The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 28, 2021
Filed:
Jun. 15, 2018
Lely Patent N.v., Maassluis, NL;
Mario Henrique Voorsluys, Maassluis, NL;
Michiel Adriaan Van Dorp, Maassluis, NL;
LELY PATENT N.V., Maassluis, NL;
Abstract
A milking system for milking a dairy animal comprises teat cups, a robot arm with actuators, for connecting the teat cups to teats of the dairy animal, and a control device in order to reach and/or maintain a desired position of the robot arm, by adjustment of a respective adjusting force parameter exerted by the actuators. The control device is configured to adjust a selectable compliance of the robot arm, wherein the compliance is a reaction of the robot arm to an external force which is exerted on the robot arm, such as a kick. This compliance is a function of the external force or of an animal identity. Thus, the behaviour of the robot arm can be adapted, such as, under otherwise unchanged circumstances, more or earlier yielding in the case of sensitive animals, and, conversely, less in the case of playful animals.