FR3119109B1 - Système de préhension - Google Patents
Système de préhension Download PDFInfo
- 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
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
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- 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
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)
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)
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 |
-
2021
- 2021-01-25 FR FR2100680A patent/FR3119109B1/fr active Active
-
2022
- 2022-01-21 WO PCT/FR2022/050121 patent/WO2022157465A2/fr active Application Filing
- 2022-01-21 EP EP22727212.7A patent/EP4281226A2/fr active Pending
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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Legal Events
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PLFP | Fee payment |
Year of fee payment: 2 |
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PLSC | Publication of the preliminary search report |
Effective date: 20220729 |
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PLFP | Fee payment |
Year of fee payment: 3 |
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PLFP | Fee payment |
Year of fee payment: 4 |