EP3418245A1 - Device for handling an object - Google Patents

Abstract

The invention relates to a device for object handling, said device (1) comprising an arm (2) and a movement system (6) of the arm for moving the arm (2) up and down. The displacement system (6) comprises an electric motor (3), a motion transmission system (7) which comprises a free wheel mechanism configured to transmit the movement of the motor (3) to the arm (2) when the motor ( 3) rotates in a given direction of rotation, called up direction, corresponding to a rise of the arm (2), and for when the motor rotates in the opposite direction and the arm (2) is blocked downwardly by an obstacle, no longer transmit the movement of the motor (3) to the arm (2).

Description

FIELD OF THE INVENTION

The present invention relates generally to object handling devices.

PRIOR ART

Known from the state of the art handling devices which comprise an arm provided with a gripping tool. A drive motor makes it possible to raise and lower the arm in particular to allow the gripping tool to grip an object, also called a load, from above.

The gripping tool is provided with a contact sensor which makes it possible to detect the contact between the gripping tool and an object, which may be an obstacle or the object to be gripped.

When the contact sensor detects the contact between the gripping tool and the object, said sensor transmits a signal to a control unit of the handling device so that the control unit of the handling device controls the shutdown of the handling device. drive motor moving the arm.

However it is found that, the time that the control unit receives and processes the signal emitted by the sensor, and that the control unit controls the stopping of the engine, the motor continues to rotate so that the gripping tool continues to descend with the arm, and impacts, where exerts effort on, the object, which can damage the object and / or damage the handling device itself.

In other words, the reaction time of the sensor and the control unit for stopping the motor is too long and does not allow to control securely the descent of the gripping tool for the removal or seizure of an object.

The document US 2007/189888 A1 describes a device corresponding to the preamble of claim 1. The document EP 0066182 A1 describes a forklift with transverse fork. The document WO 01/68507 A1 discloses an obstruction sensor system disposed on a lift vehicle having a lifting platform.

The present invention aims to propose a new device to overcome all or part of the problems described above.

In particular, an object of the invention is to propose a new object handling device for grasping and / or moving and / or depositing an object in a secure manner.

SUMMARY OF THE INVENTION

• un moteur électrique;
• un système de transmission de mouvement qui comprend un mécanisme à roue libre configuré pour :
  • transmettre le mouvement du moteur au bras lorsque le moteur tourne dans un sens de rotation donné, appelé sens de montée, correspondant à une montée du bras, et
  • lorsque le moteur tourne en sens inverse, appelé sens de descente, et que le bras est bloqué en descente par un obstacle extérieur, ne plus transmettre le mouvement du moteur au bras.

For this purpose, the subject of the invention is a device for object handling, said device comprising an arm and a system for moving the arm allowing the arm to move uphill and downhill,
the displacement system comprising:

• an electric motor;
• a motion transmission system that includes a freewheel mechanism configured to:
  • transmit the movement of the motor to the arm when the motor rotates in a given direction of rotation, called up direction, corresponding to a rise of the arm, and
  • when the engine rotates in the opposite direction, called downhill direction, and the arm is blocked downhill by an external obstacle, no longer transmit the movement of the engine to the arm.

Thus, when, due to the descent of the arm, the gripping tool encounters an object or obstacle, the freewheel mechanism of the handling device makes it possible to no longer transmit the drive movement of the motor to the arm. The device thus benefits from an automatic mechanical disengagement function when the arm or the gripping tool is stopped during its descent by an obstacle outside the handling device.

The direct or indirect contact of the arm with an obstacle during the descent of the arm thus causes the mechanical stopping of the movement transmission between the motor and the device's motion transmission system.

Thus, even if the motor continues to rotate, its movement is no longer transmitted to the arm. When the obstacle is an object to be grasped which has come into contact with the gripping tool carried by the arm, the gripping tool then simply remains in contact with the object without transmitting to it the engine force which might damage.

The device thus makes it possible to take or deposit an object (or load) from above, in a secure manner.

As mentioned above, in the event of an obstacle on the path of descent of the arm, the freewheel mounting between the arm and the motor of the device makes it possible to disengage the transmission of movement between the motor and the arm so that the rotation of the motor in the direction of descent no longer leads the arm.

The freewheel system makes it possible to move the load at high speed while controlling the impact with an obstacle or with the object to be taken. Such a safety function makes it possible to quickly move the arm downhill without risk of deterioration.

Advantageously, the device comprises a sensor which detects in addition the contact of the tool with the object. The contact detection signal is received by a control unit of the device which controls the stopping of the motor. It should be noted that, when the engine is actually stopped, the transmission of movement between the motor and the tool is already deactivated, because of the clutch function provided by the freewheel, which avoids any risk of deterioration during grasping the load by the gripping tool or when removing the object with the gripping tool on a support.

• retenir mécaniquement le bras lorsque le moteur ne tourne pas ;
• contrôler mécaniquement la descente du bras lorsque le moteur tourne dans le sens de descente.

According to an advantageous characteristic, the freewheel mechanism also comprises a mechanical retention system configured for, in the absence of an external obstacle blocking the descent of the arm:

• mechanically hold the arm when the engine is not running;
• mechanically control the descent of the arm when the engine is running in the direction of descent.

In other words, when the arm is driving, the holding mechanism allows, in the stopped state of the engine, to prevent downward movement of the arm, and allows, by rotating the engine in the opposite direction of the rising direction, control the descent movement of said arm.

By control is meant that the descent of the arm is slaved to the rotation of the motor in the direction of descent, the rotation of the motor releasing or allowing a descent of the arm. The descent distance of the arm is thus proportional to the number of rotation of the motor in the direction of descent, in the absence of obstacle preventing the descent of the arm, that is to say when the arm is driving.

According to an advantageous characteristic of the invention, the device is according to one of claims 3 to 10.

BRIEF DESCRIPTION OF THE DRAWINGS

• la figure 1 est une vue en perspective du dispositif de manutention conformément à un mode de réalisation de l'invention ;
• la figure 2 est une vue en perspective du dispositif de manutention de la figure 1, des éléments d'habillage du système de transmission étant retirés ;
• la figure 3 est une vue en perspective de la partie haute du système de transmission du dispositif de manutention de la figure 1 ;
• la figure 4 est une vue en perspective selon un autre angle de la partie haute du système de transmission de la figure 3, une partie du système étant retirée pour montrer la roue libre ;
• la figure 5 est une vue en perspective de la partie basse du système de transmission du dispositif de la figure 2 ;
• la figure 6 est une vue en perspective d'un ensemble de moteur, turbine et de batteries d'un dispositif conforme à un mode de réalisation de l'invention ;
• la figure 7 est une vue en perspective du dispositif selon un mode de réalisation de l'invention, à l'état monté sur un chariot à fourches ou transpalette ;
• la figure 8 est une vue partielle en perspective de dessous du transpalette montrant le système de fixation du dispositif sur les fourches dudit transpalette ;
• la figure 9 est une vue en perspective du dispositif de manutention conforme à un mode de réalisation monté sur un transpalette et utilisé pour saisir un sac dans une étagère ;
• la figure 10 est une vue en coupe montrant un mode de réalisation de roue libre utilisable dans un dispositif conforme à un mode de réalisation de l'invention

Other features and advantages of the invention will become apparent from the description which follows, which is purely illustrative and nonlimiting and should be read with reference to the accompanying drawings, in which:

• the figure 1 is a perspective view of the handling device according to an embodiment of the invention;
• the figure 2 is a perspective view of the handling device of the figure 1 , trim elements of the transmission system being removed;
• the figure 3 is a perspective view of the upper part of the transmission system of the handling device of the figure 1 ;
• the figure 4 is a perspective view from another angle of the upper part of the transmission system of the figure 3 part of the system being removed to show the freewheel;
• the figure 5 is a perspective view of the lower part of the transmission system of the device of the figure 2 ;
• the figure 6 is a perspective view of a motor, turbine and battery assembly of a device according to an embodiment of the invention;
• the figure 7 is a perspective view of the device according to one embodiment of the invention, in the mounted state on a forklift or pallet truck;
• the figure 8 is a partial perspective view from below of the pallet truck showing the fastening system of the device on the forks of said pallet truck;
• the figure 9 is a perspective view of the handling device according to an embodiment mounted on a pallet truck and used to grip a bag in a shelf;
• the figure 10 is a sectional view showing a freewheel embodiment usable in a device according to an embodiment of the invention

DETAILED DESCRIPTION

The concept of the invention is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. Similar numbers refer to similar items on all drawings. However, this concept of the invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Instead, these embodiments are provided so that this description is complete, and communicate the scope of the concept of the invention to those skilled in the art. The scope of the invention is therefore defined by the appended claims.

Reference throughout the specification to "an embodiment" means that a particular feature, structure, or feature described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in one embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. In addition, the particular features, structures, or features may be combined in any suitable manner in one or more embodiments.

To the figure 1 there is shown a device 1 for object handling. Handling an object, also called a load, can include grasping, moving, and placing the object.

Said device 1 comprises a column 100 having a longitudinal axis A1 and an arm 2 movable along the column. In particular, the device comprises a displacement system 6 for moving the arm up and down. The displacement system 6 is housed at least partly in the column 100.

The arm 2 comprises several sections 21, 22, 23 articulated about axes parallel to each other. These axes are parallel to the direction of up and down the arm, which is vertical in the example shown in the figures.

As illustrated in figure 9 , a gripping tool 19 is able to be coupled to said arm 2. In particular, the gripping tool 19 is intended to be coupled to the free end of the arm by a coupling interface 24. The coupling interface 24 is articulated relative to the arm about an axis parallel to the direction of rise and descent of the arm. The gripping tool 19 is for example a pneumatic suction pad.

The arm 2 comprises a plurality of sections 21, 22, 23 hinged together. Each section is articulated to another section by a double-pivot connection. The pivot axes are parallel to the direction of rise and fall of the arm. Such a design of the arm makes it possible to reach a given zone easily and quickly while also making it possible to benefit from a so-called rest position of the arm in which said arm is folded in accordion to limit the size of the device.

The section 21 is articulated on one side to the section 22, and, on the other side, to a connecting support 25 slidably mounted on the rails 53 along the column 100. The connection support 25 only presents a degree of freedom that corresponds to a sliding mobility (or slide linkage) along the longitudinal axis of the column 100.

The displacement system 6 comprises an electric motor 3 and a motion transmission system 7 interposed between the motor 3 and the arm 2.

The motion transmission system 7 comprises a freewheel mechanism 4 configured to transmit the movement of the motor 3 to the arm 2 when the motor 3 rotates in one direction, called the rise direction, corresponding to a rise of the arm 2.

The freewheel mechanism 4 is configured so that, when the motor rotates in the opposite direction, called the descent direction, do not transmit the movement of the motor 3 to the arm 2. The arm is in the direction of a descent and in the absence of obstacle, driving and freewheel mechanism also includes a restraint function that allows when the engine does not rotate, hold the arm, and when the engine rotates in the direction of descent, to control the descent of the arms.

Steering the rotation of the motor in said direction of descent, to control the descent of the driving arm. Indeed, the free descent of the arm is limited (or enslaved) by said rotation of the motor. It is the rotation of the engine that releases (or allows) the movement of the leading arm in the direction of a descent. In other words, the motor thus forms a brake on the free descent of the arm, the rotation of the motor to release the descent of a distance depending on the rotation of the motor.

Thus, when the motor rotates in one direction, the arm is driven in the upward direction. The engine is driving and the arm is driven. In the opposite direction of rotation of the motor, the arm is driving because of its weight and goes down the length that allows the rotation of the motor. When the engine is stopped, the descent of the arm is also stopped thanks to the retaining (or non-return) function of the freewheel mechanism.

In the example illustrated in the figures, the freewheel mechanism 4 of the transmission system comprises an inner ring 41 coupled to the motor 3. In the example illustrated more particularly in FIG. figure 4 , said coupling is effected by means of a gearbox 31 coupled to the output shaft of the motor 3 and coupled by a coupler 32 to a transmission shaft 341 on which the inner ring 41 is fixed. Each tree can be composed of several trees or sections.

The transmission shaft 341 is guided in rotation by two bearings 342, 343 each comprising a bearing. The transmission shaft is mounted to rotate with the inner ring 41, for example by a key.

The freewheel mechanism 4 also comprises an outer ring 42. Bearing elements such as rollers or balls are interposed between the inner ring and the outer ring. The outer ring 42 is drivable in the direction of rise by the inner ring 41 which is integral in rotation with the motor 3. Said outer ring 42 is then led by the inner ring 41.

When the motor rotates in the down direction the outer ring is driven by the arm. Under the weight of the arm, the outer ring can rotate in the same direction as the inner ring in the direction of descent, an angle of rotation depending on that of the first ring, preferably substantially equal.

As mentioned above, a retaining mechanism allows the inner ring to retain the outer ring when it is driven by the weight of the arm. The rotation of the inner ring in the direction of descent allows to release and control the descent of the arm.

When the arm during its descent encounters an obstacle preventing it from descending further and the engine continues to turn in the direction of a descent, the inner ring of the freewheel turns freely relative to the outer ring.

In the example shown schematically in figure 10 this retaining function is obtained by the geometrical configuration of the outer peripheral face of the inner ring 41, which, in combination with the geometrical configuration of the inner peripheral face of the outer ring, defines for each of the rolling elements 44 a housing having a narrow section at an end of said housing. In the illustrated example of the figure 10 , the rolling element is biased towards this end of narrow section by a spring 43.

Thus, when the engine does not rotate, the outer ring is prevented from rotating in the direction of a descent of the load 200 'due to the wedging of the rolling elements 44. When the load 200' is driving and the engine is running in the direction of a descent, the outer ring 42 is free to rotate as the rotation of the inner ring 41 allows it. In addition, when the motor rotates in the direction of a rise, the rotation of the inner ring 41 is transmitted to the outer ring 42 by jamming of the rolling elements 44.

Alternatively, the retaining function can be achieved by a ratchet system between the inner ring and the outer ring.

The motion transmission system 7 comprises a transmission device 5 interposed between the arm 2 and the freewheel mechanism 4. Said transmission device 5 comprises an upper pulley 51 and a lower pulley 52. A preferably toothed belt 50 wraps around the two pulleys 51, 52 to form an endless loop between the two pulleys 51, 52. Alternatively, the belt could be replaced by a chain. In general, said belt can be made in the form of an elongate element that is rotatably fixed, that is to say synchronized, with at least the upper pulley 51.

In the example illustrated in the figures, there are provided two transmission devices 5, to enhance security. The description given below for a transmission device 5 also applies to the other transmission device.

The upper pulley 51 is integral in rotation with the outer ring 42 of the freewheel mechanism 4, for example by means of a key. In particular, the outer ring 42 extends inside the pulley 51 higher. The lower pulley 52 is mounted on the frame of the free-rotating device on itself, and spaced apart from the first pulley 51. The arm connecting support 25 is attached to a strand of the belt 50.

Thus, the arm can be driven up and down by moving the belt 50 in one direction and the other, while the rails 53 guide this movement. The fact of positioning the freewheel at the drive system makes it possible to disengage and thus stop the descent of the arm when during its descent the arm 2 or the gripping tool 19 comes against an obstacle.

Column 100 also includes a guide rail system 53. The support portion 25 of the arm is slidably mounted with said rail 53 to allow the guiding of the arm 2 during its upward or downward movement.

The vertical guide rail system 53 also makes it possible to take up the force of the arm which results from its position in overhang of the column and which tends to tilt it.

Thus, the motor 3 rotates each pulley 51 in a direction of rotation causing the rise of the arm. In the opposite direction of rotation, when the arm descends, the motor 3 simply regulates the speed of descent, because it is the arm and possibly the load supported by the arm which causes the descent of the arm.

As illustrated in Figures 1 and 2 , the coupling interface 24 is fixed to a ring 26 which is coupled to the section 23 of the arm and which has a set of displacement parallel to the axis A1.

Said ring 26 comprises a sensor, for example an inductive sensor, which makes it possible to detect the position of said ring 26 along its axis of displacement and thus to detect, during the descent of said tool gripping 19, the direct or indirect contact of the gripping tool with an obstacle.

The sensor then emits an engine stop command signal. It should be noted that, when the engine is actually stopped, the transmission of movement between the motor and the tool is already deactivated, because of the clutch function provided by the freewheel, which avoids any risk of deterioration during grasping the load by the gripping tool or when removing the load with the gripping tool on a support.

The device comprises a suction system 17 associated with the gripping tool 19 to allow grasping or depositing an object. According to one particular aspect, the suction system 17 comprises a turbine 170 associated with a motor 171, and a suction duct connected to the gripping tool 19.

The device comprises a control unit configured for, in the activated state of the handling device, but in the absence of object seizure control, controlling the operation of the suction system 17 according to a first suction speed no nothing. Following an object capture command, the control unit controls the operation of the suction system 17 at a second suction speed higher than the first suction speed.

Thus, as soon as the device is activated, that is to say when the electrical contact is actuated, the turbine 170 operates continuously at least at a suction speed lower than the speed intended for object capture, for to allow that, when the user controls the seizure of an object, the turbine is already in operation and that it can quickly reach the speed necessary for the seizure of the object. The suction system 17 provides a high flow while limiting energy consumption.

The frame 101 of the device 1 comprises fastening members 18 for hanging and unhooking the device 1 on the forks 81 of a pallet truck 8. The symmetry of the attachment members 18 allows the device to be installed in two different directions on the forks 81 of a pallet truck 8. The hooking members 18 are in the form of hook-shaped plates.

The device comprises a control system 190 for controlling the motor 3 and the suction system 17. As illustrated in FIG. figure 9 , the control system 190 is in the form of a handle or joystick control, accessible to the user being located on the arm 2, to allow the user to control the rotation of the motor 3 in the direction of lowering or raising the arm 2 and controlling the suction system to activate or deactivate the gripping tool.

To secure the ascent / descent and control the arm stroke, the handling device also includes high and low limit switches that transmit a stop signal to the motor.

• un ensemble de batterie(s) 150 qui permet au dispositif d'être autonome pendant plusieurs heures. Ce kit de batteries est par exemple composé de quatre batteries de 12 Volts 100 Ah. Les batteries permettent d'alimenter les différents éléments électriques ou électroniques du dispositif dont le moteur 171 de commande de la turbine 170 et le moteur 3 de commande du bras 2 ;
• la turbine 170, associé au moteur 171, qui permet le fonctionnement de l'outil de préhension 19, par aspiration d'air, pour assurer la prise et la pose d'objet, en particulier des sacs et des cartons ;
• un ensemble électrique repéré 151 comprenant par exemple des variateurs, disjoncteurs et résistance de freinage.

The device 1 also comprises, juxtaposed with the column 100, a set 400 which has a frame in which are housed:

• a set of battery (s) 150 which allows the device to be autonomous for several hours. This kit of batteries is for example composed of four batteries of 12 volts 100 Ah. The batteries make it possible to supply the different electrical or electronic elements of the device, including the motor 171 for controlling the turbine 170 and the motor 3 for controlling the arm 2;
• the turbine 170, associated with the engine 171, which allows the operation of the gripping tool 19, by suction of air, to ensure the grip and the installation of object, in particular bags and cartons;
• an electrical assembly identified 151 comprising for example dimmers, circuit breakers and braking resistor.

The control unit comprises for example a processor or microcontroller.

Said control unit is configured to transmit control instructions to the drive motor 3 and to transmit control instructions of the gripper according to signals transmitted by the control system 190.

Advantageously, the control unit comprises electronic and / or computer processing means that can be implemented in the form of a computer program or via hardware components (eg programmable gate networks).

Computer programs, or computer instructions, may be contained in program storage devices, such as computer readable digital data storage media, or executable programs. Programs or instructions can also be run from program storage devices.

According to a particular embodiment, the handling device makes it possible to offer assistance in taking cardboard, bags and other parts in storage racks, to limit the manual handling of loads. It is thus possible to better organize the order preparation operations.

• prendre des cartons et sacs en profondeur sous des racks ou étagères ;
• déposer ces cartons et sacs sur une palette
• se déplacer dans tout l'entrepôt
• être autonome en énergie

According to one embodiment, in the mounted state on a trolley, such as a pallet truck, the handling device makes it possible, with speed, to

• take cartons and bags deep under racks or shelves;
• deposit these cartons and bags on a pallet
• move throughout the warehouse
• to be autonomous in energy

The device thus makes it possible to pick up a cardboard or bag on a pallet on the ground and also makes it possible to go up to a given height to reach parcels stored under the highest racks.

The handling device can adapt to different types of electric pallet trucks. The manipulator arm 2 has a small footprint, which allows it to maintain a pallet embedded on the pallet truck.

The invention is not limited to the embodiments illustrated in the drawings. Accordingly, it should be understood that when the features mentioned in the appended claims are followed by reference signs, these signs are included solely for the purpose of improving the intelligibility of the claims and are in no way limiting to the scope of the claims. claims.

Moreover, the term "including" does not exclude other elements or steps. In addition, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.

Such a device makes it possible to provide an ergonomic solution to the handling of cartons, bags or other loads, for example in logistics areas, especially for the preparation of orders.

Claims (10)

Device (1) for object handling, said device (1) comprising an arm (2) and a movement system (6) of the arm for moving the arm (2) up and down, the displacement system (6) comprising an electric motor (3),
characterized in that the displacement system further comprises a motion transmission system (7) which comprises a freewheel mechanism (4) configured to: - transmit the movement of the motor (3) to the arm (2) when the motor (3) rotates in a given direction of rotation, called up direction, corresponding to a rise of the arm (2), and - When the motor (3) rotates in the opposite direction, called down direction, and the arm (2) is blocked down by an external obstacle, no longer transmit the movement of the motor (3) to the arm (2). Device (1) according to claim 1, characterized in that the freewheel mechanism (4) also comprises a mechanical retention system configured for, in the absence of an external obstacle blocking the descent of the arm: - mechanically hold the arm when the motor (3) does not rotate; - mechanically control the descent of the arm (2) when the engine is running in the direction of descent. Device (1) according to Claim 2, characterized in that the freewheel mechanism (4) of the transmission system (7) has an inner ring (41) coupled to the motor (3) and an outer ring (42). , coupled to the arm (2), which is rotatable by the inner ring (41) in a given direction of rotation, called the rise direction,
said freewheel mechanism (4) also comprising a mechanical restraint system, limiting or preventing the rotation of the outer ring (42) relative to the inner ring (41) in the other direction, referred to as the descent. Device (1) according to one of the preceding claims, characterized in that the motion transmission system (7) comprises a transmission device (5) interposed between the arm (2) and the freewheel mechanism (4), said transmission device (5) comprising: a first and a second return element (51, 52), such as pulleys, at least one elongate transmission element (50), preferably a belt, which forms an endless loop between the two deflection elements (51, 52); the first deflection element (51) being coupled to the freewheel mechanism (4) and the arm (2) being coupled to said elongated transmission element (50), the elongated transmission element (50) being rotationally integral with at least said first deflection element (51, 52). Device (1) according to claim 4, characterized in that said at least one elongate transmission element (50) is a belt. Device (1) according to claim 4 or 5, characterized in that the first deflection element (51) is mounted to rotate with the outer ring (42) of the freewheel mechanism and the second deflection element (52). is mounted on the frame (101) of the device (1), preferably free to rotate on itself, spaced apart from the first deflection element (51). Device (1) according to one of claims 4 to 6, characterized in that said transmission device (5) also comprises a guiding rail system (53), the arm (2) comprising a connecting part (25) slidably coupled to said rail (53) to allow guiding of the arm (2) during its upward or downward movement. Device (1) according to one of the preceding claims, characterized in that the device (1) comprises a suction system (17) associated with the tool of gripping (19) to allow grasping or depositing an object, the suction system (17) being configured to: in the activated state of the handling device (1), but in the absence of an object-grasping command, having a first non-zero suction speed, and - Following an object capture command, have a second suction speed greater than the first suction speed. Device (1) according to one of the preceding claims, characterized in that the arm (2) comprises a plurality of sections (21, 22, 23) hinged together, preferably by double-pivot links, about axes parallel to the direction of rise and descent of the arm (2). Device (1) according to one of the preceding claims, characterized in that the frame (101) of the device (1) comprises hooking means (18) for hanging and unhooking the device (1) on a means locomotion (8), such as a pallet truck.

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