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
  • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
  • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
• • 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
  • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
• • 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
  • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
  • B25J15/0691—Suction pad made out of porous material, e.g. sponge or foam

Definitions

• the invention relates to a suction gripping head comprising at least two elementary modules.
• the invention also relates to an elementary module of such a head.
• the invention also relates to a frame of such a module.
• the gripping heads are connected to a suction device, such as a turbine or an electric pump, or even a vacuum generator via compressed air, such as a vacuum generator by Venturi effect.
• a suction device such as a turbine or an electric pump
• a vacuum generator via compressed air, such as a vacuum generator by Venturi effect.
• surface gripping gripping heads and so-called “point gripping” gripping heads are known. Unlike point gripping heads which each have only one suction cell, surface gripping heads each have a plurality of suction cells.
• the needs of a user may vary, particularly in terms of dimensions of the gripping head.
• An object of the invention is to propose a solution making it possible to propose a device for gripping by suction that is more easily adjustable.
• a suction gripping head comprising at least two elementary gripping modules, each module comprising a frame comprising at least one side provided with at least one opening, the two modules being assembled between them so that a first side provided with at least one opening of the frame of a first module is opposite a second side provided with at least one opening of the frame of a second module for a possible passage of gas between the two modules by the cooperation of the openings of the first flank and of the second flank, the openings of the first flank and of the second flank being themselves facing one another.
• the invention thus allows the user to be able to design his own gripping head himself from the elementary modules without necessarily going through the supplier.
• the assembly of the modules can subsequently be reconfigured with a different placement of the modules between them and/or with a different sealing of the openings of the modules, generating a new gas circulation path to thus adjust to a new application targeted by the user.
• the invention thus allows the user to easily reconfigure the gripping head without necessarily going through the supplier.
• the gas and for example the air, can easily circulate from one module to another.
• the gripping head with a single suction device which is connected to only one of the modules of the gripping head, the circulation of the gas within the gripping head being effected in the thickness of the gripping head from one module to another.
• the invention makes it possible to be able to mass-produce the elementary modules, which reduces the manufacturing costs thereof.
• the invention thus allows a non-expert user to be able to assemble the modules like a puzzle.
• the invention thus makes it possible to create a path for the circulation of the gas, forming a depression inside the head of gripping, without requiring a whole cascade of external connections to said head.
• the two modules are identical.
• all the modules of the head are identical to one another, with the exception of the presence of at least one suction orifice provided in one of them.
• the module equipped with a suction orifice forms a corner of the gripping head.
• the first flank is attached to the second flank.
• the gripping head comprises at least one shutter shaped to temporarily block at least one of the openings.
• the head comprises at least one connecting interface shaped to be arranged at the level of at least one of the openings.
• At least one of the modules comprises at least two openings.
• a first of the two openings is arranged on a first side of the module and a second of the two openings is arranged on a second side of the module adjacent to the first side or opposite the first side.
• the module can optionally include additional openings to the two mentioned above.
• the modules are arranged so that the gripping head has a cross section, at the level of the frames, having an outer contour of a shape different from a square or a rectangle.
• the modules are shaped so as to each have at least one long side and a short side, the modules being able to be joined by their short sides, their long sides or one its short side and the other its long side.
• the modules are arranged so as to define, via their openings, at least two gas flow paths in the gripper head which are independent of one another.
• the modules are arranged so as to define, via their openings, at least one gas circulation path in the gripping head which comprises at least one baffle.
• the gas suction path is shaped like a coil.
• the gripping head comprises means for fixing at least the two modules together, fixing means comprising at least one fixing system carried at least in part by at least one of the modules.
• the fastening means thus comprise at least one hinge system.
• the gripping head comprises means for fixing at least the two modules together, fixing means comprising at least one fixing system which is attached at least in part to at least one of the modules.
• the gripping head comprises means for fixing at least the two modules together, said fixing means comprising at least one fixing system arranged at the level of two openings facing said two modules.
• the fastening system can thus be configured to block the circulation of a gas between the two modules or, on the contrary, to allow the gas to circulate between the two modules.
• the gripping head comprises at least one lower plate extending under at least two modules in being attached to each of said two modules.
• the gripping head comprises at least one sole arranged under at least one of the modules and intended to be in contact with a product to be lifted.
• the sole is arranged in at least two modules.
• the sole is made of foam.
• the sole extends under all the gripping head modules.
• the modules are fixed together so that the upper faces of their frames extend in the same plane.
• the gripping head comprises means for fixing at least the two modules together, fixing means comprising at least one fixing system carried at least in part by at least one of the modules, the fixing system being shaped to extend astride the upper faces of at least the two frames.
• At least one of the modules comprises at least one additional layer to its frame, said layer being arranged at least in part in the frame or being arranged entirely inside the frame, the additional layer being a sole, a compartment valves or a plate.
• the head comprises at least one foam sole arranged under at least one of the modules and intended to be in contact with a product to be lifted.
• the invention also relates to an elementary module of such a gripping head.
• the invention also relates to a frame of such a module.
• the terms “horizontal”, “vertical”, “upper”, “lower” ... must be understood according to the position in service of the gripping head when it is above a product to be lifted .
• Cross-section means a cross-section along a horizontal section plane (when the suction head is in its service position).
• Figure 1 is a partial exploded view of a gripping head according to a first embodiment of the invention
• FIG. 2a Figure 2a schematically illustrates a first variant of fixing modules of the gripping head shown in Figure 1;
• FIG. 2b Figure 2b schematically illustrates a second variant of fixing modules of the gripping head shown in Figure 1;
• FIG. 2c Figure 2c schematically illustrates a third variant of fixing modules of the gripping head shown in Figure 1;
• FIG. 2d Figure 2d schematically illustrates a fourth variant of fixing modules of the gripping head shown in Figure 1;
• FIG. 2e Figure 2e schematically illustrates a fifth variant of fixing modules of the gripping head shown in Figure 1;
• FIG. 2f Figure 2f schematically illustrates a sixth variant of fixing modules of the gripping head shown in Figure 1;
• Figure 3 is a partial bottom view of a gripping head according to a second embodiment of the invention.
• FIG. 4 Figure 4 is a schematic cross-sectional view of a gripping head according to a third embodiment of the invention
• Figure 5 is a schematic cross-sectional view of a gripping head according to a fourth embodiment of the invention.
• Figure 6 is a schematic cross-sectional view of a gripping head according to a fifth embodiment of the invention.
• Figure 7 is a bottom view of a gripping head according to a variant of the second embodiment of the invention.
• the gripping head according to a first embodiment of the invention here comprises a suction device (not shown here).
• the suction device is optionally a vacuum generator such as a compressed air vacuum generator.
• the vacuum generator is a vacuum generator by Venturi effect.
• the gripping head comprises at least two elementary gripping modules.
• the head comprises only four modules 1, 2, 3, 4 elementary gripping.
• Each module includes a chassis.
• the frame 5 comprises an upper face 6 shaped like a quadrilateral.
• the upper side is a quadrilateral.
• the frame 5 also comprises lateral flanks 7.
• the frame here comprises only four flanks 7. Each flank
• At least one of the flanks 7 is provided with at least one opening 8.
• at least two successive flanks 7 are each provided with at least one opening 8.
• each flank 7 is provided with at least one opening 8.
• each flank 7 is provided with a single opening 8.
• the different 7 flanks are here identical to one another.
• Each opening 8 crosses the associated flank right through.
• Each opening 8 is here arranged so as to open only on the lower side of the associated flank 7 (and not on the other sides of said flank): each flank 7 is thus open on its lower side.
• each opening 8 is arranged so as not to open onto any side of the associated sidewall 7.
• Each opening 8 is here centered (over the width) of the associated sidewall 7.
• Each opening 8 is for example shaped to have a rectangular section with rounded edges.
• All openings 8 are identical to each other.
• the frame 5 is in one piece.
• the upper face 6 and the four sides 7 are made in one piece.
• the frame 5 is made of plastic material or metallic material.
• the frame 5 is manufactured by injection or even by bending.
• At least one of the chassis 5 is equipped with a suction orifice 9.
• a gas such as air or another gas in the case where the gripping head is placed in an environment with a particular atmosphere
• at least one of the chassis 5 is equipped with a suction orifice 9.
• only part of the chassis 5 is equipped with a suction port 9.
• a single frame 5 is equipped with a suction port 9.
• the suction orifice 9 is arranged in its upper face 6 so as to cross it right through. Said suction orifice 9 is for example formed in the center of the upper face 6.
• three of the four frames 5 are identical to each other.
• the fourth frame 5 is otherwise identical to the other three frames 5 apart from the fact that it is equipped with at least one suction port 9.
• each frame 5 (opposite to the upper face 6 of the frame in question) is open towards the outside of the module.
• the various modules 1, 2, 3, 4 are fixed together.
• the different modules 1, 2, 3, 4 are fixed together so that their different upper faces 6 extend in the same plane.
• Said plane is preferably horizontal.
• the four modules 1, 2, 3, 4 are arranged so that each module is attached to two other modules.
• the four modules thus jointly form a rectangular parallelepiped.
• the gripping head itself has, at the level of the various frames 5, a cross-section with a square outer contour.
• the modules 1, 2, 3, 4 are fixed together so that their frames 5 are joined in pairs.
• said two modules are also fixed together so that a first side 7 provided with at least one opening 8 of a first of the two modules either facing a second side 7 provided with at least one opening 8 of the second of the two modules, the two openings 8 being themselves facing each other in alignment with one of the 'other.
• the two openings 8 being of the same dimensions, they jointly form a channel of uniform section along its length when the two modules are joined together. In this way, for each module, a first of its openings 8 extends in alignment with an opening of a first other module and a second of its openings 8 extends in alignment with a second other module, the other two openings 8 being oriented towards the outside of the gripping head.
• the gripping head comprises fixing means.
• the fixing means comprise at least one fixing system arranged to be accessible from the inside of at least one of the associated frames 5 .
• the fixing means comprise at least one fixing system arranged in the upper parts of the frames 5 of the two associated modules.
• the fastening means comprise, at each junction of two modules, at least one pair of male member/female member (forming the fastening system) capable of cooperating together to secure said two modules together and optionally at least two pairs of male member/ female member (forming two fixing systems) capable of cooperating together to fix said two modules together.
• at least one of the male members is a nut and at least one of the female members is a screw.
• at least one of the male members is in one piece with one of the two modules of the junction considered (ie integral with the frame of said module).
• the gripping head preferably comprises at least one shutter 10 (only one of which is referenced here) completely blocking an opening 8 to block the passage air through said opening 8.
• At least one of the shutters 10 is for example in the form of a wafer.
• At least one of the shutters 10 is removably mounted on at least one of the openings 8, for example by interlocking.
• the shutters 10 are here all identical.
• each opening 8 facing the outside of the gripping head is closed by a shutter 10. Air cannot thus laterally enter or leave the gripping head. Air can thus only enter or leave the gripper head through the orifice suction 9 or the lower part of the gripping head.
• each opening 8 facing another opening 8 remains free of shutter 10, allowing air to circulate freely between the different modules.
• the gripping head comprises at least one connecting interface 11 shaped to be arranged at the level of at least one of the openings 8.
• connection interfaces 11 is for example in the form of a pierced plate.
• connection interfaces 11 is removably mounted on at least one of the openings 8, for example by interlocking.
• the link interfaces 11 are here all identical.
• connection interface 11 Arrange a first connection interface 11 at the level of a first of the two openings 8 and arrange a second connection interface 11 at the level of the second of the two openings 8 (the two connection interfaces 11 can then optionally be fixed one to the other).
• each pair of aligned openings 8 is here provided with a single connecting interface 11. Consequently, the four pairs of aligned openings 8 each comprise a single connecting interface 11. Said interfaces 11 promote the passage of the air from one module to another.
• the shutters 10 and the connection interfaces 11 thus make it possible to create a very specific air circulation path inside the gripping head.
• gripping head turns out to be particularly modular since it suffices simply to modify the shutters 10 and/or the connection interfaces 11 to draw another air circulation path in the gripping head without even touching the relative position between the different modules 1, 2, 3, 4.
• the gripping head comprises sealing means at the junction between each pair of modules 1, 2, 3, 4 such as for example at least one seal.
• sealing means at least one of the openings 8 is provided with a seal on its periphery and/or at least one of the shutters 10 is provided with a seal on its periphery and/or at least one of the connection interfaces 11 is equipped with a seal on its outer periphery. It is thus possible to have both at least one of the two openings 8 of a junction provided with a seal and at least one of the shutters 10 (or at least one of the connection interfaces 11) associated also provided with a seal.
• sealing means may also be present at the level of at least one of the flanks 7 of at least one of the frames 5.
• at least one of the flanks 7 of at least l one of the frames 5 is provided with a seal on its outer periphery.
• the fixing means contribute to the sealing of the different junctions by compressing the different seals during the fixing of the different seals to each other.
• At least one of the modules 1, 2, 3, 4 comprises at least one additional layer to its chassis 5.
• the four modules 1, 2, 3, 4 comprise at least one additional layer in addition of their chassis 5.
• the four modules 1, 2, 3, 4 comprise exactly the same additional layers.
• the four modules 1, 2, 3, 4 are therefore identical to each other except at the level of the suction orifice 9 of one of the modules. The following description of the additional layers of one of the modules 3 is therefore also valid for the other modules.
• Module 3 here comprises a first additional layer in the form of a sole 12.
• the sole 12 is here secured to the frame 5 of the module 3, the underside of the sole 12 being that intended to come directly into contact with the product to be grasped.
• the sole 12 is preferably made of foam.
• the sole 12 is here in one piece.
• the sole 12 can be: a) housed entirely in the frame 5 (so that the sole 12 does not protrude from the open underside of said frame 5; preferably then the underside of the sole 12 extends in the same plane than the undersides of the sides 7 of the frame 5), b) partially housed in the associated frame 5 (so that the sole 12 only partly protrudes from the open underside of said frame 5), c) housed entirely inside chassis exterior 5.
• sole 12 preferably extends between the four sides 7 so as to close the lower part of frame 5. In case c), sole 12 preferably extends so as to cover the entire open underside of the chassis 5.
• the module 3 is surface gripping.
• the sole 12 thus comprises a plurality of cells regularly distributed in the sole 12. This makes it possible to be able to apply the gripping head to a greater variability of products to be handled.
• the module 3 here comprises a second additional layer in the form of a lower plate 13.
• sole 12 is not directly fixed to frame 5 but is fixed to said frame 5 via said plate 13. Said plate 13 is thus directly fixed to sole 12 by its underside. Alternatively, said plate 13 has dimensions smaller than those of the upper face of the sole 12 and/or of the open lower face of the frame 5. In this case, the sole 12 is also directly fixed to the frame on areas not covered by the plate 13. The overlapping of the sole 12 on both the plate 13 and the frame 5 makes it possible to improve the tightness of the assembly.
• the plate 13 is for example made of plastic material or metallic material (for example aluminum).
• the plate 13 is pierced with holes (only part of which is referenced here), each hole preferentially extending straight in the extension of one of the cells of the sole 12.
• the geometry of the holes is different depending on the type of grip targeted at the level of module 3.
• At least one of the holes can be calibrated and/or of a smaller or larger diameter than that of the opposite cell and/or contain a valve and/or contain means for holding a valve in place...
• the plate 13 is arranged entirely outside the frame 5 or is arranged at least partly in the frame 5 or is arranged entirely inside the frame 5.
• the module 3 comprises a third additional layer in the form of a valve compartment 14.
• the plate 13 is not directly fixed to the frame 5 but is fixed to said frame 5 via said valve compartment 14
• the compartment with valves 14 is for example directly fixed to the frame 5 by its upper face and directly fixed to the plate 13 by its lower face.
• the valve compartment 14 is arranged entirely outside the frame 5 or is arranged at least partly in the frame 5 or is arranged entirely inside the frame 5.
• valve compartment 14 comprises passages (only part of which is referenced here) in which valves are arranged.
• each passage extends straight in the valve compartment 14 in the extension of an orifice in the plate 13.
• valves of the compartment with valves 14 according to at least one specific air circulation path.
• said path comprises at least one baffle.
• said path is shaped so as to form a serpentine allowing a cascade closure of said valves.
• the suction is carried out via the suction device through the suction port 9 in a first module 1 and then spreads horizontally to the interior of the various modules thanks to the pairs of openings 8. Moreover, at the level of each module 1, 2, 3, 4, the suction continues vertically through successively the compartment with valves 14, the plate 13 and the sole 12.
• each module 1, 2, 3, 4 comprises an individual vacuum distribution chamber (formed here by the internal side of the upper face of the frame 5, the upper face of the valve compartment 14 and the corresponding side portions 7), the individual vacuum distribution chambers being furthermore connected at least in part to one another by the openings 8, thus defining at least one general vacuum distribution chamber of the gripping head.
• the various modules 1, 2, 3, 4 are activated simultaneously or almost since the suction from the module 1 provided with the suction orifice 9 can spread in all directions thanks to the pairs of openings 8.
• the circulation path can be modified to allow for example a sequential activation of the different modules 1, 2, 3, 4 (ie a cascade activation of the different modules 1, 2, 3, 4).
• the gripping head may include a shutter 10.
• the suction will propagate in one module after the other: first the module 1 equipped with the suction orifice, then the second module 2 adjacent with the pair of openings 8 associate always letting flow the air, then the third module 3 adjacent to the second module 2 and finally the fourth module 4.
• the different frames 5 are advantageously all identical to each other (apart from the level of the suction orifice 9): it is thus possible to produce the different frames 5 easily and at lower cost (especially since the suction orifice 9 can be provided once the frame has already been formed).
• the fixing means may be different from what has been described.
• a fixing system can be configured to fix more than two modules together.
• the fixing system can be shaped to fix together at least three modules and for example all the modules of a row.
• the fastening system is of the female member/male member type, the female member being a strip 20 (only one being referenced here) extending over the upper faces of the frames of a first row of modules and cooperating:
• the bar 20 extending outside the modules, it is easy to detach or attach the various modules of a row together.
• the strip 20 may extend through the frames of the row of modules. Instead of extending over the upper faces of a row of modules, the bar 20 may extend over a series of adjacent sides of the row of modules.
• the fixing system described can be shaped to fix all the modules of a row
• the fixing system can also be shaped to fix together several modules between them (whether or not they form a row) and for example all gripper head modules.
• the fastening system may comprise an upper plate extending above the upper face of various modules, each module thus being fixed to said upper plate.
• the fixing means comprise more than one fixing system for fixing the two modules together (different fixing systems or not two by two).
• the fastening means comprise, at the same junction between two modules:
• the hinge system 22 is arranged in the upper part of the sides 7 opposite the junction and the second fastening system is arranged in the lower part of the same sides 7 (or vice versa).
• the hinge system 22 extends horizontally.
• the internal and external portions of the hinge system 22 extend respectively along the upper edges of the sides 7 opposite the junction.
• at least two sides 7, and preferably all the sides 7 of at least one of the modules are equipped either with the external portion or with the portion of a hinge system 22.
• flanks 7 are equipped with the internal portion of the hinge system 22 while the other two flanks 7 are equipped with the external portion of the hinge system 22.
• all the sides 7 of all the modules 1, 2, 3, 4 are equipped either with the outer portion or with the inner portion of a hinge system.
• At least one of the hinge systems 22 may be different from what has been indicated.
• the fastening means comprise a hinge system 23 extending vertically.
• the elements of the hinge system 23 extend respectively along the vertical edges of the sides 7 opposite the junction.
• At least two sides 7, and preferably all the sides 7 of at least one of the modules are equipped with at least one of the elements of the hinge system 23.
• all the sides 7 of all the modules 1, 2, 3, 4 are equipped with at least one of the elements of the hinge system 23.
• an element of the hinge system 23 is shaped like a hook.
• the first module comprises at least one and preferably at least two hooks.
• said two hooks are not arranged at the same level and/or turned in the same way as the two corresponding hooks arranged on a face-to-face edge of a second module.
• the four hooks draw a column with successively a hook from the first module, a hook from the second module, a hook from the first module and a hook from the second module.
• the two hooks can have a different shape.
• one of the hooks can have an opening and the other not, or one of the hooks can have a larger opening than the other module.
• the second fastening system 24 here comprises an axis, a screw ... which is inserted vertically into the various hooks cooperating together at the level of the junction considered to complete the fastening of the assembly.
• the hinge system 22 of the second variant can be arranged vertically as in the third variant; the hinge system 22 of the second variant can be formed of a greater number of elements (and not only of an internal portion and an external portion) as in the third variant.
• the elements can be shaped so that at the junction between two modules, two elements are sufficient by cooperating together to form the hinge system 23 and at a junction between four modules, four elements are sufficient by cooperating together to form the system hinges 23.
• an element of the hinge system 23 is shaped like a hook.
• the hook associated with the edge is not arranged at the same level and/or rotated and/or opened in the same way as the other hooks of the other edges of the same module.
• the fixing means can also use the openings 8 to fix at least two modules together.
• At least one of the sides 7 of a first of the frames 5 and at least one of the sides 7 of a second of the frames 5 can each comprise an opening 8 having at least a notch.
• the opening 8 has a circular section with two radially opposite extensions of rectangular shape, each extension thus forming a notch.
• the two notched openings 8 are here identical.
• the notched opening 8 in question does not lead to any of the edges of the associated sidewall 7 .
• the notched opening 8 considered is centered on the associated sidewall 7. It is noted that for a given sidewall 7, the notched opening 8 can replace the opening 8 described with reference to FIG. 1 or else be additional thereto.
• a fastening system in the form of a plug 25 of a shape adapted to the notched openings 8, is then arranged through the two notched openings 8 extending in alignment with one another, thus making it possible to fix the two modules together.
• cap 25 If the cap 25 is full, it prevents air from circulating through the pair of notched openings 8 and also acts as a shutter in addition to its role as a fastening system.
• cap 25 is hollow, it allows air to circulate through the pair of notched openings 8 and also acts as a link interface 11 in addition to its role as a fastening system.
• the cap 25 may have a section of shape identical to that of the section of the notched orifices (at least on the outside) or may have a central section whose section is smaller than that of the notched orifices, central section extended on both sides. another by end sections each having a section of shape identical to that of the section of the orifices 8 with notches (at least externally).
• the stopper 25 can be introduced into the pair of notched openings 8 and then the stopper is rotated to lock the stopper 25 in position in the notched openings 8.
• the fixing system in place of a screw-nut fixing system, can be of the lug-pin type.
• the attachment bracket can be shaped like an hourglass 26 (only one being referenced here) surrounding a pin 27 (only one being referenced here) present respectively on each of the two modules of a given junction.
• the pins 27 can be arranged at the level of the lower faces of the frames 5 of said modules or the sides 7 defining the junction or the upper faces of said modules.
• At least one of the fixing systems can be arranged on at least one of the sides 7 or above or below the frames 5.
• the fastening system is shaped to extend astride the upper faces 6 of at least two adjacent frames 5.
• a first fixing system 31 is here shaped to be able to link four modules together and a second fixing system 32 is here shaped to be able to link two modules together.
• first fastening system 31 like the second fastening system 32 are shaped like a plate. Furthermore, reliefs are formed on the upper face 6 of at least one of the frames 5 and preferably of all the frames 5 of the gripping head.
• a relief 33 is present at each corner of the upper face.
• the various corner reliefs 33 are all identical and for example shaped into a quarter-circle.
• an additional relief 34 is present between each pair of two corner reliefs 33.
• the various additional reliefs 34 are shaped in half an oblong shape.
• the fixing systems 31, 32 are shaped to allow them to fit between the different reliefs in order to attach the modules together.
• the first fastening system 31 is shaped so as to present on its outer contour four grooves 35 as well as a central orifice 36 piercing it right through.
• the first fastening system 31 is therefore here shaped like a cross pierced in its center.
• the four corner reliefs 33 (a corner relief 33 belonging respectively to one of the modules) jointly forming a disc are housed in the central hole 36 and the four pairs of additional reliefs 34 (two additional reliefs 34 per module) jointly forming an oblong shape are each housed in one of the grooves 35.
• the second fastening system 32 is shaped so as to have two grooves 37 on its outer contour.
• the first fastening system 32 is therefore here shaped like an hourglass.
• each fastening system 31, 32 is also associated with at least one other fastening system such as, for example, a male member/female member fastening system and, for example, a screw-nut system.
• first fastening system 31 is attached to each of the four associated modules by a screw-nut assembly and the second fastening system 32 is attached to each of the two associated modules by a screw-nut assembly.
• first fastening system 31 is pierced with four holes (at each of the branches of the cross) and the second fastening system 32 is pierced with two holes (at the level of the two portions of the hourglass).
• two modules can be fixed together via a hinge system like that described in the third variant but arranged horizontally at the junction between two modules as in the second variant.
• each module included its own lower plate 13 centered under the module in question, in the second embodiment, the modules do not have their own lower plate.
• the gripping head comprises at least one lower plate 40 which is associated with at least two different modules.
• the plate 40 is for example made of plastic material or metallic material (for example aluminum). Of course, the plate 40 is pierced with holes (only part of which is referenced here), each hole preferably extending straight in the extension of one of the cells of the sole.
• the geometry of the holes is different depending on the type of grip targeted at the module level.
• At least one of the holes can be calibrated and/or of a smaller or larger diameter than that of the opposite cell and/or contain a valve and/or contain means for holding in place a clapper...
• the gripping head comprises a single plate 40 which is associated with all the modules of the gripping head.
• said plate 40 extends under the various modules.
• said plate 40 has a cross section of dimensions identical to those of the surface delimited by all the lower faces of the frames 5 of the gripping head (the gripping head then comprises a single plate 40 covering the entire lower surface of the different modules ).
• Said plate 40 is fixed to at least one of the associated modules and preferably to all the associated modules (either directly or via compartment(s) with valve(s)).
• the gripping head comprises several main plates 40, each main plate 40 being associated with at least two modules of the gripping head by extending under these two modules. For example, each main plate 40 is then associated with four modules of the gripping head by extending under these four modules. For example, each main plate 40 has a cross section of identical dimensions to those of the surface delimited by the underside of one of the frames 5 of the gripping head.
• Each main plate 40 is fixed to at least one of the associated modules and preferably to all the associated modules (either directly or via the compartment(s) with valve(s)).
• the gripping head comprises at least one main plate
• each main plate 40 being associated with at least two modules of the gripping head by extending under these two modules.
• each main plate 40 is then associated with four modules of the gripping head by extending under these four modules.
• each main plate 40 has a cross section of dimensions identical to those of the surface delimited by the underside of one of the frames 5 of the gripping head.
• Each main plate 40 is fixed to at least one of the associated modules and preferably to all the associated modules (either directly or via the compartment(s) with valve(s)).
• the gripping head can also comprise secondary plates
• the gripping head comprises secondary plates 41 in order to cover the portions of the lower face of the gripping head (delimited by all the lower faces of the frames 5 of the gripping head) which would not be covered by the main plates 40.
• the secondary plates 41 and the main plates 40 jointly have a cross section of dimensions identical to those of the surface delimited by all the lower faces of the frames 5 of the gripping head.
• Each secondary fixing plate 41 is fixed to at least one of the associated modules and preferably to all the associated modules (either directly or via compartment(s) with valve(s)).
• each plate 40 advantageously makes it possible to secure together at least two modules, each plate thus itself playing the role of a fastening system.
• the gripping head can comprise at least one additional fixing system to the plate(s) 40 such as a fixing system previously described.
• the plate or plates 40 will be used for the fixing in the lower part of the gripping head of at least two modules between them, the additional fixing system(s) being for example arranged ( s) preferably in the upper part of the gripping head.
• the gripping head can comprise additional fixing systems such as those illustrated in FIG. 2f to reinforce the fixing of the modules to one another in the upper part of the gripping head.
• This third embodiment is identical to the first embodiment except that the gripping head comprises a greater number of modules.
• the head of the third embodiment comprises twenty modules like those described with reference to the first embodiment.
• the different modules are fixed together so that the gripping head has, at the level of the different frames 5, a cross section with a rectangular outer contour.
• the modules are arranged so as to form four rows 51, 52, 53, 54 of five modules each.
• the gripping head is arranged so as to draw a single air circulation path through the various modules allowing sequential activation of said modules.
• the air circulation path includes at least one baffle.
• the air circulation path is shaped like a serpentine.
• shutters and connection interfaces are used here to draw this air circulation path through the various modules.
• the suction is performed via the suction port on the top of the first module (top left) which is thus activated: the single side of said module allowing the air to circulate with another module is its right side so that only the right module is then activated (i.e. the suction is propagated by this right module) and so on until the module at the bottom to the left.
• the number of modules may be different from what has been indicated for the first embodiment and the third embodiment and be for example two (as in the fourth embodiment which will now be described) or else of eight (as in the fifth embodiment which will be described later).
• at least one of the modules may be different from what has been indicated so far and for example have a more complex frame.
• the frame of at least one of the modules incorporates internal walls 61 forming directly inside the associated module at least one elementary air circulation path.
• the chassis is arranged so as to draw a single air circulation path which includes at least one baffle.
• said air circulation path is shaped like a coil.
• the gripping head comprises two modules whose frames each have internal walls 61, 62 forming a serpentine in each of the frames.
• the gripping head is also arranged to allow communication between the two coils.
• the gripping head defines a general air circulation path which is shaped like a serpentine (and which is formed by the succession of the two elementary air circulation paths of each of the modules).
• At least one of the sides of at least one of the modules may include a greater number of openings than what has been indicated.
• At least one of the sides of at least one of the modules can comprise two different openings.
• the upper faces of the frames 5 are moreover rectangular and no longer square (being understood that the number of openings per flank 7 is independent of the shape of the associated upper face 6). Furthermore, for each frame 5, the flanks 7 forming the long sides of the frame 5 each have two openings 8 and the flanks 7 forming the short sides of the frame 5 a single opening 8. Each frame 5 thus has six openings 8, with two openings 8 for each long side.
• the gripping head is arranged to define an air circulation path having at least one baffle.
• the air circulation path is shaped like a serpentine.
• the gripping head easily makes it possible to achieve different air circulation path configurations through the different modules (allowing sequential activation of modules or parallel activation of modules or activation in all directions of modules) and/or to create at least two air circulation paths through the modules independent of each other and/or to create at least two zones of aspirations with distinct properties.
• parallel activation is meant the parallel activation of modules of at least two different rows of modules.
• the assembly of modules can be easily disassembled and reconfigured with a different placement of the modules and/or the shutters 10 and/or the link interfaces 11 to adjust to a new application targeted by the user.
• the suction device may form a direct part of the gripping head.
• the suction device may be offset from the gripping head (it will then not be part of the gripping head). This will reduce the mass of the gripping head while maintaining the gripping capacity.
• the suction device may be a vacuum generator by Venturi effect or any other type of vacuum generator such as for example a turbine or a pump.
• the gripping head may comprise a greater number of types of elementary modules than what has been indicated (in the present case two types, one with and one without the suction orifice) and for example three types of elementary modules.
• the gripping head may comprise more than one suction orifice.
• at least two modules may each comprise at least one suction orifice and/or at least one module alone may comprise at least two suction orifices.
• At least one suction orifice may be formed in one of the sides of at least one of the modules. At least one suction orifice may be formed directly by one openings of at least one of the modules.
• At least one of the suction orifices may not be arranged in the center of the flank or of the upper face of the associated module.
• at least one of the suction orifices could be placed closer to one of the edges of the upper face (or of the side) than the other edges.
• the lower plate may be fixed to the frame without being arranged partly or entirely inside the frame and/or the sole.
• At least one bottom plate may not include a calibrated hole and thus be a simple element for stiffening the frame and/or the gripping head.
• the gripping head may incorporate another member for fixing at least one sole to at least one frame, such as a valve compartment. It is also possible to dispense with such a fixing member, at least one sole then being directly fixed to at least one of the frames.
• each module has its own sole, at least one of the modules may not have its own sole (and this, whether the gripping head also has one or more soles or the head does not have no insoles).
• the gripping head may comprise a single sole extending under the various modules of said head or extending at least under two modules of said head.
• each module has its own valve compartment, at least one of the modules may not have its own valve compartment (and this, that the gripper head also has one or more other valve compartments or has no valve compartments).
• each module has its own lower plate, at least one of the modules may not have its own lower plate (and this, whether the head also has one or more other lower plates or does not have mounting plate).
• each gripping module is surface gripping
• at least one of the modules may be point gripping.
• the gripping head will be a surface gripping head.
• each sole is in one piece, at least one sole may be made up of several blocks of foam joined together, for example by gluing, by screw-type fasteners, etc.
• the foam blocks may be assembled between them vertically, horizontally or in other directions.
• modules are arranged so that the gripping head has a cross section with a square or rectangular external contour (at the level of the frames), it is of course possible to arrange the modules differently so that the gripping head is of a shape as suitable as possible for the product to be lifted.
• the modules may thus not be arranged so as to form identical columns and rows.
• the frame of at least one of the modules may take a shape other than that indicated: the frame may thus have a rectangular, square, diamond-shaped, triangular cross-section, a regular or non-regular polygon or even a cross-section presenting at least one curved portion. Consequently at least one of the frames may comprise a different number of sidewalls than what has been described and for example a single sidewall or at least two sidewalls or even at least three sidewalls, at least five sidewalls, at least six flanks...
• At least one side of the frame may not have any openings.
• the frame has at least two sides each provided with at least one opening, said sides may be sides extending one opposite the other, one in succession to the other or could be two other sides of the chassis. In the case where the frame has only four flanks, the two flanks may thus be successive flanks or even opposite flanks of the frame.
• At least one opening may be of such large dimensions that the corresponding sidewall will then only be delimited by this opening (i.e. will not include any walls around the opening).
• At least one of the sides of the frame may include at least two openings.
• at least one of the flanks forming the short side may comprise at least two openings and/or at least one of the flanks forming the long side may comprise at least two openings.
• the openings can then be distributed equidistant along the associated sidewall and/or centered with respect to the associated sidewall and/or arranged at the ends of the associated sidewall.
• the different openings within the same module are identical, at least two openings within the same module may be different from each other. Although here the different openings between two different modules are identical, at least a first opening of a first module and a second opening of a second module may be different from each other.
• the section of at least one opening may be different from what has been indicated. We can thus have an opening of triangular, circular, elliptical section...
• Two facing openings may be shaped to cooperate with each other: for example, one may include projecting rims capable of being inserted into the hollow rims of the other.
• At least one opening may be made in said flank in a manner that is not centered on said flank (regarding the height and/or the width of said flank).
• At least one of the frames may comprise a closed underside (and provided with at least one suction opening).
• the gripping head may not include a connection interface, the air then simply circulating from one module to another via the openings.
• the gripping head may in its simplest version not include a shutter either, the head then comprising only two modules, each of the modules comprising only a single opening facing the opening of the other module.
• At least one shutter can be directly carried by one of the modules and not attached to it.
• the shutter may be a flap mounted to move on one of the sides of the module considered between a position in which it covers the opening and a position in which it allows air to pass through the opening.
• all the shutters are shaped to block completely the associated opening or openings, at least one shutter can be arranged to only partially block at least one of the associated openings.
• connection interface may be directly carried by one of the modules and not attached thereto.
• the connection interface may be a flap mounted movably on one of the sides of said module between a position in which it extends into the opening of said side and a position in which it extends out of the opening. of said flank.
• the connection interface could be permanently mounted in the associated opening, at least one shutter then being shaped to block the connection interface (and thus the opening) in order to block the passage of air to through the binding interface (and therefore the opening).
• each frame is in one piece, at least one of the frames may be formed from at least two parts rigidly fixed together.
• the frame could be made up of:
• the different embodiments described could be mixed together.
• the various possibilities for fixing the modules together (main variant in FIG. 1 and additional variants in FIGS. 2a to 2f) can be applied to the various embodiments described.
• the number of modules of the fifth embodiment can be applied to the fourth embodiment and vice versa.
• Fixing via the plate as in the third embodiment can be applied to the fourth embodiment or to the fifth embodiment.
• One and the same gripping head may comprise both modules with frames of square cross-section as in the first embodiment and both modules with frames of rectangular section as in the fourth embodiment or the fifth embodiment. Etc.
• the fixing means may thus comprise a dovetail fixing system, a connecting rod fixing system, an insert fixing system extending through one or more modules, a fixing system by plate(s) upper(s) and/or lower(s) and/or side(s) and/or capsule(s), a snap-fastening system (for example by snapping the sides together).
• the insert may extend through at least two modules (ie inside said modules) and for example through a row of modules for fixing them together.
• at least one bar (as illustrated in FIG.
• the fastening system may comprise at least one lateral capsule extending between at least a first flank of a first module and a second flank of a second module, the second flank being juxtaposed with the first flank, each flank being fixed to said capsule so that the latter can fix the two modules together.
• the capsule can be shaped to fix more than two modules together and for example a row of modules together.
• the capsule may be shaped in the form of a plate or may be shaped differently.
• the capsule could be shaped so as to guide a flow of gas between at least one opening of the first flank and an opening of the second flank (juxtaposed to the first flank).
• the capsule can thus be used directly as a link interface. It will thus be possible to have a capsule which fixes an entire row of modules, the capsule being moreover shaped to ensure the circulation of gas from one module to another (for example using an internal wall).
• a fixing system can also play another role such as that of a connection interface, that of a shutter or else also of a stiffener (for example in the case of a plate, a capsule, an insert, bar ... ).
• At least one system may carry a sealing means (type gasket) to participate in the sealing of the gripping head.
• a sealing means type gasket
• said plate may be formed from a plate of larger dimensions provided with pre-cuts thus allowing the user to easily create a plate with the dimensions which suit him.
• At least one of the modules may not include valve compartments and/or bottom plate and/or sole.
• the gripping head may thus not incorporate any valve compartment and/or any lower plate and/or any sole.
• the gripping head is a gripping head with valves
• the gripping head will be arranged so as to allow sequential activation of at least several modules.
• the gripping head is not a gripping head with valves, the gripping head will be arranged to allow activation of the modules in all directions.
• the module comprises at least one additional layer in addition to their chassis, said layer may not be fixed to the chassis but form an integral part of the chassis.
• chassis and the additional layer can thus be machined together simultaneously, be molded together simultaneously, be manufactured by additive manufacturing simultaneously together...
• valve compartment may be in one piece with the frame.
• the frame and the valve compartment can thus be machined together simultaneously, be molded together simultaneously, be manufactured by additive manufacturing simultaneously together ... In this way we will form a single piece fulfilling both the role of valve compartments and both the role of chassis.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Chemical & Material Sciences (AREA)
• Dispersion Chemistry (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=77821915

Family Applications (1)

Country Status (3)

Family Cites Families (4)

• 2021
  • 2021-08-06 FR FR2108558A patent/FR3125976B1/fr active Active
• 2022
  • 2022-08-05 EP EP22761224.9A patent/EP4380765A1/de active Pending
  • 2022-08-05 WO PCT/EP2022/072153 patent/WO2023012360A1/fr unknown

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