An arm device for a milking parlor arrangement for the automatic milking of milk-producing animals comprises an arm and a holder, which is coupled to the arm in a pivotable manner and has a milking cluster, wherein the arm is connected to an arm-drive shaft and is mounted such that it can be rotated about an arm axis, wherein a holder-drive shaft is mounted in the arm-drive shaft such that it can be rotated independently of the arm-drive shaft, wherein the arm-drive shaft and the holder-drive shaft are designed such that they can be coupled to a drive unit, wherein the arm device has at least one transmission element in the form of a pulling means for transmitting rotary or pivoting movements. The at least one transmission element is fixed in each case to respective wheels, with which it interacts in order to transmit rotary or pivoting movements. The invention also relates to a divider for a milking parlor arrangement having said arm device, and to a milking-parlor arrangement.

The invention relates to a device (1) for analysing a cleaning fluid, comprising: a line portion (2) for the cleaning fluid, a light-source unit (4), which emits light into the line portion (2), a detection unit (5) for spectrally resolved capturing of light exiting the line portion (2), and an analysis unit (6) which is designed to analyse the cleaning fluid with regard to the constituents on the basis of signals from the detection unit (5).

The invention relates to a device (1) for analysing a cleaning fluid, comprising: a line portion (2) for the cleaning fluid, a light-source unit (4), which emits light into the line portion (2), a detection unit (5) for spectrally resolved capturing of light exiting the line portion (2), and an analysis unit (6) which is designed to analyse the cleaning fluid with regard to the constituents on the basis of signals from the detection unit (5).

A teat treatment apparatus comprising a tubular outer housing containing a tubular inner shell. The tubular inner shell includes a side wall defining a teat treatment cavity, including a central side wall portion. An inlet port extends through a side wall of the tubular outer housing and is in fluid communication with an annular cavity formed by the inner side surface of the tubular housing and an upper annular ridge, recessed central side surface, and lower annular ridge of the side wall of the tubular inner shell. Orifices are provided in the central side wall portion of the tubular inner shell. Each of the orifices is in fluid communication with the annular cavity and the treatment cavity, and each of the orifices defines an orifice axis directed at an oblique angle with respect to the central axis of the treatment cavity and downwardly with respect to the treatment cavity plane.

A teat treatment apparatus comprising a tubular outer housing containing a tubular inner shell. The tubular inner shell includes a side wall defining a teat treatment cavity, including a central side wall portion. An inlet port extends through a side wall of the tubular outer housing and is in fluid communication with an annular cavity formed by the inner side surface of the tubular housing and an upper annular ridge, recessed central side surface, and lower annular ridge of the side wall of the tubular inner shell. Orifices are provided in the central side wall portion of the tubular inner shell. Each of the orifices is in fluid communication with the annular cavity and the treatment cavity, and each of the orifices defines an orifice axis directed at an oblique angle with respect to the central axis of the treatment cavity and downwardly with respect to the treatment cavity plane.

A protective device for a milking cup including a milking cup part enclosing a portion of the milking cup at a location of a connection, the milking cup part including a wall. The milking cup part includes an opening in the wall for passing through at least one of a milk discharge line and pulsating line, and a single-part or multipart line part connectable to form a circumferential wall for enclosing at least a part of the at least one of the milk discharge line and the pulsating line. The line part is connected to the milking cup part around the opening in the wall, wherein the line part, from the milking cup part, successively encloses first, second, and third parts, wherein at least the third part is dimensionally stable and the second part is, for example, at least ten times more flexible than the third part.

A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 2038, 203) of a diary livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).

A system comprises a milking box, a robotic attacher, a sensor, and a controller. The milking box has a stall to accommodate a dairy livestock. The stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region. The robotic attacher extends from the rear between the hind legs of the dairy livestock. The sensor identifies the dairy livestock within the milking box stall. The controller selects and opens the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock.

A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.

A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.