JPWO2021185424A5

JPWO2021185424A5 -

Info

Publication number: JPWO2021185424A5
Application number: JP2022556660A
Authority: JP
Publication date: 2024-03-28

Description

アーム１１は、図５ａ～ｂに標示されている通りの把持用フィンガ１２の設置のための第１の位置または最外側位置２０を有する。アーム１１はさらに、図４ａ～ｂに標示されている通りの把持用フィンガ１２の代替的設置のための第２の位置または中間位置２１を有する。
The arm 11 has a first or outermost position 20 for placement of the gripping fingers 12 as marked in Figures 5a-b. The arm 11 further has a second or intermediate position 21 for alternative placement of the gripping fingers 12 as marked in FIGS. 4a-b.

Claims

In a gripping tool (2) for handling an object (6) during a process,
- a housing (7) defining a longitudinal axis (A) of said gripping tool (1);
- a drive mechanism arranged together with said housing ( 7 );
- an interface (8) arranged at one end of said housing (7), which is adapted to be coupled to a matching interface (9) of a machine or arranged on a surface; (8) and
- a plurality of arms (11) disposed at opposite ends of said housing (7), each arm (11) comprising a first arm (11) configured to contact said object (6); a gripping element (12a), each arm (11) being configured to be rotated about an axis of rotation when actuated, each arm (11) being arranged in a radial plane. a body (14) extending from a first end (15) to a second end (16) within said radial plane perpendicular to said longitudinal axis (A); The drive mechanism is configured to rotate said at least first gripping element (12a) into contact with and out of said object (6) in said radial plane, said body (14) a plurality of arms (11) having a first side (17) facing a longitudinal axis and an opposite second side (18) facing away from said longitudinal axis;
A gripping tool comprising:
- said first side (17) of said body (14) has a first tangent in a first position and a second tangent in a second position, said first tangent being , intersects said second tangent at an intersection (22), said intersection (22) being rotated from said longitudinal axis (A) of said arm (11) when said arm (11) is in the retracted position. Gripping tool, characterized in that it is positioned inside an imaginary circle with a radius extending to the axis (B).

The gripping tool according to claim 1, characterized in that the first side (17') has a curved contour extending between the first and second ends (15, 16) or a bent contour defined by at least a first line segment and a second line segment.

At least a second gripping element (12b) is arranged on said arm, said second gripping element (12b) said first and second ends (15, Gripping tool according to claim 1 or 2, characterized in that it is arranged in an intermediate position (21) between 16).

Claim characterized in that at least said first gripping element (12a) is releasably connected to said arm (11) by a mechanical connection, preferably a quick-release fastener or a clamping element. The gripping tool according to any one of Items 1 to 3.

said first gripping element (12a) has a first height measured in said longitudinal direction and said second gripping element has a second height measured in said longitudinal direction. , the gripping tool according to claim 3 or 4, characterized in that the first height is equal to or different from the second height.

The arm in the retracted position is
at least one gripping element (12a, 12b) on each arm is in contact with one another, and/or said first side (17) of one arm (11) is at least partially in contact with said first side (17) of an adjacent arm (11),
6. A gripping tool according to claim 1, characterized in that the gripping members are positioned relative to one another in such a way that the gripping members are spaced apart from one another.

Said at least first gripping element (12a) is adapted to maintain the entire gripping range of said gripping tool (2) while maintaining each arm (11) in said same radial position in relation to each axis of rotation (B). 7. Grasping tool according to any one of claims 1 to 6, characterized in that it is configured to be operated within a gripping tool.

characterized in that said at least first gripping element (12a) is shaped as a finger or as an elongated gripping element (28) extending outwardly from the top side (24) of said arm (27). The gripping tool according to any one of claims 1 to 7.

said at least first gripping element (12a) at a plurality of discrete positions (20, 21, 21') on said arm (11) and/or an elongated positioning element (33) on said arm (11); Gripping tool according to any one of the preceding claims, characterized in that it can be selectively arranged within.

In a system configured to handle an object (6) during a process,
- a machine configured to process the object (6);
including;
- the machine comprises at least one interface (9) configured to be coupled to at least one tool, the at least one tool being a gripping device according to any one of claims 1 to 9; A tool (2),
- the machine further comprises an energy source for powering the gripping tool (2) and a controller configured to control at least the operation of the gripping tool (2);
system.

Said machine is a robot unit (1) with at least one robot arm (3), said robot arm (3) extending from a base end to a free end and said matching interface (9) System according to claim 10, characterized in that it is located at the free end of the robot arm (3).

In a clamping unit (35) configured to handle an object (6) during a process, the clamping unit (35) is configured to be arranged on a surface (36), comprising:
- a gripping tool (2) according to any one of claims 1 to 9;
- a local controller configured to control the operation of the gripping tool (2), the local controller being electrically connected to at least one of a remote user interface or a local user interface;
- at least one of the coupling elements configured to be coupled to a local energy source or an external energy source, said local or external energy source providing power to said clamping unit (35); at least one local energy source or coupling element configured to provide;
A clamping unit including:

further comprising an adapter element (37) having a bottom surface shaped to be disposed on said surface, said adapter element (37) further coupled to said interface (8) of said gripping tool (2); 13. A clamping unit according to claim 12, characterized in that it has a top surface configured to be integrated into the interface.

In a method for handling an object (6) during a process using a system according to claim 10 or 11 or a clamping unit (35) according to claim 12 or 13:
- moving said gripping tool (2) into a predetermined position in relation to the selected object (6), or bringing said object (6) into a predetermined position in relation to said gripping tool (2); a step of moving;
- actuating the gripping tool (2) to rotate the gripping fingers (12) in a radial plane into contact with the selected object (6);
- carrying out a process on or involving said object (6);
- further actuating the gripping tool (2) to rotate the gripping fingers (12) away from the selected object (6) in the radial plane;
method including.