A construction for automatically milking animals

Abstract: A construction for automatically milking animals comprises a milk box (1) with a milking robot (2), which is provided with teat cups and with means for connecting the teat cups to the teats of an animal to be milked. The teat cups are disposed on a carrier element (3) that is movable in three dimensions by means of at least three control cylinders (4), each of which having one end connected with the milk box (1). In this manner an accurate and reliable control is achieved.

Description: The invention relates to a construction for automatically milking animals according to the preamble of claim 1. Such a construction is known. With the known constructions there is often used a controllable robot arm for positioning and/or connecting the teat cups. Such a robot arm comprises a first control element, at the end of which there is provided a further control element, while at the end of the further control element there may be provided another further control element. This has inter alia the disadvantage that an error in the control of the first control element affects the control of the further control elements. Errors in control accumulate and reinforce each other. The invention aims at improving such a construction. According to the invention this is achieved by the measures described in the characterizing part of claim 1. The at least three control cylinders each have one side fastened to the milk box, so that an accurate and reliable control is achieved. The invention will now be explained in further detail with reference to the accompanying figures. Figure 1 shows schematically a perspective view of a construction according to the invention in a first position, and Figure 2 shows schematically the construction of Figure 1 in a further position. Figure 1 shows schematically a construction according to the invention in a first position. The construction for automatically milking animals comprises a milk box 1 with a milking robot 2 known per se, which is provided with teat cups and with means for connecting the teat cups to the teats of a (non-shown) animal to be milked. The teat cups are disposed on a schematically shown carrier element 3 that is movable in three dimensions by means of at least three control cylinders 4, each of which having one end connected with the milk box 1. There may further be provided means for spatial orientation of the carrier element 3. Said means may comprise at least one further control cylinder 4 and/or at least one further control element, such as e.g. a stepper motor. In the preferred embodiment shown the carrier element 3 is movable in three dimensions and capable of being orientated by means of six control cylinders 4, each of which having one end connected with the milk box 1. The carrier element 3 has substantially three contact points (not being in alignment with each other) with the control cylinders 4, each contact point being connected with two control cylinders 4. The control cylinders 4 are each fastened to the milk box 1 by means of a ball joint. The control cylinders 4 are also fastened in pairs to the carrier element 3 by means of a ball joint. The control cylinders 4 are preferably suitable for moving the carrier element 3 in such a manner that it remains substantially parallel to the floor of the milk box 1. A part of the carrier element 3, on which the teat cups are disposed, may be designed movably relative to a further part of the carrier element 3, to which the control cylinders 4 are fastened. For that purpose the carrier element 3 may be provided with a rotatable and/or a shiftable and/or a pivotable platform for the teat cups. For the purpose of connecting the teat cups to the teats of the animal to be milked, the carrier element 3 may also be provided with a lifting device for the teat cups. The means for connecting the teat cups are preferably substantially disposed on the carrier element.

Claims: A construction for automatically milking animals, said construction comprising a milk box (1) with a milking robot (2), which is provided with teat cups and with means for connecting the teat cups to the teats of an animal to be milked, characterized in that the teat cups are disposed on a carrier element (3) that is movable in three dimensions by means of at least three control cylinders (4), each of which having one end connected with the milk box (1). A construction as claimed in claim 1, characterized in that the at least three control cylinders (4) are not disposed in one plane. A construction as claimed in claim 1 or 2, characterized in that there are provided means for spatial orientation of the carrier element (3). A construction as claimed in claim 3, characterized in that the means comprise at least one further control cylinder (4) and/or at least one further control element, such as e.g. a stepper motor. A construction as claimed in any one of claims 1 to 4, characterized in that the carrier element (3) is movable in three dimensions and is capable of being orientated by means of six control cylinders (4), each of which having one end connected with the milk box (1). A construction as claimed in claim 5, characterized in that the carrier element (3) has substantially three contact points, not being in alignment with each other, with the control cylinders (4), each contact point being connected with two control cylinders (4). A construction as claimed in any one of claims 1 to 6, characterized in that each of the control cylinders (4) is fastened to the milk box (1) by means of a ball joint. A construction as claimed in any one of claims 1 to 7, characterized in that the control cylinders (4) are fastened each or in pairs to the carrier element (3) by means of a ball joint. A construction as claimed in any one of claims 1 to 8, characterized in that the control cylinders (4) are suitable for moving the carrier element (3) in such a manner that it remains substantially parallel to the floor of the milk box (1). A construction as claimed in any one of claims 1 to 9, characterized in that a part of the carrier element (3), on which the teat cups are disposed, is movably designed relative to a further part of the carrier element (3), to which the control cylinders (4) are fastened. A construction as claimed in claim 10, characterized in that the carrier element (3) is provided with a rotatable and/or a shiftable and/or a pivotable platform for the teat cups. A construction as claimed in any one of claims 1 to 11, characterized in that the carrier element (3) is provided with a lifting device for the teat cups. A construction as claimed in any one of claims 1 to 12, characterized in that the means for connecting the teat cups are substantially disposed on the carrier element (3).

Inventors: FRANSEN RENATUS IGNATIUS JOSEP, VAN DEN BERG KAREL, VAN DER LELY ALEXANDER, FRANSEN, RENATUS IGNATIUS JOSEPHUS, VAN DEN BERG, KAREL, VAN DER LELY, ALEXANDER
Applicants: LELY ENTPR AG, LELY ENTERPRISES AG
Application year: 2001
Main classification: A01J5
IPC codes: A01J7, A01J5