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Dual Function Robot Gripper

IP.com Disclosure Number: IPCOM000040834D
Original Publication Date: 1987-Feb-01
Included in the Prior Art Database: 2005-Feb-02
Document File: 1 page(s) / 11K

Publishing Venue

IBM

Related People

Barenboim, M: AUTHOR [+4]

Abstract

In a typical automated assembly line, workpieces are transport within a production cell, by robots equipped with grippers. Generally the sole function of the gripper is to hold the workpiec as the robot loads/unloads it at a required location, and then releases it. The "required location " frequently is a work-station fixture, which clamps/releases the workpiece being loaded/unloaded. The work-station fixture clamping mechanism is usually actuated by an integrated device such as an air cylinder. In a particular embodiment, at any given moment in one specific production cell, there are in excess of forty work-pieces, under test, clamped in individual fixtures. Individual work-pieces are sequentially loaded/unloaded by robot, at intervals necessary to sustain a required production rate.

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Dual Function Robot Gripper

In a typical automated assembly line, workpieces are transport within a production cell, by robots equipped with grippers. Generally the sole function of the gripper is to hold the workpiec as the robot loads/unloads it at a required location, and then releases it. The "required location " frequently is a work-station fixture, which clamps/releases the workpiece being loaded/unloaded. The work- station fixture clamping mechanism is usually actuated by an integrated device such as an air cylinder. In a particular embodiment, at any given moment in one specific production cell, there are in excess of forty work-pieces, under test, clamped in individual fixtures. Individual work-pieces are sequentially loaded/unloaded by robot, at intervals necessary to sustain a required production rate. It is apparent that providing each fixture with a clamp actuating air cylinder entails consider- able duplication, and over-crowds the cell.

In the present embodiment the individual fixture clamp actuating air cylinders are eliminated and the robot gripper is equipped with two air cylinders. Each work-station fixture is provided with a clamping mechanism operated by two actuating rods. Pushing one rod operates a series of links to clamp and hold the work-piece; pushing the other rod un-clamps the mechanism releasing the work- piece. When the robot moves into position to load/unload a work-station fixture, the two air cylinders on the gripper are automati...