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 a controllable robot arm (3) for connecting teat cups (4) to the teats of an animal (5) to be milked. The robot arm (3) is suspended from a ball joint (7), so that control of the robot arm (3) is relatively simple and yet reliable and accurate.

Description: The invention relates to a construction for automatically milking animals according to the preamble of claim 1. Such a construction is known from document WO 98 01 022. With the known constructions the controllable robot arm is often pivotably suspended about an axis. This has inter alia the disadvantage that for realizing the necessary three-dimensional movements there is required a complex control for the robot arm. 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. By means of the suspension from the ball joint the control of the robot arm is relatively simple and yet reliable and accurate. The invention will now be explained in further detail with reference to the accompanying figures. Figure 1 is a schematic side view of a construction according to the invention; Figure 2 is a schematic view of a part of the construction according to the arrows II in Figure 1; Figure 3 is a schematic view of a part of the construction according to the arrow III in Figure 2; Figure 4 is a schematic view of a part of the construction in a further embodiment; Figure 5 is a schematic view of a part of the construction in a still further embodiment; Figure 6 is a schematic view of a part of the construction in another further embodiment; Figure 7 is a schematic view of a part of the construction according to the arrow VII in Figure 6; Figure 8 is a schematic cross-section of a part of the construction according to the arrow VIII in Figure 7; Figure 9 is a schematic side view of a part of a further construction; Figure 10 is a schematic view of a part of the construction according to the arrow X in Figure 9, and Figure 11 is a schematic view of a part of a further construction. Figure 1 is a schematic side view of a construction according to the invention. The construction for automatically milking animals comprises a milk box 1 with a milking robot 2, known per se, which is provided with a controllable robot arm 3 for connecting teat cups 4 to the teats of an animal 5 to be milked (indicated by a dotted line). During automatic milking the animal 5 can eat and/or drink from a feeding trough 6. The robot arm 3 is suspended from a ball joint 7 which is controllable by means of two control elements, such as e.g. cylinders 9, via an intermediate element 8 connected therewith. The long, substantially vertical part of the robot arm 3 is movable in two directions by means of the two control cylinders 9. As also illustrated in Figures 2 and 3, the ball joint 7 is shiftably fastened to the milk box 1 (in the embodiment shown in horizontal direction). A further part of the robot arm 3 is provided with a carrier element 10 for the teat cups 4. With the aid of further control means, said carrier element 10 is movable substantially in vertical direction relative to the straight part of the robot arm 3 that is connected with the ball joint 7. In the embodiment shown in Figures 1 to 3, the further control means comprise a parallelogram construction 11. Of course, the further control means may also be designed differently, such as e.g. a telescope construction, a cylinder construction or a hingeable construction. In the embodiment of Figure 4 the ball joint 7 is again shiftably fastened to the milk box 1. The robot arm 3 is now connected with an intermediate element 12 which is itself connected with the two control cylinders 9. The cylinders 9 are also shiftably fastened to the milk box 1. The robot arm 3 can in principle be moved in the same manner. In the embodiment of Figure 5 the ball joint 7 is again shiftably fastened to the milk box 1. The robot arm 3 is now vertically movable by means of a telescope construction and again connected with an intermediate element 12 which is itself connected with the two control cylinders 9. The cylinders 9 are also shiftably fastened to the milk box 1. The robot arm 3 can in principle again be moved in the same manner. In the embodiment of Figures 6 to 8 the ball joint 7 is fastened at a rather low level at the lateral side just outside the milk box 1. The ball joint 7 is again shiftable in the longitudinal direction of the milk box 1. The carrier element 10 with the teat cups 4 is provided with an air-cushion construction 13 and is thus suitable for being moved in a floating manner over the floor of the milk box 1. With the aid of the cylinder 9 the robot arm 3 can be pivoted to under the udder of the animal 5 to be milked and again be pivoted away therefrom. As shown in Figure 8, the carrier element 10 is further provided with a rod construction 14 with controllable hinges by means of which the teat cups 4 can be moved in vertical direction. Said robot arm construction is very compact. Figures 9 and 10 show schematically a part of a further construction (without ball joint) for automatically milking animals. The construction is provided with a milk box 15 with a milking robot 16 (known per se), which is provided with a controllable robot arm 17 for connecting teat cups 18 to the teats of a (non-shown) animal to be milked. The robot arm 17 is suspended from a suspension element 20 that is movable along a rail construction 19 which extends preferably in the longitudinal direction of the milk box 15. The rail construction 19 is partially pivotably connected with the milk box 15 and comprises a first round rail 21, which is fixedly connected to the milk box 15, and a second round rail 22 extending parallel to the first rail 21, said second round rail 22 being pivotable by means of a control element 23 that is connected to the milk box 15 (see Figure 10). The construction is suitable for moving the teat cups 18 to under the animal to be milked or away therefrom by means of the pivoting movement of the rail construction 19. By means of (for example) a parallelogram construction the teat cups 18 can be moved in vertical direction. The pivotable rail construction 19 with the double suspension element 20, bearing on two rails 21, 22, is very robust. Figure 11 is a schematic view of a part of a further construction (without ball joint) for automatically milking animals. The construction is provided with a milk box 24 with a milking robot 25 (known per se), which is provided with a controllable robot arm 26 for connecting teat cups 27 to the teats of a (non-shown) animal to be milked. The robot arm 26 is rotatably suspended about a substantially vertical axis 28 and is suitable for moving the teat cups 27 to under the animal to be milked or away therefrom by means of the rotation about the substantially vertical axis. For that purpose the lower part of the robot arm 26 is provided with a portion which extends substantially horizontally, perpendicularly to the longitudinal direction of the milk box 24 (i.e. perpendicularly to the plane of drawing of Figure 11) and which can reach to under the udder of the animal to be milked. The rotation takes place by means of a control cylinder 29. The teat cups 27 can be moved in the longitudinal direction of the milk box 24 with the aid of (for example) a telescope construction and in vertical direction with the aid of a further telescope construction or for example a parallelogram construction. Said robot arm construction is compact and occupies relatively few space during the pivoting movement.

Claims: A construction for automatically milking animals, said construction comprising a milk box (1) with a milking robot (2), which is provided with a controllable robot arm (3) for connecting teat cups (4) to the teats of an animal (5) to be milked, characterized in that the robot arm (3) is suspended from a ball joint (7). A construction as claimed in claim 1, characterized in that the robot arm (3) and/or the ball joint (7) connected therewith are/is controllable by means of at least one control element (9). A construction as claimed in claim 1 or 2, characterized in that a part of the robot arm (3) and/or the ball joint (7) connected therewith are/is connected with two control cylinders (9) in such a manner that said part of the robot arm (3) is movable substantially in two directions. A construction as claimed in any one of claims 1 to 3, characterized in that the ball joint (7) is shiftably fastened to the milk box (1). A construction as claimed in claim 3 or 4, characterized in that a further part of the robot arm (3) is provided with a carrier element (10) for the teat cups (4), at least the carrier element (10) being movable with the aid of further control means (11) substantially in one direction relative to the part that is connected with the ball joint (7). A construction as claimed in claim 5, characterized in that the further control means comprise a parallelogram construction (11). A construction as claimed in claim 5 or 6, characterized in that the further control means comprise a telescope construction. A construction as claimed in any one of claims 5 to 7, characterized in that the further control means comprise a cylinder construction. A construction as claimed in any one of claims 5 to 8, characterized in that the further control means comprise a hingeable construction. A construction as claimed in any one of claims 5 to 9, characterized in that the further part of the robot arm (3) with the teat cups (4) is provided with an air-cushion construction (13) and is suitable for being moved in a floating manner over the floor of the milk box (1). A construction for automatically milking animals, said construction comprising a milk box (15) with a milking robot (16), which is provided with a controllable robot arm (17) for connecting teat cups (18) to the teats of an animal to be milked, characterized in that the robot arm (17) is suspended from a suspension element (20) that is movable along a rail construction (19), said rail construction (19) being at least partially pivotably connected with the milk box (15). A construction as claimed in claim 11, characterized in that the rail construction (19) comprises a first rail (21), which is fixedly fastened to the milk box (15), and a second rail (22) extending parallel to the first rail (21), said second rail (22) being pivotable by means of a control element (23) that is connected with the milk box (15). A construction as claimed in any one of claims 11 and 12, characterized in that the construction is suitable for moving the teat cups (18) to under the animal to be milked or away from said animal by means of the pivoting movement of the rail construction (19). A construction for automatically milking animals, said construction comprising a milk box (24) with a milking robot (25), which is provided with a controllable robot arm (26) for connecting teat cups (27) to the teats of an animal to be milked, characterized in that the robot arm (26) is suspended rotatably about a substantially vertical axis (28). A construction as claimed in claim 14, characterized in that the robot arm (26) is suitable for moving the teat cups (27) to under the animal to be milked or away therefrom by means of the rotation about the substantially vertical axis (28).

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: B25J11, A01J7, A01J5, B25J17