法国专利FR3062081A1 LINEAR ACTUATING DEVICE

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专利摘要:
The present invention relates to a gripper for robotic arm, intended for the gripping of light object, for example Petri dish, comprising: a support housing (99), two gripping arms (2, 3) movable relative to said housing a driving mechanism of said gripping arms comprising an actuating member (10) acting on only one of the gripping arms, said "actuating arm" (2a), which acts on the other arm of gripping (3) by a connecting mechanism which induces a simultaneous movement and in opposite directions of the other arm (3). The actuating arm is driven via a compression spring (15), whose deformation is measured to limit the applied clamping force.
公开号:FR3062081A1
申请号:FR1750528
申请日:2017-01-23
公开日:2018-07-27
发明作者:Emmanuel JALENQUES
申请人:INTERSCIENCE；
IPC主号:

专利说明:

Holder (s): limited.
INTERSCIENCE Liability company
O Extension request (s):
® Agent (s): PONTET ALLANO & ASSOCIES.
® GRIPPING DEVICE WITH LINEAR ACTUATION.
FR 3,062,081 - A1 (57) The present invention relates to a gripper for a robotic arm, intended for gripping a light object, for example a petri dish, comprising: a support housing (99), two gripping arms ( 2, 3) movable relative to said housing, a mechanism for driving said gripping arms comprising an actuating member (10) which acts on only one of the gripping arms, called "actuating arm" (2a) , which acts on the other gripping arm (3) by a connecting mechanism which induces a simultaneous and opposite movement of the other arm (3).
The actuating arm is driven by means of a compression spring (15), the deformation of which is measured to limit the clamping force applied.

i "Gripping device with linear actuation"
The present invention relates to a gripper for robotic arm, intended for gripping a light object, for example a Petri dish, comprising: a support housing, arms or gripping jaws movable in translation relative to said housing, a mechanism for driving said gripping arms comprising a rectilinear actuating member which acts on only one of the gripping arms, called "actuating arm", which acts on the other gripping arm by a connecting mechanism which induces a simultaneous and opposite movement of the other arm.
The actuating arm is driven by means of a compression spring, the deformation of which is measured to limit the clamping force applied.
Technical area
The field of the invention is the field of gripping and handling by robotic arms of small objects, for example petri dishes. The invention is particularly suitable for robotic arms present in incubators or ovens to observe bacteriological growth. This type of device can be used, for example, in analysis laboratories in the food, medical, cosmetic, chemical and pharmaceutical industries.
State of the prior art
There are known gripping devices with parallel arms which are coupled by a drive system to set them both in motion towards a spacing or a bringing together. Said drive system comprises a pinion which simultaneously engages with two racks, each rack being connected to an arm. The drive in rotation of the pinion, connected coaxially with an electric motor, allows the translation of the arms by means of guiding means in translation. In bacteriological incubators, the gripper for the Petri dishes is located at the end of the robotic arm. Applied to a robotic arm for an incubator, such a gripper would have the drawback of having a large mass in overhang, that is to say a significant moment exerted at the base of the robotic arm.
The aim of the present invention is to overcome all or part of the drawbacks of the state of the art, and in particular to propose a gripper with parallel arms making it possible to reduce its bulk while allowing to grasp fragile objects of different diameters and to control the clamping force.
Statement of the invention
At least one of the objectives is achieved with a gripping device comprising:
a support housing, at least one guide means, at least two gripping arms movable relative to each other and relative to said support housing by the at least one guide means, between at least a first position where said gripping arms are close together called "clamping position" and at least a second position where said gripping arms are spread apart called "relaxed position" and vice versa, a motorized mechanism for driving said gripping arms relative to the other between said first and second positions.
The term “support box” means the frame or the chassis of the gripping device. The support box can be in one piece with a support box or a frame of a robotic arm on which the gripping device is fixed.
According to the invention, said drive mechanism comprises an actuating member which acts on only one of the gripping arms, called "actuating arm". The gripping device comprises a connection mechanism between the two gripping arms. Said actuating arm acts on the other gripping arm by the connection mechanism which induces a simultaneous and opposite movement of the other gripping arm, said movements being for example expressed relative to the support housing. Preferably, the link mechanism is only mechanical.
The device according to the invention has the advantage of proposing a reduced bulk, in particular vertical. It also has the advantage of grasping fragile, flexible objects of different diameters and of controlling the clamping force. It also has the advantage of being able to grasp objects more quickly than devices fitted, for example, with strain gauges. In addition, in the case where the gripping device is located at the end of a robotic arm, this arrangement makes it possible to limit the mass located at this end and therefore to limit the mechanical stresses in the connections of the robotic arm.
According to one embodiment, said linking mechanism comprises at least:
- a toothed wheel mounted movable in rotation relative to the support housing,
- At least two coupling racks mounted respectively on said gripping arms, so that said toothed wheel cooperates by meshing with the two coupling racks.
This drive mechanism has the advantage of allowing simultaneous and precise movement of the gripping arms.
The wheel is for example freely mounted around its axis, for example on a stationary shaft in rotation.
Preferably, the axis of rotation of the wheel is fixed relative to the support housing, and the racks have identical toothing and / or which mesh on the same toothing of the wheel.
The racks are arranged on said gripping arms to translate in a rectilinear manner with respect to each other so that the movement in translation of the actuating arm induces the simultaneous and opposite movement in translation of the other arm of gripping. The displacement of the actuating arm causes the displacement of the second arm by coupling via the toothed wheel and the racks. Each rack is fixed to one of said gripping arms and cooperates by meshing with said toothed wheel, so that said racks move in opposite directions during the rotation of the toothed wheel. The connecting mechanism allows a movement of the two arms symmetrical relative to the toothed wheel.
According to another embodiment of the link mechanism, for example to replace the toothed wheel and the racks, there is provided a link mechanism comprising:
a lever mounted movable in rotation relative to the support housing about an axis perpendicular to the plane of movement of the arms, the axis of rotation being for example located substantially in the center of the lever, said lever comprising an oblong hole on each side of the axis, and
- At least two pins or pins respectively fixed on said gripping arms so that each pin is inserted into an oblong hole in the lever, and cooperates with it by cam effect to link the rotation of the lever with a symmetrical translation of the arms.
The lever is preferably of rectilinear shape. It can also be in the form of "N" or "Z". The oblong holes are preferably rectilinear. They can be curved. Their lengths are determined according to the stroke of each gripping arm so that each stud can slide in an oblong hole when the gripping arms translate between the clamping position and the released position, or vice versa.
According to yet another embodiment of the connection mechanism, for example in replacement of the toothed wheel and the racks, there is provided a connection mechanism comprising:
- at least two pulleys mounted free in rotation relative to the support box,
- At least two studs or pins fixed respectively on said gripping arms, a belt arranged to cooperate with the pulleys, so that it forms two parallel strands moving in opposite directions between said pulleys, each strand being fixed to a stud.
The axis of rotation of the pulleys is preferably located outside the zone extending between the two arms when they are moved apart in the relaxed position. Each stud is connected to the belt by a flange, for example a pin.
In each case, the link mechanism makes it possible to synchronize (or couple) the movement of the two arms, preferably so as to obtain a movement of the arms in opposite directions and of equal distance.
According to a preferred embodiment which may be compatible with any embodiment, the gripping device comprises at least one guide means arranged to guide in translation said gripping arms relative to said support housing and along the minus a guide means. For example, the at least one guide means is integral with the support housing.
Preferably, the drive mechanism comprises an actuating member performing a rectilinear actuation of the actuating arm to move it in translation along the guide means, in the case where the gripping arms pass from the relaxed position towards the clamping position, or vice versa, in a rectilinear translation. Preferably, the actuating member is located on a robotic arm, and is for example arranged in a direction parallel to the longitudinal direction of said arm. The actuating member acts on the actuating arm in a direction parallel to said translation. The actuating arm itself acts on the opposite gripping arm via the linkage mechanism. This characteristic allows the mass of the drive mechanism to be distributed along the robotic arm.
Preferably, the actuating member comprises a screwed mechanism formed by cooperation between a first element and a second element, in which the first element is immobilized by the at least one guide means and the second element is driven in rotation by a motor so as to cause the translation of said first element along the at least one guide means. The first element slides on or around the at least one guide means. Said first element is connected to the actuating arm to cause it to move in rectilinear translation.
The advantage of the screw-nut mechanism is that it is compact and easily connectable to a rotary motor.
The motor is arranged and configured to set in motion said drive mechanism. Preferably, said motor is a stepping electric motor. Preferably, the motor is placed in the robotic arm, for example at one end of said arm which is opposite the end of the arm carrying the gripping device.
According to one embodiment, the guide means comprises one or more guide rods fixed to the support housing and on which slides the first element of the actuating member, or vice versa. One or more guide rods are arranged to guide in translation said gripping arms. Preferably, said rods are arranged in parallel with each other. Said guide rods are for example fixed to the support housing. According to another embodiment, the rods can constitute the armature of a robotic arm.
The guide rods are arranged to provide translational guidance of the gripping arms relative to the support housing and along said guide rods. For example, the guide rod (s) is (are) cylindrical. The gripping arms pass through at least one rod so that the gripping arms slide rectilinearly on the at least one guide rod. The guide rods allow both to carry and guide in translation said gripping arms.
The first element of the actuating member slides on one or more guide rods.
According to another embodiment, the first element of the actuating member is fixed to one or more rods and the assembly slides relative to the housing.
With reference to the first embodiment of the connection mechanism described above, the racks are for example arranged parallel to the at least one guide rod.
Preferably, the first element of the screw-lock mechanism comprises a nut sliding on the guide means and the translation of which displaces the actuating arm. In the case of the guide means produced by one or more guide rods, the nut slides, for example on said rods. The second element of the screw-nut mechanism comprises an actuation screw. Optionally, the actuating screw is located between the guide rods and is parallel to them. The advantage of this arrangement is that it offers a compact device.
According to one embodiment of the screw-nut mechanism, a tapping is carried out in the actuating arm so that the nut of the screw-nut mechanism is formed integrally with the actuating arm. The advantage of this arrangement is that it offers a compact device.
Optionally and being able to be compatible with any embodiment described so far, the gripping device comprises tightening limiting means. According to a preferred embodiment, the actuating member moves the "actuating arm" by means of said tightening limiting means. In this case, the first element of the actuating member moves the "actuating arm" by means of said tightening limiting means. Preferably, the first element of the actuating member is a nut.
The clamping limitation means operate by measuring the force transmitted so as to limit the movement of the actuating arm towards the clamping position and prevent excessive tightening of the object grasped by the arms. The measurement of the transmitted force is for example the measurement of a deformation, for example linear, created by the force transmitted within the tightening limiting means. The tightening limitation means limit or avoid damage to the object seized during tightening, for example of the type of breakage or deformation or local marking.
For example, the clamping limitation means comprise a spring which deforms under the effect of the clamping force applied to the object seized. The measurement of the transmitted force is in this case the measurement of the deformation of the spring, in particular the compression, the stiffness constant of said spring being known beforehand. Preferably, the spring is arranged concentrically with a guide rod. The spring is arranged concentrically with and around a guide rod. The advantage of this arrangement is that it offers a compact device. Preferably, the clamping limitation means comprise one or more springs, so that each spring is arranged concentrically with a guide rod.
Said spring is arranged to bear on a bearing face of the actuating member and on an actuating face of the actuating arm, so that when the member translates to move the arm d 'actuation to the clamping position, the spring compresses once the actuating arm is in contact with the gripped object. The bearing face of the actuating member is oriented towards the actuating arm. The actuating face of the actuating arm is oriented towards the first element of the actuating member. Preferably, a spring is provided around each guide rod.
In the released position, the gripping arms are not in contact with the object to be grasped. The clamping limitation means are at rest so that the distance between the first element and the actuating arm is substantially constant.
Optionally and compatible with any embodiment, the device includes detection means which detect or measure the deformation of the tightening limiting means to provide an evaluation of the tightening force applied to the object seized. For example, the detection means comprise an optical sensor fixed to one of the parts among the first element and the actuating arm. The sensor detects the presence or absence of a tongue or a finger fixed on the other of the parts among the first element and the actuating arm. This embodiment has the advantages of being simple and inexpensive. Said sensor and said tongue move towards each other when the spring is compressed, a clamping force threshold adjustment being obtained by a translation adjustment of the position of the sensor and / or the tongue. This embodiment has the advantages of being simple and of being able to adjust the clamping force of the arms precisely.
Preferably, the tightening detection means comprise an optical sensor fixed on the first element so as to cooperate with at least one mark fixed to the actuating arm and extending in the direction of the first element, so that it determines the position of the mark, and thus deduce the compression of the at least one spring. The mark is for example graduated. Preferably, the optical sensor is of the fork type, and the tongue is arranged and configured to move between the transmitter and the receiver of said sensor during the compression of the at least one spring.
Optionally, the device comprises a return bar from the actuating arm to the released position. For example, said return bar crosses the actuating arm and has a shoulder which, when actuated in the loosening direction, bears on one face of the actuating arm opposite the second arm to moving said actuating arm in the direction of its relaxed position. Preferably, the return bar is fixed to the nut of the screw-nut mechanism of the actuating member. The return bar is for example formed by a tube arranged concentrically with and around the screw of the screwed mechanism of the actuating member. The reminder bar allows you to quickly and simply return the device to the released position. The bar is in particular a cylindrical rod.
According to another aspect of the invention, there is provided a robotic arm comprising a gripping device in accordance with one or more of the preceding characteristics.
According to yet another aspect of the invention, there is provided a bacteriological incubator comprising a gripping device conforming to one or more of the preceding characteristics or a robotic arm conforming to the preceding aspect and arranged to grip bacteriological culture vessels .
Description of the figures and embodiments
Other characteristics and advantages of the invention will appear on reading the detailed description of implementations and embodiments which are in no way limitative, with reference to the appended figures in which:
- Figure 1 is a perspective view of a robotic arm comprising a gripping device according to the invention;
- Figures 2, 3 and 4 are bottom views of the gripping device according to Figure 1, showing by transparency said device, Figure 2 showing the device in a relaxed position, Figure 3 showing the device in a position of contact with a grabbed object, Figure 4 showing the device in a clamping position;
- Figure 5 is a schematic perspective view showing a wheel-rack link mechanism between two gripping arms of the gripping device, according to one embodiment, to allow the simultaneous movement of the arms of the device, the position of the arms gripping being substantially the same as Figure 2;
- Figure 6 is a schematic view of the device according to Figures 1 to 4, according to one embodiment, in a longitudinal section passing through the axis of rotation of an actuating member, showing in particular a return rod d 'a gripping arm;
- Figures 7 and 8 are bottom views of the gripping device according to Figure 1, illustrated schematically and without tightening limitation means or detection means, each figure showing an embodiment of the connecting mechanism different from that of Figures 2, 3 and 4:
in FIG. 7, with cam effect transmission, and in FIG. 8, with belt transmission on pulleys.
Description of the embodiments
The embodiments which will be described are in no way limiting; it will be possible in particular to implement variants of the invention comprising only a selection of characteristics described below, isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention by compared to the state of the prior art. This selection comprises at least one characteristic, preferably functional, without structural details, or with only part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art.
In particular, all the variants and all the embodiments described can be combined with one another if nothing is technically opposed to this combination.
Figure 1 illustrates a robotic arm 100 arranged and configured to move horizontally and / or vertically by means or actuators known to those skilled in the art. The robotic arm 100 comprises a gripping device 1 arranged at one end of said arm. In this example, the gripping device is a gripper.
The gripping device here comprises two gripping arms 2, 3, in the form of a first gripping arm 2 and a second gripping arm 3, arranged and configured to translate towards each other. The gripping arms 2, 3 are movable in translation relative to one another and relative to a support housing 99, between at least a first position where said arms 2, 3 are brought together, called “clamping position”, (see Figure 4) and at least a second position where said arms 2, 3 are separated called "relaxed position" (see Figure 2) and vice versa. With reference to FIGS. 2, 3, 4 and 5, the gripping arms 2, 3 extend perpendicular to their common direction of movement, and are here of symmetrical shapes around a perpendicular to this same direction of translation.
With reference to FIGS. 1 to 4, each gripping arm 2, 3 respectively comprises a gripping face 21, 31, in the shape of an arc of a circle or having a concave profile, designed to be in contact with an object to be grasped P. The circular arc shape makes it easier to grasp convex or even cylindrical objects. With reference to FIG. 1, where no object is located between the gripping arms 2, 3, the gripping face 21 of the first arm 2 is oriented facing the gripping face 31 of the second arm 3.
Preferably, each gripping face 21, 31 respectively has a protuberance or blister or protuberance. Referring to Figures 2, 3 and 4, the gripping face 21 has two protrusions 22 and the gripping face 31 has two protrusions 32. On each arm, the protrusions are positioned and spaced apart from each other along the gripping face from a distance such that the object grasped P by the arms is in contact with the protuberances rather than with the internal part of their gripping face. The protrusions make it possible to center the object grasped P between them, when the arms are brought closer to the object to be grasped, that is to say when the object P is gripped by the arms, see FIGS. 3 and 4 When the arms move and come into contact with an object via one or more protuberance (s), they act on said object so as to center it between the four protuberances.
Referring to Figures 2, 3 and 4, the gripping device comprises two guide rods 4, 5 arranged to carry out the sliding guidance of said gripping arms 2, 3 relative to the housing 99 along said rods 4, 5. The guide rods 4, 5 are arranged in parallel with one another and are fixed to the housing 99. Preferably, the guide rods are cylindrical and pass right through the gripping arms 2, 3.
The gripping device 1 comprises a mechanism for driving said gripping arms with respect to each other between said first and second positions, in both directions. The drive mechanism includes a link mechanism. Referring to Figures 2 and 5, the connecting mechanism comprises a toothed wheel 8 mounted movable in rotation about an axis of rotation 8r fixed relative to the support housing
99, here on a shaft fixed to the housing (housing not visible in Figure 5). The axis of rotation 8r is placed between the gripping arms. The connection mechanism comprises two coupling racks, a first rack 6 fixed to the first gripping arm 2 and a second rack 7 fixed to the second gripping arm 3. The racks 6, 7 are arranged parallel to one another. other and cooperate by engagement with said toothed wheel 8. Since the gripping arms 2, 3 are sliding along the guide rods 4, 5, said racks move in opposite directions during the rotation of the wheel 8. Figure 5 shows a state of the mechanism corresponding to a relaxed position, as in Figure 2. With reference to Figure 2, the racks are arranged parallel to the two guide rods. The rack-and-pinion mechanism makes it possible to synchronize (or couple) the movement of the two arms 2, 3, preferably so as to obtain a movement of the arms which is symmetrical relative to the support housing. Preferably, the length of each rack is substantially equal to or slightly greater than the distance traveled by an arm between the relaxed position (see Figure 2) and the clamping position (see Figure 4). For example, each rack 6, 7 has a length of between 5 and 10 centimeters.
Referring to Figure 7, there is provided a first alternative embodiment of the connecting mechanism. Said mechanism comprises a lever 80 mounted mobile in rotation about an axis of rotation 8r fixed relative to the support housing 99, said axis being placed between the gripping arms 2,
3. The lever 80 has the shape of a straight bar, the bore of which intended to receive the axis of rotation 8r is arranged at the center of its length. The lever 80 comprises, at each end, an oblong hole 82, 83. The connection mechanism comprises two studs, a first stud 86 fixed to the first gripping arm 2 and a second stud 87 fixed to the second gripping arm 3. Each stud is provided to cooperate with the longitudinal edges of an oblong hole in the lever. The stud 86 cooperates with the oblong hole 82 and the stud 87 cooperates with the oblong hole 83. When ordered towards the clamping position, the lever 80 rotates clockwise and each stud slides in its oblong hole in the direction of the axis 8r, thus bringing the arms closer to one another; and vice versa for the direction of loosening. Alternatively, one or the other of these oblong holes may open out at its end, and thus form a fork which frames the stud.
With reference to FIG. 8, a second alternative embodiment of the connection mechanism is provided. Said mechanism comprises two pulleys 92, 93 mounted movable in rotation relative to the support housing 99: a first pulley 92 and a second pulley 93. The pulleys are mounted outside the zone extending between the gripping arms when they are in the released position. The first pulley 92 is mounted at a distance from the gripping arm 2 and the second pulley 93 is mounted at a distance or away from the gripping arm 3. For example, the distance between the outer surface of each arm and the periphery of a pulley is from about a few millimeters to several centimeters, for example 5 centimeters. With reference to FIG. 8, the pulley 93 is mounted at the distal end of the support housing 99, that is to say beyond the two gripping arms and for example at the end of the guide rods 4 and 5 ( on the right of the figure). The pulley 92 is mounted on the support unit itself, just at the end of the motor 11 (on the left of the figure). The connection mechanism comprises two studs, a first stud 96 fixed to the first gripping arm 2 and a second stud 97 fixed to the second gripping arm 3. The mechanism further comprises a belt 90 tensioned and surrounding the pulleys 92, 93, of so that it forms two strands between said pulleys, one on each side of said pulleys (in the figure: one above and the other below). The positioning of the pulleys at a distance from the gripping arms makes it possible to tension the strands of the belt in any position of the gripping arms. Each strand is fixedly connected to a stud. Since said nipples are located on opposite strands, the displacement of one in one direction causes the displacement of the other in an opposite direction. The drive is done here by displacement of the actuating arm 2a by means of the screw-nut mechanism 10. In other embodiments, this drive is performed by a motor driving the belt 90, for example by means of pulley 92.
The device 1 comprises a motor 11 in order to set in motion the drive mechanism. The motor is an electric motor, preferably a stepping electric motor. The motor 11 is here fixed to the housing 99.
Referring to Figures 2, 3 and 4, the gripping device comprises a screw-nut mechanism 10 connected both to the motor and to the first arm 2, called "actuating arm 2a". The screw-nut mechanism and the motor allow the movement of the arms 2, 3 to be actuated via the drive mechanism.
The screw-nut mechanism comprises a nut 12 connected by sliding with respect to the two guide rods 4, 5 to prevent its rotation. The connection to the two guide rods also makes it possible to limit the risk that the nut is bent over a guide rod, compared to the case where it is connected to only one rod. The nut 12 is connected to the actuating arm 2a.
The screw-nut mechanism comprises an actuating screw 13 which cooperates with the nut 12, said screw 13 being rotated by the motor 11 so as to cause the rectilinear translation of the nut 12 along the guide rods 4 , 5. The actuating screw 13 extends in a direction parallel to the guide rods. The threaded length of the screw 13 must be longer than the length of movement of the actuating arm 2a between the released position and the clamping position, in order to be able to clamp the object by means described below. For example, the actuating screw has a threaded length of between 5 and 15 centimeters.
When the device is actuated, in one direction or another, the displacement of the nut 12 causes the displacement of the actuating arm 2a which, by the drive mechanism, causes the second gripping arm to move synchronously. 3.
According to the first embodiment of the connection mechanism, the first rack 6 of the actuating arm 2a is driving and transfers the actuation to the second rack 7 of the arm 3 which is driven, towards the clamping position or towards the released position. , via the gear 8.
According to the first alternative embodiment of the connection mechanism illustrated in FIG. 7, the first stud 86 of the actuating arm 2a is driving and transfers the actuation to the second stud 87 of the gripping arm 3 which is led, towards the clamping position. or towards the relaxed position, by means of the lever 80. For example during actuation towards the clamping position, the first stud 86 pushes the lever 80, which slides on the radial surface of said stud 86 via the oblong hole 82. Simultaneously, the lever 80 pulls the second stud 87 from the gripping arm 3, the lever 80 sliding on the radial surface of the stud 87 via the oblong hole 83.
According to the second alternative embodiment of the connection mechanism illustrated in FIG. 8, the first stud 96 of the actuating arm 2a is driving and transfers the actuation to the second stud 97 of the gripping arm 3 which is led, towards the clamping position. or towards the relaxed position, via the pulleys 92, 93 and the belt 90. For example when actuating towards the tightening position, the first stud 96 pulls the belt which transmits the translational movement in one movement counterclockwise through the pulleys 92, 93. Simultaneously, the belt 90 pulls the second stud 97 from the arm 3, so that the arms come together.
The gripping device comprises tightening limiting means 15 arranged and configured to prevent excessive tightening of the object grasped by the arms. The clamping limitation means 15 operate by measuring the force transmitted so that they limit the movement of the actuating arm 2a towards the clamping position. For example, the means 15 operate by measuring a linear deformation created by the force transmitted within said means, to stop the tightening when a force threshold is reached. Referring to Figures 2, 3, 4 and 6, the tightening limiting means 15 are arranged between the nut 12 and the actuating arm 2a. The nut 12 moves the actuating arm 2a via the clamping limitation means. The force transmitted by means of tightening limitations 15 corresponds to the force supplied by the nut 12 due to the stopping of the movement of the gripping arms 2, 3 when they come into contact with the object to be grasped. Preferably, the clamping limitation means comprise two springs 15 which are deformed under the effect of the clamping force applied to the object grabbed. Each spring 15 is arranged concentrically and around a guide rod. The springs 15 are of the helical type. The advantage of this arrangement is that it is compact. Each spring is supported on a bearing face 14 of the nut 12 and on an actuating face 25 of the actuating arm 2a. When the nut 12 translates to move the actuating arm to the tightening position, the springs compress once the actuating arm 2a, or the arms 2a, 3, is (are) in contact with the object.
Preferably, the gripping device comprises detection means 40 which detect or measure the deformation of the springs 15 in order to provide an evaluation of the clamping force applied to the gripped object, by bringing the faces 14, 25 between which they are compressed. For example, the detection means 40 comprise an optical sensor 41, fixed on the nut 12, which detects the presence or not of a witness, for example a finger or a tongue 42, fixed on the actuating arm 2a, and approaching the sensor 41 when the springs 15 are compressed. With reference to FIGS. 2, 3 and 4, the tongue 42 extends parallel to the guide rod 4 in the direction of the nut 12. The tongue or the finger has a mark, or several marks forming graduations 42a, arranged ( s) on at least one of the faces so that the sensor 41 determines the relative position of the nut 12 relative to the actuating arm 2a, and thus determines the compression of the springs 15. The sensor 41 is positioned relative to the tab 42 so that the mark or marks pass in front of the sensor and are perceived by the latter. Preferably, the length of the tongue is substantially equal to the length of a spring at rest. This characteristic makes it possible to detect a large range of compressions and in particular low compression forces, which is advantageous for controlling the clamping force of a flexible, elastic or very fragile object, by a clamping force of between 0, 1 and 5 N. Preferably, the optical sensor 41 is of the fork type, and the tongue is arranged and configured to move between the transmitter and the receiver of said sensor during the compression of the springs. Optionally and not visible in the figures, the nut 12 may have a bore so that the tongue 42 can be introduced into the nut when the springs compress.
Advantageously, a clamping force threshold adjustment is obtained by a translational adjustment of the position of the sensor and / or the tongue. When the sensor detects the position on the tongue corresponding to a determined compression of the spring, and therefore corresponding to a determined clamping force, the actuation of the clamping device is stopped, for example electronically. This arrangement makes it possible to adjust the clamping force of the object.
Preferably, the gripping device comprises a return rod 50 from the actuating arm 2a to the relaxed position. Said return rod 50 crosses the actuating arm 2a and has a shoulder 51. With reference to FIGS. 4 and 6, the shoulder 51 is arranged to bear against a face of the actuating arm 2a opposite of the second arm 3 to move said actuating arm 2a in the direction of its relaxed position, when actuated in the direction of loosening. Referring to Figure 6, the return rod 50 is fixed to the nut 12, and is formed by a tube arranged concentrically with and around the actuating screw 13. This characteristic has the advantages of providing a device compact, to move the actuating arm 2a to the released position more quickly than the springs themselves to reach the contact position, and also to arrive at a relaxed position further away and beyond the range of action of the springs.
We will now describe the operation of the gripping device 1. At the initial time, the gripping device is in the same configuration as Figure 1, that is to say in the released position. No object is located between the gripping arms 2, 3. The gripping arms 2, 3 being spaced from each other so as to be able to surround an object. Then, the gripping device 1 is moved by a robotic arm 100 so that the gripping arms 2, 3 surround an object to be grasped, see FIG. 2.
The gripping device is controlled so as to bring the gripping arms 2, 3 towards one another to grip the object. The motor 11 rotates the actuation screw 13 of the screw-nut mechanism, causing the translation of the nut 12 along the guide rods 4, 5. The nut 12 then pushes the actuation arm 2a by l 'Intermediate springs 15 whose length remains substantially identical during translation until the two arms 2, 3 come into contact with the object to be grasped. During said translation, there is no deformation of the springs. FIG. 3 illustrates the instant when the two gripping arms 2,3 have just come into contact with the object.
After the contact between the arms and the object, and with reference to FIG. 4, the gripping arms 2, 3 approach each other by a minimum distance to the clamping position. The gripping arms 2, 3 approach a few millimeters, for example each arm moves towards the object by a distance equal to 3 to 10 millimeters. For this, the actuating screw 13 is rotated so that the nut 12 compresses the springs 15, the springs being compressed between the nut 12 and the actuating arm 2a. The gripping arms exert a clamping force on the gripped object which is proportional to the return force of the springs. For example, in the context of Petri dishes which are fragile and / or deformable, a clamping force of 2 newtons is necessary, but must not go too far. The detection means described above make it possible to determine and / or adjust the clamping force exerted on the object.

权利要求:
Claims (17)
[1" id="c-fr-0001]
1. Gripping device (1) comprising:
a support housing (99), at least one guide means (4, 5), at least two gripping arms (2, 3) movable with respect to each other and with respect to said support housing (99) by the at least one guide means, between at least a first position where said arms (2, 3) are close together called "clamping position" and at least a second position where said arms (2, 3) are separated said "position released ”and vice versa, a motorized mechanism for driving said gripping arms with respect to each other between said first and second positions, characterized in that said driving mechanism comprises:
a connecting mechanism between the two arms, an actuating member (10) which acts on only one of the gripping arms, called "actuating arm" (2a), and in that said actuating arm ( 2a) acts on the other gripping arm (3) by the connecting mechanism which induces a simultaneous and opposite movement of the other arm (3)
[2" id="c-fr-0002]
2. Device (1) according to claim 1, characterized in that said connecting mechanism comprises at least:
- a toothed wheel (8) mounted mobile in rotation (and fixed in translation) relative to the support housing (99),
- At least two coupling racks (6, 7), mounted respectively on said gripping arms, so that said toothed wheel cooperates by meshing with the two coupling racks (6, 7).
[3" id="c-fr-0003]
3. Device (1) according to claim 2, characterized in that the toothed wheel is mounted free around an axis of rotation which is fixed relative to the support housing.
[4" id="c-fr-0004]
4. Device (1) according to one of claims 1 to 3 characterized in that it comprises an actuating member (10) performing rectilinear actuation of the actuating arm to move it in translation along a guide means.
[5" id="c-fr-0005]
5. Device according to one of claims 1 to 4, characterized in that the actuating member (10) comprises a screw-nut mechanism formed by cooperation between a first element (12) and a second element (13), wherein the first element (12) is immobilized in rotation by the at least one guide means (4, 5) and the second element (13) is rotated by a motor (11) so as to cause a translation of said first element (12) along the at least one guide means (4, 5), and in that said first element (12) is connected to the actuating arm (2a) to cause it to move in rectilinear translation.
[6" id="c-fr-0006]
6. Device (1) according to the preceding claim, characterized in that the at least one guide means comprises one or more rods (4, 5) fixed to the support housing (99) and on which slides the first element (12) of the actuating member (10), or vice versa.
[7" id="c-fr-0007]
7. Device (1) according to claim 5 or 6, characterized in that the first element comprises a nut (12) sliding on the guide means and the translation of which moves the actuating arm (2a), and in that the second element comprises an actuating screw (13).
[8" id="c-fr-0008]
8. Device (1) according to any one of claims 1 to 7, characterized in that it comprises tightening limiting means (15) and in that the actuating member (12) moves the "arm actuation ”(2a) by means of said clamping limiting means (15), which operate by measuring the transmitted force so that they limit the movement of the actuating arm towards the clamping position and prevent excessive tightening of the object grabbed by the arms.
[9" id="c-fr-0009]
9. Device (1) according to the preceding claim, characterized in that the clamping limitation means comprise a spring (15) which deforms under the effect of the clamping force applied to the object seized.
[10" id="c-fr-0010]
10. Device (1) according to the preceding claim, characterized in that the spring (15) is arranged concentrically with the at least one guide rod (4, 5), said spring (15) being arranged to bear on a face of the actuating member (10) and on an actuating face of the actuating arm (2a), so that when the member (10) translates to move the arm actuation to the clamping position, the spring (15) compresses once the actuating arm is in contact with the object grabbed.
[11" id="c-fr-0011]
11. Device (1) according to one of claims 8 to 10, characterized in that it comprises detection means (40) which detect or measure the deformation of the tightening limitation means (15) to provide an evaluation of the clamping force applied to the object seized.
[12" id="c-fr-0012]
12. Device (1) according to the preceding claim, characterized in that the detection means comprise an optical sensor (41) and a tongue, the optical sensor being fixed to one of the parts among the first element (12) and the actuating arm (2a) and which detects the presence or not of a tongue (42) fixed to the other of the parts among the first element (12) and the actuating arm (2a) and in that said sensor and said tongue approaches each other when the spring (15) is compressed, a clamping force threshold adjustment being obtained by a translation adjustment of the position of the sensor and / or the tongue.
[13" id="c-fr-0013]
13. Device (1) according to claim 11 or 12, characterized in that the tightening detection means comprise:
an optical sensor (41) fixed on the first element (12) so as to cooperate with at least one mark (42a) located on the tongue (42) fixed to the actuating arm (2a) and extending in the direction of the first element (12), so that it determines the position of the mark (42a), and thus deduce the compression of the at least one spring (15).
[14" id="c-fr-0014]
14. Device (1) according to one of claims 1 to 13, characterized in that it comprises a return bar (50) of the actuating arm (2a) towards the released position, said return bar (50) passing through the actuating arm (2a) and having a shoulder (51) which, when actuated in the loosening direction, is supported on one face of the actuating arm opposite the second arm to move said actuating arm in the direction of its relaxed position.
[15" id="c-fr-0015]
15. Device according to the preceding claim and any one of claims 5 to 11, characterized in that the return bar (50) is fixed on the nut (12), and is formed by a tube arranged concentrically with and around screws (13) of the screw-nut mechanism.
[16" id="c-fr-0016]
16. Robotic arm (100) comprising a gripping device (1) according to one of claims 1 to 15.
[17" id="c-fr-0017]
17. Bacteriological incubator comprising a gripping device (1) according to one of claims 1 to 15 or a robotic arm according to the preceding claim arranged to grasp containers for bacteriological culture.

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同族专利:

公开号 | 公开日

US20180207807A1|2018-07-26|

US10434662B2|2019-10-08|

JP2018118373A|2018-08-02|

CN108202317B|2021-11-05|

GB2560097B|2022-02-23|

GB201800328D0|2018-02-21|

GB2560097A|2018-08-29|

DE102018000438A1|2018-07-26|

FR3062081B1|2020-02-14|

CN108202317A|2018-06-26|

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法律状态:
2018-01-26| PLFP| Fee payment|Year of fee payment: 2 |

2018-07-27| PLSC| Publication of the preliminary search report|Effective date: 20180727 |

2019-01-28| PLFP| Fee payment|Year of fee payment: 3 |

2020-01-28| PLFP| Fee payment|Year of fee payment: 4 |

2021-01-28| PLFP| Fee payment|Year of fee payment: 5 |

2022-01-28| PLFP| Fee payment|Year of fee payment: 6 |

优先权:

申请号 | 申请日 | 专利标题

FR1750528A|FR3062081B1|2017-01-23|2017-01-23|LINEAR ACTUATION GRIPPING DEVICE|

FR1750528|2017-01-23|FR1750528A| FR3062081B1|2017-01-23|2017-01-23|LINEAR ACTUATION GRIPPING DEVICE|

GB1800328.5A| GB2560097B|2017-01-23|2018-01-09|Gripping device for linear actuation|

JP2018005094A| JP2018118373A|2017-01-23|2018-01-16|Gripping device for linear operation|

DE102018000438.5A| DE102018000438A1|2017-01-23|2018-01-19|Gripping device for linear actuation|

CN201810058435.XA| CN108202317B|2017-01-23|2018-01-22|Linearly driven gripping device|

US15/876,857| US10434662B2|2017-01-23|2018-01-22|Gripping device for linear actuation|

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