US 12,280,493 B2
End effector for robotic positioner
Martin Larouche, Saint-Isidore (CA); and Hubert Thibault, Lévis (CA)
Assigned to CTRL ROBOT INC., Saint-Isidore (CA)
Filed by CTRL ROBOT INC., Saint-Isidore (CA)
Filed on Nov. 18, 2021, as Appl. No. 17/455,615.
Claims priority of provisional application 63/116,269, filed on Nov. 20, 2020.
Prior Publication US 2022/0161445 A1, May 26, 2022
Int. Cl. B25J 15/00 (2006.01); B25J 15/06 (2006.01)
CPC B25J 15/0683 (2013.01) [B25J 15/0028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An end effector for forming a multi-panel box having panels hingedly connected one to another, the end effector comprising:
a frame defining a guide;
a first gripper member connected the frame, the first gripper member adapted to connect to a first one of the panels of the multi-panel box;
a second gripper member adapted to connect to a second one of the panels of the multi-panel box hingedly connected to the first one of the panels at an edge of the multi-panel box, the second gripper member defining a follower operatively engaged to the guide, an engagement between the follower and the guide constraining the second gripper member to movement in at least one rotational movement about a virtual pivot spaced away from the first gripper member, the second gripper member, the follower and the guide, wherein the first gripper member and the second gripper members include at least one suction cup operable to generate a vacuum on the first and second ones of the panels of the multi-panel box; and
at least one actuator connected to the second gripper member for moving the second gripper member toward and away from the first gripper member in the at least one rotational movement, the at least one actuator is operable to move the second gripper member relative to the first gripper member between a closed position and at least a first open position, a gripping zone defined between the first and second gripper members, the gripping zone having a variable volume in that movement of the second gripper member towards the first gripper member from the first open position to the closed position closes up the gripping zone between the first and second gripper members.