US 4,867,103 · Granted 1989-09-19

Automatic milking installation

Automatic positioning of milking cups on the teats of an animal is achieved by way of an installation comprising a stall accessible to an animal, a device for calculating the coordinates of the teats of an animal in the stall, and arms carrying the cups for positioning same on the teats of an animal under the control of a signal generated as a function of the measured coordinates. The coordinates of the teats are determined using an overall sensor which is located in a fixed spot on one side of the stall and which has scanning device permitting the formation of an image of the teats, and a processing device for working out the instantaneous coordinates of the teats from the information supplied by the sensor. Four independent arms are provided, each carrying a respective cup, and each being controlled independently of the others in order to bring the carried cup to a respective teat of an animal without interfering with the movement of the other arms.

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