公开(公告)号：US20120298043A1

公开(公告)日：2012-11-29

申请号：US13519349

申请日：2011-02-08

Applicant: Uzi Birk ,  Mats Nilsson ,  Gert Danneker ,  Thomas Axelsson ,  Jan Eriksson

Inventor： Uzi Birk ,  Mats Nilsson ,  Gert Danneker ,  Thomas Axelsson ,  Jan Eriksson

IPC: A01J5/017 ,  A01K29/00 ,  A01K1/12

CPC classification number: A01K1/126

Abstract: An animal treating arrangement includes a carrying device beside a milking platform rotating with a velocity and having animal places housing animals. The carrying device includes a fundament, a first bearing device (12) provided on the fundament, an arm (13) connected to the first bearing device permitting the arm to rotate in relation to the fundament around a first axis, a support platform (15) connected to the arm (13). A drive arrangement moves the support platform and includes a first drive member (31) rotating the arm around the first axis. A sensor (37) communicates with a control unit (36) and senses an instantaneous value of the velocity. The control unit controls the first drive member to move the support platform to follow the milking platform from a start position to an end position during a part of the rotation of the milking platform.

Abstract translation: 动物处理装置包括在速度旋转的挤奶平台旁边的携带装置，并且具有容纳动物的动物场所。 承载装置包括基座，设置在基座上的第一轴承装置（12），连接到第一轴承装置的臂（13），允许臂围绕第一轴线相对于基部旋转;支撑平台（15） ）连接到臂（13）。 驱动装置移动支撑平台并且包括围绕第一轴线旋转臂的第一驱动构件（31）。 传感器（37）与控制单元（36）通信并感测速度的瞬时值。 控制单元控制第一驱动构件以在挤奶平台的一部分旋转期间移动支撑平台以使挤奶平台从起始位置到终点位置。

公开(公告)号：US08205574B2

公开(公告)日：2012-06-26

申请号：US12532659

申请日：2008-03-13

Applicant: Gert Danneker ,  Thomas Axelsson

Inventor： Gert Danneker ,  Thomas Axelsson

IPC: A01J5/017 ,  A01J5/00

CPC classification number: A01J5/0175

Abstract: A teat cup handling device (1) for a robot arm is adapted to attach teat cups to a milking animal. Each teat cup (2) has a centrally located longitudinal axis (2c) extending through a first end surface (2a) of the teat cups provided with a recess for receiving a teat of a milking animal and a oppositely located second end surface (2b) of the teat cups and wherein the teat cup handling device (1) includes at least two holding parts (4) arranged to releasably hold the teat cups (2). Each holding part (4) includes holding elements (9a) adapted to hold the teat cups (2) in positions such that the longitudinal axes (2c) of the teat cups are inclined in relation to each other.

Abstract translation: 用于机器人手臂的奶杯处理装置（1）适于将奶杯附接到挤奶动物。 每个挤奶杯（2）具有中心定位的纵向轴线（2c），其延伸穿过乳头杯的第一端表面（2a），其设置有用于接收挤奶动物的乳头的凹部和相对位置的第二端面（2b） 的乳头杯，并且其中所述奶杯处理装置（1）包括布置成可释放地保持所述奶杯（2）的至少两个保持部件（4）。 每个保持部件（4）包括适于将奶杯（2）保持在相对于彼此倾斜的乳头杯的纵向轴线（2c）的位置的保持元件（9a）。

公开(公告)号：US20100307420A1

公开(公告)日：2010-12-09

申请号：US12738989

申请日：2008-11-17

Applicant: Thomas Axelsson ,  Uzi Birk

Inventor： Thomas Axelsson ,  Uzi Birk

IPC: A01J5/003 ,  A01J5/007

CPC classification number: A01J5/0175 ,  A01K1/126

Abstract: An apparatus for milking an animal provides a milking parlour (1) with a robotic manipulation device (25) and a milking stall (5) provided on a platform (3) moveable relative to the robotic manipulation device (25). An electric control system is adapted to vary the movement of the platform in response to the performance of the robotic manipulation device (25) in servicing the milking stall (5).

Abstract translation: 用于挤奶动物的装置提供了一种具有机器人操纵装置（25）和设置在相对于机器人操纵装置（25）可移动的平台（3））上的挤奶档（5）的挤奶厅（1）。 电气控制系统适于响应于机器人操纵装置（25）在维护挤奶档（5）时的性能而改变平台的运动。

公开(公告)号：US20100282172A1

公开(公告)日：2010-11-11

申请号：US12599304

申请日：2008-05-07

Applicant: Jan Eriksson ,  Thomas Axelsson ,  Gert Danneker

Inventor： Jan Eriksson ,  Thomas Axelsson ,  Gert Danneker

IPC: A01J5/013 ,  A01J5/00 ,  A01J5/003 ,  A01J5/007

CPC classification number: A01K1/12 ,  A01J5/007 ,  A01J5/013 ,  A01J5/0132 ,  A01J5/0133 ,  A01K1/126

Abstract: A teat preparation station(1) for preparation of teats of milking animals prior to being milked in a milking system (11) equipped with at least one milking stall(13) is provided. The teat preparation station (1) includes a teat preparation area (2) housing at least one milking animal at a time; an exit (4) leading to the milking system; pre-milking equipment (5) provided for automatically pre-milking milking animals in the teat preparation area; and milk quality analyzing equipment (6) provided for automatically analyzing pre-milk from the milking animals.

Abstract translation: 提供了一种用于在挤奶系统（11）中挤奶之前制备挤奶动物的奶头的奶头准备台（1），所述挤奶系统（11）配备有至少一个挤奶摊位（13）。 奶头制备站（1）包括一次容纳至少一个挤奶动物的奶头制备区域（2）; 通往挤奶系统的出口（4）; 挤奶设备（5），用于在奶头制备区域中自动挤奶挤奶动物; 和牛奶质量分析设备（6），用于自动分析挤奶动物的前奶。

公开(公告)号：US20100058990A1

公开(公告)日：2010-03-11

申请号：US12532659

申请日：2008-03-13

Applicant: Gert Danneker ,  Thomas Axelsson

Inventor： Gert Danneker ,  Thomas Axelsson

IPC: A01J5/16

CPC classification number: A01J5/0175

Abstract: A teat cup handling device (1) for a robot arm is adapted to attach teat cups to a milking animal. Each teat cup (2) has a centrally located longitudinal axis (2c) extending through a first end surface (2a) of the teat cups provided with a recess for receiving a teat of a milking animal and a oppositely located second end surface (2b) of the teat cups and wherein the teat cup handling device (1) includes at least two holding parts (4) arranged to releasably hold the teat cups (2). Each holding part (4) includes holding elements (9a) adapted to hold the teat cups (2) in positions such that the longitudinal axes (2c) of the teat cups are inclined in relation to each other.

Abstract translation: 用于机器人手臂的奶杯处理装置（1）适于将奶杯附接到挤奶动物。 每个挤奶杯（2）具有中心定位的纵向轴线（2c），其延伸穿过乳头杯的第一端表面（2a），其设置有用于接收挤奶动物的乳头的凹部和相对位置的第二端面（2b） 的乳头杯，并且其中所述奶杯处理装置（1）包括布置成可释放地保持所述奶杯（2）的至少两个保持部件（4）。 每个保持部件（4）包括适于将奶杯（2）保持在相对于彼此倾斜的乳头杯的纵向轴线（2c）的位置的保持元件（9a）。

公开(公告)号：US08387565B2

公开(公告)日：2013-03-05

申请号：US12741039

申请日：2008-09-19

Applicant: Thomas Axelsson ,  Gert Danneker ,  Jan Eriksson

Inventor： Thomas Axelsson ,  Gert Danneker ,  Jan Eriksson

IPC: A01K1/12 ,  A01J5/003

CPC classification number: A01K1/126

Abstract: An apparatus for milking an animal and provides a milking parlor (1) including first and second robotic manipulation devices (100, 200) and a plurality of milking stalls (5) provided on a platform (3) moveable relative to the robotic manipulation devices (100, 200) wherein the robotic manipulation devices (100, 200) are positioned so as to be capable of simultaneously servicing neighboring milking stalls (5) on the platform (3).

Abstract translation: 一种用于挤奶动物并提供包括第一和第二机器人操纵装置（100,200）的挤奶室和设置在相对于机器人操纵装置可移动的平台（3）上的多个挤奶摊位（5）的挤奶室（1） 100,200），其中所述机器人操纵装置（100,200）被定位成能够同时维护所述平台（3）上的相邻挤奶档（5）。

公开(公告)号：US08045763B2

公开(公告)日：2011-10-25

申请号：US12303418

申请日：2007-07-12

Applicant: Anders Hallstrom ,  Thomas Axelsson

Inventor： Anders Hallstrom ,  Thomas Axelsson

IPC: G06K9/20

CPC classification number: A01J5/0175

Abstract: An apparatus (10) for recognizing and determining the position of at least one teat cup (401, 402, 403, 404) of at least one teat cup magazine (42, 421, 422). The apparatus (10) emits waves (20) into a region (A) which is expected to contain a teat cup or teat cups (401, 402, 403, 404). The apparatus (10) also includes a detector (260) for detecting reflections of the waves (20). The apparatus (10) also includes a unit (24) for evaluating the reflections in order to determine if the reflections originate from the teat cup or cups (401, 402, 403, 404). Furthermore, the apparatus (10) also includes a unit (26) for determining the position of the teat cup or cups (401, 402, 403, 404) if it is established that the reflections originate from the teat cup (401, 402, 403, 404).

Abstract translation: 一种用于识别和确定至少一个奶杯杯（42,421,422）的至少一个奶杯（401,402,403,404）的位置的装置（10）。 装置（10）将波（20）发射到预期包含奶杯或奶杯（401,402,403,404）的区域（A）中。 装置（10）还包括用于检测波（20）的反射的检测器（260）。 装置（10）还包括用于评估反射的单元（24），以便确定反射是否源于奶杯或杯（401,402,403,404）。 此外，如果确定反射来源于奶杯（401,402,404,404），装置（10）还包括用于确定奶杯或杯（401,402,403,404）的位置的单元（26） 403,404）。

公开(公告)号：US20100289649A1

公开(公告)日：2010-11-18

申请号：US12812635

申请日：2009-01-16

Applicant: Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

Inventor： Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

IPC: G08B23/00 ,  H04N13/02 ,  A01J5/007

CPC classification number: A01K1/126 ,  A01J5/017 ,  A01J5/0175 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

Abstract: An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats. The image processing device is also configured to repeatedly detect the plurality of teat cups and determine the positions of the teat cups in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teat cups located in the magazine. The arrangement also includes a control device configured to control a robot arm, based on the determined positions of the teats of the milking animal and the determined positions of the teat cups, to automatically attach at least one teat cup to at least one teat of the milking animal in the milking stall.

Abstract translation: 提供了一种布置，用于将挤奶杯连接到具有用于在挤奶期间容纳挤奶动物的挤奶档位的旋转挤奶系统中的挤奶动物的奶头。 该装置包括：三维照相机，被配置为指向挤奶档中的挤奶动物的乳房，并且实时地重复记录挤奶动物的乳房的三维图像。 三维摄像机进一步被构造成指向位于盒中的奶杯，并且实时地重复记录奶头杯的三维图像。 该装置还包括图像处理装置，其被配置为基于所述重复记录的乳头的三维图像，重复地检测挤奶动物的乳头并确定三个空间维度中的乳头的位置。 图像处理装置还被配置为基于位于盒中的乳头杯的所述重复记录的三维图像重复地检测多个奶头杯并确定三分之一空间尺寸的奶杯的位置。 该装置还包括控制装置，其被配置为基于所确定的挤奶动物的乳头的位置和确定的奶杯的位置来控制机器人手臂，以将至少一个奶杯自动附接到至少一个奶头 在挤奶摊位挤奶动物。

公开(公告)号：US20090169339A1

公开(公告)日：2009-07-02

申请号：US12224810

申请日：2007-03-08

Applicant: Andreas Simfors ,  Ove Lagerqvist ,  Carl Jonsson ,  Håkan Camper ,  Jonas Gräslund ,  Jörgen Larsson ,  Mikael Fritzon ,  Per Tureson ,  Per-Ola Jönsson ,  Pertt Johansson ,  Rikard Espling ,  Roland Kindberg ,  Sven Junkers ,  Thomas Axelsson

Inventor： Andreas Simfors ,  Ove Lagerqvist ,  Carl Jonsson ,  Håkan Camper ,  Jonas Gräslund ,  Jörgen Larsson ,  Mikael Fritzon ,  Per Tureson ,  Per-Ola Jönsson ,  Pertt Johansson ,  Rikard Espling ,  Roland Kindberg ,  Sven Junkers ,  Thomas Axelsson

IPC: E04G21/14

CPC classification number: E04B1/3522 ,  E04B1/04 ,  E04G21/16 ,  E04G21/167

Abstract: A placing device (1) for placing building elements (2) in constructing a multi-storey building comprises a lifting means (4) for lifting a prefabricated building element (2), a moving means (7) for moving the placing device (1) into and out of a lower storey of the multi-storey building, the lower storey being arranged under an upper storey, a rotary means (8) for rotating the building element (2) about a normal to a floor plane of the lower storey, a vertical adjustment means (20) for vertically adjusting the building element (2), and a control means (14) for controlling the placing device (1) for placing the building element (2) according to a predetermined pattern. A building system and a method of constructing a multi-storey building are also disclosed.

Abstract translation: 一种用于将建筑构件（2）放置在构造多层建筑物中的放置装置（1）包括用于提升预制建筑构件（2）的提升装置（4），用于移动放置装置（1）的移动装置（7） ）进入和离开多层建筑物的下层，下层设置在上层下方，旋转装置（8），用于使建筑构件（2）围绕下层楼层的平面的法线旋转 ，用于垂直调整建筑构件（2）的垂直调节装置（20），以及用于根据预定图案控制用于放置建筑构件（2）的放置装置（1）的控制装置（14）。 还公开了建筑系统和构造多层建筑的方法。

公开(公告)号：US06371046B1

公开(公告)日：2002-04-16

申请号：US09581917

申请日：2000-09-11

Applicant: Torbjorn Petterson ,  Jonas Lundwall ,  Otto Hellekant ,  Pernilla Hanssen ,  Thomas Axelsson ,  Leif Lindholm ,  Lars Andersson

Inventor： Torbjorn Petterson ,  Jonas Lundwall ,  Otto Hellekant ,  Pernilla Hanssen ,  Thomas Axelsson ,  Leif Lindholm ,  Lars Andersson

IPC: A01J5007

CPC classification number: A01J5/007 ,  A01J5/0175 ,  A01J5/044

Abstract: The present invention relates to a method for automatic separation of foremilk and/or milk not suitable for consumption from the milk line system of a milking plant and an apparatus for carrying out said method. A separating device (44) is arranged at the ends of a milk line (52) and a test milk line (56), said milk lines being parallel. The separating device is designed with a damper means (48) attached to a cup (46). When milk is fed through the outlet (16), the cup (46) is filled up and its weight pivots the separating device from a first position, in which the inlet to a milk line (52) is closed by means of the damper mean, to a second position, in which the milk in cup is poured into a test milk line (56) and the damper means is lifted off the inlet (50|) to the milk line (52).

Abstract translation: 本发明涉及一种用于自动分离不适合从挤奶设备的奶制线系统消耗的前奶和/或牛奶的方法以及用于实施所述方法的设备。 分离装置（44）布置在牛奶线（52）和测试牛奶管线（56）的端部处，所述牛奶线是平行的。 分离装置设计有附接到杯（46）的阻尼装置（48）。 当牛奶通过出口（16）进料时，杯子（46）被填满，其重量将分离装置从第一位置枢转，在第一位置，通过阻尼器平均线关闭牛奶线（52）的入口 到第二位置，其中将杯中的牛奶倒入测试奶线（56）中，并且将阻尼装置从入口（50 |）提升到牛奶线（52）。