Milking box with robotic attacher
A robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The gripping portion comprises at least one nozzle and is operable to rotate such that during a first mode of operation, the nozzle is positioned away from the top of the gripping portion, and during a second mode of operation, the nozzle is positioned generally on the top of the gripping portion.
1. A robotic attacher, comprising:
a main arm;
a supplemental arm coupled to the main arm;
a gripping portion coupled to the supplemental arm and operable to rotate about a longitudinal axis of the gripping portion;
a vision system positioned on a first surface of the robotic attacher; and
at least one nozzle positioned on a second surface of the robotic attacher;
wherein the gripping portion is operable to rotate such that during a milking operation, the vision system is positioned generally on the top of the robotic attacher, and during a spraying operation, the nozzle is positioned generally on the top of the robotic attacher.
2. The robotic attacher of claim 1 , wherein the gripping portion comprises a wrist operable to perform a tilt movement.
3. The robotic attacher of claim 1 , wherein the gripping portion comprises a wrist operable to perform a pivot movement.
4. The robotic attacher of claim 1 , wherein the robotic attacher is operable to:
retrieve a preparation cup;
attach the preparation cup to a teat of a dairy livestock; and
remove the preparation cup from the teat of the dairy livestock.
5. The robotic attacher of claim 1 , wherein the robotic attacher is operable to:
retrieve a teat cup; and
attach the teat cup to a teat of a dairy livestock.
6. The robotic attacher of claim 1 , wherein the robotic attacher is operable to extend between the hind legs of a dairy livestock.
7. The robotic attacher of claim 1 , wherein the vision system comprises a first camera and a second camera.
8. The robotic attacher of claim 7 , wherein the first camera comprises a three dimensional camera and the second camera comprises a two dimensional camera.
9. The robotic attacher of claim 1 , wherein the gripping portion is operable to hold a teat cup.
10. The robotic attacher of claim 1 , wherein the supplemental arm extends horizontally from the main arm, and the gripping portion extends horizontally from the supplemental arm.
11. A robotic attacher, comprising:
a main arm;
a supplemental arm coupled to the main arm; and
a gripping portion coupled to the supplemental arm, wherein the gripping portion comprises at least one nozzle and is operable to rotate such that during a first mode of operation, the nozzle is positioned away from the top of the gripping portion, and during a second mode of operation, the nozzle is positioned generally on the top of the gripping portion.
12. The robotic attacher of claim 11 , wherein the gripping portion comprises a wrist operable to perform a tilt movement.
13. The robotic attacher of claim 11 , wherein the gripping portion comprises a wrist operable to perform a pivot movement.
14. The robotic attacher of claim 11 , wherein the robotic attacher is operable to:
retrieve a preparation cup;
attach the preparation cup to a teat of a dairy livestock; and
remove the preparation cup from the teat of the dairy livestock.
15. The robotic attacher of claim 11 , wherein the robotic attacher is operable to:
retrieve a teat cup; and
attach the teat cup to a teat of a dairy livestock.
16. The robotic attacher of claim 11 , wherein the robotic attacher is operable to extend between the hind legs of a dairy livestock.
17. The robotic attacher of claim 11 , further comprising a vision system coupled to the robotic attacher.
18. The robotic attacher of claim 17 , wherein the vision system comprises a three dimensional camera.
19. A system, comprising:
a milking box having a stall to accommodate a dairy livestock;
a robotic attacher operable to extend under the dairy livestock, the robotic attacher comprising:
a main arm;
a supplemental arm coupled to the main arm; and
a gripping portion coupled to the supplemental arm, wherein the gripping portion comprises at least one nozzle and is operable to rotate such that during a first mode of operation, the nozzle is positioned away from the top of the gripping portion, and during a second mode of operation, the nozzle is positioned generally on the top of the gripping portion.
20. The system of claim 19 , wherein the robotic attacher is operable to extend between the hind legs of a dairy livestock.
21. The system of claim 19 , further comprising a vision system that includes a three dimensional camera coupled to the robotic attacher.