Description and Operation 4-5
D-H023.0906EN
innovators in agriculture
Lower arm cover
The lower arm cover (1, fig. 4,
page 4-6) covers the parts that are
installed on the lower arm. The lower arm has parts of the milking
system and the milk transport system. It must be removed before the
mothership cover can be removed.
Mothership cover
The mothership (6) is covered by the mothership cover and has parts
from the robot arm system, for example teat cups (8) and sTDS (for
detecting the teats) (9).
Machine room door
The machine room door (2, fig. 7,
page 4-13) gives access to the machine
room. The machine room is installed at the rear of the box. The machine
room contains cleaning systems and the vacuum pump.
4.2.5 Robot Arm System
The robot arm assembly moves the teat cups to the correct position to
attach them to the teats of the cow. The robot arm assembly is installed
on the right (RH model (fig. 8
, page 4-14)) or the left (LH model (fig. 7,
page 4-13)) of the box.
The robot arm assembly has three primary parts:
• The wagon assembly
• The arm assembly
• The mothership.
Wagon Assembly
The wagon assembly connects the arm assembly to the box and enables
horizontal movement of the arm. Rollers and a horizontal pneumatic
cylinder connect the wagon assembly to the box. The arm control system
is also installed on the wagon assembly.
Arm Assembly
The arm assembly has three primary parts:
• The upper arm
• The turn-in arm
• The lower arm.
The arm assembly connects to the wagon assembly via a hinge and four
pneumatic cylinders. The four pneumatic cylinders enable horizontal and
vertical movement of the arm assembly.
The Teat Attachment System (TAS), the 4Effect and the teat cleaning
brushes are installed on the lower arm.
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