WO2011032901A3 - An arrangement and a method for attaching at least one teat cup to a teat of an animal by means of a robot arm - Google Patents

An arrangement and a method for attaching at least one teat cup to a teat of an animal by means of a robot arm Download PDF

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Publication number
WO2011032901A3
WO2011032901A3 PCT/EP2010/063354 EP2010063354W WO2011032901A3 WO 2011032901 A3 WO2011032901 A3 WO 2011032901A3 EP 2010063354 W EP2010063354 W EP 2010063354W WO 2011032901 A3 WO2011032901 A3 WO 2011032901A3
Authority
WO
WIPO (PCT)
Prior art keywords
teat
robot arm
teat cup
attaching
arrangement
Prior art date
Application number
PCT/EP2010/063354
Other languages
French (fr)
Other versions
WO2011032901A2 (en
Inventor
Torbjörn Petterson
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Publication of WO2011032901A2 publication Critical patent/WO2011032901A2/en
Publication of WO2011032901A3 publication Critical patent/WO2011032901A3/en

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
    • A01J5/0175—Attaching of clusters

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to an arrangement and a method for attaching at least one teat cup (1) to a teat (23) of an animal by means of a robot arm (18). The arrangement comprises a control unit (24) adapted to control the robot arm (18), a vacuum valve (11) in the teat cup (1) adapted to be moved to an open position when a lower pressure than ambient pressure prevails in the teat cup (1) and detecting means (26, 27) adapted to detect if the vacuum valve (11) is in an open position. The control unit (24) is adapted to control the robot arm (18) such that it releases the grip of the teat cup (1) during an attaching process of the teat cup (1) to a teat (23) when the detecting means (26, 27) detects that the vacuum valve (11) is in the open position.
PCT/EP2010/063354 2009-09-18 2010-09-13 An arrangement and a method for attaching at least one teat cup to a teat of an animal by means of a robot arm WO2011032901A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0950684-1 2009-09-18
SE0950684 2009-09-18

Publications (2)

Publication Number Publication Date
WO2011032901A2 WO2011032901A2 (en) 2011-03-24
WO2011032901A3 true WO2011032901A3 (en) 2011-08-11

Family

ID=43759091

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/063354 WO2011032901A2 (en) 2009-09-18 2010-09-13 An arrangement and a method for attaching at least one teat cup to a teat of an animal by means of a robot arm

Country Status (1)

Country Link
WO (1) WO2011032901A2 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2012149077A2 (en) * 2011-04-28 2012-11-01 Technologies Holdings Corp. Vision system for robotic attacher
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
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
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
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
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1777728A1 (en) * 1990-07-12 1992-11-30 Inst Mash Im A A Blagonravova Automated milking plant
EP0534565A2 (en) * 1991-09-27 1993-03-31 C. van der Lely N.V. An implement for and a method of milking animals automatically
RU2098949C1 (en) * 1996-03-26 1997-12-20 Белгородская государственная сельскохозяйственная академия Milking unit
EP0900523A2 (en) * 1993-09-23 1999-03-10 Maasland N.V. A construction for automatically milking animals
WO2003024203A1 (en) * 2001-09-21 2003-03-27 Aktieselskabet S.A. Christensen & Co. Teat cup incorporating a valve
WO2006031164A1 (en) * 2004-09-14 2006-03-23 Delaval Holding Ab A teatcup, and a teatcup part
RU2284100C1 (en) * 2005-03-09 2006-09-27 ФГОУ ВПО "Белгородская государственная сельскохозяйственная академия" Milking unit

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1777728A1 (en) * 1990-07-12 1992-11-30 Inst Mash Im A A Blagonravova Automated milking plant
EP0534565A2 (en) * 1991-09-27 1993-03-31 C. van der Lely N.V. An implement for and a method of milking animals automatically
EP0900523A2 (en) * 1993-09-23 1999-03-10 Maasland N.V. A construction for automatically milking animals
RU2098949C1 (en) * 1996-03-26 1997-12-20 Белгородская государственная сельскохозяйственная академия Milking unit
WO2003024203A1 (en) * 2001-09-21 2003-03-27 Aktieselskabet S.A. Christensen & Co. Teat cup incorporating a valve
WO2006031164A1 (en) * 2004-09-14 2006-03-23 Delaval Holding Ab A teatcup, and a teatcup part
RU2284100C1 (en) * 2005-03-09 2006-09-27 ФГОУ ВПО "Белгородская государственная сельскохозяйственная академия" Milking unit

Also Published As

Publication number Publication date
WO2011032901A2 (en) 2011-03-24

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