US 12,491,680 B2
Method for forming gripper heads used to transport components
Mark Knight Robinson, Fresham (GB)
Assigned to The Gillette Company LLC, Boston, MA (US)
Filed by The Gillette Company LLC, Boston, MA (US)
Filed on Nov. 10, 2022, as Appl. No. 17/984,541.
Prior Publication US 2024/0157633 A1, May 16, 2024
Int. Cl. B29C 64/171 (2017.01); B25J 15/06 (2006.01); B29C 64/30 (2017.01); B29L 31/28 (2006.01); B33Y 50/00 (2015.01); B33Y 80/00 (2015.01)
CPC B29C 64/171 (2017.08) [B25J 15/0683 (2013.01); B29C 64/30 (2017.08); B29L 2031/28 (2013.01); B33Y 50/00 (2014.12); B33Y 80/00 (2014.12)] 18 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining 3D data based on a geometry of a component; and
forming one gripper head comprising 3D printing the gripper head based on
the obtained 3D data including forming one or more openings in the gripper head and forming a nest of the gripper head to locate and releasably hold the component based on suction being applied through the one or more openings;
wherein the obtaining step comprises obtaining 3D data indicating geometry of a plurality of components;
wherein the forming step comprises forming a plurality of gripper heads for each of the respective plurality of components including forming a respective one or more openings in each gripper head and a respective nest of each gripper head to locate and releasably hold a respective one of the plurality of components based on suction being applied through the respective one or more openings of the respective gripper head;
wherein the plurality of gripper heads include a first gripper head and a second gripper head and the plurality of components includes a first component and a second component;
wherein the obtaining step comprises obtaining 3D data indicating geometry of the
first component and obtaining 3D data indicating geometry of the second component;
wherein the forming step comprises forming a single opening in the first gripper head that is parallel to a longitudinal axis of the first gripper head such that the first gripper head is configured to releasably hold the first component based on suction being applied through the single opening; and
wherein the forming step comprises forming multiple openings in the second gripper head including one or more angled openings that are angled relative to a longitudinal axis of the second gripper head such that the second gripper head is configured to releasably hold the second component based on suction being applied through the angled openings.