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    SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL
    142.
    发明申请
    SYSTEM AND METHOD FOR IMPROVED ATTACHMENT OF A CUP TO A DAIRY ANIMAL 有权
    用于改进连接到奶牛动物的系统和方法

    公开(公告)号：US20170035017A1

    公开(公告)日：2017-02-09

    申请号：US15333836

    申请日：2016-10-25

    Applicant: Technologies Holdings Corp.

    Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

    IPC: A01J5/017 ,  A01J5/007 ,  A01J5/003

    CPC classification number: A01J5/0175 ,  A01J5/003 ,  A01J5/007 ,  G06T1/0014 ,  G06T7/73

    Abstract: A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat.

    Abstract translation: 一种系统包括机器人手臂，照相机和控制器。 相机位于机器人手臂的表面上，相对于机器人手臂的纵向轴线向上非零角度发射激光信号。 所述控制器指示所述机器人手臂抓住挤奶杯，并且至少部分地基于由所述照相机发射的激光信号的非零角度来确定所述乳品牲畜的奶头的位置。 控制器指示机器人手臂将挤奶杯从后方移动到奶牛家畜的后腿之间的乳头的确定位置，以响应于挤奶杯连接到奶头而释放挤奶杯。 与放置挤奶杯的机器人手臂一起向上移动到奶牛的乳房，并从奶头移开。

    MILKING BOX WITH ROBOTIC ATTACHER COMPRISING AN ARM THAT PIVOTS, ROTATES, AND GRIPS
    143.
    发明申请
    MILKING BOX WITH ROBOTIC ATTACHER COMPRISING AN ARM THAT PIVOTS, ROTATES, AND GRIPS 有权
    带有机器人的包装箱，包括销售，旋转和货架的手提箱

    公开(公告)号：US20170020100A1

    公开(公告)日：2017-01-26

    申请号：US15289446

    申请日：2016-10-10

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

    IPC: A01J5/017 ,  B25J9/04 ,  B25J9/10 ,  A01K1/12

    CPC classification number: A01J5/0175 ,  A01K1/12 ,  B25J9/04 ,  B25J9/045 ,  B25J9/104 ,  Y10S901/14 ,  Y10S901/19 ,  Y10S901/21 ,  Y10S901/29 ,  Y10S901/31

    Abstract: A robotic attacher includes a main arm that is suspended vertically from a rail, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm includes a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

    Abstract translation: 机器人附件包括从轨道垂直悬挂的主臂，以及辅助臂，其沿着纵向轴线从主臂联接并水平延伸。 补充臂包括枢转组件，该枢转组件围绕垂直轴线枢转，该垂直轴线在横向于辅助臂的纵向方向的方向上基本上平行于机器人附件的主臂，并且在至少最大左侧 位置，最大右侧位置和居中位置。 所述枢转组件包括第一致动器，所述第一致动器延伸和缩回联接到所述把持部分的左侧的第一电缆，以枢转所述夹紧部分。 所述枢转组件还包括第二致动器，所述第二致动器延伸和缩回联接到所述抓握部分的右侧的第二缆索，以便枢转所述抓握部分。

    Milking system shut-off and sensors
    147.
    发明授权
    Milking system shut-off and sensors 有权
    挤奶系统关闭和传感器

    公开(公告)号：US09504225B2

    公开(公告)日：2016-11-29

    申请号：US15008695

    申请日：2016-01-28

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

    IPC: A01J5/00 ,  A01J5/01 ,  A01J5/013 ,  A01J3/00 ,  A01J5/007 ,  A01J7/00

    CPC classification number: A01J7/005 ,  A01J3/00 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/0133 ,  A01J5/0135 ,  A01J5/0138 ,  A01J5/04

    Abstract: A method comprises receiving a flow of milk at an inlet of a manifold. The inlet comprises a first end coupled to a hose that receives a flow of milk from a teat cup and a second end terminating in a chamber of the manifold. The manifold comprises one or more other inlets and a plurality of outlets. The plurality of outlets includes one or more milk collector outlets and one or more drain outlets. The method proceeds by causing the flow of milk to be directed to a corresponding milk collector outlet by causing a shut-off valve corresponding to the inlet to open, and by causing a drain valve corresponding to the inlet to close. The method concludes by causing the flow of milk to be directed to a corresponding drain outlet by causing the drain valve corresponding to the inlet to open.

    Abstract translation: 一种方法包括在歧管的入口处接收牛奶流。 入口包括联接到软管的第一端，其接收来自奶杯的牛奶流，以及终止于歧管的腔室中的第二端。 歧管包括一个或多个其它入口和多个出口。 多个出口包括一个或多个集奶器出口和一个或多个排水出口。 通过使对应于入口的截止阀打开，并且通过使与入口对应的排水阀关闭，导致牛奶的流动被引导到相应的收集器出口。 该方法的结论是通过使对应于入口的排放阀打开来使牛奶的流动被引导到相应的排出口。

    System and method of attaching a cup to a dairy animal according to a sequence
    148.
    发明授权
    System and method of attaching a cup to a dairy animal according to a sequence 有权
    根据序列将杯子连接到奶牛场的系统和方法

    公开(公告)号：US09480236B2

    公开(公告)日：2016-11-01

    申请号：US14244490

    申请日：2014-04-03

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

    IPC: A01J5/017 ,  A01J5/00 ,  A01K1/12

    CPC classification number: A01J5/0175 ,  A01J5/00 ,  A01J5/007 ,  A01J5/017 ,  A01J7/04 ,  A01K1/12 ,  A01K13/001

    Abstract: A system includes a milking box and a robotic arm. The milking box comprises a stall portion that houses a dairy livestock with four teats. The robotic arm performs the following operation for a plurality of teats of the dairy livestock: retrieves a cup; attaches the cup to a teat; and detaches the cup from the teat. The cup is maintained within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into an equipment area of the milking box after it is detached from the last teat of the dairy livestock.

    Abstract translation: 系统包括挤奶箱和机器人手臂。 挤奶箱包括一个摊位部分，其中装有一个具有四个奶头的奶牛家畜。 机器人手臂为奶牛家畜的多个奶头执行以下操作：取出杯子; 把杯子放在奶头上 并将杯子从奶头中分离出来。 从杯子连接到奶牛家畜的第一个奶嘴的时候杯子被连接到奶牛的最后一个奶嘴的时候，杯子保持在挤奶箱的失速部分内。 在从奶瓶的最后一个奶头脱离之后，杯子被缩回到挤奶箱的设备区域中。

    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
    150.
    发明授权
    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 有权
    基于相邻的旋转挤奶平台的挤奶档的位置来控制机器人托架的位置的系统和方法

    公开(公告)号：US09462782B2

    公开(公告)日：2016-10-11

    申请号：US14922725

    申请日：2015-10-26

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

    IPC: A01K1/12 ,  A01J7/04 ,  A01J5/017 ,  A01J5/003 ,  A01J5/007

    CPC classification number: A01J5/007 ,  A01J5/003 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/04 ,  A01K1/126

    Abstract: A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines a position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track to the determined position in conjunction with the movement of the rotary milking platform.

    Abstract translation: 系统包括邻近旋转挤奶平台定位的托架轨道，位于托架轨道上的机器人托架，使得机器人托架可沿托架轨道移动，以及控制器。 控制器确定旋转挤奶平台的挤奶失速从第一旋转位置移动到第二旋转位置。 控制器进一步确定机器人滑架在滑架轨道上对应于旋转挤奶平台的挤奶档的移动的位置。 控制器还将位置信号传递给耦合到机器人托架和托架轨道的托架致动器。 位置信号使得滑架致动器将机器人滑架沿滑架轨道移动到与旋转挤奶平台的移动相结合的确定位置。

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