• 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:
    Gripping pliers comprising a body (2) equipped with two articulated jaws (4, 8) arranged in a main plane on each side of an axis of symmetry (A), having curved shapes which in an open position frame a zone of gripping, and in a closed position have front ends (6, 10) meeting in order to form on the front side of the body (2) a closed contour which can grip a part in the gripping zone, the body (2) comprising a piston (12) sliding along the main axis (A), comprising in the forward direction a support end (14) projecting into the gripping zone, which when pressed on the part located in this zone moves backwards making tilt the jaws (4, 8) from the open position to the closed position.
    公开号:FR3085125A1
    申请号:FR1857648
    申请日:2018-08-24
    公开日:2020-02-28
    发明作者:Jean Hourcourigaray；David Wary；Mathieu Le Noac'h；Simon Fournier；Christophe Landret
    申请人:Rovotik Sarl；
    IPC主号:
    专利说明:

    GRIPPER FOR A ROBOT CONTROL
    The present invention relates to pliers with automatic closure, which can be manipulated in particular by a robot, in particular for underwater environments.
    Certain work in marine environments at great depths is carried out by remote-controlled operational submerged robots, called in English “Remote Operative Vehicle”, or “ROV” for short, allowing to descend to certain depths without hiring personnel which improves security and reduces costs.
    One type of operation commonly carried out at great depths consists in attaching a floating element, such as a plastic pipe, in particular in high density polyethylene "HDPE", to a fixed underwater industrial structure to establish or repair its stowage. to this book.
    For this, a fastening system is used in known manner comprising on one side a carabiner fixed by the robot to the industrial structure, which is connected by straps to a clamp controlled also by the robot, comprising two jaws coming to close around the floating element, and locking fingers making it possible to ensure this closed position in order to preserve the stowage.
    This type of pliers poses design problems in order to offer both ease of operation by the robot, assurance of locking, and simplicity of manufacture making it possible to limit costs. In particular, it is necessary to carry out with the robot a first movement of engagement of the jaws around the floating element, then a second movement of closing of the jaws, which is long and complicated to achieve, in particular in conditions of deep currents and variable surface swell.
    The object of the present invention is in particular to avoid these drawbacks of the prior art.
    To this end, it offers a gripper comprising a body equipped with two articulated jaws arranged in a main plane on each side of an axis of symmetry, having curved shapes which in an open position frame a gripping area, and in a closed position have front ends meeting in order to form on the front side of the body a closed contour which can enclose a part in the gripping zone, this clamp being remarkable in that the body comprises a piston sliding along the main axis, comprising in the direction before a support end protruding into the gripping zone, which when pressed on the part located in this zone recedes by tilting the jaws from the open position to the closed position.
    An advantage of this gripper is that in a simple and automatic manner, with a single movement of the gripper manipulated by a robot, when entering the workpiece in the gripping area, by applying pressure to the workpiece 'end of the piston being at the bottom of this area, there is automatically obtained a tilting of the two jaws which close forming a closed contour enclosing this part.
    The part is held without any manipulation other than the approach of the clamp on this part, the robot is simple to control. In particular, it is possible to enclose a floating conduit at a considerable depth, to hold it by a strap having an end attached to a fixed structure.
    The gripping forceps according to the invention may further include one or more of the following characteristics, which can be combined with one another.
    Advantageously, the two jaws have rear ends connected to one another by the same transverse pivot linked to the piston.
    Advantageously, the clamp comprises a trigger mechanism with springs, which beyond a certain position towards the closing of the jaws causes the complete closing movement of these jaws.
    In this case, in particular the triggering mechanism may comprise two links connected by a central pivot to the piston, arranged symmetrically with respect to the main axis, forming an angle between them less than 30 °, each receiving a compression spring which is first compressed then relaxed when the piston recedes.
    Advantageously, the body and the jaws are formed by plastic plates framed by metal sheets.
    Advantageously, the clamp comprises a male jaw comprising a male plate at the front end which, when the clamp is closed, adjusts in a fork disposed at the front end of the other female jaw.
    In this case, advantageously the male plate and the fork have on a jaw teeth which adjust in the recesses of the other jaw when the clamp is closed.
    In this case, advantageously the fork has an inlet chamfer guiding the male plate when it enters this fork.
    Advantageously, the clamp comprises at the front end of a jaw transverse pins, which in the closed position slide to fit in the holes of the other jaw.
    Advantageously, the clamp comprises floatation blocks.
    The invention will be better understood and other characteristics and advantages will appear more clearly on reading the description below given by way of example, with reference to the accompanying drawings in which:
    - Figures 1 and 2 are front views of a gripper according to the invention, presented successively open and closed;
    - Figure 3 is a perspective view of this clamp;
    - Figure 4 is an exploded view of the male jaw of this clamp;
    - Figure 5 is a diagram showing the kinematics of operation of this clamp;
    - Figure 6 shows a system of double spring cylinders of the body of this clamp; and
    - Figure 7 shows a fastening system comprising this clamp.
    Figures 1, 2, 3 and 4 show a clamp comprising a body 2 having a main axis of symmetry A, receiving on each side in a main plane an articulated jaw 4, 8, having a rear part connected to this following body a direction substantially perpendicular to the main axis. The jaws 4, 8 facing a front direction of the main axis A, indicated by the arrow AV, frame a gripping area placed between these jaws.
    The body 2 comprises a piston 12 sliding along the main axis A, comprising a front end of the support 14 protruding into the grip zone when the clamp is open. The jaws 4, 8 each have at their rear end a hole receiving a common transverse pivot 18, fixed on the piston 12 along the main axis A to allow the simultaneous movement of these two jaws.
    The body 2 comprises a gripping appendage 16 protruding from the top of this body, in the direction perpendicular to the main plane, comprising a “T” gripping form 26 arranged parallel to the main plane in an opening of the appendix, produced by two intersecting axes, which constitutes a gripping point intended to be grasped by a robot.
    When the forceps manipulated by a robot is moved to return a part 20 in the gripping zone between the two jaws 4, 8, for example a circular duct, by pushing this forceps forward the part resting on the end of support 14 of the piston 12 which moves back. After a certain retraction of the piston 12, a trigger mechanism with springs arranged in the body 2, causes the jaws 4, 8 to tilt, which close on the part 20.
    A very simple and rapid closing of the clamp is obtained by a single movement of the robot, which axially pushes this clamp towards the part to be grasped
    20. The clamp can only be closed if the part 20 is present, and engaged at the bottom of the gripping zone, which guarantees its grip. This avoids making several different movements for the robot to grip the part 20.
    The end of a male jaw 4 has a male plate 6 arranged in the main plane, the end of the other female jaw 8 has a fork 10 having two spaced plates which receives the male plate inside.
    The female jaw 8 has at its end fork 10 two sliding locking pins arranged transversely, comprising a long pin 24 and a short copy 22. After the clamp is closed, the robot by pressing on at least one of the pins sliding 22, 24 inserts the end of this pin in a bore 26 of the male plate 6 of the male jaw 4, which completely locks the closing of the clamp preventing an unexpected separation of these jaws.
    A closed clamp is obtained having the ends of the two jaws 4, 8 fitted into one another by means of the fork 10 receiving the male end plate 6, which with the locking of the pins 22, 24 gives this closure high resistance. The part 20 arranged inside cannot be released without the operation of the pins 22, 24 which are engaged, a very secure hold is obtained.
    The male jaw 4 presented in detail in FIG. 4, comprises an arm 30 arranged in the main plane, formed by a plate of high density polyethylene plastic material, abbreviated as "HDPE", framed by two thin metal sheets made of stainless steel so to constitute a sandwich having both a lightness and a high flexural strength. The 0.95 density HDPE plastic material provides buoyancy to the clamp.
    The male jaw 4 has, in a central part, on each side two flotation blocks 32 formed in syntactic foam, which are held by an outer plastic plate 34. Four stainless steel through screws 36 simultaneously tighten the two plates 34 and the buoyancy blocks 32 on the arm 30 in order to maintain the assembly.
    The male arm 30 comprises two shackles 38 facing outwards from the grip zone, each comprising an axis engaged in a bore in this arm, designed to each receive a strap for connecting to a carabiner.
    The female jaw 8 comprises an arm 30 formed by a stack of three plastic plates, comprising between them and on the outer faces a thin metal sheet. The central plastic plate 50 has a shortened front end, which leaves at this end a space between the two side plates 52 which forms the fork 10.
    Similarly to the rear end of the female jaw 8, the central plate 50 has a shorter rear end to form a yoke receiving the rear end of the male jaw 4, in order to form a yoke assembly receiving the pivot transverse 18 connecting these two jaws.
    The male end plate 6 of the male jaw 4 has teeth 66 on its sheet on each side which automatically adjust when the clamp is closed in corresponding recesses formed on the sheets inside the fork 10 of the female jaw 8, in order to ensure a certain attachment of these two jaws when the clamp closes.
    The end of the fork 10 of the female jaw 8 has on each side in the direction perpendicular to the main plane a slope 64 facing outwards, forming a large inlet chamfer facilitating the insertion of the male part 6 in this fork when the clamp closes.
    Each jaw 4, 8 has a long transverse rod 40 made of stainless steel forwards, disposed at the start of the male plate 6 or of the fork 10, these two rods extending widely over the sides of the jaws, facilitating the gripping of these jaws by the robot, especially when it is necessary to open the clamp.
    Each jaw 4, 8 has inside of it bands of nitrile elastomer 68, turned towards the part to be grasped 20 so as to ensure play with this part to avoid aggressive contacts which would mark the part.
    The body 2 comprises three superimposed interior plates 54, having cutouts to allow the rear ends of the jaws 4, 8 which operate to pass. The body 2 receives on each side an outer plastic plate 56 then an outer metal sheet 58 covering the whole of this body, in order to give it a high resistance.
    One side of the body 2 receives the gripping appendage 16 formed by a flotation block 60, then by three plastic plates 16 comprising a central cutout receiving the gripping form 26. The assembly is connected to the body 2 by screws 62.
    Figures 5 and 6 show the interior of the body 2 comprising on each side symmetrically with respect to the main axis A, in its superimposed internal plates 54 a lower boss 70 and an upper boss 72 receiving between them the rear part d '' a jaw 4, 8.
    The piston 12 as well as the transverse pivot 18 fixed to this piston, has a front position B corresponding to an opening of the clamp and a rear position C corresponding to its closing.
    A cylinder system arranged symmetrically with respect to the main axis A, comprises two links 74 forming a small angle between them less than 30 °, connected by a central pivot 78 to the piston 12 so as to follow its axial sliding.
    The outer end of each link 74 has a longitudinal slot 86 receiving a guide pin 80 which is fixed to the body 2. A ring 82 surrounding the link, crossed transversely by the axis 80, forms an outer stop of a helical spring compression 76 which bears on the inside on a shoulder 84 of the link 74. In this way each link 74 can slide axially relative to the body 2 by compressing the spring 76, the guide pin 80 sliding in the longitudinal slot 86.
    In the open position of the clamp, the piston 12 and the central pivot 78 are forward, the two compression springs 76 being relaxed. When the part to be gripped 20 presses on the bearing end 14 of the piston 12, this piston moves backwards, driving the central pivot 78 towards the rear and compressing the springs 76.
    After sufficient movement of the piston 12 which arranges the links 74 beyond the transversely aligned position, the springs 76 tending to relax make this piston move backwards, causing the jaws 4, 8 to automatically close. The jaws 4 are then completely closed. , 8, which each arrive at the end of travel forwards pushed by the springs 76.
    Figure 7 shows a fastening system comprising two straps 90 each fixed to the clamp by a shackle 38, connected at the other end to a carabiner 92 having an opening 94 closed by an elastic clip 96 formed by a metal wire, which only allows the entry of a fixed part 98 and prevents its exit.
    The carabiner 92 is quickly and easily attached by the robot to a fixed element in the water, by a simple movement of introduction of the fixed part 98 into its opening 94.
    Advantageously, all the metal parts of the clip and of the carabiner 92 are made of stainless steel, the screws of stainless steel and of titanium, and the plastic parts of a material resistant to sea water, which ensures the operation and the longevity of the fastening system.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1 - Gripper comprising a body (2) equipped with two articulated jaws (4, 8) arranged in a main plane on each side of an axis of symmetry (A), having curved shapes which in an open position frame a gripping zone, and in a closed position have front ends (6, 10) which meet in order to form on the front side of the body (2) a closed contour capable of enclosing a part (20) in the gripping zone, characterized in that that the body (2) comprises a piston (12) sliding along the main axis (A), comprising in the forward direction a support end (14) protruding into the grip zone, which when pressed on the piece (20) located in this area moves back by tilting the jaws (4, 8) from the open position to the closed position.
    [2" id="c-fr-0002]
    2 - Pliers according to claim 1, characterized in that the two jaws (4, 8) have rear ends connected together by the same transverse pivot (18) linked to the piston (12).
    [3" id="c-fr-0003]
    3 - Pliers according to claim 1 or 2, characterized in that it comprises a trigger mechanism with springs, which beyond a certain position towards the closing of the jaws (4, 8) causes the complete closing movement of these jaws (4, 8).
    [4" id="c-fr-0004]
    4 - Pliers according to claims 2 and 3, characterized in that the trigger mechanism comprises two rods (74) connected by a central pivot (78) to the piston (12), arranged symmetrically with respect to the main axis (A) , forming an angle between them less than 30 °, each receiving a compression spring (76) which is first compressed and then relaxed during a recoil of this piston (12).
    [5" id="c-fr-0005]
    5 - Pliers according to any one of the preceding claims, characterized in that the body (2) and the jaws (4, 8) are formed by plastic plates (54, 56) framed by metal sheets.
    [6" id="c-fr-0006]
    6 - Clamp according to any one of the preceding claims, characterized in that it comprises a male jaw (4) comprising a male front end plate (6) which, when the clamp is closed, adjusts in a fork (10) disposed at the front end of the other female jaw (8).
    [7" id="c-fr-0007]
    7 - Pliers according to claim 6, characterized in that the male plate (6) and the fork (10) have teeth (66) on a jaw (4)
    5 fitting into the recesses of the other jaw (8) when the clamp is closed.
    [8" id="c-fr-0008]
    8 - Pliers according to claim 6 or 7, characterized in that the fork (10) has an inlet chamfer (64) guiding the male plate (6) when it enters this fork (10).
    [9" id="c-fr-0009]
    9 - Clamp according to any one of the preceding claims,
    [10" id="c-fr-0010]
    10 characterized in that it comprises at the front end of a jaw (8) transverse pins (22, 24), which in the closed position slide to fit in the holes (26) of the other jaw (4).
    10 - Clamp according to any one of the preceding claims, characterized in that it comprises flotation blocks (32, 60).
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3085125A1|2020-02-28|GRIPPER FOR A ROBOT CONTROL
    EP0779951B1|1999-05-19|Remote manoeuvrable snap-hook to make a rope fast
    EP2674362A1|2013-12-18|Pawl lock
    WO2004010832A1|2004-02-05|Removable grip handle device adaptable to containers of different thickness
    FR2902034A1|2007-12-14|SELF-ADJUSTING BRAKE CLAMP
    FR2635289A1|1990-02-16|FAST ACTION TANK
    FR2840843A1|2003-12-19|Hand-held scissor action clamp with internal gearing
    EP0805278B1|2000-08-02|Pneumatic actuating device
    WO2004026540A1|2004-04-01|Automatic anthropomorphous gripper
    FR3041315A1|2017-03-24|TWO-BILLET TAILGATE OPENING SYSTEM
    FR2969950A1|2012-07-06|Crimping pliers for merging two back-to-back lying open sections, has clamp including jaws that are connected together to limbs so that clamp is moved between appropriate crimping position and remote position
    FR2628781A1|1989-09-22|LEAF LOCK
    EP1122031A1|2001-08-08|Clamping tool and especially crimping tool
    EP1728568A1|2006-12-06|Crimping pliers
    EP0900633A1|1999-03-10|Ring pushing pliers
    EP3055104B1|2018-12-12|Device with small vertical bulk for clamping a part on a tool
    EP3657975B1|2021-09-01|Secure slider for a zip fastener
    FR2945229A1|2010-11-12|GRIPPING TOOLS MANUALLY ACTUATED
    FR2733609A1|1996-10-31|CONTROL LEVER RETAINING MECHANISM
    FR2697566A1|1994-05-06|Lock with pivoting catch actuated by key-operated barrel mechanism - has transmission components engaging between barrel and catch, cooperating with movable portion of catch biassed by spring against lock clip
    EP1375046B1|2006-10-04|Portable spot welding gun
    FR3047643A1|2017-08-18|SAFETY CURSOR FOR A SLIDE CLOSURE
    FR2488495A1|1982-02-19|CLASP FOR CHAINS, NECKLACES OR BRACELETS
    EP1280632B1|2009-05-06|Reducer pliers
    FR2510022A1|1983-01-28|Spanner for square headed spindles - uses handle on screw-jack to drive wedge between tail arms of pivotal jaws with V=section grooves
    同族专利:
    公开号 | 公开日
    FR3085125B1|2021-02-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JPS60242989A|1984-05-18|1985-12-02|Hitachi Ltd|Automatic detachable hand for ic|
    JPH0238294A|1988-07-29|1990-02-07|Motoda Electron Co Ltd|Grasping device for load|
    JPH0343177A|1989-07-05|1991-02-25|Nitta Ind Corp|Tool holder for automatic tool exchange device|
    CN107838934A|2017-10-27|2018-03-27|北京理工大学|It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger|CN113043299A|2021-06-01|2021-06-29|长沙卡星源电力科技有限公司|Manipulator device for power equipment maintenance|
    WO2022041868A1|2020-08-28|2022-03-03|南京禹智智能科技有限公司|Industrial robotic clamping component|
    法律状态:
    2019-06-28| PLFP| Fee payment|Year of fee payment: 2 |
    2020-02-28| PLSC| Search report ready|Effective date: 20200228 |
    2020-02-28| EXTE| Extension to a french territory|Extension state: PF |
    2021-02-26| PLFP| Fee payment|Year of fee payment: 3 |
    2021-07-20| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1857648A|FR3085125B1|2018-08-24|2018-08-24|GRIPPING PLIERS FOR CONTROL BY A ROBOT|
    FR1857648|2018-08-24|FR1857648A| FR3085125B1|2018-08-24|2018-08-24|GRIPPING PLIERS FOR CONTROL BY A ROBOT|
    [返回顶部]