# US 10,306,864 B2 · Robotic arm and preparation cup system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,306,864 B2 - Document ID: US10306864B2 - Status: Granted - Kind: B2 - Application number: 15/249,646 - Filed: 2016-08-29 - Published: 2018-03-01 - Granted: 2019-06-04 - Earliest claimed: 2016-08-29 - Assignees: Technologies Holdings Corp. - Applicants: Technologies Holdings Corp. - Inventors: Robert J. Godfrey; Bradley A. Schaller - Web page: https://patentgrep.com/patent/US10306864B2 ## CPC - A01J 5/0175: {Attaching of clusters} - A01J 5/08: Teat-cups with two chambers - A01J 7/00: Accessories for milking machines or devices - A01J 7/04: for treatment of udders or teats, e.g. for cleaning - B25J 19/022: {using lasers} - G05B 2219/45113: Animal handling, milking robot - A01J: MANUFACTURE OF DAIRY PRODUCTS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions. ## Claims ### Claim 1 A system comprising: a robotic arm having a first end and a recessed portion that is indented within the robotic arm; a plurality of grabbers coupled to the robotic arm at the first end; a sensor coupled to the robotic arm and positioned inside the recessed portion of the robotic arm, the sensor being positioned on the robotic arm at a first angle greater than zero degrees relative to the robotic arm; and a preparation cup coupled to wings, the wings having a body portion, a first extended portion, and a second extended portion; wherein the body portion of the wings is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction, wherein the wings are operable to be removably coupled to the plurality of grabbers by magnetically coupling the first and second extended portions to one or more magnets positioned inside the plurality of grabbers. ### Claim 2 (depends on 1) The system of claim 1, wherein the preparation cup has a lip to keep the preparation cup from slipping when the preparation cup is coupled to the grabbers. ### Claim 3 (depends on 1) The system of claim 1, wherein the sensor is a laser that faces toward the preparation cup. ### Claim 4 (depends on 1) The system of claim 1, wherein the grabbers further comprise magnet holders that are operable to retract into the grabbers. ### Claim 5 (depends on 1) The system of claim 1, wherein the grabbers further comprise a plurality of magnetic sensors, each magnetic sensor being operable to detect if a wing is coupled to a grabber. ### Claim 6 (depends on 1) The system of claim 1, wherein the wings further comprise one or more tapered edges to facilitate removing the wings from an opening. ### Claim 7 (depends on 1) The system of claim 1, wherein each extended portion of the wings has a convex side and a concave side, and wherein the wings are operable to be removably coupled to the plurality of grabbers by magnetically coupling the convex side of each wing to one or more magnets positioned inside the plurality of grabbers. ### Claim 8 A method comprising: magnetically coupling a preparation cup coupled to a plurality of wings to a plurality of grabbers of a robotic arm; scanning an environment above the preparation cup using a sensor coupled to a robotic arm, wherein the sensor is positioned inside a recessed portion of the robotic arm at a first angle greater than zero degrees relative to the robotic arm; and determining if the preparation cup is magnetically coupled to the plurality of grabbers by using a plurality of magnetic sensors to detect if magnets positioned inside the plurality of grabbers are proximate to the magnetism sensors. ### Claim 9 (depends on 8) The method of claim 8, wherein magnetically coupling the preparation cup to the wings further comprises coupling a body portion of the wings to a portion of the preparation cup so that a first extended portion coupled to the body of the wings extends past the body portion in a first direction and a second extended portion coupled to the body of the wings extends past the body portion in a second direction. ### Claim 10 (depends on 8) The method of claim 8, wherein each extended portion of the wings has a concave side and a convex side and wherein magnetically coupling the preparation cup to the wings further comprises magnetically coupling the convex sides of each extended portion to one or more magnets positioned inside the plurality of grabbers. ### Claim 11 (depends on 8) The method of claim 8, wherein the preparation cup has a lip to keep the preparation cup from slipping when the preparation cup is coupled to the grabbers. ### Claim 12 (depends on 8) The method of claim 8, wherein the sensor is a laser that faces toward the preparation cup. ### Claim 13 (depends on 8) The method of claim 8, wherein the wings further comprise one or more tapered edges to facilitate removing the wings from an opening. ### Claim 14 (depends on 8) The method of claim 8, wherein the wings have a thickness so that the wings do not fall into a grate opening. ### Claim 15 An apparatus comprising: a preparation cup having a body portion; a set of wings having a body, a first extension, and a second extension, the first extension coupled to a first portion of the wing body and extending in a first direction and the second extension coupled to a second portion of the wing body and extending in a second direction and wherein each of the first and second extensions has a convex side and a concave side; and wherein the wings are operable to be removably coupled to a plurality of grabbers by magnetically coupling the convex sides of each wing to one or more magnets positioned inside the plurality of grabbers. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the wings further comprise one or more tapered edges to facilitate removing the wings from an opening. ### Claim 17 (depends on 15) The apparatus of claim 15, wherein the grabbers further comprise a plurality of magnetic sensors operable to detect if the wings are coupled to the grabbers. ### Claim 18 (depends on 15) The apparatus of claim 15, wherein the grabbers further comprise magnet holders that are operable to retract into the grabbers. ### Claim 19 (depends on 15) The apparatus of claim 15, wherein the preparation cup has a lip to keep the preparation cup from slipping when the preparation cup is coupled to the grabbers. ### Claim 20 (depends on 19) The apparatus of claim 19, wherein the lip further comprises a hook, the hook being operable to engage with the plurality of grabbers.