End effector with slides for transferring trays
An end effector for transferring a tray is described. The end effector includes an end effector base attached to a vertical drive column of a tray engine. The end effector further includes a slide having multiple arms that are attached to the end effector base to support the tray, when present. The arms of the slide enable the tray to slide along a length of the end effector base. The arms face each other and extend along the length of the end effector base.
1. An end effector for transferring trays, comprising:
an end effector base having a length;
a first slide base located within the end effector base;
a first driving plate slidable with respect to the end effector base via the first slide base;
a first slide having a first plurality of arms attached to the end effector base, wherein the first slide is attached to the end effector base via a slide support to be supported by the slide support, wherein each of the first plurality of arms has a support surface on top of which a first tray, when present, is supported, wherein the first driving plate is configured to slide the first tray on top of the support surfaces of the first plurality of arms and between and along lengths of the first plurality of arms of the first slide, wherein the first plurality of arms face each other and extend along the length of the end effector base; and
a second slide having a second plurality of arms attached to the end effector base, wherein the second slide is located over the first slide, wherein the second slide is attached to the end effector base via the slide support to be supported by the slide support.
2. The end effector of claim 1 , wherein each of the second plurality of arms has a support surface on top of which a second tray, when present, is supported.
3. The end effector of claim 2 , further comprising:
a second slide base;
a second driving plate slidable with respect to the end effector base via the second slide base, wherein the second driving plate is configured to slide the second tray between and along lengths of the second plurality of arms of the second slide, wherein the second plurality of arms face each other and extend along the length of the end effector base.
4. The end effector of claim 3 , further comprising:
a slider block slidably attached to the end effector base;
a connector block attached to the slider block;
a grip assembly configured to grip the second tray when present,
wherein the second driving plate is attached to the connector block and the grip assembly to move the grip assembly between a retracted position and an extended position to enable a movement of the second tray, when present, in a linear direction.
5. The end effector of claim 3 , further including a grip assembly including a gripper configured to grip the second tray when present, wherein the second driving plate is coupled to the grip assembly to enable movement of the second tray gripped by the gripper in a linear direction.
6. The end effector of claim 3 , further comprising a grip assembly attached to the second driving plate, wherein the grip assembly includes a grip body, a first pivot mechanism located over the grip body, a twist connector attached to the first pivot mechanism, and an arm attached to the twist connector.
7. The end effector of claim 6 , wherein the grip assembly includes a second pivot mechanism and a grip clamp, wherein the arm is connected via the second pivot mechanism to the grip clamp for clamping the second tray when present.
8. The end effector of claim 1 , wherein each of the first plurality of arms has an edge, wherein the edge has an upper surface located opposite to the support surface for enabling the first tray to slice between the upper surface and the support surface.
9. The end effector of claim 1 , further comprising a slider block located below the first driving plate, wherein the first slide base includes a rail, wherein the slider block is configured to slide with respect to the rail.
10. The end effector of claim 1 , further comprising:
a slider block slidably attached to the end effector base;
a connector block attached to the slider block;
a grip assembly configured to grip the first tray when present,
wherein the first driving plate is attached to the connector block and the grip assembly to move the grip assembly between a retracted position and an extended position to enable a movement of the first tray, when present, in a linear direction.
11. The end effector of claim 1 , further comprising:
a grip assembly coupled to the first driving plate, wherein the first driving plate and the grip assembly are configured to move in a linear direction over the support surfaces of the first plurality of arms.
12. The end effector of claim 1 , further including a grip assembly including a gripper configured to grip the first tray when present, wherein the first driving plate is coupled to the grip assembly to enable movement of the first tray gripped by the gripper in a linear direction.
13. The end effector of claim 1 , further comprising a grip assembly attached to the first driving plate, wherein the grip assembly includes a grip body, a first pivot mechanism located over the grip body, a twist connector attached to the pivot mechanism, and an arm attached to the twist connector.
14. The end effector of claim 13 , wherein the grip assembly includes a second pivot mechanism and a grip clamp, wherein the arm is connected via the second pivot mechanism to the grip clamp for clamping the first tray when present.