Automatic control and monitoring system for milking parlour

摘要

One robot arm guides cleaning mechanisms around the teats (7) of the cow (A) and then the other aligns the four suction cups (6) with the teats. Negative pressure is then applied to start the milking process. The flow from each teat is monitored and the negative pressure released when the flow drops below a preset level. Each cup can be remotely removed from the teat by electromagnetic actuators. A laser guided mechanism positions the cups within 20 mm of the teats.