The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 05, 2013
Filed:
Jul. 26, 2012
Applicants:
Qin Zhang, Richland, WA (US);
Long He, Prosser, WA (US);
Henry J. Charvet, Grandview, WA (US);
Inventors:
Assignee:
S.S. Steiner, Inc., New York, NY (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B65H 69/04 (2006.01);
U.S. Cl.
CPC ...
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.