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Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system

A clamping element and flexible clamping technology, applied in the field of flexible clamping devices, can solve problems such as arm weight and inability to work at high speeds

Active Publication Date: 2017-08-01
FAGOR ARRASATE SCOOP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of such a clamping device is that the arm is very heavy and therefore cannot work at high speeds

Method used

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  • Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system
  • Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system
  • Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system

Examples

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Embodiment Construction

[0024] figure 1 One embodiment of a component stacking system 1 according to the invention is shown.

[0025] The component stacking system 1 comprises a robotic manipulator 5 and a flexible gripping device 2 coupled to said robotic manipulator 5 .

[0026] In this embodiment, the robot 5 is a humanoid robot. In other embodiments, the robot may be a linear arm or any other type of robot known to those skilled in the art that can be used to move the flexible gripping device 2 .

[0027] figure 2 and image 3 The flexible clamping device 2 is shown in detail, comprising a plurality of support arms 20 and a plurality of clamping elements 23 attached to said support arms 20 . In this embodiment, each clamping element 23 comprises a corresponding suction cup 32 . In this embodiment, all clamping elements 23 are movable relative to the support arm 20 in which they are arranged. In other possible embodiments, each clamping element comprises an electromagnet, a suction element ...

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Abstract

The invention relates to a flexible gripping device for a part stacking system, comprising a plurality of supporting arms (20) and a plurality of gripping elements (23) attached to said supporting arms (20) at least some of said gripping elements (23) being movable with respect to the respective supporting arm (20). Each supporting arm (20) comprises at least one guiderail (21) and each movable gripping element (23) comprises a carriage (24) movable in the corresponding guiderail (21). The static friction force between each carriage (24) and the respective guiderail (21) is such that the movable gripping elements (23) are kept immobile with respect to the supporting arms (20) by means of said static friction force during the part stacking process, and said movable gripping elements (23) are positioned with respect to the respective supporting arm (20) overcoming said static friction force. The invention also relates to a part stacking system comprising a flexible gripping device and to a positioning method for positioning gripping elements.

Description

technical field [0001] The invention relates to a flexible clamping device for a component stacking system, a component stacking system and a positioning method for positioning a clamping element of the component stacking system. Background technique [0002] It is known to use robots for gripping devices comprising a plurality of rods and a plurality of suction cups arranged in the rods for stacking the components. In order to stack parts of different shapes and sizes, the gripper must adapt to the shape of the part. [0003] It is known that gripping means must be provided for each type of part to be manipulated, and that the arm must be changed according to the part to be manipulated. [0004] In addition, clamping devices are known which comprise a drive for each rod or suction cup, so that the rod or suction cup can be moved with said drive. A disadvantage of such gripping devices is that the arms are very heavy and therefore cannot work at high speeds. [0005] DE35...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0061B25J15/0616B66C1/0212B66C1/0243
Inventor C·阿隆索·拉米拉D·纳韦罗·吕埃达
Owner FAGOR ARRASATE SCOOP
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