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Pick-Up Device for Robot

IP.com Disclosure Number: IPCOM000062074D
Original Publication Date: 1986-Oct-01
Included in the Prior Art Database: 2005-Mar-09
Document File: 2 page(s) / 34K

Publishing Venue

IBM

Related People

Goodrich, JL: AUTHOR [+2]

Abstract

The pick-up device is attached to a robot hand, and its actions are controlled by the robot controller. The specific task of the pick-up device is to reach into a long, narrow space and grasp a metal disk by the inside diameter of the disk. As part of the manufacturing cycle, the disk is eventually returned to its start location by the same pick up device. As shown in the figure, the bracket 2 provides the interface between the robot hand and the pick-up unit. An aluminum tube 3 is affixed to bracket 1 by a mounting assembly 4 and bushing 5. Three fingers 6 (one of which is shown), made of acetal polymer, pivot in a yoke 7. The outer end of each finger 6 has a notch 8 to engage and confine a disk at the inside diameter thereof.

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Pick-Up Device for Robot

The pick-up device is attached to a robot hand, and its actions are controlled by the robot controller. The specific task of the pick-up device is to reach into a long, narrow space and grasp a metal disk by the inside diameter of the disk. As part of the manufacturing cycle, the disk is eventually returned to its start location by the same pick up device. As shown in the figure, the bracket 2 provides the interface between the robot hand and the pick-up unit. An aluminum tube 3 is affixed to bracket 1 by a mounting assembly 4 and bushing 5. Three fingers 6 (one of which is shown), made of acetal polymer, pivot in a yoke 7. The outer end of each finger 6 has a notch 8 to engage and confine a disk at the inside diameter thereof. A ramp 9 is formed along a surface of each finger, and the three fingers, mounted with 120-degree separations within the yoke 7, are urged together by an O-ring 11, retained in a groove in each of the fingers. A push-pull air cylinder 13 is connected to and drives a push rod 14. A lock nut 15 is used for retention and allows lateral adjustment to determine the length of the stroke. A spherical ball 16 at the outer end of push rod 14 is moved laterally by the air cylinder 13 to impart angular motion to fingers 6. O-ring 11 maintains the fingers 6 in contact with the sphere 16. An optical sensor 17 senses the presence of a disk and feeds this information back to the controller. A second optical sensor 18 is activated...