FR3107850B1 - Suction surface gripping device for sucking up and manipulating objects with integrated sensor elements - Google Patents

Suction surface gripping device for sucking up and manipulating objects with integrated sensor elements Download PDF

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Publication number
FR3107850B1
FR3107850B1 FR2101994A FR2101994A FR3107850B1 FR 3107850 B1 FR3107850 B1 FR 3107850B1 FR 2101994 A FR2101994 A FR 2101994A FR 2101994 A FR2101994 A FR 2101994A FR 3107850 B1 FR3107850 B1 FR 3107850B1
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FR
France
Prior art keywords
sensor elements
suction
contact surface
sensor
sucking
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
FR2101994A
Other languages
French (fr)
Other versions
FR3107850A1 (en
Inventor
Walter Schaaf
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.)
J Schmalz GmbH
Original Assignee
J Schmalz GmbH
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
Priority claimed from DE102020105930.2A external-priority patent/DE102020105930A1/en
Priority claimed from DE102020112241.1A external-priority patent/DE102020112241A1/en
Application filed by J Schmalz GmbH filed Critical J Schmalz GmbH
Publication of FR3107850A1 publication Critical patent/FR3107850A1/en
Application granted granted Critical
Publication of FR3107850B1 publication Critical patent/FR3107850B1/en
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
    • B25J15/06—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
    • B25J15/0691—Suction pad made out of porous material, e.g. sponge or foam
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Dispersion Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Dispositif de préhension de surface par aspiration (10) pour aspirer et manipuler des objets (40), avec un module de base (12), dans lequel une chambre à dépression (14) pouvant être dépressurisée est prévue, dans lequel le module de base (12) présente des ouvertures d’aspiration (18) sur un côté d’aspiration (20), dans lequel au côté d’aspiration (20) est associée une structure (22, 24, 56, 60) élastique pouvant être comprimée présentant des ouvertures de passage (26) correspondant aux ouvertures d’aspiration (18), avec une surface de contact (30) destinée à venir en contact avec l’objet à aspirer (40), dans lequel en fonctionnement la structure (22) ou une section de la structure (22), où aucun objet n’est maintenu aspiré au niveau de la surface de contact (30), prend un état neutre, et dans lequel en fonctionnement, la structure (22) ou une section de la structure (22), où des objets (40) sont maintenus aspirés au niveau de la surface de contact (30), prend un état comprimé, caractérisé en ce qu’une pluralité de premiers éléments capteurs (46) sont prévus au niveau du côté d’aspiration (20) ou dans ou au niveau de la structure (22) à proximité du côté d’aspiration (20), qui forment un premier réseau de capteurs (32), en ce qu’une pluralité de seconds éléments capteurs (44) sont prévus dans ou au niveau de la structure (22), espacés du premier réseau de capteurs (32) et entre le premier réseau de capteurs (32) et la surface de contact (30) ou au niveau de la surface de contact (30), qui forment un second réseau de capteurs (34), et en ce que les premiers éléments capteurs (46) et/ou les seconds éléments capteurs (44) sont configurés et coopèrent de sorte que des signaux de capteur sont générés uniquement dans la section du réseau de capteurs (32, 34), qui est concernée par l’état comprimé, au moins lorsque l’état comprimé des premiers et/ou seconds éléments capteurs (44, 46) est atteint. Figure pour l’abrégé : [Fig. 2]Suction surface gripping device (10) for sucking up and handling objects (40), with a base module (12), in which a vacuum chamber (14) which can be depressurized is provided, in which the base module (12) has suction openings (18) on a suction side (20), in which the suction side (20) is associated with a compressible elastic structure (22, 24, 56, 60) having passage openings (26) corresponding to the suction openings (18), with a contact surface (30) intended to come into contact with the object to be sucked (40), in which in operation the structure (22) or a section of the structure (22), where no object is kept sucked in at the contact surface (30), assumes a neutral state, and in which in operation, the structure (22) or a section of the structure (22), where objects (40) are kept sucked at the contact surface (30), assumes a compressed state, characterized in that a plurality of first sensor elements (46) are provided at the d suction (20) or in or at the structure (22) near the suction side (20), which form a first sensor array (32), in that a plurality of second sensor elements (44 ) are provided in or at the structure (22), spaced from the first sensor array (32) and between the first sensor array (32) and the contact surface (30) or at the contact surface ( 30), which form a second sensor array (34), and in that the first sensor elements (46) and/or the second sensor elements (44) are configured and cooperate so that sensor signals are generated only in the section of the sensor array (32, 34), which is affected by the compressed state, at least when the compressed state of the first and/or second sensor elements (44, 46) is reached. Figure for abstract: [Fig. 2]

FR2101994A 2020-03-05 2021-03-02 Suction surface gripping device for sucking up and manipulating objects with integrated sensor elements Active FR3107850B1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102020105930.2 2020-03-05
DE102020105930.2A DE102020105930A1 (en) 2020-03-05 2020-03-05 Flat suction cup for sucking in and handling objects with integrated sensor elements
DE102020112241.1 2020-05-06
DE102020112241.1A DE102020112241A1 (en) 2020-05-06 2020-05-06 Flat suction cup for sucking in and handling objects with pressure sensors

Publications (2)

Publication Number Publication Date
FR3107850A1 FR3107850A1 (en) 2021-09-10
FR3107850B1 true FR3107850B1 (en) 2023-07-28

Family

ID=77633719

Family Applications (2)

Application Number Title Priority Date Filing Date
FR2102014A Active FR3107851B1 (en) 2020-03-05 2021-03-02 Suction surface gripping device for vacuuming and manipulating objects with pressure sensors
FR2101994A Active FR3107850B1 (en) 2020-03-05 2021-03-02 Suction surface gripping device for sucking up and manipulating objects with integrated sensor elements

Family Applications Before (1)

Application Number Title Priority Date Filing Date
FR2102014A Active FR3107851B1 (en) 2020-03-05 2021-03-02 Suction surface gripping device for vacuuming and manipulating objects with pressure sensors

Country Status (1)

Country Link
FR (2) FR3107851B1 (en)

Also Published As

Publication number Publication date
FR3107851A1 (en) 2021-09-10
FR3107850A1 (en) 2021-09-10
FR3107851B1 (en) 2023-10-27

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