| 摘要 |
An apparatus for automatically milking animals, such as cows, comprising a milking robot provided for teat cups which are movably connected by articulated movable arms to the remainder of the milking robot. The articulated arms are configured by eight stepping motors which are controlled, via a computer, by signals from a detector on the milking robot which detects the location of the animal's teats, whereupon the teat cups are adjusted so that each teat cup is under a corresponding teat of the animal, and the teat cups are raised to be coupled with the animal's teats. The teat cups are connected to the pivotable robot arms by cords or cables which are connected on their other ends to cylinder/piston units so as to draw the teat cups taut against the ends of the arms when the teat cups are being emplaced on the animal's teats and the cords or cables are played out after such emplacement so that the animal can move, within limits, without dislodging the teat cups or being impeded by them. If a teat cup is accidentally dislodged from a teat during milking, it is pulled taut against the corresponding arm and again emplaced on the corresponding animal's teat. The teat cups are connectable to the animal's teats both simultaneously and individually, one after the other. The apparatus includes a compartment for milking an animal with an identification system which, based on data concerning the animal, controls whether the animal will be permitted to enter the compartment and be milked.
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