公开(公告)号：US20030123970A1

公开(公告)日：2003-07-03

申请号：US10365237

申请日：2003-02-12

Applicant: ABB Flexible Automation, Inc.

Inventor： Robert S. Grams ,  Thomas Watson ,  Patrick Resch ,  Gilbert Dominguez

IPC: B65G001/00

CPC classification number: B25J15/10 ,  B65G47/90 ,  B65G61/00 ,  Y10S209/90 ,  Y10S414/106

Abstract: A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to which the end effector is mounted. The end effector is designed to grasp trays, tubs, and similar items from a conveyor system running through the cell and load them in a cart or on a pallet. The items are gripped by two sets of fingers. One set of fingers may be mounted to a first plate and another set of fingers may be mounted to a carriage that moves in a horizontal direction, either toward or away from the first set of fingers. Each finger has a main shaft and a bent tip. The shafts are rotatable such that the tips can be moved underneath or out from under a load, depending upon whether a pick-up or drop-off operation is being performed. The end effector is designed to carry out top loading of carts and pallets and includes a measurement and containment plate that is used to detect and measure the height of trays and tubs placed in carts and on pallets. The measurement and containment plate also helps prevent loose mail in unsleeved trays or tubs from falling out of the trays or tubs during robotic transportation. The downward force exerted on the top of the mail tray/tub also helps maintain the grip of the fingers. In order to load carts having shelves, the gripper may also include a shelf-lowering assembly.

Abstract translation: 具有多指末端执行器的机器人集装箱和码垛系统。 该系统包括定义一个或多个单元的框架。 每个单元具有一个龙门式机器人，其安装在框架顶部的一组轨道中。 机器人可沿着两个轴线移动，并且具有安装末端执行器的臂。 端部执行器被设计成从运送通过电池的输送机系统抓住托盘，桶和类似物品，并将其装载在推车或托盘上。 物品被两套手指夹住。 一组手指可以安装到第一板上，而另一组手指可以安装到一个滑架上，该滑架在水平方向上或朝向或远离第一组手指移动。 每个手指具有主轴和弯曲的尖端。 轴可旋转，使得尖端可以在负载下从下方移出或离开，这取决于是否正在执行拾取或脱落操作。 端部执行器设计用于执行推车和托盘的顶部装载，并且包括测量和容纳板，其用于检测和测量放置在推车和托盘中的托盘和桶的高度。 测量和遏制板也有助于防止在机器人运输过程中，未经检查的托盘或水桶中的松散邮件从托盘或桶中脱落。 施加在邮件托盘/桶顶部的向下的力也有助于保持手指的握持。 为了装载具有搁架的推车，夹具还可以包括搁架组件。