Device for mechanically gripping and loading cylindrical objects

• US 6,371,717 B1
• Filed: 05/11/2000
• Issued: 04/16/2002
• Est. Priority Date: 05/11/2000
• Status: Expired due to Fees

• Current Assignee: ABB Incorporated (ABB Limited)
• Original Assignee: ABB Automation Inc (ABB Limited)
• Inventors: Haddix, Scott K., Grams, Robert S.
• Primary Examiner(s): Ellis, Christopher P.
• Assistant Examiner(s): Crawford, Gene O.
• Application Number:
  US09/568,749
• Time in Patent Office: 705 Days
• Field of Search: 414/416.09, 414/736, 294/81.61, 294/87.1
• US Class Current: 414/416.09
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B25J 15/10 with three or more finger members B25J15/0009 takes precedence
• CPC Class Codes: B65B 21/18 using grippers engaging bottles, e.g. bottle necks
• CPC Class Codes: B65G 2201/0244 Bottles
• CPC Class Codes: B65G 47/90 Devices for picking-up and depositing articles or materials

Abstract

A device for mechanically gripping, transporting, loading and unloading cylindrical containers of various sizes for attachment to a robotic arm. The containers may be bottles including drinking water bottles. The device includes a plurality of gripping mechanisms for gripping the containers. Support pins are also provided for supporting the rotational motion of full bottles. A system for efficiently removing empty containers from racks and simultaneously loading full containers is also disclosed.

Claims

1. An apparatus for gripping, transporting and loading a container having side walls and a neck, the apparatus comprising:

a pair of parallel rails spaced at a predetermined distance from one another;

a plurality of gripper mechanisms, each gripper mechanism being affixed to one of said parallel rails;

a plurality of support pins, each pin being attached to one of said rails; and

each gripper mechanism having a plurality of fingers, and each said finger being capable of moving from an open position to a clamped position.

2. The apparatus of claim 1, further comprising:

said pins projecting at a substantially normal angle from said rails.

3. The apparatus of claim 1, further comprising:

a top plate, each said rail member being removably attached to said top plate.

4. The apparatus of claim 1, wherein said rails are laterally adjustable.

5. The apparatus of claim 1 further comprising a robot control system having an output, said output being electronically coupled to each said gripper mechanism.

6. The apparatus of claim 1, further comprising:

at least one gripper plate, said gripper plate attached to one of said rails; and

a gripper mechanism attached to said gripper plate.

7. The apparatus of claim 6, wherein said plurality of support pins are attached to said gripper plate.

8. The apparatus of claim 1 further comprising:

each finger having a distal end and a clamp plate attached to each distal end; and

a plurality of finger pads, each said finger pad being removably connected to one of each said finger clamp plates.

9. The apparatus of claim 8 wherein said finger pads are clamped between said finger clamp plates and a pad retainer.

10. A robotic end of an arm tool for an industrial robot, said robotic end-effector comprising:

a plate capable of being coupled to the robot;

a pair of rails mounted on said plate and arranged for laterally spaced relative movement;

a plurality of gripper mechanisms, each gripper mechanism being attached to one of said rails;

a plurality of support pins, each pin being attached to one of said rails; and

each gripper mechanism having a plurality of fingers, said fingers capable of moving from an open position to a clamped position.

11. A robotic end of an arm tool for the transportation of a group of containers gripped by the fingers of claim 10, wherein said lateral spacing between said rails is adjustable.

12. A robotic end of arm tool for the transportation of a group of containers gripped by the fingers of claim 10, wherein said location of each said gripping mechanism is adjustable.

13. A system for gripping, transferring and loading containers from a pick-up position, said system comprising:

a supply of full containers at said pickup position;

a rack, said rack filled with empty containers;

an industrial robot with an end-effector, said end-effector having a pair of rails spaced a predetermined distance from one another, a plurality of gripper mechanisms, each gripper mechanism being affixed to one of said rails, a plurality of support pins, each pin being attached to one of said rails, each gripper mechanism having a plurality of fingers, each said finger being capable of moving from an open position to a clamped position; and

an unloading station adjacent to said pick-up position whereby empty containers are gripped by said end-effector, removed from said rack and transferred to said unloading station where full containers are substantially simultaneously gripped by said end-effector and transferred to said rack.

14. A method for unloading a first set of containers from a rack and loading a second set of containers into said rack, the method comprising the steps of:

providing a robotic end of an arm tool having a pair of rails spaced at a predetermined distance from one another, a plurality of gripper mechanisms, each gripper mechanism being affixed to one of said rails, a plurality of support pins, each pin being affixed to one of said rails, each gripper mechanism having a plurality of fingers, said fingers being capable of moving from an open position to a clamped position;

removing a first container from said first set of containers from said rack;

transferring said first container to a drop-off station;

substantially simultaneously releasing said first container at said drop off station while gripping a second container from said second set of containers at an adjacent pick-up station; and

transporting said second container to said rack.

15. The method of claim 14 further comprising the step of:

releasing said container from said second set of containers in said rack while simultaneously gripping another container from said first set of containers.