US 11,878,889 B2
End effector
Takeshi Kikuchi, Osaka (JP); Hideyuki Kouno, Osaka (JP); Yuzuka Isobe, Osaka (JP); and Yoshinari Matsuyama, 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, θ121+180° is satisfied.