General description
DeLaval voluntary milking system VMS
94897201.pdf2007-12-18
G. Hydraulic pump unit
H. Cleaning unit
I. Power box
J. Electrical box
K. Feeding module
L. Service switch
Multi-purpose arm
Upper arm
Lower arm
Bracket
Cylinders
Camera
unit
End
effector
Rotate
function
The multi-purpose arm performs seven
basic operations during milking:
• Fetching the teat preparation cup from its
home position.
• Holding and moving the teat preparation
cup to each teat during teat preparation,
and finally releasing the cup.
• Fetching the teatcups from the magazine.
• Locating and recognizing teats.
• Attaching the teatcups.
• Holding the milk tubes.
• Post-treatment of teats.
The arm is driven by hydraulic cylinders and
uses two lasers and a camera to locate
teats.
The multi-purpose arm consists of seven
main parts:
• Bracket
• Upper arm
• Lower arm
• Three hydraulic cylinders
• End effector with magnetic gripper
• Camera unit
• Rotation actuator
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