• 专利附录
  • 专利说明
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    • 专利摘要:
    The present application relates to a gripping device that can be used for gripping or otherwise manipulating objects. A gripping device may include one or more gripping elements configured to act as an actuator and to grip an object. A first gripping element made in an asymmetrical shape may be an integrated actuator having an asymmetrical cross-section, this first gripping element being configured to be displaced after actuation of the actuator, in a direction resulting from the asymmetrical cross-section of the the actuator. The gripping device may further include a drive source configured to provide drive means for driving each actuator of the one or more gripping elements. The present application further provides methods for manufacturing gripping devices and methods for using the gripping device.
    公开号:BE1022062B1
    申请号:E2014/0127
    申请日:2014-02-26
    公开日:2016-02-15
    发明作者:Philippe Schiettecatte；Roman Plaghki
    申请人:Materialise Nv；
    IPC主号:
    专利说明:

    GRINDING DEVICE AND SYSTEMS AND METHODS FOR THE PRODUCTION OF GRINDING DEVICES
    CROSS REFERENCE TO RELATED APPLICATIONS
    [1] This application claims the benefits of US Application No. 61/769 984, provisionally filed on February 27, 2013, the entire contents of which are incorporated herein by reference. BACKGROUND OF THE INVENTION Scope of the invention [2] The present application relates to a gripping device. This application also relates to methods for the production of gripping devices and to methods for using gripping devices.
    Description of the technology concerned [3] Gripping systems are widely used in industry, for example in the form of assembly and packaging lines, in laboratory environments, etc. Grippers are a valuable tool and can be used when objects or parts need to be picked up, transported, manipulated and / or moved from one place to another.
    [4] There are different types of grippers, including pneumatic grippers (also known as hydraulic grippers), electric grippers and grippers using suction cups. Pneumatic grippers are driven by means of compressed air or a compressed liquid. Fluctuations in the pressure of the air or the liquid can cause a displacement of a part of the gripper by means of an actuator or a system with a piston. Electric grippers use an electric motor that controls the relative movement of mechanical parts. Grippers using suction cups use electric suction cups that attach to an object and are operated by means of a vacuum.
    [5] Gripping systems can consist of a multitude of parts that must be assembled piece by piece and assembled as a whole to create the actual gripping system. Gripping systems may also require complex drive systems. The complex production and assembly, combined with the drive systems, leads to expensive, complex and cumbersome gripping systems. In addition, pneumatic gripping systems typically include a bellows or actuator that is used to drive the gripper and that is separate from the gripping elements used to grip the objects or parts. The separate bellows or actuator leads to limited functionality and maneuverability of the interlocking elements.
    [6] Accordingly, there is a need for an improved gripping device and for improved methods for producing gripping devices that save time, costs, and materials required for production.
    SUMMARY
    [7] Numerous implementations of systems, methods and devices that fall within the scope of the appended claims each have different aspects, none of which is solely responsible for the desired attributes described in this text. Without wishing to limit the scope of the appended claims, some important features are described in this text.
    [8] The present application relates generally to a gripping device and to methods for the production and use of gripping devices. Details of one or more implementations of the object of the invention described in this specification are explained in the accompanying drawings and in the following description. Other features, aspects and advantages of the invention will appear from the description, from the drawings, and from the claims.
    [9] One aspect of the object of the invention described in this publication provides a gripping device comprising one or more gripping elements configured for operation as an actuator and for gripping an object, wherein a first gripping element is embodied in an asymmetrical shape and including an integrated actuator having an asymmetrical cross-section, this first gripping element being configured to be displaced after driving the actuator, in a direction resulting from the asymmetrical cross-section of the actuator. The gripping device further comprises a drive source configured for the purpose of providing a drive means for driving each actuator of the one or more gripping elements.
    [10] Another aspect of the object of the invention described in this publication provides a method for producing a gripping device. The method comprises designing the gripping device with a view to creating a gripping device design and manufacturing the gripping device by means of an additive manufacturing technique. The gripping device includes one or more gripping elements configured to act as an actuator and to grasp an object, a first gripping element being designed in an asymmetrical shape and an integrated actuator having an asymmetrical cross-section, said first gripping element element is configured to be moved after actuator driving, in a direction resulting from the asymmetrical cross-section of the actuator. The gripping device further comprises a drive source configured for the purpose of providing a drive means for driving each actuator of the one or more gripping elements.
    BRIEF DESCRIPTION OF THE DRAWINGS
    [11] The following description of the figures is purely illustrative in nature and is not intended to limit the present findings, their application or their uses. In all drawings, corresponding reference numerals indicate similar or corresponding parts and properties. The relative dimensions of the following figures are not necessarily drawn to scale.
    [12] Figure 1 is one example of a system for designing and producing three-dimensional (3D) objects.
    [13] Figure 2 is a functional block diagram of one example of a computer from Figure 1.
    [14] Figure 3 is a process for the production of a three-dimensional object.
    [15] Figure 4 illustrates an example of a gripping device.
    [16] Figure 5 illustrates another example of a gripping device.
    [17] Figure 6A illustrates an example of a gripping device with an actuator with an asymmetrical cross-section.
    [6] Figure 6B illustrates an example of an asymmetrical cross-section of an actuator of a gripping device.
    [19] Figure 7 illustrates an example of a gripping device with a displaced gripping element.
    [8] Figure 8 illustrates an example of an asymmetrical shape of a gripping element of a gripping device.
    [21] Figure 9 is a flow chart of one example of a process for the production of a gripping device.
    Figures 10A-10D illustrate yet another example of a gripping device.
    [23] Figure 11 provides an example of the excessive distortion of an actuator section in a gripping device without a conductive system.
    DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS
    [24] The following detailed description is directed to certain specific embodiments. However, the findings described in this text can be applied in a variety of different ways. Reference is made in this description to the drawings in which similar parts are designated at any time with the same reference numerals.
    The present invention will be described with reference to specific embodiments, but the invention is not limited to these embodiments but solely by the claims.
    [26] In this text, singularities such as "a", "a", and "it" refer to both the singular and plural, unless the context clearly dictates otherwise.
    [27] Expressions such as "contain", "include", "contents", "consist of", "belong to" ... and the conjugations of these verbs as they appear in this text have an open end and do not close any additional elements, components or steps not mentioned in the process. The terms "contain", "include", "belong to" ... and the conjugations of these verbs when referring to described elements, components or steps of the method also include embodiments that "consist of" said elements, components or steps of the process.
    [28] Furthermore, the terms "first", "second", "third" etc. in the description and the claims are used to distinguish between similar elements and not necessarily to indicate a sequence in time or space, in a It should be understood that the terms used in this way are interchangeable in appropriate circumstances and that embodiments of the invention described in this text may be used in sequences other than those described or illustrated in this text.
    [29] The reference in the entirety of this specification to "one embodiment", "an embodiment", "some aspects", "an aspect" or "one aspect" means that a specific characteristic, a specific structure or a specific characteristic that is described in connection with the embodiment or the aspect is contained in at least one embodiment of the present invention. The terms "in one embodiment", "in one embodiment", "some aspects", "one aspect" or "one aspect" when they occur in different places throughout this specification do not necessarily all refer to the same embodiment or the same aspect, although that may be the case. In addition, the specific features, structures or properties can be combined in any suitable manner, as will be apparent to those skilled in the art, and in one or more combinations or aspects. In addition, while some of the embodiments or aspects described herein include some but not all of the features contained in other embodiments or aspects, combinations of features of different embodiments or aspects are intended to be within the scope of the invention, and form, as it will be are recognized by people in the field, different embodiments or aspects. By way of example, in the appended claims, any of the features of the embodiments or aspects described in the claims may be used in any combination.
    [30] As described above, gripping systems and devices (also referred to as "grippers" in this text) are used in various sectors, and applications include grippers in automated assembly and packaging lines, as well as in laboratory environments. gripper can be used for picking up, transporting, manipulating and / or placing objects as required by the specific application for which the gripper is being used A gripper typically contains a plurality of parts that must be assembled piece by piece and into a whole It is often expensive and time-consuming to create each component of the device separately and then assemble each of these components to form the gripping device, and conventional gripping drive systems also tend to exhibit a complex design. complex design is often required to meet specifications m with regard to performance, and can also make the production process more expensive and complex.
    [31] Conventional pneumatic grip lines typically include a bellows or actuator that is used to drive the gripper. In these pneumatic grippers, the bellows or actuator as a component is separate from the gripping elements used to grasp the object. The individual bellows or actuator often leads to limited functionality and maneuverability of the interlocking elements. Figure 4 illustrates an example of a pneumatic gripper that is limited by a separate bellows. As illustrated, a gripping device 400 may include gripping elements 402. The gripping element can take the form of substantially rigid protrusions that move inward. This inward movement is driven by a bellows 404 and / or a driving source 406. The bellows 404 is separate from the gripping elements 402 as a component. As a result, it only provides a limited range of movement of the gripping elements 402.
    [32] The inventors have realized that there is a need for systems and methods that provide for the design and production of grippers with broader functionality and maneuverability and at a reduced cost. With a view to achieving these objectives, a gripping device can be designed and produced for a specific application by means of additive manufacturing techniques. For example, additive manufacturing can be used to produce the entire gripping device. The use of additive manufacturing avoids the need to assemble the various components. Additive Manufacturing or Rapid Prototyping and Manufacturing (RP & M) can be defined as a group of techniques used to fabricate an object using, for example, three-dimensional (3D) computer aided design (CAD) data from the object. Today a multitude of Rapid Prototyping techniques are available, including stereolithography (SLA), selective laser sintering (SLS), fused deposition modeling (FDM), foil-based techniques, etc.
    [33] A general feature of additive manufacturing and RP & M techniques is that objects are typically built up layer after layer. Stereolithography, for example, uses a liquid photopolymer "resin" container to form an object one layer at a time. On each layer, a specific pattern is followed by an electromagnetic beam on the surface of the liquid resin defined by the two-dimensional cross-sections of the object to be formed. The electromagnetic beam can be delivered in the form of one or more laser beams that are computer controlled. Exposure of the resin to the electromagnetic beam hardens the pattern that is followed by the electromagnetic beam and causes the resin to adhere to the layer below. After a layer of resin has been polymerized, the platform descends with the thickness of a single layer and a subsequent layer pattern is followed, causing the newly followed layer pattern to adhere to the previous layer. By repeating this process, a complete three-dimensional object can be formed.
    [34] As mentioned above, selective laser sintering (SLS) is another possible technique of additive manufacturing. SLS uses a high-power laser or other concentrated heat source to sinter or melt small particles of plastic, metal or ceramic powder into a mass that corresponds to the three-dimensional object to be formed. SLS can be used to produce devices that require elastic or flexible materials. The materials that can be used in the SLS process include polyamide, polypropylene, and / or thermoplastic polyurethane. For the SLS process the different materials can be selected based on the specific object or the specific production method. For the production of high volumes of an article, polypropylene can be chosen, for example.
    [35] Fused déposition modeling (FDM) is yet another approach to the additive manufacturing technique. FDM and other related techniques use a temporary transition phase from a solid material to a liquid phase, generally as a result of heating. The material is passed through an extrusion head in a controlled manner, and the material is then deposited at a specified location. Details of one suitable FDM process are described in U.S. Patent No. 5,141,680, the entire contents of which are incorporated herein by reference.
    [36] Film-based techniques can also be used to support additive manufacturing. Foil-based techniques are accompanied by the use of glue or photopolymerization to fix layers of resin together. The desired article is then cut from these layers, or the article is polymerized from these layers.
    [37] In general, techniques of additive manufacturing and RP & M start from a digital representation of the three-dimensional object to be formed. The digital representation is usually cut into a series of sectional layers that are superimposed to form the object as a whole. Information about the sectional layers of the three-dimensional object is stored in the form of sectional data. The RP & M system uses the cross-sectional data for layer-by-layer shaping of the object. The sectional data used by the RP & M system can be generated by means of a computer system. The computer system may include software such as computer aided design and manufacturing (CAD / CAM) software to control this process.
    [38] In a number of embodiments, a selective laser sintering (SLS) device can be used to generate a gripping device. However, it should be noted that various types of rapid manufacturing and tooling can be used to accurately produce this gripping device such as, but not limited to, Stereolithography (SLA), Fused Deposition Modeling (FDM), and milling.
    [39] Figure 1 illustrates one example of a system 100 for the design and production of three-dimensional devices and / or products. The system 100 can be configured to support the techniques described in this text. The system 100 can be configured, for example, with a view to designing and producing a gripping device such as any of the gripping devices described in more detail below. In some embodiments, the system 100 may include one or more computers 102a-102d. The computers 102a-102d can take various forms, such as, for example, any workstation, any server or any other computer device that can process information. The computers 102a-102d can be connected through a computer network 105. The computer network 105 can be the internet or a LAN (local area network), a WAN (wide area network), or any other type of network. The computers can communicate with each other over the computer network 105 by any suitable communication technology or any suitable communication protocol. Computers 102a-102d can exchange data by sending and receiving information, for example, software, digital representations of three-dimensional objects, commands and / or instructions to operate an additive manufacturing device, etc.
    The system 100 may further comprise one or more devices of additive manufacturing 106a and 106b. These additive manufacturing devices can take the form of three-dimensional printers or any other production devices as known in the art. In the example illustrated in Figure 1, the device of additive manufacturing 106a is connected to the computer 102a. The device of additive manufacturing 106a is also connected to the computers 102a-102c through the network 105 that connects the computers 102a-102d. The device of additive manufacturing 106b is also connected by means of the network 105 to the computers 102a-102d. Those skilled in the art will appreciate that an additive manufacturing device such as devices 106a and 106b can be directly connected to a computer 102, can be connected to a computer 102 through a network 105, and / or can be connected to a computer 102 be connected via another computer 102 and through the network 105.
    [41] Although a specific computer and network configuration is described in Figure 1, those skilled in the art will also understand that the techniques of additive manufacturing described in this text can be implemented using a single-computer configuration that controls the device of additive manufacturing 106 monitors and / or supports, without the need for a computer network.
    Referring to Figure 2, a more detailed illustration of the computer 102a of Figure 1 is provided. The computer 102a includes a processor 210. The processor 210 is in data communication with various computer components. These components may include a memory 220 as well as an input device 230 and an output device 240. In some embodiments, the processor may also communicate with a network interface card 260. Although described as a separate component, it should be understood that the functional blocks described are no different structural elements with respect to computer 102a. For example, the processor 210 and the network interface card 260 may be included in a single chip or a single board.
    [43] The processor 210 may be a universal processor or a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (application-specific integrated circuit, ASIC), a field-programmable gate array (field programmable gate array). (FPGA) or another programmable logic unit, a separate port or transistor, separate hardware components, or any combination thereof to perform the functions described in this text. A processor can also be implemented as a combination of computer equipment, for example a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration.
    The processor 210 may be coupled, via one or more buses, to read information from, or write to, the memory 220. The processor may additionally, or as another possibility, contain memory, e.g., processor registers. The memory 220 may contain processor cache, including a multi-level hierarchical cache in which different levels have different options and different access speeds. This memory 220 may further comprise a random access memory (RAM), as well as other devices with a volatile memory or devices with a non-volatile memory. The data storage can consist of hard disks, optical disks such as compact dises (CDs) or digital video dises (DVDs), flash memory, diskettes, magnetic tape, and Zip drives.
    The processor 210 can also be coupled to an input device 230 and an output device 240 for resp. get input from, and deliver output to, a user of computer 102a. Suitable input devices include, but are not limited to, a keyboard, a rollerball, buttons, keys, switches, pointing devices, a mouse, a joystick, a remote control device, an infrared detector, a voice recognition system, a barcode reader, a scanner, a video camera ( possibly coupled to image processing software to detect, for example, hand or face movements), a motion detector, a microphone (possibly coupled to sound processing software to detect, for example, voice commands), or any other device capable of transmitting data from a user to a computer. The input device may also take the form of a touchscreen associated with the display, in which case a user responds to information displayed on the display by touching the screen. The user can enter information in the form of text by means of an input device such as a keyboard or the touchscreen. Suitable output devices include, but are not limited to, visual output devices, including screens and printers, audio output devices, including speakers, headphones, earphones and alarms, additive manufacturing devices, and haptic output devices.
    The processor 210 may further be coupled to a network interface card 260. The network interface card 260 prepares data generated by the processor 210 for transmission over a network in accordance with one or more data transmission protocols. The network interface card 260 can also be configured for decoding data received by the network. In some embodiments, the network interface card 260 may include a transmitter, a receiver, or both a transmitter and a receiver. Based on the specific embodiment, the transmitter and the receiver may consist of a single integrated component or may be two separate components. The network interface card 260 can be in the form of a universal processor or a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (application-specific integrated circuit, ASIC), a field-programmable gate array ( field programmable gate array (FPGA) or other programmable logic unit, a separate port or transistor, separate hardware components, or any combination thereof to perform the functions described in this text.
    [47] Using the devices described above with reference to Figures 1 and 2, a process of additive manufacturing can be used to produce a three-dimensional product or a three-dimensional device. Figure 3 is an illustration of one such process. In particular, Figure 3 shows a general process 300 for the production of a gripping device, such as those which will be described in more detail with reference to Figures 5-8.
    [48] The process begins at step 305, where a digital representation of the device to be produced is designed using a computer, for example, the computer 102a. In some embodiments, a two-dimensional representation of the device can be used to create the three-dimensional model of the device. Alternatively, three-dimensional information may be entered into the computer 102 to assist in designing the digital representation of the three-dimensional device. The process continues until step 310, where information is sent from the computer 102a to an additive manufacturing device, e.g., the additive manufacturing device 106. Next, at step 315, the additive manufacturing device 106 starts producing the three-dimensional establishment by carrying out a process of additive manufacturing with the use of suitable materials. Suitable materials include, but are not limited to, polypropylene, thermoplastic polyurethane, polyurethane, acrylonitrile-butadiene-styrene (ABS), polycarbonate (PC), PC-ABS, polyamide, polyamide with additives such as glass or metal particles, methyl methacrylate -acrylonitrile-butadiene-styrene copolymer, resorbable materials such as polymer-ceramic composites, and other similar suitable materials. Commercially available materials can be used in a number of embodiments. These materials can be, for example: the materials of the DSM Somos® series 7100, 8100, 9100, 9420, 10100, 11100, 12110, 14120 and 15100 from DSM Somos; Stratasys materials ABSplus-P430, ABSi, ABS-ESD7, ABS-M30, ABS-M30Î, PC-ABS, PC-ISO, PC, ULTEM 9085, PPSF, and PPSU; the line materials Accura Plastic, DuraForm, CastForm, Laserform and VisiJet from 3-Systems; aluminum, cobalt chrome and stainless steel materials; maraging steel; nickel alloy; titanium; the PA materials line, PrimeCast and PrimePart materials and Alumide and CarbonMide from EOS GmbH. Using the appropriate materials, the additive manufacturing device then ends the process at step 320 where the three-dimensional device is generated.
    [49] Using a process 300 described with reference to Figure 3, a gripping device can be produced by processes of additive manufacturing. The use of a process of additive manufacturing such as the process 300 allows a gripping device to be produced with one or more gripping elements that can act as actuators and also grip objects. Various techniques of additive manufacturing can be applied to produce a gripping device. Examples of these techniques are sintering, stereolithography, fused deposition modeling, and a film-based technique. Using this and other additive manufacturing techniques, the entire gripping device can be produced without having to produce and subsequently assemble a multitude of different parts.
    Figure 5 illustrates an example of a gripping device that can be produced using the techniques described above. In this specific example, the gripping elements have an asymmetrical shape and may consist of an integrated actuator with an asymmetrical cross-section. Since a gripping element can consist of the actuator, the actuator itself can act as the gripping element. Any of the gripping elements that include the integrated actuator can be configured to be moved after actuator driving, in a direction resulting from the asymmetrical cross-section of the actuator. The gripping device may further comprise a drive source configured for the purpose of providing a drive means for driving each actuator of the one or more gripping elements.
    [51] Now with specific reference to Figure 5, an example of a gripping device 500 is provided. The gripping device 500 includes three gripping elements 502, a base 512 and an inlet 510 through which a drive means can be input from a drive source (not shown in the drawing) ). In a number of embodiments, the drive source may be included as a component of the gripping device 500. Alternatively, the drive source may be a separate component that is separately connected to the gripping device 500. The drive source may, for example, be in the form of a capsule which is filled with compressed air or a compressed liquid. The capsule can be screwed into the gripping device 500, or otherwise attached to it, at or near the inlet. Those skilled in the art will appreciate that depending on the specific application, a gripping device such as device 500 may contain more than three gripping elements 502 and may also contain more than one inlet 510.
    [52] Unlike the gripping elements 402 as illustrated in Figure 4, the gripping element 502 is configured to act as both an actuator and as a gripper, because the actuator 504 is integrated into the gripping element 502. Accordingly in these configurations, the actuator 504 itself is the engaging element 502. In a number of embodiments, the integrated actuator 504 is a pneumatically activated actuator. This pneumatically activated actuator can be configured to be moved in a desired direction to receive a drive means from a drive source. The drive source may, for example, deliver compressed air or a compressed liquid or any other suitable drive means to the inlet 510 for the purpose of driving any integrated actuator.
    [53] In a number of embodiments, the gripping element 502 may include an integrated actuator zone 504 and a tip 506. The integrated actuator 504 has an asymmetrical cross-section. This asymmetrical cross-section is useful in view of manipulating the direction in which the gripping element 502 is displaced. The gripping element 502 can also have an asymmetrical shape including a varying wall thickness over all or part of the length of the gripping element 502. Due to the asymmetrically shaped geometry of the actuator 504, the gripping element 502 can be moved in a desired direction after drive of the actuator by the drive source and can make contact with an object in the desired manner. By way of example, an asymmetrical cross-section of the actuator 504 may include a first portion that is thicker than a second portion of the actuator to allow the gripping element 502 to be displaced after driving the actuator, toward the first portion . In some embodiments, the first portion may be an inner portion of the gripping element 502 in a zone closest to the object to be gripped, in such a way that the gripping element 502 is placed in an inward direction. Details regarding the specific asymmetrical shape of the gripping element and the asymmetrical cross-section of the actuator are described in what follows, with reference to Figures 6 and 7.
    [54] One or more of the gripping elements may further comprise edges over all or part of the length of the one or more gripping elements 502. These edges typically provide flexibility and contribute to guiding the displacement of the gripping elements. elements 502. In a number of embodiments, it is possible that the one or more gripping elements do not involve an integrated actuator. These gripping elements can remain in their fixed position while the gripping elements are moved with an integrated actuator. These embodiments may offer an advantage in that they reduce the amount of drive means required to drive the gripping device 500.
    [55] In a number of embodiments, the tip 506 may be designed to remain in its fixed position despite the actuator 504 being integrated into the gripping element 502. In these embodiments, the actuator portion 504 of the gripping element 502 may be moved in the desired direction based on the geometry of the actuator 504 while the tip 506 remains in its fixed position. In a number of embodiments, the tip 506 may also include the actuator 504 in such a way that the tip 506 also has an asymmetrical cross-section and is displaced after driving in the desired direction. The tip 506 may, for example, have a different geometry (e.g. cross-section, thickness along the length, etc.), so that the tip 506 is moved in a different way than the actuator portion 504. In a number of embodiments, the tip 506 may have different types of texture, e.g. a sticky or rough surface, to facilitate handling and manipulation of the objects.
    [56] Checking the manipulation of each of the gripping elements based on the asymmetrical properties of the actuator allows the gripping device 500 to be produced at a reduced cost, since expensive driving devices and materials can be avoided in this way. The integrated actuator thus enables the gripping device 500 to be designed and produced at a reduced cost while still allowing the possibility of using this gripping device to perform numerous complex tasks for various applications that may require more than simple machining picking up, manipulating and placing. By way of example, designing the gripping device 500 to include an actuator integrated with each of the gripping elements allows the gripping device 500 to function like a human hand, each of the gripping elements being the finger of a human and, consequently, the functionality and maneuverability of the gripping device 500 increases. For example, designing the tip 506 to remain in its position or otherwise move that the rest of the gripping element 502 helps to simulate the movement of a human's hand. Furthermore, the geometry of the actuator can be designed in such a way that only the tips of each of the gripping elements make contact with the object being picked up, manipulated, etc., as is the case with a human hand. As another example, the geometry of each actuator in each of the resp. gripping elements are designed in such a way that the gripping device 500 picks up an object such as a baseball, so that the object is completely enclosed by the gripping elements. As yet another example, one actuator can be designed to function like the thumb of a human, while the other actuators can be designed to function like the other fingers of a human's hand. In a number of embodiments, it is possible that the tip 506 is not limited to a tip in the shape of the tip of a finger. For example, the tip 506 may include a gripper with two points, with two contact points. In another example, the tip 506 may include a clamp in such a way that objects can be picked up and / or manipulated with a single gripping element. As another example, the tip 506 may include a tip in the form of a pin. In a number of embodiments, the gripper can have different layers. For example, a first layer can have a structure like a hand and a second layer can have the structure in the form of a finger. In this example, the grab can function as a full hand of a human. People in the art will understand that other shapes and configurations of grippers may include an integrated actuator to drive the gripper as described in this text. Accordingly, by providing an integrated actuator, the gripping device 500 can be designed to handle fragile objects that would otherwise be damaged by roughly gripping devices. The gripping device 500 can also be designed to implement complex manipulation processes that would otherwise not be possible with less maneuverable grippers.
    [57] In a number of embodiments, the gripping elements can be integrated into the base 512 in such a way that the gripping elements cannot be easily removed. In some embodiments, one or more of the gripping elements may be removable from the gripping device 500 in such a way that a user can replace defective or old gripping elements and / or change the functionality of the gripping device 500 to use it for a other application. For example, a user may wish to replace one or more existing gripping elements with gripping elements that exhibit better maneuverability for a specific application that requires complex manipulation of an object. It is possible that the user wants to remove an existing gripping element and replace it with a new gripping element. As another example, it is possible that the user may want to replace an existing gripping element with a thumb-like gripping element to provide additional manipulation properties.
    [58] As described above, it is possible that one or more of the actuators of the gripping device 500 has an asymmetrical cross-section designed for checking the direction in which all corresponding gripping elements are moved. Accordingly, the gripping device 500 can be designed and produced without the need for additional tools or materials to move the gripping elements. The sections 514 and 516 are examples of asymmetrical sections that can be designed differently in such a way that the portions of the gripping element with each of these sections are displaced by a desired distance in a desired direction.
    Figure 6A illustrates an example of a gripping device 500 with a gripping element with an actuator 602 with an asymmetrical cross-section 514. Different sections A, B and C of the cross-section of the actuator 602 are shown, with different wall thicknesses. In the example illustrated in Figure 6A, the wall thickness of portion A is greater than the wall thickness of portion B, which in turn is greater than the wall thickness of portion C (A> B> C). For example, section A can be 1.4 mm thick, section B can be 1.1 mm thick, and section C can be 0.8 mm thick. Those skilled in the art will appreciate that different wall thicknesses, other than described in this text, may be used for each portion for the purpose of manipulating the direction of movement of the gripping element. Accordingly, the asymmetrical cross-section of the actuator 602 may have a first portion A that is thicker than the second portion B and the third portion C. Designing portion A in such a way that it is thicker than portion B and portion C causes the engaging element with the actuator 602 after being moved is moved in the direction of section A. For example, a driving source may direct a driving means (e.g., compressed air or a compressed liquid, etc.) through the inlet 604 to drive the actuator 602. After driving, the gripping element with the actuator 602 is displaced around portion A because of the fact that portion A has a greater thickness than the other portions of the cross-section.
    Figure 6B illustrates another example of an asymmetrical cross-section 516 of an actuator of a gripping device 500. With reference to Figure 5, the cross-section 516 is located in a distal portion of the gripping element with respect to cross-section 514.
    Different sections A ", B" and C "of the cross section of the actuator 516 are shown, with different wall thicknesses. The wall thickness of part A "is larger than the wall thickness of part B", which in turn is larger than the wall thickness of part C "(A"> B "> C"). The difference in thickness between section A 'and sections B' and C 'can be less for section 516 than the difference in thickness between section A and sections B and C. By way of example, section A of section 514 can be thicker than the sections B and C then the thickness of the portion A 'relative to the portions B' and C '. Accordingly, a thickness ratio A / (B + C) in cross-section 514 may be greater than the thickness ratio A '/ (B' + C ') in cross-section 516. For example, portion A may be 1.2 mm thick, portion B may be 1.0 mm thick, and portion C can be 0.8 mm thick. Those skilled in the art will appreciate that, based on the specific application, different wall thicknesses, other than described in this text, may be used for each portion for the purpose of manipulating the direction of movement of the gripping element. Since the thickness ratio of cross-section 516 is smaller than the thickness ratio of cross-section 514, the portion of the gripping element with cross-section 516 will be moved in the direction of portion A 'in a less strong manner than the portion of the gripping element with cross-section 514 will be moved in the direction of part A.
    [61] Each different cross-section along the length of the integrated actuator 620 can have different thicknesses on the sections A, B and C, in such a way that the gripping element is moved differently on each cross-section or collectively in a section. Figure 7 illustrates an example of a gripping device 700 with a displaced gripping element 702 ". For example, the gripping element 702 has an integrated actuator designed with different cross-section thicknesses, including cross-sections 514 and 516 as described above, in such a way that the gripping element mimics the movement of a human's finger. By way of example, a middle portion of the gripping element 702 with one or more cross-sections, including cross-section 514, can be designed to perform the greatest displacement relative to other portions of the gripping element in a single direction after driving, in such a way that the middle portion deflects vision in a manner similar to a proximal interphalangeal joint of a human. To achieve this type of movement, the middle section may have one or more sections, including section 514, with section A being thicker than sections B and C of that section as compared to any other section of the gripping element. By way of example, a thickness ratio A / (B + C) at the cross-section of the middle portion may be greater than the thickness ratio of any other cross-section of the gripping element. The large difference in thickness of part A compared to parts B and C of the cross-section of the middle part causes the middle part to be moved further than any other part of the gripping element in the direction of part A, in a similar manner when a proximal intercalaryal joint is displaced when a human's finger is bent.
    [62] As another example, an upper distal portion of the gripping element 702 can be designed with one or more cross-sections, including cross-section 516, with thicknesses that cause the upper portion to move less strongly than the middle portion. By way of example, the upper distal portion may be designed to move relative to the middle portion in a similar manner as a distal interphalangeal joint of a menpace is displaced as compared to a proximal interphalangeal joint. Each of the remaining cross-sections of the gripping element 702 with the integrated actuator can be designed to exhibit different thicknesses at the portions A, B and C in such a way that the desired displacement of the gripping element is realized. By way of example, each section of the integrated actuator can be designed in such a way that the gripping element 702 is moved from its rest position to its driven position 702 ". When the gripping element 702 is moved, the section 516 is moved to position 516 ". The gripping element 702 is displaced a greater distance on the middle portion (including cross-section 514) than the upper distal portion (including cross-section 516). As described above, the difference in displacement at section 516 compared to section 514 is due to the fact that the difference in thickness between part A 'and parts B' and C 'is smaller than the difference in thickness between part A and Parts B and C.
    [63] In a number of embodiments, the tip at the distal end of each non-gripping element can also be designed to remain in position while the remainder of the gripping element is moved after driving. This can mimic the movement of a human hand even more, since only the portions of the gripping element in accordance with the joints of the hand of a human can be designed to be moved after driving. The tip can be designed to remain in position by not including the actuator in the tip in such a way that the actuator is only included in the remaining portion of the gripping element. In a number of embodiments, the tip may contain the actuator, in such a manner that the tip is also moved a desired distance when the drive means is supplied. By way of example, the tip section of the actuator may exhibit less thickness difference between the section sections A, B and C, so that less displacement is achieved after driving in the direction of section A than, for example, the middle section as described above. By way of example, the thickness of each of the sections A, B and C of the section on the tip can be designed in such a way that only the tip makes contact with the object to be picked up, manipulated, etc.
    [64] In some embodiments, one or more actuators of gripping elements can be designed to function like the thumb of a human, while the other actuators can be designed to function like the other fingers of a human's hand. By way of example, the thickness of the section portions A, B and C of an actuator of a gripping element can be designed in such a way that the specific gripping element is displaced in a direction relative to the remaining gripping elements in a manner similar to that from the thumb of a human. For example, again with reference to Figure 6A, the gripping element can be designed to move in a diagonal direction and not in a direction strictly inward. To facilitate movement in a diagonal direction, portion A may be thicker at a first end 608 as compared to a second end 606, in such a way that the gripping element is moved toward the first end 608. The design of at least at least one of the gripping elements to operate in a manner similar to a thumb, such as moving in a diagonal direction toward other gripping elements, may allow for more complex gripping and manipulation functionality. By way of example, the gripping device can pick up an object in such a way that the object is completely surrounded by the gripping elements, in a manner similar to a human's hand grasping a baseball. As another example, the gripping element can be configured in such a way that it picks up a cup of coffee as a human's hand would.
    [65] Each of the gripping elements can also have an asymmetrical shape in such a way that the wall thickness of each of the gripping elements varies along their length. Figure 8 illustrates an example of an asymmetrical shape of a gripping element 802 of a gripping device 800. The variations of the wall thickness along the length of the gripping element 802 lead to a curvature that is more pronounced in certain sections than in other, less pronounced sections . As a result, the curvature of each of the gripping elements may exhibit a shape similar to that of a human's finger. For example, and as illustrated in Figure 8, the tip portion 806 of the gripping element 802 is more pronounced in an inward direction toward the other gripping elements 802 and exhibits a curvature on the outside of the gripping element 802, whereby it therefore mimics the shape of the finger of a human. Incorporating a more pronounced inner portion on the tip may further provide the ability for each of the gripping elements to function in such a way that only the tip contacts the object to be picked up, manipulated, etc. The remaining portion 804 of the gripping element 702 may have a less pronounced wall thickness along its length than the tip 806.
    [66] Due to the design of the gripping element so that it includes an integrated actuator, the actuator itself becomes the gripping element. The wall thicknesses of each section of the actuator control the movement of the gripping elements, thereby reducing the amount of material, and the cost thereof, required for the production and control of the gripping device. For example, no expensive drive system is required because the shape of the actuator itself controls the movement of each of the gripping elements. The integrated actuator thus makes it possible for the gripping device to be designed and produced in a cheaper manner. In addition, the detailed asymmetrical geometry of each section of the actuator, as described above, and the asymmetrical shape of each of the gripping elements allow the gripping device to be used to perform a multitude of complex tasks that require more than the operations of simply picking up, manipulating and placing. By way of example, the gripping device can be designed to function like a human's hand, each of the gripping elements moving and contacting an object in a manner similar to that of a human's hand, thereby reducing the functionality and maneuverability of the gripping device. By designing the gripping device to allow a more precise and precise movement of each of the gripping elements than with a conventional gripping device, the gripping device can be designed to handle fragile objects that would otherwise be damaged, and to perform complex manipulation processes which would not be possible with less maneuverable grippers.
    [9] Figure 9 illustrates a method 900 for the production of a gripping device. At block 902, the method includes designing the gripping device to create a gripping device design. At block 904, the method comprises producing the gripping device using an additive manufacturing technique, wherein the gripping device includes one or more gripping elements configured to act as an actuator and to grasp an object, a first gripping element is embodied in an asymmetrical shape and includes an integrated actuator having an asymmetrical cross-section, this first gripping element being configured to be moved after driving the actuator, in a direction resulting from the asymmetrical cross-section of the actuator. The gripping device produced using the additive manufacturing technique also includes a drive source configured to provide a drive means for driving each actuator of the one or more gripping elements. In a number of embodiments, the additive manufacturing technique includes at least one of sintering, stereolithography, fused deposition modeling, and a film-based technique.
    Figs. 10A-10D illustrate yet another example of a gripping device 1000. Fig. 10A provides a rear perspective view of the gripping device 1000. As illustrated, the gripping device includes a gripping element 1002 displayed on the lower portion of the gripping device 1000. The gripping element 1002 extends along the front of the gripping device 1000 in the direction of a base 1012. The base 1012 may include an inlet 1010 through which a drive means may be input from a drive source (not shown in the drawing). As with the previous gripping devices described above, the drive source may be a separate component that is separately connected to the gripping device 1000. Alternatively, the drive source may be included as a part of the gripping device 1000.
    The gripping device 1000 may also include an actuator portion 1004 and a tip portion 1006. The actuator portion 1004 may have a generally curved stake with a uniform thickness that extends along most of the length of the gripping element 1002, but terminates at the tip portion 1006. In some embodiments, the generally curved stake may have different thicknesses in different zones for the purpose of realizing specified maneuverability properties that allow the gripping element 1002 to contact an object in a desired manner. The actuator portion 1004 can receive a drive means from a drive source, causing the movement in a forward direction. The drive means can be delivered through the inlet 1010 provided in the base 1012 of the gripping device 1000 - Referring now to Figure 10B, a side view of the gripping device 1000 is illustrated. Two different guide systems 1014A and 1014B are illustrated here. The guidance systems 1014A and 1014B can be configured for providing support and resistance to the gripping element 1002 and the actuator portion 1004 to prevent each of them from being improperly, excessively or unexpectedly distorted during the course of the driving process . An example of the type of distortion that can be prevented by the guidance system is illustrated in Figure 11. There, a gripping device 1100 is illustrated without the guidance system. In this example, the tip 1106 of the gripping element 1102 moves in a forward direction. However, since no supporting component is present, the actuator portion 1104 excessively bends down and back, as illustrated by arrows 1108A and 1108B.
    Referring now to Figure 10C, a perspective side view of the gripping device 1000 is illustrated, in a limited bird's eye view. In this illustration, the guidance systems can be observed with more details. As illustrated, the guidance systems 1014A and 1014B each contain two interlocking components (which may take a similar form to chain links and the like). The first interlocking component 1020 is attached to the locking element 1002 at two points, shown as elements 1024 and 1026 in Figure 10C. The second interlocking component 1030 is also illustrated in Figure 10C. In this example, the second interlocking component 1030 is attached to the actuator portion 1004 at two points, on each side of the actuator portion 1004. Together, the two interlocking components offer the possibility that the actuator portion 1004 and the gripping element 1002 bend without moving away from each other Figure 10 illustrates a close-up view of how the second interlocking component 1030 can shift in a vertical direction within the first interlocking component 1020 while being retained simultaneously by the interlocking configuration to ensuring that the actuator portion 1004 does not extend away from the engaging element 1002.
    [72] In a number of embodiments, the asymmetrical cross-section of the actuator includes a first portion that is thicker than a second portion of the actuator to allow the gripping element to be displaced after driving the actuator, toward the first portion . In a number of embodiments, the first portion is an inner portion in a zone closest to the object to be gripped. By way of example, and as described above with reference to Figure 6A, the asymmetrical cross-section can include a portion A that is thicker than the portions B and / or C to allow the gripping element to be moved in a direction toward portion A to.
    [73] In a number of embodiments, the asymmetrical shape of the first gripping element exhibits a varying wall thickness over a length of the gripping element. For example, and as described above with reference to Figure 8, the gripping element may exhibit variations of the wall thickness over the length of the gripping element that lead to a curvature that is more pronounced in certain sections than in other sections. As a result, the curvature of each of the gripping elements may exhibit a shape similar to that of a human's finger. In a number of embodiments, the gripping element includes a plurality of edges along the length of the gripping element. The edges can offer flexibility and can make a further contribution to guiding the movement of each of the gripping elements in the desired direction.
    In some embodiments, the actuator is a pneumatically driven actuator that is configured to be moved in the desired direction in response to receiving the driver from the drive source. In a number of embodiments, the drive means is compressed air or a compressed liquid. Those skilled in the art will appreciate that any other drive means can be used to drive the actuator.
    [75] In a number of embodiments, the gripping device may include three or more gripping elements, each of the gripping elements being configured to act as an actuator and to pick up the object. In a number of embodiments, the gripping device comprises at least one fixed-gripping element. For example, it is then possible that at least one gripping element does not contain an actuator and consequently remains in its fixed position, while the gripping elements containing an integrated actuator are displaced. For example, three or four gripping elements may include an actuator, and it is possible that the fourth gripping element does not include an actuator and therefore remains in its fixed position when the drive means is sent to the gripping device.
    [76] In accordance with the method illustrated in Figure 9, the gripping device 500, 600, 700, and / or 800 as described above may be wholly or partly produced using additive manufacturing techniques, which offers the possibility that the device is produced efficiently without each part having to be produced separately and then assembled. The use of additive manufacturing techniques therefore offers the possibility that the gripping device is designed and produced at an even lower cost, if this is combined with the design of integrated actuator as described above.
    The invention described in this text can be implemented in the form of a method, a device, a produced article, using standard techniques of programming or engineering to produce software, firmware, hardware or any combination thereof. The term "produced item" as used herein refers to code or logic implemented in hardware or permanent computer-readable media such as optical disks, and volatile or non-volatile memory devices or temporary computer-readable media such as signals, carriers, etc. Such hardware may include, but is not limited to, field-programmable gate arrays (field programmable gate arrays, FPGAs), application-specific integrated circuits (application-specific integrated circuits, ASICs), complex programmable logic chips (complex programmable logic devices (CPLDs), programmable logic arrays (programmable logic arrays, PLAs), microprocessors, or other similar processing devices.
    Those skilled in the art will appreciate that numerous variations and / or modifications to the invention can be made without departing from the spirit or scope of the invention as extensively described. The embodiments described above must therefore always be regarded as illustrative and non-limiting. in the drawings:
    FIG. 1
    Fig.2
    Fig.9_
    *)
    权利要求:
    Claims (18)
    [1]
    Conclusions
    A gripping device comprising: one or more gripping elements configured to act as an actuator and to grasp an object, a first gripping element being designed in an asymmetrical shape and including an integrated actuator having an asymmetrical cross-section, wherein said first gripping element is configured to be moved after actuator actuation, in a direction resulting from the asymmetrical cross-section of the actuator, and a actuator source configured to provide a actuator means for actuating each actuator of the one or more interlocking elements.
    [2]
    The gripping device according to claim 1, wherein the asymmetrical cross-section of the actuator includes a first portion that is thicker than a second portion of the actuator to allow the gripping element to be displaced after driving the actuator, in the direction of the first part.
    [3]
    The gripping device according to claim 2, wherein the first portion is an inner portion in a zone closest to the object to be gripped.
    [4]
    The gripping device according to claim 2, wherein the asymmetrical shape of the first gripping element has a varying wall thickness over a length of the gripping element.
    [5]
    The gripping device of claim 4, wherein the gripping element includes a plurality of edges along the length of the gripping element.
    [6]
    The gripping device of claim 1, wherein the actuator is a pneumatically activated actuator configured to be moved in the desired direction in response to receiving the drive means from the drive source, the drive means consisting of compressed air or a compressed liquid.
    [7]
    The gripping device according to claim 1, comprising three or more gripping elements, wherein each of the gripping elements is configured to act as an actuator and to pick up the object.
    [8]
    The gripping device according to claim 1, wherein the gripping device is produced by means of an additive manufacturing technique, including at least one of sintering, stereolithography, fused deposition modeling, and a foil-based technique.
    [9]
    The gripping device according to claim 1, further comprising at least one fixed gripping element.
    [10]
    A method for producing a gripping device, said method comprising: designing the gripping device to create a gripping device design; and, producing the gripping device using an additive manufacturing technique, wherein the gripping device comprises: one or more gripping elements configured to act as an actuator and to grasp an object, a first gripping element being formed in an asymmetrical shape and an integrated actuator having an asymmetrical cross-section, said first gripping element being configured to be moved after actuator driving, in a direction resulting from the asymmetrical cross-section of the actuator, and a driving source configured with a view to providing a driving means for driving each actuator of the one or more gripping elements.
    [11]
    The method of claim 10, wherein the asymmetrical cross-section of the actuator includes a first portion that is thicker than a second portion of the actuator to allow the gripping member to be displaced after driving the actuator, in the direction of the first part.
    [12]
    The method of claim 11, wherein the first portion is an inner portion in a zone closest to the object to be gripped.
    [13]
    The method of claim 11, wherein the asymmetrical shape of the first gripping element exhibits a varying wall thickness over a length of the gripping element. *.
    [14]
    The method of claim 13, wherein the gripping element includes a plurality of edges along the length of the gripping element.
    [15]
    The method of claim 10, wherein the actuator is a pneumatically activated actuator configured to be moved in the desired direction in response to receiving the drive means from the drive source, the drive means consisting of compressed air or a compressed liquid.
    [16]
    The method of claim 10, comprising three or more gripping elements, wherein each of the gripping elements is configured to act as an actuator and pick up the object.
    [17]
    The method of claim 10, wherein the additive manufacturing technique comprises at least one of sintering, stereolithography, fused deposition modeling, and a film-based technique.
    [18]
    The method of claim 10, further comprising at least one gripping element. »»
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