EP4380765A1

EP4380765A1 - Suction gripper head, elementary module and associated frame

Info

Publication number: EP4380765A1
Application number: EP22761224.9A
Authority: EP
Inventors: Laurent Joulin
Original assignee: Piab AB
Current assignee: Piab AB
Priority date: 2021-08-06
Filing date: 2022-08-05
Publication date: 2024-06-12
Also published as: FR3125976B1; WO2023012360A1; FR3125976A1

Abstract

The invention relates to a suction gripper head comprising at least two elementary gripper modules, each module comprising a frame (5) having at least one side provided with at least one opening (8), the two modules being joined together such that a first side (7) provided with at least one opening of the frame of a first module faces a second side (7) provided with at least one opening of the frame of a second module so that gas may pass between the two modules facilitated by the openings on the first side and on the second side, wherein the openings on the first side and on the second side also face each other. The invention also relates to a corresponding module and to a corresponding frame.

Description

SUCTION GRIPPING HEAD, ELEMENTARY MODULE AND ASSOCIATED FRAME

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.

BACKGROUND OF THE INVENTION

Devices are known for gripping and transporting products such as boards, cardboard boxes, bags, sheets of material comprising a gripping head by suction.

In known devices, 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.

Furthermore, so-called “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.

Depending on the product to be lifted, the needs of a user may vary, particularly in terms of dimensions of the gripping head.

It is always possible for the user to arrange several gripping heads side by side to create a gripping device of larger dimensions.

Such a solution remains relatively cumbersome to implement because the suction is done from above each gripping head: all suction heads must therefore be connected to the suction device. Furthermore, such a solution remains very limited because one can only reduce or increase the number of gripping heads thus juxtaposed.

PURPOSE OF THE INVENTION

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.

SUMMARY OF THE INVENTION

With a view to achieving this object, a suction gripping head is proposed 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.

In this way, by assembling several modules, the user can easily manufacture a gripping head of larger dimensions than those of each module, gripping head thus having specific dimensions adapted to the needs of the user.

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.

Advantageously, 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.

Furthermore, thanks to the openings, the gas, and for example the air, can easily circulate from one module to another.

It is thus possible to configure the various modules, by closing one or more openings, to define one or more gas circulation paths (independent or not from each other) through the various modules: at least one of the paths can allow a sequential activation of associated modules, parallel activation, simultaneous or quasi-simultaneous activation...

Furthermore, if desired, it is possible to associate 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.

Furthermore, 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.

Optionally, the two modules are identical.

Optionally, 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.

Optionally, the module equipped with a suction orifice forms a corner of the gripping head.

Optionally, the first flank is attached to the second flank.

Optionally, the gripping head comprises at least one shutter shaped to temporarily block at least one of the openings.

Optionally, the head comprises at least one connecting interface shaped to be arranged at the level of at least one of the openings.

Optionally, at least one of the modules comprises at least two openings.

Optionally, 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.

Of course, the module can optionally include additional openings to the two mentioned above.

Optionally, 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.

Optionally, 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.

Optionally, 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.

Optionally, 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.

Optionally, the gas suction path is shaped like a coil.

Optionally, 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.

Optionally, the fastening means thus comprise at least one hinge system.

Optionally, 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. Optionally, 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.

Optionally, the gripping head comprises at least one lower plate extending under at least two modules in being attached to each of said two modules.

Optionally, 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.

Optionally, the sole is arranged in at least two modules.

Optionally, the sole is made of foam.

Optionally, the sole extends under all the gripping head modules.

Optionally, the modules are fixed together so that the upper faces of their frames extend in the same plane.

Optionally, 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.

Optionally, 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.

Optionally, 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. For the present application 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).

Other characteristics and advantages of the invention will become apparent on reading the following description of particular non-limiting embodiments of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be better understood in the light of the following description with reference to the appended figures, among which:

[Fig. 1] 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;

[Fig. 3] 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; [Fig. 5] Figure 5 is a schematic cross-sectional view of a gripping head according to a fourth embodiment of the invention;

[Fig. 6] Figure 6 is a schematic cross-sectional view of a gripping head according to a fifth embodiment of the invention;

[Fig. 7] Figure 7 is a bottom view of a gripping head according to a variant of the second embodiment of the invention.

DETAILED DESCRIPTION OF EMBODIMENTS OF

THE INVENTION

Referring to Figure 1, 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. For example, the vacuum generator is a vacuum generator by Venturi effect.

Furthermore, the gripping head comprises at least two elementary gripping modules. In the present case, the head comprises only four modules 1, 2, 3, 4 elementary gripping. Each module includes a chassis.

The following description of one of the frames 5 applies here to the other three frames.

Typically, the frame 5 comprises an upper face 6 shaped like a quadrilateral. For example the upper side

6 is shaped into a square.

The frame 5 also comprises lateral flanks 7. The frame here comprises only four flanks 7. Each flank

7 extends from one of the edges of the upper face 6 orthogonally to said upper face 6. In this way, two successive sides 7 extend orthogonally to each other.

At least one of the flanks 7 is provided with at least one opening 8. For example, at least two successive flanks 7 are each provided with at least one opening 8. In the present case, each flank 7 is provided with at least one opening 8. For example, 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. Alternatively, 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. Optionally the frame 5 is in one piece. Thus the upper face 6 and the four sides 7 are made in one piece. Optionally the frame 5 is made of plastic material or metallic material.

For example, the frame 5 is manufactured by injection or even by bending.

Furthermore, to ensure the circulation of a gas (such as air or another gas in the case where the gripping head is placed in an environment with a particular atmosphere) through the various modules, at least one of the chassis 5 is equipped with a suction orifice 9. Preferably, only part of the chassis 5 is equipped with a suction port 9. For example, a single frame 5 is equipped with a suction port 9.

For this frame 5, 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.

Consequently, in this first embodiment, 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.

It is noted that in the present case, the lower face of each frame 5 (opposite to the upper face 6 of the frame in question) is open towards the outside of the module.

In another aspect, the various modules 1, 2, 3, 4 are fixed together.

Preferably, 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.

In the first embodiment, 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. Furthermore, due to the square cross-section of each frame 5, the gripping head itself has, at the level of the various frames 5, a cross-section with a square outer contour. Preferably, the modules 1, 2, 3, 4 are fixed together so that their frames 5 are joined in pairs.

For a pair of two modules, 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.

To fix the different modules 1, 2, 3, 4 together, the gripping head comprises fixing means.

Preferably, for fixing at least two modules together, 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 .

This makes it possible to dismantle an attachment between at least two modules without having to necessarily dismantle all the modules of the gripping head.

As an option, for fixing at least two modules together, the fixing means comprise at least one fixing system arranged in the upper parts of the frames 5 of the two associated modules.

For example, 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. By example at least one of the male members is a nut and at least one of the female members is a screw. Optionally, 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).

In view of the gripping head which has just been described, it is therefore understood that the air can circulate freely through all the openings 8 and the suction orifice 9.

Consequently, in order to be able to define an air circulation path in the gripping head, 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.

At the junction of two modules you can:

- Block with the same shutter 10 the two openings 8 facing each other, or

- Block a first of the two openings 8 with a first shutter 10 and a second of the two openings 8 with a second shutter 10 (the two shutters 10 can then optionally be fixed to one another). In the first embodiment, 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. On the other hand, each opening 8 facing another opening 8 remains free of shutter 10, allowing air to circulate freely between the different modules.

Preferably, 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.

At least one of the connection interfaces 11 is for example in the form of a pierced plate.

At least one of the 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.

At the junction of two modules you can:

- Arrange the same link interface 11 on the two openings 8 facing each other, or

- 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).

For example, 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.

Note that the 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.

Preferably, 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. For example, 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.

Alternatively or in addition to the presence of sealing means at the level of at least one of the openings 8 and/or of at least one of the shutters 10 and/or of at least one of the interfaces of connection 11, 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. For example 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.

Advantageously, 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.

Optionally, at least one of the modules 1, 2, 3, 4 comprises at least one additional layer to its chassis 5. In the present case, the four modules 1, 2, 3, 4 comprise at least one additional layer in addition of their chassis 5. Preferably, 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.

In cases a) or b), 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.

Preferably, 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.

Each cell is here formed by a hole extending rectilinearly so as to emerge at a first end at the level of the upper face of the sole 12 and at the second end at the level of the lower face of the sole 12.

The module 3 here comprises a second additional layer in the form of a lower plate 13.

Optionally, 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).

Of course, 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.

For example, 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.

Optionally, the module 3 comprises a third additional layer in the form of a valve compartment 14. Optionally, 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.

In a manner known per se, the valve compartment 14 comprises passages (only part of which is referenced here) in which valves are arranged. Preferably, each passage extends straight in the valve compartment 14 in the extension of an orifice in the plate 13.

It is possible to arrange the valves of the compartment with valves 14 according to at least one specific air circulation path. For example, said path comprises at least one baffle. For example, said path is shaped so as to form a serpentine allowing a cascade closure of said valves.

In service, 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.

Thus 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.

In the first embodiment, 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.

As a variant, 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). For example, in place of a connecting interface 11 arranged at the level of the junction between the module 1 equipped with the suction orifice 9 and one of the two adjacent modules (hereinafter called the fourth module 4), the gripping head may include a shutter 10. Thus 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.

We note once again the great modularity of the gripping head described.

In addition and/or alternatively, it is possible to create at least two independent air circulation paths in the gripping head, for example by only allowing air circulation between two modules at a time (and by creating another orifice suction on another of the modules).

We note once again the great modularity of the gripping head described.

In addition and/or alternatively, one can create at least two suction zones with distinct properties in the head, for example:

- by having at least one of the modules whose plate 13 comprises a first type of hole and at least one of the modules whose plate 13 comprises a second type of hole,

- by having at least one of the modules provided with a valve compartment 14 and at least one other of the modules without a valve compartment (or a different valve compartment 14),

- etc.

In another aspect, 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).

In addition, it is easy for a user to create his own gripping head due in particular to the fact that the different frames 5 are all identical (except for the suction port 9).

Of course, the first embodiment which has just been described is not limiting and many variants are possible.

For example, the fixing means may be different from what has been described.

For example, a fixing system can be configured to fix more than two modules together. For example, the fixing system can be shaped to fix together at least three modules and for example all the modules of a row. With reference to FIG. 2a, 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:

- with screws (forming a male member), and/or

- with pins (forming a male member) arranged on each of the modules of the first row, and/or

- with at least one other strip 21 (forming a male member)

- only one being referenced here - extending over the upper faces of the frames of a second row of modules (which for example extends orthogonally to the first row).

The bar 20 extending outside the modules, it is easy to detach or attach the various modules of a row together.

Instead of extending over the upper faces of a row of modules, 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.

Of course, it is also possible to use at least one bar 20 to attach only two modules together as in the first embodiment.

Although here 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. For example, 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.

It is also possible that at the same junction between two modules, the fixing means comprise more than one fixing system for fixing the two modules together (different fixing systems or not two by two).

For example, it will thus be possible to have two strips as previously described (in place of only one) to secure at least two modules together.

For example, with reference to Figure 2b, the fastening means comprise, at the same junction between two modules:

- a first fastening system in the form of a hinge system 22,

- A second fixing system of the male member/female member type (not shown).

For example, 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).

In this second variant, 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. Preferably, 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.

For example, two successive 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.

Preferably, 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.

This allows a user to be able to easily secure together the modules 1, 2, 3, 4.

At least one of the hinge systems 22 may be different from what has been indicated.

Thus, with reference to FIG. 2c, 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.

Preferably, 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. Preferably, 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.

This allows a user to be able to easily fasten the modules together.

For example, an element of the hinge system 23 is shaped like a hook.

For example, at an edge of a first module, the first module comprises at least one and preferably at least two hooks. Preferably, 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. For example, on a height of the two modules, 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.

For a given module, the two hooks can have a different shape. For example, 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. It is also possible to combine the second variant and the third variant: thus 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. Alternatively, 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.

For example, an element of the hinge system 23 is shaped like a hook. In order to allow the formation of a hinge system 23 at the junction between four modules, for each of the modules 1, 2, 3, 4, at the level of each of the vertical edges of a given module, 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.

For example, with reference to FIG. 2d, 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. For example, for each of the two frames 5, 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.

Preferably, for each frame 5, the notched opening 8 in question does not lead to any of the edges of the associated sidewall 7 . Preferably, for each frame 5, 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.

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.

If the 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).

In this way, 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.

With reference to FIG. 2e, in place of a screw-nut fixing system, the 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. For example 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.

This attachment lug-pawn attachment system can, for example, be combined with the bar attachment system of FIG. 2a or else with the hinge system illustrated in FIG. 2b.

As already indicated, 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.

Thus, according to a sixth variant illustrated in FIG. 2f, 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.

For example, the 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.

These reliefs are here identical from one module to another. The following description of reliefs of one of the modules therefore also applies to the other modules.

For example, a relief 33 is present at each corner of the upper face. Optionally, the various corner reliefs 33 are all identical and for example shaped into a quarter-circle. For example, an additional relief 34 is present between each pair of two corner reliefs 33. Optionally, the various additional reliefs 34 are shaped in half an oblong shape.

Correspondingly, the fixing systems 31, 32 are shaped to allow them to fit between the different reliefs in order to attach the modules together.

For example, 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.

Thus when the first fixing system 31 is arranged at the junction between four modules, 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.

For example, 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.

Thus when the second fixing system 32 is arranged at the junction between two modules, the pair of corner reliefs 33 (a corner relief 33 belonging respectively to one of the modules) jointly forming a half-disc is housed in the one of the grooves 37 and the pair of additional reliefs 34 (one additional relief 34 per module) jointly forming an oblong shape is housed in the other of the grooves 37. Preferably, 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. For example, the 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. For this purpose the 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).

Of course, it is possible to combine different fastening systems within the same gripping head.

Of course, the different variants described as well as the first embodiment can be mixed. For example, 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.

A second embodiment will now be described with reference to Figures 3 and 7.

While in the first embodiment 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.

On the other hand, 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.

For example, 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...

According to a first variant, which is illustrated in FIG. 7, the gripping head comprises a single plate 40 which is associated with all the modules of the gripping head. For example, said plate 40 extends under the various modules. For example, 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)).

According to a second variant, not illustrated here, 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)).

According to a third variant, illustrated in FIG. 3, the gripping head comprises at least one main plate

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 dimensions identical to those of the surface delimited by the underside of one of the frames 5 of the gripping head.

In addition, in this third variant, the gripping head can also comprise secondary plates

41. Preferably, 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. For example, 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)).

In the three variants, 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.

Optionally, the gripping head can comprise at least one additional fixing system to the plate(s) 40 such as a fixing system previously described. Preferably, only 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.

For example, 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.

Referring to Figure 4, a third embodiment of the invention will now be described.

This third embodiment is identical to the first embodiment except that the gripping head comprises a greater number of modules.

For example, 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. By example the modules are arranged so as to form four rows 51, 52, 53, 54 of five modules each.

In this third embodiment only one of the modules is provided with a suction orifice. Preferably, said module forms one of the corners of the gripping head.

Optionally, the gripping head is arranged so as to draw a single air circulation path through the various modules allowing sequential activation of said modules.

For example, the air circulation path includes at least one baffle.

For example, the air circulation path is shaped like a serpentine.

To this end, shutters and connection interfaces are used here to draw this air circulation path through the various modules.

For the third embodiment, as indicated by the arrows in Figure 4, 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.

Of course 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). In another aspect, at least one of the modules may be different from what has been indicated so far and for example have a more complex frame.

For example, as can be seen in FIG. 5, 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.

For example, the chassis is arranged so as to draw a single air circulation path which includes at least one baffle.

For example, said air circulation path is shaped like a coil.

In this fourth embodiment, 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.

In this way, 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).

In another aspect, 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.

Thus, with reference to FIG. 6, at least one of the sides of at least one of the modules can comprise two different openings.

In this fifth embodiment, (the references being applied to only one of the modules in the figure to facilitate reading) 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.

Preferably, the openings 8 of the flanks 7 forming the short sides are each centered on the length of the associated flank 7 and the openings 8 of the flanks 7 forming the long sides are arranged respectively at each of the longitudinal ends of the associated flank 7. In this way, each frame 5 has three openings 8 at each of its ends.

In the fifth embodiment, the gripping head is arranged to define an air circulation path having at least one baffle. For example, the air circulation path is shaped like a serpentine.

It will have been understood, whatever the embodiment or the variant envisaged, 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.

By parallel activation is meant the parallel activation of modules of at least two different rows of modules. Advantageously, 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.

Of course, the invention is not limited to the embodiments described and variations can be made thereto without departing from the scope of the invention as defined by the claims.

The suction device may form a direct part of the gripping head. Alternatively, 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. For example, 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. For example, 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. For at least one of the modules, the lower plate may be fixed to the frame without being arranged partly or entirely inside the frame and/or the sole. For at least one of the modules, it will be possible to dispense with a lower plate.

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. In addition to or in replacement of the lower plate, 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.

Although here 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).

For example, 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.

Although here 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).

Although here 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).

Moreover, although here each gripping module is surface gripping, at least one of the modules may be point gripping. In all cases, the gripping head will be a surface gripping head.

Although here 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.

Although here the 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.

If 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. In the case of a frame of rectangular cross-section, 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.

Although here 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.

Whatever the shape of at least one of the flanks, 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).

Although here the undersides of the various frames are open, 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. For example, 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. Although here 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.

At least one link interface may be directly carried by one of the modules and not attached thereto. For example, 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. For example, 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). Although here each frame is in one piece, at least one of the frames may be formed from at least two parts rigidly fixed together. For example, the frame could be made up of:

- in one piece forming both the upper face, the sides and the lower face, or

- a first part forming both the upper face and the sides and a second part fixed to the first forming the lower face of the chassis,

- a first part forming the upper face, a second part forming the sides and a third part forming the underside of the chassis, the three parts being fixed together,

- a first part forming the upper part of the chassis and a second part forming the lower part, the attachment of the two parts to each other then drawing the sides,

- a first piece forming both the face bottom and the sides and a second part fixed to the first forming the upper face,

- Etc.

Of course, the different embodiments described could be mixed together. Thus 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.

Other fastening means than those indicated will also be possible. 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)... For example, 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. For example, at least one bar (as illustrated in FIG. 2a) may be arranged so as to extend inside at least two modules (and not outside as indicated with reference to Figure 2a) to fix them together and for example so as to expand inside a series of modules to fix them together. Said bar can then be shaped into a tie rod making it possible to clamp at least two modules together. For example, 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. For example, 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).

It is noted that 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 ... ).

Regardless of the fastening system(s) envisaged, at least one system may carry a sealing means (type gasket) to participate in the sealing of the gripping head.

In the case where the lower plate will extend under several modules, 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.

Preferably (but not necessarily) if 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.

Preferably (but not necessarily) if 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.

If 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.

The chassis and the additional layer can thus be machined together simultaneously, be molded together simultaneously, be manufactured by additive manufacturing simultaneously together...

For example, if the additional layer is a valve compartment, said 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.

Claims

1. Suction gripping head comprising at least two elementary gripping modules, each module comprising a frame (5) comprising at least one side (7) provided with at least one opening (8), the two modules being assembled together 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.

2. Head according to claim 1, in which all the modules are identical to one another, with the exception of the presence of at least one suction orifice (9) provided in one of them.

3. Head according to one of the preceding claims, comprising at least one shutter (10) shaped to temporarily block at least one of the openings.

4. Head according to one of the preceding claims, comprising at least one connecting interface (11) shaped to be arranged at at least one of the openings.

5. Head according to one of the preceding claims, wherein at least one of the modules has at least two openings (8).

6. Head according to claim 5, in which a first of the two openings (8) 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 which is adjacent to the first side or which is opposite on the first flank.

7. Head according to one of the preceding claims, in which the modules are arranged so that the gripping head has a cross section, at the level of the frames (5), having an outer contour of a shape different from a square or d. 'a rectangle.

8. Head according to one of the preceding claims, in which 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 sound short side and the other its long side.

9. Head according to one of the preceding claims, in which the modules are arranged so as to define, via their openings (8), at least two gas circulation paths in the gripping head which are independent of one of the 'other.

10. Head according to one of the preceding claims, in which the modules are arranged so as to define, via their openings (8), at least one gas circulation path in the gripping head which comprises at least one baffle.

11. Head according to one of the preceding claims, comprising at least one lower plate (13) extending under at least two modules being fixed to each of said two modules.

12. Head according to one of the preceding claims, wherein the gripping head comprises at least one sole (12) arranged under at least one of the modules and intended to be in contact with a product to be lifted.

13. Head according to the preceding claim, wherein the sole (12) is arranged in at least two modules.

14. Elementary module for a gripping head according to one of the preceding claims.

15. Frame of an elementary module according to claim