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Gripping device for a robotic manipulation device adapted to grip and attach teat cups to an animal

  • US 10,058,069 B2
  • Filed: 06/17/2014
  • Issued: 08/28/2018
  • Est. Priority Date: 06/20/2013
  • Status: Active Grant
First Claim
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1. A gripping device (12) connectable to a robotic arm (10b) of a robotic manipulation device (10) that grips and attaches teat cups (7) to an animal (4), the gripping device (12) comprising:

  • a cover element (16, 22, 23);

    plural gripping members (18), each gripping member having an open position that releases a corresponding teat cup and a closed position that grips the corresponding teat cup,plural power members (21) operatively connected to a respective gripping member to move the gripping member between i) a base position (p1) relative to the cover element, to ii) a raised position (p2) relative to the cover element in which the teat cup (7) can be attached to a teat of the animal (4), the raised position being closer to the cover element than the first base position;

    plural movable cover portions (16a, 22a, 23a) associated with the cover element, each movable cover portion movably arranged between i) a covering position that covers an opening (7a) of the corresponding teat cup teat cup (7) gripped by the gripping member, and ii) an non-covering position in which the opening (7a) of the corresponding teat cup teat cup (7) gripped by the gripping member is exposed; and

    a control unit (15) operatively connected to the gripping members, the control unit i) moving the gripping members between the open and closed positions, and ii) controlling each power member (21) to individually lift each gripping member, and the corresponding teat cup (7), from the base position (p1) to the raised position relative (p2), wherein, during use, the movable cover portion (16a, 22a, 23a) is moved from the covering position to the non-covering position i) before the power member (21) lifts the gripping member, and the corresponding teat cup (7), from the base position (p1) to the raised position (p2), or ii) during the power member (21) lifting the gripping member, and the corresponding teat cup (7), from the base position (p1) to the raised position (p2).

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