Automatic bill handling system
Disclosed herein are devices, systems, and methods for automatic handling of bank notes, gambling tickets, bills, or other types of paper notes. The disclosed devices, systems, and methods are directed to, or include, various robot arms, which may be articulated, that are configured to open a bill storage container, remove a bundle of bills, load the bundle on a bill conveying device, and load the bundle of bills in a bill storage case. The systems include one or more control devices to control the operations of the components that move the bill bundle.
1. A robot hand comprising:
a first finger extending in a first direction;
a second finger extending in the first direction and disposed so as to face the first finger; and
a finger moving mechanism configured to move at least one of the first finger and the second finger along a direction in which the first finger faces the second finger, wherein:
in the first direction, a tip position of the first finger, due to a protruding portion not associated with the second finger, differs from a tip position of the second finger whereby the first finger is longer than the second finger, the tip position of the first finger and second finger in said first direction remaining the same during movement of the at least one of the first finger and the second finger along a direction in which the first finger faces the second finger thereby decreasing a distance between the first finger and second finger.
2. The robot hand of claim 1 , wherein at least one of the first finger and the second finger has a non-slip treated portion disposed on a side where the first finger and the second finger face each other.
3. The robot hand of claim 1 , further comprising a reinforcing plate joining the finger moving mechanism to at least one of the first finger and the second finger.
4. The robot hand of claim 1 , further comprising a surface notch in at least one of the first finger and the second finger.
5. The robot hand of claim 1 , wherein at least one of the first finger and the second finger is formed with a base portion, an intermediate portion, and a claw portion.
6. The robot hand of claim 5 , wherein a tip portion of the claw portion has a shape protruding downward.
7. A robot hand comprising:
a movable finger extending in a first direction;
a fixed finger extending in the first direction and spaced apart from the movable finger, the movable finger and fixed finger having inner surfaces parallel to one another long their respective lengths, the inner surfaces remaining parallel during movement of the movable finger;
a finger moving mechanism configured to move the movable finger relative to the fixed finger in a manner to grasp articles between the movable finger and the fixed finger; and
wherein a tip portion of the fixed finger, due to a protruding portion not associated with the movable finger, is a greater distance from a connecting portion of the robot hand to a robot more forward than a tip portion of the movable finger.
8. The robot hand of claim 7 , wherein the fixed finger has a non-slip treated portion disposed on a side where the fixed finger faces the movable finger.
9. The robot hand of claim 7 , further comprising a reinforcing plate joining the finger moving mechanism to movable finger.
10. The robot hand of claim 7 , further comprising a surface notch in the fixed finger.
11. The robot hand of claim 7 , wherein the movable finger is formed with a base portion, an intermediate portion, and a claw portion.
12. The robot hand of claim 11 , wherein a tip portion of the claw portion has a shape protruding downward.
13. A robot hand comprising:
a movable finger extending in a first direction;
a fixed finger extending in the first direction and spaced apart from the movable finger, the fixed finger, due to a protruding portion not associated with the movable finger, having a tip portion a greater distance from a connecting portion used to connect the robot hand to a robot, the movable finger and fixed finger having inner surfaces parallel to one another long their respective lengths, the inner surfaces remaining parallel during movement of the movable finger;
a finger moving mechanism configured to move the movable finger relative to the fixed finger in a manner to grasp articles between the movable finger and the fixed finger; and
an imaging unit.
14. The robot hand of claim 13 , wherein the imaging unit is attached to the finger moving mechanism.
15. The robot hand of claim 14 , further comprising a support arm attaching the imaging device to a support plate of the finger moving mechanism.
16. The robot hand of claim 13 , wherein the fixed finger has a non-slip treated portion disposed on a side where the fixed finger faces the movable finger.
17. The robot hand of claim 13 , further comprising a reinforcing plate joining the finger moving mechanism to movable finger.
18. The robot hand of claim 13 , further comprising a surface notch in the fixed finger.
19. The robot hand of claim 13 , wherein the movable finger is formed with a base portion, an intermediate portion, and a claw portion.
20. The robot hand of claim 19 , wherein a tip portion of the claw portion has a shape protruding downward.