• 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 invention relates to a gripper (1) of a mechanical part for a manipulator. The gripper (1) is of the type having a fixed architecture station for gripping the mechanical part by the gripper (1). The gripper (1) comprises at least one support (2) on which is mounted at least one gripping arm (3) provided with a gripping head (4) configured to grip the mechanical part. The gripping arm (3) comprises at least two branches (3a-3c) hinged together by a hinge member (5) with a change of state, between a non-deformable state giving the gripping arm (3) a rigid character and a flexible state conferring on the gripping arm (3) a deformable character between the branches (3a-3c).
    公开号:FR3066422A1
    申请号:FR1754516
    申请日:2017-05-22
    公开日:2018-11-23
    发明作者:Stephane Diverres；Luc Malotaux；Frederic Gelin
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    Gripper for manipulator, provided with gripping arms comprising branches connected by articulation members with change of states.
    The present invention relates to the field of grippers equipping manipulators, in particular manipulators used in the automotive field. The invention relates more specifically to the arrangement of a gripper comprising at least one arm equipped with at least one gripping head of a mechanical part to be handled.
    Manipulators conventionally include a frame on which at least one gripper is movably mounted. The gripper is configured to carry at least one object to be manipulated, and commonly comprises for this purpose one or more arms provided with one or more gripping heads capable of grasping the object to be manipulated.
    The gripping head is notably installed at the distal end of at least one of the arms. The qualification of distal is understood to be the most distant from a landmark, in contrast to a qualification of proximal meaning closest to the same landmark.
    According to grippers of a first category, several arms are articulated with one another, in particular in staged succession or in other words articulated successively two by two by their ends. The arms are then movable relative to each other by being individually operated by at least one power member fitted to the manipulator.
    The grippers of the first category are thus configured in a deformable structure in operation, in particular to be able to move the object in the different directions of the orthonormal space. Such grippers are for example used to handle their part (s) (terminal (s) relative to the frame, one or more tools and / or at least one mechanical part.
    The grippers of the first category have the advantage of providing manipulation of the object along a path which can be complex, starting from individual mobility of the arms of the gripper operating successively with respect to each other. Such manipulators are of a complex organization, being configured to manipulate an object in space by modifying the shape of the gripper via the arms which can be operated individually by at least one power member.
    According to grippers of a second category, the gripper comprises a support supporting fixedly one or more rigid arms, being configured in a non-deformable structure in operation. Such grippers are particularly suitable for handling a mechanical part to be gripped at several gripping points distant from each other, such as a body element of a motor vehicle for example.
    To this end, the support carries several arms each equipped with at least one gripping head arranged to allow alternately to grasp and then release the mechanical part after movement of the gripper. The gripper carrying the mechanical part is notably moved via a mounting structure on the manipulator. The gripper is mounted fixed or movable on the mounting structure via the support which it comprises, and the mounting structure, of more or less complex arrangement being itself potentially deformable, is movably mounted on the frame of the manipulator.
    It is common for the gripping head to be of the vacuum type, being connected for this purpose to a vacuum source selectively generating depression. The gripping head is approached at the gripping station of the mechanical part by being vented, or in other words out of vacuum by the vacuum source. Then the gripping head is put under vacuum by the vacuum source to grip the mechanical part, a venting of the gripping head then making it possible to release the mechanical piece from its grip.
    Such a vacuum type gripping head is commonly arranged in a suction cup, in particular to allow the gripping of a mechanical part having at least a portion of generally planar surface. For mechanical parts of more complex shape, it is known to use a gripping head arranged in a pocket housing a mass of aggregates, or in other words a pulverulent material, as shown for example in documents DE 10 2012 012 289 (Daimler AG) or US 9 120 230 (CORNELL UNIVERSITY).
    The architecture of a gripper of the second category is predefined according to the configuration of the mechanical part to be gripped via the gripping heads equipping the different arms of the gripper. The arms are mounted on the support and / or are shaped so as to arrange the different gripping heads with respect to each other for gripping the mechanical part at predetermined gripping points distributed variously over the mechanical part.
    There emerges a drawback of manipulators of the second category, which lies in their architecture fixed according to the conformation of the mechanical part to be gripped. For each mechanical part of various conformations, manipulators of the second category must be developed which have specific architectures adapted to the conformation of each of the mechanical parts.
    On the basis of the observation which has just been made, the present invention relates to a gripper for a manipulator of at least one mechanical part, of the type of gripper having an architecture which is non-deformable in operation, that is to say in a station gripped by the gripper of the mechanical part to allow its movement by the manipulator.
    An object of the invention is to allow an adaptation of the architecture of the gripper according to the conformation of the mechanical part to be gripped.
    Another object of the invention is to obtain at a lower cost the targeted adaptive nature of the architecture of the gripper.
    Another object of the invention is to allow rapid and easy adaptation of the architecture of the gripper.
    The gripper of the present invention is a gripper of a mechanical part organized to equip a manipulator. The gripper is of the type having an architecture fixed in the station for gripping the mechanical part by the gripper. The gripper comprises at least one support on which is mounted at least one gripping arm provided with at least one gripping head configured to grip the mechanical part.
    Preferably, the manipulator comprises several gripping arms, the gripping heads of which can be respectively placed at several gripping points distributed over the mechanical part.
    In the gripping station, the architecture of the gripper is typically configured according to the shape of the mechanical part to place at least one gripping head at a predetermined gripping point of the mechanical part. The configuration of the architecture of the gripper is identified by the proper arrangement of the gripping arm (s) and / or according to the arrangement, relative to each other, of several gripping arms mounted on the support, and more specifically according to the arrangement of the gripping heads relative to each other.
    Thus in the gripping station according to which the gripper is capable of gripping a mechanical part of given conformation, the gripping head (s) are arranged in an orthonormal space in predetermined fixed positions relative to the support and / or to each other .
    In a station for gripping the mechanical part by the gripper in accordance with a given architecture of the gripper, the position or positions of the gripping heads are in particular determined according to the definition of a geometric envelope conforming to the conformation of the mechanical part. Thus, one or preferably several gripping heads are capable of gripping the mechanical part at at least one predetermined gripping point.
    In this context, the aims of the present invention are achieved in isolation or in combination by applying the following provisions, considered in isolation or in combination.
    According to a characteristic of the gripper of the invention, the gripping arm comprises at least two branches hinged together by an articulation member. The articulation member is more specifically to change of states, between a non-deformable state giving the gripping arm a rigid character and a flexible state giving the gripping arm a deformable character between the branches.
    When the articulation member is placed by an operator in the non-deformable state, the gripping arm is normally rigid or in other words is conventionally non-deformable, to allow the gripping of the mechanical part by the gripper and consequently its manipulation by the manipulator. More particularly in the rigid state, the articulation member firmly maintains between them the branches which it connects to one another, no freedom of movement being then authorized between the branches. The gripper is then able to firmly grip the mechanical part via the gripping head (s).
    When the articulation member is placed by the operator in the flexible state, the gripping arm is then in the deformability station as a result of a freedom of movement authorized by the articulation member between the branches that it connects them.
    The orientation of the branches relative to each other can then be modified by the operator, to adapt the architecture of the gripper according to the shape of the mechanical part to be gripped.
    In addition, the gripper is easily modular with regard to the addition and / or removal of at least one branch of at least one gripping arm, by addition and / or by removal of one or more organs of joint previously put in the flexible state. At least one gripping head can also be mounted directly on the support and / or be mounted on an end branch of at least one gripping arm via an articulation member.
    The gripper is thus arranged in modules comprising branches and / or gripping heads connectable to each other via said articulation members with change of states. The modules can be variously assembled together and the gripping arm or arms obtained can be variously shaped according to the conformation of the mechanical part to be gripped.
    The architecture of the gripper can thus be easily modified according to the conformation of the mechanical part to be grasped, by adding and / or removing one or more modules and / or by putting into specific conformation of at least one gripping arm. . Thus the architecture of the gripper can be modified and then be frozen in the station for gripping the mechanical part by the gripper. The gripper can be placed in a rigid station according to various architectures to allow the gripping of different mechanical parts having diversified conformations.
    The use of an articulation member with change of states makes it possible to obtain such results at lower costs, while avoiding unduly complexifying the structure and / or the organization of the gripper. The use of an articulation member with changes of states allows a quick and easy modification of the architecture of the gripper by an operator, without affecting the robustness of the gripper in a normally rigid station and therefore the fixed nature of its architecture in mechanical part input station.
    According to one embodiment making it possible to vary the architecture of the gripper at lower cost, the articulation member comprises an aggregate pocket which can be made rigid when it is put under vacuum and conversely which can be made flexible when it is pressurized.
    The articulation member is pressurized at a moderate pressure sufficient to allow a modification of the orientation of the branches while maintaining cohesion of the articulation arm in the station for modification of its architecture by the operator, as an indication, a natural maintenance in conformation of the articulation arm.
    More particularly according to one embodiment, the articulation member comprises at least one aggregate pocket and at least one channel for connecting the aggregate pocket to a vacuum source selectively generating vacuum and inversely generating pressure.
    The flexibility of the aggregate pocket can be controlled by the operator according to the needs of relative freedom of movement of the branches between them to modify the architecture of the gripper, by regulating the pressurization of the aggregate pocket by the source of empty. Such regulation can be carried out by the operator via the vacuum source and / or via a pressure regulation valve equipping the articulation member and / or equipping a pipe for connecting the articulation member to the source. empty.
    According to one embodiment, the articulation member comprises first mounting members at the ends of the branches which it connects to one another. The first mounting members are respectively cooperating with second mounting members formed at said ends of the branches.
    In other words, the aggregate pocket is interposed between the first mounting members, which cooperate with the second mounting members by securing the aggregate pocket in interposition between the branches connected to each other by the articulation organ.
    According to one embodiment, at least one of the first mounting members comprises a said channel which communicates with a duct which comprises at least a second mounting member with which the first mounting member cooperates, the duct being connectable to the source empty.
    More particularly, at least one said channel is formed inside at least one of the first mounting members, opening on the one hand on the aggregate pocket and on the other hand on the duct which is assigned to it. At least one conduit is formed inside the second mounting member cooperating with the first mounting member. The duct opens onto the channel with which it is thus placed in fluid communication and is connectable to the vacuum source, in particular by at least one pipe.
    Preferably, each of the first mounting members of a given articulation member comprises a channel and each of the second mounting members assigned to the mounting of the articulation member at the ends of the branches which it connects comprises a conduit.
    According to one embodiment, at least one gripping arm comprises at least three branches successively connected to each other at their ends by articulation members. Thus, the adaptability of the architecture of the gripper is increased.
    According to one embodiment, the first mounting members and the second mounting members cooperate with each other by interlocking via contact surfaces of complementary shapes. The contact surfaces are advantageously configured as surfaces of frustoconical revolution, allowing a monodirectional interlocking along the axis of the cone between the first mounting members and the second mounting members.
    The contact surfaces thus allow relative mobility along the three dimensions of an orthonormal space between the aggregate pocket and the ends of the branches connected together by the articulation member placed in the flexible state. Such relative mobility is authorized while avoiding a risk of rupture of the assembly by interlocking between the articulation member and the ends of the branches, as a result of maintaining under controlled pressure of the aggregate bag when the joint is placed in the flexible state.
    The operator can thus easily modify the architecture of the gripper while maintaining cohesion between the branches of or of at least one of the gripping arms equipping the manipulator. From the control of the pressurization of the aggregate pocket, the operator can quickly approach the gripping head (s) towards the mechanical part and then precisely refine the position of the gripping head (s) on the mechanical part.
    For example, the first mounting members are each formed of a frustoconical cup, the hollow of which houses a portion of the aggregate pocket. The second mounting members are each formed by an end fitting equipping each of the ends of the branches and providing a cage housing the cup which is assigned to them.
    Preferably, the articulation member comprises filters for retaining the aggregates inside the aggregate pocket. The filters are notably placed in interposition between the first mounting members and the second mounting members.
    The invention also relates to a method for modifying the architecture of a gripper according to the invention. The method includes the following operations performed by an operator, the gripper being initially stationary in its architecture:
    ίο
    -) place at least one said articulation member in the flexible state, and adapt the architecture of the gripper according to the configuration of the mechanical part to be gripped by modifying the orientation relative to the other of the branches interconnected by the articulation member placed in the flexible state, then
    -) Place the said at least one articulation member in the undeformable state, by stiffening the connection between them of the branches connected by the articulation member to give the gripper an undeformable architecture.
    More particularly in the case where the change of states of the articulation member is carried out via an aggregate pocket, the articulation member is placed in the flexible state by moderate pressure of the aggregate pocket and is placed in a non-deformable state by placing the aggregate bag under vacuum via the vacuum source.
    The invention also relates to a manipulator equipped with a gripper according to the invention.
    The gripper is notably mounted mobile on a frame of the manipulator. The gripper is non-deformable at least in a station for gripping a mechanical part via said at least one gripping head, to authorize the firm hold of the mechanical part on the manipulator via the gripper and its movement by the manipulator.
    The gripping heads fitted to the gripper can be variously arranged and include one or more gripping members of the mechanical part. The gripping member (s) may for example be arranged in forceps or in claw (s), in a magnetic member such as an electromagnet, or in a suction cup. Such a suction cup can be placed under vacuum by exploiting the vacuum source used for the change of states of the articulation member (s) equipping at least one gripping arm of the gripper.
    An exemplary embodiment of a gripper according to the present invention will be described in relation to the figures of the appended plate, in which:
    -) Figure 1 is a perspective illustration of an embodiment of a gripper according to the invention.
    -) Figure 2 and Figure 3 are partial illustrations of a gripping arm that includes the gripper shown in Figure 1, according to various alternative conformations of the gripping arm.
    -) FIG. 4 is an exploded perspective illustration of an articulation member equipping a gripping arm which the gripper represented in FIGS. 1 to 3 includes.
    The figures and their detailed descriptions show the invention according to particular methods which are not restrictive as to the scope of the invention as defined by the claims. The figures and their detailed descriptions can be used to better define the invention, if necessary in relation to the general description which has just been made.
    In FIG. 1, a gripper 1 extends along the three dimensions D1, D2, D3 of an orthonormal space. The gripper 1 comprises a support 2 carrying a plurality of gripping arms 3 which are fixed to the support 2 at their proximal end. The gripping arms 3 are each equipped at their distal end with one or more gripping heads 4 for gripping a mechanical part.
    According to the example illustrated, the gripping arms 3 are distributed around the support 2 while being generally oriented in concurrent directions with respect to each other. The gripping heads 4 are arranged relative to the support 2 and / or with respect to each other in predetermined positions according to an architecture of the gripper 1 predefined according to the conformation of the mechanical part to be gripped.
    In FIGS. 1 to 3, the gripping arms 3 are each composed of several branches 3a-3c successively connected in pairs via their ends, between the proximal end and the distal end of the gripping arms 3 relative to the support 2 The connection of the branches 3a-3c therebetween is carried out via articulation members 5 with change of states, between a non-deformable state and a flexible state.
    In the undeformable state of the articulation members 5, the gripping arms 3 have a rigid character giving the gripper 1 a fixed and robust architecture. When the gripper 1 is configured according to a fixed architecture, the gripper 1 is able to withstand the forces induced by the gripping of the mechanical part and / or by the movement of the mechanical part by a manipulator equipped with the gripper 1.
    In the flexible state of the articulation members 5, the gripping arms 3 have a deformable character allowing an operator to modify the orientation of the branches 3a-3c relative to one another, and consequently to modify the architecture of the gripper 1 to configure it according to the shape of the mechanical part to be gripped.
    More particularly in FIG. 2 and FIG. 3, a gripping arm 3 equipping the gripper 1 shown in FIG. 1 has a first configuration in FIG. 2 and a second configuration in FIG. 3. The configurations of the gripping arm 3 are illustrated for explanatory purposes and are not restrictive as to the scope of the invention.
    From a modification of the configuration of the gripping arm 3 between the first configuration and the second configuration, the architecture of the gripper 1 is modified. The gripping arm 3 being for example shaped according to the first configuration, at least one of the articulation members 5 which it comprises is placed in the flexible state.
    An operator can then modify the orientation of the branches 3a-3c relative to each other to adapt the configuration of the gripping arm 3 between the first configuration and the second configuration. Thus, the operator can adapt the overall architecture of the gripper 1 according to the shape of the mechanical part to be gripped and more specifically according to the relative positions of the gripping heads 4 fitted to the gripper 1 relative to each other.
    After modification of the configuration of the gripping arm 3, the articulation member (s) 5 are placed in a non-deformable state to place the gripper 1 according to a fixed architecture.
    According to the exemplary embodiment illustrated in FIG. 4, the change of states of the articulation member 5 is carried out by pressurization or alternatively by depressurization of a pulverulent material housed inside the hinge member 5. To this end, the hinge member 5 is connected to a vacuum source 6 selectively generating air pressure or air depression, to respectively soften the cohesion of the pulverulent material or vice versa harden the cohesion of the pulverulent material.
    More particularly, the articulation member 5 comprises an aggregate pocket 7 interposed between first mounting members 8 that includes the articulation member 5. The aggregate pocket 7 is connected to the vacuum source 6 to cause the change of state of the articulation member 5.
    The first mounting members 8 cooperate by interlocking with second mounting members 9 formed of end pieces 10 fitted to the ends of the branches 3a-3c. The first mounting members 8 are in particular formed by cups 11 housing the ends of the aggregate pocket 7. The cups 11 are themselves housed inside cages 12 formed inside the end pieces 10.
    The cups 11 and the cages 12 have contact surfaces S1, S2 one against the other of frustoconical configuration defined around an axis A1 of longitudinal extension of the branches 3a-3c between their ends. The contact surfaces S1, S2 between the cups 11 and the cages 12 thus allow relative mobility along the three dimensions D1, D2, D3 of the orthonormal space between the aggregate pocket 7 and the ends of the branches 3a-3c.
    The cups 11 are each traversed by a channel 13 communicating with a conduit 14 which each of the end pieces includes 10. The channel 13 is in particular formed by openings which the cups 11 have at their bottom and which are communicating on the one hand with the pocket with aggregates 7 and on the other hand with the conduits 14. Filters 15 for retaining the aggregates inside the aggregate pocket 7 are interposed between the cups 11 and the nozzles 10.
    The conduits 14 are connectable to the vacuum source 6, via a conduit 16 to allow to harden or alternatively to soften the aggregate pocket 7 from its vacuum or alternatively from its pressurization by the vacuum source 6 , such as an air pump for example.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1, - Gripper (1) of a mechanical part for a manipulator, of the type having an architecture fixed in the station for gripping the mechanical part by the gripper (1), the gripper (1) comprising at least one support (2) on which is mounted at least one gripping arm (3) provided with at least one gripping head (4) configured to grip the mechanical part, characterized in that the gripping arm (3) comprises at least two branches (3a -3c) articulated together by an articulation member (5) with change of states, between a non-deformable state giving the gripping arm (3) a rigid character and a flexible state giving the gripping arm (3) a character deformable between the branches (3a-3c).
    [2" id="c-fr-0002]
    2, gripper (1) according to claim 1, characterized in that the articulation member (5) comprises at least one aggregate pocket (7) and at least one channel (13) for connecting the aggregate pocket (7) to a vacuum source (6) selectively generating vacuum and inversely generating pressure.
    [3" id="c-fr-0003]
    3, -Grip (1) according to any one of claims 1 and 2, characterized in that the articulation member (5) comprises first mounting members (8) at the ends of the branches (3a-3c) qu 'it connects to each other, the first mounting members (8) being respectively cooperating with second mounting members (9) formed at said ends of the branches (3a-3c).
    [4" id="c-fr-0004]
    4, - Gripper (1) according to claims 2 and 3, characterized in that at least one of the first mounting members (8) comprises a said channel (13) which communicates with a conduit (14) that comprises at least a second mounting member (9) with which the first mounting member (8) cooperates, the conduit (14) being connectable to the vacuum source (6).
    [5" id="c-fr-0005]
    5, -Prehender (1) according to any one of claims 3 and 4, characterized in that the first mounting members (8) and the second mounting members (9) cooperate with each other by interlocking via contact surfaces ( S1-S2) of complementary shapes which are configured in surfaces of frustoconical revolution.
    [6" id="c-fr-0006]
    6, - gripper (1) according to any one of claims 3 to 5, characterized in that the first mounting members (8) are each formed of a cup (11) frustoconical whose hollow accommodates a portion of the pocket aggregate (7), and in that the second mounting members (9) are each formed by a nozzle (10) fitted to each of the ends of the branches (3a-3c) providing a cage (12) housing the cup (11) assigned to them.
    [7" id="c-fr-0007]
    7, gripper (1) according to any one of claims 3 to 6, characterized in that the articulation member (5) comprises filters (15) for retaining the aggregates inside the aggregate pocket (7), which are placed in interposition between the first mounting members (8) and the second mounting members (9).
    [8" id="c-fr-0008]
    8, - Method for modifying the architecture of a gripper (1) according to any one of claims 1 to 7, characterized in that it comprises the following operations carried out by an operator, the gripper (1) being initially stationary architecture:
    -) place at least one said articulation member (5) in the flexible state, and adapt the architecture of the gripper (1) according to the configuration of the mechanical part to be gripped by modifying the orientation relative to one to the other of the branches (3a-3c) connected together by the articulation member (5) placed in the flexible state, then
    -) place the said at least one articulation member (5) in the undeformable state by stiffening the connection between them of the branches (3a-3c) connected by the articulation member (5), to give the gripper (1) a non-deformable architecture.
    [9" id="c-fr-0009]
    9, - Method of implementing a gripper (1) according to claim
    8, characterized in that the articulation member (5) is placed in the flexible state by moderate pressurization of the aggregate pocket (7), and is placed in the undeformable state by putting under vacuum of the aggregate pocket (7) via the vacuum source (6).
    [10" id="c-fr-0010]
    10, - Manipulator equipped with a gripper (1) according to any one of claims 1 to 7.
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    FR3087693B1|2018-10-31|2020-12-11|Psa Automobiles Sa|GRIPPER WITH INTERNAL FLEXIBLE SUPPLY HOSE|
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    FR3092512B1|2019-02-08|2021-05-07|Psa Automobiles Sa|OBJECT ORIENTATION AND / OR GRIPPING DEVICE, WITH ELASTIC MEMBRANE WITH INCREASED LONGEVITY, AND ASSOCIATED ROBOT|
    法律状态:
    2018-04-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-11-23| PLSC| Search report ready|Effective date: 20181123 |
    2019-04-19| PLFP| Fee payment|Year of fee payment: 3 |
    2020-04-22| PLFP| Fee payment|Year of fee payment: 4 |
    2021-04-21| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1754516A|FR3066422B1|2017-05-22|2017-05-22|GRIPPER FOR MANIPULATOR, EQUIPPED WITH GRIP ARMS INCLUDING BRANCHES CONNECTED BY STATE-CHANGING ARTICULATION ORGANS.|
    FR1754516|2017-05-22|FR1754516A| FR3066422B1|2017-05-22|2017-05-22|GRIPPER FOR MANIPULATOR, EQUIPPED WITH GRIP ARMS INCLUDING BRANCHES CONNECTED BY STATE-CHANGING ARTICULATION ORGANS.|
    EP18718615.0A| EP3630423A1|2017-05-22|2018-04-04|Gripper for manipulator, provided with gripping arm comprising branches linked by state-changing hinge members|
    MA048924A| MA48924A|2017-05-22|2018-04-04|GRIPPER FOR MANIPULATOR, EQUIPPED WITH GRIP ARMS INCLUDING BRANCHES CONNECTED BY STATE-CHANGING ARTICULATIONS|
    PCT/FR2018/050847| WO2018215705A1|2017-05-22|2018-04-04|Gripper for manipulator, provided with gripping arm comprising branches linked by state-changing hinge members|
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