Automated machine for detection and grasping of objects

• US 4,975,016 A
• Filed: 11/05/1987
• Issued: 12/04/1990
• Est. Priority Date: 11/05/1986
• Status: Expired due to Term

• Current Assignee: Centre National Du Machinisme Agricole Du Genie Rural Des EAUX et Des Forets Groupement de Montpellier Domaine de Lavalette, Etablissements Pellenc & Motte
• Original Assignee: Etablissements Pellenc et Motte Centre National Du Machinisme Agricole Du Genie Rural Des EAUX et Des Forets
• Inventors: Rombaut, Marc, Montoya, Jose L., D'Esnon, Antoine G., Pellenc, Roger
• Primary Examiner(s): Werner, Frank E.
• Application Number:
  US07/116,953
• Time in Patent Office: 1,125 Days
• Field of Search: 56/12.9, 56/13.1, 56/13.2, 56/16.4, 901/40, 901/47, 901/46, 901/15, 414/502, 414/503, 414/504, 414/505, 414/569, 414/555, 414/729, 414/730, 414/627, 414/737, 414/744 B, 414/752, 414/22, 414/917, 414/501, 294/64.1
• US Class Current: 414/501
• CPC Class Codes: A01D 46/24 Devices for picking apples or like fruit A01D46/28 and A01D46/005 takes precedence
• CPC Class Codes: A01D 46/30 Robotic devices for individually picking crops
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/1065 with parallelograms
• CPC Class Codes: Y10S 414/13 Handlers utilizing parallel links

Abstract

An automated machine comprising a handler mounted with a rotating aptitude about two perpendicular and intersecting rotational axes, having a free end fitted with a mechanical hand comprising an intake head. A vision system is permanently installed at the point of intersection of the rotational axes in a base unit comprised of a cradle which supports a rotatable turret which has an extension arm attached to another end of the handler. The handler is comprised of two branches comprising a folding arm that are joined together at one end with devices provided for symmetrical movement of both branches when an external force is exerted on either of them. The automated machine contains devices for deployment and retraction of its folding arms so as to grasp and release an object detected by the vision system installed in the handler apparatus.

Claims

1. An automated machine for grasping objects, said machine comprising:

(a) a handler having a first end and a second end;

(b) an intake head attached to one of said ends of said handler for grasping an object;

(c) a base unit comprising means for supporting said handler for rotation of said handler about two axes of rotation which crosses at a point of intersection;

(d) means for moving said handler about each of said two axes of rotation;

(e) means for moving said one of said ends of said handler along a rectilinear path towards said object, wherein said rectilinear path intersects said point of intersection of said two axes of rotation;

(f) a vision system fixedly positioned with respect to said handler in said base unit, including means for controlling said means for moving said handler along a rectilinear path towards said object, wherein said vision system comprises an optic center which is located at said point of intersection of said two axes of rotation of said handler; and

(g) a sensor for detecting contact between said object and said intake head.

2. An automated machine in accordance with claim 1, wherein said handler comprises a folding arm comprising two branches, each of said branches formed by a journalled parallelogram elongated in shape, said branches being mounted together at one end by means of a connecting plate, said connecting plate also forming one short side of each said journalled parallelogram, and serving to provide symmetrical movement to said two branches during deployment or retraction of said folding arm, wherein said symmetrical movement causes a rectilinear movement of said intake head of said machine.

3. An automated machine in accordance with claim 2, wherein said connecting plate permits a symmetrical movement of said two branches of said folding arm, and comprises two geared wheels which interlock with one another, wherein movement of said geared wheels is variable based upon force exerted on adjacent ends of two internal links attached to said connecting plate, each of said internal links forming one long side of each said journalled parallelogram of said folding arm.

4. An automated machine in accordance with claim 3, wherein said folding arm is rotatably mounted on a pivoting turret comprising a pivoting turret arm forming a short side of a first journalled parallelogram that is fastened by means of said turret to a support of said folding arm;

wherein said mechanical hand is installed at the lower end of a second journalled parallelogram of said folding arm whose deployment and retraction are provided by means of a deployment jack which links said pivoting turret arm to an internal link of first said journalled parallelogram; and

wherein rotation of said folding arm is actuated by means of a rotational jack connecting said pivoting turret to said support.

5. An automated machine in accordance with claim 4, wherein said folding arm is attached to said pivoting turret which is mounted on a stirrup, said stirrup being pivotally mounted on a support about an axis which is perpendicular to a pivoting axis of said stirrup;

wherein pivoting of said stirrup and corresponding movement of said folding arm are obtained by means of a jack connecting said stirrup to a base on which said stirrup rests.

6. An automated machine in accordance with claim 5, wherein said vision system is installed at intersection of the pivoting axis of said turret and of the pivoting axis of said stirrup.

7. An automated machine in accordance with claim 6, wherein said mechanical hand is rotatably mounted to the free end of said handler.

8. An automated machine in accordance with claim 7, wherein said intake head is mounted at the end of a rigid tube that is offcenter from said handler, and is also connected by means of a flexible conduit to an air intake system.

9. An automated machine in accordance with claim 8, wherein said intake head is attached to an elastic neck with a distortion elasticity that allows movement of said neck.

10. An automated machine in accordance with claim 9, wherein said intake head is obliquely truncated outwardly so that the widest portion of said intake head is that which comes in contact with the object to be grasped.

11. An automated machine in accordance with claim 9, wherein said intake head is obliquely truncated outwardly so that a lower portion of said intake head is that which first comes into contact with the object to be grasped.

12. An automated machine in accordance with claim 1, wherein said handler comprises:

(i) a folding arm having a free end comprising at least two branches, each of said branches comprising two elongated and parallel members pivotably joined at either end by rigid short members so as to form a journalled parallelogram;

(ii) a means for connecting at least two of said branches of said folding arm, said means for connecting including an element serving as one of said rigid short members of said journalled parallelogram; and

(iii) a mechanical arm extending from one end of one of said branches for making contact with an object to be grasped.

13. An automated machine in accordance with claim 12, wherein said mechanical arm is rotatably mounted to one end of one of said branches of said folding arm.

14. An automated machine in accordance with claim 12, wherein said mechanical arm is installed at said free end of said folding arm by means of a curved, rigid, tube rotatably joined at one end to said folding arm, having an elastic neck affixed to an opposite end of said curved, rigid tube to which said intake head is attached.

15. An automated machine in accordance with claim 14, wherein said elastic neck is capable of being distorted when force is obliquely applied so as to return to its original shape and position when said force is removed.

16. An automated machine in accordance with claim 12, wherein said mechanical arm comprises a flexible tube input sensor including means to detect when any part of said mechanical arm has been twisted out of shape by a predetermined amount by an outside force applied to it.

17. An automated machine in accordance with claim 16, wherein said flexible tube comprises a first end and a second end, said first end connected to said intake head, and said second end connected to an air pressure detection and control unit.

18. An automated machine in accordance with claim 17, wherein said flexible tube input sensor is mounted beyond said mechanical arm, handler, and base unit of said automated machine and is connected to said intake head by means of a flexible tube.

19. An automated machine in accordance with claim 18, wherein said flexible tube is adapted to contain variable air pressure used to grasp and release objects placed in contact with said intake head.

20. An automated machine in accordance with claim 18, wherein said end one of said support comprises a cradle in which said vision system is installed.

21. An automated machine in accordance with claim 12, wherein said mechanical arm comprises a flexible tube input sensor having means for detecting the presence of an object in said intake head.

22. An automated machine in accordance with claim 12, wherein said machine is adapted to automatically advance said folding arm a predetermined distance upwardly after a predetermined number of failures occurs in grasping of a detected object.

23. An automated machine in accordance with claim 12, wherein said machine is adapted to automatically advance said folding arm a predetermined distance downwardly after a predetermined number of failures occurs in grasping of a detected object.

24. An automated machine in accordance with claim 12, wherein said machine automatically advances said folding arm a predetermined distance downwardly, when an object is no longer detected by said vision system.

25. An automated machine in accordance with claim 1, wherein said intake head is comprised of an obliquely truncated cone so that the widest part of said cone extends outwardly from said automated machine.

26. An automated machine in accordance with claim 1, wherein said handler and said vision system are supported by a hoisting arm, said hoisting arm having a first end and a second end, said first end being connected to said base unit of said automated machine on which said handler and said vision system are mounted, with said second end being connected to a support with a pivoting aptitude in the vertical plane.

27. An automated machine in accordance with claim 1, wherein said machine is installed on the chassis of an automotive vehicle equipped with wheels and comprising a self-guiding system for movement along a path.

28. An automated machine in accordance with claim 27, wherein said automotive vehicle can be manually operated.

29. An automated machine in accordance with claim 27, wherein said vehicle and said machine mounted thereon comprise means for turning and continuing the operation of said machine in a new direction when said automotive vehicle comes to the end of a row.

30. An automated machine in accordance with claim 27, wherein said automotive machine can be automatically operated.

31. An automated machine in accordance with claim 12, wherein said means for connecting is adapted to provide for symmetrical movement of each of said branches of said folding arm when either branch is acted on by an outside force.

32. An automated machine in accordance with claim 31, wherein said means for connecting comprises two geared wheels that interlock one with another.

33. An automated machine for grasping objects, wherein said machine comprises:

(a) a handler comprising;

(i) a folding arm having a free end comprising at least two branches, each of said branches comprising two elongated and parallel members pivotably joined at either end by rigid short members so as to form a journalled parallelogram;

(ii) means for connecting at least two of said branches of said folding arm, said means for connecting including an element serving as one of said rigid short members of said journalled parallelogram; and

(iii) a mechanical arm extending from one end of one of said branches for making contact with an object to be grasped;

(b) a flexible tube input sensor including means for detecting when any part of said mechanical arm is twisted out of shape by a predetermined amount by an outside force applied to it;

(c) an intake head attached to one end of said handler;

(d) a base unit for supporting said handler providing at least two axes of rotation, wherein said means for supporting said handler for rotation of said handler about two aces of rotation comprises;

(i) a turret pivotably mounted about a turret vertical axis and having an arm extending outwardly therefrom to which is attached one end of one of said branches of said folding arm;

(ii) a stirrup pivotably mounted about a stirrup horizontal axis on a support, said stirrup horizontal axis being perpendicular to said turret vertical axis; and

(iii) a jack connected to said stirrup and to said support for moving said stirrup and said folding arm;

(e) means for providing translational movement to said handler; and

(f) a vision system installed in said base unit of said machine.

34. An automated machine in accordance with claim 33, wherein said vision system is permanently installed in said base unit of said machine with an optic line of said vision system positioned at the intersection of said turret vertical axis and said stirrup horizontal axis.