DESC:BACKGROUND
Technical Field
[0001] The embodiments herein generally relate to a robotic device, more particularly to an object handling robotic device and a method of handling objects for storage and retrieval.
Description of the Related Art
[0002] Robots are frequently used in manufacturing cycles for a variety of applications. Particularly for palletization or depalletization systems, wrist-mounted robots with many degrees of freedom are frequently used. With clamps, at least one grasping device is attached to the wrist to automatically position the objects by stacking them close to one another. In a palletization or de-palletization area, robots are typically utilised to handle items for palletization or de-palletization that come from automatic production lines. The robot's clamps must be light in order for the manipulable objects to place the majority of the load on the wrist and increase speed. The gripping hands must also rapidly and precisely grasp the thing before releasing it.
[0003] The quality of the manipulation is however limited technically by the gripping hands' mechanics. Particularly in the case of pneumatic drive, the typically flat hands have fixed opening/ closing strokes independent of the size of the object to load. In particular, if the size range of the objects to manipulate varies significantly, for example for handling of objects of different shape, when handling the clamps are open like for objects of maximum size, resulting in a long idle portion of the stroke before gripping the object. Additionally, the flat gripping hands push on the objects during their opening and closing strokes without providing enough dampening, which leads to deformation or breakage. This disadvantage is most noticeable when there are packages with different qualities that are unable to handle with suction hands beyond a certain point. The inaccuracy in where the clutching hands are placed in relation to the package, which can then be accidently released unintentionally, results in the package toppling down, breaking, and spreading the contents.
[0004] As a result, the aforementioned shortcomings severely restrict the fields of use for the current equipment and slow down the process of palletizing or depalletizing. Accordingly, there remains a need for a device and a method for handling objects.
SUMMARY
[0005] Embodiments herein discloses a robotic device for handling objects that includes a structured frame assembly, a suction assembly and a gripper arm assembly. The structured frame assembly is mounted to a robotic object handling system using a structured adapter flange. The suction assembly is mounted on the structured frame assembly for handling the objects. The gripper arm assembly is mounted on the structured frame for providing a positive gripping to the objects when robotic system handling the objects. When in operation, the robotic device lifts the objects from a floor using the suction assembly to a threshold height. Before reaching the threshold height, the gripper arm assembly (i) moves down to a gripping point and swings towards a bottom of the objects and (ii) moves up to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.
[0006] In some embodiments, the structured frame assembly includes one or more flanges, one or more webs, a flange tube and a base plate. The base plate includes one or more inserts for mounting at least one components of the suction assembly. The flange tube is structured to adapt the structured adapter flange for mounting the robotic device with the robotic object handling system.
[0007] In some embodiments, the suction assembly includes one or more plunger assemblies that are coupled with one or more suction cups.
[0008] In some embodiments, the gripper arm assembly includes a housing that is mounted with at least one pneumatic cylinder, an arm, a linear motion carriage or a gripper fork. The housing mounts the arm and the gripper fork using one or more bearings.
[0009] In some embodiments, the one or more flanges includes one or more side flanges for mounting at least one of the suction assembly or the gripper arm assembly. The one or more side flanges allows one or more spacers to mount at least one of the suction assembly or the gripper assembly.
[0010] In some embodiments, the robotic device includes an object rest plate that is mounted with the structured frame assembly.
[0011] In another aspect, a robotic device for handling objects includes a structured frame assembly, a suction assembly, a gripper arm assembly and a structured assembly. The structured frame assembly is mounted to a robotic object handling system using a structured adapter flange. The suction assembly is mounted on the structured frame assembly for handling the objects. The gripper arm assembly is mounted on the structured frame for providing a positive gripping to the objects when robotic system handling the objects. The structured assembly that is mounted with at least one of the suction assembly or the gripper assembly. The structured assembly includes a web hollow, a top flange and a plurality of side flanges. The web hollow accommodates an arm using a plurality of bearings. The arm is mounted to a gripper fork. The top flange that accommodates a plurality of rotatory indexer. The plurality of side flanges that accommodate at least one of a plurality of pneumatic cylinders, a plurality of linear motion carriages or a plurality of gripper forks. When in operation, the robotic device lifts the objects from a floor using the suction assembly to a threshold height. Before reaching the threshold height, the gripper arm assembly (i) moves down to a gripping point and swings towards a bottom of the objects and (ii) moves up to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.
[0012] In another aspect, a method of handling objects using a robotic device including (i) providing suction force for lifting an object from a floor using a suction assembly, (ii) capturing the object using the suction force on a top surface of the object, (iii) lifting the object using a linear motion carriage, (iv) moving a gripper arm towards down direction to a gripping point and swings towards a bottom of the objects before reaching the threshold height, (v) moving the gripper arm towards up direction to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.
[0013] In some embodiments, the robotic device is an adaptable and enables object handling for objects with various sizes, shapes, and materials and carry out a variety of tasks. The accuracy and quickness of the robotic device increases manufacturing efficiency. The robotic device reduces the risk of harm to human employees as the robotic device is programmed to handle hazardous or risky materials and jobs. The robotic device includes sensors and feedback mechanisms for data collecting, which aid in quality assurance and process improvement.

BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The embodiments herein will be better understood from the following detailed description with reference to the drawings, in which:
[0015] FIG. 1 illustrates an exemplary block diagram of an object handling robotic device for storage and retrieval according to some embodiments herein;
[0016] FIG. 2 illustrates an exemplary view of an object handling robotic device according to some embodiments herein;
[0017] FIG. 3A illustrates an exemplary view of a structured frame assembly of an object handling robotic device according to some embodiments herein;
[0018] FIG. 3B illustrates an exemplary view of a suction assembly of an object handling robotic device according to some embodiments herein;
[0019] FIG. 3C illustrates an exemplary view of a gripper arm assembly of an object handling robotic device according to some embodiments herein;
[0020] FIG. 4 illustrates an exemplary view of an object handling robotic device for storage and retrieval with a centralized gripper assembly according to some embodiments herein; and
[0021] FIG. 5 is a flow diagram of a method of handling objects for storage and retrieval using an object handling robotic device of FIG. 1 according to some embodiments herein.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0022] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0023] An objective of the current invention is to provide a robotic device for handling objects in storage and retrieval applications and that removes or at least lessens the limitations mentioned above. These goals are accomplished using the method described in the appended description. As mentioned, there remains a need for a robotic device and a method for handling objects. Referring now to the drawings, and more particularly to FIG. 1 through 5, where similar reference characters denote corresponding features consistently throughout the figures, preferred embodiments are shown.
[0024] FIG. 1 illustrates an exemplary block diagram of an object handling robotic device 100 for storage and retrieval according to some embodiments herein. The object handling robotic device 100 includes a structured frame assembly 102, a suction assembly 104, a gripper assembly 106. The structured frame assembly 102 includes a structured adapter flange. In some embodiments, the structured adapter flange is used to mount the object handling robotic device 100 with a robot which is to be utilized for storage and retrieval operation. In some embodiments, the structured frame assembly 102 is designed to mount at least one of the suction assembly 104 or the gripper assembly 106. The suction assembly 104 is mounted on the structured frame assembly 102. In some embodiments, the suction assembly 104 handles objects with suction mechanism. In some embodiments, the suction assembly 104 picks and drops the objects from or to conveyors with one or more suction cups that are powered with one or more pneumatic assembly. In some embodiments, the suction assembly 104 is mounted on the structured frame assembly 102 using a structured housing. In some embodiments, the structured housing mounts at least one of the suction assembly 104 or the gripper assembly 106. The gripper assembly 106 includes one or more arms and one or more forks to provide a positive gripping on the objects. In some embodiments, the gripper assembly 106 is mounted on the structured frame assembly 102. In some embodiments, the gripper assembly 106 is powered with one or more pneumatic assembly. The object handling robot device 100 provides suction on a top surface an object using the one or more suction cups of the suction assembly 102. The object handling robot device 100 lifts the object and actuates the gripper assembly 106 when the object handling robot device 100 reaches a threshold height. The gripper assembly 106 moves the one or more arms downwards to a gripping point and rotates the one or more forks towards a bottom surface of the object horizontally before the object handling robot device 100 reaches the threshold height. The gripper assembly 106 moves upwards and locks the objects from the gripping point to provide positive gripping to the objects. In some embodiments, when the object handling robot device 100 crossed the threshold height, the object handling robot device 100 have several degrees of freedom for handling the object using the positive gripping provided by the gripping assembly 106.
[0025] With reference to the FIG. 1, FIG. 2 illustrates an exemplary view of the object handling robotic device 100 according to some embodiments herein. The object handling robotic device 100 includes a structured frame 202, an object rest plate 204, one or more structured housing 208A-N, one or more pneumatic cylinders 210A-N, one or more linear motion carriage 212A-N, one or more arms 214A-N, one or more forks 216A-N and a structured adapter flange 218. In some embodiments, a suction assembly 104 includes at least one of one or more plunger assemblies, one or more solenoid valves or one or more suction cups. In some embodiments, the object handling robotic device 100 includes one or more suction assembly 104. The structured frame 202 includes at least one of one or more flanges, one or more webs, one or more flange tube or a base plate. In some embodiments, one or more flanges includes one or more openings that allow the one or more suction assembly 104A-N to mount with the structured frame 202. In some embodiments, the one or more webs includes one or more openings that allow the one or more suction assembly 104A-N to mount with the structured frame 202. In some embodiments, the one or more flange tubes are structured to adapt the structured adapter flange for mounting the robotic device 100 with the robotic object handling system. In some embodiments, the base plate of the structured frame 202 includes one or more openings that allows the one or more suction assembly 104A-N to mount with the structured frame 202. The one or more suction assembly 104A-N provides suction on a top surface of an object using one or more pneumatic cylinders 210A-N. In some embodiments, the structured housing 208 includes a web tube and one or more flanges. In some embodiments, the web tube of the structured housing 208 provides a housing for at least one of the arm 214 or one or more bearings. In some embodiments, the one or more pneumatic cylinders 210A-N are mounted on the structured housing 208 using one or more spacers. In some embodiments, the arm 214 includes a flange that is mountable with the linear motion carriage 212.
[0026] The object handling robotic device 100 lifts the object from a surface to a first threshold height using the suction that is applied to the top surface of the object using the one or more suction cups of the suction assembly 104. The one or more arms 214A-N are actuated to move downwards and swings the one or more forks 216A-N towards a bottom surface of the object when the object reached the first threshold height. The one or more arms 214A-N are move upwards once the one or more forks 216A-N are swung towards the bottom surface of the object to provide a positive gripping for the object before reaching a second threshold height. The object handling robot device 100 enables robot maneuvering for the object when the positive gripping is provided. In some embodiments, the one or more arms 214A-N and the one or more forks 216A-N are operated using the one or more linear motion carriage 212A-N.
[0027] With reference to the FIG. 1, FIG. 3A illustrates an exemplary view of the structured frame assembly 102 of the object handling robotic device 100 according to some embodiments herein. The structured frame assembly 102 includes one of one or more flanges 302A-N, one or more webs 304A-N, one or more flange tube 306A-N or a base plate 308. In some embodiments, one or more flanges 302A-N includes one or more openings 310A-N that allow the one or more suction assembly 104A-N to mount with the structured frame assembly 102. In some embodiments, the one or more webs 304A-N includes one or more openings 312A-N that allow the one or more suction assembly 104A-N to mount with the structured frame assembly 102. In some embodiments, the one or more flange tubes 306A-N are structured to adapt the structured adapter flange for mounting the robotic device 100 with the robotic object handling system. In some embodiments, the base plate 308 includes one or more inserts 314A-N that allows the one or more suction assembly to mount with the structured frame assembly 102.
[0028] With reference to the FIG. 1 and FIG. 2, FIG. 3B illustrates an exemplary view of the suction assembly 104 of the object handling robotic device 100 according to some embodiments herein. The suction assembly 104 includes one or more plunger assemblies 316A-N, one or more suction cups 318A-N and one or more solenoid valves. The one or more plunger assemblies 316A-N are coupled with the one or more suction cups 318A-N to provide suction on the object. In some embodiments, the suction assembly 104 is coupled with the structured frame assembly 102 using the one or more spacers.
[0029] With reference to the FIG. 1 and FIG. 2, FIG. 3C illustrates an exemplary view of the gripper arm assembly 106 of the object handling robotic device 100 according to some embodiments herein. The gripper assembly 106 includes the structured housing 208, the linear motion carriage 212. the arm 214 and the gripper fork 216. In some embodiment, the structured housing 208 mounts the arm 214 and the gripper fork 216 using one or more bearings. In some embodiments, the structured housing 208 mounts with at least one pneumatic cylinder 210. The structured housing 208 includes a web tube and one or more flanges. In some embodiments, the one or more pneumatic cylinders 210A-N are mounted on the structured housing 208 using one or more spacers. In some embodiments, the arm 214 includes an arm flange that is mountable with the linear motion carriage 212.
[0030] In some embodiments, the housing 208 is a cylindrical component. In some embodiments, the housing 208 includes a web hollow, a top flange, a plurality of side flanges. The web hollow accommodates the arm 214 using a plurality of bearings. In some embodiments, the arm 214 is mounted to fork 216. The top flange accommodates a plurality of rotatory indexer. The plurality of side flanges accommodates at least one of the one or more of pneumatic cylinders 210A-N, the plurality of linear motion carriages 212A-N or the plurality of forks 216A-N.
[0031] With reference to FIG. 1 and FIG. 2, FIG. 4 illustrates an exemplary view of an object handling robotic device for storage and retrieval with a centralized gripper assembly 402 according to some embodiments herein. The centralized gripper 402 includes an arm 404 and a fork 406. In some embodiments, centralized gripper assembly 402 is mounted with the structured adapter flange 218. The object handling robotic device 100 lifts the object from a surface to a first threshold height when the suction is applied to the top surface of the object. The arm 404 moves downwards and the fork 406 swings towards a bottom surface of the object when the object reached the first threshold height. The arm 404 is move upwards once the fork 406 is swung towards the bottom surface of the object to provide a positive gripping for the object. In some embodiments, the arm 404 and the fork 406 operate using the one or more linear motion carriage 212A-N.
[0032] FIG. 5 is flow diagrams of a method of storing and retrieving structured objects using an automatic storage and retrieval system with a structured object storage device of FIG. 1 according to some embodiments herein. At step 502, suction force is provided for lifting an object from a floor. At step 504, the object is captured using the suction force on a top surface of the object. At step 506, the object is lifted using the linear motion carriage 212. At step 508, the gripper arm assembly 106 moves towards down direction to a gripping point and swings towards a bottom of the objects horizontally before reaching the threshold height. At step 510, the gripper arm assembly 106 moves towards up direction to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.
[0033] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the appended claims.
,CLAIMS:We Claim:
1. A robotic device (100) for handling objects comprising
a structured frame assembly (102) that is mounted to a robotic object handling system using a structured adapter flange (218);
a suction assembly (104) that is mounted on the structured frame assembly (102) for handling the objects; and
a gripper arm assembly (106) that is mounted on a structured frame (202) for providing a positive gripping to the objects when robotic system handling the objects,
wherein when in operation,
the robotic device (100) lifts the objects from a floor using the suction assembly (104) to a threshold height, wherein before reaching the threshold height, the gripper arm assembly (106) (i) moves down to a gripping point and swings towards a bottom of the objects horizontally and (ii) moves up to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.

2. The robotic device (100) as claimed in claim 1, wherein the structured frame assembly (102) comprises one or more flanges (302A-N), one or more webs (304A-N), one or more flange tubes (306A-N) and a base plate (308), wherein the base plate (308) comprises one or more inserts (314A-N) for mounting at least one components of the suction assembly (104), wherein the one or more flange tube (306A-N) are structured to adapt the structured adapter flange (218) for mounting the robotic device (100) with the robotic object handling system.

3. The robotic device (100) as claimed in claim 1, wherein the suction assembly (104) comprises one or more plunger assemblies (316A-N) that are coupled with one or more suction cups (318A-N).

4. The robotic device (100) as claimed in claim 1, wherein the gripper arm assembly (106) comprises a structured housing (208) that is mounted with at least one pneumatic cylinder, an arm (214), a linear motion carriage (212) or a gripper fork (216), wherein the structured housing (208) mounts the arm (214) and the gripper fork (216) using one or more bearings.

5. The robotic device (100) as claimed in claim 2, wherein the one or more flanges (302A-N) comprises one or more side flanges for mounting at least one of the suction assembly (104) or the gripper arm assembly (106), wherein the one or more side flanges allows one or more spacers to mount at least one of the suction assembly (104) or the gripper assembly (106).

6. The robotic device (100) as claimed in claim 1, wherein the robotic device (100) comprises an object rest plate (204) that is mounted with the structured frame assembly (102).

7. A robotic device (100) for handling objects comprising
a structured frame assembly (102) that is mounted to a robotic object handling system using a structured adapter flange (218);
a suction assembly (104) that is mounted on a structured frame (202) for handling the objects;
a gripper arm assembly (106) that is mounted on the structured frame (202) for providing a positive gripping to the objects when robotic system handling the objects; and
one or more structured housing (208A-N) that is mounted on the structured frame (202) with at least one of the suction assembly (104) or the gripper assembly (106),
wherein when in operation,
the robotic device (100) lifts the objects from a floor using the suction assembly (104) to a threshold height, wherein before reaching the threshold height, the gripper arm assembly (106) (i) moves down to a gripping point and swings towards a bottom of the objects horizontally and (ii) moves up to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.

8. The robotic device (100) as claimed in claim 1, wherein the one or more structured housing (208A-N) comprises
a web hollow that accommodates an arm (214) using a plurality of bearings, wherein the arm (214) is mounted to a gripper fork (216);
a top flange that accommodates a plurality of rotatory indexer; and
a plurality of side flanges that accommodate at least one of a plurality of pneumatic cylinders, a plurality of linear motion carriages (212A-N) or a plurality of gripper forks (216A-N).

9. A method of handling objects using a robotic device (100) comprising,
lifting, using a suction assembly (104), an object from a floor by providing suction force;
capturing the object on a top surface of the object using the suction force;
lifting, using a linear motion carriage (212), the object;
moving a gripper arm (214) towards down direction to a gripping point and swings towards a bottom of the objects horizontally before reaching the threshold height; and
moving the gripper arm (214) towards up direction to lock the objects for providing the positive gripping to the objects when robotic system handling the objects.