Fingers and gripping devices for a robotic arm, a robotic arm equipped with such devices, and a kit for manufacturing a gripping device.

Abstract

The present invention relates to a motorized finger (100) comprising a base (110) for being fixed to a plate (51) connected to a robotic arm (1), a first phalanx (111) connected to the base (110) by at least one first joint (121), a second phalanx (112) connected to the first phalanx (111) by at least one second joint (122), and a first actuator fixed to the base (110) and connected to at least the first phalanx (111) for moving the phalanxes (111, 112) between two extreme positions.

Description

Technical Field

[0001] The present invention relates to the field of handling, and more particularly to the field of handling by robots including collaborative robots (cobots).

Background Art

[0002] The following robotic arm (or robotic arm) having a base is known, that is, a first segment is connected to the base by a first joint, a second segment is connected to the first segment by a second joint, and a gripping device is connected to the second segment by a third joint generally referred to as a wrist. The gripping device may include electromagnetic gripping means, a suction cup connected to a suction device, or a multi-joint finger connected to a single motor that controls the simultaneous operation of the fingers.

[0003] Generally, the above gripping device is adjusted according to the task to be achieved and the shape of the object to be gripped. Therefore, in the case of adapting the device to grip the object to be gripped, lack of flexibility and increased cost are brought about.

[0004] There are also general-purpose robotic "hands", but at the expense of increased complexity and increased cost.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention aims to provide at least a partial solution to the above problems.

Means for Solving the Problems

[0006] To this end, the present invention provides a motor-driven finger comprising: a base for fixing to a plate for connection to a robotic arm; a first phalangeal segment connected to the base by at least one first joint; a second phalangeal segment connected to the first phalangeal segment by at least one second joint; and a first actuator fixed to the base and connected to at least the first phalangeal segment for moving the phalangeal segment between two end positions, wherein the base comprises a fixed portion and a movable portion, the movable portion transporting the first actuator and the phalangeal segment and connected to the fixed portion by a bearing, the bearing defining a directional axis and enabling rotation of the movable portion relative to the fixed portion about the directional axis, and the base comprising means for fixing it to the plate such that the directional axis is substantially perpendicular to the plate, the motor-driven finger further comprising an individual control unit fixed to the base, the individual control unit being connected to and controlling the first actuator.

[0007] Therefore, it becomes possible to rapidly produce a hand by assembling one or more fingers and connecting plates according to the most appropriate arrangement for the task to be performed and the object to be grasped. Each finger is autonomous with respect to the motor drive of the phalangeal joint and controls this motor drive. If there are multiple fingers, synchronization of the fingers can be achieved not by the mechanical movement of a synchronization device, but by controlling different fingers. This simplifies the structure of the gripping device produced.

[0008] For example, synchronization can be performed via an overall control unit to which actuators and / or individual control units are connected.

[0009] In this example, please understand that the first phalanx is connected to the movable part at the base.

[0010] Optionally, individual control units are fixed to the base's fixed portion.

[0011] Optionally, the first actuator is an electric and / or hydraulic and / or pneumatic actuator.

[0012] Optionally, the first actuator is at least partially an electric actuator (for example, further electric and pneumatic, or electric and hydraulic) or a fully electric actuator.

[0013] Optionally, individual control units are at least partially electronic individual control units, or are entirely electronic individual control units. Optionally, the overall control unit is at least partially electronic overall control unit, or is entirely electronic overall control unit.

[0014] Optionally, a motor-driven finger is equipped with a second actuator, which is positioned to pivot the movable part and adjust the angular direction of the movable part relative to the fixed part.

[0015] Optionally, the separate control unit that controls the first actuator may also be configured to control the second actuator.

[0016] Optionally, the second actuator is an electrically and / or hydraulic and / or pneumatic actuator.

[0017] Optionally, the second actuator is at least partially an electric actuator (and moreover, for example, electric and pneumatic, or electric and hydraulic) or a fully electric actuator.

[0018] The present invention also aims to provide a gripping device comprising a connecting plate and at least one of the above-described fingers.

[0019] The present invention also aims to provide a robotic arm equipped with such a gripping device.

[0020] Other features and advantages of the present invention will become apparent by reading the following description of specific non-limiting embodiments of the present invention.

[0021] Reference is made to the following accompanying drawings.

Brief Description of the Drawings

[0022] [Figure 1] Figure 1 is a schematic side view of a robotic arm according to the present invention. [Figure 2] Figure 2 is a schematic perspective view of a gripping device according to the first embodiment. [Figure 3] Figure 3 is a schematic perspective view of one of the fingers of the above device. [Figure 4] Figure 4 is a schematic side view of this finger, showing the magnitude of possible movements. [Figure 5] Figure 5 is a rear view of this finger. [Figure 6] Figure 6 is a schematic side view of the above device, showing a mode of gripping an object strongly (more suitable for relatively large objects). [Figure 7] Figure 7 is a schematic side view of the above device, showing a mode of gripping an object delicately (more suitable for relatively small objects). [Figure 8] Figure 8 is a schematic perspective view of a finger according to a modification of one embodiment. [Figure 9] Figure 9 is a schematic perspective view of a gripping device according to the second embodiment. <00几千年来,人们一直使用香料来掩盖不愉快的气味或增添愉悦的香气。 [Figure 10] [Figure 11] Figure 10 is a view similar to Figure 9 of the first modification of the second embodiment. [Figure 12] Figure 11 is a view similar to Figure 9 of the second modification of the second embodiment. [Figure 13] Figure 13 is a schematic view showing one of the mechanisms of the fingers of the device in a simplified form. [Figure 14] Figure 14 is a schematic cross-sectional view of the upper portion of one of the fingers according to the present invention. [Figure 15] Figure 15 is a diagram similar to Figure 6 of the apparatus according to the fourth embodiment. [Figure 16] Figure 16 is a schematic top-down cross-sectional view showing a simplified representation of how the apparatus according to the present invention grips a cylindrical object. [Figure 17] Figure 17 is a schematic top-down cross-sectional view showing a simplified representation of how a spherical object is gripped by the device according to the present invention. [Figure 18] Figure 18 is a schematic top-down cross-sectional view showing a simplified representation of how the apparatus according to the present invention grips a parallelepiped-shaped object. [Figure 19] Figure 19 is a schematic partial perspective view of a finger according to a modification of one embodiment of the present invention. [Figure 20] Figure 20 is a schematic partial perspective view of a finger according to a modified example of one embodiment of the present invention. [Modes for carrying out the invention]

[0023] Referring to the drawings, the present invention is described in this example as being applicable to a robotic arm generally denoted by reference numeral 1.

[0024] The robotic arm 1 comprises a base 10, a first segment 11 connected to the base 10 by a first joint 21, a second segment 12 connected to the first segment 11 by a second joint 22, and an interface 13 connected to the second segment 12 by a third joint 23, which carries a gripping device generally denoted by reference numeral 50 that forms the free end of the robotic arm.

[0025] In this example, the robotic arm is equipped with actuators such as motors, which move elements connected to the same joint 21, 22, and 23 relative to each other. These actuators are not shown in this example.

[0026] In a manner known by itself, each joint 21, 22, 23 is equipped with a coder (not shown) positioned to measure the angle formed by two elements connected by that joint 21, 22, 23.

[0027] The motor and coder are connected to a global control unit. In this example, the global control unit is an electronic global control unit, hereafter referred to as the electronic control unit 30. The unit comprises at least one processor and memory, the memory containing a program executed by the processor, which controls the motors according to the instructions of the program. Measurements provided by other sensors, such as current sensors in the coder and motors, make it possible to determine the force generated by each motor. The electronic control unit 30 is preferably connected to an electronic signal emitter / receiver that conforms to a standard, for example, referred to as BLUETOOTH®.

[0028] Referring to Figures 2-7, 13, and 14, and according to the first embodiment, the gripping device 50 includes a plate 51 for connection to the interface 13 of the robotic arm 1. The plate 51 has the shape of a triangular plate extending in a direction symmetrical to a central portion fixed to the interface 13.

[0029] Each branch of plate 51 is equipped with a hole that allows for the fixation of a finger, which is generally designated with a reference number of 100.

[0030] Each finger 100 comprises a base 110 for fixation to the plate 51, a first phalangeal segment 111 connected to the base 110 by at least one first joint 121, and a second phalangeal segment 112 connected to the first phalangeal segment 111 by at least one second joint 122.

[0031] The first phalangeal segment 111 has a deformable quadrilateral shape formed by the following: a first side 111.1 opposite to the base 110; a second side 111.2 opposite to and facing the first side 111.1, and connected to the base 110 by a first joint 121; a third side 111.3 connected to the second side 111.2 by the first joint 121 and connected to the first side 111.1 by a second joint 122; and a fourth side 111.4 connected to the second side 111.2 by a third joint 123 and connected to the first side 111.1 by a fourth joint 124.

[0032] The second phalangeal joint 112 is fixed to the first side 111.1 of the quadrilateral. The third joint 123 is free relative to the base 110 and can therefore move along an arc around the first joint 121. The second joint 122 is free relative to the base 110 and can therefore move along an arc around the first joint 121. Thus, the third side 111.3, and therefore the first phalangeal joint 111, can pivot relative to the base 110 between two end positions. The first side 111.1 can pivot around the second joint 122, and therefore the second phalangeal joint 112 can pivot relative to the first phalangeal joint 111 between two end positions. The movement of the fourth joint 124 is conditioned by the third joint 123 and the second joint 122. The magnitude of the movement of the distal end of the second phalangeal 112 relative to the base 110 (from one end position to the other; see Figure 4) is therefore dependent on the movement of the first phalangeal 111 relative to the base 110 and the movement of the second phalangeal 112 relative to the first phalangeal 111.

[0033] The first phalangeal segment 111 includes a contact interface with the object being grasped. In this example, this contact interface is a support buffer 111.5 fixed to the third side 111.3. This support buffer 111.5 is made from, for example, elastomer or silicon.

[0034] The second phalangeal segment 112 has a distal end portion 112.1 that is elastically deformable when flexed. For example, this distal end portion 112.1 is a metal strip covered with a flexible layer made of, for example, elastomer or silicon.

[0035] Finger 100 is equipped with a first actuator 101, which is fixed to the base 110 and moves the third joint 123 in an arc around the second joint 122. Actuator 101 is an electric actuator in this example. The first actuator 101 is a DC rotary motor having an output shaft that drives a screw / nut system (preferably a ball screw) in this example. The screw / nut system is reversible in this example, and finger 1 0 The force exerted by 0 can be determined across the environment from a measurement of the motor's supply current. The assembly formed from the actuator 101 and the screw / nut system is therefore electromechanical, and more specifically, an electromechanical linear actuation assembly.

[0036] When actuator 101 pushes the third joint 123 toward the third edge 111.3, the third edge 111.3 is pivoted around the second joint 122 until it encounters an obstacle. If the movement of the third joint 123 continues even after the third edge 111.3 has made contact, it causes the first edge 111.1 to pivot around the second joint 122, and therefore the movement of the second phalangeal segment 112. The first and second phalangeal segments 111 and 112 can be returned to their initial positions by movement in the opposite direction.

[0037] In some cases, the actuator 101 can be controlled by position, speed, or force. In the present embodiment, it is controlled by force. Preferably, if the shape and mass of the object to be gripped are always the same, the motor supply current is monitored during gripping to detect malfunctions or wear of the gripping device and to perform preventive maintenance work.

[0038] Figure 6 shows the powerful grip of a relatively large diameter tube by two fingers 100. It can be seen that the actuator 101 is controlled so that the fingers 100 close in contact with the tube. As the two fingers 100 close in contact with the tube, the second phalangeal 112 remains in line with the extension of the first phalangeal 111, while the first phalangeal 111 pivots toward the tube, until the support buffer 111.5 contacts the tube and prevents the pivot of the first phalangeal 111. The force of the actuator 101 is sustained, and the second phalangeal 112 pivots relative to the first phalangeal 112 and comes into contact with the tube. The current, when measured by the actuator's motor, increases until it reaches a threshold corresponding to the required gripping force. In this way, the fingers 1 0 The 0 is in contact with the tube by the support buffer 111.5 and the second phalangeal joint 112. Note that such phalangeal movement allows for limiting the risk of releasing the object during gripping.

[0039] Figure 7 shows the delicate gripping of a relatively small-diameter tube by the distal ends 112.1 of the two fingers. It can be seen that the actuator 101 is controlled so that the fingers 100 close in contact with the tube. As the two fingers 100 close in contact with the tube, the second phalanges 112 remain in line with the extension of the first phalanges 111, while the phalanges 111 pivot toward the tube, until the first distal end 112.1 comes into contact with the tube and prevents the pivoting of the first phalanges 111. The force of the actuator 101 is sustained, and the distal end 112.1 is bent in response to the gripping force, and the current measured by the actuator's motor increases until it reaches a threshold corresponding to the required gripping force. In this way, the fingers 1 0 The tube is in contact only with the distal end portion 112.1 of the second phalangeal segment 112. Note that each distal end portion 112.1 has a textured surface that enhances the ability to maintain the grasped object between the distal end portions 112.1 themselves.

[0040] Therefore, it becomes possible to move two phalanges with a single actuator. Such fingers are called under-actuated because they have fewer actuators than joints.

[0041] Furthermore, the base 110 has a fixed portion 110.1 and a movable portion 110.2, the movable portion 110.2 carrying the first motor and phalanges 111, 112 and connected to the fixed portion 110.1 by a bearing. This bearing defines a directional axis A1 and allows the movable portion 110.2 to rotate about the directional axis A1 relative to the fixed portion 110.1. The base 110 has means for fixing it to the connecting plate such that the directional axis A1 is substantially perpendicular to the plate 51. These fixing means may include screws, bolts, flanges, locks, bayonet connections, etc., which are screwed into the plate 51 by passing through a projection (lug) fixed to the fixed portion 110.1.

[0042] The finger 100 is equipped with a second actuator 102 mounted between the fixed base portion 110.1 and the movable portion 110.2. This second actuator 102 pivots the movable portion 110.2 and adjusts the angular direction of the movable portion 110.2 relative to the fixed portion 110.1. The second actuator 102 is, for example, an electric actuator such as an electric motor.

[0043] The two actuators 101 and 102 are connected to the same individual control unit, which in this example is fixed to the base 110, for example to its fixed portion 110.1. In this example, this individual control unit is an electronic individual control unit, and will hereafter be referred to as the electronic control unit 103. In this example, the electronic control unit 103 includes an ASIC circuit programmed to ensure that it controls the actuators 101 and 102 according to commands received by an electromagnetic signal emitter / receiver connected to the electronic control unit 103. These commands are issued, for example, from the electronic control unit 30.

[0044] The base unit 110 includes a visual status indicator 52 (in this example, a light-emitting diode), and the electronic control unit 103 is connected to the indicator 52 and controls the indicator 52 according to the operating state of the electronic control unit 103. Preferably, the indicator 52 may be controlled to emit light continuously or non-continuously in several colors corresponding to the operating state (e.g., green for normal operation, yellow for the initial phase, red for a malfunction) in accordance with the electronic control unit 103 executing or receiving a command, or according to any other achievable code. In examples where the electronic control unit 103 is programmed by learning, advantageously, the indicator 52 may be provided to emit a signal to the operator, for example by flashing, that the control unit 103 is in learning mode.

[0045] In dirty environments, aggressive (more specifically, physicochemically aggressive) environments, humid environments, and / or sterile environments, a sealed fingerstall is advantageously provided. This fingerstall has an opening through which each finger can be inserted and covered. The fingerstall can be made from any flexible material suitable for the intended use, such as silicone. The fingerstall can be secured to the finger, for example, by pinching or clamping the portion of the fingerstall that defines its opening around the base of the finger. Alternatively, the fingerstall may cover only a portion of the finger, for example, only the second phalanges.

[0046] In a modified embodiment of Figure 8, the support buffer 111.5 is replaced by a suction cup 111.6 connected to a vacuum generator by a fluid network.

[0047] According to the second embodiment shown in Figure 9, the plate 51 has the shape described above, however, in this example, it is equipped with a handle 53 that can be grasped by an operator to direct the free end of the robotic arm 1, for example, within the scope of a collaborative task.

[0048] Commands can be transmitted to the electronic control unit 30 or the electronic control unit 103 by at least one control button 54. This control button 54 is mounted on the plate 51 near the handle 53 and includes an electromagnetic signal emitter connected to the emitter / receiver of the electronic control unit 103 and / or the electronic control unit 30. In this way, the electronic control units are programmed to perform collaborative tasks.

[0049] A first modified example of the second embodiment, i.e., Figure 1 0 In the modified example shown, button 54 is replaced by a control interface 55. This control interface 55 includes a screen, navigation buttons in a menu displayed on the screen, buttons for selecting items from the menu, and one or more buttons (e.g., a gripping button and a release button) for directly controlling the action of finger 100. The control interface includes an electromagnetic signal emitter / receiver connected to the emitter / receiver of electronic control unit 103 and / or electronic control unit 30.

[0050] As shown in Figure 11, according to a second modification of the second embodiment, the plate 51 has the shape of an elongated plate that defines a longitudinal axis A2 and carries two fingers 100' at each of its two ends and two fingers 100'' in its central portion. The two fingers 100'' are located on the same side of axis A2 by being oriented toward axis A2, and the two fingers 100' are located on the side of axis A2 opposite to the fingers 100'' by being oriented toward axis A2 themselves. Thus, it is possible to grasp an elongated object between the fingers 100' on one side and the fingers 100'' on the other side.

[0051] As shown in the previous modified example, this plate 51 is equipped with a handle 53 and a control interface 55.

[0052] According to the third embodiment shown in Figure 12, the gripping device may comprise at least one finger 100 and one contact element 200 extending toward the finger 100. This contact element may be a rigid element or an elastically deformable element, but it is preferably rigid enough to resist the movement of the object applied to the contact element 200 by the finger 100. The contact element 200 may also have a shape complementary to the shape of a part of the object being gripped.

[0053] In the embodiment shown in Figure 15, the device includes a plate 51, which has three fingers 100, each having a base for motor-driven orientation. A camera 57 is mounted between the fingers 100 at the bottom of the plate 51 and is connected to an electronic control unit 30 to determine the shape of the object to be grasped and to control the orientation of the fingers 100 to the configuration best suited for grasping the object. For example, the fingers can be controlled to perform alternate grips on elongated or cylindrical objects as shown in Figure 16, spherical grips on ball-shaped objects as shown in Figure 17, or, in the case of parallelepiped-shaped objects as shown in Figure 18, grips between opposing fingers. The programming of this configuration may be done by coding or learning via an operator that orients the finger 100 in the correct direction for each type of part, or the program that controls the finger orientation may include a classification algorithm (neural network) such that the program can determine in real time the configuration best suited to the shape of the object to grasp and the shape of the object to grasp and infer.

[0054] In this example, the present invention also relates to a kit for manufacturing a gripping device, where the gripping device is Plates of different shapes (shown in the diagram), Different types of fingers (those with a fixed direction, and those whose direction can be adjusted manually or automatically), Distal phalanges of different shapes (as described herein), It features interfaces of different shapes (as shown in the diagram).

[0055] The kit also preferably, Contact elements of different shapes (as described herein), and / or A finger cot to cover at least the distal phalangeal portion of the finger, and / or Proximal sensors (cameras, ultrasonic sensors), and / or It is equipped with contact sensors, etc.

[0056] In this way, a gripping device suitable for the object to be gripped can be manufactured as needed. This is made possible by the modularity of the gripping device.

[0057] Essentially, the present invention is not limited to the embodiments described, but includes any modifications that fall within the scope of the invention as defined by the claims.

[0058] In particular, the fingers, connecting plates, and robotic arms may have structures different from those described.

[0059] The plate may have any shape suitable for performing a grip, such as a shape with one or more branches, a circular shape, an elliptical shape, a rectangular shape, a triangular shape, or other shapes.

[0060] The plate may also comprise two parts, the configuration of which can be adapted to the grip being performed by adjusting their relative positions. This adjustment may or may not be performed by a motor.

[0061] The number of phalanges, segments, and joints can be modified to suit the movement being performed. Joints can be pivots or ball joints.

[0062] A finger may have at least one retractable phalangeal segment. An arm may have at least one retractable segment.

[0063] Each finger, connecting plate, and component of the arm can be produced by any method, such as cutting, pressing, forging, molding, mechanical welding, additive manufacturing, etc.

[0064] Each finger, connecting plate, and component of the arm may be made from any material whose mechanical properties are suitable for the intended application, such as metal (steel, aluminum, titanium, etc.) or thermoplastic material (polyamide, polyaramid, polypropylene, polyethylene, ABS resin, polycarbonate, etc.), and may optionally be fiber-reinforced (glass, carbon, polyaramid, etc.), or other materials.

[0065] Whether considering the first or second actuator, any type of actuator is usable and may be electric and / or pneumatic and / or hydraulic. Whether considering the first or second actuator, any type of actuator is usable and may be linear or rotary, may or may not have a gearbox, and may or may not be connected to a motion transmission member. Here, the motion transmission member is, for example, a screw / nut system such that the assembly formed by the actuator and the motion transmission member is linear or rotary. It is also possible to use a cable-type actuator such as a cable jack.

[0066] In a modified version that uses motor-driven orientation, it is possible to have only one actuator to orient multiple fingers toward a plate.

[0067] In a modified version for manual orientation, the base may have an annular fixed portion, in which a manually orientable portion is pivotably received relative to the fixed portion. For example, a lock mounted laterally on the fixed portion is provided so as to be able to move between a stowed position and a position in which the movable portion protrudes into one of a series of housings distributed at an angle around the periphery of the movable portion, and a needle screw engaged laterally with the fixed portion to hold the movable portion is provided so as to prevent the movable portion from rotating relative to the fixed portion.

[0068] If fingers are orientable, they can be oriented back-to-back to grasp an object from the inside.

[0069] The base can be mounted on a plate so as to be oriented and fixed in place.

[0070] It is also possible to have different types of fingers on the same plate, such as fingers fixed to allow rotation around axis A1, fingers that can be manually oriented around axis A1 and an axis that is motor-driven and oriented around axis A1, etc.

[0071] The contact interface of the first phalangeal joint may have a different structure from that described above, or it may not even have a contact interface at all.

[0072] The distal end portion of the second phalangeal joint may have any shape suitable for grasping an object, such as a T-shape, a curved shape, or other shapes. The distal end portion may have a contact interface similar to that of the first phalangeal joint. Preferably, the distal end portion is removable so that it can be easily replaced when the shape of the object to be grasped may vary.

[0073] In some cases, contact sensors may be fixed to the joint of a finger to detect the slippage of the object.

[0074] For example, if an irreversible motion transmission system is used in the output section of a motor, it is advisable to add force sensors. These force sensors may be, for example, deformation gauges fixed to the phalanges or torque sensors placed on the joints. The use of force sensors is advantageous when the object is fragile.

[0075] The support buffer may also have shapes advantageous for blocking the part, such as a concave shape for centering the part (for example, a centering V-shape is formed as shown in Figures 19 and 20. The V-shape in Figure 19 ensures centering in the vertical plane, and the V-shape in Figure 20 ensures centering in the horizontal plane).

[0076] At least one position sensor may be mounted on the phalangeal joint, on the motion transmission system, or on the actuator to control the actuator to a predetermined position.

[0077] Each finger may be equipped with an electromagnetic brake to prevent the grasped object from falling, especially when completing collaborative tasks.

[0078] A robotic arm can be equipped with sensors, such as ultrasonic sensors or cameras, to detect the presence of an operator within the arm's environment. These proximal sensors can be used both to detect the part to be picked up and its shape to determine the grip, or to detect human intrusion into the finger's workspace.

[0079] The gripping device may include an electronic control unit that controls the fingers and is connected to the control unit of the robotic arm.

[0080] In some cases, one individual control unit of a finger may be programmed to form a master control unit, while the individual control units of the other fingers are programmed to form slave control units. Alternatively, all individual control units of the fingers may be programmed to form slave control units, and the overall control unit of the robot or the overall control unit of the gripping device may be programmed to form a master control unit.

[0081] Essentially, a wired connection can be used as a substitute for all or part of the wireless connections described above.

[0082] The individual control units can be fixed to the fixed and / or movable parts of the base.

[0083] A motor-driven finger may have the same control unit to control the first and second actuators of the finger, or it may have two different individual control units to control each of the two actuators. In this example, at least one of the two individual control units may be connected to a fixed part of the base and / or be movable from the base. At least one of the two individual control units may be at least partially an electronic individual control unit, or it may be a fully electronic individual control unit. Depending on the type of actuator, the individual control unit may be fully electronic or partially electronic. For example, the individual control unit may be at least partially electric and / or hydraulic and / or pneumatic.

[0084] The present invention can be used for any type of handling. That is, for example, it can be used for handling hard objects (e.g., machine parts) or soft parts (e.g., pouches containing liquids or powders), for handling natural or industrial products, for handling in clean or dirty environments, and / or for handling transported goods. Furthermore, this disclosure includes the following aspects: [Aspect 1] A motor-driven finger (100), robotA motor-driven finger (100) comprising: a base (110) for fixing to a plate (51) for connection to an arm (1); a first phalangeal segment (111) connected to the base (110) by at least one first joint (121); a second phalangeal segment (112) connected to the first phalangeal segment (111) by at least one second joint (122); and a first actuator (101) fixed to the base (110) and connected to at least the first phalangeal segment (111) for moving the phalangeal segments (111, 112) between two end positions, wherein the base (110) comprises a fixed portion (110.1) and a movable portion (110.2), and the movable portion (110.2) is connected to the first actuator (101) A motor-driven finger (100) is characterized in that it transports the finger joints (111, 112) and is connected to the fixed portion (110.1) by a bearing, the bearing defines a directional axis (A1) and allows the movable portion (110.2) to rotate relative to the fixed portion (110.1) about the directional axis (A1), the base (110) is provided with means for fixing it to the plate (51) such that the directional axis (A1) is substantially perpendicular to the plate (51), the motor-driven finger further comprises an individual control unit (103) fixed to the base, the individual control unit (103) is connected to and controls the first actuator. [Aspect 2] The motor-driven finger (100) according to embodiment 1, wherein the first actuator (101) is an electric and / or hydraulic and / or pneumatic actuator. [Aspect 3] A motor-driven finger (100) according to embodiment 1 or 2, wherein the first actuator (101) is an electric actuator and the individual control unit (103) is an electronic individual control unit. [Aspect 4] The individual control unit (10 3 ) is a motor-driven finger (100) according to any one of embodiments 1 to 3, which is fixed to the fixed portion of the base. [Aspect 5] The motor-driven finger (100) according to any one of embodiments 1 to 4, wherein the base (110) is equipped with a second actuator (102), the second actuator (102) being arranged to pivot the movable portion (110.2) and to adjust the angular direction of the movable portion (110.2) relative to the fixed portion (110.1). [Aspect 6] The motor-driven finger (100) according to embodiment 5, wherein the individual control unit (103) is also configured to control the second actuator. [Aspect 7] The first phalangeal segment (111) has a deformable quadrilateral shape, and the second phalangeal segment (112) is fixed on the first side (111.1) of the quadrilateral opposite the base (110), the quadrilateral having a second side (111.2) opposite the first side (111.1), the second side (111.2) being connected to the base (110) and the third side (111.3) by the first joint (121). A motor-driven finger (100) according to any one of embodiments 1 to 6, wherein the finger (100) is connected to the first side (111.1) by a third joint (123), and the fourth side (111.4) is connected to the first side (111.1) by a fourth joint (124), and the first actuator (101) acts to move the third joint (123) relative to the second joint (122). [Aspect 8] A motor-driven finger (100) according to any one of embodiments 1 to 7, wherein the first phalangeal segment (111) is provided with a contact interface with an object to be grasped. [Aspect 9] The contact interface is a support buffer (111.5) of the motor-driven finger (100) according to embodiment 8. [Aspect 10] The motor-driven finger according to embodiment 8, wherein the contact interface is a suction cup (111.6) connected to a vacuum generator. [Aspect 11] The control unit (103) is Force returnIn the above First A motor-driven finger according to any one of embodiments 1 to 10, positioned to ensure control of an actuator (101). [Aspect 12] The control unit (103) is connected to an electromagnetic signal emitter / receiver for receiving commands, according to any one of embodiments 1 to 11. [Aspect 13] A motor-driven finger according to any one of embodiments 1 to 12, wherein the first actuator is reversible such that the force exerted on the environment by the finger can be determined from a measurement of the supply current of the first actuator. [Aspect 14] A motor-driven finger according to any one of embodiments 1 to 13, wherein a visual status indicator (52) is transported by the base (110), and the control unit (103) is connected to the indicator and controls the indicator according to the operating state of the control unit. [Aspect 15] A motor-driven finger according to any one of embodiments 1 to 14, wherein the second phalangeal segment (112) has a distal end portion (112.1) that is elastically deformable when flexed. [Aspect 16] A gripping device comprising a plate (51) for connection to a robot arm (1), wherein at least one first finger (100) which is a finger (100) according to any one of embodiments 1 to 15 is attached to the plate (51), and the device further comprises a base portion received in a hole in the plate and at least one contact element extending toward the finger. [Aspect 17] The apparatus according to embodiment 16, wherein the contact element is a second finger (100) which is a finger (100) as described in any one of embodiments 1 to 15. [Aspect 18] The apparatus according to embodiment 16 or 17, wherein each finger is equipped with an individual control unit (103) that communicates with a master communication unit (30). [Aspect 19] The apparatus according to embodiment 16 or 17, wherein each finger is equipped with an individual control unit (103), and one of the individual control units is programmed to form a master control unit, and the other individual control units are programmed to form a slave control unit. [Aspect 20] The apparatus according to embodiment 16 or 17, wherein the apparatus comprises a whole control unit that communicates with at least one sensor of the external environment of the gripping apparatus. [Aspect 21] robot An arm (1) comprising a base (10), a first segment (11) connected to the base by a first joint (21), a second segment (12) connected to the first segment by a second joint (22), and an interface (13) connected to the second segment by a third joint (23) and for transporting a connecting plate (51) of a gripping device (50) according to any one of embodiments 16 to 20, robot Arm (1). [Aspect 22] The aforementioned robot Arm (1) performs the aforementioned collaborative task with the operator. robot The robot comprises a whole control unit (30) programmed to control the arm, and the connecting plate is provided with a handle (53) that can be grasped by the operator to guide the robot, as described in embodiment 21. robot Arm (1). [Aspect 23] A kit for manufacturing a gripping device, comprising: plates (51) of different shapes; fingers (100) according to any one of embodiments 1 to 15; distal phalanges (112) of different shapes; and interfaces of different shapes. [Aspect 24] The kit according to embodiment 23, wherein the kit comprises contact elements (100, 200) of different shapes. [Aspect 25] The kit according to embodiment 23, wherein the kit comprises a finger cot that covers at least the distal phalanx of the finger.

Claims

1. A motor-driven finger (100) comprising: a base (110) for fixing to a plate (51) for connection to a robot arm (1); a first phalangeal segment (111) connected to the base (110) by at least one first joint (121); a second phalangeal segment (112) connected to the first phalangeal segment (111) by at least one second joint (122); and a first actuator (101) fixed to the base (110) and connected to at least the first phalangeal segment (111) for moving the phalangeal segments (111, 112) between two end positions, wherein the base (110) comprises a fixed portion (110.1) and a movable portion (110.2), and the movable portion (110.2) is the first actuator A motor-driven finger (100) is characterized in that it transports a cutter (101) and the finger joints (111, 112), and is connected to the fixed part (110.1) by a bearing, the bearing defines a directional axis (A1) and allows the movable part (110.2) to rotate relative to the fixed part (110.1) about the directional axis (A1), the base (110) is provided with means for fixing it to the plate (51) such that the directional axis (A1) is substantially perpendicular to the plate (51), the motor-driven finger further comprises an individual control unit (103) fixed to the base, the individual control unit (103) is connected to and controls the first actuator.

2. The motor-driven finger (100) according to claim 1, wherein the first actuator (101) is an electric and / or hydraulic and / or pneumatic actuator.

3. The motor-driven finger (100) according to claim 1, wherein the first actuator (101) is an electric actuator and the individual control unit (103) is an electronic individual control unit.

4. The motor-driven finger (100) according to claim 1, wherein the individual control unit (103) is fixed to the fixed portion of the base.

5. The motor-driven finger (100) according to claim 1, wherein the base (110) comprises a second actuator (102), the second actuator (102) being arranged to pivot the movable portion (110.2) and to adjust the angular direction of the movable portion (110.2) relative to the fixed portion (110.1).

6. The motor-driven finger (100) according to claim 5, wherein the individual control unit (103) is also configured to control the second actuator.

7. The first phalangeal segment (111) has a deformable quadrilateral shape, and the second phalangeal segment (112) is fixed on the first side (111.1) of the quadrilateral opposite the base (110), the quadrilateral having a second side (111.2) opposite the first side (111.1), the second side (111.2) being connected to the base (110) and the third side (1) by the first joint (121). A motor-driven finger (100) according to claim 1, which is connected to 11.3) and connected to a fourth side (111.4) by a third joint (123), the fourth side (111.4) being connected to the first side (111.1) by a fourth joint (124), and the first actuator (101) acts to move the third joint (123) relative to the second joint (122).

8. The motor-driven finger (100) according to claim 1, wherein the first phalangeal segment (111) has a contact interface with an object to be grasped.

9. The motor-driven finger (100) according to claim 8, wherein the contact interface is a support buffer (111.5).

10. The motor-driven finger according to claim 8, wherein the contact interface is a suction cup (111.6) connected to a vacuum generator.

11. The motor-driven finger according to claim 1, wherein the individual control unit (103) is arranged to ensure that it controls the first actuator (101) in force feedback.

12. The motor drive finger according to claim 1, wherein the individual control unit (103) is connected to at least an electromagnetic signal emitter / receiver for receiving commands.

13. The motor-driven finger according to claim 1, wherein the first actuator is reversible such that the force exerted on the environment by the finger can be determined from a measurement of the supply current of the first actuator.

14. A motor-driven finger according to claim 1, wherein a visual status indicator (52) is transported by the base (110), and the individual control unit (103) is connected to the indicator and controls the indicator according to the operating state of the individual control unit.

15. The motor-driven finger according to claim 1, wherein the second phalangeal segment (112) has a distal end portion (112.1) that is elastically deformable when bent.

16. A gripping device comprising a plate (51) for connection to a robot arm (1), wherein at least one first finger (100) which is a finger (100) according to any one of claims 1 to 15 is attached to the plate (51), and the device further comprises a base portion received in a hole in the plate and at least one contact element extending toward the finger.

17. A gripping device comprising a plate (51) for connection to a robot arm (1), wherein at least one first finger (100) which is a finger (100) according to any one of claims 1 to 15 is attached to the plate (51), the device further comprising a base which is received in a hole in the plate and at least one contact element which extends facing the finger, the contact element being a second finger (100) which is a finger (100) according to any one of claims 1 to 15.

18. The apparatus according to claim 16, wherein each of the aforementioned fingers is equipped with an individual control unit (103) that communicates with a master communication unit (30).

19. The apparatus according to claim 16, wherein each of the fingers comprises an individual control unit (103), and one of the individual control units is programmed to form a master control unit, and the other individual control units are programmed to form a slave control unit.

20. The apparatus according to claim 16, further comprising a whole control unit that communicates with at least one sensor of the external environment of the gripping apparatus.

21. A robot arm (1) comprising: a base (10); a first segment (11) connected to the base by a first joint (21); a second segment (12) connected to the first segment by a second joint (22); and an interface (13) connected to the second segment by a third joint (23) and for transporting a connecting plate (51) of a gripping device (50) according to claim 16.

22. The robot arm (1) according to claim 21, comprising a total control unit (30) programmed to control the robot arm during collaborative tasks with an operator, and the connecting plate comprising a handle (53) which can be grasped by the operator to guide the robot.

23. A kit for manufacturing a gripping device, comprising: plates (51) of different shapes; fingers (100) according to any one of claims 1 to 15; distal phalanges (112) of different shapes; and interfaces of different shapes.

24. The kit according to claim 23, wherein the kit comprises contact elements (100, 200) of different shapes.

25. The kit according to claim 23, wherein the kit comprises a finger cot that covers at least the distal phalanx of the finger.

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