PICK-UP AND DELIVERY SYSTEM AND ASSOCIATED METHODS

摘要

The present disclosure relates to a pick-up and delivery system including a pick-up assembly and a delivery assembly. The pick-up assembly includes a robotic arm, a pick-up device rotatably mounted on the robotic arm, and a first vacuum pressure supply port operably connected to the pick-up device. The delivery assembly includes an insertion device and a second vacuum pressure supply port. The insertion device may include an insertion member and a release assistance rod arranged inside the insertion member. The release assistance rod is moveable between an extended position and a retracted position. When the release assistance rod is in the extended position, a proximal end extends beyond an end of the insertion member. Further aspects are directed towards methods for grasping and releasing an object with a pick-up and delivery system.

主权项

1. A method for grasping and releasing an object with a pick-up and delivery system, the method comprising the steps of:
providing a receptacle having an receptacle opening, a pick-up device having a tip opening, and an insertion device that is moveable between a first position and a second position in a plane substantially perpendicular to the receptacle opening, the insertion device comprising:
a tubular insertion member having an end; anda release assistance rod arranged inside the tubular insertion member, the release rod being moveable between an extended position and a retracted position; moving the pick-up device to a first location to grasp the object; supplying a first vacuum pressure to the tip opening of the pick-up device; grasping the object at the tip opening with the first vacuum pressure; moving the pick-up device and the object to a second location, the second location being in proximity to the receptacle and the insertion device; transferring the object from the pick-up device to the tubular insertion member by:
supplying a second vacuum pressure to the tubular insertion member; andremoving the first vacuum pressure while the release assistance rod is in the retracted position; moving the tubular insertion member and the object to the second position so that the object is above the receptacle opening; and inserting the object into the receptacle by:
releasing the object with the tubular insertion member by removing the second vacuum pressure; andmoving the release assistance rod to the extended position.