US 2021/0146534 A1 · Safe Collaborative Gripping Device

Abstract

A method for controlling a gripping device (2) for a robot (20) comprising two or more gripping structures (4, 4′) movably arranged relative to each other and being configured to grip an object (8, 16) is disclosed. The method comprises actively restricting the displacement (ΔD) of at least one of the two or more gripping structures so that said displacement is less than or equal to a predefined maximum displacement (ΔDmax). The method comprises the steps of detecting when at least one of the gripping structures is in contact with the object and increasing the force (F) exerted by at least one of the two or more gripping structures to the object from a predefined first level (F1) to a predefined second level (F2) when it has been detected that at least one of the two or more gripping structures is in contact with the object.

Claims20

Dependent claims

A method for controlling a gripping device for a robot comprising two or more gripping structures movably arranged relative to each other and configured to grip an object, the method comprising:

actively restricting a displacement (ΔD) of at least one of the two or more gripping structures so that said displacement (ΔD) is less than or equal to a predefined maximum displacement (ΔDmax);
detecting when at least one of the two or more gripping structures is in contact with the object;
and
increasing a force (F) exerted by at least one of the two or more gripping structures to the object from a predefined first level (F1) to a predefined second level (F2) when it has been detected that at least one of the two or more gripping structures is in contact with the object.

1 more element

A gripping device for a robot, said gripping device comprising:

two or more gripping structures movably arranged relative to each other and configured to grip an object;
a detection unit configured to detect when the object is in contact with at least one of the two or more gripping structures,
one or more actuators configured to make at least one of the two or more gripping structures move to grip the object,
a control unit configured to control the one or more actuators,
wherein the control unit is configured to restrict displacement (ΔD) of at least one of the two or more gripping structures so that said displacement (ΔD) is less than or equal to a predefined maximum displacement (ΔDmax), and wherein the gripping device is configured to increase a force (F) exerted by at least one of the two or more gripping structures to the object from a predefined first level (F1) to a predefined second level (F2) when the detection unit has detected that at least one of the two or more gripping structures is in contact with the object.

2 more elements

Dependencies are inferred from the claim text.

Safe Collaborative Gripping Device

Life of this patent

Safe Collaborative Gripping Device

Life of this patent

Abstract

Claims20