| 摘要 |
PROBLEM TO BE SOLVED: To readily obtain a servo free state without causing a useless energy loss and an exhaust sound. SOLUTION: In constituting a driving gear for a milking robot R equipped with a servo valve 4 for driving and controlling an air cylinder 3 for moving an endo effector 2 supporting teat cups T..., a mode change valve 5i or 5o for changing an ordinary mode to a servo free mode to eliminate difference in pressure between a front chamber 3f and a rear chamber 3r of the air cylinder 3 is connected to a primary port 4i or secondary ports 4a and 4b of the servo valve 4. |
