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公开(公告)号：US10349619B2
公开(公告)日：2019-07-16
申请号：US15100220
申请日：2014-07-21
摘要： The present invention relates to a cleaning device (4) for cleaning and pretreating teats of an animal for milking, milking machine (2) provided therewith and method therefor. The cleaning device according to the invention comprises: a frame (52) provided with an arm (6); a cleaning head arranged on the arm and provided with a rotatable holder (12) on which one or more rotatable cleaning elements (14) are provided; and moving means (48, 50, 56) connected to the frame for displacing the cleaning head relative to the teats such that the teats are cleanable using the cleaning elements.
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公开(公告)号：US09681634B2
公开(公告)日：2017-06-20
申请号：US13448751
申请日：2012-04-17
CPC分类号： A01J5/0175 , A01J5/007 , G06T7/75 , G06T2207/30128
摘要： A system includes a first camera, a second camera, and a processor wherein the second camera has a higher resolution than the first camera. The processor is communicatively coupled to the first camera and the second camera and is operable to determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera. The processor is also operable to determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.
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公开(公告)号：US09282718B2
公开(公告)日：2016-03-15
申请号：US13454876
申请日：2012-04-24
IPC分类号： A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , A01J5/00 , A01J7/04 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00
CPC分类号： A01J5/00 , A01J5/003 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/017 , A01J5/0175 , A01J5/04 , A01J5/06 , A01J7/00 , A01J7/025 , A01J7/04 , A01J9/00 , A01K1/0023 , A01K1/0029 , A01K1/12 , A01K5/00 , A01K5/02 , A01K11/006 , B25J13/08 , B25J19/023 , G05B2219/45113 , G06K9/00362 , G06T1/0014 , G06T7/70 , H04N5/247 , H04N13/204 , Y10S901/02 , Y10S901/47
摘要： In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.
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4.发明授权Milking box with robotic attacher and backplane for tracking movements of a dairy animal 有权带有机器人护理者和背板的奶瓶，用于跟踪奶牛动物的运动公开(公告)号：US09215861B2
公开(公告)日：2015-12-22
申请号：US13448993
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： A milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface.
摘要翻译： 挤奶箱包括失速部分和位于失速部分中的背板。 响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。 响应于从接触表面移除的压力，底板向失速部分的前部移动。
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5.发明授权Milking box with robotic attacher comprising an arm that pivots, rotates, and grips 有权具有机器人护理者的挤奶箱包括枢转，旋转和夹持的臂公开(公告)号：US09161512B2
公开(公告)日：2015-10-20
申请号：US13449105
申请日：2012-04-17
CPC分类号： A01J5/0175 , A01K1/12 , B25J9/04 , B25J9/045 , B25J9/104 , Y10S901/14 , Y10S901/19 , Y10S901/21 , Y10S901/29 , Y10S901/31
摘要： In certain embodiments, robotic attacher comprises a supplemental arm comprising a fixed portion and a gripping portion. The fixed portion comprises a pivot assembly and a rotating assembly. The pivot assembly pivots the gripping portion between maximum-left, maximum-right, and centered positions. The rotating assembly rotates the gripping portion between upright and upside down positions. The gripping portion comprises a gripper comprising claw arms operable to open and close.
摘要翻译： 在某些实施例中，机器人附件包括一个辅助臂，它包括固定部分和一个抓握部分。 固定部分包括枢转组件和旋转组件。 枢轴组件使握持部分在最大左，最大右对中和中心位置之间枢转。 旋转组件将握持部分在直立和倒置位置之间旋转。 抓握部分包括夹持器，其包括可操作以打开和关闭的爪臂。
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6.发明授权Milking box with a robotic attacher having a three-dimensional range of motion 有权具有三维运动范围的机器人护理者的挤奶箱公开(公告)号：US09049843B2
公开(公告)日：2015-06-09
申请号：US13449142
申请日：2012-04-17
CPC分类号： A01J5/0175 , A01J5/007 , A01K1/12
摘要： In certain embodiments, a robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a plurality of actuators operable to move the main arm and supplemental arm in response to signals from a controller. The actuators comprise first, second, and third actuators operable to move the main arm in x-, y-, and z-directions, respectively. The actuators further comprise fourth and fifth actuators operable to pivot a gripping portion of the supplemental arm in a first z-direction and a second z-direction, respectively, with the second z-direction being opposite the first z-direction.
摘要翻译： 在某些实施例中，机器人附件包括主臂，耦合到主臂的辅助臂和可操作以响应于来自控制器的信号移动主臂和辅助臂的多个致动器。 致动器包括可操作以分别在x，y和z方向上移动主臂的第一，第二和第三致动器。 执行器还包括第四和第五致动器，其可操作以分别在第一z方向和第二z方向上枢转辅助臂的夹持部分，其中第二z方向与第一z方向相反。
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公开(公告)号：US08813680B2
公开(公告)日：2014-08-26
申请号：US13454490
申请日：2012-04-24
CPC分类号： A01J5/00 , A01J5/003 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/017 , A01J5/0175 , A01J5/04 , A01J5/06 , A01J7/00 , A01J7/025 , A01J7/04 , A01J9/00 , A01K1/0023 , A01K1/0029 , A01K1/12 , A01K5/00 , A01K5/02 , A01K11/006 , B25J13/08 , B25J19/023 , G05B2219/45113 , G06K9/00362 , G06T1/0014 , G06T7/70 , H04N5/247 , H04N13/204 , Y10S901/02 , Y10S901/47
摘要： In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.
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8.发明申请公开(公告)号：US20120275662A1
公开(公告)日：2012-11-01
申请号：US13448913
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/017 , A01J5/0175 , A01J7/00 , G06K9/6202 , G06T7/0004 , G06T7/73 , G06T2207/10028 , G06T2207/30128 , H04N5/2252 , H04N13/204
摘要： In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock.
摘要翻译： 在示例性实施例中，系统包括三维相机和通信地耦合到三维相机的处理器。 处理器可操作以确定奶牛家畜的第一边缘，确定奶牛家畜的第二边缘，确定奶牛家畜的第三边缘，并且确定奶牛家畜的第四边缘。
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公开(公告)号：US20120273006A1
公开(公告)日：2012-11-01
申请号：US13449173
申请日：2012-04-17
摘要： In certain embodiments, a system comprises a milk collecting system, a teat cup holder, and a cleansing hose system. The milk collecting system comprises a teat cup, a milk collector, and a milking hose system connecting the teat cup to the milk collector. The teat cup holder stores the teat cup of the milk collecting system such that a nozzle of the teat cup holder substantially aligns with an opening of the teat cup. The cleansing hose system connects the nozzle of the teat cup holder to one or more cleanser sources and operable to backwash at least a portion of the milk collecting system by injecting a cleanser from one or more of the cleanser sources through the nozzle and into the teat cup.
摘要翻译： 在某些实施方案中，系统包括牛奶收集系统，奶杯杯保持器和清洁软管系统。 该奶收集系统包括一个奶杯，一个收集收集器和一个挤奶软管系统，将乳头杯与奶收集器相连。 奶杯杯架存储了乳汁收集系统的奶杯，使得奶头杯保持器的喷嘴基本上与奶杯的开口对准。 清洁软管系统将奶杯杯保持器的喷嘴连接到一个或多个清洁剂源，并且可操作以通过从一个或多个清洁剂源通过喷嘴注入清洁剂并进入奶嘴来反洗洗涤至少一部分乳汁收集系统 杯子。
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公开(公告)号：US20120272917A1
公开(公告)日：2012-11-01
申请号：US13454913
申请日：2012-04-24
IPC分类号： A01J5/017
CPC分类号： A01J5/00 , A01J5/003 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/017 , A01J5/0175 , A01J5/04 , A01J5/06 , A01J7/00 , A01J7/025 , A01J7/04 , A01J9/00 , A01K1/0023 , A01K1/0029 , A01K1/12 , A01K5/00 , A01K5/02 , A01K11/006 , B25J13/08 , B25J19/023 , G05B2219/45113 , G06K9/00362 , G06T1/0014 , G06T7/70 , H04N5/247 , H04N13/204 , Y10S901/02 , Y10S901/47
摘要： In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.
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