WO2022070159A1 - Passive gripper device for handling objects - Google Patents

Passive gripper device for handling objects Download PDF

Info

Publication number
WO2022070159A1
WO2022070159A1 PCT/IB2021/059051 IB2021059051W WO2022070159A1 WO 2022070159 A1 WO2022070159 A1 WO 2022070159A1 IB 2021059051 W IB2021059051 W IB 2021059051W WO 2022070159 A1 WO2022070159 A1 WO 2022070159A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
coupling portion
virtue
gripper device
passive gripper
Prior art date
Application number
PCT/IB2021/059051
Other languages
French (fr)
Inventor
Marco FORNO
Eric ORSO
Luigi SCALZONE
Original Assignee
Arol S.P.A.
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 Arol S.P.A. filed Critical Arol S.P.A.
Publication of WO2022070159A1 publication Critical patent/WO2022070159A1/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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0042—V-shaped gripping surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement

Abstract

Passive gripper device (10) for a handling device and comprising a body (11) provided with a coupling portion (13), a gripping portion (15) adapted to grip a part (2) of an object (1), said gripping portion (15) including at least two gripping arms (17; 19), each having a first end (17a, 19a) proximal to the coupling portion (13) and a second end (17b, 19b) distal to the coupling portion (13) and shaped to define a seat (21) for the part (2), said gripping arms (17, 19) being arranged symmetrically relative to a median plane passing through a longitudinal axis of the coupling portion (13), whereby gripping of the object takes place by exploiting the elastic force generated at the time when the object interferes with said gripping portion, either by virtue of an elastic reaction of the gripping portion (1, 115), or by virtue of the elastic deformation of the gripped part of the object, or by virtue of both the aforesaid effects.
PCT/IB2021/059051 2020-10-01 2021-10-01 Passive gripper device for handling objects WO2022070159A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT202000023158 2020-10-01
IT102020000023158 2020-10-01

Publications (1)

Publication Number Publication Date
WO2022070159A1 true WO2022070159A1 (en) 2022-04-07

Family

ID=73793684

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2021/059051 WO2022070159A1 (en) 2020-10-01 2021-10-01 Passive gripper device for handling objects

Country Status (1)

Country Link
WO (1) WO2022070159A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60108290A (en) * 1983-11-14 1985-06-13 三菱電機株式会社 Hand of carrier robot for material having different diameter
US4682932A (en) * 1983-08-18 1987-07-28 Silver Seiko Limited Industrial robot
JPH0326443U (en) * 1989-07-27 1991-03-18
JP2001287795A (en) * 2000-04-06 2001-10-16 Masaaki Nagahashi Bottle gripper
US20130209210A1 (en) * 2010-10-29 2013-08-15 Thermo Fisher Scientific Oy Method and assembly for transporting single and multiple reaction vessels
CN108274461A (en) * 2017-12-26 2018-07-13 桐乡市杰乐进出口有限公司 A kind of Reed type grabbing device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4682932A (en) * 1983-08-18 1987-07-28 Silver Seiko Limited Industrial robot
JPS60108290A (en) * 1983-11-14 1985-06-13 三菱電機株式会社 Hand of carrier robot for material having different diameter
JPH0326443U (en) * 1989-07-27 1991-03-18
JP2001287795A (en) * 2000-04-06 2001-10-16 Masaaki Nagahashi Bottle gripper
US20130209210A1 (en) * 2010-10-29 2013-08-15 Thermo Fisher Scientific Oy Method and assembly for transporting single and multiple reaction vessels
CN108274461A (en) * 2017-12-26 2018-07-13 桐乡市杰乐进出口有限公司 A kind of Reed type grabbing device

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