Robotic manipulator having a gripping tool assembly

摘要

A robotic manipulator having a gripping tool assembly for separating a thin sheet of metal from a stack of metal sheets. The assembly comprises a frame mounted to a lift arm. A separating device is pivotally mounted to the frame for grasping and lifting a corner of the top metal sheet to create an initial separation of the sheet from the stack. A plurality of stationary suction lifters are secured to the frame for grasping and lifting the remaining portions of the top sheet. The gripping tool assembly is characterized by first and second air hoses or nozzles mounted to the frame with the first air nozzle positioned above the second air nozzle whereby the first air nozzle provides pressurized air toward the corner of the sheet to assist in the initial separation of the sheet and the second air nozzle provides pressurized air below the sheet after the initial separation of the sheet from the stack. The subject invention also includes a method comprising the steps of; affixing the stationary suction lifters and the separating device to the top sheet, actuating the separating device to lift the corner of the sheet to create the initial separation between the sheet and the stack, and the method is characterized by dispensing pressurized air toward the corner of the top sheet simultaneously with the actuating of the separating device and dispensing pressurized air below the top sheet after the initial separation of the sheet from the stack.