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1. 发明公开

EP3685659A1 VISION SYSTEM WITH TEAT DETECTION 有权
公开(公告)号：EP3685659A1
公开(公告)日：2020-07-29
申请号：EP20153619.0
申请日：2020-01-24
申请人： Technologies Holdings Corporation
发明人： VOIGT, Richard B. , FORESMAN, Mark A.
IPC分类号： A01J5/017
摘要： A vision system (100) that includes a robotic arm (200) and a three-dimensional (3D) camera (136) operably coupled to a processor (102). The processor (102) is configured to acquire a 3D image (138) and identify a teat (203) of the dairy livestock (202) within the 3D image (138). The processor (102) is further configured to determine a distance between a portion of a robotic arm (200) and an approach vector for the teat, to compare the distance between the portion of the robotic arm (200) and the approach vector for the teat (203) and the attachment range threshold value, and to send instructions to the robotic arm (200) based on the comparison.

2. 发明授权

EP3187041B1 SYSTEM FOR IMPLEMENTING AN ADAPTIVE MILKING PROCESS 有权
公开(公告)号：EP3187041B1
公开(公告)日：2020-02-12
申请号：EP17151199.1
申请日：2011-06-07
申请人： Technologies Holdings Corporation
发明人： TUCKER, George H Jr. , REID, David A. , STEINGRABER, Gary C. , BLAIR, Timothy E.
IPC分类号： A01J5/007 , A01J5/017

3. 发明公开

EP3434100A1 DOUBLE GRAB FOR APPLYING TEAT CUPS TO AN ANIMAL TO BE MILKED, COMBINATION OF COMPONENT AND DOUBLE GRAB, MILKING MACHINE PROVIDED WITH DOUBLE GRAB, AND METHOD FOR MILKING 有权
公开(公告)号：EP3434100A1
公开(公告)日：2019-01-30
申请号：EP18191321.1
申请日：2015-05-03
申请人： Technologies Holdings Corporation
发明人： VAN DER SLUIS, Peter , HOFMAN, Hendrik
IPC分类号： A01J5/017
摘要： This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes:
- a first housing part designed to hold a first teat cup;
- a second housing part, installed substantially in a horizontal plane next to the first housing part, designed to hold a second teat cup;
- whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.

4. 发明公开

EP3420810A1 GRIPPER FOR ARRANGING TEAT CUPS ON AN ANIMAL FOR MILKING, ROBOT ARM AND MILKING MACHINE PROVIDED THEREWITH, AND METHOD THEREFOR 审中-公开
公开(公告)号：EP3420810A1
公开(公告)日：2019-01-02
申请号：EP18172769.4
申请日：2014-03-06
申请人： Technologies Holdings Corporation
发明人： BERGHUIS, Raymond Roger , HOFMAN, Henk
IPC分类号： A01J5/017
摘要： The present invention relates to a gripper 102, robot arm 4 and milking machine provided therewith, and method for arranging teat cups in automatic manner on teats of an udder 20 of an animal for milking. The gripper 102 according to the invention comprises a fixation part 110 for holding at least one teat cup 6, and transport means for positioning the teat cup in the gripper relative to the at least one fixation part. The fixation part 110 is provided with a conveyor belt 114. Belt 114 is provided with a magnet 116.

5. 发明公开

EP3409107A1 SYSTEM AND METHOD FOR USING ROBOTS IN CONJUNCTION WITH A ROTARY MILKING PLATFORM 有权
公开(公告)号：EP3409107A1
公开(公告)日：2018-12-05
申请号：EP18176032.3
申请日：2012-04-27
申请人： Technologies Holdings Corporation
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary , VAN DER SLUIS, Peter William
IPC分类号： A01J5/017 , A01J7/04
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.

6. 发明公开

EP3366119A1 ROBOT FOR MILKING A COW 有权
公开(公告)号：EP3366119A1
公开(公告)日：2018-08-29
申请号：EP18161097.3
申请日：2010-03-25
申请人： Technologies Holdings Corporation
发明人： VAN DER SLUIS, Peter Willem , HOFMAN, Hendrik
IPC分类号： A01J5/017 , A01K1/12
CPC分类号： A01J5/017 , A01J5/0175 , A01J5/041 , A01K1/126
摘要： The present invention relates to a robot (6) for moving a milking cup or milking cups (7) from a first resting position to a second operational position or vice versa, in which second position it connects to a cows' teat or teats for collecting milk, wherein it comprises a frame (9), which frame supports a movable arm (10) that has a free extremity (11) at which it is provided with a gripper or grippers (12) for the milking cup or cups (7).

7. 发明公开

EP3300593A1 METHOD AND AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK 有权
标题翻译：将消毒剂应用于奶牛畜群的方法和自动系统
公开(公告)号：EP3300593A1
公开(公告)日：2018-04-04
申请号：EP17198024.6
申请日：2011-08-12
申请人： Technologies Holdings Corporation
发明人： HOFMAN, Henk , VAN DER SLUIS, Peter, William , GROENSMA, Yep
IPC分类号： A01K1/12 , A01J5/00 , A01J7/04 , A01J5/003
摘要： In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.
摘要翻译：在某些实施例中，用于将消毒剂施加到奶牛家畜的奶头上的系统包括安装在轨道上的滑架，该滑架可操作以沿着轨道横向平移。该系统还包括机器人臂，该机器人臂包括第一构件和第二构件，该第一构件可枢转地附接到该托架，使得该第一构件可以围绕与该托架的附接点旋转，第二构件枢转地附接到该第一构件，使得该第二构件可以围绕与第一构件的连接点以及枢转地连接至第二构件的喷洒工具构件，使得喷洒工具构件可围绕与第二构件的附接点旋转。机器人臂还包括附接到喷洒工具构件的喷洒工具。该系统还包括控制器，该控制器可操作以使机器人臂的至少一部分在乳品家畜的后腿之间延伸，使得该喷洒工具位于喷洒位置，喷洒工具可从该喷洒位置将一定量的消毒剂排放到奶牛的奶头。

8. 发明公开

EP4306271A3 ROBOTIC ARM 审中-实审
公开(公告)号：EP4306271A3
公开(公告)日：2024-03-20
申请号：EP23205234.0
申请日：2019-01-25
申请人： Technologies Holdings Corporation
发明人： HENRY, Joel R. , SCHROEDER, Bruce A. , HACHEY, Adam R. , AJAZ, Rizwan , VAN DER SLUIS, Peter Willem
IPC分类号： A01J5/017 , A01J7/04 , B25J5/02 , B25J9/16 , B25J15/00 , B25J15/04
摘要： An apparatus includes a carriage a platform, an extension member, a brush tool member, a brush tool, and a controller. The carriage is coupled to a track. The carriage is configured to move along the track in a lateral direction. The platform has a length and a width orthogonal to the length. The length is greater than the width and transverse to the lateral direction when in an operational state. The platform comprises a front end and a back end. The platform is configured to pivot such that the front end and the back end of the platform move vertically in opposite directions. The extension member is movably coupled to the platform. The extension member comprises a front end and a back end. The extension member has a longitudinal axis that extends from the front end of the extension member to the back end of the extension member and is parallel to the length of the platform. The brush tool member comprises a front end and a back end. The back end of the brush tool member is coupled to the front end of the extension member. The brush tool is coupled to the front end of the brush tool member. The controller is configured to move the extension member towards the front end of the platform such that a portion of the brush tool extends beyond the front end of the platform..

9. 发明公开

EP4306271A2 ROBOTIC ARM 审中-实审
公开(公告)号：EP4306271A2
公开(公告)日：2024-01-17
申请号：EP23205234.0
申请日：2019-01-25
申请人： Technologies Holdings Corporation
发明人： HENRY, Joel R. , SCHROEDER, Bruce A. , HACHEY, Adam R. , AJAZ, Rizwan , VAN DER SLUIS, Peter Willem
IPC分类号： B25J15/04
摘要： An apparatus includes a carriage a platform, an extension member, a brush tool member, a brush tool, and a controller. The carriage is coupled to a track. The carriage is configured to move along the track in a lateral direction. The platform has a length and a width orthogonal to the length. The length is greater than the width and transverse to the lateral direction when in an operational state. The platform comprises a front end and a back end. The platform is configured to pivot such that the front end and the back end of the platform move vertically in opposite directions. The extension member is movably coupled to the platform. The extension member comprises a front end and a back end. The extension member has a longitudinal axis that extends from the front end of the extension member to the back end of the extension member and is parallel to the length of the platform. The brush tool member comprises a front end and a back end. The back end of the brush tool member is coupled to the front end of the extension member. The brush tool is coupled to the front end of the brush tool member. The controller is configured to move the extension member towards the front end of the platform such that a portion of the brush tool extends beyond the front end of the platform..

10. 发明授权

EP3199020B1 SYSTEM FOR IMPLEMENTING AN ADAPTIVE MILKING PROCESS 有权
公开(公告)号：EP3199020B1
公开(公告)日：2020-02-12
申请号：EP17151210.6
申请日：2011-06-07
申请人： Technologies Holdings Corporation
发明人： TUCKER, George H Jr. , REID, David A. , STEINGRABER, Gary C. , BLAIR, Timothy E.
IPC分类号： A01J5/007 , A01J5/017

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