| 摘要 |
FIELD: agriculture.SUBSTANCE: milking system comprises a milking robot (10). The robot comprises a first link (L), a second link (L), a third link (L), a working body (E), a sensor (16) and a control unit (15). The first link may be rotated to a first angle within a first angular sector (?) through the first connection (11). The second link can be rotated to the second angle within the second angular sector (?) through the second connection (12). The third link may be rotated to the third angle within the third angular sector (?) through the third connection (13). The links (L, L, L) can be rotated so that the working body (E) can move in the three-dimensional working space (W) of the milking robot (10). Each position of the working body (E) within the working space (W) corresponds to a certain combination of the first, second and third angles.EFFECT: improvement of safety of the milking process.16 cl, 10 dwg |
