FR3062081B1 - Dispositif de prehension a actionnement lineaire - Google Patents

Dispositif de prehension a actionnement lineaire Download PDF

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Publication number
FR3062081B1
FR3062081B1 FR1750528A FR1750528A FR3062081B1 FR 3062081 B1 FR3062081 B1 FR 3062081B1 FR 1750528 A FR1750528 A FR 1750528A FR 1750528 A FR1750528 A FR 1750528A FR 3062081 B1 FR3062081 B1 FR 3062081B1
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FR
France
Prior art keywords
arm
gripping arms
gripping device
gripping
acts
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
FR1750528A
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English (en)
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FR3062081A1 (fr
Inventor
Emmanuel JALENQUES
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Interscience SARL
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Interscience SARL
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 Interscience SARL filed Critical Interscience SARL
Priority to FR1750528A priority Critical patent/FR3062081B1/fr
Priority to GB1800328.5A priority patent/GB2560097B/en
Priority to JP2018005094A priority patent/JP7095859B2/ja
Priority to DE102018000438.5A priority patent/DE102018000438A1/de
Priority to CN201810058435.XA priority patent/CN108202317B/zh
Priority to US15/876,857 priority patent/US10434662B2/en
Publication of FR3062081A1 publication Critical patent/FR3062081A1/fr
Application granted granted Critical
Publication of FR3062081B1 publication Critical patent/FR3062081B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/046—Handling workpieces or tools
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means

Abstract

La présente invention concerne une pince de préhension pour bras robotisé, destinée à la préhension d'objet léger, par exemple boîte de Pétri, comprenant : un boîtier support (99), deux bras de préhension (2, 3) mobiles par rapport audit boîtier, un mécanisme d'entraînement desdits bras de préhension comprenant un organe d'actionnement (10) qui agit sur l'un seulement des bras de préhension, dit « bras d'actionnement » (2a), lequel agit sur l'autre bras de préhension (3) par un mécanisme de liaison qui induit un mouvement simultané et en sens opposé de l'autre bras (3). Le bras d'actionnement est entraîné par l'intermédiaire d'un ressort de compression (15), dont la déformation est mesurée pour limiter l'effort de serrage appliqué.
FR1750528A 2017-01-23 2017-01-23 Dispositif de prehension a actionnement lineaire Active FR3062081B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1750528A FR3062081B1 (fr) 2017-01-23 2017-01-23 Dispositif de prehension a actionnement lineaire
GB1800328.5A GB2560097B (en) 2017-01-23 2018-01-09 Gripping device for linear actuation
JP2018005094A JP7095859B2 (ja) 2017-01-23 2018-01-16 直線作動用の把持装置
DE102018000438.5A DE102018000438A1 (de) 2017-01-23 2018-01-19 Greifvorrichtung zur Linearbetätigung
CN201810058435.XA CN108202317B (zh) 2017-01-23 2018-01-22 线性驱动的抓握装置
US15/876,857 US10434662B2 (en) 2017-01-23 2018-01-22 Gripping device for linear actuation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1750528 2017-01-23
FR1750528A FR3062081B1 (fr) 2017-01-23 2017-01-23 Dispositif de prehension a actionnement lineaire

Publications (2)

Publication Number Publication Date
FR3062081A1 FR3062081A1 (fr) 2018-07-27
FR3062081B1 true FR3062081B1 (fr) 2020-02-14

Family

ID=58547675

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1750528A Active FR3062081B1 (fr) 2017-01-23 2017-01-23 Dispositif de prehension a actionnement lineaire

Country Status (6)

Country Link
US (1) US10434662B2 (fr)
JP (1) JP7095859B2 (fr)
CN (1) CN108202317B (fr)
DE (1) DE102018000438A1 (fr)
FR (1) FR3062081B1 (fr)
GB (1) GB2560097B (fr)

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CN204819547U (zh) * 2015-07-16 2015-12-02 上海挪亚检测认证有限公司 一种用于工业机器人的柔性机械手
CN105690416B (zh) * 2016-04-03 2018-09-04 渤海大学 一种机器人夹持装置及控制方法
CN107363614A (zh) * 2016-04-22 2017-11-21 李志强 一种多自由度移动升降式夹持装置
DE102016004924A1 (de) * 2016-04-25 2017-10-26 Günther Zimmer Greifvorrichtung für das Innen- und Außengreifen von Werkstücken
CN205765759U (zh) * 2016-06-06 2016-12-07 苏州赛腾精密电子股份有限公司 一种柔性压紧机构
CN205799561U (zh) * 2016-06-12 2016-12-14 福建成功机床有限公司 一种机械手

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FR3062081A1 (fr) 2018-07-27
DE102018000438A1 (de) 2018-07-26
GB201800328D0 (en) 2018-02-21
GB2560097A (en) 2018-08-29
GB2560097B (en) 2022-02-23
JP2018118373A (ja) 2018-08-02
US10434662B2 (en) 2019-10-08
JP7095859B2 (ja) 2022-07-05
CN108202317A (zh) 2018-06-26
US20180207807A1 (en) 2018-07-26
CN108202317B (zh) 2021-11-05

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