WO2022064260A1 - A gripping device of a manipulator - Google Patents

A gripping device of a manipulator Download PDF

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Publication number
WO2022064260A1
WO2022064260A1 PCT/IB2020/059032 IB2020059032W WO2022064260A1 WO 2022064260 A1 WO2022064260 A1 WO 2022064260A1 IB 2020059032 W IB2020059032 W IB 2020059032W WO 2022064260 A1 WO2022064260 A1 WO 2022064260A1
Authority
WO
WIPO (PCT)
Prior art keywords
guide rail
movable guide
actuator
manipulator
gripping elements
Prior art date
Application number
PCT/IB2020/059032
Other languages
French (fr)
Inventor
Yauheni DANILAU
Leanid DZIKUNETS
Original Assignee
Icol Group Ltd
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 Icol Group Ltd filed Critical Icol Group Ltd
Priority to EP20788892.6A priority Critical patent/EP4217156A1/en
Priority to PCT/IB2020/059032 priority patent/WO2022064260A1/en
Publication of WO2022064260A1 publication Critical patent/WO2022064260A1/en

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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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure

Definitions

  • the invention relates to the field of robotics, in particular, to a gripping device of a manipulator.
  • the gripping device of a manipulator can be used when lifting, transporting and stacking transported free-form objects, more specifically, flat objects.
  • the closest prior art of the claimed solution is a flexible gripping device for a part stacking system, described in European patent application No. 3031586 comprising a manipulator arm attachment fitting, one main guide rail connected to the manipulator arm attachment fitting, at least one movable guide rail installed on the main guide rail and being movable along it, at least two gripping elements installed on the movable guide rail and being movable along it.
  • the magnitude of which should be greater than or equal to the magnitude of the maximum force that the whole system should withstand can be considered as the disadvantages of the described solution.
  • the magnitude of static friction force is set manually (according to the predetermined limit values) in accordance with the characteristics of the types of objects to be gripped by the device, which does not allow to automatically configure the device for each form of the object to be gripped, thereby significantly decreasing the flexibility of the gripping device and the performance of the whole system.
  • the problem to be solved by the invention is to develop a gripping device of a manipulator, which does not depend on static friction force, the design of which will ensure achieving a technical result consisting in providing automatic configuring of the device for each object of a unique form to be gripped.
  • a gripping device of a manipulator which comprises a manipulator arm attachment fitting, one main guide rail connected to the manipulator arm attachment fitting, at least one movable guide rail installed on the main guide rail and being movable along it, at least two gripping elements installed on the movable guide rail and being movable along it, wherein the device comprises a controller, as well as at least one actuator of the movable guide rail and at least one actuator of the gripping elements, which are coupled to the controller with a possibility of acquiring information about the coordinates that define the form of the objects to be gripped and coupled to the movable guide rail and the gripping elements with a possibility of moving them according to the acquired coordinates.
  • Information about the coordinates determining the form of the parts to be gripped i.e. in which direction the motors should revolve and where one should move the movable guide rail and the gripping elements (to grip the objects of a predetermined form) is received from an external source of control at the controller, and then at the actuators.
  • the movable guide rail is moved by the actuator of the movable guide rail
  • the gripping elements are moved by the actuator of the gripping elements. Movement is accomplished according to the acquired coordinates determining the form of the parts to be gripped, that is, the gripping device is automatically configured for a unique form of each object to be gripped.
  • the actuator of the movable guide rail and the actuator of the gripping elements are adapted to move the movable guide rail and each of the gripping elements independently from each other.
  • the gripping device of a manipulator is independent from static friction force; the actuators coupled to the controller serve as a start-up and as a brake. The above enables to use the gripping device of a manipulator to grip free-form objects automatically.
  • the main guide rail is immovable with respect to the manipulator arm attachment fitting.
  • the controller is installed on the manipulator arm attachment fitting.
  • the actuator of the movable guide rail is installed on the main guide rail.
  • the invention is designed such that the actuator of the gripping elements is installed on the movable guide rail.
  • the actuator of the gripping elements and the actuator of the movable guide rail are step motor drives.
  • the main advantage of step motor drives is accuracy. When supplying potential to the windings, a step motor (being a part of a step motor drive) will turn through an angle. The cost of such actuators is often considerably lower than that of actuators of other type. Also, the step motor drives have a long lifetime, their accuracy dropping insignificantly.
  • the actuator of the gripping elements and the actuator of the movable guide rail are servos.
  • a servo includes, among other things, a feedback transducer, since the transducer usually controls the actuated element, servos have the following advantages: maximum accuracy, an ability to automatically remove the mechanical backlash or failures of the actuator, an ability to detect a breakdown of the actuator immediately, a high motion speed of the elements.
  • the actuator of the movable guide rail and the actuator of the gripping elements are provided with position sensors.
  • the sensors perform the function of determining the initial position of the movable guide rail and the gripping elements and are fixed on the guide rails irrespective of them being movable.
  • the movable guide rail is installed on the main guide rail at an acute or a right angle.
  • a largest area is ensured on which the objects to be gripped can be arranged and which can be covered by the gripping device of a manipulator.
  • the device comprises at least two movable guide rails positioned in parallel to each other. Said arrangement of the guide rails is optimal for them to move independently from each other and for the device to cover the largest area on which the elements to be gripped can be positioned.
  • each gripping element is provided with a carriage.
  • the movable guide rail is provided with a carriage.
  • the carriage of the movable guide rail is installed on the main guide rail (immovable with respect to the manipulator arm attachment fitting), and the carriages of the gripping elements are installed on the movable guide rails. In both cases the carriages are installed on the corresponding guide rail by means of the grooves.
  • the movable guide rail and the gripping elements can be moved by setting in motion the respective carriage by the actuator of the movable guide rail or by the actuator of the gripping elements.
  • the gripping elements are selected from a group including a vacuum sucker, a Bernoulli sucker, a needle gripper and a magnetic gripper.
  • the different configurations of the gripping elements allow for selecting a suitable structure to ensure a reliable and accurate gripping of the objects of various forms.
  • the actuator of the movable guide rail and the actuator of the gripping elements are coupled to the controller by means of wires.
  • the manipulator arm attachment fitting is equipped with a fastener for a cable holder and commutator bars, which allows for connecting the external commutator devices to the actuating members - the actuator of the movable guide rail and the actuator of the gripping elements.
  • the manipulator arm attachment fitting is equipped with the valves for controlling the gripping elements.
  • Equipping the manipulator arm attachment fitting with the commutator bars and the valves for controlling the gripping elements allows to create a smallsized gripping device having a low weight compared to the used devices of similar purpose, as well as having great capabilities including an automatically customized configuration for each object of a unique form to be gripped.
  • the manipulator may be a manipulator robot, a drone, a portal and any other mechanism for controlling the gripping device.
  • the claimed invention is described by the following drawings.
  • Fig. 1 is the general view of a gripping device.
  • Fig. 2 is the general view of a manipulator arm attachment fitting.
  • Fig. 3 is the general view of a manipulator having a gripping device.
  • Fig. 1 is the general view of a gripping device 1 of a manipulator (not shown in the figure), which includes a manipulator arm attachment fitting 2 (not shown in the figure), one main guide rail 3 connected to the manipulator arm attachment fitting 2 and two movable guide rails 4 each of which is provided with a carriage 5 and which are installed on the main guide rail 3 and are movable along it, four gripping elements 6, each of which is provided with a carriage 7 and each two of them are installed on each movable guide rail 4 and are movable along it, a controller (not shown in the figure), as well as an actuator 8 of the movable guide rails 4 and two actuators 9 of the gripping elements 6.
  • the carriages 5 of the movable guide rails 4 are installed on the main guide rail 3, and the carriages 7 of the grippers are installed on the movable guide rails.
  • the carriages 5 and 7 are installed on the corresponding guide rail by means of grooves (not shown in the figure).
  • the movable guide rail 4 and the gripping elements 6, and, consequently, the carriages 5 and 7 are moved by the actuators 8 and 9 through a power transmission 10 (which may be, for example, a belt, a chain or a screw gear). Movement of the power transmission 10 is provided for by edge lines 11, onto which idle pulleys 12 are secured (or, for example, a screw gear bearing).
  • Each of the actuators 8 and 9 is provided with position sensors 13 that are fixed on the guide rails 3 and 4 irrespective of them being movable.
  • Fig. 2 is the general view of a manipulator arm attachment fitting 2 consisting of a fastener 14 and a bracket 15, which are connected to a flange 16.
  • a harness of an energy chain 17 is connected to the bracket 15, the cable holder 18 and the commutator bars 19 (or, for example, a control box) are connected to the fastener 14, a connector 20 for connecting to the manipulator and a set of valves 21 for controlling the gripping elements 6 are connected to the flange 16.
  • Connection between the commutator bars 19 (or a control box) and the set of valves 21 for controlling the gripping elements 6 is realized by means of wires through the respective connectors 22, connection between the valves 21 for controlling the gripping elements 6 and the gripping elements 6 is realized by means of flexible hoses (or wires) through the connectors 23 (Wi-fi, mini compressors etc. can also be used).
  • Fig. 3 is the general view of a manipulator 24 being a manipulator robot, having a gripping device 1, which is secured onto the manipulator robot by means of a manipulator robot arm 25 attachment fitting 2.
  • the claimed invention is implemented in the following way.
  • a flat part of a cut carpet (a mat) will be a free-form object to be gripped in the implementation example of the invention described below.
  • the functioning of the gripping device 1 of the manipulator 24 consists in performing the main functions: determining the coordinates of the parts to be gripped, a customized configuration for the form and the size of the parts to be gripped of a unique form, connecting the gripping device 1 to a part to be gripped, fastening a part to be gripped to the gripping element 6, extracting a part from a cutting sheet, moving and stacking the cut parts on a platform for completing units.
  • the gripping device 1 of the manipulator 24 operates through executing successive steps.
  • Step 1 Preparation for task implementation consists in zeroing the positions of the gripping device 1 of the manipulator 24, which is performed once before the work commences.
  • the actuator 8 of the movable guide rails 4 and the actuators 9 of the gripping elements 6, which move the carriages 5 with the movable guide rails 4 and the carriages 7 with the gripping 8 elements 6, are switched on. Zeroing is completed when the position sensors 13 are actuated.
  • Step 2 Moving the gripping device 1 of the manipulator 24 and configuration.
  • Information about the task which is received from an external source of control, is transmitted to the commutator bars 19 (or to a control box).
  • Information about the coordinates determining the form of the parts to be gripped is transmitted to the controller installed on the manipulator arm 25 attachment fitting 2.
  • the received signals launch a programmed algorithm, where the manipulator having the gripping device 1 is started to be moved to a corresponding area in order to grip a part and the actuator 8 of the movable guide rails 4 and the actuators 9 of the gripping elements 6, which move the carriages 5 with the movable guide rails 4 and the carriages 7 with the gripping 8 elements 6 to a predetermined position are switched on simultaneously, implementing the function of configuration according to the predetermined coordinates.
  • Step 3 Gripping the transported parts.
  • the valves 21 for controlling the gripping elements 6 receive a signal about switching on the necessary and the sufficient gripping elements 6 through the commutator bars 19 from an external source of control (or from a control box), a fixation between the gripping elements 6 and the parts, i.e., in other words, the gripping of the parts by the gripping elements 6 occurs.
  • Step 4 Extracting a part from the cutting sheet, moving and stacking the cut parts on a platform for completing units.
  • the manipulator 24 having the gripping device 1 transports the extracted parts to the platform for completing units based on the signal from the external source of control.
  • the valves 21 for controlling the gripping elements 6 are switched off based on the signal from the external source of control.
  • the gripping device 1 of the manipulator 24 is moved to a zero position.
  • the operation cycle is completed.
  • a gripping device of a manipulator which does not depend on static friction force, the design of which ensures achieving a technical result consisting in providing automatic configuring of the device for each object of a unique form to be gripped.

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

Abstract

The invention relates to the field of robotics, in particular, to a gripping device of a manipulator. The gripping device can be used when lifting, transporting and stacking transported free-form objects. A gripping device of a manipulator is developed, which comprises a manipulator arm attachment fitting, one main guide rail connected to the manipulator arm attachment fitting, at least one movable guide rail installed on the main guide rail and being movable along it, at least two gripping elements installed on the movable guide rail and being movable along it, wherein the device comprises a controller, as well as at least one actuator of the movable guide rail and at least one actuator of the gripping elements, which are coupled to the controller with a possibility of acquiring information about the coordinates that define the form of the objects to be gripped and coupled to the movable guide rail and the gripping elements with a possibility of moving them according to the acquired coordinates. Thus, a gripping device of a manipulator is developed, which does not depend on static friction force, the design of which ensures achieving a technical result consisting in providing automatic configuring of the device for each object of a unique form to be gripped.

Description

A GRIPPING DEVICE OF A MANIPULATOR
The invention relates to the field of robotics, in particular, to a gripping device of a manipulator. The gripping device of a manipulator can be used when lifting, transporting and stacking transported free-form objects, more specifically, flat objects.
The development of the state-of-the-art robotic technology raises requirements for control automation, extending service functions, safety in use of tools, which requires additional equipping with hardware and software. Expansion of robotization in many production fields involves the use of manipulators, more specifically manipulator robots, the operations substituting for human labour at the steps of performing the most simple actions, such as taking, carrying over, putting, being the most robotized. Thus, the task of developing the gripping devices of manipulators is the most obvious and urgent.
The closest prior art of the claimed solution is a flexible gripping device for a part stacking system, described in European patent application No. 3031586 comprising a manipulator arm attachment fitting, one main guide rail connected to the manipulator arm attachment fitting, at least one movable guide rail installed on the main guide rail and being movable along it, at least two gripping elements installed on the movable guide rail and being movable along it.
The dependence of the device on static friction force the magnitude of which should be greater than or equal to the magnitude of the maximum force that the whole system should withstand can be considered as the disadvantages of the described solution. In addition, the magnitude of static friction force is set manually (according to the predetermined limit values) in accordance with the characteristics of the types of objects to be gripped by the device, which does not allow to automatically configure the device for each form of the object to be gripped, thereby significantly decreasing the flexibility of the gripping device and the performance of the whole system.
The problem to be solved by the invention is to develop a gripping device of a manipulator, which does not depend on static friction force, the design of which will ensure achieving a technical result consisting in providing automatic configuring of the device for each object of a unique form to be gripped.
The problem to be solved is solved by developing a gripping device of a manipulator, which comprises a manipulator arm attachment fitting, one main guide rail connected to the manipulator arm attachment fitting, at least one movable guide rail installed on the main guide rail and being movable along it, at least two gripping elements installed on the movable guide rail and being movable along it, wherein the device comprises a controller, as well as at least one actuator of the movable guide rail and at least one actuator of the gripping elements, which are coupled to the controller with a possibility of acquiring information about the coordinates that define the form of the objects to be gripped and coupled to the movable guide rail and the gripping elements with a possibility of moving them according to the acquired coordinates.
Information about the coordinates determining the form of the parts to be gripped, i.e. in which direction the motors should revolve and where one should move the movable guide rail and the gripping elements (to grip the objects of a predetermined form) is received from an external source of control at the controller, and then at the actuators. Thus, the movable guide rail is moved by the actuator of the movable guide rail, and the gripping elements are moved by the actuator of the gripping elements. Movement is accomplished according to the acquired coordinates determining the form of the parts to be gripped, that is, the gripping device is automatically configured for a unique form of each object to be gripped. It is obvious that the actuator of the movable guide rail and the actuator of the gripping elements are adapted to move the movable guide rail and each of the gripping elements independently from each other. The gripping device of a manipulator is independent from static friction force; the actuators coupled to the controller serve as a start-up and as a brake. The above enables to use the gripping device of a manipulator to grip free-form objects automatically.
At the same time, it is to be noted that the main guide rail is immovable with respect to the manipulator arm attachment fitting.
Preferably, the controller is installed on the manipulator arm attachment fitting. Also preferably, the actuator of the movable guide rail is installed on the main guide rail.
Also, it is appropriate that the invention is designed such that the actuator of the gripping elements is installed on the movable guide rail.
In a preferred implementation of the claimed invention, the actuator of the gripping elements and the actuator of the movable guide rail are step motor drives. The main advantage of step motor drives is accuracy. When supplying potential to the windings, a step motor (being a part of a step motor drive) will turn through an angle. The cost of such actuators is often considerably lower than that of actuators of other type. Also, the step motor drives have a long lifetime, their accuracy dropping insignificantly.
In another preferred implementation of the claimed invention, the actuator of the gripping elements and the actuator of the movable guide rail are servos. A servo includes, among other things, a feedback transducer, since the transducer usually controls the actuated element, servos have the following advantages: maximum accuracy, an ability to automatically remove the mechanical backlash or failures of the actuator, an ability to detect a breakdown of the actuator immediately, a high motion speed of the elements.
Preferably, the actuator of the movable guide rail and the actuator of the gripping elements are provided with position sensors. The sensors perform the function of determining the initial position of the movable guide rail and the gripping elements and are fixed on the guide rails irrespective of them being movable.
Also preferably, the movable guide rail is installed on the main guide rail at an acute or a right angle. Thus, a largest area is ensured on which the objects to be gripped can be arranged and which can be covered by the gripping device of a manipulator.
In another preferred implementation of the claimed invention, the device comprises at least two movable guide rails positioned in parallel to each other. Said arrangement of the guide rails is optimal for them to move independently from each other and for the device to cover the largest area on which the elements to be gripped can be positioned.
Preferably, each gripping element is provided with a carriage. Also preferably, the movable guide rail is provided with a carriage.
The carriage of the movable guide rail is installed on the main guide rail (immovable with respect to the manipulator arm attachment fitting), and the carriages of the gripping elements are installed on the movable guide rails. In both cases the carriages are installed on the corresponding guide rail by means of the grooves. The movable guide rail and the gripping elements can be moved by setting in motion the respective carriage by the actuator of the movable guide rail or by the actuator of the gripping elements.
Preferably, the gripping elements are selected from a group including a vacuum sucker, a Bernoulli sucker, a needle gripper and a magnetic gripper. The different configurations of the gripping elements allow for selecting a suitable structure to ensure a reliable and accurate gripping of the objects of various forms.
Preferably, the actuator of the movable guide rail and the actuator of the gripping elements are coupled to the controller by means of wires.
Also preferably, the manipulator arm attachment fitting is equipped with a fastener for a cable holder and commutator bars, which allows for connecting the external commutator devices to the actuating members - the actuator of the movable guide rail and the actuator of the gripping elements.
Also preferably, the manipulator arm attachment fitting is equipped with the valves for controlling the gripping elements.
Equipping the manipulator arm attachment fitting with the commutator bars and the valves for controlling the gripping elements, adopting separate actuators for each axis (the actuator of the movable guide rail and the actuator of the gripping elements) allows to create a smallsized gripping device having a low weight compared to the used devices of similar purpose, as well as having great capabilities including an automatically customized configuration for each object of a unique form to be gripped.
The manipulator may be a manipulator robot, a drone, a portal and any other mechanism for controlling the gripping device. The claimed invention is described by the following drawings.
Fig. 1 is the general view of a gripping device.
Fig. 2 is the general view of a manipulator arm attachment fitting.
Fig. 3 is the general view of a manipulator having a gripping device.
Fig. 1 is the general view of a gripping device 1 of a manipulator (not shown in the figure), which includes a manipulator arm attachment fitting 2 (not shown in the figure), one main guide rail 3 connected to the manipulator arm attachment fitting 2 and two movable guide rails 4 each of which is provided with a carriage 5 and which are installed on the main guide rail 3 and are movable along it, four gripping elements 6, each of which is provided with a carriage 7 and each two of them are installed on each movable guide rail 4 and are movable along it, a controller (not shown in the figure), as well as an actuator 8 of the movable guide rails 4 and two actuators 9 of the gripping elements 6. The carriages 5 of the movable guide rails 4 are installed on the main guide rail 3, and the carriages 7 of the grippers are installed on the movable guide rails. The carriages 5 and 7 are installed on the corresponding guide rail by means of grooves (not shown in the figure). The movable guide rail 4 and the gripping elements 6, and, consequently, the carriages 5 and 7 are moved by the actuators 8 and 9 through a power transmission 10 (which may be, for example, a belt, a chain or a screw gear). Movement of the power transmission 10 is provided for by edge lines 11, onto which idle pulleys 12 are secured (or, for example, a screw gear bearing). Each of the actuators 8 and 9 is provided with position sensors 13 that are fixed on the guide rails 3 and 4 irrespective of them being movable.
Fig. 2 is the general view of a manipulator arm attachment fitting 2 consisting of a fastener 14 and a bracket 15, which are connected to a flange 16. A harness of an energy chain 17 is connected to the bracket 15, the cable holder 18 and the commutator bars 19 (or, for example, a control box) are connected to the fastener 14, a connector 20 for connecting to the manipulator and a set of valves 21 for controlling the gripping elements 6 are connected to the flange 16. Connection between the commutator bars 19 (or a control box) and the set of valves 21 for controlling the gripping elements 6 is realized by means of wires through the respective connectors 22, connection between the valves 21 for controlling the gripping elements 6 and the gripping elements 6 is realized by means of flexible hoses (or wires) through the connectors 23 (Wi-fi, mini compressors etc. can also be used).
Fig. 3 is the general view of a manipulator 24 being a manipulator robot, having a gripping device 1, which is secured onto the manipulator robot by means of a manipulator robot arm 25 attachment fitting 2.
The claimed invention is implemented in the following way.
A flat part of a cut carpet (a mat) will be a free-form object to be gripped in the implementation example of the invention described below.
The functioning of the gripping device 1 of the manipulator 24 consists in performing the main functions: determining the coordinates of the parts to be gripped, a customized configuration for the form and the size of the parts to be gripped of a unique form, connecting the gripping device 1 to a part to be gripped, fastening a part to be gripped to the gripping element 6, extracting a part from a cutting sheet, moving and stacking the cut parts on a platform for completing units.
The gripping device 1 of the manipulator 24 operates through executing successive steps.
Step 1. Preparation for task implementation consists in zeroing the positions of the gripping device 1 of the manipulator 24, which is performed once before the work commences.
Upon a zeroing signal received from an external source of control, the information about which is received at the controller and the commutator bars 19 (or a control box), the actuator 8 of the movable guide rails 4 and the actuators 9 of the gripping elements 6, which move the carriages 5 with the movable guide rails 4 and the carriages 7 with the gripping 8 elements 6, are switched on. Zeroing is completed when the position sensors 13 are actuated.
Step 2. Moving the gripping device 1 of the manipulator 24 and configuration.
Information about the task, which is received from an external source of control, is transmitted to the commutator bars 19 (or to a control box). Information about the coordinates determining the form of the parts to be gripped is transmitted to the controller installed on the manipulator arm 25 attachment fitting 2. The received signals launch a programmed algorithm, where the manipulator having the gripping device 1 is started to be moved to a corresponding area in order to grip a part and the actuator 8 of the movable guide rails 4 and the actuators 9 of the gripping elements 6, which move the carriages 5 with the movable guide rails 4 and the carriages 7 with the gripping 8 elements 6 to a predetermined position are switched on simultaneously, implementing the function of configuration according to the predetermined coordinates.
Step 3. Gripping the transported parts.
Upon completion of configuration, the valves 21 for controlling the gripping elements 6 receive a signal about switching on the necessary and the sufficient gripping elements 6 through the commutator bars 19 from an external source of control (or from a control box), a fixation between the gripping elements 6 and the parts, i.e., in other words, the gripping of the parts by the gripping elements 6 occurs.
Step 4. Extracting a part from the cutting sheet, moving and stacking the cut parts on a platform for completing units.
Upon completion of fixation, the manipulator 24 having the gripping device 1 transports the extracted parts to the platform for completing units based on the signal from the external source of control. When reaching the coordinate of the part stacking location, the valves 21 for controlling the gripping elements 6 are switched off based on the signal from the external source of control.
Upon completion of the claimed task, the gripping device 1 of the manipulator 24 is moved to a zero position. The operation cycle is completed.
Thus, a gripping device of a manipulator is developed, which does not depend on static friction force, the design of which ensures achieving a technical result consisting in providing automatic configuring of the device for each object of a unique form to be gripped.

Claims

Claims
1. A gripping device of a manipulator, which comprises a manipulator arm attachment fitting, one main guide rail connected to the manipulator arm attachment fitting, at least one movable guide rail installed on the main guide rail and being movable along it, at least two gripping elements installed on the movable guide rail and being movable along it, characterized in that it comprises a controller, as well as at least one actuator of the movable guide rail and at least one actuator of the gripping elements, which are coupled to the controller with a possibility of acquiring information about the coordinates that define the form of the objects to be gripped and coupled to the movable guide rail and the gripping elements with a possibility of moving them according to the acquired coordinates.
2. The device according to claim 1, characterized in that the controller is installed on the manipulator arm attachment fitting.
3. The device according to claim 1, characterized in that the actuator of the movable guide rail is installed on the main guide rail.
4. The device according to claim 1, characterized in that the actuator of the gripping elements is installed on the movable guide rail.
5. The device according to claim 1, characterized in that the actuator of the gripping elements and the actuator of the movable guide rail are step motor drives.
6. The device according to claim 1, characterized in that the actuator of the gripping elements and the actuator of the movable guide rail are servos.
7. The device according to claim 1, characterized in that the actuator of the movable guide rail and the actuator of the gripping elements are provided with position sensors.
8. The device according to claim 1, characterized in that the movable guide rail is installed on the main guide rail at an acute or a right angle.
9. The device according to claim 1, characterized in that it comprises at least two movable guide rails positioned in parallel to each other. 9
10. The device according to claim 1, characterized in that each gripping element is provided with a carriage.
11. The device according to claim 1, characterized in that the movable guide rail is provided with a carriage.
12. The device according to claim 1, characterized in that the gripping elements are selected from a group including a vacuum sucker, a Bernoulli sucker, a needle gripper and a magnetic gripper.
PCT/IB2020/059032 2020-09-28 2020-09-28 A gripping device of a manipulator WO2022064260A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20788892.6A EP4217156A1 (en) 2020-09-28 2020-09-28 A gripping device of a manipulator
PCT/IB2020/059032 WO2022064260A1 (en) 2020-09-28 2020-09-28 A gripping device of a manipulator

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PCT/IB2020/059032 WO2022064260A1 (en) 2020-09-28 2020-09-28 A gripping device of a manipulator

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JP2010000561A (en) * 2008-06-19 2010-01-07 Ist Corp Deformable thin object spreading device
WO2016070412A1 (en) * 2014-11-07 2016-05-12 Abb Technology Ltd An integrated gripper and a robot
EP3031586A1 (en) 2014-12-11 2016-06-15 Fagor, S. Coop. Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system
US20180178991A1 (en) * 2016-12-22 2018-06-28 General Electric Company Adaptive apparatus and system for automated handling of components
US20200023526A1 (en) * 2017-03-30 2020-01-23 Tyco Electronics (Shanghai) Co. Ltd. Automatic Pick-Up Equipment

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06143173A (en) * 1992-10-30 1994-05-24 Makino Milling Mach Co Ltd Robot hand
JP2009006460A (en) * 2007-06-29 2009-01-15 Mitsubishi Electric Corp Robot hand
JP2010000561A (en) * 2008-06-19 2010-01-07 Ist Corp Deformable thin object spreading device
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