End effectors with individually positionable vacuum cups

摘要

An end effector having an individually positionable piston formed directly onto a movable pipe with one end of the movable pipe connected to a common plenum chamber and the other end to a bellows-shaped collapsible vacuum cup with the movable pipe forming an elongated air evacuation chamber to permit quick evacuation and pickup of an article located proximate the bellows-shaped collapsible vacuum cup and a stabilizer located proximate the bellows-shaped collapsible vacuum cup to act as a stop to prevent swaying of the article as the bellows-shaped collapsible vacuum cup is moved from one position to another.