Milking robot, and a milking arrangement
AssigneeDeLaval Holding AB
InventorsJan-Erik Andersson, Thomas Axelsson
Life of this patent
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Abstract
A milking arrangement includes a milking robot (10) having a first link (L1), a second link (L2), a third link (L3), an end effector (E), sensor (16) and a control unit (15). The first link is rotatable to a first angle within a first angle range (α1) via a first joint (11). The second link is rotatable to a second angle within a second angle range (α2) via a second joint (12). The third link (L3) is rotatable to a third angle within a third angle range (α3) via third joint (13). The links (L1, L2, L3) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles.
Claims20
A milking robot (10), comprising:
- a first link (L1) rotatable around a first axis (x1) to a first angle within a first angle range (α1) via a first joint (11) acted on by a first joint actuator (A1),
- a second link (L2) attached to the first link (L1) and rotatable around a second axis (x2) to a second angle within a second angle range (α2) via a second joint (12) acted on by a second joint actuator (A2),
- a third link (L3) attached to the second link (L2) and rotatable around a third axis (x3) to a third angle within a third angle range (α3) via third joint (13) acted on by a third joint actuator (A3),
- an end effector (E),
- wherein the first, second and third links (L1, L2, L3) are rotatable so that the end effector (E) is movable within a three-dimensional workspace (W) of the milking robot (10),
- a sensor (16) configured to sense a position of an object, including a teat of an animal, and
- a control unit (15) configured to control the first, second and third joint actuators to move the end effector (E) to the position sensed by the sensor (16),
- wherein each position of the end effector (E) within the workspace (W) corresponds to a single combination of the first, second and third angles, and
- wherein the end effector (E) comprises a center point (p), which defines the position of the end effector (E) (14) in a control algorithm included in the control unit (15) and provided for controlling the milking robot (10).
Dependencies are inferred from the claim text.