FR3119109B1 - Système de préhension - Google Patents

Système de préhension Download PDF

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Publication number
FR3119109B1
FR3119109B1 FR2100680A FR2100680A FR3119109B1 FR 3119109 B1 FR3119109 B1 FR 3119109B1 FR 2100680 A FR2100680 A FR 2100680A FR 2100680 A FR2100680 A FR 2100680A FR 3119109 B1 FR3119109 B1 FR 3119109B1
Authority
FR
France
Prior art keywords
suction cup
suction
activate
grip
deactivate
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
FR2100680A
Other languages
English (en)
Other versions
FR3119109A1 (fr
Inventor
Philippe Sajet
Charles Lestoquoy
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.)
Ascodero Productique SAS
Original Assignee
Ascodero Productique 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 Ascodero Productique SAS filed Critical Ascodero Productique SAS
Priority to FR2100680A priority Critical patent/FR3119109B1/fr
Priority to EP22727212.7A priority patent/EP4281226A2/fr
Priority to PCT/FR2022/050121 priority patent/WO2022157465A2/fr
Publication of FR3119109A1 publication Critical patent/FR3119109A1/fr
Application granted granted Critical
Publication of FR3119109B1 publication Critical patent/FR3119109B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • 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
    • 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
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Système de préhension (1) pour moyens robotisés comprenant au moins un châssis (10) auquel sont solidarisées une première ventouse (11) et une deuxième ventouse (12), lesdites ventouses étant pneumatiques ou magnétiques, indépendantes, configurées pour saisir en parallèle en objet sur une surface telle que la surface d’un convoyeur et des moyens de commande configurés pour, sélectivement :- /A1/ activer la première ventouse (11) et désactiver la deuxième ventouse (12), ou alternativement, activer la deuxième ventouse (12) et désactiver la première ventouse (11), afin que la ventouse activée soit configurée pour saisir un petit objet (Op), sans risque de saisie d’un objet voisin au petit objet par la ventouse non activée, - /A2/ activer simultanément la première ventouse (11) et la deuxième ventouse (12) de sorte que les deux ventouses agrippent en parallèle un grand objet (Og), de plus grande dimension que le petit objet. Figure de l’abrégé : Figure 3
FR2100680A 2021-01-25 2021-01-25 Système de préhension Active FR3119109B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2100680A FR3119109B1 (fr) 2021-01-25 2021-01-25 Système de préhension
EP22727212.7A EP4281226A2 (fr) 2021-01-25 2022-01-21 Système de préhension
PCT/FR2022/050121 WO2022157465A2 (fr) 2021-01-25 2022-01-21 Système de préhension

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2100680A FR3119109B1 (fr) 2021-01-25 2021-01-25 Système de préhension
FR2100680 2021-01-25

Publications (2)

Publication Number Publication Date
FR3119109A1 FR3119109A1 (fr) 2022-07-29
FR3119109B1 true FR3119109B1 (fr) 2023-10-20

Family

ID=75690393

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2100680A Active FR3119109B1 (fr) 2021-01-25 2021-01-25 Système de préhension

Country Status (3)

Country Link
EP (1) EP4281226A2 (fr)
FR (1) FR3119109B1 (fr)
WO (1) WO2022157465A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115465664A (zh) * 2022-10-21 2022-12-13 中铁第一勘察设计院集团有限公司 一种动车运用所工具物料分拣装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2633265B1 (fr) * 1988-06-24 1991-06-07 Centre Tech Cuir Chaussure Dispositif pour la prehension de pieces souples isolees ou adjacentes, leur manipulation et leur depose, notamment de pieces en cuir et similaires
FR2639335A1 (fr) * 1988-11-24 1990-05-25 Centre Tech Cuir Chaussure Dispositif a elements de prehension multiples, pour la saisie d'objets isoles
ES2537160T3 (es) * 2010-12-31 2015-06-03 Fundación Tecnalia Research & Innovation Dispositivo de garra para manipulación de elementos flexibles
US10902377B2 (en) * 2018-01-24 2021-01-26 Amazon Technologies, Inc. Robotic item handling using a variable area manipulator
AT521112A1 (de) * 2018-03-09 2019-10-15 Tgw Logistics Group Gmbh Robotersystem zum Greifen einer Ware in einem Lager- und Kommissioniersystem und Betriebsverfahren hierfür
CN109465840B (zh) * 2018-11-26 2021-05-07 清华大学 一种吸盘-手爪复合抓取装置
FR3089143B1 (fr) * 2018-12-03 2020-10-30 Psa Automobiles Sa Dispositif de préhension à têtes magnétiques orientables

Also Published As

Publication number Publication date
EP4281226A2 (fr) 2023-11-29
FR3119109A1 (fr) 2022-07-29
WO2022157465A3 (fr) 2022-09-09
WO2022157465A2 (fr) 2022-07-28

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