Suction chamber for a grabber

Abstract

A suction chamber (102) for a gripper comprises: - a first portion (104) made of a composite material, - a second portion (105) made of a composite material, the second portion (104) comprising openings (106), and - a third portion (107) connected, on the one hand, to the first portion (104) and, on the other hand, to the second portion (105) to form at least one cavity (108) of the suction chamber (102). The third portion (107) is made of a composite material. The first portion (104) and the third portion (107) are connected to one another in an adhering manner. The second portion (105) and the third portion (107) are connected to one another in an adhering manner.

Description

[0001] Suction box for a gripper

[0002] Technical field of the invention

[0003] The technical field of the invention relates to a suction box for a gripper.

[0004] State of the art

[0005] It is known to use a handling device comprising a moving member and a gripper mounted on the moving member. The moving member is, for example, a lifting cylinder, a lifting tube, a hoist, an articulated arm or a lifting gantry. The gripper can grasp one or more objects which can then be moved by actuation of the moving member.

[0006] The gripper can grip an object using a vacuum gripping technique. For this purpose, the gripper may comprise a suction box coupled to a vacuum generating device, also called a vacuum generator. The function of the vacuum generator is to create a depression making it possible to evacuate the air present in the suction box in order to ensure the gripping of one or more objects using one or more members fixed to the suction box. The member or each member is arranged to cooperate with at least one orifice of the suction box so as to hold the object to be gripped relative to the gripper by suction. Thus, this member or each member can come into contact with the object to be gripped, then suction is generated, in particular thanks to the vacuum generator, such that the object is gripped by the gripper and is held relative to the gripper even during movements of the movable member.

[0007] Generally, the aim is to limit the weight of the gripper. Reducing the weight of the gripper increases the payload of the handling device, i.e. the weight that the handling device can carry. Alternatively, by reducing the weight of the gripper, it is possible to use, for a defined weight of objects to be successively gripped by the handling device, a handling device that is less powerful and less expensive in terms of components. For this purpose, a three-part suction box is known, formed respectively by a first plate, a spacer and a second plate, the spacer separating the first and second plates. The first and second plates may each be made of aluminum or stainless steel or steel or a composite material comprising carbon fibers. The spacer may be made of polyurethane or PVC foam (PVC being the acronym for Polyvinyl Chloride) that is hard so as to prevent it from being crushed.The first plate, the spacer and the second plate are fixed together by screws or rivets.

[0008] Subject of the invention

[0009] The invention aims to find a solution to a technical problem relating to the weight of a suction box for a gripper. In this sense, a solution is sought to aim for a limitation of the weight of the suction box while maintaining satisfactory robustness of this suction box.

[0010] To this end, the invention relates to a suction box for a gripper, the suction box comprising:

[0011] - a first part made of composite material, - a second part made of composite material, the second part comprising orifices, and

[0012] - a third part connected, on the one hand, to the first part and, on the other hand, to the second part to form at least one cavity of the suction box, the third part being made of composite material, the first part and the third part being connected to each other by gluing, and the second part and the third part being connected to each other by gluing.

[0013] Thus, the advantage of this suction box is that its weight is limited while presenting a satisfactory rigidity. Indeed, the bonding makes it possible to replace the screws and rivets mentioned in the state of the art section, resulting in a weight saving. In addition, the bonding also has the advantage of avoiding the formation of holes to secure the parts using rivets or screws which would induce the presence of weakening zones of the suction box in the event of shear forces applied orthogonally to the longitudinal axes of the screws or rivets.

[0014] The suction box may further include one or more of the following features:

[0015] - the third part comprises a closed loop extending at the periphery of a first face of the first part and at the periphery of a second face of the second part, the first face being oriented towards the second face, the first part being fixed to the closed loop by gluing and the second part being fixed to the closed loop by gluing;

[0016] - the first part and the second part are each in the form of a plate, and the third part is a perforated plate;

[0017] - the composite material of the third part comprises a matrix and fibers;

[0018] - the composite material of the first part comprises a matrix and fibers;

[0019] - the composite material of the second part comprises a matrix and fibers;

[0020] - each fiber is chosen from: a carbon fiber, a glass fiber and an aramid fiber;

[0021] - the first part and the third part are glued by epoxy resin or epoxy glue, and the second part and the third part are glued by epoxy resin or epoxy glue;

[0022] - the first, second and third parts are arranged so that the suction box comprises: a fourth part, arms each extending from the fourth part and hollow suction heads, each suction head being arranged at the end of one of the arms opposite the fourth part and each suction head comprising a part of the orifices;

[0023] - the fourth part and the arms are hollow, the fourth part has an opening provided through the first part, and for each suction head, the interior of the suction head is in fluid communication with the interior of the arm at the end of which said suction head is arranged and with the interior of the fourth part so that each orifice is in fluid communication with the opening;

[0024] - at least one of the orifices opens into said at least one cavity and the first part comprises an opening communicating with said at least one cavity;

[0025] - the third part includes an assembly of several elements.

[0026] The invention also relates to a gripper comprising the suction box as described and at least one member intended to come into contact with at least one object to be gripped, said member being fixed to the second part. The invention also relates to the handling device, characterized in that it comprises a movable member and the gripper as described, the gripper being mounted on the movable member.

[0027] The invention also relates to a method of manufacturing a suction box for a gripper, the manufacturing method comprising the following steps: - a step of forming a first part in composite material,

[0028] - a step of forming a second part in composite material, the second part comprising orifices,

[0029] - a step of forming a third part, the third part being made of composite material, - a step of assembling the first, second and third parts resulting in the formation of at least one cavity of the suction box, the assembly step comprising a step of fixing the first part to the third part by gluing and a step of fixing the second part to the third part by gluing. The manufacturing method may also comprise a step of forming elements intended to be assembled to form the third part and a step of assembling the elements to form the third part, said elements being formed by cutting a plate of composite material or by additive manufacturing. Other advantages and characteristics may emerge from the detailed description which follows.

[0030] Summary description of the drawings

[0031] The invention will be better understood upon reading the detailed description which follows, given solely by way of non-limiting example and made with reference to the appended drawings listed below.

[0032] Figure 1 illustrates, in a schematic view, a handling device of the gripping robot type equipped with a suction box gripper according to one embodiment of the invention.

[0033] Figure 2 illustrates, in a perspective view, a gripper comprising a suction box, this suction box being according to a first embodiment of the invention.

[0034] Figure 3 illustrates, in an exploded perspective view, the gripper of Figure 2.

[0035] Figure 4 illustrates, in a perspective view, the gripper whose suction box is according to a second embodiment of the invention.

[0036] Figure 5 illustrates, in an exploded perspective view, the gripper of Figure 4.

[0037] Figure 6 illustrates a partial sectional view at one edge of the suction box according to one embodiment of the invention.

[0038] Figure 7 illustrates separate elements intended to form part of the suction box according to a particular embodiment of the invention.

[0039] Figure 8 illustrates the elements of Figure 7 assembled.

[0040] In these figures, the same references are used to designate the same elements. Detailed description

[0041] The gripping of an object 1000, such as for example visible in Figure 1, by a gripper 101 makes it possible to grasp the object 1000 in order to manipulate and / or move it. The invention relates to a suction box 102 for the gripper 101. Two particular embodiments of the gripper 101 are illustrated in Figures 2 to 5. The suction box 102 is also called a vacuum box in the technical field of the present invention.

[0042] The gripper 101 may comprise a vacuum generation device 103, also called a vacuum generator in the technical field of the present invention, an example of which is visible in FIG. 1. In fact, the vacuum generation device 103 may be integrated into the gripper 101, for example in this case the vacuum generation device 103 may comprise a venturi cartridge secured to the suction box 102. Alternatively, the vacuum generation device 103 is separate from the gripper 101, it is then considered to be remote and may be connected to the gripper 101 by means of a pipe making it possible to suck up the contents of the suction box 102. Thus, more generally, the suction box 102 can be coupled to the vacuum generation device 103 by directly mounting the vacuum generation device 103 on the suction box 102 or via the pipe connecting the suction box 102 to the vacuum generation device 103.

[0043] In this sense, although Figures 2 to 5 do not show the gripper 101 with the vacuum generating device 103, the vacuum generating device 103 could be mounted on the suction box 102 as for example illustrated in Figure 1 to be integrated with the gripper 101.

[0044] Figure 1 schematically illustrates a handling device 100 comprising the gripper 101. Such a handling device 100 makes it possible, after having grasped the object 1000 via the gripper 101, to move this object 1000 before releasing this object 1000. An orthonormal reference frame XYZ of the gripper 101 is defined, represented by the axes X, Y and Z in Figures 2 to 5. In particular, the exploded views visible in Figures 3 and 5 are represented by staggering the parts, respectively visible in Figures 2 and 4, of the gripper in a direction parallel to the axis Z. Each thickness mentioned in the present description is a dimension parallel to the axis Z.

[0045] The suction box 102 comprises a first part 104 made of composite material and a second part 105 made of composite material. The advantage of using first and second parts 104, 105 each made of composite material is that it is possible to reduce their mass while maintaining a suitable rigidity of these first and second parts 104, 105.

[0046] The second part 105 comprises orifices 106 (for example visible in figures 3 and 5 on which the orifices 106 are shown diagrammatically by points) also called suction orifices for gripping the object 1000. These orifices 106 are intended to participate in gripping the object 1000 and in maintaining, relative to the gripper 101, the object 1000 gripped by suction or suction.

[0047] In fact, the function of the vacuum generating device 103 is to suck inside the suction box 102 which can cause suction, if necessary, via the orifices 106 or via a plurality of these orifices 106.

[0048] Preferably, the orifices 106 are arranged so as to allow, during gripping, the suction of air from outside the suction box 102 into the suction box 102. Thus, the orifices 106 can each pass through the second part 105, in particular depending on its thickness. Thus, each orifice 106 opens, on the one hand, into the suction box 102 and, on the other hand, outside the suction box 102. The orifices 106 are therefore formed by through holes provided in the second part 105.

[0049] The section, shape and spacing of the orifices 106 may vary depending on the technical needs related to the object 1000 to be grasped and moved. The suction box 102 comprises a third part 107 connected, on the one hand, to the first part 104 and, on the other hand, to the second part 105 to form, that is to say thus forming, at least one cavity 108 of the suction box 102. In other words, the assembly of the first, second and third parts 104,

[0050] 105, 107 delimits said at least one cavity 108, that is to say the or each cavity 108. Thus, the suction box 102 may comprise one or more cavities 108. The third part 107 is made of composite material. The first part 104 and the third part 107 are connected to each other by gluing. In other words, the first part 104 and the third part 107 are fixed to each other by gluing. The second part 105 and the third part 107 are connected to each other by gluing. In other words, the second part 105 and the third part 107 are fixed to each other by gluing. The use of the first, second and third parts 104, 105, 107 each made of composite material and assembled by gluing the first part 104 to the third part 107 and by gluing the second part 105 to the third part 107 has one or more of the following advantages:

[0051] - this makes it possible, in particular in comparison with an assembly by mechanical fixing using screws or rivets, to stiffen and therefore reduce the phenomena of deformation of the first, second and third parts 104, 105, 107 thanks to the bonding of these first and second parts 104, 105 on the third part 107 and thanks to the use of a composite material to form the third part 107,

[0052] - this makes it possible to reduce the size, in particular the thickness, of the suction box 102 and therefore of the gripper 101 by taking into account a desired stiffness of the suction box 102, this therefore allowing better integration of the gripper 101 comprising such a suction box 102,

[0053] - this makes it possible to reduce the weight of the suction box 102 compared to an assembly by mechanical fixing with screws or rivets,

[0054] - this makes it possible to reduce the energy consumption of the handling device 100 for moving the gripper 101, in particular due to the weight reduction obtained by the assembly by gluing in comparison with an assembly by rivets or screws,

[0055] - this allows the handling device 100 to gain in lifting or object handling capacity,

[0056] - this allows the handling device 100 equipped with such a suction box 102 to have handling mechanisms chosen to reduce its manufacturing, maintenance and use costs. It follows from what has been described previously that the first part 104 is glued to the third part 107 and that the second part 105 is glued to the third part 107 so as to ensure that the first, second and third parts 104, 105, 107 are held in place relative to each other: they are then integral with each other. In particular, the first, second and third parts 104, 105, 107 may form outer walls of the suction box 102.

[0057] Preferably, the third part 107 is arranged between the first part 104 and the second part 105.

[0058] The first and second parts 104, 105 may be plates and their respective bonding to the third part 107 makes it possible, while maintaining satisfactory rigidity, to reduce the thickness of these plates, thus providing a gain in thickness of the suction box 102 and therefore a gain in weight of the suction box 102.

[0059] The thickness of the first part 104, the thickness of the second part 105 and the thickness of the third part 107 will of course be adapted according to requirements.

[0060] Preferably, the third part 107 comprises a closed loop 109, as illustrated for example in FIGS. 3 and 5, forming in particular an outer edge of the third part 107. This closed loop 109 extends to the periphery of a first face 110 of the first part 104 and of a second face 111 of the second part 105. The first face 110 is oriented towards the second face 111. The first part 104, in particular the first face 110, is fixed to the closed loop 109 by gluing. The second part 105, in particular the second face 111, is fixed to the closed loop 109 by gluing. This closed loop 109 forms a side wall of the suction box 102 and has the advantage of allowing, in particular in cooperation with the first and second parts 104, 105, and where appropriate with the material ensuring the bonding fixing the first and second parts 104, 105 to the third part 107, to laterally close the suction box 102.Preferably, the first part 104 and the second part 105 are each in the form of a plate. The third part 107 may be a perforated plate. This perforated plate, which may also be called a hollow plate, comprises one or more holes, or one or more recesses, passing through the perforated plate depending on its thickness. In fact, the perforated plate forming the third part 107 may allow fluid communication of all or part of the orifices 106 with an opening 112 provided in the first part 104. The opening 112 is intended to cooperate with the, that is to say to be coupled to the, vacuum generation device 103 which, in operation, sucks the interior of the suction box 102 through this opening 112, in particular to tend to create a vacuum in the or each cavity 108, in order to allow suction through the orifices 106.The suction box 102 formed using the first, second and third parts 104, 105, 107 in the form of plates assembled by gluing makes it possible to obtain a robust suction box 102 and in particular one with limited thickness.

[0061] The third part 107 also has the function of forming a spacer making it possible to delimit laterally, that is to say parallel to the XY plane, the interior of the suction box 102 and thus preferably form a vacuum reserve. Preferably, the fixing by gluing of the third part 107 to the first and second parts 104, 105 ensures the sealing of the suction box 102 laterally so that during operation of the gripper 101, the air sucked from the outside of the suction box 102 towards the inside of the suction box 102 is only through the orifices 106.

[0062] In fact, the third part 107 can form a framework intended to receive the first and second parts 104, 105 so that the assembly of the first, second and third parts 104, 105, 107 delimits an internal volume of the suction box 102 allowing, preferably, the orifices 106 to be placed in fluid communication with the opening 112 or sets of orifices 106 each with a corresponding opening 112.

[0063] An advantage of the third part 107, in particular when it forms the framework, is that it makes it easy to compartmentalize the suction box 102 so that the latter comprises several independent cavities 108 also called suction chambers. In this case, a common vacuum generation device 103 can be used to suck in all the cavities 108 or a plurality of vacuum generation devices 103 can each suck in one of the cavities 108 associated with it (not shown): it is thus possible, in the context of gripping one or more objects 1000, to select the cavities 108 which will participate in gripping the object(s) 1000.

[0064] Thus, in general, at least one of the orifices 106 can open into said at least one cavity 108 and the first part 104 can comprise the opening 112 communicating with, in particular opening into, said at least one cavity 108. In other words, the or each cavity 108 can communicate with at least one of the orifices 106 and with a corresponding opening 112 provided in the first part 104. The first part 104 can comprise a single opening 112 communicating with several cavities 108 (see for example figures 4 and 5) or an opening 112 for each cavity 108 (not shown).

[0065] The frame also makes it possible to delimit air circulation channels 113 in the suction box 102.

[0066] The suction box 102 may comprise one or more reinforcements 114 called “structural reinforcements” improving the rigidity of the third part 107 and therefore the rigidity of the suction box 102. The reinforcement(s) 114 may each be fixed by gluing, on the one hand, to the first part 104 and, on the other hand, to the second part 105.

[0067] The reinforcements 114 can participate in delimiting, for example using the closed loop 109, the channels 113 (see for example figures 3 and 5) for air circulation in the suction box 102. For example, four reinforcements 114 are illustrated in figure 3 to delimit channels 113 of the same cavity 108 and one reinforcement 114 is illustrated in figure 5.

[0068] The reinforcements 114 can make it possible to compartmentalize the interior of the suction box 102 by forming partitions each connected / fixed, in particular by gluing, to the first part 104 and to the second part 105.

[0069] The third part 107 may therefore comprise the closed loop 109 and one or more reinforcements 114 which extend for example in the form of branches from the closed loop 109.

[0070] In Figure 5, the suction box 102 comprises two cavities 108 each communicating with the opening 112 of the first part 104. These two cavities 108 are separated by a reinforcement 114 serving in particular to prevent the box 102 from being crushed when it is fixed to a mobile member 118 of the handling device 100 and / or when the vacuum generation device 103 is coupled to the suction box 102.

[0071] Thus, the shape, number and dimensions of the reinforcements 114 can vary according to the needs to ensure the rigidity of the suction box 102 and, if necessary, prevent it from being crushed parallel to the Z axis.

[0072] It was previously mentioned that the first part 104, the second part 105 and the third part 107 were each made of a composite material. This means that the first part 104, the second part 105 and the third part 107 are each made of a composite material. The composite material may be the same for the first part 104, the second part 105 and the third part 107 or may be different between two of these parts. Thus, the composite material of the third part 107 may comprise a matrix and fibres, and / or the composite material of the first part 104 comprises a matrix and fibres, and / or the composite material of the second part 105 may comprise a matrix and fibres. This has the advantage of reinforcing the rigidity, where appropriate, of the first part 104 and / or the second part 105 and / or the third part 107.Each fiber can be chosen from: a carbon fiber, a glass fiber and an aramid fiber (for example Kevlar®). In other words, within each of the first, second and third parts 104, 105, 107 the fibers can be of the same material or different materials can be used. Such fibers have the advantage of ensuring satisfactory rigidity of the suction box 102 while allowing its weight to be limited. An advantage of the carbon and / or glass and / or aramid fibers in the composite material forming the corresponding part (first part 104, second part 105 or third part 107) is that this part can have a greater deformation before alteration than if it were made of aluminum or steel.

[0073] The composite material may have a 3K twill weave. This may include a 3K twill carbon weave.

[0074] Preferably, the first part 104 and the third part 107 are bonded by an epoxy resin, and the second part 105 and the third part 107 are bonded by an epoxy resin. When speaking of two things, here parts, bonded by the epoxy resin, it is understood that the epoxy resin is in a hardened state where it ensures the maintenance of the two things bonded together. Although the epoxy resin is not shown in Figures 2 to 5, a sectional view, along the XZ plane at a lateral edge of the suction box 102, can be schematically represented as in Figure 6. Figure 6 therefore shows a first film 115 of epoxy resin in the hardened state bonding the first part 104 to the third part 107 and a second film 116 of epoxy resin in the hardened state bonding the second part 105 to the third part 107.The advantage of using epoxy resin for bonding is that it ensures adequate retention of the first, second and third parts 104, 105, 107 between them and that this bonding prevents delamination of the first, second and third parts 104, 105, 107. Of course, the epoxy resin can bond the closed loop 109, on the one hand, to the first part 104 (in particular to the first face 110) and, on the other hand, to the second part 105 (in particular to the second face 111). By "epoxy resin in the cured state", is meant a polymer obtained at the end of curing of a thermosetting polymer in the liquid state comprising a resin and a hardener.

[0075] Alternatively, each bonding mentioned in the present description can be carried out by an epoxy glue instead of epoxy resin. Thus, the terms "epoxy resin" can be replaced by the terms "epoxy glue" in the context of bonding two things such as for example the first and third parts 104, 107 together or the second and third parts 105, 107 together. The epoxy glue is suitable for ensuring the bonds sought in the present description.

[0076] In this description, by "things connected or fixed by gluing" it is understood in particular that a material ensures the corresponding gluing, this material being able to be epoxy resin in the hardened state or epoxy glue. In particular, the thickness of this material is adapted according to the needs to ensure satisfactory gluing.

[0077] In particular, the matrix of each of the first, second and third parts 104, 105, 107 is made of epoxy resin in the cured state. In this case, the epoxy resin bonding, on the one hand, the first part 104 to the third part 107 and, on the other hand, the second part 105 to the third part 107 may be identical to the epoxy resin forming the matrices. This has the advantage of ensuring better bonding of the first part 104 to the third part 107 and of the second part 105 to the third part 107.

[0078] The suction box 102 of Figures 2 and 3 has, seen parallel to the Z axis, a rectangular profile. This is particularly suitable for a gripper 101 intended to grip a cardboard box, a board, a panel or any other solid object. Of course, the dimensions and shapes of the suction box 102 can be adapted according to the dimensions and weight of the object 1000 to be gripped. Thus, the suction box 102 can just as easily have, seen parallel to the Z axis, a square profile, a round profile or an oval profile. Advantageously, to further save weight at the suction box 102, the suction box 102 can have, seen parallel to the Z axis, a more complex profile than a simple rectangle, square, round or oval.

[0079] The use of such a more complex profile is made easier to implement due to the use of the first, second and third parts 104, 105, 107 assembled by gluing while retaining the desired rigidity and strength of the gripper 101. The shape of the suction box 102 can then be adapted as needed. Indeed, it is thus possible to reduce the external surface of the suction box 102 to the strict minimum to ensure the function of the suction box 102 with the key to a reduction in the weight of the suction box 102.

[0080] In this case, the first, second and third parts 104, 105, 107 can be arranged / assembled so that the suction box 102 comprises (as for example visible in figure 4):

[0081] - a fourth part 117, for example forming a central part, in particular intended to be connected to the movable member 118 (figure 1) of the handling device 100 and / or to the vacuum generation device 103,

[0082] - arms 119 each extending from the fourth part 117,

[0083] - 120 hollow suction heads.

[0084] Each suction head 120, then arranged at the end of one of the arms 119 opposite the fourth part 117, comprises a part of the orifices 106 (in particular each head 120 comprises several of the orifices 106). The or each orifice 106 of said suction head 120 opening into a hollow space of said suction head 120, in particular said hollow space participating in delimiting the cavity 108 or one of the cavities 108.

[0085] Generally, the fourth part 117, the arms 119 and the suction heads 120 each respectively comprise a portion of the first part 104, a portion of the second part 105 and a portion of the third part 107.

[0086] Preferably, the arms 119 and the fourth part 117 are hollow, they therefore each comprise a hollow space which can participate in delimiting the cavity 108 or one of the cavities 108. The fourth part 117 comprises the opening 112 formed through the first part 104 in particular according to its thickness. In this case, the hollow space of each suction head 120 is in fluid communication with the hollow space of the arm 117 at the end of which the suction head 120 is arranged, and the hollow space of each arm 119 is in fluid communication with the hollow space of the fourth part 117 from which it ultimately results that each orifice 106 is in fluid communication with the opening 112. This is in particular what is represented in the example of FIG. 4 where the suction box 102 comprises, by way of example, four arms 119.In other words, for each suction head 120, the interior of said suction head 120 is in fluid communication with the interior of the arm 119 at the end of which said suction head 120 is arranged and with the interior of the fourth part 117 so that each orifice 106 is in fluid communication with the opening 112. This has the advantage of being able to use a single vacuum generation device 103 coupled to the opening 112 to generate suction at each suction head 120.

[0087] According to an example not shown where the arms 119 are not hollow, the first part 104 may comprise as many openings 112 as there are suction heads 120, and each opening 112 opens into the hollow space (then forming a corresponding cavity) of one of the suction heads 120. In this case, each opening 112 may be intended to be coupled with a vacuum generation device 103 specific to it or with a vacuum generation device 103 common to all the openings 112.

[0088] In Figures 4 and 5, the suction box 102 is particularly suitable, due to its general cross shape, to allow the gripper 101 to grasp a cardboard-type object in angles, that is to say corners, of the same face of the cardboard, resulting in an optimized grip allowing better holding of the cardboard by the angles of its gripped face, in particular when the cardboard is damaged or deformed in the center of its face gripped by the gripper 101. Furthermore, this has the advantage of limiting the suction surface of the gripper 101 to the strict minimum necessary to allow gripping in order to limit the suction energy required for gripping. Thus, the suction box 102 may comprise four arms 119, two of the arms 119 being coaxial along a first axis and two other arms 119 being coaxial along a second axis. The first and second axes form an angle between them, preferably the first and second axes are orthogonal to each other.

[0089] The invention also relates to the gripper 101 comprising the suction box 102 as described above. The gripper 101 optionally comprises the vacuum generating device 103 configured to suck the interior of the suction box 102 in order to create a depression at a plurality, or each, of the orifices 106. The gripper 101 comprises at least one member 121 intended to come into contact with at least one object 1000 to be grasped, said member 121 being fixed on the second part 105 of course outside the suction box 102 and preferably opposite the second face 111. Of course, such a gripper 101 can have the advantages as described above in the context of the suction box 102. Generally, such a gripper 101 is robust and light.

[0090] In particular, the gripping of an object 1000 by the gripper 101 has been described, but this gripper 101 can also allow the gripping of several objects 1000 at the same time, in particular thanks to a member 121 or several members 121.

[0091] The member 121 may be: a suction cup (not shown) for example coupled to one of the orifices 106 which makes it possible to create a vacuum in the suction cup when it is in contact with the object 1000 to be grasped; an openwork foam; a perforated rubber plate; or an openwork silicone plate.

[0092] In Figures 1 to 5, the member 121 (Figures 1, 2 and 3) or each member 121 (Figures 4 and 5 showing four members 121) represented is an openwork foam, an openwork rubber plate or an openwork silicone plate which has in particular the advantage of being able to deform during gripping to fit a surface of the object 1000 to be grasped. In particular, in this case by "openwork", it is understood that the member 121 or each member 121 comprises through holes 122 each arranged to be in fluid communication with one of the orifices 106. For example, the member 121 or each member 121 can be fixed to the suction box 102 by a double-sided self-adhesive film 123 provided with through holes 124 each coinciding with one of the through holes 122 of the member 121 or of one of the members 121.

[0093] Concerning the vacuum generation device 103, there are different types which are well known to those skilled in the art. For example, the vacuum generation device 103 can operate according to the principle of a venturi vacuum pump. In this case, the vacuum generation device 103 can comprise a venturi cartridge comprising a first inlet intended to receive compressed air generated by a compressor 125 and conveyed by a pipe 126 (figure 1), a second inlet in fluid communication with the interior (the cavity 108) of the suction box 102 in particular via the opening 112, and a mixer allowing the evacuation of air to the outside of the venturi cartridge. The venturi cartridge comprises a nozzle at its first inlet, the nozzle being intended to be supplied by the compressed air from the compressor 125.The second inlet is arranged to open into the venturi cartridge between the nozzle and the mixer so that the air jet at the outlet of the nozzle drives the air present in the suction box 102 towards the mixer which allows the evacuation of the air coming from the nozzle and the air coming from the suction box 102. Alternatively, the vacuum generation device 103 can be a vacuum pump or a vacuum turbine, in these alternatives the vacuum generation device 103 can be separated from the gripper 101 and be connected to the gripper 101 by a pipe for example coupled to the opening 112. When the vacuum generation device 103 operates according to the principle of a venturi vacuum pump, it can also be coupled to the suction box 102 by a pipe.

[0094] The suction box 102 may include fixing holes 127 which can be used, in particular using bolts:

[0095] - to the fixing of the suction box 102 to a support belonging to the mobile member 118, and / or

[0096] - to the attachment of the vacuum generating device 103 to the suction box 102 or of a pipe to the suction box 102, the pipe coming from the vacuum generating device 103 and being coupled to the suction box 102 to suck the interior thereof. These attachment holes 127 pass through the suction box 102 and in particular the first part 104, the second part 105 and the third part 107.

[0097] Of course, the invention also relates to the handling device 100 which comprises the movable member 118 and the gripper 101 as described, the gripper 101 being mounted on the movable member 118 in particular by any suitable fixing means. Such a handling device 100 is advantageous in particular in the sense that it can consume less energy, be suitable for use in the field of robotics in general and human-robot collaboration or cooperation. Of course, the handling device 100 may comprise the device

[0098] 103 vacuum generation e.g. mounted on or coupled to the first part

[0099] 104 on a face of the first part 104 opposite the first face 110.

[0100] The invention also relates to a method for manufacturing the suction box 102. This manufacturing method comprises a step of forming the first part 104, for example by machining a plate, a step of forming the second part 105, for example by machining a plate, a step of forming the third part 107, and a step of assembling the first, second and third parts 104, 105, 107, resulting in the formation of said at least one cavity 108. The assembly step comprises a step of fixing the first part 104 to the third part 107 by gluing and a step of fixing the second part 105 to the third part 107 by gluing.Such a manufacturing method makes it possible to manufacture quickly and easily, for example using suitable gluing using for example epoxy glue or epoxy resin, the suction box 102 so that it is robust and light without requiring the use of screws or rivets which would require numerous drillings which lead to a weakening of the suction box 102 and an increase in its weight compared to the present invention. The gluing makes it possible to simplify the manufacturing while reducing the time required for assembling the first, second and third parts 104, 105, 107. In addition, the gluing ensures a seal of the suction box 102 between the first part 104 and the third part 107 as well as between the second part.

[0101] 105 and the third part 107. According to one embodiment of the manufacturing method, the latter may comprise a step of forming elements 128, for example as illustrated in FIG. 7, to form the third part 107 of the type used to manufacture the suction box 102 visible in FIGS. 2 and 3. These elements 128 are intended to be assembled to form the third part 107. Thus, the manufacturing method further comprises a step of assembling the elements 128 to form the third part 107. This makes it possible to form the third part 108 while limiting the loss of material in the sense that the elements 128 can be formed by cutting into a plate of composite material which can then be of dimensions smaller than the dimensions of the third part 107, or by 3D printing, also called additive manufacturing.In the example shown in Figure 7, the elements 128 are for example eight in number and are assembled two by two (Figure 8) by interlocking and in particular bonding preferably with an epoxy resin, of a male part 129 in a female part 130. This has the advantage of guaranteeing precise positioning of the elements 128 and of guaranteeing quality while simplifying the assembly.

[0102] In the context of the suction box 102, if the third part 107 comprises an assembly of several elements 128, for example assembled in the manner described above, the latter has the advantage of having a limited cost.

[0103] Everything that applies to the manufacturing process of the suction box 102 can of course apply to the suction box 102 and conversely everything that applies to the suction box 102 can of course apply to the manufacturing process of the suction box 102.

[0104] Thus, the present invention clearly finds an industrial application in the field of the manufacture of suction boxes or in the handling of objects in an industrial process for example and in a non-limiting manner in the field of the use of robots, in particular collaborative ones.

Claims

DEMANDS 1. Suction chamber (102) for a gripper (101), the suction chamber (102) comprising: - a first part (104) made of composite material, - a second part (105) made of composite material, the second part (105) having openings (106), and - a third part (107) connected, on the one hand, to the first part (104) and, on the other hand, to the second part (105) to form at least one cavity (108) of the suction chamber (102), characterized in that: - the third part (107) is made of composite material, - the first part (104) and the third part (107) are linked together by gluing, - the second part (105) and the third part (107) are joined together by gluing.

2. Suction box (102) according to claim 1, characterized in that the third part (107) comprises a closed loop (109) extending to the periphery of a first face (110) of the first part (104) and to the periphery of a second face (111) of the second part (105), the first face (110) being oriented towards the second face (111), the first part (104) being fixed to the closed loop (109) by gluing and the second part (105) being fixed to the closed loop (109) by gluing.

3. Suction box (102) according to claim 2, characterized in that the first part (104) and the second part (105) are each in the form of a plate and in that the third part (107) is a perforated spike.

4. Suction unit (102) according to any one of claims 1 to 3, characterized in that: - the composite material of the third part (107) comprises a matrix and fibers, and / or - the composite material of the first part (104) comprises a matrix and fibers, and / or - the composite material of the second part (105) comprises a matrix and fibers.

5. Suction box (102) according to claim 4, characterized in that each fiber is selected from: a carbon fiber, a glass fiber and an aramid fiber.

6. Suction box (102) according to any one of the preceding claims, characterized in that the first part (104) and the third part (107) are bonded by an epoxy resin or by an epoxy glue, and in that the second part (105) and the third part (107) are bonded by an epoxy resin or by an epoxy glue.

7. Suction box (102) according to any one of the preceding claims, characterized in that the first, second and third parts (104, 105, 107) are arranged such that the suction box (102) comprises: - a fourth part (117), - arms (119) each extending from the fourth part (117), - hollow suction heads (120), each suction head (120) being arranged at the end of one of the arms (119) opposite the fourth part (117) and each suction head (120) having a portion of the orifices (106).

8. Suction unit (102) according to any one of the preceding claims, characterized in that: - the fourth part (117) and the arms (119) are hollow, - the fourth part (117) includes an opening (112) cut through the first part (104), and - for each suction head (120), the inside of the suction head (120) is in fluidic communication with the inside of the arm (119) at the end of which said suction head (120) is arranged and with the inside of the fourth part (117) so that each orifice (106) is in fluidic communication with the opening (112).

9. Suction box (102) according to any one of claims 1 to 7, characterized in that at least one of the orifices (106) opens into said at least one cavity (108) and in that the first part (104) comprises an opening (112) communicating with said at least one cavity (108).

10. Suction box (102) according to any one of the preceding claims, characterized in that the third part (107) comprises an assembly of several elements (128).

11. Gripper (101), characterized in that it comprises: - a suction unit (102) according to any one of claims 1 to 10, - at least one organ (121) intended to come into contact with at least one object (1000) to be grasped, said organ (121) being fixed on the second part (105).

12. Handling device (100), characterized in that it comprises a movable member (118) and a gripper (101) according to claim 11, the gripper (101) being mounted on the movable member (118).

13. Method for manufacturing a suction chamber (102) for a gripper (101), the manufacturing process comprising the following steps: - a step of forming a first part (104) in composite material, - a step of forming a second part (105) of composite material, the second part (105) having openings (106), - a step of forming a third part (107), - an assembly step of the first, second and third parts (104, 105, 107) resulting in the formation of at least one cavity (108) of the suction box (102), characterized in that: - the third part (107) is made of composite material, - The assembly stage includes a step of fixing the first part (104) to the third part (107) by collage, - The assembly stage includes a step of attaching the second part (105) to the third part (107) by collage.

14. Manufacturing method according to claim 13, characterized in that it comprises a step of forming elements (128) intended to be assembled to form the third part (107) and a step of assembling the elements (128) to form the third part (107), said elements (128) being formed by cutting a plate of composite material or by additive manufacturing.