End effector with multiple pick-up members

• US 20030235491A1
• Filed: 04/22/2003
• Published: 12/25/2003
• Est. Priority Date: 04/22/2002
• Status: Active Grant

• Current Assignee: Milos Misha Subotincic
• Original Assignee: Milos Misha Subotincic
• Inventors: Subotincic, Milos Misha
• Granted Patent: US 7,390,040 B2
• Time in Patent Office: Days
• US Class Current: 414/627
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B65B 35/38 by suction-operated grippers
• CPC Class Codes: B65B 5/08 Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
• CPC Class Codes: B65G 47/91 incorporating pneumatic, e.g. suction, grippers
• CPC Class Codes: B65G 47/918 with at least two picking-up heads
• CPC Class Codes: Y10S 901/40 Vacuum or mangetic

Abstract

An end effector for use with a moving device has a frame and a plurality of operational members mounted for movement on the frame. The effector also has an actuation mechanism directly connected to a first operational member and is operable to move the first operational member from a first position to a second position, and from the second position to the first position. A linking apparatus is provided for linking the first operational member to a second operational member. The actuation mechanism moves the first operational member from the first position to the second position, and results in the second operational member being moved by the linking apparatus from a third position to a fourth position. The operational members can be pick up members for picking up items at one pitch and releasing them at a second pitch.

Claims

1. An end effector for use with a moving device, said end effector comprising:

a) a frame;

b) a plurality of operational members mounted for movement on said frame;

c) an actuation mechanism directly connected to a first operational member of said plurality of operational members and operable to move said first operational member from a first position to a second position, and from said second position to said first position;

d) a linking apparatus for linking said first operational member to a second operational member of said plurality of operational members;

wherein when said actuation mechanism moves said first operational member from said first position to said second position, said second operational member is moved by said linking apparatus from a third position to a fourth position, and when said actuation mechanism moves said first operational member from said second position to said first position, said second operational member is moved from said fourth position to said third position.

2. An end effector as claimed in claim 1 wherein said linking apparatus is configured such that when said when first operational member is at said first position and said second operational is at said third position, the spacing between said first and second operational members is less than said spacing when said first operational member is at said second position and said second operational member is at said fourth position.

3. An end effector as claimed in claim 2 further comprising a third operational member linked by said linking apparatus to said first and second operational members, wherein when said actuation mechanism moves said first operational member from said first position to said second position, said second operational member is moved from a third position to a fourth position, and said third operational member is moved from a fifth position to a sixth position, and when said actuation mechanism moves said first operational member from said second position to said first position, said second operational member is moved from said fourth position to said third position, and said third operational member is moved from said sixth position to said fifth position.

4. An end effector as claimed in claim 3 wherein said first, second and third operational members are pick up members adapted to pick up and release at least one item.

5. An end effector as claimed in claim 4 further comprising of a vacuum source that is interconnected to said first, second and third pick-up members, wherein said vacuum source creates a suction force at a suction location on each of said first, second and third pick-up members, to lift and hold said at least one item.

6. An end effector as claimed in claim 1 wherein said first and second operational members each has a link pin and said linking apparatus comprises a tie link having at least one aperture for engaging said link pins of said first and second operational members.

7. An end effector as claimed in claim 6 wherein said tie link has a first aperture for engaging said link pin of said first operational member, and a second aperture for engaging said link pin of said second operational member, wherein when said actuating device moves said first operational member from said first position to said second position, said link pins of said first and second operational members engage side edges of said apertures, whereby said first operational member pulls said second operational member from said third position to said fourth position.

8. An end effector as claimed in claim 7 wherein when said actuating device moves said first operational member from said second position to said first position, said link pins of said first and second operational members are freely positioned in said apertures, whereby a side of said first operational member abuts a side of said second operational member to move said operational member from said third position to said fourth position.

9. The end effector of claim 5 wherein each of said first, second and third pick-up member comprises:

a) a pick-up member body

b) at least one suction cup attached to said body;

said suction cup interconnected to said vacuum source though at least one passageway in said body.

10. An end effector as claimed in claim 9 wherein said frame comprises at least one hollow pipe having a plurality of openings;

a first opening having a conduit for connection to said vacuum source and second, third and fourth openings for connection to each of said passageways in said body of said first, second and third pick up members.

11. An end effector as claimed in claim 10 wherein said frame comprises a pair of hollow pipes fixedly held in longitudinal, parallel relation to each other, each pipe having a rail depending downward from lower surface of said pipes, said first, second and third pick up members having connectors for connecting to said rails, said connectors permitting said first, second and third pick up members to move along said rails.

12. An end effector as claimed in claim 10 wherein said pipe has a rail depending from said pipe, said first, second and third pick up members having connectors for connecting to said rail, said connectors permitting said first, second and third pick up members to move along said rail.

13. An end effector as claimed in claim 2 wherein said actuation mechanism is directly connected to a third operational member of said plurality of operational members and is operable to move said third operational member from a fifth position to a sixth position, and from said sixth position to said fifth position;

said linking apparatus also for linking said third operational member to a fourth operational member of said plurality of operational members;

wherein when said actuation mechanism moves said third operational member from said fifth position to said sixth position, said second operational member is moved by said linking apparatus from a seventh position to an eighth position, and when said actuation mechanism moves said third operational member from said sixth position to said fifth position, said second operational member is moved from said eighth position to said seventh position.

14. An end effector as claimed in claim 13 wherein said linking apparatus is configured such that when said when third operational member is at said fifth position and said second operational is at said seventh position, the spacing between said third and fourth operational members is less than said spacing when said third operational member is at said sixth position and said second operational member is at said eighth position.

15. An end effector as claimed in claim 14 wherein when said first, second, third and fourth operational members are in said first, third, fifth and seventh positions respectively, said first, second, third and fourth operational members are at equally spaced at a first pitch.

16. An end effector as claimed in claim 15 wherein when said first, second, third and fourth operational members are in said first, third, fifth and seventh positions respectively, said first, second, third and fourth operational members are at equally spaced at a first pitch.

17. An end effector as claimed in claim 16 wherein said first pitch is greater than said second pitch.

18. An end effector as claimed in claim 14 wherein when said first, second, third and fourth operational members are in said first, third, fifth and seventh positions respectively, said first and second operational members are grouped in a first group and said third and fourth operational members are grouped in a second group.

19. An end effector as claimed in claim 18 wherein said operational members of said first group and said operational members of said second group are spaced at a first, equal pitch.

20. An end effector as claimed in claim 14 wherein said actuating mechanism comprises:

a) a first double acting pneumatic cylinder mounted between said frame and said first operational member and a second double acting pneumatic cylinder mounted between said frame and said third operational member.

b) a compressed air source attached to said first pneumatic cylinder and to said second pneumatic cylinder;

c) a controller attached for controlling the release of compressed air from said compressed.

21. The end effector of claim 12 wherein said actuation mechanism comprises:

a) a first cam block having two cam slots in an upper surface of said first cam block extending transversely across upper surface said first cam block, said first cam block is slidably secured to said frame;

b) a second cam block having two slots in an upper surface of said second cam block extending transversely across said upper surface of said second cam block, said second cam block being positioned in parallel to said first cam block and, and wherein said second cam block is slidably secured to frame;

c) a first rod rigidly attached to said first cam block and to said first operational member;

d) a second rod rigidly attached to said second cam block and said third operational member;

e) a rotatable shaft attached to a motor;

f) a controller for controlling the motor and the rotation of said rotatable shaft;

g) a rotary cam comprising of a circular disc, said rotary cam attached to said rotatable shaft and operable to rotate in the same direction as said rotatable shaft; and

h) two cam followers protruding from bottom surface of said rotary cam, wherein one of said cam follower moves inside said slot of said first cam block and pushes said first cam block in one direction, and the second of said cam followers moves inside one slot of said second cam block and pushes said second cam block in the opposite direction.

22. The end effector of claim 1 wherein said actuation mechanism comprises of:

a) a cam block having one slot carved out of the top surface of said cam block extending transversely across upper surface of said cam block, said cam block being slidably secured to said end effector body;

b) a first rod rigidly attached to one side of said cam block and secured to at least one of said pick-up members;

c) a second rod rigidly attached to another side of said cam block and secured to at least one of said pick-up members;

d) a rotatable shaft attached to a motor;

e) a controller for controlling the motor and the rotation of said rotatable shaft;

f) a rotary cam comprising of a circular disc, said rotary cam attached to said rotatable shaft and rotates in the same direction as said rotatable shaft; and

g) a cam follower protruding from bottom surface of said rotary cam, wherein said cam follower moves inside said slot of said cam block and pushes said first cam block in one direction when said rotary cam rotates clockwise, and the second of said cam followers moves inside one slot of said second cam block and pushes said second cam block in an opposite direction.

23. The end effector of claim 4, wherein said linking apparatus is a plastic slab having two slots, and wherein said pick-up members comprises a pin that fits through a slot on said plastic slab, and wherein said plastic slab links two of said links two of said pick-up members together by placing one slot of said plastic slab around said perturbation of one of said pick-up members, and placing the second slot around said perturbation of another of said pick-up members.

24. A method for lifting and transferring items from a first location to a receptacle using an end effector attached to a robot, said method comprising:

a) moving said robot to position said end effector above a first batch of said items;

b) actuating one of a plurality of pick-up members slidably mounted on the body of said end effector to a position directly above a first item of said first batch of said items, and using linking means connecting the remainder of said pick-up members to said one pick-up member to pull said remainder of said pick-up members to a position directly above the remainder of said first batch of said items;

c) lowering said end effector so that said pick-up members can pick up said first batch of said items;

d) raising said end effector;

e) moving said robot to reposition said end effector above a receptacle;

f) moving said one pick-up members to a converged position, and causing said remainder of said pick-up members connected to said actuated members to converge said pick up members using said linking apparatus;

g) lowering said end effector toward said receptacles so that said first batch of said items are placed inside said receptacle;

h) releasing said first batch of said items from said pick-up members;

i) raising said end effector from above said receptacle; and

j) repeating steps a-i to transfer the next batch of said items into a different receptacle.

25. The method of claim 24 wherein said first batch of said items is held by said pick-up members using suction force created by a vacuum source interconnected to said pick-up members.

26. A method of carrying out operations on a plurality of items delivered at a first pitch;

said method comprising;

a) performing a first operation on a plurality of items, each said first operation carried out by one of a plurality of operational member spaced at a said first pitch;

b) moving said operational members to a second pitch by moving one of said plurality of operational members with an actuating mechanism, said remaining plurality of said operational members being interconnected to said one operational member;

c) performing a second operation on said plurality of items, each said second operation carried out by an operational member spaced at a second pitch.

27. A method as claimed in claim 26 wherein said plurality of operational members comprise pick up members and said first operation comprises picking up an item.

28. A method of carrying out operations on a plurality of items delivered at a first pitch;

said method comprising;

a) performing a first operation on a plurality of items, each said first operation carried out by one of a plurality of operational member spaced at a said first pitch;

b) moving said plurality of operational members to a second pitch and dividing said plurality of operational members into at least two groups;

c) performing a second operation on said plurality of items, each said second operation carried out by an operational member spaced at a second pitch.

29. An method as claimed in claim 28 wherein said plurality of operational members comprise pick up members and said first operation comprises picking up an item.

30. An method as claimed in claim 29 wherein said second operation comprises each said pick up member releasing said item.

31. An end effector for use with a moving device, said end effector comprising:

a) a frame having a longitudinally elongated portion;

b) a plurality of operational members mounted to said elongated portion for longitudinal movement on said elongated portion;

c) an actuation mechanism mounted to said frame and directly connected to a first operational member of said plurality of operational members and operable to move said first operational member longitudinally from a first position to a second position, and from said second position to said first position;

d) a linking apparatus for linking longitudinally said first operational member to a second operational member of said plurality of operational members;

wherein when said actuation mechanism moves said first operational member longitudinally from said first position to said second position, said second operational member is moved longitudinally by said linking apparatus from a third position to a fourth position.

32. An end effector as claimed in claim 31 wherein when said actuation mechanism moves said first operational member from said second position to said first position, said second operational member is moved from said fourth position to said third position.

33. An end effector as claimed in claim 32 wherein said linking apparatus is configured such that when said when first operational member is at said first position and said second operational is at said third position, the spacing between said first and second operational members is less than said spacing when said first operational member is at said second position and said second operational member is at said fourth position.

34. An end effector as claimed in claim 32 wherein said linking apparatus is configured such that when said when first operational member is at said first position and said second operational is at said third position, the spacing between said first and second operational members is greater than the spacing when said first operational member is at said second position and said second operational member is at said fourth position.

35. An end effector as claimed in claim 31 further comprising a third operational member linked by said linking apparatus to said first and second operational members, wherein when said actuation mechanism moves said first operational member from said first position to said second position, said second operational member is moved from a third position to a fourth position, said third operational member is moved from a fifth position to a sixth position.

36. An end effector as claimed in claim 35 wherein when said actuation mechanism moves said first operational member from said second position to said first position, said second operational member is moved from said fourth position to said third position, and said third operational member is moved from said sixth position to said fifth position.

37. An end effector as claimed in claim 35 wherein said first, second and third operational members are pick up members each adapted to pick up and release at least one item.

38. An end effector as claimed in claim 37 further comprising of a vacuum source that is interconnected to said first, second and third pick-up members, wherein said vacuum source creates a suction force at a suction location on each of said first, second and third pick-up members, to lift and hold said at least one item.

39. An end effector as claimed in claim 31 wherein said first and second operational members each has a link pin and said linking apparatus comprises a tie link having at least one aperture for engaging said link pins of said first and second operational members.

40. An end effector as claimed in claim 39 wherein said tie link has a first aperture for engaging said link pin of said first operational member, and a second aperture for engaging said link pin of said second operational member, wherein when said actuating device moves said first operational member from said first position to said second position, said link pins of said first and second operational members engage side edges of said apertures, whereby said first operational member pulls said second operational member from said third position to said fourth position.

41. An end effector as claimed in claim 39 wherein when said actuating device moves said first operational member from said second position to said first position, said link pins of said first and second operational members are freely positioned in said apertures, whereby a side of said first operational member abuts a side of said second operational member to move said operational member from said fourth position to said third position.

42. An end effector according to claim 37 wherein each of said first, second and third pick-up members comprises:

a) a pick-up member body

b) at least one suction cup attached to said body;

said suction cup interconnected to said vacuum source though at least one passageway in said body.

43. An end effector as claimed in claim 42 wherein said frame comprises at least one hollow pipe having a plurality of openings;

a first opening having a conduit for connection to said vacuum source and second, third and fourth openings for connection to each of said passageways in said body of said first, second and third pick up members.

44. An end effector as claimed in claim 42 wherein said frame comprises a pair of hollow pipes fixedly held in longitudinal, parallel relation to each other, each pipe having a rail depending downward from lower surface of said pipes, said first, second and third pick up members having connectors for connecting to said rails, said connectors permitting said first, second and third pick up members to move along said rails.

45. An end effector as claimed in claim 44 wherein said pipe has a rail depending from said pipe, said first, second and third pick up members having connectors for connecting to said rail, said connectors permitting said first, second and third pick up members to move along said rail.

46. An end effector as claimed in claim 31 wherein said actuation mechanism is directly connected to a third operational member of said plurality of operational members and is operable to move said third operational member from a fifth position to a sixth position, and from said sixth position to said fifth position;

said linking apparatus also for linking said third operational member to a fourth operational member of said plurality of operational members;

wherein when said actuation mechanism moves said third operational member from said fifth position to said sixth position, said second operational member is moved by said linking apparatus from a seventh position to an eighth position, and when said actuation mechanism moves said third operational member from said sixth position to said fifth position, said second operational member is moved from said eighth position to said seventh position.

47. An end effector as claimed in claim 41 wherein said linking apparatus is configured such that when said when third operational member is at said fifth position and said second operational is at said seventh position, the spacing between said third and fourth operational members is less than said spacing when said third operational member is at said sixth position and said second operational member is at said eighth position.

48. An end effector as claimed in claim 41 wherein when said first, second, third and fourth operational members are in said first, third, fifth and seventh positions respectively, said first, second, third and fourth operational members are at equally spaced at a first pitch.

49. An end effector as claimed in claim 41 wherein when said first, second, third and fourth operational members are in said first, third, fifth and seventh positions respectively, said first and second operational members are grouped in a first group and said third and fourth operational members are grouped in a second group.

50. The end effector of claim 31 wherein said actuation mechanism comprises:

a) a first cam block having two cam slots in an upper surface of said first cam block extending transversely across upper surface said first cam block, said first cam block is slidably secured to said frame;

b) a second cam block having two slots in an upper surface of said second cam block extending transversely across said upper surface of said second cam block, said second cam block being positioned in parallel to said first cam block and, and wherein said second cam block is slidably secured to frame;

c) a first rod rigidly attached to said first cam block and to said first operational member;

d) a second rod rigidly attached to said second cam block and said third operational member;

e) a rotatable shaft attached to a motor;

f) a controller for controlling the motor and the rotation of said rotatable shaft;

g) a rotary cam comprising of a circular disc, said rotary cam attached to said rotatable shaft and operable to rotate in the same direction as said rotatable shaft; and

h) two cam followers protruding from bottom surface of said rotary cam, wherein one of said cam follower moves inside said slot of said first cam block and pushes said first cam block in one direction, and the second of said cam followers moves inside one slot of said second cam block and pushes said second cam block in the opposite direction.

51. The end effector of claim 31 wherein said operational members are pick up members and said actuation mechanism comprises of:

a) first and second cam blocks each having one slot formed in the top surface of said cam blocks and extending transversely across upper surface of said cam blocks, each of said first and second cam blocks being slidably mounted to said end effector frame on opposite sides of said frame;

b) a first rod rigidly attached to one side of said first cam block and secured to a first pick-up member;

c) a second rod rigidly attached to one side of said first second block and secured to a second pick-up member located at a position opposite to said first pick up member on said effector body;

d) a rotatable shaft attached to a motor;

e) a controller for controlling the motor and the rotation of said rotatable shaft;

f) a rotary cam attached to said rotatable shaft and rotates in the same direction as said rotatable shaft; and

;

g) first and second cam followers protruding from bottom surface of said rotary cam, each for engaging one of said first and second cam blocks, wherein said cam followers move inside said slot of said cam blocks and push said first and second cam blocks in opposite directions when said rotary cam rotates.

52. The end effector of claim 31 wherein said actuation mechanism comprises of:

a) a cam block having one slot formed in the top surface of said cam block and extending transversely across upper surface of said cam block, said cam block being slidably secured to said end effector body;

b) a rod rigidly attached to said cam block and secured to said first operational member;

c) a rotatable shaft attached to a motor;

d) a controller for controlling the motor and the rotation of said rotatable shaft;

e) a rotary cam attached to said rotatable shaft and rotates in the same direction as said rotatable shaft; and

f) a cam follower protruding from bottom surface of said rotary cam,

wherein when said cam follower is rotated, said cam follower moves inside said slot of said cam block and pushes said block in one direction said first operational member is moved from said first to said second position.

53. A robot having a robot arm with an end effector, said end effector comprising:

a) a frame having a longitudinally elongated portion;

b) a plurality of operational members mounted to said elongated portion for longitudinal movement on said elongated portion;

c) an actuation mechanism mounted to said frame and directly connected to a first operational member of said plurality of operational members and operable to move said first operational member longitudinally from a first position to a second position, and from said second position to said first position;

d) a linking apparatus for linking longitudinally said first operational member to a second operational member of said plurality of operational members;

wherein when said actuation mechanism moves said first operational member longitudinally from said first position to said second position, said second operational member is moved longitudinally by said linking apparatus from a third position to a fourth position.