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1. 发明申请

WO2012149075A2 AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK 审中-公开
标题翻译：自动化系统，适用于乳制品的消毒
公开(公告)号：WO2012149075A2
公开(公告)日：2012-11-01
申请号：PCT/US2012/035074
申请日：2012-04-26
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, Willem
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, Willem
IPC分类号： A01K1/12
CPC分类号： A01K1/126 , A01J7/04
摘要： In certain embodiments, a system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall of the rotary milking platform. The controller is further operable to determine, based on a difference between the received first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage along the carriage track to the desired linear position.
摘要翻译：在某些实施例中，系统包括邻近旋转挤奶平台定位的滑架轨道，安装到滑架轨道的机器人滑架和控制器。控制器可操作以接收指示旋转挤奶平台的挤奶档位的第一旋转位置（对应于机器人滑架的起始线性位置）的第一旋转编码器信号和指示第二旋转编码器信号的第二旋转编码器信号，旋转挤奶平台的挤奶摊位。控制器还可操作以基于接收到的第一和第二信号之间的差异来确定机器人滑架在滑架轨道上的期望的线性位置（与挤奶档的第二旋转位置相对应的位置）。控制器还可操作以将位置信号传递到滑架致动器，该位置信号使得滑架致动器将机器人滑架沿滑架轨道移动到期望的线性位置。

2. 发明申请

WO2012149248A1 ARRANGEMENT OF MILKING BOX STALLS 审中-公开
标题翻译：。ING。。。。。。。。。
公开(公告)号：WO2012149248A1
公开(公告)日：2012-11-01
申请号：PCT/US2012/035356
申请日：2012-04-27
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , MILLS, Michael A. , VAN DER SLUIS, Peter Willem
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , MILLS, Michael A. , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01J5/017 , A01K1/12
CPC分类号： A01K1/12 , A01J5/00 , A01J5/007 , A01J5/0175
摘要： In certain embodiments, a system includes a first milking box stall (122) of a size 5 sufficient to accommodate a dairy livestock. The system also includes an equipment portion (128) located adjacent to the first milking box stall. The equipment portion (128) houses a robotic attacher (150). The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is Located adjacent to the equipment portion. The robotic attacher (150) is configured to service both 10 the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock. n certain embodiments, a system includes a first milking box stall (122) of a size 5 sufficient to accommodate a dairy livestock. The system also includes an equipment portion (128) located adjacent to the first milking box stall. The equipment portion (128) houses a robotic attacher (150). The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is Located adjacent to the equipment portion. The robotic attacher (150) is configured to service both 10 the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock.
摘要翻译：在某些实施例中，系统包括尺寸为5以足以容纳奶牛家畜的第一挤奶箱排档（122）。该系统还包括位于第一挤奶箱档位附近的设备部分（128）。设备部分（128）容纳机器人附件（150）。该系统还包括尺寸足以容纳奶牛家畜的第二个挤奶箱档位。第二个挤奶箱摊位位于设备部分附近。机器人附件（150）被配置为通过在位于两个档位之间的乳品牲畜的后腿之间延伸来为第一挤奶箱档位和第二挤奶箱档位提供服务，以便将挤奶设备附接到奶牛家畜。在某些实施例中，系统包括尺寸为5以足以容纳奶牛家畜的第一挤奶箱档位（122）。该系统还包括位于第一挤奶箱档位附近的设备部分（128）。设备部分（128）容纳机器人附件（150）。该系统还包括尺寸足以容纳奶牛家畜的第二个挤奶箱档位。第二个挤奶箱摊位位于设备部分附近。机器人附件（150）被配置为通过在位于两个档位之间的乳品牲畜的后腿之间延伸来为第一挤奶箱档位和第二挤奶箱档位提供服务，以便将挤奶设备附接到奶牛家畜。

3. 发明申请

WO2013158126A1 SYSTEM AND METHOD FOR USING ROBOTS IN CONJUNCTION WITH A ROTARY MILKING PLATFORM 审中-公开
标题翻译：使用机器人与旋转式搅拌平台相连的系统和方法
公开(公告)号：WO2013158126A1
公开(公告)日：2013-10-24
申请号：PCT/US2012/035363
申请日：2012-04-27
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary, C. , VAN DER SLUIS, Peter, Willem
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary, C. , VAN DER SLUIS, Peter, Willem
IPC分类号： A01K1/12 , A01J5/017
CPC分类号： A01J7/04 , A01J5/0175
摘要： In certain embodiments, a system includes a first robotic device positioned proximate to a first milking stall of a rotary milking platform. The rotary milking platform has a plurality of milking stalls. The first robotic device is operable to prepare the teats of a first dairy livestock located in the first milking stall. The system also includes a second robotic device positioned proximate to a second milking stall of the rotary milking platform. The second robotic device is operable to attach a first milking device to the teats of a second dairy livestock located in the second milking stall. The system also includes a third robotic device proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The system also includes a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.
摘要翻译：在某些实施例中，系统包括靠近旋转挤奶平台的第一挤奶档位定位的第一机器人装置。旋转挤奶平台具有多个挤奶档。第一机器人装置可操作以制备位于第一挤奶摊位中的第一奶牛牲畜的奶头。该系统还包括靠近旋转挤奶平台的第二挤奶档位置的第二机器人装置。第二机器人装置可操作以将第一挤奶装置附接到位于第二挤奶档位中的第二乳品牲畜的奶头。该系统还包括靠近旋转挤奶平台的第三挤奶档位的第三机器人装置。第三机器人装置可操作以将第二挤奶装置附接到位于第三挤奶摊位中的第三奶牛牲畜的奶头。该系统还包括靠近旋转挤奶平台的第四挤奶档位置的第四机器人装置。第四机器人装置可操作以在从第四奶牛家畜的乳头移除第三挤奶装置之后，向位于第四挤奶摊位中的第四奶牛的奶头施用消毒剂。

4. 发明申请

WO2012149099A1 MILKING BOX WITH ROBOTIC ATTACHER 审中-公开
标题翻译：带有机器人的医疗箱
公开(公告)号：WO2012149099A1
公开(公告)日：2012-11-01
申请号：PCT/US2012/035107
申请日：2012-04-26
申请人： TECHNOLOGIES HOLDINGS CORP. , HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, Willem
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter, Willem
IPC分类号： A01J5/017 , A01J5/04 , A01K1/12
CPC分类号： A01J5/0175 , A01J7/02
摘要： In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.
摘要翻译：在某些实施例中，系统包括机器人附件（150），其包括主臂（152）和可操作以延伸到挤奶箱的失速部分中的辅助臂（154）。相机（158a，158b）耦合到辅助臂（154）。辅助臂包括可操作以用清洁器喷射相机（158a，158b）的照相机面向喷嘴。

5. 发明授权

EP3245866B1 MILKING BOX WITH ROBOTIC ATTACHER 有权
公开(公告)号：EP3245866B1
公开(公告)日：2020-07-15
申请号：EP17158456.8
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01K1/12

6. 发明授权

EP3400792B1 ARRANGEMENT OF MILKING BOX STALLS 有权
公开(公告)号：EP3400792B1
公开(公告)日：2020-03-11
申请号：EP18176045.5
申请日：2012-04-27
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , MILLS, Michael , VAN DER SLUIS, Peter William
IPC分类号： A01J5/007 , A01K1/12 , A01J5/017

7. 发明公开

EP3400792A1 ARRANGEMENT OF MILKING BOX STALLS 审中-公开
公开(公告)号：EP3400792A1
公开(公告)日：2018-11-14
申请号：EP18176045.5
申请日：2012-04-27
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , MILLS, Michael , VAN DER SLUIS, Peter William
IPC分类号： A01J5/00 , A01K1/12
摘要： In certain embodiments, a system includes a first milking box stall (122) of a size sufficient to accommodate a dairy livestock. The system also includes an equipment portion (128) located adjacent to the first milking box stall. The equipment portion (128) houses a robotic attacher (150). The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is located adjacent to the equipment portion. The robotic attacher (150) is configured to service both the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock. In certain embodiments, a system includes a first milking box stall (122) of a size sufficient to accommodate a dairy livestock. The system also includes an equipment portion (128) located adjacent to the first milking box stall. The equipment portion (128) houses a robotic attacher (150). The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is located adjacent to the equipment portion. The robotic attacher (150) is configured to service both the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock.

8. 发明公开

EP3202259A1 MILKING BOX WITH ROBOTIC ATTACHER 有权
标题翻译：与机器人附件的奶制品盒
公开(公告)号：EP3202259A1
公开(公告)日：2017-08-09
申请号：EP17158447.7
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/017 , A01J5/04 , A01K1/12
摘要： In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.
摘要翻译：在某些实施例中，一种系统包括机器人连接器（150），该机器人连接器包括主臂（152）和可操作以延伸到挤奶箱的失速部分中的辅助臂（154）。照相机（158a，158b）连接到辅助臂（154）。辅助臂包括可操作以用清洁剂喷射照相机（158a，158b）的面向照相机的喷嘴。

9. 发明公开

EP3202257A1 MILKING BOX WITH MULTIPLE HOLDERS FOR TEAT OR CLEANING CUPS 审中-公开
标题翻译：带有多个夹持器的奶酪盒用于奶嘴或清洁杯
公开(公告)号：EP3202257A1
公开(公告)日：2017-08-09
申请号：EP17158453.5
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01K1/12
摘要： In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.
摘要翻译：在某些实施例中，一种系统包括机器人连接器（150），该机器人连接器包括主臂（152）和可操作以延伸到挤奶箱的失速部分中的辅助臂（154）。照相机（158a，158b）连接到辅助臂（154）。辅助臂包括可操作以用清洁剂喷射照相机（158a，158b）的面向照相机的喷嘴。

10. 发明公开

EP3202254A1 ROBOTIC ATTACHER WITH COMBINED 2D AND 3D VISION SYSTEM 审中-公开
标题翻译：具有组合的二维和三维视觉系统的机器人附着器
公开(公告)号：EP3202254A1
公开(公告)日：2017-08-09
申请号：EP17158431.1
申请日：2012-04-26
申请人： Technologies Holdings Corp.
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/00 , A01K1/12
摘要： In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.
摘要翻译：在某些实施例中，一种系统包括机器人连接器（150），该机器人连接器包括主臂（152）和可操作以延伸到挤奶箱的失速部分中的辅助臂（154）。照相机（158a，158b）连接到辅助臂（154）。辅助臂包括可操作以用清洁剂喷射照相机（158a，158b）的面向照相机的喷嘴。

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