WO2022056742A1

WO2022056742A1 - Gripper and method of operating the same

Info

Publication number: WO2022056742A1
Application number: PCT/CN2020/115673
Authority: WO
Inventors: Qi Lu; Jiafan ZHANG
Original assignee: Abb Schweiz Ag
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-03-24

Abstract

A gripper (1) and a method of operating the gripper (1) are provided. The gripper (1) comprises a gripper body (10), a suction plate (20), a first actuator (30) and a second actuator (40). The suction plate (20) is coupled to the gripper body (10) and adapted to suck an object in a suction direction (Ls) in such a way that the object and the suction plate (20) are separated by a gap. The first actuator (30) is coupled to the gripper body (10) and adjacent to the suction plate (20), the first actuator (30) adapted to push the object sucked by the suction plate (20) to move along a first direction (L1) in a plane perpendicular to the suction direction (Ls). The second actuator (40) is coupled to the gripper body (10) and adjacent to the suction plate (20), the second actuator (40) adapted to push the object sucked by the suction plate (20) to move along a second direction (L2) different from the first direction (L1) in the plane. According to the gripper (1) and the method of operating the gripper (1), the positioning of the object with high accuracy can be achieved while being transferred and the cycle time can be shortened.

Description

GRIPPER AND METHOD OF OPERATING THE SAME

FIELD

Example embodiments of the present disclosure generally relate to improvement of the industrial robots, and more particularly, to a gripper for gripping an object and a method of operating the gripper.

BACKGROUND

In the field of industrial robots, a gripper is used to grip and transport an object to a desire place for later procedure. The object may be of any shape and may be formed by various materials. For example, the object can be fragile, such as a cover glass or a display panel for a mobile device, etc. In such applications, it is required to accurately position the object on the gripper. Further, the potential damage to the fragile object should be prohibited. How to grip such an object in a safe way becomes a challenge for the designers.

Conventionally, there is provided a plurality of methods to use a robot arm to grip such an object. For example, an additional positioning fixture or vision positioning system may be required to assist the positioning of the object, which would increase the cost and the cycle time. Worse still, the surface of the object may be touched, which leaves marks or contamination on the surface. This is unsatisfactory for the users. In another existing solution, for example, in CN209480745U, it is proposed to leave a gap between a glass of a mobile phone and the suction cup. However, the position of the glass cannot be adjusted conveniently.

Therefore, there is a need for a simpler and cheaper design to grip the object and locate it on the gripper.

SUMMARY

Example embodiments of the present disclosure propose a solution for improving the accuracy of locating an object on a gripper.

In a first aspect, a gripper is provided. The gripper comprises a gripper body; a suction plate coupled to the gripper body and adapted to suck an object in a suction direction in such a way that the object and the suction plate are separated by a gap; a first actuator coupled to the gripper body and adjacent to the suction plate, the first actuator adapted to push the object sucked by the suction plate to move along a first direction in a plane perpendicular to the suction direction; and a second actuator coupled to the gripper body and adjacent to the suction plate, the second actuator adapted to push the object sucked by the suction plate to move along a second direction different from the first direction in the plane.

According to embodiments of the present disclosure, the position of the object on the suction plate of the gripper can be adjusted in different directions to achieve the positioning and placement with a high accuracy.

In some embodiments, the first actuator comprises a first actuator base coupled to the gripper body; a first claw hinged to the first actuator base around a pivot; and a first cylinder coupled to the first actuator base and adapted to push the first claw to rotate relative to the first actuator base around the pivot.

In some embodiments, the first claw is L-shaped and comprises a first arm and a second arm, wherein the first arm is provided adjacent to the first cylinder, and wherein the first actuator further comprises a first spring coupled to the first actuator base and the second arm.

In some embodiments, the second actuator comprises: a second actuator base coupled to the gripper body; a second claw coupled to the second actuator base; and a second cylinder coupled to the second actuator base and adapted to push the second claw to slide relative to the second actuator base along the second direction.

In some embodiments, the gripper further comprising a third actuator separated from the first actuator along the first direction and comprising: a third actuator base coupled to the gripper body; a third claw hinged to the third actuator base around a pivot; and a third cylinder coupled to the third actuator base and adapted to push the third claw to rotate relative to the third actuator base around the pivot.

In some embodiments, the third claw comprises: a first bar extending along the suction direction and adapted to rotate relative to the third actuator base around the pivot; and a second bar integral with the first bar and extending along the second direction, the second bar comprising two protrusions extending along the suction direction at either end, wherein the third actuator further comprises a third spring coupled to the third actuator base and the first bar.

In some embodiments, the gripper further comprising: a fourth actuator separated from the second actuator along the second direction and comprising: a fourth actuator base coupled to the gripper body; a fourth claw hinged to the fourth actuator base around a pivot; and a fourth cylinder coupled to the fourth actuator base and adapted to push the fourth claw to rotate relative to the fourth actuator base around the pivot.

In some embodiments, the fourth claw is L-shaped and comprises a first arm and a second arm, wherein the first arm is provided adjacent to the fourth cylinder; and wherein the fourth actuator comprises a fourth spring coupled to the fourth actuator base and the second arm.

In some embodiments, the suction plate is a non-contact vacuum suction plate.

In a second aspect, a method of operating a gripper of the first aspect is provided. The method comprises: moving the gripper to a position over the object; moving the suction plate against to the suction direction; causing the gripper to suck the object along the suction direction in such a way that the object and the suction plate are separated by the gap; actuating the first actuator to move the object along the first direction; and actuating the second actuator to move the object along the second direction.

BRIEF DESCRIPTION OF THE DRAWINGS

Through the following detailed descriptions with reference to the accompanying drawings, the above and other objectives, features and advantages of the example embodiments disclosed herein will become more comprehensible. In the drawings, several example embodiments disclosed herein will be illustrated in an example and in a non-limiting manner, wherein:

Fig. 1 illustrates a top perspective view of a gripper for sucking an object in accordance with an example embodiment of the present disclosure;

Fig. 2 illustrates a bottom perspective view of the gripper of Fig. 1 in accordance with an example embodiment of the present disclosure;

Figs. 3-4 illustrate different operation positions of a first actuator of Fig. 1 in accordance with an example embodiment of the present disclosure;

Fig. 5-6 illustrates different operation positions of a second actuator of Fig. 1 in accordance with an example embodiment of the present disclosure;

Figs. 7-8 illustrates different operation positions of a third actuator of Fig. 1 in accordance with an example embodiment of the present disclosure;

Figs. 9-10 illustrates different operation positions of a fourth actuator of Fig. 1 in accordance with an example embodiment of the present disclosure;

Fig. 11 illustrates a method of operating the gripper in accordance with some example embodiments of the present disclosure.

Throughout the drawings, the same or corresponding reference symbols refer to the same or corresponding parts.

DETAILED DESCRIPTION

The subject matter described herein will now be discussed with reference to several example embodiments. These embodiments are discussed only for the purpose of enabling those skilled persons in the art to better understand and thus implement the subject matter described herein, rather than suggesting any limitations on the scope of the subject matter.

The term “comprises” or “includes” and its variants are to be read as open terms that mean “includes, but is not limited to. ” The term “or” is to be read as “and/or” unless the context clearly indicates otherwise. The term “based on” is to be read as “based at least in part on. ” The term “being operable to” is to mean a function, an action, a motion or a state can be achieved by an operation induced by a user or an external mechanism. The term “one embodiment” and “an embodiment” are to be read as “at least one embodiment. ” The term “another embodiment” is to be read as “at least one other embodiment. ”

Unless specified or limited otherwise, the terms “mounted, ” “connected, ” “supported, ” and “coupled” and variations thereof are used broadly and encompass direct and indirect mountings, connections, supports, and couplings. Furthermore, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings. In the description below, like reference numerals and labels are used to describe the same, similar or corresponding parts in the Figures. Other definitions, explicit and implicit, may be included below.

The gripper 1 in accordance with some example embodiments the present disclosure will be described in detail with reference to Figs. 1-10 hereinafter.

As shown in Fig. 1, the gripper 1 generally comprises a gripper body 10, a suction plate 20, a first actuator 30 and a second actuator 40. The suction plate 20 is coupled to the gripper body 10 and is configured to suck an object (not shown) along a suction direction Ls. The object and the suction plate 20 are separated by a gap along the suction direction Ls. As shown in Fig. 2, two suction cups 22 are arranged at the suction plate 20 to produce a suction force for sucking the object. It is to be understood that the number of the suction cups 22 is not limited to embodiments of the present disclosure. More or fewer suction cups may be provided depending on the weight of the object or the requirement from the user.

Referring back to Fig. 1, the first actuator 30 is coupled to the gripper body 10 and is arranged adjacent to the suction plate 20. The first actuator 30 is configured to push the object sucked by the suction plate 20 to move along a first direction L1 in a plane perpendicular to the suction direction Ls. The second actuator 40 is coupled to the gripper body 10 and arranged adjacent to the suction plate 20. The second actuator 40 is configured to push the object sucked by the suction plate 20 to move along a second direction L2 in the plane perpendicular to the suction direction Ls. The second direction L2 is different from the first direction L1.

Since there is a gap between the object and the suction plate 20, it is possible for the first and

second actuators

30, 40 to move the object, which is being sucked by the suction plate 20. The object can be moved in different directions to arrive at a desire position in the plane perpendicular to the suction direction Ls. In this way, the object can be accurately positioned on the gripper 1.

The specific structure of the actuators will be described in detail with reference to Figs. 3-10 hereinafter. Figs. 3-4 illustrate the different operation positions of the first actuator 30.

In some embodiments, as shown, the first actuator 30 may comprise a first actuator base 32 and a first claw 34. The first actuator base 32 is fixedly coupled to the gripper body 10 and the first claw 34 is hinged to the first actuator base 32 around a pivot 35. The first claw 34 is provided to hold the object. In order to actuate the first claw 34, the first actuator 30 may further comprise a first cylinder 36. The first cylinder 36 is coupled to the first actuator base 32 and is configured to actuate a first block 39 move along the suction direction Ls. With the movement of the first block 39, the first claw 34 is actuated to rotate relative to the first actuator base 32 around the pivot 35.

In some embodiments, as shown in Figs. 3-4, the first claw 34 may be L-shaped and comprise a first arm 31 and a second arm 33. The first and

second arms

31, 33 are integrally formed as a single piece. The first arm 31 is provided adjacent to the first cylinder 36 and can thus be actuated by the first block 39. In some embodiments, the first arm 31 may be generally normal to the second arm 33. As shown in Figs. 3-4, the first arm 31 may extend generally along the first direction L1 and the second arm 33 may extend generally along the suction direction Ls. The second arm 33 comprises a tip 37 at its end, which is configured to touch the object at its lateral side. The first actuator 30 further comprises a first spring 38 coupled to the first actuator base 32 and the second arm 33.

With reference to Fig. 3, when the first block 39 is actuated by the first cylinder 36 and moves against the suction direction Ls, the first arm 31 is pushed to move with the first block 39 against the suction direction Ls. As a result, the L-shaped first claw 34 will rotate around the pivot 35 along the rotating direction R. That is, the second arm 33 is pushed against the first direction L1, and the space under the first actuator 30 would be enlarged to accommodate the object to be gripped, as shown in Fig. 3. Therefore, the object can be sucked by the suction plate 20. While the object is being sucked, the first block 39 is actuated by the first cylinder 36 to move along the suction direction Ls, and the L-shaped first claw 34 is rotated against the rotating direction R under the force of the first spring 38. As a result, the second arm 33 moves along the first direction L1 to allow the tip 37 to clamp the object at its lateral side. In this way, the position of the object on the gripper 1 can be adjusted along the first direction L1.

Figs. 5-6 illustrate the different operation positions of the second actuator 40.

In some embodiments, the second actuator 40 may comprise a second actuator base and a second claw 44. The second actuator base is fixedly coupled to the gripper body 10 and the second claw 44 is coupled to the second actuator base. The second claw 44 is provided to hold the object. In order to actuate the second claw 44, a second cylinder 46 may be provided. The second cylinder 46 is coupled to the second actuator base and is configured to actuate a second block 49 to move along the second direction L2. As illustrated, the second block 49 is coupled to the second claw 44. By means of the movement of the second block 49, the second claw 44 is pushed to slide relative to the second actuator base along the second direction L2.

With reference to Fig. 5, when the second block 49 is actuated by the second cylinder 46 and moves against the second direction L2, the second claw 44 is push to move with the second block 49 against the second direction L2 and the space under the second actuator 40 would be enlarged to accommodate the object to be sucked, as shown in Fig. 5. Therefore, the objected can be sucked by the suction plate 20. While the objected is being gripped, the second block 49 is actuated to move along the second direction L2, then the second claw 44 move together with the second block 49 to allow the tip 47 to clamp the object at its later side. In this way, the position of the object on the gripper 1 can be adjusted along the second direction L2.

In some embodiments, the gripper 1 may further comprise a third actuator 50 provided at a distance to the first actuator 30 along the first direction L1. Figs. 7-8 illustrate the different operation positions of the third actuator 50.

As shown, the third actuator 50 may comprise a third actuator base 52 and a third claw 54. The third actuator base 52 is fixedly coupled to the gripper body 10 and the third claw 54 is hinged to the third actuator base 52 around a pivot 55. The third claw 54 is provided to hold the object. In order to actuate the third claw 54, a third cylinder 56 may be provided. The third cylinder 56 is coupled to the third actuator base 52 and is configured to cause a third block 59 to move along the first direction L1. With the movement of the third block 59, the third claw 54 is actuated to rotate relative to the third actuator base 52 around the pivot 55.

In some embodiments, as shown in Figs. 7-8, the third claw 54 may comprise a first bar 51 and a second bar 53. The first and

second bars

51, 53 are integrally formed as a single piece. As shown, the first bar 51 extends generally along the suction direction Ls and adapted to rotate relative to the third actuator base 52 around the pivot 55. The second bar 53 generally extends along the second direction L2, and two

protrusions

531, 532 extending generally along the suction direction Ls are arranged at either ends of the second bar 53. The protrusion 531 comprises a tip 57-1, which is configured to touch the object at its lateral side. Also, the protrusion 532 comprises a tip 57-2, which is also configured to touch the object at its lateral side. The third actuator 50 further comprises a third spring 58 coupled to the third actuator base 52 and the first bar 51.

With reference to Fig. 7, when the object is under the suction plate 20, the third block 59 may be actuated by the third cylinder 56 and moves along the first direction L1, and then the first bar 51 and the third spring 58 are pushed by the third block 59 along the first direction L1. As a result, the third claw 54 will rotate around the pivot 55 against the rotating direction R. That is, the second bar 53 is moved against the first direction L1. Consequently, the tips 57-1, 57-2 clamp the object at its lateral side. Since two tips 57-1, 57-2 are provided, as shown in Figs. 7 and 8, the object can be gripped in a more secure manner. When the third block 59 is actuated by the third cylinder 56 to move against the first direction L1, the first bar 51 can be pulled by the third spring 58, which acts as a return spring, to its original position. As a result, the third claw 54 will rotate around the pivot 55 along the rotating direction R. That is, the second bar 53 and the two tips 57-1, 57-2 provided thereon are moved along the first direction L1.

In this way, the position of the object on the gripper 1 can be adjusted along the first direction L1. Moreover, by combining the first and

third claws

34, 54, the object can be clamped firmly from both sides along the first direction L1. Since the first and

third cylinders

36, 56 can be actuated independently of each other, the precise positioning adjustment along the first direction L1 can be achieved.

In some embodiments, the gripper 1 may further comprise a fourth actuator 60 provided at a distance to the second actuator 40 along the second direction L2. Figs. 9-10 illustrate the different operation positions of the fourth actuator 60.

As shown in Fig. 9, the fourth actuator 60 comprises a fourth actuator base 62 and a fourth claw 64. The fourth actuator base 62 is fixedly coupled to the gripper body 10 and the fourth claw 64 is hinged to the fourth actuator base 62 around a pivot 65. The fourth claw 64 is provided to hold the object. The fourth actuator 60 may further comprise a fourth cylinder 66 to actuate the fourth claw 64. The fourth cylinder 66 is coupled to the fourth actuator base 62 and is configured to cause a fourth block 69 to move along the suction direction Ls. By means of the movement of the fourth block 69, the fourth claw 64 is actuated to rotate relative to the fourth actuator base 62 around the pivot 65.

In some embodiments, as shown in Figs. 9-10, the fourth claw 64 may be L-shaped and comprises a first arm 61 and a second arm 63. The first and

second arms

61, 63 are integrally formed as a single piece. The first arm 61 is provided adjacent to the fourth cylinder 66 and can thus be actuated by the fourth block 69. In some embodiments, the first arm 61 may be generally normal to the second arm 63. As shown in Figs. 9-10, the first arm 61 may extend generally along the second direction L2 and the second arm 63 may extend generally along the suction direction Ls. The second arm 63 comprises a tip 67 at its end, which is configured to touch the object at its lateral side. The fourth actuator 60 further comprises a fourth spring 68 to couple the second arm 63 to the fourth actuator base 62.

With reference to Fig. 9, when the fourth block 69 is actuated by fourth cylinder 66 and moves against the suction direction Ls, the first arm 61 is pushed to move with the fourth block 69 against the suction direction Ls. As a result, the L-shaped fourth claw 64 will rotate around the pivot 35 along the rotating direction R. That is, the second arm 63 is pushed along the second direction L2, and the space under the fourth actuator 60 would be enlarged to accommodate the object to be gripped, as shown in Fig. 9. Therefore, the object can be sucked by the suction plate 20. While the object is being sucked, the fourth block 69 is actuated to move along the suction direction Ls, and the L-shaped fourth claw 64 is rotated against the rotating direction R under the force of the fourth spring 68. As a result, the second arm 63 moves against the second direction L2 to allow the tip 67 to clamp the object at its lateral side.

In this way, the position of the object on the gripper 1 can be adjusted along the second direction L2. Moreover, by combining the second and

fourth claws

44, 64, the object can be clamped firmly from both sides along the second direction L2. Since the second and

fourth cylinders

46, 66 can be actuated independently of each other, the precise positioning adjustment along the second direction L2 can be achieved.

Moreover, with the actuators described above, the action of self-centering of the object on the gripper 1 can be achieved while being transferred. This would be beneficial compared with the conventional approaches, because no additional positioning structure and positioning steps are required. Therefore, the cost can be reduced and the cycle time is shortened.

In some embodiments, referring back to Fig. 1, the gripper body 10 may comprise a cylinder body 12, a first base 14 and a second base 16. As illustrated, the cylinder body 12 is coupled to the first base 14 and may be used to actuate the suction plate 20, which is attached to a piston rod of the cylinder body 12. The

actuators

30, 40, 50 and 60 are attached to the second base 16. The first base 14 and the second base 16 are fixed to each other. In some embodiments, the first base 14 may be a vertical base. In other embodiments, the second base 16 may be a horizontal base.

Referring back to Fig. 2, only one tip are provided for each of the first, second and

fourth actuators

30, 40, 60 and two tips 57-1, 57-2 are provided for the third actuator 50. It is to be understood that this is just one example, and the specific arrangements of the tips are not limited to embodiments of the present disclosure. In order to improve the security of holding the object, more tips may be provided for each actuator. It is apparent that fewer tips may be provided in order to save the cost.

Referring back to Fig. 5, when the second cylinder 46 actuates the second block 49 to move, the second claw 44 will be slid accordingly. In a different manner, with reference to Fig. 3, 7 and 9, when the respective cylinder actuates the respective block to move, the respective claw will be rotated accordingly. Compared with the

claws

34, 54 and 64 in Figs. 3, 7 and 9, the stroke of the second claw 44 may be relatively large. Therefore, the second claw 44 can adjust the position of the object relatively roughly, while the first, third and

fourth claws

34, 54 and 64 can adjust the position relatively precisely. In this way, the four actuators allow different levels of adjustment accuracy.

It is to be understood that the specific forms of the four actuators may be interchanged. For example, the first actuator 30 may be in a form of a sliding actuator such as the actuator shown in Figs. 5-6. The second actuator 40 may be in a form of a rotating actuator such as the actuator shown in Figs. 3-4.

In some embodiments, the suction plate 20 may be a non-contact vacuum suction plate. It is to be understood that the specific forms of the suction plate 20 are not limited herein.

In some embodiments, the first direction L1 may be perpendicular to the second direction L2. In this way, the location of the object with a cuboid shape can be accurately adjusted.

It is to be understood that this is only for illustration without suggesting any limitations as to the scope of the subject matter described here. In other embodiments, the object may be of any other shapes, such as a triangular shape, a circular shape, an oval shape, etc.

In some embodiments, the object may be fragile. In some embodiments, the object may be a glass.

Fig. 11 illustrates a method 1100 of operating the gripper 1 described above in accordance with some example embodiments of the present disclosure.

At block 1102, the gripper 1 is moved to a position over the object. At block 1104, the suction plate 20 is moved against the suction direction Ls. At block 1106, the gripper 1 is caused to suck the object along the suction direction Ls in such a way that the object and the suction plate 20 are separated by the gap. At block 1108, the first actuator 30 is actuated to move the object along the first direction L1. At block 1110, the second actuator 40 is actuated to move the object along the second direction L2.

It is to be understood that the apparatus, the structure or the process involved in Fig. 11 have been described above with reference to Figs. 1-10, and the details will not be described hereinafter for the sake of brevity.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are contained in the above discussions, these should not be construed as limitations on the scope of the present disclosure, but rather as descriptions of features that may be specific to particular embodiments. Certain features that are described in the context of separate embodiments may also be implemented in combination in a single embodiment. On the other hand, various features that are described in the context of a single embodiment may also be implemented in multiple embodiments separately or in any suitable sub-combination.

According to embodiments of the present disclosure, by providing more than one actuators for the gripper 1, the object when being sucked by the vacuum suction plate 20 can be adjusted with more than one degree of freedom. Since the actuators can be controlled independently of each other, the accuracy of positioning is greatly improved.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

A gripper (1) comprising:

a gripper body (10) ;

a suction plate (20) coupled to the gripper body (10) and adapted to suck an object in a suction direction (Ls) in such a way that the object and the suction plate (20) are separated by a gap;

a first actuator (30) coupled to the gripper body (10) and adjacent to the suction plate (20) , the first actuator (30) adapted to push the object sucked by the suction plate (20) to move along a first direction (L1) in a plane perpendicular to the suction direction (Ls) ; and

a second actuator (40) coupled to the gripper body (10) and adjacent to the suction plate (20) , the second actuator (40) adapted to push the object sucked by the suction plate (20) to move along a second direction (L2) different from the first direction (L1) in the plane.
The gripper (1) of claim 1, wherein the first actuator (30) comprises:

a first actuator base (32) coupled to the gripper body (10) ;

a first claw (34) hinged to the first actuator base (32) around a pivot (35) ; and

a first cylinder (36) coupled to the first actuator base (32) and adapted to push the first claw (34) to rotate relative to the first actuator base (32) around the pivot (35) .
The gripper (1) of claim 2, wherein the first claw (34) is L-shaped and comprises a first arm (31) and a second arm (33) , wherein the first arm (31) is provided adjacent to the first cylinder (36) , and

wherein the first actuator (30) further comprises a first spring (38) coupled to the first actuator base (32) and the second arm (33) .
The gripper (1) of claim 1, wherein the second actuator (40) comprises:

a second actuator base coupled to the gripper body (10) ;

a second claw (44) coupled to the second actuator base; and

a second cylinder (46) coupled to the second actuator base and adapted to push the second claw (44) to slide relative to the second actuator base along the second direction (L2) .
The gripper (1) of claim 1, further comprising

a third actuator (50) separated from the first actuator (30) along the first direction (L1) and comprising:

a third actuator base (52) coupled to the gripper body (10) ;

a third claw (54) hinged to the third actuator base (52) around a pivot (55) ; and

a third cylinder (56) coupled to the third actuator base (52) and adapted to push the third claw (54) to rotate relative to the third actuator base (52) around the pivot (55) .
The gripper (1) of claim 5, wherein the third claw (54) comprises:

a first bar (51) extending along the suction direction (Ls) and adapted to rotate relative to the third actuator base (52) around the pivot (55) ; and

a second bar (53) integral with the first bar (51) and extending along the second direction (L2) , the second bar (53) comprising two protrusions (531, 532) extending along the suction direction (Ls) at either end,

wherein the third actuator (50) further comprises a third spring (58) coupled to the third actuator base (52) and the first bar (51) .
The gripper (1) of claim 1, further comprising:

a fourth actuator (60) separated from the second actuator (40) along the second direction (L2) and comprising:

a fourth actuator base (62) coupled to the gripper body (10) ;

a fourth claw (64) hinged to the fourth actuator base (62) around a pivot (65) ; and

a fourth cylinder (66) coupled to the fourth actuator base (62) and adapted to push the fourth claw (64) to rotate relative to the fourth actuator base (62) around the pivot (65) .
The gripper (1) of claim 7, wherein the fourth claw (64) is L-shaped and comprises a first arm (61) and a second arm (63) , wherein the first arm (61) is provided adjacent to the fourth cylinder (66) ; and

wherein the fourth actuator (60) comprises a fourth spring (68) coupled to the fourth actuator base (62) and the second arm (63) .
The gripper (1) of claim 1, wherein the suction plate (20) is a non-contact vacuum suction plate.
A method of operating a gripper (1) of any of claims 1-9, comprising:

moving the gripper (1) to a position over the object;

moving the suction plate (20) against the suction direction (Ls) ;

causing the gripper (1) to suck the object along the suction direction (Ls) in such a way that the object and the suction plate (20) are separated by the gap;

actuating the first actuator (30) to move the object along the first direction (L1) ; and

actuating the second actuator (40) to move the object along the second direction (L2) .