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US 8,573,656 B1Granted
Knot-tying device and method
AssigneeS.S. Steiner, Inc.
InventorsQin Zhang, Long He, Henry J. Charvet
Life of this patent
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Abstract
A multi-actuator robotic device for performing knot-tying is provided herein. The device performs an automatic knot-tying to mimic human hand making a clove hitch knot using a sequence of coordinated string delivery and capturing actions and is particularly useful in the field of hop twining. In one example, the device uses four pneumatic actuators to perform nine coordinated knot-tying actions.
Claims16
A knot-tying device for tying a secure knot around a structure with a string;
- a clip attached to the end of a clip support arm, the clip support arm being rotatably attached to a first actuator, wherein the clip support arm is curved to cross over the structure when rotated, and wherein the clip attaches to the end of the string;
- a motion arm attached to a second actuator for rotating the clip support arm relative to the structure;
- a rod attached to a third actuator for limiting motion of the string during rotation of the clip support arm by the motion arm;
- a hook attached to a fourth actuator for retrieving the end of the string from the clip;
- and
- a controller for controlling motion of the actuators.
3 more elements
Dependencies are inferred from the claim text.