초록 ▼

A system for automatically milking animals comprising an area where the animals can move about freely. A milking robot automatically connects teat cups to an animal's teats in a milking compartment having a concentrate station. The entire system, including the concentrate station, is computer contro

A system for automatically milking animals comprising an area where the animals can move about freely. A milking robot automatically connects teat cups to an animal's teats in a milking compartment having a concentrate station. The entire system, including the concentrate station, is computer controlled. Doors in the milking compartment automatically open for the entry and departure of animals. An automatic cleaning member cleans the animal's teats and an automatic cleaning system automatically cleans the entire milk line system or a selected part thereof. The herd is divided by a computer into milk production groups with a computer defined priority criteria for admitting a specific group of animals into the milking compartment prior to another group. Each robot arm is controlled by three parallelogram structures in series, each being separately controlled by a piston and cylinder unit or an electromotor, the lowermost structures being capable of extending teat carriers under the cows udder, the forward structure, when so extended, being at an angle of roughly 45.degree. and the aft structure being at an angle of roughly 60.degree.. Retractable cables connect each teat cup to a teat cup carrier. Each teat cup is connected from its upper aspect by a cable to a spool mounted on the upper side of the milking compartment, each spool being computer controlled by an electromotor to retain the teat cups in upright positions after their disconnection from the teats when being retracted to the teat carriers.

대표청구항 ▼

[ Having disclosed my invention, what I claim is new and to be secured by Letters Patent of the United States of America is:] [1.] An apparatus for automatically milking animals, the apparatus comprising a confined area in which the animals are allowed to move about freely, a milking compartment whi

[ Having disclosed my invention, what I claim is new and to be secured by Letters Patent of the United States of America is:] [1.] An apparatus for automatically milking animals, the apparatus comprising a confined area in which the animals are allowed to move about freely, a milking compartment which can be entered from said area, a milking robot having at least one robot arm provided with a first and a second parallelogram structure, each said structure located in a first plane extending in the longitudinal direction of the milking compartment and a third parallelogram structure located in a second plane which is at an angle with the first plane.