Gripper with parts ejector system
View Patent ↗A robotic tool picks and places a clinging part in an assembly. Two gripper jaws each have gripper fingers spaced apart from each other by a central spacing. The gripper jaws are movable between a grip position and a release position. The robotic tool also has an ejector. The ejector has a part pusher that is cling resistant and movable in the central spacings between a retracted position, and an eject position in which the cling resistant part pusher ejects the clinging part.
1. A robotic tool for picking and placing a clinging part, comprising:
first and second gripper jaws, the first gripper jaw including gripper fingers spaced apart from one another by a first central spacing, and the second gripper jaw including gripper fingers spaced apart from one another by a second central spacing; the gripper jaws being movable between a grip position in which the gripper jaws grip the clinging part and a release position in which the gripper jaws release and retract from the clinging part; and
an ejector having a cling resistant part pusher movable in the first and second central spacings between a retracted position in which the part pusher is retracted and contacts the clinging part, and an eject position in which the part pusher ejects the clinging part.
2. The robotic tool of claim 1 wherein the ejector is in the retracted position when the gripper jaws grip the clinging part, and the ejector is in the eject position when as the gripper jaws release and retract from the clinging part.
3. The robotic tool of claim 1 , wherein the ejector further comprises:
an ejector actuator mounted on the first gripper jaw and actuating the part pusher to the retracted position.
4. The robotic tool of claim 1 , wherein the ejector further comprises:
a mass coupled to the part pusher and providing a weight force moving the part pusher to the eject position.
5. The robotic tool of claim 4 , wherein the ejector further comprises:
an arm coupled between the part pusher and the mass.
6. The robotic tool of claim 4 wherein the mass is slidably mounted to the first gripper jaw.
7. The robotic tool of claim 1 wherein the first and second gripper jaws are shaped to pick and place a recirculation filter in a disc drive.
8. The robotic tool of claim 1 wherein the part pusher is shaped to reduce clinging due to electrostatic attraction between the part pusher and the clinging part.
9. The robotic tool of claim 1 wherein the part pusher is shaped to reduce clinging due to snagging fibers protruding from the clinging part.
10. The robotic tool of claim 7 wherein the part pusher is shaped as a cylinder having a major axis that is transverse to an upper edge of the recirculation filter.
11. The robotic tool of claim 1 further comprising a part check sensor mounted on the second gripper jaw to sense presence of the clinging part between the gripper fingers.
12. The robotic tool of claim 1 wherein the ejector further comprises a second cling resistant part pusher movable adjacent a first outer side of the gripper fingers.
13. The robotic tool of claim 12 wherein the ejector further comprises a third cling resistant part pusher movable adjacent a second outer side of the gripper fingers.
14. A robotic tool for picking and placing a clinging part, comprising:
first and second gripper jaws, the first gripper jaw including gripper fingers spaced apart from one another by a first central spacing, and the second gripper jaw including gripper fingers spaced apart from one another by a second central spacing; the gripper jaws being movable between a grip position in which the gripper jaws grip the clinging part and a release position in which the gripper jaws release and retract from the clinging part; and
means for ejecting the clinging part from the first and second gripper jaws, the means for ejecting being movable in the first and second central spacings wherein the means for ejecting has a retracted position in which the means for ejecting contacts the clinging part.