Title:
GRIPPER DEVICE, ROBOT ARM, MILKING ROBOT AND METHOD
Document Type and Number:
WIPO Patent Application WO/2010/028912
Kind Code:
A3
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.
Inventors:
MELLBERG STEN (SE)
Application Number:
PCT/EP2009/059950
Publication Date:
September 23, 2010
Filing Date:
July 31, 2009
Export Citation:
Assignee:
DELAVAL HOLDING AB (SE)
MELLBERG STEN (SE)
MELLBERG STEN (SE)
International Classes:
A01J5/017
Domestic Patent References:
| WO2005122753A1 | 2005-12-29 | |||
| WO2005122753A1 | 2005-12-29 |
Foreign References:
| DE1804511A1 | 1970-05-21 | |||
| DE2728383A1 | 1979-01-11 | |||
| GB1302723A | 1973-01-10 | |||
| EP0551960A1 | 1993-07-21 | |||
| SU1707632A1 | 1992-01-23 | |||
| DE1804511A1 | 1970-05-21 | |||
| SU609129A1 | 1978-05-30 | |||
| GB1302723A | 1973-01-10 |
Attorney, Agent or Firm:
KEIJSER BERGÖÖ, Malin et al. (DeLaval International AB, Tumba, SE)
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