Förfaringssätt och anordning för orientering av enskilda spenar på en ko

摘要

The teat position location method uses a gripper arm (11) initially controlled by a coarse positioning device (16). There is a fine positioning device (17) brought into operation when the gripper arm is inserted in a search position beneath the cow, and a teat is detected within the detection range of the coarse positioning device. The fine positioning device is used for alignment of a milking cup (9) attached to the end of the gripper arm. The gripper arm is retracted when the required number of teats have been located.