ES2048454T3 - Sistema de sujecion de pieza accionada por un motor con servomando. - Google Patents

Sistema de sujecion de pieza accionada por un motor con servomando.

Info

Publication number
ES2048454T3
ES2048454T3 ES90401508T ES90401508T ES2048454T3 ES 2048454 T3 ES2048454 T3 ES 2048454T3 ES 90401508 T ES90401508 T ES 90401508T ES 90401508 T ES90401508 T ES 90401508T ES 2048454 T3 ES2048454 T3 ES 2048454T3
Authority
ES
Spain
Prior art keywords
motor
servo control
holding system
system operated
part holding
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.)
Expired - Lifetime
Application number
ES90401508T
Other languages
English (en)
Inventor
Frederic Sgarbi
Jean-Marie Detriche
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of ES2048454T3 publication Critical patent/ES2048454T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • 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
    • B25J13/082—Grasping-force detectors
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

SISTEMA DE PRENSION DE UN OBJETO (100). UN CIRCUITO DE DETECCION (23,24) SE INSTALA EN LAS MANDIBULAS (4 Y 5) DE UNA PINZA. EN EL MOMENTO EN QUE SE COGE EL OBJETO (100), UN CONMUTADOR HACE BASCULAR EL SISTEMA DE RETROALIMENTACION DE UNA REALIMENTACION EN LA POSICION DE LAS MANDIBULAS (4,5) DE UN SISTEMA DE REALIMENTACION EN ESFUERZO DE UN MOTOR (16). SE OBTIENE UNA MAYOR SUAVIDAD EN LA PRENSION. APLICACION EN EL ASIMIENTO DE OBJETOS FRAGILES.
ES90401508T 1989-06-08 1990-06-05 Sistema de sujecion de pieza accionada por un motor con servomando. Expired - Lifetime ES2048454T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8907597A FR2648072B1 (fr) 1989-06-08 1989-06-08 Systeme de prehension a pince commandee par un moteur asservi

Publications (1)

Publication Number Publication Date
ES2048454T3 true ES2048454T3 (es) 1994-03-16

Family

ID=9382519

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90401508T Expired - Lifetime ES2048454T3 (es) 1989-06-08 1990-06-05 Sistema de sujecion de pieza accionada por un motor con servomando.

Country Status (4)

Country Link
EP (1) EP0402229B1 (es)
DE (1) DE69005202T2 (es)
ES (1) ES2048454T3 (es)
FR (1) FR2648072B1 (es)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4224253C1 (de) * 1992-07-22 1994-03-03 Kaspar Walter Maschf Kg Verfahren und Einrichtung zum automatischen Bestimmen der Abmessungen von Druckzylindern
KR0152324B1 (ko) * 1994-12-06 1998-12-01 양승택 웨이퍼 측면파지 이송 반도체 제조장치
DE19919434A1 (de) * 1999-04-29 2000-11-02 Schuler Pressen Gmbh & Co Einrichtung zum Teiletransfer
US9815193B2 (en) 2011-06-27 2017-11-14 Delaware Capital Formation, Inc. Electric motor based holding control systems and methods
CN103029078A (zh) * 2012-12-27 2013-04-10 上海宏曲电子科技有限公司 X型凸轮电动夹具
CN103950722A (zh) * 2014-05-15 2014-07-30 龙岩烟草工业有限责任公司 一种物料夹紧检测装置、夹抱机及夹紧检测方法
CN108674961A (zh) * 2018-05-04 2018-10-19 旌德县瀚海星云智能化技术研发有限公司 一种堆料机械手
CN110281255B (zh) * 2018-08-30 2020-04-14 南京禹智智能科技有限公司 一种工业机器人上下料夹持机构

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3370213A (en) * 1965-04-26 1968-02-20 Programmed & Remote Syst Corp Force control system for manipulator component
US3683747A (en) * 1970-02-09 1972-08-15 Sperry Rand Corp Manipulator and manipulator control system
US3843187A (en) * 1973-03-09 1974-10-22 Usm Corp Demi-disconnectable finger
NL162704C (nl) * 1976-06-14 1980-06-16 Panama Overseas Shipping Corp Afhangklem voor een buisvormig element.
US4115684A (en) * 1976-06-17 1978-09-19 Unimation Portable, programmable manipulator apparatus
GB2163570B (en) * 1984-08-24 1988-05-25 Hanger & Co Ltd J E Artificial hand
GB8428105D0 (en) * 1984-11-07 1984-12-12 Ass Elect Ind Gripping assembly
US4783107A (en) * 1985-06-04 1988-11-08 Clemson University Method and apparatus for controlling impact force during rapid robotic acquisition of object
US4715773A (en) * 1985-06-04 1987-12-29 Clemson University Method and apparatus for repositioning a mislocated object with a robot hand
US4781519A (en) * 1986-02-19 1988-11-01 Monfort Robotics, Inc. End effector tools
US4680523A (en) * 1986-03-13 1987-07-14 Lord Corporation Apparatus and method for handling articles in automated assembly processes

Also Published As

Publication number Publication date
DE69005202D1 (de) 1994-01-27
EP0402229B1 (fr) 1993-12-15
FR2648072B1 (fr) 1994-08-05
FR2648072A1 (fr) 1990-12-14
EP0402229A1 (fr) 1990-12-12
DE69005202T2 (de) 1994-06-09

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