Adhesion-based robotic gripper

Abstract

The present invention relates to an adhesion-based tool holder for a robot, comprising: (a) a supply shaft configured to mount a supply reel of an adhesive tape; (b) a receiving shaft configured to mount a tape receiving reel; a bottom pad; (c) a tape path within the tool holder, starting from the supply reel, passing below the base mat, with the adhesive side of the tape facing downward, ending at the receiving reel; and an adhesive tape pushing mechanism configured to push an adhesive tape so as to update an adhesive tape portion below the base pad.

Description

Technical Field

[0001] This invention relates to the field of mechanical grippers used in robots. In particular, this invention relates to an adhesive-based gripper for robots, configured to perform repeated, multiple gripping operations using a single adhesive tape. Background Technology

[0002] In recent years, the volume of goods delivered through e-commerce has increased dramatically. The wide variety of items, varying in size, weight, and shape, coupled with the need to meet the shortest possible delivery times, has led businesses to significantly increase their workforce. However, the capacity of skilled workers to collect and pack large orders is limited. The rapid increase in freight volume no longer allows for packing solely by humans. While robots have been used to meet this growing demand, their reliability remains far from satisfactory, especially considering the limitations of robotic grippers in handling diverse weights, shapes, sizes, varying item stiffness, and the orientation of each specific item relative to the robotic arm.

[0003] Today's freight (e-commerce) industry primarily uses two types of robotic grippers: (a) mechanical ("finger" or parallel) grippers; and (b) vacuum grippers. Mechanical grippers require precise, real-time consideration of the gripping point, which must be adjusted for each product, as well as the orientation during gripping. Due to the vast differences in weight, shape, size, rigidity, the fineness of product materials, and orientation, this highly challenging task cannot reliably meet the requirements of all products without damaging them or causing gripping failure.

[0004] Vacuum grippers use a vacuum cup (usually made of soft material) and a vacuum pump to adhere to an object using vacuum force. This force is proportional to the surface area of ​​the vacuum cup and the pressure difference between the inside of the vacuum cup and the ambient pressure. The vacuum gripper applies a pulling force—therefore, a single vacuum gripper is sufficient to lift and move an object. Vacuum grippers are particularly popular for "pick-and-place" tasks; however, they ideally require a smooth, relatively flat contact area to create vacuum conditions. Therefore, vacuum grippers are inefficient for gripping porous objects or objects with textured surfaces (e.g., fabric surfaces). Furthermore, some soft materials (e.g., plastics) may deform during suction. Additionally, the vacuum quality will significantly decrease if the vacuum cup is not properly positioned above the object. Vacuum grippers are also unsuitable for lifting or pulling heavy objects, primarily when the available suction area is small. Moreover, vacuum grippers cannot be used effectively in aerospace conditions, such as those with zero ambient pressure.

[0005] Existing robotic technologies utilize imaging techniques and pre-trained artificial intelligence to correctly operate the robot and enable it to optimally manipulate grippers. The pre-training phase teaches the robot to recognize various products, regardless of their specific orientation, and assigns the optimal gripping orientation and position for best gripping results. After gripping, some robots can optimally position items within receiving containers designed to hold multiple items.

[0006] Given the difficulty of applying a single gripper and a single gripper type to a variety of items, existing technologies have disclosed multi-type gripping robots that can select and change grippers (located at the tip of the robot's arm) based on the characteristics of a given item. More specifically, the robot's arm is configured to select, install, and use the gripper best suited for the item and task.

[0007] WO2020 / 240542, filed by the same applicant, discloses various adhesion-based robots, grippers, and stickers for use with the grippers. The system in WO2020 / 240542 has several drawbacks: (a) the gripper is relatively complex in construction; (b) the system uses individual stickers, requiring a new sticker to be collected for each item before each gripping operation; (c) after the gripping operation, the gripper leaves the sticker on the product (or its container), and the product (or container) and the sticker affixed thereon are sent to the end consumer. While this feature may be advantageous in some cases (as the sticker may include, for example, a barcode capable of tracking the product), in others, this accessory is considered redundant; and (d) after a few gripping operations, a single box of stickers needs frequent replacement. While the cost per sticker is relatively low (a few cents), it remains a relatively high cost for some of the inexpensive items offered by e-commerce today.

[0008] One object of the present invention is to provide an adhesive-based gripper that does not require the use of a separate sticker for operation.

[0009] Another object of the present invention is to provide an adhesive-based gripper that does not require leaving a sticker on the item after each gripping operation.

[0010] Furthermore, another objective of this invention is to reduce the cost per clamping operation compared to existing adhesive-based grippers.

[0011] Another object of the present invention is to provide a more efficient and reliable gripper for certain types of articles compared with existing grippers.

[0012] Another object of the present invention is to provide a clamp that is simple in structure, compact and low in cost.

[0013] Another object of the present invention is to provide a gripper suitable for operation in a gripper-selective robot (i.e., a robot configured to select and change the gripper used according to the specific item and task).

[0014] As the description proceeds, other objects and advantages of the invention will become apparent. Summary of the Invention

[0015] The present invention relates to an adhesive-based tool holder for a robot, comprising: (a) a supply shaft configured to mount an adhesive tape supply reel; and (b) a receiving shaft configured to mount an adhesive tape receiving reel.

[0016] (c) A base pad; a tape path within the tool holder, starting from the supply reel, passing under the base pad with the adhesive side of the tape facing down, and ending at the receiving reel; and a tape advance mechanism configured to advance the tape, thereby updating the portion of the tape under the base pad.

[0017] In one embodiment of the invention, the adhesive-based tool holder further includes a disconnect mechanism configured to push an article attached to the tape portion away from the base pad.

[0018] In one embodiment of the invention, the adhesion-based tool holder further includes a locking mechanism for receiving the shaft.

[0019] In one embodiment of the invention, the adhesion-based tool holder further includes a locking mechanism for receiving the shaft and supplying the shaft.

[0020] In one embodiment of the invention, the adhesion-based tool holder further includes an adapter configured to attach to a robotic arm.

[0021] In one embodiment of the present invention, the tape feeding mechanism is selected from a servo motor or a rotary piston.

[0022] In one embodiment of the invention, the disconnection mechanism includes: (a) a movable peripheral frame surrounding the base pad; and (b) one or more side pistons configured to push the peripheral frame distally—away from the direction of the robot's arm—or retract it proximally.

[0023] In one embodiment of the invention, the disconnection mechanism includes: (a) a fixed peripheral frame surrounding the base pad; and (b) a central piston configured to push the base pad distally—away from the direction of the robot's arm—or retract it proximally.

[0024] In one embodiment of the present invention, the side piston is selected from a linear piston, a rotary piston, a linear actuator or linear motor, a spring-retractable piston, or a pneumatic piston.

[0025] In one embodiment of the invention, the adhesion-based tool holder further includes a tape tensioning mechanism configured to tension a base pad on the tape portion.

[0026] In one embodiment of the invention, the tape tensioning mechanism includes a central piston configured to push the base pad distally, away from the direction of the robot arm on which the gripper is mounted.

[0027] In embodiments of the present invention, the central piston is a spring-retractable piston or a passive spring.

[0028] In one embodiment of the invention, the central piston is attached to a locking mechanism configured to lock the rotation of the supply shaft as the base pad is pushed toward the distal end.

[0029] In one embodiment of the invention, the adapter is configured to receive a controlled air supply and / or power from the robot's arm, and is further configured to deliver the air and / or power to components within the adhesion tool holder.

[0030] In one embodiment of the invention, the air and / or electricity are controlled by the robot's controller.

[0031] In one embodiment of the invention, the advancement of the tape is also used to disconnect an article attached to the tape.

[0032] The present invention also relates to a method for operating an adhesion-based robot controller, comprising: (a) providing an adhesion-based tool holder including a housing; (b) providing a base pad within the housing; (c) further providing a supply tape reel and a receiving tape reel within the housing; (d) mounting the supply tape reel and the receiving tape reel on each of the reels respectively, and positioning the adhesion tape such that it begins at the supply tape reel, passes under the base pad, and terminates at the receiving tape reel; (e) attaching the tool holder to a robot arm; (f) facing the arm toward an article, attaching a portion of the tape under the base pad to the article, lifting the article, positioning the article in a desired position, and releasing the article; and (g) advancing the tape to position a new portion of the tape under the base pad, and repeating the procedure from the guiding step.

[0033] In an embodiment of the invention, the method further includes replacing the tape supply reel when it reaches the end of the tape. Attached Figure Description

[0034] In the attached diagram:

[0035] Figure 1 shows the overall structure of an articulated robot commonly used in the prior art for gripping and lifting objects;

[0036] Figure 2 The robot shown in Figure 1 is attached to a tool changing device;

[0037] Figure 3 A set of clamping tools is shown on the tool rack;

[0038] Figure 4 This is a diagram showing a robot attached to a robotic tool;

[0039] Figure 5a A side view of the clamp is shown, along with the path of the continuous adhesive tape placed inside the clamp;

[0040] Figure 5b , 5e Figures 5 and 5 show various front perspective views of the gripper of the present invention;

[0041] Figure 5c The internal parts of the gripper are shown, while several components have been eliminated to achieve better visual clarity;

[0042] Figure 5d A bottom perspective view of the clamp of the present invention is shown;

[0043] Figure 5g , 5h Figure 5i shows the process of attaching a clamp to an item (in this case, a shoe);

[0044] Figure 6 The general procedure for operating the gripper of the present invention is shown in the form of a flowchart;

[0045] Figure 7 The overall structure of the clamp of the present invention is shown in block diagram form;

[0046] Figure 8 The general procedure for operating a robotic arm equipped with the gripper of the present invention is shown in the form of a flowchart;

[0047] Figure 9 The structure of a second embodiment of the gripper according to an embodiment of the present invention is generally shown;

[0048] Figure 10 The image shows several items successfully lifted by the gripper of the present invention;

[0049] Figures 11a-11f The image shows the gripper of the present invention being attached to the arm of a robot during testing and simultaneously lifting various types of items of varying weights and shapes.

[0050] Figure 12a and Figure 12bThe structure of the gripper of the present invention according to the third embodiment is shown in both the extended and retracted states;

[0051] Figure 12c and 12d The structures of the gripper of the present invention according to the third embodiment are shown respectively, which are in extended and retracted states, and include adhesive tape; and

[0052] Figure 12e This is a graph showing the current flowing through the motor of the clamp of the present invention as measured during testing. Detailed Implementation

[0053] Figure 1 illustrates the general structure (without gripper installed) of an articulated robot 100 typically used for gripping and lifting objects. The robot includes multiple arm sections 102 (three sections 102a-102c are shown as an example) and multiple rotary joints 104, each connecting two adjacent arm sections (three joints are shown as an example). Each joint is typically equipped with a controllable servo motor (not shown) configured to rotate one arm section 102 relative to its adjacent section. This common structure in Figure 1 gives the robot's arms six degrees of freedom (however, more or fewer degrees of freedom are also common). The robot 100 may include a single type (non-replaceable) gripper integrally connected to its arm. Alternatively, the robot may be connected to a tool (e.g., gripper) changer (hereinafter also referred to as a "gripper changer") to select the optimal gripper for performing the current specific gripping task. One or more imaging units (or other sensors) are typically mounted on the robot arm to provide the robot controller (not shown) with continuous images of the environment surrounding the product. Using images, the robot controller continuously determines and corrects its gripping orientation relative to the object being manipulated during robot operation. The robot controller uses servo motors and a gripper to manipulate the arm to grasp (via the gripper, not shown in Figure 1) the target object, lift it, and move it to the desired position. Various robot control algorithms are well-known and commonly used in robot controllers.

[0054] As described above, robot 100 may include a single (non-replaceable) gripper as an integral part of the arm, or be configured to connect (at the tip of the arm) to a tool changer for selecting the optimal gripper (or other tools beyond the scope of this invention) from a given set of gripping tools. The connection between the arm and the gripper is achieved via an adapter mounted on each tool. Figure 2 The robot 100 of Figure 1 is shown connected to the tool changer 110. (See Figure 1 for details.) Figure 3As shown, a set of gripping tools 112a-112c are positioned on the support 114. In this particular case, the gripper set 112a-1122c includes a vacuum gripper 112a, an adhesive-based gripper 112b of the present invention (discussed in detail below), and a finger-based gripper 112c. Other types of grippers (or tools) known in the art may also be included within assembly 112. Based on an analysis of the task and object characteristics (weight, shape, size, orientation, etc.) of a given robot, robot 100 is configured to autonomously select the most suitable gripping tool 112 from the given set of grippers and connect the selected tool to a gripper changer 110 located at the arm tip 106.

[0055] Although the finger gripper 112c ( Figure 3 While existing vacuum grippers 112a (with one or more vacuum cups at the end) can operate solely via electrical signals, they require an air (vacuum) supply. Various modifications have been made to the arm 102, robot controller, and gripper to support multi-gripper (optional) operation. For example, in a multi-gripper robot, the arm 102 and tool changer 110 include a first port for supplying electrical control signals from the arm to the tool changer 110 and a second air-type port for providing a vacuum. Some tools (e.g., finger gripper 112c) may only receive and use electrical signals. Other tools, such as the vacuum gripper 112a, include both vacuum and electrical signal ports. Regardless, the multi-gripper robot and its tool changer 110 are configured to support both air supply and electrical signal transmission from the arm to the tool changer and from the tool changer to the gripper tool. As described below, in some embodiments, the adhesive-based gripper of the present invention similarly utilizes both electrical and air-type ports for operation. Figure 4 A robot 100 is shown connected to a selected robotic tool 112.

[0056] Figures 5a to 5i The overall structure of the adhesive gripper of the present invention according to a first embodiment is shown. Figure 5a A side view of the clamp is shown, illustrating the path of the continuous adhesive tape installed within the clamp. 5b, 5e, and 5f show various front perspective views of the clamp. Figure 5c The internal structure of the gripper is shown, while several parts have been eliminated to achieve better visual clarity. Figure 5d A bottom perspective view of the gripper is shown. 5g, 5h, and 5i illustrate the process of attaching the gripper to an item (a shoe in this example).

[0057] The overall structure of the adhesive-based gripper 200 of the present invention is as follows: Figure 5a , 5b As shown in Figure 5c, the gripper includes a supply belt shaft 234 and a receiving belt shaft 236. Figure 5bEach of these two shafts is configured to receive (in the form of a rotational bobbin-axle lock) a tape bobbin 234a and a tape bobbin 236a, respectively. Initially, a new (supply) tape bobbin 236a is placed above the supply shaft 234, while an initially empty (receive) tape bobbin is placed above the receiving shaft 236. Starting with the supply tape bobbin 234a, as... Figure 5a As shown, the edge of tape 224 is pulled out and installed within the designated tape path, passing through the base pad 258. Figure 5c and 5d The tape then terminates at the receiving tape reel 236a. Along this tape path, the tape may pass through one or more freely rotating pulleys 270. Figure 5a This reduces friction to mitigate tape movement. As the tape is passed along pad 258, the tacky side of the tape faces down (outwards). The receiving shaft 236, driven by a servo motor 244, advances a segment of tape of length L (or longer) each time, where L is the length of pad 258 (e.g., ...). Figure 5d (As shown). The gripper side closer to the arm is called the "proximal end". The side farther from the arm is called the "distal end".

[0058] like Figure 5c As best seen, gear 228 is rigidly and coaxially attached to the side of supply shaft 234. Locking teeth 226a are part of a movable locking arm 226, configured to engage between the two teeth 228a of the gear when necessary, and when this engagement occurs, rotation of shaft 234 is prevented. More specifically, the locking arm moves between a locked (downward) state and an unlocked (upward) state; in the locked (downward) state, the locking arm prevents rotation of supply shaft 234, and in the unlocked (upward) state, supply shaft 234 rotates freely. A central piston 232 connected to the locking arm 226 allows the arm 226 to move between these two states. The central piston 232 is also attached to the base pad 258 to perform both functions simultaneously. In the (proximal) retracted state of piston 232, locking arm 226 is in its unlocked state, and base pad 258 is in its retracted state, as... Figure 5c As shown. Therefore, in the retracted state, the servo motor 244 can advance the tape 214; each advance refreshes the adhesion of the tape below the pad 258. In the (distal) extended state of the central piston 232, the piston pushes the locking arm 226 downward, thereby locking the supply shaft 234. At the same time, the central piston pushes the bottom pad 258 downward toward the tape 214 (as shown). Figure 5a This tensions the tape, causing it to tighten. The mechanism used to tension the tape, such as a central piston and pad, is called a "tensioning mechanism." Many other alternatives can be used to perform this function.

[0059] The clamp 200 also includes two side pistons, a left piston 246 and a right piston 248. The left piston 246 and right piston 248 are connected to the left and right sides of the outer frame 238 (as shown, the outer frame 238 preferably includes two upward extensions to which the pistons are connected). The two pistons are typically supplied with air simultaneously from the same air inlet (port). Figure 5c and 5d As shown, in the retracted state of the side pistons, frame 238 remains in its retracted state. When the gripper is in the active state, both side pistons are in their retracted state, causing the bottom pad and the top side of the tape 214 to contact. More specifically, during the active state, the gripper causes the bottom pad 258 to apply a downward force on the tape 214. When the tape contacts the article 264, it adheres to the article, as... Figure 5g As shown, it can be lifted and moved to the desired location.

[0060] The two side pistons are activated to their distal extended positions, thereby pushing the outer frame 238 downwards. Figure 5i As shown, the downward movement of the outer frame 258 pulls the base pad 258 and tape 214 away from the item 264, thereby disconnecting the item from the adhesive tape 214. After this disconnection (typically after bringing the item to the desired position), the two side pistons and the center piston can return to their retracted (proximal) state. The servo motor 244 can then advance the tape 214 again to provide a new portion of tape under the pad 258, thus preparing for the next item lifting by the gripper 200.

[0061] In summary, the gripper 200 of the present invention has three states, as follows:

[0062] In the initial state, the three pistons are in their retracted state, the supply shaft 234 is in the unlocked state, and the servo motor can refresh the adhesive portion of the tape 214 under the base pad.

[0063] In the active state, the central piston is in its distal extension position, pushing the base pad downward and locking the supply shaft 234. In this state, the gripper is ready to grip the item; and in the disconnected state, the two side pistons are in their distal extension positions, keeping the pad 258 and tape 214 at a distance from the attached item and disconnecting them.

[0064] Preferably, the three pistons are pneumatically operated via corresponding air inlets 216 and 218 located on the proximal side of the gripper. Figure 5fIn one embodiment, air for the central piston 232 is supplied via inlet 216. Air for the side pistons 246 and 248 is simultaneously supplied from inlet 218. Preferably, each piston includes a return spring that returns the piston to its retracted (proximal) state when the air pressure through the corresponding inlet stops. Furthermore, a single piston (instead of two separate pistons) can be used to drive the peripheral frame. Additionally, various pistons (besides air pistons) can be used. Typically, air from the arm to the gripper is supplied through holes 254a, 254b, ... 254n at adapter 242. Air from the adapter to the inlets is supplied through bridge pipes 265 and 267 (e.g., ...). Figure 11f As shown, bridge connectors 265 and 267 are bridged between adapter outlet 253 and air inlets 216 and 218, respectively. Other electrical signals from the arm to the gripper are provided via adapter 242 (Fig. (5b)).

[0065] As mentioned above, Figures 5a-5i The central piston has two states: a proximal (retracted) state, in which the pad is slightly away from the belt, and an extended (distal) state, in which the pad is pushed against the belt 214. The central piston may have a certain degree of "elasticity," allowing it to move slightly proximal when impacted with an object when in the extended state. This feature prevents the object from being crushed upon impact. In another embodiment, the central piston may be replaced by a passive spring. In this case, the spring keeps the pad in its distal position, while upon impact, the pad can push the spring proximal, thereby absorbing and reducing the impact with the object.

[0066] Electrical signals (e.g., activating servo motor 244) are supplied from the robot arm to the (typically standard) adapter 242 via a first connector 274a. A bridging wire then connects the first connector 274a and the second connector 274b (located on the gripper body) to direct the signals to the various components within the gripper 200. Alternatively, a single connector on the adapter 242 may suffice, with wires directly connecting the signals to the internal components. Due to the simple structure of the gripper of this invention, a controller is not required within the gripper. The gripper is entirely controlled by a robot controller (not shown).

[0067] Figures 5a to 5iAn example of the gripper of the present invention is shown, which operates using a continuous adhesive tape 214. Various adjustments and modifications can be made within the scope of the invention. For example, one or more linear motors or solenoids can be used instead of the piston. Furthermore, the central piston can be replaced by a spring. A rotary piston can replace a servo motor. Any mechanism configured to push an article away from the base pad (and the tape beneath it) can replace the outer frame. In one embodiment, a gear can be used between the outer frame and the central pad, thus allowing the pad or outer frame to be positioned further away at any given time.

[0068] Figure 6 A flowchart illustrates the general procedure 600 for operating the gripper 200 of the present invention. In the preparation phase 302, updated adhesive tape is placed under the pad 258 (using a servo motor 244). Next, in the activation phase 304, the central piston is activated to tension the tape 214. At this phase, the gripper is ready to attach (i.e., ready to clamp) to the target item. Once clamping occurs, the item is lifted and carried to the target location. The procedure then proceeds to the disconnect phase 306, where two side pistons 246 and 248 (towards the distal end) are activated to push the outer frame 238, thereby disconnecting the item. After the disconnect phase, the procedure typically returns to the preparation phase 302 (i.e., "1" in phase 308), where the tape under the pad 258 is refreshed. However, in some cases, when the adhesive layer on the tape 214 is strong enough, a single section of tape can be used several times (e.g., two or three times) before needing to be updated. In this case, the procedure can skip the preparation phase 302.

[0069] Figure 7 The overall structure 410 of the gripper of the present invention is shown in block diagram form. The gripper includes a tape feeding mechanism 402, a tape tensioning mechanism 404, and a tape disconnecting mechanism 406. All these mechanisms are contained within the housing of the gripper. They are controlled by a robot controller 408, which is typically located outside the gripper housing, for example, inside the robot's arm.

[0070] The belt feeding mechanism 402 typically includes a supply shaft 234 and a receiving shaft 236, as well as a servo motor 244. The belt tensioning mechanism 404 typically includes a central piston 232 and a base pad 258. The belt disconnecting mechanism 406 typically consists of two side pistons 246 and 248 and a peripheral (disconnecting) frame 238. The detailed structure of each of these mechanisms has been described above.

[0071] Figure 8 The general procedure 500 for operating a robotic arm equipped with the gripper 200 of the present invention is shown in flowchart form. Figure 5aAs shown, in feeding stage 502, a reel with adhesive tape is placed within the tape path. Next, in stage 504 (assuming the gripper has been mounted to the robot arm), the air and power supply from the arm to the gripper 200 is activated. In stage 506, the robot arm positions the gripper above the item, for example, 40 cm above the item's center of gravity. In stage 508, the tape is tensioned by activating the central piston 232. In stage 510, the arm is lowered so that the pad and tape 214 are attached to the item. In stage 512, the arm lifts the item (attached to the gripper 200) and places it in a target location, for example, inside an open box. In stage 514, a disconnect mechanism is activated (e.g., by supplying air pressure to the two side pistons 246 and 248) to release the item from the target location. The task is now complete. In stage 516, a signal is given to the servo motor to advance the tape 214. In stage 518, if the tape reel has reached its end (a suitable sensor detects a "Y" - not shown), the program returns to stage 502 for tape replacement and a new round of item handling (i.e., lifting and positioning). Otherwise, the servo motor advances the tape, and the procedure is repeated for new items starting in stage 504. Similarly, in some embodiments, tape advancement may be performed every few (e.g., one, two, etc.) particles in a lifting task.

[0072] Figure 9 The structure of a second embodiment 600 of the gripper of the present invention is generally shown. The structure of gripper 600 is somewhat similar to that of gripper 200. The gripper includes a supply tape reel 672 located on a supply shaft and a receiving tape reel 674 located on a receiving shaft. The two shafts (and their respective reels) are adjacent to each other. In addition, the gripper includes a peripheral frame 638, a bottom pad 658, a central piston 632, and a frame drive piston 648 for driving the peripheral frame 638.

[0073] Figures 12a to 12d The structure of the third embodiment 700 of the clamp of the present invention is shown in general. Figure 12a and 12b The structures of the clamp 700 in the extended and retracted states are shown respectively. Figure 12c and 12dThe structures of the gripper 700 in both extended and retracted states are also shown, however, the adhesive tape 714 is also included. The structure of the gripper 700 is similar to that of the gripper 200 of the first embodiment, and the same numbers represent the same parts. For the sake of brevity, only the differences between the two embodiments are described in detail here. The main differences between the two embodiments are: (a) while the gripper 200 includes a movable frame 238 (for disconnecting the product at the destination), the frame 738 of the gripper 700 is fixed; therefore, the two side pistons 246 and 248 are eliminated from the gripper 700, which includes only a single central piston; (b) in the gripper 200, the pad 258 remains stationary during the disconnection phase (only the frame 238 extends downward), while in the gripper 700, the piston retracts during the disconnection phase, thereby lifting the pad 758 within the housing of the gripper 700.

[0074] The operation of the gripper 700 will now be described in more detail. (a) Initially, the piston 732 is in its retracted state, as... Figure 12d As shown; (b) the motor 744 rotates counterclockwise, thereby "collecting" a sufficient length of replacement tape 714 onto the reel 744a; (c) the motor 744 then rotates clockwise, causing the tape to "descend," thereby releasing contact with the pad 758; (d) next, the piston 732 moves downward to its extended state, causing the gripper to enter its operating state, while the pad 758 and tape 714... Figure 12c As shown, in this state, the gripper is ready to adhere to the product. The robot uses the adhesive force of the tape on portion 758 of the pad to "grip" the product and move it to its destination; (e) next, piston 732 moves to its retracted state, as shown. Figure 12d As shown. Tape 714 is not necessarily separated from the product yet (i.e., it remains downward); (f) Next, motor 744 “pulls” tape 714, bringing it to the state of tape and pad shown in Figure 758. This pulling action first separates tape 714 from the product. Then, motor 744 may optionally continue to pull tape 714 out of reel 734a to obtain the adhesive tape “renewal” portion below pad 758; and (f). For new products, this operation is repeated starting from step (c).

[0075] The clamp can use an ammeter connected in series with the motor 744 to sense various states of the tape 734. Figure 12e The ammeter measurement results are shown. At point 757, motor 744 begins to pull the conveyor belt ( Figure 12c (Rotate counterclockwise). Level 763 indicates the location where separation from the product occurs (this level can be determined using empirical testing). Area 759 is where the current drops, indicating tape release. Figure 12c (Rotate clockwise). Finally, area 765 is the area where the motor is not in motion.

[0076] Fourth Embodiment: The gripper described in the first and second embodiments includes a release (disconnection) mechanism for releasing the item from the tape upon reaching its destination. For example, in the first embodiment, this mechanism includes a peripheral frame 238 and two side pistons 246 and 248. According to the fourth embodiment, the gripper does not have a dedicated release mechanism. When it is necessary to release the item, it can be done in one of the following ways: (a) manipulating the arm and causing the gripper and the attached item to impact another rigid object (e.g., a box, a tabletop, etc.). If operated properly, this impact will disengage the item; and (b) advancing the tape via a servo motor 244. The forward movement of the tape releases the attached item. The latter method is somewhat wasteful in terms of tape material, as it requires releasing and renewing the tape with each robot operation.

[0077] Fifth embodiment: The gripper may include two servo motors. After the first motor operates and the entire length of the tape is used up, the tape's feed direction is reversed by turning off the first motor and starting the second servo motor, thus advancing the tape. In this structure and operation, the functions of the collecting reel and the feeding reel are alternated.

[0078] Sixth embodiment: The clamp may include an adhesive container, which can be used to restore the adhesiveness of the tape when necessary. When the tape needs to be replaced, the tape is continuously immersed in the adhesive. The clamp structure may include two motors as in the fifth embodiment.

[0079] The entire robot system may include several well-known subsystems that are not within the scope of this invention, such as:

[0080] a. A subsystem for selecting the most suitable gripper for a given item;

[0081] b. A subsystem for detecting the optimal engagement position between the gripper and the item;

[0082] c. Optionally, a subsystem for determining the placement of items within a given box (which may itself be able to hold multiple items);

[0083] d. A subsystem for operating the adhesive tape holder of the present invention;

[0084] e. etc.

[0085] Example

[0086] The inventors based on the above structure (especially) Figures 5a-5i A gripper was constructed. A robot arm manufactured by ABB, model IRB-1200-07-7, was used. The gripper includes the following components:

[0087] The 6V, 20W servo motor, model SPT5525LV, is manufactured by KGDigitalServo25.

[0088] Small pneumatic center piston, model N1A16B1014, diameter 14 mm;

[0089] Two side-mounted pneumatic pistons, model N1A12A04016, with a diameter of 16 mm;

[0090] Use tape with a width of 50mm and a length of 12.50m, and a base pad with a length of 25mm;

[0091] Two types of tape are used: (a) transparent tape manufactured by Gorilla, and gold tape manufactured by Golden Tape. One roll of tape (12.50 meters) is sufficient for approximately 1000 lifts and drops (depending on the frequency of tape advance).

[0092] A pressure of 5 Bar is supplied from the arm to the adapter;

[0093] Figure 10 The image shows several items successfully lifted by the gripper of this invention. It can successfully lift items weighing up to 2 kg (depending on the material of the item). Several interesting items successfully lifted include: cleaning (scrubbing) scouring pads, fabric items, and items with complex geometries, such as vegetable peelers, garlic crushers, and traditional cardboard boxes. The success rate in the experiments exceeded 90%.

[0094] Figures 11a to 11f The operation of the gripper of the present invention when lifting various items is shown.

[0095] Although some embodiments of the invention have been described by way of example, it will be apparent that the invention can be practiced with many modifications, variations and adjustments, as well as with many equivalent or alternative solutions available to those skilled in the art, without departing from the teachings of the invention or beyond the scope of the claims.

Claims

1. An adhesion-based tool gripper for a robot, comprising: (a) a supply shaft configured to mount a supply reel of adhesive tape; (b) a receiving shaft, the receiving shaft being configured to mount a tape receiving reel; (c) bottom pad; (d) the tape path within the tool holder begins at the supply reel, passes under the base pad with the sticky side of the tape facing downward, and terminates at the take-up reel; (e) A tape advancing mechanism configured to advance the tape to thereby renew the portion of the tape beneath the base pad. 2 . The tool holder of claim 1 , further comprising a disconnect mechanism configured to push an item attached to the tape portion off the base pad.

3. The tool holder of claim 1 further comprising a locking mechanism for the receiving shaft.

4. The tool holder of claim 1 further comprising a locking mechanism for the receiving shaft and the supply shaft.

5. The tool holder of claim 1, further comprising an adapter configured to attach to a robotic arm.

6. The tool holder of claim 1, wherein the tape advancement mechanism is selected from a servo motor or a rotary piston.

7. The tool holder of claim 2, wherein the disconnect mechanism comprises: (a) a removable peripheral frame surrounding the base pad; as well as (b) one or more side pistons configured to push the peripheral frame distally - in a direction away from the robot's arm, or to retract the base pad proximally.

8. The tool holder of claim 2, wherein the disconnect mechanism comprises: (c) a fixed peripheral frame surrounding the base pad; and (d) a central piston configured to push the base pad distally - in a direction away from the arm of the robot, or to retract the base pad proximally.

9. The tool holder of claim 7, wherein the side piston is selected from a linear piston, a rotary piston, a linear actuator or a linear motor, a spring retracted piston, or a pneumatic piston.

10. The tool holder of claim 1, further comprising a tape tensioning mechanism configured to tension the base pad onto the tape portion.

11. The tool holder of claim 10, wherein the tape tensioning mechanism includes a central piston configured to push the base pad distally in a direction away from an arm of a robot to which the holder is mounted.

12. The tool holder of claim 10, wherein the central piston is a spring retract piston, or a passive spring.

13. The tool holder of claim 11, wherein the central piston is attached to a locking mechanism configured to lock rotation of the feed shaft while the base pad is urged toward the distal end.

14. The tool holder of claim 5, wherein the adapter is configured to receive a controlled supply of air and / or power from an arm of a robot and is further configured to deliver the air and / or power to components within the adhesive tool holder.

15. The tool holder of claim 14, wherein the air and / or electric power is controlled by a controller of the robot.

16. The tool holder of claim 1, wherein said advancement of said tape is also used to sever items attached to said tape.

17. A method for operating an adhesion-based robot controller, comprising: (a) providing an adhesion-based tool holder including a housing; (b) providing a base pad within the housing; (c) further, providing a supply tape shaft and a receiving tape shaft in the housing; (d) mounting a supply tape shaft and a receiving tape shaft on each of the shafts, respectively, and positioning the adhesive tape so that it begins at the supply tape shaft, passes under the base pad, and terminates at the receiving tape shaft; (e) connecting the tool holder to the arm of the robot; (f) directing the arm toward the object, attaching the portion of the tape below the base pad to the object, lifting the object, positioning the object in a desired position, and releasing the object; and (g) Advancing the tape to position a new tape portion beneath the base pad and repeating the procedure from the introduction step.

18. The method of claim 17, further comprising replacing the supply tape spool when the end of the tape is reached.

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