CA3033124C - 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
- CA3033124C CA3033124C CA3033124A CA3033124A CA3033124C CA 3033124 C CA3033124 C CA 3033124C CA 3033124 A CA3033124 A CA 3033124A CA 3033124 A CA3033124 A CA 3033124A CA 3033124 C CA3033124 C CA 3033124C
- Authority
- CA
- Canada
- Prior art keywords
- gripper
- opposed
- rotation axis
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000008569 process Effects 0.000 title claims abstract description 25
- 239000007787 solid Substances 0.000 claims abstract description 25
- 238000013519 translation Methods 0.000 claims abstract description 22
- 241000722921 Tulipa gesneriana Species 0.000 claims description 22
- 238000012545 processing Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000003860 storage Methods 0.000 description 18
- 230000005484 gravity Effects 0.000 description 10
- 241000196324 Embryophyta Species 0.000 description 7
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 239000008187 granular material Substances 0.000 description 4
- 230000001052 transient effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 229920001169 thermoplastic Polymers 0.000 description 2
- 239000004416 thermosoftening plastic Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 244000291564 Allium cepa Species 0.000 description 1
- 235000002732 Allium cepa var. cepa Nutrition 0.000 description 1
- 244000144730 Amygdalus persica Species 0.000 description 1
- 240000004160 Capsicum annuum Species 0.000 description 1
- 235000008534 Capsicum annuum var annuum Nutrition 0.000 description 1
- 244000050907 Hedychium coronarium Species 0.000 description 1
- 241001632576 Hyacinthus Species 0.000 description 1
- 241000234435 Lilium Species 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 244000230712 Narcissus tazetta Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009969 flowable effect Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003898 horticulture Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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
Abstract
L'invention concerne un dispositif de préhension comprenant un support de montage, des têtes de préhension rotatives opposées qui sont montées sur le support, un actionneur de translation conçu pour translater au moins l'une des têtes de préhension le long d'un axe de rotation de tête de préhension afin de saisir un objet horticole entre les têtes de préhension, un arbre de commande conçu pour faire tourner l'objet, au moins un actionneur de rotation conçu pour faire tourner au moins l'une des têtes de préhension afin de faire tourner l'objet entre les têtes de préhension, et ledit actionneur de rotation conçu pour faire tourner l'arbre de commande. Les têtes de préhension sont rotatives autour d'un axe de rotation de tête de préhension commun. L'arbre de commande est conçu pour faire tourner l'objet autour d'un second axe de rotation orthogonal à l'axe de rotation de tête de préhension, le second axe de rotation passant entre les têtes de préhension. Le dispositif de préhension sert à des systèmes et des procédés destinés à manipuler des objets horticoles biologiques tridimensionnels solides.
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 CA3033124A1 (fr) | 2018-11-08 |
CA3033124C true 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) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA3039976A1 (fr) * | 2018-04-10 | 2019-10-10 | Ig Specials B.V. | Appareil et methode de positionnement de bulbes |
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 |
WO2023027949A1 (fr) * | 2021-08-27 | 2023-03-02 | Nimble Robotics, Inc. | Effecteur terminal pour prélèvement et emballage robotiques |
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 |
CA3011733A1 (fr) * | 2016-01-20 | 2017-07-27 | Soft Robotics, Inc. | Appareils de prehension robotiques souples pour environnements de prehension encombres et systemes de stockage et recuperation automatises, a mouvements d'acceleration elevee et manipulation d'aliments |
-
2018
- 2018-05-01 WO PCT/CA2018/050515 patent/WO2018201244A1/fr active Application Filing
- 2018-05-01 CA CA3033124A patent/CA3033124C/fr active Active
Also Published As
Publication number | Publication date |
---|---|
CA3033124A1 (fr) | 2018-11-08 |
WO2018201244A1 (fr) | 2018-11-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA3033124C (fr) | Dispositif de prehension, systeme et procede de prehension, d'orientation et de manipulation d'un objet biologique horticole | |
US11766006B2 (en) | Apparatus and method for placing bulbs | |
AU2017226729B2 (en) | Packaging device and sorting system for directional packaging of products and method therefor | |
Reed et al. | AE—Automation and emerging technologies: Automatic mushroom harvester development | |
EP3445661B1 (fr) | Robot d'emballage | |
US20160039550A1 (en) | Apparatus and method for grouping and positioning items | |
US20220297863A1 (en) | Packing Robot | |
NL2014155B1 (en) | Apparatus and method for planting plant cuttings. | |
GB2580972A (en) | A mushroom packaging system | |
NL2022385B1 (en) | Apparatus and Method for Placing Bulbs | |
US11827460B1 (en) | Item de-binning systems and methods | |
KR101574569B1 (ko) | 가공품이 포장된 낱개 포장용기를 이송하기 위한 이송로봇을 구비한 자동화 설비 | |
JP2023525451A (ja) | パッケージングに関する改善 | |
US20240002084A1 (en) | Improvements in and relating to packaging | |
Gao et al. | Design and Experiment of Dual-Manipulator Cooperation and Implementing for Robotic Harvesting Bottled Flammulina Velutipes | |
WO2024077381A1 (fr) | Appareil de transfert de boîte et dispositif de préhension de tige pour systèmes de récolte automatisés | |
JPH08197471A (ja) | 果菜の搬送方法とそれに使用される果菜搬送装置 | |
NZ747808B2 (en) | Packing robot | |
WO2009082220A1 (fr) | Dispositif et procédé permettant la plantation discontinue de plantes en cours d'enracinement dans une substance |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request |
Effective date: 20190206 |