System for locating an end effector of a robot relative to a par

Details System for locating an end effector of a robot relative to a par System for locating an end effector of a robot relative to a par

1996-04-03

1997-12-02

Underwood, Donald W.

Handling: hand and hoist-line implements

Grapple

Load shifting

414729, 901 45, B25J 1500

Patent

active

056927908

ABSTRACT:
A system including a specifically-shaped probe and a complementarily-shaped hole formed in a surface of a part to be picked up ensures proper alignment between an end effector which picks up the part and the part itself. The probe includes first, second, third and fourth mutually converging locating surfaces terminating at a rounded tip at a free end of the probe. The probe is preferably diamond-shaped in cross-section along its entire length and the hole, consequently, is also diamond-shaped. The hole is defined by an inner peripheral diamond-shaped surface configured to be immediately adjacent and substantially parallel to each of the locating surfaces only when the end effector is in a proper pick up position and orientation with respect to the part. Preferably, the end effector is a gripper wherein the probe is adapted to be secured between gripping jaws of the gripper. In the preferred embodiment, the part comprises dunnage.

REFERENCES:
patent: 2713419 (1955-07-01), Hayes
patent: 4242778 (1981-01-01), Kay
patent: 4611843 (1986-09-01), Burger et al.
patent: 4697741 (1987-10-01), Dengler et al.
patent: 4738108 (1988-04-01), Fukuyama et al.
patent: 4867595 (1989-09-01), Hoffman
patent: 4892457 (1990-01-01), Bartlett et al.
patent: 4919586 (1990-04-01), Derby
patent: 4936732 (1990-06-01), Naab et al.
patent: 5131706 (1992-07-01), Appleberry

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