Universal end effector for robotic applications

Details Universal end effector for robotic applications Universal end effector for robotic applications

1998-06-04

2000-01-18

Kramer, Dean J.

Handling: hand and hoist-line implements

Miscellaneous compound implement

294 641, 2941191, 294907, 901 40, 901 46, B25J 1506, B25J 1902

Patent

active

060151749

ABSTRACT:
An end effector system adapted to be used for robotic tooling applications which allows the end effector to be used to acquire parts by vacuum pick-up or grasping. A vacuum type end effector is provided at the end of each of two robotic tooling fingers. Each vacuum type end effector includes a flexible bellows member on the end thereof such that it can be used for vacuum acquisition. Extending down from each finger to reside adjacent a respective bellows is a pinch member. Through robotic control of the movement of the fingers, finger gripping can be accomplished to grip an object between the two bellows using the pinch members for lateral support. As the part is captured between the two bellows, each bellows is compressed against its respective pinch member. In such manner, the bellows are at least partially collapsed such that a vacuum sensor located in the vacuum supply line to the bellows registers that a vacuum is present and, thus, a part has been acquired. That same vacuum sensor allows the robot to know when a part has been acquired by the bellows in the typical vacuum-type pick-up arrangement.

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