Robotic end effector with counter-rotating fingers
US6560949B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 21, 2002 |
| Grant date | May 13, 2003 |
| Priority date | — |
| Expiry date | Jun 21, 2022 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB66C1/28
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method of handling an object using a robot end effector. The method includes providing a robot having an end effector supporting a pair of carriages, providing a pair of fingers for each carriage, moving the end effector over an object, grasping an object with the fingers, moving the object with the end effector to a container, and depositing the object by counter-rotating the pairs of fingers. One or both of the carriages is movable toward the other carriage to engage objects on a conveyor system with the fingers. The robot moves the end effector between the conveyor system and shipping containers for shipping the objects. Because the pairs of fingers counter-rotate, the friction forces between each finger and the tray is offset by the friction forces between the other finger in the pair and the tray. The improved handling method thereby maintains objects substantially in the desired stacking orientation within the shipping container. Preferably, an actuator is provided for each finger. A change-out mechanism may also be provided to facilitate replacing the fingers.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.