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US 6,638,139 B2Granted
Multi-spindle end effector
AssigneeAcme Manufacturing Company
InventorGlen A. Carlson, III
Life of this patent
Estimating the term…
Abstract
A multi-spindle end effector is provided for a multiple axis robot. The multi-spindle end effector includes a plate housing having at least a pair of spaced-apart spindles mounted thereon. A servo-motor drivingly engages the spindles. A gear box steps down the RPMs of the motor to the desired RPM of the object to be rotated. A timing belt, which may be continuous, interlinks the first and second spindles so that the rotation of first spindle matches the rotation of the second spindle. An idler pulley may be employed to properly tension the belt.
Claims19
An end effector for a multiple axis robot comprising:
- a plate housing adapted to mount to said robot;
- a plurality of spindles rotatably mounted on said plate housing;
- a motor drivingly engaging at least one of said spindles;
- and
- a synchronizer interconnecting said spindles;
- wherein said plate housing includes a base having a recessed mounting portion adapted to connect to a mounting surface of said robot, said recessed mounting portion selectively positioning a center of gravity of said end effector relative to said mounting surface of said robot.
3 more elements
An end effector for a multiple axis robot comprising:
- a plate housing adapted to mount to said robot;
- a plurality of spindles rotatably mounted on said plate housing and projecting substantially orthogonally away from said plate housing;
- a motor mounted on said plate housing and drivingly engaging at least one of said spindles;
- a synchronizer interconnecting said spindles;
- and
- a wheel holder assembly secured between each wheel to be rotated and each of said plurality of spindles, said wheel holder assembly including:
- a support arm coupled to said spindle;
- an outwardly biased piston slidably coupled to said support arm and radially extending relative to said spindle;
- and
- a moveable arm laterally extending from a free end of said piston and engaging said wheel.
7 more elements
An end effector for a multiple axis robot comprising:
- a plate housing adapted to connect to a sixth axis mounting surface of said robot, said plate housing having a spindle mounting surface extending substantially parallel to said sixth axis mounting surface;
- a plurality of spindles rotatably mounted to said spindle mounting surface of said plate housing and projecting substantially orthogonally away from said spindle mounting surface, said plurality of spindles adapted to support a plurality of objects for rotation relative to said plate housing;
- a motor mounted to said plate housing opposite one of said plurality of spindles, said motor being operably connected to said one of said plurality of spindles;
- a driving pulley coupled to said one of said plurality of spindles;
- a belt engaging said driving pulley;
- and
- at least one driven pulley mounted to another of said plurality of spindles and engaging said belt.
4 more elements
An apparatus comprising:
- a six axis robot having a first mounting surface provided at a sixth axis of said six axis robot;
- and
- an end effector mounted to said first mounting surface, said end effector including:
- a base having a spindle mounting surface extending substantially parallel to said first mounting surface and a second mounting surface which is recessed relative to said spindle mounting surface and parallel thereto, said second mounting surface being mounted to said first mounting surface;
- a plurality of spindles rotatably mounted to said spindle mounting surface of said base and extending substantially orthogonally away from said spindle mounting surface;
- a motor mounted to said spindle mounting surface of said base opposite one of said plurality of spindles, said motor drivingly engaging said one of said plurality of spindles;
- a spindle housing mounted to said spindle mounting surface of said base opposite another of said plurality of spindles, said spindle housing rotatably supporting said another of said plurality of spindles;
- a driving pulley coupled to said one of said plurality of spindles;
- a belt engaging said driving pulley;
- a driven pulley mounted to said another of said plurality of spindles and engaging said belt;
- and
- at least one idler pulley rotatably and slidably mounted to said spindle mounting surface of said base and tensionably engaging said belt.
9 more elements
Dependencies are inferred from the claim text.