Abstract: A robotic containerization and palletizing system having a multiple-fingered end effector. In one embodiment, the system carries out a method of loading a tray in a container where the method includes creating a cell with a plurality of bays; assigning each bay a location; moving trays through the cell along a path; grasping a tray off the path with a robot positioned above the path; moving the robot, with the grasped tray, to the location of one bay; and instructing the robot to release the tray at the location of the one bay.

Abstract: A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to which the end effector is mounted. The end effector is designed to grasp trays, tubs, and similar items from a conveyor system running through the cell and load them in a cart or on a pallet. The items are gripped by two sets of fingers. One set of fingers may be mounted to a first plate and another set of fingers may be mounted to a carriage that moves in a horizontal direction, either toward or away from the first set of fingers. Each finger has a main shaft and a bent tip. The shafts are rotatable such that the tips can be moved underneath or out from under a load, depending upon whether a pick-up or drop-off operation is being performed.

Abstract: A device for pumping paint includes a pump house adapted to receive paint from a paint source, a pump shaft for driving a pump member to rotate inside the house for pumping paint therethrough. The pump shaft is connected to an output shaft of a motor arranged outside the pump house through an intermediate shaft piece through a wall of the pump house. The motor is arranged to drive the pump shaft and the pump member. A sealing member is arranged to counteract paint leaking out of the pump housing along the pump shaft. The sealing member is arranged to seal by bearing substantially axially against substantially axial surfaces of the pump shaft around the pump shaft, in which the sealing member and/or these axial surfaces are preferably of a ceramic material.

Abstract: When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates and a known orientation to a measuring position while detecting this movement. Said coordinates and the orientation of the object in the measuring position are calculated from information from this detection and about the start position. Furthermore, the acceleration and retardation of the object are measured during the movement, and the coordinates and the orientation of the object in the measuring position are calculated from information from this measurement.

Abstract: A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to which the end effector is mounted. The end effector is designed to grasp trays, tubs, and similar items from a conveyor system running through the cell and load them in a cart or on a pallet. The items are gripped by two sets of fingers. One set of fingers may be mounted to a first plate and another set of fingers may be mounted to a carriage that moves in a horizontal direction, either toward or away from the first set of fingers. Each finger has a main shaft and a bent tip. The shafts are rotatable such that the tips can be moved underneath or out from under a load, depending upon whether a pick-up or drop-off operation is being performed.

Abstract: A device for automatic spray application of paint through a spray nozzle comprises a container containing paint, arranged in the immediate proximity of the spray nozzle and connected to the spray nozzle through a conduit for supply of paint to the nozzle for spray application. The container is arranged rotatably, and the device comprises members adapted to drive the container to rotate for pressing paint contained therein outwardly towards a peripheral region of the container. The conduit has an opening in this region. An overpressure of a pressurized medium in the container for pressing paint out through the opening to the spray nozzle is provided.

Abstract: A device is disclosed for the automatic spray application of paint. The device has a paint container and a spray nozzle arranged in close connection and adapted to provide paint from the container to the spray nozzle during the spray application. A dosing apparatus regulates the compression of an external surface against the inner volume of the paint container and thereby forces paint out of the container and into the spray nozzle through an opening of the container. A number of receiving members are adapted to receive and hold the paint container close to the spray nozzle, such that the paint container is detachable and removable from the device when replacing a paint container. The paint container has an elongated feeding tube, at its opening, that is held by the receiving members when the tube is inserted in the nozzle.

Abstract: The present invention relates to a compliant end effector for securing an implement or tool such as a spindle to an arm of an industrial robot. The end effector has an internal passageway that extends completely through the end effector for receiving the spindle. The end effector includes a mounting assembly, a gripping assembly, a compliant assembly and a biasing assembly. The mounting assembly has a mounting bracket that rigidly secures the end effector to the robotic arm. The gripping assembly has a support bracket that rigidly secures the spindle to the end effector. The compliant assembly joins the mounting assembly to the gripping assembly, and includes an internal collar with two sets of opposed pivot pins that form first and second pivot axes. The biasing assembly includes a sponge rubber biasing ring with a number of uniformly spaced springs that combine to bias the spindle into a normal biased position.

Abstract: This invention relates to a multi-purpose end effector for a robotic arm that moves a workpiece through an automated, multi-station, manufacturing operation. The end effector is particularly useful in a gear manufacturing operation in which a gear piece is annealed, ground and tested to ensure it meets desired specifications. The relatively lightweight and compact end effector securely grips the workpiece during multi-directional movements, and provides a degree of softness when loading the normally non-rotating workpiece onto a continuously rotating chuck or tool. The end effector is secured to the robotic arm by a cross-member equipped with three different gripping implements. A central gripping device extends from the middle of the cross-member, a loading arm extends from one end of the cross-member, and an unloading arm extends from the other end. Each gripping implement includes pneumatically controlled gripping fingers for holding the gear pieces.

Abstract: A plant is adapted to feed paint to robots for automatic spray application of paint on objects provided with a container (5) made loosenable and removable from the robot for exchange for another such container when there is a desire to have more paint in the container and/or change paint. The plant has a station (8) with containers filled with paint, a transport device (15-18) with means (16) for transporting a container containing paint from said station when said desire arises to the robot and deliver this thereto as well as means adapted to receive a container to be exchanged from the robot and transport it away for taking care thereof.

Abstract: An article piercing end effector for an industrial robot. The end effector includes a mounting bracket designed to be coupled to the arm of a robot. Positioned on the bracket is an actuator that is coupled to and controls the movement of a first plate. The first plate is supported by two guide rods coupled to the actuator. The first plate includes a plurality of pairs of opposed forks removably mounted to its underside of the first plate. Positioned below the first plate is a second plate with a plurality of holes generally aligned with the tips of each of the pair of opposed forks. The second plate is fixedly attached to the mounting bracket by standoff rods. When the first plate is moved by the actuator toward the second plate, the forks extending from the first plate travel through the holes in the second plate, which holes are chamfered for easy operation. The tips of the forks thus move towards each other to pierce items of interest, such as baked goods positioned below the second plate.

Abstract: A device for mechanically picking and palletizing rectangular objects of various sizes for attachment to a robotic arm. The device includes a pair of rails having a plurality of longitudinally spaced, elongated L-shaped grips extending there through. The distance between the respective rails can be adjusted to accommodate various width containers. The L-shaped grips are capable of pivotal rotation such that their grip ends rotate under the object for picking and palletizing. A pair of pallet hooks having suction cups attached thereto is also provided on the device.

Abstract: An end effector for handling stacks of plastic cups, dishes, and similar items. The end effector includes a bracket of similar mechanism for coupling the end effector to the end of a robot arm. A gripping assembly is coupled to the bracket. The gripping assembly includes a main plate with a plurality of pairs of spring blades mounted on the bottom of the main plate. Each spring blade has a plurality of teeth and the pairs of spring blades are positioned such that the teeth from each spring blade are interweaved with one another. Two end blades are also mounted on the bottom of the main plate. The spring blades and end blades form a plurality of parallel bays. Each bay is formed by two spring blades or one spring blade and one end blade. When the end effector is coupled to the robot arm and moved down over the stacks of items to be picked up, the spring blades flex allowing the items to pushed into each bay.

Abstract: An end effector for handling stacks of plastic cups, dishes, and similar items. The end effector includes a bracket for coupling the end effector to the end of a robot arm. A main plate or body with a top side, a bottom side, and a plurality of apertures is connected to the bracket and supports the major components of the end effector. The end effector includes at least one bay positioned in the bottom side of the main body. Within each bay is a multiple-piece blade support block that helps guide the blades located within the bay. One or more roller blocks are positioned at predetermined points along the length of the bay, preferably between two pieces of the blade support block. Each roller block has an arcuate track that holds a roller assembly. Each roller assembly has a link which extends through one of the apertures in the main body. Each roller assembly is also coupled to a curved blade. One or more linear actuators are positioned on the top side of the main body.

Abstract: An automated system for performing an operation on a component within a manufacturing workstation is disclosed. The system includes a robot controller having seven axes of motion control. A robotic manipulator is connected to the robot controller and has six axes of motion. The robotic manipulator includes tooling for grasping the component upon which the operation is performed. A fixed location tool is provided for performing the operation, and a servo mechanism is provided for operating the fixed location tool. The servo mechanism is controlled by one of the seven axes of motion control of the robot controller, whereby the robotic manipulator moves the component with respect to the fixed location tool for performing the operation.

Abstract: In a plant for automatic spray application of paint through a spray nozzle (12), two parallel lines (9,10) each lead from an associated arrangement (1,2) for supplying paint to the spray nozzle. After paint has been fed through one of the lines to the spray nozzle followed by closing of a valve means (15,16) associated therewith for changing the arrangement (1, 2) supplying paint, a device (24) is adapted to feed such a volume of fluid into this line upstream of the valve means, with respect to the paint feeding direction, in the reverse direction so that the paint present in the line is pushed back into the arrangement without the fluid reaching it.

Abstract: Apparatus and a method for testing for improper assembly of moving parts features the use of a plurality of vibration sensors placed on predetermined locations of an external surface of a device housing the moving parts. A computing element analyses the sensor outputs to determine whether an assembly error exists, the nature of the error and its location within the device.

Abstract: A device for feeding a controlled volume flow of liquid to a spray nozzle for automatic spray application. A conduit defines a flow path from a liquid source to the spray nozzle. A displacement pump type member is arranged in the conduit. A driver drives the displacement pump type member with the movable parts thereof with a speed determined by the actual volume flow through the conduit. Elements arranged in the conduit upstream of the displacement pump type member supply the flow of liquid through the conduit to the displacement pump type member and properly feed the liquid in the conduit. A valve is located in the conduit. A regulator regulates the volume flow through the conduit by regulating the throttling degree of the valve means. A first measurer measures the pressure of the flow in the conduit downstream of the displacement pump type member. A second measurer measures the pressure of the flow in the conduit upstream of the displacement pump type member.

Abstract: A dispensing apparatus is disclosed which includes a support assembly for defining at least one dispensing location. A storage container is secured to the support assembly for holding a plurality of stackable objects. These stackable objects may include shims, washers, gaskets and seals. An escapement is operably associated with the support assembly. The escapement is operable for moving between a first position and a second position for transporting at least one of the stackable objects from the storage container to an external access location. The escapement may also be designed to be easily operated by a robot or robot actuated apparatus.

Abstract: A device for mechanically picking and palletizing rectangular objects of various sizes for attachment to a robotic arm. The device includes a pair of rails having a plurality of longitudinally spaced, elongated L-shaped grips extending there through. The distance between the respective rails can be adjusted to accommodate various width containers. The L-shaped grips are capable of pivotal rotation such that their grip ends rotate under the object for picking and palletizing. A pair of pallet hooks having suction cups attached thereto is also provided on the device.