Abb Flexible Automation, Inc.

John P Sherwin

David R Voves

Sohail Anwar

An article piercing end effector for an industrial robot. The end effector includes a mounting bracket designed to be coupled to the arm of a robot. Positioned on the bracket is an actuator that is coupled to and controls the movement of a first plate. The first plate is supported by two guide rods coupled to the actuator. The first plate includes a plurality of pairs of opposed forks removably mounted to its underside of the first plate. Positioned below the first plate is a second plate with a plurality of holes generally aligned with the tips of each of the pair of opposed forks. The second plate is fixedly attached to the mounting bracket by standoff rods. When the first plate is moved by the actuator toward the second plate, the forks extending from the first plate travel through the holes in the second plate, which holes are chamfered for easy operation. The tips of the forks thus move towards each other to pierce items of interest, such as baked goods positioned below the second plate. The pierced items are thus held by the pairs of opposed forks and may be moved from one location to another. To remove the items from the end effector, the first plate is moved away from the second plate, causing the forks to be removed from the items as the items come in contact with the bottom surface of the second plate.

Article piercing end effector

An end effector for handling stacks of plastic cups, dishes, and similar items. The end effector includes a bracket of similar mechanism for coupling the end effector to the end of a robot arm. A gripping assembly is coupled to the bracket. The gripping assembly includes a main plate with a plurality of pairs of spring blades mounted on the bottom of the main plate. Each spring blade has a plurality of teeth and the pairs of spring blades are positioned such that the teeth from each spring blade are interweaved with one another. Two end blades are also mounted on the bottom of the main plate. The spring blades and end blades form a plurality of parallel bays. Each bay is formed by two spring blades or one spring blade and one end blade. When the end effector is coupled to the robot arm and moved down over the stacks of items to be picked up, the spring blades flex allowing the items to pushed into each bay. The teeth in each spring blade are bent in such a way that as the cups move up into the bay, the teeth move back toward their original position, thereby holding the items in place. To release the items from the bays, a release assembly is driven by an actuator to eject the items from the bays.

Overlapping spring blade cup gripper

An end effector for handling stacks of plastic cups, dishes, and similar items. The end effector includes a bracket for coupling the end effector to the end of a robot arm. A main plate or body with a top side, a bottom side, and a plurality of apertures is connected to the bracket and supports the major components of the end effector. The end effector includes at least one bay positioned in the bottom side of the main body. Within each bay is a multiple-piece blade support block that helps guide the blades located within the bay. One or more roller blocks are positioned at predetermined points along the length of the bay, preferably between two pieces of the blade support block. Each roller block has an arcuate track that holds a roller assembly. Each roller assembly has a link which extends through one of the apertures in the main body. Each roller assembly is also coupled to a curved blade. One or more linear actuators are positioned on the top side of the main body. The driven rod of each actuator is coupled to one or more of the roller assembly links. When the actuators are activated, the roller assemblies move in their tracks and the blades slide between an open position and a closed position.

Growing community of inventors

Wauwatosa, WI, United States of America

John P Sherwin