ROBOTIC END EFFECTOR WITH COUNTER-ROTATING FINGERS

摘要

An improved end effector for use with a robot includes a pair of carriages . Each carriage supports a pair of fingers and at least one actuator. Each actuator is interconnected with the associated pair of fingers to counter-rotate the fingers. One or both of the carriages is movable toward the other carriage to engage trays on a conveyor system with the fingers. The robot moves the end effector between the conveyor system and shipping containers for shipping the trays. Because the pairs of fingers counter-rotate, the friction forces between each finger and the tray is offset by the friction forces between the other finger in the pair and th e tray. The improved end effector thereby maintains trays substantially in the desir ed stacking orientation within the shipping container. Preferably, an actuator is provided for each finger. A change-out mechanism may also be provided to facilitate replacing the fingers.