Description and Operation 4-19
D-H023.0906EN
innovators in agriculture
4.3.1.3 Positioning of the Robot Arm
To position the teat cups exactly under the teats, the arm of the
ASTRONAUT A3 Next is moved in 3 directions:
• horizontal, forward/backward (y-direction). The robot arm is moved
by a horizontal cylinder
• horizontal, sideways (x-direction) and vertical (z-direction). The robot
arm is moved by 2 vertical cylinders in the upper part of the robot
arm and supported by a third cylinder.
All directions are related to the position of the cow in the box.
The robot arm moves to the correct position in two steps:
• First to the approximate position of the cow's udder. The udder
position in relation to the cows center of gravity is different for each
cow. These coordinates are stored in the memory of the ASTRONAUT
A3 Next system.
• The second stage is controlled by the sTDS (teat detection system).
First the robot arm is positioned so the rotating brushes can clean
and massage the teats (pre-treatment). After that the robot arm is
positioned to attach the teat cups to the teats. The position of the
each teat is read, beginning with the back teats and of these the teat
with the longest milking time.
The teat cups disconnect individually when each quarter finishes
milking. After milking, the teats are sprayed and the front gate of the
box opens and the cow leaves the box. Also, the teat cleaning brushes
are disinfected during the milking.
After milking the robot arm is retracted to its start position.
4.3.1.4 Milking
When the teat cups are attached to the teats, they are held in place by
suction of the vacuum in the teat cups.
The space between the teat cup shell and the teat cup liner is alternately
brought under vacuum (liner open) and under atmospheric pressure
(liner closed). When the liner is open the milk flows from the teat. When
the liner is closed, no milk flows and the teat is massaged.
The alternating vacuum is controlled by the pulsators of the 4Effect.
The plunger (1, fig. 10,
page 4-20) moves up and down due to an
alternating voltage on the pulsator coil. This causes pressure changes (2)
which stimulates (3) the teat and massages the teat during milking.
The valve (6) opens or closes the inputs of compressed air or vacuum to
the surroundings (5) of the 4Effect shut-off sleeve. This opens the sleeve
before milking and closes it after milking.
The work vacuum on the milk line lets milk flow (4) through the milk
line while the bleed holes at the base of the teat cups let air in.
The 4Effect is installed in the lower part of the robot arm and controlled
by the ASTRONAUT A3 Next milking system.
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