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公开(公告)号：US09737048B2
公开(公告)日：2017-08-22
申请号：US14963314
申请日：2015-12-09
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Michael A. Mills , Peter Willem van der Sluis
CPC classification number: A01K1/12 , A01J5/00 , A01J5/007 , A01J5/0175
Abstract: A system includes includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times.
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公开(公告)号：US09737043B2
公开(公告)日：2017-08-22
申请号：US15177375
申请日：2016-06-09
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J7/04 , A01K13/00 , B25J9/16 , A01K29/00 , A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , G06T1/00 , G06T7/73 , A01J7/00 , B25J11/00 , G06T7/00 , G06T7/13 , B25J9/00 , H04N7/18
CPC classification number: A01J7/04 , A01J5/003 , A01J5/007 , A01J5/0175 , A01J7/00 , A01K1/126 , A01K13/001 , A01K29/00 , B25J9/0027 , B25J9/0093 , B25J9/0096 , B25J9/1679 , B25J9/1684 , B25J9/1697 , B25J11/0045 , G05B19/042 , G05B2219/2661 , G05B2219/45113 , G06T1/0014 , G06T7/0004 , G06T7/13 , G06T7/73 , G06T7/74 , G06T2200/04 , G06T2207/10004 , G06T2207/10021 , G06T2207/10028 , H04N7/183 , Y10S901/02 , Y10S901/06 , Y10S901/07 , Y10S901/09 , Y10S901/41 , Y10S901/43 , Y10S901/47
Abstract: A method for applying disinfectant to the teats of a dairy livestock, comprises moving a carriage along a track. The carriage carries a robotic arm and the track is adjacent to a stall of a rotary milking platform housing a dairy livestock. The robotic arm comprises a first member pivotally attached to the carriage, a second member pivotally attached to the first member, and a spray tool member pivotally attached to the second member. The method continues by extending the robotic arm between the hind legs of the dairy livestock while the rotary milking platform rotates such that a spray tool of the spray tool member is located at a spray position from which the spray tool may discharge disinfectant to the teats of the dairy livestock.
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公开(公告)号：US09737042B2
公开(公告)日：2017-08-22
申请号：US15257952
申请日：2016-09-07
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/007 , A01J7/00 , A01J7/025 , A01K1/12 , A01K13/003 , G05B15/02 , G05B2219/2661 , G05B2219/45113 , Y10S901/02 , Y10S901/40 , Y10S901/47
Abstract: A robotic attacher retrieves a preparation cup from an equipment area located behind a dairy livestock and attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the left front teat, the right front teat, the right rear teat, and the left rear teat.
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公开(公告)号：US09686961B2
公开(公告)日：2017-06-27
申请号：US15257998
申请日：2016-09-07
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J7/04 , A01K13/00 , B25J9/16 , A01K29/00 , A01J5/003 , A01J5/007 , A01J5/017 , A01K1/12 , G06T1/00 , G06T7/73 , A01J7/00 , B25J11/00 , G06T7/00 , G06T7/13
CPC classification number: A01J7/04 , A01J5/003 , A01J5/007 , A01J5/0175 , A01J7/00 , A01K1/126 , A01K13/001 , A01K29/00 , B25J9/0027 , B25J9/0093 , B25J9/0096 , B25J9/1679 , B25J9/1684 , B25J9/1697 , B25J11/0045 , G05B19/042 , G05B2219/2661 , G05B2219/45113 , G06T1/0014 , G06T7/0004 , G06T7/13 , G06T7/73 , G06T7/74 , G06T2200/04 , G06T2207/10004 , G06T2207/10021 , G06T2207/10028 , H04N7/183 , Y10S901/02 , Y10S901/06 , Y10S901/07 , Y10S901/09 , Y10S901/41 , Y10S901/43 , Y10S901/47
Abstract: A system for operating a robotic arm comprises a carriage and a robotic arm. The carriage is mounted on a track adjacent to a rotary milking platform having a substantially circular perimeter and a stall for a dairy livestock. The carriage moves along a substantially straight portion of the track tangent to and outside the perimeter of the rotary milking platform at a rate based at least in part upon a speed of rotation of the rotary milking platform. The carriage moves in a direction corresponding to the direction of rotation of the rotary milking platform and such movement of the carriage is independent of any physical coupling between the carriage and the rotary milking platform. The robotic arm extends between the legs of the dairy livestock.
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公开(公告)号：US09648840B2
公开(公告)日：2017-05-16
申请号：US15137058
申请日：2016-04-25
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter van der Sluis
CPC classification number: A01J5/007 , A01J5/00 , A01J5/0175 , A01J7/02 , A01K1/12 , B25J19/023 , H04N5/2252 , H04N5/2253 , H04N13/204 , H04N13/239
Abstract: A milking robot comprises a robotic arm, a camera coupled to the robotic arm, a camera-facing nozzle coupled to the robotic arm, and a controller. The robotic arm extends in a longitudinal direction between the hind legs and from the rear of a dairy livestock located in a milking stall. The camera-facing nozzle sprays a protective layer of the camera with a cleanser. The controller communicates a signal instructing the camera-facing nozzle to spray the camera with cleanser.
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Patent Agency Ranking
公开(公告)号：US20170079233A1
公开(公告)日：2017-03-23
申请号：US15370210
申请日：2016-12-06
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem Van der Sluis , Ype Groensma
CPC classification number: A01J5/00 , A01J5/003 , A01J5/007 , A01J5/01 , A01J5/013 , A01J5/017 , A01J5/0175 , A01J5/04 , A01J5/06 , A01J7/00 , A01J7/025 , A01J7/04 , A01J9/00 , A01K1/0023 , A01K1/0029 , A01K1/12 , A01K5/00 , A01K5/02 , A01K11/006 , B25J13/08 , B25J19/023 , G05B2219/45113 , G06K9/00362 , G06T1/0014 , G06T7/70 , H04N5/247 , H04N13/204 , Y10S901/02 , Y10S901/47
Abstract: A method of operating a robotic attacher, includes suspending a robotic attacher from a rail and extending the robotic attacher between the legs of a dairy livestock. The method continues by attaching milking equipment to the dairy livestock using a gripping portion of the robotic attacher during a milking operation, wherein the gripping portion has a nozzle that is positioned away from a teat of the dairy livestock during the milking operation. The method concludes by rotating the gripping portion of the robotic attacher so that the nozzle is positioned to face a teat of the dairy livestock during a spraying operation.
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67.发明申请SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE 审中-公开根据序列将杯子连接到奶类动物的系统和方法公开(公告)号：US20170006818A1
公开(公告)日：2017-01-12
申请号：US15274213
申请日：2016-09-23
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/00 , A01J5/007 , A01J5/017 , A01J7/04 , A01K1/12 , A01K13/001
Abstract: A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock.
Abstract translation: 系统包括定位在挤奶箱的设备区域中的机器人手臂，该机器人手臂包括用四个奶头容纳乳制牲畜的档位部分。 机器手臂取出杯子，并且对于奶牛家畜的多个奶头，机器人手臂将杯子连接到奶头上，将杯子从奶头中分离出来，并将杯子保持在挤奶箱的失速部分内 杯子连接到奶牛家畜的第一个奶头，直到杯子连接到奶牛的最后一个奶嘴的时候。 在从奶瓶的最后一个奶头脱离之后，杯子被缩回到挤奶箱的设备部分中。
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公开(公告)号：US09485955B2
公开(公告)日：2016-11-08
申请号：US15099510
申请日：2016-04-14
Applicant: TECHNOLOGIES HOLDINGS CORP
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/007 , A01J7/00 , A01J7/025 , A01K1/12 , A01K13/003 , G05B15/02 , G05B2219/2661 , G05B2219/45113 , Y10S901/02 , Y10S901/40 , Y10S901/47
Abstract: A robotic attacher retrieves a preparation cup from the right side of an equipment area located behind a dairy livestock and attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the left front teat, the right front teat, the right rear teat, and the left rear teat.
Abstract translation: 机器人服务员从位于奶牛家畜后面的设备区域的右侧检索准备杯，并将准备杯依次附着并分离到奶牛家畜的奶嘴上。 该顺序包括将准备杯连接到左前乳头，右前乳头，右后乳头和左后乳头。
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69.发明申请公开(公告)号：US20160316710A1
公开(公告)日：2016-11-03
申请号：US15209096
申请日：2016-07-13
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
CPC classification number: A01J7/04 , A01J5/003 , A01J5/007 , A01J5/0175 , A01J7/00 , A01K1/126 , A01K13/001 , A01K29/00 , B25J9/0027 , B25J9/0093 , B25J9/0096 , B25J9/1679 , B25J9/1684 , B25J9/1697 , B25J11/0045 , G05B19/042 , G05B2219/2661 , G05B2219/45113 , G06T1/0014 , G06T7/0004 , G06T7/13 , G06T7/73 , G06T7/74 , G06T2200/04 , G06T2207/10004 , G06T2207/10021 , G06T2207/10028 , H04N7/183 , Y10S901/02 , Y10S901/06 , Y10S901/07 , Y10S901/09 , Y10S901/41 , Y10S901/43 , Y10S901/47
Abstract: A system for operating a robotic arm, comprises a controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
Abstract translation: 用于操作机器人手臂的系统包括控制器和机器臂。 控制器接收指示，其中奶牛家畜所在的旋转挤奶平台的失速已经移动到与旋转挤奶平台分离的机器人手臂附近的区域中。 控制器还确定挤奶集群是否连接到奶牛家畜。 如果控制器确定挤奶组不连接到奶牛家畜，则机器人手臂通信地耦合到控制器并且在奶牛家畜的腿之间延伸。 如果控制器确定挤奶集群连接到奶牛家畜，则机器臂不会延伸到奶牛家畜的腿部之间。
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70.发明授权Automated system for moving a robotic arm along a rotary milking platform 有权用于沿着旋转挤奶平台移动机器人手臂的自动化系统公开(公告)号：US09462781B2
公开(公告)日：2016-10-11
申请号：US14329548
申请日：2014-07-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
CPC classification number: A01J7/04 , A01J5/003 , A01J5/007 , A01J5/0175 , A01J7/00 , A01K1/126 , A01K13/001 , A01K29/00 , B25J9/0027 , B25J9/0093 , B25J9/0096 , B25J9/1679 , B25J9/1684 , B25J9/1697 , B25J11/0045 , G05B19/042 , G05B2219/2661 , G05B2219/45113 , G06T1/0014 , G06T7/0004 , G06T7/13 , G06T7/73 , G06T7/74 , G06T2200/04 , G06T2207/10004 , G06T2207/10021 , G06T2207/10028 , H04N7/183 , Y10S901/02 , Y10S901/06 , Y10S901/07 , Y10S901/09 , Y10S901/41 , Y10S901/43 , Y10S901/47
Abstract: A system for operating a robotic arm comprises a carriage and a robotic arm. The carriage is mounted on a track adjacent to a rotary milking platform having a substantially circular perimeter and a stall for a dairy livestock. The carriage moves along a substantially straight portion of the track tangent to and outside the perimeter of the rotary milking platform at a rate based at least in part upon a speed of rotation of the rotary milking platform. The carriage moves in a direction corresponding to the direction of rotation of the rotary milking platform and such movement of the carriage is independent of any physical coupling between the carriage and the rotary milking platform. The robotic arm extends between the legs of the dairy livestock, and remains extended between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.
Abstract translation: 用于操作机器人臂的系统包括滑架和机器臂。 托架安装在与具有基本上圆形周边的旋转挤奶平台相邻的轨道上，并且用于奶制牲畜的档位。 滑架沿着至少部分地基于旋转挤奶平台的旋转速度的速度沿着轨道的基本上直的部分切线到旋转挤奶平台的周边和外侧。 滑架在与旋转挤奶平台的旋转方向相对应的方向上移动，并且滑架的这种移动与托架和旋转挤奶平台之间的任何物理联接无关。 机器手臂在奶牛家畜的腿之间延伸，并且随着失速与机器人手臂相邻旋转而保持在奶牛家畜的腿之间延伸。
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