초록 ▼

Object transfer device comprising a frame (3,20,63,58), at least one gripper (6,22,22a,62,57a,57b) having a gripper body (7,25,45) and means of guiding the gripper body with respect to the frame; the gripper being equipped with one or more jaws (8,28a,28b,46) mobile with respect to the gripper body

Object transfer device comprising a frame (3,20,63,58), at least one gripper (6,22,22a,62,57a,57b) having a gripper body (7,25,45) and means of guiding the gripper body with respect to the frame; the gripper being equipped with one or more jaws (8,28a,28b,46) mobile with respect to the gripper body (7,25,45). The gripper comprises a magnetic element (12,32,44,52,56) capable, when it is subjected to a magnetic field greater than an efficiency threshold, of exerting a force on at least one mobile jaw. The frame comprises a control device (24,49,50) of the gripper capable of creating a magnetic field greater than the efficiency threshold in at least one zone (14,15) of the frame dedicated to the operation of the gripper. Said gripper body guide means is designed so that the magnetic element of the gripper is driven in translation along a movement path (13,33) passing through the operation zone (14,15) of the gripper defined by the control device (24,49,50).

대표청구항 ▼

1. Object transfer device comprising: a frame,a gripper including a gripper body,a guiding member adapted to guide the gripper body with respect to the frame;the gripper including: one or more jaws mounted on the gripper body and being movable with respect to the gripper body between a first configu

1. Object transfer device comprising: a frame,a gripper including a gripper body,a guiding member adapted to guide the gripper body with respect to the frame;the gripper including: one or more jaws mounted on the gripper body and being movable with respect to the gripper body between a first configuration and a second configuration of the gripper, one of said first or second configurations corresponding to the opening of the gripper and the other of said first or second configurations of the gripper corresponding to a clamping of the gripper onto the object to be transferred,an operating device adapted to operate the gripper from the first configuration to the second configuration of the gripper, anda permanent return device permanently adapted to bring the gripper from the second configuration of the gripper to the first configuration of the gripper;wherein the operating device comprises a magnetic element and is capable of overcoming the action of the return device only when the magnetic element is subjected to a magnetic field greater than an efficiency threshold, andwherein the frame comprises a control device of the gripper capable of creating a magnetic field greater than the efficiency threshold in at least one zone of the frame dedicated to the operation of the gripper; said guiding member being designed so that the magnetic element of the gripper is driven along a movement path passing through the operation zone of the gripper defined by the control device. 2. Device according to claim 1, in which said guiding member is designed so that the movement path of the magnetic element leaves said at least one operation zone so that the magnetic field experienced by the magnetic element becomes smaller than said efficiency threshold. 3. Device according to claim 1, of the transfer wheel type, in which the guiding member comprises a support on which the gripper is attached, the support being mobile in rotation with respect to a main axis of the frame. 4. Device according to claim 3, in which said one or more jaws of the gripper are mounted at the end of a telescopic arm. 5. Device according to claim 4, in which said arm is hinged around a point of attachment to the support situated at a distance from the main axis of the frame. 6. Device according to claim 3, in which the magnetic element has a magnetic field detection surface extending in a plane perpendicular to the main axis of the frame. 7. Device according to claim 3, in which the magnetic element has a magnetic field detection surface extending in a plane parallel to the main axis of the frame and to the movement path of the magnetic element. 8. Device according to claim 1, in which the control device comprises a permanent magnet. 9. Device according to claim 1, in which the control device comprises an electromagnet. 10. Gripper for an object transfer device, comprising: a a gripper body,a mobile jaw mounted on the gripper body,a permanent return device capable of moving the mobile jaw from a second configuration to a first configuration of the gripper, one of said configurations corresponding to the opening of the gripper and the other of said configurations corresponding to a clamping of the gripper onto the objet to be transferred,an operating device that can be operated in order to bring the gripper from the first configuration of the gripper to the second configuration of the gripper,wherein the operating device comprises a first magnetic element that is interdependent with the gripper body and a second magnetic element that is interdependent with the mobile jaw;wherein the gripper has an air gap extending between the first and the second magnetic element at a distance from a detection surface of the first magnetic element, the air gap being dimensioned so that, when the detection surface is immersed in a magnetic field greater than an efficiency threshold, a force capable of overcoming the return device is applied to the mobile jaw. 11. Gripper according to claim 10, in which the first magnetic element has two end portions connected by an elbow shape, the end of one of the portions being the magnetic field detection surface, the end of the other portion defining the air gap. 12. Gripper according to claim 10, extending in a volume delimited globally by an outer surface of the gripper, the detection surface of the first magnetic element substantially exposed through the outer surface of the gripper so as to be capable of forming a magnetic interface with a magnetic control device external to the gripper. 13. Gripper according to claim 10, in which the mobile jaw is mounted in rotation around a rotation axis of the mobile jaw; the air gap extending at a distance from the rotation axis, in a plane parallel to the rotation axis. 14. Gripper according to claim 10, in which the first magnetic element is constituted by soft iron and the second magnetic element is constituted by soft iron. 15. Gripper according to claim 10, in which the first magnetic element is constituted by soft iron and the second magnetic element is constituted by a permanent magnet. 16. Gripper according to claim 10, in which the permanent return device comprises at least one permanent magnet. 17. Gripper according to claim 10, comprising a second mobile jaw and a synchronizing device adapted to synchronize the movement of the two jaws with respect to the gripper body.