| 摘要 |
A mechanical device for the automatic attachment of nipple-graspers in an automated milking station of the type that comprises known sensing means for locating in the space the position of the nipples and a robot activating the individual nipple-graspers (1-2-3-4). Said device comprises a support (9) integral with the robot and connected, through a flexible hose (8), with the collector (5) communicating in a known manner with said nipple-graspers which are in their turn connected to actuators through flexible hoses (11-11a-11b-11c). Said support (9) is provided with seats or niches (10-10a-10b-10c) within which each nipple-grasper reaches a position known to the robot during the attachment step and, after the attachment, is released from the seat so as to be free to follow the movement of the animal. Said nipple-graspers (1-2-3-4), constituting together with the collector the milking unit, are provided individually with an automatic valve, inserted in the common short milk and vacuum tubes (6-7) and intended for the independent opening of the ducts between the nipple-grasper sheath (1-1a, 2-2a, etc.) and the collector (5) only upon the insertion of the nipple in the sheath of the respective nipple-grasper.
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