Browse Prior Art Database

Gripper Assembly

IP.com Disclosure Number: IPCOM000060585D
Original Publication Date: 1986-Apr-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 99K

Publishing Venue

IBM

Related People

Haskell, RS: AUTHOR

Abstract

The gripper assembly, shown in in the figures, is a mechanical mechanism which is attached to the "Z" axis on a robot. It is used to transfer a collated package from the collator table to the layup table. The operation of this assembly is described below. The assembly is shown in Fig. 1 above the collated package of prepreg and core. Cylinders "B" and "C" are mounted on a plate, which is attached to a slide, which moves forward (extended) or backward (retracted) by cylinder "A." Cylinder "A," as shown, is extended. A phantom line is constructed from the package upward to illustrate that the grippers will clear the package edges. Cylinder "B" and "C" are also extended. In operation, the "Z" axis on the robot is extended which lowers the gripper assembly down to the collated package.

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Gripper Assembly

The gripper assembly, shown in in the figures, is a mechanical mechanism which is attached to the "Z" axis on a robot. It is used to transfer a collated package from the collator table to the layup table. The operation of this assembly is described below. The assembly is shown in Fig. 1 above the collated package of prepreg and core. Cylinders "B" and "C" are mounted on a plate, which is attached to a slide, which moves forward (extended) or backward (retracted) by cylinder "A." Cylinder "A," as shown, is extended. A phantom line is constructed from the package upward to illustrate that the grippers will clear the package edges. Cylinder "B" and "C" are also extended. In operation, the "Z" axis on the robot is extended which lowers the gripper assembly down to the collated package. The pressure pad contacts the package, thus stopping the lower unit of the gripper assembly. The "Z" axis plate, which is attached to the robot "Z~ axis continues to drive downward until a "Z" axis switch is actuated. (This plate is guided on four shafts and bearings.) When the switch is actuated, the "Z" axis cylinder stops. A four-way valve is used to perform this function. The above method is used as a "Z" compliance to prevent any force, other than the weight of the lower assembly unit, to be put on the collated package. Next, as shown in Fig. 2, cylinder "A" is retracted to its home position, thus sliding the grippers attached to cylinders "B" and "C," into a posi...