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MULTI NOZZLE END EFFECTOR WITH TRUE A-AXIS ROTATING CAPABILITY ON EACH NOZZLE

IP.com Disclosure Number: IPCOM000007041D
Original Publication Date: 1993-Oct-01
Included in the Prior Art Database: 2002-Feb-20
Document File: 1 page(s) / 60K

Publishing Venue

Motorola

Related People

Jerry Pine: AUTHOR [+2]

Abstract

Traditionally, Flexible Automation utilizes grip- pers or end effecters that provide multiple tips or manipulators. By design each tip or manipulator resides at some radial position with respect to cen- ter of the A-axis. For placement accuracy a tooling offset is used to calculate the location ofthe tip with respect to the programmed robotic coordinate (cen- ter of the A-axis). Unfortunately the mounting of these grippers causes nutation which creates an ellip. tical path ofmotion for the tip as the A-axis rotates, The htrther the tip is located from the center of the A-axis the greater the distortion and placement inac- curacy In order to eliminate or reduce the effects of nutation/rotation, the tip should reside as close to the center of rotation as possible. This invention addresses that accuracy problem.

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MOTOROLA INC. Technical Developments Volume 20 October 1993

MULTI NOZZLE END EFFECTOR WITH TRUE A-AXIS

ROTATING CAPABILITY ON EACH NOtiLE

by Jerry Pine and Andy Marozsan :

  Traditionally, Flexible Automation utilizes grip- pers or end effecters that provide multiple tips or manipulators. By design each tip or manipulator resides at some radial position with respect to cen- ter of the A-axis. For placement accuracy a tooling offset is used to calculate the location ofthe tip with respect to the programmed robotic coordinate (cen- ter of the A-axis). Unfortunately the mounting of these grippers causes nutation which creates an ellip. tical path ofmotion for the tip as the A-axis rotates, The htrther the tip is located from the center of the A-axis the greater the distortion and placement inac- curacy In order to eliminate or reduce the effects of nutation/rotation, the tip should reside as close to the center of rotation as possible. This invention

addresses that accuracy problem.

  The gripper is comprised of five vacuum noz- zles (21) in a straight lineion ,750" centers. The array of nozzles is mounted on ball slides (18) which are coupled to a servo motor (16). The gripper is designed to pick 5 components out of a tray simultaneously and then shuttle each tip to the center of the A-axis for component placement. When each component is imaged, rotated, and placed it occurs at the center of A-axis rotation, therefore requires no tooling off- set. It was benchmarke...