WO2004026540A1 - Automatic anthropomorphous gripper - Google Patents

Automatic anthropomorphous gripper Download PDF

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Publication number
WO2004026540A1
WO2004026540A1 PCT/FR2002/002992 FR0202992W WO2004026540A1 WO 2004026540 A1 WO2004026540 A1 WO 2004026540A1 FR 0202992 W FR0202992 W FR 0202992W WO 2004026540 A1 WO2004026540 A1 WO 2004026540A1
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WO
WIPO (PCT)
Prior art keywords
gripper
cable
axis
thumb
phalanx
Prior art date
Application number
PCT/FR2002/002992
Other languages
French (fr)
Inventor
Gilles Lopez
Original Assignee
Gilles Lopez
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gilles Lopez filed Critical Gilles Lopez
Priority to PCT/FR2002/002992 priority Critical patent/WO2004026540A1/en
Priority to AU2002368239A priority patent/AU2002368239A1/en
Publication of WO2004026540A1 publication Critical patent/WO2004026540A1/en

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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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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

Definitions

  • 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.
  • Known grippers of the artificial hand types can be classified into two main categories:
  • those with active opening 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.
  • the anthropomorphic gripper according to the invention has been designed to remedy these various drawbacks.
  • 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.
  • It can include a thumb and a single finger with a single phalanx for simple applications.
  • the anthropomorphic gripper according to the invention is of the type essentially comprising at least one inch and at least one articulated finger provided with at least one phalanx, opening with single control by cable, automatic closing by a return spring, self-locking by a specific means under the sole effect of the weight of the object seized which exerts an orthogonal force on the phalanx in contact with it and self-tightening by a specific part which has an adherent tactile surface opposite the adherent tactile surfaces of the phalanges of each finger and which is associated with a specific means adapted to separate said part from said thumb when a tangential action due to the weight of the object seized is exerted thereon.
  • the means suitable for locking the phalanx concerned when it is subjected to the orthogonal action of the object seized is produced by means of a specific piece, sliding on an associated axis under the action of the spring, suitable for bracing on said axis, and of an articulated connecting rod; b) the means adapted to separate the piece from the thumb when a tangential action due to the weight of the object seized is exerted on it, is achieved by means of balls housed in conical cavities, in opposition, belonging respectively to the self-tightening and thumb piece.
  • FIG. 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;
  • FIG. 1 is a detail view of the phalanx locking means
  • FIG. 3 is a detail view of the means for spreading the movable tactile part of the thumb
  • FIGS. 4 and 5 are schematic views of the gripper with a thumb and three fingers in action on two objects of different shapes.
  • 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), self-closing by a return spring (8), self-locking by a means (9,10,12) under the sole effect of the weight of the grasped object (11) which exerts an orthogonal force (F1 ) on the phalanx at contact thereof and self-clamping by a part (13) which has an adherent tactile surface (14) opposite the adherent tactile surfaces (15) of the phalanges (3,4,5) of each finger (2) and which is associated with means (25) adapted to separate said part (13) from said thumb (1) when a tangential action (F2) due to the weight of the object seized (11) is exerted on it.
  • the means (9, 10, 12), adapted to lock the phalanx concerned when it is subjected to the orthogonal action (F1) of the grasped object (11), is produced by means of a part (9), sliding on an axis (10) under the action of the spring (8), adapted to latch onto said axis, and of an articulated connecting rod (12).
  • the means (25), adapted to separate the part (13) from the thumb (1) when a tangential action (F2) due to the weight of the grasped object (11) is exerted on it, is produced by means balls (25) housed in conical cavities (26,27), in opposition, belonging respectively to parts (13) and (1).
  • the gripper also comprises: - 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);
  • 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).
  • the tactile supports (14,15) can be attachments.
  • the phalanges have joints (30).
  • the gripper comprises a thumb (1) and three fingers (2,31,32) each comprising three phalanges (3,4,5).
  • the gripper can pick up objects of various shapes ( Figures 4 and 5).
  • the articulated stop (17) includes a return spring (33).
  • 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.
  • the gripper 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).
  • 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.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to an anthropomorphous gripper comprising at least one thumb (1) and at least one articulated finger (2) having at least one phalange (3, 4, 5), which is provided with an opening which is exclusively controlled by a cable (5, 6), automatically closed by a return spring (8) and automatically locked by means (9, 10, 12) operating by weight of a seized object (11) which produces an orthogonal force (F1) acting on the phalange when it enters into contact therewith. Said gripper also comprises a self-clamping actuated by a part (13) which is provided with touch-sensitive surface (14) adherent with respect to the touch-sensitive adherent surfaces (15) of the phalanges (3, 4, 5), of each finger (2) and connected to a means (25) embodied in such a way that it moves aside said part (13) away from the thumb (1) when a tangential force (F2) produced by the weight of the seized object (11) acts thereon. The inventive gripper is essentially characterised in that: a) the means (9, 10, 12) are embodied in the form of a part (9) which slides on the axis (10) due to the action of the spring (8) and is held thereon and also embodied in the form of an interconnecting link (12); b) the means (25) consist of balls (25) which are arranged in conical cavities (26,27) in an opposed position with respect to parts (13) and (1).

Description

PREHENSEUR ANTHROPOMORPHE A SERRAGE AUTOMATIQUE ANTHROPOMORPHIC GRIPPER WITH AUTOMATIC CLAMPING
DESCRIPTIONDESCRIPTION
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.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 :Known grippers of the artificial hand types can be classified into two main categories:
I ) ceux à fermeture active :I) those with active closing:
- 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;- or consist of a thumb and rigid fingers with a single joint acting as a clamp, with two jaws, motorized or actuated by cable;
- 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 appropriée; dans le deuxième cas, la conception de la prothèse est très complexe;- 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, tightening an object is a delicate operation which requires tactile sensors controlled by appropriate electronics; in the second case, the design of the prosthesis is very complex;
2) ceux à ouverture active : ils sont constitués d'un pouce et de plusieurs doigts articulés où 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.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.
II 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 " objects to be grabbed (low compression force), so you can 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. Le préhenseur anthropomorphe, selon l'invention, est du type comprenant essentiellement au moins un pouce et au moins un doigt articulé pourvu d'au moins une phalange, à ouverture à commande unique par câble, à fermeture automatique par un ressort de rappel, à auto-verrouillage par un moyen spécifique sous le seul effet du poids de l'objet saisi qui exerce une force orthogonale sur la phalange au contact de celui-ci et à auto-serrage par une pièce spécifique qui comporte une surface tactile adhérente en regard des surfaces tactiles adhérentes des phalanges de chaque doigt et qui est associée à un moyen spécifique adapté pour écarter ladite pièce dudit pouce lorsqu'une action tangentielle due au poids de l'objet saisi s'exerce sur celle-ci. II se caractérise essentiellement en ce que : a) le moyen adapté pour verrouiller la phalange concernée lorsqu'elle est soumise à l'action orthogonale de l'objet saisi, est réalisé au moyen d'une pièce spécifique, coulissant sur un axe associé sous l'action du ressort, adaptée pour s'arc-bouter sur ledit axe, et d'une biellette de liaison articulée ; b) le moyen adapté pour écarter la pièce du pouce lorsqu'une action tangentielle due au poids de l'objet saisi s'exerce sur celle-ci, est réalisé au moyen de billes logées dans des cavités coniques, en opposition, appartenant respectivement à la pièce auto- serrante et au pouce.It can include a thumb and three fingers with three phalanges each for more sophisticated and almost universal applications. The anthropomorphic gripper according to the invention is of the type essentially comprising at least one inch and at least one articulated finger provided with at least one phalanx, opening with single control by cable, automatic closing by a return spring, self-locking by a specific means under the sole effect of the weight of the object seized which exerts an orthogonal force on the phalanx in contact with it and self-tightening by a specific part which has an adherent tactile surface opposite the adherent tactile surfaces of the phalanges of each finger and which is associated with a specific means adapted to separate said part from said thumb when a tangential action due to the weight of the object seized is exerted thereon. It is essentially characterized in that: a) the means suitable for locking the phalanx concerned when it is subjected to the orthogonal action of the object seized, is produced by means of a specific piece, sliding on an associated axis under the action of the spring, suitable for bracing on said axis, and of an articulated connecting rod; b) the means adapted to separate the piece from the thumb when a tangential action due to the weight of the object seized is exerted on it, is achieved by means of balls housed in conical cavities, in opposition, belonging respectively to the self-tightening and thumb piece.
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. Sur ces dessins :The characteristics and advantages of the invention will appear more clearly on reading the following detailed description of at least one preferred embodiment of the latter given by way of non-limiting example and shown in the accompanying drawings. In these drawings:
- 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;- 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;
- la figure 2 est une vue de détail du moyen de blocage des phalanges;- Figure 2 is a detail view of the phalanx locking means;
- la figure 3 est une vue de détail du moyen d'écartement de la partie mobile tactile du pouce;- Figure 3 is a detail view of the means for spreading the movable tactile part of the thumb;
- 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.- 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), à fermeture automatique par un ressort de rappel (8), à auto-verrouillage par un moyen (9,10,12) sous le seul effet du poids de l'objet saisi (11) qui exerce une force orthogonale (F1) sur la phalange au contact de celui-ci et à auto-serrage par une pièce (13) qui comporte une surface tactile adhérente (14) en regard des surfaces tactiles adhérentes (15) des phalanges (3,4,5) de chaque doigt (2) et qui est associée à un moyen (25) adapté pour écarter ladite pièce (13) dudit pouce (1) lorsqu'une action tangentielle (F2) due au poids de l'objet saisi (11 ) s'exerce sur celle-ci.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), self-closing by a return spring (8), self-locking by a means (9,10,12) under the sole effect of the weight of the grasped object (11) which exerts an orthogonal force (F1 ) on the phalanx at contact thereof and self-clamping by a part (13) which has an adherent tactile surface (14) opposite the adherent tactile surfaces (15) of the phalanges (3,4,5) of each finger (2) and which is associated with means (25) adapted to separate said part (13) from said thumb (1) when a tangential action (F2) due to the weight of the object seized (11) is exerted on it.
Le moyen (9,10,12), adapté pour verrouiller la phalange concernée lorsqu'elle est soumise à l'action orthogonale (F1) de l'objet saisi (11), est réalisé au moyen d'une pièce (9), coulissant sur un axe (10) sous l'action du ressort (8), adaptée pour s'arc- bouter sur ledit axe, et d'une biellette de liaison articulée (12). Le moyen (25), adapté pour écarter la pièce (13) du pouce (1) lorsqu'une action tangentielle (F2) due au poids de l'objet saisi (11) s'exerce sur celle-ci, est réalisé au moyen de billes (25) logées dans des cavités coniques (26,27), en opposition, appartenant respectivement aux pièces (13) et (1). Le préhenseur 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);The means (9, 10, 12), adapted to lock the phalanx concerned when it is subjected to the orthogonal action (F1) of the grasped object (11), is produced by means of a part (9), sliding on an axis (10) under the action of the spring (8), adapted to latch onto said axis, and of an articulated connecting rod (12). The means (25), adapted to separate the part (13) from the thumb (1) when a tangential action (F2) due to the weight of the grasped object (11) is exerted on it, is produced by means balls (25) housed in conical cavities (26,27), in opposition, belonging respectively to parts (13) and (1). The gripper also comprises: - 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);
- 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.- 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).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).
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). Les supports tactiles (14,15) peuvent être des pièces rapportées. Les phalanges comportent des articulations (30).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). The tactile supports (14,15) can be attachments. 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). Ledit préhenseur peut saisir des objets de formes diverses (figures 4 et 5). La butée articulée (17) comporte un ressort de rappel (33).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). The gripper can pick up objects of various shapes (Figures 4 and 5). 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). 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 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). 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;Of course, the invention is not limited to the embodiments described and shown for which other variants may be provided, in particular in: - the number, nature and design of the thumb and fingers;
- les types de moyens d'auto-verrouillage des phalanges et de déplacement des pièces mobiles rattachées au pouce. - the types of means for self-locking the phalanges and for moving the moving parts attached to the thumb.

Claims

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), à fermeture automatique par un ressort de rappel (8), à auto-verrouillage par un moyen (9,10,12) sous le seul effet du poids de l'objet saisi (11) qui exerce une force orthogonale (F1) sur la phalange au contact de celui-ci et à auto-serrage par une pièce (13) qui comporte une surface tactile adhérente (14) en regard des surfaces tactiles adhérentes (15) des phalanges (3,4,5) de chaque doigt (2) et qui est associée à un moyen (25) adapté pour écarter ladite pièce (13) dudit pouce (1) lorsqu'une action tangentielle (F2) due au poids de l'objet saisi (11) s'exerce sur celle-ci ; caractérisé en ce que : a) le moyen (9,10,12), adapté pour verrouiller la phalange concernée lorsqu'elle est soumise à l'action orthogonale (F1) de l'objet saisi (11), est réalisé au moyen d'une pièce (9), coulissant sur un axe (10) sous l'action du ressort (8) et adaptée pour s'arc- bouter sur ledit axe, et d'une biellette de liaison articulée (12) ; b) le moyen (25), adapté pour écarter la pièce (13) du pouce (1) lorsqu'une action tangentielle (F2) due au poids de l'objet saisi (11) s'exerce sur celle-ci, est réalisé au moyen de billes (25) logées dans des cavités coniques (26,27), en opposition, appartenant respectivement aux pièces (13) et (1). 2- 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.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) , self-closing by a return spring (8), self-locking by means (9,10,12) under the sole effect of the weight of the grasped object (11) which exerts an orthogonal force (F1) on the phalanx in contact with it and self-tightening by a part (13) which has an adherent tactile surface (14) opposite the adherent tactile surfaces (15) of the phalanges (3,4,5) of each finger ( 2) and which is associated with means (25) adapted to separate said piece (13) from said thumb (1) when a tangential action (F2) due to the weight of the object seized (11) is exerted on it. this ; characterized in that: a) the means (9,10,12), adapted to lock the phalanx concerned when it is subjected to the orthogonal action (F1) of the object seized (11), is produced by means of 'a part (9), sliding on an axis (10) under the action of the spring (8) and adapted to be braced on said axis, and of an articulated connecting rod (12); b) the means (25), adapted to separate the part (13) from the thumb (1) when a tangential action (F2) due to the weight of the object seized (11) is exerted on it, is produced by means of balls (25) housed in conical cavities (26,27), in opposition, belonging respectively to parts (13) and (1). 2- 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.
3- 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- Préhenseur, selon les revendications 2 et 3, 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.3- 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). 4- gripper, according to claims 2 and 3, 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.
5- Préhenseur, selon la revendication 1 , caractérisé en ce que l'arc-boutement 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. 6- Préhenseur, selon la revendication 1, 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).5- gripper, according to claim 1, characterized in that the bracing 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. 6- gripper, according to claim 1, 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 ).
7- Préhenseur, selon la revendication 1 , caractérisé en ce que les supports tactiles (14,15) sont des pièces rapportées. 8- 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). 7- gripper, according to claim 1, characterized in that the tactile supports (14,15) are inserts. 8- 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).
PCT/FR2002/002992 2002-09-02 2002-09-02 Automatic anthropomorphous gripper WO2004026540A1 (en)

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PCT/FR2002/002992 WO2004026540A1 (en) 2002-09-02 2002-09-02 Automatic anthropomorphous gripper
AU2002368239A AU2002368239A1 (en) 2002-09-02 2002-09-02 Automatic anthropomorphous gripper

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CN100450731C (en) * 2007-04-06 2009-01-14 清华大学 Tendon-channel under-driven mechanical finger device
CN101804633A (en) * 2010-04-06 2010-08-18 清华大学 Tendon rope parallel skillful under-driven bionic robot finger device
CN101829993A (en) * 2010-04-30 2010-09-15 清华大学 Rack crank slide block type parallel coupling under-driving robot finger device
CN101941204A (en) * 2010-03-12 2011-01-12 清华大学 Double-slider-type parallel coupling under-actuated robot finger device
CN101941206A (en) * 2010-03-12 2011-01-12 清华大学 Flexible part and rack type parallel finger device integrating coupling and under-actuation
CN101941205A (en) * 2010-03-12 2011-01-12 清华大学 Flexible part and slider type parallel robot finger device integrating coupling and under-actuation
CN101941207A (en) * 2010-03-12 2011-01-12 清华大学 Double-rack slider type parallel finger device integrating coupling and under-actuation
CN102528814A (en) * 2012-02-15 2012-07-04 清华大学 Deflector rod chute-type indirect under-driven robot finger device
CN102806561A (en) * 2012-08-27 2012-12-05 清华大学 Split shaft type dual-motor cooperative composite grabbing robot finger device
CN102825610A (en) * 2012-08-15 2012-12-19 清华大学 Finger device of double-motor cooperative combination grabbing robot
CN102873687A (en) * 2012-09-06 2013-01-16 清华大学 Distributed multi-motor cooperative composite grabbing robot finger device
CN106363652A (en) * 2016-08-31 2017-02-01 清华大学 Swinging rod guide sleeve gear train transmission linear coupling self-adaptive finger device
CN107160417A (en) * 2017-05-27 2017-09-15 清远初曲智能科技有限公司 A kind of pneumatic intelligent industrial robot finger unit of long stroke parallelly opening-and-closing type pillar
CN111015740A (en) * 2019-12-12 2020-04-17 中国科学院重庆绿色智能技术研究院 Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof
GB2592408A (en) * 2020-02-27 2021-09-01 Dyson Technology Ltd Robot hand
CN113370245A (en) * 2021-07-07 2021-09-10 北京理工大学 Mechanical arm clamp holder capable of automatically bending and returning
EP3930635A4 (en) * 2019-02-28 2023-02-22 Boonyasurakul, Boonyawee Device for grasping an object and method for controlling the device
WO2023242709A1 (en) * 2022-06-13 2023-12-21 Bionit Labs Srl Underactuated robotic hand

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Cited By (20)

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Publication number Priority date Publication date Assignee Title
CN100450731C (en) * 2007-04-06 2009-01-14 清华大学 Tendon-channel under-driven mechanical finger device
CN101941204A (en) * 2010-03-12 2011-01-12 清华大学 Double-slider-type parallel coupling under-actuated robot finger device
CN101941206A (en) * 2010-03-12 2011-01-12 清华大学 Flexible part and rack type parallel finger device integrating coupling and under-actuation
CN101941205A (en) * 2010-03-12 2011-01-12 清华大学 Flexible part and slider type parallel robot finger device integrating coupling and under-actuation
CN101941207A (en) * 2010-03-12 2011-01-12 清华大学 Double-rack slider type parallel finger device integrating coupling and under-actuation
CN101804633A (en) * 2010-04-06 2010-08-18 清华大学 Tendon rope parallel skillful under-driven bionic robot finger device
CN101829993A (en) * 2010-04-30 2010-09-15 清华大学 Rack crank slide block type parallel coupling under-driving robot finger device
CN102528814A (en) * 2012-02-15 2012-07-04 清华大学 Deflector rod chute-type indirect under-driven robot finger device
CN102825610A (en) * 2012-08-15 2012-12-19 清华大学 Finger device of double-motor cooperative combination grabbing robot
CN102806561A (en) * 2012-08-27 2012-12-05 清华大学 Split shaft type dual-motor cooperative composite grabbing robot finger device
CN102873687A (en) * 2012-09-06 2013-01-16 清华大学 Distributed multi-motor cooperative composite grabbing robot finger device
CN106363652A (en) * 2016-08-31 2017-02-01 清华大学 Swinging rod guide sleeve gear train transmission linear coupling self-adaptive finger device
CN107160417A (en) * 2017-05-27 2017-09-15 清远初曲智能科技有限公司 A kind of pneumatic intelligent industrial robot finger unit of long stroke parallelly opening-and-closing type pillar
EP3930635A4 (en) * 2019-02-28 2023-02-22 Boonyasurakul, Boonyawee Device for grasping an object and method for controlling the device
CN111015740A (en) * 2019-12-12 2020-04-17 中国科学院重庆绿色智能技术研究院 Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof
GB2592408A (en) * 2020-02-27 2021-09-01 Dyson Technology Ltd Robot hand
GB2592408B (en) * 2020-02-27 2022-06-29 Dyson Technology Ltd Robot hand
CN113370245A (en) * 2021-07-07 2021-09-10 北京理工大学 Mechanical arm clamp holder capable of automatically bending and returning
CN113370245B (en) * 2021-07-07 2022-09-02 北京理工大学 Mechanical arm clamp holder capable of automatically bending and returning
WO2023242709A1 (en) * 2022-06-13 2023-12-21 Bionit Labs Srl Underactuated robotic hand

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