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    • 2. 发明授权
    • Automatic milking
    • 自动挤奶
    • US5479876A
    • 1996-01-02
    • US167996
    • 1994-05-06
    • Michael J. StreetToby T. F. MottramArthur L. WilkinRobert C. Hall
    • Michael J. StreetToby T. F. MottramArthur L. WilkinRobert C. Hall
    • A01J7/00A01J5/017
    • A01J5/0175
    • An arrangement for the automatic application of milking apparatus to a milk animal including a milking apparatus store, a milking apparatus handling device including a milking apparatus carrier movable on the device and a teat sensor on the handling device together with at least one animal position sensor and a control unit responsive to the animal and teat sensor to operate the handling device, the arrangement being such that when an animal is sensed to be in milking position the control unit operates the handling device to take milking apparatus for a teat of the animal from the store in the carrier to a specific teat with the carrier moved to a sideways offset at a selected angle to the device and the teat sensor in range of the teat.
    • PCT No.PCT / GB92 / 01110 Sec。 371日期:1994年5月6日 102(e)日期1994年5月6日PCT 1994年5月31日PCT公布。 公开号WO93 / 00001 日期:1993年7月1日。一种用于将挤奶设备自动应用于包括挤奶设备存储在内的牛奶动物的设备,挤奶设备处理设备,包括可在设备上移动的挤奶设备载体和处理设备上的奶头传感器,以及 至少一个动物位置传感器和控制单元,其响应于动物和乳头传感器来操作处理装置,该装置使得当动物被感测到处于挤奶位置时,控制单元操作处理装置以采取挤奶装置 动物的奶头从载体中的商店到特定的乳头,其中载体移动到与乳头的范围内的装置和乳头传感器成一定角度的侧向偏移。
    • 4. 发明授权
    • Automatic milking of animals
    • 动物自动化
    • US5069160A
    • 1991-12-03
    • US462530
    • 1990-01-03
    • Michael J. StreetJohn A. BensonJohn A. MarchantArthur L. WilkinClive J. Allen
    • Michael J. StreetJohn A. BensonJohn A. MarchantArthur L. WilkinClive J. Allen
    • A01J7/00A01J5/017
    • A01J5/0175
    • An arrangement to apply a milking apparatus to the udder of an animal at a milking point including a store for the apparatus, a handling device having an elongate arm to support and move the apparatus between an apparatus acquisition point and the milking point, a stall to define a specific space for an animal to be milked fixedly related to the acquisition point and the milking point, including guides to retain loosely in the space an animal to be milked, sensors to sense retained animal position with respect to the fixedly related space and points and provide a first signal indicative of sensed animal position, pneumatic elements in the device to swing and to longitudinally displace the elongate arm to move and position the elongate arm and any supported apparatus, and control circuitry to control the pneumatic elements to operate the arm to acquire milking apparatus at a position forward of the teats of a retained animal, the control circuitry being responsive to the first signal to move the acquired apparatus rearwardly under the animal to the milking point for application to a respective teat of a retained animal, the arrangement further including in association with the acquired apparatus localized teat sensors to provide a second signal indicative of sensed teat position relative to the acquired apparatus, the control circuitry being responsive also to the second signal to control the pneumatic elements for application of the acquired apparatus to a respective teat, the movement of the arm by the response of the control circuitry to the second signal being localized with respect to the response to the first signal to enable a teat cup of the apparatus to be applied to a teat.
    • 一种将挤奶装置应用于包括用于该装置的商店的挤奶点处的动物的乳房的装置,具有细长臂以在装置采集点和挤奶点之间支撑和移动装置的处理装置, 定义用于与采集点和挤奶点固定相关的动物挤压的特定空间,包括在空间中松动地保持要挤压的动物的传感器,用于感测相对于固定相关空间和点的保留动物位置的传感器 并且提供指示感测到的动物位置的第一信号,装置中的气动元件摆动并且纵向移动细长臂以移动和定位细长臂和任何受支撑的装置,以及控制电路以控制气动元件以将臂操作至 在保留动物的乳头的前方位置获取挤奶装置,所述控制电路响应于所述第一信号 将获取的装置向后移动到动物的挤奶点以施加到保留动物的相应乳头,该装置还包括与获取的装置相关联的局部乳头传感器,以提供指示相对于所获取的乳头位置感测的乳头位置的第二信号 装置,控制电路还响应于第二信号来控制气动元件,以将采集的装置应用于相应的乳头,通过控制电路对第二信号的响应,臂的运动相对于 响应于第一信号,以使该装置的奶杯能够应用于奶头。