# US 2018/0021902 A1 · Effector comprising a contact surface having an interface made of a ductile material

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- Number: US 2018/0021902 A1
- Document ID: US20180021902A1
- Status: Published application
- Kind: A1
- Application number: 15/645,098
- Filed: 2017-07-10
- Published: 2018-01-25
- Earliest claimed: 2016-07-25
- Assignees: Airbus Operations GmbH
- Applicants: Airbus Operations S.A.S.
- Inventors: Denis De Mattia; Gilles Batard; Sebastian Gohier; Sébastien Quillaud
- Web page: https://patentgrep.com/patent/US20180021902A1

## CPC

- B23Q 3/16: controlled in conjunction with the operation of the tool
- B25J 15/0019: {End effectors other than grippers}
- B25J 15/0095: {with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations}
- Y10S 901/41: Tool
- B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); 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
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

An effector includes at least one contact surface configured to bear against a face of a workpiece near a zone of the workpiece that is impacted by a tool supported by the effector. The contact surface includes at least one interface made of a ductile material interposed between the contact surface and the face of the workpiece.

## Claims

### Claim 1

An effector supporting at least one tool configured to perform an operation on a workpiece and comprising at least one contact surface configured to bear against a face of the workpiece near a zone of the workpiece that is impacted by the tool, said contact surface comprising at least one interface interposed between said contact surface and the face of the workpiece, wherein the interface is made of a ductile material.

### Claim 2 (depends on 1)

The effector as claimed in claim 1, wherein the material of the interface has an elastic modulus higher than 5 GPa.

### Claim 3 (depends on 1)

The effector as claimed in claim 1, wherein the contact surface comprises at least one recess configured to partially house at least one interface.

### Claim 4 (depends on 3)

The effector as claimed in claim 3, wherein the interface has a volume greater than the volume of the recess configured to house said interface.

### Claim 5 (depends on 3)

The effector as claimed in claim 3, wherein the recess is a groove of V-shaped cross section.

### Claim 6 (depends on 5)

The effector as claimed in claim 5, wherein the groove has a profile shaped in an arc of a circle centered with respect to the axis of the tool.

### Claim 7 (depends on 5)

The effector as claimed in claim 5, wherein the interface is a wire of circular cross section.

### Claim 8 (depends on 3)

The effector as claimed in claim 3, wherein the recess has a circular cross section in a plane perpendicular to the axis of the tool.

### Claim 9 (depends on 8)

The effector as claimed in claim 8, wherein the interface is a ball.