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 PDF

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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
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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
Application number
CA3033124A
Other languages
English (en)
Other versions
CA3033124A1 (fr
Inventor
Christopher Allan Douglas MOHR
Gideon AVIGAD
Jyoti Prakash NAIDU
Ranjan Kumar MISHRA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vineland Research and Innovation Centre
Original Assignee
Vineland Research and Innovation Centre
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Vineland Research and Innovation Centre filed Critical Vineland Research and Innovation Centre
Publication of CA3033124A1 publication Critical patent/CA3033124A1/fr
Application granted granted Critical
Publication of CA3033124C publication Critical patent/CA3033124C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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—Program-controlled manipulators
    • B25J9/0093—Program-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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Botany (AREA)
  • Manipulator (AREA)

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.
CA3033124A 2017-05-03 2018-05-01 Dispositif de prehension, systeme et procede de prehension, d'orientation et de manipulation d'un objet biologique horticole Active CA3033124C (fr)

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 (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11766006B2 (en) 2018-04-10 2023-09-26 Ig Specials B.V. Apparatus and method for placing bulbs
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
JP2022072563A (ja) * 2020-10-30 2022-05-17 日立Astemo株式会社 把持装置および外観検査方法
NL2028840B1 (en) 2021-07-26 2023-01-31 Automotion Venhuizen Holding B V Device and method for reorienting horticultural and agricultural products
NL2029063B1 (nl) * 2021-08-26 2023-03-17 Mark Jacob Van Der Peet Inrichting voor het oriënteren van bolgewassen en werkwijze daarvoor
WO2023027949A1 (fr) * 2021-08-27 2023-03-02 Nimble Robotics, Inc. Effecteur terminal pour prélèvement et emballage robotiques
US12257699B2 (en) 2021-08-27 2025-03-25 Nimble Robotics, Inc. End effector for robotic picking and packing
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
CN114952920B (zh) * 2022-06-10 2024-07-16 深圳市同兴高科工业自动化设备有限公司 一种大兼容可码任意花型的机器人手爪
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
WO2025099258A1 (fr) * 2023-11-09 2025-05-15 Marel A/S Dispositif de préhension et procédé d'orientation d'un objet par le dispositif de préhension

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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
EP3405312B1 (fr) * 2016-01-20 2021-08-11 Soft Robotics, Inc. Appareils de préhension robotiques souples pour environnements de préhension encombrés et systèmes de stockage et récupération automatisés, à mouvements d'accélération élevée et manipulation d'aliments

Also Published As

Publication number Publication date
CA3033124A1 (fr) 2018-11-08
WO2018201244A1 (fr) 2018-11-08

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