FR3132239B1 - Dispositif de manipulation de pièces à capacité de retournement - Google Patents

Dispositif de manipulation de pièces à capacité de retournement Download PDF

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Publication number
FR3132239B1
FR3132239B1 FR2200761A FR2200761A FR3132239B1 FR 3132239 B1 FR3132239 B1 FR 3132239B1 FR 2200761 A FR2200761 A FR 2200761A FR 2200761 A FR2200761 A FR 2200761A FR 3132239 B1 FR3132239 B1 FR 3132239B1
Authority
FR
France
Prior art keywords
coupler
handling device
part handling
gripper
coupled
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
FR2200761A
Other languages
English (en)
Other versions
FR3132239A1 (fr
Inventor
Juan Jose Areal
Alonso David Aldea
Estevez Natalia Cancela
Gonzalez Maria Del Carmen Fernandez
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.)
CTAG-FUNDACION PARA LA PROMOCION DE LA INNOVAC, ES
Stellantis Auto Sas Fr
Original Assignee
Fundacion Para La Promocion de la Innovacion la Investigacion y el Desarrollo Tecnologico de la Industria de la Automocion de Galicia CTAG
PSA Automobiles 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 Fundacion Para La Promocion de la Innovacion la Investigacion y el Desarrollo Tecnologico de la Industria de la Automocion de Galicia CTAG, PSA Automobiles SA filed Critical Fundacion Para La Promocion de la Innovacion la Investigacion y el Desarrollo Tecnologico de la Industria de la Automocion de Galicia CTAG
Priority to FR2200761A priority Critical patent/FR3132239B1/fr
Priority to PCT/FR2022/052492 priority patent/WO2023144474A1/fr
Publication of FR3132239A1 publication Critical patent/FR3132239A1/fr
Application granted granted Critical
Publication of FR3132239B1 publication Critical patent/FR3132239B1/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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

Un dispositif de manipulation (DM) est chargé de manipuler des pièces (PE) ayant deux faces (F1, F2) opposées et différenciables par un dispositif de reconnaissance (DR). Ce dispositif de manipulation (DM) comprend un bras principal (BP) comportant un coupleur (CP) propre à se coupler à une face (F1, F2), orientée vers lui, d’une pièce (PE) placée sur un premier support (S1), et un moteur électrique (ME1) auquel est couplée une pince (PP1) propre à saisir une pièce (PE) couplée au coupleur (CP) et agencé pour entraîner en rotation sur 180° la pince (PP1) afin de provoquer un retournement d’un demi-tour de la pièce (PE) saisie après découplage du coupleur (CP), lorsque le dispositif de reconnaissance (DR) le requiert. Figure à publier avec l’abrégé : Fig. 1
FR2200761A 2022-01-28 2022-01-28 Dispositif de manipulation de pièces à capacité de retournement Active FR3132239B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2200761A FR3132239B1 (fr) 2022-01-28 2022-01-28 Dispositif de manipulation de pièces à capacité de retournement
PCT/FR2022/052492 WO2023144474A1 (fr) 2022-01-28 2022-12-22 Dispositif de manipulation de pièces à capacité de retournement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2200761A FR3132239B1 (fr) 2022-01-28 2022-01-28 Dispositif de manipulation de pièces à capacité de retournement
FR2200761 2022-01-28

Publications (2)

Publication Number Publication Date
FR3132239A1 FR3132239A1 (fr) 2023-08-04
FR3132239B1 true FR3132239B1 (fr) 2023-12-29

Family

ID=81346139

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2200761A Active FR3132239B1 (fr) 2022-01-28 2022-01-28 Dispositif de manipulation de pièces à capacité de retournement

Country Status (2)

Country Link
FR (1) FR3132239B1 (fr)
WO (1) WO2023144474A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2200761A5 (fr) 1972-09-25 1974-04-19 Saunier Duval
DE102007054867A1 (de) * 2007-11-07 2009-05-20 J. Schmalz Gmbh Greifvorrichtung
DE102013015020A1 (de) * 2013-09-10 2015-03-12 Weber Maschinenbau Gmbh Breidenbach Robotergreifer zum Wenden von Lebensmittelportionen
US10639787B2 (en) * 2017-03-06 2020-05-05 Berkshire Grey, Inc. Systems and methods for efficiently moving a variety of objects
CN107443407B (zh) * 2017-09-29 2018-05-25 安徽理工大学 铸造机器人用可翻转式多指异步抓手
US11458635B2 (en) * 2018-05-09 2022-10-04 Intelligrated Headquarters, Llc Method and system for manipulating articles
FR3106997B1 (fr) * 2020-02-10 2023-07-21 Ascodero Productique Système de préhension robotisé

Also Published As

Publication number Publication date
FR3132239A1 (fr) 2023-08-04
WO2023144474A1 (fr) 2023-08-03

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Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20230804

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Year of fee payment: 3

CD Change of name or company name

Owner name: CTAG-FUNDACION PARA LA PROMOCION DE LA INNOVAC, ES

Effective date: 20240423

Owner name: STELLANTIS AUTO SAS, FR

Effective date: 20240423