WO2012093932A3 - A gripper assembly for handling variable-shaped object - Google Patents

A gripper assembly for handling variable-shaped object Download PDF

Info

Publication number
WO2012093932A3
WO2012093932A3 PCT/NL2011/050789 NL2011050789W WO2012093932A3 WO 2012093932 A3 WO2012093932 A3 WO 2012093932A3 NL 2011050789 W NL2011050789 W NL 2011050789W WO 2012093932 A3 WO2012093932 A3 WO 2012093932A3
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
shaped object
gripper assembly
frame
gripper finger
Prior art date
Application number
PCT/NL2011/050789
Other languages
French (fr)
Other versions
WO2012093932A2 (en
Inventor
Cornelis Franciscus Maria BOOTSMAN
Johannes Adrianus Maria VAN SCHAIK
Ronald Walter Neutel
Original Assignee
Roboxis B.V.
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 claimed from NL2005966A external-priority patent/NL2005966C2/en
Priority claimed from NL2006449A external-priority patent/NL2006449C2/en
Application filed by Roboxis B.V. filed Critical Roboxis B.V.
Priority to EP11790680.0A priority Critical patent/EP2661337A2/en
Publication of WO2012093932A2 publication Critical patent/WO2012093932A2/en
Publication of WO2012093932A3 publication Critical patent/WO2012093932A3/en

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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0202—Agricultural and processed food products
    • B65G2201/0211—Fruits and vegetables

Landscapes

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

Abstract

The invention also relates to a gripper assembly (GA) for handling a variable-shaped object, comprising: -a frame (FR); -at least two gripper fingers (GF1, GF2), each gripper finger having a gripper finger body (PL) that is mounted to said frame, wherein each gripper finger is provided with at least one inflatable bladder (BL) that is effective in a space in between the at least two gripper fingers, said bladder being adapted to grip the object, wherein at least one, preferably all, gripper finger bodies are moveably, preferably translationally, mounted to the frame, and in that the gripper assembly comprises actuation means (AM) to move the gripper finger bodies of the at least two gripper fingers relative to each other to adapt the size of the space in between the at least two gripper finger bodies in addition to inflation of the bladder.
PCT/NL2011/050789 2011-01-07 2011-11-18 A gripper assembly and a handling system WO2012093932A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11790680.0A EP2661337A2 (en) 2011-01-07 2011-11-18 A gripper assembly for handling variable-shaped object

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
NL2005966 2011-01-07
NL2005966A NL2005966C2 (en) 2011-01-07 2011-01-07 A gripper assembly and a handling system.
NL2006449A NL2006449C2 (en) 2011-03-22 2011-03-22 Conveyor system comprising centring unit and rotation unit.
NL2006449 2011-03-22

Publications (2)

Publication Number Publication Date
WO2012093932A2 WO2012093932A2 (en) 2012-07-12
WO2012093932A3 true WO2012093932A3 (en) 2013-07-25

Family

ID=45048174

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/NL2011/050790 WO2012093933A1 (en) 2011-01-07 2011-11-18 Conveyor system comprising centring unit and/or rotation unit
PCT/NL2011/050789 WO2012093932A2 (en) 2011-01-07 2011-11-18 A gripper assembly and a handling system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/NL2011/050790 WO2012093933A1 (en) 2011-01-07 2011-11-18 Conveyor system comprising centring unit and/or rotation unit

Country Status (2)

Country Link
EP (2) EP2661337A2 (en)
WO (2) WO2012093933A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103072807B (en) * 2013-01-09 2017-05-10 新疆大学 Chilli orienting machine
EP3116329B1 (en) 2014-03-10 2021-05-05 Food Machinery Crescenzo S.r.l. Machine for recognizing ang orienting fruit, and corresponding method
ITUB20160440A1 (en) * 2016-01-28 2017-07-28 Unitec Spa TRANSFER GROUP OF FRUIT AND VEGETABLE PRODUCTS, AND ITS PROCEDURE.
US10647004B2 (en) 2016-07-07 2020-05-12 The Board Of Trustees Of The Leland Stanford Junior University Air-bladder enhanced with gecko-adhesive for grasping applications
DE102017209984A1 (en) * 2017-06-13 2018-12-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Method and device for dealing with non-upright articles of an article stream while avoiding interference
IT201700068033A1 (en) * 2017-06-19 2018-12-19 Biagio Crescenzo Method of recognizing the orientation of fruits and the equipment that incorporates it
CN108858262B (en) * 2018-09-14 2024-04-12 山东商务职业学院 Six-degree-of-freedom material conveying robot with adjustable clamping force
JP7230779B2 (en) 2019-11-12 2023-03-01 トヨタ自動車株式会社 How to use the robot hand
CN115489931A (en) * 2021-06-17 2022-12-20 安徽丹凤电子材料股份有限公司 Electronic material processing rapid positioning device and rapid positioning method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1307942A (en) * 1961-09-01 1962-11-03 G Ab Gripping device for handling equipment
JPS4899843A (en) * 1972-04-03 1973-12-17
GB1518821A (en) * 1975-07-07 1978-07-26 Cetec Dressler Const Et Etudes Device for handling parts
JPH07276282A (en) * 1994-02-21 1995-10-24 Narasaki Sangyo Kk Hand to transport masslike body to be easily damaged
DE19529732A1 (en) * 1995-08-12 1997-02-13 Netzsch Erich Holding Device to separate cups in stock - has flexible pneumatic-hydraulic clamp elements, with elastic surface of elements engaging on lower part of stack when under pressure

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3219168A (en) * 1960-09-14 1965-11-23 Fmc Corp Fruit orienting apparatus
US3602281A (en) * 1970-01-22 1971-08-31 Fmc Corp Fruit-orienting system
US3695322A (en) * 1970-08-05 1972-10-03 Fmc Corp Peach pitter
JPS6175726A (en) * 1984-09-19 1986-04-18 Iseki & Co Ltd Fruit align and feed apparatus
NL9001004A (en) * 1990-04-26 1991-11-18 Aweta Bv METHOD AND APPARATUS FOR DIRECTING TOMATOES OR SIMILAR PRODUCTS
US5870949A (en) * 1998-04-24 1999-02-16 Ashlock Company, A Division Of Vistan Corporation Pitting apparatus with box cam; wiping blade, or separating assembly
GB2357274A (en) 1999-12-18 2001-06-20 Omar Jeet Johl Gripper finger tips
KR20070092648A (en) * 2006-03-09 2007-09-13 세이코 엡슨 가부시키가이샤 Workpiece conveyor and method of conveying workpiece
FR2927007A1 (en) * 2008-01-31 2009-08-07 Caustier France Sa Triangle receptacle for e.g. pear, has rear raising line provided between rear side peaks forming cavity, and inclined side surface extending laterally outside of cavity, where surface is inclined in descending slope from crest lines

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1307942A (en) * 1961-09-01 1962-11-03 G Ab Gripping device for handling equipment
JPS4899843A (en) * 1972-04-03 1973-12-17
GB1518821A (en) * 1975-07-07 1978-07-26 Cetec Dressler Const Et Etudes Device for handling parts
JPH07276282A (en) * 1994-02-21 1995-10-24 Narasaki Sangyo Kk Hand to transport masslike body to be easily damaged
DE19529732A1 (en) * 1995-08-12 1997-02-13 Netzsch Erich Holding Device to separate cups in stock - has flexible pneumatic-hydraulic clamp elements, with elastic surface of elements engaging on lower part of stack when under pressure

Also Published As

Publication number Publication date
WO2012093932A2 (en) 2012-07-12
WO2012093933A1 (en) 2012-07-12
EP2661337A2 (en) 2013-11-13
EP2661404A1 (en) 2013-11-13

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