Visually controlled end effector

摘要

A visually controlled end effector is disclosed. The end effector comprises two or more operational members capable of picking up one or more randomly placed items. A crank is capable of actuation by a robot to orient a first one of said two or more operational members to pick up a first one of said one or more randomly placed items. The crank is further capable of actuation by the robot to orient a second one of said two or more operational members to pick up a second one of said one or more randomly placed items. The crank is further capable of orienting the first and second ones of the said two or more operational members for placement of the first and second ones of said randomly placed items into a desired oriented condition. A time savings of three robot transfers is thus made over prior art systems that transferred each individual product one by one.

主权项

1. An end effector, comprising:
a) two or more operational members configured to pick up one or more randomly placed items, each operational member comprising:
i. a suction cup; andii. a rotary shaft comprising a proximal end and a distal end, wherein the proximal end is coupled to the suction cup; b) a rotary shaft support comprising one or more openings disposed therein, wherein the distal end of each rotary shaft of each operational member is inserted through one of the one or more openings; c) one or more driven cranks coupled to the distal end of each rotary shaft; and d) an actuator mechanism coupled to the one or more driven cranks.