Gripper tools for object grasping and manipulation
AssigneeAppharvest Technology, Inc.
InventorsRyan R. Knopf, Joshua Aaron Lessing, Jason A. Chrisos
Life of this patent
Estimating the term…
Abstract
A harvesting tool configured to independently grasp and twist a target object. Related systems and methods are also disclosed.
Claims55
A harvesting tool, comprising:
- a rotatable cylinder;
- a barrel attached to a distal end of the rotatable cylinder;
- a plurality of finger elements radially attached to the barrel, the plurality of finger elements constructed and arranged to envelop a target object;
- a collar encompassing the plurality of finger elements, the collar movable along a length of the plurality of finger elements;
- and
- an extendable rod housed within the rotatable cylinder at a first end and connected to the collar at a second end, the extendable rod configured to facilitate motion of the collar along the length of the plurality of finger elements whereby, in operation, the extendable rod cooperates with the collar such that actuation of the extendable rod in an outward direction relative to the barrel forces the plurality of finger elements together to grasp the target object.
The tool of any of the preceding claims, wherein the barrel is fixed relative to the rotatable cylinder.
The tool of any of the preceding claims, wherein the harvesting tool is configured to twist the rotatable cylinder independently of actuation of the extendable rod.
The tool of any of the preceding claims, wherein the rotatable cylinder is a pneumatic cylinder supported on one or more bearings.
The tool of any of the preceding claims, wherein a gear associated with a motor is configured to spin the rotatable cylinder.
The tool of any of the preceding claims, wherein the barrel including the plurality of finger elements is interchangeable with respect to the rotatable cylinder.
The tool of any of the preceding claims, wherein the plurality of finger elements is configured to accommodate a requirement associated with the target object.
The tool of any of the preceding claims, wherein the plurality of finger elements is configured to accommodate a requirement associated with an agricultural environment.
The tool of any of the preceding claims, wherein the plurality of finger elements comprises two, three, four, five, six or more finger elements.
The tool of any of the preceding claims, wherein the plurality of finger elements is characterized by a beam stiffness value which correlates to a desired force to be applied to the target object.
The tool of any of the preceding claims, wherein the plurality of finger elements are jointed.
The tool of any of the preceding claims, wherein the plurality of finger elements are contoured to facilitate grasping of the target object.
The tool of any of the preceding claims, wherein the plurality of finger elements comprise a conformable feature to facilitate grasping of the target object.
The tool of any of the preceding claims, wherein the plurality of finger elements comprise an engagement surface to facilitate grasping of the target object.
The tool of any of the preceding claims, further comprising at least one sensor.
The tool of any of the preceding claims, wherein the collar is characterized by a ramp angle value which correlates to a desired force to be applied to the target object.
The tool of any of the preceding claims, wherein the collar is characterized by a deflection value which correlates to a desired force to be applied to the target object.
The tool of any of the preceding claims, wherein the rotatable cylinder is configured to adjust an angular orientation of the plurality of finger elements.
The tool of any of the preceding claims, wherein the harvesting tool is configured to exert a level of force on the target object that is below a threshold level.
The tool of any of the preceding claims, wherein the harvesting tool comprises a deformable member bridging the plurality of finger elements.
The tool of any of the preceding claims, wherein the harvesting tool is removably receivable by a robotic arm.
The tool of any of the preceding claims, wherein the target object pertains to agricultural produce.
The tool of any of the preceding claims, wherein the target object is located in an agricultural environment.
The tool of any of the preceding claims, wherein the target object is a tomato, pepper, or cucumber.
The tool of any of the preceding claims, wherein the harvesting tool is configured to remove the target object from a vine.
The tool of any of the preceding claims, wherein the harvesting tool is configured to grasp the target object while substantially avoiding obstructions.
A harvesting system, comprising:
- a robotic arm;
- and
- the harvesting tool of any of the preceding claims operatively attached to the robotic arm.
The system of any of the preceding claims, further comprising a second robotic arm and a second harvesting tool operatively attached to the second robotic arm.
The system of any of the preceding claims, further comprising a second harvesting tool operatively attached to the first robotic arm.
The system of any of the preceding claims, further comprising a controller programmable to operate the robotic arm and/or the harvesting tool.
The system of any of the preceding claims, further comprising a processor programmable to identify and/or locate a target object, e.g. position the target object.
The system of any of the preceding claims, wherein the processor is programmable to estimate ripeness of a target object.
The system of any of the preceding claims, wherein the processor is programmable to visualize an environment or a target object.
The system of any of the preceding claims, wherein the controller is programmable to position the plurality of finger elements in proximity of a target object to facilitate harvesting thereof.
The system of any of the preceding claims, wherein the controller is programmable to actuate the extendable rod to achieve a predetermined degree of closing of the plurality of finger elements.
The system of any of the preceding claims, wherein the predetermined degree of closing correlates to at least one parameter of the target object.
The system of any of the preceding claims, wherein the predetermined degree of closing correlates to a size or a geometry of the target object.
The system of any of the preceding claims, wherein the controller is programmable to actuate the extendable rod at a variable speed.
The system of any of the preceding claims, wherein the controller is programmable to actuate the rotatable cylinder at a variable speed.
The system of any of the preceding claims, wherein the controller is configured to release the target object.
The system of any of the preceding claims, wherein the controller is configured to place the target object at a desired location.
The system of any of the preceding claims, wherein the controller is configured to deliver the target object to a downstream process.
The system of any of the preceding claims, wherein the controller is configured to manipulate the harvesting tool to sequentially envelop, grasp, detach, and remove the target object from an environment.
The system of any of the preceding claims, wherein the controller is configured to be calibrated.
A method of harvesting a target object, comprising:
- enveloping the target object with a plurality of finger elements;
- grasping the target object with the plurality of finger elements;
- dislodging the grasped target object via a twisting operation;
- and
- removing the target object from a surrounding environment.
The method of any of the preceding claims, wherein the plurality of finger elements are associated with the harvesting tool of any of the preceding claims.
The method of any of the preceding claims, further comprising identifying and/or locating the target object.
The method of any of the preceding claims, further comprising assessing ripeness of the target object.
The method of any of the preceding claims, further comprising selecting at least one characteristic of the plurality of finger elements based on at least one parameter associated with the target object and/or related environment.
The method of any of the preceding claims, wherein environmental obstructions are substantially avoided.
The method of any of the preceding claims, wherein grasping of the target object is performed independently of dislodging the grasped target object.
The method of any of the preceding claims, further comprising adjusting an angular orientation of the plurality of fingers elements.
The method of any of the preceding claims, further comprising releasing and/or delivering the target object to a downstream process.
The method of any of the preceding claims, wherein the target objected is enveloped, grasped, dislodged, and removed in series.
The method of any of the preceding claims, wherein a force level that is less than a threshold level is exerted on the target object.
Dependencies are inferred from the claim text.