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：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。

公开(公告)号：US20160227733A1

公开(公告)日：2016-08-11

申请号：US15021941

申请日：2014-10-09

Applicant: DELAVAL HOLDING AB

Inventor： Thomas AXELSSON

IPC: A01K1/12 ,  A01J5/007

CPC classification number: A01K1/126 ,  A01J5/007

Abstract: An encoder arrangement (2) adapted to be used with a rotary milking platform includes an encoder axle rotatable about an encoder axis (12), an encoder wheel (6) connected to the encoder axle, and a suspension arrangement (8) supporting the encoder and the encoder wheel (6). The encoder and the encoder wheel (6) are arranged on a movable portion (14) of the suspension arrangement (8). The movable portion (14) is biased towards the rotary milking platform. The movable portion (14) is pivotable about a pivot axis (16), and the pivot axis (16) extends perpendicularly to the encoder axis (12).

Abstract translation: 适于与旋转挤奶平台一起使用的编码器装置（2）包括可围绕编码器轴线（12）旋转的编码器轴，连接到编码器轴的编码轮（6）和支撑编码器的悬挂装置（8） 和编码轮（6）。 编码器和编码轮（6）布置在悬挂装置（8）的可移动部分（14）上。 可移动部分（14）被朝向旋转挤奶平台偏置。 可移动部分（14）可围绕枢转轴线（16）枢转，并且枢转轴线（16）垂直于编码器轴线（12）延伸。

公开(公告)号：US20160150755A1

公开(公告)日：2016-06-02

申请号：US14901149

申请日：2014-04-07

Applicant: DELAVAL HOLDING AB

Inventor： Thomas AXELSSON ,  Kerstin HOLMSTROM

IPC: A01J7/02

CPC classification number: A01J7/025 ,  A01J7/02

Abstract: An arrangement for cleaning an end effector (21) carried by a robotic manipulation device (9a, 9b, 9c) includes an end effector cleaning station (18) mounted within a working area of the robotic manipulation device (9a, 9b, 9c), with a spray device (26) configured to provide at least one liquid jet. A control unit (11) is, when it is time to clean the end effector (21), configured to activate the robotic manipulation device (9a, 9b, 9c) such that it moves the end effector (21) downwards from a position above the end effector cleaning station (18) to a position where it is hit by the liquid jet, wherein during this movement the end effector (21) is substantially vertical.

Abstract translation: 用于清洁由机器人操纵装置（9a，9b，9c）携带的末端执行器（21）的装置包括安装在机器人操纵装置（9a，9b，9c）的工作区域内的末端执行器清洁站（18） 其中喷雾装置（26）构造成提供至少一种液体喷射。 控制单元（11）当要清洁末端执行器（21）的时候被配置为激活机器人操纵装置（9a，9b，9c），使得其从上方的位置向下移动末端执行器（21） 末端执行器清洁站（18）移动到其被液体射流撞击的位置，其中在该移动期间，末端执行器（21）基本垂直。