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1. 发明申请

US20090301396A1 Method and Arrangement for Animal Management 有权
标题翻译：动物管理方法与安排
公开(公告)号：US20090301396A1
公开(公告)日：2009-12-10
申请号：US12087078
申请日：2006-12-20
申请人： Helene Sundborger , Martin Sjölund , Krister Sjöblom , Bengt-Ove Wigholm , Mats Fellbrandt
发明人： Helene Sundborger , Martin Sjölund , Krister Sjöblom , Bengt-Ove Wigholm , Mats Fellbrandt
IPC分类号： A01J99/00 , A01K1/12
CPC分类号： A01J5/007 , A01K1/0023 , A01K1/12
摘要： A method for animal management is provided in a milking system comprising a milking box (13), a milking apparatus (13d) for milking animals (10), an enclosed waiting area (14) from which the animals are capable of entering the milking box, and a gate arrangement (14a), through which each of the animals is allowed to pass to enter the waiting area if the animal, after having been identified, fulfills a criterion. The method comprises the steps of measuring (21) a time an animal waits in the waiting area before being milked; determining (22) a rank number for the animal based on the time, the rank number being a measure of the hierarchic order of the animal among the animals milked in the milking system; and performing (23) an action with regard to the milking system depending on the determined rank number.
摘要翻译：一种用于动物管理的方法在挤奶系统中提供，该挤奶系统包括挤奶箱（13），用于挤奶动物（10）的挤奶设备（13d），封闭的等待区域（14），动物能够从其中进入挤奶箱以及门装置（14a），如果动物在被识别之后符合标准，则允许每只动物通过其进入等待区域。该方法包括以下步骤：（21）动物在挤奶之前在等待区等待的时间; 基于时间确定（22）动物的等级数，等级数是在挤奶系统中挤奶的动物中动物的分级顺序的度量; 以及根据所确定的排名执行（23）关于挤奶系统的动作。

2. 发明授权

US08127714B2 Method and arrangement for animal management 有权
标题翻译：动物管理方法和安排
公开(公告)号：US08127714B2
公开(公告)日：2012-03-06
申请号：US12087078
申请日：2006-12-20
申请人： Helene Sundborger , Martin Sjolund , Krister Sjöblom , Bengt-Ove Wigholm , Mats Fellbrandt
发明人： Helene Sundborger , Martin Sjolund , Krister Sjöblom , Bengt-Ove Wigholm , Mats Fellbrandt
IPC分类号： A01J3/00 , A01J5/00
CPC分类号： A01J5/007 , A01K1/0023 , A01K1/12
摘要： A method for animal management is provided in a milking system including a a milking box, a milking apparatus for milking animals, an enclosed waiting area from which the animals are capable of entering the milking box, and a gate arrangement, in which each of the animals is allowed to enter and pass the waiting area if the animal, after having been identified, fulfills a criterion. The method includes measuring a time an animal waits in the waiting area before being milked; determining a ranking for the animal based on the time, the ranking being a measure of a hierarchic order of the animal among the animals milked in the milking system; and performing an action with regard to the milking system depending on the determined ranking.
摘要翻译：在挤奶系统中提供动物管理方法，该挤奶系统包括挤奶箱，挤奶动物的挤奶装置，动物能够进入挤奶箱的封闭等候区域，以及每个动物的门装置如果动物在确定后符合标准，则允许进入等候区。该方法包括测量动物在挤奶之前在等待区等待的时间; 基于时间确定动物的排名，排名是在挤奶系统中挤奶的动物中动物的分级顺序的度量; 并且根据所确定的排名来执行关于挤奶系统的动作。

3. 发明授权

US08286585B2 Gripper device, robot arm, and milking robot 有权
标题翻译：夹具装置，机器人手臂和挤奶机器人
公开(公告)号：US08286585B2
公开(公告)日：2012-10-16
申请号：US12929150
申请日：2011-01-04
申请人： Lars Wase , Mats Nilsson , Nils Erik Holmertz , Jan-Erik Andersson , Krister Sjöblom , Mattias Oscarsson
发明人： Lars Wase , Mats Nilsson , Nils Erik Holmertz , Jan-Erik Andersson , Krister Sjöblom , Mattias Oscarsson
IPC分类号： A01J3/00
CPC分类号： A01J5/0175
摘要： A griper device mountable on a robot arm of a milking robot provided for automatically attach teat cups to the teats of a milking animal, the gripper device comprises an electromagnet from gripping teat cups made of a magnetic material, the electromagnet including a coil feedable with a current a core of a magnetic material arranged at least partly within the coil; and a support structure for holding the electromagnet. The core comprises two end and portions in a single face of the electromagnet wherein the two end portions constitute different poles of the electromagnet and are shaped to be engagable with each of the teat cups in a close fit.
摘要翻译：一种安装在挤奶机器人的机器人手臂上的抓手装置，用于将挤奶杯自动地连接到挤奶动物的乳头上，该夹持装置包括由磁性材料制成的夹持奶杯的电磁体，该电磁体包括可由电流为至少部分地布置在线圈内的磁性材料的芯; 以及用于保持电磁体的支撑结构。芯部包括电磁体的单个面中的两个端部和部分，其中两个端部构成电磁体的不同极，并且被成形为能够以紧密配合的每个奶杯接合。

4. 发明授权

US08464655B2 Cleaning within a milking system 有权
标题翻译：在挤奶系统内进行清洁
公开(公告)号：US08464655B2
公开(公告)日：2013-06-18
申请号：US11905556
申请日：2007-10-02
申请人： Krister Sjöblom
发明人： Krister Sjöblom
IPC分类号： A01J3/00
CPC分类号： A01J7/02
摘要： Methods clean a gripping device (5) of a milking station (1) for milking animals. Methods include initiating (21) a gripper device cleaning procedure, moving (22) the gripper device (5) to a cleaning position, and carrying out (23) the gripper device cleaning procedure. Efficient and automatic cleaning of gripper devices is provided. Milking systems also include apparatuses for cleaning a gripper device.
摘要翻译：方法清洁挤奶站（1）的用于挤奶动物的夹持装置（5）。方法包括启动（21）夹具装置清洁程序，将夹持装置（5）移动（22）到清洁位置，并执行（23）夹具装置清洁程序。提供有效和自动清洁夹具装置。挤奶系统还包括用于清洁夹持装置的装置。

5. 发明授权

US08037845B2 Detecting arrangement and method for a magnetic gripper device 有权
标题翻译：磁性夹具装置的检测装置和方法
公开(公告)号：US08037845B2
公开(公告)日：2011-10-18
申请号：US11990781
申请日：2006-08-29
申请人： Krister Sjöblom
发明人： Krister Sjöblom
IPC分类号： A01J5/00
CPC分类号： A01J5/0175 , H03K17/9517 , Y10T74/20305
摘要： A detecting arrangement for a magnetic gripper device (3) mountable on a robot arm (10) of a milking robot (2) provided for automatically attaching teat cups (5) to the teats of a milking animal, wherein the magnetic gripper device is adapted for gripping teat cups made of or comprising a magnetic material and comprises a primary coil (31) feedable with a current and a core (33) of a magnetic material arranged at least partly within the primary coil. The detecting arrangement comprises means (41, 43; 43; 53) for repetitively sensing a magnetic field, an inductance, or a change thereof, as caused by a teat cup (5) when being present at, or gripped by, the magnetic gripper device (3); and means (44; 54) for repetitively detecting whether the magnetic gripper device is holding a teat cup or not based on said repetitive sensing of the magnetic field, the inductance, or the change thereof.
摘要翻译：一种用于可安装在挤奶机器人（2）的机器人手臂（10）上的磁性夹持装置（3）的检测装置，其设置用于将挤奶杯（5）自动地连接到挤奶动物的乳头，其中所述磁性夹持装置适于用于夹持由磁性材料制成或包括磁性材料的奶杯，并且包括能够与至少部分地在初级线圈内布置的磁性材料的电流和芯体（33）一起馈送的初级线圈（31）。所述检测装置包括用于重复地感测由存在于或由磁性夹具夹住的奶杯（5）引起的磁场，电感或其变化的装置（41,43; 43; 53）装置（3）; 以及用于基于所述磁场，电感或其变化的重复感测，重复地检测磁性夹具装置是否保持奶杯的装置（44; 54）。

6. 发明申请

US20110120379A1 Gripper device, robot arm, and milking robot 有权
标题翻译：夹具装置，机器人手臂和挤奶机器人
公开(公告)号：US20110120379A1
公开(公告)日：2011-05-26
申请号：US12929150
申请日：2011-01-04
申请人： Lars Wase , Mats Nilsson , Nils Erik Holmertz , Jan-Erik Andersson , Krister Sjöblom , Mattias Oscarsson
发明人： Lars Wase , Mats Nilsson , Nils Erik Holmertz , Jan-Erik Andersson , Krister Sjöblom , Mattias Oscarsson
IPC分类号： B25J15/06
CPC分类号： A01J5/0175
摘要： A griper device mountable on a robot arm of a milking robot provided for automatically attach teat cups to the teats of a milking animal, the gripper device comprises an electromagnet from gripping teat cups made of a magnetic material, the electromagnet including a coil feedable with a current a core of a magnetic material arranged at least partly within the coil; and a support structure for holding the electromagnet. The core comprises two end and portions in a single face of the electromagnet wherein the two end portions constitute different poles of the electromagnet and are shaped to be engagable with each of the teat cups in a close fit.
摘要翻译：一种安装在挤奶机器人的机器人手臂上的抓手装置，用于将挤奶杯自动地连接到挤奶动物的乳头上，该夹持装置包括由磁性材料制成的夹持奶杯的电磁体，该电磁体包括可由电流为至少部分地布置在线圈内的磁性材料的芯; 以及用于保持电磁体的支撑结构。芯部包括电磁体的单个面中的两个端部和部分，其中两个端部构成电磁体的不同极，并且被成形为能够以紧密配合的每个奶杯接合。

7. 发明授权

US07908998B2 Gripper device, robot arm, and milking robot 有权
标题翻译：夹具装置，机器人手臂和挤奶机器人
公开(公告)号：US07908998B2
公开(公告)日：2011-03-22
申请号：US11630247
申请日：2005-06-16
申请人： Lars Wase , Mats Nilsson , Nils Erik Holmertz , Jan-Erik Andersson , Krister Sjöblom , Mattias Oscarsson
发明人： Lars Wase , Mats Nilsson , Nils Erik Holmertz , Jan-Erik Andersson , Krister Sjöblom , Mattias Oscarsson
IPC分类号： A01J5/017
CPC分类号： A01J5/0175
摘要： A gripper device mountable on a robot arm (10) of a milking robot (2) provided for automatically attach teat cups (5) to the teats of a milking animal, the gripper device comprises an electromagnet (6) from gripping teat cups made of a magnetic material, the electromagnet including a coil (31) feedable with a current a core (33) of a magnetic material arranged at least partly within the coil; and a support structure (7) for holding the electromagnet. The core comprises two end and portions (33a-b) in a single face of the electromagnet, wherein the two end portions constitute different poles of the electromagnet, and are shaped to be engagable with each of the teat cups in a close fit.
摘要翻译：夹持器装置可安装在挤奶机器人（2）的机器人臂（10）上，用于将挤奶杯（5）自动地连接到挤奶动物的乳头上，夹持装置包括一个电动磁铁（6）一种磁性材料，所述电磁体包括线圈（31），所述线圈（31）可馈送至少部分地在所述线圈内布置的磁性材料的芯体（33）以及用于保持电磁体的支撑结构（7）。芯部包括在电磁体的单个面中的两个端部和部分（33a-b），其中两个端部构成电磁体的不同的极，并且被成形为能够以紧密配合的每个奶嘴杯接合。

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