A gripping unit grips a base having a thickness that is defined by an upper side and a lower side thereof and that conveys a product on the upper side. The gripping unit has a pair of first guides with corresponding guide surfaces in contact with the base. The guide surfaces extends as far as beneath the lower side of the base.

A tray engine includes a vertical drive column, a rotation mechanism for rotating the vertical drive column, and an end effector attached to the vertical drive column. The end effector includes an end effector base attached to the vertical drive column. The end effector further includes a slide attached to the end effector base to support a tray, when present. The slide enables the tray to slide along a length of the end effector base. The tray engine includes a drive mechanism attached to the end effector base for moving along the length of the end effector base to enable the tray, when present, to slide linearly along the length and load or unload the tray to or from the slide.

Provided are a system, method(s), and apparatus for automatically harvesting mushrooms from a mushroom bed. The system, in one implementation, may be referred to herein as an “automated harvester”, having at least an apparatus/frame/body/structure for supporting and positioning the harvester on a mushroom bed, a vision system for scanning and identifying mushrooms in the mushroom bed, a picking system for harvesting the mushrooms from the bed, and a control system for directing the picking system according to data acquired by the vision system. Various other components, sub-systems, and connected systems may also be integrated into or coupled to the automated harvester.

An improved method and apparatus for automatically picking a fruit is described. During the clamping stage, the movement of the fingers is controlled such that a specific maximum clamping force is not exceeded. In addition, during at least a part of the removal stage, the mutual position of the fingers is controlled by the drive such that their mutual distance does not increase.

Systems and methods used to pick and stack product for transport are disclosed. The systems and methods include a robotic end of arm stacking tool coupled to a robotic arm and including a product support. The product support includes fingers that pivot about an axis to allow spatulas coupled to the fingers to slide under and support the product when the product is picked from a product orienting member and stacked in a product transport member. An actuator can be activated to maintain the product support in a product support state and deactivated to release the product into the product transport member.

A method is provided that includes controlling a robotic gripping device to cause a plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object. The method also includes receiving, from at least one non-contact sensor on the robotic gripping device, first sensor data indicative of a region between the plurality of digits of the robotic gripping device. The method further includes receiving, from the at least one non-contact sensor on the robotic gripping device, second sensor data indicative of the region between the plurality of digits of the robotic gripping device, where the second sensor data is based on a different sensing modality than the first sensor data. The method additionally includes determining, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, a result of the attempt to grasp the object.

A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.

A gripper including a frame and a finger including a first distal phalanx and a second proximal phalanx mechanically linked, the second phalanx includes a first bar and a linear actuator arranged so as to form a first four-bar linkage. A gripping device including a plurality of grippers.

An electric gripping device is provided. The electric gripping device improves a coupling relationship between a two-fingered clamper module using a four-joint link and the actuator module to facilitate assembling and disassembling of the actuator module and the clamper module and minimizes a length of the electric gripper to easily secure a robot's work space or work direction when being connected to the robot.

The present disclosure provides a gripper of a robot and a robot including the same. The gripper may include a case, a plurality of fingers rotatably connected to the case, and a plurality of connecting rods. A first end of each of the connecting rods may be connected to a respective one of the fingers. The gripper may also include a driving assembly connected to a second end of each of the connecting rods, and the driving assembly may be configured to drive the second end of each of the connecting rods to move along a moving direction so as to drive the plurality of finger to rotate. The gripper may further include a force detecting assembly connected to the case and the driving assembly, which may be configured to limit a position of the driving assembly along the moving direction and to detect a force from the driving assembly.