Gripper, system and method for inserting an object into a rail, and robot equipped with such a gripper

Abstract

Gripper, system and method for inserting an object into a rail and robot equipped with such a gripper. Gripper for inserting an object (2) into a hollow rail (3) having two wings (5, 6) defining an opening (7) at one end of the rail, the two wings (5, 6) respectively comprising two edges (71, 72) defining a longitudinal slot (70) in the rail, the gripper comprising two jaws (14, 15), and a guide (16) configured for positioning the object (2) relative to the rail, the guide (16) comprising first and second contact surfaces (17, 18) intended to be in contact, alternately, respectively with the two edges (71, 72) in order to adjust a relative position of the object (2) with respect to the opening (7) in the rail along a first axis (X), the guide (16) comprising a bearing surface (19) intended to be in contact with the rail in order to position the object (2) along the first axis (X) and along a second axis (Y) perpendicular to the first axis (X).Figure for the abridged version: Fig.1.

Description

Title of the invention: Gripper, system and method for inserting an object into a rail and robot equipped with such a gripper Technical field

[0001] The present invention relates to the insertion of an object into a rail, and in particular a hollow rail provided with a longitudinal slot. STATE OF THE ART

[0002] Currently, objects are inserted into rails in various industrial applications, such as the food industry, assembly lines, for example for the automobile industry. Hollow rails, such as guide rails, are also used in the manufacture of curtain systems. For example, food bags can be inserted into a plastic rail; for example, to transport several bags held together by the rail. The rail is provided with two wings defining an opening at one end of the rail and the two wings respectively comprise two edges extending longitudinally along the rail and defining a longitudinal slot in the rail. The bag comprises an end piece, generally provided with a collar, adapted to be inserted into the rail, in particular into the longitudinal slot, through the opening in the rail, so that the collar bears against the two wings, inside the rail.The longitudinal slot acts as a slide to allow the bags to move within the rail. Thus, the bags cannot exit the rail through the longitudinal slot, but only through the opening in the rail through which they were introduced. But the insertion of the food bags is carried out manually, which results in additional labor costs and longer cycle times to complete this task.

[0003] A "gully" can be used at the rail entrance to facilitate insertion and reduce cycle times. A gully is a mechanical part acting as a funnel, which makes it possible to increase the tolerance for the positioning of the object during insertion. This type of solution poses the problem of the shape of the gully, which generally does not allow for obtaining positioning tolerance according to all the degrees of freedom required among the six possible degrees, and also the problem of dealing with the placement and removal of the gully on the rail. In general, either the object to be inserted or the insertion rail is modified in order to provide a more suitable geometry to facilitate the insertion of objects within a rail.

[0004] There are custom-made automated production lines. These lines are generally very expensive, requiring many sensors and actuators assembled in machines designed specifically for a type of product. This type of This solution is not always applicable, however, either due to prohibitive costs or technical infeasibility. Another limitation to this approach is the low reconfigurability of the production line. The latter is rarely able to process multiple variants of objects to be inserted, let alone adapt to future unknown references. For example, there may be dozens of different pocket references, of varying size and mechanical properties, which complicates the implementation of such automated production lines.

[0005] There are also robots having an arm equipped with an articulated gripper, but performing operations to insert an object into a rail often requires submillimeter precision, which imposes constraints on the hardware. In particular, the robot must be precise and the programming of the insertion task, as well as the data provided to the robot, must be sufficiently precise. These requirements can make the deployment of such an operation long, costly and uncertain. The state of the art in industrial robotics consists of exploiting the high precision performance of industrial robots of the manipulator arm type, which makes it possible to perform many specific tasks with submillimeter precision. However, in the general case of handling and assembly tasks, the precision of the system is directly linked to its ability to locate and grasp the manipulated parts with the required precision.This constraint can become an obstacle to automation, for example when the position of objects is not precisely known, or when they are deformable.

[0006] There are, in addition, robots with manipulator arms equipped with a localization system (generally by camera vision). But these camera localization systems bring positioning uncertainty, require dedicated calibration, and the capture itself is also a source of inaccuracy. This quickly results in a few millimeters of inaccuracy, making the insertion task impossible despite the high intrinsic precision of the robot. Furthermore, given these inaccuracies, it is generally necessary to implement visual servoing to satisfactorily exploit a camera localization system for this type of application. Visual servoing is an approach that is generally expensive to implement, and considerably lengthens cycle times due to the limited refresh rate of the vision algorithms used.These robots are therefore expensive, lengthen cycle times, lead to development difficulties and uncertainties about the robustness of the insertion process.

[0007] Precision recovery is generally done with methods involving additional sensors and dedicated control laws, for example visual registration, force registration on the insertion site with dedicated algorithms.

[0008] An object of the invention is therefore to overcome the various aforementioned drawbacks, and more particularly to provide automated means for inserting an object within of a rail.

[0009] Another object is to provide means sufficiently precise to ensure the successful insertion of the objects.

[0010] Another object is to provide means for increasing insertion rates, for reducing costs, by providing simple and robust means, or for gaining versatility by providing means adapted to different types of objects and / or rails.

[0011] Other objects, features and advantages of the present invention will become apparent from the following description and accompanying drawings. It is understood that other advantages may be incorporated. SUMMARY

[0012] To achieve this objective, a clamp is proposed for inserting an object into a hollow rail provided with two wings delimiting an opening at one end of the rail, the two wings respectively comprising two edges extending longitudinally along the rail and delimiting a longitudinal slot of the rail, the clamp comprising two jaws configured to grip an object, at least one jaw comprising at least one guide configured to position the object relative to the rail, said at least one guide comprising first and second contact surfaces intended to be in contact, alternately, respectively with the two edges in order to adjust a relative position of the object with respect to the opening of the rail along a first axis, said at least one guide comprising a bearing surface intended to be in contact with the rail in order to position the object along the first axis and along a second axis perpendicular to the first axis.

[0013] A clamp is thus provided allowing mechanical re-centering for the insertion of objects into a rail. A guide is a mechanical guide allowing a re-alignment of the jaw relative to the rail, that is to say a positioning by successive movements, of the clamp relative to the rail. The re-alignment corresponds to a repositioning, a deterministic positioning, a constrained positioning, or a guided positioning, of the jaw relative to the rail. Thus, when the jaw grips the object, the object is held by the clamp, and the guide allows a re-alignment of the object relative to the opening of the rail. The clamp is sufficiently precise and makes it possible to facilitate the insertion of the object in order to automate it. Such a clamp is particularly suitable for being manipulated by a robot in order to automate the insertion task. The clamp also makes it possible to correct errors in the positioning of the object relative to the rail.The contact and support surfaces of a guide make it possible to compensate for inaccuracies in the positioning of the object, with regard to the different degrees of freedom of movement of the clamp.

[0014] According to another aspect, there is provided a robot comprising a gripper as defined above.

[0015] According to another aspect, there is provided a system comprising a robot as defined above and a hollow rail provided with two wings delimiting an opening at one end of the rail, the two wings respectively comprising two edges extending longitudinally along the rail and delimiting a longitudinal slot of the rail.

[0016] According to another aspect, there is provided a method of inserting an object into a hollow rail provided with two wings delimiting an opening at one end of the rail, the two wings respectively comprising two edges extending longitudinally along the rail and delimiting a longitudinal slot of the rail, the method comprising: - a supply of a clamp provided with two jaws configured to grip an object, at least one jaw comprising at least one guide configured to position the object relative to the rail, said at least one guide comprising first and second contact surfaces and a support surface; - a movement of said at least one jaw relative to the rail to bring the first and second contact surfaces into contact, alternately, respectively with the two edges in order to adjust a relative position of the object relative to the opening of the rail along a first axis; and - bringing the support surface into contact with the rail in order to position the object along the first axis and along a second axis perpendicular to the first axis. BRIEF DESCRIPTION OF THE FIGURES

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[0026] The aims, objects, as well as the characteristics and advantages of the invention will emerge more clearly from the detailed description of an embodiment thereof which is illustrated by the following accompanying drawings in which: [Fig.l] [Fig.l] schematically represents a perspective view of one embodiment of a clamp in an open position; [Fig.2] [Fig.2] schematically represents a perspective view of the clamp illustrated in [Fig.l], in a closed position; and [Fig.3] ; [Fig.4] ; [Fig.5] ; [Fig.6] ; [Fig.7] ; [Fig.8] Figures 3 to 8 schematically represent the main stages of implementing a method of inserting an object into a rail. The drawings are given as examples and are not limiting of the invention. They constitute schematic representations of principle intended to facilitate understanding of the invention and are not necessarily on the scale of practical applications. DETAILED DESCRIPTION

[0027] Before beginning a detailed review of embodiments and implementations of the invention, optional features which may possibly be used in combination or alternatively are set out below.

[0028] According to one example, the first and second contact surfaces are located projecting from the support surface.

[0029] According to one example, the first and second contact surfaces flare towards the bearing surface.

[0030] According to one example, the first and second contact surfaces meet by a ridge line.

[0031] According to one example, one of the rail and the clamp comprises relative mobility of one with respect to the other.

[0032] According to one example, the first and second contact surfaces are configured to adjust the relative position of the object with respect to the opening of the rail along the first axis when said at least one jaw moves with respect to the rail along the second axis.

[0033] According to one example, the rail is movably mounted on a rail support.

[0034] According to one example, said at least one guide comprises third and fourth contact surfaces connecting the bearing surface with the first and second contact surfaces respectively, the third and fourth contact surfaces being intended to be in contact, alternately, with the two edges respectively in order to maintain the relative position of the object with respect to the opening of the rail along the first axis.

[0035] According to one example, the third and fourth contact surfaces are intended to be in contact, alternately, with the two edges respectively in order to maintain a relative angular position of the object with respect to the longitudinal slot of the rail along the second axis.

[0036] According to one example, said at least one guide comprises fifth and sixth contact surfaces intended to be in contact, alternately, respectively with the two edges in order to adjust the relative position of the object with respect to the opening of the rail along the first axis when said at least one jaw moves with respect to the rail along a third axis perpendicular to the first and second axes.

[0037] According to one example, said at least one guide is removably mounted on said at least a jaw.

[0038] According to one example, the two jaws respectively comprise two support surfaces intended to form an additional bearing surface when the two jaws are in a closed position, the additional bearing surface being intended to be in contact with a collar of an end piece of the object in order to adjust a relative position of the object with respect to the two jaws. Such a clamp improves the precision of the position of the object with respect to the jaws, making it possible to greatly reduce uncertainties during a preliminary gripping step of the object. The guide thus makes it possible to guarantee the successful insertion of the object into the rail.

[0039] According to one example, the bearing surface is located at a distance from the support surface of said at least one jaw, the distance being greater than or equal to a thickness of the collar, the distance being measured along a reference axis perpendicular to the bearing surface.

[0040] According to one example, the clamp comprises two branches movable relative to each other, and in which said at least one jaw is mounted movable on one of the two branches, in translation along first and second reference axes inclined to each other at an angle of between 45° and 135°.

[0041] According to one example, the robot comprises means for modifying a position of the gripper upon receipt of contact information of said at least one guide with the rail.

[0042] According to one example, the robot comprises an arm on which the gripper is mounted to move relative to the arm.

[0043] According to one example, during movement, one of the rail and the clamp has relative mobility of one with respect to the other.

[0044] According to one example, the movement comprises a movement of said at least one jaw relative to the rail along the second axis.

[0045] According to one example, said at least one guide comprises third and fourth contact surfaces connecting the bearing surface with the first and second contact surfaces respectively, and the movement comprises contact of the third and fourth contact surfaces, alternately, with the two edges respectively in order to maintain the relative position of the object with respect to the opening of the rail along the first axis.

[0046] According to one example, the movement comprises maintaining a relative angular position of the object with respect to the longitudinal slot of the rail along the second axis.

[0047] According to an example, said at least one guide comprises fifth and sixth contact surfaces, and the displacement comprises contact of the fifth and sixth contact surfaces, alternately, respectively with the two edges in order to adjust the relative position of the object with respect to the opening of the rail according to the first axis when said at least one jaw is moved with respect to the rail according to a third axis perpendicular to the first and second axes.

[0048] According to one example, the method comprises, after contacting, a translation of said at least one jaw relative to the rail along the third axis to insert the object into the rail.

[0049] According to one example, the two jaws respectively comprise two support surfaces, and the method comprises, before the movement, closing the two jaws so that the two support surfaces form an additional bearing surface in contact with a collar of a tip of the object in order to adjust a relative position of the object with respect to the two jaws.

[0050] According to one example, the clamp comprises two branches movable relative to each other, and the movement comprises a relative movement of said at least one jaw relative to one of the two branches, in translation along a first reference axis, and the contacting comprises a relative movement of said at least one jaw relative to one of the two branches, in translation along a second reference axis inclined relative to the first reference axis by an angle of between 45° and 135°.

[0051] In Figures 1 to 8, a clamp 1 is shown for inserting an object 2 into a hollow rail 3. The rail 3 is shaped so as to hold, or fix, objects 2 equipped with inserts 4 whose shape is adapted to that of the rail 3. Generally, the rail 3 is provided with two wings 5, 6 delimiting an opening 7 at one end of the rail 3. The rail 3 extends longitudinally along a main axis Z. The two wings 5, 6 respectively comprise two edges 71, 72 extending longitudinally along the rail 3, that is to say along the main axis Z. The two edges 71, 72 delimit a longitudinal slot 70 of the rail 3. In other words, the longitudinal slot 70 extends along the main axis Z. For example, each wing 5, 6 has an “L” shape. Rail 3 is also said to have a general “C” type shape. The flanges 5, 6 may also be curved. A rail may be of trapezoidal or circular section.Generally, the longitudinal slot 70 is bordered by the wings 5, 6 which form a support plane for the object 2 to be inserted. The rail 3 comprises a base 8 connecting the two wings 5, 6. In other words, each wing 5, 6 extends from the base 8. Furthermore, each wing 5, 6 comprises a first part 9a and a second part 9b. The second part 9b is delimited by the edge 71, 72 of the wing 5, 6. The second part 9b corresponds to a support, or reception, zone for the insert 4 of the object 2. For example, the second part 9b extends perpendicular to the first part 9a and the wing 5, 6 has an “L” shape. For example, each first part 9a extends perpendicular to the base 8. In general, a reference frame of the rail 3 can be defined comprising three axes X, Y, Z, also noted principal axes, perpendicular to each other. In the reference frame of the rail 3, a section of the rail 3 extends in an XY plane, . that is, a plane comprising a first main axis X and a second main axis Y. Furthermore, the base 8 of the rail 3 extends along the main axis Z of the rail 3. The main axis Z of the rail 3 corresponds to the third main axis Z of the reference frame of the rail 3. In other words, the base 8 of the rail 3 extends in the XZ plane comprising the first and third XZ axes. The second parts 9b extend along the third axis Z of the reference frame of the rail 3 and the first parts 9a extend along the second axis Y of the reference frame of the rail 3. In other words, the first axis X passes through the second parts 9b of the two wings 5, 6. The second axis Y is perpendicular to the base 8 of the rail 3. The rail 3 serves as a guide for a translational movement of an object 2 along the third axis Z. The rail 3 may be made of metal, for example aluminum, or of a polymer material, for example plastic (for example polyvinyl chloride).The rail 3 may be a profile. A profile is a product of great length and constant section. In addition, the rail 3 comprises a first external surface 51, called upper, formed by an external surface of the base 8, and a second external surface 52, called lower, formed by external surfaces of the second parts 9b of the wings 5, 6.

[0052] The gripper 1 comprises at least two jaws 14, 15 configured to grip an object 2. Generally, the gripper 1 is a gripper configured to grip an object 2. The gripper 1 may be a hand with three or more fingers, or jaws, each finger corresponding to a jaw. For example, the gripper 1 comprises two branches 10, 11 on which two jaws 14, 15 are respectively mounted. The branches 10, 11 may be brought closer together to move the jaws 14, 15 towards each other in order to grip, clamp or hold the object 2 in place between the jaws 14, 15. Generally, the two branches 10, 11 are movable relative to each other. For example, the branches 10, 11 are movable in rotation about a pivot axis. Preferably, the branches 10, 11 are movable in translation.The two branches 10, 11 can be articulated together, for example they can be connected by a pivot connection so that they can rotate around the pivot axis.

[0053] Each jaw 14, 15 is mounted at one end of a branch 10, 11. The jaws 14, 15 may be fixedly or removably mounted on the branches 10, 11.

[0054] The gripper 1 is configured to grasp the object 2, hold the object 2 stationary relative to at least one jaw 14, 15, approach the object 2 towards the rail 3, and insert the object 2 into the rail 3. In particular, the approach of the object 2 comprises a movement of at least one jaw 14, 15 relative to the rail 3.

[0055] In particular, at least one jaw 14, 15 comprises at least one guide 16 configured to position the object 2 relative to the rail 3. For example, a jaw 14, 15 may comprise two spaced apart guides. The jaw 14 on which the guide 16 is mounted is also called the main jaw. The guide 16 may be mounted on the main jaw 14, in a removable or fixed manner. The role of the guide 16 is to compensate for the lack of precision when approaching the object 2 by adjusting a relative position of the object 2 with respect to the opening 7 of the rail 3. Such an adjustment in position is also noted, a resetting of the object 2 with respect to the rail 3.

[0056] In order to adjust the positioning of the object 2 relative to the rail 3, the guide 16 comprises first and second contact surfaces 17, 18 and a bearing surface 19. In general, the guide 16 comprises a polyhedral part, that is to say a solid having several faces including at least two faces corresponding to the first and second contact surfaces 17, arranged projecting from a base of which one surface corresponds to the bearing surface 19. The contact surfaces 17, 18 and bearing surfaces 19 make it possible to adjust the relative position of the object 2 to be inserted (held by the jaws 14, 15) and the destination rail 3, by forcing a relative mobility (also noted compliance) of the clamp 1 with respect to the rail 3 or conversely of the rail 3 with respect to the clamp 1. In other words, one of the rail 3 and the clamp 1, involves a relative mobility of one with respect to the other.

[0057] For example, the first and second contact surfaces 17, 18 are located projecting from the bearing surface 19. Advantageously, the first and second contact surfaces 17, 18 widen in the direction of the bearing surface 19. For example, the first and second contact surfaces 17, 18 meet by a junction surface, not shown for the sake of simplification, the width of which is strictly less than a width Lr of the longitudinal slot 70 of the rail 3. The widths of the junction surface and of the longitudinal slot 70 are measured along the first axis X. Preferably, the width of the junction surface is less than or equal to half the width Lr of the longitudinal slot 70. Even more preferably, the first and second contact surfaces 17, 18 meet by a crest line 20.

[0058] The first and second contact surfaces 17, 18 are intended to be in contact, alternately, respectively with the two edges 71, 72 of the wings 5, 6 of the rail 3 in order to adjust a relative position of the object 2 with respect to the opening 7 of the rail along at least the first axis X. Advantageously, the first and second contact surfaces 17, 18 make it possible to adjust a relative position of the object 2 with respect to the opening 7 of the rail along the first axis X and the second axis Y.

[0059] The bearing surface 19 is intended to be in contact with the rail 3 in order to position the object 2 along the first axis X and along the second axis Y. In other words, it is considered that a position adjustment corresponds to successive movements relative between the jaw 14, 15, on which the guide 16 is mounted, and the rail 3. During the position adjustment, the object 2 is realigned relative to the rail, that is to say that the object 2 is moved relative to the rail 3 in successive non-final positions. More particularly, it is considered that during the position adjustment, the bearing surface 19 is not in contact with the rail 3. Furthermore, the positioning of the object 2 is considered to be the last successive movement in which the object 2 reaches a final position relative to the rail 3. In particular, the final position corresponds to a position of the object 2 for which the object 2 can be easily inserted within the rail 3. More particularly, it is considered that during the positioning, the bearing surface 19 is in contact with the rail 3.

[0060] The guide 16 may comprise third and fourth contact surfaces 21, 22 connecting the bearing surface 19 with the first and second contact surfaces 17, 18 respectively. The third and fourth contact surfaces 21, 22 are intended to be in contact, alternately, with the two edges 71, 72 of the wings 5, 6 of the rail 3 respectively in order to maintain the relative position of the object 2 with respect to the opening 7 of the rail 3 along the first axis X. Advantageously, the third and fourth contact surfaces 21, 22 are intended to be in contact, alternately, with the two edges 71, 72 of the wings 5, 6 of the rail 3 respectively in order to maintain a relative angular position of the object 2 with respect to the longitudinal slot 70 of the rail 3 along the second axis Y.

[0061] The insertion of the object 2 into the rail 3 can be broken down into several steps. An initial step during which the clamp 1 grips the object 2. In [Fig.l], the clamp 1 is shown open, that is to say that the jaws 14, 15 are in an open position O. In the open position O, the jaws 14, 15 are spaced apart from each other, the object 2 can be gripped by the clamp 1, and can be placed in a housing 50 located between the two jaws 14, 15. The gripping comprises a closing of the clamp 1, that is to say that the jaws 14, 15 are in a closed position F, illustrated in [Fig.2], where the object 2 is stationary relative to at least the main jaw 14. In the closed position F, the object 2 is stationary within the housing 50.Then, during a first resetting approach step, the clamp 1, in particular the main jaw 14, is moved to bring the bearing surface 19 into contact with the rail 3, more particularly into contact with the lower surface 52 of the rail 3, in particular so as to align the object 2 to be inserted into the rail 3. During the first step, the object 2 may not be aligned with the opening 7, and in this case, one of the first and second contact surfaces 17, 18 may come into contact with one of the edges 71, 72 of the two wings of the rail 3. During contact between a contact surface 17, 18 and an edge 71, 72 of a wing 5, 6 of the rail 3, a movement of the main jaw 14 is maintained along the second main axis Y. The contact surface 17, 18 in contact with the . edge 71, 72 of wing 5, 6 of rail 3 will allow relative sliding of rail 3 and clamp 1 (or vice versa). The sliding will cause a relative movement between the clamp 1 and the rail 3 along the first main axis X and a resetting of the object 2 relative to the opening 7, that is to say an alignment of the object 2 relative to the rail 3. In order to ensure contact of the guide 16 with the rail 3, it is possible to voluntarily go beyond an optimal position (that is to say when the rail 3 is in contact with the guide 16, and there is no force exerted on one another), in order to guarantee the good support of the support surface 19 against the lower surface 52 of the rail 3. Without this, the uncertainty of positioning of the guide 16 relative to the rail 3 could lead to a lack of contact between the rail 3 and the guide 16, causing the resetting to fail. After contacting the bearing surface 19 with the lower surface 52 of the rail, the object 2 is aligned with the opening 7 of the rail 3.It is also said that the object 2 is positioned along the first and second principal axes X, Y. To insert the object 2, a second step consists of moving the clamp 1 along the rail 3, that is to say along the third principal axis Z. Optionally, a withdrawal of the clamp 1 can be carried out by opening the clamp 1 to release the object 2 which remains held within the rail 3.

[0062] The relative mobility of the clamp 1 and the rail 3, with respect to each other, can be varied. Thus, it is possible to define a reference frame of the clamp 1 comprising three reference axes Tx, Ty, Tz, also noted secondary axes, in which the first and second reference axes Tx, Ty are perpendicular to the third reference axis Tz. Furthermore, the second reference axis Ty can be inclined with respect to the first reference axis Tx at an angle of between 45° and 135°. Preferably, the three reference axes Tx, Ty, Tz are perpendicular to each other. Preferably, in the reference frame of the clamp 1, the bearing surface 19 extends along two first and third reference axes Tx, Tz and the second reference axis Ty is perpendicular to the bearing surface 19.

[0063] For example, the main jaw 14 is mounted to move on a branch 11, called the main branch, in translation along the first and second reference axes Tx, Ty.

[0064] The first and second contact surfaces 17, 18 are configured to adjust a relative position of the object 2 with respect to the opening 7 of the rail 3 along the first main axis X when the main jaw 14 moves with respect to the rail 3 along the second main axis Y.

[0065] The contact surfaces 21, 22 make it possible to guarantee the relative position of the object 2 with respect to the rail 3 along the first main axis X, in particular during the movement of the main jaw 14 along the second main axis Y. Thus, the relative position of the object 2 with respect to the rail 3 along the first main axis X can be maintained despite a rotation of the main jaw 14 with respect to the second Y axis and / or relative to the third main Z axis.

[0066] According to another advantage, the contact surfaces 17, 18 and 21, 22 have a length making it possible to limit the amplitude of the rotations, that is to say the relative rotations of the main jaw 14 with respect to the rail 3, along the second main axis Y. The length of the contact surfaces 17, 18 and 21, 22 is measured along the third reference axis Tz. For example, the length of the contact surfaces 17, 18 and 21, 22 is greater than or equal to one or two times the width Lr of the longitudinal slot 70. Thus, such a length makes it possible to guarantee the maintenance of the relative angular position of the object 2 with respect to the longitudinal slot 70 of the rail 3 along the second main axis Y. Indeed, the amplitude of the rotations along the second main axis Y depends on the length of the guide 16, that is to say on the length of the first and second contact surfaces 17, 18.The longer the guide 16, the more the amplitude of the rotations along the second main axis Y is limited. The amplitude of the rotations along the second main axis Y can also be limited by placing two guides spaced apart, along the third reference axis Tz, by a distance greater than or equal to one or two times the width Lr of the longitudinal slot 70.

[0067] The guide 16 may further comprise fifth and sixth contact surfaces 23, 24 intended to be in contact, alternately, respectively with the two edges 71, 72 of the wings 5, 6 of the rail 3 in order to adjust a relative position of the object 2 with respect to the opening 7 of the rail 3 along the first main axis X when the main jaw 14 moves with respect to the rail 3 along the third main axis Z.

[0068] The clamp 1 is particularly suitable for an object 2 provided with an insert 4. The insert 4 comprises an end piece 41 comprising a first collar 40, called the lower collar, and a second collar 42, called the upper collar, located at a distance from the first collar 40. The distance separating the two collars 40, 42 is chosen so that the edges 71, 72 of the wings 5, 6 can pass between the two collars when inserting the object 2 into the rail 3. The distance separating the two collars 40, 42 is greater than or equal to a thickness of the rail 3. The separation distance is measured along the second reference axis Ty and the thickness of the rail 3 is measured along the second main axis Y.

[0069] The two jaws 14, 15 may respectively comprise two support surfaces 30, 31 intended to form an additional bearing surface 32 when the two jaws 14, 15 are in a closed position F, as illustrated in [Fig. 2]. The additional bearing surface 32 is intended to be in contact with the lower collar 40 of the end piece 41 of the object 2 in order to adjust a relative position of the object 2 with respect to the two jaws 14, 15. That is to say that when the jaws 14, 15 are in the closed position F, the object 2 is stationary, and preferably centered, with respect to the jaws 14, 15. The support surfaces 30, 31 make it possible to place object 2 in a correct position relative to rail 3, after resetting clamp 1 relative to rail 3.

[0070] The bearing surface 19 is located at a distance H1 from the support surface 30 of the main jaw 14. The distance H1 is measured along the second reference axis Ty perpendicular to the bearing surface 19. In particular, the distance H1 is greater than or equal to a thickness of the lower collar 40. Preferably, the bearing surface 19 and an upper surface of the lower collar 40 are located at the same distance H1 relative to the support surface 30 of the main jaw 14.

[0071] Figures 3 to 8 show the main steps of a method for inserting an object 2 into a rail 3. The method can be implemented by a robot 100 comprising a gripper 1 as defined above. Furthermore, the robot 100 can comprise means 101 for modifying a position of the gripper 1 upon receipt of contact information from the guide 16 with the rail 3. These means 101 can comprise pressure or position sensors, and the contact information from the guide 16 with the rail 3 can be pressure or position information. For example, the two branches 10, 11 are mounted movably on an arm 200 of the robot 100.

[0072] In the six figures 3 to 8, the following six steps S1 to S6 are respectively represented: a supply step S1, a displacement step S2, an adjustment step S3, a contact step S4 of the third and fourth contact surfaces, a contacting step S5 of the support surface 19, and a step S6 of insertion of the object 2. More particularly, in each of the six figures 3 to 8, there is represented, for each of the six steps S1 to S6, on the one hand a first view of the clamp 1 and the rail 3 along the third main axis Z placed perpendicular to a plane of the sheet of figures 3 to 8, and on the other hand, a second view of the clamp 1 and the rail 3 along the first main axis X placed perpendicular to a plane of the sheet of figures 3 to 8. Thus, on the left of the six figures 3 to 8, the first six views are represented and on the right of figures 3 to 8, there is represented the second six views.

[0073] In Figures 4 to 8, reference M also represents a movement of the main jaw 14 relative to the rail 3, in the X, Y, Z reference frame of the rail 3.

[0074] The supply SI comprises a supply of the clamp 1 provided with the two jaws 14, 15 configured to grip an object 2.

[0075] The movement S2 of the main jaw 14 relative to the rail 3 brings the first and second contact surfaces 17, 18 into contact, alternately, respectively with the two edges 71, 72 of the wings 5, 6 of the rail 3 in order to adjust S3 a relative position of the object relative to the opening of the rail along the first axis X.

[0076] The contact S5 of the support surface with the rail 3 makes it possible to position the object along the first axis X and along the second axis Y perpendicular to the first axis X.

[0077] During the movement S2, one of the rail and the clamp has a relative mobility S3 of one with respect to the other.

[0078] The movement S2 may comprise a contact S4 of the third and fourth contact surfaces 21, 22, alternately, with respectively the two edges 71, 72 of the wings 5, 6 of the rail 3 in order to maintain the relative position of the object with respect to the opening of the rail along the first axis X. Advantageously, the contact S4 of the third and fourth contact surfaces 21, 22 with respectively the two edges 71, 72 of the wings 5, 6 of the rail 3 makes it possible to maintain a relative angular position of the object with respect to the longitudinal slot 70 of the rail 3 along the second axis Y.

[0079] The movement S2 may further comprise contact of the fifth and sixth contact surfaces, alternately, respectively with the two edges 71, 72 of the wings 5, 6 of the rail 3 in order to adjust a relative position of the object 2 with respect to the opening 7 of the rail 3 along the first axis X when the main jaw 14 is moved with respect to the rail 3 along the third axis Z perpendicular to the first and second axes X, Y.

[0080] Then, after contact S5, the method comprises a translation S6 of the main jaw 14 relative to the rail 3 along the third axis Z to insert the object 2 within the rail 3.

[0081] Furthermore, the movement S2, and more particularly the adjustment S3, comprises a relative movement of the main jaw 14 with respect to one of the two branches 10, 11, in translation along a first reference axis Tx. Furthermore, the contacting S5 may comprise a relative movement of the main jaw 14 with respect to one of the two branches 10, 11, in translation along the second reference axis Ty inclined with respect to the first reference axis Tx at an angle of between 45° and 135°, preferably equal to 90°.

Claims

Claims

1. Clamp intended to insert an object (2) into a hollow rail (3) provided with two wings (5, 6) delimiting an opening (7) at one end of the rail (3), the two wings (5, 6) respectively comprising two edges (71, 72) extending longitudinally along the rail (3) and delimiting a longitudinal slot (70) of the rail (3), the clamp comprising two jaws (14, 15) configured to grip an object (2), at least one jaw (14) comprising at least one guide (16) configured to position the object (2) relative to the rail (3), said at least one guide (16) comprising first and second contact surfaces (17, 18) intended to be in contact, alternately, respectively with the two edges (71, 72) in order to adjust a relative position of the object (2) relative to the opening (7) of the rail (3) along a first axis (X),said at least one guide (16) comprising a bearing surface (19) intended to be in contact with the rail (3) in order to position the object (2) along the first axis (X) and along a second axis (Y) perpendicular to the first axis (X).,

2. Clamp according to the preceding claim, in which the first and second contact surfaces (17, 18) are located projecting from the bearing surface (19).

3. Clamp according to any one of the preceding claims, in which the first and second contact surfaces (17, 18) flare towards the bearing surface (19).

4. Clamp according to the preceding claim, in which the first and second contact surfaces (17, 18) meet by a ridge line (20).

5. A clamp according to any preceding claim, wherein one of the rail (3) and the clamp comprises relative mobility of one with respect to the other.

6. Clamp according to any one of the preceding claims, wherein the first and second contact surfaces (17, 18) are configured to adjust the relative position of the object (2) with respect to the opening (7) of the rail (3) along the first axis (X) when said at least one jaw (14, 15) moves with respect to the rail (3) along the second axis (Y).

7. A clamp according to any preceding claim, wherein the rail (3) is movably mounted on a support of the rail (3).

8. Clamp according to any one of the preceding claims, wherein said at least one guide (16) comprises third and fourth contact surfaces (21, 22) connecting the bearing surface (19) with the first and second contact surfaces (17, 18) respectively, the third and fourth contact surfaces (21, 22) being intended to be in contact, alternately, with the two edges (71, 72) respectively in order to maintain the relative position of the object (2) with respect to the opening (7) of the rail (3) along the first axis (X).

9. Clamp according to the preceding claim, in which the third and fourth contact surfaces (21, 22) are intended to be in contact, alternately, with respectively the two edges (71, 72) in order to maintain a relative angular position of the object (2) with respect to the longitudinal slot (70) of the rail (3) along the second axis (Y).

10. Clamp according to any one of the preceding claims, wherein said at least one guide (16) comprises fifth and sixth contact surfaces (23, 24) intended to be in contact, alternately, respectively with the two edges (71, 72) in order to adjust the relative position of the object (2) with respect to the opening (7) of the rail (3) along the first axis (X) when said at least one jaw (14, 15) moves with respect to the rail (3) along a third axis (Z) perpendicular to the first and second axes (X, Y).

11. Clamp according to any one of the preceding claims, wherein said at least one guide (16) is removably mounted on said at least one jaw (14, 15).

12. Clamp according to any one of the preceding claims, in which the two jaws (14, 15) respectively comprise two support surfaces (30, 31) intended to form an additional bearing surface (32) when the two jaws (14, 15) are in a closed position (F), the additional bearing surface (32) being intended to be in contact with a collar (40) of a tip (41) of the object (2) in order to adjust a relative position of the object (2) with respect to the two jaws (14, 15).

13. Clamp according to the preceding claim, in which the bearing surface (19) is located at a distance (Hl) from the support surface (30, 31) of said at least one jaw (14, 15), the distance (Hl) being greater than or equal to a thickness of the collar (40), the distance (Hl) being measured along a reference axis (Ty) perpendicular to the bearing surface (19).

14. Clamp according to any one of the preceding claims, comprising two branches (10, 11) movable relative to each other, and in which said at least one jaw (14, 15) is mounted movable on one of the two branches (10, 11), in translation along first and second reference axes (Tx, Ty) inclined to each other at an angle of between 45° and 135°.

15. Robot comprising a gripper according to any one of the preceding claims.

16. Robot according to the preceding claim, comprising means (101) for modifying a position of the gripper upon receipt of contact information of said at least one guide (16) with the rail (3).

17. Robot according to any one of claims 15 and 16, comprising an arm on which the gripper is mounted to move relative to the arm.

18. System comprising a robot according to any one of claims 15 to 17 and a hollow rail (3) provided with two wings (5, 6) delimiting an opening (7) at one end of the rail (3), the two wings (5, 6) respectively comprising two edges (71, 72) extending longitudinally along the rail (3) and delimiting a longitudinal slot (70) of the rail (3).

19. A method of inserting an object into a hollow rail provided with two wings delimiting an opening at one end of the rail, the two wings respectively comprising two edges extending longitudinally along the rail and delimiting a longitudinal slot of the rail, the method comprising: - a provision (SI) of a clamp provided with two jaws (14, 15) configured to grip an object, at least one jaw (14, 15) comprising at least one guide (16) configured to position the object relative to the rail, said at least one guide (16) comprising first and second contact surfaces and a bearing surface; - a movement (S2) of said at least one jaw relative to the rail to bring the first and second contact surfaces into contact, alternately, respectively with the two edges in order to adjust (S3) a relative position of the object relative to the opening of the rail along a first axis (X);and - bringing the bearing surface into contact (S5) with the rail in order; to position the object along the first axis (X) and along a second axis (Y) perpendicular to the first axis (X).

20. Method according to the preceding claim, in which, during the movement (S2), one of the rail and the clamp, comprises a relative mobility of one with respect to the other.

21. Method according to any one of claims 19 to 20, wherein the movement (S2) comprises a movement of said at least one jaw relative to the rail along the second axis (Y).

22. Method according to any one of claims 19 to 21, said at least one guide comprising third and fourth contact surfaces connecting the bearing surface with respectively the first and second contact surfaces, and in which the movement (S2) comprises a contact (S4) of the third and fourth contact surfaces, alternately, with respectively the two edges in order to maintain the relative position of the object with respect to the opening of the rail according to the first axis (X).

23. Method according to the preceding claim, in which the movement (S2) comprises maintaining a relative angular position of the object with respect to the longitudinal slot of the rail along the second axis (Y).

24. Method according to any one of claims 19 to 23, said at least one guide comprising fifth and sixth contact surfaces, the displacement (S2) comprising contact of the fifth and sixth contact surfaces, alternately, respectively with the two edges in order to adjust the relative position of the object with respect to the opening of the rail along the first axis (X) when said at least one jaw is moved with respect to the rail along a third axis (Z) perpendicular to the first and second axes (X, Y).

25. Method according to the preceding claim, comprising, after contacting (S5), a translation (S6) of said at least one jaw relative to the rail along the third axis (Z) to insert the object within the rail.

26. Method according to any one of claims 19 to 25, the two jaws respectively comprising two support surfaces, the method comprising, before the movement (S2), a closing of the two jaws so that the two support surfaces form an additional bearing surface in contact with a collar of a tip of the object in order to adjust a relative position of the object with respect to the two jaws.

27. ​​Method according to any one of claims 19 to 26, the clamp comprising two branches movable relative to each other, and in which the movement (S2) comprises a relative movement of said at least one jaw relative to one of the two branches, in translation along a first reference axis (Tx), and the contacting (S5) comprises a relative movement of said at least one jaw relative to one of the two branches, in translation along a second reference axis (Ty) inclined relative to the first reference axis (Tx) at an angle of between 45° and 135°.

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