Robot gripper with elastic retaining cords

Abstract

The robotic gripper (1) comprises a gripping tool (10) for grasping a product or support, in particular a plate on which a product, especially sliced ​​food, is placed, preferably without being fixed to it, and retaining cords (12) that are elastic and adapted to be pressed vertically against the product, deforming elastically to conform to and hold the product. Fig. 1

Description

Title of the invention: GRIPPER FOR ROBOT COMPRISING ELASTIC RETAINING CORDS technical field

[0001] The present invention relates to a novel gripper for grasping and manipulating a product or a support on which a product is placed, and more particularly, but not exclusively, for the rapid grasping and manipulation of a sticky and / or slippery product or a support on which a sticky and / or slippery product is placed. Advantageously, but not exclusively, it finds its application in grasping and transferring at high speed a product placed on a support, such as a tray, more particularly a food product, such as sliced ​​fish, especially sliced ​​smoked salmon, sliced ​​cheese, sliced ​​meat, or sliced ​​deli meats. Previous art

[0002] To quickly pick up a product, which is for example placed and transported on a conveyor, and to quickly transfer this product into a processing plant or line, such as for example a packaging plant or line, it is known to use a high-speed picking robot, of the type of the M3iA / 6S robot marketed by FANUC or of the type of robots marketed for example by ABB under the brand FLEXPICKER ®, which is capable of picking up the products and transferring them one by one at a high rate, if necessary by reorienting them during their transfer.

[0003] To date, there are various types of grippers, which are adapted for a robot, and in particular for a rapid picking robot, and which generally include an automatically controlled gripping gripper so as to quickly grasp the product, and more particularly a gripper having two jaws adapted for gripping under the product.

[0004] The applicant has also already designed a gripper for a rapid picking robot of the aforementioned type which includes, in addition to said gripper, a product retention band adapted to be applied vertically to the product. The function of this retention band is to hold the product, which may undergo significant accelerations or decelerations during its handling, and in particular during its transfer.

[0005] Moreover, in many applications, the product may, to a disadvantage for its handling, be sticky and / or slippery.

[0006] This is the case, for example, in the agri-food sector, when the product is a Sliced ​​food products, such as sliced ​​smoked salmon, sliced ​​cheese, sliced ​​meat, or sliced ​​deli meats, are placed, without being secured, on a plate-type support. In this case, the aforementioned retaining strip does not provide sufficient support, which can lead to the plate-type support slipping relative to the gripper, the product slipping relative to the plate, and the slices of the product slipping relative to each other. Furthermore, when the product on the plate is sticky, it will adhere to the aforementioned retaining strip, making it practically unsuitable for handling sticky and / or slippery products. Objectives of the invention

[0007] A primary and general objective of the invention is to provide an improved gripper, which makes it possible to grasp and manipulate a product or a support on which the product is placed, while effectively holding the product or the product and its support.

[0008] A more specific objective is to propose an improved gripper, which allows gripping at least from below and manipulation of a product or a support on which a product is placed, with effective support of the product or of the product and its support.

[0009] A more specific objective is to propose an improved gripper that allows for the grasping and manipulation of a sticky and / or slippery product.

[0010] A more specific objective is to propose an improved gripper, which allows a product or a support on which a product is placed to be grasped and manipulated at a high rate.

[0011] A more particular objective is to propose an improved gripper, which makes it possible to grasp and manipulate a food consumer product, preferably in slices, placed on a support such as a plate, and in particular sliced ​​smoked salmon, sliced ​​cheese, sliced ​​meat or sliced ​​deli meats. Summary of the invention

[0012] The invention thus has as its first object a gripper comprising a gripping tool for gripping a product or a support on which a product is placed and retaining cords which are elastic and which are adapted to be pressed vertically on the product by deforming elastically in order to conform to and hold the product.

[0013] The gripper of the invention can advantageously be used to grasp and manipulate a product comprising a support, preferably a plate on which a product is placed, preferably not fixed to the support. In this case, the gripping tool is adapted to grasp the plate, preferably from the underside of the plate. The product held on the plate can be secured against the support by elastic retaining cords which, by deforming elastically, conform to the product and hold it in place on the plate. This product may be a consumer product, particularly a food product, especially in the form of stacked slices, but may also be a non-food consumer product.

[0014] In other applications, the product may also be any product that can be grasped directly by the gripping device. In this case, the product is held against the gripping tool by the retaining cords.

[0015] More specifically, this gripper may include the following additional and optional features, taken individually or in combination with each other: - The retaining cords are made of elastomer or a material containing at least one elastomer. - The retaining cords are straight. - The retaining cords are aligned transversely to the direction of their length. - The retaining cords are parallel. - The retaining cords are spaced apart. - The retaining cords are aligned along an arc of a circle whose The apex is oriented towards the bottom of the gripper. - The gripper includes a frame that supports the retaining cords at both ends. - The frame supporting the retaining cords is removable. - The framework is compliant. - The gripping device allows gripping under the product or under the support on which the product is placed. - The grasping device is a clamp with two jaws. - The jaws of the gripping clamp are adapted for gripping in a gripping plane under the product or under the support on which the product is placed and at least one of the jaws, and preferably each jaw, is mobile and actuable in translation parallel to this gripping plane. - The retaining cords are positioned above the jaws, preferably centered in relation to the jaws. - The jaws extend in a longitudinal direction (X) and the retaining cords are oriented parallel to this longitudinal direction (X). - The jaws extend in a longitudinal direction (X) and each jaw has, at each of its two ends, a lateral stop oriented towards the other jaw transversely to this longitudinal direction (X).

[0016]

[0017]

[0018]

[0019]

[0020] The invention also has as a second object an accessory for holding a gripper for a robot, comprising a frame which supports retaining cords by their two ends, the retaining cords being elastic. More specifically, this support accessory may include the following additional and optional features, taken individually or in combination with each other: - The retaining cords are made of elastomer or a material containing at least one elastomer. - The retaining cords are straight. - The retaining cords are aligned transversely to the direction of their length. - The retaining cords are parallel and / or spaced apart. - The retaining cords are aligned along an arc of a circle (C) whose The apex is oriented towards the bottom of the frame. - The frame is made of plastic. The invention also has as its third object a robot, in particular a rapid sampling robot, equipped with the aforementioned gripper. The invention also has as a fourth object a method of grasping and manipulating a product or a support on which a product (P) is placed, which preferably is not fixed to the support, the method comprising the use of the aforementioned gripper or a robot, in particular a rapid picking robot, equipped with the aforementioned gripper. More specifically, the process may include the following additional and optional features, taken individually or in combination with each other: - During this process, (a) the elastic retaining cords of the gripper are vertically pressed against the product by elastically deforming them to conform to the product and to hold the product, and (b) the product or the support on which the product is placed is grasped by means of the grasping member, the grasping operation (b) preferably being carried out after the holding operation (a). - During the gripping operation (b), the product or the support on which the product is placed is gripped at least from below. - The support is a plate. - The product is slippery and / or sticky. - The product is a consumer product, and more specifically a food product. - The product consists of overlapping slices, with or without offset of the slices. - The product is sliced ​​fish, in particular smoked salmon slices, or sliced ​​cheese, or sliced ​​meat, or sliced ​​deli meats. Brief description of the figures

[0021] Other features and advantages of the invention will become more apparent from the reading of the detailed description below, which is given by way of non-limiting and non-exhaustive example of the invention, and with reference to the accompanying drawings on which: - [Fig.1] The [Fig.1] is an isometric representation of a particular variant of a gripper of the invention mounted on a standard tool flange of a rapid picking robot. - [Fig.2] The [Fig.2] represents the gripper and the tool flange of the [Fig.1], Views from below. - [Fig.3] The [Fig.3] is a top view of the gripper of the [Fig.1]. - [Fig. 4] [Fig. 4] is an isometric representation of the gripper and the tool flange of [Fig.1], the gripper clamp having grasped a plate on which a product is placed, and the gripper retaining cords being applied vertically to the product and being elastically deformed to fit the product and hold it on the plate. - [Fig.5] The [Fig.5] represents the gripper and tool flange of the [Fig.1], the gripper being used to quickly transfer a plate product between two conveyors. - [Fig.6][Fig.7][Fig.8][Fig.9] Figures 6 to 9 represent the main successive stages of capturing a product on a plate transported on one of the two conveyors. - [Fig. 10] The [Fig. 10] is a cross-sectional view of the gripper of the [Fig. 1], the tool gripping not being represented in this section. Detailed description

[0022] Figure [Fig.1] shows a particular embodiment of a gripper 1, which is specific to the invention.

[0023] In the present text and with reference to [Fig.1]: the X axis defines the longitudinal direction of the gripper 1, the Y axis defines the lateral direction of the gripper; the Z axis defines the vertical direction of the gripper 1.

[0024] This gripper 1 is adapted to be mounted by means of a standard tool flange 20 on a rapid picking robot 2, such as for example a rapid picking robot marketed by the company FANUC, for example an M3iA / 6S robot.

[0025] In [Fig.1], for the sake of simplification, only the gripper 1 and the tool flange 20 of the rapid sampling robot 2 are shown.

[0026] In this variant, but not in a limiting way, the rapid sampling robot 2 comprises, in a manner known per se, six axes (not shown) and the coupling of the tool flange 20 with the six axes of the rapid sampling robot 2 is carried out in a conventional manner by means of six spheres 21 respectively, which are fixed on the periphery of flange 20, each sphere 21 making it possible to form a pivot link with one of the axes of the robot.

[0027] In operation, and in a manner known per se, the robot 2 allows the tool flange 20 to be moved in translation at high speed in all directions, preferably keeping the central axis 20a of the flange 20 oriented vertically, and allows the flange 20 to be rotated on itself around the central axis 20a, so as to orient the flange 20 in rotation if necessary. Gripper 1

[0028] In the particular embodiment shown in the attached figures, the gripper 1 comprises a plate 13, on which are mounted a gripping clamp 10, and a rigid frame 11, which supports at their two ends several elastic retaining cords 12.

[0029] The plate 13 is rigidly fixed to a fixed shaft 14, which defines a central axis 14a ([Fig. 1] and [Fig. 10]) perpendicular to the (X, Y) plane and has two opposing arms 131 with a sliding function, which are positioned on either side of the shaft 14 and are oriented radially with respect to this shaft 14 and in the lateral Y direction. This shaft 14 is used to rigidly fix the plate 13 to the tool flange 20, such that the axis 14a (shaft 14) and the axis 20a (flange 20) coincide. Gripper 10

[0030] The gripping clamp 10 has two jaws 101. Each jaw 101 is fixed to a jaw support 102, which has a guide rail 102a.

[0031] Preferably, the plate 13, the jaws 101 and their supports 102 and the frame 11 are made of plastic so as to be light and to have low inertia.

[0032] The two jaws 101 of the gripping clamp are opposite each other ([Fig.1] ) and extend in the longitudinal direction (axis X).

[0033] These two jaws 101 are adapted to grip a product directly or to grip a support, in particular a support such as a plate, on which a product is placed, with a grip under the product or under the support.

[0034] More specifically, each jaw 101, commonly referred to as the "flat jaw", comprises: - a gripping wall 101a, which allows the product to be gripped from below, and which extends in the longitudinal direction (X axis). - a longitudinal wall 101b, which extends in the longitudinal direction (X axis) and which is oriented perpendicularly to the gripping wall 101a.

[0035] The gripping walls 101a below the two jaws 101 are flat and coplanar and define a gripping plane lOld ([Fig.6]), which is oriented perpendicular to the axis 14a of the shaft 14.

[0036] The rails 102a of the jaw supports 102 are mounted to slide, each on an arm 131 with a sliding function of the plate 13, such that the jaws 101 can slide together laterally in the lateral direction Y in a plane perpendicular to the shaft 14 (in other words parallel to the aforementioned gripping plane of the two gripping walls 101a of the two jaws 101) so that they can be brought together coplanarly ([Fig.1] / Arrows F / Clamp closing) and so that they can be moved apart coplanarly ([Fig.1] / Arrows G / Clamp opening).

[0037] Preferably, each upper wall 101b of each jaw 101 extends at both ends into a wall 101c which forms a lateral stop oriented towards the other jaw, transversely to the longitudinal direction (X). These lateral stops 101c prevent a product P, which has been gripped by the jaws 101, from sliding in the longitudinal direction during its handling by means of the gripper 1.

[0038] The gripping clamp 10 includes actuation means 103, which are mounted on the plate 13 and which allow the two jaws 101 to be acted simultaneously in translation relative to each other.

[0039] These actuation means 103 are capable of being automatically controlled to close or open the gripping clamp.

[0040] In this particular example, these actuation means 103 comprise a bidirectional cylinder 103a, the rod of which is rotationally articulated with a rotating connecting piece 103b and allows this connecting piece 103b to be rotated in both directions. The rotating connecting piece 103b is connected to the two jaw supports 102 respectively by two connecting rods 103c, which are rotationally articulated with respect to the connecting piece 103b and the two jaw supports 102, and which allow the rotation of the connecting piece 103b to be transformed into a translation of the two jaws 101 in the lateral direction F or G (parallel to the Y axis), depending on the direction of rotation of the part 103b actuated by the cylinder 103a.

[0041] The cylinder 103a is preferably a double-acting pneumatic cylinder, but could also be an electric cylinder. Frame 11 supporting the retaining cords 12

[0042] In the variant of the attached figures, the frame 11 is quadrangular in shape and has two lateral walls lia, which, once the frame 11 is mounted on the plate 13 of the gripper 1, are oriented perpendicularly to the longitudinal direction (axis X) of the two jaws 101, and two longitudinal walls 11b which connect the two lateral walls lia to each other.

[0043] The retaining cords 12 are mounted between the two side walls 1la, more particularly in this embodiment, by threading their two ends through through openings 11c ([Fig. 10]) made in these two side walls lia. The ends of the cords 12 are fixed to the side walls lia of the frame 11, for example by means of pressure screws at each end of the cords or by gluing.

[0044] The elastic retaining cords 12 are preferably mounted on the frame 11 in a straight line and without being under tension, but can also be mounted on the frame 11 while being slightly taut.

[0045] In another variant, the elastic retaining cords 12 could be mounted on the frame 11 without being under tension and not being straight, but hanging slightly from the frame 1.

[0046] The frame 11 is assembled with the plate 13, such that the retaining cords 12 are positioned above the two jaws 101, preferably centered with respect to the two jaws 101 of the gripping clamp 10.

[0047] The 12 elastic retaining cords are designed to be pressed vertically onto a product P by elastically deforming, in order to conform to the product P and to hold the product P on the gripper 1, while minimizing the contact areas with the product P.

[0048] The retaining cords 12 are more particularly made of elastomer or of a material comprising at least one elastomer or may be made of an equivalent material giving them the elastic deformability required by the invention.

[0049] These retaining cords 12 are cylindrical and preferably have a circular cross-section. In another embodiment, the cross-section of the cords 12 may not be circular, but may, for example, be oval or polygonal.

[0050] The retaining cords 12 are mounted in the frame 11, being aligned and spaced transversely to the direction of their length.

[0051] Preferably, the retaining cords 12 have the same orientation or in other words are parallel.

[0052] In the embodiment illustrated in the figures, the retaining cords 12 are not coplanar, the cords in the center having a slightly lower position than the cords at the ends, preferably by positioning the ends of the cords 12 along an arc of a circle C ([Fig. 6]) whose apex is oriented downwards. This allows for better retention of the product P in the central part of the product, due to the greater elastic deformation, and thus the greater pressure exerted by the retaining cords on the central part of the product.

[0053] In another variant, the cords 12 could nevertheless be coplanar.

[0054] In the attached figures, the cords 12 are the same length. This is not limiting of the invention. In other applications, depending in particular on the shape of the product to be held, the cords may have different lengths, the shape of the frame 11 may be modified and be different from that illustrated in the figures. For example, the frame 11 does not necessarily have a quadrangular shape, but may be circular or have another polygonal shape.

[0055] The number of retaining cords 12 and their spacing will be fixed on a case-by-case basis depending on the product to be retained, and in particular the dimensions of that product.

[0056] Preferably, but not limiting the invention, once the frame 11 is mounted on the plate 13 of the gripper 1, the cords 12 are oriented parallel to the jaws 101, that is to say in the longitudinal direction (axis X) of the gripper 1.

[0057] Preferably, the frame is not permanently mounted on the plate 13, but the frame 11 is advantageously removable. The frame 11 supporting the cords 12 thus constitutes a retaining accessory that can be easily replaced by another retaining accessory, which may be identical (replacement in case of wear) or different and adapted to the format of another product to be grasped. This other retaining accessory may, for example, have a different geometry and / or frame dimensions and may have a different number of cords or different cord lengths. Assembly of the frame 11

[0058] The frame 11 is mounted on the plate 13 in a removable manner and with mechanical compliance, so as to adapt its orientation relative to the plate 13 and to correct any orientation defects of the gripper 1 by the robot 2.

[0059] More specifically, the plate 13 comprises two tubular guides 13a ([Fig. 1] and [Fig. 10]) which are open at both ends and which allow the frame 11 to be mounted on the plate 13 by means of fixing rods 15 and bushings 16. These two tubular guides 13a are positioned symmetrically with respect to the shaft 14

[0060] With reference to [Fig. 10], the frame 11 has two through cylindrical housings 11c. Two O-rings 17 (for the mechanical compliance of the frame) are mounted in each housing 11c

[0061] The frame 11 is positioned relative to the plate 13, such that the housings 11 of the frame 11 are aligned respectively with the tubular guides 13a of the plate 13. The bushings 16 are inserted respectively into the housings 11c of the frame 11. Each fixing rod 15 is passed through one of the two tubular guides 13a of the plate 13, and its lower end is inserted into a housing 11 of the frame 11 and is fixed, for example by screwing, to the bushing 16 inserted into this housing 11.

[0062] The joints 17 allow a slight angular displacement of the sleeve 16 relative to the fixing rod 15, which makes the frame 11 compliant.

[0063] A particular example of picking and transferring a plate-type support onto which is a product P

[0064] The gripper 1 is particularly suitable for grasping and manipulating ([Fig.4]) a support such as a plate PL on which a product P is placed, without being fixed to it.

[0065] Figure 5 shows a first conveyor Cl transporting in the direction of transport Tl the plate PL on which the product P is placed.

[0066] With reference to this [Fig.5], the robot 2 equipped with the gripper 1 is used to pick up the plate PL on which the product P is placed and to transfer and deposit them at high speed on a second parallel conveyor C2 (for example and not limiting the invention with a high rate of 60 picks per minute), preferably maintaining the horizontality of the plate PL.

[0067] On this [Fig.5], for the sake of simplification (like [Fig.1]), only the gripper 1 and the tool flange 20 of the robot 2 are shown.

[0068] This conveyor C2 then allows the plate PL and the product P to be transported in the transport direction T2.

[0069] Conveyor C2 is not necessarily parallel to conveyor CL. When the two conveyors Cl and C2 are not parallel, robot 2 allows, if necessary, the reorientation of plate PL and product P during its transfer, while preferably maintaining the horizontality of plate PL.

[0070] The conveyor C2 is for example part of a product packaging installation for the product P on plate la PL, including for example a thermoforming machine.

[0071] Figures 6 to 9 show schematically the main successive steps of sampling product P on plate PL.

[0072] The robot 2 automatically positions the gripper 1 with the gripper clamp 10 open ([Fig.6]), so that the retaining cords 12 are positioned above the product P and centered with respect to the product P.

[0073] The robot 2 lowers the gripper 1 ([Fig.7]) until the gripping plane 10Id of the two jaws 101 is aligned with the lower face of the plate PL, the retaining cords 12 being pressed vertically on the product P and deforming elastically to conform to the product P ([Fig.4]).

[0074] The robot 2 actuates the two jaws 101 ([Fig.8]) by controlling the cylinder 103a, so as to close them laterally (closing of the gripping clamp) under the plate PL.

[0075] Once the plate PL supporting the product P has been grasped, ([Fig.9]) the robot 2 moves the gripper 1 vertically so as to pick up the product P from the conveyor Cl, which is placed on the plate PL and held by the retaining cords 12.

[0076] Then the robot 2 can generally manipulate the product P (PL / P'), preferably maintaining the horizontality of the plate PL constantly and subjecting the product P and the plate PL to accelerations and decelerations which can be important.

[0077] In particular, the robot 2 can transfer at high speed, on the second conveyor C2, the product P on the plate PL, moving them at high speed to the conveyor C2 and opening the gripping clamp 10 (control of the cylinder 103a), in order to release them on the conveyor C2.

[0078] Figure 4 shows the plate PL gripped by means of the jaws 101 of the gripper 1, the product P being placed on the plate PL and being held on the plate PL by the retaining cords 12. The plate PL is supported by the two gripping walls 101a of the two jaws 101 and is clamped between the two longitudinal walls 101b of the two jaws 101. In addition, the plate PL is blocked longitudinally (axis X) by the lateral stops 101c of the jaws.

[0079] This [Fig.4] allows us to schematically show the elastic deformation of the retaining cords 12, which perfectly conform to the volume of the product P and allow it to be effectively pressed onto the plate PL and thus obtain reliable retention of the product P on the plate PL, during their handling, and in particular during their transfer between the two conveyors Cl and C2.

[0080] In particular, these retaining cords 12 help to reduce the risk of the product P slipping relative to the plate PL.

[0081] When the product P is made up of superimposed and possibly offset slices, and is in particular a consumer product, such as for example a sliced ​​food product, these retaining cords 12 make it possible to reduce the risks of the slices slipping against each other.

[0082] More particularly, when the product P consists of superimposed and offset slices, such as, for example, slices of smoked salmon, slices of cheese, slices of meat, slices of deli meats, the gripper 1 is used, so that the retaining cords 12 are preferably oriented in the direction of the offset of the slices.

[0083] The retaining cords 12 advantageously allow the product P to be held without damaging it.

[0084] The retaining cords 12 also help to minimize the contact surfaces between the product P and the gripper 1.

[0085] This reduction of the contact surfaces with the gripper 1, which is obtained through the implementation of the retaining cords 12, is particularly advantageous in the case of a sticky product P, such as, for example, slices of smoked salmon, slices of cheese, slices of meat, slices of deli meats.

[0086] Moreover, when the gripping clamp 10 releases the plate PL and the product P, the retaining cords 12 elastically return to their initial straight shape (shape of [Fig. 1] to 3 in the absence of stress on the cords 12) by means of a spring effect. advantageously apply downward pressure to product P, which thus advantageously contributes to the release of product P on plate PL and prevents product P from remaining stuck to cords 12 when released. Other variations

[0087] The invention is not limited to the grasping and manipulation of a product ' placed on a plate PL, but the gripper 1 can also be used to directly grasp a monolithic product P (without plate PL), with the product P being held on the gripper 1 by means of the retaining cords 12. For example, and in a non-limiting and non-exhaustive manner, the product P can be a piece of meat, a fish fillet, a soap.

[0088] The invention is not limited to the particular variant of gripper 1 that has been described.

[0089] By way of example, the following modifications may be made, without departing from the scope of the invention: - The cords 12 can have a different orientation, and can for example be oriented in the lateral direction (Y axis) perpendicular to the jaw 101. - The 12 cords are not necessarily spaced apart. - The two jaws of the gripping clamp are not necessarily flat jaws 101 mobile in translation in the same plane, but can be jaws articulated in rotation for opening and closing the clamp. - Only one of the two jaws can be movable, the other being fixed. - In a less sophisticated variant, the jaws 101 may be without a lateral stop 101c. - The jaws may have a structure and geometry that are different from those of the 101 jaws and that may be specifically adapted to the product P or the support PL to be gripped. - The support is not necessarily a plate. - Although the implementation of a gripping clamp allowing gripping from below is preferable, in another variant, the gripping element can be adapted to grasp the product or the product support laterally without grasping it from below. - The grasping organ is not necessarily a pincer. - The gripper can be adapted to be mounted on any type of robot and for example on a robot with an articulated manipulator arm, in particular an articulated manipulator arm with six motorized axes of rotation. - The gripper allows a product P or a support on which a product P is placed to be grasped, and in general to be manipulated, the product P or the Product P placed on its support, particularly at high speed, this manipulation is not limited to a transfer between two conveyors C1 and C2. Areas of application

[0090] Within the scope of the invention, the product P can be very different from one application to another and the gripper of the invention can be used in various industrial fields.

[0091] When the invention is used in the agri-food field, the product P may be a consumer product, in particular a food product, and more particularly a sliced ​​product, such as, for example, and in a non-exhaustive manner, sliced ​​fish, in particular sliced ​​smoked salmon, sliced ​​cheese or sliced ​​meat or sliced ​​deli meats.

[0092] The invention is not limited, however, to the agri-food sector alone, i.e. to all industrial activities which transform raw materials from agriculture, livestock farming or fishing into food products intended essentially (but not exclusively) for human consumption, and can find its application in other industrial sectors, and for example in the cosmetics industry.

Claims

Demands

1. Gripper (1) comprising a gripping tool (10) for gripping a product (P) or a support (PL) on which a product (P) is placed and retaining cords (12), which are elastic and which are adapted to be pressed vertically against the product (P) by elastically deforming in order to conform to and retain the product (P).

2. Gripper according to claim 1, wherein the retaining cords (12) are made of elastomer or of a material comprising at least one elastomer.

3. Gripper according to claim 1 or 2, wherein the retaining cords (12) are straight.

4. Gripper according to any one of claims 1 to 3, wherein the retaining cords (12) are aligned transversely to the direction of their length.

5. Gripper according to any one of claims 1 to 4, wherein the retaining cords (12) are parallel.

6. Gripper according to any one of claims 1 to 5, wherein the retaining cords (12) are spaced.

7. Gripper according to any one of claims 1 to 6, wherein the retaining cords (12) are aligned along an arc of a circle (C) whose apex is oriented towards the bottom of the gripper.

8. Gripper according to any one of claims 1 to 7, comprising a frame (11) which supports the retaining cords (12) by their two ends.

9. Gripper according to claim 8, wherein the frame (11) supporting the retaining cords (12) is removable.

10. Gripper according to claim 8 or 9, wherein the frame (11) is compliant.

11. Gripper according to any one of claims 1 to 10, wherein the gripping member (10) allows gripping under the product (P) or under the support (PL) on which the product (P) is placed.

12. Gripper according to any one of claims 1 to 11, wherein the gripping member (10) is a gripper comprising two jaws (101).

13. A gripper according to claim 12, wherein the jaws (101) of the gripper (10) are adapted for gripping in a gripping plane (101) under the product (P) or under the support (PL) on

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25. in which the product (PL) is placed and in which at least one of the jaws (101), and preferably each jaw, (101) is mobile and actuable in translation parallel to this gripping plane (lOld). Gripper according to claim 12 or 13, wherein the retaining cords (12) are positioned above the jaws (101), preferably being centered with respect to the jaws (101). Gripper according to any one of claims 12 to 14, wherein the jaws (101) extend in a longitudinal direction (X) and the retaining cords (12) are oriented parallel to this longitudinal direction (X). Gripper according to any one of claims 12 to 15, wherein the jaws (101) extend in a longitudinal direction (X) and each jaw (101) has, at each of its two ends, a lateral stop (101c) oriented towards the other jaw transversely to this longitudinal direction (X). Accessory for holding a gripper (1) for a robot (2), comprising a frame (11) which supports at both ends elastic retaining cords (12). Retaining accessory according to claim 17, wherein the retaining cords (12) are made of elastomer or of a material comprising at least one elastomer. Supporting accessory according to claim 17 or 18, wherein the retaining cords (12) are straight. A retaining accessory according to any one of claims 17 to 19, wherein the retaining cords are aligned transversely to the direction of their length. A support accessory according to any one of claims 17 to 20, wherein the support cords (12) are parallel and / or spaced apart. A support accessory according to any one of claims 17 to 21, wherein the support cords (12) are aligned along an arc of a circle (C) whose apex is oriented towards the bottom of the frame (11). A support accessory according to any one of claims 17 to 22, wherein the frame (11) is made of plastic. Robot, in particular rapid picking robot, equipped with a gripper (1) according to any one of the preceding claims. Method for grasping and manipulating a product (P) or a support (PL) on which a product (P) is placed, which preferably is not fixed to the

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32. support (PL), the method comprising the use of the gripper according to any one of claims 1 to 16 or of a robot, in particular a rapid picking robot, equipped with the gripper according to any one of claims 1 to 16. A method according to claim 25 wherein (a) the elastic retaining cords (12) of the gripper (1) are vertically pressed onto the product (P) by elastically deforming them to conform to the product (P) and to hold the product (P), and (b) the product (P) or the support (PL) on which the product (P) is placed is grasped by means of the grasping member, the grasping operation (b) preferably being carried out after the holding operation (a). Method according to claim 26, wherein during the gripping operation (b), the product (P) or the support (PL) on which the product (P) is placed is gripped at least from below. A method according to any one of claims 25 to 27, wherein the support (PL) is a plate. A method according to any one of claims 25 to 28, wherein the product (P) is slippery and / or sticky A process according to any one of claims 25 to 29, wherein the product (P) is a consumer product, and more particularly a food product. A method according to any one of claims 25 to 30, wherein the product (P) consists of superimposed slices, with or without offset of the slices. A process according to claim 31, wherein the product (P) is sliced ​​fish, in particular sliced ​​smoked salmon, or sliced ​​cheese or sliced ​​meat or sliced ​​deli meats.

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