公开(公告)号：US06938576B2

公开(公告)日：2005-09-06

申请号：US10073023

申请日：2002-02-12

申请人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen ,  Eduard Lodewijk Meijer ,  Adrianus Maria Seerden

发明人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen ,  Eduard Lodewijk Meijer ,  Adrianus Maria Seerden

IPC分类号： A01J7/00 ,  A01J5/00 ,  A01K1/12 ,  A01K29/00

CPC分类号： A01K11/008 ,  A01K1/12 ,  A01K29/00 ,  A01K29/005

摘要： An apparatus and method for milking an animal, in particular a cow, that uses a stress measuring device for determining the animal's degree of stress and to supply stress measurement data to a memory that stores the stress measurement data. Stress measurement data are obtained before, during and preferably after milking. The stress measuring device comprises at least one instrument selected from a group consisting of an infrared meter for measuring the animal's infrared image, a hygrometer for determining the humidity of the animal's fur or nose, and iris scanner for determining the animal's eye characteristics, and an odor meter for determining the animal's breath or body odor, a muscular tension measuring instrument for determining the animal's muscular tension, an excrement analyzing instrument for determining the characteristics of the animal's excrement, and a muscle vibration meter for determining the animal's muscle vibrations.

摘要翻译： 一种用于挤压动物，特别是牛的装置和方法，其使用应力测量装置来确定动物的应力程度，并将压力测量数据提供给存储应力测量数据的存储器。 在挤奶之前，期间和优选地在挤奶之后获得应力测量数据。 应力测量装置包括从由用于测量动物的红外图像的红外测量仪，用于确定动物毛皮或鼻子的湿度的湿度计和用于确定动物眼睛特征的虹膜扫描仪组成的组中选择的至少一种仪器，以及 用于确定动物的呼吸或身体气味的气味计，用于确定动物的肌肉紧张度的肌肉张力测量仪器，用于确定动物排泄物的特征的排泄物分析仪器和用于确定动物的肌肉振动的肌肉振动计。

公开(公告)号：US07370606B2

公开(公告)日：2008-05-13

申请号：US10073015

申请日：2002-02-12

申请人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen ,  Eduard Lodewijk Meijer ,  Adrianus Maria Seerden

发明人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen ,  Eduard Lodewijk Meijer ,  Adrianus Maria Seerden

IPC分类号： A01K5/02 ,  A01K1/10

CPC分类号： A01K29/00

摘要： A management system for domesticated animals, such as cows, which comprises an animal identification system, a central unit provided with a computer which has a memory. The memory contains for each animal of the herd data which relates to the animal's position or status in the hierarchic order of the herd. The memory also contains data for each animal relating to its jostling behavior. This management is used in an automated system wherein procedures such as feeding and milking are performed on animals of the herd. The position or status of each animal in the hierarchic order of the herd is determined and the data thereof are stored in the memory. At least one of the procedures affecting each animal in the herd is governed, at least in part, by data in the memory relating to the animal's status or position in the hierarchic order of the herd and also by data concerning the animal's jostling behavior.

摘要翻译： 一种养殖动物管理系统，例如牛，其包括动物识别系统，设有具有记忆的计算机的中央单元。 记忆包含与畜群数量有关的每只动物的牲畜的位置或状态，以群体的等级排列。 记忆还包含与其推挤行为有关的每只动物的数据。 这种管理用于自动化系统中，其中对牲畜进行进食和挤奶等程序。 确定每只动物以群体等级顺序的位置或状态，并将其数据存储在存储器中。 影响畜群中每只动物的至少一个程序，至少部分地通过记录中关于动物在牛群的分级秩序中的状态或位置的数据以及关于动物的推进行为的数据来管理。

公开(公告)号：US06481372B2

公开(公告)日：2002-11-19

申请号：US09901092

申请日：2001-07-10

申请人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

发明人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

IPC分类号： A01J300

CPC分类号： A01J5/0175

摘要： An apparatus for the automated milking of animals such as cows in a milking compartment with a milking robot which is provided with a controllable robot arm for supporting and connecting teat cups to the teats of an animal in the milking compartment to be milked. The milking compartment is provided with a guide element for guiding movement of the robot arm. The guide element is so configured that the robot arm when moving along the guide element pivots the robot arm about a substantially vertical axis so that the teat cups are pivoted between a first position which is out of reach of the animal to be milked in the milking compartment to a second position located under the animal's udder. The mechanical guide element preferably includes a gear teeth arrangement whereby there is a gear type meshed connection between rollers that support the robot arm and the guide element to provide a robust mechanism and accurate pivoting movement by the robot arm.

摘要翻译： 一种用于在具有挤奶机器人的挤奶室中的动物自动挤奶的装置，该挤奶机器人设置有可控制的机器人手臂，用于将挤奶杯支撑并连接到要挤奶的挤奶室中的动物的乳头。 挤奶室设置有用于引导机器人手臂的运动的引导元件。 引导元件被构造成使得当沿着引导元件移动时的机器人臂使机器人臂围绕基本垂直的轴线枢转，使得奶杯在枢转在第一位置之间，该第一位置在挤奶中被挤压的动物 隔间到位于动物乳房下方的第二位置。 机械引导元件优选地包括齿轮配置，由此在支撑机器人臂和引导元件的辊之间存在齿轮型啮合连接，以提供鲁棒的机构并且由机器人手臂进行准确的枢转运动。

公开(公告)号：US06981467B2

公开(公告)日：2006-01-03

申请号：US09953147

申请日：2001-09-17

申请人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

发明人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

IPC分类号： A01J5/003 ,  A01J5/00

CPC分类号： A01J5/003 ,  A01J5/0175

摘要： A vehicle for automatically milking dairy farm animals which carries a milk reservoir having milk lines which connect to a set of teat cups that are automatically connected to animals' teats by a milking robot. The vehicle is supported from the underlying surface by wheels, caterpillar tracks, or an air cushion, and includes navigational equipment which controls the vehicle so that it positions itself under the animals' teats whereupon the teat cups automatically placed on the relevant animals' teats one by one or in pairs. The vehicle also has its own propulsion power source. The vehicle including all its components is movable and displaceable as a whole. A gripping mechanism for connecting the vehicle to an animal may be included. In a variation, a central station carries a milk reservoir and a plurality of satellite milking units as described above seek out and milk the dairy farm animals. Such units are coupled to the central station by conduits otherwise to deliver milk they receive from the animals to the reservoir carried by the central station.

摘要翻译： 一种用于自动挤奶的农场动物的车辆，其携带具有牛奶容器的牛奶储存器，其具有连接到由挤奶机器人自动连接到动物奶头的一组奶杯。 车辆由下面的表面通过轮子，履带或气垫支撑，并且包括控制车辆的导航设备，使得其定位在动物的乳头下面，由此乳头杯自动放置在相关动物的乳头上 一对或一对 车辆也有自己的推进动力源。 包括其所有组件的车辆整体上是可移动和可移动的。 可以包括用于将车辆连接到动物的夹持机构。 在一个变型中，中心站运送一个牛奶储存器，并且如上所述的多个卫星挤奶单元寻找并且对奶牛场的动物进行牛奶。 这样的单元通过导管耦合到中心站，否则将从动物接收的牛奶输送到由中心站承载的储存器。

公开(公告)号：US06742474B2

公开(公告)日：2004-06-01

申请号：US10109695

申请日：2002-04-01

申请人： Karel van den Berg ,  Alexander van der Lely ,  Renatus Ignatius Josephus Fransen ,  Wilhelmus Johannes Adrianus van Lier

发明人： Karel van den Berg ,  Alexander van der Lely ,  Renatus Ignatius Josephus Fransen ,  Wilhelmus Johannes Adrianus van Lier

IPC分类号： A01J5007

CPC分类号： A01J5/0175 ,  A01J5/007

摘要： A system for automatically milking animals is provided with a milking robot and a computer which is capable of being connected to a plurality of measuring instruments for a plurality of functions of the system and physiological conditions of the animals being milked. Monitoring programs for the functions and conditions are installed in a computer which, based on comparison reference data, determines that one or more components of the system is likely to fail or otherwise malfunction and reports on abnormal physiological conditions of animals being milked by the system. As a result of the computer determinations, diagnoses of the likelihood of failure or other malfunction of one or more of the system's components, and of abnormal conditions of the animals being milked, are transmitted to interested parties including a user and a service mechanic together with the appropriate actions to be taken.

摘要翻译： 具有自动挤奶动物的系统设置有挤奶机器人和计算机，其能够连接到多个测量仪器，用于系统的多个功能和被挤压的动物的生理状况。 功能和条件的监控程序安装在基于比较参考数据的计算机中，该计算机确定系统的一个或多个组件可能失败或以其他方式发生故障，并报告由系统挤奶的动物的异常生理状况。 作为计算机确定的结果，诊断系统部件中的一个或多个部件的故障或其他故障以及挤奶动物的异常状况的可能性被传送给包括用户和服务技工在内的感兴趣的一方以及 采取适当行动。

公开(公告)号：US06463876B2

公开(公告)日：2002-10-15

申请号：US09899859

申请日：2001-07-09

申请人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

发明人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

IPC分类号： A01J5017

CPC分类号： A01J5/0175

摘要： An apparatus for automated milking of animals which comprises a milking compartment and a milking robot that is provided with teat cups and a mechanism for connecting the teat cups to the animals being milking in milking compartment. A carrier element for the teat cups is disclosed which is movable in three dimensions while being supported and moved by three sets of controlled piston and cylinder elements, each set of said elements having one end on ends thereof connected to the milking compartment and the other end thereof connected to the carrier element, the connections to the carrier element (as seen in plan) not being aligned. Each set of controlled piston and cylinder elements consists of two controlled piston and elements which are in “V” configurations so that there are three non-aligned connections of each set to the carrier element and six non-aligned connections to the milking compartment.

摘要翻译： 一种用于动物自动挤奶的装置，包括挤奶室和挤奶机器人，该挤奶机和挤奶机器人设置有奶杯和用于将挤奶杯连接到在挤奶室中挤奶的动物的机构。 公开了一种用于乳头杯的载体元件，其可在三个维度上移动，同时被三组受控活塞和气缸元件支撑和移动，每组所述元件的一端在其一端连接到挤奶室，另一端 连接到载体元件，与载体元件的连接（如平面图所示）不对准。 每套控制的活塞和气缸元件由两个受控的活塞和“V”构造的元件组成，因此每个组与承载元件有三个不对齐的连接以及与挤奶室的六个非对齐连接。

公开(公告)号：US06584929B2

公开(公告)日：2003-07-01

申请号：US09901067

申请日：2001-07-10

申请人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

发明人： Alexander van der Lely ,  Karel van den Berg ,  Renatus Ignatius Josephus Fransen

IPC分类号： A01J300

CPC分类号： A01J5/0175

摘要： An apparatus for the automated milking of animals, such as cows, which comprises a milking compartment and a milking robot associated with the milking compartment. The milking robot is provided with a controllable robot arm that connects and disconnects teat cups to and from the teats of an animal being milked. In one embodiment, the robot arm is suspended from a ball joint so that control of the robot arm is relatively simple, reliable and accurate. In another embodiment the robot arm is suspended from a rail disposed near the top of the milking compartment wherein the rail is pivotably connected to a further rail on top of the milking compartment so that it can be pivoted upwardly and downwardly by a piston and cylinder arrangement. In a third embodiment, the robot arm is suspended from a bearing having a vertical axis in the upper aspect of the milking compartment whereby the robot arm includes two tubes which may be telescoping to provide both horizontal and vertical movements which are used for positioning teat cups under the teats of the animal being milked so that they can be connected or disconnected therefrom and in the latter event moved outside of the milking compartment.

摘要翻译： 用于动物自动挤奶的装置，例如牛，其包括与挤奶室相关联的挤奶室和挤奶机器人。 挤奶机器人设置有可控的机器人臂，其将乳头杯与挤奶动物的乳头连接和断开。 在一个实施例中，机器人臂从球形接头悬挂，使得机器人手臂的控制相对简单，可靠和准确。 在另一个实施例中，机器人臂从设置在挤奶室顶部附近的轨道悬挂，其中轨道可枢转地连接到挤奶室顶部的另一个轨道，使得其可以通过活塞和气缸装置向上和向下枢转 。 在第三实施例中，机器人臂从挤奶室的上部方面的具有垂直轴线的轴承悬挂，由此机器人臂包括两个可以伸缩的管，以提供用于定位奶头杯的水平和垂直运动 在被挤压的动物的乳头下方，使得它们可以被连接或断开，并且在后一种情况下移动到挤奶室外。

公开(公告)号：US07140324B2

公开(公告)日：2006-11-28

申请号：US09832119

申请日：2001-04-11

申请人： Carlo Verburg ,  Alexander van der Lely ,  Reantus Ignatius Josephus Fransen ,  Karel van den Berg

发明人： Carlo Verburg ,  Alexander van der Lely ,  Reantus Ignatius Josephus Fransen ,  Karel van den Berg

IPC分类号： A01K1/00 ,  A01J3/00

CPC分类号： A01K1/12 ,  A01K1/0082 ,  A01K1/0209 ,  A01K13/00

摘要： An apparatus for cooling an animal in a place such as a milking stall or feeding stall wherein an artificial climate is created. The artificial climate disclosed comprises wetting the animal with a water vapor and causing an air flow over the wetted area of the animal. Water vapor is sprayed and rubbed onto the back of the animal while shields protect areas to remain dry. During the process the animal is monitored for signs of thermal stress using a variety of methods and the wetting and cooling process are discontinued if the artificial climate adversely affects the animal.

摘要翻译： 一种用于在诸如挤奶摊位或喂食摊位的地方冷却动物的装置，其中产生人造气候。 所公开的人造气候包括用水蒸气润湿动物并使空气流过动物的湿润区域。 将水蒸汽喷洒并摩擦到动物的背部，同时屏蔽保护区域保持干燥。 在该过程中，使用各种方法监测动物的热应激迹象，并且如果人造气候对动物有不利影响，则中止湿润和冷却过程。

公开(公告)号：US06170434B2

公开(公告)日：2001-01-09

申请号：US09274924

申请日：1999-03-23

申请人： Alexander van der Lely ,  Karel van den Berg ,  Franciscus Johannes Adrianus de Groen

发明人： Alexander van der Lely ,  Karel van den Berg ,  Franciscus Johannes Adrianus de Groen

IPC分类号： A01J5007

CPC分类号： A01J5/007 ,  A01J5/0175 ,  A01J7/04

摘要： A method of and apparatus for automatic milking of animals which comprises a number of steps such as cleaning the animal's teats, connecting teat receiving cups to the animal, foremilking, the milking operation as such, stripping, disconnecting the teat cups and disinfecting the teats. For each step, there are at least two variants. With the same animal, during a milking operation or in successive milking operations, different variants are applied, the variants being selected randomly by a random generator or to change periodically. The variants include the intensity and how the cleaning members are applied to the animal's teats, the sequence in which the teat cups are connected to the animal's teats, the locations of kinking places in the liner of the teat cup, the pulsation frequency, the release-suction phase ratio of pulsation, and the force with which the teat cups are decoupled from the animal's teats at the end of the milking operation.

摘要翻译： 一种用于动物自动挤奶的方法和装置，其包括若干步骤，例如清洁动物的乳头，将奶头接收杯连接到动物，预先挤奶，挤奶操作，剥离，断开乳头杯和消毒奶头。 对于每个步骤，至少有两个变体。 使用相同的动物，在挤奶操作期间或连续挤奶操作中，应用不同的变体，变体由随机发生器随机选择或周期性地改变。 这些变体包括清洁部件应用于动物乳头的强度以及乳头杯连接到动物乳头的顺序，乳头杯的衬里中的扭结位置的位置，脉动频率，释放 脉动相位比，以及在挤奶操作结束时乳头杯与动物乳头分离的力。

公开(公告)号：US06237530B1

公开(公告)日：2001-05-29

申请号：US09566127

申请日：2000-05-05

申请人： Alexander van der Lely ,  Karel van den Berg ,  Franciscus J. A. de Groen ,  Willen A. F. van der Weele

发明人： Alexander van der Lely ,  Karel van den Berg ,  Franciscus J. A. de Groen ,  Willen A. F. van der Weele

IPC分类号： A01J500

CPC分类号： A01K1/12 ,  A01J5/0175 ,  A01J7/02

摘要： An apparatus for automatically milking animals, such as cows, comprising automatic milking machine and a milking robot for automatically connecting teat cups to the teats of an animal to be milked. The apparatus is further provided an enclosure having a control room which is accessible to and contains at least part of the milking machine and milking robot. The apparatus further comprises a device for cleaning or disinfecting, or both, an operator who enters the control room. This is accomplished automatically by providing adjacent to, or as part of, the door that enters the control room, a cleaning and disinfecting device which at least contacts the footwear of an operator entering the control room. The door may be turnable about a centrally disposed vertical axis which rotates to provide an entrance and exit from the control room, the bottom of the rotatable door comprising a basin which contains cleaning or disinfectant fluid or both. The enclosure may have one or two milking compartments either side by side or aligned longitudinally, a control room with access to the milking robot or robots and milking machine or machines and a cleaning and disinfecting device adjacent to, or as part of, the entry door and, as a whole, the enclosure may be movable.

摘要翻译： 一种用于自动挤奶动物的装置，例如牛，包括自动挤奶机和挤奶机器人，用于将奶杯自动连接到要挤奶的动物的乳头。 该装置还设置有具有控制室的外壳，该控制室可访问并包含挤奶机和挤奶机器人的至少一部分。 该装置还包括用于清洁或消毒或两者进入控制室的操作者的装置。 这通过提供与进入控制室的门相邻或部分地自动完成，清洁和消毒装置至少接触进入控制室的操作者的鞋类。 门可以围绕中心设置的垂直轴线旋转，其旋转以提供从控制室的入口和出口，可旋转门的底部包括容纳清洁或消毒液体或两者的盆。 外壳可以并排或纵向排列一个或两个挤奶隔间，一个可进入挤奶机器人的控制室或机器人以及挤奶机或机器以及邻近或作为进入门的一部分的清洁和消毒装置 并且整体上，外壳可以是可移动的。