公开(公告)号：US20160295827A1

公开(公告)日：2016-10-13

申请号：US15100368

申请日：2014-12-12

Applicant: DELAVAL HOLDING AB

Inventor： Thomas AXELSSON ,  Peter ERIKSSON ,  Tapani NIEMELA

IPC: A01J7/04 ,  A01J5/007 ,  H04N5/232 ,  B25J11/00 ,  G06T1/00 ,  A01J5/017 ,  A01J7/02

CPC classification number: A01J7/04 ,  A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/025 ,  A01K1/126 ,  B25J11/00 ,  B25J11/008 ,  G06T1/0014 ,  H04N5/23229

Abstract: An end effector that mounts to a robot and discharges animal treating fluid onto the teats of a milking animal includes a rigid inner arm section and a flexible outer arm section, and a camera with a front window. An inner end portion of the inner arm section is mountable to the robot, the inner end portion of the outer arm section is rigidly connected to outer end portion of the inner arm section, the camera is mounted on an upper side of the inner arm section with the front window facing the outer arm section, and the outer arm section is provided with at least one nozzle in the outer end portion, the nozzle being directed upwards such that animal treating fluid can be discharged through the nozzle and upwards towards a teat of a milking animal during use of the robot.

Abstract translation: 安装到机器人并将动物处理流体排放到挤奶动物的乳头上的末端执行器包括刚性内臂部分和柔性外臂部分以及具有前窗的相机。 内臂部的内端部安装于机器人，外臂部的内端部与内臂部的外端部刚性连接，摄像机安装在内臂部的上侧 其中前窗口面向外臂部分，并且外臂部分在外端部分中设置有至少一个喷嘴，喷嘴被向上引导，使得动物处理流体可以通过喷嘴排出并向上朝向 在使用机器人期间的挤奶动物。