FR3137008B1 - Prehenseur, systeme et procede de palettisation / depalettisation - Google Patents

Prehenseur, systeme et procede de palettisation / depalettisation Download PDF

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Publication number
FR3137008B1
FR3137008B1 FR2206250A FR2206250A FR3137008B1 FR 3137008 B1 FR3137008 B1 FR 3137008B1 FR 2206250 A FR2206250 A FR 2206250A FR 2206250 A FR2206250 A FR 2206250A FR 3137008 B1 FR3137008 B1 FR 3137008B1
Authority
FR
France
Prior art keywords
gripper
suction cup
package
depalletizing
palletizing
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
FR2206250A
Other languages
English (en)
French (fr)
Other versions
FR3137008A1 (fr
Inventor
Thierry Boisnard
Mircea Cocan
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.)
Fives Syleps SAS
Original Assignee
Fives Syleps SAS
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 Fives Syleps SAS filed Critical Fives Syleps SAS
Priority to FR2206250A priority Critical patent/FR3137008B1/fr
Priority to JP2024574566A priority patent/JP2025519796A/ja
Priority to PCT/EP2023/066801 priority patent/WO2023247629A1/fr
Priority to US18/877,679 priority patent/US20250387917A1/en
Priority to EP23732638.4A priority patent/EP4543634A1/fr
Publication of FR3137008A1 publication Critical patent/FR3137008A1/fr
Application granted granted Critical
Publication of FR3137008B1 publication Critical patent/FR3137008B1/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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J15/06—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
    • 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
    • B25J19/0004—Braking devices
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)
FR2206250A 2022-06-23 2022-06-23 Prehenseur, systeme et procede de palettisation / depalettisation Active FR3137008B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR2206250A FR3137008B1 (fr) 2022-06-23 2022-06-23 Prehenseur, systeme et procede de palettisation / depalettisation
JP2024574566A JP2025519796A (ja) 2022-06-23 2023-06-21 パレタイズ及びデパレタイズグリッパ、システム及び方法
PCT/EP2023/066801 WO2023247629A1 (fr) 2022-06-23 2023-06-21 Prehenseur, systeme et procede de palettisation / depalettisation
US18/877,679 US20250387917A1 (en) 2022-06-23 2023-06-21 Palletisation and depalletisation gripper, system and method
EP23732638.4A EP4543634A1 (fr) 2022-06-23 2023-06-21 Prehenseur, systeme et procede de palettisation / depalettisation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2206250A FR3137008B1 (fr) 2022-06-23 2022-06-23 Prehenseur, systeme et procede de palettisation / depalettisation
FR2206250 2022-06-23

Publications (2)

Publication Number Publication Date
FR3137008A1 FR3137008A1 (fr) 2023-12-29
FR3137008B1 true FR3137008B1 (fr) 2024-06-07

Family

ID=82942764

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2206250A Active FR3137008B1 (fr) 2022-06-23 2022-06-23 Prehenseur, systeme et procede de palettisation / depalettisation

Country Status (5)

Country Link
US (1) US20250387917A1 (enExample)
EP (1) EP4543634A1 (enExample)
JP (1) JP2025519796A (enExample)
FR (1) FR3137008B1 (enExample)
WO (1) WO2023247629A1 (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118726059B (zh) * 2024-09-03 2025-05-27 中科南京生命健康高等研究院 一种生物培养用恒温培养振荡装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6149375A (en) * 1999-03-18 2000-11-21 Embrex, Inc. Egg removal apparatus
KR100456858B1 (ko) * 2002-12-18 2004-11-10 현대자동차주식회사 어태치먼트의 수직축 다단 조절장치
DE102014209904B4 (de) * 2014-05-23 2023-02-16 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Drapiergreifer zum Greifen und Drapieren von ausgeschnittenen Faseranordnungen
JP6692777B2 (ja) * 2017-07-25 2020-05-13 株式会社東芝 移載装置および判定方法
IT201800005679A1 (it) * 2018-05-24 2019-11-24 Giunto semisferico per applicazioni in ambito meccanico
JP7348010B2 (ja) * 2019-09-26 2023-09-20 株式会社東芝 吸着装置、搬送システム、及び搬送方法
CN112091943B (zh) * 2020-09-07 2025-04-18 上海精久包装设备有限公司 高速立体智能组合机械手
US12343871B2 (en) * 2021-01-12 2025-07-01 Mujin, Inc. Robotic system with gripping mechanism

Also Published As

Publication number Publication date
US20250387917A1 (en) 2025-12-25
WO2023247629A1 (fr) 2023-12-28
JP2025519796A (ja) 2025-06-26
EP4543634A1 (fr) 2025-04-30
FR3137008A1 (fr) 2023-12-29

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