• 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 device for gripping (2) objects, comprising a support (4) with at least one passage (43, 44) for a fluid; a membrane (6) attached to the support (4) and forming a deformable and closed enclosure in communication with the passage (s) (43, 44); a granular material (8) in the chamber formed by the membrane (6), fluid that can be injected and expelled from the chamber through the passage (s) (43, 44); and a suction cup (10) attached to the membrane (6) adapted to grip a flat object. The invention also relates to a robot and a method of manipulating objects.
    公开号:FR3051701A1
    申请号:FR1654739
    申请日:2016-05-26
    公开日:2017-12-01
    发明作者:Frederic Gelin；Luc Malotaux
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    The invention relates to the field of gripping objects with a view to handling them.
    Published patent document WO 2011/130475 A2 discloses an object grasping device, comprising a support and a generally spherical deformable membrane, attached to the support and forming a closed enclosure. This enclosure is filled with a granular material, and a liquid, such as air, can be injected into the enclosure or be expelled. The injection of air allows the granular material to decompact and thus move from a phase comparable to a solid phase to a phase comparable to a liquid phase. When the lower face of the membrane is brought into contact with an object, a priori of a shape that anyone, and that air is injected into the enclosure, the membrane is deformed to at least partially match the object. When air is then expelled from the enclosure, the granular material becomes compact again and solidifies the shape of the membrane embracing the object. The latter is then engaged with the deformed membrane and can then be moved.
    Such a gripping device is also marketed by EMPIRE ROBOTICS under the name of VERSABALL®.
    Such a device is particularly suitable for the gripping of objects of which at least one of the dimensions in the plane on which it rests is smaller than the diameter of the spherical membrane. To obtain a grip, it is indeed necessary that the membrane deforms to the point of coming into contact with opposite side walls of the object. This device is therefore not suitable for gripping objects larger than flat objects. The object of the invention is to overcome at least one of the disadvantages of the state of the art mentioned above. In particular, the object of the invention is to provide a further gripping device. The invention relates to a device for gripping objects, comprising a support with at least one passage for a fluid; a membrane attached to the support and forming a deformable enclosure and closed in communication with the passage; granular material in the enclosure formed by the membrane, fluid can be injected and expelled from the enclosure through the passage (s); remarkable in that it comprises, in addition, a suction pad attached to the membrane, said suction cup being adapted to grip a flat object. The enclosure is advantageously filled to more than 80%, preferably more than 90%, of its capacity by the granular material.
    The granular material advantageously has a moisture content of less than 20%, preferably less than 15%, more preferably less than 10%.
    The fluid that is injected into and / or expelled from the chamber may be a gas, preferably air.
    The membrane is advantageously generally spherical.
    According to an advantageous embodiment of the invention, the suction cup is opposite the support.
    According to an advantageous embodiment of the invention, the membrane is configured to allow, by its deformation, the suction pad in contact with one of the objects to orient itself along said object.
    According to an advantageous embodiment of the invention, the granular material is such that the injection of fluid into the chamber via the passage makes it possible to pass said material from a solid phase to a loose or liquid phase, and the expulsion of fluid of said enclosure makes it possible to pass said material from the soft or liquid phase to the solid phase.
    According to an advantageous embodiment of the invention, the suction cup comprises a connection intended to be connected to a source of vacuum.
    According to an advantageous embodiment of the invention, the base comprises a connection intended to be connected to a source of injection and / or discharge of fluid.
    According to an advantageous embodiment of the invention, the base comprises fixing means, in particular to an arm of a robot. The invention also relates to an object handling robot, comprising an articulated arm and a device for gripping said objects fixed to said arm; remarkable in that the gripping device is in accordance with the invention. The invention also relates to a method for manipulating objects by means of a robot with an articulated arm and a device for gripping said objects fixed to said arm, comprising the following steps: approaching the gripping device towards one of the objects and contact with said object; gripping the object with the gripping device; movement of the grasping device and the object; releasing the object by the gripping device; remarkable in that the robot is in accordance with the invention; the step of approaching and contacting the object comprises injecting fluid into the chamber formed by the membrane in order to make the membrane deformable; and the step of gripping the object comprises expelling the fluid from the enclosure to make the membrane rigid.
    According to an advantageous embodiment of the invention, the step of approaching and of contact with the object comprises contact between the suction cup and the object, said object having a flat general surface of a greater extent than suction cup; and the step of gripping the object further comprises forming a vacuum between the suction cup and the object.
    The measures of the invention are interesting in that they provide a gripping device that can grip flat and extended objects as well as objects of smaller size. In addition, the presence of the membrane between the base and the suction cup allows the suction cup to change orientation in contact with an object, this change of orientation may or may not be maintained by the fluid control in the enclosure. Other features and advantages of the present invention will be better understood from the description and drawings in which: FIG. 1 is a front view of a gripping device according to the invention; FIG. 2 illustrates a first possible use of the gripping device of FIG. 1; FIG. 3 illustrates a second possible use of the gripping device of FIG. 1; FIG. 4 illustrates a third possible use of the gripping device of FIG. 1.
    Figure 1 is a representation of a device for gripping objects, according to the invention. The device 2 comprises a support 4 with a flange 4 ^ advantageously flared to be sealingly attached to a deformable membrane 6 forming an enclosure. The deformable membrane is advantageously of spherical shape. The support 4 may also comprise, opposite the flange 4, fixing means 4, in particular to a robot arm. The base 4 also comprises a passage 4 ^ fluidly connecting the enclosure with a connection 4 ^ * intended to be connected to a source of fluid, for example air, suitable for, optionally, injecting the fluid into the chamber. enclosure or expel said fluid from said enclosure. The base 4 is made of rigid material such as metal, plastic or composite material. The enclosure defined by the deformable membrane 6 contains a granular material 8, such as sand, able to compact and decompact depending on the presence of the fluid in the enclosure. In the absence of this fluid, or at least in the presence of a minimal amount of this fluid, typically air, the material 8 to compact and has a state comparable to a solid state. When the fluid is injected into the chamber via the connection 4 ^ and the passage 4 ^, the material 8 is decompressed and goes to a state comparable to a liquid state or at least loose.
    The device 2 also comprises a suction cup 10 disposed on the deformable membrane 6. Advantageously, the suction cup 10 is disposed opposite the base 4 along the longitudinal axis 12. The suction cup 10 can be fixed to the membrane 8, in particular by bonding and / or vulcanization. It can also be integrally formed with the membrane. The suction cup 10 may comprise a plate-shaped main portion 10 and a side connection 10 1 for connection to a vacuum source. The sucker can be circular, oval or any other shape.
    The gripping device 2 thus has a deformable portion, corresponding to the membrane 6, adapted to allow the suction cup to conform to objects whose surface is not initially parallel to the suction cup. The outer surface of the remaining membrane 6, that is to say the surface extending around the longitudinal axis 12 between the base 4 and the suction cup 10 remains available to carry out prehensions of objects by deformation of the membrane in question.
    Figures 2 to 4 illustrate different possible uses of the gripping device of Figure 1. In Figure 2, the gripping device 2 is fixed, via the base 4, to an articulated arm 14 robot. The enclosure formed by the membrane 6 is connected by one or more conduits to a source of injection and expulsion of fluid. The suction cup and connected by a pipe to a vacuum source. The device 2 is close to an object 16 generally flat and disposed on a surface generally perpendicular to the longitudinal axis of the device. The suction cup 10 is brought into contact with the object and a vacuum is produced in the substantially closed space between the suction cup 10 and the object 16. The side wall of the suction cup can be deformed and the object is then pressed against the sucker, thus ensuring its grip. The chamber formed by the membrane can remain without fluid injection, in order to remain in a substantially solid state. In Figure 3, the upper surface of the object 16 'is no longer parallel to the suction cup when it is in the approach phase (not shown). Fluid is advantageously injected into the chamber formed by the membrane 6 so as to make it flexible and deformable. During the approaching movement of the gripping device 2 towards the object 16 ', the suction cup 10 contacts the object unequally and the membrane 6 can be deformed so that the suction cup embraces the object, as can be seen in FIG. Figure 3. Before moving the object 16 ', fluid can be expelled from the chamber of the membrane 6 so as to stiffen it. This means that the suction cup 10 remains inclined relative to the perpendicular to the longitudinal axis 12. In the absence of evacuation of the fluid, the suction cup can resume its initial orientation, that is to say substantially perpendicular to the Longitudinal axis 12. In FIG. 4, the gripping device 2 is tilted at 90 ° so as to bring its longitudinal axis 12 substantially parallel to the surface on which the object 16 "is placed. The latter is no longer a flat and extended object but rather a compact object, or at least one of which dimensions in a plane parallel to the surface on which it is disposed is smaller than the diameter of the membrane 6. When the device gripping is close to the object 16 ", fluid is injected into the chamber of the membrane 6 to make said membrane deformable. It can then marry the upper surface and the side surfaces of the object. The fluid is then expelled from the chamber so that the granular material tightens again and stiffens the membrane 6. The object 16 "is then engaged with the gripping device 2 and can be moved.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    Claim
    An object gripping device (2) (16, 16 ', 16 "), comprising: - a carrier (4) with at least one passage (4®, 4 ^ *) for a fluid; - a membrane (6) attached to the support (4) and forming a deformable enclosure and closed in communication with the passages (4 ^, 4 ^); a granular material (8) in the chamber formed by the membrane (6), fluid that can be injected and expelled from the chamber through the passage (s) (4 ^ 4 ^): characterized in that it comprises in addition: - a suction cup (10) attached to the membrane (6) adapted to grip a flat object (16, 16 ').
    [2" id="c-fr-0002]
    2. Device (2) according to claim 1, characterized in that the suction cup (10) is opposite the support (4).
    [3" id="c-fr-0003]
    3. Device (2) according to one of claims 1 and 2, characterized in that the membrane (6) is configured to allow, by its deformation, the suction cup (10) in contact with one of the objects (16 ') to orient itself according to said object.
    [4" id="c-fr-0004]
    4. Device (2) according to one of claims 1 to 3, characterized in that the granular material (8) is such that the injection of fluid into the chamber via the passages or (4 ^, 4 ^ * ) makes it possible to pass said material (8) from a solid phase to a soft phase, and the expulsion of fluid from said chamber makes it possible to pass said material from the soft phase to the solid phase.
    [5" id="c-fr-0005]
    5. Device (2) according to one of claims 1 to 4, characterized in that the suction cup (10) comprises a connector (10 ^) intended to be connected to a vacuum source.
    [6" id="c-fr-0006]
    6. Device (2) according to one of claims 1 to 5, characterized in that the support (4) comprises a connector (4 ^) intended to be connected to a source of injection and / or fluid discharge .
    [7" id="c-fr-0007]
    7. Device (2) seion one of claims 1 to 6, characterized in that the support (4) comprises fixing means (4 ^), in particular to an arm (14) of a robot.
    [8" id="c-fr-0008]
    An object handling robot (16, 16 ', 16 ") comprising an articulated arm (14) and a gripper (2) of said objects attached to said arm; characterized in that the gripping device (2) is according to one of claims 1 to 7.
    [9" id="c-fr-0009]
    9. A method of manipulating objects (16, 16 ', 16 ") by means of a robot with an articulated arm (14) and a gripping device (2) of said objects fixed to said arm (14), comprising the steps following: - approaching the gripping device (2) to one of the objects (16, 16 ', 16 ") and contact with said object; - gripping the object (16,16 ', 16 ") with the gripping device (2); - displacement of the gripping device (2) and the object (16,16 ', 16 "); releasing the object (16, 16 ', 16 ") by the gripping device (2); characterized in that the robot is according to claim 8; the step of approaching and of contact with the object (16, 16 ', 16 ") comprises the injection of fluid into the chamber formed by the membrane (6) in order to make the membrane deformable; and the step of gripping the object (16, 16 ', 16 ") comprises expelling the fluid from the enclosure to render the rigid membrane (6).
    [10" id="c-fr-0010]
    10. Method according to claim 9, characterized in that the step of approaching and of contact with the object (16, 16 ") comprises a contact between the suction cup (10) and the object (16, 16 '), said object having a generally flat surface of a greater extent than that of the suction cup (10); and the step of gripping the object further comprises forming a vacuum between the suction cup (10) and the object (16, 16 ').
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    同族专利:
    公开号 | 公开日
    MA42709A|2018-07-04|
    EP3248738A1|2017-11-29|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2010088925A1|2009-02-07|2010-08-12|Abb Ag|Suction gripper|
    JP2012176476A|2011-02-28|2012-09-13|Ihi Corp|Shape-free suction gripper and method of gripping using the same|
    DE102012215797A1|2011-09-07|2013-03-07|J. Schmalz Gmbh|Gripping device used for gripping various workpieces, has a fluid reservoir having a deformable wall whose shape is fixed upon solidification of fluid, by change in physical control value of reversibly solidifiable and softenable fluid|
    DE102012003094A1|2012-02-09|2013-08-14|Technische Universität Braunschweig Carolo-Wilhelmina|Device for e.g. deforming fabric during industrial and/or logistic process, has low pressure sources provided to exert suction force on object when contact surface is arranged at surface of object|WO2020074797A1|2018-10-11|2020-04-16|Psa Automobiles Sa|Robot joint with a bladder filled with a granular material having a locking function|
    FR3087693A1|2018-10-31|2020-05-01|Psa Automobiles Sa|GRIPPER WITH INTERNAL FLEXIBLE SUPPLY HOSE|
    FR3092513A1|2019-02-13|2020-08-14|Psa Automobiles Sa|Diaphragm gripping device and electromagnets|
    FR3098430A1|2019-07-11|2021-01-15|Psa Automobiles Sa|Magnetic coupling gripping system|
    FR3100004A1|2019-08-21|2021-02-26|Psa Automobiles Sa|Gripping device|
    FR3100005A1|2019-08-20|2021-02-26|Psa Automobiles Sa|GRIPPER SUITABLE FOR TRANSPORTING EXTENDED OBJECTS|
    FR3102696A1|2019-10-31|2021-05-07|Psa Automobiles Sa|GRIPPING DEVICE, SUCTION CUP AND DIAPHRAGM, INCLUDING STABILIZER AND DETECTOR|DE112011101331T5|2010-04-15|2013-01-31|Cornell University|Gripping and depositing device and method|CN106956272A|2017-03-06|2017-07-18|湖北工业大学|A kind of all-around mobile meal delivery robot|
    FR3074710B1|2017-12-07|2019-10-25|Psa Automobiles Sa|MEMBRANE AND VENTOUSE GRIPPING DEVICE|
    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|
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    FR3106518A1|2020-01-24|2021-07-30|Psa Automobiles Sa|OBJECT ORIENTATION AND / OR GRIPPING DEVICE, WITH DEFORMABLE MEMBRANE INTEGRATING A DISTANCE SENSOR, AND ASSOCIATED ROBOT|
    法律状态:
    2017-04-20| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-01| PLSC| Search report ready|Effective date: 20171201 |
    2018-04-23| PLFP| Fee payment|Year of fee payment: 3 |
    2019-04-19| PLFP| Fee payment|Year of fee payment: 4 |
    2020-04-22| PLFP| Fee payment|Year of fee payment: 5 |
    2021-04-21| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1654739A|FR3051701B1|2016-05-26|2016-05-26|MEMBRANE AND SUCTION CUP GRIPPING DEVICE|
    FR1654739|2016-05-26|FR1654739A| FR3051701B1|2016-05-26|2016-05-26|MEMBRANE AND SUCTION CUP GRIPPING DEVICE|
    EP17168436.8A| EP3248738A1|2016-05-26|2017-04-27|Gripping device with membrane and suction cup|
    MA042709A| MA42709A|2016-05-26|2017-04-27|MEMBRANE AND SUCTION GRIPPING DEVICE|
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