MILKING AUTOMATIC ROBOT AND MILKING AUTOMATIC METHOD THEREOF

摘要

An automatic milking robot and an automatization method are provided to detect the position of nipples correctly and promptly, and to minimize the stress of milk cows due to the noise generated by milking work. An automatic milking robot includes a nipple identifying device(30) in a straight line scanning method by using a straight line driving type laser sensor, right and left milking rods, a milking robot arm, a position and speed controller, a milking angle driving device, a milking cup removing device, and a milking automatization robot control panel(100). Two milking cups are respectively installed on the right and left milking rods(40,50). The position and speed control device makes the milking robot arm trace the position of the nipple correctly. The milking angle driving device controls the rolling angle of the milking cup.