Dual-function robotic gripper for workpiece and workholding handling in CNC processing sequences

Abstract

A dual-function robotic gripper has a first face configured to engage and disengage a vise or vise jaws, which are configured to grip a part for processing. The dual-function robotic gripper has a second face configured to grip a part when actuated.

Description

DUAL-FUNCTION ROBOTIC GRIPPER FOR WORKPIECE AND WORKHOLDINGHANDLING IN CNC PROCESSING SEQUENCESRELATED APPLICATION

[0001] This application claims priority benefit of US. Provisional Patent Application No. 63 / 596,957, filed November 7, 2023, which is hereby incorporated by reference in its entirety.TECHNICAL FIELD

[0002] This disclosure generally relates to robotic grippers and, more particularly, to an end-of-arm-tool (EOAT) mountable to a robot arm for establishing a mechanical coupling between the arm and a robotic part gripper in the form of a set of part-gripping fingers or a set of jaws that are shared with a CNC vise (e.g., serving as vise jaws to hold the part in an operation area).BACKGROUND INFORMATION

[0003] U.S. Patent No. 10,688,611 of Youngwerth et al. introduced an improved CNC automation workholding systems and methods that use vise jaws, or a vise itself, to pick and transfer parts in a CNC automation system. The commercial name for the improved CNC automation workholding system is called MultiGrip.

[0004] International Patent Application Publication No. WO 2019 / 175024 Al of Ulrich et al., describes a gripper configured to pick and actuate a vise.

[0005] Another robotic gripper and jaw system is described in International Patent Application Publication No. WO 2021 / 046479 Al of Youngwerth et al. The ’479 publication describes, among other things, another interface between the EOAT and vise jaws. The ’479 publication also introduces a set of gripper fingers that can be mounted to the EOAT and the ability for a robot using the EOAT to pick up MultiGrip jaws or gripper fingers that can be used to pick a part directly. The ’479 publication describes a dovetail interface mounted to a standard gripper. The dovetail interface is designed to mate with vise jaws or gripper fingers that can be used to pick parts directly. In the ’479 publication, the EOAT’s vise jaw interface is shared by gripper finger interface; vise jaws and gripper fingers need not be used at the same time on the EOAT.SUMMARY OF THE DISCLOSURE

[0006] Utilizing gripper fingers or similar mechanisms for handling parts offers certain benefits when integrated with automated processing systems, where the tasks of picking and transferring parts may be executed using removable vise jaws or a standalone vise. It is important to note that vise jaws, which are detachable components of a vise, are typically more substantial and bulkier compared to gripper fingers. This increased heft and size can reduce the robot’s total carrying capacity and may lead to potential obstructions with surrounding objects during operation due to the additional mass and volume of the vise jaws. While some systems permit the swapping of vise jaws with gripper fingers, this substitution is not without its drawbacks. The swapping process consumes precious operational time. Moreover, in common CNC machining operations, there are situations where it might be advantageous to employ gripper fingers while simultaneously holding onto a set of vise jaws or a vise itself.

[0007] Disclosed are embodiments for dual-function robotic grippers that enhance automation for handling both workpieces and workholding elements in machine processing sequences, such as those in CNC operations. The grippers are designed with multiple interfaces, enabling seamless transitions between part engagement and workholding functions without requiring changeovers, thus improving efficiency in robotic processing environments.

[0008] In some embodiments, a dual-function robotic gripper comprises a part gripper face, a workholding face, an EOAT mounting interface, and a gripper body that couples these components. The part gripper face serves as a first mechanical interface configured to engage a workpiece directly and to facilitate transfers between feed locations, workholding positions in the machine workspace, and outfeed locations. This face may be independently configured, allowing it to manage part handling with flexibility and reliability within machine setups. On another side, oriented transversely to the part gripper face, is the workholding face — a second mechanical interface designed to engage and release workholding devices, such as vise jaws or vises, in the machine workspace. This interface supports various actuation methods, including fluid or motor-driven mechanisms, to securely interface with workholding configurations.

[0009] Additionally, the gripper includes an End-of-Arm Tool (EOAT) mounting interface that attaches the gripper to a robot tender, providing precise control and positioning of the gripper throughout machine processing sequences. This configuration allows the dualfunction robotic gripper to switch seamlessly between handling parts directly andinterfacing with workholding, making it adaptable to complex machine operations without the need for manual intervention or multiple tool changes. This advancement negates the necessity to switch between gripper fingers and vise jaws, streamlining the transition process. Furthermore, a dual-function robotic gripper is capable of securing a part while the workholding face is equipped with vise jaws. The design also includes a gripper actuator that comprises a stationary jaw and a jaw that can be moved.

[0010] The adaptable part gripper mounts are equipped with a dovetail interface, which itself is outfitted with multiple mounting holes for part grippers and positioning indicators. This interface is tailored to accommodate adjustable part fingers. In one preferred embodiment, these adaptable part gripper mounts can be detached from the gripper interface bodies, while in another embodiment, they are a permanent aspect of the interface bodies. There may be two sets of these mounts, positioned on the top and bottom, and oriented perpendicularly to the dovetail interface of the EOAT.

[0011] In a further embodiment of the dual-function robotic gripper, the gripper interface bodies are designed with two sets of these adaptable mounts, with at least one set capable of moving independently from the other set or the dovetail interface itself.

[0012] The document also outlines enhanced methods for part processing that leverage the functionalities introduced with the dual-function robotic gripper.

[0013] Additional aspects and advantages will be apparent from the following detailed description of embodiments, which proceeds with reference to the accompanying drawings.BRIEF DESCRIPTION OF THE DRAWING FIGURES

[0014] To easily identify the discussion of any particular element or act, the most significant digit or digits in a reference number refer to the figure number in which that element is first introduced.

[0015] FIG. 1 is an isometric front view of an automation system including a robot arm mounted on a feed cart, a dual-function robotic gripper mounted on the robot arm, and gripper fingers, vise jaws, and a vise that can all be engaged by the dual-function robotic gripper.

[0016] FIG. 2 is an isometric front view of the robotic gripper.

[0017] FIG. 3 is an isometric rear view of the dual-function robotic gripper.

[0018] FIG. 4 is a front cross-sectional view of the dual-function robotic gripper showing details of a piston and coupling shafts.

[0019] FIG. 5 is an exploded view showing the back of the dual-function robotic gripper.

[0020] FIG. 6 is an exploded view showing the front of the dual-function robotic gripper.

[0021] FIG. 7 is an isometric view of a machine processing system.

[0022] FIG. 8 is another isometric view of the machine processing system of FIG. 7.

[0023] FIG. 9 is another isometric view of the machine processing system of FIG. 7.

[0024] FIG. 10 is another isometric view of the machine processing system of FIG. 7.

[0025] FIG. 11 is another isometric view of the machine processing system of FIG. 7.

[0026] FIG. 12 is another isometric view of the machine processing system of FIG. 7.

[0027] FIG. 13 is another isometric view of the machine processing system of FIG. 7.

[0028] FIG. 14 is an isometric view of a dual-function robotic gripper.

[0029] FIG. 15 is another isometric view of the dual-function robotic gripper of FIG. 14.

[0030] FIG. 16 is an isometric view of a dual-function robotic gripper, a dual-function vise, and a ZPS chuck.

[0031] FIG. 17 is another isometric view of the dual-function robotic gripper, the dualfunction vise, and the ZPS chuck of FIG. 16.

[0032] FIG. 18 is a flowchart of a process of using a dual-function robotic gripper for a robot tender configured to automate handling of a workpiece and workholding during a machine processing sequence.DETAILED DESCRIPTION OF EMBODIMENTS

[0033] FIG. 1 shows a dual-function robotic gripper 100 mounted on a robot tender 102. In this example, robot tender 102 is a robotic arm mounted on a cart 104 that acts as an infeed and outfeed location (or more generally, a feed location). Dual-function robotic gripper 100 is holding a part 106, and additional parts 106 for processing are stored on cart 104. As shown and described in more detail below, dual-function robotic gripper 100 includes on transverse (e.g., perpendicular) sides a workholding face 108 and a part gripping face 110. In light of these two interfaces and the following description, a skilled person should now appreciate how dual-function robotic gripper 100 can be used to perform vise 112 or vise jaw 114 engagement, disengagement, and part pickup and transfer functions. Additionally, the functions of using part gripper fingers 116 for part transfer — with or without vise 112 or vise jaws 114 engaged with workholding face 108 — should also be readily apparent. Dualfunction robotic gripper 100, therefore, allows for new and improved processing methods, including the examples set forth in the following two paragraphs.

[0034] In this example, part gripping face 110 is defined by part gripper fingers 116. Using the function of part gripping face 110 is beneficial for picking part 106 from a feed location (cart 104) and transferring part 106 to first operation vise jaws 114. Before the first operation, part 106 is most likely to be in its most simple geometric shape, making it easier for part gripping face 110, with more generalized part gripper fingers 116, to pick and transfer part 106. Moreover, part 106 is typically heaviest before the first operation, and eliminating the need to carry extra weight of vise jaws 114 allows more payload available for part weight in weight-sensitive applications. In many applications, it is beneficial to have a shallow clamping depth in first operation vise jaws 114 during the machining process. However, it is more difficult for an automation system to reliably pick part 106 with vise jaws 114 when the clamping depth of vise jaws 114 is limited, part gripping face 110, however, can use its deeper part gripper fingers 116 for reliable transfer of part 106 to first operation vise jaws 114 (mounted on vise 112) without compromising the clamping depth of vise jaws 114.

[0035] Next, in the example of FIG. 1, workholding face 108 is defined by vise dovetail interface 118, which is configured to hold workholding (e.g., vise 112, fingers 120, or vise jaws 114). In this disclosure, workholding refers to any device or system designed to secure, position, or support a workpiece during manufacturing or machining processes, particularly in CNC operations. Rather than implying continuous or active holding, workholding describes the capability of the equipment to stably grip or hold a workpiece when needed. This could include a variety of fixtures, vises, jaws, or other modular components that, while not necessarily always engaged, these components may be positioned and ready to secure a workpiece, ensuring reliable and repeatable positioning. In this context, workholding ensures that parts can be reliably and repeatably positioned, facilitating accurate CNC processing without requiring further adjustment or handling by the operator.

[0036] For instance, transferring part 106 between processing operations is typically most beneficial for vise jaws 114 instead of part gripping face 110. Because a partly machined part (not shown) typically needs to be flipped from a top side to a bottom side, using a second or subsequent operation vise jaws for that purpose simplifies the process, as described in the ’479 publication and ’611 patent. Another advantage of using a vise or vise jaws instead of part gripping face 110 is for placing the partly machined part after all processing operations have been completed. In this case, the part shape may have changed substantially since the part was first picked from the infeed location (e.g., atop cart 104), which would necessitate custom gripper fingers to successfully grab the part. By using vise dovetail interface 118 to pick vise 112 with vise jaws (or just vise jaws 114) holding thecompleted part and using the jaws to place the part in the outfeed location (e.g., back on cart 104), custom gripper fingers need not be employed for removing the part from vise jaws 114 holding the completed part.

[0037] FIG. 2 shows in greater detail vise dovetail interface 118, part gripper fingers 116, and other features visible on a front and upper side of dual-function robotic gripper 100 including a gripper actuator 202.

[0038] Vise dovetail interface 118, similar in construction and function to the dovetail interface disclosed in the ’479 publication, is configured on the face of dual-function robotic gripper 100. A left side of vise dovetail interface 118 is formed in fixed gripper body 204; a right side of vise dovetail interface 118 is formed in moveable gripper body 206.

[0039] Fixed gripper body 204 and moveable gripper body 206 are coupled together by a plurality of coupling shafts 208. Opening and closing movement of moveable gripper body 206 relative to fixed gripper body 204 is guided and constrained by coupling shafts 208, with additional details being described later.

[0040] Two sets (i.e., upper and lower sets) of part gripper fingers 116 are shown. Each set of part gripper fingers 116 interfaces to adaptable part gripper mounts 210 via a male dovetail feature 212 configured to engage with a female dovetail slide interface 214.

[0041] Adaptable part gripper mounts 210 are configured to mount to perpendicular surfaces 216 of fixed gripper body 204 and moveable gripper body 206. Adaptable part gripper mounts 210 are configured with a female dovetail slide interface 214 and a plurality of gripper finger mounting holes 218. Gripper finger mounting holes 218 allow each set of part gripper fingers 116 to be quickly moved closer to one another or further apart to handle different sized parts.

[0042] Part size engraving 220 details the size of part (not shown) that can be gripped, when a plurality of part gripper bolts 222 are threaded into a plurality of part gripper bolt holes 224 when part gripper fingers 116 are configured in a particular set of gripper finger mounting holes 218. Gripper finger mounting holes 218 are configured to receive bolts 226 to secure part gripper fingers 116 to adaptable part gripper mounts 210.

[0043] Part gripper fingers 116 may also be configured with other accessories, such as 3D printed part gripping jaws (not shown) configured to grip asymmetrical parts, and mounted via part gripper bolt holes 224. Shaft part gripper fingers (not shown) are configured with replaceable shaft fingertips that can be configured to accept varying diameters of parts, and in a preferred embodiment, the centerline of the shaft part remains constant with respect to the robot.

[0044] Finally, FIG. 2 also shows a portion of a piston cover 228, which is described later with reference to FIG. 4.

[0045] FIG. 3 shows in greater detail an end-of-arm tool (EOAT) mounting interface 302, actuation ports 304 and other features visible on a back and lower side of dual-function robotic gripper 100.

[0046] An EOAT mounting interface 302 is formed in a robot adapter plate 306, which is provided to mount dual-function robotic gripper 100 to robot tender 102 (FIG. 1). For attachment to robot tender 102, robot adapter plate 306 includes robot mounting bolt holes 308 and a robot locating boss 310. EOAT mounting interface 302 is, therefore, configured to secure robot adapter plate 306 to robot tender 102. For attachment to dual-function robotic gripper 100, robot adapter plate 306 includes a fixed gripper body interface 312 including fixed gripper body interface mounting holes 314. Fixed gripper body interface 312 is configured to secure fixed gripper body 204 to robot adapter plate 306 after EOAT mounting interface 302 has been secured to robot tender 102.

[0047] Actuation ports 304 includes an open actuation port 316 and a close actuation port 318 to actuate dual-function robotic gripper 100. Providing pressurized gas or fluid to open actuation port 316 causes moveable gripper body 206 to move away from fixed gripper body 204, therefor providing an open function for dual-function robotic gripper 100. Providing pressurize gas or fluid to close actuation port 318 causes moveable gripper body 206 to move towards fixed gripper body 204, therefor providing a close function for dual-function robotic gripper 100.

[0048] FIG. 4 shows how pneumatic force of a pressure differential (provided from actuation ports) is delivered into piston bore 402 so as to translate piston 404 and thereby slide moveable gripper body 206 through coupling shafts 208 and associated features.

[0049] A first side of coupling shafts 208 has male threads configured to couple piston 404. Coupling shafts 208 are configured to pass through shaft bores 406 and piston 404 is configured to pass into a piston bore 402 of fixed gripper body 204.

[0050] A second side of coupling shafts 208 has female threads configured to accept coupling bolts 408. Moveable gripper body mounting holes 410 are configured to accept faces 412 of coupling shafts 208. Coupling bolts 408 pass through moveable gripper body mounting holes 410 to secure moveable gripper body 206 to coupling shafts 208.

[0051] Piston cover 228 provides an air-tight seal to the open side of piston bore 402. A piston O-ring groove 414, configured to receive a piston O-ring 416, seals the one side of piston 404 from the other side of piston 404. Shaft bore O-ring grooves 418 are configuredto receive shaft bore O-rings 420 to provide an air-tight seal to piston bore 402. Shaft wiper seal grooves 422 are configured to receive shaft wiper seals 424 to prevent debris from entering shaft bores 406.

[0052] FIG. 7-FIG. 13 show a machine processing system 700 including dual-function robotic gripper 100, robot tender 102, cart 104, control circuitry 702, and a CNC machine 704 with a machine workspace 706 (e.g., cabinet) for performing processing on a workpiece. In other embodiments, the machine itself may be a press or other equipment designed to manufacture workpieces.

[0053] Machine processing system 700 also includes a non-transitory computer-readable storage medium (not shown). The computer-readable storage medium includes instructions that when executed by control circuitry 702 of machine processing system 700, cause machine processing system 700 to actuate a part gripper face of dual-function robotic gripper 100 to pick the workpiece and transfer it to a first workholding; actuate a workholding face of dual-function robotic gripper 100 to pick a second workholding; actuate the second workholding to grasp the workpiece; and actuate the first workholding to release the workpiece. These steps are shown in greater detail in the following figures.

[0054] With reference to FIG. 7, it shows a first step in which robot tender 102 uses its part gripping face 110 of dual-function robotic gripper 100 to pick up a part 106 from the infeed.

[0055] FIG. 8 shows a second step in which part 106 held in part gripping face 110 is loaded into first operation vise jaws 802. First operation vise jaws 802 have been coupled to a first vise 804 inside a cabinet of CNC machine 704. FIG. 8 also shows second operation vise jaws 806 are coupled to a second vise 808.

[0056] FIG. 9 shows a third step in which the robot arm unloads second operation vise jaws 806. Second operation vise jaws 806 have been decoupled from a second vise 808 inside a cabinet of CNC machine 704. In one embodiment, the robot performs the third step before CNC machine 704 performs a first processing operation on part 106. In another embodiment, the robot performs the third step after the CNC performs a first processing operation on part 106.

[0057] FIG. 10 shows a fourth step, performed after CNC machine 704 performs a first processing operation on part 106. In the fourth step, the robot inverts second operation vise jaws 806 over part 106 and transfers it from first operation vise jaws 802 to second operation vise jaws 806.

[0058] FIG. 11 shows a fifth step in which robot tender 102 transfers second operation vise jaws 806, holding part 106, onto second vise 808. After the fifth step, the CNC performs a second processing operation on part 106.

[0059] FIG. 12 shows a sixth step in which robot tender 102 unloads second operation vise jaws 806 and part 106 from CNC machine 704.

[0060] FIG. 13 shows a seventh step in which robot tender 102 inverts second operation vise jaws 806 over cart 104 and places part 106 back onto the feed location.

[0061] In another embodiment, instead of robot tender 102 transferring and processing the part using second operation vise jaws 806, it transfers and processes part 106 using a vise with vise jaws 112 (see, e.g., FIG. 16 and FIG. 17).

[0062] FIG. 14 and FIG. 15 show a dual-function robotic gripper 1400 with dual gripper actuators 1402, including a first gripper actuator 1404 and a second gripper actuator 1406. Both gripper actuators 1402 have an EOAT mounting interface 1408 to a robot mounting interface. Each gripper actuator 1402 can be actuated independently of the other gripper actuator. This allows first gripper actuator 1404 to be actuated to grip and hold part 106, vise jaws, or a vise independently of second gripper actuator 1406. Second gripper actuator 1406 can be actuated to pick or release a part without releasing whatever first gripper actuator 1404 is holding.

[0063] FIG. 15 shows that the construction of first gripper actuator 1404 is similar to gripper actuator 202 (FIG. 2) of dual-function robotic gripper 100. First gripper actuator 1404 includes a vise dovetail interface 1502 and a first adaptable part gripper face 1504. Second gripper actuator 1406 lacks a vise dovetail interface and includes a second adaptable part gripper mount 1506.

[0064] FIG. 16 and FIG. 17 show a dual-function robotic gripper 1602 adapted to engage and release a dual-function vise 1604 and a Zero Point System (ZPS) chuck 1606 configured to engage or release dual-function vise 1604.

[0065] Dual-function vise 1604 is configured to hold and release vise jaws 1608. Vise jaws 1608 are configured with a dovetail interface 1610 that is configured to be engaged or released by a complementary dovetail interface 1612 of dual-function robotic gripper 1602. Dual-function vise 1604 is configured with its own dovetail interface 1614 that allows dualfunction robotic gripper 1602 to engage or release dual-function vise 1604 using dovetail interface 1612.

[0066] Dual-function vise 1604 includes ZPS pins 1616 configured to be engaged or released by a ZPS chuck 1606. ZPS chuck 1606 is configured to be mounted securely inside CNC machine 704, for example.

[0067] Dual-function robotic gripper 1602 has been adapted with a pneumatic coupler 1618 mounted on a piston cover 1620 of dual-function robotic gripper 1602. Pneumatic coupler 1618 includes a vise open connector 1622 and a vise close connector 1624. Vise open and close connectors 1622, 1624 are configured to be connected to selectively pressurized lines (not shown) controlled by robot tender 102. Vise open and close connectors 1622, 1624 are configured to transfer pressurized fluid to a gripper supply open port 1702 (FIG. 17) and a gripper supply close port 1704 (FIG. 17), respectively.

[0068] Dual-function vise 1604 is configured with a first vise pneumatic coupler 1626. First vise pneumatic coupler 1626 includes a gripper receiver open port 1628 and a gripper receiver close port 1630. Gripper open and close receiver ports 1628, 1630 transfer pressurized fluid to a side-located open connector 1632 and a side-located close connector 1634, respectively. Selectively pressurized lines (not shown) connect side-located open and close connectors 1632, 1634 to a vise open connector 1706 and a vise close connector 1708 through a T connector (not shown).

[0069] Pneumatic coupler 1618 and first vise pneumatic coupler 1626 are configured such that when dual-function robotic gripper 1602 is not engaged with dual-function vise 1604, no pressurized fluid can pass into or out of gripper receiver open port 1628 or gripper receiver close port 1630 and when dual-function robotic gripper 1602 is engaged with dualfunction vise 1604, pressurized fluid can pass into and out of gripper receiver open port 1628 and gripper receiver close port 1630 through gripper supply open port 1702 and gripper supply close port 1704. A similar pneumatic coupling exists between dual-function vise 1604 and ZPS chuck 1606.

[0070] ZPS chuck 1606 has been adapted with a pneumatic coupler 1636 mounted on the side of ZPS chuck 1606. Pneumatic coupler 1636 includes a vise open connector 1638 and a vise close connector 1640. Vise open and close connectors 1638, 1640 are configured to be connected to selectively pressurized lines (not shown) controlled by robot tender 102. Vise open and close connectors 1638, 1640 are configured to transfer pressurized fluid to ZPS chuck supply open port 1642 and ZPS chuck supply close port 1644.

[0071] Dual-function vise 1604 is configured with a second vise pneumatic coupler 1710. Second vise pneumatic coupler 1710 includes a chuck receiver open port 1712 and a chuck receiver close port 1714. Chuck open and close receiver ports 1712, 1714 transferpressurized fluid to a base-located open connector 1716 and a base-located close connector 1718 respectively. Selectively pressurized lines (not shown) connect base-located open and close connectors 1716, 1718 to vise open connector 1706 and vise close connector 1708 through a T connector (not shown).

[0072] Pneumatic coupler 1636 and second vise pneumatic coupler 1710 are configured such that when dual-function vise 1604 is not engaged with ZPS chuck 1606, no pressurized fluid can pass into or out of chuck receiver open port 1712 or chuck receiver close port 1714 and when ZPS chuck 1606 is engaged with dual-function vise 1604, pressurized fluid can pass into and out of chuck receiver open port 1712 and chuck receiver close port 1714 through ZPS chuck supply open port 1642 and ZPS chuck supply close port 1644.

[0073] In light of this disclosure, a skilled person will appreciate that dual-function robotic gripper 1602 can pick or place dual -function vise 1604 to or from ZPS chuck 1606. When robot tender 102 is connected to dual-function robotic gripper 1602 and dual -function robotic gripper 1602 is holding dual -function vise 1604, dual -function robotic gripper 1602 is capable of actuating dual-function vise 1604 to open or close vise jaws 1608 and clamp or release part 106. When dual -function vise 1604 is held by ZPS chuck 1606, robot tender 102 is able to open or close vise jaws 1608 and clamp or release part 106.

[0074] FIG. 18 shows a process 1800 of using a dual-function robotic gripper for a robot tender configured to automate handling of a workpiece and workholding during a machine processing sequence. In block 1802, process 1800 actuates a part gripper face of the dualfunction robotic gripper to pick the workpiece and transfer it to a first workholding. In block 1804, process 1800 actuates a workholding face of the dual-function robotic gripper to pick a second workholding. In block 1806, process 1800 actuates the second workholding to grasp the workpiece. In block 1808, process 1800 actuates the first workholding to release the workpiece.

[0075] In some embodiments, process 1800 actuates a workholding face of the dualfunction robotic gripper to place a second workholding on second vise. Process 1800 actuates a workholding face of the dual-function robotic gripper to pick a second workholding. Process 1800 actuates a workholding face of the dual-function robotic gripper to place the workpiece.

[0076] In light of this disclosure, skilled persons will appreciate that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the invention. The scope of the present invention should, therefore, be determined only by claims and equivalents.

Claims

CLAIMSWhat is claimed is:

1. A dual-function robotic gripper for a robot tender configured to automate handling of a workpiece and workholding during a machine processing sequence, comprising: a first mechanical interface on a first side, in which the first mechanical interface is configured as a part gripper face to directly engage the workpiece and transfer it between a feed location and the workholding in a machine workspace; a second mechanical interface on a second side, different from the first side, in which the second mechanical interface is configured as a workholding face to engage and release the workholding at the machine workspace; an end-of-arm tool (EOAT) mounting interface, in which the EOAT mounting interface is configured to secure the dual-function robotic gripper to the robot tender to facilitate the machine processing sequence; and a gripper body coupling the first and second mechanical interfaces, thereby enabling engagement with either the workpiece directly or the workholding, based on the machine processing sequence, without requiring a changeover of the dual-function robotic gripper.

2. The dual-function robotic gripper of claim 1, in which the part gripper face is configured to engage and release the workpiece independently of the workholding face engaging and releasing the workholding.

3. The dual-function robotic gripper of claim 1 or 2, in which the workholding includes a set of vise jaws.

4. The dual-function robotic gripper of claim 1 or 2, in which the workholding includes a vise.

5. The dual-function robotic gripper of claim 4, in which the vise is configured for fluid actuation.

6. The dual-function robotic gripper of claim 4, in which the vise configured for motor-drive actuation.

7. The dual-function robotic gripper of claim 1, in which the part gripper face and the workholding face are transverse to each other.

8. The dual-function robotic gripper of claim 1, in which the part gripper face is a first part gripper face for a first workpiece, the dual-function robotic gripper including a second part gripper face that is configured to actuate independently to engage or release a second workpiece independently of the first workpiece.

9. The dual-function robotic gripper of claim 1, in which the part gripper face has an adjustable grip size.

10. A machine processing system including the dual-function robotic gripper of claim 1, the machine processing system further comprising: the robot tender; the feed location; control circuitry; and a machine for performing processing on the workpiece.

11. A method of using a dual-function robotic gripper for a robot tender configured to automate handling of a workpiece and workholding during a machine processing sequence, the method comprising: actuating a part gripper face of the dual-function robotic gripper to pick the workpiece and transfer it to a first workholding; actuating a workholding face of the dual-function robotic gripper to pick a second workholding; actuating the second workholding to grasp the workpiece; and actuating the first workholding to release the workpiece.

12. The method of claim 11, in which the part gripper face is configured to engage and release the workpiece independently of the workholding face engaging and releasing the workholding.

13. The method of claim 11 or 12, in which the first workholding includes a set of vise jaws or a vise.

14. The method of claim 11 or 12, in which the second workholding includes a set of vise jaws or a vise.

15. The method of claim 13 or 14, in which the vise is configured for fluid or motor-drive actuation.

16. The method of claim 14, further comprising transferring the workpiece to a feed location with the second workholding.

17. The method of claim 11, further comprising processing the workpiece in the first or second workholding.

18. The method of claim 11, further comprising actuating the workholding face of the dualfunction robotic gripper to pick the second workholding while the workpiece is processed as it is retained in the first workholding.

19. The method of claim 11, further comprising transferring a processed workpiece from the first workholding to the second workholding.

20. A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by control circuitry of a machine processing system, cause the machine processing system to: actuate a part gripper face of a dual-function robotic gripper to pick the workpiece and transfer it to a first workholding; actuate a workholding face of the dual-function robotic gripper to pick a second workholding; actuate the second workholding to grasp the workpiece; and actuate the first workholding to release the workpiece.

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