A method comprises extending a robotic attacher under a dairy livestock positioned in a milking stall, wherein the robotic attacher comprises a nozzle that is positioned generally on the bottom of the robotic attacher during a first operation. The method further comprises rotating the robotic attacher during a second operation such that the nozzle is positioned generally on the top of the robotic attacher.

The disclosure concerns a milking installation including milking positions configured to milk one animal at a time, a first common milk line connected to a first milk receiver, a second common milk line connected to a second milk receiver, a control arrangement, and at least one robot arm. Each milking position includes at least one teat cup and a flow directing arrangement, the flow directing arrangement including an inlet arrangement connected to the teat cup, a first outlet arrangement connected to the first milk line, and a second outlet arrangement connected to the second milk line. The control arrangement is configured to control the flow directing arrangement to fluidly connect the teat cup via the inlet arrangement with either the first outlet arrangement or the second outlet arrangement.

A milking system includes a milking device, and a milk storage system having: a temporary milk storage vessel for temporarily storing milk from a plurality of milking operations, a milk pipe from the milking device to the temporary milk storage vessel, a milk tank for storing the milk from the temporary milk storage vessel, a control unit, a main milk pipe from the temporary milk storage vessel to the milk tank, a pressurized liquid supply which is controllable by the control unit and is provided and configured to supply a pressurized liquid, other than milk, to the milk storage system, a first and a second discharge provided on the main milk pipe, a selection device which is controllable by the control unit and is on the main milk pipe towards the first discharge or the second discharge, wherein the control unit is configured to perform a milk transferring action for transferring milk in the main milk pipe into the milk tank with the aid of the pressurized liquid, wherein the liquid transferring action includes bringing the pressurized liquid supply and the first discharge into liquid connection with the main milk pipe, and breaking a liquid connection of the main milk pipe with the second discharge, allowing an amount of pressurized liquid to flow under pressure from the pressurized liquid supply into the main milk pipe, and breaking the liquid connection between the main milk pipe and the first discharge. Transferring the milk in this way means that it is subjected to less mechanical load and mixed with less air, which benefits the quality. The invention also provides a temporary milk storage vessel and method of this type.

A milk tank system includes a first holder configured for intermediate storage of milk from several milkings of a milking device, and not being a milk glass; a second holder for storage of milk from the first holder; a transport device for transporting milk including a milk line from the first holder to the second holder, via which milk line the second holder may be brought into fluidic connection with the first holder, and a shut-off for shutting off the fluidic connection, in particular from the first holder to the milk line, wherein the transport device has a first operating state which is configured for collecting milk in the first holder, and a second operating state which is configured for transferring the milk from the first holder to the second holder, wherein the milk tank system further includes a control system for switching the transport device from the first to the second operating state when the milk in the first holder reaches a switching milk level which changes over time. Because the pumping of the milk from the intermediate milk storage vessel does not always begin at the same or comparable maximum milk level, but preferably at an ever increasing level, potentially caking milk residue is always rinsed away on a subsequent filling.

A milk tank system includes a first holder configured for intermediate storage of milk from several milkings of a milking device, and not being a milk glass; a second holder for storage of milk from the first holder; a transport device for transporting milk including a milk line from the first holder to the second holder, via which milk line the second holder may be brought into fluidic connection with the first holder, and a shut-off for shutting off the fluidic connection, in particular from the first holder to the milk line, wherein the transport device has a first operating state which is configured for collecting milk in the first holder, and a second operating state which is configured for transferring the milk from the first holder to the second holder, wherein the milk tank system further includes a control system for switching the transport device from the first to the second operating state when the milk in the first holder reaches a switching milk level which changes over time. Because the pumping of the milk from the intermediate milk storage vessel does not always begin at the same or comparable maximum milk level, but preferably at an ever increasing level, potentially caking milk residue is always rinsed away on a subsequent filling.

A method of operating a robotic attacher, includes suspending a robotic attacher from a rail and extending the robotic attacher between the legs of a dairy livestock. The method continues by attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method concludes by rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.

A robotic attacher comprises a gripping portion, a vision system positioned on a first surface of the gripping portion, and at least one nozzle positioned on a second surface of the gripping portion. The gripping portion is rotates about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.

A robotic attacher comprises a gripping portion, a vision system positioned on a first surface of the gripping portion, and at least one nozzle positioned on a second surface of the gripping portion. The gripping portion is rotates about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.

A milking system includes several milking devices, each having a milk-carrying part, a temporary milk storage vessel, a milk pipe system, a milk storage tank, and a main milk pipe, which connects the temporary milk storage vessel to the milk storage tank. The milking system includes a first cleaning device having at least one first cleaning liquid supply and at least a pump, which cleaning device is configured to clean at least the milk-carrying part of at least one milking device and a part of the milk pipe system which connects the milk-carrying part to the temporary milk storage vessel, by transferring cleaning liquid from the cleaning liquid supply through at least the milk-carrying part of the at least one milking device and through said part of the milk pipe system to the temporary milk storage vessel by pumping. The temporary milk storage vessel includes a main pump for transferring liquid from the temporary milk storage vessel through the main milk pipe in the direction of the milk storage tank. The milking system includes a second, additional cleaning device with at least one second, additional cleaning liquid supply, which second cleaning device is configured to supply additional cleaning liquid from the second cleaning liquid supply in a direction of flow from the temporary milk storage vessel towards the main milk pipe. The second cleaning liquid supply is situated downstream of at least each of the milking devices, viewed in said direction of flow.

A milking system includes several milking devices, each having a milk-carrying part, a temporary milk storage vessel, a milk pipe system, a milk storage tank, and a main milk pipe, which connects the temporary milk storage vessel to the milk storage tank. The milking system includes a first cleaning device having at least one first cleaning liquid supply and at least a pump, which cleaning device is configured to clean at least the milk-carrying part of at least one milking device and a part of the milk pipe system which connects the milk-carrying part to the temporary milk storage vessel, by transferring cleaning liquid from the cleaning liquid supply through at least the milk-carrying part of the at least one milking device and through said part of the milk pipe system to the temporary milk storage vessel by pumping. The temporary milk storage vessel includes a main pump for transferring liquid from the temporary milk storage vessel through the main milk pipe in the direction of the milk storage tank. The milking system includes a second, additional cleaning device with at least one second, additional cleaning liquid supply, which second cleaning device is configured to supply additional cleaning liquid from the second cleaning liquid supply in a direction of flow from the temporary milk storage vessel towards the main milk pipe. The second cleaning liquid supply is situated downstream of at least each of the milking devices, viewed in said direction of flow.