Abstract: An automatic sorting system for automatically sorting objects comprises a control guide which branches off into a plurality of branches having different depths, moving members which have rod-like pins which are guided by the control guide and divert the objects in a transverse direction, and a pin-moving device, such as cam, for moving the pin of each moving member vertically in response to a signal generated by a detecting device. The cam has two arc portions of different radii which depress a transversely slidable rod of the moving member. The moving member follows a path determined by the control guide having a depth corresponding to a depending length of the rod of the moving member, and is guided along this control guide groove. With this system, good or defective articles are automatically diverted in a transverse direction by the moving members, so that the objects are sorted based on a their transverse positions.

Abstract: A vacuum adsorption hand and a composite hand mechanism attachable to the arm or the like of a material handling industrial robot are disclosed. The vacuum adsorption hand includes a sponge-like element on the outer surface of a perforated plate defining a vacuum chamber to prevent the ports or perforations in the plate from being obstructed by packaging film on an article to be handled. The composite hand mechanism of the present invention includes grasping mechanisms for grasping the sides of an article to be held in addition to an adsorbing mechanism. The grasping mechanisms have first members adapted for transverse movement to apply an adjustable transverse grasping force and second members which are vertically movable with respect to the first members. The grasping mechanisms ensure that the article will be held securely despite the effects of horizontally-oriented forces acting on the article held by the composite hand mechanism.

Abstract: An industrial robot hand for material handling. A fixed frame is connected to an arm of an industrial robot. A movable frame having a rectangular plan shape is horizontally movably supported on the fixed frame. Two guide rods are vertically attached to each of the four sides of the movable frame. A tapered guide extends downwardly from each of the guide rods. Sandwiching plates are provided on two opposite sides of the movable frame. Each sandwiching plate is pivotally attached to the movable frame by a horizontal axis at the central portion of the sandwiching plate. Engaging members project inwardly from the lower inner surface of the sandwiching plates to hold the material to be handled. Rollers and roller guides restrict the movement of the movable frame on the fixed frame. A driving mechanism pivots the sandwiching plates to bring the engaging members into engagement with the material.