| 摘要 |
A milking robot (1) for completely automatically performing a teat- related action, in particular milking, on a dairy animal, comprising a frame (3) with a movable arm structure and comprising a robot arm (5) and actuators, a teat cup (8), a flexible connecting means (11) 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, a control unit (15) for controlling the milking robot, at least one of an arm structure position-determining device (16) for determining a measured value relating to an arm structure position, and an arm structure acceleration-determining device (16) for determining an arm structure acceleration, wherein the control unit is configured to control the retracting device for pulling back the teat cup onto the arm structure and/or to control the vacuum device for closing off the milking vacuum from the teat cup, if the determined measured value satisfies a predetermined measured value criterion. For example, if the acceleration is too great, the control unit will come to the conclusion that the dairy animal has kicked the robot arm, as a result of which the teat cups may be pulled off the teats. In order to then prevent soiling of the system by dirt or the like being sucked up, the cups are pulled back and/or the vacuum to the teat cups is closed off. |
