Device for automatically milking an animal

A robot arm construction is provided with a robot arm for carrying a teat cup, which robot arm can be pivoted under the udder of the animal. The robot arm construction is provided with a first robot arm construction portion, a second robot arm construction portion, a first horizontal axis for enabling a pivoting movement of the first robot arm construction portion, and a second horizontal axis by means of which the second robot arm construction portion is pivotably connected to the first robot arm construction portion. The robot arm is connected to the second robot arm construction portion.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority from Dutch patent application number NL 1022565 filed on 3rd Feb. 2003, the contents of which are hereby incorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates generally to devices for automatically milking animals and more particularly to a milking parlour and a milking robot comprising a robot arm construction for automatically connecting a teat cup to a teat of an animal to be milked.

2. Description of the Related Art

Devices are known for automatically milking animals in which a robot arm can be pivoted in a horizontal plane under the udder of the animal. In such known arrangements, in addition to means for moving the entire robot arm construction in the longitudinal direction of the milking parlour, there may be provided actuators for moving the robot arm in the vertical direction and in two co-ordinates in the horizontal plane. Such a device is known from European Patent Application EP A 0 519 544.

BRIEF SUMMARY OF THE INVENTION

The present invention aims to provide an alternative robot arm construction for such a device.

According to the invention for this purpose there is provided a device for device for use in a milking parlour for automatically milking an animal using a milking robot the device comprising a robot arm construction for automatically connecting a teat cup to a teat of the animal to be milked, the robot arm construction comprising: a first robot arm construction portion; a second robot arm construction portion; a first generally horizontal axis at which the first robot arm construction portion pivots; a second generally horizontal axis at which the second robot arm construction portion is pivotably connected to the first robot arm construction portion; a third robot arm construction portion for carrying a teat cup, the third robot arm construction portion being connected to the second robot arm construction portion for pivotable movement under the udder of the animal; and a first actuator having a first point of application on the first robot arm construction portion and having a second point of application located below the first generally horizontal axis and below the first point of application.

Although the first horizontal axis or shaft may be disposed on a ceiling or on the floor of the device, for the sake of simplicity of the construction it is advantageous if the device comprises a fencing that surrounds the milking parlour, the first horizontal axis being pivotably connected to an upper side of the fencing, and the second horizontal axis or shaft being located outside the milking parlour.

In an embodiment of a device according to the invention the robot arm construction comprises a first actuator having a first point of application on the first robot arm construction portion and having a second point of application on the fencing in a place at a first distance under the first horizontal axis. Furthermore the robot arm constriction may comprises a second actuator having a first point of application on the second robot arm construction portion and having a second point of application on the fencing in a place at a second distance under the first horizontal axis, the second distance being less than the first distance. Due to this third robot arm construction portion can be moved in a highly accurate and stable manner.

The actuators are preferably operating cylinders such as hydraulic or pneumatic operating cylinders.

The first point of application is located in particular on the second robot arm construction portion at least approximately half-way the second robot arm construction portion.

For obtaining predominantly horizontal movement of the third robot arm construction portion under the udder of an animal in the milking parlour it is advantageous if the first point of application on the second robot arm construction portion is located on the side of the second robot arm construction portion located opposite the fencing.

For obtaining accurate movement of the third robot arm construction portion and for obtaining a stable robot arm construction it is advantageous if the first point of application on the first robot arm construction portion is located closer to the second horizontal axis than to the first horizontal axis. The first point of application on the first robot arm construction portion preferably faces the robot arm.

In an embodiment of a device according to the invention the robot arm constriction is provided with a supporting unit that is movable along a rail that is preferably fastened to the fencing, which supporting unit is engaged by the first horizontal axis, the second horizontal axis, the second point of application of the first actuator and the second point of application of the second actuator. Due to this the third robot arm construction portion can be moved in the longitudinal direction of the milking parlour for obtaining the correct position.

In order to counteract a rotating movement of the robot arm construction relative to the supporting unit it is advantageous if the supporting unit is movable along two rails that are disposed at different levels, preferably on the fencing of the milking parlour.

Although the supporting unit may be movable by means of a motor, the supporting unit is preferably movable along the rails by means of a third actuator.

Although the robot arm construction may be operated with the aid of historical data, for the sake of accuracy of positioning of the third robot arm construction portion it is advantageous if the device is provided with a position-determining device for determining the position of a teat of a cow, at least one actuator being controllable with the aid of data from the position-determining device. Of course historical data can also be used to control the actuator.

DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

The device for automatically milking an animal, such as a cow, shown diagrammatically in a perspective view inFIG. 1, comprises a milking parlour1that can accommodate one single animal, such as a cow. Said milking parlour1is surrounded in a customary manner by a fencing2and is provided with an entrance and an exit door that are not further shown in the figures. In the milking parlour1or in the immediate vicinity thereof there is provided a milking robot comprising a robot arm construction3for automatically connecting a teat cup to a teat of an animal to be milked. The robot arm construction is provided with a third robot arm construction portion4for carrying a teat cup, which robot arm is pivotable under the animal's udder.

The robot arm construction3is provided with a first robot arm construction portion5and a second robot arm construction portion6. The first robot arm construction portion5is pivotably connected to an upper side of the fencing2by means of a first horizontal axis7. The second robot arm construction portion6is pivotably connected to the first robot arm construction portion5by means of a second horizontal axis8that is located outside the milking parlour1. The third robot arm construction portion4is connected to the second robot arm construction portion6. The robot arm may rigidly be connected to the second robot arm construction portion or be connected thereto via a third horizontal and/or a vertical axis or shaft, so that the robot arm is pivotable relative to the second robot arm construction portion for example by means of an actuator.

A first actuator12has a first point of application13on the first robot arm construction portion5and a second point of application14on the fencing2in a place at a first distance under the first horizontal axis7. A second actuator9has a first point of application10on the second robot arm construction portion6and a second point of application11on the fencing2in a place at a second distance under the first horizontal axis7, the second distance being less than the first distance. The first actuator12may be a single actuator or may be constituted by two actuators that are arranged on either side of the second actuator9, as is apparent fromFIG. 1. The first point of application10on the second robot arm construction portion6is then located at least approximately half-way along the second robot arm construction portion6. For obtaining an almost horizontal movement of the free end of the third robot arm construction portion4the first point of application10on the second robot arm construction portion6is located on the side of the second robot arm construction portion6located opposite the fencing2. The first point of application13on the first robot arm construction portion5is located closer to the second horizontal axis than to the first horizontal axis. For obtaining a relatively compact construction the first point of application13on the first robot arm construction portion faces the robot arm.

The robot arm construction3is movable in the longitudinal direction of the milking parlour by means of a supporting unit15that is movable along rails16and17. The rail16is arranged on the upper side of the fencing2and the rail17is disposed in both embodiments approximately half-way the height of the milking parlour on the longitudinal side of the fencing2, i.e. on that side where the robot arm construction is located. The supporting unit15is provided both on its upper side and on its lower side with rolls18,19and20. The supporting unit15can be moved along the rails16,17by means of a (non-shown) actuator whose point of application on the supporting unit15is indicated by reference numeral21. The first horizontal axis7and the second horizontal axis8are disposed on the supporting unit15, and the second point of application11of the second actuator9and the second point of application14of the first actuator12engage the supporting unit15.

In the embodiment shown the device is provided with a position-determining device22known per se for determining the position of a teat of a cow. The position-determining device22is disposed near the end of the third robot arm construction portion4, but may alternatively be fastened in another place, for example on the fencing2. At least one actuator, but preferably all the actuators, is controllable with the aid of data from the position-determining device22, if desired through a computer.

Although the invention is described with reference to a robot arm construction that is connected to the fencing surrounding the milking parlour, the invention is not limited thereto. The robot arm construction and/or the supporting unit may alternatively be disposed on the ceiling or on the floor of the space where the device according to the invention is arranged.

Many modifications in addition to those described above may be made to the structures and techniques described herein without departing from the spirit and scope of the invention. Accordingly, although specific embodiments have been described, these are examples only and are not limiting upon the scope of the invention.