Milking robot with kick detection
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United States of America Patent
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Aug 18, 2020
Grant Date -
Dec 6, 2018
app pub date -
Jul 28, 2016
filing date -
Sep 22, 2015
priority date (Note) -
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Abstract
A milking robot for completely automatically performing a teat-related action on a dairy animal. The robot includes a frame with a movable arm structure and a robot arm and actuators, a teat cup, a flexible connecting means connected between the teat cup and the arm structure, a retracting device for pulling the teat cup back onto the arm structure by means of the connecting means, a vacuum device for applying a milking vacuum to the teat cup, and a control unit for controlling the milking robot. The robot further includes at least one of an arm structure position-determining device for determining a measured value relating to an arm structure position, and an arm structure acceleration-determining device for determining an arm structure acceleration. The control unit is configured to control the retracting device and/or the vacuum device, if the determined measured value satisfies a predetermined measured value criterion.
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