Detecting arrangement and method for a magnetic gripper device

A - Human Necessities – 01 – J

Patent

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Details

A01J 5/017 (2006.01) B25J 15/06 (2006.01) B65G 47/92 (2006.01) B66C 1/04 (2006.01) G01R 33/00 (2006.01)

Patent

CA 2619740

A detecting arrangement for a magnetic gripper device (3) mountable on a robot arm (10) of a milking robot (2) provided for automatically attaching teat cups (5) to the teats of a milking animal, wherein the magnetic gripper device is adapted for gripping teat cups made of or comprising a magnetic material and comprises a primary coil (31) feedable with a current and a core (33) of a magnetic material arranged at least partly within the primary coil. The detecting arrangement comprises means (41, 43; 43; 53) for repetitively sensing a magnetic field, an inductance, or a change thereof, as caused by a teat cup (5) when being present at, or gripped by, the magnetic gripper device (3); and means (44; 54) for repetitively detecting whether the magnetic gripper device is holding a teat cup or not based on said repetitive sensing of the magnetic field, the inductance, or the change thereof.

Cette invention concerne un dispositif de détection d~un aimant (3) montable sur un bras de robot (10) d~un robot de traite (2) destiné à fixer automatiquement des gobelets trayeurs (5) aux pis d~un animal lactant, cet aimant étant conçu pour saisir des gobelets trayeurs formés de ou contenant un matériau magnétique et comprenant une bobine primaire (31) alimentée par un courant et un noyau (33) en matériau magnétique disposé au moins partiellement dans la bobine primaire. Le dispositif de détection comprend des moyens (41, 43 ; 43 ; 53) qui détectent de manière répétitive un champ magnétique, une inductance ou une variation de ceux-ci, tel que provoqué par un gobelet trayeur (5) lors de son contact avec, ou sa préhension par, l~aimant (3) ; et des moyens (44 ; 54) qui détectent de manière répétitive si l~aimant maintient un gobelet trayeur selon ladite détection répétitive du champ magnétique, de l~inductance ou de leur variation.

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