• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The device comprises at least: - a bar (9) movable longitudinally along an axis of symmetry (100), provided at one end with a plate (5); - a first rigid connection (3) and a second rigid connection (3 ') symmetrical with respect to said axis (100), each terminated by a jaw (4, 4'), the two jaws forming a gripper capable of grasping an object; two pairs of flexible beams (11, 12, 11 ', 12'), symmetrical with respect to said axis (100), said beams being each connected at one end to one of said rigid links (3, 3 '), the other end being fixed, and guiding the movements of said rigid links perpendicular to said axis (100), the ends of a pair of beams forming a parallelogram; two pairs of flexible beams (21, 22, 21 ', 22'), symmetrical with respect to said axis (100), said beams being each connected at one end to one of said rigid links (3, 3 '), the other end being connected to said bar (9), and guiding the movements of said bar (9) parallel to said axis (100), the ends of a pair of beams forming a parallelogram.
    公开号:FR3063668A1
    申请号:FR1751834
    申请日:2017-03-07
    公开日:2018-09-14
    发明作者:Mathieu Grossard；Maxime Beck
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    Holder (s): COMMISSIONER OF ATOMIC ENERGY AND ALTERNATIVE ENERGIES Public establishment.
    Extension request (s)
    Agent (s): MARKS & CLERK FRANCE General partnership.
    54 / CLAMP TYPE GRIPPING DEVICE AND SYSTEM COMPRISING SUCH DEVICES.
    FR 3 063 668 - A1
    The device comprises at least:
    - a bar (9) movable longitudinally along an axis of symmetry (100), provided at one end with a plate (5);
    - A first rigid connection (3) and a second rigid connection (3j symmetrical with respect to said axis (100), each terminated by a jaw (4, 4j, the two jaws forming a clamp capable of grasping an object;
    - two pairs of flexible beams (11, 12, 11 ', 12'), symmetrical with respect to said axis (100), said beams being each connected by one end to one of said rigid connections (3, 3 j, the other end being fixed, and guiding the movements of said rigid connections perpendicular to said axis (100), the ends of a pair of beams forming a parallelogram;
    - two pairs of flexible beams (21, 22, 21 ', 22j, symmetrical with respect to said axis (100), said beams being each connected by one end to one of said rigid connections (3, 3j, the other end being connected to said bar (9), and guiding the movements of said bar (9) parallel to said axis (100), the ends of a pair of beams forming a parallelogram.

    Gripper type gripper
    AND SYSTEM COMPRISING SUCH DEVICES
    The present invention relates to a gripping device, of the clamp type. It also relates to a gripping system composed of such devices.
    The invention is particularly applicable for the gripping and depositing of fragile and sticky objects, for example for deformable food products on an agro-food manufacturing line.
    Automated food processing lines, from start to packaging, generally require a large number of manipulations leading to the grasping of food products while meeting high hygiene requirements.
    Several types of gripping are known. A first type is gripping by pneumatic suction. These are all-or-nothing systems applying unknown gripping forces that do not allow product positioning errors to be dealt with. Object pickup efficiency is low due to the large variability in geometry of the objects handled. The removal efficiency is also low because there is no system which deals with random bonding on the gripping tool and which ensures a correct final position in the removal zone.
    Another type is gripping by bi-digital forceps with two symmetrical jaws. There is no removal system overcoming the problem of bonding and there may be incorrect entry or overwriting of the product under a priori unbounded forces.
    Another type is gripping by flexible, underactuated elements. A disadvantage is also the inability to overcome the problem of sticking.
    An object of the invention is to overcome the aforementioned drawbacks by allowing in particular the automated gripping of fragile, deformable and sticky food products while meeting the most stringent hygienic safety standards. To this end, the invention relates to a gripper type gripper, comprising at least:
    - a bar movable longitudinally along an axis of symmetry, provided at one end with a plate;
    - A first rigid connection and a second rigid connection symmetrical with respect to said axis, each terminated by a jaw, the two jaws forming a clamp capable of grasping an object;
    - two pairs of flexible beams, symmetrical with respect to said axis, said beams being each connected by one end to one of said rigid connections, the other end being fixed, and guiding the movements of said rigid connections perpendicular to said axis, w the ends of a pair of beams forming a parallelogram;
    - two pairs of flexible beams, symmetrical with respect to said axis, said beams being each connected by one end to one of said rigid connections, the other end being connected to said bar, and guiding the movements of said bar parallel to said axis, the ends a pair of beams forming a parallelogram;
    the movements of said jaws being caused by actuation of said bar, a force exerted on said bar in a direction opposite to said jaws causing said jaws to approach, a force U ’exerted in the direction of said jaws causing said jaws to open.
    The length of said bar is such that said plate is for example capable of pushing said object when said force U ’is exerted towards the jaws, the pushing being carried out simultaneously with the opening of the jaws.
    Said device is for example monolithic.
    Said beams having a fixed end are for example connected to a rigid part capable of being fixed to a structure.
    Said beams are for example curved and not parallel.
    Said beams connected to said bar comprise for example several straight sections, the sections starting from the ends of said beams being parallel, said beams comprising for example three straight sections.
    Said beams have, for example, non-constant sections, the sections being maximum at the points of attachment of said beams and decreasing towards the center of said beams.
    Said jaws are for example flexible. For example, they have a width allowing them to grab at least two objects at the same time.
    The activation of said bar is for example carried out by means of a ring fixed at the end of said bar opposite to said plate.
    The invention also relates to a gripping system comprising a set of devices such as that described above.
    Said devices are for example positioned in at least a double row, staggered.
    Said beams having a fixed end are for example fixed to a structure having the shape of a plate.
    Said system is for example suitable for use in an agrifood chain, said object then being a deformable food product.
    Other characteristics and advantages of the invention will become apparent from the following description given with reference to the appended drawings which represent:
    - Figure 1, a first embodiment of a gripping device according to the invention;
    - Figure 2, a parallelogram type structure;
    - Figure 3, an illustration of the activation mode of a device according to the invention;
    - Figure 4, a cycle of input and removal of an object by a device according to the invention;
    - Figure 5, another embodiment of a gripping device according to the invention;
    - Figure 6, a representation of the mechanical stresses likely to be undergone by an embodiment of a device according to the invention;
    - Figure 7, another embodiment of a device according to the invention;
    - Figure 8, a possible embodiment of the jaws of a device according to the invention;
    - Figure 9, in a partial view the principle of embodiment of an exemplary embodiment of a gripping system according to the invention comprising a set of previous devices;
    - Figure 10, the embodiment of Figure 9 in its full version.
    Figure 1 shows a first possible embodiment of a gripping device 10 according to the invention. For the remainder of the description, it will be considered by way of example that the device is used to carry out input and removal operations, called "pick and place". Several applications are possible.
    The device is formed in a deformable monolithic body, symmetrical with respect to an axis 100, comprising an ejection plate 5 and two jaws 4, 4 ′ forming a clamp. The movements of the plate 5 and the jaws 11, 12 are controlled by four structures in the form of deformable parallelograms 1, 1 ’, 2, 2’, also called 4-bar systems. Subsequently, for simplicity we will call these parallelogram structures.
    More precisely, a first pair of 1.1 ’parallelograms, symmetrical with respect to the axis 100, controls the movements of the jaws 4, 4’. The second pair of parallelograms, symmetrical with respect to the axis 100, controls the movements of the plate 5. Furthermore, the two pairs of parallelograms interact with each other.
    The parallelograms 1, 1 ’of the first couple are fixed to a structure 7. This structure is for example a part of a robot or any other automated device.
    Each fixed parallelogram is connected to a jaw by means of a rigid link 3, 3 ', this being connected to the side 13, 13' of the parallelogram opposite to said structure 7. Consequently, any movement caused on this side 11, 11 'is transmitted to the jaw 4, 4'. The jaws can themselves be rigid or flexible, as required.
    The parallelograms 2, 2 ′ of the second pair are connected on the one hand to the rigid connections 3, 3 ′ and on the other hand to a bar 9 carrying the plate 5 arranged in a plane perpendicular to the axis of the bar, coincident with the axis of symmetry 100.
    Opposite the plate 5, the bar has an actuation point embodied by a ring 8 in the example of FIG. 1. This actuation point constitutes the entry point of the gripping device, the three outlets being the plate 5 and the two jaws 4, 4 '. These are the entry point and exit points insofar as the forces applied to set in motion the plate and the jaws are applied to this entry point. We now describe more precisely the parallelogram structures. In the following description, the parallelograms of the first pair 1, 1 ’and the second pair 2, 2’ respectively will be called upper and lower parallelograms having regard to their respective positions.
    FIG. 2 shows a monolithic parallelogram structure 201 of the type of those 1, 1 ’, 2, 2’ used in the gripping device according to the invention. This parallelogram structure is composed of two opposite rigid sides connected by two flexible beams 23, 24 parallel. These beams act as a flexible guide system by bending at their attachment points, while being stiff in tension. This parallelogram structure with flexible beams makes it possible to replace the guide 29 obtained by a poly-articulated parallelogram structure 202, with pivots of rotation.
    The beams 23, 24 flexible in bending and stiff in traction make it possible to obtain guidance according to pure rectilinear movements, that is to say precise, parallel to the other two sides 25, 26 of the parallelogram to which the beams are hung.
    We return to FIG. 1. Each upper parallelogram comprises two beams 11, 12, 11 ', 12' parallel connected on the one hand to the fixed side 14, 14 'and on the other hand to the free side 13, 13', opposite, connected to the rigid link 3, 3 '. By construction, this side 13, 13 ’is an integral part of the rigid connection. A rigid connection is thus composed of three parts: a horizontal part connected to the first pair of beams 11, 12, 11 ', 12', a vertical part connected to the second pair of beams 21, 22, 21 ', 22', and a part which folds back towards the axis of symmetry 100, this last part carrying the jaw 4, 4 ′. The length of this part depends on the initial spacing desired between the jaws.
    A deformation caused on the first upper parallelogram 1 causes a rectilinear movement 19, 19 'pure on its free side 13, 13'. This pure rectilinear movement is transmitted by translation to the jaw 4, via the rigid link 3 in accordance with the parallelogram guidance described above. The same phenomenon occurs between the second parallelogram 1 ’and the jaw which is connected to it.
    Each lower parallelogram has two beams 21, 22, 21 ', 22' connected on the one hand to the rigid link 3, 3 'connecting the upper parallelogram to the jaw, and on the other hand to the bar 9 connected to the plate 5. Structurally , the side of the lower parallelogram is an integral part of the rigid connection 3, 3 '. Likewise bar 9 integrates the other side of the parallelogram. In other words, the beams 21,22, 21 ’, 22’ are directly connected to the rigid connection and the bar.
    A deformation of the lower parallelograms 2, 2 ’causes a pure rectilinear movement of the bar 9 and therefore of the plate 5 along the axis of symmetry 100.
    FIG. 3 illustrates the mode of activation of the device according to the invention. The device is controlled by a force U exerted on the activation point 8 along a rectilinear trajectory along the axis of symmetry 100 in one direction or the other, in practice upwards or downwards. Figure 3 illustrates the case where the force is exerted upwards. The activation of the entry point causes the three exit points 4, 4 ', 5 to move. The movement of the entry point upwards causes an upward deformation of the lower parallelograms 2, 2' causing a deformation of the upper parallelograms 1, 1 '. This guides the pure rectilinear movement of the free sides 13, 13 ', and therefore of the rigid connections 3, 3', towards the axis of symmetry 100, thus inducing a bringing together of the jaws 4, 4 'and therefore a clamping action . Synchronously, the plate 5 undergoes a pure rectilinear upward movement guided by the two upper parallelograms 2, 2 ’.
    An activating force exerted downwards causes the opposite rectilinear movements, that is to say a guiding of the plate 5 downwards and a guiding of the jaws away, and therefore a loosening.
    Finally, a device according to the invention has three positions:
    - A so-called “rest” position, without actuation, effective during the approach phase around the object to be grasped, where the initial spacing between the jaws 4, 4 ′ and the travel of the jaws can be adapted to a whole parametric and geometric variability of objects;
    - A position called "pulled", where there is an actuation allowing withdrawal of the entry point 8 of the mechanism. In this case, the plate 5 "retracts" and the jaws tighten around the product. The extreme position "pulled" allows to apply sufficient efforts to grip the smallest object (up to 0.2mm of crushing in the case of a flexible object), while not crushing the largest flexible object (less than 2mm);
    - A third position, corresponding to the “guided release” of the object, therefore to the opening of the jaws and to the thrust of the plate 5 making it possible to straighten the product in the event of sticking on the jaws and to correctly deposit the product in a accommodation provided for this purpose.
    FIG. 4 illustrates the aforementioned positions by a gripping and depositing cycle of a flexible object 40. The gripping device is that illustrated in FIGS. 1 and 3.
    This cycle includes an approach phase 41, an object capture phase 42 and an object ejection phase 43.
    In the approach phase 41, the plate 5 is not in contact with the object and the jaws are in the open position. The structure 7 on which the gripping device is fixed is for example a robotic arm whose movement is guided towards the object, causing the device to be guided towards the object. At the end of the approach phase, the jaws reach the level of the object and the plate 5 touches the object.
    In the gripping phase 42, an activation force U is exerted on the activation point 8, in the direction opposite to the jaws 4, 4 ', causing the object 49 to be clamped by the jaws, acting as a clamp , and guiding the plate upwards.
    In the ejection phase, an opposite activation force U 'is exerted on the activation point 8, in the direction of the jaws, causing the jaws to open, therefore loosening the object 49, and guiding from the plate 5 down to between the jaws, the plate then acting as a pusher for the object. In practice, the displacement of the activation point in one direction or the other may be less than a centimeter, of the order of 7mm for example.
    The gripping device according to the invention is under-actuated, that is to say that it has more degrees of freedom than an actuator. Indeed, a single actuation point makes it possible to obtain, in a phase 42, the controlled tightening of the jaws around the object 40, then in a following phase 43, a guaranteed removal by translation of the push plate 5 towards the object. The pure translation of the plate 5 perpendicular to the opening trajectory of the jaws 4, 4 ’makes it possible to avoid adhesion of the object to the jaws and to correct the final positioning defects during removal. In the case of removing a cheese bite, for example, the thrust exerted by the plate makes it possible to avoid adhesion of the product to the jaws and allows precise positioning in a container for example.
    The intrinsic structure of the device according to the invention thus allows a combination of the movements of opening the gripping jaws 4, 4 ′ and pushing the plate 5, acting as a stripping plate. It is therefore a gripping device with an integrated stripping system which does not require external energy, nor a delayed stripping cycle.
    FIG. 5 shows another possible embodiment of a gripping device according to the invention. In this embodiment, the beams 21, 22, 21 ’, 22’ of the lower parallelograms are no longer straight. From a strictly geometric point of view, these beams no longer form a parallelogram. We continue however to use the term "parallelogram" because the attachment points A, B, C, D (A ', B', C ', D') of the beams on the rigid parts, that is to say say on the rigid connections 3, 3 'and the bar 9 always form a parallelogram. Advantageously, this embodiment makes it possible to globally reduce the maximum stresses. As will be seen below, the curved character makes it possible to reduce the actuating force, in fact this curved character increases the length of the beam therefore the flexibility in bending and therefore generally reduces all the stresses. The non-parallel nature allows symmetrizing the distribution of stresses between two facing beams.
    FIG. 6 presents a perspective view of the gripping device presented in FIG. 1. It illustrates by gray gradations the stresses exerted on the beams of the lower parallelograms. In particular, a stress concentration 61, 61 ’is observed on the upper beams 21, 21 ′ near the bar 9. After a certain number of operating cycles, these stresses cause the beams to rupture. Given the large numbers of gripping and depositing cycles required in food chains in particular, it is imperative that the gripping devices have a long service life, and more precisely are capable of undergoing a very large amount of operating cycles. The embodiment of FIG. 5 increases this service life by distributing the mechanical stresses exerted on the beams more evenly.
    We return to FIG. 5. The principle of embodiment of FIG. 5 is to use pseudo-parallelograms A, B, C, D (A ', B', C ', D') where the beams 21, 22, 21 ', 22' are curved and not parallel. By thus increasing the length, therefore the flexibility of the beams, the stiffness of the assembly is reduced and therefore the actuating force necessary for the movement of the moving parts. Reducing the actuation force required therefore reduces stress. In the exemplary embodiment of FIG. 5, each beam 21, 22, 21 ’, 22’ has three straight segments. The segments 211,221,212, 222, 21 T, 22T, 212 ', 222' of the upper and lower beams connected to the rigid parts 3, 3 ', 9 are parallel on a section starting at the level of these rigid parts, that is to say say at vertices A, B, C, D (A ', B', C ', D') pseudo-parallelograms. The shapes of the beams are symmetrical 21, 22, 21 ’, 22’ with respect to the axis 100 so as to allow a suppression of the parasitic movements introduced by these non-parallel beams.
    These pseudo-parallelogram structures advantageously make it possible to compensate for the presence of large levels of stress within their constituent beams and their use in an antagonistic assembly (flexible guidance of the left jaw 4 in opposition to flexible guidance of the right jaw 4 ') makes it possible to eliminate the aforementioned parasitic movements.
    The use of non-parallel beams as illustrated in particular in FIG. 5 makes it possible to optimize the behavior of the system, in particular the ratio of the displacements of the jaws 4, 4 ′ with respect to the plate 5, and to reduce the actuation force necessary for entering objects. Thus, the maximum stress is reduced and the service life of the device is increased.
    In other words, the behavior of the deformation system, which constitutes a device according to the invention, is directly a function of the stiffness of the flexible guides constituting the system, via the curvature of its beams and their stiffness in bending and traction. The increase in the flexibility of bending beams, corresponding to the large clearance of the plate 5, makes it possible to reduce the actuation force and therefore the stresses involved.
    It is also possible, if necessary, to use non-parallel curved beams in the pairs of upper parallelograms 1, T.
    FIG. 7 shows another embodiment of a device according to the invention which improves the homogenization of the mechanical stresses on the bars. As shown in Figure 6, the stresses are not identical between the two beams constituting the same flexible guide. An objective of optimizing the embodiment of Figure 7 is to obtain a homogeneous stress in each beam. We act locally on the thicknesses to homogenize these constraints.
    In this exemplary embodiment, variable sections are introduced within the beams of the flexible guides, at least on the lower beams 21, 22, 21 ’, 22’. By locally increasing their thickness, the stress is locally reduced. The thickness is increased at places 71, 71 ’where the stress is maximum, in particular the section is maximum at the points of attachment of the beams on the rigid parts 9, 3, 3’ then decreases towards the center of the beams.
    Conversely, by removing material on the points of minimum stress 72, 72 ’, one can locally increase the internal stresses.
    The variable section notably has the effect of attenuating the stress concentrations within the same beam. By eliminating the points of concentration of these stresses, the life of the gripping device is further increased.
    The homogenization cannot be perfect, indeed, it would be necessary to tend towards a thickness of zero beam at the places of zero stress. However, the non-constant distribution of the volume or density of material along the longitudinal axis of the beams 21, 22, 21 ', 22', as illustrated in FIG. 7, makes it possible to better distribute and standardize the stresses over the entire length of the beams and therefore further increase their lifespan.
    Provision may also be made, if necessary, for using curved beams with non-constant sections in pairs of parallelograms greater than 1.1 ’.
    FIG. 8 shows another embodiment of a device according to the invention. In this case, the clamp 81 formed by the two jaws 4, 4 ’is designed to handle several objects 40, for example for gripping two objects. For this purpose, the jaws 4, 4 ’are widened. It is the same for the push plate 5. This type of embodiment is particularly advantageous in gripping systems comprising several gripping devices according to the invention in parallel intended for gripping in parallel a large quantity of objects.
    A clamp 81 of the type of FIG. 8 can also make it possible to grasp larger objects with stability.
    FIG. 9 illustrates, in a partial view, the principle of embodiment of the system for gripping several objects in parallel, in particular in large quantities, for example several tens. In this context, we will call a device 10 according to the invention elementary clamp.
    The system of Figure 9 is composed of several elementary clamps. In this embodiment, the jaws are widened as in the example of FIG. 8. The elementary clamps 10 are arranged in staggered rows. More specifically, they are arranged in double rows 91 of which only one is shown. In each double row, the clips 10 are arranged in a staggered arrangement as illustrated in FIG. 9 where only two clips of a double row are shown. Such an arrangement is particularly advantageous for gripping and depositing objects in a housing, not shown, capable of containing at least two rows of objects.
    Each clamp allows the gripping of two objects, which makes it possible to double the handling capacity compared to the number of clamps. Thus, using 40 clamps 10, one can handle 80 objects.
    Figure 10 illustrates the complete system consisting of four double rows of ten clamps each, thus allowing the gripping of 80 objects. The clamps 10 are fixed to a structure 7 at their upper parallelograms as illustrated in FIG. 1. This structure is for example a tray. The elementary gripping devices, that is to say the clamps 10, are fixed to the structure 7 by the ends of the flexible beams 11, 12, 11 ', 12', for example via the rigid part 14 itself fixed on the structure.
    Recesses 101 are provided to pass a mechanism for activating the clamps, this mechanism exerting a force in one direction and in the other on the activation point 8 of each clamp. In operation, the structure 7 is for example fixed to a robotic arm coupled to the activation mechanism producing a relative movement of the clamps relative to the structure. The actuator, or the activation mechanism can be the same for all the grippers 10. The approach, gripping and ejection phases are those described relative to FIG. 4, but for several tens of grippers in parallel with simultaneous movements.
    Other methods of parallelizing the grippers are of course possible for making gripping systems capable of handling large quantities of objects. The implementation of such systems is advantageously facilitated by the fact that the clamps 10 are monolithic and can be of reduced mass.
    Advantageously, a gripping device according to the invention is a deformable monolithic forceps manufactured in a single material compatible with the hygienic design constraints. The material used can be a polymer of the polyoxymethylene, POM homopolymer or copolymer type of acetal, polyetheretherketone also designated under the acronym PEEK, polyamide or polyimide. There are no joints within the device, thus avoiding certain risks of fouling or contamination, by grease or oil for example, and facilitating its cleaning. These advantages are particularly of prime interest for food chains.
    There is no play or friction, ensuring optimal jaw movement accuracy when picking up objects.
    Inexpensive and robust, a device according to the invention is easily manufactured by depositing molten polymer, or by laser cutting, or even by cutting with digital control. All the components of the device and in particular the beams are machined from a single block of material.
    Finally, a device according to the invention is a flexible monolithic system, equivalent to a poly-articulated kinematic system, which does not require assembly, avoids fouling phenomena, facilitates cleaning and manufacturing. In addition, it is inexpensive, reliable and of reduced mass. Its lifespan is also increased by an arrangement and structure of the clever beams.
    A single linear actuating force makes it possible to obtain, at first, the tightening of two jaws on the object during the gripping phase, and then to obtain, during the removal phase, detachment and then removal guided of the product thanks to the push plate. These movements are synchronized by the very topology of the mechanical structure of the device. The production cycles are optimized and the production rate improved.
    In the case of gripping deformable and sticky food products on an agro-food chain, for example, the invention makes it possible to deal with positioning errors of the products on the conveyor and to adapt to shape defects and disparities in flexibility and bonding according to the different types of products.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. Gripper type gripper, characterized in that it comprises at least:
    - a bar (9) movable longitudinally along an axis of symmetry (100), provided at one end with a plate (5);
    - a first rigid link (3) and a second rigid link (3 ') symmetrical with respect to said axis (100), each terminated by a jaw (4.4'), the two jaws forming a clamp capable of grasping an object ( 40);
    - two pairs of flexible beams (11, 12, 11 ', 12'), symmetrical with respect to said axis (100), said beams being each connected by one end to one of said rigid connections (3, 3 '), the other end being fixed, and guiding the movements of said rigid connections perpendicular to said axis (100), the ends of a pair of beams forming a parallelogram;
    - two pairs of flexible beams (21, 22, 21 ', 22'), symmetrical with respect to said axis (100), said beams being each connected by one end to one of said rigid connections (3, 3 '), the other end being connected to said bar (9), and guiding the movements of said bar (9) parallel to said axis (100), the ends of a pair of beams forming a parallelogram;
    the movements of said jaws (4, 4 ') being caused by actuation of said bar (9), a force (U) exerted on said bar in a direction opposite to said jaws (4, 4') causing said jaws to approach, a force (U ') exerted towards said jaws causing said jaws to open.
    [2" id="c-fr-0002]
    2. Gripping device according to claim 1, characterized in that the length of said bar (9) is such that said plate (5) is capable of pushing said object (40) when said force (U ') is exerted towards the jaws, the thrust being effected simultaneously with the opening of the jaws (4, 4 ').
    [3" id="c-fr-0003]
    3. Gripping device according to any one of the preceding claims, characterized in that it is monolithic.
    [4" id="c-fr-0004]
    4. Gripping device according to any one of the preceding claims 5, characterized in that said beams (11, 12, 11 ', 12') having a fixed end are connected to a rigid part (14) capable of being fixed on a structure (7).
    [5" id="c-fr-0005]
    5. Gripping device according to any one of the preceding claims 10, characterized in that said beams are curved and not parallel.
    [6" id="c-fr-0006]
    6. Device according to claim 5, characterized in that said beams (21, 22, 21 ’, 22’) connected to said bar (9) have several sections
    15 rectilinear, the sections (211, 221, 212, 222, 211 ’, 221’, 212 ’, 222’) starting from the ends of said beams being parallel.
    [7" id="c-fr-0007]
    7. Device according to claim 6, characterized in that said beams have three straight sections.
    [8" id="c-fr-0008]
    8. Device according to any one of the preceding claims, characterized in that said beams have non-constant sections.
    [9" id="c-fr-0009]
    9. Device according to claim 8, characterized in that the sections are maximum at the point of attachment of said beams and decrease towards the center of said beams.
    [10" id="c-fr-0010]
    10. Device according to any one of the preceding claims, characterized in that said jaws are flexible.
    [11" id="c-fr-0011]
    11. Device according to any one of the preceding claims, characterized in that the activation of said bar is carried out by means of a ring (8) fixed at the end of said bar opposite to said plate (5).
    [12" id="c-fr-0012]
    12. Gripping system, characterized in that it comprises a set of devices (1) according to any one of the preceding claims.
    [13" id="c-fr-0013]
    13. gripping system according to claim 12, characterized in that said devices (1) are positioned in at least a double row, staggered.
    [14" id="c-fr-0014]
    14. System according to any one of claims 12 or 13, characterized in that said beams (11, 12, 11 ', 12') of said devices having a fixed end are fixed to a structure (7) having the form of a tray.
    [15" id="c-fr-0015]
    15. System according to any one of claims 12 to 14, characterized in that it is suitable for use in an agrifood chain, said object (40) to be grasped being a deformable food product.
    1/10
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    同族专利:
    公开号 | 公开日
    US20200009745A1|2020-01-09|
    EP3592507A1|2020-01-15|
    FR3063668B1|2019-03-15|
    WO2018162212A1|2018-09-13|
    US10661451B2|2020-05-26|
    引用文献:
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    US6290276B1|1999-07-01|2001-09-18|Abb Flexible Automation, Inc.|Overlapping spring blade cup gripper|
    DE10107402A1|2001-02-14|2002-08-29|Ruben Keoschkerjan|Piezo-electric parallel micro-gripper e.g. for positioning objects in micro-optics and micro-electronics, uses two parallel guides with solid hinges and two lever drives fixed on base|
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    US3616497A|1970-06-24|1971-11-02|Vincent J Esposito Jr|Integral clamping instruments for medical and surgical applications|
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    US4175728A|1979-02-01|1979-11-27|Burroughs Corporation|Adjustable cable clamp for use with belted cables|
    US5267764A|1992-01-06|1993-12-07|Rose Displays, Ltd.|Ceiling anchor installation apparatus|
    DE10330263B3|2003-07-04|2005-03-03|Lisa Dräxlmaier GmbH|Device for extracting or inserting a fuse|
    US7065912B2|2004-07-30|2006-06-27|Rose Displays, Ltd|Snap-on securement clip for hanging objects from ceiling rails|
    US7431364B2|2004-09-01|2008-10-07|National Koasiung University Of Applied Sciences|Microgripper device for a micro-mechanism|
    DE102005046160C5|2005-09-27|2008-12-24|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Robotic gripper and method for its manufacture|
    TW201137150A|2010-04-16|2011-11-01|Hon Hai Prec Ind Co Ltd|Clamp for lens tray of sputtering machine|
    EP2633326B1|2010-10-29|2018-12-12|Thermo Fisher Scientific Oy|Method and assembly for transporting single and multiple reaction vessels|
    USD674685S1|2011-05-25|2013-01-22|Fontaine Spray Suppression Company|Clip|
    CN105990210B|2015-02-06|2019-01-11|富士康电脑接插件有限公司|For picking and placing the jig of chip module|
    FR3063788B1|2017-03-07|2019-03-15|Commissariat A L'energie Atomique Et Aux Energies Alternatives|PSEUDO GUIDING DEVICE FLEXIBLE PARALLELOGRAMS WITH HIGH FATIGUE RESISTANCE|FR3071424B1|2017-09-25|2020-01-10|Commissariat A L'energie Atomique Et Aux Energies Alternatives|MONOBLOCK STRUCTURAL MICRO-PLIERS|
    DE102019123774A1|2019-09-05|2021-03-11|Krones Ag|Container gripper and container transport device|
    US20210354315A1|2019-11-20|2021-11-18|Shanghai Flexiv Robotics Technology Co., Ltd.|Grasping mechanism, robot and grasping device|
    US20210283786A1|2020-03-11|2021-09-16|Aea S.R.L.|Gripping Device|
    法律状态:
    2018-03-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-09-14| PLSC| Search report ready|Effective date: 20180914 |
    2020-03-31| PLFP| Fee payment|Year of fee payment: 4 |
    2021-03-30| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1751834|2017-03-07|
    FR1751834A|FR3063668B1|2017-03-07|2017-03-07|CLIP-TYPE GRIPPING DEVICE AND SYSTEM COMPRISING SUCH DEVICES|FR1751834A| FR3063668B1|2017-03-07|2017-03-07|CLIP-TYPE GRIPPING DEVICE AND SYSTEM COMPRISING SUCH DEVICES|
    US16/483,432| US10661451B2|2017-03-07|2018-02-19|Clamp gripping device and system consisting of such devices|
    EP18704574.5A| EP3592507A1|2017-03-07|2018-02-19|Clamp gripping device and system consisting of such devices|
    PCT/EP2018/054014| WO2018162212A1|2017-03-07|2018-02-19|Clamp gripping device and system consisting of such devices|
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