EP1200234A1 - Modular gripper - Google Patents

Modular gripper

Info

Publication number
EP1200234A1
EP1200234A1 EP00925418A EP00925418A EP1200234A1 EP 1200234 A1 EP1200234 A1 EP 1200234A1 EP 00925418 A EP00925418 A EP 00925418A EP 00925418 A EP00925418 A EP 00925418A EP 1200234 A1 EP1200234 A1 EP 1200234A1
Authority
EP
European Patent Office
Prior art keywords
ref
profile
prs
modular gripper
shapes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00925418A
Other languages
German (de)
French (fr)
Inventor
Dominique Neveu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AMG Atelier de Mecanique Generale SA
Original Assignee
AMG Atelier de Mecanique Generale SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AMG Atelier de Mecanique Generale SA filed Critical AMG Atelier de Mecanique Generale SA
Publication of EP1200234A1 publication Critical patent/EP1200234A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/38—Connections for building structures in general
    • E04B1/388—Separate connecting elements
    • E04B2001/389—Brackets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/18—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections using screw-thread elements
    • F16B7/187—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections using screw-thread elements with sliding nuts or other additional connecting members for joining profiles provided with grooves or channels

Definitions

  • Modular gripper The present invention relates to the manufacture of modular grippers provided with vacuum suction cups used to convey materials of the metal, cardboard, glass, wood type, in all types of industries See figure 1.
  • grippers The manufacturing of these grippers is generally done in a non-industrial manner, different according to the industrial environment, often in mechanically welded steel tube, each time at the last moment, from a prototype of part to be conveyed, designed by plant maintenance departments.
  • the standardization of these grippers is not a priority and is not the subject of research in terms of productivity.
  • the modular gripper makes it possible to overcome all these inconveniences, a prototype of the part to be conveyed is no longer necessary since the gripper can be designed from the digitized strip of the part.
  • the large number of standard parts allows it to be assembled in a few tens of minutes due to its modularity.
  • the adjustment can be made in three dimensions. In this case, gripping of left and complex shaped parts is possible.
  • PRS 01 301 Figure 4 being determined by the position of the suction cups which, themselves, depend on the geometry of the part to be conveyed.
  • PRS 01 301 figure 4 At the end of the 30 Ref. PRS 01 301 figure 4 are fixed ball joint supports Ref. SPR 01 112 figure 7 - profile plan figure 17 - in which are mounted, depending on the need, simple ball joints Ref. ROT 01 110 figure 8 or spring ball joints Ref. ROR 01 105 figure 9 or combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27.
  • the assembly of all the elements is represented by the assemblies 10, 16 and 21, new assembly with combined extensions Ref. RAL 21010 to RAL 21 080.
  • the ball joint supports Ref. SPR 01 112 figure 7 are fixed on the profile of 30 Ref.
  • PRS 01 301 figure 4 by plates Ref. PLA 01 2M6 figure 13 which slide inside of it and which thus make it possible to bring an adjustment additional.
  • the two different kinds of ball joints Ref. ROT 01 110 figure 8 and Ref. ROR 01 105 figure 9 allow an angular movement of + 22 ° which allows to refine the final adjustment.
  • the combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 allow an angular movement of + 30 ° and depending on their length serve at the same time as an extension.
  • the different kinds of suction cups are chosen according to the space available on the part to be conveyed and its weight. They are fixed to the ends of the ball joints in figures 10, 16 and 21.
  • the assembly of all these parts makes it possible to build a modular gripper capable of meeting all needs.
  • the particularly studied shapes of the profiles, as well as all of the standard light alloy parts, make it possible to obtain an assembly of great rigidity with a relatively low weight.
  • shapes On the three kinds of profile, shapes have been specially studied in order to clip two types of suction pipe which saves time during assembly and avoids fixing them with clamps SEE FIGURE 18. They are all three studied to receive the fixing plate Ref.
  • PL A 01 2M6 figure 13 which makes it possible to store only one reference of insert and to obtain a good quality of tightening in the profiles of 30.
  • the interior hole of the profiles is designed so as to be directly tapped in steps ISO without the need for machining.
  • the modular gripper is fixed on a robot or on a mechanized system using the manual interface specially designed for this purpose Ref.
  • the modular gripper characterized in that it consists of a 50 mm square aluminum profile.
  • PRS 01 501 Figure 2 whose structural shapes have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection.
  • the shapes of the slides allow mounting the fixing plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 40 Ref. PRS 01 401figure 3 and the profile of 30 Ref. PRS 01 301figure 4, this has the consequence of having to store only a single reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw.
  • the diameter of the internal hole of the profile is designed to be directly tapped without additional drilling.
  • Modular gripper characterized in that it is made of square aluminum profile of 40 Ref. PRS 01 401 Figure 3 whose structural forms have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection.
  • Modular gripper characterized in that it consists of square aluminum profile of 30 Ref. PRS 01 301 FIG. 4, the shapes of the structure of which have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and to deflection.
  • PRS 01 301 figure 4 to be fixed in any chosen place along the central core constituted either by the profile of 50 Ref. PRS 01 501 figure 2 or the profile of 40 Ref. PRS 01 401 figure 3.
  • Modular gripper characterized in that the suction cup is supported by a ball-shaped part Ref. ROT 01 110 figure 8 which once mounted in the ball joint support Ref SPR 01 112 figure 7, gives the assembly an angular clearance of + 22 °, thus allowing to convey parts with left shapes and to refine the settings at the last moment. See general assembly together 10.
  • Modular gripper characterized in that the suction cup is supported by a ball-shaped part Ref. RAL 21 010 to RAL 21 080 figure 27 called combined ball joint, which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole an angular clearance of + 30 °, its different lengths serve at the same time as extensions, thus allowing to convey pieces with left shapes and to refine the adjustments at the last moment.
  • SEE general assembly together 21
  • Modular gripper characterized in that the suction cup is supported by a ball-shaped part, the axis of which is mounted with a spring Ref.
  • ROR 01 105 figure 9 which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole S
  • Modular gripper characterized in that it consists of extensions Ref. RAL 01 070 to 292 figure 11 thus allowing the suction cups to go to suck parts whose forms or the differences are important.
  • Modular gripper characterized in that it consists of combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 thus making it possible to go to vacuum parts whose forms or the differences in level are important.
  • Modular gripper characterized in that it consists of sloping wedges Ref. CPE 01 190 and Ref. CPE 01 193 figure 12 allowing to accentuate the angle of 15 ° in one case and 35 ° in the second case.
  • Modular gripper characterized in that its attachment to the robot or to the mechanized system is carried out by either a manual interface Ref. 11T 50 100 figure 14 or Ref. 50200 figure 22 for the profile of 50 Ref. PRS 01 501 figure 2, either by a manual interface Ref. ITF 40 300 figure 15 for the profile of 40 Ref. PRS 01 401 figure 3.
  • Modular gripper characterized in that its attachment to the robot or to the mechanized system is effected by either an automatic interface Ref. ITF 50 125 figure 23 or Ref. ITF 50225 figure 24 for the profile of 50 Ref. PRS 01 501 figure 2. Or an automatic interface Ref. ITF 40 400 figure 25 for the profile of 40 Ref. PRS 01 401 figure 3.
  • Modular gripper characterized in that it can be mounted on a crosspiece Ref. TRV 0 1001 figure 26 which itself is mounted evening on a robot or on a mechanized system.
  • This cross Ref. TRV 01 001 figure 26 receives three interfaces Ref. ITF 50 100 to ITT 50 125 determined according to need SEE FIGURE 26.
  • This system makes it possible to mount a gripper in the center in the case of small parts to be conveyed or one at each end for large parts.
  • the specially designed shapes of the crossmember allow it to be light while keeping good rigidity and limiting vibrations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Clamps And Clips (AREA)

Abstract

The invention concerns a modular gripper designed to transport all types of materials: metal, cardboard, glass, plastic, wood, in all types of industries. It consists of several types of aluminium sections, and several types of mechanical components made of light alloy which, by virtue of their shapes, can be quickly assembled and manage all types of materials to be transported (see photograph 1). Said invention is particular designed for gripping parts made of material of all types such as metal, cardboard, glass, plastic, wood and others in all types of industries.

Description

Préhenseur Modulaire La présente invention concerne la fabrication de préhenseurs modulaires munis de ventouses à aspiration par le vide servant à convoyer des matériaux du type métal, carton, verre, bois, dans tous types d'industries Voir figure 1. Modular gripper The present invention relates to the manufacture of modular grippers provided with vacuum suction cups used to convey materials of the metal, cardboard, glass, wood type, in all types of industries See figure 1.
La fabrication de ces préhenseurs est généralement faite d'une manière non indus- trielle, différente selon l'environnement industriel, souvent en tube acier mécano-soudé, à chaque fois au dernier moment, à partir d'un prototype de pièce à convoyer, conçu par les services maintenance des usines.The manufacturing of these grippers is generally done in a non-industrial manner, different according to the industrial environment, often in mechanically welded steel tube, each time at the last moment, from a prototype of part to be conveyed, designed by plant maintenance departments.
La standardisation de ces préhenseurs n'est pas une priorité et ne fait pas l'objet de recherche en matière de productivité. Le préhenseur modulaire permet de palier à tous ces désagréments, un prototype de la pièce à convoyer n'est plus nécessaire puisque le préhenseur peut être conçu à partir de la bande numérisée de la pièce.The standardization of these grippers is not a priority and is not the subject of research in terms of productivity. The modular gripper makes it possible to overcome all these inconveniences, a prototype of the part to be conveyed is no longer necessary since the gripper can be designed from the digitized strip of the part.
Le nombre important de pièces standards permet de le monter en quelques dizaines de minutes de par sa modularité. En outre, le réglage peut s'effectuer en trois dimensions. Dans ce cas, la préhension de pièces en forme gauche et complexe est possible.The large number of standard parts allows it to be assembled in a few tens of minutes due to its modularity. In addition, the adjustment can be made in three dimensions. In this case, gripping of left and complex shaped parts is possible.
Il est composé d'une âme centrale en profilé aluminium de carré de 50 Réf. PRS 01 501 VOIR figure 2 plan du carré de 50, ou de 40 Réf. PRS 01 401 VOIR figure 3 plan du carré de 40. La dimension est définie en fonction de la taille de la pièce à convoyer. Sur ces âmes viennent se fixer perpendiculairement plusieurs profilés de 30 Réf. PRS 01 301 VOIR figure 4 plan du carré de 30. Le système de fixation raccord Réf. RAC 01 001 figure 5 et les équerres Réf. EQU 01 080 figure 6 permet de régler aisément les différents profilés de 30 Réf. PRS 01 301 figure 4 à l'emplacement choisi. La longueur des profilés de 30 Réf. PRS 01 301 figure 4 étant déterminée par la position des ventouses qui, elles-mêmes, sont fonction de la géométrie de la pièce à convoyer. Au bout des profilés de 30 Réf. PRS 01 301 figure 4 sont fixés des supports rotules Réf. SPR 01 112 figure 7 - plan du profil figure 17 - dans lesquelles sont montées, en fonction du besoin, des rotules simples Réf. ROT 01 110 figure 8 ou des rotules à ressort Réf. ROR 01 105 figure 9 ou des rotules combinées Réf. RAL 21 010 à RAL 21 080 figure 27. Le montage de tous les éléments est représenté par les ensembles 10, 16 et 21, nouveau montage avec rallonges combinées Réf. RAL 21010 à RAL 21 080. Les supports rotules Réf. SPR 01 112 figure 7 sont fixées sur le profilé de 30 Réf. PRS 01 301 figure 4 par des plaquettes Réf. PLA 01 2M6 figure 13 qui coulissent à l'intérieur de celui-ci et qui permettent ainsi d'apporter un réglage supplémentaire. Les deux différentes sortes de rotules Réf. ROT 01 110 figure 8 et Réf. ROR 01 105 figure 9 permettent un débattement angulaire de + 22° ce qui permet d'affiner le réglage final. Les rotules combinées Réf. RAL 21 010 à RAL 21 080 figure 27 permettent un débattement angulaire de + 30° et en fonction de leur longueur servent en même temps de rallonge. Les différentes sortes de ventouses sont choisies en fonction de la place disponible sur la pièce à convoyer et de son poids. Elles sont fixées au bout des rotules figure 10, 16 et 21.It is composed of a central core in aluminum square profile of 50 Ref. PRS 01 501 SEE figure 2 plan of the square of 50, or 40 Ref. PRS 01 401 SEE figure 3 plan of the square of 40. The dimension is defined according to the size of the part to be conveyed. On these cores are fixed perpendicularly several profiles of 30 Ref. PRS 01 301 SEE figure 4 plan of the square of 30. The connection fixing system Ref. RAC 01 001 figure 5 and the brackets Ref. EQU 01 080 figure 6 allows to easily adjust the different profiles of 30 Ref. PRS 01 301 figure 4 at the chosen location. The length of the profiles from 30 Ref. PRS 01 301 Figure 4 being determined by the position of the suction cups which, themselves, depend on the geometry of the part to be conveyed. At the end of the 30 Ref. PRS 01 301 figure 4 are fixed ball joint supports Ref. SPR 01 112 figure 7 - profile plan figure 17 - in which are mounted, depending on the need, simple ball joints Ref. ROT 01 110 figure 8 or spring ball joints Ref. ROR 01 105 figure 9 or combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27. The assembly of all the elements is represented by the assemblies 10, 16 and 21, new assembly with combined extensions Ref. RAL 21010 to RAL 21 080. The ball joint supports Ref. SPR 01 112 figure 7 are fixed on the profile of 30 Ref. PRS 01 301 figure 4 by plates Ref. PLA 01 2M6 figure 13 which slide inside of it and which thus make it possible to bring an adjustment additional. The two different kinds of ball joints Ref. ROT 01 110 figure 8 and Ref. ROR 01 105 figure 9 allow an angular movement of + 22 ° which allows to refine the final adjustment. The combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 allow an angular movement of + 30 ° and depending on their length serve at the same time as an extension. The different kinds of suction cups are chosen according to the space available on the part to be conveyed and its weight. They are fixed to the ends of the ball joints in figures 10, 16 and 21.
En cas de besoin de réglage en hauteur, il existe plusieurs types de rallonges Réf. RAL 01 070 à 292 figure 11 couvrant la plupart des réglages nécessaires ou les rotules combinées Réf. 21 010 à RAL 21 080. Dans le cas de pièces gauches nécessitant un débattement angulaire supérieur à celui obtenu avec les supports rotules Réf. SPR 01 112 figure 7 et les rotules Réf. ROT 01 110 figure 8 ou Réf. ROR 01 105 figure 9 ainsi que les rotules combinées Réf. RAL 21 010 à RAL 21 080, il existe les cales pentées Réf. CPE 01 190 figure 12 et Réf. CPE 01 193 figure 12 permettant d'accentuer l'angle de 15° dans un cas et 35° dans l'autre cas.If there is a need for height adjustment, there are several types of extensions Ref. RAL 01 070 to 292 figure 11 covering most of the necessary adjustments or the combined ball joints Ref. 21 010 to RAL 21 080. In the case of left-hand parts requiring an angular clearance greater than that obtained with the ball joint supports Ref. SPR 01 112 figure 7 and the ball joints Ref. ROT 01 110 figure 8 or Ref. ROR 01 105 figure 9 as well as the combined ball joints Ref. RAL 21 010 to RAL 21 080, there are stepped shims Ref. CPE 01 190 figure 12 and Ref. CPE 01 193 figure 12 allowing to accentuate the angle of 15 ° in one case and 35 ° in the other case.
L'assemblage de toutes ces pièces permet de construire un préhenseur modulaire étant capable de répondre à tous les besoins. Les formes particulièrement étudiées des profilés, ainsi que l'ensemble des pièces standards en alliage léger permettent d'obtenir un ensemble d'une grande rigidité avec un poids relativement faible. Sur les trois sortes de profilé, des formes ont été spécialement étudiées afin de clipser deux types de tuyau d'aspiration ce qui apporte un gain de temps au montage et évite de les fixer avec des colliers VOIR FIGURE 18. Us sont tous les trois étudiés pour recevoir la plaquette de fixation Réf. PL A 01 2M6 figure 13 ce qui permet de ne stocker qu'une seule référence de plaquette et d'obtenir une bonne qualité de serrage dans les profilés de 30. Le trou intérieur des profilés est conçu de façon à être directement taraudable dans des pas ISO sans besoin d'usinage. Le préhenseur modulaire est fixé sur un robot ou sur un système mécanisé à l'aide de l'interface manuelle spécialement étudiée à cet effet Réf. ITF 50 100 et ITF 50200 figure 14 et 15 pour le profilé de 50 Réf. PRS 01 501 figure 2 et Réf. ITF 40 300 figure 22 pour le profilé de 40 Réf. PRS 01 401 figure 3. II existe des interfaces automatiques Réf. ITF 50 125 et Réf. ITF 50 225 pour le profilé de 50 Réf. PRS 01 501 figure 2 voir figure 23 et 24 et Réf. ITF 40 500 pour le profilé de 40 PRS 01 401 figure 3 voir figure 25.The assembly of all these parts makes it possible to build a modular gripper capable of meeting all needs. The particularly studied shapes of the profiles, as well as all of the standard light alloy parts, make it possible to obtain an assembly of great rigidity with a relatively low weight. On the three kinds of profile, shapes have been specially studied in order to clip two types of suction pipe which saves time during assembly and avoids fixing them with clamps SEE FIGURE 18. They are all three studied to receive the fixing plate Ref. PL A 01 2M6 figure 13 which makes it possible to store only one reference of insert and to obtain a good quality of tightening in the profiles of 30. The interior hole of the profiles is designed so as to be directly tapped in steps ISO without the need for machining. The modular gripper is fixed on a robot or on a mechanized system using the manual interface specially designed for this purpose Ref. ITF 50 100 and ITF 50200 figure 14 and 15 for the profile of 50 Ref. PRS 01 501 figure 2 and Ref. ITF 40 300 figure 22 for the profile of 40 Ref. PRS 01 401 figure 3. There are automatic interfaces Ref. ITF 50 125 and Ref. ITF 50 225 for profile 50 Ref. PRS 01 501 figure 2 see figure 23 and 24 and Ref. ITF 40 500 for the profile of 40 PRS 01 401 figure 3 see figure 25.
Les interfaces de par leur serrage monostable à came en coin de profilé, dans tous les cas, permettent une grande rigidité de serrage et une bonne répétabilité de la précision de positionnement du préhenseur modulaire.The interfaces due to their monostable clamping with wedge profile cam, in all cases, allow great rigidity of tightening and good repeatability of the positioning precision of the modular gripper.
Le préhenseur modulaire caractérisé en ce qu'il est constitué de profilé aluminium carré de 50 Réf. PRS 01 501 figure 2 dont les formes de la structure ont été spécialement étudiées afin d'obtenir un poids particulièrement faible tout en lui conservant une résistance à la torsion et à la flèche particulièrement bonne.The modular gripper, characterized in that it consists of a 50 mm square aluminum profile. PRS 01 501 Figure 2 whose structural shapes have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection.
De plus sur deux côtés opposés du profilé de 50 Réf. PRS 01 figure 2, le diamètre des formes et la largeur de rainure d'entrée donnent la possibilité de clipser d'un côté, du tuyau d'aspiration de 5,5 x 8, et de l'autre, du tuyau d'aspiration de 4 x 6. VOIR FIGURE 18.In addition on two opposite sides of the profile of 50 Ref. PRS 01 figure 2, the diameter of the shapes and the width of the inlet groove make it possible to clip on one side, the suction hose of 5.5 x 8, and on the other, the suction hose of 4 x 6. SEE FIGURE 18.
Pour finir, sur les deux autres côtés, les formes des glissières permettent de monter les plaquettes de fixation Réf. PLA 01 2M6 figure 13 qui seront communes au profilé de 40 Réf. PRS 01 401figure 3 et au profilé de 30 Réf. PRS 01 301figure 4, cela a pour conséquence de n'avoir à stocker qu'une seule référence de plaquette Réf. PLA 01 2M6 figure 13 et d'obtenir un bon couple de serrage puisque nous obtenons une bonne implantation de la vis. Le diamètre du trou intérieur du profilé est prévu pour être directement taraudable sans perçage supplémentaire.Finally, on the other two sides, the shapes of the slides allow mounting the fixing plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 40 Ref. PRS 01 401figure 3 and the profile of 30 Ref. PRS 01 301figure 4, this has the consequence of having to store only a single reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw. The diameter of the internal hole of the profile is designed to be directly tapped without additional drilling.
Préhenseur modulaire caractérisé en ce qu'il est constitué de profilé aluminium carré de 40 Réf. PRS 01 401 figure 3 dont les formes de la structure ont été spécialement étudiées afin d'obtenir un poids particulièrement faible tout en lui conservant une résistance à la torsion et à la flèche particulièrement bonne.Modular gripper characterized in that it is made of square aluminum profile of 40 Ref. PRS 01 401 Figure 3 whose structural forms have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection.
De plus sur deux côtés du profilé de 40 Réf. PRS 01 401 figure 3, le diamètre des formes et la largeur de la rainure d'entrée donnent la possibilité de clipser d'un côté, du tuyau d'aspiration de 5,5 x 8, et de l'autre, du tuyau d'aspiration de 4 x 6. VOIR FIGURE 18.In addition on two sides of the profile of 40 Ref. PRS 01 401 figure 3, the diameter of the shapes and the width of the inlet groove give the possibility of clipping on one side, the suction hose of 5.5 x 8, and on the other, the hose d 4 x 6 suction. SEE FIGURE 18.
Pour finir, sur les deux autres côtés, les formes des glissières permettant de monter les plaquettes de fixation Réf. PLA 01 2M6 figure 13 qui seront communes au profilé de 50 Réf. PRS 01 501 figure 2 et au profilé de 30 Réf. PRS 01 301 figure 4, cela a pour conséquence de n'avoir à stocker qu'une seule référence de plaquette Réf. PLA 01 2M6 figure 13 et d'obtenir un bon couple de serrage puisque nous obtenons une bonne implantation de la vis. Le diamètre du trou intérieur du profilé est prévu pour être directement taraudable sans perçage supplémentaire.Finally, on the other two sides, the shapes of the slides allowing the mounting of the fixing plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 50 Ref. PRS 01 501 figure 2 and the profile of 30 Ref. PRS 01 301 figure 4, this has the consequence of having to store only a single reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw. The diameter of the internal hole of the profile is designed to be directly tapped without additional drilling.
Préhenseur modulaire caractérisé en ce qu'il est constitué de profilé aluminium carré de 30 Réf. PRS 01 301 figure 4 dont les formes de la structure ont été spécialement étudiées afin d'obtenir un poids particulièrement faible tout en lui conservant une résistance à la torsion et à la flèche particulièrement bonne.Modular gripper characterized in that it consists of square aluminum profile of 30 Ref. PRS 01 301 FIG. 4, the shapes of the structure of which have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and to deflection.
De plus sur deux côtés du profilé carré de 30 Réf. PRS 01 301 figure 4, le diamètre des formes et la largeur de rainure d'entrée donnent la possibilité de clipser d'un côté, du tuyau d'aspiration de 5,5 x 8, et de l'autre, du tuyau d'aspiration de 4 x 6. VOIR FIGURE 18.Also on two sides of the 30 mm square profile Ref. PRS 01 301 figure 4, the diameter of the shapes and the width of the inlet groove give the possibility of clipping on one side, the 5.5 x 8 suction hose, and on the other, the 4 x 6 suction. SEE FIGURE 18.
Pour finir sur les deux autres côtés, les formes des glissières permettant de monter les plaquettes de fixation Réf. PLA 01 2M6 figure 13 qui seront communes au profilé de 50 Réf. PRS 01 501 figure 2 et au profilé de 40 Réf. PRS 01 401 figure 3, cela a pour conséquence de n'avoir à stocker qu'une seule référence de plaquette Réf. PLA 01 2M6 figure 13 et d'obtenir un bon couple de serrage puisque nous obtenons une bonne implantation de la vis. Le diamètre du trou intérieur du profilé est prévu pour être directement taraudable sans perçage supplémentaire. Préhenseur modulaire caractérisé par le fait que les différentes pièces de fixations, raccord Réf. RAC 01 001 figure 5, équerre Réf. EQU 01 080 figure 6, plaquette Réf. PLA 01 2M6 figure 13 permettent au profilé de 30 Réf. PRS 01 301 figure 4 de se fixer à n'importe quel endroit choisi le long de l'âme centrale constituée soit par le profilé de 50 Réf. PRS 01 501 figure 2 ou le profilé de 40 Réf. PRS 01 401 figure 3. Préhenseur modulaire caractérisé par le fait que la ventouse est supportée par une pièce en forme de rotule Réf. ROT 01 110 figure 8 qui une fois montée dans le support rotule Réf SPR 01 112 figure 7, donne à l'ensemble un débattement 20 angulaire de + 22°, permettant ainsi de convoyer des pièces avec des formes gauches et d'affiner les réglages au dernier moment. Voir montage général ensemble 10. Préhenseur modulaire caractérisé par le fait que la ventouse est supportée par une pièce en forme de rotule Réf. RAL 21 010 à RAL 21 080 figure 27 appelée rotule combinée, qui, une fois montée dans le support rotule Réf. SPR 01 112 figure 7, donne à l'ensemble un débattement angulaire de + 30°, ses différentes longueurs servent en même temps de rallonges, permettant ainsi de convoyer des pièces avec des formes gauches et d'affiner les réglages au dernier moment. VOIR montage général ensemble 21.To finish on the other two sides, the shapes of the rails for mounting the fixing plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 50 Ref. PRS 01 501 figure 2 and with profile 40 Ref. PRS 01 401 figure 3, this has the consequence of having to store only one reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw. The diameter of the internal hole of the profile is designed to be directly tapped without additional drilling. Modular gripper characterized by the fact that the different fixing parts, fitting Ref. RAC 01 001 figure 5, square Ref. EQU 01 080 figure 6, plate Ref. PLA 01 2M6 figure 13 allow the profile of 30 Ref. PRS 01 301 figure 4 to be fixed in any chosen place along the central core constituted either by the profile of 50 Ref. PRS 01 501 figure 2 or the profile of 40 Ref. PRS 01 401 figure 3. Modular gripper characterized in that the suction cup is supported by a ball-shaped part Ref. ROT 01 110 figure 8 which once mounted in the ball joint support Ref SPR 01 112 figure 7, gives the assembly an angular clearance of + 22 °, thus allowing to convey parts with left shapes and to refine the settings at the last moment. See general assembly together 10. Modular gripper characterized in that the suction cup is supported by a ball-shaped part Ref. RAL 21 010 to RAL 21 080 figure 27 called combined ball joint, which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole an angular clearance of + 30 °, its different lengths serve at the same time as extensions, thus allowing to convey pieces with left shapes and to refine the adjustments at the last moment. SEE general assembly together 21.
Préhenseur modulaire caractérisé par le fait que la ventouse est supportée par une pièce en forme de rotule dont l'axe est monté avec un ressort Réf. ROR 01 105 figure 9 qui, une fois montée dans le support rotule Réf. SPR 01 112 figure 7, donne à l'ensemble SModular gripper, characterized in that the suction cup is supported by a ball-shaped part, the axis of which is mounted with a spring Ref. ROR 01 105 figure 9 which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole S
un débattement angulaire de + 22° permettant ainsi de convoyer des pièces avec des formes gauches et d'affiner les réglages au dernier moment. De plus, les rotules à ressort Réf. ROR 01 105 figure 9 permettent d'absorber les défauts géométriques et aussi les chocs. VOIR montage général figure 16. Préhenseur modulaire caractérisé en ce qu'il est constitué de support rotule Réf. SPRan angular travel of + 22 ° allowing to convey parts with left shapes and to refine the settings at the last moment. In addition, the spring ball joints Ref. ROR 01 105 figure 9 make it possible to absorb the geometrical defects and also the shocks. SEE general assembly in figure 16. Modular gripper characterized in that it consists of ball joint support Ref. SPR
01 112 figure 7 dont la forme permet de monter les rotules Réf. ROT 01 110 figure 8 et les rotules à ressort Réf. 01 105 figure 9 ainsi que les rotules combinées Réf. RAL 21 010 à RAL 21 080 figure 27 permettant ainsi un débattement angulaire de + 22° dans les 2 premiers cas et + 30° dans le dernier. Leur fixation sur le profilé de 30 Réf. PRS 30 001 figure 4 avec les plaquettes Réf. PLA 01 2M6 permet de faire coulisser l'ensemble jusqu'à l'emplacement voulu le long du profilé de 30 Réf. PRS 30 001 figure 4. Voir montage général figure 19 et 20.01 112 figure 7 whose shape allows the ball joints Ref. ROT 01 110 figure 8 and the spring ball joints Ref. 01 105 figure 9 as well as the combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 thus allowing an angular movement of + 22 ° in the first 2 cases and + 30 ° in the last. Their attachment to the 30 Ref. PRS 30 001 figure 4 with plates Ref. PLA 01 2M6 allows the assembly to slide to the desired location along the profile of 30 Ref. PRS 30 001 figure 4. See general assembly figure 19 and 20.
Préhenseur modulaire caractérisé en ce qu'il est constitué de rallonges Réf. RAL 01 070 à 292 figure 11 permettant ainsi aux ventouses d'aller aspirer des pièces dont les formes ou les dénivelés sont importants.Modular gripper characterized in that it consists of extensions Ref. RAL 01 070 to 292 figure 11 thus allowing the suction cups to go to suck parts whose forms or the differences are important.
Préhenseur modulaire caractérisé en ce qu'il est constitué de rotules combinées Réf. RAL 21 010 à RAL 21 080 figure 27 permettant ainsi d'aller aspirer des pièces dont les formes ou les dénivelés sont importants.Modular gripper characterized in that it consists of combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 thus making it possible to go to vacuum parts whose forms or the differences in level are important.
Préhenseur modulaire caractérisé en ce qu'il est constitué de cales pentées Réf. CPE 01 190 et Réf. CPE 01 193 figure 12 permettant d'accentuer l'angle de 15° dans un cas et 35° dans le deuxième cas.Modular gripper characterized in that it consists of sloping wedges Ref. CPE 01 190 and Ref. CPE 01 193 figure 12 allowing to accentuate the angle of 15 ° in one case and 35 ° in the second case.
Préhenseur modulaire caractérisé par le fait que sa fixation sur le robot ou sur le système mécanisé est effectué par, soit une interface manuelle Réf. 11T 50 100 figure 14 ou Réf. 50200 figure 22 pour le profilé de 50 Réf. PRS 01 501 figure 2, soit par une interface manuelle Réf. ITF 40 300 figure 15 pour le profilé de 40 Réf. PRS 01 401 figure 3.Modular gripper characterized in that its attachment to the robot or to the mechanized system is carried out by either a manual interface Ref. 11T 50 100 figure 14 or Ref. 50200 figure 22 for the profile of 50 Ref. PRS 01 501 figure 2, either by a manual interface Ref. ITF 40 300 figure 15 for the profile of 40 Ref. PRS 01 401 figure 3.
Préhenseur modulaire caractérisé par le fait que sa fixation sur le robot ou sur le système mécanisé est effectué par soit une interface automatique Réf. ITF 50 125 figure 23 ou Réf. ITF 50225 figure 24 pour le profilé de 50 Réf. PRS 01 501 figure 2. Soit une interface automatique Réf. ITF 40 400 figure 25 pour le profilé de 40 Réf. PRS 01 401 figure 3.Modular gripper characterized in that its attachment to the robot or to the mechanized system is effected by either an automatic interface Ref. ITF 50 125 figure 23 or Ref. ITF 50225 figure 24 for the profile of 50 Ref. PRS 01 501 figure 2. Or an automatic interface Ref. ITF 40 400 figure 25 for the profile of 40 Ref. PRS 01 401 figure 3.
La conception de ces interfaces permet un serrage efficace du préhenseur modulaire par came à serrage irréversible, donc une grande rididité de serrage, de plus, elle permet une bonne répétabilité de la précision au montage puisque le serrage s'effectue sur le coin des profilés, interchangeabilité des préhenseurs en quelques secondes.The design of these interfaces allows efficient clamping of the modular gripper by irreversible clamping cam, therefore great clamping stiffness, in addition, it allows good repeatability of the assembly precision since the clamping is carried out on the corner of the profiles, interchangeability of grippers in seconds.
Préhenseur modulaire caractérisé en ce qu'il peut être monté sur une traverse Réf. TRV 0 1001 figure 26 qui elle même est montée soir sur un robot ou sur un système mécanisé. Cette traverse Réf. TRV 01 001 figure 26 reçoit trois interfaces Réf. ITF 50 100 à ITT 50 125 déterminée selon le besoin VOIR FIGURE 26. Ce système permet de monter un préhenseur au centre dans le cas de petites pièces à convoyer ou un à chaque extrémité pour les pièces de grandes dimensions. Les formes spécialement étudiées de la traverse lui permettent d'être légère tout en gardant une bonne rigidité et limitant les vibrations. Modular gripper characterized in that it can be mounted on a crosspiece Ref. TRV 0 1001 figure 26 which itself is mounted evening on a robot or on a mechanized system. This cross Ref. TRV 01 001 figure 26 receives three interfaces Ref. ITF 50 100 to ITT 50 125 determined according to need SEE FIGURE 26. This system makes it possible to mount a gripper in the center in the case of small parts to be conveyed or one at each end for large parts. The specially designed shapes of the crossmember allow it to be light while keeping good rigidity and limiting vibrations.

Claims

REVENDICATIONS
1) Préhenseur modulaire caractérisé en ce qu'il est constitué de profilé aluminium carré de 50 Réf. PRS 01 501 figure 2 dont les formes de la structure ont été spécialement étudiées afin d'obtenir un poids particulièrement faible tout en lui conservant une résistance à la torsion et à la flèche particulièrement bonne. De plus sur deux côtés opposés du profilé de 50 Réf. PRS 01 501 figure 2, le diamètre des formes et la largeur de la rainure d'entrée donnent la possibilité de clipser d'un côté, du tuyau d'aspiration de 5,5 x 8 et de l'autre, du tuyau d'aspiration de 4 x 6. VOIR FIGURE 18.1) Modular gripper characterized in that it consists of 50 mm square aluminum profile. PRS 01 501 Figure 2 whose structural shapes have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection. In addition on two opposite sides of the profile of 50 Ref. PRS 01 501 figure 2, the diameter of the shapes and the width of the inlet groove give the possibility of clipping on one side, the 5.5 x 8 suction pipe and on the other, the 4 x 6 suction. SEE FIGURE 18.
Pour finir, sur les deux côtés, les formes des glissières permettent de monter les plaquettes de fixation Réf. PLA 01 2M6 figure 13 qui seront communes au profilé de 40 Réf. PRS 01 401 figure 3 et au profilé de 30 Réf. PRS 01 301 figure 4, cela a pour conséquence de n'avoir à stocker qu'une seule référence de plaquette Réf. PLA 01 2M6 figure 13 et d'obtenir un bon couple de serrage puisque nous obtenons une bonne implantation de la vis. Le diamètre du trou intérieur du profilé est prévu pour être directement taraudable sans perçage supplémentaire.Finally, on both sides, the shapes of the slides allow the mounting plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 40 Ref. PRS 01 401 figure 3 and the profile of 30 Ref. PRS 01 301 figure 4, this has the consequence of having to store only a single reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw. The diameter of the internal hole of the profile is designed to be directly tapped without additional drilling.
2) Préhenseur modulaire selon la revendication 1) caractérisé en ce qu'il est constitué de profilé aluminium carré de 40 Réf. PRS 01 401 figure 3 dont les formes de la structure ont été spécialement étudiées afin d'obtenir un poids particulièrement faible tout en lui conservant une résistance à la torsion et à la flèche particulièrement bonne. De plus sur deux côtés du profilé de 40 Réf. PRS 01 401 figure 3, le diamètre des formes et la largeur de la rainure d'entrée donnent la possibilité de clipser d'un côté, du tuyau d'aspiration de 5,5 x 8, et de l'autre, du tuyau d'aspiration de 4 x 6. VOIR FIGURE 18.2) modular gripper according to claim 1) characterized in that it is made of square aluminum profile of 40 Ref. PRS 01 401 Figure 3 whose structural forms have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and deflection. In addition on two sides of the profile of 40 Ref. PRS 01 401 figure 3, the diameter of the shapes and the width of the inlet groove give the possibility of clipping on one side, the suction hose of 5.5 x 8, and on the other, the hose d 4 x 6 suction. SEE FIGURE 18.
Pour finir, sur les deux autres côtés, les formes des glissières permettant de monter les plaquettes de fixation Réf. PLA 01 2M6 figure 13 qui seront communes au profilé de 50 Réf. PRS 01 501 figure 2 et au profilé de 30 Réf. PRS 01 301 figure 4, cela a pour conséquence de n'avoir à stocker qu'une seule référence de plaquette Réf. PLA 01 2M6 figure 13 et d'obtenir un bon couple de serrage puisque nous obtenons une bonne implantation de la vis. Le diamètre du trou intérieur du profilé est prévu pour être directement taraudable sans perçage supplémentaire. 3) Préhenseur modulaire selon la revendication 1) caractérisé en ce qu'il est constitué de profilé aluminium carré de 30 Réf. PRS 01 301 figure 4 dont les formes de la structure ont été spécialement étudiées afin d'obtenir un poids particulièrement faible tout en lui conservant une résistance à la torsion et à la flèche particulièrement bonne. De plus sur deux côtés du profilé carré de 30 Réf. PRS 01 301 figure 4, le diamètre des formes et la largeur de la rainure d'entrée donnent la possibilité de clipser d'un côté, du tuyau d'aspiration de 5,5 x 8, et de l'autre, du tuyau d'aspiration de 4 x 6. VOIR FIGURE 18.Finally, on the other two sides, the shapes of the slides allowing the mounting of the fixing plates Ref. PLA 01 2M6 figure 13 which will be common to the profile of 50 Ref. PRS 01 501 figure 2 and the profile of 30 Ref. PRS 01 301 figure 4, this has the consequence of having to store only a single reference of plate Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw. The diameter of the internal hole of the profile is designed to be directly tapped without additional drilling. 3) modular gripper according to claim 1) characterized in that it consists of square aluminum profile of 30 Ref. PRS 01 301 FIG. 4, the shapes of the structure of which have been specially studied in order to obtain a particularly low weight while retaining a particularly good resistance to torsion and to deflection. Also on two sides of the 30 mm square profile Ref. PRS 01 301 figure 4, the diameter of the shapes and the width of the inlet groove make it possible to clip on one side, the 5.5 x 8 suction hose, and on the other, the 4 x 6 suction. SEE FIGURE 18.
Pour finir, sur les deux autres côtés, les formes des glissières permettant de monter les plaquettes de fixation Réf. PLA. 01 2M6 figure 13 qui seront communes au profilé de 50 Réf. PRS 01 501 figure 2 et au profilé de 40 Réf. 01 401 figure 3, cela a pour conséquence de n'avoir à stocker qu'une seule référence de plaquette Réf. PLA 01 2M6 figure 13 et d'obtenir un bon couple de serrage puisque nous obtenons une bonne implantation de la vis. Le diamètre du trou intérieur du profilé est prévu pour être directement taraudable sans perçage supplémentaire.Finally, on the other two sides, the shapes of the slides allowing the mounting of the fixing plates Ref. PLA. 01 2M6 figure 13 which will be common to the profile of 50 Ref. PRS 01 501 figure 2 and with profile 40 Ref. 01 401 Figure 3, this has the consequence of having to store only a single reference of Ref. PLA 01 2M6 figure 13 and to obtain a good tightening torque since we obtain a good implantation of the screw. The diameter of the internal hole of the profile is designed to be directly tapped without additional drilling.
4) Préhenseur modulaire selon la revendication 1) caractérisé par le fait que les différentes pièces de fixations, raccord Réf. RAC 01 001 figure 5, équerre Réf. EQU 01 080 figure 6, plaquette Réf. PLA 01 2M6 figure 13 permettant au profilé de 30 Réf. PRS 01 301 figure 4 de se fixer à n'importe quel endroit choisi le long de l'âme centrale constituée soit par le profilé de 50 Réf. PRS 01 501 figure 2 ou le profilé de 40 Réf. PRS 01 401 figure 3.4) modular gripper according to claim 1) characterized in that the various fastening parts, fitting Ref. RAC 01 001 figure 5, square Ref. EQU 01 080 figure 6, plate Ref. PLA 01 2M6 figure 13 allowing the profile of 30 Ref. PRS 01 301 figure 4 to be fixed in any chosen place along the central core constituted either by the profile of 50 Ref. PRS 01 501 figure 2 or the profile of 40 Ref. PRS 01 401 figure 3.
5) Préhenseur modulaire selon la revendication 1) caractérisé par le fait que la ventouse est supportée par une pièce en forme de rotule Réf. ROT 01 110 figure 8 qui, une fois montée dans le support rotule Réf. SPR 01 112 figure 7, donne à l'ensemble un débattement angulaire de + 22°, permettant ainsi de convoyer des pièces avec des formes gauches et d'affiner les réglages au dernier moment. VOIR montage général figure 10.5) modular gripper according to claim 1) characterized in that the suction cup is supported by a ball-shaped part Ref. ROT 01 110 figure 8 which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole an angular clearance of + 22 °, thus making it possible to convey parts with left forms and to refine the adjustments at the last moment. SEE general assembly figure 10.
6) Préhenseur modulaire caractérisé par le fait que la ventouse est supportée par une pièce en forme de rotule Réf. RAL 21 010 à RAL 21 080 figure 21 appelée rotule combinée qui une fois montée dans le support rotule Réf. SPR 01 112 figure 7, donne à l'ensemble un débattement angulaire de + 30°, ses différentes longueurs servent en même temps de rallonge, permettant ainsi de convoyer des pièces avec des formes gauches et d'affiner les réglages au dernier moment. VOIR montage général figure 21.6) Modular gripper, characterized in that the suction cup is supported by a ball-shaped part Ref. RAL 21 010 to RAL 21 080 figure 21 called combined ball joint which once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole an angular movement of + 30 °, its different lengths serve at the same time as an extension, thus allowing to convey pieces with left shapes and to refine the settings at the last moment. SEE general assembly figure 21.
7) Préhenseur modulaire selon la revendication 1) caractérisé par le fait que la ventouse est supportée par une pièce en forme de rotule dont l'axe est monté avec un ressort Réf. ROR 01 105 figure 9 qui, une fois montée dans le support rotule Réf. SPR 01 112 figure 7, donne à l'ensemble un débattement angulaire de + 22° permettant ainsi de convoyer des pièces avec des formes gauches et d'affiner les réglages au dernier moment. De plus, les rotules à ressort Réf. ROR 01 105 figure 9 permettent d'absorber les défauts géométriques et aussi les chocs. VOIR montage général figure 16.7) modular gripper according to claim 1) characterized in that the suction cup is supported by a ball-shaped part whose axis is mounted with a spring Ref. ROR 01 105 figure 9 which, once mounted in the ball joint support Ref. SPR 01 112 figure 7, gives the whole an angular clearance of + 22 ° thus allowing to convey parts with left forms and to refine the adjustments at the last moment. In addition, the spring ball joints Ref. ROR 01 105 figure 9 make it possible to absorb the geometrical defects and also the shocks. SEE general assembly figure 16.
8) Préhenseur modulaire selon la revendication 1) caractérisé en ce qu'il est constitué de support rotule Réf. SPR 01 112 figure 7 dont la forme permet de monter les rotules Réf. ROT 01 110 figure 8 et les rotules à ressort Réf. ROR 01 105 figure 9 ainsi que les rotules combinées Réf. RAL 21 010 à RAL 21 080 figure 27 permettant ainsi un débattement angulaire de + 22° dans les deux premiers cas et 30° dans le dernier. Leur fixation sur le profilé de 30 Réf PRS 01 301 figure 4 avec les plaquettes Réf PLA 01 2M6 permet de faire 10 coulisser l'ensemble jusqu'à l'emplacement voulu le long du profilé de 1 30 Réf. PRS 01 301 figure 4. VOIR montage général ensemble 19, 20 et 21.8) modular gripper according to claim 1) characterized in that it consists of ball joint support Ref. SPR 01 112 figure 7 whose shape allows the ball joints Ref. ROT 01 110 figure 8 and the spring ball joints Ref. ROR 01 105 figure 9 as well as the combined ball joints Ref. RAL 21 010 to RAL 21 080 figure 27 thus allowing an angular movement of + 22 ° in the first two cases and 30 ° in the last. Attaching them to the profile of 30 Ref PRS 01 301 Figure 4 with the pads Ref PLA 01 2M6 allows the assembly to slide 10 to the desired location along the profile of 1 30 Ref. PRS 01 301 figure 4. SEE general assembly together 19, 20 and 21.
9) Préhenseur modulaire selon la revendication 1) caractérisé en ce qu'il est constitué de rallonges Réf. RAL 01 070 à 292 figure 11 ainsi que des rotules combinées Réf.9) modular gripper according to claim 1) characterized in that it consists of extensions Ref. RAL 01 070 to 292 figure 11 as well as combined ball joints Ref.
RAL 21 010 à RAL 21 080 figure 27 permettant ainsi aux ventouses d'aller aspirer des pièces dont les formes ou les dénivelés sont importants.RAL 21 010 to RAL 21 080 figure 27 thus allowing the suction cups to go to suck parts whose forms or the differences are important.
10) Préhenseur modulaire selon la revendication 1) caractérisé en ce qu'il est 2 constitué de cales pentées Réf. CPE 01 190 et Réf. CPE 01 193 figure 12 permettant d'accentuer l'angle de 15° dans un cas et 35° dans le deuxième cas.10) modular gripper according to claim 1) characterized in that it consists of 2 inclined wedges Ref. CPE 01 190 and Ref. CPE 01 193 figure 12 allowing to accentuate the angle of 15 ° in one case and 35 ° in the second case.
11) Préhenseur modulaire selon la revendication 1) caractérisé par le fait que sa fixation sur le robot ou sur le système mécanisé est effectué par, soit une interface manuelle Réf. ITF 50 100 figure 14 et Réf. ITF 50 200 pour le profilé de 50 Réf. PRS 01 501 figure 2 soit par une interface manuelle Réf. ITF 40 300 figure 22 pour le profilé de 40 Réf. PRS 01 401 figure 3.11) modular gripper according to claim 1) characterized in that its attachment to the robot or to the mechanized system is effected by either a manual interface Ref. ITF 50 100 figure 14 and Ref. ITF 50 200 for profile 50 Ref. PRS 01 501 figure 2 either by a manual interface Ref. ITF 40 300 figure 22 for the profile of 40 Ref. PRS 01 401 figure 3.
La conception de ces interfaces permet un serrage efficace du préhenseur modulaire par came à serrage irréversible, donc une grande rigidité de serrage, de plus, elle permet une bonne répétabilité de la précision au montage puisque le serrage s'effectue sur le coin des profilés, interchangeabilité des préhenseurs en quelques secondes. 12) Préhenseur modulaire selon la revendication 1) caractérisé par le fait que sa fixation sur le robot ou sur le système mécanisé est effectué par des interfaces automatiques Réf. ITF 50 125 et Réf. ITF 50 225 pour le profilé de 50 Réf. PRS 01 501 figure 2. VOIR photo 23 et 24 et Réf. ITF 44 100 pour le profilé de 40 PRS 01 401 La conception de ces interfaces permet un serrage efficace du préhenseur modulaire par came à serrage irréversible, donc une grande rigidité de serrage, de plus, elle permet une bonne répétabilité de la précision au montage puisque le serrage s'effectue sur le coin des profilés, interchangeabilité des préhenseurs en quelques secondes sans effort de l'opérateur. 13) Préhenseur modulaire caractérisé en ce qu'il est peut être monté sur une traverseThe design of these interfaces allows effective clamping of the modular gripper by irreversible clamping cam, therefore great clamping rigidity, in addition, it allows good repeatability of the assembly precision since the clamping takes place on the corner of the profiles, interchangeability of grippers in seconds. 12) modular gripper according to claim 1) characterized in that its attachment to the robot or to the mechanized system is carried out by automatic interfaces Ref. ITF 50 125 and Ref. ITF 50 225 for profile 50 Ref. PRS 01 501 figure 2. SEE photo 23 and 24 and Ref. ITF 44 100 for the profile of 40 PRS 01 401 The design of these interfaces allows effective clamping of the modular gripper by irreversible clamping cam, therefore great clamping rigidity, in addition, it allows good repeatability of the assembly precision since the clamping takes place on the corner of the profiles, interchangeability of grippers in seconds without operator effort. 13) Modular gripper characterized in that it can be mounted on a crosspiece
Réf. TRV 01 001 figure 26 qui elle même est montée soit sur un robot ou sur un système mécanisé. Cette traverse Réf. TRV 01 001 figure 26 reçoit trois interfaces Réf. ITF 50 100 à ITF 50125 déterminée selon le besoin VOIR figure 26. Ce système permet de monter un préhenseur au centre dans le cas de petites pièces à convoyer ou un à chaque extrémité pour les pièces de grandes dimensions. Les formes spécialement étudiées de la traverse lui permettent d'être légère tout en gardant une bonne rigidité et limitant les vibrations. Ref. TRV 01 001 figure 26 which itself is mounted either on a robot or on a mechanized system. This cross Ref. TRV 01 001 figure 26 receives three interfaces Ref. ITF 50 100 to ITF 50125 determined according to need SEE figure 26. This system makes it possible to mount a gripper in the center in the case of small parts to be conveyed or one at each end for large parts. The specially designed shapes of the crossmember allow it to be light while keeping good rigidity and limiting vibrations.
EP00925418A 1999-07-29 2000-05-02 Modular gripper Withdrawn EP1200234A1 (en)

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FR9910003A FR2796875B1 (en) 1999-07-29 1999-07-29 MODULAR GRIPPER
FR9910003 1999-07-29
PCT/FR2000/001247 WO2001008855A1 (en) 1999-07-29 2000-05-02 Modular gripper

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JP (1) JP2003505266A (en)
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CN (1) CN1182942C (en)
AU (1) AU4414700A (en)
BR (1) BR0012855A (en)
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FR (1) FR2796875B1 (en)
MX (1) MXPA02001024A (en)
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CN1365310A (en) 2002-08-21
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WO2001008855A1 (en) 2001-02-08
KR20020059344A (en) 2002-07-12
JP2003505266A (en) 2003-02-12
FR2796875A1 (en) 2001-02-02
US6863323B2 (en) 2005-03-08
CN1182942C (en) 2005-01-05
FR2796875B1 (en) 2001-08-31
BR0012855A (en) 2002-04-23
MXPA02001024A (en) 2003-09-22
AU4414700A (en) 2001-02-19

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