| 摘要 |
Each cow is placed in a stall, with its head in a feeding trough controlled by a computer (13). Another computer (14) controls and monitors the milking process. The cow is recognised by both computers by means of responders (17,18) on a collar (16). A robot arm guides cleaning mechanisms around the teats of the cow and then another arm attaches the four suction cups (6). Negative pressure is then applied to start the milking process. A hydraulic or pneumatic actuator then allows the cups (6) to come away from the carrying fame, so that each cup hangs freely from a teat, attached only by the suction pipe. The flow from each teat is monitored and the negative pressure released when the flow drops below a preset level.
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