FR3074077B1 - PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE - Google Patents

PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE Download PDF

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Publication number
FR3074077B1
FR3074077B1 FR1761336A FR1761336A FR3074077B1 FR 3074077 B1 FR3074077 B1 FR 3074077B1 FR 1761336 A FR1761336 A FR 1761336A FR 1761336 A FR1761336 A FR 1761336A FR 3074077 B1 FR3074077 B1 FR 3074077B1
Authority
FR
France
Prior art keywords
blades
plate
gripping device
automatic release
change
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
FR1761336A
Other languages
French (fr)
Other versions
FR3074077A1 (en
Inventor
Maxime Beck
Mathieu Grossard
Benoit Perochon
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
Commissariat a lEnergie Atomique et aux Energies Alternatives 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, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1761336A priority Critical patent/FR3074077B1/en
Priority to PCT/EP2018/077529 priority patent/WO2019105637A1/en
Publication of FR3074077A1 publication Critical patent/FR3074077A1/en
Application granted granted Critical
Publication of FR3074077B1 publication Critical patent/FR3074077B1/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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Landscapes

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

Abstract

Le dispositif comporte au moins : - un support mécanique (21, 22) ; - une plaque bistable (1) fixée sous contrainte sur ledit support ; - deux lames (3), dites lames de pince, solidaires mécaniquement de ladite plaque, formant chacune un mors d'une pince de saisie dudit objet ; - un élément de déclenchement (2) faisant saillie sur ladite plaque, apte à entrer en contact avec ledit objet à saisir, placé entre lesdites lames (3) de longueur inférieure à celle-ci et s'étendant dans la même direction ; En phase d'approche dudit objet (20) la face convexe de la dite plaque est orientée vers ledit objet de sorte que lesdites lames sont en position ouverte, la mise en contact dudit élément de déclenchement (2) avec ledit objet provoquant le changement d'état stable de ladite plaque, la face orientée vers ledit objet passant en position concave de sorte que lesdites lames (3) se referment sur ledit objet.The device comprises at least: - a mechanical support (21, 22); - a bistable plate (1) fixed under stress on said support; - two blades (3), called gripper blades, mechanically secured to said plate, each forming a jaw of a gripper for gripping said object; - a trigger element (2) projecting from said plate, able to come into contact with said object to be grasped, placed between said blades (3) of shorter length than the latter and extending in the same direction; In the approach phase of said object (20), the convex face of said plate is oriented towards said object so that said blades are in the open position, bringing said trigger element (2) into contact with said object causing the change to change. stable state of said plate, the face oriented towards said object passing into a concave position so that said blades (3) close on said object.

FR1761336A 2017-11-29 2017-11-29 PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE Active FR3074077B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1761336A FR3074077B1 (en) 2017-11-29 2017-11-29 PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE
PCT/EP2018/077529 WO2019105637A1 (en) 2017-11-29 2018-10-10 Gripping device with passive automatic triggering

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1761336A FR3074077B1 (en) 2017-11-29 2017-11-29 PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE
FR1761336 2017-11-29

Publications (2)

Publication Number Publication Date
FR3074077A1 FR3074077A1 (en) 2019-05-31
FR3074077B1 true FR3074077B1 (en) 2021-05-28

Family

ID=60923769

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1761336A Active FR3074077B1 (en) 2017-11-29 2017-11-29 PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE

Country Status (2)

Country Link
FR (1) FR3074077B1 (en)
WO (1) WO2019105637A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111390962B (en) * 2019-11-19 2021-07-30 浙江工业大学 Pneumatic flexible tongs with bistable characteristic
FR3115720B1 (en) 2020-11-04 2023-06-30 Commissariat Energie Atomique Data generation method for controlling a gripper of a robotic system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH617382A5 (en) * 1977-06-01 1980-05-30 Balzers Hochvakuum
DE19816953A1 (en) * 1998-04-17 1999-10-21 Univ Dresden Tech Grip drive for robotic arm
US7314382B2 (en) * 2005-05-18 2008-01-01 Zyvex Labs, Llc Apparatus and methods of manufacturing and assembling microscale and nanoscale components and assemblies
FR2971244B1 (en) * 2011-02-03 2018-05-11 Centre National De La Recherche Scientifique - Cnrs - MICRO-ROBOT, CONTROL METHOD, SIMULATION METHOD, AND COMPUTER PROGRAMS

Also Published As

Publication number Publication date
WO2019105637A1 (en) 2019-06-06
FR3074077A1 (en) 2019-05-31

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