Teat Cup Design for Automated Milking Systems

Optimizing the sequence of attaching teat cups on a cow during automated milking to reduce failures and improve efficiency. The method involves using machine learning to determine the best sequence for attaching teat cups on a specific cow based on historical data. The learning is done by training a model to predict the success of attaching a teat cup based on factors like the previous teat cup attachments and the cow's udder geometry. This allows finding the optimal sequence for each cow that minimizes failures and reduces the number of attachment trials.

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A system for treating dairy livestock like cows that allows robotic milking and disinfecting directly under the animal without requiring the animal to move. The system uses a mobile robot that moves along a ramp between the animal's front and hind legs to perform tasks like milking, disinfecting, and testing. The teat cups are mounted vertically on the ramp in fixed locations. This allows the robot to easily access them without needing to move the animal. The ramp design allows the robot to operate directly under the animal without requiring it to enter the stall. The ramp can also have features like flaps to cover the teat cups and tubes to connect them to the main milk line.

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Device and method for controlling milking processes to prevent contamination when teat cups detach. The device has a monitoring unit between teat cups and milk lines. It contains a flow element that moves with milk flow. A sensor detects the flow element's position. If the flow element is detected during non-milk flow phases, it indicates a detached teat cup. The monitoring unit can then signal to stop milking vacuum to prevent air sucking into the lines. The device enables detecting and addressing detached teat cups during milking to prevent contamination.

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Automated system for backflushing and teat dipping milking systems to prevent contamination of milk and ensure hygiene. The system has a safety valve that seals off the milking unit during cleaning. Backflushing fluid, water, and air are pumped through the unit. A dip valve allows dip application. The safety valve bleeds pressure differentials between seals to prevent contamination. The system automates cleaning and dipping at the end of milking to minimize chemical and water usage. It can be retrofitted to existing milking units.

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Intelligent milking robot system using machine vision to automate and optimize the milking process. The system has a binocular camera setup that captures images of the cow's teats. It uses image processing and detection techniques to locate the teats accurately. The camera data is transformed between pixel, camera, and world coordinate systems. This allows the robot to precisely position the milking cups for extraction. The system also sends instructions to the robotic arm to move to the teat locations based on the camera coordinates. The binocular setup provides stereo vision for depth perception to help with accurate teat detection.

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Automated dairy milking system that allows efficient and hygienic milking of cows without risking contamination of the milk lines. The system uses valves to separate milk and cleaning fluids, and has a teat preparation process inside the milking cup to avoid exposing teats to dirt. After attaching the cups, the teats are sanitized, pulsated, and rinsed inside the cup before milking starts. This prevents contamination of the milk lines. The valves also allow controlled washing of the milking equipment and storage tanks. The system uses sensors to determine when to switch between cleaning, milking, and washing modes.

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Milker unit for dairy animals with a shell and liner combination that reduces twisting of the liner inside the shell while maintaining good sealing contact with the animal being milked and efficiency of the milking process. The shell has an alignment recess spaced radially outwardly from the longitudinal axis, and the liner has a key that engages the recess in the shell to prevent twisting. The liner also has locking rings that engage the shell to secure the liner in place.

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Milking cluster with valves in each teat cup to prevent treatment fluid contamination and reduce teat compression during rest phases. The valve system has a pressure-actuated valve in each milk flow passageway from the teat cup to the cluster bowl. During milking, the valve opens to allow milk flow. During rest phases, the valve closes to prevent milk flow. This prevents treatment fluid from entering the teat cup during rest phases when milk is not being extracted. It also reduces compression on the teat during rest phases by allowing the liner to collapse more fully.

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Automated milking system for cows and other milk-producing animals that provides thorough teat cleaning, milking, and medication application in a single device. The system uses a robotic arm with a processing mechanism that moves inside a cattle restraint cage. Cameras monitor the animal's teats and a recognition module identifies them. The arm cleans, milks, and medicates the teats in sequence using components like a cleaning device, milk lining, and medication bath shell. This integrated teat processing prevents bacteria growth, improves milk quality, and eliminates the need for separate machines.

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Automatic milk cup sleeve device that enables precise nipple recognition and positioning through a novel combination of laser scanning vision and binocular stereo vision. The system employs a combination of laser scanning technology to accurately identify the milk cow's nipple and a stereo vision system to precisely position the milk cup. This enables real-time monitoring of the nipple during milking, allowing for the automatic placement of the milk cup.

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Preparation robot for cleaning and stimulating animal teats in a rotary milking parlor. The robot has two movable cups to prepare the teats. One cup is fixed, the other detachable. The fixed cup cleans the teat during milking. The movable cup detaches and can reach further teats. It moves between fixed and detached positions using a flexible line. After teat prep, the line retracts the movable cup back. This allows thorough teat cleaning in the time constraints of a rotary parlor.

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System for treating dairy livestock like milking cows using mobile robots that move along ramps under the cows instead of bringing the cows to fixed milking robots. The system has vertical teat cup holders between stalls for the robots to access without entering the milking area. The robots have arms to attach and detach teat cups from the holders. This allows treating the cows without modifying the existing milking parlor. The robots can also do tasks like disinfection and testing. The system uses ramps instead of rotary milking parlors. The robots have rechargeable batteries and can communicate with each other. The teat cups have different lengths for easier gripping. The holders can move positions during milking to accommodate the robots.

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A movable automatic milking system that eliminates the labor-intensive process of manually attaching and detaching milking cups. The system features a side-by-side Baoding fence, milking machine, and milking cup assembly. The milking cup is connected to the machine through a piping system, with the trolley-mounted manipulator moving to different milking stations. The system includes a camera system to monitor cow milking activity and transmit images to the control system, enabling real-time monitoring and automation of milking operations.

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Method and apparatus for accurately detecting cow teats using a 3D camera to automate milking without human intervention. The method involves using a tail recognition camera to determine the cow's tail position, then calculating predicted breast and nipple locations based on the tail position. A nipple recognition camera is moved to those predicted locations using a robot arm, and finally the nipples are imaged and analyzed to confirm the exact locations. This allows the milking cup to be precisely positioned over the teats for efficient and accurate milking.

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An automatic milk collection device that enables efficient and sanitary milking of dairy cows through a novel vacuum-assisted milking system. The device features a unique positioning system that inflates a massage rubber head on the milk cup body, creating a vacuum environment that prevents bacterial contamination while facilitating the removal of milk from the udder. This system enables continuous milking operations while maintaining optimal milk quality and worker safety, particularly in situations where cows are moving.

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Multiple cell voluntary milking system for dairy farms that allows cows to be milked on demand without fixed milking times. The system uses mobile milking units that travel between stalls to milk cows when they want. The cows have free access to the stalls and enter when they feel like being milked. The mobile units attach the milking equipment to the cows, then detach and return it when done. This allows flexible milking without herding the cows. The system also has vertical teat cup holders that move up and down as cows enter and exit. This enables cows to comfortably enter without interference.

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A milk cup tray for milking robots that addresses common issues with traditional milk cup trays. The tray features a rack with a tray bottom plate, a tray support plate, and a milk cup tray that can be easily tilted for manual removal. The tray also includes a pouring device and recovery mechanism to facilitate automated milk transfer and cleaning. The tray's design enables both manual and automated milking operations while maintaining hygiene and convenience.

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Milker unit liners with internal flow diverters that enhance teat dip distribution during milking. The liners incorporate a flow-diverting chamber within the teat cup, featuring a specially designed diverter that directs milk and cleaning solution to all areas of the teat, including the side opposite the teat entry point. This innovative design improves uniform dip distribution and reduces dip waste compared to conventional teat cup designs. The flow diverter is strategically positioned to facilitate effective teat dip application while maintaining structural integrity.

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Automated milking arm for milking systems that enables simultaneous milking of multiple animals while maintaining precision and safety. The arm features a pivoting, adjustable design that allows it to position between animal legs, enabling efficient milking of multiple animals in a single operation. The arm incorporates a precision milking cluster and transmission system that enables precise teat placement and handling. The design incorporates a spring-loaded system that maintains optimal positioning during milking, eliminating the need for separate teat attachment points. The arm's pivoting motion enables precise animal positioning and teat placement, while the adjustable design allows for simultaneous milking of multiple animals. The system incorporates a guide roller system for smooth teat handling and a spring-activated system for teat positioning.

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A milking machine with precision nipple positioning enables more efficient milking and cow comfort. The machine features a rotating table with a precision-fitted nipple guide system that accurately positions the cow's teat during milking. The guide system comprises a rotating shaft with a precision-fitted connecting rod, an inner fence, and peripheral fences. Spacer plates between the fences create milking areas. The system incorporates a cleaning system with a waste tank, cleaning cup, water pump, and suction line to maintain cleanliness during milking. The design minimizes equipment interference, prevents teat damage, and optimizes milking efficiency while maintaining cow comfort during the milking process.

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