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US 2023/0415359 A1Published application
Gripping device and apparatus for handling products
AssigneeFameccanica.Data S.p.A.
InventorsAndrea ACCIAVATTI, Mario CAPRARA
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Abstract
A gripping device includes a plurality of modules articulated to a central support and carrying a plurality of suction gripping elements, a plurality of actuators associated with respective modules and operable independently of each other to vary a position of the respective modules, and a drive unit configured to control the plurality of actuators according to signals indicative of geometric characteristics of products to be handled.
Claims9
A gripping device, comprising:
- a central support configured to be connected to a movable element of a manipulator,
- a plurality of modules articulated to the central support around respective articulation axes and extending outwards with respect to the central support, wherein said plurality of modules are arranged so as to form a crown surrounding said central support,
- a plurality of suction gripping elements carried by said plurality of modules,
- a plurality of actuators associated with respective modules of the plurality of modules and operable independently from each other, and
- a drive unit configured to control said plurality of actuators to vary an inclination of the respective modules with respect to the central support around respective articulation axes as a function of signals indicative of geometric characteristics of products to be handled,
- wherein said drive unit is also configured to activate/deactivate and/or modulate said plurality of suction gripping elements independently of each other as a function of said signals indicative of geometric characteristics of the products to be handled.
3 more elements
A product handling apparatus, comprising:
- a manipulator having a movable element movable in a working space,
- a vision device arranged to acquire images of products to be handled,
- an electronic control unit, which receives images of the products to be handled from the vision device, processes said images and generates signals indicative of geometric characteristics of the products to be handled, and
- a gripping device comprising:
- a central support connected to said movable element of the manipulator,
- a plurality of modules articulated to the central support around respective articulation axes and extending outwards with respect to the central support, wherein said plurality of modules are arranged so as to form a crown surrounding said central support,
- a plurality of suction gripping elements carried by said plurality of modules,
- a plurality of actuators associated with respective modules of the plurality of modules and operable independently from each other, and
- a drive unit configured to control said plurality of actuators to vary an inclination of the respective modules with respect to the central support around respective articulation axes as a function of signals indicative of geometric characteristics of the products to be handled,
- wherein said drive unit is also configured to activate/deactivate and/or modulate said plurality of suction gripping elements independently of each other as a function of said signals indicative of geometric characteristics of the products to be handled.
7 more elements
Dependencies are inferred from the claim text.