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Pick-Up Device for Robotic Use

IP.com Disclosure Number: IPCOM000061710D
Original Publication Date: 1986-Sep-01
Included in the Prior Art Database: 2005-Mar-09
Document File: 2 page(s) / 50K

Publishing Venue

IBM

Related People

Goodrich, JL: AUTHOR [+2]

Abstract

The device illustrated in Figs. 1 and 2 is used with a robot to pick up and sort stacks of magnetic recording disks. For the robot to handle such a task, a gripper is needed that meets two requirements. First, the gripper must pick up only the top disk on the stack, and second, the gripper must determine where the top disk is located since the stacks vary in height. The gripper assembly is a simple tactile sensor that bolts onto the robot. The gripper has two members. The flexing member 4 is a flat piece of spring steel with a vacuum cup 5 mounted on the end. A flag 6 also attaches to the spring, opposite vacuum cup 5. The stationary member 7 sits above the spring and holds two switches: a U- shaped optical switch 8 and a limit switch 9.

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Pick-Up Device for Robotic Use

The device illustrated in Figs. 1 and 2 is used with a robot to pick up and sort stacks of magnetic recording disks. For the robot to handle such a task, a gripper is needed that meets two requirements. First, the gripper must pick up only the top disk on the stack, and second, the gripper must determine where the top disk is located since the stacks vary in height. The gripper assembly is a simple tactile sensor that bolts onto the robot. The gripper has two members. The flexing member 4 is a flat piece of spring steel with a vacuum cup 5 mounted on the end. A flag 6 also attaches to the spring, opposite vacuum cup 5. The stationary member 7 sits above the spring and holds two switches: a U- shaped optical switch 8 and a limit switch 9. In operation, the robot moves to a point above the stack of disks and then traverses downwards. When the vacuum cup 5 contacts the top disk, the spring 4 bends upward till the flag 6 breaks the beam of optical switch 8. This signals the robot to stop moving and to turn on the vacuum. If the optical switch 8 fails, the robot continues downward till the limit switch 9 closes. This overtravel switch 9 stops robot travel before damage occurs to the gripper. The gripper has no moving parts to wear or generate contamination. It is also of simple design and inexpensive to build.

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