A milking robot for completely automatically performing a teat-related action on a dairy animal. The robot includes a frame with a movable arm structure and a robot arm and actuators, a teat cup, a flexible connecting means connected between the teat cup and the arm structure, a retracting device for pulling the teat cup back onto the arm structure by means of the connecting means, a vacuum device for applying a milking vacuum to the teat cup, and a control unit for controlling the milking robot. The robot further includes at least one of an arm structure position-determining device for determining a measured value relating to an arm structure position, and an arm structure acceleration-determining device for determining an arm structure acceleration. The control unit is configured to control the retracting device and/or the vacuum device, if the determined measured value satisfies a predetermined measured value criterion.

A pressure control device for a milking machine includes a housing, a vacuum inlet, and two control circuits. Each circuit includes a main vacuum passage extending through the housing from the vacuum inlet to an outlet, and a main valve configured to take one of an open position and a closed position. A pilot passage extends from the main vacuum passage and includes a pilot valve body configured to take one of an open pilot position and a closed pilot position. The pilot passage acts in the open pilot position on the main valve to move to the open position, and permits in the closed pilot position the main valve to move to the closed position. A solenoid controls the pilot valve body. A holding member receives the solenoid and is attached to the housing through a first bayonet coupling.

A milking system includes teat cups connected to a respective milk evacuation tube; a vacuum pump; a milk tank; vacuum adjustment arrangements, configured to adjust an inlet vacuum pressure level, provided to the respectively associated teat cup; vacuum pressure sensors each configured to measure vacuum pressure under each teat; a processing device configured to: set an inlet vacuum pressure level; obtain measurements of a resulting vacuum pressure level of the associated teat cup; compare it with a desired milking vacuum pressure level; calculate an adjusted inlet vacuum pressure level to achieve the desired milking vacuum pressure level; and cause adjustment according to the respectively calculated adjustment, independently of an animal identity.

A method for operating a valve, comprises directing fluid flow through a housing of the valve, wherein the fluid flows into the housing through a housing inlet and flows out of the housing through a housing outlet. The method continues by directing a first electric current into a solenoid coupled to the housing to generate a first magnetic field, wherein the first magnetic field exerts a force upon a plunger positioned inside the housing and causes the plunger to magnetically connect to a magnet. The method continues by directing a second electrical current into the solenoid to generate a second magnetic field, wherein the second magnetic field exerts a force upon the plunger causing the plunger to disconnect from the magnet and engage with the housing outlet. Fluid flows into the inlet through a milking hose, and fluid flows out of the outlet into a milking pipeline.

A valve apparatus comprises a housing, a solenoid operable to receive electrical current flow, and an enclosure, the enclosure housing the solenoid, a magnet coupled to the enclosure, a plunger comprising a stopper and a conductive portion, and a spring coupled to the plunger. When the solenoid receives a first current, the solenoid applies a first magnetic force onto the plunger causing the stopper to disengage from the housing outlet, the conductive portion of the plunger magnetically connects with the magnet, and the stopper remains disengaged from the housing outlet after the first period of time expires. When the conductive portion is magnetically connected to the magnet and the solenoid receives a second current, the solenoid applies a second magnetic force onto the plunger causing the conductive portion of the plunger to disconnect from the magnet so that the stopper engages with the housing outlet.

Improving milking system performance through the incorporation of a source of greater than atmospheric pressure air into a pulsator while limiting total pressure in the teat cup. The system is further improved by providing an improved supply of regulated vacuum to the milking cluster throughout the milking process. The system is further improved with a monitoring and detecting the functional failure of the pulsation assemblies. Additional system improvements are provided with the addition of a fresh air valve assembly, a wireless method of regulating vacuum levels and the remote location of a pulsator assembly in a basement style parlor.

A mechanical manifold valve for robotic milking that is designed to operate at varying pressures, and which is operated automatically according to the pressure in at least one of the teat cups, such that the pressure in that teat cup influences the operation of the manifold valve, thereby controlling the pressure in at least one additional teat cup.

An air vent plug assembly and milker unit short milk tube having an air vent plug assembly to improve milk flow characteristics through the short milk tube. The short milk tube includes a wall with an upstream end and a downstream end and defining a milk passage bore extending between the upstream end and the downstream end. The wall defines a vent plug mounting hole. A vent plug extends through the vent plug mounting hole and includes a cap, a shaft joined to the cap, and a barbed end joined to the shaft, the vent plug defining a vent passage to at least partially vent the milk passage bore. A flow dimple is defined in the barbed end and disposed in the milk passage bore.

A vacuum supply source (100) includes a first vacuum pump (110) configured for providing vacuum pressure at a first maximum vacuum level; a second vacuum pump (120) configured for providing vacuum pressure at a second maximum vacuum level (P2), the first vacuum pump (110) having a larger capacity than the second vacuum pump (120); a flow limiter valve (140) arranged between the vacuum pumps (110, 120); a vacuum conduit (130), connected to the vacuum pumps (110, 120); and a controller (150) configured to obtain a request for a desired vacuum level (PR), determine a required pump speed of the first and/or second vacuum pumps (110, 120) in order to provide vacuum pressure at the desired vacuum level (PR), and adjust pump speed of the first and/or second vacuum pumps (110, 120) according to the determined required pump speed, via a control signal.

A milking system, including a milk line; a vacuum arrangement; a milking unit; a pulsator, configured to adjust pulsation ratio and pulsation rate of fluid pressure at two distinct levels; a receiver connected to the milk line, and also connected to the vacuum arrangement; a milk meter; and a processing device communicatively connected to the milk meter and the pulsator; the processing device is configured to, repeatedly during the milking session obtain and compare a milk flow measurement with a low milk flow limit; and, when the milk flow measurement is lower than the limit apply a low pulsation rate and a first pulsation ratio, wherein the D-phase is longer than the B-phase; or otherwise apply a high pulsation rate and a second pulsation ratio, wherein the B-phase is longer than the D-phase.