A gripper tooling for inserting clips in workpieces
OwnerJaume Duran Sanchez, Oriol Rovira Prunsinventors
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Abstract
Disclosed herein is a gripper tooling comprising a frame and a plurality of clip positioning actuators mounted on the frame, wherein each clip positioning actuator comprises a cylinder with an internally guided piston, and a finger attachment for a fingertip at a distal end of the piston. In embodiments, the clip positioning actuators may be mounted on the frame in positions adjacent to each other in a rectangular array of at least two rows. Also disclosed are a clipping cell and a method for inserting clips in workpieces.
Claims12
A gripper tooling configured to insert clips in workpieces comprising:
- a frame configured to be detachably attached to a wrist axis of an industrial robot;
- and
- a plurality of clip positioning actuators mounted on the frame, wherein each clip positioning actuator comprises a cylinder with an internally guided piston, and a finger attachment for a fingertip at a distal end of the piston.
A method for inserting clips in workpieces, comprising:
- placing a workpiece in a predetermined position on a support fixture;
- providing a gripper tooling with a plurality of clip positioning actuators arranged in a rectangular array of at least two rows, each clip positioning actuator comprising a cylinder with an internally guided piston, and a finger attachment for a fingertip at a distal end of the piston;
- providing a plurality of clips on a cavities plate, arranged in a predetermined array position matching the configuration of the array of the clip positioning actuators in the gripper tooling, utilizing a feeding robot;
- operating the gripper tooling to pick simultaneously the plurality of clips from the cavities plate, one with each clip positioning actuator;
- and
- operating the gripper tooling to sequentially insert the clips one by one in the workpiece.
Dependencies are inferred from the claim text.