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SE425821B - Arrangement in an apparatus for measuring the volume of milk or the like - Google Patents

Arrangement in an apparatus for measuring the volume of milk or the like

Info

Publication number
SE425821B
SE425821B SE8102187A SE8102187A SE425821B SE 425821 B SE425821 B SE 425821B SE 8102187 A SE8102187 A SE 8102187A SE 8102187 A SE8102187 A SE 8102187A SE 425821 B SE425821 B SE 425821B
Authority
SE
Sweden
Prior art keywords
pump
control device
pulses
volume
return valve
Prior art date
Application number
SE8102187A
Other languages
Swedish (sv)
Inventor
K E Olander
Original Assignee
Alfa Laval Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alfa Laval Ab filed Critical Alfa Laval Ab
Priority to SE8102187A priority Critical patent/SE425821B/en
Publication of SE425821B publication Critical patent/SE425821B/en

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01JMANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00Milking machines or devices
    • A01J5/007Monitoring milking processes; Control or regulation of milking machines
    • A01J5/01Milkmeters; Milk flow sensing devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01FMEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F3/00Measuring the volume flow of fluids or fluent solid material wherein the fluid passes through the meter in successive and more or less isolated quantities, the meter being driven by the flow

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Compressors, Vaccum Pumps And Other Relevant Systems (AREA)

Abstract

The invention concerns an arrangement in an apparatus for measuring the volume of milk or the like for the fluid running discontinuously into a collection tank 21, comprising a pump 4 with constant pump volume, connected to said tank 21 and driven by pulsating medium, preferably vacuum, a signalling arrangement 24, 25, 6 detecting the level in the tank 21 and actuating a control layout 6 for the pump 4, and a counting apparatus 5 registering the pump strokes emptying the pump volume, wherein the pump 4, which is connected to a pulse transmitter 1 alternately putting out vacuum and atmospheric pressure pulses, has working spaces 43, 45 and 44, in which the pulses of the medium bring about a shifting of a moveable wall 46 bounding a pump volume or chamber, enabling filling or resulting in emptying. The new feature is that the apparatus detecting the level in the tank 21 is arranged to actuate, by means of a control device 63, a check valve 61 hooked up in the line between the pulse transmitter 1 and the pump 4, which is arranged so that, in the uninfluenced and effective position for the pump 4, it only puts through pulses which result in the pump being held in the filling position, but in the actuated and disabled position it allows the passing of both kinds of pulses. <IMAGE>

Description

10 15 20 25 30 35 8102187-"5 2 styrdon påverka en i ledningen mellan pulsgivaren och pumpen inkopplad backventil, vilken backventil är anordnad att i opâverkat och verksamt läge till pumpen enbart fram- släppa sådana pulser, som resulterar i att pumpen nålles i fyllningsläge, men i påverkat och overksamqjort läge medger framsläppning av båda slagen och tömning av pumpen àstadkommande pulser. 10 15 20 25 30 35 8102187- "5 2 controllers affect one in the line between the encoder and the pump is connected to a non-return valve, which non-return valve is arranged that in the unaffected and effective position of the pump only release such pulses, which result in the pump being needled in fill mode, but in affected and inactive mode allows discharge of both strokes and emptying of the pump achieving pulses.

Ett föredraget utförande av den enligt uppfinningen anordnade apparaten kommer i det följande att närmare be- skrivas med hänvisning till den bifogade ritningen, på vilken fig l illustrerar apparatens allmänna uppbyggnad med flertalet komponenter visade i sektion och fig 2 i genomskärning och i större skala visar styranordningen för pumpen med övriga komponenterschematisktantydda.A preferred embodiment of it according to the invention The device will be described in more detail below. written with reference to the accompanying drawing, on which Fig. 1 illustrates the general construction of the apparatus with the plurality of components shown in section and Fig. 2 in section and on a larger scale show the control device for the pump with other components schematically indicated.

Pâ ritningen betecknas de i apparaten resp till den- samma anslutna komponenterna enligt följande.In the drawing, they are denoted in the apparatus or to the the same connected components as follows.

En i sig känd pulsator, som ingår i en konventionell mjölkningsanläggning, betecknas med l. Ett mjölkmottag- ningskärl betecknat med 2 är anordnat att mottaga från med 3 betecknade spenkoppsorgan kommande mjölk. En membranpump betecknas med 4 och ett dennas pumpslag registrerande räkneverk betecknas med 5. En styranordning för pumpen betecknas med 6. En med förstärkare försedd signalgívare till styranordningen betecknas med 7 och en manuellt pà- verkbar signalgivare för styranordningen med 8.A pulsator known per se, which is part of a conventional milking parlor, denoted by l. A milk reception vessel designated by 2 is arranged to receive from with 3 designated teat cup organs coming milk. A diaphragm pump denoted by 4 and one of its pump strokes registering counter is denoted by 5. A control device for the pump denoted by 6. A signal transmitter equipped with an amplifier to the control device is denoted by 7 and a manual operable signal sensor for the control device with 8.

Pulsatorn l, som är av i sig känd konstruktion har två anslutningsnipplar ll resp 12.The pulsator 1, which is of construction known per se, has two connection nipples ll and 12 respectively.

Mjölkmottagningskärlet 2 består av en behållare 21, vid vars lägsta parti ett utlopp 22 är anordnat. I be- hållaren är inom en styrning 23 anordnad en flottör 24 och vid flottörens"hedre parti en givarkropp 25. När be- hållaren 21 fyllts till en nivå N motsvarande minst en fylld pumpkammare flyter flottören upp, vilket innebär att även givarekroppen fjärmas från intilliggande parti av behållarbottnen.The milk receiving vessel 2 consists of a container 21, at the lowest portion of which an outlet 22 is provided. I be- the holder is arranged within a guide 23 a float 24 and at the "honorable party" of the float a donor body 25. When the holder 21 is filled to a level N corresponding to at least one filled pump chamber floats up, which means that the sensor body is also removed from the adjacent portion of the container bottom.

Spenkoppsorganet 3 är av konventionellt utförande.The teat cup member 3 is of conventional design.

Mjölkledningen 31 från detsamma leder direkt till mjölk- mottagningsbehållaren 21. Spenkoppsorganet är på icke vwmfiflfl- »ÅIWJ-“ä- ~~ -n- . 10 15 20 30 35 8102187-5 3 visat sätt anslutet till mjölkningsanläggningens pulsator- system.The milk line 31 from it leads directly to the milk the receiving container 21. The teat cup member is on non vwm fiflfl- »ÅIWJ-“ ä- ~~ -n-. 10 15 20 30 35 8102187-5 3 as shown connected to the pulsator of the milking parlor system.

Membranpumpen 4 har minst två arbetsmembran 41 och 42 belägna mellan arbetskammare 43, 44 och 45. 1 vilka atmos- färtryck resp vakuum kan låtas verka och ett pampande membran 46, som skiljer ena arbetskammaren från pumpkam- maren 47. Pumpkammaren har ett mot behållaren 21 vettande inlopp 48 och ett utlopp 49 där en ledning mot en för- varingstank eller liknande är ansluten.The diaphragm pump 4 has at least two working diaphragms 41 and 42 located between chambers 43, 44 and 45. 1 which atmos- pressure or vacuum can be allowed to act and a pumping diaphragm 46, which separates one working chamber from the pump chamber maren 47. The pump chamber has one facing the container 21 inlet 48 and an outlet 49 where a conduit towards a storage tank or similar is connected.

Räkneverket 5 påverkas av pulsatorn och avkänner sådan framsläppt puls, som resulterar i tömning av pumpens arbetskammare.The counter 5 is affected by the pulsator and senses such released pulse, which results in emptying of the pump working room.

Pumpstyranordningen 6 innefattar en styrbar back- ventil 61 inkopplad mellan ena pulsatornippeln 12 och pumpen 4 och ett medelst ett membran 62 påverkat styrdon 6 i form av en backventilen påverkande tapp 63. Membranet 62 och därmed styrdonstappen 63 påverkas av en fjäder 64, som strävar att hålla styrdonstappen 63 i ett läge där den på- verkar backventilen 61 så att denna ej kan stänga mot sitt säte 65. Backventilen 61 är så inkopplad att den i opåverkat läge endast släpper igenom vakuumpulsen, men ej atmosfär- eller friskluftpulsen till pumpen 4 och räkne- verket 5. Membranet 62 avgränsar en kammare 66, i vilken vakuum eller atmosfärstryck kan råda.The pump control device 6 comprises a controllable reverse valve 61 connected between one pulsator nipple 12 and the pump 4 and a control device 6 actuated by means of a diaphragm 62 in the form of a non-return valve actuating pin 63. The diaphragm 62 and thus the guide pin 63 is actuated by a spring 64, which strives to hold the guide pin 63 in a position where it is the non-return valve 61 acts so that it cannot close its seat 65. The non-return valve 61 is so connected that it in the unaffected position only lets through the vacuum pulse, but not the atmospheric or fresh air pulse to the pump 4 and the the work 5. The membrane 62 defines a chamber 66, in which vacuum or atmospheric pressure may prevail.

Den med förstärkare försedda signalgivaren 7 består av en signaldel och en förstärkardel. Signaldelen inne- fattar en avkännings- och ventilkropp 71, som kontaktlöst avkänner läget hos den i behållaren Zl anordnade flottörens 24 givarkropp 25, varvid när flottören befinner sig L ett mot bottnen anliggande, otillräckligt fylld eller tömd behållare indikerande läge, givarkroppen 25 bringar av- kännings- och ventilkroppen att vara förskjuten till ett första läge, medan när flottören 24 flyter och har fjärmat sig från bottnen och alltså indikerar tillräckligt fylld behållare, givarkroppen 25 åstadkommer avkännings- och ventilkroppens förskjutning till ett andra läge. Avkännings- och ventilkroppen 71 styr vakuum till ett ställmembran 72, som i sin tur påverkar en växelventil 73, som via en 10 15 20 25 30 35 8102187-5 4 ledning 74 antingen låter ett konstant vakuum verka 1 styrorganets 6 membrankammare 66 eller insläpper atmosfär- eller friskluft i densamma.The signal transmitter 7 provided with amplifier remains of a signal part and an amplifier part. The signal part contains grasps a sensing and valve body 71, as contactless senses the position of the float of the float arranged in the container Z1 24 sensor body 25, whereby when the float is L one abutting, insufficiently filled or emptied container indicating position, the sensor body 25 brings off the sensing and valve body to be offset to one first position, while when the float 24 floats and has distanced itself from the bottom and thus indicates sufficiently filled container, the sensor body 25 provides sensing and displacement of the valve body to a second position. Sensing and the valve body 71 controls vacuum to an actuating diaphragm 72, which in turn affects a reversing valve 73, which via a 10 15 20 25 30 35 8102187-5 4 line 74 either allows a constant vacuum to act 1 the diaphragm chamber 66 of the guide member 6 or admits the atmospheric or fresh air in the same.

De 1 anläggningen ingående komponenterna är samman- kopplade på följande sätt.The components included in the plant are connected as follows.

Den ena pulsatornippeln ll är via en ledning direkt ansluten till en arbetskammare 44, hos pumpen 4. Den Jndrl pulsatornippeln 12 är via pumpstyranordningen 6 kopplad till pumpens båda andra arbetskammare 43, 45. Så länge backventilen 61 är opåverkad kommer endast vakuumpulserna att släppas genom till pumpkamrarna 43, 45, vilket inne- bär att, trots att pulsering sker i arbetskammaren 44, pumpen hålles kvar i sitt ena läge, fyllningsläget.One pulsator nipple ll is via a line directly connected to a working chamber 44, at the pump 4. The Jndrl the pulsator nipple 12 is connected via the pump control device 6 to the other two working chambers of the pump 43, 45. So long the non-return valve 61 is unaffected, only the vacuum pulses will come to be passed through to the pump chambers 43, 45, which means carries that, despite pulsation taking place in the working chamber 44, the pump is kept in its one position, the filling position.

Så länge behållaren 21 innehåller för fyllning av pumpkammaren 47 otillräcklig volym, dvs nivån ligger under den med N betecknade linjen, kommer flottören 24 att vara opåverkad.fGivarkroppen 25 gör då att avkännings- och ventilkroppen 71 hålles i det läge, där vakuumet hindras påverka ställmembranet 72 och växelventilen 73. Detta inne- bär att vakuumet konstant verkar mot pumpstyranordningens 6 membran 62, som håller styrdonstappen 63 i backventilen 61 icke påverkande läge. Backventilen kommer så länge be- hållaren 21 är otillräckligt fylld att verka som backventil och alltså släppa igenom vakuumpulserna men ej atmosfärs- tryckspulserna till pumpkammare 43 och 45.As long as the container 21 contains for filling pump chamber 47 insufficient volume, ie the level is below the line denoted by N, the float 24 will be unaffected.fThe sensor body 25 then allows sensing and the valve body 71 is held in the position where the vacuum is obstructed actuate the actuating diaphragm 72 and the reversing valve 73. This carries that the vacuum constantly acts against that of the pump control device 6 diaphragm 62, which holds the guide pin 63 in the non-return valve 61 non-affecting position. The non-return valve will be the holder 21 is insufficiently filled to act as a non-return valve and thus let through the vacuum pulses but not atmospheric the pressure pulses to pump chambers 43 and 45.

När behållaren 21 fyllts så mycket att nivån N över- skridits ooh flottörens givarkropp 25 fjärmat sig från avkännings- och ventilkroppen 71 släpper den sistnämnda fram vakuum till ställmembranet 72, som omställer växel- ventilen 73 så att atmosfär- eller friskluft inkommer i ledningen 74 mot pumpstyranordningens 6 membrankammare 66.When the container 21 is filled so much that the level N exceeds slipped ooh the float's sensor body 25 distanced itself from the sensing and valve body 71 releases the latter vacuum to the actuating diaphragm 72, which shifts the gear valve 73 so that atmospheric or fresh air enters the line 74 towards the diaphragm chamber 66 of the pump control device 6.

När vakuumet 1 nämnda kammare elimineras kommer membranet 62 och med detta styrdonstappen 63, genom fjäderns 64 in- verkan attÉförskjutas mot backventilen 61 påverkande läge.When the vacuum in said chamber is eliminated, the membrane comes 62 and with it the guide pin 63, through the spring 64 effect of being displaced towards the position of the non-return valve 61.

Backventilen overksamgöres därvid, vilket har till följd att såväl vakuumpulserna som tryckpulserna framsläppes till pumpens 4 kammare 43, 45, vilket i sin tur leder till att pumpenibörjar röra sig och att pumpkammaren 47 tömmes.The non-return valve is then deactivated, which results in that both the vacuum pulses and the pressure pulses are released to the pump 4 chambers 43, 45, which in turn leads to that the pump starts to move and that the pump chamber 47 is emptied.

T “fl-ßwex... _ - nu; a ,__..r 10 15 20 25 30 35 8102187-5 a Så länge mjölknivån är tillräckligt hög gör pumpen 4 upprepade fyllnings- och tömningsslag. När mjölken i be- hållaren 21 sjunkit under nivån N påverkar flottörens 24 givarkropp 25 ventilkroppen 71, som förskjutes och bryter vakuumetsinverkan på ställmembranet 72. Detta leder till att~växelventilen ånyo sätter pumpstyranord- ningens membrankammare 66 under vakuum, varvid dess membran 62 mot fjäderns 64 verkan förskjutes och förskjuter styr- donstappen 63 till dess backventilen 61 icke pâverkande läge. Backventilen 61 börjar därvid ånyo fungera, varvid, sedan pågående pumpslag fullbordats, friskluftspulserna hindras nå pumpens 4 arbetskammare 43 och 45 och pumpen hålles stilla i fyllningsläge.T “fl- ßwex ... _ - now; a , __ .. r 10 15 20 25 30 35 8102187-5 a As long as the milk level is high enough, the pump 4 repeated filling and emptying strokes. When the milk in the holder 21 has fallen below level N affects the float 24 sensor body 25 valve body 71, which is displaced and breaks the vacuum effect on the adjusting membrane 72. This leads to the ~ gear valve again setting the pump control device of the membrane chamber 66 under vacuum, its membrane 62 against the action of the spring 64 is displaced and displaces the the down pin 63 to its non-return valve 61 has no effect location. The non-return valve 61 then starts operating again, whereby, after the ongoing pump stroke has been completed, the fresh air pulses is prevented from reaching the working chambers 43 and 45 of the pump 4 and the pump kept still in filling position.

För att förhindra att i det fall nivån N uppnås vid sådan ogynnsam tidpunkt att endast en del av en atmosfär- eller friskluftssignal skulle nå pumpen, pumpen skall ut- föra ofullständigt tömningsslag - något som skulle ge upphov till mätfel - är fjädern 64 vid pumpstyrnings- organet så avpassad att den förmår förskjuta membranet 62 och styrdonstappen 63 enbart om vakuum råder i backventil- kammaren 67, dvs under pulsatorns vakuumfas. Detta innebär att enbart hela friskluftssignaler kan gå fram till pumpen 4 och att därigenom fullständiga tömningsslag garanteras.To prevent that in the case level N is reached at such an unfavorable time that only part of an atmosphere or fresh air signal should reach the pump, the pump should incomplete emptying stroke - something that would give causes a measurement error - is the spring 64 at the pump control the means so adapted that it is able to displace the membrane 62 and the actuator pin 63 only if vacuum is present in the non-return valve chamber 67, i.e. during the vacuum phase of the pulsator. This means that only whole fresh air signals can reach pump 4 and thereby complete emptying strokes guaranteed.

När man oavsett mjölknivån 1 behållaren 2l önskar tömma denna, exempelvis vid rengöring av systemet, påverkas ventilen 8, som bortkopplar signalgivaren och medger upp- repade fyllnings- och tömníngsrörelser hos pumpen.When, regardless of the milk level 1, the container 2l is desired emptying it, for example when cleaning the system, is affected valve 8, which disconnects the signal transmitter and allows scratched filling and emptying movements of the pump.

Det är uppenbart att man även kan anordna apparaten så att tryckförhållanden motsatta de angivna utnyttjas vid signalgivaren och styranordningen, varvid otillräckligt fylld behållare angivande signal indikeras av atmosfäre- tryck och fylld behållare av vakuum. Även pumpen kan vara utförd på annat sätt och kan därvid fyllnings- och tömnings- skeendena åstadkommas med motsatta pulser mot de tidigare angivna.It is obvious that the device can also be arranged so that pressure conditions opposite to those specified are utilized at the signal transmitter and the control device, whereby insufficient filled container indicating signal is indicated by atmospheric pressure and filled container of vacuum. The pump can also be performed in another way and can thereby fill and empty the events are accomplished with opposite pulses to the previous ones specified.

Signalen, som åstadkommer påverkan eller icke påverkan av backventilen, kan även åstadkommas på annat sätt än det 8102187-5 6 beskrivna. Väsentligt är dock i samtliga fall att man under ena betingelsen hindrar ett slag av pulser att nä pumpen och under andra betingelsen framsläpper båda slagen pulser.The signal which produces influence or non-influence of the non-return valve, can also be achieved in another way than that 8102187-5 6 described. It is important, however, in all cases that one under one condition prevents a beat of pulses from reaching the pump and under the second condition releases both strokes pulses.

S Uppfinningen får ej anses begränsad till det beskrivna och på ritningen visade, utan kan modifieras på ett flertal sätt inom ramen för efterföljande patentkrav.The invention must not be considered limited to what is described and shown in the drawing, but can be modified on a plurality within the scope of the appended claims.

Claims (4)

10 15 20 30 Lu .Jg 8102187-5 -J PATENTKRAV10 15 20 30 Lu .Jg 8102187-5 -J PATENT REQUIREMENTS 1. Anordning vid apparat för vclymmätning av miölk el- ler liknande till en samlingsbehållare diskontpnterligt till- rinnande fluidum, innefattande en till nämnd: behållare (21) ansluten,mede1st pulserande medium, företrädesvis vakuum, driven pump (4) med konstant pumpvolym, en nivån i behålla- ren (21) avkännande och en styranordning (G) för pumpen (4) påverkande signalinrättning (24, 25 och 6) och ett pumpvoly- men tommande pumpslag registrerande räkneverk (5), varvid pumpen (4), som är kopplad till en växelvis vakuum- och at- mosfärstryckpulser avgivande pulsgivare (1), uppvisar arbets- utrymmen (43, 45 resp. 44), i vilka mediepulserna verkar för att åstadkomma fyllning medgivande resp. i tömning resulte- rande förskjutning av en pumpvolymen eller -kammaren begrän- sande rörlig vägg (46), k ä n n e t e c k n a d därav, att den nivån i behållaren (21) avkännande inrättningen är anord- nad att med hjälp av ett styrdon (63) påverka en i ledningen mellan pulsgivaren (1) och pumpen (4), inkopplad backventil (61), vilken är anordnad att i opåverkat och verksamt läge till pumpen (4) enbart framsläppa sådana pulser, som resul- terar i att pumpen hålles i fyllningsläge, men i påverkat och overksamgjort läge medger framsläppning av båda slagen och tömning av pumpen åstadkommande pulser.Apparatus in an apparatus for measuring the volume of milk or the like in a collection container of discontinuously flowing fluid, comprising a container (21) connected to said: container (21), preferably pulsating medium, preferably vacuum, driven pump (4) with constant pump volume, the level in the container (21) sensing and a control device (G) for the pump (4) influencing signaling device (24, 25 and 6) and a pump volume emptying pump stroke recording counter (5), the pump (4), which is coupled to an alternator (1) emitting vacuum and atmospheric pressure pulses (1), has working spaces (43, 45 and 44, respectively) in which the media pulses act to bring about filling with consent resp. displacement resulting in displacement of a pump volume or chamber limiting movable wall (46), characterized in that the level in the container (21) sensing device is arranged to influence by means of a control device (63) a non-return valve (61) connected in the line between the encoder (1) and the pump (4), which is arranged to in the unaffected and operative position to the pump (4) only release such pulses, which result in the pump being kept in the filling position, but in the affected and inactivated position, the release of both strokes and the emptying of the pump allow pulses to be produced. 2. Anordning enligt patentkravet 1, k ä n n e t e c k- n a d därav, att vid pumpstyranordningen det backventilen (61) påverkande styrdonet (63), ärsi sin tur styrt av ett membran eller liknande (62), som så länge vakuum eller atmos- Eärstryck råder på ena sidan därav, mot verkan av en fjäder, (64) håller styrdonet (63) i backventilen icke påverkande lä- ge, men vid omkastning av tryckförhållandet låter fjädern (64) förskjuta styrdonet (63) till dess backventilens (61) funk- tion omintetgörande läge.Device according to Claim 1, characterized in that in the case of the pump control device, the control device (63) actuating the non-return valve (61) is in turn controlled by a diaphragm or the like (62), which as long as vacuum or atmospheric pressure prevails on one side thereof, against the action of a spring, (64) the control device (63) in the non-return valve maintains an unaffected position, but when the pressure ratio is reversed the spring (64) displaces the control device (63) to the function of the non-return valve (61) tion annihilation mode. 3. Anordning enligt patentkravet 2, k ä n n e t e c k- n a d därav, att styrdonet utgöres av en med membranet sam- mankopplad tapp (63), vilken är förskjutbar i och ur ett läge där den hindrar backventilen (61) att ingripa med dess säte. 8102187-5 (65).Device according to claim 2, characterized in that the control device consists of a pin (63) connected to the diaphragm, which is displaceable in and out of a position where it prevents the non-return valve (61) from engaging with its seat . 8102187-5 (65). 4. Ansrdning enligt patentkravet 2 eller 3, k ä n n e- k n 3 d därav, att fjädern (64), som strävar att för- när back- t e c skjuta styrdonet (63) är så avpassad att den enbart 5 ventilens (61) ventilkammare (67) ena slaget p4lser verkar, förmå: iörskguta styrdonec till dess backventilens (61) fink- tion omintetgörande läge. v4. A device according to claim 2 or 3, characterized in that the spring (64), which strives to push the control device (63) backwards, is so adapted that only the valve (61) valve chamber (67) one kind of p4lser acts, causing: iörskguta control donec to its non-destructive position of the non-return valve (61). v
SE8102187A 1981-04-06 1981-04-06 Arrangement in an apparatus for measuring the volume of milk or the like SE425821B (en)

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US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
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