Patent EP0192994A1 successfully refreshed from Google Patents.
EP0192994A1
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EP
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Article manipulator for robot
Assignee: International Business Machines Corp
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Filing: 1986-01-31
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Granted: —
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Expires: 2006-01-31
Abstract
Abstract An article manipulator (10) for use with an industrial robot includes an upper frame (28) adapted for fastening to the industrial robot and a lower frame (12) coupled to the upper frame. A pair of lifting members (16) operable for lifting an article are connected to the lower frame. At least one vacuum cup (62, 64) is coupled to the frame and is restrained to move in a plane substantially parallel to the lifting members. Sensing mechanisms (18, 20, 22) are provided for sensing the position of an article relative to the manipulator and for generating electrical signals which are utilized by a controller to enable the vacuum cups to grip the article at one side and move the article onto the lifting members. Subsequently, the manipulator transfers the articles to a second position. The manipulator is suited for depalletizing and/or palletizing parallelepiped shape articles.
Inventors
- 👤 Raymond Joseph Boucher Jr.
- 👤 Jack Elwood Inscoe
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 03:12
CPC Classifications
B; B66; B66F; B66F9/00; B66F9/06; B66F9/075; B66F9/12; B66C; B66C1/00; B66C1/10; B66C1/22; B66C1/24; B66F9/0755
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
72 words
An article manipulating device for use with a robot comprising: a frame operable for coupling said device to the robot; a lifting means being connected to said frame and operable for supporting an article thereon; and a gripping means being coupled to said frame; said gripping means being constrained to move in a plane substantially parallel to the lifting means to grip the article and placing said article on the lifting means.
Claim 2
Dependent Claim
72 words
An article manipulating device for use with a robot comprising: a frame operable for coupling said device to the robot; a lifting means being connected to said frame and operable for supporting an article thereon; and a gripping means being coupled to said frame; said gripping means being constrained to move in a plane substantially parallel to the lifting means to grip the article and placing said article on the lifting means.
Claim 3
Dependent Claim
27 words
The article manipulating device of claim 1 further including control means coupled to the frame and operable for providing electrical signals for enabling operation of said device.
Claim 4
Dependent Claim
39 words
The article manipulating device of claim 1 wherein the trame includes a top section, an adjustable mounting plate being coupled to the top section; a lower section and adjustable means for mounting the lower section to the top section.
Claim 5
Dependent Claim
30 words
The article manipulating device of claim -3 further including sensor means operable for sensing relative motion between the frame sections and to output an electrical signal representative of said motion.
Claim 6
Dependent Claim
37 words
The article manipulating device of claim 1 wherein the lifting means includes a pair of spaced elongated flat members and a flat cross member interconnecting the extremities of the elongated flat members thereby forming a unified structure.
Claim 7
Dependent Claim
19 words
The article manipulating device of claim 5 wherein the non-interconnecting extremities of the flat elongated members are being beveled.
Claim 8
Dependent Claim
24 words
The article manipulating device of claim 6 further including hinged means, one of each being fabricated in one of the spaced elongated flat members.
Claim 9
Dependent Claim
70 words
The article manipulating device of claim 1 wherein the gripping means includes an air cylinder means including a piston being constrained to move relative to the cylinder; a gripping mechanism mounted on one extremity of said piston; a vacuum/air supply means operable for providing negative pressure to the gripping mechanism and for providing appropriate air flow to the air cylinder means; and mounting means connected to said air cylinder means.
Claim 10
Dependent Claim
35 words
The article manipulating device of claim 8 wherein the gripping mechanism includes a vacuum manifold; a conveying means for supplying negative pressure to the manifold; and at least one suction cup coupled to said manifold.
Claim 11
Dependent Claim
36 words
The article manipulating device of claim 8 wherein the vacuum/air supply means includes a vacuum generator; an air supply means and control means operable for controlling air flow from the air supply into the vacuum generator.
Claim 12
Dependent Claim
44 words
The article manipulating device of claim 2 wherein the control means includes a first sensing device adapted for sensing the presence of articles along a horizontal plane and a second sensing device adapted for sensing the presence of an article along a vertical plane.
Claim 13
Dependent Claim
59 words
An article handling apparatus comprising: a mounting plate; a frame having spaced members connected to said plate; a lifting mechanism connected to the frame; and an air cylinder mounted to the lifting mechanism; said air cylinder including a piston with a picking device connected thereto and being constrained to move in a plane substantially parallel to the lifting mechanism.
Claim 14
Dependent Claim
59 words
An article handling apparatus comprising: a mounting plate; a frame having spaced members connected to said plate; a lifting mechanism connected to the frame; and an air cylinder mounted to the lifting mechanism; said air cylinder including a piston with a picking device connected thereto and being constrained to move in a plane substantially parallel to the lifting mechanism.
Claim 15
Dependent Claim
46 words
The article handling apparatus of claim 12 further including a first sensing means mounted on the frame and operable for sensing the article in a vertical plane; and a second sensing means mounted on the frame and operable for sensing the article in a horizontal plane.
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