公开(公告)号：US08978583B2

公开(公告)日：2015-03-17

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: A01J3/00 ,  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：US08944004B2

公开(公告)日：2015-02-03

申请号：US13141189

申请日：2009-12-10

Applicant: Hans Holmgren ,  Thomas Axelsson

Inventor： Hans Holmgren ,  Thomas Axelsson

IPC: A01J3/00 ,  A01J5/00 ,  A01J7/04 ,  A01J5/017

CPC classification number: A01J7/04 ,  A01J5/0175

Abstract: A detecting arrangement is provided for a teat cleaning device including a teat cleaning cup in which teats of milking animals are contained during cleaning thereof. The detecting arrangement comprises a measuring device provided for automatically measuring a teat related parameter in or adjacent to the teat cleaning cup at completion of a teat cleaning process, and a processing device operatively connected to the measuring device and provided for automatically comparing the measured teat related parameter with a reference value and for automatically determining whether the teat of the milking animal has been contained in the teat cleaning cup unfolded during the teat cleaning process based on the comparison.

Abstract translation: 提供了一种用于奶头清洁装置的检测装置，其包括其清洁期间容纳挤奶动物的乳头的奶头清洁杯。 该检测装置包括一个测量装置，用于在乳头清洁过程完成时自动测量奶嘴清洁杯中或其附近的乳头相关参数，以及可操作地连接到测量装置并被提供用于自动比较测量的乳头相关 参数，并且基于比较，自动确定挤奶动物的乳头是否已经被包含在乳头清洁过程中展开的乳头清洁杯中。

公开(公告)号：US08578881B2

公开(公告)日：2013-11-12

申请号：US13130783

申请日：2009-12-11

Applicant: Thomas Axelsson

Inventor： Thomas Axelsson

IPC: A01J5/04

CPC classification number: A01J5/0175

Abstract: A gripping arrangement is provided including a storing device (10) adapted to hold a teat cup (1) in a parked position and a gripping device (2) adapted to grip the parked teat cup (1) in the storing device (10). The gripping device (2) includes a contact surface (6a) which is adapted to be moved to a position in which it comes in contact with a contact surface (1d) of the teat cup (1) during a gripping operation of the teat cup (1). The arrangement includes an adjusting part which is able to adjust the position of at least one of the contact surfaces (1d, 6a) in relation to the other contact surface (1d, 6a) from an initial contact position to a grip position in which the gripping device is able to grip the teat cup in the storing device.

Abstract translation: 提供了一种夹持装置，其包括适于将奶头杯（1）保持在停放位置的储存装置（10）和适于夹持储存装置（10）中的停放的奶杯（1）的夹持装置（2）。 夹持装置（2）包括接触表面（6a），该接触表面（6a）适于在奶头杯的夹紧操作期间移动到与奶杯（1）的接触表面（1d）接触的位置 （1）。 该装置包括调节部件，该调整部件能够相对于另一个接触表面（1d，6a）将至少一个接触表面（1d，6a）的位置从初始接触位置调整到夹持位置， 夹持装置能够抓住存储装置中的奶杯。

公开(公告)号：US08505484B2

公开(公告)日：2013-08-13

申请号：US13701562

申请日：2011-06-01

Applicant: Jan-Erik Andersson ,  Thomas Axelsson

Inventor： Jan-Erik Andersson ,  Thomas Axelsson

IPC: A01J7/00

CPC classification number: A01J5/007 ,  A01J5/00 ,  A01J5/003 ,  A01J5/0175 ,  B25J9/101

Abstract: A milking arrangement includes a milking robot (10) having a first link (L1), a second link (L2), a third link (L3), an end effector (E), sensor (16) and a control unit (15). The first link is rotatable to a first angle within a first angle range (α1) via a first joint (11). The second link is rotatable to a second angle within a second angle range (α2) via a second joint (12). The third link (L3) is rotatable to a third angle within a third angle range (α3) via third joint (13). The links (L1, L2, L3) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles.

Abstract translation: 挤奶装置包括具有第一连杆（L1），第二连杆（L2），第三连杆（L3），末端执行器（E），传感器（16）和控制单元（15）的挤奶机器人（10） 。 第一连杆经由第一接头（11）可旋转到第一角度范围（α1）内的第一角度。 第二连杆可经由第二接头（12）在第二角度范围（α2）内旋转至第二角度。 第三连杆（L3）可经由第三接头（13）在第三角度范围（α3）内旋转到第三角度。 连杆（L1，L2，L3）是可旋转的，使得末端执行器可在三维工作空间（W）内移动。 工作空间内的端部执行器的每个位置对应于第一，第二和第三角度的单一组合。

公开(公告)号：US20110253051A1

公开(公告)日：2011-10-20

申请号：US13141189

申请日：2009-12-10

Applicant: Hans Holmgren ,  Thomas Axelsson

Inventor： Hans Holmgren ,  Thomas Axelsson

IPC: A01J7/02 ,  A01J7/04 ,  A01J5/00 ,  B25J19/02

CPC classification number: A01J7/04 ,  A01J5/0175

Abstract: A detecting arrangement is provided for a teat cleaning device including a teat cleaning cup in which teats of milking animals are contained during cleaning thereof. The detecting arrangement comprises a measuring device provided for automatically measuring a teat related parameter in or adjacent to the teat cleaning cup at completion of a teat cleaning process, and a processing device operatively connected to the measuring device and provided for automatically comparing the measured teat related parameter with a reference value and for automatically determining whether the teat of the milking animal has been contained in the teat cleaning cup unfolded during the teat cleaning process based on the comparison.

Abstract translation: 提供了一种用于奶头清洁装置的检测装置，其包括其清洁期间容纳挤奶动物的乳头的奶头清洁杯。 该检测装置包括一个测量装置，用于在乳头清洁过程完成时自动测量奶嘴清洁杯中或其附近的乳头相关参数，以及可操作地连接到测量装置并被提供用于自动比较测量的乳头相关 参数，并且基于比较，自动确定挤奶动物的乳头是否已经被包含在乳头清洁过程中展开的乳头清洁杯中。

公开(公告)号：US20110226184A1

公开(公告)日：2011-09-22

申请号：US13130783

申请日：2009-12-11

Applicant: Thomas Axelsson

Inventor： Thomas Axelsson

IPC: A01J5/017

CPC classification number: A01J5/0175

Abstract: An arrangement for gripping at least one teat cup (1). The arrangement includes a storing device (10) adapted to hold the teat cup (1) in a parked position and a gripping device (2) adapted to grip the parked teat cup (1) in the storing device (10). The gripping device (2) includes a contact surface (6a) which is adapted to be moved to a position in which it comes in contact with a contact surface (1d) of the teat cup (1) during a gripping operation of the teat cup (1). The arrangement includes an adjusting part which is able to adjust the position of at least one of said contact surfaces (1d, 6a) in relation to the other contact surface (1d, 6a) from an initial contact position to a grip position in which the gripping device is able to grip the teat cup in the storing device.

Abstract translation: 用于夹持至少一个奶杯（1）的装置。 该装置包括适于将奶头杯（1）保持在停放位置的储存装置（10）和适于夹持储存装置（10）中的停放的奶杯（1）的夹持装置（2）。 夹持装置（2）包括接触表面（6a），该接触表面（6a）适于在奶头杯的夹紧操作期间移动到与奶杯（1）的接触表面（1d）接触的位置 （1）。 该装置包括调节部件，该调节部件能够相对于另一个接触表面（1d，6a）将至少一个所述接触表面（1d，6a）的位置从初始接触位置调整到握持位置，其中 夹持装置能够抓住存储装置中的奶杯。

公开(公告)号：US20100236485A1

公开(公告)日：2010-09-23

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: A01J5/007 ,  A01J5/00

CPC classification number: A01K1/126

Abstract: An apparatus for milking an animal and provides a milking parlour (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: 挤奶的动物的装置和提供了一个挤奶室（1）包括第一和第二机器人操作装置（100，200）和多个设置在一个平台（3）相对移动，以在机器人操作装置挤奶隔间（5）的（ 100,200），其中所述机器人操纵装置（100,200）被定位成能够同时维修所述平台（3）上的相邻挤奶档（5）。