Robotic Arm Recessed Sensor and Magnetic Cup Attachment
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Solution Overview
Problem
Robotic devices in the dairy industry can injure or startle livestock if not properly configured, leading to inefficiencies and reattachment needs due to collision risks and incorrect teat detection.
Innovation Solution
A robotic arm with a recessed sensor and double grabbers that magnetically couple with ferrous wings, allowing for secure attachment of a preparation cup and reducing collision risks, with magnetic sensors for secure attachment confirmation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the sensor is positioned on the robotic arm at a higher position, then the sensor can detect the environment more effectively, but the sensor is more likely to collide with the livestock
Solution Approach 1:
The sensor is nested within a recessed portion of the robotic arm, allowing it to be positioned close to the livestock for effective detection while the recessed structure prevents direct collision. The sensor is coupled to the robotic arm and positioned inside the recessed portion, enabling it to scan the environment above the preparation cup without protruding far enough to cause harm.
2Ease of manufacture
If the preparation cup is attached to the grabbers using a simple mechanical connection, then the attachment is easier to implement, but the attachment security is insufficient
Solution Approach 1:
The patent replaces traditional mechanical fastening systems with magnetic coupling. The grabbers contain magnets that magnetically couple with ferrous material in the wings of the preparation cup, providing secure attachment while maintaining ease of implementation. This magnetic system eliminates the need for complex mechanical fasteners while ensuring reliable attachment during the milking process.
3Ease of manufacture
If the wings are made with a simple flat structure, then the manufacturing is easier, but the magnetic coupling strength is reduced
Solution Approach 1:
The wings incorporate localized ferrous material properties in specific areas to enhance magnetic coupling strength without requiring the entire wing structure to be complex. The ferrous material is strategically positioned in the portions of the wings that interface with the magnets in the grabbers, providing strong magnetic attachment while maintaining overall structural simplicity and ease of manufacture.
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
The solution enables safe and efficient positioning of the preparation cup on dairy livestock teats, reducing collision risks and improving the accuracy of teat detection, thereby enhancing the efficiency of the milking process.
Implementation Method 1
The wings are operable to be removably coupled to the plurality of grabbers by magnetically coupling the first and second extended portions to one or more magnets positioned inside the plurality of grabbers
Implementation Method 2
determining if the preparation cup is magnetically coupled to the plurality of grabbers by using a plurality of magnetic sensors to detect if magnets positioned inside the plurality of grabbers are proximate to the magnetic sensors
Data Source
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AI summary
A system comprising a robotic arm (12), a plurality of grabbers (16a, 16b), a sensor (14), and a preparation cup (18). The robotic arm has a first end and a recessed portion (20). The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings (100) having a body portion (104), a first extended portion (102a), and a second extended portion (102b). The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.