Robotic attacher and method of operation

Abstract

A robotic attacher includes an arm that extends between the legs of a dairy livestock and a gripping portion coupled to the arm. The gripping portion is operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion.

What is claimed is: 
     
         1 . A robotic attacher, comprising:
 an arm that extends between the legs of a dairy livestock;   a gripping portion coupled to the arm and operable to rotate such that at a first time, a nozzle is positioned generally on the bottom of the gripping portion, and at a second time, the nozzle is positioned generally on the top of the gripping portion.   
     
     
         2 . The robotic attacher of  claim 1 , wherein the gripping portion is further operable to attach a milking cup to a teat of a dairy animal during the first time. 
     
     
         3 . The robotic attacher of  claim 1 , wherein the nozzle is operable to spray a disinfectant substance to a teat of a dairy animal during the second time. 
     
     
         4 . The robotic attacher of  claim 1 , wherein the gripping portion comprises a wrist operable to perform a tilt movement. 
     
     
         5 . The robotic attacher of  claim 1 , wherein the gripping portion comprises a wrist operable to perform a pivot movement. 
     
     
         6 . The robotic attacher of  claim 1 , further comprising a vision system positioned on a first surface of the robotic attacher, wherein the nozzle is positioned on a second surface of the robotic attacher substantially opposite the first surface. 
     
     
         7 . The robotic attacher of  claim 6 , wherein the vision system facilitates positioning the robotic attacher to attach the milking cup during the first time. 
     
     
         8 . A robotic attacher, comprising:
 an arm that extends between the legs of a dairy livestock;   a gripping portion coupled to the arm and operable to rotate such that during a milking operation, a nozzle is positioned generally on the bottom of the gripping portion, and during a spraying operation, the nozzle is positioned generally on the top of the gripping portion.   
     
     
         9 . The robotic attacher of  claim 8 , wherein the gripping portion is further operable to attach a milking cup to a teat of a dairy animal during the milking operation. 
     
     
         10 . The robotic attacher of  claim 8 , wherein the nozzle is operable to spray a disinfectant substance to a teat of a dairy animal during the spraying operation. 
     
     
         11 . The robotic attacher of  claim 8 , wherein the gripping portion comprises a wrist operable to perform a tilt movement. 
     
     
         12 . The robotic attacher of  claim 8 , wherein the gripping portion comprises a wrist operable to perform a pivot movement. 
     
     
         13 . The robotic attacher of  claim 8 , further comprising a vision system positioned on a first surface of the robotic attacher, wherein the nozzle is positioned on a second surface of the robotic attacher substantially opposite the first surface. 
     
     
         14 . The robotic attacher of  claim 13 , wherein the vision system facilitates positioning the robotic attacher to attach the milking cup during the milking operation. 
     
     
         15 . A robotic attacher, comprising:
 a main arm;   a supplemental arm coupled to the main arm; and   a gripping portion coupled to the supplemental arm and operable to rotate such during a milking operation, a nozzle is positioned generally on the bottom of the gripping portion, and during a spraying operation, the nozzle is positioned generally on the top of the gripping portion.   
     
     
         16 . The robotic attacher of  claim 15 , wherein the gripping portion is further operable to attach a milking cup to a teat of a dairy animal during the milking operation. 
     
     
         17 . The robotic attacher of  claim 15 , wherein the nozzle is operable to spray a disinfectant substance to a teat of a dairy animal during the spraying operation. 
     
     
         18 . The robotic attacher of  claim 15 , wherein the gripping portion comprises a wrist operable to perform a tilt movement. 
     
     
         19 . The robotic attacher of  claim 15 , wherein the gripping portion comprises a wrist operable to perform a pivot movement. 
     
     
         20 . The robotic attacher of  claim 15 , further comprising a vision system positioned on a first surface of the robotic attacher, wherein the nozzle is positioned on a second surface of the robotic attacher substantially opposite the first surface, and wherein the vision system facilitates positioning the robotic attacher to attach the milking cup during the milking operation.