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1. WO2013075245 - A GRIPPER HAVING A TWO DEGREE OF FREEDOM UNDERACTUATED MECHANICAL FINGER FOR ENCOMPASSING AND PINCH GRASPING

Publication Number WO/2013/075245
Publication Date 30.05.2013
International Application No. PCT/CA2012/050844
International Filing Date 23.11.2012
Chapter 2 Demand Filed 25.09.2013
IPC
B25J 15/08 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
08having finger members
B23Q 3/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL, CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
3Devices holding, supporting, or positioning, work or tools, of a kind normally removable from the machine
02for mounting on a work-table, tool-slide, or analogous part
06Work-clamping means
CPC
B25J 15/0009
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
0009comprising multi-articulated fingers, e.g. resembling a human hand
B25J 15/022
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
02servo-actuated
0206comprising articulated grippers
022actuated by articulated links
B25J 15/0266
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
02servo-actuated
0253comprising parallel grippers
0266actuated by articulated links
B25J 15/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
08having finger members
B25J 15/10
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
08having finger members
10with three or more finger members
Y10S 901/39
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
901Robots
30End effector
31Gripping jaw
39Jaw structure
Applicants
  • ROBOTIQ INC. [CA]/[CA]
Inventors
  • ALLEN DEMERS, Louis-Alexis
  • LEFRANÇOIS, Simon
  • JOBIN, Jean-Philippe
Agents
  • ANGLEHART ET AL.
Priority Data
61/563,69125.11.2011US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) A GRIPPER HAVING A TWO DEGREE OF FREEDOM UNDERACTUATED MECHANICAL FINGER FOR ENCOMPASSING AND PINCH GRASPING
(FR) APPAREIL DE PRÉHENSION COMPRENANT UN DOIGT MÉCANIQUE SOUS-ACTIONNÉ À DEUX DEGRÉS DE LIBERTÉ PERMETTANT LA PRÉHENSION PAR ENSERRAGE ET PAR PINCEMENT
Abstract
(EN)
A mechanical gripper being adapted to automatically perform a stable pinch grasp and an encompassing grasp and a method of determining a system geometry thereof. The gripper comprising at least one mechanical finger comprising. The at least one mechanical finger comprising a first phalanx and a second phalanx that are pivotally connected. When a load is applied on a stable pinch grasp region, an actuation mechanism is adapted to allow the second phalanx to translate and allow its contact surface to maintain a constant orientation in order to automatically perform a pinch grasp, when a load is applied on the first phalanx or below the stable pinch grasp region, the actuation mechanism is adapted to allow the second phalanx to pivot and automatically perform an encompassing grasp.
(FR)
L'invention concerne un appareil de préhension mécanique conçu pour réaliser automatiquement une préhension par pincement et une préhension par enserrage stables et un procédé de détermination d'une géométrie du système dudit appareil de préhension. L'appareil de préhension comprend au moins un doigt mécanique. Le(s) doigt(s) mécanique(s) comprend/comprennent une première phalange et une seconde phalange qui sont raccordées de façon pivotante. Lorsqu'une charge est appliquée sur une région de préhension par pincement stable, un mécanisme d'actionnement est conçu pour permettre à la seconde phalange d'effectuer un mouvement de translation et pour permettre à sa surface de contact de conserver une orientation constante afin de réaliser automatiquement une préhension par pincement, lorsqu'une charge est appliquée sur la première phalange ou sous la région de préhension par pincement stable, le mécanisme d'actionnement est conçu pour permettre à la seconde phalange de pivoter et de réaliser automatiquement une préhension par enserrage.
Also published as
Latest bibliographic data on file with the International Bureau