Browse Prior Art Database

Robotic Gripper for Thin Stacked Plates

IP.com Disclosure Number: IPCOM000122697D
Original Publication Date: 1991-Dec-01
Included in the Prior Art Database: 2005-Apr-04
Document File: 2 page(s) / 54K

Publishing Venue

IBM

Related People

Chung, KC: AUTHOR [+3]

Abstract

Disclosed is a robotic gripper for handling porous, thin, flat ceramic plates. Under normal conditions, stacked ceramic plates are held together by surface tension and vacuum between two smooth surfaces. The gripper design and gripping sequence enables stacked ceramic plates to be separated and gripped individually.

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Robotic Gripper for Thin Stacked Plates

      Disclosed is a robotic gripper for handling porous, thin,
flat ceramic plates.  Under normal conditions, stacked ceramic plates
are held together by surface tension and vacuum between two smooth
surfaces.  The gripper design and gripping sequence enables stacked
ceramic plates to be separated and gripped individually.

      The main features of the gripper design are shown in the
figure.  The gripper features are:
      1)   Vacuum cup - contacts the outer periphery of the ceramic
plates and avoids contamination of the center portion of the plate.
      2)   Vacuum sensor - verified that ceramic plate is gripped.
      3)   Optical sensor - checks if multiple ceramic plates have
been gripped.
      4)   Air jut nozzle - separates and lifts top ceramic tile on
stack and breaks vacuum between the ceramic plates.
      5)   Search sensor - identifies top of stack during robot
search, used as a reference location for offsets to grip the ceramic
plates.
      6)   Gripper compliance - allow limited motion in 6 degrees of
freedom to compensate for minute misalignments.

      The gripping sequence to separate and grasp a tile is as
follows:
      a)   Turn OFF vacuum to vacuum cup 1 and turn ON air jet 4.
      b)   Move gripper down vertically until search sensor 5 is ON
at top of stack.
      c)   Move gripper UP (offset distance) to provide air gap for
c...