FR3110103B1 - tool gripper - Google Patents

tool gripper Download PDF

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Publication number
FR3110103B1
FR3110103B1 FR2101788A FR2101788A FR3110103B1 FR 3110103 B1 FR3110103 B1 FR 3110103B1 FR 2101788 A FR2101788 A FR 2101788A FR 2101788 A FR2101788 A FR 2101788A FR 3110103 B1 FR3110103 B1 FR 3110103B1
Authority
FR
France
Prior art keywords
rod
teeth
axis
along
gripping
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
FR2101788A
Other languages
French (fr)
Other versions
FR3110103A1 (en
Inventor
Francis Lonardi
Sordo Emmanuel Del
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.)
Enedis SA
Original Assignee
Enedis SA
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 to FR2004835A priority Critical patent/FR3110104B1/en
Application filed by Enedis SA filed Critical Enedis SA
Priority to FR2101788A priority patent/FR3110103B1/en
Publication of FR3110103A1 publication Critical patent/FR3110103A1/en
Application granted granted Critical
Publication of FR3110103B1 publication Critical patent/FR3110103B1/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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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
    • B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads

Landscapes

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

Abstract

La présente invention concerne un dispositif (OUT) de saisie d’outil, caractérisé en ce qu’il comporte un châssis (100) comportant une tige (101), un actionneur linéaire (103) comportant une partie (104) fixée à un côté arrière (112) du châssis (100) et une partie mobile (105) et comportant une paire de dents (106a, 106b) de préhension configurées pour enserrer un objet (OBJ) destiné à entourer la tige (101) dans une position de serrage, l’actionneur (103) étant apte à déplacer suivant l’axe (DR) la partie mobile (105) entre l’une et l’autre d’une position de desserrage, dans laquelle les dents (106a, 106b) sont éloignées en arrière de la tige (101) suivant l’axe (DR), et la position de serrage, dans laquelle les dents (106a, 106b) sont avancées au-delà de la tige (101) suivant l’axe (DR). Figure pour l’abrégé : Figure 2The present invention relates to a tool gripping device (OUT), characterized in that it comprises a frame (100) comprising a rod (101), a linear actuator (103) comprising a part (104) fixed to one side rear (112) of the frame (100) and a movable part (105) and comprising a pair of gripping teeth (106a, 106b) configured to grip an object (OBJ) intended to surround the rod (101) in a gripping position , the actuator (103) being capable of moving along the axis (DR) the movable part (105) between one and the other of a release position, in which the teeth (106a, 106b) are spaced behind the rod (101) along the axis (DR), and the clamping position, in which the teeth (106a, 106b) are advanced beyond the rod (101) along the axis (DR). Figure for the abstract: Figure 2

FR2101788A 2020-05-15 2021-02-24 tool gripper Active FR3110103B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2004835A FR3110104B1 (en) 2020-05-15 2020-05-15 interface device for a robotic rotating arm, control method, intervention device
FR2101788A FR3110103B1 (en) 2020-05-15 2021-02-24 tool gripper

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR2004835 2020-05-15
FR2004835A FR3110104B1 (en) 2020-05-15 2020-05-15 interface device for a robotic rotating arm, control method, intervention device
FR2101788A FR3110103B1 (en) 2020-05-15 2021-02-24 tool gripper

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
FR2004835A Division FR3110104B1 (en) 2020-05-15 2020-05-15 interface device for a robotic rotating arm, control method, intervention device

Publications (2)

Publication Number Publication Date
FR3110103A1 FR3110103A1 (en) 2021-11-19
FR3110103B1 true FR3110103B1 (en) 2022-05-20

Family

ID=72644316

Family Applications (2)

Application Number Title Priority Date Filing Date
FR2004835A Active FR3110104B1 (en) 2020-05-15 2020-05-15 interface device for a robotic rotating arm, control method, intervention device
FR2101788A Active FR3110103B1 (en) 2020-05-15 2021-02-24 tool gripper

Family Applications Before (1)

Application Number Title Priority Date Filing Date
FR2004835A Active FR3110104B1 (en) 2020-05-15 2020-05-15 interface device for a robotic rotating arm, control method, intervention device

Country Status (2)

Country Link
FR (2) FR3110104B1 (en)
WO (1) WO2021229092A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115213876B (en) * 2022-09-20 2022-11-22 烟台美丰机械有限公司 Industrial mechanical arm for brake disc production

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5259719A (en) * 1991-12-30 1993-11-09 Intelmatec Corporation Apparatus for transferring disks between a cassette and a pallet
JP4182074B2 (en) * 2005-03-03 2008-11-19 ファナック株式会社 Hand and handling robot
JP4359268B2 (en) * 2005-07-15 2009-11-04 本田技研工業株式会社 Parts supply device
DE102010035551B4 (en) * 2010-08-27 2023-09-21 Mercedes-Benz Group AG Tool for a robot and method for producing a screw connection
CN103111996B (en) * 2013-01-29 2015-04-22 山东电力集团公司电力科学研究院 Converting station hot-line work robot insulation protection system
FR3012991B1 (en) * 2013-11-08 2015-12-04 Snecma DEVICE FOR SEIZING A PART WITH A DRILLING
DE202015101098U1 (en) * 2015-03-06 2016-06-09 Kuka Systems Gmbh Turning tool and process device
JP2017127908A (en) * 2016-01-18 2017-07-27 ファナック株式会社 Screw fastening device using rotary force outputted by robot
CN208787929U (en) * 2018-09-11 2019-04-26 东莞市库傲机器人开发科技有限公司 Robot screw element is screwed into device
CN110601079B (en) * 2019-10-15 2024-04-26 国网湖南省电力有限公司 Work robot system with distribution network electrified disconnection and drainage line connection and work method

Also Published As

Publication number Publication date
WO2021229092A1 (en) 2021-11-18
FR3110103A1 (en) 2021-11-19
FR3110104A1 (en) 2021-11-19
FR3110104B1 (en) 2022-05-20

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