Back to results
US 6,860,531 B2Granted
Gripping and vacuum end effector for transferring articles
AssigneeABB AB
InventorJohn P. Sherwin
Life of this patent
Estimating the term…
Abstract
An end effector for a robot is used to unpack flattened stackable items from a container using a fixed sized vacuum plenum and simple adjustable gripping elements. The gripping elements comprise a pair of adjustable, smooth blades. In addition, the end effector includes mechanisms for retaining and transporting the container.
Claims5
An end effector for a robot, comprising:
- a plate mounted to the robot, said plate having a first surface and an oppositely positioned second surface;
- a vacuum port located on the first surface of the plate and passing through the plate to the second surface, said vacuum port being connected to a vacuum source;
- a surround located on the second surface of the plate, said surround enveloping the vacuum port at the second surface of the plate, said surround comprises a subframe, said subframe located between the surround and the plate;
- a first gripping element mounted to the second surface in substantially perpendicular relationship to the plate, said first gripping element being located outboard the surround;
- a second gripping element positioned in spaced parallel relation opposite the first gripping element whereby said second gripping element is located outboard the surround.
2 more elements
An end effector for a robot, comprising:
- a plate mounted to the robot, said plate having a first surface and an oppositely positioned second surface;
- a vacuum port located on the first surface of the plate and passing through the plate to the second surface, said vacuum port being connected to a vacuum source;
- a surround located on the second surface of the plate, said surround enveloping the vacuum port at the second surface of the plate;
- a first gripping element mounted to the surface in substantially perpendicular relationship to the plate, said first gripping element being located outboard the surround;
- a second gripping element positioned in spaced parallel relation opposite the first gripping element whereby said second gripping element is located outboard the surround;
- a pair of parallel mounting rails positioned substantially perpendicular to the plate, each of said parallel mounting rails having a plurality of vacuum cups mounted thereon whereby said vacuum cups are adapted to selectively apply a vacuum.
3 more elements
An end effector for a robot, comprising:
- a plate mounted to said end effector, said plate having a first surface and an oppositely positioned second surface;
- a vacuum port located on the first surface of the plate and passing through the plate to the second surface, said vacuum port being connected to a vacuum source;
- a surround located on the second surface of the plate, said surround enveloping the vacuum port at the second surface of the plate;
- a first gripping element mounted to the second surface in substantially perpendicular relationship to the plate, said first gripping element being located outboard the surround;
- a second gripping element positioned in space parallel relation opposite the first gripping element whereby said second gripping element is located outboard the surround;
- and
- a plurality of piercing points, said points being retractably mounted to the plate.
4 more elements
An end effector for a robot for manipulating a container, said effector comprising:
- a vacuum plenum comprising a mounting plate, a surround mounted to said plate, a port passing through said plate, and a means for drawing vacuum connected to said port;
- a first gripping element mounted to the plate outboard of said surround, said first gripping element comprising a stationary blade having a smooth surface, said stationary blade being rigidly mounted generally perpendicularly to the plate;
- and
- a second gripping element comprising a movable blade having a smooth surface, said movable blade being movably mounted generally perpendicular to the plate outboard of said surround, and wherein said movable blade is positioned opposite the first gripping element;
- and
- a plurality of piercing points, each said point having a barbed portion, said points being retractably mounted to the plate, whereby the plurality of points are adapted to pierce a container.
3 more elements
Dependencies are inferred from the claim text.