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Multiple Independently Controllable Grippers

IP.com Disclosure Number: IPCOM000038510D
Original Publication Date: 1987-Jan-01
Included in the Prior Art Database: 2005-Jan-31
Document File: 2 page(s) / 52K

Publishing Venue

IBM

Related People

Schaefer, JO: AUTHOR

Abstract

Multiple independently controllable grippers may be individually or gang displaced in one or more directions from each other to grasp cards cut from a panel. Nine cards A-I (Fig. 1) are joined together to form a panel and will be held by a gripper tab 1. When using a saw or laser cut, in itial cuts are made between the cards A and B and the cards B and C with cutting stopping at the junction of the cards A, B, and C with the cards D, E, and F. Then, the cards A, B, and C are cut in a second step from the cards D, E, and F by cutting perpendicular to the first cuts. As shown in Fig. 2, three grippers 2, 3, and 4 may be utilized with the three cards A, B, and C to grip them before they are cut. The grippers 2, 3 and 4 are actuated through air cylinders 5, 6, and 7, respectively.

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Multiple Independently Controllable Grippers

Multiple independently controllable grippers may be individually or gang displaced in one or more directions from each other to grasp cards cut from a panel. Nine cards A-I (Fig. 1) are joined together to form a panel and will be held by a gripper tab 1. When using a saw or laser cut, in itial cuts are made between the cards A and B and the cards B and C with cutting stopping at the junction of the cards A, B, and C with the cards D, E, and F. Then, the cards A, B, and C are cut in a second step from the cards D, E, and F by cutting perpendicular to the first cuts. As shown in Fig. 2, three grippers 2, 3, and 4 may be utilized with the three cards A, B, and C to grip them before they are cut. The grippers 2, 3 and 4 are actuated through air cylinders 5, 6, and 7, respectively. The gripper 3 is supported on an arm 8 of the robot to enable rotation of the grippers 2-4 together, as desired. The gripper 2 is movable towards and away from the gripper 3 by a motor 9, and the gripper 4 is movable towards and away from the gripper 3 by a motor 10. After the cards A, B, and C (Fig. 1) have been cut in the second step, the robot transfers the cards A, B, and C gripped by the grippers 2 (Fig. 2), 3, and 4, respectively, to a conveying container (not shown) having a separate vertical recess for each of the cards A (Fig. 1), B, and C with the recesses receiving them from the top. Thus, the robot arm 8 (Fig. 2) would rotate 90 degre...