US 11,878,889 B2
End effector
Takeshi Kikuchi, Osaka (JP); Hideyuki Kouno, Osaka (JP); Yuzuka Isobe, Osaka (JP); and Yoshinari Matsuyama, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Apr. 8, 2022, as Appl. No. 17/716,503.
Application 17/716,503 is a continuation of application No. PCT/JP2020/034845, filed on Sep. 15, 2020.
Claims priority of application No. 2019-188134 (JP), filed on Oct. 11, 2019.
Prior Publication US 2022/0227599 A1, Jul. 21, 2022
Int. Cl. B65H 41/00 (2006.01); B25J 15/00 (2006.01)
CPC B65H 41/00 (2013.01) [B25J 15/0071 (2013.01); B65H 2301/51122 (2013.01)] 7 Claims
OG exemplary drawing
 
1. An end effector configured to be connected to a robot arm for peeling off release paper, the end effector comprising:
a housing including a guide groove having a start position S, an intermediate position M, and an end position E; and
a rotary unit including a needle and a first support configured to move along the guide groove,
wherein assuming that a line segment connecting the start position S and the intermediate position M is defined as a line segment SM, a line segment connecting the intermediate position M and the end position E is defined as a line segment ME, an angle formed between the line segment SM and a horizontal direction when the end effector is placed on a floor surface is defined as θ1, and an angle formed between the line segment SM and the line segment ME is defined as θ2, θ1<θ2<θ1+180° is satisfied.