公开(公告)号：US20020154986A1

公开(公告)日：2002-10-24

申请号：US09953495

申请日：2001-09-14

申请人： Axium Automation Inc.

发明人： Paul Leblanc ,  Sylvain-Paul Morency ,  Dominic Prevost ,  Sylvain Boily

IPC分类号： B65H029/00 ,  B65G057/30 ,  B65H003/00 ,  B65G059/00

CPC分类号： B65H3/325 ,  B65G59/005 ,  B65G61/00 ,  B65H2301/42242 ,  B65H2515/30 ,  B65H2555/31 ,  Y10S294/907 ,  Y10S414/108 ,  Y10S414/12 ,  B65H2220/03

摘要： The present invention relates to a gripping and transport clamp mounted at an end of a robotic arm. The clamp has a support member mounted at the end of the robotic arm and two lower pressing plates and one upper pressing plate mounted on the support member. A sensor is used to detect a reaction force being exerted on the first pressing plate upon displacement thereof. An actuator inserts the first lower pressing plate under the object to be gripped in response to a detection of the reaction force by the sensor. The second lower pressing plate under the first pressing plate moves between a retracted position and an extended position by means of an actuator mounted between the second lower pressing plate and the support member. It is also inserted under the object to be gripped. An actuator moves the upper pressing plate towards the object for gripping it between the plates. A controller receives detection signals from the sensor and operates the actuators.

摘要翻译： 本发明涉及一种安装在机器人手臂末端的夹持和运输夹具。 夹具具有安装在机器臂的端部的支撑构件和安装在支撑构件上的两个下压板和一个上压板。 传感器用于检测在其移动时施加在第一按压板上的反作用力。 致动器响应于传感器的反作用力的检测，将第一下压板插入被夹持物体的下方。 第一按压板下方的第二下压板通过安装在第二下压板和支撑构件之间的致动器在缩回位置和延伸位置之间移动。 它也被插入被夹持的物体下面。 执行器将上压板朝向物体移动以将其夹在板之间。 控制器从传感器接收检测信号并操作致动器。