Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein
US5387068A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Dec 6, 1993 |
| Grant date | Feb 7, 1995 |
| Priority date | — |
| Expiry date | Dec 6, 2013 |
Classification
- Technology area (CPC E)Fixed Constructions
- CPC primaryE04F21/1888
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic end effector adapted to be mounted at the end of an arm of a program-controlled robot is capable of providing compliance within a vertical plane. A method and system utilizing the end effector pick-up flat or curved glass panels from glass racks and place the glass panels into irregularly-shaped wooden crates. Due to the compliance provided by the end effector, the system allows essentially perfect piece-to-piece vertical edge-of-glass alignment during the packaging process so as to eliminate glass etching/scratching. The end effector includes a base frame on which compliance devices in the form of linear bearing systems support a number of material handling devices in the form of suction devices. Selected ones of the compliance devices can be locked out under the control of a controller for the robot. Each suction device includes a spring-biased suction cup to also provide compliance in a direction substantially normal to the compliance provided in the vertical plane.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.