End effector with centering grip
View Patent ↗A flat workpiece transport apparatus having a movable arm and an end effector. The end effector is connected to the arm. The end effector has a movable grip for holding a flat workpiece on the end effector. The end effector has a grip actuator operably connected to the movable grip. The grip actuator has more than one actuation members and a resiliently flexible member connecting the more than one actuation members. Each actuation member actuates at least one corresponding grip element of the movable grip to capture or release the workpiece. Flexure of the resiliently flexible member effects movement of at least one of the more than one actuation members for actuation of the at least one corresponding grip element. The resiliently flexible member is sandwiched by substantially rigid portions of the more than one actuation members.
1. A flat workpiece transport apparatus comprising:
a movable arm; and
an end effector connected to the arm, the end effector having a movable grip for holding a flat workpiece on the end effector, and having a grip actuator operably connected to the movable grip;
the grip actuator having more than one actuation members and a resiliently flexible member connecting the more than one actuation members, each actuation member actuating at least one corresponding grip element of the movable grip to capture or release the workpiece;
wherein, pivoting movement of one of the more than one actuation members causes flexure and relaxation of the resiliently flexible member, the flexure and relaxation of the resiliently flexible member effects corresponding pivotal movement of at least another of the more than one actuation members for actuation of the at least one corresponding grip element of the at least another of the more than one actuation members reciprocatively between positions for gripping and releasing the flat workpiece, and wherein the resiliently flexible member is sandwiched by substantially rigid portions of the more than one actuation members.
2. The apparatus according to claim 1 , wherein the grip actuator has a pair of actuation members.
3. The apparatus according to claim 1 , wherein the grip actuator has at least two opposed actuation members.
4. The apparatus according to claim 1 , wherein the grip actuator comprises a one-piece member that forms the more than one actuation members and the resiliently flexible member.
5. The apparatus according to claim 1 , wherein the movable grip has one or more actuated grip elements on opposite sides of the workpiece when the workpiece is held by the movable grip.
6. The apparatus according to claim 1 , wherein the grip elements of the movable grip are edge grip elements.
7. The apparatus according to claim 1 , wherein the movable grip has actuated grip elements located on the end effector so that the grip elements center the workpiece, with respect to a predetermined end effector location, when actuated to capture the workpiece.
8. The apparatus according to claim 1 , wherein one of the more than one actuation members is a driver driving another of the more than one actuation members.
9. The apparatus according to claim 1 , wherein movement of the at least one corresponding grip element of the movable grip is rectilinearly longitudinal with respect to a longitudinal axis of the end effector.