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End effector, robot, and rotary milking system

A technology of end effectors and robots, which is applied to milking devices, parts of TV systems, manipulators, etc., and can solve problems such as damage to end effectors and camera robots

Inactive Publication Date: 2016-08-03
DELAVAL HLDG AB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Often, exposure to this mechanical force can lead to damage to the end effector, camera or robot used

Method used

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  • End effector, robot, and rotary milking system
  • End effector, robot, and rotary milking system
  • End effector, robot, and rotary milking system

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0055] Figure 1-2 A top and side view of a rotary milking system 12 equipped with a robot 11 according to one embodiment is generally shown.

[0056] The rotary milking system 12 includes a rotary platform 12a on which the milking animals being milked stand. The robot 11 is equipped with an end effector 13 comprising an inner arm section 14 and an outer arm section 15, and a camera 16 having a front window 16a. The inner arm segment 14 includes an inner end portion 14a and an outer end portion 14b, and the outer arm segment 15 includes an inner end portion 15a and an outer end portion 15b, wherein the inner end portion 14a of the inner arm segment 14 is mounted to the robot 11, and the outer arm segment The inner end portion 15a of the segment 15 is rigidly connected to the outer end portion 14b of the inner arm segment 14 . Thus, the end effector 13 has an elongated straight or slightly inclined shaped arm mounted to the robot 11 .

[0057] A camera 16 is mounted to the u...

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PUM

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Abstract

The invention discloses an end effector, a robot, and a rotary milking system. The end effector (13) is provided for a robot (11) configured to discharge animal treating fluid onto the teats of a milking animal. The end effector comprises an inner arm section (14) and an outer arm section (15), and a camera (16) with a front window (16a), wherein the inner arm section comprises an inner end portion (14a) and an outer end portion (14b) and the outer arm section comprises an inner end portion (15a) and an outer end portion (15b). The inner end portion of the inner arm section is configured to be mounted 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 its front window facing the outer arm section, and the outer arm section is provided with at least one nozzle (31a-b) in the outer end portion, wherein the nozzle is directed upwards and is connectable to a source of animal treating fluid, such that animal treating fluid can be discharged through the nozzle and upwards towards a teat (61) of a milking animal during use of the robot. The inner arm section is of a rigid material, whereas the outer arm section is of a flexible material.

Description

technical field [0001] The present invention generally relates to robotic-based dispensing of fluid onto the teats of a milking animal, for example after or before milking. Background technique [0002] Milking systems are known having robots that dispense post-milk treatment fluid onto the teats of the milking animal after the animal has been milked. Similarly, milking systems are known having robots configured to dispense a pre-milk treatment fluid onto the teats of a milking animal before the animal is milked. [0003] The robot typically includes an end effector mounted on the robot and a camera mounted on the end effector, wherein a nozzle is arranged in an outer end portion of the end effector through which a treatment fluid is dispensed onto the teat of the milking animal . It will be appreciated that the end effector, and in particular its outer end portion, can operate in harsh environments where the outer end portion can come into intimate contact not only with p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01J7/04A01K1/12A01J5/017B25J9/10
CPCA01J5/017A01K1/126B25J11/00A01J7/04A01J5/007A01J5/0175A01J7/025H04N23/80B25J11/008G06T1/0014
Inventor T.阿克塞尔森P.埃里克森T.尼迈莱
Owner DELAVAL HLDG AB