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FR3000915B1 - Dispositif de prehension et procede associe - Google Patents

Dispositif de prehension et procede associe

Info

Publication number
FR3000915B1
FR3000915B1 FR1300094A FR1300094A FR3000915B1 FR 3000915 B1 FR3000915 B1 FR 3000915B1 FR 1300094 A FR1300094 A FR 1300094A FR 1300094 A FR1300094 A FR 1300094A FR 3000915 B1 FR3000915 B1 FR 3000915B1
Authority
FR
France
Prior art keywords
gripping device
associated method
gripping
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.)
Expired - Fee Related
Application number
FR1300094A
Other languages
English (en)
Other versions
FR3000915A1 (fr
Inventor
Dominique Neveu
Pascal Laurent
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.)
Amg Technologies Fr
Greif France Fr
AMG Industries SA
Original Assignee
GREIF FRANCE
AMG Industries SA
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 GREIF FRANCE, AMG Industries SA filed Critical GREIF FRANCE
Priority to FR1300094A priority Critical patent/FR3000915B1/fr
Priority to PCT/FR2013/000378 priority patent/WO2014111633A1/fr
Publication of FR3000915A1 publication Critical patent/FR3000915A1/fr
Application granted granted Critical
Publication of FR3000915B1 publication Critical patent/FR3000915B1/fr
Expired - Fee Related 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
    • B25J15/0052—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
    • B25J15/06—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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0237—Multiple lifting units; More than one suction area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/625—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for gripping drums or barrels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39484—Locate, reach and grasp, visual guided grasping
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F5/00—Transportable or portable shielded containers
    • G21F5/06—Details of, or accessories to, the containers
    • G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
FR1300094A 2013-01-17 2013-01-17 Dispositif de prehension et procede associe Expired - Fee Related FR3000915B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1300094A FR3000915B1 (fr) 2013-01-17 2013-01-17 Dispositif de prehension et procede associe
PCT/FR2013/000378 WO2014111633A1 (fr) 2013-01-17 2013-12-31 Dispositif de prehension et procede associe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1300094A FR3000915B1 (fr) 2013-01-17 2013-01-17 Dispositif de prehension et procede associe

Publications (2)

Publication Number Publication Date
FR3000915A1 FR3000915A1 (fr) 2014-07-18
FR3000915B1 true FR3000915B1 (fr) 2015-03-13

Family

ID=48521086

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1300094A Expired - Fee Related FR3000915B1 (fr) 2013-01-17 2013-01-17 Dispositif de prehension et procede associe

Country Status (2)

Country Link
FR (1) FR3000915B1 (fr)
WO (1) WO2014111633A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10300611B2 (en) * 2016-08-05 2019-05-28 Mgs Machine Corporation End effector assembly and method of operation to grasp non-planar articles
US10818097B2 (en) 2017-12-12 2020-10-27 Disney Enterprises, Inc. Spatial position calculation system for objects in virtual reality or augmented reality environment
CN108568835B (zh) * 2018-04-28 2024-08-09 上海发那科机器人有限公司 一种用于双机协同搬运汽车保险杠的机器人伺服手爪
US11318620B2 (en) 2018-05-09 2022-05-03 Intelligrated Headquarters, Llc Method and system for manipulating items
US11458635B2 (en) * 2018-05-09 2022-10-04 Intelligrated Headquarters, Llc Method and system for manipulating articles
EP3797941B1 (fr) * 2019-09-30 2025-07-02 Pilz GmbH & Co. KG Appareil et procédé de levage d'un récipient allongé
AU2022241646A1 (en) 2021-03-26 2023-10-12 Boston Dynamics, Inc. Perception mast for an integrated mobile manipulator robot
KR20230162961A (ko) 2021-03-26 2023-11-29 보스턴 다이나믹스, 인크. 통합 모바일 조작기 로봇을 위한 동적 질량 추정 방법들
US12251831B2 (en) 2021-03-26 2025-03-18 Boston Dynamics, Inc. Integrated mobile manipulator robot
US12415285B2 (en) 2021-03-26 2025-09-16 Boston Dynamics, Inc. Integrated mobile manipulator robot with accessory interfaces
CN114872017B (zh) * 2022-04-26 2024-05-14 中国科学院自动化研究所 双臂灵巧操作机器人系统
IT202200021810A1 (it) * 2022-10-21 2024-04-21 Tod System S R L S Robot mobile con dispositivo di presa

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4674915A (en) * 1985-11-19 1987-06-23 Shell Offshore Inc. Manipulator apparatus for gripping submerged objects
US6979032B2 (en) * 2002-11-15 2005-12-27 Fmc Technologies, Inc. Vacuum pick-up head with vacuum supply valve
FR2859197B1 (fr) * 2003-09-02 2006-10-13 Commissariat Energie Atomique Dispositif de manutention de fut
EP2576400A1 (fr) * 2010-05-24 2013-04-10 F.B. Technologies Pty Ltd Système de manipulation d'objets

Also Published As

Publication number Publication date
FR3000915A1 (fr) 2014-07-18
WO2014111633A1 (fr) 2014-07-24

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Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

TQ Partial transmission of property

Owner name: GREIF FRANCE, FR

Effective date: 20170220

Owner name: AMG TECHNOLOGIES, FR

Effective date: 20170220

Owner name: AMG INDUSTRIES, FR

Effective date: 20170220

PLFP Fee payment

Year of fee payment: 6

ST Notification of lapse

Effective date: 20190906