FR3107851B1 - Suction surface gripping device for vacuuming and manipulating objects with pressure sensors - Google Patents

Suction surface gripping device for vacuuming and manipulating objects with pressure sensors Download PDF

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Publication number
FR3107851B1
FR3107851B1 FR2102014A FR2102014A FR3107851B1 FR 3107851 B1 FR3107851 B1 FR 3107851B1 FR 2102014 A FR2102014 A FR 2102014A FR 2102014 A FR2102014 A FR 2102014A FR 3107851 B1 FR3107851 B1 FR 3107851B1
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FR
France
Prior art keywords
vacuuming
gripping device
pressure sensors
contact surface
suction surface
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
FR2102014A
Other languages
French (fr)
Other versions
FR3107851A1 (en
Inventor
Robert Vidacak
Fabian Schneider
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 FR3107851A1 publication Critical patent/FR3107851A1/en
Application granted granted Critical
Publication of FR3107851B1 publication Critical patent/FR3107851B1/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

Landscapes

  • 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) et procédé pour aspirer et manipuler des objets (16), 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) 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 (16), dans lequel en fonctionnement la structure (22) ou une section de la structure (22), où aucun objet (16) 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, où des objets (16) sont maintenus aspirés au niveau de la surface de contact (30), prend un état comprimé, caractérisé en ce que des capteurs de pression (32) sont prévus entre le module de base (12) et la structure (22) ou dans la structure (22), qui sont configurés de sorte qu’ils génèrent des signaux de capteur à l’état comprimé, qui représentent les forces de pression agissant sur la structure. Figure pour l’abrégé : [Fig. 1]Vacuum surface gripping device (10) and method for vacuuming and handling objects (16), with a base module (12), in which a depressurizable vacuum chamber (14) is provided, in which the module base (12) has suction openings (18) on a suction side (20), in which the suction side (20) is associated with a compressible elastic structure (22) having through openings (26) corresponding to the suction openings (18), with a contact surface (30) intended to come into contact with the object to be suctioned (16), in which in operation the structure (22) or a section of the structure (22), where no object (16) is held sucked up at the contact surface (30), takes a neutral state, and in which in operation, the structure (22) or a section of the structure, where objects (16) are held sucked at the contact surface (30), takes a compressed state, characterized in that pressure sensors (32) are provided between the base module (12) and the structure ( 22) or in the structure (22), which are configured such that they generate sensor signals in the compressed state, which represent the pressure forces acting on the structure. Figure for abstract: [Fig. 1]

FR2102014A 2020-03-05 2021-03-02 Suction surface gripping device for vacuuming and manipulating objects with pressure sensors Active FR3107851B1 (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
FR3107851A1 FR3107851A1 (en) 2021-09-10
FR3107851B1 true FR3107851B1 (en) 2023-10-27

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 After (1)

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

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
FR3107850B1 (en) 2023-07-28

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