EP0262003A1 - Device for controlling and handling objects - Google Patents

Device for controlling and handling objects Download PDF

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Publication number
EP0262003A1
EP0262003A1 EP87401845A EP87401845A EP0262003A1 EP 0262003 A1 EP0262003 A1 EP 0262003A1 EP 87401845 A EP87401845 A EP 87401845A EP 87401845 A EP87401845 A EP 87401845A EP 0262003 A1 EP0262003 A1 EP 0262003A1
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EP
European Patent Office
Prior art keywords
assembly
jaws
detector means
integral
aforementioned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP87401845A
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German (de)
French (fr)
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EP0262003B1 (en
Inventor
César Felix
Jean-Claude Glain
Noel Dumoulin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMB Packaging SA
Original Assignee
Carnaud SA
CMB Packaging SA
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Application filed by Carnaud SA, CMB Packaging SA filed Critical Carnaud SA
Publication of EP0262003A1 publication Critical patent/EP0262003A1/en
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Publication of EP0262003B1 publication Critical patent/EP0262003B1/en
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/08—Sorting according to size measured electrically or electronically
    • B07C5/083—Mechanically moved sensing devices, the movement of which influences the electric contact members

Definitions

  • the invention relates to a device for controlling and handling objects, in particular flat objects such as bases or pallets, and capable of ensuring both the control of the dimensions of such an object and its routing to such or such treatment or recycling station, depending on the size check carried out.
  • the invention applies in particular to the handling and recycling of bases or pallets supporting batches of raw material, in particular sheets, in an industrial installation.
  • pallets loaded with sheets are sent to a destacking station supplying a printing or varnishing line, while other empty pallets must be placed at the exit of this same station, to receive the treated sheets there, with a view to their subsequent routing to another work station.
  • the pallets therefore follow a circuit which differs from that of the sheets and must therefore be transported, empty, from one place to another, for example from a destacking station to a storage station or to a re-stacking station, etc. ...
  • the sheets intended to form these packages have different chosen dimensions. It is the same for the pallets which carry them. It is therefore necessary to check the dimensions of an empty pallet, in particular before placing it at a station where it must receive sheets of a given format.
  • this control has been carried out visually and the elimination of an over-the-counter pallet required human intervention.
  • the invention aims to solve this problem by combining the control and handling functions in the same automatic device.
  • the invention therefore relates to a device for controlling and handling objects such as, for example, bases or pallets, characterized in that it comprises a gripping assembly comprising two jaws, at least one of which is movable by relative to the other in a predetermined direction and a first position detection assembly comprising a detector means and an actuation means of the latter, one of the two means being placed along the path of the other, which is secured to said movable jaw.
  • the system described above allows the control of at least one dimension of the object seized (the palette); it can advantageously be supplemented by means for controlling another dimension of this object, in a perpendicular direction.
  • the invention also preferably relates to a device according to the preceding definition, characterized in that it further comprises a thrust assembly comprising a fixed reference stop and a stop forming a pusher, movable in a direction perpendicular to said direction predetermined and placed so as to have an aforementioned object between the two jaws apart while bringing it into contact with said fixed reference stop.
  • a thrust assembly comprising a fixed reference stop and a stop forming a pusher, movable in a direction perpendicular to said direction predetermined and placed so as to have an aforementioned object between the two jaws apart while bringing it into contact with said fixed reference stop.
  • the device shown comprises a frame 11, movable, in particular vertically and serving as a support for first guide means 12 oriented in a predetermined direction identified by the double arrow A and second guide means 14, oriented in another direction perpendicular to said predetermined direction and identified by the double arrow B.
  • the chassis further carries a probe 15 equipped with two detectors allowing respectively to stop the chassis moving vertically downwards, empty, as soon as it comes into contact with an object to be captured is detected and another probe designed to command the stopping of the same chassis under load, as soon as a contact of the object on any unloading plan, is recorded.
  • the chassis 11 is also linked to other means of movement, not shown, making it possible to route it to various stations, for example a station for recycling the object seized (if its dimensions correspond to those which are desired) or a station for storage.
  • the first guide means 12 essentially comprise two parallel sliding shafts 16 while the second guide means 14 comprise two parallel sliding shafts 18, perpendicular to the shafts 16. All these shafts are integral with the chassis 11.
  • the handling control device also comprises a gripping assembly 19 associated with said first guide means and comprising in particular two parallel jaws 22, 23 of which at least one is movable in the direction A. According to the example, the two jaws are movable and provided with bores allowing them to slide along the shafts 16.
  • the jaw 22 is directly actuated by the rod of a jack 25, via an articulated connection, the jack body being mounted on the chassis 11.
  • the two jaws 22, 23 are coupled by a system of transmission 28 ensuring a symmetrical and reciprocal displacement of these.
  • this system comprises two return pulleys 30 (or pinions) rotating around vertical axes integral with the chassis 11 and a closed cable 31 (or a chain) wound around said pulleys.
  • the cable 31 is fixed at two points 32, 33 to the two jaws, respectively, these points being located on either side of the plane passing through the axes of the two pulleys.
  • the device further comprises a first position detection assembly comprising a detector means 34 and an actuation means 35 of the latter.
  • One of the two means is placed along the path of the other, integral with the jaw 22. According to the example, it is the actuating means 35 which is carried by the jaw 22.
  • the detector means 34 is integral with a first positioning mechanism 38 adjustable parallel to direction A, conventionally comprising a threaded rod 38 a with which it is engaged and a sliding rod 38 b parallel to the threaded rod.
  • the position adjustment of the detector means 34 is operated under the control of an electric motor 40 driving the threaded rod in rotation and controlled in particular by the information delivered by an incremental optical encoder 41 or the like coupled to this same threaded rod.
  • the device further comprises a thrust assembly comprising a fixed reference stop 42 and a stop forming a pusher 44, movable in the direction B and arranged so as to be able to push an object concerned (a pallet) towards the fixed stop 42 until that it comes into contact with it while being placed between the two jaws 22, 23 apart.
  • the movable stop 44 is mounted along the second guide means 14; it comprises a slide 44 is provided with holes to allow it to be enga ge coulissament on the shafts 18.
  • a support 45 similar to the slider 44 is also engaged on the shafts 18; it is moved along these by a second positioning mechanism 46 adjustable parallel to direction B.
  • a second set of detection of positions 48 comprises a detector means 49 and an actuation means 50 of the latter.
  • the detector means 49 is secured to the support 45 and mounted in a door -overhang on one side thereof while the actuating means 50 is fixed on the side of the slide 44 a .
  • the adjustable positioning mechanism 46 comprises a threaded rod 52 engaged with the support 45 and rotated by an electric motor 54. The latter is controlled in particular by the information delivered by an incremental optical encoder 56 or the like coupled to this same threaded rod 52.
  • An actuating cylinder 58 of the slide 44 a is mounted between the latter and the support 45. More specifically, the body of the cylinder is fixed to the support 45 and its rod is hingedly linked to the slide 44 a . This arrangement makes it possible to have a cylinder 58 of relatively short stroke and therefore to reduce the dimensions of the device, in direction B.
  • each detector means 34 or 49 is of the photosensitive type so that the corresponding actuation means 35 or 50 is constituted by a plate or the like, forming a shutter, capable of obscuring the corresponding detector means when the dimension of the object in direction A or B, respectively, conforms to what is expected. Consequently, the width of each of these plates determines a tolerance for checking the corresponding dimension of the object.
  • the operation of the device which has just been described is very simple and follows clearly from the description above.
  • the chassis 11 descends to the level of a pallet to be grasped, until the feeler 15 comes into contact therewith and controls the stopping of the vertical movement of the chassis. Then the sequencing of the operations is such that it is first the thrust assembly which is actuated, the stop forming the pusher 44 pushing the pallet until the latter comes into contact with the fixed stop 42. If the dimension of the pallet in direction B is correct, then the actuating means 50 is opposite the detection means 49. This data of measurement is memorized.
  • the gripping assembly is actuated until the two jaws 22, 23 come to grip the pallet, in the direction A.
  • the actuating means 35 must be in look of the detector means 34, if the dimension of said pallet in direction A is correct. This measurement data is also stored.
  • the frame 11 is again maneuvered to direct the pallet entered towards such or such station, according to the stored measurement data.
  • the adjustable positions of the detector means 34 and 49 make it possible to select objects of any size identified in the directions A and B.
  • the invention is not limited to the embodiment which has just been described.
  • the detector means 34 and 49 may be mechanically actuated (feelers) or magnetic (Hall effect cells), the actuating means being, in the latter case, magnets.

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Abstract

Device for controlling and handling objects, in particular pallets, in an automated industrial installation. According to the invention, the device comprises a frame (11) comprising a gripping assembly (9), a first position-detection assembly (38) and, preferably, a pushing assembly (44, 42) arranged perpendicularly to the gripping assembly, and a second position- detection assembly (48). The device makes it possible to control the dimensions of the object during its handling. <IMAGE>

Description

L'invention se rapporte à un dispositif de contrôle et de manutention d'objets, notamment des objets plats tels que des socles ou palettes, et susceptibles d'assurer à la fois le contrôle des dimensions d'un tel objet et son acheminement vers tel ou tel poste de traitement ou de recyclage, en fonction du contrôle de dimension effectué. L'invention s'applique notamment à la manutention et au recyclage des socles ou palettes supportant des lots de matière première, notamment des tôles, dans une installation industrielle.The invention relates to a device for controlling and handling objects, in particular flat objects such as bases or pallets, and capable of ensuring both the control of the dimensions of such an object and its routing to such or such treatment or recycling station, depending on the size check carried out. The invention applies in particular to the handling and recycling of bases or pallets supporting batches of raw material, in particular sheets, in an industrial installation.

Dans certaines installations industrielles automatisées, il est nécessaire de charger des éléments quelconques, sur des palettes puis de les décharger à un autre endroit. C'est notamment le cas de piles de matériau en feuilles, comme par exemple des tôles. Ainsi, dans le domaine de la fabrication des emballages métalliques, certaines opérations sont effectuées directement sur les tôles, avant même leur découpage et leur transformation en boîtes. C'est notamment le cas des opérations d'impression et de vernissage. Ainsi, des palettes chargées de tôles, sont acheminées vers un poste de dépilage alimentant une ligne d'impression ou de vernissage, tandis que d'autres palettes vides doivent être placées à la sortie de ce même poste, pour y recevoir les tôles traitées, en vue de leur acheminement ultérieur vers un autre poste de travail. Les palettes suivent donc un circuit qui se distingue de celui des tôles et doivent donc être acheminées, vides, d'un endroit à un autre, par exemple depuis un poste de dépilage vers un poste de stockage ou vers un poste de réempilage, etc... Or, suivant les types d'emballages métalliques en cours de fabrication, les tôles destinées à former ces emballages ont des dimensions choisies différentes. Il en est de même pour les palettes qui les portent. Il est donc nécessaire de vérifier les dimensions d'une palette vide, notamment avant de la placer à un poste où elle doit recevoir des tôles d'un format donné. Jusqu'à présent, ce contrôle était opéré visuellement et l'élimination d'une palette hors cote nécessitait une intervention humaine. L'invention a pour but de résoudre ce problème en combinant les fonctions de contrôle et de manutention dans un même dispositif automatique.In some automated industrial installations, it is necessary to load any elements, on pallets and then unload them in another place. This is particularly the case for stacks of sheet material, such as sheets. Thus, in the field of manufacturing metal packaging, certain operations are carried out directly on the sheets, even before their cutting and their transformation into boxes. This is particularly the case for printing and varnishing operations. Thus, pallets loaded with sheets are sent to a destacking station supplying a printing or varnishing line, while other empty pallets must be placed at the exit of this same station, to receive the treated sheets there, with a view to their subsequent routing to another work station. The pallets therefore follow a circuit which differs from that of the sheets and must therefore be transported, empty, from one place to another, for example from a destacking station to a storage station or to a re-stacking station, etc. .. However, depending on the types of metal packaging during manufacture, the sheets intended to form these packages have different chosen dimensions. It is the same for the pallets which carry them. It is therefore necessary to check the dimensions of an empty pallet, in particular before placing it at a station where it must receive sheets of a given format. Until now, this control has been carried out visually and the elimination of an over-the-counter pallet required human intervention. The invention aims to solve this problem by combining the control and handling functions in the same automatic device.

Dans cet esprit, l'invention concerne donc un dispositif de contrôle et manutention d'objets tels que par exemple de socles ou palettes, caractérisé en ce qu'il comporte un ensemble de préhension comprenant deux mâchoires dont l'une au moins est mobile par rapport à l'autre suivant une direction prédéterminée et un premier ensemble de détection de position comprenant un moyen détecteur et un moyen d'actionnement de ce dernier, l'un des deux moyens étant placé le long du trajet de l'autre, lequel est solidaire de ladite mâchoire mobile.In this spirit, the invention therefore relates to a device for controlling and handling objects such as, for example, bases or pallets, characterized in that it comprises a gripping assembly comprising two jaws, at least one of which is movable by relative to the other in a predetermined direction and a first position detection assembly comprising a detector means and an actuation means of the latter, one of the two means being placed along the path of the other, which is secured to said movable jaw.

Le système décrit ci-dessus permet le contrôle d'au moins une dimension de l'objet saisi (la palette); il peut avantageusement être complété par des moyens de contrôle d'une autre dimension de cet objet, suivant une direction perpendiculaire.The system described above allows the control of at least one dimension of the object seized (the palette); it can advantageously be supplemented by means for controlling another dimension of this object, in a perpendicular direction.

L'invention concerne également, de préférence, un dispositif selon la définition qui précède, caractérisé en ce qu'il comporte en outre un ensemble de poussée comprenant une butée de référence fixe et une butée formant poussoir, mobile suivant une direction perpendiculaire à ladite direction prédéterminée et placée de façon a disposer un objet précité entre les deux mâchoires écartées tout en le mettant en contact avec ladite butée de référence fixe. Lorsque l'objet est dans cette position, sa dimension suivant ladite direction perpendiculaire peut facilement être contrôlée par un second ensemble de détection de position.The invention also preferably relates to a device according to the preceding definition, characterized in that it further comprises a thrust assembly comprising a fixed reference stop and a stop forming a pusher, movable in a direction perpendicular to said direction predetermined and placed so as to have an aforementioned object between the two jaws apart while bringing it into contact with said fixed reference stop. When the object is in this position, its dimension in said perpendicular direction can easily be controlled by a second position detection assembly.

L'invention sera mieux comprise et d'autres avantages de celle-ci apparaîtront plus clairement à la lumière de la description qui va suivre, d'un mode de réalisation possible d'un dispos itif conforme à son principe, donnée uniquement à titre d'exemple et faite en référence au dessin dans lequel:
- la figure unique est une vue schématique en plan d'un dispositif de contrôle et manutention conforme à l'invention.The invention will be better understood and other advantages thereof will appear more clearly in the light of the description which follows, of a possible embodiment of an itif device in accordance with its principle, given only to title of example and made with reference to the drawing in which:
- The single figure is a schematic plan view of a control and handling device according to the invention.

Le dispositif représenté comporte un châssis 11, mobile, notamment verticalement et servant de support à des premiers moyens de guidage 12 orientés selon une direction prédéterminée repérée par la double flèche A et à des seconds moyens de guidage 14, orientés selon une autre direction perpendiculaire à ladite direction prédéterminée et repérée par la double flèche B. Le châssis porte en outre un palpeur 15 équipé de deux détecteurs permettant respectivement de commander l'arrêt du châssis se déplaçant verticalement vers le bas, à vide, dès qu'un contact avec un objet à saisir est détecté et un autre palpeur prévu pour commander l'arrêt du même châssis en charge, dès qu'un contact de l'objet sur un plan de dépose quelconque, est enregistré. Le châssis 11 est également lié à d'autres moyens de déplacement non représentés permettant de l'acheminer vers différents postes, par exemple un poste de recyclage de l'objet saisi (si ses dimensions correspondent à celles qui sont souhaitées) ou un poste de stockage.The device shown comprises a frame 11, movable, in particular vertically and serving as a support for first guide means 12 oriented in a predetermined direction identified by the double arrow A and second guide means 14, oriented in another direction perpendicular to said predetermined direction and identified by the double arrow B. The chassis further carries a probe 15 equipped with two detectors allowing respectively to stop the chassis moving vertically downwards, empty, as soon as it comes into contact with an object to be captured is detected and another probe designed to command the stopping of the same chassis under load, as soon as a contact of the object on any unloading plan, is recorded. The chassis 11 is also linked to other means of movement, not shown, making it possible to route it to various stations, for example a station for recycling the object seized (if its dimensions correspond to those which are desired) or a station for storage.

Les premiers moyens de guidage 12 comportent essentiellement deux arbres de coulissement parallèles 16 tandis que les seconds moyens de guidage 14 comportent deux arbres de coulissement parallèles 18, perpendiculaires aux arbres 16. Tous ces arbres sont solidaires du châssis 11. Le dispositif de contrôle de manutention comporte par ailleurs un ensemble de préhension 19 associé auxdits premiers moyens de guidage et comportant notamment deux mâchoires parallèles 22, 23 dont l'une au moins est mobile suivant la direction A. Selon l'exemple, les deux mâchoires sont mobiles et munies d'alésages leur permettant de coulisser le long des arbres 16. La mâchoire 22 est directement actionnée par la tige d'un vérin 25, par l'intermédiaire d'une liaison articulée, le corps du vérin étant monté sur le châssis 11. Les deux mâchoires 22, 23 sont couplées par un système de transmission 28 assurant un déplacement symétrique et réciproque de celles-ci. Selon l'exemple, ce système comporte deux poulies de renvoi 30 (ou des pignons) tournant autour d'axes verticaux solidaires du châssis 11 et un câble fermé 31 (ou une chaîne) enroulé autour desdites poulies. Le câble 31 est fixé en deux points 32, 33 aux deux mâchoires, respectivement, ces points étant situés de part et d'autre du plan passant par les axes des deux poulies.The first guide means 12 essentially comprise two parallel sliding shafts 16 while the second guide means 14 comprise two parallel sliding shafts 18, perpendicular to the shafts 16. All these shafts are integral with the chassis 11. The handling control device also comprises a gripping assembly 19 associated with said first guide means and comprising in particular two parallel jaws 22, 23 of which at least one is movable in the direction A. According to the example, the two jaws are movable and provided with bores allowing them to slide along the shafts 16. The jaw 22 is directly actuated by the rod of a jack 25, via an articulated connection, the jack body being mounted on the chassis 11. The two jaws 22, 23 are coupled by a system of transmission 28 ensuring a symmetrical and reciprocal displacement of these. According to the example, this system comprises two return pulleys 30 (or pinions) rotating around vertical axes integral with the chassis 11 and a closed cable 31 (or a chain) wound around said pulleys. The cable 31 is fixed at two points 32, 33 to the two jaws, respectively, these points being located on either side of the plane passing through the axes of the two pulleys.

Le dispositif comporte en outre un premier ensemble de détection de position comprenant un moyen détecteur 34 et un moyen d'actionnement 35 de ce dernier. L'un des deux moyens est placé le long du trajet de l'autre, solidaire de la mâchoire 22. Selon l'exemple, c'est le moyen d'actionnement 35 qui est porté par la mâchoire 22. Le moyen détecteur 34 est solidaire d'un premier mécanisme de positionnement 38 réglable parallèlement à la direction A, comprenant classiquement une tige filetée 38 a avec laquelle il est en prise et une tige de coulissement 38 b parallèle à la tige filetée. Le réglage de position du moyen détecteur 34 est opéré sous la commande d'un moteur électrique 40 entraînant la tige filetée en rotation et piloté notamment par les informations délivrées par un codeur optique incrémental 41 ou analogue couplé à cette même tige filetée.The device further comprises a first position detection assembly comprising a detector means 34 and an actuation means 35 of the latter. One of the two means is placed along the path of the other, integral with the jaw 22. According to the example, it is the actuating means 35 which is carried by the jaw 22. The detector means 34 is integral with a first positioning mechanism 38 adjustable parallel to direction A, conventionally comprising a threaded rod 38 a with which it is engaged and a sliding rod 38 b parallel to the threaded rod. The position adjustment of the detector means 34 is operated under the control of an electric motor 40 driving the threaded rod in rotation and controlled in particular by the information delivered by an incremental optical encoder 41 or the like coupled to this same threaded rod.

Le dispositif comporte en outre un ensemble de poussée comprenant une butée de référence fixe 42 et une butée formant poussoir 44, mobile suivant la direction B et disposée de façon à pouvoir repousser un objet concerné (une palette) vers la butée fixe 42 jusqu'à ce qu'il vienne en contact avec celle-ci tout en étant placé entre les deux mâchoires 22, 23 écartées. Pour ce faire, la butée mobile 44 est montée le long des seconds moyends de guidage 14; elle comporte un coulisseau 44 a muni d'alésages à lui permettre d'être enga gé à coulissament sur les arbres 18. Un support 45 analogue au coulisseau 44 a est également engagé sur les arbres 18; il est déplacé le long de ceux-ci par un second mécanisme de positionnement 46 réglable parallèlement à la direction B. Un second ensemble de détection de positions 48 comprend un moyen détecteur 49 et un moyen d'actionnement 50 de ce dernier. Il est agencé de telle façon que l'un de ces deux moyens soit placé le long du trajet de l'autre solidaire de la butée formant poussoir 44. Selon l'exemple, le moyen détecteur 49 est solidaire du support 45 et monté en porte-à-faux sur un côté de celui-ci tandis que le moyen d'actionnement 50 est fixé sur le côté du coulisseau 44 a. Le mécanisme de positionnement réglable 46 comporte une tige filetée 52 en prise avec le support 45 et entraînée en rotation par un moteur électrique 54. Ce dernier est piloté notamment par les informations délivrées par un codeur optique incrémental 56 ou analogue couplé a cette même tige filetée 52. Un vérin d'actionnement 58 du coulisseau 44 a est monté entre ce dernier et le support 45. Plus précisément, le corps du vérin est fixé au support 45 et sa tige est liée de façon articulée au coulisseau 44 a. Cet agencement permet de disposer d'un vérin 58 de relativement faible course et donc de réduire les dimensions du dispositif, suivant la direction B.The device further comprises a thrust assembly comprising a fixed reference stop 42 and a stop forming a pusher 44, movable in the direction B and arranged so as to be able to push an object concerned (a pallet) towards the fixed stop 42 until that it comes into contact with it while being placed between the two jaws 22, 23 apart. To do this, the movable stop 44 is mounted along the second guide means 14; it comprises a slide 44 is provided with holes to allow it to be enga ge coulissament on the shafts 18. A support 45 similar to the slider 44 is also engaged on the shafts 18; it is moved along these by a second positioning mechanism 46 adjustable parallel to direction B. A second set of detection of positions 48 comprises a detector means 49 and an actuation means 50 of the latter. It is arranged so that one of these two means is placed along the path of the other secured to the stop forming pusher 44. According to the example, the detector means 49 is secured to the support 45 and mounted in a door -overhang on one side thereof while the actuating means 50 is fixed on the side of the slide 44 a . The adjustable positioning mechanism 46 comprises a threaded rod 52 engaged with the support 45 and rotated by an electric motor 54. The latter is controlled in particular by the information delivered by an incremental optical encoder 56 or the like coupled to this same threaded rod 52. An actuating cylinder 58 of the slide 44 a is mounted between the latter and the support 45. More specifically, the body of the cylinder is fixed to the support 45 and its rod is hingedly linked to the slide 44 a . This arrangement makes it possible to have a cylinder 58 of relatively short stroke and therefore to reduce the dimensions of the device, in direction B.

Dans l'exemple décrit, chaque moyen détecteur 34 ou 49 est du type photosensible de sorte que le moyen d'actionnement correspondant 35 ou 50 est constitué par une plaque ou analogue, formant obturateur, susceptible de venir occulter le moyen détecteur correspondant lorsque la dimension de l'objet suivant la direction A ou B, respectivement, est conforme à ce qui est prévu. Par conséquent, la largeur de chacune de ces plaques détermine une tolérance pour le contrôle de la dimension correspondante de l'objet.In the example described, each detector means 34 or 49 is of the photosensitive type so that the corresponding actuation means 35 or 50 is constituted by a plate or the like, forming a shutter, capable of obscuring the corresponding detector means when the dimension of the object in direction A or B, respectively, conforms to what is expected. Consequently, the width of each of these plates determines a tolerance for checking the corresponding dimension of the object.

Le fonctionnement du dispositif qui vient d'être décrit est des plus simples et découle avec évidence de la description qui précède. Le châssis 11 descend jusqu'au niveau d'une palette à saisir, jusqu'à ce que le palpeur 15 entre en contact avec celle-ci et commande l'arrêt du mouvement vertical du châssis. Puis le séquencement des opérations est tel que c'est d'abord l'ensemble de poussées qui est actionné, la butée formant poussoir 44 repoussant la palette jusqu'à ce que cette dernière vienne en contact avec la butée fixe 42. Si la dimension de la palette suivant la direction B est correcte, alors, le moyen d'actionnement 50 est en regard du moyen de détection 49. Cette donnée de mesure est mémorisée.The operation of the device which has just been described is very simple and follows clearly from the description above. The chassis 11 descends to the level of a pallet to be grasped, until the feeler 15 comes into contact therewith and controls the stopping of the vertical movement of the chassis. Then the sequencing of the operations is such that it is first the thrust assembly which is actuated, the stop forming the pusher 44 pushing the pallet until the latter comes into contact with the fixed stop 42. If the dimension of the pallet in direction B is correct, then the actuating means 50 is opposite the detection means 49. This data of measurement is memorized.

Puis, l'ensemble de préhension est actionné jusqu'à ce que les deux mâchoires 22, 23 viennent enserrer la palette, suivant la direction A. Lorsque ladite palette est prise entre les deux mâchoires, le moyen d'actionnement 35 doit se trouver en regard du moyen détecteur 34, si la dimension de ladite palette suivant la direction A est correcte. Cette donnée de mesure est également mémorisée.Then, the gripping assembly is actuated until the two jaws 22, 23 come to grip the pallet, in the direction A. When said pallet is taken between the two jaws, the actuating means 35 must be in look of the detector means 34, if the dimension of said pallet in direction A is correct. This measurement data is also stored.

Ensuite, le châssis 11 est à nouveau manoeuvré pour diriger la palette saisie vers tel ou tel poste, en fonction des données de mesure mémorisées. Les positionnements réglables des moyens détecteurs 34 et 49 permettent de sélectionner des objets de n'importe quelles dimensions repérées suivant les directions A et B.Then, the frame 11 is again maneuvered to direct the pallet entered towards such or such station, according to the stored measurement data. The adjustable positions of the detector means 34 and 49 make it possible to select objects of any size identified in the directions A and B.

Bient entendu, l'invention n'est pas limitée au mode de réalisation qui vient d'être décrit. En particulier, les moyens détecteurs 34 et 49 peuvent être à actionnement mécanique (palpeurs) ou magnétique (cellules à effet Hall) les moyens d'actionnement étant, dans ce dernier cas, des aimants. Of course, the invention is not limited to the embodiment which has just been described. In particular, the detector means 34 and 49 may be mechanically actuated (feelers) or magnetic (Hall effect cells), the actuating means being, in the latter case, magnets.

Claims (9)

1- Dispositif de contrôle et manutention d'objets, tel que par exemple des socles ou palettes, caractérisé en ce qu'il comporte un ensemble de préhension (19) comprenant deux mâchoires (22,23) dont l'une au moins est mobile par rapport à l'autre suivant une direction prédéterminée (A) et une premier ensemble de détection de position comprenant un moyen détecteur (34) et un moyen d'actionnement (35) de ce dernier, l'un des deux moyens étant placé le long du trajet de l'autre, lequel est solidaire de ladite mâchoire mobile (22).1- Device for controlling and handling objects, such as for example bases or pallets, characterized in that it comprises a gripping assembly (19) comprising two jaws (22, 23) of which at least one is movable relative to the other in a predetermined direction (A) and a first position detection assembly comprising a detector means (34) and an actuation means (35) of the latter, one of the two means being placed on the along the path of the other, which is integral with said movable jaw (22). 2- Dispositif selon la revendication 1, caractérisé en ce qu'il comporte en outre un ensemble de poussée comprenant une butée de référence (42) fixe et une butée formant poussoir (44), mobile suivant une direction (B) perpendiculaire à ladite direction prédéterminée (A) et placée de façon à disposer un objet précité entre les deux mâchoires écartées tout en le mettant en contact avec ladite butée de référence fixe.2- Device according to claim 1, characterized in that it further comprises a thrust assembly comprising a fixed reference stop (42) and a stop forming a pusher (44), movable in a direction (B) perpendicular to said direction predetermined (A) and placed so as to place an aforementioned object between the two jaws apart while bringing it into contact with said fixed reference stop. 3- Dispositif selon la revendication 2, caractérisé en ce que ledit ensemble de poussée comporte en outre un second ensemble de détection de position (48) comprenant un moyen détecteur (49) et un moyen d'actionnement (50) de ce dernier, l'un des deux moyens étant placé le long du trajet de l'autre, solidaire de ladite butée formant poussoir.3- Device according to claim 2, characterized in that said thrust assembly further comprises a second position detection assembly (48) comprising a detector means (49) and an actuation means (50) of the latter, l 'one of the two means being placed along the path of the other, integral with said stopper forming a pusher. 4- Dispositif selon l'une des revendications 1 à 3, caractérisé en ce que les deux mâchoires précitées sont montées mobiles le long de premiers moyens de guidage (12), tels que par exemple deux arbres de coulissement (16) parallèles.4- Device according to one of claims 1 to 3, characterized in that the two aforementioned jaws are mounted movable along first guide means (12), such as for example two sliding shafts (16) parallel. 5- Dispositif selon la revendication 4, caractérisé en ce que les deux mâchoires sont couplées par un système de transmission (28) assurant un déplacement symétrique de celles-ci, par exemple un système à câble (31) ou chaîne fermé et poulies (30) ou pignons de renvoi.5- Device according to claim 4, characterized in that the two jaws are coupled by a transmission system (28) ensuring a symmetrical movement thereof, for example a cable system (31) or closed chain and pulleys (30 ) or idler gears. 6- Dispositif selon l'une des revendications précédentes, caractérisé en ce que le moyen détecteur (34) dudit premier ensemble de détection est solidaire d'un premier mécanisme de positionnement (38) réglable parallèlement à ladite direction prédéterminée.6- Device according to one of the preceding claims, characterized in that the detector means (34) of said first detection assembly is integral with a first positioning mechanism (38) adjustable parallel to said predetermined direction. 7- Dispositif selon l'une des revendications 2 à 6, caractérisé en ce que la butée formant poussoir (44) dudit ensemble de poussée est montée mobile le long de seconds moyens de guidage (14), tels que par exemple deux arbres (18) de coulissement parallèles, en ce qu'elle est reliée à une partie d'un vérin de manoeuvre (58), en ce que l'autre partie dudit vérin est fixée sur un support (45) lui-même monté mobile le long des mêmes moyens de guidage (14) et en ce que ce support est couplé à un second mécanisme de positionnement (46) réglable parallèlement à ladite direction perpendiculaire (B).7- Device according to one of claims 2 to 6, characterized in that the stop forming a pusher (44) of said thrust assembly is movably mounted along second guide means (14), such as for example two shafts (18 ) parallel sliding, in that it is connected to a part of an actuating cylinder (58), in that the other part of said cylinder is fixed on a support (45) itself mounted movable along the same guide means (14) and in that this support is coupled to a second positioning mechanism (46) adjustable parallel to said perpendicular direction (B). 8- Dispositif selon la revendication 7, caractérisé en ce que le moyen détecteur (49) dudit second ensemble de détection est solidaire dudit support (45).8- Device according to claim 7, characterized in that the detector means (49) of said second detection assembly is integral with said support (45). 9- Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'au moins un moyen détecteur (34,49) précité est du type photosensible et que le moyen d'actionnement précité est constitué par une plaque ou analogue, formant obturateur (35, 50) susceptible de venir occulter ledit moyen détecteur, la largeur de cette plaque ou analogue déterminant une tolérance pour le contrôle de l'une des dimensions d'un objet précité.9- Device according to one of the preceding claims, characterized in that at least one aforementioned detector means (34,49) is of the photosensitive type and that the aforementioned actuating means consists of a plate or the like, forming a shutter ( 35, 50) capable of obscuring said detector means, the width of this plate or the like determining a tolerance for checking one of the dimensions of an aforementioned object.
EP19870401845 1986-08-26 1987-08-07 Device for controlling and handling objects Expired - Lifetime EP0262003B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8612006 1986-08-26
FR8612066A FR2603214B1 (en) 1986-08-26 1986-08-26 DEVICE FOR CHECKING AND HANDLING OBJECTS.

Publications (2)

Publication Number Publication Date
EP0262003A1 true EP0262003A1 (en) 1988-03-30
EP0262003B1 EP0262003B1 (en) 1991-03-13

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Application Number Title Priority Date Filing Date
EP19870401845 Expired - Lifetime EP0262003B1 (en) 1986-08-26 1987-08-07 Device for controlling and handling objects

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EP (1) EP0262003B1 (en)
DE (1) DE3768595D1 (en)
ES (1) ES2023207B3 (en)
FR (1) FR2603214B1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR988692A (en) * 1949-04-14 1951-08-30 Probe device for measuring and calibrating parts such as rods, tubes, etc.
DE1623344A1 (en) * 1967-11-21 1971-03-25 Zinser Textilmaschinen Gmbh Sorting device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR988692A (en) * 1949-04-14 1951-08-30 Probe device for measuring and calibrating parts such as rods, tubes, etc.
DE1623344A1 (en) * 1967-11-21 1971-03-25 Zinser Textilmaschinen Gmbh Sorting device

Also Published As

Publication number Publication date
DE3768595D1 (en) 1991-04-18
FR2603214B1 (en) 1990-05-11
EP0262003B1 (en) 1991-03-13
FR2603214A1 (en) 1988-03-04
ES2023207B3 (en) 1992-01-01

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