FR3110104B1 - dispositif d’interface pour bras rotatif robotisé , procédé de commande , dispositif d’intervention - Google Patents

dispositif d’interface pour bras rotatif robotisé , procédé de commande , dispositif d’intervention Download PDF

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Publication number
FR3110104B1
FR3110104B1 FR2004835A FR2004835A FR3110104B1 FR 3110104 B1 FR3110104 B1 FR 3110104B1 FR 2004835 A FR2004835 A FR 2004835A FR 2004835 A FR2004835 A FR 2004835A FR 3110104 B1 FR3110104 B1 FR 3110104B1
Authority
FR
France
Prior art keywords
pin
end piece
rotating arm
control method
interface device
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
FR2004835A
Other languages
English (en)
Other versions
FR3110104A1 (fr
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
Application filed by Enedis SA filed Critical Enedis SA
Priority to FR2004835A priority Critical patent/FR3110104B1/fr
Priority to FR2101788A priority patent/FR3110103B1/fr
Priority to PCT/EP2021/062918 priority patent/WO2021229092A1/fr
Publication of FR3110104A1 publication Critical patent/FR3110104A1/fr
Application granted granted Critical
Publication of FR3110104B1 publication Critical patent/FR3110104B1/fr
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 (1) d’interface mécanique pour bras (B) rotatif robotisé, caractérisé en ce qu’il comporte un embout inférieur (2), un corps (3) entourant l’embout inférieur (2), un embout supérieur (4), une couronne (6) d’entraînement fixée à l’embout supérieur (4) et comportant des évidements (61), un boîtier (5) comportant un pion (51) mobile en translation suivant l’axe (DR) entre l’une et l’autre d’une position de verrouillage, dans laquelle le pion (51) fait saillie du boîtier (5) et se trouve dans un des évidements (61) pour pouvoir entraîner l’embout supérieur (4) en rotation, et d’une position de déverrouillage, dans laquelle le pion (51) est à distance de la couronne (6) suivant l’axe (DR) de rotation pour ne pas pouvoir entraîner en rotation l’embout supérieur (4), le boîtier (5) comportant un calculateur télécommandable pour commander le déplacement du pion (51) entre l’une et l’autre des positions. Figure pour l’abrégé : Figure 1
FR2004835A 2020-05-15 2020-05-15 dispositif d’interface pour bras rotatif robotisé , procédé de commande , dispositif d’intervention Active FR3110104B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2004835A FR3110104B1 (fr) 2020-05-15 2020-05-15 dispositif d’interface pour bras rotatif robotisé , procédé de commande , dispositif d’intervention
FR2101788A FR3110103B1 (fr) 2020-05-15 2021-02-24 dispositif de saisie d’outil
PCT/EP2021/062918 WO2021229092A1 (fr) 2020-05-15 2021-05-17 Dispositif d'interface pour bras rotatif robotisé, procédé de commande, dispositif d'intervention

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR2004835 2020-05-15
FR2004835A FR3110104B1 (fr) 2020-05-15 2020-05-15 dispositif d’interface pour bras rotatif robotisé , procédé de commande , dispositif d’intervention
FR2101788A FR3110103B1 (fr) 2020-05-15 2021-02-24 dispositif de saisie d’outil

Related Child Applications (1)

Application Number Title Priority Date Filing Date
FR2101788A Division FR3110103B1 (fr) 2020-05-15 2021-02-24 dispositif de saisie d’outil

Publications (2)

Publication Number Publication Date
FR3110104A1 FR3110104A1 (fr) 2021-11-19
FR3110104B1 true FR3110104B1 (fr) 2022-05-20

Family

ID=72644316

Family Applications (2)

Application Number Title Priority Date Filing Date
FR2004835A Active FR3110104B1 (fr) 2020-05-15 2020-05-15 dispositif d’interface pour bras rotatif robotisé , procédé de commande , dispositif d’intervention
FR2101788A Active FR3110103B1 (fr) 2020-05-15 2021-02-24 dispositif de saisie d’outil

Family Applications After (1)

Application Number Title Priority Date Filing Date
FR2101788A Active FR3110103B1 (fr) 2020-05-15 2021-02-24 dispositif de saisie d’outil

Country Status (2)

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

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115213876B (zh) * 2022-09-20 2022-11-22 烟台美丰机械有限公司 刹车盘生产用工业机械臂

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 (ja) * 2005-03-03 2008-11-19 ファナック株式会社 ハンド及びハンドリングロボット
JP4359268B2 (ja) * 2005-07-15 2009-11-04 本田技研工業株式会社 部品供給装置
DE102010035551B4 (de) * 2010-08-27 2023-09-21 Mercedes-Benz Group AG Werkzeug für einen Roboter sowie Verfahren zum Herstellen einer Schraubverbindung
CN103111996B (zh) * 2013-01-29 2015-04-22 山东电力集团公司电力科学研究院 变电站带电作业机器人绝缘防护系统
FR3012991B1 (fr) * 2013-11-08 2015-12-04 Snecma Dispositif pour saisir une piece presentant un percage
DE202015101098U1 (de) * 2015-03-06 2016-06-09 Kuka Systems Gmbh Drehwerkzeug und Prozesseinrichtung
JP2017127908A (ja) * 2016-01-18 2017-07-27 ファナック株式会社 ロボットが出力する回転力を用いるねじ締め装置
CN208787929U (zh) * 2018-09-11 2019-04-26 东莞市库傲机器人开发科技有限公司 机器人螺纹件拧入装置
CN110601079B (zh) * 2019-10-15 2024-04-26 国网湖南省电力有限公司 一种配网带电断、接引流线的作业机器人系统及作业方法

Also Published As

Publication number Publication date
FR3110103A1 (fr) 2021-11-19
FR3110104A1 (fr) 2021-11-19
FR3110103B1 (fr) 2022-05-20
WO2021229092A1 (fr) 2021-11-18

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