4-6 Description and Operation
D-H023.0906EN
innovators in agriculture
Mothership
The mother ship is connected to the end of the lower arm. The
mothership contains the Teat Detection System (sTDS) and the teat cups.
The sTDS finds the position of the teats of the cow, and tells the TAS the
correct position for the teat cups.
Figure 4. Robot arm overview
KEY:
1. Lower arm cover - 2. Turn-in arm - 3. Arm cover - 4. Brushes - 5. Lower arm - 6.
Mothership - 7. Teat spray nozzle - 8. Teat cups - 9. sTDS teat detection system
4.2.6 Milking System
The milking system has the following subsystems:
• Pre-treatment system
• Post-treatment system
• Pulsation system
• Milk collecting system
• Milk transport system.
Pre-treatment
Before milking the teats are cleaned and massaged by the:
• Cleaning brushes.
Post-treatment
• After milking the teats are disinfected. The disinfection nozzles spray
an Astri-UC solution on the teats.
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