Robotic End Effector Cleaning Station for Milking
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Solution Overview
Problem
Robotic manipulation devices used in milking processes face contamination by manure, leading to clogging of tools and reduced functionality, particularly in the end effector components like nozzles and gripping members.
Innovation Solution
An end effector cleaning station is integrated within the robotic manipulation device's working area, featuring a spray device with a liquid jet and a scraper, controlled by a unit that moves the end effector vertically to facilitate cleaning, minimizing contamination of other device parts and allowing efficient removal of manure and cleaning liquid.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the end effector is moved through the space between the rear legs of the cow to reach the teats, then the robotic manipulation device can perform teat treatment tasks, but the end effector and tool become contaminated by manure and may become clogged
Solution Approach 1:
The cleaning station is positioned within the working area to perform preliminary cleaning of the end effector before it is inserted into the cow's rear leg space, preventing manure contamination in advance
Solution Approach 2:
The robotic manipulation device cleans its own end effector using an integrated cleaning station with spray nozzles and a scraper, eliminating the need for external cleaning equipment
2Reliability
If a cleaning station is added to the robotic manipulation device, then the end effector can be cleaned effectively, but the device complexity increases
Solution Approach 1:
The cleaning station is merged with the robotic manipulation device by integrating spray nozzles, a scraper, and control systems into the existing device structure, allowing cleaning functionality to be added without requiring separate standalone equipment
Solution Approach 2:
The cleaning station is designed to clean multiple components including the end effector and tool, making it a multi-functional unit that handles various cleaning needs within the robotic device
3Object-generated harmful factors
If the end effector is oriented vertically during cleaning, then cleaning liquid and manure flow downward and do not contaminate other parts, but the robotic manipulation device must perform additional movement operations
Solution Approach 1:
The end effector is rotated from a horizontal to a vertical orientation during cleaning, utilizing the vertical dimension to allow gravity to drain cleaning liquid and manure downward, preventing contamination spread to other device parts
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 effectively cleans the end effector by directing a liquid jet downward along its vertical extension, ensuring that manure and cleaning liquid flow off, reducing the risk of contamination and maintaining tool functionality, while also using a scraper for initial rough cleaning when necessary.
Implementation Method 1
With such an orientation of the end effector during cleaning, the cleaning liquid and manure will flow downwardly along the end effector during the cleaning process and fall off at the free end portion
Data Source
AI summary
An arrangement for cleaning an end effector (21) carried by a robotic manipulation device (9a, 9b, 9c) includes an end effector cleaning station (18) mounted within a working area of the robotic manipulation device (9a, 9b, 9c), with a spray device (26) configured to provide at least one liquid jet. A control unit (11) is, when it is time to clean the end effector (21), configured to activate the robotic manipulation device (9a, 9b, 9c) such that it moves the end effector (21) downwards from a position above the end effector cleaning station (18) to a position where it is hit by the liquid jet, wherein during this movement the end effector (21) is substantially vertical.