EP0347311B1 - Installation for loading and/or unloading articles in a container - Google Patents
Installation for loading and/or unloading articles in a container Download PDFInfo
- Publication number
- EP0347311B1 EP0347311B1 EP19890401651 EP89401651A EP0347311B1 EP 0347311 B1 EP0347311 B1 EP 0347311B1 EP 19890401651 EP19890401651 EP 19890401651 EP 89401651 A EP89401651 A EP 89401651A EP 0347311 B1 EP0347311 B1 EP 0347311B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- support
- levers
- articulation
- plane
- group
- 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.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/54—Internally-expanding grippers for handling hollow articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
- B65H67/065—Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Definitions
- the invention relates to an installation for loading and / or unloading articles in a container comprising vertical walls and an access opening situated at its upper part.
- the invention relates to an installation for loading and / or unloading articles and / or groups of articles which must be deposited in layers in said containers.
- the invention relates to an installation for handling articles and / or groups of articles of substantially cylindrical shape, of vertical axis, of high density but relatively soft such as filamentary textile products in coils.
- the process of engaging or extracting a unit comprises at least one operation which consists in bringing the underside of the gripping unit above the plane of the opening of said container.
- the space available in height is limited for example by an upper limit such as a fixed structure, a ceiling, etc.
- the space remaining between this limit and the top of the container can be very small compared to the useful height of the container, that is to say at the distance which separates its lower internal face from the plane of its opening.
- a result which the invention aims to obtain is an installation in which the gripping and lifting devices, while suitably ensuring their function, are sufficient for a height, available above the container, which is small compared to the useful height of the container.
- an installation 1 is seen for the loading and / or unloading of a unit 2 consisting of at least one article in a container 3 comprising vertical walls 30 and an opening 31 for access to its the top part.
- the plane 310 of the access opening 31 is opposite a limit 4 such as a fixed structure, a ceiling and in particular at a distance from this limit 4 which is lower in large proportions than the useful height of the container, that is to say the distance which separates its lower internal face 32 from the plane 310 from its opening.
- a limit 4 such as a fixed structure, a ceiling and in particular at a distance from this limit 4 which is lower in large proportions than the useful height of the container, that is to say the distance which separates its lower internal face 32 from the plane 310 from its opening.
- the articles 2 are substantially cylindrical, of vertical axis 20, of high density but relatively soft like filamentary textile products in reel.
- this gripping device therefore effectively encloses substantially cylindrical and soft articles.
- the drive member 631 is for example constituted by a flexible air cylinder.
- the levers of each group 612 each carry a cylindrical mandrel 614 of complementary section to the axial hole 21 of an article 2 and on the other hand these levers 61 are spaced from the median axis 62 of the group so that in their rest position they are able to simultaneously engage each in the axial hole of one of the articles of a gripping unit.
- the cylindrical mandrels 614 preferably have shapes such as grooves promoting anchoring in the articles.
- the levers of each group indifferently allow the gripping of a group of articles by exploiting their axial hole or of one or more articles whose volume fits between these levers at least in their position of rest.
- the gripping device 6 comprises a cylinder 64 centered on the median axis of each group 612 of levers 61 and this cylinder is also provided at its periphery with shapes 640 in order to strengthen the grip of the articles 2 supported on this cylinder 64 by means of the levers 61.
- the anchoring members 73 are carried by the support 60 integrated into the gripping device by means of means for adjusting the length of the strip stretched between its roller and its anchoring member.
- the load is thus displaced on a substantially vertical rectilinear trajectory without oscillation either in a vertical plane or in a horizontal plane.
- This type of lifting device guarantees perfect stability of the load despite its displacement by the transfer means 8.
- this lifting device has the advantage of having a very small overall height compared to the height travel that it allows.
- the transfer device 8 essentially consists of a column 80 of substantially vertical axis 800, anchored by its base 801 to a stable support 81 such as the ground and which carries at its top 802 by means of a means 82 for articulation and indexing around an axis 820 coincident with that 800 of the column, an arm 83 which extends in particular in a plane which may be close to the upper limit 4 of the room and carries at its free end 830 the lifting device 7 and this by means of a second means 84 for articulation and indexing around an axis 840 generally parallel to that 800 of the column.
- the arm of the transfer device consists of a simple beam.
- the arm 83 of the transfer device 8 consists of at least two parts 831, 832 hinged together around an axis 850 substantially parallel to that of articulation 820 of the arm 83 on the column 80 and this by means of at least one means 85 of articulation and indexing along the defined axis 850.
- the various means of articulation and indexing 82, 84, 85 which have just been mentioned, that is to say those interposed between the arm 83 and the column 80, between the arm 83 and the lifting device 7, between the parts 831, 832 constituting the arm, are controlled independently of each other.
- the means 82, 84, 85 mentioned will make it possible to have the free end 830 of the arm 83 describe a more or less complex trajectory and in any case adaptable to that required for the transfer of the gripping device to different stations 9, 10, 11, 12.
- the periphery 311 of the opening 31 of each container 3 and the support 60 of the gripping device 6 carry complementary means 35, 65 for anchoring in order to allow gripping of the container and each of said means anchor 65 is associated with a means 650 alternately controlling its retraction and its activation.
- the installation makes it possible to take an empty container at a fourth station 12 to bring it to station 10, filling is carried out.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
- Auxiliary Methods And Devices For Loading And Unloading (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Description
L'invention se rapporte à une installation de chargement et/ou de déchargement d'articles dans un conteneur comprenant des parois verticales et une ouverture d'accés située à sa partie supérieure.The invention relates to an installation for loading and / or unloading articles in a container comprising vertical walls and an access opening situated at its upper part.
Plus particulièrement mais non exclusivement, l'invention concerne une installation de chargement et/ou de déchargement d'articles et/ou de groupes d'articles qui doivent être déposés en couches dans les dits conteneurs.More particularly but not exclusively, the invention relates to an installation for loading and / or unloading articles and / or groups of articles which must be deposited in layers in said containers.
Précisément mais de manière également non limitative, l'invention concerne une installation pour la manipulation d'articles et/ou de groupes d'articles de forme sensiblement cylindriques, d'axe vertical, de forte densité mais relativement mous tels des produits textiles filamentaires en bobines.Specifically but also without limitation, the invention relates to an installation for handling articles and / or groups of articles of substantially cylindrical shape, of vertical axis, of high density but relatively soft such as filamentary textile products in coils.
Les installations connues à ce jour pour le chargement et/ou le déchargement d'articles dans un conteneur (EP-A-0194233) comprennent:
- ― un dispositif de préhension d'une unité de prise,
- ― un dispositif de levage qui permet le déplacement et le guidage, selon une direction sensiblement verticale, de la charge que constituent l'unité de prise et le dispositif de préhension,
- ― un dispositif de transfert qui permet le déplacement et le guidage du dispositif de levage et de la charge au moins entre deux postes dont l'un situé à l'aplomb du conteneur
dans laquelle installation, le dispositif de préhension comprend:- ― un support sensiblement horizontal et disposé au dessus de l'unité à saisir,
- ― au moins un groupe de leviers répartis autour d'un axe médian perpendiculaire au plan du support,
- ― pour chaque levier, au niveau du support, au moins un moyen coopérant globalement avec l'une des extrémités du levier en vue de son articulation,
- ― au moins un moyen d'actionnement en synchronisme des leviers de chaque groupe entre une position de repos dans laquelle ils encadrent librement un volume prédéterminé et une position de travail dans laquelle ils enserrent fermement le volume précité.
- - a gripping device for a gripping unit,
- - a lifting device which allows the load and the guiding, in a substantially vertical direction, of the load constituted by the gripping unit and the gripping device,
- - a transfer device which allows the movement and guidance of the lifting device and the load at least between two stations, one of which is located directly above the container
in which installation, the gripping device comprises:- - a substantially horizontal support and arranged above the unit to be gripped,
- - at least one group of levers distributed around a median axis perpendicular to the plane of the support,
- - for each lever, at the level of the support, at least one means cooperating generally with one of the ends of the lever for its articulation,
- At least one means for actuating the levers of each group in synchronism between a rest position in which they freely frame a predetermined volume and a working position in which they firmly enclose the aforementioned volume.
Le processus d'engagement ou d'extraction d'une unité comprend au moins une opération qui consiste à amener la face inférieure de l'unité de prise au dessus du plan de l'ouverture du dit conteneur.The process of engaging or extracting a unit comprises at least one operation which consists in bringing the underside of the gripping unit above the plane of the opening of said container.
Cela implique que tant l'unité qu'au moins certains éléments des dispositifs précités puissent lors de l'opération trouver place au dessus de la face supérieure du conteneur.This implies that both the unit and at least some elements of the above devices can during the operation find a place above the upper face of the container.
Or, dans de nombreux locaux, la place disponible en hauteur est restreinte par exemple par une limite supérieure telle une structure fixe, un plafond, etc...However, in many premises, the space available in height is limited for example by an upper limit such as a fixed structure, a ceiling, etc.
Aussi, la place restant entre cette limite et le dessus du conteneur peut être très faible par rapport à la hauteur utile du conteneur c'est à dire à la distance qui sépare sa face interne inférieure du plan de son ouverture.Also, the space remaining between this limit and the top of the container can be very small compared to the useful height of the container, that is to say at the distance which separates its lower internal face from the plane of its opening.
Un résultat que l'invention vise à obtenir est une installation dont les dispositifs de préhension et de levage, tout en assurant convenablement leur fonction, se suffisent d'une hauteur, disponible au dessus du conteneur, qui est faible par rapport à la hauteur utile du conteneur.A result which the invention aims to obtain is an installation in which the gripping and lifting devices, while suitably ensuring their function, are sufficient for a height, available above the container, which is small compared to the useful height of the container.
A cet effet, l'invention a pour objet une installation du type précité notamment caractérisée en ce que le moyen d'actionnement de chaque groupe de leviers se compose principalement:
- ― d'une platine globalement centrée sur l'axe médian du groupe de leviers et qui s'étend sensiblement parallèlement au dessus du plan du support,
- ― d'un organe moteur commandant le déplacement en translation de cette platine selon un axe orthogonal au plan de l'élément support, lequel organe est approximativement centré sur l'axe médian du groupe de leviers et,
- ― pour chaque levier, d'un moyen d'articulation de son extrémité supérieure sur la platine et ce dans un plan contenant l'axe médian du groupe et d'une biellette articulée par l'une de ses extrémités en un point du levier situé entre son extrémité supérieure et son extrémité libre et, pour l'autre extrémité de cette biellette, autour de moyens d'articulation portés à cet effet en un point du support du dispositif de préhension et ce dans un plan sensiblement parallèle à celui d'articulation du levier,
de sorte que, lorsque les leviers passent de la position de repos à la position de travail, ils induisent non seulement le déplacement des extrémités libres des leviers dans le sens d'un rapprochement de ces extrémités mais aussi le déplacement du levier selon une trajectoire ascendante vers le support.
- - a plate generally centered on the median axis of the group of levers and which extends substantially parallel above the plane of the support,
- A motor member controlling the displacement in translation of this plate along an axis orthogonal to the plane of the support element, which member is approximately centered on the median axis of the group of levers and,
- - For each lever, a means of articulation of its upper end on the plate and this in a plane containing the median axis of the group and a link articulated by one of its ends at a point on the lever located between its upper end and its free end and, for the other end of this link, around articulation means carried for this purpose at a point on the support of the gripping device and this in a plane substantially parallel to that of articulation lever,
so that, when the levers pass from the rest position to the working position, they induce not only the displacement of the free ends of the levers in the direction of bringing these ends together but also the displacement of the lever according to an ascending trajectory to the support.
L'invention sera bien comprise à l'aide de la description ci-après faite à titre d'exemple non limitatif en regard du dessin qui représente schématiquement:
- ― figure 1: l'installation vue de profil et en coupe partielle,
- ― figure 2: l'installation vue de dessus avec son environnement,
- ― figure 3: une vue de détail en coupe brisée d'une partie de l'installation.
- - Figure 1: the installation seen in profile and in partial section,
- - Figure 2: the installation seen from above with its environment,
- - Figure 3: a detail view in broken section of part of the installation.
En se reportant au dessin, on voit une installation 1 en vue du chargement et/ou du déchargement d'une unité 2 constituée d'au moins un article dans un conteneur 3 comprenant des parois verticales 30 et une ouverture 31 d'accès à sa partie supérieure.Referring to the drawing, an installation 1 is seen for the loading and / or unloading of a
Tel que cela apparaît également le plan 310 de l'ouverture d'accès 31 se trouve en vis à vis d'une limite 4 telle une structure fixe, un plafond et notamment à une distance de cette limite 4 plus faible dans de fortes proportions que la hauteur utile du conteneur c'est à dire que la distance qui sépare sa face interne inférieure 32 du plan 310 de son ouverture.As it also appears, the
Pour déterminer la place disponible pour les moyens de chargement et de déchargement faut évidemment déduire de cette distance la hauteur des articles qui doivent être extraits ou disposés dans le conteneur.To determine the space available for the means of loading and unloading, it is obviously necessary to deduct from this distance the height of the articles which must be extracted or placed in the container.
Les articles 2 sont sensiblement cylindriques, d'axe vertical 20, de forte densité mais relativement mous tels des produits textiles filamentaires en bobine.The
Ils comportent chacun de préférence un trou axial 21.They each preferably have an
L'installation comprend essentiellement:
- ― un
dispositif 6 de préhension d'une unité de prise, - ― un
dispositif 7 de levage qui permet le déplacement et le guidage, selon une direction sensiblement verticale, de la charge que constituent l'unité de prise et le dispositif de préhension, - ― un
dispositif 8 de transfert qui permet le déplacement et le guidage du dispositif de levage et de la charge au moins entre deux postes dont l'un situé à l'aplomb du conteneur,
dans laquelle installation, le dispositif de préhension comprend:- ― un
support 60 sensiblement horizontal et disposé au dessus de l'unité à saisir, - ― au moins un
groupe 612 deleviers 61 répartis autour d'un axe médian 62 perpendiculaire auplan 600 dusupport 60, - ― pour chaque levier, au niveau du support, au moins un moyen coopérant globalement avec l'une 610 des
610, 611 du levier en vue de son articulation,extrémités - ― au moins un moyen 63 d'actionnement en synchronisme des leviers de chaque
groupe 612 entre une position de repos dans laquelle ils encadrent librement un volume prédéterminé et une position de travail dans laquelle ils enserrent fermement le volume précité.
- ― un
- A
device 6 for gripping a gripping unit, - A
lifting device 7 which allows the load and the guiding, in a substantially vertical direction, of the load constituted by the gripping unit and the gripping device, - A
transfer device 8 which makes it possible to move and guide the lifting device and the load at least between two stations, one of which is located directly above the container,
in which installation, the gripping device comprises:- A substantially
horizontal support 60 placed above the unit to be gripped, - At least one
group 612 oflevers 61 distributed around amedian axis 62 perpendicular to theplane 600 of thesupport 60, - - for each lever, at the level of the support, at least one means cooperating generally with one 610 of the
610, 611 of the lever for its articulation,ends - - At least one means 63 for actuating the levers of each
group 612 in synchronism between a rest position in which they freely surround a predetermined volume and a working position in which they firmly enclose the aforementioned volume.
- A substantially
Selon l'invention, le moyen d'actionnement 63 de chaque groupe de leviers se compose principalement:
- ― d'une
platine 630 globalement centrée sur l'axe médian 62 dugroupe 612 deleviers 61 et qui s'étend sensiblement parallèlement au dessus duplan 600 du support, - ― d'un
organe moteur 631 commandant le déplacement en translation de cette platine selon un axe orthogonal au plan (600) de l'élémentsupport 60, lequel organe est approximativement centré sur l'axe médian 62 dugroupe 612 de leviers et, - ― pour
chaque levier 61, d'un moyen 632 d'articulation de son extrémité supérieure 610 sur la platine 630 et ce dans un plan contenant l'axe médian dugroupe 612 et d'une biellette 633 articulée par l'une de ses extrémités en un point 613 du levier situé entre son extrémité supérieure 610 etson extrémité libre 611 et, pour l'autre extrémité de cette biellette, autour de moyens d'articulation 6331, 6332 portés à cet effet en un point 601 dusupport 60 du dispositif de préhension et ce dans un plan sensiblement parallèle à celui d'articulation du levier,
de sorte que, lorsque les leviers passent de la position de repos à la position de travail, ils induisent non seulement le déplacement des extrémités libres 611 des leviers dans le sens d'un rapprochement de ces extrémités mais aussi le déplacement du levier selon une trajectoire ascendante vers le support.
- A
plate 630 generally centered on themedian axis 62 of thegroup 612 oflevers 61 and which extends substantially parallel above theplane 600 of the support, - A
drive member 631 controlling the translational movement of this plate along an axis orthogonal to the plane (600) of thesupport element 60, which member is approximately centered on themedian axis 62 of thegroup 612 of levers and, - - For each
lever 61, ameans 632 of articulation of itsupper end 610 on theplate 630 and this in a plane containing the median axis of thegroup 612 and alink 633 articulated by one of its ends at a point 613 of the lever situated between itsupper end 610 and itsfree end 611 and, for the other end of this link, around articulation means 6331, 6332 carried for this purpose at a point 601 of thesupport 60 of the device gripping and in a plane substantially parallel to that of the lever articulation,
so that, when the levers pass from the rest position to the working position, they induce not only the displacement of the free ends 611 of the levers in the direction of bringing these ends together but also the displacement of the lever along a trajectory ascending to the support.
Sous réserves que les positions de repos et de travail des leviers soient correctement déterminées, ce dispositif de préhension permet donc d'enserrer efficacement les articles sensiblement cylindriques et mous.Provided that the rest and working positions of the levers are correctly determined, this gripping device therefore effectively encloses substantially cylindrical and soft articles.
L'homme de l'art est à même de déterminer ces positions en fonction du volume à enserrer et des propriétés du et/ou des matériaux qui constituent les articles.Those skilled in the art are able to determine these positions as a function of the volume to be clamped and of the properties of the and / or materials which constitute the articles.
Dans une forme préférée de réalisation:
― le moyen d'actionnement 63 de chaque groupe de leviers se compose principalement:
- ―
d'une platine 630 globalement centrée sur l'axe médian 62 dugroupe 612 de leviers 61 et qui s'étend sensiblement parallèlement au dessus duplan 600 du support, - ― d'un organe moteur 631 commandant le déplacement en translation de cette platine selon un axe
orthogonal au plan 600 de l'élémentsupport 60, lequel organe est approximativement centré sur l'axe médian 62 dugroupe 612 de leviers et, - ― pour
chaque levier 61, d'un moyen 632 d'articulation de son extrémité supérieure 610 sur aplatine 630 et ce dans un plan contenant l'axe médian dugroupe 612 et d'une biellette 633 articulée par l'une de ses extrémités en un point 613 du levier situé entre son extrémité supérieure 610 etson extrémité libre 611 et, pour l'autre extrémité de cette biellette, autour de moyens d'articulation 6331, 6332 portés à cet effet en un point 601 dusupport 60 du dispositif de préhension et ce dans un plan sensiblement parallèle à celui d'articulation du levier.
- the actuating means 63 of each group of levers mainly consists of:
- A
plate 630 generally centered on themedian axis 62 of thegroup 612 oflevers 61 and which extends substantially parallel above theplane 600 of the support, - A
drive member 631 controlling the translational movement of this plate along an axis orthogonal to theplane 600 of thesupport element 60, which member is approximately centered on themedian axis 62 of thegroup 612 of levers and, - - For each
lever 61, ameans 632 of articulation of itsupper end 610 on aplate 630 and this in a plane containing the median axis of thegroup 612 and alink 633 articulated by one of its ends at a point 613 of the lever situated between itsupper end 610 and itsfree end 611 and, for the other end of this link, around articulation means 6331, 6332 carried for this purpose at a point 601 of thesupport 60 of the device gripping in a plane substantially parallel to that of the lever articulation.
L'organe moteur 631 est par exemple constitué par un vérin souple à air.The
Selon l'invention, d'une part, les leviers de chaque groupe 612 portent chacun un mandrin cylindrique 614 de section complémentaire au trou axial 21 d'un article 2 et d'autre part ces leviers 61 sont écartés de l'axe médian 62 du groupe de manière telle qu'en leur position de repos ils soient à même de s'engager simultanément chacun dans le trou axial d'un des articles d'une unité de prise.According to the invention, on the one hand, the levers of each
Les mandrins cylindriques 614 comportent de préférence des formes telles des gorges favorisant l'ancrage dans les articles.The
Ces dernières dispositions renforcent particulièrement l'efficacité du dispositif de préhension.These latter provisions particularly reinforce the effectiveness of the gripping device.
Dans une telle situation, les leviers de chaque groupe permettent indifféremment la préhension d'un groupe d'articles en exploitant leur trou axial ou d'un seul ou de plusieurs articles dont le volume s'inscrit entre ces leviers au moins en leur position de repos.In such a situation, the levers of each group indifferently allow the gripping of a group of articles by exploiting their axial hole or of one or more articles whose volume fits between these levers at least in their position of rest.
Conformément à l'invention, le dispositif de préhension 6 comporte un cylindre 64 centré sur l'axe médian de chaque groupe 612 de leviers 61 et ce cylindre est également pourvu à sa périphérie de formes 640 en vue de renforcer la prise des articles 2 appuyés sur ce cylindre 64 au moyen des leviers 61.According to the invention, the
En ce qui concerne le dispositif de levage 7, selon l'invention, il comprend principalement un élément rigide 70 qui:
- ― d'une part, est sensiblement horizontal et supporté par le dispositif de
transport 8 et, - ― d'autre part, pour relier cet élément rigide 70
au support 60 intégré au dispositif de préhension, des bandes souples 71 qui sont disposées selon les faces d'un tronc de pyramide fictif 72 d'axe normal aux dits éléments, à lapetite base 720 duquel tronc de pyramide, les bandes sont reliées par des organes d'ancrage 73au support 60 du moyen de préhension et à la grande base 721 duquel tronc de pyramide, les bandes s'enroulent sur des rouleaux 74 portés par l'élément rigide 70, ces rouleaux étant quant à eux reliés à un moyen moteur 75 de commande en synchronisme de leur rotation.
- On the one hand, is substantially horizontal and supported by the
transport device 8 and, - - on the other hand, to connect this
rigid element 70 to thesupport 60 integrated into the gripping device,flexible strips 71 which are arranged along the faces of a fictitious pyramid trunk 72 of normal axis to said elements, to thesmall base 720 of which pyramid trunk, the bands are connected by anchoringmembers 73 to thesupport 60 of the gripping means and to the large base 721 of which pyramid trunk, the bands are wound onrollers 74 carried by the element rigid 70, these rollers being in turn connected to a motor means 75 for controlling the synchronization of their rotation.
Les organes d'ancrage 73 sont portés par le support 60 intégré au dispositif de préhension par le biais de moyens de réglage de la longueur de la bande tendue entre son rouleau et son organe d'ancrage.The anchoring
La charge est ainsi déplacée sur une trajectoire rectiligne sensiblement verticale sans oscillation ni dans un plan vertical ni dans un plan horizontal.The load is thus displaced on a substantially vertical rectilinear trajectory without oscillation either in a vertical plane or in a horizontal plane.
Ce type de dispositif de levage garantit une parfaite stabilité de la charge en dépit de son déplacement par le moyen de transfert 8.This type of lifting device guarantees perfect stability of the load despite its displacement by the transfer means 8.
En outre, ce dispositif de levage a l'avantage d'avoir un très faible encombrement en hauteur par rapport à la course en hauteur qu'il autorise.In addition, this lifting device has the advantage of having a very small overall height compared to the height travel that it allows.
En ce qui concerne le dispositif de transfert 8, selon l'invention, il se compose essentiellement d'une colonne 80 d'axe sensiblement vertical 800, ancrée par sa base 801 à un support stable 81 tel le sol et qui porte à son sommet 802 par le biais d'un moyen 82 d'articulation et d'indexation autour d'un axe 820 confondu avec celui 800 de la colonne, un bras 83 qui s'étend notamment dans un plan qui peut être voisin de la limite supérieure 4 du local et porte à son extrémité libre 830 le dispositif de levage 7 et ce par le biais d'un second moyen 84 d'articulation et d'indexation autour d'un axe 840 globalement parallèle à celui 800 de la colonne.As regards the
Ce dernier moyen d'articulation permet de donner une orientation convenable au dispositif en fonction du poste à l'aplomb duquel il se situe.This last means of articulation makes it possible to give a suitable orientation to the device as a function of the position directly above it.
Dans une forme simplifiée de réalisation, le bras du dispositif de transfert est constitué d'un simple poutre.In a simplified embodiment, the arm of the transfer device consists of a simple beam.
De préférence, suivant l'invention, le bras 83 du dispositif de transfert 8 est constitué d'au moins deux pièces 831, 832 articulées entre elles autour d'un axe 850 sensiblement parallèle à celui 820 d'articulation du bras 83 sur la colonne 80 et ce par le biais d'au moins un moyen 85 d'articulation et d'indexation selon l'axe défini 850.Preferably, according to the invention, the arm 83 of the
Avantageusement, les différents moyens d'articulation et d'indexation 82, 84, 85 qui viennent d'être évoqués c'est à dire ceux interposés entre le bras 83 et la colonne 80, entre le bras 83 et le dispositif de levage 7, entre les pièces 831, 832 constitutives du bras, sont asservis indépendamment les uns des autres.Advantageously, the various means of articulation and
Qu'ils soient ou non asservis indépendamment les uns des autres, les moyens 82, 84, 85 évoqués vont permettre de faire décrire à l'extrémité libre 830 du bras 83 une trajectoire plus ou moins complexe et en tout cas adaptable à celle requise pour le transfert du dispositif de préhension en différents postes 9, 10, 11, 12.Whether or not they are controlled independently of one another, the
Conformément à l'invention, la périphérie 311 de l'ouverture 31 de chaque conteneur 3 et le support 60 du dispositif 6 de préhension portent des moyens complémentaire 35, 65 d'ancrage en vue de permettre a préhension du conteneur et chacun des dits moyens d'ancrage 65 est associé à un moyen 650 commandant alternativement son escamotage et son activation.According to the invention, the
L'installation qui vient d'être décrite permet donc au moins:
- ― de saisir des articles ou groupes d'articles situés en un premier poste 9 donné,
- ― de transférer ces articles dans
un conteneur 2 situé en un second poste 10, - ― de transférer le conteneur par exemple à l'issue de son remplissage en un troisième poste 11.
- - to enter articles or groups of articles located in a given first position 9,
- To transfer these articles to a
container 2 located in a second station 10, - - to transfer the container, for example after filling it into a third station 11.
Egalement l'installation permet de prendre en un quatrième poste 12 un conteneur vide pour l'amener au poste 10, on effectue le remplissage.Also the installation makes it possible to take an empty container at a
Claims (7)
this installation furthermore comprising in particular:
in which installation the gripping device comprises:
the said installation being characterised in that the operating means (63) of each group of levers chiefly comprises:
in such a way that when the levers pass from the resting position to the working position, they do not only induce the displacement of the free ends (611) of the levers so as to bring together these ends, but also the displacement of the lever along a trajectory ascending towards the support.
this installation being characterised in that the ends of the arm are also provided, substantially at the level of the means of articulation, with indexing means (82, 84) about the axes (820, 840) of articulation.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8808554 | 1988-06-17 | ||
FR8808554A FR2632941B1 (en) | 1988-06-17 | 1988-06-17 | INSTALLATION FOR LOADING AND / OR UNLOADING ARTICLES IN A CONTAINER |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0347311A1 EP0347311A1 (en) | 1989-12-20 |
EP0347311B1 true EP0347311B1 (en) | 1991-12-27 |
Family
ID=9367717
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19890401651 Expired - Lifetime EP0347311B1 (en) | 1988-06-17 | 1989-06-14 | Installation for loading and/or unloading articles in a container |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0347311B1 (en) |
DE (1) | DE68900601D1 (en) |
ES (1) | ES2029123T3 (en) |
FR (1) | FR2632941B1 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03505719A (en) * | 1989-04-07 | 1991-12-12 | シューベルト、ウント、ザルツェル、マシーネン ファブリーク、アクチェンゲゼルシャフト | Methods and apparatus for transporting reels or reel-like cargo in the textile industry |
US5402355A (en) * | 1989-04-07 | 1995-03-28 | Schubert & Salzer Maschinenfabrik Ag | Process and device to convey bobbins or bobbin-like goods of the textile industry |
DE4221052A1 (en) * | 1992-06-30 | 1994-01-05 | Focke & Co | Device for handling bobbins from material webs |
DE102011087045A1 (en) * | 2011-11-24 | 2013-05-29 | Krones Ag | Device for handling article i.e. polyethylene terephthalate beverage container, has manipulator comprising vertical arbor plunged between articles i.e. beverage containers, and upwardly engaged into package |
CN103787194B (en) * | 2014-03-06 | 2015-07-08 | 武汉汉利物料搬运机械有限公司 | Automatic barrel grabbing hanger |
CN105417376B (en) * | 2015-12-31 | 2017-10-20 | 苏州硕力重工有限公司 | Device for discharging |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2369727A (en) * | 1944-04-18 | 1945-02-20 | Albert R Falkner | Block transfer mechanism |
US2924484A (en) * | 1955-04-04 | 1960-02-09 | William A Tolsma | Drum grabs |
NL7011573A (en) * | 1970-05-27 | 1971-11-30 | Mechanical removal of spin cakes - eg viscose rayon - from centrifuge baskets | |
JPS599406B2 (en) * | 1976-12-27 | 1984-03-02 | 帝人株式会社 | How to carry a large number of spools into a box-like object |
IT1201223B (en) * | 1985-02-01 | 1989-01-27 | Gualchierani & C Spa | EQUIPMENT FOR FORMING LAYERS OF TEXTILE WICKER COILS, WITH HOLE IN THE CENTER, ON A TROLLEY AND TO OVERLAP THESE LAYERS IN CONTAINERS |
DE3630904A1 (en) * | 1985-09-14 | 1987-04-30 | Barmag Barmer Maschf | Method and apparatus for loading textile machines with feed bobbins |
DE3604130A1 (en) * | 1986-02-10 | 1987-08-13 | Adolf Metz | Mechanical bricklayer's aid |
DE3705731C1 (en) * | 1987-02-23 | 1988-02-04 | Zum Bau Und Betr Von Endlagern | Device for lifting loads in cavities |
-
1988
- 1988-06-17 FR FR8808554A patent/FR2632941B1/en not_active Expired - Fee Related
-
1989
- 1989-06-14 DE DE8989401651T patent/DE68900601D1/en not_active Expired - Fee Related
- 1989-06-14 EP EP19890401651 patent/EP0347311B1/en not_active Expired - Lifetime
- 1989-06-14 ES ES89401651T patent/ES2029123T3/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE68900601D1 (en) | 1992-02-06 |
EP0347311A1 (en) | 1989-12-20 |
ES2029123T3 (en) | 1992-07-16 |
FR2632941A1 (en) | 1989-12-22 |
FR2632941B1 (en) | 1990-09-21 |
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