WISSE Dik-Jan,VAN ADRICHEM Paulus Jacobus Maria,VAN DEN BERG Karel
申请号：
US201615761593
公开号：
US2018343823(A1)
申请日:
2016.07.28
申请国别(地区):
美国
年份:
2018
代理人:
摘要：
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.
