Article piercing end effector

Details Article piercing end effector Article piercing end effector

2000-02-29

2001-10-30

Cherry, Johnny D. (Department: 3652)

Handling: hand and hoist-line implements

Spears

C294S087100, C294S100000

Reexamination Certificate

active

06309001

ABSTRACT:

FIELD OF THE INVENTION
The present invention relates to end effectors used with robots, and more particularly, to an end effector that pierces the articles that are to be picked up and handled by the robot.
BACKGROUND OF THE INVENTION
Robots carry out tasks with speed, accuracy, and repeatability that can not be matched by manual techniques. They are used in a variety of applications, from welding to picking up and handling all sorts of items. In order to carry out these tasks, robots are equipped with “end effectors,” devices designed to effect a desired action. End effectors often take the form of mechanical fingers, claws, or jaws that mechanically compress articles between two members. While these types of end effectors (sometimes called “grippers”) are effective for use in industrial environments and to manipulate objects that are hard and relatively heavy, they are not useful for handling lighter, delicate, or easily crushed items.
In the food industry, many item s that need to be handled, such as baked goods, are soft and fragile. Most end effectors with mechanical grippers would crush these items during handling. Thus, the advantages of robotic automation are not fully available for many items in the food industry. However, if an end effector existed that did not crush or damage such items, the benefits of robotic automation could be realized. Accordingly, there is a need for an end effector designed to grasp delicate items such as baked goods.
SUMMARY OF THE INVENTION
It is an objective of the present invention to provide a robot end effector that can grasp baked foods without crushing them. This objective and others are achieved in an end effector having, in one embodiment, two opposed forks pivotally mounted to a first plate. In this embodiment each fork is made from a single piece of heavy wire having a cross member with two curved tines extending downwardly therefrom. The first plate is coupled to an actuator by guide rods. The actuator is mounted on a bracket or similar mechanism that functions to couple the end effector to the arm of an industrial robot. The first plate has a plurality of clearance openings, each of which receives a standoff rod.
A second bottom plate is fixed to the ends of the standoff rods attached to the mounting bracket by fasteners extending through the standoff rods. The second plate includes a plurality of holes extending through the plate. The holes in the second plate are aligned with the tines of the forks of the first plate. The first plate is movable by the actuator between an open position, relatively far from the second plate, and a closed position, relatively nearer the second plate. As the first plate is moved toward the second plate, then, the tines are slid through the holes in the second plate. As the first plate is lowered from an open position to a closed position, the curvature of the tines interacts with the holes to cause the tips of the tines to move toward each other and pierce any item that is positioned below the bottom plate. Once pierced, the items may be picked up and moved to a desired location. When the support plate is raised, the tines are withdrawn from the pierced items and the items drop away from the end effector.
Since the present invention uses piercing members to grip items, the items are not subjected to the mechanical compression and contact associated with most common grippers. Thus, the invention provides a solution to the need for grasping items, such as foods, that cannot withstand typical compression and contact forces. One use for this end effector is to remove bakery products from pans. It could, however, be applied to other products, food or otherwise.
Various other features, objects, and advantages of the invention will be made apparent to those skilled in the art from the following detailed description and accompanying drawings.


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