# US 4,392,775 A · Flat workpiece pickup

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- Number: US 4,392,775 A
- Document ID: US4392775A
- Status: Granted
- Kind: A
- Application number: 06/195,693
- Filed: 1980-10-09
- Granted: 1983-07-12
- Earliest claimed: 1980-10-09
- Assignees: The United States of America as represented by the Secretary of the Air Force
- Inventors: Gerald E. Ennis; Mario Colombo, Jr.
- Web page: https://patentgrep.com/patent/US4392775A

## CPC

- B25J 15/00: Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)}
- B65G 47/90: Devices for picking-up and depositing articles or materials
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)

## Abstract

Apparatus for picking up a flat workpiece from a flat surface by an industrial robot where vacuum and magnetic devices are not practicable. A tined end-effector is plunged into a unique compliant surface formed of upstanding bristle-like elements with the workpiece being positioned thereon. The end-effector is moved under the workpiece which is then rigidly grasped and lifted off the surface without disturbing the original orientation and presented at the goal site.

## Claims

### Claim 1

In combination, a compliant table surface for supporting a flat workpiece thereon, said compliant table surface comprising a rigid base member and a plurality of vertical upstanding closely spaced bristle-like elements affixed at the lower ends thereof to said rigid base member, the free upper ends of said bristle-like elements forming a level work surface; and an end-effector for firmly grasping said workpiece for transportation to a different location, said end-effector comprising a lower member having a plurality of tines extending forwardly from a block, each of said tines being rectangular in cross-section over their entire length up to their forward ends, the forward ends of each of said tines being curved upwardly from the bottom surface of said tines to the top surface of said tines, a handle portion extending rearwardly from said block, and a single upper member having a flat planar grasper corresponding in size to the said plurality of tines positioned substantially parallel to said upper surface of each of said plurality of tines with a handle portion extending rearwardly therefrom, the rearward end of the handle of said lower member being pivotally attached to the rearward end of the handle of said upper member to form said end-effector whereby the tines on the lower member of said end-effector can be inserted into the compliant table surface and moved under the workpiece, the grasper on the upper member of said end-effector being pivotable downward to firmly grasp the workpiece thereby allowing the workpiece to be picked up for transportation to a different location without disturbing the original orientation of the workpiece.

### Claim 2 (depends on 1)

The combination defined in claim 1 wherein said bristle-like elements forming the level work surface supporting the workpiece are fabricated of nylon.

### Claim 3 (depends on 1)

The combination defined in claim 1 wherein said bristle-like elements forming the level work surface supporting the workpiece are fabricated of polypropylene.

### Claim 4 (depends on 1)

The combination defined in claim 1 wherein said bristle-like elements forming the level work surface supporting the workpiece are fabricated of stainless steel.

### Claim 5 (depends on 1)

The combination defined in claim 1 wherein said bristle-like elements forming the level work surface supporting the workpiece are fabricated of rubber.