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Bottle Handling Robotic End Effector

IP.com Disclosure Number: IPCOM000110618D
Original Publication Date: 1992-Dec-01
Included in the Prior Art Database: 2005-Mar-25
Document File: 3 page(s) / 108K

Publishing Venue

IBM

Related People

McCarty, VD: AUTHOR

Abstract

Disclosed is an end-effector to be attached to a robot used to pick and place bottles to order. The preferred embodiment picks four bottles at a time from a full case and distributes the bottles to some number of boxes or totes within the robot reach. * Operations Performed by the End-Effector

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Bottle Handling Robotic End Effector

       Disclosed is an end-effector to be attached to a robot
used to pick and place bottles to order.  The preferred embodiment
picks four bottles at a time from a full case and distributes the
bottles to some number of boxes or totes within the robot reach.
* Operations Performed by the End-Effector

      With the jaws 1 in the up position, the robot positions the
tool over the case of bottles and the stepper motor 6 and linkage 7
on the tool adjusts the grippers to a spacing that matches that of
the bottles.  (Measurements of bottles and cases are kept in the
database).

      Cylinders 4 are activated by valves 9 and position the jaws at
the bottom edge of the tool, just over the bottles.  The jaws are
wide open and sensors 10 11 12 verify conditions.  Cylinders 5 are
activated, the jaws go out and hit the tops of the bottles.  The jaws
are then forced closed by jaw cylinders 3.  Cylinders 4 and 5
retract, drawing bottles out of the case and into the tool channels.
Sensors verify that bottles 2 are present and fully retracted.

      After the robot is repositioned above the tote that will
receive the bottles, the end-effector extends downward and deposits
the designated number of bottles into the tote.  Funnel-like devices
8    are first sent out from the tool to prevent bottles from
catching on dividers in the tote.  After a short delay (to give the
funnels a head start), cylinders 4 and 5 are actuated to place the
bottles.  When the jaws reach the end of the channels, a sensor comes
on.  After a short delay, the jaws are opened and cylinders 4 and 5
and the funnels are retracted.  The robot proceeds to the next tote.
The task is repeated until the case is empty.
* Description of Design Details
  - Jaws

      Jaws are urethane-faced L-shaped steel.  The two jaws together
form t...