FR3036641B1 - MANIPULATOR FOR SEIZING AN OBJECT - Google Patents

MANIPULATOR FOR SEIZING AN OBJECT

Info

Publication number
FR3036641B1
FR3036641B1 FR1554810A FR1554810A FR3036641B1 FR 3036641 B1 FR3036641 B1 FR 3036641B1 FR 1554810 A FR1554810 A FR 1554810A FR 1554810 A FR1554810 A FR 1554810A FR 3036641 B1 FR3036641 B1 FR 3036641B1
Authority
FR
France
Prior art keywords
tube
vacuum
articulated arm
extended position
manipulator
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.)
Active
Application number
FR1554810A
Other languages
French (fr)
Other versions
FR3036641A1 (en
Inventor
Thomas Bargain
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.)
ACTECH
Original Assignee
ACTECH
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 ACTECH filed Critical ACTECH
Priority to FR1554810A priority Critical patent/FR3036641B1/en
Publication of FR3036641A1 publication Critical patent/FR3036641A1/en
Application granted granted Critical
Publication of FR3036641B1 publication Critical patent/FR3036641B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
    • B25J15/0633—Air-flow-actuated valves

Landscapes

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

Abstract

L'invention concerne un manipulateur (100) pour saisir un objet (50), et comportant : - un bras articulé (102), - un système de préhension (150) comportant : - une base (152) fixée au bras articulé (102), - un tube (154) formant un tube télescopique monté coulissant dans la base (152) entre une position sortie et une position rentrée, - un moyen de rappel (256) qui contraint le tube (154) en position sortie, - un détecteur de position (260) arrangé pour détecter le déplacement du tube (154) de la position sortie à la position rentrée, - un moyen d'aspiration (258) arrangé pour aspirer l'air du tube (154), - un capteur de dépression (264) mesurant la valeur de la dépression dans le tube (154), et - une unité de contrôle (204) recevant les informations du détecteur de position (260), du capteur de dépression (264), comparant la valeur mesurée par ledit capteur de dépression (264) à une valeur seuil, et commandant le déplacement du bras articulé (102) et l'activation/désactivation du moyen d'aspiration (258).The invention relates to a manipulator (100) for gripping an object (50), and comprising: - an articulated arm (102), - a gripping system (150) comprising: - a base (152) fixed to the articulated arm (102 ), - a tube (154) forming a telescopic tube mounted to slide in the base (152) between an extended position and a retracted position, - a return means (256) which forces the tube (154) in the extended position, - a position detector (260) arranged to detect the displacement of the tube (154) from the extended position to the retracted position, - a suction means (258) arranged to draw air from the tube (154), - a pressure sensor vacuum (264) measuring the value of the vacuum in the tube (154), and - a control unit (204) receiving information from the position detector (260), from the vacuum sensor (264), comparing the value measured by said vacuum sensor (264) to a threshold value, and controlling the displacement of the articulated arm (102) and the activation / deactivation of the suction means (258).

FR1554810A 2015-05-28 2015-05-28 MANIPULATOR FOR SEIZING AN OBJECT Active FR3036641B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1554810A FR3036641B1 (en) 2015-05-28 2015-05-28 MANIPULATOR FOR SEIZING AN OBJECT

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1554810A FR3036641B1 (en) 2015-05-28 2015-05-28 MANIPULATOR FOR SEIZING AN OBJECT

Publications (2)

Publication Number Publication Date
FR3036641A1 FR3036641A1 (en) 2016-12-02
FR3036641B1 true FR3036641B1 (en) 2017-06-23

Family

ID=53776802

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1554810A Active FR3036641B1 (en) 2015-05-28 2015-05-28 MANIPULATOR FOR SEIZING AN OBJECT

Country Status (1)

Country Link
FR (1) FR3036641B1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109569433A (en) * 2018-12-04 2019-04-05 于政道 A kind of single spiral arm pan feeding lid of Steam explosive machine
CN110509267B (en) * 2019-08-21 2022-10-25 燕山大学 Soft manipulator based on swallowing effect
CN110773977B (en) * 2019-11-11 2021-04-02 中国原子能科学研究院 High temperature resistant sucking disc support pillar for high temperature radioactive source installation
CN113400296B (en) * 2020-03-16 2024-06-25 阿里巴巴集团控股有限公司 Installation control method, installation control device, article and terminal equipment

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2680946B1 (en) * 1991-09-05 1993-12-03 Pellenc Motte Ets ROBOTIZED MACHINE COMPRISING A GRIPPER, ACTING BY SUCTION, FOR EXAMPLE FOR PICKING FRUITS.
JP4632560B2 (en) * 2000-03-01 2011-02-16 シーグ パック システムズ アクチェンゲゼルシャフト Robots that operate products in a three-dimensional space
TWI577620B (en) * 2013-07-29 2017-04-11 鴻海精密工業股份有限公司 Automatic pill picking device and method

Also Published As

Publication number Publication date
FR3036641A1 (en) 2016-12-02

Similar Documents

Publication Publication Date Title
FR3036641B1 (en) MANIPULATOR FOR SEIZING AN OBJECT
EP2894491A3 (en) Distance measuring device and method thereof
EP3495777A3 (en) Vehicle control device mounted on a vehicle and method for controlling the vehicle
BR112017002379A2 (en) freestanding displacement body device
EP3327618A3 (en) Method and apparatus to control velocity of vehicle
EP2487454A3 (en) Vehicle length estimation
EP2869157A3 (en) Mobile unit and method of moving mobile unit
EP2995181A3 (en) Lift control apparatus for ground work apparatus
EP3428640A3 (en) Actuating and sensing module
EP2873407A3 (en) Walking assistance robot and method of controlling the walking assistance robot
EP3135565A3 (en) Parking assistance device
EP4275588A3 (en) Automated detection of eye alignment
CA2868149C (en) Ethylene sensor
EP2570965A3 (en) Detection device, display control device and imaging control device, provided with the detection device, body detection method, control program, and recording medium
EP4106613A4 (en) A body fluid analyte detection device
EP3222394A3 (en) Robot and external-force detecting device
FR3015072B1 (en) METHOD FOR DETERMINING THE ORIENTATION OF A MOBILE TERMINAL-RELATED SENSOR MARK WITH SENSOR ASSEMBLY PROVIDED BY A USER AND COMPRISING AT LEAST ONE MOTION-MOVING MOTION SENSOR
AR084557A1 (en) DETECTION DEVICE FOR MOVING CONTAINERS
IL284332A (en) Occlusion detection by pressure measurement
EP3361227A8 (en) Composite sensor
MX2017016127A (en) Fluid pressure cylinder.
EP2520343A3 (en) Device and method for seeking targets
EP2998697A3 (en) Measuring device and tilt sensor
EP2804167A3 (en) Methods and systems for providing taxiway stop bar information to an aircrew
EP2589957A3 (en) System for detecting contaminants in an intake flow of a compressor

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20161202

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8

PLFP Fee payment

Year of fee payment: 9

PLFP Fee payment

Year of fee payment: 10