Processing

Please wait...

Settings

Settings

Goto Application

1. WO2022029730 - GRASPING SYSTEM WITH MAGNETIC COUPLING FOR ROBOTIC HANDLING

Publication Number WO/2022/029730
Publication Date 10.02.2022
International Application No. PCT/IB2021/057293
International Filing Date 06.08.2021
IPC
B25J 15/06 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
06with vacuum or magnetic holding means
B25J 15/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
02servo-actuated
B25J 15/10 2006.1
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
10with three or more finger members
D06F 89/02 2006.1
DTEXTILES; PAPER
06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
89Apparatus for folding textile articles with or without stapling
02of textile articles to be worn, e.g. shirts
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 15/0608
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
06with vacuum or magnetic holding means
0608with magnetic holding means
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
D06F 67/04
DTEXTILES; PAPER
06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
67Details of ironing machines provided for in groups D06F61/00, D06F63/00, or D06F65/00
04Arrangements for feeding or spreading the linen
D06F 89/02
DTEXTILES; PAPER
06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
89Apparatus for folding textile articles with or without stapling
02of textile articles to be worn, e.g. shirts
Applicants
  • UNIVERSITÀ DEGLI STUDI DI SIENA [IT]/[IT]
Inventors
  • PRATTICHIZZO, Domenico
  • MARULLO, Sara
  • SALVETTI, Gionata
  • IQBAL, Muhammad Zubair
  • BARTOCCINI, Simone
Agents
  • CELESTINO, Marco
Priority Data
10202000001957006.08.2020IT
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) GRASPING SYSTEM WITH MAGNETIC COUPLING FOR ROBOTIC HANDLING
(FR) SYSTÈME DE PRÉHENSION À COUPLAGE MAGNÉTIQUE POUR MANIPULATION ROBOTIQUE
Abstract
(EN) A method and system to manipulate a textile flexible article (10) which comprises prearranging a manipulator (20) having a manipulator head with a magnetic end-effector (22) and a mechanical end-effector (23), wherein said magnetic end effector (22) and said mechanical end-effector (23) are arranged to perform respective independent movements with respect to each other; defining a predetermined grasping point (11) on the textile flexible article (10) and fixing at said gripping point (11) at least one ferromagnetic element (12) configured to provide a ferromagnetic grasping point (11) for said textile flexible article (10) by said magnetic end-effector (22); prearranging the textile flexible article (10) in a starting configuration; moving said manipulator head (21) towards the textile flexible article (10) until said magnetic end-effector (22) approaches said ferromagnetic grasping point (11) and magnetically grasping said ferromagnetic gripping point (11) by said magnetic end-effector (22); moving said mechanical end-effector (22) into said manipulator head (21) until said mechanical end-effector (22) mechanically grasps said textile flexible article (10) around said ferromagnetic grasping point (11); causing said textile flexible article (10) to perform manipulation movements by said manipulator head (21).
(FR) Un procédé et un système pour manipuler un article textile souple (10) qui consiste : à disposer préalablement un manipulateur (20) ayant une tête de manipulateur avec un organe terminal effecteur magnétique (22) et un organe terminal effecteur mécanique (23), ledit organe terminal effecteur magnétique (22) et ledit organe terminal effecteur mécanique (23) sont disposés pour effectuer des mouvements respectifs indépendants les uns des autres ; à définir un point de préhension prédéterminé (11) sur l'article textile souple (10) et à fixer au niveau dudit point de préhension (11) au moins un élément ferromagnétique (12) configuré pour fournir un point de préhension ferromagnétique (11) pour ledit article textile souple (10) à l'aide dudit organe terminal effecteur magnétique (22) ; à disposer préalablement l'article textile souple (10) dans une configuration de départ ; à déplacer ladite tête de manipulateur (21) vers l'article textile souple (10) jusqu'à ce que ledit organe terminal effecteur magnétique (22) s'approche dudit point de préhension ferromagnétique (11) et à saisir magnétiquement ledit point de préhension ferromagnétique (11) à l'aide dudit organe terminal effecteur magnétique (22) ; à déplacer ledit organe terminal effecteur mécanique (22) dans ladite tête de manipulateur (21) jusqu'à ce que ledit organe terminal effecteur mécanique (22) saisisse mécaniquement ledit article textile souple (10) autour dudit point de préhension ferromagnétique (11) ; à amener ledit article textile souple (10) à effectuer des mouvements de manipulation à l'aide de ladite tête de manipulateur (21).
Latest bibliographic data on file with the International Bureau