Modular manipulation device

摘要

The present invention relates to modular apparatuses for manipulation of animals and to methods of manipulating animals with the modular apparatuses of the invention. A modular apparatus according to one aspect of the present invention comprises: (a) a main support fixed to a stationary point, (b) a number of arms, each of said arms comprising a proximal end and a distal end, each changeable arm having a longitudinal axis extending between the proximal and distal ends, wherein said proximal end is pivotally mounted to the main support for rotation thereof about a first pivot axis substantially orthogonal to the longitudinal axis, and (c) one or more end of arm changeable tools, wherein said one or more end of arm changeable tools are pivotally coupled to the distal ends of each arm for rotation thereof about a second pivot axis, wherein the second pivot axis is substantially parallel to the first pivot axis.

主权项

1. A modular apparatus used to manipulate teats of an animal, comprising: a main support fixed to a stationary point; a number of arms each having a first end detachably coupled to a carriage mounted on the main support for rotational movement of the arms as a group or independently about a first horizontal axis and said carriage being configured for moving the number of arms as a group in an X direction so as to extend a reach of one or more changeable tools as a group in the X direction; and the one or more changeable tools detachably coupled to a second end of each of the number of arms for rotational movement of the one or more changeable tools as a group or independently about a second axis, said second axis being orthogonal to a third axis extending from the first end to the second end of each changeable arm, wherein rotational movement of the number of arms about the first horizontal axis and rotational movement of the one or more changeable tools about the second axis provide movement to the one or more changeable tools as a group or independently in the X direction and a Z direction to manipulate the teats, the X direction being defined as an horizontal direction that runs along a spine of the animal, and the Z direction being defined as a vertical direction.