Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein

U.S. Patent Number: 5387068

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.

Inventors: Pearson; Thomas E. (Grosse Ile, MI)

Assignee: Ford Motor Company (Dearborn, MI)

Application Number: 08/162,546

Issued: 1995-02-07

Expired: 2007-02-07

Classes: 414/404 ; 294/65; 414/416.07; 414/798.5; 414/798.9

Field of search: 414/404,416,786,737,752,798.5,798.9 901/35 294/65

Click the image above to view patent images at uspto.gov within a frame.

Click here for the fulltext page on uspto.gov within a frame.