DK3366119T3 - Robot til malkning af en ko - Google Patents
Robot til malkning af en ko Download PDFInfo
- Publication number
- DK3366119T3 DK3366119T3 DK18161097.3T DK18161097T DK3366119T3 DK 3366119 T3 DK3366119 T3 DK 3366119T3 DK 18161097 T DK18161097 T DK 18161097T DK 3366119 T3 DK3366119 T3 DK 3366119T3
- Authority
- DK
- Denmark
- Prior art keywords
- milking
- cow
- robot
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/017—Automatic attaching or detaching of clusters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/12—Milking stations
- A01K1/126—Carousels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/017—Automatic attaching or detaching of clusters
- A01J5/0175—Attaching of clusters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/04—Milking machines or devices with pneumatic manipulation of teats
- A01J5/041—Milk claw
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Zoology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
- External Artificial Organs (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2002678A NL2002678C2 (en) | 2009-03-27 | 2009-03-27 | Robot and method for milking a cow by this robot. |
EP10713034.6A EP2410837B1 (en) | 2009-03-27 | 2010-03-25 | Robot for milking a cow |
Publications (1)
Publication Number | Publication Date |
---|---|
DK3366119T3 true DK3366119T3 (da) | 2021-10-11 |
Family
ID=41381724
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK18161097.3T DK3366119T3 (da) | 2009-03-27 | 2010-03-25 | Robot til malkning af en ko |
Country Status (6)
Country | Link |
---|---|
US (5) | US8640646B2 (da) |
EP (2) | EP2410837B1 (da) |
CA (1) | CA2756423C (da) |
DK (1) | DK3366119T3 (da) |
NL (1) | NL2002678C2 (da) |
WO (1) | WO2010110663A1 (da) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NZ566631A (en) * | 2008-03-11 | 2011-04-29 | Scott Milktech Ltd | A robotic milking system and a method of attaching milking cups |
US8505483B2 (en) | 2010-06-17 | 2013-08-13 | Delaval Holding Ab | Gripper, a milking robot and a milking arrangement |
US9161511B2 (en) | 2010-07-06 | 2015-10-20 | Technologies Holdings Corp. | Automated rotary milking system |
US10111401B2 (en) | 2010-08-31 | 2018-10-30 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary parlor |
US8720382B2 (en) | 2010-08-31 | 2014-05-13 | Technologies Holdings Corp. | Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock |
US9149018B2 (en) | 2010-08-31 | 2015-10-06 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw |
US8800487B2 (en) | 2010-08-31 | 2014-08-12 | Technologies Holdings Corp. | System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform |
WO2012126502A1 (de) | 2011-03-18 | 2012-09-27 | Gea Farm Technologies Gmbh | Melkzeug und melkstand mit einem solchen melkzeug |
US8746176B2 (en) | 2011-04-28 | 2014-06-10 | Technologies Holdings Corp. | System and method of attaching a cup to a dairy animal according to a sequence |
US9357744B2 (en) | 2011-04-28 | 2016-06-07 | Technologies Holdings Corp. | Cleaning system for a milking box stall |
US9107379B2 (en) * | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Arrangement of milking box stalls |
US9681634B2 (en) | 2011-04-28 | 2017-06-20 | Technologies Holdings Corp. | System and method to determine a teat position using edge detection in rear images of a livestock from two cameras |
US9265227B2 (en) | 2011-04-28 | 2016-02-23 | Technologies Holdings Corp. | System and method for improved attachment of a cup to a dairy animal |
US9043988B2 (en) | 2011-04-28 | 2015-06-02 | Technologies Holdings Corp. | Milking box with storage area for teat cups |
US9058657B2 (en) | 2011-04-28 | 2015-06-16 | Technologies Holdings Corp. | System and method for filtering data captured by a 3D camera |
US8671885B2 (en) | 2011-04-28 | 2014-03-18 | Technologies Holdings Corp. | Vision system for robotic attacher |
DK2701496T3 (da) * | 2011-04-28 | 2018-03-05 | Technologies Holdings Corp | System til styring af positionen af en robotvogn |
US8903129B2 (en) | 2011-04-28 | 2014-12-02 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US8885891B2 (en) | 2011-04-28 | 2014-11-11 | Technologies Holdings Corp. | System and method for analyzing data captured by a three-dimensional camera |
US10357015B2 (en) | 2011-04-28 | 2019-07-23 | Technologies Holdings Corp. | Robotic arm with double grabber and method of operation |
US8683946B2 (en) | 2011-04-28 | 2014-04-01 | Technologies Holdings Corp. | System and method of attaching cups to a dairy animal |
US9049843B2 (en) | 2011-04-28 | 2015-06-09 | Technologies Holdings Corp. | Milking box with a robotic attacher having a three-dimensional range of motion |
US9258975B2 (en) | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
US9107378B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Milking box with robotic attacher |
US9215861B2 (en) | 2011-04-28 | 2015-12-22 | Technologies Holdings Corp. | Milking box with robotic attacher and backplane for tracking movements of a dairy animal |
US9161512B2 (en) | 2011-04-28 | 2015-10-20 | Technologies Holdings Corp. | Milking box with robotic attacher comprising an arm that pivots, rotates, and grips |
US10127446B2 (en) | 2011-04-28 | 2018-11-13 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
NL1038793C2 (nl) * | 2011-05-03 | 2012-11-06 | Dirk Hendrik Martin Ruiter | Melkinstallatie. |
NL2007395C2 (nl) * | 2011-09-12 | 2013-03-13 | Lely Patent Nv | Autonome inrichting voor het uitvoeren van een of meer handelingen aan of nabij de spenen van een melkdier ten behoeve van het melken van het melkdier en werkwijze voor het melken van een melkdier. |
DE102012110502A1 (de) | 2012-03-14 | 2013-09-19 | Gea Farm Technologies Gmbh | Platzteiler einer Melkstandanordnung und Melkstandanordnung |
DE102012102133A1 (de) * | 2012-03-14 | 2013-09-19 | Gea Farm Technologies Gmbh | Melkstandanordnung mit einer innenrobotervorrichtung |
EP3409107B1 (en) * | 2012-04-18 | 2022-07-06 | Technologies Holdings Corporation | System and method for using robots in conjunction with a rotary milking platform |
NL2010406C2 (nl) * | 2013-03-07 | 2014-09-10 | Rotec Engineering B V | Grijper voor het aanbrengen van melkbekers bij een te melken dier, robotarm en melkmachine voorzien daarvan, en werkwijze daarvoor. |
NL2012747B1 (nl) | 2014-05-02 | 2016-02-23 | Technologies Holdings Corp | Dubbele grijper voor het aanbrengen van melkbekers bij een te melken dier, spoelbeker daarvoor en melkmachine voorzien daarvan, en werkwijze voor het melken. |
DK3214924T3 (da) * | 2014-11-06 | 2020-08-03 | Technologies Holdings Corp | Robotarm med magnetisk dobbeltgriber |
NL2015970B1 (nl) * | 2015-12-16 | 2017-06-30 | Lely Patent Nv | Melkinrichting |
NL2015969B1 (nl) * | 2015-12-16 | 2017-06-30 | Lely Patent Nv | Melkinrichting |
US10653102B2 (en) * | 2018-01-31 | 2020-05-19 | Technologies Holdings Corp. | Robotic arm |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE430559B (sv) * | 1982-04-08 | 1983-11-28 | Alfa Laval Ab | Sett att mjolka och anordning herfor |
SE452428B (sv) * | 1983-07-11 | 1987-11-30 | Asea Ab | Robotinstallation for montering |
US5697324A (en) * | 1993-06-25 | 1997-12-16 | Van Der Lely; Cornelis | Apparatus for automatically milking animals, such as cows |
NL9401681A (nl) * | 1994-10-12 | 1996-05-01 | Maasland Nv | Werkwijze en inrichting voor het automatisch melken van dieren, zoals koeien. |
EP1069593A3 (en) | 1995-09-14 | 2001-01-31 | Hitachi, Ltd. | Electron microscope |
NL1002792C2 (nl) * | 1996-04-04 | 1997-10-07 | Maasland Nv | Constructie met een inrichting voor het melken van dieren. |
US6050219A (en) * | 1996-04-04 | 2000-04-18 | Van Der Lely; Cornelis | Apparatus for milking animals |
NL1005255C2 (nl) * | 1997-02-12 | 1998-08-13 | Maasland Nv | Werkwijze voor het melken van dieren. |
SE513142C2 (sv) * | 1998-09-04 | 2000-07-17 | Alfa Laval Agri Ab | Mjölkningsrobot och slangstyranordning i en dylik robot |
NL1022699C2 (nl) | 2003-02-15 | 2004-08-17 | Prolion Bv | Inrichting en werkwijze voor het melken van dieren. |
SE530434C2 (sv) * | 2006-06-09 | 2008-06-03 | Delaval Holding Ab | Automation av karusellstallmjölkningssystem |
SE531033C2 (sv) * | 2007-02-28 | 2008-11-25 | Delaval Holding Ab | Ett roterande stall för automatisk mjölkning av djur |
EP2131649B1 (en) | 2007-03-23 | 2019-02-27 | DeLaval Holding AB | A rotary parlour for automatic milking of animals and a method for attaching teat cups to milking animals on a rotary platform. |
EP2060170A1 (en) * | 2007-11-16 | 2009-05-20 | Delaval Holding AB | A milking parlour and method for operating the same |
WO2009113884A2 (en) * | 2008-03-11 | 2009-09-17 | Scott Milktech Limited | A robot milking arm and a method of attaching milking cups |
CA2717787A1 (en) * | 2008-03-27 | 2009-10-01 | Mats Nilsson | Positioning of teat cups |
NL1035763C2 (nl) | 2008-07-28 | 2010-01-29 | Lely Patent Nv | Automatische melkinstallatie. |
EP2241179B1 (en) * | 2009-04-16 | 2017-05-17 | DeLaval Holding AB | A milking parlour and method for operating the same |
US8991334B2 (en) * | 2009-07-01 | 2015-03-31 | Delaval Holding Ab | Arrangement and method in a milking system, the milking system itself, and a computer program product for controlling the method |
WO2011098454A1 (en) * | 2010-02-15 | 2011-08-18 | Delaval Holding Ab | An animal treating arrangement |
-
2009
- 2009-03-27 NL NL2002678A patent/NL2002678C2/en active
-
2010
- 2010-03-25 US US13/260,730 patent/US8640646B2/en active Active
- 2010-03-25 EP EP10713034.6A patent/EP2410837B1/en active Active
- 2010-03-25 EP EP18161097.3A patent/EP3366119B1/en active Active
- 2010-03-25 WO PCT/NL2010/050154 patent/WO2010110663A1/en active Application Filing
- 2010-03-25 DK DK18161097.3T patent/DK3366119T3/da active
- 2010-03-25 CA CA2756423A patent/CA2756423C/en active Active
-
2014
- 2014-01-28 US US14/165,803 patent/US9125376B2/en active Active
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2015
- 2015-06-02 US US14/728,033 patent/US9894875B2/en active Active
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2017
- 2017-11-01 US US15/800,234 patent/US10143178B2/en active Active
-
2018
- 2018-10-03 US US16/150,467 patent/US10362760B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2410837A1 (en) | 2012-02-01 |
US8640646B2 (en) | 2014-02-04 |
CA2756423C (en) | 2015-05-19 |
US20140190415A1 (en) | 2014-07-10 |
EP2410837B1 (en) | 2018-05-09 |
EP3366119A1 (en) | 2018-08-29 |
US10143178B2 (en) | 2018-12-04 |
US20120055408A1 (en) | 2012-03-08 |
US9125376B2 (en) | 2015-09-08 |
CA2756423A1 (en) | 2010-09-30 |
US20150264885A1 (en) | 2015-09-24 |
US10362760B2 (en) | 2019-07-30 |
US20190029214A1 (en) | 2019-01-31 |
US20180054998A1 (en) | 2018-03-01 |
EP3366119B1 (en) | 2021-07-07 |
NL2002678C2 (en) | 2010-09-28 |
WO2010110663A1 (en) | 2010-09-30 |
US9894875B2 (en) | 2018-02-20 |
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