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US 8,281,743 B2Granted
Milking parlour and method for operating the same
AssigneeDeLaval Holding AB
InventorsThomas Axelsson, Uzi Birk
Life of this patent
Estimating the term…
Abstract
An apparatus for milking an animal provides a milking parlor (1) with a robotic manipulation device (25) and a milking stall (5) provided on a platform (3) moveable relative to the robotic manipulation device (25). An electric control system is adapted to vary the movement of the platform in response to the performance of the robotic manipulation device (25) in servicing the milking stall (5).
Claims17
A milking parlour, comprising:
- a robotic manipulation device;
- a milking stall provided on a platform moveable relative to the robotic manipulation device;
- and
- an electronic control system i) adapted to monitor a rate at which the robotic manipulation device attaches teat cups to teats of an animal positioned in the milking stall, and ii) adapted to vary a speed of rotation of the platform in dependence upon the monitored rate at which the robotic manipulation device attaches the teat cups to the teats of the animal, wherein,
- the stall comprises four teat cups, and
- the electronic control system:
- i) determines, based on a current speed of the platform, that the monitored rate at which the robotic manipulation device has attached some of the four teat cups is insufficient to attach all four of the teat cups to the animal before the animal moves out of reach of the robotic manipulation device, and
- ii) in response to the determination, and based on the monitored rate at which the robotic manipulation device has attached some of the four teat cups, the electronic control system reduces the speed of rotation of the platform to a non-zero value to provide sufficient time for the robotic manipulation device to attach all four of the teat cups to the animal before the animal moves out of reach of the robotic manipulation device.
5 more elements
A milking parlour, comprising:
- a robotic manipulation device;
- a milking stall provided on a platform moveable relative to the robotic manipulation device;
- and
- an electronic control system i) adapted to monitor a rate at which the robotic manipulation device attaches teat cups to teats of an animal positioned in the milking stall, and ii) adapted to vary a speed of rotation of the platform in response to the monitored rate at which the robotic manipulation device attaches teat cups to teats of an animal positioned in the milking stall, wherein,
- the stall comprises four teat cups, and
- the electronic control system
- i) determines that, based on a current speed of the platform, the monitored rate at which the robotic manipulation device has attached some of the four teat cups is insufficient for all four of the teat cups to be attached to the animal before the animal moves out of reach of the robotic manipulation device, and
- ii) in response to the determination, the electronic control system reduces the speed of rotation of the platform.
5 more elements
A milking parlour, comprising:
- a robotic manipulation device;
- a milking stall provided on a platform moveable relative to the robotic manipulation device;
- and
- an electronic control system i) adapted to monitor a rate at which the robotic manipulation device attaches teat cups to teats of an animal positioned in the milking stall, and ii) adapted to vary movement of rotation of the platform in response to the monitored rate at which the robotic manipulation device attaches teat cups to teats of an animal positioned in the milking stall, wherein,
- the electronic control system comprises a sensor past which the platform moves in use, and
- the sensor is adapted for detecting a repetition of pattern in a repeating pattern provided on the platform so as to allow a determination of the speed of movement of the platform.
3 more elements
A method of operating a milking parlour having a robotic manipulation device and a stall provided on a platform moveable relative to the robotic manipulation device, the method comprising the steps of:
- monitoring a partial performance of the robotic manipulation device in completing servicing the milking stall;
- and
- varying the movement of the platform, during use thereof, in response to the monitored partial performance.
Dependencies are inferred from the claim text.