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
  • B25J1/00—Manipulators positioned in space by hand
  • B25J1/02—Manipulators positioned in space by hand articulated or flexible
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J13/081—Touching devices, e.g. pressure-sensitive
  • B25J13/084—Tactile sensors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
  • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
  • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
  • B66C1/0212—Circular shape

Definitions

• the invention relates to a gripping device for co - manipulating robot and a co - manipulating robot equipped with such a device.
• co-manipulator robots also called cobots or stress machines, which help operators in different tasks.
• co-manipulator robots are particularly useful for helping operators to handle heavy loads or lighter loads but quickly and repetitively.
• Such a co-manipulator robot comprises, for example, a gripping device comprising a gripping member intended to come into contact with an object and manipulating it and means for controlling a solidarity and a separation of the gripping member. and the object to be manipulated, the control means being associated with a contactor capable of generating a control signal of the connection and the disconnection to the control means when the contactor is activated.
• the contactor is usually a button or a lever mounted on a handle for manipulating the input member.
• the operator must approach the input member of the object. Once 1 1 input member in contact with 1 'object, the operator can then activate the contactor. In the same way, in order to separate the gripping member and the object, the operator must place the object on a support. Once the object is in contact with the support, the operator can then activate the contactor.
• An object of the invention is to provide a gripping device for a co-manipulator robot that makes it easier to grasp and / or release an object to be handled by said gripping device and preferably while relieving the mental load of 1 operator.
• a gripping device for a co-manipulator robot, comprising a gripping member intended to come into contact with an object to be handled and means for controlling a fastening and a fastening. separation of the gripper and the object to be manipulated, the control means being associated with a contactor capable of generating a control signal of the connection and / or the separation to the control means when the contactor is activated.
• the gripping member is slidably mounted in the device between an unpressed position and a depressed position, the contactor being arranged in the device so as to be activated by the gripping member when the gripping member is in the depressed position, the gripping member being held in the non-depressed position when the object is suspended from the gripping member.
• the operator can only manage the gripping member and its position vis-à-vis the object or a support on which the object rests or on which object must be deposited. Indeed, by pressing the input member on the object and / or pressing the object on the support, the operator automatically causes the movement of the gripper from its unpressed position to its depressed position and thus the sending of a control signal of the connection and / or the separation through the contactor.
• the fastening and / or the separation of the gripping member and the object is thus simple and fast.
• the control of the input member is therefore intuitive and particularly ergonomic.
• FIG. 1 is a schematic view of a co-manipulator robot comprising a gripping device according to the invention
• FIG. 2 represents the gripping device of FIG. 1 when the gripper is in the non-depressed position
• Figure 3 shows the gripping device of Figure 2 when the gripper is in the depressed position.
• the co-manipulator robot 1 here comprises an articulated arm 2 whose first end 3 is fixed and whose second end 4 is integral with a gripping device 5 according to the invention.
• the gripping device 5 comprises a handle 6 allowing an operator to be able to move the gripping device 5 thanks to the articulated arm 2.
• the gripping device 5 here comprises a body 7 in which a chamber 8 is formed.
• the body 7 further comprises an orifice 9 extending in a direction X through the body 7 between the chamber 8 and the outside of the body 7. .
• the device further comprises a gripping member 10 intended to come into contact with an object 100 to be manipulated, the object 100 resting here on a support 101.
• the gripping member 10 comprises a suction cup 11 intended to come into contact with the object 100 and a rod 12, one end 12a is connected to the suction cup and the other end 12b is free.
• the suction cup 11 is of the magnetic type, that is to say that the suction cup 11 comprises means for generating a magnetic field which, when the suction cup 11 is energized, generate a magnetic field enabling secure the object 100 to the suction cup 11.
• the gripping member 10 is arranged in the gripping device so that the rod 12 is slidably mounted in the orifice 9 between an unpressed position (as illustrated in FIG. 2) and a depressed position (as illustrated in FIG. 3).
• the gripping member 10 comprises a first stop defining the non-depressed position of the gripping member.
• the rod 12 has a shoulder 13 cooperating with a wall of the chamber 8 to stop the stroke of the rod 12 through the orifice 9 and thus define the not depressed position.
• the gripping member 10 is shaped so that in the unpressed position, the free end 12b of the rod 12 is arranged in the chamber 8 and the suction cup 11 is arranged outside the body 7.
• the gripping member 10 also comprises a second stop to define the depressed position of the gripping member 10.
• the suction cup 11 has a flat surface 14 opposite the surface of the suction cup intended to come into contact with the object 100, the flat surface 14 having an area greater than a section of the orifice 9. The flat surface thus cooperates with a wall of the body 7 to stop the stroke of the rod 12 through the orifice 9 and thus define the depressed position.
• the device further comprises means (not shown here) for controlling a connection and a separation of the gripping member 10 and the object 100.
• the control means thus manage the supply of the suction cup 11 to control the generation of the magnetic field.
• the device thus comprises a contactor 16 which is associated with the control means and which is able to generate a control signal for the connection and the disconnection to the control means when the contactor is activated.
• the contactor 16 is disposed in the device so as to cooperate with the input member 10 when the input member 10 is in the depressed position to allow to generate a control signal to the control means.
• the switch 16 is a push button comprising a first stable position in which the push button is retracted and a second stable position in which the push button is pulled out.
• the contactor 16 is configured so that the transition from the second stable position to the first stable position causes the transmission of a control signal of the connection to the control means and so that the transition from the first stable position to the second stable position results in the transmission of a control signal of the uncoupling to the control means.
• the contactor 16 is arranged here in the chamber 8 on a wall of the chamber 8 opposite to that on which opens the orifice 9 so that when the gripper 10 is in the depressed position, the free end 12b of the rod 12 is in contact with the contactor 16.
• the operator When the operator wishes to secure the object 100 to the gripping member 10, he manipulates the gripping device 5 so as to place the suction cup 11 on the object 100 resting on the support 101 which causes a displacement of the rod 12 and thus a displacement of the gripping member 10 from the not depressed position to the depressed position.
• the free end 12b of the rod 12 then presses the switch 16 and in turn causes the switch 16 to move from its second stable position to its first stable position.
• the activation of the contactor 16 causes the transmission of a control signal of the connection to the control means.
• the control means then control the supply of the suction cup 11 so that it is energized: the generated magnetic field makes it possible to secure the object 100 to the suction cup 11.
• the operator can then move the object 100 with the help of the co-manipulator robot 1.
• the operator When the operator wishes to separate the object 100 from the gripping member 10, he manipulates the gripping device 5 so as to place the object 100 on the support 101 which causes a displacement of the rod 12 and therefore a moving the input member 10 from the unpressed position to the depressed position.
• the free end 12b the rod 12 then presses the switch 16 and in turn causes the switch 16 to move from its first stable position to its second stable position.
• the activation of the contactor 16 causes the transmission of a control signal of the uncoupling to the control means.
• the control means then control the supply of the suction cup 11 so that it is no longer supplied. In the absence of the magnetic field, the object 100 is disengaged from the suction cup 11.
• the operator can therefore move the gripper 5 alone with the help of the co-manipulator robot 1.
• a new gripping cycle can then begin.
• the gripping device 5 according to the invention thus allows simple and fast manipulation of the object by the operator.
• the second stop advantageously prevents the rod 12 from pressing too strongly on the contactor 16 which could damage it.
• the input member may be different from what has been described.
• the gripping member comprises a suction cup of the magnetic type
• the suction cup may be of the pneumatic type.
• the gripping member may also include an electromagnet.
• the gripping member may comprise a gripper for gripping an object, the control means then controlling the opening and closing of the gripper to respectively ensure a separation and a fastening of the gripper and 1.
• Object .
• the stops may have a different shape from what has been described.
• the rod may comprise a groove in which will be arranged an elastic ring to form the stop.
• the stop may be carried by the body and not by the rod.
• the cooperation of the contactor and the gripping member makes it possible to control both the fastening and the separation of the gripping member with the object, said cooperation may make it possible to control only the fastening or the fastening. separation.
• the control signal of respectively the uncoupling or the joining is generated by an external control, for example by a lever or a switch, manually controlled by the operator.
• the contactor may be different from what has been described.
• the contactor can thus have a different number of stable positions and in particular a single stable position.
• the device may further include means for verifying the attachment and / or the separation of the object to the input member.
• the verification means may comprise a pressure sensor or a pressure switch which will be arranged in the cavity of the suction cup to determine whether the object is indeed solid with the suction cup.
• the verification means may also include a probe arranged at the gripping member to be able to come into contact with the object and determine whether the object is well is integral with the suction cup.
• the gripping member may comprise return means, comprising for example a spring, to return the gripping member from its depressed position to its non-depressed position. pressed.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Human Computer Interaction (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=50179696

Family Applications (1)

Country Status (5)

Families Citing this family (1)

Family Cites Families (9)

• 2013
  • 2013-11-14 FR FR1361135A patent/FR3012990B1/fr active Active
• 2014
  • 2014-11-06 JP JP2016530138A patent/JP2016536153A/ja active Pending
  • 2014-11-06 WO PCT/EP2014/073897 patent/WO2015071161A1/fr active Application Filing
  • 2014-11-06 EP EP14798752.3A patent/EP3068589A1/de not_active Withdrawn
  • 2014-11-06 US US15/030,187 patent/US20160250756A1/en not_active Abandoned

Non-Patent Citations (1)

Also Published As

Similar Documents

Legal Events