Device for sampling or grasping by deformable tools

Abstract

The device comprises a flexible sleeve (6) mounted on a rigid support (1), the sleeve being provided with lamellae (7) distributed in a ring around the sleeve (6). The sleeve can be retracted by means of an actuator (3), thereby returning the end face (9) of the sleeve to the inside of the sleeve by forming a fold (14), which pivots the lamellae inwardly, thereby forming a holding surface (17) for the object or sample to be taken, which can be held between the lamellae (7) or inside a chamber (18).

Description

Technical Field

[0001] The invention relates to a device for sampling or grasping by means of a deformable tool. Background Art

[0002] Existing sampling and gripping instruments are of various types; they are generally based on gripping with a physical tool or by suction applied to the surface of the device. Such devices are generally satisfactory, but they often have the disadvantage of being limited to specific types of products to be sampled. Another disadvantage is that such devices must be very complex if gripping is to be secure. In contrast, the present invention aims to enable the acquisition of a very diverse range of objects or samples, such as those that are fragile, have very irregular surfaces, or even liquids, with a high degree of reliability and a simple device construction.

[0003] Related prior art includes document WO 2016 / 146 140 A1, which describes a gripping and holding device having a tool consisting of a membrane that is deformable under the action of an actuator. The tool grasps small objects in the fold of the membrane formed by the retraction of the actuator. This device is relatively large.

[0004] Another document is EP 1 731 452 A2, which describes a device suitable for use in accordance with the above comments. Summary of the Invention

[0005] The present invention generally relates to a sampling or gripping device comprising a support having side walls and a rear face and a tool mounted on the support, the tool being deformable and comprising a sleeve having side walls, an end face and an edge, the side walls of the tool extending between the end face and the edge, the edge being fastened to the support and, in the deployed state of the sleeve, the end face extending away from the support, the side walls of the support, the side walls of the sleeve, the rear face and the end face enclosing an interior space, and the device further comprising A sleeve retraction actuator that returns the end face into the interior space and folds the side wall of the sleeve into a folded state, characterized in that the tool also includes at least one lamellar ring attached to the sleeve and radially around the sleeve in the expanded state, the at least one lamellar ring being surrounded by the side wall of the sleeve in the folded state, and the device also includes a guide member for guiding the retraction of the sleeve by the retraction actuator, which member extends in the interior space from the end face of the tool to the rear face of the support.

[0006] The support is advantageously a sheath in which the sleeve is accommodated in the folded state.

[0007] The sleeve may be tapered towards the end face, which facilitates its folding.

[0008] In a particular embodiment, the inner space contains a bellows which delimits the chamber and guides the retraction of the sleeve by means of a retraction actuator, and the retraction actuator constitutes the guide member.

[0009] In a particular embodiment of the invention, the inner space and / or chamber is an airtight volume and the retraction actuator is a means for pumping the airtight volume.

[0010] According to another variant, the retraction actuator is a ram, the stem of which is fastened to the end face.

[0011] The sleeve filled with foils that characterize the invention, after being placed on the object or sample to be sampled or grasped, is capable of closing the object or sample to be sampled or grasped by retracting the sleeve; when the fold of the sleeve reaches the plane of the foils, the foils approach each other by tilting themselves, the rings of foils closing inside the tool, thereby defining, in the final state, a compartment inside the support that contains the object or sample.

[0012] Advantageously, thin slice is flexible, so that the objects to be grasped are obtained and avoid damaging these objects.Also advantageously in this case of flexible thin slices, these flexible thin slices form a single molded structure with the sleeve.

[0013] The sleeve (together with the sheet if necessary) may be made of, for example, silicone or polyurethane; the sleeve may also comprise a main material (such as the materials mentioned above) and a sheet reinforcing the main material, for example made of Kevlar.

[0014] The or each lamella ring is advantageously also continuous and sealed in the folded state.The lamella ring can then retain the sample, which may be a liquid, in the compartment delimited by the lamella ring and the rest of the device.

[0015] The gripping or grasping of objects can also be improved if the sheet is lined with a member that facilitates the acquisition of the object. For example, this can be a magnet that facilitates the acquisition of magnetic objects or a rough surface that improves friction engagement.

[0016] In another possible embodiment, the sheet is hollow, with one face facing the end face in the unfolded state, in order to facilitate the collection of liquid samples.

[0017] However, a significant aspect of the present invention is that retraction of the flexible sleeve from the deployed state is achieved by means of a member, referred to as a guide member, which is itself retractable and connected at its opposite ends to the rear face of the support and the end face of the sleeve. This retractable guide member has a very small volume in the collapsed state and always remains in contact with the rear face of the support, which reduces the size of the device compared to sliding guide members such as actuator rods or pistons.

[0018] In certain particularly noteworthy embodiments, in which the support is in the form of a sheath, the guide member remains contained in the sheath and is therefore protected in all circumstances, and the sleeve is also contained in the sheath in the folded state, with the same benefits. It is then particularly noteworthy that the actuator is a suction member, which can advantageously be connected to the rear face of the support by a flexible conduit for suctioning the internal space delimited by the sleeve and the support or for suctioning the airtight chamber delimited by a bellows or similar guide member (when such a chamber exists): in both cases, the suction causes the sleeve and the guide member to retract. A particularly convenient device is provided, since the tool can be displaced independently of the suction member, which could be displaced by hand if the support (for example) is a portable sheath.

[0019] Among the guide members that can be used and are particularly noteworthy, mention should also be made of the so-called telescopic mechanism, which is composed of segments that slide on or in each other. Such a mechanism has good rigidity, especially against accidental deflection of the sleeve in the transverse direction.

[0020] The expansion and folding of the telescopic mechanism can be limited only by the stop mechanism established between adjacent segments, and is therefore very simple.

[0021] According to some aspects of these embodiments:

[0022] - the segments are concentric tubes, the outer tube of which forms a sheath by being fastened to the rear face of the support, and the inner tube of which is fastened to the end face of the tool;

[0023] - the segments are provided with stops limiting the deployment of the segments relative to adjacent segments;

[0024] - the segments comprise locking elements for stopping the unfolding or folding of said segment relative to the adjacent segments;

[0025] - Each of these locking members includes: a hole passing through the wall of a first of these segments; a movable element in the hole and having a dimension in the longitudinal direction of the hole that is greater than the length of the hole; and cavities dug out in the second and third of these segments, the cavities being located in front of opposite ends of the hole during movement, respectively, and each cavity having faces that are inclined so as to push the element into the hole.

[0026] The various aspects, features and advantages of the present invention will now be described with reference to the following drawings, which show certain embodiments given for purely illustrative purposes: BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is an overall view of the device;

[0028] Figure 2 yes Figure 1 cross section;

[0029] Figure 3 It is the front view of the tool;

[0030] Figure 4 and Figure 1 correspondingly, in a partially folded state of the sleeve;

[0031] Figure 5 and Figure 2 Correspondingly, in a partially folded state;

[0032] Figure 6 and Figure 3 Correspondingly, in a partially folded state;

[0033] Figure 7 and Figure 1 Correspondingly, in the fully folded state of the sleeve;

[0034] Figure 8 and Figure 2 Correspondingly, in a fully folded state;

[0035] Figure 9 and Figure 3 Correspondingly, in a fully folded state;

[0036] Figure 10 is a perspective view of the sleeve in its unfolded state before being grasped;

[0037] Figure 11 It is a perspective view of the partially folded state of the sleeve having grasped an object;

[0038] Figure 12 It is a folding sleeve that has already grasped the object;

[0039] Figure 13 is another embodiment of the present invention;

[0040] Figure 14 a molded component that is one embodiment of a sleeve;

[0041] Figure 15 It is a specific embodiment of the sheet;

[0042] Figure 16 is another specific embodiment of a sheet;

[0043] Figure 17 is a diagram of a telescopic mechanism for controlling the expansion of the sleeve in a retracted state;

[0044] Figure 18is the mechanism in its fully extended state;

[0045] Figure 19 is a view of one of the segments of the mechanism;

[0046] Figure 20 It is the moment of the folding process of the mechanism;

[0047] Figure 21 It’s the moment that follows. DETAILED DESCRIPTION

[0048] The description first involves Figure 1 、 Figure 2 and Figure 3 . The embodiment of the device shown therein consists essentially of a support 1, a tool 2 and an actuator 3. The support 1 is a rigid component, here in the form of a cylindrical sheath open at the front end 4 and closed by a plate at the rear end 5. The tool 2 is made of a flexible material (possibly elastic) and consists of a sleeve 6 and a thin sheet 7. The sleeve 6 has a rear end 8 crimped at the front end 4 of the support 1. The sleeve 6 mainly consists of a tapered side wall that tapers from the rear end 8 to a front end, the front end being closed by an end face 9. Throughout this description, "front" and "rear" are considered in the direction of movement of the actuator of the tool 2, the tool being unfolded forward and folded or retracted backward. The device is roughly axisymmetric about this direction, so it may also be helpful to conveniently describe the device with the tool 2 in front of the support 1 and the actuator 3.

[0049] The lamellae 7 are distributed in groups over the height of the sleeve 6 , superimposed to form rings around the axis of the cone, and the number of these rings is five here, but their number is not critical.

[0050] Figure 3 The lamellae 7 are shown as having an outwardly narrowing trapezoidal shape. These lamellae are advantageously as flexible as the sleeve 6 and are advantageously constructed integrally with the sleeve and therefore consist of the same base material. However, if, for example, the sleeve is deemed too flexible, it can be reinforced by reinforcing sheets 10 that can be arranged on the inner wall of the sleeve. Suitable base materials for manufacturing the sleeve 6 and any lamellae 7 are silicone, polyurethane, and, if present, the reinforcing sheet 10 can be made of Kevlar (registered trademark).

[0051] Support 1 and sleeve 2 Figures 1 to 3 In the unfolded state shown, it encloses an interior space 11a extending from the end face 9 to the rear face 5. The actuator 3 here consists of a suction outlet 13 which is provided on the rear face 5 and opens into the interior space 11a.

[0052] In reference Figure 2In a preferred embodiment, the inner space 11a comprises a bellows 12, which is fastened at both ends to the end face 9 and the rear face 5, and the inner space of the bellows forms a chamber 11b. The suction outlet 13 then opens into the chamber 11b.

[0053] Figures 4 to 6 The device is shown in a partially retracted state of the tool 2, and Figures 7 to 9 The device is shown in a fully retracted state. This is achieved by the device (not shown) sucking the space of the chamber 11b connected to the suction outlet 13. The end face 9 is sunk into the sleeve 6 and by forming a fold ( Figure 5 14 of them, Figure 8 15) to gradually drive the front part of the sleeve 6. When the fold 14 reaches the thin film 7 ring, the thin film ring tilts and closes little by little until the ends of these thin film rings become adjacent (this is in Figures 4 to 6 The ring of sheets 7 then continues to close, with the sheets 7 becoming adjacent or even overlapping by forming a flat surface that is possibly continuous and sealed relative to the outside (this is Figure 5 、 Figure 8 and Figure 9 and these sheets separate the inside of the folded portion of the sleeve 6 by forming an airtight compartment 18. In the embodiment shown, the sleeve 6 is almost completely housed in the internal space of the support 1 and is protected by the support in the fully folded state.

[0054] When the object 19 is to be grasped ( Figure 10 ), with the sleeve 2 in the expanded state, the device approaches the object and gradually draws down the volume of the chamber 11b while maintaining a slight pressure of the sleeve 6 on the object 19. The ring of the sheet 7 closes little by little on the object 19 ( Figure 11 , which means the device is approximately Figures 4 to 6 state), and as the sleeve 6 is folded ( Figure 12 ), the object 19 is gradually brought into the support 1. The object is then naturally retained therein.

[0055] In embodiments where the closed sheet 7 hermetically delimits the compartment 18 , the device shown herein for gripping a solid object 19 may also be used to take samples of powders, liquids or other products.

[0056] Other embodiments of the invention are obviously possible. This is how the suction means constituting the retraction actuator can be activated by the actuator 20 ( Figure 13) instead, one movable end of the actuator is also fastened to the end face 9, and the actuator extends behind the device through the rear face 5. The bellows can advantageously remain associated with the actuator, since it allows retraction of the guide sleeve.

[0057] The tool 2 can be manufactured by molding. Examples of molded components are Figure 14 As shown, it comprises an outer cylindrical body 21, a set of molded segments 22 and a central core 23. The sheets 7 are molded in correspondingly shaped recesses of the molded segments 22, and the sleeve 6 is molded in the space left between the molded segments 22 and the central core 23 when the molded segments 22 and the central core 23 are all placed in the cylindrical body 21. The molded segments 22 and the central core 23 can be manufactured by three-dimensional printing or reverse molding.

[0058] The sheets 7 may be modified to facilitate gripping or hooking of certain classes of objects or products. These sheets may be, for example, Figure 15 ) is provided with a permanent magnet 24, or has ( Figure 16 ) Its face oriented towards the end 9, which face is provided with a recess 25 allowing the liquid product to be sampled.

[0059] Figure 17 The following figures are intended to illustrate a particularly preferred embodiment of the present invention. This embodiment is based on the use of a telescopic mechanism 26 to control the deployment and folding of the sleeve 6. Its opposite ends are secured to the rear face 5 of the support 1 and the end face 9 of the sleeve 6, respectively. The telescopic mechanism consists of concentric tubes 27 that slide into one another in the deployment direction of the sleeve 6. There are five tubes 27 here, designated 27a through 27e from their largest to smallest radius. The outer tube 27a is fixed and effectively part of the support 1; it forms the sheath and is secured at its rear end to the rear face 5. The following three tubes 27b, 27c, and 27d are each intermediate tubes constructed with a cylindrical wall like the outer tube 27a. The inner tube 27e is constructed with a cylindrical wall and a front face 28 in front, to which the front end 9 of the sleeve 6 is secured. The tubes 27b through 27e are movable relative to the support 1. Tubes 27a to 27e are in the deployed state ( Figure 18 ) project forward from one another, and the tubes in the folded state ( Figure 17) are contained within each other, where these tubes touch or nearly touch the rear face 5 of the support 1. A suction nozzle 29, which holds the end of a suction conduit (not shown), can then extend into the hollow portion of the inner tube 27e. As in the previous embodiment, the retraction of the sleeve 6 (simultaneously with the retraction of the telescopic mechanism 26) is accomplished by suctioning the gaseous contents from the interior space 11a through the hole 30 of the nozzle 29. As the outer tube 27a forming the sheath of the support 1 is longer than the other tubes, a greater folded length within the sheath is provided to the sleeve 6 in the folded state.

[0060] The cylindrical wall of the tube 27 ( Figure 19 ) is first provided with a spline 31 oriented in the retraction direction, and the pin 32 of the adjacent tube 27 (here by Figure 20 The corresponding spline 31 has a stop surface 33 at its front end to stop the expansion of the corresponding pin 32 and the tube 27 carrying the pin.

[0061] An important locking system is proposed to ensure the stepped and progressive folding of the telescopic mechanism 26; Figure 20 and Figure 21The operation of the locking system will be better understood. Each of the intermediate tubes 27b, 27c, and 27d is provided with a radial hole 34 extending through the entire thickness of the intermediate tube's cylindrical wall and containing a locking member, such as a ball 35, which is radially movable within the radial hole and has a diameter greater than the thickness of the cylindrical wall. The adjacent outer tube 27 (27a, 27b, or 27c) has a cavity 36 bored into the ball portion, into which the ball 35 can penetrate when it reaches the cavity. Additionally, the adjacent inner tube 27 (27c, 27d, or 27e) includes a cavity 37 within the short slot, which is defined at the front by a straight surface 38 (perpendicular to the retraction direction) and at the rear by an inclined surface 39 (inclined, sloping rearwardly in a radially outward direction). In the deployed state, the balls 35 extend into both the hole 34 and the cavity 36, where they are retained by the adjacent inner tube 27, while the cavity 37 within the short slot is positioned significantly forward. When retraction begins, inner tube 27e first moves rearward on its own until its cavity 37 in the short slot reaches in front of ball 35 housed in adjacent tube 27d. Ball 35 slides out of cavity 36 and into cavity 37 in the short slot. This releases tube 27d from adjacent outer tube 27c and allows it to move rearward along with inner tube 27e, remaining therewith because ball 35 has made contact with straight surface 38. Once ball 35 has descended below cavity 36, it is retained in cavity 37 in the short slot. This process is then repeated for each locking system. In the fully collapsed state of telescoping mechanism 26 and sleeve 6, ball 35 is contained in cavity 37 in the short slot, while in the fully expanded state, ball 35 is contained in cavity 36. The collapse movement always begins with inner tube 27e, whose front surface 28 is subjected to the pressure differential generated by the suction device. The deployment of the telescopic system 26 is kinematically identical but in the opposite direction, that is, the inner tube 27e first drives all the intermediate tubes 27b to 27d until the balls 35 enter successively into the cavities 36 of the adjacent outer tubes 27a to 27c by being pushed in by the ramps 39: the tubes 27b, 27c, 27d and 27e then stop.

[0062] The telescopic mechanism thus provides orderly operation, great stability in both the deployed and folded states, and a certain rigidity in the deployed state to prevent accidental lateral deflection of the sleeve 6. The structure of the telescopic mechanism is simple and robust. Although this approach offers advantages, the telescopic mechanism can be actuated by means other than gas pressure.

Claims

1. A sampling or grabbing device, comprising: a support member (1) having side walls and a rear face (5), and a tool (2) mounted on the support, wherein the tool is deformable, and The tool (2) comprises a sleeve (6) having a side wall, an end face (9) and an edge (8), wherein the side wall of the tool extends between the end face and the edge. wherein the edge (8) is fastened to the support member (1), and in the expanded state of the sleeve, the end face (9) extends away from the support member, in the expanded state, the side wall of the support member (1), the side wall of the sleeve (6), the rear face (5) and the end face (9) enclose an internal space (11a), the internal space extending from the end face (9) to the rear face (5), And the sampling or grabbing device also includes: a sleeve retraction actuator (3) which returns the end surface (9) into the interior space (11a) and folds the side walls of the sleeve (6) into a folded state, Characterized in that the tool further comprises at least one ring of sheets (7), the at least one ring of sheets being attached to the sleeve (6), and wherein the sheets (7) are radially arranged around the sleeve in the unfolded state, wherein, in the folded state, at least one ring of the sheet is surrounded by the side wall of the sleeve (6), and The sampling or grasping device further comprises a retractable guide member (12) for guiding the sleeve to be retracted through the sleeve retraction actuator (3), wherein the retractable guide member (12) extends in the inner space (11a) by being connected at its two opposite ends to the rear face (5) of the support and the end face (9) of the sleeve (6).

2. The sampling or grabbing device according to claim 1, wherein: The support (1) is a sheath in which the sleeve (6) is housed in the folded state, and wherein the rear face (5) is a plate closing the sheath at its rear end.

3. The sampling or grabbing device according to claim 1, wherein: The guide member (12) is a bellows defining a chamber (11b) contained in the interior space (11a).

4. The sampling or grabbing device according to claim 3, wherein: The chamber (11b) is airtight, and wherein the sleeve retraction actuator (3) is a member (13) for pumping the chamber (11b).

5. The sampling or grabbing device according to claim 2, wherein: The guide member (12) is a telescopic mechanism (26) consisting of segments (27) that slide on or in each other and wherein the segments are concentric tubes, an outer tube (27a) of which forms the sheath by being fastened to the rear face (5) of the support and an inner tube (27e) of which is fastened to the end face (9) of the tool (2).

6. The sampling or grabbing device according to claim 5, wherein: The segments (27) of the telescopic mechanism (26) are provided with stoppers (32, 33) for limiting the expansion of the segments relative to adjacent segments.

7. The sampling or grabbing device according to claim 5, wherein: The segments include locks for stopping the unfolding or folding of the segments relative to adjacent segments.

8. The sampling or grabbing device according to claim 7, wherein: The locking members each include: a hole (34) passing through the wall of a first of the segments; a movable element (35) in the hole and having a dimension in the longitudinal direction of the hole greater than the length of the hole; and cavities (36, 37) dug out in the second and third of the segments, the cavities being located in front of opposite ends of the hole during movement, and each cavity having a face (39) that is inclined so as to push the movable element (35) into the hole.

9. The sampling or grabbing device according to claim 1, wherein: The inner space (11a) is airtight, and the sleeve retraction actuator (3) is a member (13) for pumping the inner space (11a).

10. The sampling or grabbing device according to claim 1, wherein: The sleeve comprises an elastomer and a reinforcing sheet (10) for reinforcing the elastomer.

11. The sampling or grabbing device according to claim 1, wherein: At least one loop of the sheet is continuous and sealed in the folded state.

12. The sampling or grabbing device according to claim 1, wherein: The sheet carries means (24) for facilitating access to an object to be sampled or grasped.

13. The sampling or grabbing device according to claim 1, wherein: The sheet is hollow, and one surface faces the end surface in the expanded state.

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