Robotic arm with improved motion

{
  "publication_number": "US10653103B2",
  "country": "US",
  "kind": "B2",
  "title": "Robotic arm with improved motion",
  "abstract": "An apparatus includes a carriage, a platform, an extension member, and a spray tool member. The carriage moves along the track in a lateral direction. The platform is coupled to and positioned above the carriage. The length of the platform is greater than and orthogonal to the width of the platform and transverse to the lateral direction when in an operational state. The platform pivots about a fulcrum positioned between the platform and the carriage such that the front end and the back end of the platform move vertically in opposite directions. The extension member is movably coupled to the platform and has a longitudinal axis parallel to the length of the platform. The extension member extends away from the carriage in a first mode and retracts towards the carriage in a second mode. The spray tool member is coupled to the front end of the extension member.",
  "claims": [
    "1. An apparatus comprising: a carriage coupled to a track, the carriage configured to move along the track in a lateral direction; a platform coupled to the carriage and positioned above the carriage, the platform having a length and a width orthogonal to the length, the length greater than the width and transverse to the lateral direction when in an operational state, the platform comprising a front end and a back end, the platform configured to pivot about a fulcrum positioned beneath the platform between the platform and the carriage such that when the platform pivots, the front end and the back end move vertically in opposite directions; an extension member movably coupled to the platform, the extension member having a front end and a back end, the extension member further having a longitudinal axis that extends from the front end of the extension member to the back end of the extension member and is parallel to the length of the platform, the extension member configured to extend away from the carriage in a first mode of operation and retract back towards the carriage in a second mode of operation; and a spray tool member coupled to the front end of the extension member.",
    "2. The apparatus of claim 1, further comprising a foundation coupled to the carriage and the platform such that the foundation is configured to rotate about an axis orthogonal to the lateral direction, the foundation positioned between the carriage and the platform.",
    "3. The apparatus of claim 2, wherein the foundation is configured to rotate fifteen degrees about the axis orthogonal to the lateral direction.",
    "4. The apparatus of claim 1, further comprising a swivel plate coupled to the platform such that the platform is further configured to rotate ninety degrees about an axis orthogonal to the lateral direction.",
    "5. The apparatus of claim 1, wherein: the carriage is configured to move 1.25 meters along the track; the platform is configured to pivot 35 degrees about the fulcrum; and the extension member is configured to move 1.2 meters along the length of the platform.",
    "6. The apparatus of claim 1, further comprising a guiderail coupled to the platform, the guiderail configured to guide the extension member as the extension member moves linearly along the length of the platform.",
    "7. The apparatus of claim 1, wherein a portion of the spray tool member is configured to extend beyond the front end of the platform in the first mode of operation.",
    "8. A method comprising: moving a carriage along a track in a lateral direction, the carriage coupled to the track; pivoting a platform about a fulcrum positioned beneath the platform between the platform and the carriage, the platform coupled to the carriage, the platform having a length and a width orthogonal to the length, the length greater than the width and transverse to the lateral direction, the platform comprising a front end and a back end, the front end and the back end move vertically in opposite directions when the platform pivots; and extending an extension member away from the carriage during a first mode of operation, the extension member coupled to the platform, the extension member having a front end and a back end, the extension member further having a longitudinal axis that extends from the front end of the extension member to the back end of the extension member and is parallel to the length of the platform; and retracting the extension member back towards the carriage in a second mode of operation.",
    "9. The method of claim 8, further comprising rotating a foundation about an axis orthogonal to the lateral direction, the foundation coupled to the carriage and the platform, the foundation positioned between the carriage and the platform.",
    "10. The method of claim 9, further comprising rotating the foundation fifteen degrees about the axis orthogonal to the lateral direction.",
    "11. The method of claim 8, further comprising rotating, by a swivel plate coupled to the platform, the platform ninety degrees about an axis orthogonal to the lateral direction.",
    "12. The method of claim 8, further comprising: moving the carriage 1.25 meters along the track; pivoting the platform 35 degrees about the fulcrum; and moving the extension member 1.2 meters along the length of the platform.",
    "13. The method of claim 8, further comprising guiding, by a guiderail coupled to the platform, the extension member as the extension member moves linearly along the length of the platform.",
    "14. The method of claim 8, wherein a spray tool member is coupled to the front end of the extension member and a portion of the spray tool member extends beyond the front end of the platform during the first mode of operation.",
    "15. A system comprising: a rotary; and a robot comprising: a carriage coupled to a track, the carriage configured to move along the track in a lateral direction tangential to the rotary; platform coupled to the carriage and positioned above the carriage, the platform having a length and a width orthogonal to the length, the length greater than the width and transverse to the lateral direction when in an operational state, the platform comprising a front end and a back end, the platform configured to pivot about a fulcrum positioned beneath the platform between the platform and the carriage such that when the platform pivots, the front end and the back end of the platform move vertically in opposite directions; an extension member movably coupled to the platform, the extension member having a front end and a back end, the extension member further having a longitudinal axis that extends from the front end of the extension member to the back end of the extension member and is parallel with the length of the platform, the extension member configured to extend away from the carriage and towards the rotary in a first mode of operation and retract back towards the carriage and away from the rotary in a second mode of operation; and a spray tool member coupled to the front end of the extension member.",
    "16. The system of claim 15, wherein the robot further comprises a foundation coupled to the carriage and the platform such that the foundation is configured to rotate about an axis orthogonal to the lateral direction, the foundation positioned between the carriage and the platform.",
    "17. The system of claim 16, wherein the foundation is configured to rotate fifteen degrees about the axis orthogonal to the lateral direction.",
    "18. The system of claim 15, wherein the robot further comprises a swivel plate coupled to the platform such that the platform is further configured to rotate ninety degrees about an axis orthogonal to the lateral direction.",
    "19. The system of claim 15, wherein: the carriage is configured to move 1.25 meters along the track; the platform is configured to pivot 35 degrees about the fulcrum; and the extension member is configured to move 1.2 meters along the length of the platform.",
    "20. The system of claim 15, wherein the robot further comprises a guiderail coupled to the platform, the guiderail configured to guide the extension member as the extension member moves linearly along the length of the platform.",
    "21. The system of claim 15, wherein a portion of the spray tool member is configured to extend beyond the front end of the platform in the first mode of operation."
  ],
  "description_excerpt": "This disclosure relates generally to a robotic arm with improved motion.\n\nA cow can be milked by attaching a milking device to the cow's udder that automates the milking process. This automated milking process is typically faster and more efficient than milking the cow by hand. The milking device may pass bacteria and/or viruses between cows, which could cause the spread of disease and/or infections.\n\nThis disclosure contemplates an unconventional robotic arm that automatically detects and cleans the teats of a cow's udder as the cow is rotated in a rotary. The arm includes a carriage, a pivoting platform, an extension member, and one or more of a spray tool and a brush. The carriage moves along a track to follow the cow in the rotary. The pivoting platform is coupled to the carriage and pivots upwards and downwards to adjust an angle at which the robotic arm approaches the cow. The extension member is coupled to the platform and extends towards the cow along the trajectory set by the pivoting platform. The spray tool or brush is coupled to the end of the extension member. The robotic arm moves the carriage along the tracks, pivots the platform, and extends the extension member to position the spray tool or the brush near the teats of the cow's udder. The spray tool then discharges a disinfectant solution to the teats of the cow's udder. Alternatively, the brush cleans the surface of the teats. In this manner, the cow's udder can be cleaned or disinfected to prevent the spread of disease and infections.",
  "cpc": [
    "A01J 7/04",
    "A01J 5/0175",
    "A01K 1/126",
    "B25J 15/0019",
    "B25J 15/04",
    "B25J 5/02",
    "B25J 9/1679",
    "B25J 9/1697",
    "Y10S 901/02",
    "Y10S 901/09"
  ],
  "ipc": [
    "A01J 5/017",
    "A01J 7/04",
    "A01K 1/12",
    "B25J 15/00",
    "B25J 15/04",
    "B25J 5/02",
    "B25J 9/16"
  ],
  "assignees": [
    "Technologies Holdings Corp"
  ],
  "inventors": [
    "Joel R. Henry",
    "Bruce A. Schroeder",
    "Adam R. Hachey",
    "Rizwan Ajaz",
    "Peter Willem van der Sluis"
  ],
  "filing_date": "2018-04-09",
  "publication_date": "2020-05-19",
  "grant_date": "2020-05-19",
  "priority_date": "2018-01-31",
  "application_number": "US-201815948400-A",
  "family_id": "63833056",
  "cited_by_count": 0,
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}