Robot Compliance Gripper With Part Sensing and Orienting Ability
Original Publication Date: 1987-Nov-01
Included in the Prior Art Database: 2005-Feb-02
In automated manufacturing and assembly, workpieces usually come to the workstation in totes or inserts. Inserts have matching pockets or nests from which workpieces are removed by robot. Due to tolerances of parts, inserts, and pockets, consecutive workpieces are not consistently positioned at exactly the same spot. As a result of this positional (Image Omitted) variation, the robot gripper may miss the workpiece pick-up points and, consequently, damage may occur to the workpiece, insert, gripper, robot, or surrounding equipment. This is avoided by providing the gripper with a spring-loaded mechanism with a limited ability to re-orient an out-of-position workpiece. If the workpiece is too far out of position the spring-loaded mechanism complies, actuating a switch, which signals the robot to move on to the next workpiece.