Apparatus for milking or other animal operation having robot arm suspension capable of performing a pendulum movement

• US 6,386,141 B1
• Filed: 05/23/2000
• Issued: 05/14/2002
• Est. Priority Date: 11/14/1997
• Status: Expired due to Fees

• Current Assignee: Delaval Holding AB (Tetra Laval Holdings BV)
• Original Assignee: Delaval Holding AB (Tetra Laval Holdings BV)
• Inventors: Uzi, Birk, Forsen, Gosta
• Primary Examiner(s): Jordan, Charles T.
• Assistant Examiner(s): BERONA, KIMBERLY SUE
• Application Number:
  US09/554,466
• Time in Patent Office: 721 Days
• Field of Search: 119/14.01, 119/14.18, 119/608, 119/609, 119/664, 119/14.1, 15/23, 15/211
• US Class Current: 119/14.08
• CPC Class Codes: A01J 5/0175 Attaching of clusters

Abstract

An apparatus for milking or other animal-related operation includes a support means and a robot arm connected to a robot arm suspension means. The robot arm suspension means is hingedly connected to the support means about a horizontal axis, and the robot arm is arranged lower than the support means for allowing the robot arm suspension means to perform a substantially pendulum movement about the horizontal axis.

Claims

1. An apparatus for performing an animal related operation, comprising a support means and a robot arm connected to a robot arm suspension means, characterised in that said robot arm suspension means is hingedly connected to said support means about a single horizontal axis at an upper end of said robot arm suspension means, said horizontal axis being fixed in relation to said support means, said robot arm being arranged lower than said support means, for allowing said robot arm suspension means to perform a substantially pendulum movement about said horizontal axis, and a first driving means is directly connected to said support means and said robot arm suspension means for actively performing said movement.

2. An apparatus according to claim 1, wherein a first driving means is connected between said support means and said robot arm suspension means for actively performing said pendulum movement.

3. An apparatus according to claim 1, wherein said robot arm is pivotally connected to said robot arm suspension means, for allowing said robot arm to perform a pivotal movement in relation to said robot arm suspension means.

4. An apparatus according to claim 3, wherein a second driving means is connected between said support means and said robot arm, for actively moving said robot arm in a substantially upward/downward direction;

and wherein a third driving means is connected between said robot arm and said robot arm suspension means for actively moving said robot arm in a substantially sideward direction.

5. An apparatus according to claim 4, wherein said robot arm suspension means comprises a pivot means having a bar movable about a substantially horizontal axis (A—

A), said bar being provided with a first connection member for said robot arm and a second connection member for said third driving means, each of said first and second connection members being provided with a hinge movable about a substantially vertical axis.

6. An apparatus according to claim 1, wherein said robot arm support means comprises an elongated tubular member.

7. An apparatus according to claim 1, wherein said robot arm support means comprises an elongated frame of bars.

8. An apparatus according to claim 1, wherein said robot arm comprises a manipulating means for performing said operation.

9. An apparatus according to claim 1, wherein said robot arm is movable into an animal space, at least one side of which being provided with a railing.

10. An apparatus according to claim 9, wherein at least two animal spaces are provided, said support means being movable therebetween.

11. An apparatus according to claim 1, wherein the connection between the robot arm suspension means and the support means is arranged at a level substantially above said animal.

12. An apparatus according to claim 1, wherein said robot arm suspension means is adapted to be transported along a substantially horizontal path between said plurality of animal stalls for allowing said robot arm to perform at least one animal related operation in a plurality of animal stalls said robot arm being adapted to be rotated about a substantially vertical axis in relation to said robot arm suspension means, said robot arm further being movable at least into a pair of animal stalls arranged after one another, as seen in a longitudinal direction of said animal stall.

13. An apparatus according to claim 1, wherein said support means is arranged such that an accessible floor space is provided under said robot arm suspension means.

14. An apparatus according to claim 12, wherein two opposite animal stalls are arranged at a distance from one another, said distance forming a space between said animal stalls, said robot arm suspension means being arranged substantially in said space.

15. An apparatus according to claim 12, wherein at least two of said adjacent animal stalls are arranged at an angle to one another.

16. An apparatus according to claim 12, wherein an animal stall arranged substantially perpendicularly to the two opposite animal stalls is arranged overlapping thereto, said support means being arranged off-set to the perpendicularly arranged animal stall.

17. An apparatus according to claim 12, wherein said robot arm suspension means comprises a driving means for actively performing said rotation.

18. An apparatus according to claim 12, wherein said robot arm is movable in relation to said robot arm suspension means by means of at least one pneumatic cylinder.

19. An apparatus according to claim 1, wherein said robot arm is elongated and extends substantially horizontally and furthermore substantially across said horizontal axis.

20. An apparatus according to claim 19, wherein:

a first driving means is connected between said support means and said robot arm suspension means for actively performing said pendulum movement;

said robot arm is pivotally connected to said robot arm suspension means, for allowing said robot arm to perform a pivotal movement in relation to said robot arm suspension means;

a second driving means is connected between said support means and said robot arm, for actively moving said robot arm in a substantially upward/downward direction; and

wherein a third driving means is connected between said robot arm and said robot arm suspension means for actively moving said robot arm in a substantially sideward direction;

said robot arm suspension means comprises a pivot means having a bar movable about a substantially horizontal axis, said bar being provided with a first connection member for said robot arm and a second connection member for said third driving means, each of said first and second connection members being provided with a hinge movable about a substantially vertical axis;

said robot arm support means comprises an elongated tubular member or an elongated frame of bars;

said robot arm comprises a manipulating means, for performing said operations;

said robot arm is movable between two animal spaces, at least one side of which being provided with a railing;

the connection between the robot arm suspension means and the support means is arranged at a level substantially above said animal;

said robot arm suspension means is adapted to be transported along a substantially horizontal path between said plurality of animal stalls for allowing said robot arm to perform at least one animal related operation in a plurality of animal stalls, said robot arm being adapted to be rotated about a substantially vertical axis in relation to said robot arm suspension means, said robot arm further being movable at least into a pair of animal stalls arranged after one another, as seen in a longitudinal direction of said animal stall;

two opposite animal stalls are arranged at a distance from one another, said distance forming a space between said animal stalls, said robot arm suspension means being arranged substantially in said space;

at least two of said adjacent animal stalls are arranged at an angle to one another;

an animal stall arranged substantially perpendicularly to the two opposite animal stalls is arranged overlapping thereto, said support means being arranged off-set to the perpendicularly arranged animal stall;

said support means comprises an elongated guide means arranged substantially above said robot arm suspension means, said elongated guide means being arranged along the side of two animal stalls arranged after one another;

said robot arm suspension means comprises a support suspension means connectible to said support means, for allowing said robot arm suspension means to be moved along said guide means;

said support suspension means comprises a driving means for performing the movement along said guide means;

said robot arm suspension means comprises a driving means for actively performing said rotation; and

said robot arm is movable in relation to said robot arm suspension means by means of at least one pneumatic cylinder.

21. An apparatus according to claim 1, wherein said support means comprises an elongated guide means arranged substantially above said robot arm suspension means, said elongated guide means being arranged along the sides of two animal stalls arranged after one another.

22. An apparatus according to claim 21, wherein said robot arm suspension means comprises a support suspension means connectible to said support means, for allowing said robot arm suspension means to be moved along said guide means.

23. An apparatus according to claim 22, wherein said support suspension means comprises a driving means for performing the movement along said guide means.