a signal for opening or closing the
ingress and egress gates 82, 84. Available sensors 90 include
position or location or pressure sensors, as well as process
sensors connected to the milking process and particularly
termination of the milking process. The actuators 88 and sensors 90
can be operably connected to the controller 120 for regulating the
opening and closing of the ingress and egress gates 82, 84.
[0083] In further configurations, it is contemplated the milking
stall 80 can include a milk meter. The milk meter can be connected
to the milking claw or the milking line and the controller through
a wired or wireless connection. The milk meter is known in the
industry and typically includes a microprocessor and sensors for
determining milk yield, milk temperature, milk conductivity, cow
connection status, which data is transmitted to the controller
120.
[0084] Movement of the animals from the holding area to the release
area, includes crossing the operator pit. In the one holding gate
to one milking stall, flat operator pit configurations, the primary
requirement is directing or guiding the animal from the holding
gate to the corresponding ingress gate. That is, it is generally
undesirable to have an unguided animal in the operator pit.
Therefore, in the one-to-one flat pit milking parlor, the present
invention can provide guidance of the animal along the portion of
the path that crosses the operator pit. This guidance can be
provided by a translating bridge, a forward/rearward sliding
bridge, a transport cart, a swing bridge or a drop bridge, as these
structures are described herein. Alternatively, sizing of the
holding gate 40 and/or the ingress gate 82 can be selected to guide
the animal across a flat operator pit. As seen in FIG. 1, the
holding gate 40 includes a pair of arms, which pivot about spaced
vertical axes, between a closed position and an open position. The
arms are sized such that in the open position, a terminal end of
the arm is sufficiently near the ingress gate 82 of the milking
stall 80, to dictate travel of the animal from the open holding
gate 40 to the corresponding milking stall.
[0085] Alternatively, a bridge can be used to define the available
travel path from a holding gate 40 to a corresponding milking stall
in the one-to-one milking parlor with a recessed operator pit. The
bridge can be a swing bridge, as shown in FIGS. 8-11. In the swing
bridge configuration, the swing bridge 40a includes a floor 40b and
actuators (not shown), and optional upwardly extending side rails
40c. The optional side rails can prevent the animal from falling
off the bridge. The swing bridge is rotatable about a horizontal
axis between a raised (closed) position and a lowered (open)
position. In the raised position, the floor of the swing bridge
precludes forward motion of the animal. In such case, the bridge
can function as the holding gate. Thus, a separate holding gate 40
can be eliminated. The rails thus extend along a side of the
animal, toward the rear of the animal.
[0086] In the open position, the floor of the swing bridge spans
the operator pit to provide a surface on which the animal can walk,
and the rails dictate the animal travel to the corresponding
unoccupied milking stall 80. The swing bridge can also be
transportable along the longitudinal axis of the operator pit to
align with other milking stalls.
[0087] In a further configuration, as seen in FIG. 14, the bridge
can be a drop bridge 40e, moveable between a raised (closed)
position and a lowered (open) position. The drop bridge 40e
includes a floor, as in the swing bridge, and optional side rails
for directing the animal.
[0088] It is understood the closed position can be either elevated
above the operator pit (by a sufficient distance to allow the
operator to work beneath) or a depressed position (forming a
portion of the operator pit or precluding passage of an animal).
The open position of the bridge permits passage of the animal
through the holding gate and onto the bridge. This movement of the
bridge, from the closed position to the open position, can include
raising or lowering the bridge (depending upon the closed
position.
[0089] In another configuration, as seen in FIGS. 12 and 1 3, the
bridge can be a slide bridge 40d, moveable between a forward (open)
position towards milking stall 80 and a backward (closed) position
toward the holding gate 40. The slide bridge includes a floor,
actuators, and optional side rails for directing the animal.
[0090] In the bridge configuration, the operator pit 50 can be
either a flat pit or a recessed pit. That is, the bridge, either
swing or drop or translate or slide, can be used in combination
with a flat operator pit or a recessed operator pit.
[0091] Movement of the animal from the holding gate 40 to a milking
stall 80 in a milking parlor having one holding gate to many
milking stalls, can also be controlled by a bridge cart.
[0092] Referring to FIG. 2, the cart can be operably aligned at the
holding gate 40, and subsequently translated horizontally to align
with an unoccupied milking stall.
[0093] Alternatively, a cart, which moves only along a horizontal
path can be used to transfer an animal from the holding gate to an
unoccupied milking stall 80. The cart can be used in conjunction
with either a flat operator pit or a recess operator pit.
[0094] As seen in FIGS. 1-7, the transport cart 140 is slideably
disposed over a portion of the operator pit 60 at the elevation of
the floor of the holding gate 40 and milking stall 80.
[0095] The cart 140 includes a pen or frame 142 for retaining the
animal A on the cart as the animal moves relative to the cart, or
the cart moves relative to the holding gate 40. The pen 142 usually
includes at least side walls for precluding lateral movement or
turning of the animal.
[0096] In this cart configuration, the holding gate 40 is employed
for preliminary retention the animal A. The transport cart 140 is
disposed adjacent to and aligned with the holding gate 40 and the
animal to be milked passes from the holding gate onto the transport
cart. The transport cart 140 is then moved transversely to operably
align the bridge cart with a corresponding milking stall 80 and the
animal to be milked walks forwardly from the transport cart into
the milking stall.
[0097] The transport cart 140 or the bridge cart can be operably
disposed by operator power, chain drives, hydraulic drives,
pneumatic drives or electric motors. Initiation of cart translation
can be by manual or automatic control. For manual control, the
operator verifies the animal position in the transport cart 140 and
directs the cart to align with the empty milking stall. In an
automatic system, the controller 120 may receive signals form
milking stall sensors indicating the empty or occupied status of a
milking stall, as well as the position and occupancy of the
transport cart 140. The controller 120 can thus locate the
transport cart 140 at an occupied holding gate 40 to receive an
animal A, translate the transport cart 140 to align with an empty
milking stall 80. It is also contemplated the controller 120 can
operate the ingress and the egress gates 82, 84 of the milking
stall 80.
[0098] In a configuration of the recessed operator pit, with a
one-to-one holding gate 40 to milking stall 80 correspondence, the
transport bridge cart 140 is used to selectively connect a given
holding gate with a corresponding milking stall. The holding gate
40 and the ingress gate 82 of the milking stall 80 are selectively
opened to permit passage of the animal A from the holding gate 40,
across the operator pit 60 and to the milking stall 80, wherein the
ingress gate 82 of the milking stall is selectively closed to
retain the animal therein. The transport bridge cart 140 can then
be moved by operator or automatically to align an empty milking
stall 80 with a holding gate 40.
[0099] Thus, the animal A proceeds along a linear path from the
holding gate 40, across the operator pit 60, through the ingress
gate 82, through the milking stall 80 to exit through the exit gate
84 to the release area 100. Generally, the holding gate 40 and the
milking stall 80 are parallel, and in some configurations,
collinear. In a first configuration, a holding gate 40 is co-linear
with a milking stall 80 with the operator pit 60 intermediate the
holding gate and the milking stall.
[0100] The milking parlor 10 employs a plurality of parallel
milking stalls 80, an operating pit 60 adjacent a rear or backend
of the plurality of milking stalls, and a corresponding plurality
of holding gates 40 to dispose the operating pit intermediate the
backend of the milking stalls and the front end of the holding
gates.
[0101] Thus, the processing path for an animal A through the
milking parlor 10 includes being retained in the holding gate 40 by
closure of the gate, passing from the holding gate 40, across the
operator pit 60 and through an ingress gate 82 of the milking stall
80, being retained within the milking stall through closure of the
milking stall ingress gate, and subsequently passing from the
milking stall through the egress gate 84 of the milking stall.
Preferably, the holding gate 40 and the milking stall 80 are
co-linear disposed such that the animal A to be milked follows a
straight linear path through each stall and the respective
gates.
[0102] In addition, the controller 120 such as computer, personal
computer or dedicated processor can be used for cooperatively
operating the various elements of the milking parlor 10.
[0103] Referring to FIG. 2, it is also contemplated the present
invention can be employed in a bidirectional flow path milking
parlor. In the bidirectional milking parlor, there is a holding
area and a release area along each side of the operator pit (which
can be flat or recessed). As seen in FIG. 2, the animals converge
from the holding area to holding gates at the end of the operator
pit. While a single holding gate is shown, it is understood a
plurality of holding gates can be employed, wherein the transport
cart or bridge can define a single spot or a corresponding
plurality of spots for retaining the animals.
[0104] The holding gate for each animal flow direction aligns with
a corresponding holding gate for the opposing flow animal flow
direction.
Operation
[0105] In operation, the animals A are directed to the holding area
20. The animals A are then urged or guided into the chutes 22 to
load a lead animal to a holding gate 40. Depending upon the
specific configuration of the milking parlor 10, the animal A is
retained by the holding gate 40 in the closed position.
[0106] Upon a milking stall 80 becoming unoccupied, the transport
cart 140 or bridge is translated to be aligned with the occupied
holding gate 40. The holding gate is opened and the animal A walks
into the transport cart 140 along the longitudinal axis of the
cart.
[0107] In the one-to-many configuration of the milking parlor 10,
the transport cart 140 is translated to align with the unoccupied
milking stall 80. Alternatively, in the one-to-one configuration of
the milking parlor 10, the transport cart 140 or bridge (and animal
A) are aligned with the unoccupied milking stall 80.
[0108] The ingress gate 82 of the milking stall 80 is disposed in
the open position and the animal A exits the transport cart 140 or
bridge to load into the milking stall 80 without changing the
direction of travel.
[0109] After loading of the animal into the milking stall 80, the
ingress gate 82 is moved to the closed position. The operator 50,
human or robotic, locates the milking claw 81 relative to the teats
to operably engage the milking claw and the teats.
[0110] By control known in the industry, upon completion of the
milking cycle, the milking claw is retracted or falls to the
retracted position.
[0111] Thus, the present invention provides independently occupied
and controlled milking stalls. Thus, the inherent limitations of
batch processing, wherein the batch speed is limited by the slowest
animal, the present milking parlor allows each milking stall to be
maximized by responding to the actual usage of the milking
stall.
[0112] While the invention has been described in conjunction with
specific embodiments thereof, it is evident that many alternatives,
modifications, and variations will be apparent to those skilled in
the art in light of the foregoing description. Accordingly, the
present invention is intended to embrace all such alternatives,
modifications, and variations as fall within the spirit and broad
scope of the appended claims.
* * * * *