The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 13, 2013
Filed:
Jun. 01, 2011
Jan-erik Andersson, Tumba, SE;
Thomas Axelsson, Farsta, SE;
Jan-Erik Andersson, Tumba, SE;
Thomas Axelsson, Farsta, SE;
DeLaval Holding AB, Tumba, SE;
Abstract
A milking arrangement includes a milking robot () having a first link (L), a second link (L), a third link (L), an end effector (E), sensor () and a control unit (). The first link is rotatable to a first angle within a first angle range (α) via a first joint (). The second link is rotatable to a second angle within a second angle range (α) via a second joint (). The third link (L) is rotatable to a third angle within a third angle range (α) via third joint (). The links (L, L, L) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles.