EP3068589A1 - Gripping device for a co-handling robot, and co-handling robot equipped with such a device - Google Patents

Gripping device for a co-handling robot, and co-handling robot equipped with such a device

Info

Publication number
EP3068589A1
EP3068589A1 EP14798752.3A EP14798752A EP3068589A1 EP 3068589 A1 EP3068589 A1 EP 3068589A1 EP 14798752 A EP14798752 A EP 14798752A EP 3068589 A1 EP3068589 A1 EP 3068589A1
Authority
EP
European Patent Office
Prior art keywords
gripping member
contactor
gripping
depressed position
suction cup
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14798752.3A
Other languages
German (de)
French (fr)
Inventor
Frédéric Colledani
Benoît PEROCHON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Publication of EP3068589A1 publication Critical patent/EP3068589A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/02—Manipulators positioned in space by hand articulated or flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0212—Circular shape

Definitions

  • the invention relates to a gripping device for co - manipulating robot and a co - manipulating robot equipped with such a device.
  • co-manipulator robots also called cobots or stress machines, which help operators in different tasks.
  • co-manipulator robots are particularly useful for helping operators to handle heavy loads or lighter loads but quickly and repetitively.
  • Such a co-manipulator robot comprises, for example, a gripping device comprising a gripping member intended to come into contact with an object and manipulating it and means for controlling a solidarity and a separation of the gripping member. and the object to be manipulated, the control means being associated with a contactor capable of generating a control signal of the connection and the disconnection to the control means when the contactor is activated.
  • the contactor is usually a button or a lever mounted on a handle for manipulating the input member.
  • the operator must approach the input member of the object. Once 1 1 input member in contact with 1 'object, the operator can then activate the contactor. In the same way, in order to separate the gripping member and the object, the operator must place the object on a support. Once the object is in contact with the support, the operator can then activate the contactor.
  • An object of the invention is to provide a gripping device for a co-manipulator robot that makes it easier to grasp and / or release an object to be handled by said gripping device and preferably while relieving the mental load of 1 operator.
  • a gripping device for a co-manipulator robot, comprising a gripping member intended to come into contact with an object to be handled and means for controlling a fastening and a fastening. separation of the gripper and the object to be manipulated, the control means being associated with a contactor capable of generating a control signal of the connection and / or the separation to the control means when the contactor is activated.
  • the gripping member is slidably mounted in the device between an unpressed position and a depressed position, the contactor being arranged in the device so as to be activated by the gripping member when the gripping member is in the depressed position, the gripping member being held in the non-depressed position when the object is suspended from the gripping member.
  • the operator can only manage the gripping member and its position vis-à-vis the object or a support on which the object rests or on which object must be deposited. Indeed, by pressing the input member on the object and / or pressing the object on the support, the operator automatically causes the movement of the gripper from its unpressed position to its depressed position and thus the sending of a control signal of the connection and / or the separation through the contactor.
  • the fastening and / or the separation of the gripping member and the object is thus simple and fast.
  • the control of the input member is therefore intuitive and particularly ergonomic.
  • FIG. 1 is a schematic view of a co-manipulator robot comprising a gripping device according to the invention
  • FIG. 2 represents the gripping device of FIG. 1 when the gripper is in the non-depressed position
  • Figure 3 shows the gripping device of Figure 2 when the gripper is in the depressed position.
  • the co-manipulator robot 1 here comprises an articulated arm 2 whose first end 3 is fixed and whose second end 4 is integral with a gripping device 5 according to the invention.
  • the gripping device 5 comprises a handle 6 allowing an operator to be able to move the gripping device 5 thanks to the articulated arm 2.
  • the gripping device 5 here comprises a body 7 in which a chamber 8 is formed.
  • the body 7 further comprises an orifice 9 extending in a direction X through the body 7 between the chamber 8 and the outside of the body 7. .
  • the device further comprises a gripping member 10 intended to come into contact with an object 100 to be manipulated, the object 100 resting here on a support 101.
  • the gripping member 10 comprises a suction cup 11 intended to come into contact with the object 100 and a rod 12, one end 12a is connected to the suction cup and the other end 12b is free.
  • the suction cup 11 is of the magnetic type, that is to say that the suction cup 11 comprises means for generating a magnetic field which, when the suction cup 11 is energized, generate a magnetic field enabling secure the object 100 to the suction cup 11.
  • the gripping member 10 is arranged in the gripping device so that the rod 12 is slidably mounted in the orifice 9 between an unpressed position (as illustrated in FIG. 2) and a depressed position (as illustrated in FIG. 3).
  • the gripping member 10 comprises a first stop defining the non-depressed position of the gripping member.
  • the rod 12 has a shoulder 13 cooperating with a wall of the chamber 8 to stop the stroke of the rod 12 through the orifice 9 and thus define the not depressed position.
  • the gripping member 10 is shaped so that in the unpressed position, the free end 12b of the rod 12 is arranged in the chamber 8 and the suction cup 11 is arranged outside the body 7.
  • the gripping member 10 also comprises a second stop to define the depressed position of the gripping member 10.
  • the suction cup 11 has a flat surface 14 opposite the surface of the suction cup intended to come into contact with the object 100, the flat surface 14 having an area greater than a section of the orifice 9. The flat surface thus cooperates with a wall of the body 7 to stop the stroke of the rod 12 through the orifice 9 and thus define the depressed position.
  • the device further comprises means (not shown here) for controlling a connection and a separation of the gripping member 10 and the object 100.
  • the control means thus manage the supply of the suction cup 11 to control the generation of the magnetic field.
  • the device thus comprises a contactor 16 which is associated with the control means and which is able to generate a control signal for the connection and the disconnection to the control means when the contactor is activated.
  • the contactor 16 is disposed in the device so as to cooperate with the input member 10 when the input member 10 is in the depressed position to allow to generate a control signal to the control means.
  • the switch 16 is a push button comprising a first stable position in which the push button is retracted and a second stable position in which the push button is pulled out.
  • the contactor 16 is configured so that the transition from the second stable position to the first stable position causes the transmission of a control signal of the connection to the control means and so that the transition from the first stable position to the second stable position results in the transmission of a control signal of the uncoupling to the control means.
  • the contactor 16 is arranged here in the chamber 8 on a wall of the chamber 8 opposite to that on which opens the orifice 9 so that when the gripper 10 is in the depressed position, the free end 12b of the rod 12 is in contact with the contactor 16.
  • the operator When the operator wishes to secure the object 100 to the gripping member 10, he manipulates the gripping device 5 so as to place the suction cup 11 on the object 100 resting on the support 101 which causes a displacement of the rod 12 and thus a displacement of the gripping member 10 from the not depressed position to the depressed position.
  • the free end 12b of the rod 12 then presses the switch 16 and in turn causes the switch 16 to move from its second stable position to its first stable position.
  • the activation of the contactor 16 causes the transmission of a control signal of the connection to the control means.
  • the control means then control the supply of the suction cup 11 so that it is energized: the generated magnetic field makes it possible to secure the object 100 to the suction cup 11.
  • the operator can then move the object 100 with the help of the co-manipulator robot 1.
  • the operator When the operator wishes to separate the object 100 from the gripping member 10, he manipulates the gripping device 5 so as to place the object 100 on the support 101 which causes a displacement of the rod 12 and therefore a moving the input member 10 from the unpressed position to the depressed position.
  • the free end 12b the rod 12 then presses the switch 16 and in turn causes the switch 16 to move from its first stable position to its second stable position.
  • the activation of the contactor 16 causes the transmission of a control signal of the uncoupling to the control means.
  • the control means then control the supply of the suction cup 11 so that it is no longer supplied. In the absence of the magnetic field, the object 100 is disengaged from the suction cup 11.
  • the operator can therefore move the gripper 5 alone with the help of the co-manipulator robot 1.
  • a new gripping cycle can then begin.
  • the gripping device 5 according to the invention thus allows simple and fast manipulation of the object by the operator.
  • the second stop advantageously prevents the rod 12 from pressing too strongly on the contactor 16 which could damage it.
  • the input member may be different from what has been described.
  • the gripping member comprises a suction cup of the magnetic type
  • the suction cup may be of the pneumatic type.
  • the gripping member may also include an electromagnet.
  • the gripping member may comprise a gripper for gripping an object, the control means then controlling the opening and closing of the gripper to respectively ensure a separation and a fastening of the gripper and 1.
  • Object .
  • the stops may have a different shape from what has been described.
  • the rod may comprise a groove in which will be arranged an elastic ring to form the stop.
  • the stop may be carried by the body and not by the rod.
  • the cooperation of the contactor and the gripping member makes it possible to control both the fastening and the separation of the gripping member with the object, said cooperation may make it possible to control only the fastening or the fastening. separation.
  • the control signal of respectively the uncoupling or the joining is generated by an external control, for example by a lever or a switch, manually controlled by the operator.
  • the contactor may be different from what has been described.
  • the contactor can thus have a different number of stable positions and in particular a single stable position.
  • the device may further include means for verifying the attachment and / or the separation of the object to the input member.
  • the verification means may comprise a pressure sensor or a pressure switch which will be arranged in the cavity of the suction cup to determine whether the object is indeed solid with the suction cup.
  • the verification means may also include a probe arranged at the gripping member to be able to come into contact with the object and determine whether the object is well is integral with the suction cup.
  • the gripping member may comprise return means, comprising for example a spring, to return the gripping member from its depressed position to its non-depressed position. pressed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a gripping device (5) comprising a gripping member (10) designed to come into contact with an object to be manipulated (100) and control means for controlling a joining and a separation of the gripping member and the object to be manipulated, the control means being associated with a contact (16) able to generate a joining and/or separating control signal intended for the control means when the contact is activated. According to the invention, the gripping member is slidably mounted in the device between a non-pushed-in position and a pushed-in position, the contact being positioned in the device so as to be activated by the gripping member when the gripping member is in the pushed-in position. The invention also relates to a co-handling robot comprising such a device.

Description

Dispositif de préhension pour robot co-manipulateur et robot co-manipulateur équipé d'un tel dispositif  Gripping device for co-manipulator robot and co-manipulator robot equipped with such a device
L' invention concerne un dispositif de préhension pour robot co-manipulateur et un robot co-manipulateur équipé d ' un tel dispositif .  The invention relates to a gripping device for co - manipulating robot and a co - manipulating robot equipped with such a device.
ARRIERE-PLAN TECHNOLOGIQUE DE L' INVENTION  BACKGROUND OF THE INVENTION
Il existe des robots co-manipulateurs , encore appelés cobots ou machines d ' assistance à 1 ' effort, qui permettent d ' assister les opérateurs dans différentes tâches . Ces robots co-manipulateurs s ' avèrent en particulier utiles pour aider les opérateurs à manipuler de lourdes charges ou des charges moins lourdes mais de manière rapide et répétitive .  There are co-manipulator robots, also called cobots or stress machines, which help operators in different tasks. These co-manipulator robots are particularly useful for helping operators to handle heavy loads or lighter loads but quickly and repetitively.
Un tel robot co-manipulateur comporte par exemple un dispositif de préhension comprenant un organe de saisie destiné à venir au contact d'un obj et à manipuler et des moyens de commande d'une solidarisâtion et d'une désolidarisation de l'organe de saisie et de l'objet à manipuler, les moyens de commande étant associés à un contacteur apte à générer un signal de commande de la solidarisation et de la désolidarisation à destination des moyens de commande lorsque le contacteur est activé .  Such a co-manipulator robot comprises, for example, a gripping device comprising a gripping member intended to come into contact with an object and manipulating it and means for controlling a solidarity and a separation of the gripping member. and the object to be manipulated, the control means being associated with a contactor capable of generating a control signal of the connection and the disconnection to the control means when the contactor is activated.
Le contacteur est usuellement un bouton ou un levier monté sur une poignée de manipulation de l'organe de saisie .  The contactor is usually a button or a lever mounted on a handle for manipulating the input member.
Ainsi, pour solidariser organe de saisie et objet, l'opérateur doit approcher l'organe de saisie de l'objet. Une fois 11 organe de saisie au contact de 1 ' objet, 1 ' opérateur peut alors activer le contacteur. De la même manière, pour désolidariser organe de saisie et objet, 1 ' opérateur doit poser 1 ' objet sur un support . Une fois l'objet au contact du support, 1 ' opérateur peut alors activer le contacteur . Thus, to secure the gripping member and object, the operator must approach the input member of the object. Once 1 1 input member in contact with 1 'object, the operator can then activate the contactor. In the same way, in order to separate the gripping member and the object, the operator must place the object on a support. Once the object is in contact with the support, the operator can then activate the contactor.
Il s'avère toutefois délicat pour l'opérateur d 1 approcher l'organe de saisie de l'objet à soulever tout en gérant le contacteur. De la même façon, il s'avère délicat pour l'opérateur d'approcher l'objet à relâcher du support tout en gérant le contacteur distant. However, it is tricky for the operator of one approaching the grip of the object to raise any by managing the contactor. In the same way, it is difficult for the operator to approach the object to release the support while managing the remote contactor.
OBJET DE L'INVENTION  OBJECT OF THE INVENTION
Un but de l'invention est de proposer un dispositif de préhension pour un robot co-manipulateur qui permette de saisir et/ou de relâcher plus facilement un objet à manipuler par ledit dispositif de préhension et de préférence tout en soulageant la charge mentale de 1' opérateur .  An object of the invention is to provide a gripping device for a co-manipulator robot that makes it easier to grasp and / or release an object to be handled by said gripping device and preferably while relieving the mental load of 1 operator.
BREVE DESCRIPTION DE L'INVENTION  BRIEF DESCRIPTION OF THE INVENTION
En vue de la réalisation de ce but, on propose un dispositif de préhension pour robot co-manipulateur, comprenant un organe de saisie destiné à venir au contact d'un objet à manipuler et des moyens de commande d'une solidarisation et d'une désolidarisation de l'organe de saisie et de l'objet à manipuler, les moyens de commande étant associés à un contacteur apte à générer un signal de commande de la solidarisation et/ou de la désolidarisation à destination des moyens de commande lorsque le contacteur est activé.  In order to achieve this goal, a gripping device is proposed for a co-manipulator robot, comprising a gripping member intended to come into contact with an object to be handled and means for controlling a fastening and a fastening. separation of the gripper and the object to be manipulated, the control means being associated with a contactor capable of generating a control signal of the connection and / or the separation to the control means when the contactor is activated.
Selon l'invention, l'organe de saisie est monté coulissant dans le dispositif entre une position non enfoncée et une position enfoncée, le contacteur étant disposé dans le dispositif de sorte à être activé par l'organe de saisie lorsque l'organe de saisie est en position enfoncée, l'organe de saisie étant maintenu en position non enfoncée lorsque l'objet est suspendu à l'organe de saisie.  According to the invention, the gripping member is slidably mounted in the device between an unpressed position and a depressed position, the contactor being arranged in the device so as to be activated by the gripping member when the gripping member is in the depressed position, the gripping member being held in the non-depressed position when the object is suspended from the gripping member.
Grâce à la coopération entre le contacteur et l'organe de saisie, l'opérateur peut gérer seulement l'organe de saisie et sa position vis-à-vis de l'objet ou d'un support sur lequel repose l'objet ou sur lequel l'objet doit être déposé. En effet, en appuyant l'organe de saisie sur l'objet et/ou en appuyant l'objet sur le support, l'opérateur provoque automatiquement le déplacement de l'organe de saisie de sa position non enfoncée à sa position enfoncée et donc l'envoi d'un signal de commande de la solidarisation et/ou de la désolidarisation par l'intermédiaire du contacteur. Thanks to the cooperation between the contactor and the gripping member, the operator can only manage the gripping member and its position vis-à-vis the object or a support on which the object rests or on which object must be deposited. Indeed, by pressing the input member on the object and / or pressing the object on the support, the operator automatically causes the movement of the gripper from its unpressed position to its depressed position and thus the sending of a control signal of the connection and / or the separation through the contactor.
La solidarisation et/ou la désolidarisation de l'organe de saisie et de l'objet est ainsi simple et rapide. La commande de l'organe de saisie est donc intuitive et particulièrement ergonomique.  The fastening and / or the separation of the gripping member and the object is thus simple and fast. The control of the input member is therefore intuitive and particularly ergonomic.
On propose également un robot co-manipulateur comprenant un dispositif de préhension selon l'invention.  There is also provided a co-manipulator robot comprising a gripping device according to the invention.
BREVE DESCRIPTION DES DESSINS  BRIEF DESCRIPTION OF THE DRAWINGS
L'invention sera mieux comprise à la lumière de la description qui suit de modes de réalisation particuliers, non limitatifs, de l' invention .  The invention will be better understood in the light of the following description of particular embodiments, not limiting, of the invention.
Il sera fait référence aux figures ci-jointes, parmi lesquelles :  Reference will be made to the attached figures, among which:
- la figure 1 est une vue schématique d'un robot co- manipulateur comprenant un dispositif de préhension selon 1 ' invention,  FIG. 1 is a schematic view of a co-manipulator robot comprising a gripping device according to the invention,
- la figure 2 représente le dispositif de préhension de la figure 1 lorsque l'organe de saisie est en position non enfoncée,  FIG. 2 represents the gripping device of FIG. 1 when the gripper is in the non-depressed position,
- la figure 3 représente le dispositif de préhension de la figure 2 lorsque l'organe de saisie est en position enfoncée .  - Figure 3 shows the gripping device of Figure 2 when the gripper is in the depressed position.
DESCRIPTION DETAILLEE DE L' INVENTION  DETAILED DESCRIPTION OF THE INVENTION
En référence aux figures, le robot co-manipulateur 1 selon l'invention comprend ici un bras articulé 2 dont une première extrémité 3 est fixe et dont une deuxième extrémité 4 est solidaire d'un dispositif de préhension 5 selon l'invention.  With reference to the figures, the co-manipulator robot 1 according to the invention here comprises an articulated arm 2 whose first end 3 is fixed and whose second end 4 is integral with a gripping device 5 according to the invention.
De préférence, le dispositif de préhension 5 comporte une poignée 6 permettant à un opérateur de pouvoir déplacer le dispositif de préhension 5 grâce au bras articulé 2. Le dispositif de préhension 5 comporte ici un corps 7 dans lequel est ménagée une chambre 8. Le corps 7 comporte en outre un orifice 9 s ' étendant selon une direction X à travers le corps 7 entre la chambre 8 et 1 ' extérieur du corps 7. Preferably, the gripping device 5 comprises a handle 6 allowing an operator to be able to move the gripping device 5 thanks to the articulated arm 2. The gripping device 5 here comprises a body 7 in which a chamber 8 is formed. The body 7 further comprises an orifice 9 extending in a direction X through the body 7 between the chamber 8 and the outside of the body 7. .
Le dispositif comprend de plus un organe de saisie 10 destiné à venir au contact d'un objet 100 à manipuler, l'objet 100 reposant ici sur un support 101. Selon un mode de réalisation particulier, l'organe de saisie 10 comprend une ventouse 11 destinée à venir au contact de l'objet 100 et une tige 12 dont une extrémité 12a est liée à la ventouse et dont l'autre extrémité 12b est libre.  The device further comprises a gripping member 10 intended to come into contact with an object 100 to be manipulated, the object 100 resting here on a support 101. According to a particular embodiment, the gripping member 10 comprises a suction cup 11 intended to come into contact with the object 100 and a rod 12, one end 12a is connected to the suction cup and the other end 12b is free.
Selon un mode de réalisation particulier, la ventouse 11 est de type magnétique c'est-à-dire que la ventouse 11 comporte des moyens de génération d'un champ magnétique qui, lorsque la ventouse 11 est alimentée, génèrent un champ magnétique permettant de solidariser l'objet 100 à la ventouse 11.  According to a particular embodiment, the suction cup 11 is of the magnetic type, that is to say that the suction cup 11 comprises means for generating a magnetic field which, when the suction cup 11 is energized, generate a magnetic field enabling secure the object 100 to the suction cup 11.
L'organe de saisie 10 est agencé dans le dispositif de préhension de sorte que la tige 12 soit montée coulissante dans l'orifice 9 entre une position non enfoncée (comme illustré à la figure 2) et une position enfoncée (comme illustré à la figure 3) . L'organe de saisie 10 comporte une première butée définissant la position non enfoncée de l'organe de saisie. A cet effet, la tige 12 comporte un épaulement 13 coopérant avec une paroi de la chambre 8 pour arrêter la course de la tige 12 à travers l'orifice 9 et définir ainsi la position non enfoncée. L'organe de saisie 10 est conformé de sorte qu'en position non enfoncée, l'extrémité libre 12b de la tige 12 soit agencée dans la chambre 8 et la ventouse 11 soit agencée à l'extérieur du corps 7.  The gripping member 10 is arranged in the gripping device so that the rod 12 is slidably mounted in the orifice 9 between an unpressed position (as illustrated in FIG. 2) and a depressed position (as illustrated in FIG. 3). The gripping member 10 comprises a first stop defining the non-depressed position of the gripping member. For this purpose, the rod 12 has a shoulder 13 cooperating with a wall of the chamber 8 to stop the stroke of the rod 12 through the orifice 9 and thus define the not depressed position. The gripping member 10 is shaped so that in the unpressed position, the free end 12b of the rod 12 is arranged in the chamber 8 and the suction cup 11 is arranged outside the body 7.
De préférence, l'organe de saisie 10 comporte également une deuxième butée pour définir la position enfoncée de l'organe de saisie 10. A cet effet, la ventouse 11 comporte une surface plane 14 opposée à la surface de la ventouse destinée à venir au contact de l'objet 100, la surface plane 14 ayant une aire supérieure à une section de 1' orifice 9. La surface plane coopère ainsi avec une paroi du corps 7 pour arrêter la course de la tige 12 à travers l'orifice 9 et définir ainsi la position enfoncée. Preferably, the gripping member 10 also comprises a second stop to define the depressed position of the gripping member 10. For this purpose, the suction cup 11 has a flat surface 14 opposite the surface of the suction cup intended to come into contact with the object 100, the flat surface 14 having an area greater than a section of the orifice 9. The flat surface thus cooperates with a wall of the body 7 to stop the stroke of the rod 12 through the orifice 9 and thus define the depressed position.
Le dispositif comporte en outre des moyens (non illustrés ici) de commande d'une solidarisation et d'une désolidarisation de l'organe de saisie 10 et de l'objet 100. Les moyens de commande gèrent ainsi ici l'alimentation de la ventouse 11 pour permettre de contrôler la génération du champ magnétique.  The device further comprises means (not shown here) for controlling a connection and a separation of the gripping member 10 and the object 100. The control means thus manage the supply of the suction cup 11 to control the generation of the magnetic field.
Le dispositif comporte ainsi un contacteur 16 qui est associé aux moyens de commande et qui est apte à générer un signal de commande de la solidarisation et de la désolidarisation à destination des moyens de commande lorsque le contacteur est activé.  The device thus comprises a contactor 16 which is associated with the control means and which is able to generate a control signal for the connection and the disconnection to the control means when the contactor is activated.
Selon l'invention, le contacteur 16 est disposé dans le dispositif de sorte à coopérer avec l'organe de saisie 10 lorsque l'organe de saisie 10 est en position enfoncée pour permettre de générer un signal de commande aux moyens de commande. De préférence, le contacteur 16 est un bouton- poussoir comprenant une première position stable dans lequel le bouton-poussoir est rentré et une deuxième position stable dans lequel le bouton-poussoir est sorti. Selon un mode de réalisation particulier, le contacteur 16 est configuré de sorte que le passage de la deuxième position stable à la première position stable entraîne la transmission d'un signal de commande de la solidarisation à destination des moyens de commande et de sorte que le passage de la première position stable à la deuxième position stable entraîne la transmission d'un signal de commande de la désolidarisation à destination des moyens de commande .  According to the invention, the contactor 16 is disposed in the device so as to cooperate with the input member 10 when the input member 10 is in the depressed position to allow to generate a control signal to the control means. Preferably, the switch 16 is a push button comprising a first stable position in which the push button is retracted and a second stable position in which the push button is pulled out. According to a particular embodiment, the contactor 16 is configured so that the transition from the second stable position to the first stable position causes the transmission of a control signal of the connection to the control means and so that the transition from the first stable position to the second stable position results in the transmission of a control signal of the uncoupling to the control means.
Le contacteur 16 est agencé ici dans la chambre 8 sur une paroi de la chambre 8 opposée à celle sur laquelle débouche l'orifice 9 de sorte que lorsque l'organe de saisie 10 est en position enfoncée, l'extrémité libre 12b de la tige 12 soit en contact avec le contacteur 16. The contactor 16 is arranged here in the chamber 8 on a wall of the chamber 8 opposite to that on which opens the orifice 9 so that when the gripper 10 is in the depressed position, the free end 12b of the rod 12 is in contact with the contactor 16.
En référence aux figures 2 et 3, le fonctionnement du dispositif selon l'invention va être à présent expliqué.  With reference to FIGS. 2 and 3, the operation of the device according to the invention will now be explained.
Lorsque l'opérateur souhaite solidariser l'objet 100 à l'organe de saisie 10, il manipule le dispositif de préhension 5 de sorte à venir poser la ventouse 11 sur l'objet 100 reposant sur le support 101 ce qui provoque un déplacement de la tige 12 et donc un déplacement de l'organe de saisie 10 de la position non enfoncée à la position enfoncée. L'extrémité libre 12b de la tige 12 vient alors appuyer sur le contacteur 16 et provoque à son tour le déplacement du contacteur 16 de sa deuxième position stable à sa première position stable. L' activation du contacteur 16 entraîne la transmission d'un signal de commande de la solidarisation à destination des moyens de commande. Les moyens de commande contrôlent alors l'alimentation de la ventouse 11 de sorte que celle-ci soit alimentée : le champ magnétique généré permet de solidariser l'objet 100 à la ventouse 11.  When the operator wishes to secure the object 100 to the gripping member 10, he manipulates the gripping device 5 so as to place the suction cup 11 on the object 100 resting on the support 101 which causes a displacement of the rod 12 and thus a displacement of the gripping member 10 from the not depressed position to the depressed position. The free end 12b of the rod 12 then presses the switch 16 and in turn causes the switch 16 to move from its second stable position to its first stable position. The activation of the contactor 16 causes the transmission of a control signal of the connection to the control means. The control means then control the supply of the suction cup 11 so that it is energized: the generated magnetic field makes it possible to secure the object 100 to the suction cup 11.
L'opérateur peut dès lors déplacer l'objet 100 avec 1 ' aide du robot co-manipulateur 1.  The operator can then move the object 100 with the help of the co-manipulator robot 1.
En l'absence de contact entre l'objet 100 et le support 101, la tige 12 se déplace de nouveau et l'organe de saisie 10 revient naturellement en butée dans sa position non enfoncée, l'objet étant suspendu à l'organe de saisie 10.  In the absence of contact between the object 100 and the support 101, the rod 12 moves again and the gripping member 10 naturally rests in abutment in its non-depressed position, the object being suspended from the body of seizure 10.
Lorsque l'opérateur souhaite désolidariser l'objet 100 de l'organe de saisie 10, il manipule le dispositif de préhension 5 de sorte à venir poser l'objet 100 sur le support 101 ce qui provoque un déplacement de la tige 12 et donc un déplacement de l'organe de saisie 10 de la position non enfoncée à la position enfoncée. L'extrémité libre 12b de la tige 12 vient alors appuyer sur le contacteur 16 et provoque à son tour le déplacement du contacteur 16 de sa première position stable à sa deuxième position stable. L'activation du contacteur 16 entraîne la transmission d'un signal de commande de la désolidarisation à destination des moyens de commande. Les moyens de commande contrôlent alors l'alimentation de la ventouse 11 de sorte que celle-ci ne soit plus alimentée. En l'absence du champ magnétique, l'objet 100 est désolidarisé de la ventouse 11. When the operator wishes to separate the object 100 from the gripping member 10, he manipulates the gripping device 5 so as to place the object 100 on the support 101 which causes a displacement of the rod 12 and therefore a moving the input member 10 from the unpressed position to the depressed position. The free end 12b the rod 12 then presses the switch 16 and in turn causes the switch 16 to move from its first stable position to its second stable position. The activation of the contactor 16 causes the transmission of a control signal of the uncoupling to the control means. The control means then control the supply of the suction cup 11 so that it is no longer supplied. In the absence of the magnetic field, the object 100 is disengaged from the suction cup 11.
L'opérateur peut dès lors déplacer le dispositif de préhension 5 seul avec l'aide du robot co-manipulateur 1.  The operator can therefore move the gripper 5 alone with the help of the co-manipulator robot 1.
En l'absence de contact entre la ventouse 11 et l'objet 100, la tige 12 se déplace de nouveau et l'organe de saisie 10 revient à sa position non enfoncée.  In the absence of contact between the suction cup 11 and the object 100, the rod 12 moves again and the gripping member 10 returns to its non-depressed position.
Un nouveau cycle de préhension peut alors débuter.  A new gripping cycle can then begin.
Le dispositif de préhension 5 selon l'invention permet ainsi une manipulation simple et rapide de l'objet par 1 ' opérateur .  The gripping device 5 according to the invention thus allows simple and fast manipulation of the object by the operator.
En outre, la deuxième butée empêche avantageusement la tige 12 de venir appuyer trop fortement sur le contacteur 16 ce qui pourrait l'abîmer.  In addition, the second stop advantageously prevents the rod 12 from pressing too strongly on the contactor 16 which could damage it.
Bien entendu l'invention n'est pas limitée au mode de réalisation décrit et on peut y apporter des variantes de réalisation sans sortir du cadre de l'invention tel que défini par les revendications.  Naturally, the invention is not limited to the embodiment described and alternative embodiments can be made without departing from the scope of the invention as defined by the claims.
En particulier, l'organe de saisie pourra être différent de ce qui a été décrit. Ainsi, bien qu'ici l'organe de saisie comporte une ventouse de type magnétique, la ventouse pourra être de type pneumatique. L'organe de saisie pourra également comporter un électroaimant. En variante, l'organe de saisie pourra comporter une pince permettant d'agripper un objet, les moyens de commande commandant alors l'ouverture et la fermeture de la pince pour assurer respectivement une désolidarisation et une solidarisation de la pince et de 1 ' obj et . In particular, the input member may be different from what has been described. Thus, although here the gripping member comprises a suction cup of the magnetic type, the suction cup may be of the pneumatic type. The gripping member may also include an electromagnet. Alternatively, the gripping member may comprise a gripper for gripping an object, the control means then controlling the opening and closing of the gripper to respectively ensure a separation and a fastening of the gripper and 1. Object .
Les butées pourront avoir une forme différente de ce qui a été décrit. Par exemple, la tige pourra comporter une gorge dans lequel sera agencé un anneau élastique pour former la butée. La butée pourra être portée par le corps et non par la tige.  The stops may have a different shape from what has been described. For example, the rod may comprise a groove in which will be arranged an elastic ring to form the stop. The stop may be carried by the body and not by the rod.
Bien qu'ici la coopération du contacteur et de l'organe de saisie permette de contrôler à la fois la solidarisation et la désolidarisation de l'organe de saisie avec l'objet, ladite coopération pourra permettre de ne contrôler que la solidarisation ou que la désolidarisation. Dans ce cas le signal de commande de respectivement la désolidarisation ou la solidarisation sera généré par une commande externe, par exemple par un levier ou un interrupteur, commandé manuellement par l'opérateur.  Although here the cooperation of the contactor and the gripping member makes it possible to control both the fastening and the separation of the gripping member with the object, said cooperation may make it possible to control only the fastening or the fastening. separation. In this case, the control signal of respectively the uncoupling or the joining is generated by an external control, for example by a lever or a switch, manually controlled by the operator.
Le contacteur pourra être différent de ce qui a été décrit. Le contacteur pourra ainsi présenter un nombre différent de positions stables et en particulier une seule position stable.  The contactor may be different from what has been described. The contactor can thus have a different number of stable positions and in particular a single stable position.
Le dispositif pourra comporter en outre des moyens de vérification de la solidarisation et/ou de la désolidarisation de l'objet à l'organe de saisie. Ά cet effet, les moyens de vérification pourront comporter un capteur de pression ou un pressostat qui sera agencé dans la cavité de la ventouse pour déterminer si l'objet est bel est bien solidaire de la ventouse. Les moyens de vérification pourront également comporter un palpeur agencé au niveau de l'organe de saisie pour pouvoir venir au contact de l'objet et déterminer si l'objet est bel est bien solidaire de la ventouse.  The device may further include means for verifying the attachment and / or the separation of the object to the input member. For this purpose, the verification means may comprise a pressure sensor or a pressure switch which will be arranged in the cavity of the suction cup to determine whether the object is indeed solid with the suction cup. The verification means may also include a probe arranged at the gripping member to be able to come into contact with the object and determine whether the object is well is integral with the suction cup.
Bien qu'ici l'organe de saisie revienne naturellement à sa position non enfoncée, l'organe de saisie pourra comprendre des moyens de rappel, comprenant par exemple un ressort, pour ramener l'organe de saisie de sa position enfoncée à sa position non enfoncée.  Although here the gripping member naturally returns to its non-sunken position, the gripping member may comprise return means, comprising for example a spring, to return the gripping member from its depressed position to its non-depressed position. pressed.

Claims

REVENDICATIONS
1. Dispositif de préhension (5) pour robot co- manipulateur (1), comprenant un organe de saisie (10) destiné à venir au contact d'un objet à manipuler (100) et des moyens de commande d'une solidarisation et d'une désolidarisation de l'organe de saisie et de l'objet à manipuler, les moyens de commande étant associés à un contacteur (16) apte à générer un signal de commande de la solidarisation et/ou de la désolidarisation à destination des moyens de commande lorsque le contacteur est activé, le dispositif étant caractérisé en ce que l'organe de saisie est monté coulissant dans le dispositif entre une position non enfoncée et une position enfoncée, le contacteur étant disposé dans le dispositif de sorte à être activé par l'organe de saisie lorsque l'organe de saisie est en position enfoncée, l'organe de saisie étant maintenu en position non enfoncée lorsque l'objet est suspendu à l'organe de saisie.  1. A gripping device (5) for a co-manipulator robot (1), comprising a gripping member (10) intended to come into contact with an object to be handled (100) and means for controlling a fastening and detachment. a separation of the gripping member and the object to be manipulated, the control means being associated with a contactor (16) capable of generating a control signal of the connection and / or the disconnection to the means of control when the contactor is activated, the device being characterized in that the gripping member is slidably mounted in the device between a non-depressed position and a depressed position, the contactor being arranged in the device so as to be activated by the gripping member when the gripping member is in the depressed position, the gripping member being held in the non-depressed position when the object is suspended from the gripping member.
2. Dispositif selon la revendication 1, dans lequel le contacteur (16) est configuré pour générer un signal de commande de la désolidarisation et de la solidarisation à destination des moyens de commande lorsque le contacteur est activé.  2. Device according to claim 1, wherein the contactor (16) is configured to generate a control signal of the uncoupling and joining to the control means when the contactor is activated.
3. Dispositif selon la revendication 1, dans lequel l'organe de saisie (10) comporte une ventouse (11) destinée à venir au contact de l'objet (100) et une tige (12) dont une extrémité (12a) est liée à la ventouse et dont l'autre extrémité (12b) est libre, l'extrémité libre étant destinée à venir au contact du contacteur (16) pour coopérer avec ledit contacteur.  3. Device according to claim 1, wherein the gripping member (10) comprises a suction cup (11) intended to come into contact with the object (100) and a rod (12), one end (12a) is linked to the suction cup and the other end (12b) is free, the free end being intended to come into contact with the switch (16) to cooperate with said contactor.
4. Dispositif selon la revendication 3, comportant un corps (7) dans lequel est ménagée une chambre (8), le corps comportant en outre un orifice (9) s 'étendant à travers le corps entre la chambre et l'extérieur du corps, la tige (12) étant montée coulissante dans l'orifice. 4. Device according to claim 3, comprising a body (7) in which is formed a chamber (8), the body further comprising an orifice (9) extending through the body between the chamber and the outside of the body , the rod (12) being slidably mounted in the orifice.
5. Dispositif selon la revendication 4, dans lequel le contacteur (16) est agencé dans la chambre (8) sur une paroi de la chambre opposée à celle sur laquelle débouche l'orifice (9) de sorte que lorsque l'organe de saisie est en position enfoncée, l'extrémité libre de la tige soit en contact avec le contacteur. 5. Device according to claim 4, wherein the switch (16) is arranged in the chamber (8) on a wall of the chamber opposite to that on which opens the orifice (9) so that when the input member is in the depressed position, the free end of the rod is in contact with the contactor.
6. Dispositif selon la revendication 4, dans lequel l'organe de saisie (10) et/ou le corps (7) comporte au moins une butée pour définir la position enfoncée de l'organe de saisie.  6. Device according to claim 4, wherein the gripping member (10) and / or the body (7) comprises at least one stop to define the depressed position of the gripper.
7. Dispositif selon la revendication 3, dans lequel la ventouse (11) est de type magnétique.  7. Device according to claim 3, wherein the suction cup (11) is of magnetic type.
8. Dispositif selon la revendication 3, dans lequel la ventouse (11) est de type pneumatique.  8. Device according to claim 3, wherein the suction cup (11) is of the pneumatic type.
9. Dispositif selon la revendication 1, dans lequel l'organe de saisie (10) comporte une pince, les moyens de commande étant aptes à commander une ouverture et/ou une fermeture de la pince pour assurer respectivement une désolidarisation et/ou une solidarisation de la pince et de l'objet.  9. Device according to claim 1, wherein the gripping member (10) comprises a clamp, the control means being able to control an opening and / or closure of the clamp to respectively provide a separation and / or a solidarity the clip and the object.
10. Dispositif selon la revendication 1, comportant en outre des moyens de vérification de la solidarisation et/ou de la désolidarisation de l'objet à l'organe de saisie.  10. Device according to claim 1, further comprising means for verifying the attachment and / or detachment of the object to the gripping member.
11. Robot co-manipulateur (1) comportant un dispositif de préhension (5) selon l'une des revendications précédentes .  11. Co-manipulator robot (1) comprising a gripping device (5) according to one of the preceding claims.
EP14798752.3A 2013-11-14 2014-11-06 Gripping device for a co-handling robot, and co-handling robot equipped with such a device Withdrawn EP3068589A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1361135A FR3012990B1 (en) 2013-11-14 2013-11-14 GRIPPING DEVICE FOR CO-MANIPULATOR ROBOT AND CO-MANIPULATOR ROBOT EQUIPPED WITH SUCH A DEVICE
PCT/EP2014/073897 WO2015071161A1 (en) 2013-11-14 2014-11-06 Gripping device for a co-handling robot, and co-handling robot equipped with such a device

Publications (1)

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EP3068589A1 true EP3068589A1 (en) 2016-09-21

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EP14798752.3A Withdrawn EP3068589A1 (en) 2013-11-14 2014-11-06 Gripping device for a co-handling robot, and co-handling robot equipped with such a device

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US (1) US20160250756A1 (en)
EP (1) EP3068589A1 (en)
JP (1) JP2016536153A (en)
FR (1) FR3012990B1 (en)
WO (1) WO2015071161A1 (en)

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CN109465812A (en) * 2018-11-26 2019-03-15 广东工业大学 A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method

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JPS5583590A (en) * 1978-12-12 1980-06-24 Fuji Electric Co Ltd Handling device
JPS55112787A (en) * 1979-02-16 1980-08-30 Fuji Electric Co Ltd Handling device
US4557659A (en) * 1982-09-14 1985-12-10 M. Scaglia S.P.A. Device for supporting and handling loads by means of vacuum operated suction pads
CA1246121A (en) * 1984-11-15 1988-12-06 Westinghouse Electric Corporation Robotic end effector
JPS61172907U (en) * 1985-04-15 1986-10-27
JPH0537485U (en) * 1991-10-17 1993-05-21 コパル電子株式会社 Adsorption pad
JP4508263B2 (en) * 2008-04-24 2010-07-21 トヨタ自動車株式会社 Power assist device and control method thereof
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FR2943652B1 (en) * 2009-03-31 2016-04-15 Sapelem HANDLING DEVICE EQUIPPED WITH A LOAD PRE-HEATER AND MEANS FOR CONTROLLING ACTIVATION AND DEACTIVATING SAID PRE-HELLER

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US20160250756A1 (en) 2016-09-01
JP2016536153A (en) 2016-11-24
WO2015071161A1 (en) 2015-05-21
FR3012990B1 (en) 2016-03-04

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