Device for mechanically grasping and palletizing rectangular objects
AssigneeABB Flexible Automation, Inc.
InventorsCarl F. Holter, John M. Manion
Life of this patent
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Abstract
A device for mechanically picking and palletizing rectangular objects of various sizes for attachment to a robotic arm. The device includes a pair of rails having a plurality of longitudinally spaced, elongated L-shaped grips extending there through. The distance between the respective rails can be adjusted to accommodate various width containers. The L-shaped grips are capable of pivotal rotation such that their grip ends rotate under the object for picking and palletizing. A pair of pallet hooks having suction cups attached thereto is also provided on the device.
Claims15
An apparatus for grasping, transporting and palletizing a container having opposed side walls and opposed bottom edges, the apparatus comprising:
- a pair of parallel rails spaced at a predetermined distance from one another and laterally movable with respect to one another;
- a rotatable link positioned between said parallel rails;
- first and second tie rods, each said tie rod pivotally secured to one rail and to the rotatable link;
- a plurality of longitudinally spaced apertures being formed along each rail;
- a plurality of L-shaped rotating fingers, each rotating finger being received in an aperture;
- each rotating finger being rotatably movable and coupled to at least one adjacent rotating finger along each rail;
- and
- a motor having an output shaft, said output shaft being coupled to said rotatable link.
A robotic end-effector for an industrial robot, said robotic end-effector comprising:
- a frame capable of being coupled to the robot, the frame including at least one linear bearing attached thereto;
- a pair of rails arranged for respective lateral movement on said linear bearing;
- a rotatable link positioned between said parallel rails;
- a plurality of longitudinally spaced apertures formed in each rail;
- a plurality of longitudinally spaced, elongated L-shaped rotating fingers extending through said apertures, each rotating finger having a top portion;
- a gear being attached to each rotating finger top portion, said gears meshing with one another for simultaneous rotative movement of the rotating fingers along each rail;
- and
- a motor having an output shaft and including means for providing a predetermined, alternative, rotational motion to said output shaft, said output shaft being coupled to said rotatable link.
Dependencies are inferred from the claim text.