SE0401611D0 - Gripper device, robot arm and milking robot - Google Patents

Gripper device, robot arm and milking robot

Info

Publication number
SE0401611D0
SE0401611D0 SE0401611A SE0401611A SE0401611D0 SE 0401611 D0 SE0401611 D0 SE 0401611D0 SE 0401611 A SE0401611 A SE 0401611A SE 0401611 A SE0401611 A SE 0401611A SE 0401611 D0 SE0401611 D0 SE 0401611D0
Authority
SE
Sweden
Prior art keywords
electromagnet
robot
gripper device
milking
teat cups
Prior art date
Application number
SE0401611A
Other languages
English (en)
Other versions
SE527496C2 (sv
SE0401611L (sv
Inventor
Lars Wase
Mats Nilsson
Nils Erik Holmertz
Jan-Erik Andersson
Christer Sjoeblom
Mattias Oscarsson
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
Priority to SE0401611A priority Critical patent/SE527496C2/sv
Publication of SE0401611D0 publication Critical patent/SE0401611D0/sv
Priority to EP14190147.0A priority patent/EP2845467B1/en
Priority to EP05752680.8A priority patent/EP1768483B1/en
Priority to US11/630,247 priority patent/US7908998B2/en
Priority to PCT/SE2005/000930 priority patent/WO2005122753A1/en
Publication of SE0401611L publication Critical patent/SE0401611L/sv
Publication of SE527496C2 publication Critical patent/SE527496C2/sv
Priority to US12/929,150 priority patent/US8286585B2/en

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
SE0401611A 2004-06-22 2004-06-22 Gripanordning, robotarm och mjölkningsrobot SE527496C2 (sv)

Priority Applications (6)

Application Number Priority Date Filing Date Title
SE0401611A SE527496C2 (sv) 2004-06-22 2004-06-22 Gripanordning, robotarm och mjölkningsrobot
EP14190147.0A EP2845467B1 (en) 2004-06-22 2005-06-16 Milking robot and milking system
EP05752680.8A EP1768483B1 (en) 2004-06-22 2005-06-16 Gripper device, robot arm, and milking robot
US11/630,247 US7908998B2 (en) 2004-06-22 2005-06-16 Gripper device, robot arm, and milking robot
PCT/SE2005/000930 WO2005122753A1 (en) 2004-06-22 2005-06-16 Gripper device, robot arm, and milking robot
US12/929,150 US8286585B2 (en) 2004-06-22 2011-01-04 Gripper device, robot arm, and milking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0401611A SE527496C2 (sv) 2004-06-22 2004-06-22 Gripanordning, robotarm och mjölkningsrobot

Publications (3)

Publication Number Publication Date
SE0401611D0 true SE0401611D0 (sv) 2004-06-22
SE0401611L SE0401611L (sv) 2005-12-23
SE527496C2 SE527496C2 (sv) 2006-03-21

Family

ID=32906843

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0401611A SE527496C2 (sv) 2004-06-22 2004-06-22 Gripanordning, robotarm och mjölkningsrobot

Country Status (4)

Country Link
US (2) US7908998B2 (sv)
EP (2) EP1768483B1 (sv)
SE (1) SE527496C2 (sv)
WO (1) WO2005122753A1 (sv)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE529127C2 (sv) 2005-09-02 2007-05-08 Delaval Holding Ab Detekteringsarrangemang jämte -metod för en magnetisk gripanordning
EP1913811B1 (en) 2006-10-18 2014-02-26 DeLaval Holding AB Cleaning within a milking system
EP2131649B1 (en) * 2007-03-23 2019-02-27 DeLaval Holding AB A rotary parlour for automatic milking of animals and a method for attaching teat cups to milking animals on a rotary platform.
SE531487C2 (sv) * 2007-03-23 2009-04-21 Delaval Holding Ab En spenkopphanterande anordning och en lagringsanordning för spenkoppar
US8670867B2 (en) 2008-03-11 2014-03-11 Scott Milktech Limited Robot milking arm and a method of attaching milking cups
NZ566631A (en) * 2008-03-11 2011-04-29 Scott Milktech Ltd A robotic milking system and a method of attaching milking cups
NZ586604A (en) 2008-03-27 2012-03-30 Delaval Holding Ab Robotic teat cup positioning using reference entity with fixed spatial relationship to teat cup magazine and teat cups
WO2010028912A2 (en) * 2008-09-10 2010-03-18 Delaval Holding Ab Gripper device, robot arm, milking robot and method
EP2369911B1 (en) 2008-11-26 2016-01-06 DeLaval Holding AB Handling of teat cups
US8578881B2 (en) 2008-12-22 2013-11-12 Delaval Holding Ab Arrangement for gripping at least one teat cup
NZ603313A (en) * 2010-06-17 2014-01-31 Delaval Holding Ab A gripper, a milking robot and a milking arrangement
US9107378B2 (en) * 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
NL1038793C2 (nl) * 2011-05-03 2012-11-06 Dirk Hendrik Martin Ruiter Melkinstallatie.
NL2010406C2 (nl) 2013-03-07 2014-09-10 Rotec Engineering B V Grijper voor het aanbrengen van melkbekers bij een te melken dier, robotarm en melkmachine voorzien daarvan, en werkwijze daarvoor.
EP3062609B1 (en) * 2013-10-29 2017-10-11 DeLaval Holding AB Teat cup shell teat cup and arrangement for automatically milking animals
NL2012747B1 (nl) * 2014-05-02 2016-02-23 Technologies Holdings Corp Dubbele grijper voor het aanbrengen van melkbekers bij een te melken dier, spoelbeker daarvoor en melkmachine voorzien daarvan, en werkwijze voor het melken.
CN104097211A (zh) * 2014-07-08 2014-10-15 南京工业职业技术学院 一种用于抓取各种曲面物体的自适应方法
EP3214924B1 (en) * 2014-11-06 2020-04-29 Technologies Holdings Corp. Robotic arm with magnetic double grabber
RU2681886C1 (ru) * 2018-05-07 2019-03-13 Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский государственный аграрный университет" (ФГБОУ ВО Казанский ГАУ) Двухтактный доильный аппарат попарного доения
RU184957U1 (ru) * 2018-07-09 2018-11-15 Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский государственный аграрный университет" (ФГБОУ ВО Казанский ГАУ) Двухтактный доильный аппарат попарного доения
CN111086019B (zh) * 2019-12-06 2021-09-07 西安交通大学 一种用于抓取圆柱形工件的气动-电磁混合控制机械手的控制方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3497846A (en) * 1967-12-27 1970-02-24 Us Navy Magnetic anchor for curved and irregular surfaces
NL8802332A (nl) * 1988-09-21 1990-04-17 Lely Nv C Van Der Inrichting voor het melken van een dier.
NL9101673A (nl) * 1991-10-04 1993-05-03 Texas Industries Inc Inrichting voor het reinigen van spenen van melkgevende dieren.
NL9200091A (nl) 1992-01-17 1993-08-16 Lely Nv C Van Der Melkmachine.
NL9401451A (nl) 1994-09-07 1996-04-01 Maasland Nv Inrichting en werkwijze voor het melken van dieren.
NL9401681A (nl) * 1994-10-12 1996-05-01 Maasland Nv Werkwijze en inrichting voor het automatisch melken van dieren, zoals koeien.
JPH08281431A (ja) * 1995-04-14 1996-10-29 Motoomi Ogata 溶接方法
US6116188A (en) * 1996-04-24 2000-09-12 Van Der Lely; Cornelis Method of milking animals
SE514439C2 (sv) 1999-05-28 2001-02-26 Delaval Holding Ab Kopplingsanordning för en spenkopp
CN201056445Y (zh) * 2007-02-13 2008-05-07 杭州航天万源稀土电机应用技术有限公司 编码器在曳引轮同侧的永磁同步无齿轮曳引机
SE531487C2 (sv) * 2007-03-23 2009-04-21 Delaval Holding Ab En spenkopphanterande anordning och en lagringsanordning för spenkoppar
CN201056458Y (zh) * 2007-05-17 2008-05-07 杨祖成 卧钢卷起重电磁铁

Also Published As

Publication number Publication date
EP2845467B1 (en) 2018-01-17
SE527496C2 (sv) 2006-03-21
US20080022933A1 (en) 2008-01-31
US7908998B2 (en) 2011-03-22
EP1768483A1 (en) 2007-04-04
SE0401611L (sv) 2005-12-23
EP2845467A1 (en) 2015-03-11
US8286585B2 (en) 2012-10-16
EP1768483B1 (en) 2014-12-10
US20110120379A1 (en) 2011-05-26
WO2005122753A1 (en) 2005-12-29

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