MOREL, GUILLAUME,MOREL, Guillaume,SAHBANI, ANIS,SAHBANI, Anis,FRANCOISE, VINCENT,FRANCOISE, Vincent
申请号：
EPEP2011/071334
公开号：
WO2012/072657A1
申请日:
2011.11.30
申请国别(地区):
WO
年份:
2012
代理人:
摘要：
The invention relates to an effector (1, 100) comprising a support (2, 102) a connecting member (3, 103) for mechanically connecting the support (2, 102) to a tool holder (4, 104), the connecting member (3, 103) comprising a string of elements (5, 6, 101, 105,106) which are articulated to one another in such a way that a working part (8, 108) of a tool (7, 107) carried by the tool holder (4, 104) is always located in a focal region extending around a focal point (F) that is fixed with respect to the support a locating device for at least estimating a distance (h) between the working part (8, 108) of the tool (7, 107) and an obstacle (11, 111) in a given direction of measurement, the locating device comprising a measurement sensor (9, 109) that generates a signal indicative of said distance (h). According to the invention, the sensor is secured to the effector (1, 100) and is arranged thereon in such a way that a line of sight of the sensor (9, 109) corresponding to said measurement direction passes more or less through the focal point (F). The invention also relates to a robot fitted with such an effector.Linvention concerne un effecteur (1,100) comportant un support (2,102) un organe de liaison mécanique (3,103) du support (2,102) à un porte-outil (4,104), lorgane de liaison (3,103) comportant une chaîne déléments (5,6,101,105,106) articulés entre eux de sorte quune partie utile (8,108) dun outil (7,107) porté par le porte-outil (4,104) se trouve en permanence dans une région focale sétendant autour dun point focal (F) fixe par rapport au support un dispositif de localisation pour au moins estimer une distance (h) entre la partie utile (8,108) de loutil (7,107) et un obstacle (11,111) selon une direction de mesure donnée, le dispositif de localisation comportant un capteur de mesure (9,109) générant un signal représentatif de ladite distance (h). Selon linvention, le capteur est solidaire de leffecteur (1,100) et est disposé sur celui-ci de sorte quune direction de
