Single piece gripper system for handling objects and robotic system

Abstract

This application discloses a single-piece gripper system (200) for handling objects, including a gripper assembly (210) and a servo control unit / controller (275). The gripper assembly (210) includes a gripper unit (240) having at least one set of parallel and opposing adaptive gripping fingers (245) and a pusher unit (250) having a plate (255). The servo control unit / controller (275) communicates operationally with a servo motor (270) and is configured to synchronously control the movement of the adaptive gripping fingers (245) and the pusher unit (250) with the plate (255) to grip and handle the placement of objects. The servo control unit / controller (275), together with the single-piece gripper system (200), communicates operationally with a robot system (300) and is configured to place an object (310) into or remove an object (310) from an object management system (302) in a manner that changes the placement plane of the object (310).

Description

Technical Field

[0001] This application relates to a single-piece gripper system and a robotic system for handling objects. The robotic system, together with the single-piece gripper system, performs a series of sequential operations to place objects gripped from an input object container into a feeder of a single unit of an object management system, thereby causing a change in the object placement plane. Background Technology

[0002] Typically, object management systems are used to verify and sort objects. (Reference) Figure 1 The diagram illustrates a conventional object management system (100) comprising a conventional single-piece unit (105) with built-in sensors and adjustable baffles, and a rejected object unit (104). The single-piece unit (105) may be located at a predetermined angle within the object management system (100). An object (102) may be located in an input object container (106), while a rejected object (108b) may be located in an output rejected object container (108a). The desired operation is to load the object (102) into the single-piece unit (105) so that the object management system (100) can verify and sort the object (102) for further processing, or reject the object (102) to the rejected object unit (104).

[0003] Traditionally, objects (102) need to be manually loaded (110) into a single-piece unit (105) and manually unloaded from a rejected object unit (104). However, this manual operation has significant inherent limitations. Manual object loading (110) is relatively laborious, time-consuming, and inefficient. Therefore, to overcome the limitations of manual object loading (110), a robotic system with a gripper object loading assembly (120) has emerged. The gripper object loading assembly (120) has gripping fingers that can be configured to grip a predetermined number of objects (102) located in an input object container (106) from the top and load the objects (102) into the single-piece unit (105). Furthermore, the gripper object loading assembly (120) can also be configured to grip a predetermined number of rejected objects (114) from the rejected object unit (104) and unload the rejected objects (114) into an output rejected object container (112). Typically, in continuous single-item sorting operations, it is desirable to maintain the first set of individual grasped objects (102) placed in the single-item unit (105) and the second set of individual grasped objects (102) stacked on top of the first set of individual grasped objects (102) in a continuous form, as an uninterrupted operation. Furthermore, it is also desirable to grasp the stack of rejected objects (114) in the rejected object unit (104) according to the required capacity and place them into the rejected object container (112).

[0004] However, this conventional robotic system equipped with a gripper object loading assembly (120) also has significant limitations. The main problem is that this type of conventional robotic system equipped with a gripper object loading assembly (120) faces challenges and fails to meet the requirements of continuous sorting and rejection handling operations. Conventional robotic systems equipped with gripper object loading assemblies (120) are limited in how they approach, grasp, and release piles of objects (102) into the unit cell (105). Due to limitations in the shape, size, configuration, and angular position of the unit cell (105), it is challenging to place piles of objects (102), especially those made of soft, non-rigid, or low-friction materials, without disrupting their orderly arrangement, and it is impossible to load the objects (102) into the object management system (100) without causing misalignment. Furthermore, in conventional robotic systems with gripper object loading assemblies (120), potential variations in the quantity, quality, and category of a predetermined number of objects (102) can affect the stacking behavior of the gripper object loading assembly (120), failing to provide consistent and reliable continuous sorting performance. Conventional gripper object loading assemblies (120) cannot accurately grasp objects (102) based on the aforementioned differences and do not cause interference to the unit (105). The gravitational influence on individual objects (102) in the stack can also impose additional limitations. The gripper object loading assembly (120) cannot manage the gravity acting on the objects (102), maintain their neat arrangement, and prevent redundant movement during single processing. Moreover, in conventional gripper object loading assemblies (120), the gripper's fingers remain below the objects, resulting in misalignment when unloading the objects (102) into the unit (105).

[0005] Therefore, there is a need to provide a single-piece gripper system and a robotic system to overcome one or more of the above problems and to safely handle objects when loading them within an object management system without causing damage or misalignment. Summary of the Invention

[0006] One embodiment of this application discloses a single-piece gripper system for handling objects, including a gripper assembly having a near rear end and a far front end. The gripper assembly includes: a gripper unit having at least one set of parallel and opposing adaptive gripping fingers connected to the far front end of the gripper assembly; a pusher unit having a plate perpendicularly connected to the adaptive gripping fingers along an object insertion direction; a servo motor communicatively connected to the gripper unit and the pusher unit; and a servo control unit operatively communicating with the servo motor, the servo control unit being configured to synchronously control the movement of the adaptive gripping fingers and the pusher unit having the plate, thereby gripping and handling the placement of the object by actuating the pusher unit in a stacking direction parallel to the thrust with a gripping force perpendicular to the adaptive gripping fingers or a thrust along the Z-axis (ZZ), while the adaptive gripping fingers release the object.

[0007] Another embodiment of this application discloses a robot system for handling objects, comprising: a base; a first vertical connecting arm connected to the base; a second horizontal connecting arm connected to the first vertical connecting arm; a single-piece gripper system connected to the second horizontal connecting arm; and a servo control unit that operates in communication with the single-piece gripper system and is configured to place objects into or retrieve objects from the object management system. Attached Figure Description

[0008] The above and other aspects, features, and advantages of certain exemplary embodiments of this application will become more apparent from the following description taken in conjunction with the accompanying drawings, wherein:

[0009] Figure 1 A block diagram representing a conventional object management system is shown, which employs manual object loading or a conventional gripper object loading assembly;

[0010] Figure 2 An isometric projection view of a single-piece gripper system for handling objects according to an exemplary aspect of this application is shown.

[0011] Figure 3 A block diagram illustrating a single-piece gripper system for processing objects, according to an exemplary embodiment of this application, is shown.

[0012] Figure 4 A block diagram of a robotic system for handling objects, according to another exemplary aspect of this application, is shown.

[0013] Figure 5A and 5B An isometric projection view of a robot system in a first operating sequence at first and second positions according to an exemplary embodiment of this application is shown.

[0014] Figure 6A , 6B Figures 6 and 6C show isometric projection views of the robot system in the third, fourth, and fifth positions in a second operating sequence according to an exemplary embodiment of the present application;

[0015] Figure 7 An isometric projection view of a robot system in the sixth position in a third operating sequence, according to an exemplary embodiment of this application, is shown.

[0016] Figure 8A , 8B Figures 8C and 8D show isometric projection views of a robot system according to an exemplary embodiment of the present application in the seventh and eighth positions in a fourth operating sequence.

[0017] Figure 9 An exemplary embodiment of this application is shown, illustrating a method for processing an object.

[0018] Those skilled in the art will understand that the elements in the accompanying drawings are shown for simplicity and clarity and may not be drawn to scale. For example, the dimensions of some elements may be enlarged relative to other elements to aid in understanding the various exemplary embodiments of this disclosure. Throughout the drawings, it should be noted that reference numerals are used to denote the same or similar elements, features, and structures. Detailed Implementation

[0019] While this application may have many different embodiments, a preferred embodiment is shown in the accompanying drawings and will be described in detail herein. It should be understood that this disclosure should be considered as an illustrative example of the principles of this application and is not intended to limit the broad aspects of this application to the illustrated embodiment. Other aspects, advantages, and salient features of this application will be shown to those skilled in the art through the following detailed description taken in conjunction with the accompanying drawings, which disclose exemplary embodiments of this application. Embodiments of this disclosure will now be described with reference to the accompanying drawings. These embodiments are provided to fully and completely convey the scope of this disclosure to those skilled in the art. To provide a comprehensive understanding of embodiments of this disclosure, numerous details relating to specific components are set forth. Those skilled in the art will readily recognize that these details provided in the embodiments should not be construed as limiting the scope of this disclosure. In some embodiments, well-known processes, equipment structures, and techniques are not described in detail.

[0020] In general, this application discloses a single-piece gripper system for handling objects, the system including a gripper assembly and a servo control unit. The gripper assembly includes: a gripper unit having at least one set of parallel and opposing adaptive gripping fingers, a pusher unit having a plate, and a servo motor communicatively connected to the gripper unit and the pusher unit. The servo control unit operatively communicates with the servo motor and is configured to synchronously control the movement of the adaptive gripping fingers and the pusher unit with the plate, thereby gripping and handling the placement of objects. The servo control unit, along with the single-piece gripper system, operatively communicates with a robot system and is configured to place or remove objects from an object management system when the object placement plane changes.

[0021] In an exemplary embodiment of this application, the adaptive gripper assembly can be configured to adjust at least one set of parallel and opposing adaptive gripping fingers according to the shape, size, and quantity of the objects being processed. These objects may have different categories and types, and their sizes, textures, and surface characteristics may vary. An intelligent servo control system connected to the adaptive gripper assembly can adjust the gripping force and processing parameters according to the characteristics of each category or type, ensuring reliable processing regardless of variations. For objects with different thicknesses, hardness, or states, and when processing different quantities of stacked or piled objects, the gripper assembly ensures a firm grip without damaging the objects. In an exemplary embodiment of this application, synchronous movement refers to the coordinated movement of multiple components in the system. In this case, a pusher unit with a plate and at least one set of parallel and opposing adaptive gripping fingers can move smoothly and precisely together to process and place objects, avoiding damage or misalignment. Objects can be placed at angles not perpendicular to the horizontal plane, such as acute angles. The single-item gripper system of this application can effectively, reliably, and accurately place objects, ensuring the accuracy of stacking or sorting and efficient operation to maintain productivity. The gripper assembly operates gently when handling objects to avoid damage. In an exemplary embodiment, the single-piece gripper system of this application can be configured to provide flexibility in object placement. With the ability to adjust to different planes and orientations, the single-piece gripper system can meet various requirements for object placement, whether vertically stacked, laid flat, or arranged in a specific configuration. The single-piece gripper system is an adaptable and reliable object handling system capable of efficiently handling variations in quantity, quality, category, and placement requirements. This not only improves operational efficiency but also reduces the risk of errors and object damage, ultimately enhancing the overall performance of the automated processing. In an exemplary embodiment, the single-piece gripper system of this application can be easily manufactured using a Computer Numerical Control Machine (CNC machine). The single-piece gripper system requires no special operating skills. The design and structure of all components are based on existing general-purpose manufacturing resources. According to an exemplary embodiment, the objects involved in this application include, but are not limited to, banknotes. This application employs electrical connections, processors, command control, etc., commonly found in servo motion motors and servo control systems; similar descriptions well-known in the art are omitted here. For example, the gripper system and robot system of this application can be used in banknote management applications, where the objects are stacks of packaged or unpackaged banknotes, and the object management system can be a banknote management system. The gripper system of this application can be used to convey loose banknotes from banknote containers for sorting, and further collect rejected banknotes, placing them into another rejected banknote container. This application has particular advantages in handling materials and objects including banknotes, paper-like materials, or soft materials.

[0022] According to the technical solution of this application, compared with traditional gripper systems and robots that handle objects in an object management system, this application can easily load objects from containers into the feeder of a single unit in the object management system without any misalignment or damage to the objects, thereby effectively saving operation time and reducing related power and maintenance costs. Therefore, the single-piece gripper system and robot system of this application have high reliability and economic benefits in terms of electrical control and communication.

[0023] The terminology used in this disclosure is for illustrative purposes only and should not be construed as limiting the scope of the disclosure. The use of expressions such as “at least” or “at least one” implies the use of one or more elements, components, or quantities, as such use may achieve one or more desired objectives or results in the embodiments of this disclosure. Forms such as “a” and “the” used in this disclosure are also intended to include multiple instances unless the context explicitly indicates otherwise. The terms “comprising,” “including,” and “having” are open-ended transitional phrases, thus indicating the presence of the stated elements, units, and / or components, but not excluding the presence of one or more other elements, components, and / or combinations thereof.

[0024] The terms and words used in the following description and claims are not limited to their dictionary meanings, but are used by the inventors solely for a clear and consistent understanding of this application. Therefore, those skilled in the art will understand that the following description of exemplary embodiments of this application is for illustrative purposes only and is not intended to limit the invention as defined by the appended claims and their equivalents. Therefore, those skilled in the art will understand that the following description of single-piece gripper systems and robotic systems for handling objects is for ease of understanding only and is not intended to limit this application. Those skilled in the art can design gripper systems, gripper units, robots, electrical connections, communications, etc., of various structures and shapes, which, while not explicitly described herein, embody the principles of this application. All terms and expressions in the description are for comprehension only and are not intended to limit this application. Terms such as multiple, first, second, third, fourth, fifth, sixth, seventh, eighth, rotation, tilt, vertical, parallel, angle, degree of freedom, first, second, third, fourth order, inward, outward, etc., are used to distinguish objects having the same term and are not intended to indicate chronological order, unless otherwise expressly stated. Furthermore, the principles, aspects, embodiments, and specific examples of this application set forth herein are intended to cover their equivalents. Therefore, while structures of single-piece gripper systems and robot systems having desired configurations, shapes, diameters, angles, tilts, mounting surfaces, mounting structures, manufacturing processes, degrees, and dimensions have been disclosed, these are not intended to limit this application but rather to facilitate understanding of it. Those skilled in the art will understand that various changes and modifications can be made to embodiments manufactured using other design parameters and configurations, and not limited to the above descriptions, depending on operational requirements, and that such changes and modifications can be implemented by making necessary alterations without departing from the scope of this application.

[0025] Figures 2 to 9The system showcases a single-piece gripper system (200), a gripper assembly (210), a near-rear end (212), a far-front end (214), a gripper mounting plate (220), a gripper mounting flange (230), a gripper unit (240), a closed end (244), at least one set of parallel and opposing adaptive gripping fingers (245), a gripping finger retainer (246), a pusher unit (250), a plate (255), multiple sensors (260), a servo motor (270), a servo control unit / controller (275), a robot system (300), an object management system (302), and a single-piece unit (304). The system includes a rejected object unit (306), an object (310), an input object container (312), an output rejected object container (314), a rejected object (315), a base (320), a first vertical connecting arm (330), a second horizontal connecting arm (340), at least a portion of the second horizontal connecting arm (345), a predetermined first position (350), a predetermined intermediate position (355), a predetermined second position (360), an operation sequence (S1-S4), a position (P1-P8), an X-axis (X1-X1, X2-X2), a Y-axis (YY), a Z-axis (ZZ), an observer direction (OBD), and a method (400).

[0026] The single-piece gripper system (200) and the robot system (300) will be described in detail here. (Refer to...) Figure 2 According to a first exemplary aspect of this application, a single-piece gripper system (200) is shown, having a gripper assembly (210) connected to a servo control unit for efficient and precise object handling. Figure 2As shown, the gripper assembly (210) has a proximal rear end (212) and a distal front end (214). The gripper assembly (210) includes a gripper unit (240) having at least one set of parallel and opposing adaptive gripping fingers (245) connected to the distal front end (214) of the gripper assembly (210) via gripping finger retainers (246). The gripper assembly (210) also includes a pusher unit (250) having a plate (255) perpendicularly connected to the at least one set of parallel and opposing adaptive gripping fingers (245) along the object insertion direction. The pusher unit (250) with the plate (255) may be located at the closed end (244) of the gripping cavity formed between the at least one set of parallel and opposing adaptive gripping fingers (245). The pusher unit (250) with plate (255) is not integrated with the at least one set of parallel and opposing adaptive gripping fingers (245), but is configured to slide and pass through the gap between the at least one set of parallel and opposing adaptive gripping fingers (245) to contact and push an object. The gripper assembly (210) also includes a servo motor (270) communicatively connected to the gripper unit (240) and the pusher unit (250). The gripper assembly (210) includes a gripper mounting plate (220) and a gripper mounting flange (230) connected near the rear end (212), and the pusher unit (250) is connected to the gripper mounting flange (230). The electric servo motor (270) can be connected to the at least one set of electrically operated parallel and opposing adaptive gripping fingers (245) to open and close the at least one set of parallel and opposing adaptive gripping fingers (245) to securely grip an object. When releasing an object, the gripper unit (240) can tilt along the Z-axis (ZZ). When releasing an object, the at least one set of parallel and opposite adaptive gripping fingers (245) and the pusher unit (250) with a plate (255) move in opposite directions.

[0027] refer to Figure 3 A block diagram of a single-item gripper system (200) according to an exemplary embodiment of this application is shown. Figure 3As can be seen, the gripper assembly (210) can be optimized by at least one set of parallel and opposing adaptive gripping fingers (245) of the gripper unit (240). The gripper assembly (210) can be configured with a pusher unit (250) having a plate (255). The gripper assembly (210), the gripper unit (240), and the at least one set of parallel and opposing adaptive gripping fingers (245) and the pusher unit (250) with the plate (255) can be connected to multiple sensors (260), including but not limited to pressure sensors, force sensors, or proximity sensors. The sensors (260) can be configured to connect to an intelligent servo control system with a controller (275) to provide real-time feedback to the control system (275) on gripping force, position, and object condition. Real-time feedback from the sensor (260) helps adjust the movement of the gripper assembly (210), and accordingly adjusts the gripping force of the at least one set of parallel and opposing adaptive gripping fingers (245) to ensure gentle handling and prevent damage to the object from excessive force. The gripper unit (240) can be connected to pneumatic devices and multiple solenoid valves, which are communicatively connected to a control system / controller (275) to initiate the pressure supply required to grip and release / release the object. The combination of the at least one set of electrically operated parallel and opposing adaptive gripping fingers (245) with a pusher unit (250) having a plate (255) can effectively control the vertical movement of the object along the Z-axis in difficult situations, saving time and cost without causing misalignment or damage. The pusher unit (250) with plate (255) can be connected to a set of servo-driven electric actuators. Since the set of servo-driven electric actuators can control the movement of the pusher unit (250) with plate (255) along the Z-axis inclined plane, it can operate precisely to ensure synchronous movement with the at least one set of parallel and opposite adaptive gripping fingers (245), thereby accurately and efficiently realizing the specific object placement idea. The servo control unit has a controller (275) that communicates with the servo motor (270) and is configured to synchronously control the movement of the at least one set of parallel and opposite adaptive gripping fingers (245) and the pusher unit (250) with a plate (255). The pusher unit (250) is actuated with a gripping force perpendicular to the at least one set of parallel and opposite adaptive gripping fingers (245) or a thrust along the Z-axis (ZZ) to push the object in a stacking direction parallel to or at an acute angle to the thrust, while the at least one set of parallel and opposite adaptive gripping fingers (245) releases the object, thereby gripping and handling the placement of the object.The servo control unit with controller (275) is configured to actuate at least the actuator of the actuator unit (250) based on feedback obtained from at least one sensor that communicates with the gripper unit (240) and the pusher unit (250) to push the plate (255) and / or adjust the pressure that actuates the at least one set of parallel and opposite adaptive gripping fingers (245) to move inward and outward, in order to grip / release an object.

[0028] Reference Figure 4 According to an exemplary second aspect of this application, a block diagram of a robotic system (300) for placing or retrieving objects into or from an object management system (302) is shown. The robotic system (300) may include a gripper assembly (210) having at least a set of parallel and opposing adaptive gripping fingers (245) and a single-piece gripper system (200) having a pusher unit (250) having a plate (255), and a servo control unit having a controller (275) connected to a servo motor (270), actuators, and sensors for moving objects (310) into or from the object management system (302). The object management system (302) may include a single-piece unit (304) and a rejected object unit (306). A robotic arm may pick up an object (310) from an input object container (312) and place the object into a feeder in the single-piece unit (304). The robotic arm can also collect rejected objects (315) from the rejected cabinet / rejected object unit (306) and place them into the output rejected object container (314). A pusher unit (250) with a plate (255) can be disposed between the closed ends or inner ends of the gripping cavities of the at least one set of parallel and opposite adaptive gripping fingers (245) and configured to apply a thrust along the direction perpendicular to the gripping force of the at least one set of parallel and opposite adaptive gripping fingers (245) or along the insertion direction of the object (310). The intelligent servo control unit / controller (275) is configured to release the force on the at least one set of parallel and opposite adaptive gripping fingers (245) during synchronous movement, while the pusher unit (250) with a plate (255) is configured to move a stack of objects (310) along an inclined plane, for example, along the Z-axis (ZZ), into the feeder of the single-piece unit (304) to stabilize the system (300) and facilitate the removal of objects (310) from the at least one set of parallel and opposite adaptive gripping fingers (245).

[0029] According to an exemplary embodiment, a servo control unit / controller (275) may be configured to control the movement of a gripping finger (245) and a pusher unit (250), such that the pusher unit (250) applies a thrust to an object along an inclined plane, for example, along the Z-axis (ZZ), while the gripping finger (245) releases the object (310), the two actions being synchronized or at the same speed. In this way, a stack of objects (310) can be safely placed into the feeder in a stacking direction parallel to the thrust. The pusher unit (250) with the plate (255) begins to push the objects (310), and the robotic arm is configured to retract at least one set of parallel and opposing adaptive gripping fingers (245) at the same speed, thereby ensuring that the stack of objects (310) does not move or fall. The pusher unit (250) with the plate (255) moves the objects downwards to precisely place them in the desired position. The single-piece gripper system (200) of this application can be configured to provide precise control over the movement of the gripper assembly (210), the at least one set of parallel and opposing adaptive gripping fingers (245), and the pusher unit (250) with a plate (255), enabling accurate placement of objects even in different directions from vertical to horizontal and under the influence of gravity. The gripper assembly (210) can be configured to neatly arrange stacks of objects (310) into the feeder of the single-piece unit (304) of the object management system (302) without disrupting the neat arrangement of the objects (310). Once the objects (310) are neatly arranged into the feeder of the unit (304), the at least one set of parallel and opposing adaptive gripping fingers (245) first open their grippers to release the gripping force, and then the pusher unit (250) with the plate (255) begins to apply a thrust to the objects (310) along an inclined plane, for example, the Z-axis (ZZ), while the at least one set of parallel and opposing adaptive gripping fingers (245) are safely retracted to properly position the objects (310). This ensures that the stack of objects (310) can be safely removed from the at least one set of parallel and opposing adaptive gripping fingers (245), treating the objects (310) as static objects in the air, and removing the physical gripper body.

[0030] In an exemplary embodiment of this application, the single-piece gripper system (200) may be equipped with sensors (260) to achieve a solution for intelligent operation, long lifespan, and maintenance-free operation. A gripper assembly (210) having at least one set of parallel and opposing adaptive gripping fingers (245) and a actuator unit (250) having a plate (255) may be controlled by the same servo control unit / controller (275), with servo motors (270), actuators, and sensors (260) connected thereto for synchronized operation. The servo control unit / controller (275) and the motors (270) may be configured / controlled to apply different degrees of force. The actuator unit (250) having the plate (255) is not fully integrated with the at least one set of parallel and opposing adaptive gripping fingers (245). The at least one set of parallel and opposing adaptive gripping fingers (245) of this application supports the placement of an object (310) differently from conventional grippers. The at least one set of parallel and opposing adaptive gripping fingers (245) ensures that interference caused by the gripping fingers is avoided when placing the object (310). In this application, the synchronous operation includes the movement of the gripper assembly (210), the gripping of the object (310) by the at least one set of parallel and opposing adaptive gripping fingers (245), and the pushing of the object along an inclined plane, for example, the Z-axis (ZZ), by a pusher unit (250) with a plate (255), while placing the object (310) in a single-piece unit (304) based on feedback from a servo control unit / controller (275), which is configured to apply pressure when releasing the at least one set of parallel and opposing adaptive gripping fingers (245).

[0031] Figure 5A and 5B An isometric projection view of a robot system (300) according to an exemplary embodiment of this application in a first operation sequence (S1) at first and second positions (P1, P2) is shown. Figure 5A As shown, the robot system (300) is configurable to include a first vertical connecting arm (330) connected to a base (320) and a second horizontal connecting arm (340) connected to the first vertical connecting arm (330). A single-piece gripper system (200) can be vertically connected to the second horizontal connecting arm (340). A servo control unit / controller (275) communicates operationally with the single-piece gripper system (200) and is configured to place or remove an object (310) from or from the object management system (302). Figure 4 as well as Figure 5A and Figures 5B to 8A-8D, In an exemplary embodiment of this application, a robot system (300) having a single-piece gripper system (200) can move / rotate around multiple positions (P1-P8) in a series of consecutive sequential operations (S1-S4) to neatly arrange / place a stack of objects (310) gripped from an input object container (312) into the feeder of a single-piece unit (304) of an object management system (302) without disturbing the neat arrangement of the objects (310) and to facilitate the change of the object (310) placement plane from a predetermined first position (350) on a horizontal plane along the X-axis (X1-X1), to a predetermined intermediate position (355) on an arcuate trajectory on a vertical plane along the Y-axis (YY), and then to a predetermined second position (360) on a horizontal plane along the X-axis (X2-X2) or an inclined plane along the Z-axis (ZZ). The X-axis (X1-X1) is defined as the observer direction (OBD), and the Y-axis (YY) is defined as perpendicular to the X-axis (X1-X1). The Z-axis (ZZ) is defined as tilted to the Y-axis (YY) or in the direction of the actuator unit (250).

[0032] Reference Figure 5A According to an example embodiment, in the first operation sequence (S1), a robot system (300) having a single-piece gripper system (200) may be positioned on a base (320) and perpendicular to the X-axis (X1-X1) of the observer direction (OBD). Now, referring to Figure 5B In the second position (P2), the first vertical connecting arm (330) and the second horizontal connecting arm (340) of the robot system (300) can be configured to move along forward and downward degrees of freedom, while the single-piece gripper system (200) can be configured to descend along the Y-axis (YY) to a vertical plane to grip an object (310) located on a horizontal plane along the X-axis (X1-X1) at a predetermined first position (350). In an exemplary embodiment of this application, in order to grip the object, at least one set of parallel and opposing adaptive gripping fingers (245) of the single-piece gripper system (200) can be configured to move inward toward the object (310) and apply the required pressure to grip the object (310). After grasping the object (310), the robot system (300) with the single-piece gripper system (200) in the second position (P2) is configured to move backward and upward in the vertical plane along the Y-axis (YY), while the first vertical connecting arm (330) and the second horizontal connecting arm (340) of the robot system (300) are configured to move backward and upward to the first position (P1) of the robot system (300).

[0033] Figure 6A , 6BFigures 6C and 6C show isometric projection views of a robot system (300) according to an exemplary embodiment of this application in a second operating sequence (S2) at the third, fourth, and fifth positions (P3, P4, P5). Figure 6A As shown, in the second operation sequence (S2), when the first vertical connecting arm (330) of the robot system (300) is held in the first position (P1), at least a portion of the second horizontal connecting arm (345) and the single-piece gripper system (200) with the grasped object (310) are in the third position (P3), which can be configured to move to a predetermined intermediate position (355) along an arcuate trajectory in the vertical plane along the Y-axis (YY), while rotating sequentially and partially around the desired degrees of freedom according to operational requirements, such as, but not limited to, 0° to 90°. Now, referring to Figure 6B The single-piece gripper system (200) having the grasped object (310) and at least a portion of the second horizontal linkage arm (345) can be oriented until, at the fourth position (P4), the grasped object (310) can be adjusted to be parallel to the vertical plane along the Y-axis (YY) and perpendicular to the horizontal plane along the X-axis (X1-X1) and the predetermined first position (350). In subsequent continuous operations, refer to... Figure 6C The single-piece gripper system (200) with the grasped object (310) and at least a portion of the second horizontal connecting arm (345) can continue to adjust its orientation until, at the fifth position (P5), the grasped object (310) can be adjusted to be tilted away from the predetermined intermediate position (355) in the observer direction (OBD), along the vertical plane of the Y-axis (YY) and the horizontal plane along the X-axis (X2-X2). When adjusted to the fifth position (P5), the base (320) of the robot system (300) can also be configured to rotate around the desired degrees of freedom according to operational requirements, such as, but not limited to, 0° to 90°.

[0034] Figure 7 An isometric projection view of a robot system (300) according to an exemplary embodiment of this application is shown in the sixth position (P6) of the third operation sequence (S3). Figure 7As shown, in the third operation sequence (S3), when the first vertical connecting arm (330) of the robot system (300) is held in the first position (P1), the base (320) of the robot system (300), at least a portion of the second horizontal linkage arm (345), and the single-piece gripper system (200) in the sixth position can be configured to rotate sequentially and completely around the desired degrees of freedom according to the operation requirements, such as, but not limited to, 90º to 180º, until the grasped object (310) and the single-piece gripper system (200) in the sixth position (P6) are adjusted to a predetermined second position (360) on a horizontal plane along the X-axis (X2-X2), or on a plane along the Z-axis (ZZ) with a predetermined tilt angle, such as, but not limited to, a tilt plane of 30º to 45º. At the sixth position (P6), the base (320) having the first vertical connecting arm (330) and the second horizontal connecting arm (340) can be adjusted to be perpendicular to a predetermined second position (360), which is parallel to the horizontal plane along the X-axis (X2-X2) in the observer direction (OBD).

[0035] Figure 8A , 8B Images 8C and 8D show isometric projection views of a robot system (300) according to an exemplary embodiment of this application in the fourth operation sequence (S4) at the seventh and eighth positions (P7, P8). Figure 8A As shown, in the fourth operation sequence (S4), when the first vertical connecting arm (330) of the robot system (300) is held in the first position (P1), and the base (320) of the robot system (300) and at least a portion of the second horizontal connecting arm (345) are held in the sixth position (P6) with the single-piece gripper system (200), at least one set of parallel and opposite adaptive gripping fingers (245) of the single-piece gripper system (200) in the seventh position (P7) of the robot system (300) are located within the feeder of the single-piece unit (304) (see...). Figure 4 The object (310) is located on top of the at least one set of parallel and opposing adaptive gripping fingers (245), rather than entirely within the single-piece unit (304). At the seventh position of the robot system (300), the at least one set of parallel and opposing adaptive gripping fingers (245) can be configured by a servo control unit / controller (275) to release the object (310) by releasing a certain amount of pressure and moving outwards away from the gripped object (310). Now, referring to... Figure 8B , 8CIn 8D, in a sequential sequence of operations, it is shown that when the robot system (300) is in the eighth position (P8), it can be configured to actuate the plate (255) of the actuator unit (250) of the single-piece gripper system (200). The servo control unit / controller (275) communicating with the actuator operation initiates the synchronous movement of the actuator unit (250), pushing the plate (255) to slide along the Z-axis (ZZ) on an inclined plane and through the at least one set of parallel and opposite adaptive gripping fingers (245) to the first half of the length of the at least one set of parallel and opposite adaptive gripping fingers (245) until the plate (255) encounters the gripped object (310) and pushes the object (310) into the single-piece unit (304). Once the plate (255) encounters the object (310) being grasped, the single-piece gripper system (200) moves backward synchronously with the first vertical connecting arm (330) and the second horizontal connecting arm (340). At the same time, the plate (255) slides further along the rear half of the length of the at least one set of parallel and opposite adaptive gripping fingers (245) to place the object (310) completely within the single-piece unit (304). Since the object (310) is already on top of the at least one set of parallel and opposite adaptive gripping fingers (245) and is still within the single-piece unit (304), the simultaneous backward movement of the single-piece gripper system (200) with the first vertical connecting arm (330) and the second horizontal connecting arm (340) can easily pull the at least one set of parallel and opposite adaptive gripping fingers (245) from under the object (310) without causing any damage, interference or misalignment to the object (310), and the object can be completely placed within the single-piece unit (304). Throughout the operation, as the plate (255) slides and passes through the front and rear halves of the length of the at least one set of parallel and opposite adaptive gripping fingers (245), the gripped object (310) remains neatly aligned within the at least one set of parallel and opposite adaptive gripping fingers (245), which provide support for the gripped object (310) until the gripped object (310) is fully placed into the feeder of the single-piece unit (304) without causing any interference or misalignment to the object (310), and after the single-piece gripping system (200) is completely removed, the object can be fully placed within the single-piece unit (304).

[0036] Now, refer to again Figure 4 In a similar manner to that explained above, the robot system (300) of this application can be configured to collect rejected objects (315) from the rejected cabinet / rejected object unit (306) and place them into the output rejected object container (314) without causing any damage, interference or misalignment to the objects (310).

[0037] Reference Figure 9It illustrates a method (400) for processing an object according to an exemplary embodiment of the present application. The method (400) includes the following steps: (step 410) configuring the single-piece gripper system (200) onto the robot system (300); (step 420) moving the first vertical connecting arm (330) and the second horizontal connecting arm (340) of the robot system (300) which is communicatively connected to the servo control unit / controller (275); (step 430) actuating the single-piece gripper system (200) which is communicatively connected to the servo control unit / controller (275) to cause the robot system (300) together with the single-piece gripper system (200) to move synchronously and change the rotational degree of freedom, that is, to move at least a portion of the second horizontal connecting arm (345) together with the object (310) from a predetermined first position (350) along an inclined Z-axis (ZZ) to a predetermined second position (360) located in the feeder of the single-piece unit (304), while the object (310) is moved by at least a set of parallel and relative adaptive arms of the single-piece gripper system (200). The gripper finger (245) grips; (step 440) the controller (275) in the servo control unit triggers the single-piece gripper system (200) to release pressure to actuate the at least one set of parallel and opposite adaptive gripper fingers (245) to release, while the pusher unit (250) with plate (255) moves synchronously along the inclined plane of Z-axis (ZZ) to release the gripped object (310) into the feeder of the single-piece unit (304) without causing any damage, interference or misalignment to the object (310). At the same time, the single-piece gripper system (200) moves backward simultaneously with the first vertical connecting arm (330) and the second horizontal connecting arm (340) so that the at least one set of parallel and opposite adaptive gripper fingers (245) can be easily pulled out from under the object (310) without causing any damage, interference or misalignment to the object (310), and the object can be completely placed in the single-piece unit (304). It is necessary for the pusher unit (250) with plate (255) to move along the inclined plane of the Z-axis (ZZ) to release the grasped object (310) into the feeder of the single-piece unit (304) without damaging or misaligning the object (310). If the object does not fall vertically from the pusher unit (250), the pusher unit (250) with plate (255) will adjust for any possible misalignment of the object.

[0038] Examples of several exemplary implementations of the single-piece gripper system (200) and robotic system (300) for handling objects have been described and illustrated herein. It will be apparent to those skilled in the art that the above embodiments are specific examples of a broader single invention, and the scope of this application may be greater than the scope of any single description set forth. Many changes may be made in the description without departing from the scope of this application. While embodiments of this application have been described, it is not intended to limit this application to the disclosed configurations, but rather to have the broadest possible scope as the technology allows, and the interpretation of this specification should also not be limited to the terminology described above. Any discussion of embodiments in this specification is merely to provide background to this disclosure. It should not be construed as an admission that any or all of these matters constitute part of the prior art or common general knowledge existing in the field relating to this disclosure prior to the priority date of this application.

Claims

1. A single-piece gripper system (200) for handling objects (310), characterized in that, The single-item gripper system (200) includes: A gripper assembly (210) having a near rear end (212) and a far front end (214), the gripper assembly (210) comprising: The gripper unit (240) has at least one set of parallel and opposite adaptive gripping fingers (245) connected to the far front end (214) of the gripper assembly (210). The pusher unit (250) has a plate (255) that is perpendicularly connected to the adaptive gripping finger (245) along the object insertion direction; A servo motor (270) is communicatively connected to the gripper unit (240) and the actuator unit (250); The controller (275) is configured to synchronously control the movement of the adaptive gripping finger (245) and the pusher unit (250) having the plate (255), by actuating the pusher unit (250) to push the object (310) in a stacking direction parallel to the push with a gripping force perpendicular to the adaptive gripping finger (245) or a thrust along the Z-axis (ZZ), while the adaptive gripping finger (245) releases the object (310), thereby gripping and handling the placement of the object (310).

2. The single-item gripper system (200) according to claim 1, characterized in that, When the object is released, the gripper unit (240) is on an inclined plane along the Z-axis (ZZ).

3. The single-item gripper system (200) according to claim 1, characterized in that, When the object (310) is released, the adaptive gripping finger (245) moves in the opposite direction to the pusher unit (250) having the plate (255).

4. The single-item gripper system (200) according to claim 1, characterized in that, The pusher unit (250) having the plate (255) is located at the closed end (244) of the gripping cavity formed in the middle of the adaptive gripping finger (245).

5. The single-item gripper system (200) according to claim 4, characterized in that, The pusher unit (250) having the plate (255) is not integrated with the adaptive gripping finger (245) and is only configured to slide along and through the adaptive gripping finger (245) to contact and push the object (310).

6. The single-item gripper system (200) according to claim 1, characterized in that, The controller (275) is configured to: actuate at least one actuator of the pusher unit (250) to push the plate (255) based on feedback obtained from at least one sensor that is in operative communication with the gripper unit (240) and the pusher unit (250), and / or adjust the pressure actuating the set of parallel and opposite adaptive gripping fingers (245) to move inward and outward to grip / release the object (310).

7. The single-item gripper system (200) according to claim 1, characterized in that, The set of parallel and opposite adaptive gripping fingers (245) are connected to the distal end (214) of the gripper assembly (210) via the gripping finger retainer (246) of the gripper unit (240).

8. The single-item gripper system (200) according to claim 1, characterized in that, The gripper assembly (210) includes a gripper mounting plate (220) and a gripper mounting flange (230) connected to the near rear end (212), and the pusher unit (250) is connected to the gripper mounting flange (230).

9. A robotic system (300) for handling objects (310), characterized in that, The robot system (300) includes: Base (320); The first vertical connecting arm (330) is connected to the base (320); The second horizontal connecting arm (340) is connected to the first vertical connecting arm (330); The single-piece gripper system (200) according to any one of claims 1-6 is connected to the second horizontal connecting arm (340); and A servo control unit / controller (275) operating in communication with the single-piece gripper system (200) is configured to place or remove the object (310) from the object management system (302). The servo control unit / controller (275) synchronously controls the movement of at least one set of parallel and opposing adaptive gripping fingers (245) and a pusher unit (250) with a plate (255) in the single-piece gripper system (200). The pusher unit (250) is actuated to push the object (310) in a stacking direction parallel to the push force by a gripping force perpendicular to the adaptive gripping fingers (245) or a thrust along the Z-axis (ZZ). At the same time, the adaptive gripping fingers (245) release the object (310), thereby gripping and handling the placement of the object (310).

10. The robot system (300) according to claim 9, characterized in that, The servo control unit / controller (275) is configured to cause the robot system (300) to move or rotate around multiple positions (P1-P8) in a series of consecutive sequential operations (S1-S4).

11. The robot system (300) according to claim 9 or 10, characterized in that, The single-item gripper system (200) is configured to neatly arrange the stacked objects (310) and place them into the feeder of the single-item unit (304) of the object management system (302) without disrupting the neat arrangement of the objects (310).

12. The robot system (300) according to claim 9, characterized in that, The single-item gripper system (200) is configured to grip and place the object (310) on a desired object placement plane, wherein the desired object placement plane changes from a predetermined first position (350) on a horizontal plane along the X-axis (X1-X1), along an arcuate trajectory on a vertical plane along the Y-axis (YY) to a predetermined intermediate position (355), and then to a predetermined second position (360) on an inclined plane along the Z-axis (ZZ).

13. The robot system (300) according to claim 9, characterized in that, The pusher unit (250) with plate (255) is located on an inclined plane along the Z-axis (ZZ) and is configured to release the grasped object (310) into the feeder of the single unit (304) and adjust the misalignment of the object (310).

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