US 5,427,363 A · End effector

Abstract

An apparatus for holding a workpiece to a known position without regard to the angularity of the surface of the workpiece at the point of contact with the apparatus includes a disk shaped, substantially flat contact pad for engaging the workpiece. The surface of the contact pad opposite the workpiece is substantially spherical and fits in a conical seat so that the center point of the upper surface of the contact pad is always at an known position when the contact pad is seated, without regard to the angularity of the contact pad. A proximity detector determines when the contact pad is seated providing an indication to an operator that the workpiece is properly engaged by the apparatus. The contact pad is contained within the interior of a suction cup that engages the workpiece whereupon externally supplied vacuum pulls the suction cup and the workpiece together. A second embodiment employs the contact pad with an aperture therethrough so as to provide fluid communication to an air supply passing through the contact seat. The air supply provides an air bearing to enable a workpiece to be slid on a cushion of air.

Claims19

Dependent claims

An apparatus for engaging a workpiece comprising:

a contact pad adapted to contact a surface of the workpiece along an area thereof;
swivel means for enabling said contact pad to swivel in two planes while maintaining a contact point on the surface of the contact pad at a known position for engaging the workpiece at a known position;
and
means defining a vacuum plenum containing the area of the surface of the workpiece, said contact pad and said swivel means therewithin.

1 more element

Dependencies are inferred from the claim text.

End effector

Life of this patent

End effector

Life of this patent

Abstract

Claims19