FR2822404A1 - Automatic clamping anthropomorphous gripper comprises thumb and articulated finger provided with phalange opened by cable and closed by spring - Google Patents

Automatic clamping anthropomorphous gripper comprises thumb and articulated finger provided with phalange opened by cable and closed by spring Download PDF

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Publication number
FR2822404A1
FR2822404A1 FR0103988A FR0103988A FR2822404A1 FR 2822404 A1 FR2822404 A1 FR 2822404A1 FR 0103988 A FR0103988 A FR 0103988A FR 0103988 A FR0103988 A FR 0103988A FR 2822404 A1 FR2822404 A1 FR 2822404A1
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cable
gripper
phalanx
axis
thumb
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Granted
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FR0103988A
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French (fr)
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FR2822404B1 (en
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Gilles Lopez
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Individual
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Individual
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5038—Hinged joint, e.g. with transverse axle restricting the movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5067—Prostheses not implantable in the body having rolling elements between articulating surfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A61F2002/5073—Helical springs, e.g. having at least one helical spring
    • A61F2002/5075—Multiple spring systems including two or more helical springs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6854—Operating or control means for locking or unlocking a joint

Abstract

The gripper comprises a thumb (1) and an articulated finger (2) provided with a phalange (3,4,5) with opening controlled by cable (6,7) and closed by a spring (8) individually activating each phalange. Associated with each spring, a part (9) slides on a spindle (10) under the action of a spring pressing on the spindle so that the phalange is subjected to the orthogonal impulse (F1) of the gripped object (11). Associated with the thumb is a part (13) which separates from the thumb when a tangential impulse (F2) is exerted on it.

Description

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DESCRIPTION
L'invention concerne un préhenseur anthropomorphe de conception simple, à serrage automatique, apte à saisir rapidement des objets de formes diverses qu'ils soient lourds, légers ou fragiles. DESCRIPTION
The invention relates to an anthropomorphic gripper of simple design, with automatic clamping, capable of quickly gripping objects of various shapes whether they are heavy, light or fragile.

Les préhenseurs connus des types mains artificielles peuvent être classés en deux grandes catégories : 1) ceux à fermeture active : - soit constitués d'un pouce et de doigts rigides à une seule articulation agissant comme une pince à deux mors, motorisée ou actionnée par câble ; - soit constitués d'un pouce ou de doigts indépendants comprenant plusieurs phalanges articulées nécessitant une micro-motorisation par phalange pour reproduire les mouvements des doigts de la main de l'homme et des câbles résistants et élastiques remplaçant les tendons ; dans ces deux cas, le serrage d'un objet est une opération délicate qui nécessite des capteurs tactiles pilotés par une électronique ; dans le deuxième cas, la conception de la prothèse est très complexe ; 2) ceux à ouverture active : ils sont constitués d'un pouce et de plusieurs doigts articulés ou chaque phalange est entraînée, en vue du serrage, par un ressort ; un câble permet de relier toutes les phalanges et le serrage d'un objet est directement lié à l'action des ressorts qui sont choisis pour une application donnée autrement dit en fonction de la fragilité ou du poids de l'objet à saisir.  Known grippers of the artificial hand types can be classified into two main categories: 1) those with active closure: - either consisting of a thumb and rigid fingers with a single joint acting as a two-jaw gripper, motorized or actuated by cable ; - either consist of a thumb or independent fingers comprising several articulated phalanges requiring a micro-motorization by phalanx to reproduce the movements of the fingers of the human hand and resistant and elastic cables replacing the tendons; in these two cases, the tightening of an object is a delicate operation which requires touch sensors controlled by electronics; in the second case, the design of the prosthesis is very complex; 2) those with active opening: they consist of a thumb and several articulated fingers where each phalanx is driven, for tightening, by a spring; a cable makes it possible to connect all the phalanges and the tightening of an object is directly linked to the action of the springs which are chosen for a given application in other words according to the fragility or the weight of the object to be grasped.

Le préhenseur anthropomorphe, selon l'invention, a été conçu pour remédier à ces divers inconvénients.  The anthropomorphic gripper according to the invention has been designed to remedy these various drawbacks.

Il est du type à ouverture active, à câble de commande unique pour l'ensemble des phalanges et à ressorts uniques quelle que soit l'application (objets lourds, légers ou fragiles) puisque ces derniers ne servent qu'à ramener les doigts contre les objets à saisir (effort de compression faible). On peut ainsi saisir un objet très rapidement"à la volée". It is of the active opening type, with a single control cable for all of the knuckles and with single springs whatever the application (heavy, light or fragile objects) since the latter only serve to bring the fingers against the objects to be grabbed (low compression force). We can thus grab an object very quickly "on the fly".

Le serrage des objets s'effectue automatiquement car c'est le poids de l'objet qui définit le serrage : plus l'objet est lourd et plus le serrage est important et ce sans aucune action mécanique motorisée. Objects are tightened automatically because it is the weight of the object that defines tightening: the heavier the object and the greater the tightening without any motorized mechanical action.

Il peut comporter un pouce et un seul doigt à une seule phalange pour des applications simples.  It can include a thumb and a single finger with a single phalanx for simple applications.

Il peut comporter un pouce et trois doigts à trois phalanges chacun pour des applications plus sophistiquées et quasi-universelles. It can include a thumb and three fingers with three phalanges each for more sophisticated and almost universal applications.

Le préhenseur anthropomorphe, selon l'invention, comprend essentiellement au  The anthropomorphic gripper according to the invention essentially comprises at least

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moins un pouce et au moins un doigt articulé pourvu d'au moins une phalange, à ouverture à commande unique par câble et à fermeture par un moyen actionnant individuellement chaque phalange.  at least one inch and at least one articulated finger provided with at least one phalanx, opening with single control by cable and closing by means actuating each phalanx individually.

Il se caractérise en ce qu'il comporte en combinaison : a) associé à chaque moyen d'actionnement des phalanges, un dispositif adapté pour verrouiller la phalange concernée, lorsqu'elle est soumise à l'action orthogonale de l'objet saisi, dans la position d'appui sur ledit objet ; b) associée au pouce, une pièce, comportant une surface tactile adhérente en regard des surfaces tactiles adhérentes des phalanges de chaque doigt, adaptée pour s'écarter dudit pouce lorsqu'une action tangentielle, telle que le poids de l'objet saisi, s'exerce sur celle-ci ; et en ce que lesdites actions orthogonales et tangentielles, proportionnelles au poids de l'objet saisi, demeurent actives tant que le câble n'est pas actionné. It is characterized in that it comprises in combination: a) associated with each phalanx actuation means, a device adapted to lock the phalanx concerned, when it is subjected to the orthogonal action of the object seized, in the support position on said object; b) associated with the thumb, a part, comprising an adherent tactile surface facing the adherent tactile surfaces of the phalanges of each finger, adapted to move away from said thumb when a tangential action, such as the weight of the object grasped, s 'exercises over it; and in that said orthogonal and tangential actions, proportional to the weight of the object seized, remain active as long as the cable is not actuated.

Les caractéristiques et les avantages de l'invention vont apparaître plus clairement à la lecture de la description détaillée qui suit d'au moins un mode de réalisation préféré de celle-ci donné à titre d'exemple non-limitatif et représenté aux dessins annexés.  The characteristics and advantages of the invention will appear more clearly on reading the detailed description which follows of at least one preferred embodiment of the latter given by way of non-limiting example and shown in the accompanying drawings.

Sur ces dessins : - la figure 1 est une vue en coupe longitudinale du préhenseur selon l'invention faisant apparaître un pouce, un doigt et l'ensemble des pièces et moyens le concernant ; - la figure 2 est une vue de détail du moyen de blocage des phalanges ; - la figure 3 est une vue de détail du moyen d'écartement de la partie mobile tactile du pouce ; - les figures 4 et 5 sont des vues schématiques du préhenseur à un pouce et trois doigts en action sur deux objets de formes différentes. In these drawings: - Figure 1 is a longitudinal sectional view of the gripper according to the invention showing a thumb, a finger and all the parts and means relating thereto; - Figure 2 is a detail view of the phalanx locking means; - Figure 3 is a detail view of the means for spacing the movable part of the thumb; - Figures 4 and 5 are schematic views of the gripper with a thumb and three fingers in action on two objects of different shapes.

Le préhenseur anthropomorphe (figure 1) comprend essentiellement au moins un pouce (1) et au moins un doigt articulé (2) pourvu d'au moins une phalange (3,4, 5), à ouverture à commande unique par câble (6,7) et à fermeture par un moyen (8) actionnant individuellement chaque phalange.  The anthropomorphic gripper (FIG. 1) essentially comprises at least one inch (1) and at least one articulated finger (2) provided with at least one phalanx (3,4, 5), with a single control opening by cable (6, 7) and closed by means (8) individually actuating each phalanx.

Il comporte en combinaison : a) associé à chaque moyen (8), un dispositif (9,10, 12) adapté pour verrouiller la phalange concernée, lorsqu'elle est soumise à l'action orthogonale (F1) de l'objet saisi (11), dans la position d'appui sur ledit objet ; b) associée au pouce (1), une pièce (13), comportant une surface tactile adhérente (14) en regard des surfaces tactiles adhérentes (15) des phalanges (3,4, 5) It comprises in combination: a) associated with each means (8), a device (9, 10, 12) adapted to lock the phalanx concerned, when it is subjected to the orthogonal action (F1) of the object seized ( 11), in the support position on said object; b) associated with the thumb (1), a part (13), comprising an adherent tactile surface (14) opposite the adherent tactile surfaces (15) of the phalanges (3,4, 5)

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de chaque doigt (2), adaptée pour s'écarter dudit pouce lorsqu'une action tangentielle (F2), telle que le poids de l'objet saisi (11), s'exerce sur celle-ci ; les actions (F1) et (F2), proportionnelles au poids de l'objet saisi, demeurant actives tant que le câble (6,7) n'est pas actionné.  each finger (2), adapted to move away from said thumb when a tangential action (F2), such as the weight of the object grabbed (11), is exerted on it; the actions (F1) and (F2), proportional to the weight of the object seized, remaining active as long as the cable (6,7) is not actuated.

Le dispositif de verrouillage des phalanges (3,4, 5) dans la position d'appui sur l'objet saisi (11), est réalisé au moyen d'un ressort (8), d'une pièce (9), coulissant sur un axe (10) sous l'action dudit ressort et adaptée pour s'arc-bouter sur ledit axe dès que la phalange concernée est soumise à l'action orthogonale (F1) de l'objet saisi (11), et d'une biellette de liaison articulée (12). The phalanx locking device (3,4, 5) in the support position on the gripped object (11), is produced by means of a spring (8), of a part (9), sliding on an axis (10) under the action of said spring and adapted to brace on said axis as soon as the phalanx concerned is subjected to the orthogonal action (F1) of the object seized (11), and of a articulated connecting rod (12).

Il comporte également : - un câble unique (7) apte à commander l'ouverture de chaque phalange (3,4, 5) d'un même doigt (2), ledit câble étant pourvu de butées (16) en prise directe avec les pièces (9) commandant l'ouverture des phalanges concernées ; - au niveau de l'axe (10), associée à la première phalange (3), une butée articulée (17), actionnée par un câble (18), apte à déplacer ledit axe (10), autour d'une articulation (19), de manière à débloquer la pièce (9) qui lui est associée et également les pièces (9) associées aux autres phalanges et à permettre ainsi la libération de l'objet saisi (11) ; - des poulies (20) sur lesquelles s'enroulent les différents câbles (7) et un réa (21) actionnant les poulies (20), au moyen d'un câble (22), et le câble (18), le tout étant actionné au moyen d'un câble (6) de commande unique générale. It also includes: - a single cable (7) capable of controlling the opening of each phalanx (3,4, 5) with the same finger (2), said cable being provided with stops (16) in direct contact with the parts (9) controlling the opening of the phalanges concerned; - at the axis (10), associated with the first phalanx (3), an articulated stop (17), actuated by a cable (18), able to move said axis (10), around a joint ( 19), so as to unlock the part (9) associated therewith and also the parts (9) associated with the other phalanges and thus allow the release of the object seized (11); - pulleys (20) on which the various cables (7) are wound and a sheave (21) actuating the pulleys (20), by means of a cable (22), and the cable (18), the whole being actuated by means of a general single control cable (6).

Afin d'éviter l'usure du dispositif d'arc-boutement (figure 2) de la pièce (9) sur l'axe (10), celui-ci est réalisé au moyen d'un ensemble comprenant un trou oblong (23) et deux cylindres (24), libres en rotation et pourvus de méplats, placés dans ledit trou orthogonalement à l'axe (10) qui coulisse entre lesdits deux cylindres en appui sur lesdits méplats. To prevent wear of the bracing device (Figure 2) of the part (9) on the axis (10), it is produced by means of an assembly comprising an oblong hole (23) and two cylinders (24), free to rotate and provided with flats, placed in said hole orthogonally to the axis (10) which slides between said two cylinders in abutment on said flats.

L'écartement (F3) (figure 3) des pièces (13) de leur support (1), sous l'action (F2) de l'objet saisi (11), est réalisé au moyen de billes (25) logées dans des cavités coniques (26,27), en opposition, appartenant respectivement aux pièces (13) et (1). The spacing (F3) (Figure 3) of the parts (13) of their support (1), under the action (F2) of the object seized (11), is achieved by means of balls (25) housed in conical cavities (26,27), in opposition, belonging to parts (13) and (1) respectively.

Les pièces (13) et leur surface tactile adhérente (14) sont reliés au support (1) au moyen d'un axe (28) associé à un ressort de rappel (29). The parts (13) and their adherent tactile surface (14) are connected to the support (1) by means of an axis (28) associated with a return spring (29).

Les supports tactiles (14,15) peuvent être des pièces rapportées. The tactile supports (14,15) can be attachments.

Les phalanges comportent des articulations (30). The phalanges have joints (30).

Selon la réalisation préférée de l'invention le préhenseur comporte un pouce (1) et trois doigts (2,31, 32) comportant chacun trois phalanges (3,4, 5). According to the preferred embodiment of the invention, the gripper comprises a thumb (1) and three fingers (2,31, 32) each comprising three phalanges (3,4, 5).

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Ledit préhenseur peut saisir des objets de formes diverses (figures 4 et 5).  The gripper can pick up objects of various shapes (Figures 4 and 5).

La butée articulée (17) comporte un ressort de rappel (33). The articulated stop (17) includes a return spring (33).

Le préhenseur selon l'invention pourra être utilisé dans l'industrie comme moyen de préhension d'objets divers en remplacement des pinces à mors parallèles actuellement utilisées. The gripper according to the invention can be used in industry as a means of gripping various objects in replacement of the parallel jaw pliers currently used.

Le préhenseur, selon l'invention, fonctionne de la manière suivante : a) ouverture des phalanges au moyen du câble unique de commande ; b) mise en contact du pouce avec l'objet à saisir ; c) relâchement du câble pour permettre aux doigts d'envelopper ledit objet sous l'action des ressorts : les articulations des phalanges s'auto-verrouillent (blocage de leur ouverture). The gripper according to the invention operates as follows: a) opening of the phalanges by means of the single control cable; b) bringing the thumb into contact with the object to be grasped; c) loosening of the cable to allow the fingers to envelop said object under the action of the springs: the joints of the phalanges self-lock (blocking of their opening).

Le poids de l'objet saisi a tendance à déplacer les pièces mobiles du pouce qui s'écartent et compriment ledit objet proportionnellement à son poids. The weight of the object seized tends to move the moving parts of the thumb which deviate and compress said object in proportion to its weight.

Plus l'objet est lourd et plus le serrage est important. The heavier the object, the greater the tightening.

Bien entendu, l'invention n'est pas limitée aux modes de réalisation décrits et représentés pour lesquels on pourra prévoir d'autres variantes, en particulier dans : - le nombre, la nature et la conception du pouce et des doigts ; - les types de moyens d'auto-verrouillage des phalanges et de déplacement des pièces mobiles rattachées au pouce ; sans pour cela sortir du cadre de l'invention. Of course, the invention is not limited to the embodiments described and shown for which other variants can be provided, in particular in: - the number, nature and design of the thumb and fingers; - the types of means for self-locking the phalanges and for moving the moving parts attached to the thumb; without departing from the scope of the invention.

Claims (10)

REVENDICATIONS 1-Préhenseur anthropomorphe, comprenant essentiellement au moins un pouce (1) et au moins un doigt articulé (2) pourvu d'au moins une phalange (3,4, 5), à ouverture à commande unique par câble (6,7) et à fermeture par un moyen (8) actionnant individuellement chaque phalange ; caractérisé en ce qu'il comporte en combinaison : a) associé à chaque moyen (8), un dispositif (9,10, 12) adapté pour verrouiller la phalange concernée, lorsqu'elle est soumise à l'action orthogonale (F1) de l'objet saisi (11), dans la position d'appui sur ledit objet ; b) associée au pouce (1), une pièce (13), comportant une surface tactile adhérente (14) en regard des surfaces tactiles adhérentes (15) des phalanges (3,4, 5) de chaque doigt (2), adaptée pour s'écarter dudit pouce lorsqu'une action tangentielle (F2), telle que le poids de l'objet saisi (11), s'exerce sur celle-ci ; et en ce que les actions (F1) et (F2), proportionnelles au poids de l'objet saisi, demeurent actives tant que le câble (6,7) n'est pas actionné. CLAIMS 1-Anthropomorphic gripper, essentially comprising at least one inch (1) and at least one articulated finger (2) provided with at least one phalanx (3,4, 5), opening with single control by cable (6,7 ) and closed by means (8) individually actuating each phalanx; characterized in that it comprises in combination: a) associated with each means (8), a device (9, 10, 12) adapted to lock the phalanx concerned, when it is subjected to the orthogonal action (F1) of the object seized (11), in the position of support on said object; b) associated with the thumb (1), a part (13), comprising an adherent tactile surface (14) facing the adherent tactile surfaces (15) of the phalanges (3,4, 5) of each finger (2), adapted for deviate from said thumb when a tangential action (F2), such as the weight of the object seized (11), is exerted thereon; and in that the actions (F1) and (F2), proportional to the weight of the object seized, remain active as long as the cable (6,7) is not actuated. 2-Préhenseur, selon la revendication 1, caractérisé en ce que le dispositif de verrouillage des phalanges (3,4, 5) dans la position d'appui sur l'objet saisi (11), est réalisé au moyen d'un ressort (8), d'une pièce (9), coulissant sur un axe (10) sous l'action dudit ressort et adaptée pour s'arc-bouter sur ledit axe dès que la phalange concernée est soumise à l'action orthogonale (F1) de l'objet saisi (11), et d'une biellette de liaison articulée (12).  2-gripper, according to claim 1, characterized in that the phalanx locking device (3,4, 5) in the position of support on the gripped object (11), is produced by means of a spring ( 8), in one piece (9), sliding on an axis (10) under the action of said spring and adapted to brace on said axis as soon as the phalanx concerned is subjected to the orthogonal action (F1) of the object seized (11), and of an articulated connecting rod (12). 3-Préhenseur, selon la revendication 1, caractérisé en ce qu'il comporte un câble unique (7) apte à commander l'ouverture de chaque phalange (3,4, 5) d'un même doigt (2) et en ce que ledit câble est pourvu de butées (16) en prise directe avec les pièces (9) commandant l'ouverture des phalanges concernées.  3-gripper, according to claim 1, characterized in that it comprises a single cable (7) capable of controlling the opening of each phalanx (3,4, 5) with the same finger (2) and in that said cable is provided with stops (16) in direct engagement with the parts (9) controlling the opening of the phalanges concerned. 4-Préhenseur, selon la revendication 1, caractérisé en ce qu'il comporte, au niveau de l'axe (10), associée à la première phalange (3), une butée articulée (17), actionnée par un câble (18), apte à déplacer ledit axe (10), autour d'une articulation (19), de manière à débloquer la pièce (9) qui lui est associée et également les pièces (9) associées aux autres phalanges et à permettre ainsi la libération de l'objet saisi (11).  4-gripper, according to claim 1, characterized in that it comprises, at the axis (10), associated with the first phalanx (3), an articulated stop (17), actuated by a cable (18) , able to move said axis (10), around a joint (19), so as to unlock the part (9) associated with it and also the parts (9) associated with the other phalanges and thus allow the release of the object seized (11). 5-Préhenseur, selon les revendications 3 et 4, caractérisé en ce qu'il comporte des poulies (20) sur lesquelles s'enroulent les différents câbles (7) et un réa (21) actionnant les poulies (20), au moyen d'un câble (22), et le câble (18), le tout étant actionné au moyen d'un câble (6) de commande unique générale.  5-gripper, according to claims 3 and 4, characterized in that it comprises pulleys (20) on which are wound the various cables (7) and a sheave (21) actuating the pulleys (20), by means of 'a cable (22), and the cable (18), the whole being actuated by means of a cable (6) of general single control. 6-Préhenseur, selon la revendication 1, caractérisé en ce que l'arc-boutement  6-gripper, according to claim 1, characterized in that the bracing <Desc/Clms Page number 6><Desc / Clms Page number 6> de la pièce (9) sur l'axe (10) est réalisé au moyen d'un ensemble comprenant un trou oblong (23) et deux cylindres (24), libres en rotation et pourvus de méplats, placés dans ledit trou orthogonalement à l'axe (10) qui coulisse entre lesdits deux cylindres en appui sur lesdits méplats.  of the part (9) on the axis (10) is produced by means of an assembly comprising an oblong hole (23) and two cylinders (24), free in rotation and provided with flats, placed in said hole orthogonally to the 'axis (10) which slides between said two cylinders resting on said flats. 7-Préhenseur, selon la revendication 1, caractérisé en ce que l'écartement (F3) des pièces (13) de leur support (1), sous l'action (F2) de l'objet saisi (11), est réalisé au moyen de billes (25) logées dans des cavités coniques (26,27), en opposition, appartenant respectivement aux pièces (13) et (1).  7-gripper, according to claim 1, characterized in that the spacing (F3) of the parts (13) of their support (1), under the action (F2) of the object seized (11), is made at means of balls (25) housed in conical cavities (26,27), in opposition, belonging respectively to parts (13) and (1). 8-Préhenseur, selon la revendication 7, caractérisé en ce que les pièces (13) et leur surface tactile adhérente (14) sont reliés au support (1) au moyen d'un axe (28) associé à un ressort de rappel (29).  8-gripper, according to claim 7, characterized in that the parts (13) and their adherent tactile surface (14) are connected to the support (1) by means of an axis (28) associated with a return spring (29 ). 9-Préhenseur, selon la revendication 1, caractérisé en ce que les supports tactiles (14,15) sont des pièces rapportées.  9-gripper, according to claim 1, characterized in that the tactile supports (14,15) are inserts. 10-Préhenseur, selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comporte un pouce (1) et trois doigts (2,31, 32) comportant chacun trois phalanges (3,4, 5). 10-gripper, according to any one of the preceding claims, characterized in that it comprises a thumb (1) and three fingers (2,31, 32) each comprising three phalanges (3,4, 5).
FR0103988A 2001-03-22 2001-03-22 ANTHROPOMORPHIC GRIPPER WITH AUTOMATIC CLAMPING Expired - Fee Related FR2822404B1 (en)

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WO2013076683A1 (en) * 2011-11-23 2013-05-30 University Of Cape Town Prosthesis with underactuated prosthetic fingers
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US11564815B2 (en) 2019-09-17 2023-01-31 Victoria Hand Project Upper arm prosthetic apparatus and systems

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007076762A1 (en) * 2005-12-20 2007-07-12 Otto Bock Healthcare Ip Gmbh & Co. Kg Finger prosthesis and hand prosthesis
AU2006332315B2 (en) * 2005-12-20 2011-11-03 Otto Bock Healthcare Gmbh Finger prosthesis and hand prosthesis
US9572688B2 (en) 2005-12-20 2017-02-21 Otto Bock Healthcare Gmbh Finger and hand prosthesis
WO2013076683A1 (en) * 2011-11-23 2013-05-30 University Of Cape Town Prosthesis with underactuated prosthetic fingers
CN106112963A (en) * 2016-06-21 2016-11-16 北京工业大学 A kind of Wearable hand ESD
EP3517091A4 (en) * 2016-09-26 2020-05-20 Cyberdyne Inc. Motion assisting device
US11672721B2 (en) 2016-09-26 2023-06-13 Cyberdyne, Inc. Motion assisting apparatus
CN107520637A (en) * 2017-07-17 2017-12-29 重庆市巨吉机电设备有限公司 A kind of lathe turning tooling
WO2022158965A1 (en) * 2021-01-22 2022-07-28 Technische Universiteit Delft A prosthetic gripping mechanism
NL2027368B1 (en) * 2021-01-22 2022-08-05 Univ Delft Tech A prosthetic gripping mechanism
CN114102568A (en) * 2021-12-06 2022-03-01 东南大学 Mechanical arm knuckle, mechanical arm, equipment and knuckle switching method
CN114102568B (en) * 2021-12-06 2023-08-04 东南大学 Manipulator knuckle, manipulator, equipment and knuckle switching method

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