Hayes Soloway P.C.
Knot-tying device and method
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.
S.S. Steiner, Inc.
B B A
B65H B65H A01G
inventional additional inventional
Henry J. Long Qin
Charvet He Zhang