US 5,054,831 AGranted

Piercing element gripping apparatus

AssigneeRutgers University

InventorsKuan-Chong Ting, Gene A. Giacomelli, David R. Mears, Witold P. Kabala, Shou-Jin Shen, Steven E. Williamson

Life of this patent

Estimating the term…

Loading patent…

Abstract

A gripping apparatus has at least two elongated piercing elements which slide in elongated collars or sleeves between open retracted positions and closed gripping positions. The piercing elements define an angle and they move toward the vertex of the defined angle when they move from the open position to the closed position. The orientation of the piercing elements and their path of travel are such that objects are reliably and securely held when the piercing elements are in their closed positions and positively released when the piercing elements are in their open positions. A sensor may be provided with the gripping apparatus to sense the presence or condition of the gripped object. The gripping apparatus is especially useful in grasping the root masses of plants for transplanting purposes.

Claims47

Dependent claims

An apparatus for gripping an object, comprising:

a first elongated gripping element which is movable along a first line between a first retracted position and a second gripping position and which is capable of piercing an object to be gripped;
a second elongated gripping element which is spaced a predetermined distance from the first gripping element, which is movable along a second line which is not parallel to the first line between a first retracted position and a second gripping position, and which is capable of piercing an object to be gripped;
the first and second gripping elements being arranged such that the distance between the first and second gripping elements decreases when either one or both of the gripping elements is moved from their respective first retracted positions to their respective gripping positions;
means for selectively moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
a scissors mechanism between the moving means and the first an second gripping elements which renders the moving means capable of simultaneously moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
and
a sensor which is attached to said apparatus such that said sensor is positioned within an area defined by said gripping elements and said moving means so as to sense the presence of a plant being grasped.

4 more elements

A transplanting apparatus comprising:

(a) a gripping means, comprising
(1) a first elongated gripping element movable along a first line between a first retracted position and a second gripping position in which the first gripping element is capable of piercing a root mass of a plant to be transplanted;
(2) a second elongated gripping element spaced a predetermined distance from the first gripping element and movable along a second line which is not parallel to the first line between a first retracted position and a second gripping position in which the second gripping element is capable of piercing the root mass of a plant to be transplanted;
the first and second gripping elements being arranged such that the distance between the first and second gripping elements decreases when either one or both of the gripping elements is moved from their respective first retracted positions to their respective second gripping positions;
(b) a means for supporting the gripping means in a predetermined orientation with respect to a first location having plants to be transplanted and with respect to a second location to which plants are to be transplanted;
(c) a means for moving the gripping means between the fist and second locations;
(d) a means for selectively moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
(e) a scissors mechanism between the moving means and the first and second gripping elements which renders the moving means capable of simultaneously moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
and
(f) a sensor which is attached to said transplanting apparatus such that said sensor is positioned within an area defined by said gripping elements and said means for moving said gripping elements so as to sense the presence of a plant being gripped.

7 more elements

A gripping apparatus, comprising:

a first elongated gripping element movable along a first line between a first retracted position and a second gripping position in which the first gripping element is capable of piercing an object to be gripped;
a second elongated gripping element movable along a second line between a first retracted position and a second gripping position in which the second gripping element is capable of piercing an object to be gripped.
the first and second liens defining an angle in at least one plane;
and the first and second gripping elements being arranged such that they approach the vertex of the angle as they are moved with from their respective first retracted positions to their respective second gripping positions;
a means for selectively moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
a scissors mechanism between the moving means and the first and second gripping elements which renders the moving means capable of simultaneously moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
and a sensor which is attached to said apparatus such that said sensor is positioned within an area defined by said gripping elements and said moving means so as to sense the presence of a plant being grasped.

4 more elements

A gripping apparatus, comprising:

a first elongated gripping element movable along a first line between a first open position and a second gripping position in which the first gripping element is capable of piercing an object to be gripped;
a second elongated gripping element movable along a second line between a first open position and a second gripping position in which the second gripping element is capable of piercing an object to be gripped;
projections of the first and second liens defining an angle in at least one plane;
projections of the first and second elements in the plane moving toward the vertex of the angle when the first and second elements are moved from their respective open positions to their respective gripping positions;
a means for selectively moving the first and second gripping elements between their respective first retracted positions and their respective second gripping positions;
a scissors mechanism between the moving means and the first and second gripping elements which renders the moving means capable of simultaneously moving the first and second gripping elements between their respective first retracted positions and their respective sound gripping positions;
and a sensor which is attached to said apparatus such that said sensor is positioned within an area defined by said gripping elements and said moving means so as to sense the presence of a plant being grasped.

4 more elements

Dependencies are inferred from the claim text.