Gripping and vacuum end effector for transferring articles

• US 6,860,531 B2
• Filed: 12/20/2001
• Issued: 03/01/2005
• Est. Priority Date: 12/20/2001
• Status: Expired due to Fees

• Current Assignee: ABB Incorporated (ABB Limited)
• Original Assignee: ABB Incorporated (ABB Limited)
• Inventors: Sherwin, John P.
• Primary Examiner(s): Lillis, Eileen D.
• Assistant Examiner(s): Chin, Paul T.
• Application Number:
  US10/027,238
• Publication Number:
  US 20030120387A1
• Time in Patent Office: 1,167 Days
• Field of Search: 294/2, 294/64.1, 294/65, 294/86.4, 294/119.1, 294/103.1, 901 37- 40
• US Class Current: 294/2
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B25J 15/0253 comprising parallel grippers
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B65B 69/00 Unpacking of articles or materials, not otherwise provided for
• CPC Class Codes: B65G 61/00 Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
• CPC Class Codes: B65H 2301/42242 by acting on the outermost articles of the pile for clamping the pile
• CPC Class Codes: B65H 2301/422542 emptying or unloading processes
• CPC Class Codes: B65H 2406/31 Suction box; Suction chambers
• CPC Class Codes: B65H 2555/30 Multi-axis
• CPC Class Codes: B65H 2701/1766 Cut-out, multi-layer, e.g. folded blanks or boxes

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.

Claims

1. 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. 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. 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. An end effector according to claim 3 further comprising a plurality of suction cups located on said plate, and wherein said plate is mounted in substantial perpendicular relationship to the end effector;

and wherein said suction cups on said plate have means for drawing vacuum.

5. 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.