Gripping device for a robotic manipulation device adapted to grip and attach teat cups to an animal
First Claim
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).
1 Assignment
0 Petitions
Accused Products
Abstract
A gripping device for a robotic manipulation device that grips and attaches teat cups to an animal. The gripping device for each teat cup to be gripped and attached includes a holding member configured to releasably hold a teat cup, and a power member configured to move the holding member from a base position (p1) to a raised position (p2) in which the teat cup can be attached to a teat. The gripping device for each teat cup to be gripped and attached includes a movable cover portion movably arranged between a covering position, in which it covers the opening of the teat cup, and a non-covering position, in which the opening of the teat cup is exposed. When power member lifts the holding member from the base position to the raised position, the movable cover portion moves from the covering position to the non-covering position.
14 Citations
20 Claims
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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:
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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). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of operating a gripping device, comprising the steps of:
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with a robotic manipulation device (10), positioning the gripping device (12) gripping plural teat cups below a teat of an animal (4), the gripping device (12) comprising; a cover element (16, 22, 23), plural power members (21) operatively connected to a respective gripping member to move the gripping member (18) 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 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), the movable cover portion (16a, 22a, 23a) being movable from the covering position to the non-covering position where 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); the control unit automatically lifting a first of the teat cups (7), by controlling the power member (21) to lift a first one of the gripping members (18) from the base position (p1) to the raised position (p2); and moving the movable cover portion (16a, 22a, 23a) from the covering position to the non-covering position, wherein the movable cover portion (16a, 22a, 23a) is moved 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). - View Dependent Claims (16, 17, 18, 19)
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20. A gripping device (12) for a robotic manipulation device (10) that grips and attaches teat cups (7) to an animal (4), the gripping device (12) comprising:
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a cover element (16, 22, 23); plural gripping members (18) mounted on the cover element, each gripping member having an open position that releases a gripped teat cup and a closed position that grips the teat cup; plural power members (21) operatively connected to a respective gripping member to move the gripping member between i) a base position (p1) to ii) a raised position (p2) in which the teat cup (7) can be attached to a teat of the animal (4); plural movable cover portions (16a, 22a, 23a) associated with the cover element, each movable cover portion corresponding to one of the gripping members and movable between i) a covering position that covers an opening (7a) of the gripped teat cup teat cup (7), and ii) an non-covering position in which the opening (7a) is exposed; and a control unit (15) operatively connected to the gripping members for 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 gripped 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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Specification