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WO2010028912A3 - Gripper device, robot arm, milking robot and method - Google Patents

Gripper device, robot arm, milking robot and method Download PDF

Info

Publication number
WO2010028912A3
WO2010028912A3 PCT/EP2009/059950 EP2009059950W WO2010028912A3 WO 2010028912 A3 WO2010028912 A3 WO 2010028912A3 EP 2009059950 W EP2009059950 W EP 2009059950W WO 2010028912 A3 WO2010028912 A3 WO 2010028912A3
Authority
WO
WIPO (PCT)
Prior art keywords
gripper device
robot
milking
robot arm
electromagnet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2009/059950
Other languages
French (fr)
Other versions
WO2010028912A2 (en
Inventor
Sten Mellberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DeLaval Holding AB
Original Assignee
DeLaval Holding AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DeLaval Holding AB filed Critical DeLaval Holding AB
Publication of WO2010028912A2 publication Critical patent/WO2010028912A2/en
Publication of WO2010028912A3 publication Critical patent/WO2010028912A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a gripper device (1) mountable on a robot arm (10) of a milking robot (13) provided for automatically attaching teat cups (11) to the teats of a milking animal. The gripper device (1) comprises an electromagnet (2) for gripping teat cups (11) comprising a magnetic material. The gripper device 1 is characterised by means (7, S1, S2, S3, S4); (14) for demagnetizing the electromagnet (2) thereof. The invention also relates to a method for releasing a teat cup held by the gripper device (1) and to a milking robot and a robot arm comprising the gripper device.
PCT/EP2009/059950 2008-09-10 2009-07-31 Gripper device, robot arm, milking robot and method Ceased WO2010028912A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0801943 2008-09-10
SE0801943-2 2008-09-10

Publications (2)

Publication Number Publication Date
WO2010028912A2 WO2010028912A2 (en) 2010-03-18
WO2010028912A3 true WO2010028912A3 (en) 2010-09-23

Family

ID=42005550

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/059950 Ceased WO2010028912A2 (en) 2008-09-10 2009-07-31 Gripper device, robot arm, milking robot and method

Country Status (1)

Country Link
WO (1) WO2010028912A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2799479C (en) * 2010-06-17 2018-06-19 Delaval Holding Ab A gripper, a milking robot and a milking arrangement
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
NL2012747B1 (en) 2014-05-02 2016-02-23 Technologies Holdings Corp Double gripper for arranging teat cups in an animal to be milked, rinsing cup therefor and milking machine provided therewith, and method for milking.
NZ731247A (en) * 2014-11-06 2022-10-28 Technologies Holdings Corp Robotic arm with double grabber and method of operation

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1804511A1 (en) * 1968-10-23 1970-05-21 List Dipl Ing Heinrich Demagnetizing device for electromagnetic clamping plates
GB1302723A (en) * 1969-06-18 1973-01-10
SU609129A1 (en) * 1976-12-06 1978-05-30 Горьковский Автомобильный Завод Demagnetizing device
DE2728383A1 (en) * 1977-06-24 1979-01-11 Wagner Elektromagnet App Magnetic chuck for surface grinder - has motor contactor controlling AC and DC supply for reversal of polarity
SU1707632A1 (en) * 1990-01-08 1992-01-23 Завод Аппаратуры Дальней Связи Electromagnet control device
EP0551960A1 (en) * 1992-01-17 1993-07-21 C. van der Lely N.V. An implement for automatically milking animals
WO2005122753A1 (en) * 2004-06-22 2005-12-29 Delaval Holding Ab Gripper device, robot arm, and milking robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1804511A1 (en) * 1968-10-23 1970-05-21 List Dipl Ing Heinrich Demagnetizing device for electromagnetic clamping plates
GB1302723A (en) * 1969-06-18 1973-01-10
SU609129A1 (en) * 1976-12-06 1978-05-30 Горьковский Автомобильный Завод Demagnetizing device
DE2728383A1 (en) * 1977-06-24 1979-01-11 Wagner Elektromagnet App Magnetic chuck for surface grinder - has motor contactor controlling AC and DC supply for reversal of polarity
SU1707632A1 (en) * 1990-01-08 1992-01-23 Завод Аппаратуры Дальней Связи Electromagnet control device
EP0551960A1 (en) * 1992-01-17 1993-07-21 C. van der Lely N.V. An implement for automatically milking animals
WO2005122753A1 (en) * 2004-06-22 2005-12-29 Delaval Holding Ab Gripper device, robot arm, and milking robot

Also Published As

Publication number Publication date
WO2010028912A2 (en) 2010-03-18

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