公开(公告)号：US20150342140A1

公开(公告)日：2015-12-03

申请号：US14758580

申请日：2014-01-02

Applicant: DELAVAL HOLDING AB

Inventor： Helmut OBERMULLER

IPC: A01J5/017 ,  A01K1/12

CPC classification number: A01J5/017 ,  A01J5/0175 ,  A01K1/126

Abstract: A method is provided for a milking system including a moving device, milking stalls each provided with teat cups, an automatic teat cup attachment system, and an automatic teat cup returning system configured to return the teat cups to default storage positions subsequent to the milking. Current positions of the teat cups are, for each of the milking stalls, sensed after the teat cup returning system withdraws the teat cups, but before the automatic teat cup attachment system fetches the teat cups. The sensed positions of the teat cups are, for each of the milking stalls, compared with the default storage positions to determine whether the sensed current positions of the teat cups deviate from the default storage positions by at least a specified distance, and an action is performed when the sensed positions deviate from the default storage positions by at least the specified distance.

Abstract translation: 提供了一种用于挤奶系统的方法，包括移动装置，每个设置有奶头杯的挤奶档，自动乳头杯附件系统和自动乳头杯返回系统，其被配置为将挤奶杯返回到挤奶之后的默认储存位置。 在挤奶杯返回系统退出奶杯之后，但是在自动乳头杯连接系统取出奶杯之前，对于每个挤奶摊位，乳头杯的当前位置是感觉到的。 对于每个挤奶档位，乳头杯的感测位置与默认存储位置相比较，以确定奶杯的感测到的当前位置是否偏离了默认存储位置至少指定的距离，并且动作是 当感测到的位置与默认存储位置偏离至少指定的距离时执行。

公开(公告)号：US20160306046A1

公开(公告)日：2016-10-20

申请号：US15101934

申请日：2014-12-04

Applicant: DELAVAL HOLDING AB

Inventor： Thomas AXELSSON ,  Nils-Erik HOLMERTZ ,  Helmut OBERMULLER

IPC: G01S17/89 ,  A01J5/017 ,  G01S7/481

CPC classification number: G01S17/89 ,  A01J5/0175 ,  G01S7/4813 ,  G01S17/88 ,  G01S2007/4975 ,  G05B2219/45113

Abstract: A time-of-flight (TOF) camera system for a robot milking system includes a housing accommodating a light source, imaging optics, an image sensor, and electronics; a front part including a light transparent window disposed in front of the light source and the imaging optics; and fasteners. The housing has a front side and a back side, and the front part has a front side and a backside, the surface of the front side being flat and including a front surface of the light transparent window. The fasteners releasably mechanically fasten the front part to the housing with the back side of the front part and the front side of the housing facing each other. The fasteners are maneuverable from the back side of the housing to fasten the front part to, and release the front part from, the housing, thereby enabling the front part to be replaceable.

Abstract translation: 用于机器人挤奶系统的飞行时间（TOF）相机系统包括容纳光源，成像光学元件，图像传感器和电子器件的壳体; 前部，包括设置在光源前面的光透明窗和成像光学元件; 和紧固件。 壳体具有前侧和后侧，前部具有前侧和后侧，前侧的表面是平坦的，并且包括透光窗的前表面。 紧固件可拆卸地将前部机械地紧固到壳体，其中前部的后侧和壳体的前侧彼此面对。 紧固件可以从壳体的后侧操纵，以将前部部件固定到壳体上并将前部部件从壳体释放，从而使前部部件能够更换。

公开(公告)号：US20160128298A1

公开(公告)日：2016-05-12

申请号：US14899134

申请日：2014-06-17

Applicant: DELAVAL HOLDING AB

Inventor： Nils-Erik HOLMERTZ ,  Helmut OBERMULLER

IPC: A01J5/017

CPC classification number: A01J5/0175 ,  Y10S901/02 ,  Y10S901/29 ,  Y10S901/36

Abstract: A gripping device for a robotic manipulation device that grips and attaches teat cups to an animal. The gripping device for each teat cup to be gripped and attached includes a holding member configured to releasably hold a teat cup, and a power member configured to move the holding member from a base position (p1) to a raised position (p2) in which the teat cup can be attached to a teat. The gripping device for each teat cup to be gripped and attached includes a movable cover portion movably arranged between a covering position, in which it covers the opening of the teat cup, and a non-covering position, in which the opening of the teat cup is exposed. When power member lifts the holding member from the base position to the raised position, the movable cover portion moves from the covering position to the non-covering position.

Abstract translation: 用于机器人操纵装置的夹持装置，其将乳头杯夹持并附接到动物。 用于每个被夹紧和连接的奶杯的夹持装置包括构造成可释放地保持奶杯的保持构件和构造成将保持构件从基座位置（p1）移动到升高位置（p2）的动力构件，其中 奶杯可以连接到奶头上。 用于每个被夹紧和附着的奶杯的夹持装置包括可移动的盖部分，其可移动地布置在其覆盖奶杯的开口的覆盖位置和非覆盖位置之间，其中奶杯的开口 被暴露。 当动力构件将保持构件从基座位置提升到升高位置时，可动盖部从覆盖位置移动到非覆盖位置。