System for connecting a teat cup to a teat
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United States of America Patent
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May 14, 2013
Grant Date -
Oct 6, 2011
app pub date -
Jun 15, 2011
filing date -
Dec 18, 2008
priority date (Note) -
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status (Latency Note)
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Abstract
The invention provides a system for connecting a teat cup to a teat, including a teat cup with an opening for receiving a teat, a robot arm for moving the teat cup, a teat cup positioning system with a 3D-sensor and a sensor device for measuring a control quantity, and for connecting the teat cup under the control of the 3D-camera and the control quantity. The sensor device includes at least two electrodes around the opening and a capacitive sensor configured to measure a quantity connected with the capacitance between the electrodes, in particular the capacitance between two electrodes. This system provides a reliable positioning with respect to a teat by, for example, maximization of the measured capacitance. The positioning system supports an optical 3D-sensor for the first, global positioning.
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