CA3033124A1 - Dispositif de prehension, systeme et procede de prehension, d'orientation et de manipulation d'un objet biologique horticole - Google Patents
Dispositif de prehension, systeme et procede de prehension, d'orientation et de manipulation d'un objet biologique horticole Download PDFInfo
- Publication number
- CA3033124A1 CA3033124A1 CA3033124A CA3033124A CA3033124A1 CA 3033124 A1 CA3033124 A1 CA 3033124A1 CA 3033124 A CA3033124 A CA 3033124A CA 3033124 A CA3033124 A CA 3033124A CA 3033124 A1 CA3033124 A1 CA 3033124A1
- Authority
- CA
- Canada
- Prior art keywords
- gripper
- rotation axis
- opposed
- heads
- oriented
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G22/00—Cultivation of specific crops or plants not otherwise provided for
- A01G22/35—Bulbs; Alliums, e.g. onions or leeks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/085—Devices for setting seeds in pots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
- B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
- B65G2201/0211—Fruits and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762501000P | 2017-05-03 | 2017-05-03 | |
US62/501,000 | 2017-05-03 | ||
PCT/CA2018/050515 WO2018201244A1 (fr) | 2017-05-03 | 2018-05-01 | Dispositif de préhension, système et procédé de préhension, d'orientation et de manipulation d'un objet biologique horticole |
Publications (2)
Publication Number | Publication Date |
---|---|
CA3033124A1 true CA3033124A1 (fr) | 2018-11-08 |
CA3033124C CA3033124C (fr) | 2019-11-26 |
Family
ID=64015732
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA3033124A Active CA3033124C (fr) | 2017-05-03 | 2018-05-01 | Dispositif de prehension, systeme et procede de prehension, d'orientation et de manipulation d'un objet biologique horticole |
Country Status (2)
Country | Link |
---|---|
CA (1) | CA3033124C (fr) |
WO (1) | WO2018201244A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023027949A1 (fr) * | 2021-08-27 | 2023-03-02 | Nimble Robotics, Inc. | Effecteur terminal pour prélèvement et emballage robotiques |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3552480B1 (fr) * | 2018-04-10 | 2021-09-15 | IG Specials B.V. | Appareil et procédé de mise en place de bulbes des plantes |
WO2020106744A1 (fr) * | 2018-11-19 | 2020-05-28 | Diamond Onions | Appareil et procédé de positionnement d'un objet |
FR3088841B1 (fr) * | 2018-11-23 | 2021-01-15 | Commissariat Energie Atomique | Préhenseur collaboratif |
CN109397272A (zh) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学(深圳) | 一种六自由度仿生机械手臂 |
JP7107249B2 (ja) * | 2019-02-26 | 2022-07-27 | 株式会社ダイフク | 物品移載装置 |
CN110384004B (zh) * | 2019-08-02 | 2022-05-17 | 北京中农绿源智慧农业有限公司 | 一种自动化种植来料系统 |
US11628561B2 (en) * | 2019-08-19 | 2023-04-18 | The Hong Kong University Of Science And Technology | System and methods for robotic precision placement and insertion |
NL2024741B1 (nl) * | 2020-01-23 | 2021-09-09 | Havatec B V | Werkwijze en inrichting voor automatische plaatsing van bloembollen |
CN111482982B (zh) * | 2020-05-07 | 2021-12-21 | 宁波奥克斯电气股份有限公司 | 一种夹持机构及夹持机构的控制方法 |
NL2025857B1 (nl) * | 2020-06-18 | 2022-02-17 | B&K Mechatronica | Inrichting en werkwijze voor het opplanten van bloembollen |
NL2028840B1 (en) | 2021-07-26 | 2023-01-31 | Automotion Venhuizen Holding B V | Device and method for reorienting horticultural and agricultural products |
NL2034036B1 (nl) * | 2021-08-26 | 2023-08-21 | Mark Jacob Van Der Peet | Inrichting voor het aandrukken van bolgewassen en werkwijze daarvoor |
CN114559456B (zh) * | 2022-04-29 | 2022-07-19 | 太原福莱瑞达物流设备科技有限公司 | 一种用于立体仓库的搬运机械手 |
JP7428760B1 (ja) | 2022-08-24 | 2024-02-06 | 株式会社アマダ | グリッパ及びワークの保持方法 |
TWI830569B (zh) * | 2023-01-05 | 2024-01-21 | 和碩聯合科技股份有限公司 | 夾持定位裝置及其方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202005000351U1 (de) * | 2005-01-11 | 2005-06-16 | Fortrend Engineering Corporation, Sunnyvale | Einzelnes Reticle-Transfersystem |
GB0603002D0 (en) * | 2006-02-15 | 2006-03-29 | Aew Delford Group Ltd | Improved pick and place handling device |
NZ552626A (en) * | 2007-01-16 | 2009-04-30 | Sanford Ltd | Shellfish positioning and opening apparatus |
EP2331300B1 (fr) * | 2009-07-27 | 2013-08-21 | J&L Group International, LLC | Système et procédés de formation d'empilements |
US9272421B2 (en) * | 2013-01-07 | 2016-03-01 | Milos Misha Subotincic | Visually controlled end effector |
CN108778640B (zh) * | 2016-01-20 | 2019-10-22 | 软机器人公司 | 用于杂乱抓持环境、高加速度移动、食品操作以及自动化仓储系统的软机器人抓持器 |
-
2018
- 2018-05-01 CA CA3033124A patent/CA3033124C/fr active Active
- 2018-05-01 WO PCT/CA2018/050515 patent/WO2018201244A1/fr active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023027949A1 (fr) * | 2021-08-27 | 2023-03-02 | Nimble Robotics, Inc. | Effecteur terminal pour prélèvement et emballage robotiques |
Also Published As
Publication number | Publication date |
---|---|
WO2018201244A1 (fr) | 2018-11-08 |
CA3033124C (fr) | 2019-11-26 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request |
Effective date: 20190206 |