US 12,240,126 B2
Collaborative-manipulation robotic arm for kitchen waste and working method thereof
Qiaokang Liang, Changsha (CN); Hai Qin, Changsha (CN); Songyun Deng, Changsha (CN); Zhanjin Deng, Changsha (CN); Li Zhou, Changsha (CN); Yaonan Wang, Changsha (CN); and Wei Sun, Changsha (CN)
Assigned to HUNAN UNIVERSITY, Changsha (CN)
Filed by HUNAN UNIVERSITY, Changsha (CN)
Filed on Jun. 27, 2024, as Appl. No. 18/755,832.
Application 18/755,832 is a continuation of application No. PCT/CN2024/073818, filed on Jan. 24, 2024.
Claims priority of application No. 202310419581.1 (CN), filed on Apr. 19, 2023.
Prior Publication US 2024/0351213 A1, Oct. 24, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 9/10 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1679 (2013.01) [B25J 9/102 (2013.01); B25J 9/1653 (2013.01); B25J 9/1697 (2013.01); B25J 11/0045 (2013.01); B25J 13/084 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A working method of a collaborative-manipulation robotic arm for a kitchen waste, wherein the collaborative-manipulation robotic arm comprises:
a base, comprising a first mounting seat and a second mounting seat, wherein the first mounting seat is transverse, and the second mounting seat is connected to the first mounting seat and extends downward;
a driving mechanism, disposed at an end of the first mounting seat away from the second mounting seat;
a front guide claw, an upper end of the front guide claw being connected to the driving mechanism;
a fixed blade, disposed on a side of the second mounting seat facing the front guide claw;
a retractable finger, disposed at a lower end on the side of the second mounting seat facing the front guide claw;
a vision module, disposed at a bottom of the first mounting seat; and
at least two haptic sensors, respectively disposed on the fixed blade and the retractable finger;
wherein the retractable finger comprises a movable blade, a second reduction motor, a transmission disk, and a connecting rod; and an output shaft of the second reduction motor is connected to a center of the transmission disk, a first end of the connecting rod is connected to an eccentric center of the transmission disk, a second end of the connecting rod is connected to a tail end of the movable blade, and the movable blade passes through a movable blade limiting hole provided in the second mounting seat;
wherein the working method comprises:
obtaining an execution mode of the collaborative-manipulation robotic arm; and
performing, by the collaborative-manipulation robotic arm, actions according to the execution mode:
when the execution mode is a bag breaking mode, performing the following actions: controlling the collaborative-manipulation robotic arm to move to a target position point, synchronously controlling the driving mechanism to drive the front guide claw to rotate to a designated position, and then controlling the front guide claw to push a bag containing a target object to the fixed blade to enable the fixed blade to pierce the bag containing the target object;
when the execution mode is a sorting mode, performing the following actions: controlling the collaborative-manipulation robotic arm to move to the target position point, synchronously controlling the driving mechanism to drive the front guide claw to rotate to the designated position, and then controlling the front guide claw to rotate toward the fixed blade and close to grab the target object from the bag, wherein the target object comprises an elongated waste object; and
when the execution mode is a spearing mode, performing the following actions: controlling the collaborative-manipulation robotic arm to move to the target position point, synchronously controlling the driving mechanism to drive the front guide claw to rotate to the designated position, then controlling the front guide claw to rotate toward the retractable finger and close to hold the target object, and subsequently controlling the retractable finger to extend to spear the target object; and
after the collaborative-manipulation robotic arm finishes performing the actions according to the execution mode, using vision information acquired by a vision module disposed at a bottom of the first mounting seat and/or haptic information acquired by a haptic sensor disposed on the fixed blade/the retractable finger to assist in determining whether target actions are completed, and when the target actions are not completed, resetting the collaborative-manipulation robotic arm, obtaining the execution mode of the collaborative-manipulation robotic arm again, and performing the actions according to the execution mode.