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FR3088841B1 - Collaborative gripper - Google Patents

Collaborative gripper Download PDF

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Publication number
FR3088841B1
FR3088841B1 FR1871736A FR1871736A FR3088841B1 FR 3088841 B1 FR3088841 B1 FR 3088841B1 FR 1871736 A FR1871736 A FR 1871736A FR 1871736 A FR1871736 A FR 1871736A FR 3088841 B1 FR3088841 B1 FR 3088841B1
Authority
FR
France
Prior art keywords
clamping
actuating unit
jaw
gripper
clamping bar
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
FR1871736A
Other languages
French (fr)
Other versions
FR3088841A1 (en
Inventor
Fares Kfoury
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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 Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1871736A priority Critical patent/FR3088841B1/en
Publication of FR3088841A1 publication Critical patent/FR3088841A1/en
Application granted granted Critical
Publication of FR3088841B1 publication Critical patent/FR3088841B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • 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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Jigs For Machine Tools (AREA)
  • Advancing Webs (AREA)

Abstract

Préhenseur (1) à écartement réglable comprenant : - un bâti (2) ; - un premier bras (5) monté à coulissement sur le bâti (2) et pourvu d’un premier mors (9) de serrage ; - un deuxième mors (10) de serrage ; - un premier barreau de serrage (30) solidaire du premier bras (5) ; - une unité d’actionnement (31) pour appliquer un effort de serrage entre le premier mors (9) et le deuxième mors (10) ; - des premiers moyens commandables de couplage (40) de l’unité d’actionnement (31) et du premier barreau de serrage (30) qui peuvent sélectivement adopter un premier état dans lequel les mouvements relatifs de l’unité d’actionnement (31) et du premier barreau de serrage (30) sont libres et un deuxième état dans lequel l’unité d’actionnement (31) applique un effort sur le premier barreau de serrage (30).Gripper (1) with adjustable spacing comprising: - a frame (2); - a first arm (5) slidably mounted on the frame (2) and provided with a first clamping jaw (9); - a second clamping jaw (10); - a first clamping bar (30) integral with the first arm (5); - an actuating unit (31) for applying a clamping force between the first jaw (9) and the second jaw (10); - first controllable coupling means (40) of the actuating unit (31) and of the first clamping bar (30) which can selectively adopt a first state in which the relative movements of the actuating unit (31) ) and the first clamping bar (30) are free and a second state in which the actuating unit (31) applies a force to the first clamping bar (30).

FR1871736A 2018-11-23 2018-11-23 Collaborative gripper Active FR3088841B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1871736A FR3088841B1 (en) 2018-11-23 2018-11-23 Collaborative gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1871736A FR3088841B1 (en) 2018-11-23 2018-11-23 Collaborative gripper

Publications (2)

Publication Number Publication Date
FR3088841A1 FR3088841A1 (en) 2020-05-29
FR3088841B1 true FR3088841B1 (en) 2021-01-15

Family

ID=66286425

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1871736A Active FR3088841B1 (en) 2018-11-23 2018-11-23 Collaborative gripper

Country Status (1)

Country Link
FR (1) FR3088841B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119470663B (en) * 2024-12-17 2025-09-26 荆州荆龙航天科技股份有限公司 Automatic flaw detection device for dish-shaped castings

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1157023A (en) * 1956-07-27 1958-05-23 Renault Automatic parts handling device capable of making them undergo a translation combined with two rotational movements around two perpendicular axes
FR2781401B1 (en) * 1998-07-24 2000-09-01 Renault Automation GRIPPER WITH AUTOMATIC LOCKING AND UNLOCKING
WO2005056240A2 (en) * 2003-12-12 2005-06-23 Irwin Industrial Tools Gmbh Clamping and/or splitting tool with a step gear and a spring drive mechanism for continuos displacement of both clamping cheeks relative to one another
CA3033124C (en) * 2017-05-03 2019-11-26 Vineland Research and Innovations Centre Inc. Gripper, system and process for gripping, orienting and handling a biological horticultural object

Also Published As

Publication number Publication date
FR3088841A1 (en) 2020-05-29

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