Robotic gripper intended to cooperate with a predefined gripping means device

Abstract

The present invention relates to a robotic gripper (1) comprising a first finger mechanism assembly (6) and a second finger mechanism assembly (6A), each configured to be movable between an open position and a closed position, the first finger mechanism assembly (6) being configured to grip or, reciprocally, release a predefined gripping means device and the second finger mechanism assembly (6A) being configured to assist in gripping or, reciprocally, releasing the predefined gripping means device. Abstract Figure: Figure 1

Description

Title of the invention: Robotic gripper intended to cooperate with a predefined gripping means device Technical field

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robotic gripper intended to cooperate with a predefined universal gripping means device. STATE OF THE ART

[0002] A robotic hand for a humanoid robot is known from the prior art. In particular, such a robotic hand comprises a motor, a screw, a shaft and four fingers each associated with a drive wheel. The motor is connected to one end of the screw, itself connected by its other end to the shaft. The drive wheels are distributed on the shaft and are configured to wind and / or unwind around them a wire extended in the finger with which each is associated.

[0003] Thus, the motor is configured to rotate the screw which is itself configured to rotate the shaft which causes the rotation of the drive wheels and therefore the winding or unwinding of the wires around each drive wheel thus causing the fingers to bend or open. The use of wires in the robotic hand makes it possible to obtain fingers of reduced size, adapting to a plurality of shapes and objects.

[0004] Furthermore, it is known that the robotic hand further comprises another motor connected to another screw, another shaft and a thumb each associated with a drive wheel. The configuration and operation are similar to those previously presented. The hand then has fingers independent of the thumb, so as to allow the robotic hand to have the function of a gripper for gripping objects.

[0005] However, over time and through being wound and unwound, the wires deform and relax, causing a lack of precision in the folding and unfolding of the fingers, in particular reduced resistance when gripping. Indeed, the attachment of the wire to the drive wheel results in significant play and therefore a limitation in the precision of the grip and in the adaptation to the plurality of objects. Furthermore, the friction of the wires during their use leads to wear of the drive wheels, and therefore the need for regular and costly maintenance. In addition, this deformation of the wires can cause them to slip off the drive wheels, which causes the robotic hand to become completely blocked.

[0006] Furthermore, the diameter of the wires of the robotic hand determines the maximum force of the fingers and therefore of the grip. Indeed, the thinner the wires, the weaker the gripping force. Thus, the greater the gripping force must be, the larger the diameter of the wires must be, and therefore the larger the dimensions of the hand will be, the drive wheels, for example, having to have larger dimensions.

[0007] The present invention therefore aims to solve at least in part the aforementioned problems by proposing a robotic gripper configured to grip a predefined gripping means device, capable of gripping large loads while keeping a reduced size. PRESENTATION OF THE INVENTION

[0008] More specifically, the invention relates to a robotic gripper configured to grip a predefined gripping means device. Said robotic gripper comprises a palm body; at least two motors, namely a first motor and a second motor; at least a first finger mechanism assembly connected to the first motor and to the palm body; and at least a second finger mechanism assembly connected to the second motor and to the palm body. Said first finger mechanism assembly comprises at least two portions articulated by means of a connection and said first finger mechanism assembly is movable between an open position in which the first portion and the second portion are substantially aligned with each other and a closed position in which the second portion has pivoted with respect to the first portion, in particular to close the robotic gripper in order to grip said predefined gripping means device.The first motor is configured to enable the first finger mechanism assembly to move from the open position to the closed position, and vice versa, by driving said first portion of the first finger mechanism assembly which drives said second portion of the first finger mechanism assembly around said link, such that said first finger mechanism assembly grips or, conversely, releases, the predefined gripping means device.The second finger mechanism assembly comprises at least two articulated portions connected to the palm body by means of a ball-and-socket type connection and to each other by means of another connection, and said second finger mechanism assembly being movable between an open position in which the first portion and the second portion are substantially aligned with each other and a closed position in which the second portion has pivoted with respect to the first portion, in particular to close the robotic gripper in order to assist the first finger mechanism assembly in gripping said means device. predefined gripping. The second motor is configured to allow the second finger mechanism assembly to move from the open position to the closed position, and vice versa, by driving said first portion of the second finger mechanism assembly which drives said second portion of the second finger mechanism assembly around said other link, such that said second finger mechanism assembly does not obstruct the gripping or, conversely, the releasing, of the predefined gripping means device by the first finger mechanism assembly.

[0009] The second set of finger mechanisms allows the first set of finger mechanisms to grip the gripping means device without hindering or hindering the gripping. In other words, the second set of finger mechanisms frees the inward access of the first set of finger mechanisms to the gripping means device. Furthermore, the mobility of the second set of finger mechanisms allows the gripping means device to be gripped by the robotic gripper similar to that of a human hand.

[0010] The second set of finger mechanisms may also provide assistance to the first set of finger mechanisms to grasp, or reciprocally release, the gripping means device.

[0011] A single motor is connected to the second finger mechanism assembly. Thus, a single motor is sufficient to enable the closing movement of the second finger mechanism assembly to enable the robotic gripper to close. The robotic gripper, with a single motor for the movement of the first finger mechanism assembly and a single motor for the second finger mechanism assembly, is lighter and less expensive than known robotic grippers.

[0012] Advantageously, the palm body is hollow and is configured to house electronic components of the robotic gripper.

[0013] Advantageously, the first finger mechanism assembly comprises a plurality of finger mechanisms each connected to the first motor and each comprising at least two portions articulated by means of a link, each finger mechanism of the first finger mechanism assembly being movable between an open position, in which the first portion and the second portion are substantially aligned with each other, and a closed position in which the second portion has pivoted with respect to the first portion, in particular to close the robotic gripper in order to grasp said predefined gripping means device.

[0014] The activated motor drives the rotation of the actuating means which will cause the movement of the force distributor. The movement, by translation of the distributor force, allows the finger mechanism to which it is connected to move from the open position to the closed position, and vice versa. In particular, the force distributor causes the movement of the first portion, which itself causes, by its movement, the movement of the second portion, causing the robotic gripper to close and therefore the finger mechanism to move from the open position to the closed position. The reverse movement is performed for the move from the closed position to the open position.

[0015] Advantageously, the second finger mechanism assembly comprises at least one thumb, comprising two articulated portions connected to the palm body by means of a ball-and-socket type connection and to each other by means of another connection, said thumb being movable between an open position, in which the first portion and the second portion are substantially aligned with each other and a closed position, in which the second portion has pivoted with respect to the first portion, in particular to close the robotic gripper in order to assist the first finger mechanism assembly in gripping said predefined gripping means device.

[0016] Advantageously, the ball joint connecting the palm body to the first portion of the second finger mechanism assembly comprises a first pivot connection comprising a hollow body in which a shaft is housed, the hollow body being configured to pivot around the shaft, so that the second finger mechanism assembly pivots from a position in which it is inscribed in a frontal plane of the palm body, to a position in which the second finger mechanism assembly is substantially orthogonal to said plane, and vice versa.

[0017] The activated motor drives the shaft into rotation, which is housed in the hollow body. The shaft is fixedly connected in the hollow body. Thus, the rotation of the shaft drives the hollow body into rotation. The shaft and the hollow body form the pivot connection allowing the thumb to pivot from the position in which it is inscribed in the frontal plane of the palm body to the position in which the second set of finger mechanisms is substantially orthogonal to said plane, and vice versa. Thus, the second set of finger mechanisms and in particular the thumb do not hinder the gripping or, conversely, the releasing, of the gripping means device predefined by the first set of finger mechanisms.

[0018] Advantageously, the ball joint connecting the palm body to the first portion of the second finger mechanism assembly comprises a second pivot connection, a groove being formed in an external wall of the hollow body of the first pivot connection and a guide stud projecting from the first portion in the direction of the hollow body, said guide stud being engaged in the groove and configured to cooperate with said groove so as to translate along the groove, the groove and the guide stud forming the second pivot connection.

[0019] The groove and in particular its shape makes it possible to define the movement of the thumb when closing the robotic gripper.

[0020] Advantageously, the first portion comprises a connecting rod and the second portion comprises another connecting rod, said connecting rods being connected to each other by means of a pivot-type connection.

[0021] Advantageously, the first portion comprises a first connecting rod and a second extendable connecting rod and the second portion comprises a third connecting rod, the first connecting rod being connected on the one hand by means of a pivot connection at a first point to the hollow body and on the other hand by means of a pivot-type connection to the third connecting rod at a second point, the second extendable connecting rod being connected on the one hand by means of a pivot connection at a third point, distinct from the first point, to the hollow body, and on the other hand by means of a pivot-type connection to the third connecting rod at a fourth point, distinct from the second point, the extendable connecting rod being configured to move from a folded position to a deployed position.

[0022] The extendable connecting rod makes it possible to store the energy generated by the opening and closing of the robotic gripper, but also the energy generated by an impact on the second set of finger mechanisms. The storage of this energy makes it possible to limit the breakage of the robotic gripper.

[0023] Advantageously, the first portion comprises a first connecting rod and a jack and the second portion comprises a third connecting rod, the first connecting rod being connected on the one hand by means of a pivot connection at a first point to the hollow body and on the other hand by means of a pivot-type connection to the third connecting rod at a second point, the jack being connected on the one hand by means of a pivot connection at a third point, distinct from the first point, to the hollow body, and on the other hand by means of a pivot-type connection to the third connecting rod at a fourth point, distinct from the second point, the jack being configured to move from a folded position to a deployed position.

[0024] The cylinder makes it possible to store the energy generated by the opening and closing of the robotic gripper, but also the energy generated by an impact on the second set of finger mechanisms. The storage of this energy makes it possible to limit the breakage of the robotic gripper.

[0025] Advantageously, the second finger mechanism assembly further comprises at least one pad connected to the first portion and / or to the second portion, so that in the closed position of the second finger mechanism assembly, said pad is configured to fit the predefined universal gripping means device.

[0026] The pad makes it possible to increase the contact surface between the robotic gripper and the universal gripping means, thus improving the gripping of the latter and its retention in the robotic gripper.

[0027] Advantageously, the second set of finger mechanisms and the first set of finger mechanisms are configured to cooperate with a stop of the predefined gripping means device so as to passively ensure the correct positioning of said robotic gripper with respect to the predefined gripping means device.

[0028] The invention also relates to an assembly comprising a robotic gripper as described above and at least one predefined universal gripping means device, the robotic gripper being configured to grip and / or release the universal gripping means device. PRESENTATION OF FIGURES

[0029] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given by way of non-limiting examples, in which identical references are given to similar objects and in which:

[0030] [Fig.l] is a schematic representation of the robotic gripper according to the invention, in an open position of the first and second sets of finger mechanisms, the robotic gripper comprising a cover for covering its operating mechanism;

[0031] [Fig.2] is a similar view of the robotic gripper of [Fig.l], but in which the cover has been omitted, making the operating mechanism of the robotic gripper visible;

[0032] [Fig. 3] is a top view of the robotic gripper of [Fig. 2], in which the finger mechanisms of the first finger mechanism assembly have been made visible;

[0033] [Fig.4] is a schematic representation of the assembly according to the invention comprising the robotic gripper of [Fig.2], in the closed position, in which a universal gripping means device is arranged;

[0034] [Fig.5] is a right-hand view of the whole of [Fig.4];

[0035] [Fig.6] is a top view of the assembly of [Fig.4];

[0036] [Fig.7] is a right-hand, sectional view of the whole of [Fig.6], showing particularly visible the finger mechanisms in a closed position of the robotic gripper;

[0037] [Fig. 8] is a front view of the robotic gripper of [Fig. 1], from which the cover and the first finger mechanism assembly have been omitted, so as to make the second finger mechanism assembly particularly visible;

[0038] [Fig.9] is an enlargement of the linkage connecting the second finger mechanism assembly to the palm body of the robotic gripper of [Fig.8];

[0039] [Fig. 10] is a schematic representation of the second finger mechanism assembly of the robotic gripper of [Fig. 8], in its closed position; and

[0040] [Fig. 11] is a schematic representation of the second finger mechanism assembly of the robotic gripper of [Fig. 8], in its open position.

[0041] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0042] The invention relates to a robotic gripper 1, as shown in [Fig.l].

[0043] The robotic gripper 1 is configured to grip a predefined gripping means device 2.

[0044] With reference to [Fig.l], the robotic gripper 1 comprises at least a first set of finger mechanisms 6, comprising a plurality of finger mechanisms 6B, in particular three finger mechanisms 6B each connected to a palm body 10 composed of an operating mechanism of the robotic gripper 1 housed in a frame and covered by a cover 11.

[0045] Each finger mechanism 6B here comprises two articulated portions, a first portion 61 and a second portion 62, articulated by means of a connection 60, in particular a pivot type connection.

[0046] Each finger mechanism 6B is movable between an open position and a closed position. In the open position, the first portion 60 and the second portion 62 are substantially aligned with each other. In the closed position, the second portion 62 has pivoted with respect to the first portion 61, in particular to close the robotic gripper 1 in order to grasp said predefined gripping means device 2.

[0047] In addition, the robotic gripper 1 comprises a second set of finger mechanisms 6A connected to the palm body 10.

[0048] The second finger mechanism assembly 6A comprises at least one thumb 9.

[0049] With reference to [Fig.2], the thumb 9 comprises two articulated portions, namely a first portion 91 and a second portion 92, connected to the palm body 10 by means of a ball-joint type connection 600. The first portion 91 and the second portion 92 are connected to each other by means of another connection 93, of the pivot type.

[0050] The thumb 9 is movable between an open position, in which the first portion 91 and the second portion 92 are substantially aligned with each other and a closed position, in which the second portion 92 has pivoted with respect to the first portion 91, in particular to close the robotic gripper 1 in order to not to obstruct the grasping or, conversely, the release of the predefined gripping means device 2 by the first set of finger mechanisms 6.

[0051] The second finger mechanism assembly 6A allows the first finger mechanism assembly 6 to grip the gripping means device 2, without hindering, without hindering the gripping. In other words, the second finger mechanism assembly 6A frees the inward access of the first finger mechanism assembly 6 to the gripping means device 2. Furthermore, the mobility of the second finger mechanism assembly 6A allows the gripping means device 2 to be gripped by the robotic gripper 1 similar to that of a human hand.

[0052] The second set of finger mechanisms 6A may also provide assistance to the first set of finger mechanisms 6 to grasp, or reciprocally release, the gripping means device 2.

[0053] A single motor 3A is connected to the second finger mechanism assembly 6A. Thus, a single motor 3A is sufficient to enable the closing movement of the second finger mechanism assembly 6A to enable the closing of the robotic gripper 1. The robotic gripper 1, with a single motor 3 for the movement of the first finger mechanism assembly 6 and a single motor 3A for the second finger mechanism assembly 6A, is lighter and less expensive than known robotic grippers.

[0054] Advantageously, the palm body 10 is hollow and is configured to house electronic components of the robotic gripper 1.

[0055] With reference to Figures 8 and 9, the ball joint 600 connecting the palm body 10 to the first portion 91 of the second finger mechanism assembly 6A comprises a first pivot connection 601 comprising a hollow body 602 in which a shaft 603 is housed, the hollow body 602 being configured to pivot around the shaft 603, so that the second finger mechanism assembly 6A pivots from a position in which it is inscribed in a frontal plane of the palm body 10, to a position in which the second finger mechanism assembly 6A is substantially orthogonal to said plane, and vice versa.

[0056] The activated motor 3A drives the shaft 603 in rotation, which is housed in the hollow body 602. The shaft 603 is fixedly connected in the hollow body 602. Thus, the rotation of the shaft 603 drives the hollow body 602 in rotation. The shaft 603 and the hollow body 602 form the pivot connection 601 allowing the thumb 9 to pivot from the position in which it is inscribed in the frontal plane of the palm body 10 to the position in which the second finger mechanism assembly 6A is substantially orthogonal to said plane, and vice versa. Thus, the second finger mechanism assembly 6A and in particular the thumb 9 does not obstruct the grasping or, conversely, the release of the predefined gripping means device 2 by the first set of finger mechanisms 6.

[0057] With reference to [Fig.9], the ball joint 600 connecting the palm body 10 to the first portion 91 of the second finger mechanism assembly 6A comprises a second pivot connection 604. In particular, a groove 605 is formed in an external wall of the hollow body 602 of the first pivot connection 601 and a guide stud projects from the first portion 91 in the direction of the hollow body 602. The guide stud is engaged in the groove 605 and configured to cooperate with said groove 605 so as to translate along the groove 605. The groove 605 and the guide stud form the second pivot connection 604.

[0058] The groove 605, in particular due to its shape, makes it possible to define the movement of the thumb 9 when closing the robotic gripper 1.

[0059] As shown in [Fig.7], one of the finger mechanisms 6B and / or the thumb 9 may comprise a side bearing 7. The side bearing 7 is configured to allow the alignment of the predefined gripping means 2 in the robotic gripper 1.

[0060] With reference to figures 10 and 11, the first portion 91 comprises a connecting rod 94 and the second portion 92 comprises another connecting rod 95. The connecting rods 94, 95 are connected to each other by means of the pivot type connection 93.

[0061] The connecting rods 94 and 95 may for example be rigid connecting rods.

[0062] According to an embodiment of the invention shown in Figures 10 and 11, the first portion 91 comprises a first connecting rod, the connecting rod 94 and a second extendable connecting rod 96. The second portion 92 comprises a third connecting rod, the connecting rod 95. The connecting rod 94 is connected on the one hand by means of a pivot connection at a first point 97 to the hollow body 602 and on the other hand by means of a pivot-type connection to the third connecting rod 95 at a second point 98. The second extendable connecting rod 96 is connected on the one hand by means of a pivot connection at a third point 99, distinct from the first point 97, to the hollow body 602, and on the other hand by means of a pivot-type connection to the third connecting rod 95 at a fourth point 100, distinct from the second point 98. The extendable connecting rod 96 is configured to pass from a folded position ([Fig. 10]) to a deployed position ([Fig. 11]).

[0063] In this embodiment, the second point 98 and the fourth point 100 form the connection 93 of the thumb 9.

[0064] The extendable connecting rod 96 makes it possible to store the energy generated by the opening and closing of the robotic gripper 1, but also the energy generated by an impact on the second finger mechanism assembly 6A. The storage of this energy makes it possible to limit the breakage of the robotic gripper 1.

[0065] According to another embodiment not shown, the extendable connecting rod 96 can be replaced by a jack. In particular, the first portion 91 can comprise a first connecting rod 94 and a jack and the second portion 92 may comprise a third connecting rod 95, the first connecting rod 94 being connected on the one hand by means of a pivot connection at a first point 97 to the hollow body 602 and on the other hand by means of a pivot-type connection to the third connecting rod 95 at a second point 98, the jack being connected on the one hand by means of a pivot connection at a third point 99, distinct from the first point 97, to the hollow body 602, and on the other hand by means of a pivot-type connection to the third connecting rod 95 at a fourth point 100, distinct from the second point 98, the jack being configured to move from a folded position to a deployed position.

[0066] The cylinder makes it possible to store the energy generated by the opening and closing of the robotic gripper 1, but also the energy generated by an impact on the second set of finger mechanisms 6A. The storage of this energy makes it possible to limit the breakage of the robotic gripper 1.

[0067] The second set of finger mechanism 6A is connected to a motor 3A. The motor 3A is configured to enable the second finger mechanism assembly 6A to move from the open position to the closed position, and vice versa, by driving the first portion 91 of the second finger mechanism assembly 6A which drives the second portion 92 of the second finger mechanism assembly 6A around the other link 93, so that said second finger mechanism assembly 6A assists in gripping or, vice versa, in releasing, the predefined gripping means device 2.

[0068] Thus, the thumb 9 can perform a rotation of 90° to allow the gripping means device 2 to be gripped by the finger mechanisms 6B, but also to allow its release. Furthermore, the thumb 9, by its movement, can allow, in cooperation with the finger mechanisms 6B, to passively align the gripping means device 2 in the robotic gripper 1.

[0069] The second finger mechanism assembly 6A further comprises at least one pad 8A connected to the first portion 91 and / or to the second portion 92, such that in the closed position of the second finger mechanism assembly 6A, said pad 8A is configured to fit the predefined universal gripping means device 2.

[0070] Advantageously, each of the finger mechanisms 6B and the thumb 9 comprises a lateral bearing 7.

[0071] Furthermore, each finger mechanism 6B may comprise a pad 8. The pad 8 is connected to the first portion 61 and / or to the second portion 62. In the closed position of the finger mechanism 6, each pad 8 is configured to adapt to the predefined universal gripping means device 2. Thus, the pad 8 makes it possible to increase the contact surface between the robotic gripper 1 and the device universal gripping means 2, thus improving the gripping of the latter and its maintenance in the robotic gripper 1.

[0072] Furthermore, the thumb 9 and the finger mechanisms 6B are configured to cooperate with a stop of the predefined gripping means device 2, so as to passively ensure the correct positioning of the robotic gripper 1, with respect to the predefined gripping means device 2.

[0073] [Fig.2] represents the robotic gripper of [Fig.l]; only the cover 11 has been removed, making the operating mechanism of the robotic gripper 1 visible.

[0074] With reference to [Fig.2], the robotic gripper 1 further comprises at least one motor 3, at least one actuating means 4 and at least one force distributor 5.

[0075] In particular, the motor 3 is connected to the actuating means 4, itself connected to the force distributor 5. The force distributor 5 is connected to each finger mechanism 6.

[0076] The motor 3 is configured to drive the actuating means 4 so as to actuate the force distributor 5.

[0077] The force distributor 5 is configured to move the finger mechanism 6B from the open position to the closed position and vice versa. In particular, the force distributor 5 is configured to drive the first portion 61 which drives the second portion 62 around the connection 60, so that the finger mechanism 6B grips or vice versa, releases, the predefined gripping means device 2.

[0078] In other words, the force distributor 5 is configured to drive the movement of the first portion 61, which itself is configured to drive the movement of the second portion 62, via the link 60.

[0079] Furthermore, as shown in Figures 3 and 7, the first portion 61 comprises at least one rod 63. The rod 63 is on the one hand connected by means of a pivot-type connection 64 to the force distributor 5. The second portion 62 comprises at least one rod 65, different from the rod 63. The rod 63 of the first portion 61 and the rod 65 of the second portion 62 are connected by the connection 60 connecting the first portion 61 and the second portion 62.

[0080] As shown in [Fig.7], the pivot-type connection 60 connecting the first portion 61 and the second portion 62 may comprise a disc 66, configured to pivot about an axis of rotation. The first portion 61 and the second portion 62 are each connected to the disc 66.

[0081] With reference to [Fig. 3], the force distributor 5 comprises an arcuate rod to which the rods 63 of the finger mechanisms 6 are connected. In particular, the rods 63 are connected to the arcuate rod of the force distributor 5 by means of a pivot-type connection.

[0082] The finger mechanisms 6B are distributed along the length of the rod of the force distributor 5.

[0083] The rod of the force distributor 5 is arched so that each finger mechanism 6B has a different angle when they are connected to it. This makes it possible to obtain kinematics close to that of a human hand when gripping an object. Thus, the finger mechanisms 6, during their movements, are not parallel to each other but are concentrated towards a central point during closing.

[0084] In addition, an opening is provided in the arcuate rod of the force distributor 5, so as to allow at least part of the actuating means 4 to pass through, allowing it to translate.

[0085] As shown in [Fig. 3], the pivot connection 64 connecting the first portion 61 of the finger mechanism 6B and the force distributor 5 has mechanical play. This mechanical play is configured to allow passive alignment of the plurality of finger mechanisms 6, here of the three finger mechanisms 6, between their open position and their closed position.

[0086] The actuating means 4, as shown in FIGS. 2 and 3 for example, may comprise at least one gear 67 and one worm screw 68.

[0087] The gear 67 is connected to the motor 3 on the one hand and to the worm screw 68 on the other hand. The worm screw 68 is connected to the force distributor 5, in particular the worm screw 68 passes through the opening made in the arcuate rod of the force distributor 5, itself connected to the finger mechanisms 6.

[0088] In addition, a button can be added at the end of travel of the worm screw 68, so as to automate the calibration of the robotic gripper 1 each time the robot is switched on, the initial position of the robotic gripper being known. After calibration, the absolute position of the finger mechanisms 6B can be known at any time.

[0089] The motor 3 is configured to drive the gear 67 in rotation, itself configured to drive the worm screw 68 in translation. The worm screw 68 is then configured to drive the force distributor 5 in translation, configured to move each finger mechanism 6B from their open position to their closed position and / or from their closed position to their open position.

[0090] In addition, the motor 3 may include an encoder making it possible to control the relative position of the finger mechanisms 6 at any time.

[0091] The thread of the worm screw 68 is inclined. This inclination allows the worm screw 68 to self-lock, i.e. not to start rotating without power from the motor 3, and therefore to lock the robotic gripper in a position. Thus, the finger mechanisms 6B can grip the gripping means device by adopting the closed position and maintain this closed position, without consuming of energy from motor 3 for the entire time the closed position is maintained. In other words, the inclination of the thread of the worm screw 68 makes it possible to consume the energy from motor 3 only when moving from the open position to the closed position and vice versa, and not when maintaining one of these two positions.

[0092] We will now describe the movement of the robotic gripper 1, in particular to move from the open position of the finger mechanisms 6B as shown in [Fig.3], to a closed position as shown in [Fig.4].

[0093] As shown in [Fig. 3], the finger mechanisms 6B are in an open position, i.e. a position in which the first portion 61 and the second portion 62 are substantially aligned with each other. To move into the closed position, the motor 3 is activated, rotating the gears 67 of the actuating means 4. The gear 67 drives the movement of the worm screw 68, which will translate in the direction of the force distributor 5, causing the translation of said force distributor 5 in the opposite direction, i.e. in the direction of the motor 3. The translation of the force distributor 5 causes the rotation about the connection 64 of the rod 63, which by its movement causes the rotation of the rod 62, causing the closing of the finger mechanisms 6.

[0094] To move from the closed position shown in [Fig.4] to the open position shown in [Fig.3], the reverse movement is performed. In particular, the motor 3 is activated in the opposite direction to that in which it is activated to move from the open position to the closed position, rotating the gears 67 of the actuating means 4, also in the opposite direction to previously. The gear 67 drives the movement of the worm screw 68, which will translate in the opposite direction with respect to the force distributor 5, causing the translation of said force distributor 5 in the direction of the finger mechanisms 6. The translation of the force distributor 5 causes the rotation about the connection 64 of the rod 63 which, by its movement, causes the rotation of the rod 62, causing the opening of the finger mechanisms 6.

[0095] The invention also relates to an assembly comprising a robotic gripper 1, as previously described, and at least one predefined universal gripping means device 2. The robotic gripper 1 is configured to grip and / or release the universal gripping means device 2.

[0096] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching which has just been disclosed to them.

[0097] In the detailed presentation of the invention given above, the terms used should not be interpreted as limiting the invention to the method of embodiment set forth in this description, but must be interpreted to include all equivalents the prediction of which is within the reach of a person skilled in the art by applying his general knowledge to the implementation of the teaching just disclosed to him.

Claims

1. Claims Robotic gripper (1) configured to grip a predefined gripping means device (2), said robotic gripper (1) comprising: a palm body (10); at least two motors (3; 3A), namely a first motor (3) and a second motor (3A); at least one first finger mechanism assembly (6) connected to the first motor (3) and the palm body (10); and at least one second finger mechanism assembly (6A) connected to the second motor (3A) and the palm body (10); said first finger mechanism assembly (6) comprising at least two articulated portions (61, 62) by means of a link (60) and said first finger mechanism assembly (6) being movable between an open position in which the first portion (60) and the second portion (62) are substantially aligned with each other and a closed position in which the second portion (62) has pivoted with respect to the first portion (61), in particular to close the robotic gripper (1) in order to grasp said predefined gripping means device (2); the first motor (3) being configured to allow the passage of the first finger mechanism assembly (6) from the open position and the closed position, and vice versa, by driving said first portion (61) of the first finger mechanism assembly (6) which drives said second portion (62) of the first finger mechanism assembly (6) around said connection (60), so that said first finger mechanism assembly (6) grasps or, vice versa, releases, the predefined gripping means device (2); the second finger mechanism assembly (6A) comprising at least two articulated portions (91; 92) connected to the palm body (10) by means of a ball-and-socket type connection (600) and to each other by means of another connection (93), and said second finger mechanism assembly (6A) being movable between an open position in which the first portion (91) and the second portion (92) are substantially aligned with each other and a closed position in which the second portion (92) has pivoted relative to the palm body (10).

2.

3. to the first portion (91), in particular for closing the robotic gripper (1) in order to assist the first set of finger mechanisms (6) to grasp said predefined gripping means device (2); the second motor (3A) being configured to allow the passage of the second finger mechanism assembly (6A) from the open position and the closed position, and vice versa, by driving said first portion (91) of the second finger mechanism assembly (6A) which drives said second portion (92) of the second finger mechanism assembly (6A) around said other connection (93), so that said second finger mechanism assembly (6A) does not obstruct the gripping or, vice versa, the releasing, of the gripping means device (2) predefined by the first finger mechanism assembly (6). The robotic gripper (1) of claim 1, wherein the first finger mechanism assembly (6) comprises a plurality of finger mechanisms (6B) each connected to the first motor (3) and each comprising at least two articulated portions (61, 62) by means of a linkage (60), each finger mechanism (60) of the first finger mechanism assembly (6) being movable between an open position, in which the first portion (61) and the second portion (62) are substantially aligned with each other, and a closed position in which the second portion (62) has pivoted relative to the first portion (61), in particular to close the robotic gripper (1) for gripping said predefined gripping means device (2). Robotic gripper (1) according to one of claims 1 to 2, wherein the second finger mechanism assembly (6A) comprises at least one thumb (9), comprising two articulated portions (91; 92) connected to the palm body (10) by means of a ball-and-socket type connection (600) and to each other by means of another connection (93), said thumb (9) being movable between an open position, in which the first portion (91) and the second portion (92) are substantially aligned with each other and a closed position, in which the second portion (92) has pivoted with respect to the first portion (91), in particular to close the robotic gripper (1) in order to assist the first finger mechanism assembly (6) in gripping said predefined gripping means device (2).

4. Robotic gripper (1) according to one of claims 1 to 3, wherein the ball joint (600) connecting the palm body (10) to the first portion (91) of the second finger mechanism assembly (6A) comprises a first pivot connection (601) comprising a hollow body (602) in which a shaft (603) is housed, the hollow body (602) being configured to pivot around the shaft (603), so that the second finger mechanism assembly (6A) pivots from a position in which it is inscribed in a frontal plane of the palm body (10), to a position in which the second finger mechanism assembly (6A) is substantially orthogonal to said plane, and vice versa.

5. A robotic gripper (1) according to claim 4, wherein the ball joint (600) connecting the palm body (10) to the first portion (91) of the second finger mechanism assembly (6A) comprises a second pivot joint (604), a groove (605) being formed in an outer wall of the hollow body (602) of the first pivot joint (601) and a guide stud projecting from the first portion (91) towards the hollow body (602), said guide stud being engaged in the groove (605) and configured to cooperate with said groove (605) so as to translate along the groove (605), the groove (605) and the guide stud forming the second pivot joint (604).

6. Robotic gripper (1) according to any one of claims 1 to 5, wherein the first portion (91) comprises a connecting rod (94) and the second portion (92) comprises another connecting rod (95), said connecting rods (94; 95) being connected to each other by means of a pivot-type connection (93).

7. Robotic gripper (1) according to one of claims 1 to 5, wherein the first portion (91) comprises a first connecting rod (94) and a second extendable connecting rod (96) and the second portion (92) comprises a third connecting rod (95), the first connecting rod (94) being connected on the one hand by means of a pivot connection at a first point (97) to the hollow body (602) and on the other hand by means of a pivot-type connection to the third connecting rod (95) at a second point (98), the second extendable connecting rod (96) being connected on the one hand by means of a pivot connection at a third point (99), distinct from the first point (97), to the hollow body (602), and on the other hand by means of a pivot-type connection to the third connecting rod (95) at a fourth point (100), distinct from the second point (98), the extendable connecting rod (96) being configured to move from a folded position to a deployed position.

8. Robotic gripper (1) according to one of claims 1 to 5, wherein the first portion (91) comprises a first connecting rod (94) and a cylinder and the second portion (92) comprises a third connecting rod (95), the first connecting rod (94) being connected on the one hand by means of a pivot connection at a first point (97) to the hollow body (602) and on the other hand by means of a pivot-type connection to the third connecting rod (95) at a second point (98), the cylinder being connected on the one hand by means of a pivot connection at a third point (99), distinct from the first point (97), to the hollow body (602), and on the other hand by means of a pivot-type connection to the third connecting rod (95) at a fourth point (100), distinct from the second point (98), the cylinder being configured to move from a folded position to a deployed position.

9. Robotic gripper (1) according to any one of claims 1 to 8, wherein the second finger mechanism assembly (6A) further comprises at least one pad (8A) connected to the first portion (91) and / or to the second portion (92), so that in the closed position of the second finger mechanism assembly (6A), said pad (8A) is configured to fit the predefined universal gripping means device (2).

10. A robotic gripper (1) according to any one of claims 1 to 9, wherein the second finger mechanism assembly (6A) and the first finger mechanism assembly (6) are configured to cooperate with a stop of the predefined gripping means device (2) so as to passively ensure the correct positioning of said robotic gripper (1) with respect to the predefined gripping means device (2).

11. An assembly comprising a robotic gripper (1) according to any one of claims 1 to 10 and at least one predefined universal gripping means device (2), the robotic gripper (1) being configured to grip and / or release the universal gripping means device (2).