Robotic Arm Milking Cup Attachment via Confined Region Positioning
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Solution Overview
Problem
Current robotic milking systems are limited by their inability to efficiently attach and detach standard milking clusters to multiple cows in a conventional milking parlour, requiring multiple robots or extended milking periods, and are not compatible with existing milking infrastructure.
Innovation Solution
A robotic arm system that withdraws and repositions a standard milking cluster to allow cups to hang below a bowl, locates each cup in a confined region, and attaches them to the teats of an animal using actuators and vacuum control, enabling efficient attachment and detachment of multiple cups.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robotic arm is permanently attached to the milking cluster, then the robot can service only a single animal at a time, but this increases device complexity and reduces productivity
Solution Approach 1:
The robotic system separates the arm from the milking cluster, allowing the cluster to be detached and reattached to different animals. The arm serves multiple bales by withdrawing the cluster to a known position and reattaching it to different animals sequentially, rather than being permanently fixed to one animal station.
Solution Approach 2:
The patent introduces an intermediary positioning system with guides and confined regions that mediate between the robotic arm and the milking cluster. This intermediary mechanism enables the arm to service multiple bales by temporarily holding and repositioning the cluster between different animals.
2Productivity
If each cup is picked up and attached independently with separate hoses, then the robot can service multiple bales, but this increases device complexity and prevents retrofitting to conventional parlours
Solution Approach 1:
The patent merges multiple cup handling operations into a single integrated milking cluster unit. Instead of picking up and attaching each cup separately with individual hoses, the system handles the entire cluster as one unit, maintaining compatibility with conventional milking infrastructure while enabling multi-bale service.
Solution Approach 2:
The robotic arm is designed to handle standard milking clusters that can be used across multiple bales and animals. This universal approach allows the same cluster design to service different animals sequentially, rather than requiring animal-specific custom configurations.
3Productivity
If the robotic arm services multiple bales with a single arm, then productivity increases, but the ability to locate and acquire cups accurately becomes more difficult
Solution Approach 1:
The system performs preliminary positioning by withdrawing the cluster to a generally known position and guiding the cups into confined regions before the robotic arm attempts to acquire them. This pre-positioning action reduces the search space and makes subsequent cup location and acquisition more accurate and efficient.
Solution Approach 2:
The patent creates localized confined regions for cup positioning within each bale area. These confined regions provide precise local positioning for the cups, enabling the robotic arm to accurately locate and acquire them even when servicing multiple bales with a single arm.
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
Enables high-speed, automated milking of multiple cows using conventional milking clusters with a single robotic arm, improving efficiency and reducing costs by allowing standard milking parlours to be retrofitted with robotic technology.
Implementation Method 1
a robotic arm that is not permanently attached to the milking cluster including holding means arranged to acquire and hold the plurality of cups of the cluster
Implementation Method 2
a method of controlling the application of a vacuum to milking cups comprising applying sufficient pressure to the pulsation line of the cup to collapse the cup liner when that cup is not attached to a teat
Data Source
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AI summary
A robotic milking system suitable for use with conventional milking clusters. Clusters are withdrawn to a generally known position upon release from a cow with the cups hanging down below the bowl. The cups are then located in a confined region from where they are picked up by a robotic arm and attached to teats of a cow. The cups may be located into recesses or slots or be drawn through a guide. The arrangement allows a single robotic arm to service multiple bales of a rotary milking parlour. The application of a vacuum to milking cups may be controlled by applying sufficient pressure to the pulsation line of a cup to collapse the cup liner when that cup is not attached to a teat or by bending a feed line to a cup to close the flow path.