Method and a device for recognizing, collecting and repositioning objects

A method for recognizing, collecting and repositioning objects, which objects (1) exhibit non-predetermined dimensional characteristics, said method comprising the steps of:

• providing a gripper group (30) having fingers, the gripper group being movable in at least a longitudinal direction relative to an object (1) to be handled, a direction towards/away from the object (1), and a direction of height adjustment relative to the object (1),
• controlling the gripper group (30) using a computerized control unit, said method further comprising any suitable combination of the following operating steps:
• directing the gripper group to approach the object (1) using positional information stored in the control unit;
• performing a perpendicular three-dimensional scanning for recognizing an outline of the object using sequences of displacements of the gripper unit (30) by gauging punctual distances (50), using a gauge arranged on at least one finger (35, 36) of the gripper group (30);
• providing a presence sensor (55) for detecting a depth of the object, and arranging the presence sensor (55) at a top of the fingers (35, 36) of the gripper group (30);
• gripping the object (1) using the gripper group (30), and progressively tightening the gripper group (30) for gripping the object (1) until a predetermined intensity of grip is reached, said predetermined grip intensity depending on physical characteristics of the object (1);
• collecting the object (1) by lifting and moving the object (1);
• directing the gripper group (30) to approach a support surface (2);
• moving the gripper group (30) until the object (1) makes contact with the support surface (2);
• opening the fingers (35, 36) of the gripper group (30) until the object (1) is released and extracting the fingers (35, 36) from where the object (1) is located;
• wherein the performing of the perpendicular three-dimensional scanning for recognizing the outline of the object comprises the steps of:
• acquiring a set of punctual distance data regarding the object (1) by positioning the gauge on various points of data acquisition of the object, by moving the fingers (35, 36) of the gripper unit (30) along trajectories controlled by the control unit, and processing the set of punctual distance data using the control unit to obtain the dimensional outline of the object and a distance of the object from the gripper group (30);
• and,
• wherein the points of acquisition are organized in a grid having a predefined step.

A method for recognizing, collecting and repositioning objects, which objects (1) exhibit non-predetermined dimensional characteristics, said method comprising the steps of:

• providing a gripper group (30) having fingers, the gripper group being movable in at least a longitudinal direction relative to an object (1) to be handled, a direction towards/away from the object (1), and a direction of height adjustment relative to the object (1),
• controlling the gripper group (30) using a computerized control unit, said method further comprising any suitable combination of the following operating steps:
• directing the gripper group to approach the object (1) using positional information stored in the control unit;
• performing a perpendicular three-dimensional scanning for recognizing an outline of the object using sequences of displacements of the gripper unit (30) by gauging punctual distances (50), using a gauge arranged on at least one finger (35, 36) of the gripper group (30);
• providing a presence sensor (55) for detecting a depth of the object, and arranging the presence sensor (55) at a top of the fingers (35, 36) of the gripper group (30);
• gripping the object (1) using the gripper group (30), and progressively tightening the gripper group (30) for gripping the object (1) until a predetermined intensity of grip is reached, said predetermined grip intensity depending on physical characteristics of the object (1);
• collecting the object (1) by lifting and moving the object (1);
• directing the gripper group (30) to approach a support surface (2);
• moving the gripper group (30) until the object (1) makes contact with the support surface (2);
• opening the fingers (35, 36) of the gripper group (30) until the object (1) is released and extracting the fingers (35, 36) from where the object (1) is located, and
• providing an initial lifting stage of the object (1) by the gripper group (30), and controlling slippage of the object (1) during the lifting stage by arranging a mobile anti-fall support arrangement (60) below the gripper group (30).

A device for recognizing, collecting and repositioning objects, which objects exhibit non-predetermined dimensional characteristics, the device (10) being movable with degrees of freedom corresponding to at least a direction of longitudinal movement with respect to an object (1), a direction of movement towards/away from the object (1), and a direction of adjustment of a height relative to the object (1), the device (10) also being controlled by a computerized control unit, the device comprising:

• a support (20);
• a mobile gripper group (30), associated to the support and movable relative to the support in at least a first direction, the gripper group (30) being provided with at least a pair of fingers (35, 36) positioned facing one another, the fingers being movable in a second direction, and adapted for opening and closing with respect to one another in order respectively to grip and release an object (1), the fingers (35, 36) being movable together in a third direction towards/away from the object (1);
• a measuring device (50) for measuring a punctual distance, arranged relative to at least one finger of the gripper group (30) for performing punctual gauging of a distance between a distal end of the at least one finger (35) and the object (1), suitable sequences of movements of the fingers (35, 36) used for performing an orthogonal three-dimensional scan of the object (1);
• a presence sensor (55) for detecting a presence of the object (1), and for identifying a depth of the object (1), the presence sensor being arranged at distal ends of the fingers (35, 36);
• a computerized control unit for directing movement of the gripper group (30) and for processing information received from the measuring device (50) and the presence sensor (55);
• and,
• wherein each finger (35, 36) has an oscillating rod (350), arranged on an inner surface of the relative finger (35, 36) and being pivoted at a central portion of the finger (35, 36), the oscillating rod (350) being adapted for facilitating gripping of objects (1) having widely differing dimensions.

A device for recognizing, collecting and repositioning objects, which objects exhibit non-predetermined dimensional characteristics, the device (10) being movable with degrees of freedom corresponding to at least a direction of longitudinal movement with respect to an object (1), a direction of movement towards/away from the object (1), and a direction of adjustment of a height relative to the object (1), the device (10) also being controlled by a computerized control unit, the device comprising:

• a support (20);
• a mobile gripper group (30), associated to the support and movable relative to the support in at least a first direction, the gripper group (30) being provided with at least a pair of fingers (35, 36) positioned facing one another, the fingers being movable in a second direction, and adapted for opening and closing with respect to one another in order respectively to grip and release an object (1), the fingers (35, 36) being movable together in a third direction towards/away from the object (1);
• a measuring device (50) for measuring a punctual distance, arranged relative to at least one finger of the gripper group (30) for performing punctual gauging of a distance between a distal end of the at least one finger (35) and the object (1), suitable sequences of movements of the fingers (35, 36) used for performing an orthogonal three-dimensional scan of the object (1);
• a presence sensor (55) for detecting a presence of the object (1), and for identifying a depth of the object (1), the presence sensor being arranged at distal ends of the fingers (35, 36);
• a computerized control unit for directing movement of the gripper group (30) and for processing information received from the measuring device (50) and the presence sensor (55);
• and,
• an anti-fall group, mounted on the support (20), below the gripper group (30) for preventing an object (1) from falling, and an anti-slip arrangement (60b), mounted on the anti-fall group (60a) for assuring that the object is lifted without any slippage relative to the gripper group (30).