Mechanical coupling system and assembly comprising such a system and gripping device

Abstract

This disclosure relates to a mechanical coupling system comprising: - a first coupling part (2), comprising a first body (20) configured to be manipulated by a maneuvering system, such as a robotic arm, - a second coupling part (3), comprising a second body (30) configured to secure a gripping device - a fluidic coupling system comprising at least one fluid inlet (E) opening from the first body (20), and at least one channel (Ca) comprising: - a first channel portion (PC1), internal, extending into the mass of the first body (20) from said at least one fluid inlet, - a second channel portion (PC2), internal, extending into the mass of the second body (30), the second channel portion (PC2) extending, along the length of the channel, as a fluidic continuation of the first channel portion (PC1). Abstract figure: Figure 6

Description

Title of the invention: Mechanical coupling system and assembly comprising such a system and gripping device

[0001] The present disclosure relates to a mechanical coupling system comprising a first coupling part comprising a first body configured to be manipulated by a maneuvering system, such as a robotic arm, and a second coupling part, comprising a second body configured to secure a gripping device, as well as a locking system configured to move from a locking position for which the first body and the second body are locked to each other, and to an unlocking position allowing the separation of the first coupling part and the second coupling part.

[0002] The present disclosure also relates to an assembly comprising such a coupling system and a gripping device secured to the second body, as well as to a robotic system comprising such an assembly of which the first body is secured to a robotic arm. Technical field

[0003] The present disclosure relates to the field of mechanical coupling systems, removable by separation of the first body and the second body, and configured to allow a change of gripping device at the end of a robotic arm, and more particularly in robotic systems finding a particular application in the field of automated lines where the equipment is likely to be in contact with food products. Prior art

[0004] In this food field, the state of the art of robotic systems in the field of automated lines knows the state of the art of such coupling systems, various locking systems, facilitating for the operator the locking and unlocking operations, and thus the changing of gripping device.

[0005] According to the Applicant's findings, the gripping device typically incorporates one or more pneumatic actuators which need to be connected by flexible pipes to a control device, connected to a source of compressed air.

[0006] During maintenance operations, the operator must not only unlock the two parts of the coupling system, and in order to physically separate the first body from the second body, but the removal of the gripping device also requires disconnecting the various hoses extending from the robotic arm to the actuators of the gripping device, which generates a loss of time not only during disassembly, but also during reassembly when these hoses must be reconnected.

[0007] The present disclosure is more particularly concerned with solving this problem, in the context of the food sector for which the Applicant is working to obtain equipment with easy cleanability, limiting the risk of development of pathogens.

[0008] At least according to one embodiment, the present disclosure is concerned with solving this problem, as well as improving the compactness of the assembly comprising the coupling system and the gripping device, in particular in a direction passing through an axis of the coupling system. Summary

[0009] The present disclosure improves the situation.

[0010] A mechanical coupling system is proposed comprising: - a first coupling part, comprising a first body configured to be manipulated by a maneuvering system, such as a robotic arm, - a second coupling part, comprising a second body configured to secure a gripping device, - a locking system configured to move from a locking position in which the first body and the second body are locked to each other, and to an unlocking position allowing separation of the first coupling part and the second coupling part.

[0011] According to the present disclosure, the coupling system is made of one or more materials compatible with food contact, and it comprises a fluid coupling system comprising at least one fluid inlet opening out from the first body, and at least one channel comprising: - a first internal channel portion extending into the mass of the first body from said at least one fluid inlet, - a second portion of canal, internal, extending into the mass of the second body, and wherein in said locking position, the second channel portion extends, along the length of the channel, in fluidic extension of the first channel portion, a sealing means ensuring a fluid seal at a junction zone between the first channel portion and the second channel portion.

[0012] The features set out in the following paragraphs may, optionally, be implemented independently of one another or in combination with one another.

[0013] According to one embodiment, said at least one channel, in particular at least the first channel portion and / or the second channel portion, has a trajectory curvilinear, and in particular the curvilinear trajectory extends along the three dimensions of space, said trajectory not being contained in a plane.

[0014] According to one embodiment, the channel comprising the first channel portion and the second channel portion is devoid of an auxiliary channel, extending laterally from the first channel portion or from the second channel portion, the auxiliary channel forming a non-opening dead arm comprising one end closed by a plug, opposite an end opening into the first channel portion or the second channel portion.

[0015] According to one embodiment, the second channel portion extends at the opposite end of the channel inlet to a fluid outlet emerging from the second body.

[0016] According to one embodiment, the first coupling part comprises a connector connected to the fluid inlet configured for the fluid connection of a flexible pipe, and where appropriate, a connector connected to the fluid outlet configured for the fluid connection of a flexible pipe, extending in particular to a pneumatic cylinder.

[0017] According to one embodiment, the second channel portion of said at least one channel extends to a cylinder chamber of at least one jack integrated into the mechanical coupling system, said cylinder chamber being obtained in the mass of said second body, said mechanical coupling system comprising a piston, internal to said cylinder chamber, configured to be constrained to displacement by a source of compressed fluid supplied from said inlet via said channel.

[0018] According to one embodiment, said integrated cylinder is a double-acting cylinder, the piston dividing said cylinder chamber into a first chamber and a second chamber, said at least one channel comprising: - a deployment control channel connected to the first chamber, comprising the first channel portion and the second channel portion opening into the first chamber, on a first side of the piston, configured to be connected to a source of compressed fluid to actuate the piston by sliding in a first direction, - a retraction control channel connected to the second chamber, comprising the first channel portion and the second channel portion opening into the second chamber, on a second side of the piston, configured to be connected to a source of compressed fluid to slidably actuate the piston in a second direction.

[0019] According to one embodiment, the second coupling part comprises the second body inside which the cavity cylinder chamber is obtained, as well as a cover part, crossed by a rod secured to the piston, said cover part removably attached to the second body to allow insertion or extraction of the piston.

[0020] According to one embodiment, the first body and the second body are made of one or more synthetic materials chosen from: - polylactic acid, - polypropylene, - polyethylene terephthalate, - polyamide, in particular polylauroamide.

[0021] According to one embodiment, the outer surfaces of said system, including the first body and the second body, are smooth; non-planar, promoting the flow of water, devoid of cavities promoting the accumulation of water and microbial development, the outer surfaces having a roughness Ra less than or equal to 6 micrometers.

[0022] According to one embodiment, said locking system comprises: - a clamping mechanism comprising a first jaw and a second jaw secured to the first body configured to grip the second body in a position close to the jaws, and to allow decoupling in a position separated from the jaws or alternatively, - a clamping mechanism comprising one or more clamping screws, passing through the first body, screwed into threads of bores of the second body, or vice versa, preferably blind bores.

[0023] According to one embodiment, said locking system comprises one or more latch mechanisms, the or each latch mechanism comprising a first connecting rod pivotally articulated along a first axis to the first body, a second connecting rod pivotally articulated on the first connecting rod along a second axis, and a hooking portion secured to the second body, a hooking portion on which a portion of the second connecting rod can be removably hooked, said second connecting rod pivoting on the hooking portion along a third axis.

[0024] Said locking mechanism is configured to lock the first body against the second body during pivoting of the first connecting rod when the second articulation axis between the two connecting rods passes an alignment point between the three articulation axes consisting of the first axis, the second axis and the third axis and arrives in a stable stop position.

[0025] The present disclosure also relates to an assembly comprising a mechanical coupling system according to the present disclosure, and a gripping device comprising at least one pneumatic actuator intended to be fluidically coupled to at least one source of compressed air by said at least one channel.

[0026] According to one embodiment of said assembly, the gripping device is configured to grip a stack of flat products resting on a surface, comprising: - a first gripping wing and a second gripping wing, lower, scraping, oriented towards each other, configured to pass from a spaced position, on either side of the stack to be gripped to a close position for which said gripping wings slide under said stack resting on the surface, as well as a first double-acting pneumatic cylinder, connected by a first channel and a second channel of said at least one channel, independent, for controlling the first cylinder in both directions, - a first lateral stop and a second lateral stop, movable, configured to move from a position separated on either side of the stack to be gripped to a close position for which said lateral stops come to bear against two opposite sides of the stack, as well as a second pneumatic cylinder connected by a third channel and a fourth channel of said at least one channel for controlling the second cylinder in both directions, - a movable upper stop, configured to move from a raised position at a distance from an upper surface of the stack to a lowered position, for which the stack is held, below by the two gripping wings, and above by the upper stop, and a third pneumatic cylinder, connected by a fifth channel and a sixth channel to said at least one channel for controlling the third cylinder in both directions.

[0027] According to an embodiment of said assembly, said pneumatic actuator, in particular the third cylinder, is said cylinder integrated into the coupling system whose cylinder chamber is formed in a cavity of the second body, said fifth channel and the sixth channel constituted respectively by said deployment control channel and said retraction control channel.

[0028] The present disclosure also relates to a robotic system, comprising an assembly according to the present disclosure, and a robotic arm secured to the first coupling part of said mechanical coupling system.

[0029] The present disclosure also relates to a method of manufacturing a mechanical coupling system according to the present disclosure or an assembly according to the present disclosure in which the first body including the first channel portion and / or the second body, including the second channel portion, is obtained by additive manufacturing.

[0030] The present disclosure also relates to the use of said coupling system according to the present disclosure, or of said assembly according to the present disclosure, or of the robotic system according to the present disclosure, in the food field, said second body secured to a gripping device, for gripping food products such as in particular dairy products, charcuterie. Brief description of the drawings

[0031] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0032] [Fig.l] is a perspective view of an assembly comprising a coupling system comprising a first coupling part, and a second coupling part, in a mechanical locking position for which a first body and a second body are rigidly secured to each other, the second body belonging to the second coupling part being secured to a gripping system comprising: - a first wing, and a second gripping wing, scrapers, configured to slide under an object to be gripped, such as a stack of flat products, actuated by bringing them together and moving them apart under the action of a first double-acting pneumatic cylinder (hoses not shown), - a first lateral stop, and a second lateral stop configured to come into contact with two sides of the stack, actuated when moving together and apart under the action of a second double-acting pneumatic cylinder (hoses not shown), - a movable upper stop, vertically actuated on descent or ascent by a third double-acting pneumatic cylinder, integrated into the second body of the mechanical coupling system. Fig. 2

[0033] [Fig.2] is a top view of the assembly according to [Fig.l]. Fig. 3

[0034] [Fig.3] is a side view of the assembly: - the grabbing, scraping wings, in a spread position, - the lateral stops, in the spread position, - the upper stop in the raised position by retraction of the third cylinder. Fig. 4

[0035] [Fig.4] is a view of [Fig.3], the gripping wings and the side stops in the close positions, and the upper stop in the lowered position. Fig. 5

[0036] [Fig.5] is a sectional view, along a vertical plane, illustrating a deployment control channel extending from an inlet of the first body, and to a cylinder chamber formed in the mass of the second body, on one side of a piston, the channel configured to ensure the pressurization of the cylinder to ensure the movement of the piston in a direction of deployment of a rod secured to the piston, as well as a channel of retraction control, extending from another inlet of the first body, and to said cylinder chamber, on the second side of the piston, to ensure the movement of the piston in the direction of retraction of the rod. Fig. 6

[0037] [Fig.6] is a sectional view along a plane distinct from that of [Fig.5], illustrating two channels, each channel extending from an inlet of the first body, and to an outlet of the second body, the inlets and outlets comprising fittings for connecting flexible pipes, each channel comprising a first channel portion extending in the first body, extended, fluidically, by a second channel portion. Fig. 7

[0038] [Fig.7] is a side view of the coupling system, illustrating six inputs of the first bodies belonging respectively to: - a first channel and a second channel configured to control the first pneumatic cylinder respectively in the retraction direction and in the deployment direction, - a third channel and a fourth channel configured to control the second pneumatic cylinder respectively in the retraction direction and in the deployment direction, - a fifth cylinder and a sixth pneumatic cylinder for controlling the third pneumatic cylinder in the retraction direction and in the deployment direction, the view illustrating two outlets of the second body belonging to the third and fourth channels. Fig. 8

[0039] [Fig.8] is a side view, diametrically opposed to that of [Fig.7], illustrating two outputs of the second body belonging respectively to the first and second channels. Fig. 9

[0040] [Fig.9] is a perspective view of another embodiment of the system of mechanical coupling comprising two latch mechanisms, diametrically opposed to ensure the locking of the first body against the second body, bringing the seals into contact with the internal pipes of the two bodies. Fig. 9A

[0041] [Fig.9A] is a sectional view along a first plane passing through an axis of the coupling system. Fig. 9B

[0042] [Fig.9B] is a sectional view along a second plane perpendicular to the first plan. Description of the embodiments

[0043] Reference is now made to [Fig. 1].

[0044] A mechanical coupling system 1 is proposed comprising: - a first coupling part 2, comprising a first body 20 configured to be manipulated by a maneuvering system, such as a robotic arm, - a second coupling part 3, comprising a second body 30 configured to secure a gripping device.

[0045] The coupling system further comprises a locking system 4 configured to move from a locking position for which the first body 20 and the second body 30 are locked to each other, in particular against each other, and to an unlocking position allowing the separation of the first coupling part 2 and the second coupling part 3.

[0046] It may in particular be a locking system, comprising a clamping mechanism comprising a first jaw M1 and a second jaw M2 secured to the first body, the jaws configured to grip the second body 30 in a position close to the jaws M1, M2, and to allow decoupling in a position separated from the jaws M1, M2 or alternatively.

[0047] The mechanism may comprise a rapid system comprising an axis connecting the two jaws M1, M2, and on which one of the jaws slides, and an articulated clamping lever comprising a cam portion configured to ensure the clamping of the jaws by wedge effect, and as illustrated in [Fig.l].

[0048] The clamping mechanism may also comprise (not shown) one or more clamping screws, passing through the first body 20, screwed into threads of bores of the second body 30, or vice versa (namely respectively that the threaded bores are made on the first body), the screws comprising heads bearing on the first body (or respectively bearing on the second body). The threaded bores are preferably blind bores, and in particular in order to avoid the presence of interstice(s) into which moisture can penetrate and promote the presence of stagnant water favorable to the development of pathogens.

[0049] According to yet another embodiment, illustrated in Figures 9, 9A and 9B, said locking system may comprise one or more latch mechanisms. The or each latch mechanism G comprises a first connecting rod B1 pivotally articulated along a first axis A1 to the first body 2, a second connecting rod B2 pivotally articulated on the first connecting rod B1 along a second axis A2.

[0050] A hooking portion CT is then secured to the second body 30 on which a portion of the second connecting rod B2 can be removably hooked, said second connecting rod B2 then pivoting on the attachment portion CT along a third axis A3.

[0051] Such a locking mechanism is configured to lock the first body 20 against the second 30 during the pivoting of the first connecting rod when the second axis A2 of articulation between the two connecting rods B1, B2 exceeds an alignment point between the three articulation axes consisting of the first axis A1, the second axis A2 and the third axis A3, and said second axis A2 arrives in a stable stop position. The positions of the hooking portion and the levers can be reversed, namely that the hooking portion can be integral with the first body, and the first lever articulated on the second body.

[0052] The locking system typically comprises two latch mechanisms, distributed diametrically opposite on either side of the axis A.

[0053] Such a locking system has the advantage of being quick to implement for locking (or unlocking) the two bodies 20, 30 by moving the first connecting rod B1, which may have a gripping portion for this purpose, in a first direction up to the stable stop position during locking, or in an opposite direction during unlocking to allow the escape of the second connecting rod B2 from the attachment portion PC, and thus the separation of the two bodies 20, 30.

[0054] Notably, the coupling system comprises a fluid coupling system comprising at least one fluid inlet E emerging from the first body 20, and at least one channel Ca comprising: - a first internal PCI channel portion, extending into the mass of the first body 20 from said at least one fluid inlet E, - a second internal portion of channel PC2, extending into the mass of the second body 30, and wherein in said locking position, the second channel portion PC2 extends, along the length of the channel, in fluidic extension of the first channel portion PCI. A sealing means ED ensures fluid sealing at a junction zone between the first channel portion PCI and the second channel portion PC2.

[0055] The sealing means ED may typically comprise an annular seal, integral with the first body or the second body, being pinched between the first body 20 and the second body 30, to ensure a sealed connection at the junction between the first channel portion 20 and the second channel portion 30.

[0056] Said fluid inlet E is typically fluidically associated with a flexible pipe of the robotic arm.

[0057] The number of channels Ca typically depends on the number of pneumatic actuators to be supplied on the gripping device and further depends on the nature of the pneumatic actuator, namely whether it is a single-acting actuator, requiring a single fluid supply, or a double-acting actuator, requiring two independent supplies.

[0058] The number of channels can be one channel, or even several channels, such as six channels according to the illustrated example which requires the control of three double-acting actuators.

[0059] In all cases, the fluid coupling system greatly facilitates the separation operations between the first part secured to a robotic arm and the second part of the coupling system, secured to the gripping device and more generally in that it is no longer necessary to decouple the flexible pipe(s) which always remain connected to the inlet E or the inlets E. The operations of dismantling (and reassembly) of the gripping device with respect to the robotic arm are greatly simplified.

[0060] According to one embodiment, said at least one channel Ca, in particular at least the first portion of channel PCI and / or the second portion of channel PC2, has a curvilinear trajectory. In particular, said curvilinear trajectory extends along the three dimensions of space, said trajectory not being contained in a plane.

[0061] In particular, the channel according to this embodiment does not result from a drilling, rectilinear by nature, or from the combination of several drillings intersecting to ensure a change of direction, and which results in sharp edges at the level of the change of direction zone, difficult to clean, and promoting the development of pathogens.

[0062] Furthermore, the combination of two drillings may require closing an orifice with a shutter typically screwed into a thread of said orifice, resulting in the presence of a dead arm favorable to the stagnation of humidity and thus to the development of pathogens.

[0063] Thus, and in such a way, the channel Ca comprising the first channel portion PCI and the second channel portion PC2 is devoid of an auxiliary channel, extending laterally from the first channel portion PCI or from the second channel portion PC2, the auxiliary channel forming a non-opening dead arm comprising one end closed by a plug, opposite an end opening into the first channel portion or the second channel portion.

[0064] In other words, the internal channels of the mechanical coupling system communicate with the outside only at the level of the fluid inlet(s) E connected to one or more sources of compressed air, or even the fluid outlet(s) connected to the pneumatic actuators. The internal channels do not include an orifice communicating with the outside of the first body and second body which is closed by a plug typically screwed into a thread, and such as they are typically encountered in the field of coupling systems in the field of robotic systems for ap non-food application, when the internal channels result from several intersecting holes to ensure a change of direction and in particular according to a state of the art not compatible with the cleanability requirements in the food sector.

[0065] A curvilinear trajectory of said at least one channel Ca can typically be obtained by additive manufacturing, typically by 3D printing.

[0066] Generally, the coupling system, including the first body 20 and the second body 30, may be made of a synthetic material chosen from: - polylactic acid (abbreviated English PLA), - polypropylene (PP), - poly(ethylene terephthalate), abbreviated in English PET, - polyamide, in particular Polylauroamide (PA 12).

[0067] These materials are compatible with additive manufacturing, typically by 3D printing. The material is also compatible with food contact, in particular within the meaning of Regulation (EC) No. 1935 / 2004 of October 27, 2004 and within the meaning of the FDA Food and Drug Administration.

[0068] According to one embodiment, the second channel portion PC2 extends at the end of the inlet of the channel to a fluid outlet S emerging from the second body 30. The outlet S is typically associated with a connector Ra for a flexible pipe, typically connecting the outlet to an actuator or pneumatic cylinder of the gripping device.

[0069] However, the channel does not necessarily open out of the second body via an outlet, for example when the second coupling part 3 comprises a pneumatic actuator integrated into the second body 30, and as notably illustrated according to a possible embodiment in [Fig.5].

[0070] Thus, the second channel portion PC2 of said at least one channel can extend to a cylinder chamber CC of a jack integrated into the mechanical coupling system, said cylinder chamber being obtained in the mass of said second body 20, typically obtained by additive manufacturing. The second body 20 can thus comprise an integrated jack, as notably illustrated in the figures, or even several integrated jacks, each of the jacks comprising a cylinder chamber being obtained in the mass of said second body 20, typically obtained by additive manufacturing.

[0071] The mechanical coupling system then comprises a piston PS (or even several pistons), internal to said cylinder chamber, belonging to the jack, configured to be constrained to move by a source of compressed fluid supplied from said inlet E via said channel Ca.

[0072] Said integrated cylinder may be a double-acting cylinder, the piston PS dividing said cylinder chamber into a first chamber and a second chamber, said at least one channel comprising: - a deployment control channel Cad connected to the first chamber, comprising the first channel portion PCI and the second channel portion PC2 opening into the first chamber, on a first side of the piston PS, configured to be connected to a source of compressed fluid to actuate the piston by sliding in a first direction (on deployment), - a retraction control channel connected to the second chamber, comprising the first channel portion PCI and the second channel portion PC2 opening into the second chamber, on a second side of the piston, configured to be connected to a source of compressed fluid to actuate the piston by sliding in a second direction (on retraction).

[0073] According to one embodiment, the integrated cylinder can be oriented substantially coaxially to the axis of the mechanical coupling system comprising the first body and the second body. Compared to a design for which the coupling system and the pneumatic cylinder (not integrated) would simply be juxtaposed, having an integrated design of the cylinder makes it possible to reduce the compactness along the axis A of the mechanical coupling system. Yet another advantage is that cleanability is greatly improved.

[0074] Generally, the second coupling part 3 may comprise the second body 30 inside which the cavity cylinder chamber is obtained, as well as a cover part 31, crossed by a cylinder rod secured to the piston PS. Said cover part 31 is removably fixed to the second body 30 to allow the insertion or extraction of the piston PS. The cover part comprises an opening for the passage of the cylinder rod, as well as a sealing system ensuring a seal between the cover part 31 and the cylinder rod.

[0075] According to a second aspect, the present disclosure relates to an assembly comprising a mechanical coupling system 1 according to the present disclosure, and a gripping device SP comprising at least one pneumatic actuator intended to be fluidically coupled to at least one source of compressed air by said at least one channel Ca.

[0076] When said at least one actuator is external to said mechanical coupling system, namely when the cylinder is not integrated, at least one flexible pipe connects said pneumatic actuator to connection Ra of an outlet S of the second body 30.

[0077] When the actuator is integrated, as previously explained, the channel Ca directly connects the cylinder chamber CC formed by a cavity in the second body 30.

[0078] According to one embodiment, the gripping device is configured to grip a stack of flat products resting on a surface, said gripping device comprising: - a first gripping wing A1 and a second gripping wing A2, lower, scraping, oriented towards each other, configured to pass from a spaced position, on either side of the stack to be gripped to a close position for which said gripping wings A1, A2 slide under said stack bearing on the surface, typically by scraping the surface, as well as a first double-acting pneumatic cylinder VR1, connected by a first channel Cal and a second channel Ca2 of said at least one channel, independent, for controlling the first cylinder in both directions, - a first mobile lateral stop BL1 and a second mobile lateral stop BL2, configured to pass from a spaced position on either side of the stack to be gripped to a close position for which said lateral stops BL1, BL2 come to bear against two opposite sides of the stack,as well as a second pneumatic cylinder VR2 connected by a third channel Ca3 and a fourth channel Ca4 of said at least one channel Ca for controlling the second cylinder VR2 in both directions, , - a movable upper stop BSUP, configured to move from a raised position at a distance from an upper surface of the stack to a lowered position, for which the stack is held, below by the two gripping wings A1, A2, and above by the upper stop BSUP, and a third pneumatic cylinder VR3, connected by a fifth channel Ca5 and a sixth channel Ca6 to said at least one channel Ca for controlling the third cylinder VR3 in both directions.

[0079] It is advantageously noted that in particular the third cylinder VR3 can be said cylinder integrated into the coupling system whose cylinder chamber CC is formed in a cavity of the second body 30, said fifth channel Ca5 and the sixth channel Ca6 constituted respectively by said deployment control channel Cad and said retraction control channel Car.In such a case, the stop e BSUP is secured to the end of the rod secured to the piston PS internal to the second body 30.

[0080] Such a gripping device allows the gripping of a stack of flat products, for example cheese, charcuterie, or others; according to a gripping sequence comprising: - a positioning of the gripping device, the two gripping wings A1, A2 in the separated position, on either side of a stack to be gripped resting on a support surface, - bringing together the first gripping wing Al and the second gripping wing A2, by scraping the support surface, until the first wing Al and the second wing A2 slide under the stack, by a command from the first pneumatic cylinder VR1, - a rapprochement of the first lateral stop BL1 and the second stop lateral BL2, coming into contact respectively with two opposite sides of the stack, in particular in order to ensure centering of the different superimposed products forming the stack, by a control of the second pneumatic cylinder VR2, - a lowering of the upper stop by the control of the third cylinder, until the stack is held in engagement between, on the one hand, the upper stop BSUP by an upper support on the upper product of the stack, and on the other hand, the two gripping wings A1 and A2, by a support on the lower product of the stack.

[0081] Once grasped and held, the stack can be moved by the robotic arm, until it is released, for example into packaging, such as a thermoformed tray, without risk of the stack being damaged.

[0082] The present disclosure also relates to a robotic system, comprising an assembly according to the present disclosure, and a robotic arm secured to the first coupling part of said mechanical coupling system. The robotic arm comprises in particular one or more hoses connected to one or more connectors Ra associated with the fluid E.

[0083] When the gripping device is separated from the robotic arm, by unlocking the locking mechanism 4 allowing the separation of the first removable coupling part 2, and the second coupling part 3, the fluid coupling system makes it possible to fluidly and automatically decouple the gripping device from the robotic arm, in particular the hoses connected to the connector(s) Ra of the inlets E, as well as the hoses connected to the connector(s) of the outlets S which can remain permanently connected. Industrial application

[0084] The present disclosure also relates to a method of manufacturing a mechanical coupling system according to the present disclosure, or an assembly according to the present disclosure in which the first body including the first channel portion PCI and / or the second channel portion PC2 is obtained by additive manufacturing.

[0085] The present disclosure also relates to the use of said coupling system according to the present disclosure or of said assembly according to the present disclosure, or of the robotic system according to the present disclosure, in the food field, said second body 30 secured to a gripping device SP, for gripping food products.

[0086] Food products may be dairy products (cheese), delicatessen products, or others.

[0087] As far as possible, the external surface of the first body 2 and that of the second body 3 are free of interstices promoting water retention favorable to the development of pathogens, or even sharp edges, which penalize cleanability.

[0088] On the contrary, the outer surfaces are preferably smooth, not flat, promoting the flow of water: the outer surface of the device is free of cavities or any other surface promoting the accumulation of water and the development of pathogens. The roughness Ra of the outer surfaces is preferably less than or equal to 6 micrometers. Such a coupling system can be easily cleaned by spraying with water, or even a cleaning solution, without the risk of water accumulating on the outer surfaces of the coupling system, or even in cavities of the coupling system, and promoting the development of pathogens. List of reference signs

[0089] - 1: Mechanical coupling system, - 2. First part of coupling, - 20. First body, - 3. Second part of coupling, - 30. Second body, - 4. Locking system, - G latch mechanism, - Bl, B2. First connecting rod and second connecting rod (toggle), - PC. Hanging portion - Al. First articulation axis (of the first connecting rod on the first body) - A2. Second hinge pin (between the first connecting rod and the second connecting rod), - A3. Third articulation axis between the second connecting rod and the attachment portion, -A. Axis of the coupling system, - E. Fluid inlet(s), - ED. Sealing means, - S. Fluid outlet(s), - Ca. At least one channel, - Cal, Ca2, Ca3, Ca4, Ca5, Ca6. Respectively first, second, third, fourth, fifth and sixth channel, - Cad. Deployment command channel, - Car. Control channel for retraction, - CC. Cylinder chamber (integrated into the second body) - PS. Piston, - Ra. Connection, - Ml, M2. First and second bit, - SP. Gripping system, - Al, A2. First gripping wing and second gripping wing, scrapers - BL1, BL2. First lateral stop, and second lateral stop, - BSUP. Upper stop, - VR1, VR2, VR3. First, second and third pneumatic cylinder.

Claims

Claims

1. Mechanical coupling system (1) comprising: - a first coupling part (2), comprising a first body (20) configured to be manipulated by a maneuvering system, such as a robotic arm, - a second coupling part (3), comprising a second body (30) configured to secure a gripping device - a locking system (4) configured to move from a locking position for which the first body (20) and the second body (30) are locked to each other, and to an unlocking position allowing the separation of the first coupling part (2) and the second coupling part (3) characterized in that it is in one or more materials compatible with food contact, and that it comprises a fluid coupling system comprising from at least one fluid inlet (E) emerging from the first body (20), and at least one channel (Ca) comprising: - a first channel portion (PCI), internal,extending into the mass of the first body (20) from said at least one fluid inlet, - a second channel portion (PC2), internal, extending into the mass of the second body (30), and in which in said locking position, the second channel portion (PC2) extends, along the length of the channel, in fluidic extension of the first channel portion (PCI), a sealing means (ED) ensuring a fluid seal at a junction zone between the first channel portion (PCI) and the second channel portion (PC2).,

2. Mechanical coupling system, according to claim 1, wherein said at least one channel (Ca), in particular at least the first channel portion (PCI) and / or the second channel portion (PC2) has a curvilinear trajectory.

3. A mechanical coupling system, according to claim 2, wherein said curvilinear path extends along three dimensions of space, said path being not contained in a plane.

4. Mechanical coupling system, according to one of claims 1 to 3, in which the channel (Ca) comprising the first channel portion (PCI) and the second channel portion (PC2) is devoid of an auxiliary channel, extending laterally from the first channel portion (PCI) or from the second portion of the channel (PC2), the auxiliary channel forming a non-opening dead arm comprising one end closed by a plug, opposite an end opening into the first portion of the channel or the second portion of the channel.

5. Mechanical coupling system according to one of claims 1 to 4, in which the second channel portion (PC2) extends at the opposite end of the channel inlet to a fluid outlet (S) emerging from the second body (30).

6. Mechanical coupling system, according to one of claims 1 to 5, in the first coupling part (2) comprises a connector (Ra) connected to the fluid inlet configured for the fluidic connection of a flexible pipe, and where appropriate when the system is according to claim 5, a connector (Ra) connected to the fluid outlet (S) configured for the fluidic connection of a flexible pipe, extending in particular to a pneumatic cylinder.

7. Mechanical coupling system, according to one of claims 1 to 6, wherein the second channel portion (PC2) of said at least one channel extends to a cylinder chamber (CC) of at least one jack integrated into the mechanical coupling system, said cylinder chamber being obtained in the mass of said second body (20), said mechanical coupling system comprising a piston (PS), internal to said cylinder chamber, configured to be constrained to displacement by a source of compressed fluid supplied from said inlet via said channel (Ca).

8. Mechanical coupling system according to claim 7, wherein said integrated cylinder is a double-acting cylinder, the piston dividing said cylinder chamber into a first chamber and a second chamber, said at least one channel comprising: - an extension control channel (Cad) connected to the first chamber, comprising the first channel portion (PCI) and the second channel portion (PC2) opening into the first chamber, on a first side of the piston (PS), configured to be connected to a source of compressed fluid to actuate the piston in sliding in a first direction, - a retraction control channel (Car) connected to the second chamber, comprising the first channel portion (PCI) and the second channel portion (PC2) opening into the second chamber, on a second side of the piston, configured to be connected to a source of compressed fluid to slide the piston in a second direction.

9. Coupling system according to claim 7 or 8, in the second coupling part (3) comprising the second body (30) inside which the cavity cylinder chamber is obtained, as well as a cover part (31), crossed by a rod integral with the piston (PS), said cover part (31) removably fixed to the second body (30) to allow the insertion or extraction of the piston (PS).

10. Mechanical coupling system according to one of claims 1 to 9, in which the first body (20) and the second body (30) are made of one or more synthetic materials chosen from: - polylactic acid, - polypropylene, - polyethylene terephthalate, - polyamide, in particular polylauroamide.

11. Coupling system according to one of claims 1 to 10, wherein the outer surfaces of said system, including the first body and the second body, are smooth; non-planar, promoting the flow of water, devoid of cavities promoting the accumulation of water and microbial development, the outer surfaces having a roughness Ra less than or equal to 6 micrometers.

12. Mechanical coupling system according to one of claims 1 to 11, wherein said locking system comprises: - a clamping mechanism comprising a first jaw (M1) and a second jaw (M2) integral with the first body configured to grip the second body (30) in a position close to the jaws (M1, M2), and to allow decoupling in a position separated from the jaws (M1, M2) or alternatively, - a clamping mechanism comprising one or more clamping screws, passing through the first body (20), screwing with threads of bores of the second body (30), or vice versa, preferably blind bores.

13. Mechanical coupling system according to one of claims 1 to 11, wherein said locking system comprises one or more latch mechanisms, the or each latch mechanism (G) comprising a first connecting rod (B1) pivotally articulated along a first axis (A1) to the first body (2), a second connecting rod (B2) pivotally articulated on the first connecting rod (B1) along a second axis (A2), and a attachment portion (CT) secured to the second body (30), on which a portion of the second connecting rod (B2) can be removably attached, said second connecting rod (B2) pivoting on the attachment portion (CT) along a third axis (A3) and in which said locking mechanism is configured to lock the first body (20) against the second (30) during the pivoting of the first connecting rod when the second axis (A2) of articulation between the two connecting rods (B1, B2) exceeds a point of alignment between the three articulation axes consisting of the first axis, the second axis and the third axis and arrives in a stable stop position.

14. Assembly comprising a mechanical coupling system (1) according to one of claims 1 to 13, and a gripping device (SP) comprising at least one pneumatic actuator intended to be fluidically coupled to at least one source of compressed air by said at least one channel (Ca).

15. Assembly according to claim 14 in which the gripping device is configured to grip a stack of flat products resting on a surface, comprising: - a first gripping wing (Al) and a second gripping wing (A2), lower, scrapers, oriented towards each other, configured to pass from a spaced position, on either side of the stack to be gripped to a close position for which said gripping wings (Al, A2) slide under said stack while bearing on the surface, as well as a first double-acting pneumatic cylinder (VR1), connected by a first channel (Cal) and a second channel (Ca2) of said at least one channel, independent, for controlling the first cylinder in both directions, - a first lateral stop (BL1) and a second lateral stop (BL2), movable, configured to pass from a spaced position on either side of the stack to be gripped to a close position for which said lateral stops (BL1, BL2) come to bear against two opposite sides of the stack,as well as a second pneumatic cylinder (VR2) connected by a third channel (Ca3) and a fourth channel (Ca4) of said at least one channel (Ca) for controlling the second cylinder (VR2) in both directions, - a movable upper stop (BSUP), configured to move from a raised position at a distance from an upper surface of the stack to a lowered position, for which the stack is held, lower by the two gripping wings (A1, A2), and upper upper stop (BSUP), and a third pneumatic cylinder (VR3), connected by a fifth channel (Ca5) and a sixth channel (Ca6) of said at least one channel (Ca) for controlling the third cylinder (VR3) in both directions.

16. Assembly according to one of claims 7 to 9 in combination with claim 14 or 15 wherein said pneumatic actuator, in particular the third cylinder (VR3), is said cylinder integrated into the coupling system whose cylinder chamber (CC) is formed in a cavity of the second body (30), said fifth channel (Ca5) and the sixth channel (Ca6) constituted respectively by said deployment control channel (Cad) and said retraction control channel (Car).

17. Robotic system, comprising an assembly according to one of claims 14 to 16, and a robotic arm secured to the first coupling part (2) of said mechanical coupling system.

18. Method of manufacturing a mechanical coupling system according to one of claims 1 to 13, or an assembly according to one of claims 14 to 16 in which the first body including the first channel portion (PCI) and / or the second body (PC2), including the second channel portion (PC2), is obtained by additive manufacturing.

19. Use of said coupling system according to one of claims 1 to 13, or of said assembly according to one of claims 14 to 16, or of the robotic system according to claim 17, in the food sector, said second body (30) secured to a gripping device (SP), for gripping food products such as in particular dairy products, charcuterie.

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