Clamp gripping device and system consisting of such devices

Patent metadata

Field	Value
Publication number	US-2020009745-A1
Application number	US-201816483432-A
Country	US
Kind code	A1
Filing date	Feb 19, 2018
Priority date	Mar 7, 2017
Publication date	Jan 9, 2020
Grant date	—

Abstract

The device includes at least: a bar longitudinally mobile along an axis of symmetry provided at one end with a plate; a first rigid connection and a second rigid connection which are symmetrical about the axis, each ending in a jaw, the two jaws forming a gripper clamp able to pick up an object; two pairs of flexible beams which are symmetrical about the axis, the beams each being connected by one end to one of the rigid connections, the other end being fixed, and guiding the movements of the rigid connections perpendicular to the axis, the ends of a pair of beams forming a parallelogram; two pairs of flexible beams which are symmetrical about the axis the beams each being connected by one end to one of the rigid connections, the other end being connected to the bar, and guiding the movements of the bar parallel to the axis, the ends of a pair of beams forming a parallelogram.

First claim

1 . A gripper device of the gripping clamp type, wherein it comprises at least:
a bar longitudinally mobile along an axis of symmetry; a first rigid connection and a second rigid connection which are symmetrical about said axis, each ending in a jaw, the two jaws forming a gripper clamp able to pick up an object, two first pairs of flexible beams which are symmetrical about said axis, said beams each being connected by one end to one of said rigid connections, the other end being fixed, and guiding the movements of said rigid connections perpendicular to said axis, the ends of each of said two first pairs of beams forming a parallelogram; two second pairs of flexible beams which are symmetrical about said axis, said beams each being connected by one end to one of said rigid connections, the other end being connected to said bar, and guiding the movements of said bar parallel to said axis, the ends of each of said two second pairs of beams forming a parallelogram;
the movements of said jaws being brought about by actuation of said bar, a force exerted on said bar in a direction away from said jaws causing said jaws to move closer together, a force exerted in the direction of said jaws causing said jaws to open.

2 . The gripper device as claimed in claim 1 , wherein with said bar being provided at one end with a plate, the length of said bar is such that said plate is able to push said object when said force is exerted toward the jaws, the pushing being performed simultaneously with the opening of the jaws.

3 . The gripper device as claimed in claim 1 , wherein it is monolithic.

4 . The gripper device as claimed in claim 1 , wherein said beams having a fixed end are connected to a rigid part able to be fixed to a structure.

5 . The gripper device as claimed in claim 1 , wherein said beams are curved and not parallel.

6 . The device as claimed in claim 5 , wherein said beams connected to said bar comprise several rectilinear sections, the sections leading from the ends of said beams being parallel.

7 . The device as claimed in claim 6 , wherein said beams comprise three rectilinear sections.

8 . The device as claimed in claim 1 , wherein said beams have non-constant cross sections.

9 . The device as claimed in claim 8 , wherein the cross sections are at a maximum at the points of attachment of said beams and decrease toward the center of said beams.

10 . The device as claimed in claim 1 , wherein said jaws are flexible.

11 . The device as claimed in claim 1 , wherein activation of said bar is performed by means of a ring fixed at the opposite end of said bar to said plate.

12 . A gripper system, wherein it comprises a set of devices as claimed in claim 1 .

13 . The gripper system as claimed in claim 12 , wherein said devices are positioned in at least a double row, in a staggered configuration.

14 . The system as claimed in claim 12 , wherein said beams of said devices having a fixed end are fixed to a structure in the form of a plate.

15 . The system as claimed in claim 12 , wherein it is able to be used in an agri foodstuffs production line, said object to be picked being a deformable food product.

Assignees

• Commissariat Energie Atomique

Inventors

• Grossard Mathieu
• Beck Maxime

Classifications

• B25J15/12 Primary

  with flexible finger members · CPC title

• B25J9/0015

  Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion · CPC title

• B25J11/0045

  Manipulators used in the food industry · CPC title