• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A milking robot for the automatic milking of dairy cattle, comprising at least one movable arm element (2) and a cylinder (4, 4 ') supporting a movement of the arm element (2), and the cylinder (4) a cylinder wall (11) with a ventilation opening (8) and a cylinder rod (5) for retraction into the cylinder (4) or for extending out of the cylinder (4), wherein the cylinder wall (11) surrounds at least one variable volume chamber (13), and the volume chamber (13) free of pressure connections for displacing the cylinder rod (5) and is further adapted to remain over the ventilation opening (8) almost in pressure equilibrium with an environment of the cylinder (4), wherein at the ventilation opening (8) in the cylinder wall (11) round connected to the ventilation opening a gas collecting device (7) having a variable volume and the gas collecting device (7) together with the variable volume chamber (13) has a closed gas volume forms, wherein the cylinder (4,4 ') comprises an electric, magnetic or electromagnetic drive (15) for insertion and / or ejection of the cylinder rod (5).
    公开号:AT15864U1
    申请号:TGM50173/2016U
    申请日:2016-08-26
    公开日:2018-07-15
    发明作者:Kraaij Dirk；Brevet Michiel；Mastert Gerard
    申请人:Lely Patent Nv；
    IPC主号:
    专利说明:

    description
    MILKING ROBOT WITH CYLINDERS The invention relates to a milking robot for fully automatic milking of dairy cattle, comprising at least one movable arm element e.g. B. a robot arm and a cylinder that performs and / or supports movement of the arm element. The cylinder has a cylinder wall with a ventilation opening and a cylinder rod for entering or leaving the cylinder. The cylinder wall surrounds at least one variable volume chamber, the volume chamber being free of pressure connections for displacing the cylinder rod. Via the ventilation opening, the variable volume chamber can be kept almost in pressure equilibrium with the surroundings of the cylinder.
    Such milking robots are known. The milking robot has a robot arm with arm elements that can be moved with such a cylinder and a cylinder rod that can be extended and retracted. The cylinder space in which the cylinder rod, which can be pushed in and out, moves has a volume chamber with a variable volume by pushing it in and out. If this variable volume is sealed airtight from the environment, this can lead to undesirable pressure differences in the variable volume. If the variable volume is in flow communication with the surroundings, dirt or moisture can also be sucked in. Especially in a stable environment where a milking robot is installed, there is a lot of dirt, such as ammonia and other corrosive gases, as well as urine and manure from dairy cattle, flies, dust, etc.
    Cylinders used can be, for example, single-acting gas pressure cylinders. Electric cylinders are also known, including from Festo, with a linear motor driving an actuating rod. When the control rod is moved, the volume of the variable volume chamber in the cylinder changes, which compresses or sucks in air. In any case, there is a pressure differential to the outside world, which can interfere with the correct functioning of the cylinder and along the seals to leak liquid, dust and corrosive substances such as ammonia, manure or urine, such as those found in a milking parlor. To date, no satisfactory solution to the problem has been found.
    The invention has for its object to at least partially solve the problem described, and to provide a construction that can be used in practice.
    The object is achieved by a milking robot for automatic milking of dairy cattle, comprising at least one movable arm element and a cylinder, which is intended to support movement of the arm element, which cylinder has a cylinder wall with a ventilation opening and one in the cylinder and has sliding cylinder rod from the cylinder. The cylinder wall surrounds at least one variable volume chamber, which volume chamber is free of pressure connections for displacing the cylinder rod, and is also designed to remain or come into pressure equilibrium with the surroundings of the cylinder via the ventilation opening. at atmospheric pressure, with a gas collecting device connected to the ventilation opening in the cylinder wall around the ventilation opening, which has a variable volume and the gas collecting device together with the variable volume chamber forms an airtight gas volume, the cylinder an electrical, magnetic or electromagnetic drive for entering and / or or pushing out the cylinder rod includes.
    By thus using the gas trap the cylinder, at least the variable volume chamber thereof, a variable compensation volume is given, there can be no undesirable build-up of overpressure or underpressure, so that correct functioning of the cylinder can be ensured, both what the function itself as well as regarding less pollution. This means that no outside air with pollution can be drawn in because the system is closed as a whole.
    / 13
    AT15 864U1 2018-07-15 Austrian patent office The specification almost in pressure equilibrium should mean that the pressure difference between the variable volume chamber or the gas collecting device on the one hand and the environment on the other hand corresponds to at most 0.2 bar, preferably at most 0.1 bar and particularly preferably at most 0.05 bar. The environment is usually at atmospheric pressure. The alternative drives do not work with a pressure fluid, but with a direct mechanical drive. Volume changes can also occur with these drives because the cylinder rod moved by the drive takes up more or less space in the variable volume chamber.
    According to the invention, it is a basically completely and persistently airtight cylinder system. Therefore, no contamination can penetrate, except through an unwanted leak. For example, it is possible to fill the cylinder, at least the variable volume chamber, with a harmless gas such as (dry) air, nitrogen, argon, etc.
    It is known to provide an electric cylinder with an opening in the cylinder wall to allow the interior to communicate with the environment. The opening is provided with a filter to prevent the ingress of dust and dirt and possibly liquid. It should be clear that gases are difficult or impossible to keep out in this way, and furthermore a filter can clog slowly but completely, especially in a heavily polluted milking parlor environment. Therefore a correct function cannot be guaranteed despite the filter.
    A solution, in which an airtight bellows is provided from the cylinder wall to the retractable and extendable actuating rod, is usually impractical. Such a bellows is moved or pressed in with each movement of the adjusting rod, more than is necessary to absorb a change in volume of the air. The bellows must always inflate to provide space for the displaced air at a practically constant pressure.
    [0012] In the case of a robot arm in particular, an increasing volume of one or more elements is undesirable. It is indeed possible to provide a ventilation opening in this bellows; but this only leads to a displacement of the venting problem.
    It should be noted that the gas collection device according to the present invention can be located at any desired location on the cylinder wall around the variable volume chamber, so that the location of the increasing volume of the gas collection device can be freely selected. In addition, in the known solution the bellows always moves over a narrowed part of the cylinder, specifically where the actuating rod emerges from the cylinder. The bellows can get caught there and wear through friction.
    In pneumatic cylinders, it is also known, inter alia. by Namur Breather Blocks from Habonim to collect used compressed air or another gaseous pressure medium in order to make it available when an unpressurized partial space of the cylinder has to be increased in volume. Too much compressed air is ventilated to the environment. The inflow of corrosive medium can thus be prevented. Apart from the fact that such breather blocks are very complex and equipped with various valves and lines, there is also the risk that liquid, dust or the like can penetrate over the course of the operating time. This means that medium has to be added again and again, whereby the supply is not free of impurities. The medium must be routed to the compressor that supplies the compressed air, and then the medium passes through one or more filters and pumps.
    According to the invention, a simple, completely closed system is provided which, once filled with clean and dry gas such as air or nitrogen or the like, basically remains free of contamination.
    According to the gas collecting device is connected to the cylinder wall around the ventilation opening. This means that the gas collecting device extends as a closed wall around the ventilation opening and on the cylinder wall. Expressly expressed 2/13
    AT15 864U1 2018-07-15 Austrian patent office concluded that the gas collection device is connected like a bellows from the cylinder wall to the cylinder rod, since such a bellows would not be completely connected around the ventilation opening, but only on one side around the cylinder wall. Since, according to the present invention, the gas collecting device is connected around the ventilation opening, it is completely mechanically decoupled from the movements of the cylinder rod and therefore does not have the disadvantages that apply to a bellows.
    Incidentally, the word cylinder rod is used in this application where the word piston rod is common. Since electric cylinders do not necessarily require a piston, the more general term cylinder rod was used to describe the rod of the cylinder that can be pushed in and out.
    Advantageous embodiments of the invention as well as the following description of the figures are shown below. For example, it is possible to attach a bellows from the cylinder wall to a part of the cylinder rod that always remains outside, or a movable element connected to it. This bellows can then move like a harmonica without inflating, i.e. H. increase in cross section since the gas collecting device can collect too much gas. In this embodiment, not only gas exchange is excluded, but also contamination of the cylinder rod, in particular, via which dust can possibly also get into the variable volume part. The same disadvantages as mentioned in the prior art apply to such bellows. In addition, it should be noted that such bellows can also get dust into the variable volume part of the cylinder. It should also be noted that such bellows can also get in the way of the control and pressure lines.
    In the illustrated embodiments, the gas collecting device is connected to the variable volume part of the cylinder with a pipe or a connected line connected around the ventilation opening in gas connection. The gas collecting device can thus be arranged at a distance from the cylinder. The gas collecting device is not in the way of the movements of the cylinder and / or the movable arm element. The tube or the line itself can advantageously be made of a rigid material, so that no change in volume can occur, but there is less risk of damage from the movable arm element or other moving elements or the like.
    In the exemplary embodiment, the gas collecting device comprises a flexible gas collecting bag or a collecting cylinder with a floating piston. Such an elastic gas collecting bag is extremely suitable for absorbing a change in volume without (strong) pressure fluctuations occurring due to a high resistance to deformation. The gas collection bag can be connected directly around the ventilation opening or via the above-mentioned pipe or line and can thus be provided at a protected location. Such a gas collecting bag can be designed in many different ways and can be made of different materials, such as plastic, leather, etc.
    [0021] Alternatively or additionally, the gas collecting device comprises a gas compensation cylinder with a floating piston. The compensating cylinder is expediently connected with a closed volume portion that can be changed in volume, for example to a pipe or a line, which in turn is connected around the ventilation opening. It should be noted that the other volume portion of the balance cylinder must be in open communication with the atmosphere or the surroundings, so that the ventilation problem shifts to the balance cylinder. Since the balance cylinder can be provided in a cleaner place, the exposure to dust, aggressive agents and the like is significantly lower. In addition, it is alternatively possible to give the compensating cylinder a much larger volume than the variable volume chamber and still seal it airtight.
    Thus, there is no gas exchange, but the pressure difference in the variable volume chamber is much less than without a compensating cylinder.
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    AT15 864U1 2018-07-15 Austrian Patent Office [0023] In embodiments, the gas collecting bag is attached in a dimensionally stable outer shell, in particular in a frame tube of the milking robot. In this way, the gas bag can be protected from damage from the outside, for example by kicking the
    Dairy cattle. A milking robot often comprises a control cabinet or the like or a
    Frame in which the gas collection bag can be easily and safely accommodated.
    Advantageously, the gas collecting device has a volume that can be changed by supplying gas from the variable volume chamber of the cylinder between a smallest and a largest volume, a gas pressure in the gas collecting device when taking up the largest volume is at most 2 bar. In particular, the gas pressure is at most almost ambient pressure. If the gas collecting device, expediently a gas collecting bag, is made completely soft, the pressure will almost always correspond to the ambient pressure. With the smallest volume of the gas collecting device, the pressure is practically equal to or slightly lower than the ambient pressure.
    The cylinder is advantageously a pressure cylinder, in particular a pneumatic, hydropneumatic or a hydraulic cylinder, the pressure cylinder comprising, in addition to the variable volume chamber, a variable pressure chamber for receiving a pressure fluid such as oil or a gas, in particular compressed air. This is a commonly used type of cylinder that often has a long hose when used in a milking robot. As a result, the displaced volumes of air or another gas are often large.
    [0026] The pressure cylinder is particularly advantageous as a balance cylinder for supporting the weight of at least one arm element of a robot arm. A balance cylinder is understood here to mean a cylinder which is under pressure as standard and which supports an arm element or the robot arm from below, in order to compensate for part of the weight. This allows control of the robot arm, i. H. the required actuator (s) can be made lighter. Such a pressure cylinder also often has a long hose and thus a considerable volume of displaced fluid, in particular gas.
    In one embodiment, the milking robot comprises in particular a pneumatic, hydraulic or hydropneumatic drive, which is provided to displace pressure fluid to or from the pressure chamber. Thus, the one or more drives ^) are provided for the one or more cylinders to carry out the movements of the movable element. In addition, alternative drives are also possible, as indicated below by way of example.
    In a further embodiment, a filter is arranged between the variable volume chamber of the or each pressure cylinder on the one hand and the gas collecting device and the variable volume chamber of each other cylinder, which filter is intended to filter the fluid flowing through, in particular gas. Such a filter can be useful if there is a leak in the pressure cylinder, in which case, in particular, gas under pressure leaks from the pressure chamber to the variable volume chamber of the pressure cylinder and from there to the gas collecting device and, if appropriate, connected variable volume chambers of the other or the other cylinders ( s). The filter can at least retain dust and dirt carried along.
    In addition, a pressure relief valve is advantageously arranged, which opens advantageously at a predetermined, certain pressure, in particular at 1.2 or 1.5 bar, or at least at a pressure which is higher than the highest pressure to be expected in the Gas collector. Leaking gas can thus escape from the pressure cylinder under pressure without causing damage to the gas collecting device. In such an embodiment, no cylinders are included that are not connected to the gas collection device.
    [0030] The milking robot advantageously comprises a plurality of cylinders which are connected with their respective variable volume chambers to a gas collecting device. In principle, it is possible to connect each cylinder with its variable volume chamber to a separate gas catcher
    AT15 864U1 2018-07-15 Austrian
    Patent office
    Connect device. A plurality of cylinders are advantageously connected to a gas collecting device, only connections being provided between the gas collecting device, such as a gas collecting sack, and the respective variable volume chambers. With a bellows construction from the cylinder wall to the piston rod, as is known from the prior art, this is not possible.
    In embodiments, the plurality of cylinders comprise both at least a first cylinder without a respective variable pressure chamber and at least one second cylinder with a respective variable pressure chamber, all first cylinders with their respective variable volume chambers being connected to a first gas collecting device. In particular, all second cylinders with their respective variable volume chambers are also connected to a second gas collecting device. In this embodiment, two gas collecting devices are provided, wherein all variable volume chambers of the cylinders without a variable pressure chamber are connected to a first gas collecting device and the respective variable volume chambers of cylinders with such a variable pressure chamber, which can thus deliver a much higher pressure when the associated piston is leaking, are connected to a second gas collecting device. Thus, in any case, if one pressure cylinder is leaking, the other cylinders are protected against possible overpressure.
    It applies to all embodiments that the gas collecting device occupies a smallest volume and a largest volume during operation, the difference between the smallest and the largest volume being at least equal to all the volumes of the cylinders connected to it. The respective functional area of the cylinders is advantageously taken into account. So it applies that if all cylinders are moved in such a way that the variable volume chamber is reduced to a maximum, i.e. has a minimum volume, that a maximum amount of air or gas is expelled to the gas collecting device and this takes up its largest volume. It is advantageously possible to select a smaller maximum volume for the gas collecting device if the functional area selected for the milking robot is operated by the cylinders in such a way that the extension of the cylinder rod of a first of all cylinders is accompanied by the insertion of the cylinder rod of another of all cylinders. This offers the advantage that the largest volume of the gas collecting device can be selected to be smaller.
    The gas collecting device and all volume parts communicating with it are advantageously filled with a gas, in particular with air, the gas having a pressure of almost 1 physical atmosphere (1013 mbar). This air can be clean air, for example, or dry air, for example. An inert gas such as nitrogen or a rare gas or the like can also be used. A pressure of almost 1 physical atmosphere means that this deviates by at most 10% from 1 physical atmosphere.
    In embodiments, the milking robot comprises a milking box with an access gate and an exit gate and a robot arm for carrying out an animal-related measure on a milk animal in the milking box, such as connecting a milking cup or the like. At least one of the access gate, exit gate and robot arm is one Cylinder provided. In this embodiment, only concrete movable elements are mentioned that can be moved using a cylinder. In this case, respective actuators are provided for moving the access gate, exit gate or robot arm. The actuators can comprise one or more of the drives mentioned above, such as a pneumatic, a hydropneumatic or an electromagnetic drive. However, it should be pointed out here that the invention is also applicable to cylinders with associated gas collecting device according to the invention in other applications in a barn environment than a milking stall, such as in a feed gate, a selection gate, etc. The ventilation problem mentioned also occurs in a stall environment with others Animals as dairy cattle, such as pigs or other meat cattle.
    Further features of the invention emerge from the further claims, the description and the drawing, in which exemplary embodiments of the invention are shown schematically, which is explained in more detail with reference to the drawing. Show it:
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    AT15 864U1 2018-07-15 Austrian patent office in perspective a schematic view of a milking robot according to the invention, [0036] FIG. 1 [0037] FIG. 2 a schematic side view of a milking robot according to the invention, [0038] FIG. 3 a schematic view of a mechanical drive for a milking robot according to the invention.
    FIG. 1 shows in perspective a schematic view of a milking robot 1 according to the invention. The milking robot 1 comprises arm elements 2 of a robot arm, which are movable for connecting the milking cups 3 to a cow or another milk animal, not shown here. The arm elements 2 are moved with the aid of cylinders 4, 4 'with cylinder rods 5. Furthermore, gas lines 6 are shown which advantageously run from the cylinders 4, 4' to a gas collecting device 7 in the form of a gas collecting bag. For this purpose, ventilation openings 8 are provided in the cylinders 4, 4 '.
    The milking robot 1 shown and known per se comprises a robot arm which is used, for example, to connect the milking cups 3 to the teats of a milk animal or to carry out other measures, such as cleaning, stimulating or after-treating the teats. For this purpose, the milking robot 1 comprises, for example, a teat detection system, which is not shown in detail here. To move the arm elements 2 of the robot, actuators are provided in the form of cylinders 4, 4 ', each with a cylinder rod 5 which can be pushed into and out of the variable volume chamber 13 of the cylinder. During this pushing in and out, the volume of the variable volume chamber 13 changes. If the variable volume of the volume chamber 13 is completely or practically airtight, the pressure in the volume chamber 13 changes as a result. This can not only undesirably influence the movement of the cylinder rod 5 such a pressure difference from the environment also makes it possible to exchange gas with the environment. If suppressed, aggressive or corrosive ambient gas, liquid, dirt, etc. may penetrate. In the event of an overpressure (when the cylinder rod 5 is pushed in), gas can escape, after which, when the cylinder rod is pushed out, a suppression with the above-mentioned risks can arise.
    In order to compensate for this disadvantage, ventilation openings 8 are provided in the cylinders 4, 4 'in the cylinder wall 11, around which gas lines 6 are attached, which lead to the gas collecting device 7 designed as a gas collecting bag 7. This can result in a gas exchange with the particularly flexible gas collecting bag, so that there is no essentially unnecessary pressure difference in the cylinder. In any case, it is easily possible for the gas collection bag to prevent or at least severely restrict a pressure difference by increasing the volume, down to a maximum of 0.2 physical atmosphere or another predetermined fixed value. This can be determined in advance by calculation based on a maximum volume change of the variable volume of the variable volume chamber 13 (or variable volume parts of a plurality of volume chambers 13) or on the basis of sampling.
    Of course, in some types of cylinders, a pressure chamber of the cylinder can be pressurized with a pressure fluid, such as oil or air, to displace the cylinder rod, as is the case with a pneumatic, hydropneumatic or hydraulic cylinder. In this case, it is possible for the other volume part of the cylinder to be the variable volume chamber 13 described. In all cases it applies that of all cylinder volume parts of a cylinder system that are not filled with a pressurized fluid, at least one with a gas line 6 is advantageously connected to a gas collecting device 7 such as a gas collecting bag 7. In the cylinders 4, 4 'shown, a single-acting cylinder can be provided, wherein the weight of the arm element of the robot or other moving parts moved by the cylinder can ensure a return movement. In such a case, the invention offers the possibility of a vented volume chamber that is not filled with pressure fluid. This is not the case with a double-acting cylinder.
    Figure 2 shows a schematic side view of the milking robot 1 according to the invention.
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    AT15 864U1 2018-07-15 Austrian patent office
    In FIG. 2, parts that are identical to FIG. 1 are provided with the same reference numbers. In this embodiment, an access gate 9 is also shown, which can also be operated with a cylinder 4, which is connected via a gas line 6 to the gas collecting device 7, in the exemplary embodiment the gas collecting bag. In particular, each cylinder that moves an element in or on the milking robot 1, as well as an exit gate or a movable feeding trough, is advantageously part of the gas exchange system according to the invention, i.e. that is, connected to a gas collecting device 7 such as a gas collecting bag by means of a gas exchange opening and a gas line. It should be noted that the gas collecting device 7 can also be a compensating cylinder with a displaceable piston. An advantage of such a compensating cylinder is that it can be made more stable than a gas collecting bag, which is expediently flexible. The desired stability is achieved by attaching a rigid outer shell. For this purpose, the gas collecting bag 7 can be attached in a frame tube 10 of the milking robot 1 and is thus well protected against mechanical and other environmental influences.
    In this embodiment, the use of a balance cylinder is not shown, which can serve, for example, to largely compensate for the weight of the arm elements 2 of the robot arm, as a result of which the drive through the respective cylinders 4 becomes easier. Such a balance cylinder can, for example, be additionally attached to the cylinder 4 '. Both are explained in more detail in connection with FIG. 3.
    Figure 3 shows a schematic view of some elements of a mechanical drive for a milking robot according to the invention, which are used to move individual elements of the milking robot.
    4-1 denotes an electric cylinder which has a cylinder wall 11. A cylinder rod 5 is guided in the cylinder 4-1, which limits a variable volume chamber 13 and can be retracted or extended under the influence of an electromagnetic drive. The drive comprises a connection 14 and a motor 15. Both are only shown schematically and can be replaced by an electric cylinder of a different type.
    The cylinder wall 11 comprises a ventilation opening 8, to which a gas line 6 is connected. It is important here that the gas line 6 surrounds the ventilation opening 8 in the cylinder wall 11, that is to say is completely connected around the ventilation opening 8, preferably is attached directly to the cylinder wall 11 around the ventilation opening 8. The gas line 6 is thus statically and / or immovably attached around the ventilation opening 8. Thus, the gas line 6 cannot collide with other parts of the milking robot 1 by displacement with respect to the cylinder wall 11 or wear out due to mechanical stress.
    The gas line 6 is connected at the other end to the gas collecting device 7, preferably the gas collecting bag. This gas collection bag is made of an elastic, stretchable material, such as rubber or a corresponding plastic. The material can expand freely if gas is displaced into this gas collecting bag 7. It is possible that the gas in the gas collecting bag 7 comes under counter pressure due to the inherent elasticity of the bag; This back pressure is advantageously as low as possible, as a result of which the gas pressure in the gas collecting bag, in the gas line 6 and in the variable volume chamber 13 remains approximately the same as the ambient pressure. As a result, there is only a very small risk of the ingress of ambient air, dirt, etc. When the cylinder rod 5 is moved outwards and / or inwards in the variable volume chamber 13 of the electric cylinder 4-1, a pressure change in the variable volume chamber 13 can occur. when it is completely airtight. If there is a pressure difference from the environment, dirt, liquid and / or ambient air can enter along the seal of the cylinder rod 5 and the cylinder 4-1. Since pressure equalization is possible via the gas line 6 and the gas collecting device 7, in particular the gas collecting sack, the risk of dirt, liquid and / or ambient air entering is much smaller. In addition, a possible pressure difference cannot have a negative effect on the displacement of the cylinder rod 5 using the motor 15. The function of the electric cylinder 4-1 is given by the present 7/13
    AT15 864U1 2018-07-15 Austrian
    Patentamt de invention improved.
    Using the electric cylinder 4-1, for example, one of the arm elements 2 of the robot arm can be moved and / or pivoted. An (other) arm element 2 of the robot arm can also be moved with the aid of the hydraulic cylinder 4-2 shown. For example, the hydraulic cylinder 4-2 can be used when large forces are required by displacing a robot arm part or another movable element, it being impossible or difficult to use a weight compensation or other compensation. It can happen that not all cylinders used in the milking robot are of the same type.
    The hydraulic cylinder 4-2 shown in FIG. 3 comprises a piston 12 with a cylinder rod 15 and a variable pressure chamber 16 with a pressure volume, the pressure chamber 16 being connected to a hydraulic connection 17 with a pressure line 18. Furthermore, the hydraulic cylinder 4-2 comprises a variable pressure chamber 13 with a variable volume, which is connected to the gas collecting device 7, in the exemplary embodiment the gas collecting bag, by means of a gas line 6. In the gas line 6 there is a filter 21 for filtering, for example, nevertheless dirt that has penetrated or fluid residues of the hydraulic circuit. In this hydraulic cylinder 4-2, too, the variable volume chamber 13 is basically depressurized, so that the ingress of gas from the environment is prevented, if necessary. There are also hydraulic cylinders in which fluid is provided on both sides of the piston. These cylinders do not have a variable volume chamber 13 with a variable gas volume that is free of pressure fluid connections.
    Furthermore, a balance cylinder 4-3 according to the principle of a gas spring is shown in Figure 3, which can serve, for example, for weight compensation, as mentioned in connection with Figure 1. The balance cylinder 4-3 comprises, in addition to the variable volume chamber 13, a gas reservoir 19, in which a quantity of gas is enclosed, which builds up counterpressure with the cylinder rod 5 when the piston 12 is extended and retracted, and can thus compensate for the weight of the movable elements attached to it. In addition, a rod system 20 is advantageously provided in order to attach the balance cylinder 4-3 to or control one or more arm elements 2 of the robot arm in order to compensate for their weight. Details of such weight compensation are not explained in detail. Here, too, the variable volume chamber 13 is connected to the gas collecting device 7, in particular the gas collecting bag, by means of a gas line 6 and a filter 21.
    FIG. 3 shows that all gas lines 6 are connected to the same gas collecting device 7. It is also possible to use several gas collecting devices 7 in the form of e.g. B. to provide several gas collection bags, such as a gas collection bag per variable volume chamber 13. Furthermore, it may be appropriate to all variable volume chambers 13 of the cylinders, which further comprise a pressure chamber with a pressurized fluid, as in this case the hydraulic cylinders 4-2 and Balance cylinder 4-3, to be connected to one or more gas collection bags. Furthermore, all variable volume chambers 13 of cylinders without a pressure chamber with a pressure fluid, such as. B. the electric cylinders 4-1, be connected to one or more other gas collection bags. Thus, it can be prevented that - should there be a leak in a variable pressure chamber to a variable (and pressure-fluid-free) volume chamber 13 - no compressed air or another (pressure) fluid can pass to the other variable volume chambers of other cylinders.
    In addition, as shown in FIG. 3, it is expedient to arrange a relief valve 22 on one or more of the gas lines 6. This relief valve 22 is, for example, a check valve that opens when the pressure is, for example, 0.2 bar or 0.5 bar above the ambient pressure. In this way too, any leakage that may occur from a pressure fluid side, such as from a pressure chamber, to other elements and chambers of the system can be prevented.
    The illustrated embodiments of the invention are shown for illustration only and are not intended to be limiting.
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    AT15 864U1 2018-07-15 Austrian patent office
    权利要求:
    Claims (17)
    [1]
    Expectations
    Milking robot for automatic milking of dairy cattle, comprising at least one movable arm element (2) and a cylinder (4, 4 ') which supports movement of the arm element (2), and the cylinder (4) has a cylinder wall (11) with a Has ventilation opening (8) and a cylinder rod (5) for entering the cylinder (4) or for exiting the cylinder (4), the cylinder wall (11) surrounding at least one variable volume chamber (13), and the volume chamber (13) is free of pressure connections for displacing the cylinder rod (5) and is also designed to remain almost in pressure equilibrium with the surroundings of the cylinder (4) via the ventilation opening (8), the ventilation opening (8) in the cylinder wall (11) A gas collecting device (7) is connected around the ventilation opening and has a variable volume, and the gas collecting device (7) together with the variable volume chamber (13) has a closed gas volume b The cylinder (4, 4 ') comprises an electrical, magnetic or electromagnetic drive (15) for pushing the cylinder rod (5) in and out.
    [2]
    2. Milking robot according to claim 1, characterized in that the gas collecting device (7) with a gas pipe or a gas line (6) via the ventilation opening (8) is in gas connection with the variable volume chamber (13).
    [3]
    3. Milking robot according to one of the preceding claims, characterized in that the gas collecting device (7) comprises a flexible gas collecting bag.
    [4]
    4. Milking robot according to claim 3, characterized in that the gas collecting bag is arranged in a dimensionally stable outer shell, in particular in a frame tube (10) of the milking robot (1).
    [5]
    5. Milking robot according to one of the preceding claims, characterized in that the gas collecting device (7) has a volume which can be changed between a small and a large volume by supplying gas from the variable volume chamber (13) of the cylinder (4), wherein a gas pressure in the gas collecting device (7) when taking up the largest volume is at most 0.2 bar.
    [6]
    6. Milking robot according to one of the preceding claims, characterized in that the cylinder (4) is a pressure cylinder, and the pressure cylinder in addition to the variable volume chamber (13) has a variable pressure chamber (16) for receiving a pressure fluid.
    [7]
    7. milking robot according to claim 6, characterized in that the pressure cylinder is a pneumatic or a hydraulic pressure cylinder.
    [8]
    8. milking robot according to claim 6, characterized in that the pressure fluid is an oil or a gas, in particular compressed air.
    [9]
    9. milking robot according to claim 6, characterized in that the pressure cylinder is in particular a balance cylinder (4-3) for supporting the weight of at least one arm element (2) of a robot arm.
    [10]
    10. Milking robot according to claim 6, characterized in that the milking robot (1) comprises a pneumatic, hydraulic or hydropneumatic connection (17) which is provided for conveying the pressure fluid into or out of the pressure chamber (16).
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    AT15 864U1 2018-07-15 Austrian patent office
    [11]
    11. Milking robot according to one of claims 6 to 10, characterized in that a filter (21) is arranged between the variable volume chamber (13) of one or each pressure cylinder on the one hand and the gas collecting device (7) and the variable volume chamber (13) of the other cylinder which is provided for filtering the flowing gas.
    [12]
    12. Milking robot according to one of the preceding claims, characterized by a plurality of cylinders (4, 4 ') which are connected with their respective variable volume chambers (13) to a gas collecting device (7).
    [13]
    13. Milking robot according to claim 12, characterized in that the plurality of cylinders (4, 4 ') both at least a first cylinder (4-3) without a variable pressure chamber and at least a second cylinder (4, 4') with a respective variable Comprising pressure chamber (16), all first cylinders (4-3) with their respective first volume chambers (13) being connected to a first gas collecting device.
    [14]
    14. Milking robot according to claim 13, characterized in that all second cylinders (4, 4 ') with their respective volume chambers (13) are connected to a second gas collecting device.
    [15]
    15. Milking robot according to one of the preceding claims, characterized in that the gas collecting device (7) and all volume chambers (13) communicating therewith are filled with a gas under a pressure of around 1 physical atmosphere (1013 mbar).
    [16]
    16. Milking robot according to claim 15, characterized in that the gas is air.
    [17]
    17. Milking robot according to one of the preceding claims, characterized by a milking parlor with an entrance gate (9) and an exit gate and with a robot arm for carrying out an animal-related measure on a dairy animal in the milking parlor, such as in particular connecting a milking cup (3) or the like., And a cylinder (4, 4 ', 4) being provided on at least the entrance gate and / or the exit gate and / or the robot arm.
    With 3 sheets of drawings
    10/13 East Austrian
    Patent Office ΑΤ 15 864υΐ 2018 _ 07 _ 15
    11113
    AT15 864U1 2018-07-15 Austrian patent office
    2/3
    FIG. 2nd
    12/13
    AT15 864U1 2018-07-15 Austrian patent office
    3/3
    FIG.
    13/13
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    EP3340778B1|2020-04-29|
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    CA2996266A1|2017-03-02|
    NL2015356B1|2017-03-20|
    DE202016005231U1|2016-09-09|
    WO2017034398A1|2017-03-02|
    US20180235170A1|2018-08-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DD263017A1|1987-07-28|1988-12-21|Werkzeugmasch Forschzent|SINGLE-SIDED HYDRAULIC CYLINDER|
    US6386141B1|1997-11-14|2002-05-14|Delaval Holding Ab|Apparatus for milking or other animal operation having robot arm suspension capable of performing a pendulum movement|
    JP4364036B2|2004-03-30|2009-11-11|大日本スクリーン製造株式会社|Single-acting air cylinder valve and substrate processing apparatus having the same|
    AU2006201243B2|2006-03-27|2009-03-12|Bourgault Industries Ltd.|Breathing for single acting hydraulic cylinders|NL2017686B1|2016-10-28|2018-05-18|Lely Patent Nv|Milking robot|
    WO2018120137A1|2016-12-30|2018-07-05|深圳配天智能技术研究院有限公司|Balancing system for use in industrial robot and industrial robot|
    NL2019313B1|2017-07-21|2019-02-01|Lely Patent Nv|Milking robot system with selectable compliance|
    NL2019330B1|2017-07-24|2019-02-12|Hanskamp Agrotech B V|Toilet for cattle, in particular for cow|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    NL2015356A|NL2015356B1|2015-08-27|2015-08-27|Milking robot with cylinder system.|
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