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1. 发明申请

US20100300362A1 APPARATUS AND METHOD FOR POSITIONING A TEAT CUP 有权
标题翻译：用于定位杯子的装置和方法
公开(公告)号：US20100300362A1
公开(公告)日：2010-12-02
申请号：US12739020
申请日：2008-11-17
申请人： Gert Danneker , Thomas Axelsson , Jan Eriksson
发明人： Gert Danneker , Thomas Axelsson , Jan Eriksson
IPC分类号： A01J5/007 , A01J5/003
CPC分类号： A01K1/126 , A01J5/0175
摘要： An apparatus and method for locating a teat cup for use in a milking parlour. The apparatus includes a milking stall (7) provided on a rotatable platform (9) and a system (19, 245, 23, 25) for controlling movement of a teat cup magazine (20) relative to the stall (7). The movement control system permits movement of the magazine (20) between first and second predefined positions relative to the milking stall (7).
摘要翻译：一种用于定位用于挤奶室的奶杯的装置和方法。该设备包括设置在可旋转平台（9）上的挤奶档（7）和用于控制奶杯杯架（20）相对于档（7）的运动的系统（19,25,23,25）。移动控制系统允许仓（20）相对于挤奶档（7）在第一和第二预定位置之间移动。

2. 发明授权

US08291860B2 Apparatus and method for positioning a teat cup 有权
标题翻译：用于定位奶头杯的装置和方法
公开(公告)号：US08291860B2
公开(公告)日：2012-10-23
申请号：US12739020
申请日：2008-11-17
申请人： Gert Danneker , Thomas Axelsson , Jan Eriksson
发明人： Gert Danneker , Thomas Axelsson , Jan Eriksson
IPC分类号： A01K1/12 , A01J5/017
CPC分类号： A01K1/126 , A01J5/0175
摘要： An apparatus and method for locating a teat cup for use in a milking parlor. The apparatus includes a milking stall (7) provided on a rotatable platform (9) and a system (19, 245, 23, 25) for controlling movement of a teat cup magazine (20) relative to the stall (7). The movement control system permits movement of the magazine (20) between first and second predefined positions relative to the milking stall (7).
摘要翻译：一种用于定位用于挤奶室的奶杯的装置和方法。该设备包括设置在可旋转平台（9）上的挤奶档（7）和用于控制奶杯杯架（20）相对于档（7）的运动的系统（19,25,23,25）。移动控制系统允许仓（20）相对于挤奶档（7）在第一和第二预定位置之间移动。

3. 发明授权

US08978583B2 Animal treating arrangement 有权
标题翻译：动物治疗安排
公开(公告)号：US08978583B2
公开(公告)日：2015-03-17
申请号：US13519349
申请日：2011-02-08
申请人： Uzi Birk , Mats Nilsson , Gert Danneker , Thomas Axelsson , Jan Eriksson
发明人： Uzi Birk , Mats Nilsson , Gert Danneker , Thomas Axelsson , Jan Eriksson
IPC分类号： A01J3/00 , A01K1/12
CPC分类号： A01K1/126
摘要： An animal treating arrangement includes a carrying device beside a milking platform rotating with a velocity and having animal places housing animals. The carrying device includes a fundament, a first bearing device (12) provided on the fundament, an arm (13) connected to the first bearing device permitting the arm to rotate in relation to the fundament around a first axis, a support platform (15) connected to the arm (13). A drive arrangement moves the support platform and includes a first drive member (31) rotating the arm around the first axis. A sensor (37) communicates with a control unit (36) and senses an instantaneous value of the velocity. The control unit controls the first drive member to move the support platform to follow the milking platform from a start position to an end position during a part of the rotation of the milking platform.
摘要翻译：动物处理装置包括在速度旋转的挤奶平台旁边的携带装置，并且具有容纳动物的动物场所。承载装置包括基座，设置在基座上的第一轴承装置（12），连接到第一轴承装置的臂（13），允许臂围绕第一轴线相对于基部旋转;支撑平台（15））连接到臂（13）。驱动装置移动支撑平台并且包括围绕第一轴线旋转臂的第一驱动构件（31）。传感器（37）与控制单元（36）通信并感测速度的瞬时值。控制单元控制第一驱动构件以在挤奶平台的一部分旋转期间移动支撑平台以使挤奶平台从起始位置到终点位置。

4. 发明申请

US20100236485A1 MILKING PARLOUR AND METHOD FOR OPERATING THE SAME 有权
标题翻译：乳制品及其操作方法
公开(公告)号：US20100236485A1
公开(公告)日：2010-09-23
申请号：US12741039
申请日：2008-09-19
申请人： Thomas Axelsson , Gert Danneker , Jan Eriksson
发明人： Thomas Axelsson , Gert Danneker , Jan Eriksson
IPC分类号： A01J5/007 , A01J5/00
CPC分类号： A01K1/126
摘要： An apparatus for milking an animal and provides a milking parlour (1) including first and second robotic manipulation devices (100, 200) and a plurality of milking stalls (5) provided on a platform (3) moveable relative to the robotic manipulation devices (100, 200) wherein the robotic manipulation devices (100, 200) are positioned so as to be capable of simultaneously servicing neighboring milking stalls (5) on the platform (3).
摘要翻译：挤奶的动物的装置和提供了一个挤奶室（1）包括第一和第二机器人操作装置（100，200）和多个设置在一个平台（3）相对移动，以在机器人操作装置挤奶隔间（5）的（ 100,200），其中所述机器人操纵装置（100,200）被定位成能够同时维修所述平台（3）上的相邻挤奶档（5）。

5. 发明授权

US08387565B2 Milking parlour and method for operating the same 有权
标题翻译：挤奶厅和操作方法
公开(公告)号：US08387565B2
公开(公告)日：2013-03-05
申请号：US12741039
申请日：2008-09-19
申请人： Thomas Axelsson , Gert Danneker , Jan Eriksson
发明人： Thomas Axelsson , Gert Danneker , Jan Eriksson
IPC分类号： A01K1/12 , A01J5/003
CPC分类号： A01K1/126
摘要： An apparatus for milking an animal and provides a milking parlor (1) including first and second robotic manipulation devices (100, 200) and a plurality of milking stalls (5) provided on a platform (3) moveable relative to the robotic manipulation devices (100, 200) wherein the robotic manipulation devices (100, 200) are positioned so as to be capable of simultaneously servicing neighboring milking stalls (5) on the platform (3).
摘要翻译：一种用于挤奶动物并提供包括第一和第二机器人操纵装置（100,200）的挤奶室和设置在相对于机器人操纵装置可移动的平台（3）上的多个挤奶摊位（5）的挤奶室（1） 100,200），其中所述机器人操纵装置（100,200）被定位成能够同时维护所述平台（3）上的相邻挤奶档（5）。

6. 发明申请

US20120298043A1 AN ANIMAL TREATING ARRANGEMENT 有权
标题翻译：动物处理安排
公开(公告)号：US20120298043A1
公开(公告)日：2012-11-29
申请号：US13519349
申请日：2011-02-08
申请人： Uzi Birk , Mats Nilsson , Gert Danneker , Thomas Axelsson , Jan Eriksson
发明人： Uzi Birk , Mats Nilsson , Gert Danneker , Thomas Axelsson , Jan Eriksson
IPC分类号： A01J5/017 , A01K29/00 , A01K1/12
CPC分类号： A01K1/126
摘要： An animal treating arrangement includes a carrying device beside a milking platform rotating with a velocity and having animal places housing animals. The carrying device includes a fundament, a first bearing device (12) provided on the fundament, an arm (13) connected to the first bearing device permitting the arm to rotate in relation to the fundament around a first axis, a support platform (15) connected to the arm (13). A drive arrangement moves the support platform and includes a first drive member (31) rotating the arm around the first axis. A sensor (37) communicates with a control unit (36) and senses an instantaneous value of the velocity. The control unit controls the first drive member to move the support platform to follow the milking platform from a start position to an end position during a part of the rotation of the milking platform.
摘要翻译：动物处理装置包括在速度旋转的挤奶平台旁边的携带装置，并且具有容纳动物的动物场所。承载装置包括基座，设置在基座上的第一轴承装置（12），连接到第一轴承装置的臂（13），允许臂围绕第一轴线相对于基部旋转;支撑平台（15））连接到臂（13）。驱动装置移动支撑平台并且包括围绕第一轴线旋转臂的第一驱动构件（31）。传感器（37）与控制单元（36）通信并感测速度的瞬时值。控制单元控制第一驱动构件以在挤奶平台的一部分旋转期间移动支撑平台以使挤奶平台从起始位置到终点位置。

7. 发明授权

US08205574B2 Teat cup handling device and a storing device for teat cups 有权
标题翻译：奶杯处理装置和奶杯储存装置
公开(公告)号：US08205574B2
公开(公告)日：2012-06-26
申请号：US12532659
申请日：2008-03-13
申请人： Gert Danneker , Thomas Axelsson
发明人： Gert Danneker , Thomas Axelsson
IPC分类号： A01J5/017 , A01J5/00
CPC分类号： A01J5/0175
摘要： A teat cup handling device (1) for a robot arm is adapted to attach teat cups to a milking animal. Each teat cup (2) has a centrally located longitudinal axis (2c) extending through a first end surface (2a) of the teat cups provided with a recess for receiving a teat of a milking animal and a oppositely located second end surface (2b) of the teat cups and wherein the teat cup handling device (1) includes at least two holding parts (4) arranged to releasably hold the teat cups (2). Each holding part (4) includes holding elements (9a) adapted to hold the teat cups (2) in positions such that the longitudinal axes (2c) of the teat cups are inclined in relation to each other.
摘要翻译：用于机器人手臂的奶杯处理装置（1）适于将奶杯附接到挤奶动物。每个挤奶杯（2）具有中心定位的纵向轴线（2c），其延伸穿过乳头杯的第一端表面（2a），其设置有用于接收挤奶动物的乳头的凹部和相对位置的第二端面（2b）的乳头杯，并且其中所述奶杯处理装置（1）包括布置成可释放地保持所述奶杯（2）的至少两个保持部件（4）。每个保持部件（4）包括适于将奶杯（2）保持在相对于彼此倾斜的乳头杯的纵向轴线（2c）的位置的保持元件（9a）。

8. 发明申请

US20100282172A1 TEAT PREPARATION STATION AND METHOD FOR TEAT PREPARATION 审中-公开
标题翻译： TEAT制备站和方法制备
公开(公告)号：US20100282172A1
公开(公告)日：2010-11-11
申请号：US12599304
申请日：2008-05-07
申请人： Jan Eriksson , Thomas Axelsson , Gert Danneker
发明人： Jan Eriksson , Thomas Axelsson , Gert Danneker
IPC分类号： A01J5/013 , A01J5/00 , A01J5/003 , A01J5/007
CPC分类号： A01K1/12 , A01J5/007 , A01J5/013 , A01J5/0132 , A01J5/0133 , A01K1/126
摘要： A teat preparation station(1) for preparation of teats of milking animals prior to being milked in a milking system (11) equipped with at least one milking stall(13) is provided. The teat preparation station (1) includes a teat preparation area (2) housing at least one milking animal at a time; an exit (4) leading to the milking system; pre-milking equipment (5) provided for automatically pre-milking milking animals in the teat preparation area; and milk quality analyzing equipment (6) provided for automatically analyzing pre-milk from the milking animals.
摘要翻译：提供了一种用于在挤奶系统（11）中挤奶之前制备挤奶动物的奶头的奶头准备台（1），所述挤奶系统（11）配备有至少一个挤奶摊位（13）。奶头制备站（1）包括一次容纳至少一个挤奶动物的奶头制备区域（2）; 通往挤奶系统的出口（4）; 挤奶设备（5），用于在奶头制备区域中自动挤奶挤奶动物; 和牛奶质量分析设备（6），用于自动分析挤奶动物的前奶。

9. 发明申请

US20100058990A1 TEAT CUP HANDLING DEVICE AND A STORING DEVICE FOR TEAT CUPS 有权
标题翻译： TEAT CUP处理设备和用于TEU CUPS的存储设备
公开(公告)号：US20100058990A1
公开(公告)日：2010-03-11
申请号：US12532659
申请日：2008-03-13
申请人： Gert Danneker , Thomas Axelsson
发明人： Gert Danneker , Thomas Axelsson
IPC分类号： A01J5/16
CPC分类号： A01J5/0175
摘要： A teat cup handling device (1) for a robot arm is adapted to attach teat cups to a milking animal. Each teat cup (2) has a centrally located longitudinal axis (2c) extending through a first end surface (2a) of the teat cups provided with a recess for receiving a teat of a milking animal and a oppositely located second end surface (2b) of the teat cups and wherein the teat cup handling device (1) includes at least two holding parts (4) arranged to releasably hold the teat cups (2). Each holding part (4) includes holding elements (9a) adapted to hold the teat cups (2) in positions such that the longitudinal axes (2c) of the teat cups are inclined in relation to each other.
摘要翻译：用于机器人手臂的奶杯处理装置（1）适于将奶杯附接到挤奶动物。每个挤奶杯（2）具有中心定位的纵向轴线（2c），其延伸穿过乳头杯的第一端表面（2a），其设置有用于接收挤奶动物的乳头的凹部和相对位置的第二端面（2b）的乳头杯，并且其中所述奶杯处理装置（1）包括布置成可释放地保持所述奶杯（2）的至少两个保持部件（4）。每个保持部件（4）包括适于将奶杯（2）保持在相对于彼此倾斜的乳头杯的纵向轴线（2c）的位置的保持元件（9a）。

10. 发明授权

US08624744B2 Arrangement and method for determining positions of the teats of a milking animal 有权
标题翻译：用于确定挤奶动物的乳头位置的布置和方法
公开(公告)号：US08624744B2
公开(公告)日：2014-01-07
申请号：US12812635
申请日：2009-01-16
申请人： Hans Holmgren , Thomas Axelsson , Bohao Liao
发明人： Hans Holmgren , Thomas Axelsson , Bohao Liao
IPC分类号： G08B21/00
CPC分类号： A01K1/126 , A01J5/017 , A01J5/0175 , A01K1/12 , G01S5/16 , G01S11/12 , G01S17/89
摘要： An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats. The image processing device is also configured to repeatedly detect the plurality of teat cups and determine the positions of the teat cups in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teat cups located in the magazine. The arrangement also includes a control device configured to control a robot arm, based on the determined positions of the teats of the milking animal and the determined positions of the teat cups, to automatically attach at least one teat cup to at least one teat of the milking animal in the milking stall.
摘要翻译：提供了一种布置，用于将挤奶杯连接到具有用于在挤奶期间容纳挤奶动物的挤奶档位的旋转挤奶系统中的挤奶动物的奶头。该装置包括：三维照相机，被配置为指向挤奶档中的挤奶动物的乳房，并且实时地重复记录挤奶动物的乳房的三维图像。三维摄像机进一步被构造成指向位于盒中的奶杯，并且实时地重复记录奶头杯的三维图像。该装置还包括图像处理装置，其被配置为基于所述重复记录的乳头的三维图像，重复地检测挤奶动物的乳头并确定三个空间维度中的乳头的位置。图像处理装置还被配置为基于位于盒中的乳头杯的所述重复记录的三维图像重复地检测多个奶头杯并确定三分之一空间尺寸的奶杯的位置。该装置还包括控制装置，其被配置为基于所确定的挤奶动物的乳头的位置和确定的奶杯的位置来控制机器人手臂，以将至少一个奶杯自动附接到至少一个奶头在挤奶摊位挤奶动物。

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