Patent ID: 8467898

Claim:
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 wherein at least one finger of the gripping group has at least one oscillating rod ( 350 ) provided on an inner surface thereof, and gripping the object by the gripping fingers ( 35 , 36 ) with interpositioning of the at least one oscillating rod ( 350 ).