Milking

Details Milking Milking

A - Human Necessities

01

J

200/1

A01J 5/017 (2006.01)

Patent

CA 2007077

An arrangement to apply a milking apparatus to the udder of an animal at a milking point including a store for said apparatus, a handling device having an elongate arm to support and move the apparatus between an apparatus acquisition point and the milking point, means to define a specific space for an animal to be milked fixedly related to the acquisition point and the milking point, including means to retain loosely in said space an animal to be milked, means to sense retained animal position with respect to the fixedly related space and points and provide a first signal indicative of sensed animal position, pneumatic means in said device to swing and to longitudinally displace said elongate arm to move and position said elongate arm and any supported apparatus, and control means to control said pneumatic means to operate said arm to acquire milking apparatus at a position forward of the teats of a retained animal, said control means being responsive to said first signal to move said acquired apparatus rearwardly under the animal to said milking point for application to a respective teat of a retained animal, the arrangement further including in association with said acquired apparatus localised teat sensing means to provide a second signal indicative of sensed teat position relative to said acquired apparatus, the control means being responsive also to said second signal to control said pneumatic means for application of said acquired apparatus to a respective teat, the movement of the arm by the response of said control means to the second signal being localised with respect to the response to the first signal to enable a teat cup of said apparatus to be applied to a teat.

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