Patent ID: 11882812
Assignee: DELAVAL HOLDING AB
Field: Handling (Mechanical engineering)
Classification: CPC A  B  G | IPC A  B  G

Claim 19:
20. The method according to claim 19, wherein the at least four tools (141, 142, 143, 144) are placed in a tool rack (150), the tool-pickup system comprises a grip device (115) arranged on a robotic arm (110), and after that the respective positions (PT1, PT2, PT3, PT4) have been stored in the memory unit (160), the method further comprises:
retrieving the stored respective positions (PT1, PT2, PT3, PT4) from the memory unit (160), and
controlling the robotic arm (110) and the grip device (115) to pick up at least one of the at least four tools (141, 142, 143, 144) from the tool rack (150).