Robot milking arm and a method of attaching milking cups
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United States of America Patent
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Mar 11, 2014
Grant Date -
Apr 14, 2011
app pub date -
Mar 11, 2009
filing date -
Mar 11, 2008
priority date (Note) -
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Abstract
A robotic milking system suitable for use with conventional milking clusters. Clusters are withdrawn to a generally known position upon release from a cow with the cups hanging down below the bowl. The cups are then located in a confined region from where they are picked up by a robotic arm and attached to teats of a cow. The cups may be located into recesses or slots or be drawn through a guide. The arrangement allows a single robotic arm to service multiple bales of a rotary milking parlor. The application of a vacuum to milking cups may be controlled by applying sufficient pressure to the pulsation line of a cup to collapse the cup liner when that cup is not attached to a teat or by bending a feed line to a cup to close the flow path.
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