Adjustable Gripping Device for Teat Cup Positioning
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Solution Overview
Problem
Current milking robot grippers require high precision to grip teat cups due to the rapid decrease of magnetic force with distance, leading to expensive products with stringent positioning requirements for both the gripper and teat cup magazine.
Innovation Solution
Incorporating adjustable means with a movably arranged grip portion and/or positioning element in the gripping device and storing device, allowing for initial rough positioning followed by precise adjustment of contact surfaces to achieve reliable and precise teat cup gripping without the need for precise teat cup positioning or gripper movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If an electromagnet is used to grip the teat cup, then the gripping force is improved, but the positioning precision requirement increases and device cost increases
Solution Approach 1:
The invention introduces a movable grip portion that can dynamically adjust its position relative to the teat cup. This dynamic adjustment capability allows the system to compensate for positioning variations, reducing the stringency of initial positioning requirements while maintaining effective gripping force through the electromagnet.
Solution Approach 2:
The movable grip portion acts as an intermediary between the electromagnet and the teat cup. It provides a mechanical adjustment mechanism that decouples the positioning precision requirement from the electromagnet, allowing the electromagnet to maintain constant gripping force while the grip portion adapts to position variations.
2Reliability
If high precision positioning is required for the gripper and teat cup magazine, then gripping reliability is improved, but device complexity and cost increase
Solution Approach 1:
The movable grip portion enables the gripping system to self-adjust to positioning variations. Instead of requiring the entire positioning system to be highly precise, the grip portion automatically compensates for position deviations, allowing simpler and less expensive positioning mechanisms to achieve reliable gripping.
Solution Approach 2:
The invention changes the parameter of grip portion position from fixed to variable. This parameter change allows the system to adapt to different teat cup positions, maintaining gripping reliability without requiring the entire positioning system to maintain high precision under all conditions.
3Force
If the electromagnet is moved closer to the teat cup for better gripping, then gripping force is improved, but positioning precision requirement increases
Solution Approach 1:
The movable grip portion provides dynamic positioning capability, allowing the electromagnet to maintain optimal distance from the teat cup surface. This dynamic adjustment compensates for variations in initial positioning, enabling the electromagnet to operate at consistent distances for optimal magnetic force without requiring extremely precise initial positioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables reliable and precise teat cup gripping with a simple storing and gripping device, reducing costs by allowing for less precise teat cup placement and simpler gripper design, while maintaining high precision in the gripping operation.
Implementation Method 1
The gripper comprises an electromagnet adapted to grip a teat cup of a magnetic material in a teat cup magazine
Data Source
AI summary
A gripping arrangement is provided including a storing device (10) adapted to hold a teat cup (1) in a parked position and a gripping device (2) adapted to grip the parked teat cup (1) in the storing device (10). The gripping device (2) includes a contact surface (6a) which is adapted to be moved to a position in which it comes in contact with a contact surface (1d) of the teat cup (1) during a gripping operation of the teat cup (1). The arrangement includes an adjusting part which is able to adjust the position of at least one of the contact surfaces (1d, 6a) in relation to the other contact surface (1d, 6a) from an initial contact position to a grip position in which the gripping device is able to grip the teat cup in the storing device.