Mixed size product handling end of arm tool
AssigneeFanuc Robotics America, Inc.
InventorsDonald A. Faulkner, John R. McLean, Paul A. Santi, Paul Skrna
Life of this patent
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Abstract
A mixed size product end of arm tooling is used in conjunction with a robot to pick mixed size product and place the product onto a pallet or layers resting on top of a pallet. The end of arm tooling includes two center rails/forks mounted to a base. Two outer rails/forks are mounted to linear bearings that guide the outer rails/forks when moving inwardly or outwardly from the center rails for pre-sizing to the product. Pusher arms are formed of two outer pusher arms and one center pusher arm. These pusher arms are attached to linear bushings that guide the pusher arms forward and backward. The pusher arms push off the product simultaneously as the robot is withdrawing the rails.
Claims20
A product handling end of arm tool for use with a robot comprising:
- a base;
- a center rail mounted to said base;
- opposing outer rails mounted to said base on either side of said center rail, said outer rails being selectively movable along a first axis for supporting a product in cooperation with said center rail;
- a center pusher arm mounted to said base;
- opposing outer pusher arms mounted to said base on either side of said center pusher arm, wherein said center pusher arm and said outer pusher arms are connected by a guide bar and are movable along a second axis transverse to the first axis for pushing a product off of said rails;
- a central clamping paddle mounted to said center rail;
- and
- opposing outer clamping paddles mounted to said opposing outer rails on either side of said central clamping paddle, wherein said clamping paddles form a top segmented paddle movable along a third axis transverse to the first and second axes for clamping a product between said rails and said top segmented paddle.
A product handling end of arm tool for use with a robot comprising:
- a base;
- a center rail fixed to said base;
- opposing outer rails mounted to said base on either side of said center rail;
- a center pusher arm mounted to said base;
- opposing outer pusher arms mounted to said base on either side of said center pusher arm, wherein said center pusher arm is fixed to a guide bar and said outer pusher arms are connected by said guide bar;
- a central clamping paddle mounted to said center rail;
- and
- opposing outer clamping paddles mounted to said opposing outer rails on either side of said central clamping paddle, wherein said clamping paddles form a top segmented paddle, and wherein said opposing outer rails move in conjunction with said pusher arms and said clamping paddles for continuous capturing of a product and automatic sizing of said end of arm tool.
A method for transporting a product comprising the steps of:
- providing an end of arm tool adapted to be mounted on a robot arm;
- moving opposing outer rails toward or away from a center rail of the end of arm tool, simultaneously moving opposing outer pusher arms toward or away from a center pusher arm of the end of arm tool, and simultaneously moving clamping paddles toward or away from corresponding rails of said end of arm tool for pre-sizing to a product;
- picking the product with the pre-sized end of arm tool by supporting the product with the rails and positioning the product against the pusher arms;
- and
- moving the clamping paddles to clamp the product between the rails and the clamping paddles.
Dependencies are inferred from the claim text.