Lightweight gripper for robotic transfer operations

A light weight, re-configurable gripper for pick up, translational and rotational repositioning and deposit of a plurality of product items, arranged in said predetermined orientations and positions on a supporting surface, under robotic manipulation, which comprises

• (a) a generally rectangular basic frame comprising a pair of spaced-apart, longitudinally extending lateral supports of lightweight tubular material, and spaced-apart means rigidly interconnecting said lateral supports,
• (b) a plurality of lightweight tubular cross members individually slideably support by and longitudinally adjustable on and extending between said lateral supports,
• (c) means including T-shaped fittings at the ends of each of said cross members engaging said lateral supports for supporting and securing said cross members in their respective individually adjusted positions on said lateral supports,
• (d) individual suction devices mounted on each of said cross members, and individually slideably adjustable laterally thereon for engagement with said product items, as arranged in said predetermined orientations and positions, to be transported by said gripper,
• (e) each of said cross members being adapted to be slideably installed on and removed from said lateral supports of re-configuring said gripper, and
• (f) said T-shaped fittings being removable from at least one end of each of said cross members to render said one end accessible when removed from its lateral support to accommodate slidable addition or removal of individual suction devices from said cross members.

In a robotic gripper assembly for pick up, translational and rotational repositioning and deposit of a plurality of product items positioned on a supporting surface, and which comprises a frame for attachment to a robotic manipulator, a plurality of suction devices adjustably mounted on said frame, and confining flap means providing lateral support for product items during transportation thereof by said gripper assembly, the improvement in said confining flat means characterized by,

• (a) said flap means comprises flap members of generally L-shaped configuration, each including a generally downwardly extending member and a generally horizontally extending flexible supporting plate,
• (b) means for pivotally mounting said flat members in opposed arrangement on spaced portions of said frame, with said flexible supporting plates extending generally toward each other,
• (c) actuator means for pivotally moving said flap members into and out of product confining positions,
• (d) said flexible supporting plates underlying end portions of product items engaged by said gripper when said flap members are pivoted into product confining positions, and
• (e) said flexible supporting plates being deflectable by said supporting surface facilitate insertion underneath said product items.

A light weight, re-configurable gripper for pick up, transnational end rotational repositioning and deposit of a plurality of product items, arranged in said predetermined orientations and positions on a supporting surface, under robotic manipulation, which comprises

• (a) a generally rectangular basic frame comprising a pair of spaced-apart, longitudinally extending lateral supports, and spaced-apart means rigidly interconnecting said lateral supports,
• (b) a plurality of cross members individually slideably supported by and adjustable on and extending between said lateral supports,
• (c) means for securing said cross members in adjusted positions on said lateral supports,
• (d) a plurality of individual suction devices mounted on each of said cross members, and individually slideably adjustable laterally thereon for engagement with said product items, as arranged in said predetermined orientations and positions, to be transported by said gripper,
• (e) said cross members being adapted to be slideably installed on and removed from said lateral supports for reconfiguring said gripper,
• (f) at least one end of said cross members being accessible when removed from said lateral supports to accommodate slidable addition or removal of individual suction devices from said cross members,
• (g) L-shaped confining flap means pivotally mounted at each end of said gripper frame,
• (h) said confining flap means including flexible supporting plate means adapted to be inserted underneath end portions of product items in conjunction with operation of said suction devices by inward pivotal movement of said flap means, and
• (i) said flexible supporting plate means engaging and being deflectable by said supporting surface to facilitate insertion underneath said product items.

A light weight, re-configurable gripper for pick up, transnational and rotational repositioning and deposit of a plurality of product items, arranged in said predetermined orientations and positions on a supporting surface, under robotic manipulation, which comprises

• (a) a generally rectangular basic frame comprising a pair of spaced-apart, longitudinally extending lateral supports, and spaced-apart means rigidly interconnecting said lateral supports,
• (b) a plurality of cross members individually slideably supported by and adjustable on and extending between said lateral supports,
• (c) means for securing said cross members in adjusted positions on said lateral supports,
• (d) a plurality of individual suction devices mounted on each of said cross members, and individually slideably adjustable laterally thereon for engagement with said product items, as arranged in said predetermined orientations and positions, to be transported by said gripper,
• (e) said cross members being adapted to be slideably installed on and removed from said lateral supports for reconfiguring said gripper,
• (f) at least one end of said cross members being accessible when removed from said lateral supports to accommodate slidable addition or removal of individual suction devices from said cross members,
• (g) said lateral supports comprising elements of rigid tubular material,
• (h) said frame including end members of rigid tubular material, and
• (i) means releaseably connecting said end members to said lateral supports to accommodate removal of said end members for reconfiguration of said gripper.