Milking Robot Arm Structure Kick Detection
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Solution Overview
Problem
Existing milking robots often react too late to prevent milking cups from being kicked off, leading to contamination and potential entanglement or damage of milking lines, as they measure acceleration too late due to direct connection issues with the teat cups.
Innovation Solution
Incorporating an arm structure with a flexible connecting means and sensors to measure arm structure position and acceleration, allowing the control unit to proactively uncouple the milking vacuum and retract the teat cup before detachment, utilizing predictive measures based on experience or models to prevent unwanted detachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the teat cup is directly connected to the arm structure for stable positioning, then the connection stability is improved, but the reaction time to detect kicking movements deteriorates
Solution Approach 1:
The patent introduces a flexible connecting means as an intermediary element between the arm structure and the teat cup. This flexible connection allows the arm structure to move independently from the teat cup, enabling the sensors on the arm structure to detect kicking movements before the teat cup is actually displaced. The flexibility absorbs the shock of sudden movements while maintaining functional connection, thus resolving the contradiction between connection stability and reaction time.
2Productivity
If the milking vacuum is maintained during arm structure movement, then the milking process continues uninterrupted, but the risk of dirt contamination increases when the teat cup is kicked off
Solution Approach 1:
The patent applies preliminary action by detecting arm structure acceleration or position changes that precede teat cup detachment. When the control unit detects that the arm structure has been kicked (through acceleration sensors or position-determining devices), it proactively closes off the milking vacuum and activates the retracting device before the teat cup actually detaches and contacts dirt. This predictive approach maintains productivity by quickly responding to kick events while preventing contamination through early vacuum shutdown.
3Ease of operation
If the teat cup is allowed to move freely with respect to the arm structure, then the flexibility and comfort for the animal is improved, but the risk of milking line entanglement and damage increases
Solution Approach 1:
The patent implements feedback control by continuously monitoring the position and acceleration of the arm structure using sensors. When the control unit detects abnormal movements (kicking) through the feedback from position-determining devices or acceleration-determining devices, it automatically activates the retracting device to pull the teat cup back onto the arm structure. This feedback mechanism maintains flexibility during normal operation while preventing milking line entanglement and damage by quickly retracting the teat cup when abnormal movements are detected.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables quicker reaction times to prevent contamination and reduces the risk of milking line entanglement by allowing the teat cups to be retracted before contact with the ground, thereby minimizing soiling and damage.
Implementation Method 1
a vacuum device for applying a milking vacuum to the teat cup
Implementation Method 2
a flexible connecting means connected between the teat cup and the arm structure, a retracting device for pulling the teat cup back onto the arm structure by means of the connecting means
Data Source
AI summary
A milking robot for completely automatically performing a teat-related action on a dairy animal. The robot includes a frame with a movable arm structure and a robot arm and actuators, a teat cup, a flexible connecting means connected between the teat cup and the arm structure, a retracting device for pulling the teat cup back onto the arm structure by means of the connecting means, a vacuum device for applying a milking vacuum to the teat cup, and a control unit for controlling the milking robot. The robot further includes at least one of an arm structure position-determining device for determining a measured value relating to an arm structure position, and an arm structure acceleration-determining device for determining an arm structure acceleration. The control unit is configured to control the retracting device and/or the vacuum device, if the determined measured value satisfies a predetermined measured value criterion.