Gripping system

Abstract

The invention relates to a gripping system (4). The gripping system (4) according to the invention comprises a flexible membrane (8) forming a closed deformable enclosure (14) housing a granular material, a first pneumatic device (6) in fluidic communication with the deformable enclosure (14), the first pneumatic device (6) being configured to be able to pressurize or depressurize said deformable enclosure (14), and a gripping device (9). The gripping device (9) comprises a lower support (10), at least two gripping arms (11) extending projecting from the lower support (10), and a gripping member (12) fixed securely to each of at least one gripping arm (11). According to the invention, the flexible membrane (8) is fixed securely to the lower support (10) of the gripping device (9) by means of a fastening element (20). Figure to be published with the abbreviation: Fig. 3

Description

Title of the invention: Gripping system

[0001] The technical context of the present invention is that of gripping objects for the purpose of handling them, in particular gripping objects intended for the automotive industry. More specifically, the invention relates to a gripping system.

[0002] The manufacture of motor vehicles is a largely automated process. Assembly lines, particularly those for assembling components to be integrated into the motor vehicle and those for assembling the motor vehicle itself, rely on automated robots that assist operators in their tasks. In particular, automated robots are useful in handling objects such as large and / or heavy parts, like body panels, especially door panels.

[0003] In the prior art, document FR3 051 701 describes an object gripping device comprising a pneumatic suction cup associated with a membrane. The membrane forms a deformable enclosure containing a granular material, the membrane and the granular material giving this object gripping device controllable plastic characteristics.

[0004] The object gripping device as described in document FR3 051 701 is particularly well-suited for gripping flat objects. The use of the pneumatic suction cup requires that the contact area between the pneumatic suction cup and the flat object be solid. Indeed, to achieve gripping, the suction cup must adhere, thanks to the negative pressure exerted between the pneumatic suction cup and this contact area. This device is therefore not suitable for gripping openwork or perforated objects, for which suction cup adhesion cannot be guaranteed. For gripping objects with a curved shape, it is necessary to preconfigure the object gripping device as described in document FR3 051 701 according to each object. Furthermore, such a gripping device is too bulky for certain applications, such as, for example, handling between stamping presses.

[0005] In the prior art, document FR3098140_Al describes a gripper for lifting and moving a load and an associated method. The gripper comprises at least one gripping tool that can adapt to the surface relief of the object to be gripped. The gripper described in document FR3098140_Al comprises at least one pouch containing a granular material and a fluidizing fluid, pneumatic means for compressing said pouch to change the granular material from a fluid state to a hardened state and vice versa, and at least one gripping tool holder having two ends, the first end of which carries a interface for fixing a gripping tool. The gripper described in document FR3098140_Al is characterized in that at least one gripping tool support is rotationally mounted in an arm and arranged so that its second end is disposed in said pocket containing the granular material and shows a relief suitable for being retained by the granular material when it is in a hardened state so as to prevent the rotation of said support in said arm.

[0006] It is understood that it is advantageous to find alternative solutions to the one described in document FR3098140_Al that are specifically adapted to the constraints associated with gripping an individual automotive part. In particular, it is advantageous to find alternative solutions that allow the gripper to be more compact to meet various uses, including inter-press handling in stamping.

[0007] The present invention aims to propose a new gripping system in order to address at least largely the previous problems and to lead to other advantages.

[0008] Another object of the invention is to propose a compact gripping system, the compactness of which is guaranteed regardless of the configuration adopted by said gripping system.

[0009] Another objective of the invention is to propose a gripping system with better ergonomics compared to existing gripping systems.

[0010] Another object of the invention is to provide a reusable gripping system for a large number of work cycles.

[0011] Another object of the invention is to provide a gripping system suitable for use during inter-press stamping handling.

[0012] Another object of the invention is to provide a gripping system that is reliable in its operation.

[0013] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with a gripping system comprising: (I) a flexible membrane forming a closed deformable enclosure housing a granular material; (II) a first pneumatic device in fluidic communication with the deformable enclosure, the first pneumatic device being configured to be able to pressurize or depressurize said deformable enclosure; (III) a gripping device comprising: (i) a lower support; (ii) at least two gripping arms extending projecting from the lower support; and (iii) a gripping member fixed securely to each at least one gripping arm; characterized in that the flexible membrane is fixed securely to the lower support of the gripping device by means of a fastening element.

[0014] In the gripping system according to the first aspect of the invention, the membrane forms a deformable enclosure, in that it is configured to be able to modify the shape of the enclosure delimited by said membrane. The membrane is flexible, that is to say, deformable, or even elastically stretchable. When the deformable enclosure is filled with any material, the membrane is under tension, and when the membrane is emptied, it retracts upon itself.

[0015] In the gripping system according to the first aspect of the invention, the granular material housed in the deformable enclosure is a fragmented material, comprising a plurality of fragments such as grains, beads, or sand. The small fragments may, for example, be of the same type or be of a heterogeneous type. The granular material may, for example, include a synthetic material. The granular material is characterized by the size of its fragments, the value of which falls within a given particle size range.

[0016] In the gripping system according to the first aspect of the invention, the first pneumatic device is configured to be able to pressurize or depressurize said deformable chamber. To do this, it is configured to be able to inject or expel a fluid such as, for example, a gas. For example, the first pneumatic device includes a pump to control the injection or expulsion of gas into the membrane. By the pressurization / depressurization effect imposed by the first pneumatic device, the tension exerted on the membrane varies; it stretches and relaxes, or even contracts, respectively, and consequently the deformable chamber deforms. For example, the deformable chamber is said to be "pressurized" when it contains a first quantity of gas imposing a first pressure within the deformable chamber.When a second quantity of gas, smaller than the first, imposes a second pressure lower than the first pressure within the deformable chamber, then the deformable chamber is said to be "depressurized." Advantageously, the gas is air. The combination of the membrane, the granular material, and the first pneumatic device allows for flexibility or rigidity and a variety of positioning options for the gripping system.

[0017] In the gripping system according to the first aspect of the invention, the gripping device comprises the lower support, at least two gripping arms extending projecting from the lower support, and the gripping member fixed rigidly to each of at least one gripping arm. The lower support supports the at least two gripping arms. It is understood that each gripping member is offset from the flexible membrane by means of each of the gripping arms. Each of the gripping members is intended for gripping objects. With at least two gripping arms extending projecting from the The lower support, the gripping system conforming to the first aspect of the invention, is adapted for gripping objects of various shapes. The gripping of these objects is also secure, with at least two gripping arms. Advantageously, each gripping member is designed to grip an object simultaneously with each other gripping member.

[0018] In the gripping system according to the first aspect of the invention and in accordance with the invention, the flexible membrane is fixed securely to the lower support of the gripping device by means of a fastening element.

[0019] Such a gripping system, equipped with a gripping device in which each gripping member is offset from the flexible membrane, is a compact and easy-to-implement system for gripping objects. The gripping system according to the invention has the advantage of overcoming the aforementioned drawbacks. In particular, the invention solves the aforementioned space constraint problem. The invention is particularly well-suited to gripping objects in the context of inter-press handling during stamping.

[0020] The gripping system according to the first aspect of the invention advantageously comprises at least one of the following improvements, the technical characteristics forming these improvements being able to be taken alone or in combination:

[0021] - the flexible membrane has a non-spherical shape. More specifically, the The flexible membrane has a teardrop shape. This shape promotes a reduced footprint for the gripping system according to the invention. For the same volume, such a shape is less bulky than a spherical flexible membrane;

[0022] - the flexible membrane is open on the side of the lower support. It is through this opening where the flexible membrane is fixed to the lower support;

[0023] - the lower support comprises, at the level of an upper face located opposite of the flexible membrane, a collar designed to be housed within the flexible membrane when the flexible membrane is fixed to and against the lower support, resting against the collar, the collar forming a fixing element of the flexible membrane to the lower support. Such a fixing element secures the flexible membrane to the lower support. Such a fixing element promotes a seal of the flexible membrane. Such a fixing element allows the granular material to remain housed within the enclosure delimited by the flexible membrane;

[0024] - the collar forms, at the level of the upper face of the lower support, a contour closed circular. In this configuration, the collar ensures a homogeneous distribution of forces relative to the flexible membrane;

[0025] - the collar extends projecting from the upper face of the lower support, and forms an undercut vis-à-vis the flexible membrane bearing against said collar. Such a collar improves the sealing of the flexible membrane. Such a collar helps to keep the granular material contained within the enclosure delimited by the flexible membrane;

[0026] - the fastening element includes a clamp for the flexible membrane against the collar. The clamping collar allows the flexible membrane to be held in place against the collar;

[0027] - the clamp is attached to the lower support, so as to maintain the flexible membrane, at the level of its opening, in contact between the collar and said clamping collar;

[0028] - the gripping system includes a fastening element intended to allow the The invention involves attaching the gripping system to an articulated arm of a robotic manipulator. The attachment element is housed within the flexible membrane, at a distal end of the membrane's mounting bracket on the lower support. The attachment element of the gripping system according to the invention allows the gripping system to be securely fixed to the articulated arm of the robotic manipulator. The flexible membrane comprises two ends: one end fixed to the lower support by means of the mounting bracket, and the other, distal end, located distal to the lower support and intended to be fixed to the articulated arm by means of the attachment element. It is understood that the robotic manipulator can manipulate an object by securely fixing it, using the gripping system according to the first aspect of the invention, and by moving it using the articulated arm of said robotic manipulator.In this configuration, the gripping system, when attached to the manipulator robot, gains in ease of movement;

[0029] - the gripping system includes a first anti-rotation element configured for to reduce torsion of the flexible membrane with respect to a torsion axis that extends perpendicularly to the upper face of the lower support. Such a configuration facilitates the gripping of objects with an offset center of gravity;

[0030] - the first anti-rotation element comprises a plurality of first ribs formed on the flexible membrane and / or on the fastening element. The ribs are configured to improve the reduction of torsion of the flexible membrane with respect to the torsion axis. More specifically, the first anti-rotation element comprises a plurality of first ribs formed on an outer face of the flexible membrane. Optionally, in a complementary or alternative manner, the first anti-rotation element comprises a plurality of first ribs formed on an inner face of the flexible membrane;

[0031] - the first ribs are located on the side of the fastening member and / or on the side of the lower support;

[0032] - when the gripping system includes a first anti-rotation element Configured to reduce torsion of the flexible membrane about a torsion axis extending perpendicularly to the upper face of the lower support, the gripping system includes a second anti-rotation element configured to reduce rotation of the flexible membrane about the lower support and relative to the torsion axis. Such a configuration facilitates the gripping of objects with an offset center of gravity;

[0033] - the second anti-rotation element comprises a plurality of second ribs which extend outward from the collar and in the direction of the torsion axis. The plurality of second ribs is configured to improve the reduction of the rotation of the flexible membrane with respect to the lower support and relative to the torsion axis;

[0034] - the gripping arms of the gripping device are angularly regular distributed around the lower support. By angularly regularly distributed, we understand that the gripping arms of the gripping device are arranged around the periphery of the lower support at regular intervals. For example, three gripping arms are arranged at 120°, plus or minus 5%, from each other;

[0035] - The gripping organ is of the magnetic type. Such a gripping organ allows a metal part of the object to be handled to be securely fixed if it is located near or even in contact with the gripping system;

[0036] - the gripping organ is of the suction cup type, the gripping device comprising a second pneumatic device in fluidic communication with each gripping member, the second pneumatic device being configured to be able to pressurize or depressurize each gripping member. The second pneumatic device allows the gripping of each gripping member to be alternately activated and deactivated;

[0037] - the second pneumatic device comprises a network of fluidic conduits connecting each grasping organ, the fluidic conduits extending through each grasping arm.

[0038] According to a second aspect of the invention, an object manipulator robot is proposed comprising: (i) an articulated arm; (ii) a gripping system conforming to the first aspect of the invention or to any one of its improvements and fixed to said articulated arm; (iii) a pressurization unit in fluidic communication with the first pneumatic device in order to control a pressure of the flexible membrane of the gripping system and / or of each gripping member of the gripping device.

[0039] The object manipulating robot according to the second aspect of the invention is configured to assist operators in their assembly tasks, in particular in an assembly line making use of the object to be manipulated. The object-manipulating robot according to the second aspect of the invention is advantageously automated, in whole or in part. The object-manipulating robot according to the second aspect of the invention allows the object to be handled by securing said object firmly using the gripping system according to the first aspect of the invention, and moving it using the articulated arm.

[0040] In an object-manipulating robot according to the second aspect of the invention, the pressurization unit is advantageously pneumatic. The first pneumatic device of the gripping system according to the first aspect of the invention is controlled via the pressurization unit.

[0041] In an object-manipulating robot according to the second aspect of the invention, the first pneumatic device is in fluidic communication with the pressurization unit so that the first pneumatic device can pressurize or, optionally, depressurize the deformable housing of the gripping system according to the first aspect of the invention. To this end, the first pneumatic device is in fluidic communication with a fluid injection pump included in the pressurization unit. The fluid injection pump is configured to inject the fluid into the deformable housing of the gripping system according to the first aspect of the invention. The pressurization unit also includes a vacuum pump, separate from or integrated with the fluid injection pump.

[0042] In an object-manipulating robot according to the second aspect of the invention, the articulated arm is fixed rigidly to the gripping system according to the first aspect of the invention. Advantageously, the attachment is removable, in that said articulated arm and said gripping system can be detached from and reattached to each other. Thus, different types of gripping systems according to the first aspect of the invention can be attached to the articulated arm of the object-manipulating robot according to the second aspect of the invention, which further increases the versatility of said object-manipulating robot. Generally speaking, the gripping system according to the first aspect of the invention can be attached to the articulated arm by any detachable fastening means.

[0043] In an object-manipulating robot according to the second aspect of the invention, the articulated arm allows the grasping system according to the first aspect of the invention to be oriented. The articulated arm comprises a plurality of actuators and movable joints to enable the object-manipulating robot to perform complex movements. The movements of the object-manipulating robot are controlled by a control unit that allows each of the movable joints and actuators of said object-manipulating robot to be selectively controlled.

[0044] In an object-manipulating robot conforming to the second aspect of the invention, the articulated arm is preferably articulated in three dimensions. Thus, during its In implementation, the object manipulator robot according to the second aspect of the invention can move the object to be manipulated, including the metal part, from an initial support point to a destination point, by lifting it.

[0045] In an object-manipulating robot according to the second aspect of the invention, the pressurization unit is advantageously in fluidic communication with the second pneumatic device. Thus, the second pneumatic device makes it possible to control the fluid pressure in each gripping member.

[0046] According to a third aspect of the invention, a method for manipulating objects using an object-manipulating robot is proposed according to the second aspect of the invention, the object-manipulation method comprising the following steps: (i) a step of pressurizing the deformable housing of the gripping system in order to make said deformable housing flexible; (ii) a step of approaching the gripping system towards an object to be manipulated; (iii) a step of bringing the gripping system into contact with the object to be manipulated and during which each gripping member comes into contact with the object to be manipulated; (iv) a step of coupling between the object to be manipulated and each gripping member; (v) a step of depressurizing the deformable housing of the gripping system in order to make said deformable housing rigid; (vi) a step of moving the object to be manipulated by means of the robot and the gripping system.

[0047] As mentioned previously, the pressurization step of the deformable chamber of the gripping system makes said deformable chamber flexible. The membrane is filled with fluid during this step. The fluid injection is carried out by the first pneumatic device of the gripping system according to the first aspect of the invention. In particular, the pneumatic unit injects the fluid via its gas injection pump, which is in fluidic communication with the first pneumatic device of the gripping system according to the first aspect of the invention. The fluid within the deformable chamber then allows for internal mobility of the granular material housed within the chamber.

[0048] The approach step of the gripping system towards an object to be manipulated allows the gripping system to be close to, or even in contact with, the object to be manipulated. The approach step is performed by the articulated arm. Conversely, a recoil step of the gripping system away from the object to be manipulated allows the gripping system to move away from the object to be manipulated, via the articulated arm.

[0049] The step of bringing the gripping system into contact with the object to be manipulated is intended to facilitate coupling between the object to be manipulated and each gripping element. In particular, when the gripping element is of the magnetic type, the gripping element is brought into contact with a metallic part of the object to be manipulated.

[0050] The coupling step between the object to be manipulated and each gripping member allows the object and the gripping system according to the first aspect of the invention to be securely fixed by means of each permanent gripping member. When the gripping member is magnetic, it is securely fixed to a metal part of the object to be manipulated that is positioned in contact with the gripping system. When the gripping member is suction cup type, the second pneumatic device, in fluidic communication with each gripping member via the network of fluidic conduits, pressurizes each gripping member to activate the gripping of the object by each gripping member.

[0051] The depressurization step of the deformable housing of the gripping system makes said deformable housing rigid. The fluid is evacuated from the deformable housing during this step in order to prevent internal movement of the granular material within the deformable housing, thus making the latter solid.

[0052] The depressurization step of the deformable housing of the gripping system preferably takes place when the gripping system is coupled to the object to be manipulated. The object to be manipulated, associated with the gripping system according to the first aspect of the invention, can then be moved via the movement of the robot's articulated arm.

[0053] The step of moving the object to be manipulated by means of the robot and the gripping system allows the object to be moved from its initial support point to its destination point.

[0054] Various embodiments of the invention are provided, incorporating, according to all their possible combinations, the different optional features set out here.

[0055] Other features and advantages of the invention will become apparent from the following description on the one hand, and from several illustrative and non-limiting examples of embodiments given with reference to the accompanying schematic drawings on the other hand, in which:

[0056] [Fig-1] schematically illustrates an object-manipulating robot conforming to second aspect of the invention and comprising a gripping system conforming to the first aspect of the invention;

[0057] [Fig.2] schematically illustrates the gripping system conforming to the first aspect of the invention shown in [Fig.1], seen from above;

[0058] [Fig.3] schematically illustrates the gripping system conforming to the first aspect of the invention shown in [Fig.2], seen in section;

[0059] [Fig.4] illustrates a cross-sectional view of the gripping system conforming to the first aspect of the invention presented in [Fig.2], when subjected to a first pressurization value;

[0060] [Fig.5] illustrates a cross-sectional view of the gripping system conforming to the first aspect of the invention presented in [Fig.2], when subjected to a first value of pressurization;

[0061] [Fig.6] illustrates a method of manipulating objects in accordance with the third aspect of the invention.

[0062] Of course, the features, variants, and different embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. In particular, variants of the invention may be conceived comprising only a selection of features, described hereafter in isolation from the other described features, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0063] In particular, all the variants and all the embodiments described are combinable with each other if nothing prevents this combination from a technical point of view.

[0064] In the figures, the elements common to several figures retain the same reference.

[0065] [Fig. 1] illustrates an object manipulator robot 1, configured to manipulate an object 3. The object manipulator robot 1 comprises an articulated arm 2, a gripping system 4 conforming to the first aspect of the invention and fixed to the articulated arm 2, and a pressurization unit 5 in fluidic communication with a first pneumatic device 6 of the gripping system 4, via a fluidic connection 7.

[0066] Figures 2 and 3 schematically illustrate the gripping system 4 according to the first aspect of the invention shown in [Fig. 1]. The gripping system 4 is viewed from above in [Fig. 2], and viewed along a longitudinal section AA in [Fig. 3]. The longitudinal section AA is shown in [Fig. 2].

[0067] FIGURES 2 and 3 show that the gripping system 4 comprises the first pneumatic device 6, a flexible membrane 8 and a gripping device 9.

[0068] Figure 3 shows that the gripping device 9 comprises a lower support 10, at least two gripping arms 11, one of which is shown in Figure 3 as projecting from the lower support 10, and a gripping member 12 fixed rigidly to each of at least one gripping arm 11. In this case, Figure 2 shows that the gripping device 9 comprises three gripping arms 11 distributed angularly and regularly around the lower support 10. In this case, the FIGURES 2 and 3 show that each grasping organ 12 is of the suction cup type 13.

[0069] Figure 3 shows that the flexible membrane 8 forms a closed, deformable enclosure 14 for housing a granular material 15, as shown in Figures 4 and 5. Figure 3 shows that the flexible membrane 8 has a non-spherical shape. More specifically, the flexible membrane 8 has a teardrop shape. The flexible membrane 8 includes an opening 16 on the side of the lower support 10. It is through this opening 16 that it is fixed to the lower support 10. The flexible membrane 8 includes an inner face 17, delimiting the deformable enclosure 14, opposite an outer face 18.

[0070] Fig. 3 shows that the first pneumatic device 6 is in fluidic communication with the deformable enclosure 14 via a fluidic channel 19 of the first pneumatic device 6 in order to be able to pressurize or depressurize said deformable enclosure 14.

[0071] Fig. 3 shows that, according to the invention, the flexible membrane 8 is fixed securely to the lower support 10 of the gripping device 9 by means of a fastening element 20.

[0072] Figure 3 shows that, in the gripping device 9, the lower support 10 has an upper face 21 located opposite the flexible membrane 8, and a lower face 22 opposite the upper face 21. The upper face 21 of the lower support 10 includes a collar 22 housed in the flexible membrane 8. The collar 22 forms the fixing element 20 of the flexible membrane 8 on the lower support 10. The flexible membrane 8 is fixed on and against the lower support 10, bearing against the collar 22. The collar 22 forms, at the level of the upper face 21 of the lower support 10, a closed circular contour. Fig. 3 shows that the collar 22 extends outward from the upper face 21 of the lower support 10, and forms an undercut in relation to the flexible membrane 8 bearing against said collar 22.

[0073] Fig. 2 shows that the gripping system 4 includes a fastening member 23 intended to allow the gripping system 4 to be fixed to the articulated arm 2 of the manipulator robot 1. Fig. 3 shows that the fastening member 23 is housed in the flexible membrane 8, at a distal end 24 of the fastening element 20 of said flexible membrane 8 on the lower support 10.

[0074] Figure 3 shows that the gripping system 4 according to the invention comprises a first anti-rotation element 25 and a second anti-rotation element 26. The first anti-rotation element 25 is configured to reduce torsion of the flexible membrane 8 about a torsion axis 27 extending perpendicularly to the upper face 21 of the lower support 10. The first anti-rotation element 25 comprises a plurality of first ribs 28 formed on the fastening member 23. The second element anti-rotation 26 is configured to allow a reduction of rotation of the flexible membrane 8 with respect to the lower support 10 and relative to the torsion axis 27. The second anti-rotation element 26 has a plurality of second ribs 29 which extend in projection from the collar 22 and in the direction of the torsion axis 27.

[0075] FIGURES 4 and 5 illustrate cross-sectional views of the gripping system 4 conforming to the first aspect of the invention presented in [Fig.2] according to the longitudinal section AA.

[0076] FIGURES 4 and 5 show that a second pneumatic device 30, configured to be able to pressurize or depressurize each gripping member 12, is in fluidic communication with each gripping member 12. Fluidic conduits 40, included in a network of the second pneumatic device 30, extend through each gripping arm 11 and put the second pneumatic device 30 in communication with each gripping member 12.

[0077] In [Fig. 4], the gripping system 4 is subjected to a first pressurization value of 400. In [Fig. 4], the gripping system 4 is shown after a pressurization step of the deformable chamber 14 of the gripping system 4, which has made said deformable chamber 14 flexible. In [Fig. 5], the gripping system 4 is subjected to a second pressurization value of 500. In [Fig. 5], the gripping system 4 is shown after a depressurization step of the deformable chamber 14 of the gripping system 4, which has made said deformable chamber 14 rigid.

[0078] In [Fig. 4], the deformable enclosure 14 is filled with a fluid 31. Fluid 31 is injected by the first pneumatic device 6 of the gripping system 4 according to the first aspect of the invention, as shown by an arrow 401. The fluid 31 in the deformable enclosure 14 allows for internal mobility of the granular material 15 housed within the deformable enclosure 14, the granular material 15 being dispersed. In [Fig. 5], the fluid 31 has been evacuated from the deformable enclosure 14. The granular material 15 in the deformable enclosure 14 is now immobile and compacted, rendering the flexible membrane 8, which collapses upon itself, solid.

[0079] Figure 6 illustrates, by way of a flowchart, a method 600 for manipulating objects 3 according to the third aspect of the invention. In this method 600 for manipulating objects 3, the following steps are carried out successively: (i) the pressurization step 601 of the deformable housing 14 of the gripping system 4 in order to make said deformable housing 14 flexible; (ii) an approach step 602 of the gripping system 4 towards the object 3 to be manipulated; (iii) a contact step 603 of the gripping system 4 with the object 3 to be manipulated, during which each gripping member 12 comes into contact with the object 3 to be manipulated; (iv) a coupling step 604 between the object 3 to be manipulated and each gripping member 12; (v) the depressurization step 605 of the deformable enclosure 14 of the gripping system 4 in order to make said deformable enclosure 14 rigid; (vi) a displacement step 606 of the object 3 to be manipulated by means of the manipulator robot 1 and the gripping system 4.

[0080] In summary, the invention relates to a gripping system 4. The gripping system 4 according to the invention comprises a flexible membrane 8 forming a closed deformable enclosure 14 housing a granular material 15, a first pneumatic device 6 in fluidic communication with the deformable enclosure 14, the first pneumatic device 6 being configured to be able to pressurize or depressurize said deformable enclosure 14, a gripping device 9. The gripping device 9 comprises a lower support 10, at least two gripping arms 11 extending projecting from the lower support 10 and a gripping member 12 fixed securely to each at least one gripping arm 11. According to the invention, the flexible membrane 8 is fixed securely to the lower support 10 of the gripping device 9 by means of a fastening element 20.

[0081] Of course, the invention is not limited to the examples just described, and many modifications can be made to these examples without departing from the scope of the invention. In particular, the various features, forms, variants, and embodiments of the invention can be combined with one another in various ways, provided they are not incompatible or mutually exclusive. In particular, all the variants and embodiments described above are combinable with each other.

Claims

Demands

1. A gripping system (4) comprising: - a flexible membrane (8) forming a closed deformable enclosure (14) housing a granular material (15); - a first pneumatic device (6) in fluidic communication with the deformable enclosure (14), the first pneumatic device (6) being configured to be able to pressurize or depressurize said deformable enclosure (14); - a gripping device (9) comprising: - a lower support (10); - at least two gripping arms (11) projecting from the lower support (10); and - a gripping member (12) fixed integrally to each at least one gripping arm (11); the flexible membrane (8) being fixed integrally to the lower support (10) of the gripping device (9) by means of a fastening element (20),characterized in that the gripping system (4) comprises a first anti-rotation element (25) configured to reduce torsion of the flexible membrane (8) about a torsion axis (27) extending perpendicularly to the upper face (21) of the lower support (10), the first anti-rotation element (25) comprising a plurality of first ribs (28) formed on the flexible membrane (8) and / or on the fastening member (23), the gripping system (4) comprising a second anti-rotation element (26) configured to reduce rotation of the flexible membrane (8) about the lower support (10) and relative to the torsion axis (27), the second anti-rotation element (26) comprising a plurality of second ribs (29) extending projecting from the collar (22) and in the direction of the torsion axis (27).

2. Gripping system (4) according to the preceding claim, wherein the lower support (10) has, at an upper face (21) located opposite the flexible membrane (8), a collar (22) intended to be housed in the flexible membrane (8) when the flexible membrane (8) is fixed on and against the lower support (10), resting against the collar (22), the collar (22) forming a fixing element (20) of the flexible membrane (8) on the lower support (10).

3. Gripping system (4) according to the preceding claim, wherein the fastening element (20) comprises a clamping collar for the flexible membrane (8) against the collar (22).

4. Gripping system (4) according to any one of the preceding claims, wherein the gripping system (4) comprises a fastening member (23) for enabling the gripping system (4) to be fixed to an articulated arm (2) of a manipulator robot (1), the fastening member (23) being housed in the flexible membrane (8), at a distal end (24) of the fastening element (20) of said flexible membrane (8) on the lower support (10).

5. Gripping system (4) according to any one of the preceding claims, wherein the gripping member (12) is of the type of a suction cup (13), the gripping device (9) comprising a second pneumatic device (30) in fluidic communication with each gripping member (12), the second pneumatic device (30) being configured to be able to pressurize or depressurize each gripping member (12).

6. Object manipulator robot (1) comprising: - an articulated arm (2); - a gripping system (4) according to any one of the preceding claims and fixed to said articulated arm (2); - a pressurization unit (5) in fluidic communication with the first pneumatic device (6) in order to control a pressure of the flexible membrane (8) of the gripping system (4) and / or of each gripping member (12) of the gripping device (9).

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