The present invention discloses a biomimetic bag opening device for an automatic filling line, comprising brackets left and right symmetrically arranged on the filling line for filling bags, the symmetrically arranged brackets moving in a horizontal relative motion respectively driven by a pull rod, a push bag plate facing the filling bag provided at a front end of the bracket, a row of gripper holes provided on the push bag plate in the upper and lower of the horizontal level respectively, two rows of grippers provided on the brackets behind the push bag plate and corresponding to the two rows of gripper holes, a gripper drive device driving two rows of grippers open or closed, and grasping fingertips of the grippers projecting or retracting from two rows of the upper and lower of the gripper holes. The present invention solves the problem that woven bags are automatically opened in a full-automatic weighing and packaging device, which can be used for the production of the non-lamination woven bag, semi-lamination woven bag and full-lamination woven bag. The grippers of present invention imitate the human fingers to grip woven bags and separate the bag mouth, the bag mouth can also be closed to prepare for next process after bagging completed, and structure installation and adjustment are convenient.

Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.

A process and apparatus for manufacturing a mattress generally includes an automated foam layer placement apparatus for accurately securing one or more foam layers onto an innercore unit and bucket assembly.

Lumber retrieval systems and methods feed a centrally located saw with a predetermined assortment of boards picked from certain stations distributed at either side of the saw. In some examples, an overhead trolley system carries individual boards in a certain sequence from chosen stations to a board-receiving apparatus. The board-receiving apparatus, in turn, feeds the boards to the saw. The saw then cuts the boards into board segments, which can be used for making prefabricated trusses and wall panels. In some examples, the trolley system has a laser-scanning feature for determining the location of the next-to-pick board while simultaneously transporting the board currently heading to the board-receiving apparatus. In some examples, the trolley system includes two board carriers each of which are dedicated or assigned to certain stations. In some examples, one carrier serves as backup for the other one when one of the carriers is broken or otherwise inactive.

The invention relates to an automatic wood sorting facility comprising a cross conveyor (3) with a conveying plane (Z0) on which sawn pieces of wood (2) are advanced, an inspection zone (5) comprising a camera (70), a camera-carrying arrangement (6) by which the camera (70) is arranged in such a manner that the pieces of wood (2) advanced on the cross conveyor (3) can be inspected by means of the camera, a robot gripper zone (8) comprising a robot (RB1) equipped with a robot gripper tool (11) by which a piece of wood (2) can be gripped and handled, a robot-carrying arrangement (9) by which the robot (RB1) is arranged in such a manner that said conveying plane (Z0) extends below the working area of the robot (RB1) with the robot gripper tool (11), a robot control unit (40) to which the camera (70) is connected. and which robot control unit further comprises a vision system (30) by which the piece of wood (2) can be identified, an image processing unit (50) and a robot control (60) configured to form a tracking system with a defined tracking area (TR1) of the length of the conveying plane (Z0), wherein the robot (RB1) is configured, with instruction from the vision system (30), to grip and handle an identified piece of wood (2) within the tracking area (TR1).

A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

Disclosed herein is a method and apparatus for back end control of translation and rotation of green ware (e.g., producible from ceramic extrudate). A green ware handling system (102) includes a back end assembly (129) that contacts a back end face (118B) of a green ware (116) and moves to push the green ware (116) along the support channel (114). In certain embodiments, the green ware handling assembly (102) includes a leading end assembly (128) to pull the green ware (116) and then transfer control to the back end assembly (129), which translates and also optionally rotates the green ware (116). This handoff increases the overall production rate of the green ware (116). In certain embodiments, the back end assembly (129) penetrates the back end face (118B) of the green ware (116) with cleat penetration features (312) to provide a secure engagement with the green ware (116) to rotate and translate the green ware (116) while also decreasing a depth of damage to the green ware (116).

In one embodiment, a substrate handling robot includes a robot body, a robot arm mounted to the robot body, and an end effector mounted to the robot arm. The end effector includes first and second fingers each having one or more pins protruding therefrom, and a first motor for axially rotating the first finger. At least one pin of the first finger and one pin of the second finger are configured to mate with corresponding holes in the substrate. Rotation of the first finger imparts a tensional force to the substrate, suitable for reducing sag in ultra-thin substrates on the order of 20 to 800 microns. In certain embodiments, both fingers are rotatable, synchronously or independently. In certain embodiments, rotation is replaced by translational or pivoting planar motions, also imparting tensional force to the substrate.

A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

A device configured to collect and dispel pinecones is provided. The device includes a handle, and a collecting head. The collecting head includes a plurality of prongs extending outwardly from an outer surface of the head. A sliding block having a plurality of holes configured to receive a corresponding prong is slidingly attached to the shaft. A biasing member having one end fixedly attached to the shaft and the other end attached to the sliding block continuously urges the sliding block against the head so as to allow the prongs to protrude through the respective holes. Accordingly, the device is configured to stick a plurality of pinecones wherein the sliding block may be pushed so as to displace the sliding block forward of the head pushing the pinecones off the prongs and into the receptacle.