Dismiss
InnovationQ will be updated on Sunday, Oct. 22, from 10am ET - noon. You may experience brief service interruptions during that time.
Browse Prior Art Database

Arrangement for One-By-One Picking of Core Panels by Robotic End-Effector

IP.com Disclosure Number: IPCOM000059934D
Original Publication Date: 1986-Feb-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 82K

Publishing Venue

IBM

Related People

Morrison, RM: AUTHOR [+2]

Abstract

An arrangement is described to eliminate the picking up of more than one thin core panel at a time by the robotic mechanism shown in Fig. 1. The end-effector 10 is set on top of the stack 11 of thin core panels, each panel 12 being, for example, 0.2 millimeters thick. A vacuum exists between panels 12 since they are piled in a stack. All vacuum cups are connected into one vacuum suction system. Cup 13 acts as a plunger and is used primarily to restrict the top panel 12 in order to create the defection wave, shown in Fig. 2. The cups 13-5 and 13-6 are mounted at the same height above the rest of the cups and are offset a different amount from the edge of the panel, with cup 13-5 closer to the center than cup 13-6.

This text was extracted from a PDF file.
At least one non-text object (such as an image or picture) has been suppressed.
This is the abbreviated version, containing approximately 79% of the total text.

Page 1 of 2

Arrangement for One-By-One Picking of Core Panels by Robotic End- Effector

An arrangement is described to eliminate the picking up of more than one thin core panel at a time by the robotic mechanism shown in Fig. 1. The end-effector 10 is set on top of the stack 11 of thin core panels, each panel 12 being, for example, 0.2 millimeters thick. A vacuum exists between panels 12 since they are piled in a stack. All vacuum cups are connected into one vacuum suction system. Cup 13 acts as a plunger and is used primarily to restrict the top panel 12 in order to create the defection wave, shown in Fig. 2. The cups 13-5 and 13- 6 are mounted at the same height above the rest of the cups and are offset a different amount from the edge of the panel, with cup 13-5 closer to the center than cup 13-6. The whole end-effector 10 is moved normally toward the top of the stack of the core panels 12 by a robot vertical shaft (not shown). The cups 13-1 through 13-4 are all compressed a little until cup 13-6 hits the top panel and the vacuum is drawn to lift the panel at the center, as shown in Fig. 2. The first stage is pre-breaking of vacuum between the 1st and 2nd panels, and results because cup 13-6 is lifting the panel along one edge while cup 13-5 is holding the rest of the panel 12. The smaller the radius of curvature of deflection wave, the better the breaking process of vacuum will be. This is because the vacuum is broken due to the resisting force against deflection of the 2...