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Robot Compliance Gripper With Part Sensing and Orienting Ability

IP.com Disclosure Number: IPCOM000040430D
Original Publication Date: 1987-Nov-01
Included in the Prior Art Database: 2005-Feb-02
Document File: 2 page(s) / 61K

Publishing Venue

IBM

Related People

Barenboim, M: AUTHOR [+5]

Abstract

In automated manufacturing and assembly, workpieces usually come to the workstation in totes or inserts. Inserts have matching pockets or nests from which workpieces are removed by robot. Due to tolerances of parts, inserts, and pockets, consecutive workpieces are not consistently positioned at exactly the same spot. As a result of this positional (Image Omitted) variation, the robot gripper may miss the workpiece pick-up points and, consequently, damage may occur to the workpiece, insert, gripper, robot, or surrounding equipment. This is avoided by providing the gripper with a spring-loaded mechanism with a limited ability to re-orient an out-of-position workpiece. If the workpiece is too far out of position the spring-loaded mechanism complies, actuating a switch, which signals the robot to move on to the next workpiece.

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Robot Compliance Gripper With Part Sensing and Orienting Ability

In automated manufacturing and assembly, workpieces usually come to the workstation in totes or inserts. Inserts have matching pockets or nests from which workpieces are removed by robot. Due to tolerances of parts, inserts, and pockets, consecutive workpieces are not consistently positioned at exactly the same spot. As a result of this positional

(Image Omitted)

variation, the robot gripper may miss the workpiece pick-up points and, consequently, damage may occur to the workpiece, insert, gripper, robot, or surrounding equipment. This is avoided by providing the gripper with a spring- loaded mechanism with a limited ability to re-orient an out-of-position workpiece. If the workpiece is too far out of position the spring-loaded mechanism complies, actuating a switch, which signals the robot to move on to the next workpiece. Referring to Fig 1, it is seen that as gripper assembly 1 descends for pick-up of workpiece 2, alignment pins 3 enter corresponding holes 4 in the workpiece correcting any minor mis-alignment. It is further seen that if misalignment is too great, pins 3 engage the top of workpiece 2. As gripper 1 continues to descend, spring-loaded plate 5 complies and actuator 6 trips switch 7, signalling the robot not to close gripper fingers 8. The robot arm then moves on to the next workpiece. Fig. 2 shows a different configuration. Here, it is seen that gripper assembly 11 descends for pick-...