Handling: hand and hoist-line implements – Grapple – Multiple grapples for multiple objects
Reexamination Certificate
1999-07-01
2001-09-18
Cherry, Johnny D. (Department: 3652)
Handling: hand and hoist-line implements
Grapple
Multiple grapples for multiple objects
C294S099100
Reexamination Certificate
active
06290276
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to end effectors used with robots. More specifically, the present invention relates to an end effector having overlapping springs to pick up cups and similar items.
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.
For example, plastic glasses and cups are difficult to handle using typical robot grippers because they are usually made from materials that can be crushed or broken relatively easily. In addition, cups and glasses are often placed inside one another to create hard-to-handle, large stacks. The stacks can be unstable if they are not grasped along their entire length. It is also difficult to remove and place stacks of items in boxes and similar containers, because the area within such containers is limited and stacks are often surrounded on three sides (either by another stack or a wall of the container). This makes it difficult to grab or grip the stack without damaging the container or other stacks. Another problem with most grippers is that a minimum clearance from items in the operating environment must be provided so that they can properly open and close. Typically, an end effector requires more operating space when its jaws are opened. This makes it difficult to handle items in tight spaces such as occurs when packing or unpacking cups or similar items. Thus, these tasks are often done using manual or semiautomated mechanisms. However, if an end effector existed that could grasp stacks of such items and deliver such items without damage, in the confines of a container, the benefits of robotic automation could be realized.
SUMMARY OF THE INVENTION
Therefore, it is an objective of the present invention to provide a robot end effector that can grasp stacks of cups, glasses, and similar items. This objective and others are achieved in an end effector having a mounting bracket or similar mount designed to be coupled to the arm of a robot. The bracket holds an actuator, which in one embodiment has two guide rods and a piston rod. Also coupled to the actuator is a main plate with a top surface and a bottom surface. The main plate is mounted to the bracket by a plurality of standoff rods and has a number of clearance openings. The main plate supports a plurality of spring blades and two end blades. Each spring blade has a plurality of teeth and the blades are arranged in pairs so that the teeth of each blade in the pair are interweaved with each other. The end blades and pairs of springs are mounted to the bottom side of the main plate and arranged to create a number of bays. A stack of cups may be pushed into and held in each bay.
To release the cups from the bays, the end effector is equipped with an ejection assembly. The ejection assembly has a support plate which is coupled to the guide rods of the actuator as well as the actuator's piston rod. A plurality of extension rods is coupled to the support plate. Each extension rod extends through one of the clearance openings in the main plate and is coupled to one ejector bar. Each ejector bar is positioned in one of the bays formed by the spring blades. The actuator's piston rod drives the support plate between a retracted position and an extended position. In order to eject cups from the bays, the support plate is driven downward by the actuator to the extended position. This motion causes the ejector bars to move downward, contact the stack of cups in each bay, and force the stack from the grip of the spring blades.
Still further objectives and features of the present invention will become apparent by a review of the description below and accompanying drawings.
REFERENCES:
patent: 2561536 (1951-07-01), Rowe
patent: 2666665 (1954-01-01), Whitcher et al.
patent: 2707572 (1955-05-01), Rothman
patent: 2805095 (1957-09-01), Cummings et al.
patent: 2999604 (1961-09-01), Chalich
patent: 3081124 (1963-03-01), Kaplan
patent: 4775046 (1988-10-01), Gramarossa et al.
patent: 5178506 (1993-01-01), Meschi
patent: 5328319 (1994-07-01), Fadaie
ABB Flexible Automation Inc.
Cherry Johnny D.
Godfrey & Kahn S.C.
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