EP0802144A1 - Vorrichtung zum Greifen und Handhaben von Lasten - Google Patents

Vorrichtung zum Greifen und Handhaben von Lasten Download PDF

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Publication number
EP0802144A1
EP0802144A1 EP97400865A EP97400865A EP0802144A1 EP 0802144 A1 EP0802144 A1 EP 0802144A1 EP 97400865 A EP97400865 A EP 97400865A EP 97400865 A EP97400865 A EP 97400865A EP 0802144 A1 EP0802144 A1 EP 0802144A1
Authority
EP
European Patent Office
Prior art keywords
arms
chassis
arm
cam
gripping
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.)
Pending
Application number
EP97400865A
Other languages
English (en)
French (fr)
Inventor
Pascal Denoel
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.)
D'application De Procedes Electroniques Et Mecaniques Sapelem Ste
Original Assignee
D'application De Procedes Electroniques Et Mecaniques Sapelem Ste
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by D'application De Procedes Electroniques Et Mecaniques Sapelem Ste filed Critical D'application De Procedes Electroniques Et Mecaniques Sapelem Ste
Publication of EP0802144A1 publication Critical patent/EP0802144A1/de
Pending legal-status Critical Current

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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
    • B66C1/02—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 suction means
    • B66C1/0212—Circular shape
    • 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
    • B66C1/02—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 suction means
    • B66C1/0237—Multiple lifting units; More than one suction area
    • B66C1/0243—Separate cups

Definitions

  • the present invention relates to a device for gripping and handling loads having at least one substantially flat face, such as plates or blocks, this device comprising gripping members, for example vacuum or magnetic, carried by a frame manipulated by a member lifting.
  • the known devices for handling loads are all built on the same principle. These devices comprise a relatively bulky chassis provided with one or more arm support rails or vacuum carrier members. When the vacuum members are directly carried by the rail, they are slidably mounted on the latter. The rails are also movable to allow movement of the gripping members along an axis perpendicular to the sliding axis of the latter. Similarly, when the gripping members are carried by arms, these arms slide on the rail and are made of adjustable length to allow displacement in X and Y of the gripping members. Such displacement in X and Y of the gripping members presents a number of drawbacks. Manipulations to move gripping members from one position to another are long and tedious. The movements of these members are quickly limited by construction so that such devices are limited to the gripping and handling of loads of substantially identical or relatively close formats. In addition, the frame and the arms, due to their size, sometimes prevent the entry of loads placed for example against a wall.
  • the object of the present invention is to overcome the aforementioned drawbacks by proposing a device for gripping and handling loads whose gripping members can be easily moved to cover a wide range of dimensions of the loads to be handled.
  • Another object of the present invention is to provide a device whose chassis is of reduced size so as to allow the entry of loads that are difficult to access, such as those placed against a wall or those contained inside a container.
  • Another object of the present invention is to provide a device whose design of the movement of the arms makes it possible at all times to guarantee safe positioning of the device without risk of the latter overturning.
  • the subject of the invention is a device for gripping and handling loads having at least one substantially flat face, such as plates or blocks, of the type comprising gripping members, for example vacuum or magnetic, carried by a chassis that can be manipulated by a lifting machine, characterized in that the chassis is equipped with at least two arms carrying, preferably at their free end, at least one gripping member, these arms being pivotally mounted on said chassis so as to be able to move each their gripping organ (s) in a same plane substantially parallel to the surface of the substantially flat face of the load to be handled, these arms being able to be moved between two extreme positions, one of smaller dimensions, the other of deployment in which the arms are in a radiating arrangement around the perimeter of the chassis so as to cover a wide range of dimensions of the loads to be handled.
  • the chassis is equipped with at least two arms carrying, preferably at their free end, at least one gripping member, these arms being pivotally mounted on said chassis so as to be able to move each their gripping organ (s) in a same plane substantially parallel to the surface
  • the chassis is a rigid chassis
  • the position in which the arms are compacted is a position corresponding to a folding of the arms at least partially inside, or in the vicinity, of the perimeter of the frame.
  • the arms are kinematically integral by means of at least one transmission member which, during the controlled angular displacement of an arm, causes an angular displacement known as symmetry of at least one other arm to maintain the center of gravity of the device in one position or a plurality of predetermined positions corresponding to a predetermined position of equilibrium of the chassis relative to the point (s) of anchoring of the lifting device on the chassis.
  • the device, object of the invention allows the gripping and handling of loads having at least one substantially planar face.
  • These charges can be in the form of plates such as sheets, glass plates, in the form of blocks, such as stones, boxes, containers, etc.
  • This device comprises a frame 1 which can be manipulated by a lifting device which allows the device to be gripped and moved for the transfer of loads from a gripping station to a depositing station.
  • the lifting device can be a robot manipulator arm, a crane, the device constituting in this case a lifting beam, or any other device suitable for moving the device.
  • the chassis 1 is preferably a rigid chassis consisting of one or more fixed elements possibly with adjustable positioning with respect to each other.
  • This chassis 1 is equipped with at least two arms 2 which respectively carry at their free end a gripping member 3 of the load. These arms 2 are generally made from hollow, preferably metallic, tubes.
  • the gripping members 3 are vacuum or magnetic gripping members.
  • the chassis 1 is equipped with four arms 2 which each carry a gripping member 3 with vacuum sometimes called in the following vacuum cup.
  • These gripping members 3, known per se, are generally connected to the arms 2 by a so-called ball-and-socket or ball-and-socket mounting. Such an assembly allows the gripping member 3 to tilt at a small angle (about 10 °) in all directions to adapt to load surfaces which are not perfectly flat.
  • the arms 2 are each pivotally mounted on the chassis 1 by means of at least one axis. This pivoting mounting of said arms 2 allows said arms to be able to move each their gripping member (s) in the same plane, also called common plane, substantially parallel to the surface of the substantially planar face of the load to be handled.
  • An example of a pivot link arm 2 / chassis 1 is shown in Figure 4 and will be described below. Obviously, these arms 2, independently of this pivoting movement with respect to the chassis 1, can also be of adjustable length and be for example in the form of telescopic arms.
  • These arms 2 can be moved in particular between two extreme positions, one of smaller dimensions corresponding to FIG. 2 in which the arms 2 are brought closer to the chassis 1, the other of deployment corresponding to FIG. 3 in which the arms 2 are in a radiating arrangement around the chassis 1.
  • the arms 2 In the position of smaller dimensions, the arms 2 are folded back so as to be able to penetrate at least partially inside the perimeter of the chassis 1 or come to be positioned in the vicinity of the perimeter of the chassis for example along one side of the chassis.
  • These two extreme positions can however vary infinitely depending on the destination of the device and the loads to be transported.
  • mounting of the arms 2 on the chassis 1 allows, when the extreme positions of the arms 2 are optimized, to cover a wide range of dimensions of the loads to be handled.
  • each arm 2 is generally chosen at most slightly greater than the length of one side of the polygonal frame adjacent to the pivot point of the arm on said frame so that each arm in the folded position of smaller size does at worst only slightly protruding from the chassis.
  • the operator can proceed in different ways.
  • the operator can, in a fully manual version of the device, adjust the positioning of the arms 2 by acting by pulling or pushing on the latter.
  • the operator is never guaranteed to work in safe conditions in which the device is not unbalanced.
  • the arms 2 are kinematically integral, for example two by two, by means of at least one transmission member 8 which, during the controlled angular displacement of an arm 2, causes a so-called symmetrical angular displacement of at least one other arm to maintain the center of gravity of the device in one position or a plurality of predetermined positions corresponding to a predetermined position of equilibrium of the chassis 1 relative to the point (s) ) for anchoring the lifting device to the chassis 1.
  • This transmission member can consist of at least one endless transmission each time engaged with a movable part 4A of the pivot 4 secured to the arm 2 member holder gripping 3 or with the arm 2 itself, so that the controlled angular displacement of an arm causes a symmetrical angular displacement of at least one other arm.
  • This assembly ensures the balance of the chassis relative to the anchor point (s) or for hooking the lifting device to the chassis. Indeed, the symmetry of the arms with respect to the anchoring point (s) is preserved. These arms can move symmetrically with respect to a straight line such as the straight line D or the straight line D 'in FIG. 3. The positioning and the displacement of the center of gravity of the device depend on the number of anchor points of the lifting on the chassis 1 and of course the position of each of the arms.
  • the center of gravity of the device is located on a straight line, even a half-straight line, perpendicular to the plane in which the organs move. gripping and passing through the anchor point of the lifting machine on the chassis 1.
  • This half-straight line is in practice a vertical half-straight line originating from the anchoring point of the lifting machine on the chassis and extending below the chassis 1.
  • the center of gravity will be located in a plane defined by the displacement of the line segment delimited by the two anchor points in a direction perpendicular to the plane of movement of the gripping members. In practice, this plane is a vertical plane, or even a vertical half-plane, delimited by the line segment formed by the two anchoring points of the lifting machine on the chassis 1.
  • the center of gravity of the device is located inside the volume defined by the displacement of the surface corresponding to the polygon formed by said anchor points in a direction extending perpendicular to the plane of movement of the gripping members. This guarantees the dynamic balance of the device, thus avoiding any risk of injury to the operator located nearby.
  • the endless transmission can be constituted by a chain, a cable, a belt or the like connecting two arms 2 preferably arranged opposite manner on the chassis 1, for example, the arms 21 and 22 in FIG. 3, this transmission being wound on the one hand over at least one and a half turns around the movable part 4A of the pivot 4 secured to the first arm 21 and fixed to the latter and, on the other hand, over at least one and a half turns around the movable part 4A of the pivot 4 secured to the second arm 22 and fixed to the latter.
  • the transmission member could thus be constituted by a set of links forming with said arms a deformable parallelogram.
  • the displacement of one of the arms 21 or 22 automatically causes a controlled angular displacement of another arm.
  • This facilitates the positioning operations of the arms to be carried out by the operator or by a machine.
  • These arms can be made independent in displacement from each other by means of an attached declutching device.
  • the transmission member 8 is then disengageable by means of an appropriate declutching device which, in a given position, inactivates the transmission member, making the arms 2 independent in movement.
  • a declutching device mention may be made of a device acting on the tension or the relaxation of the transmission member constituted by a cable.
  • each gripping member arm 3 is equipped with a preferably endless transmission member 8 engaged each time with the part mobile 4A of the pivot 4 secured to the arm 2 or the arm 2 itself, the angular movements of the arms 2 being controlled from a rotary cam 9, such as a plate, provided with lights 10 each forming a path cam, each transmission member 8 carrying a finger 12 guided by the guide path of the cam when the latter is rotated about its axis so that said arms can be moved simultaneously 2 between two extreme dimensions.
  • the rotary cam 9 affects, for example, the shape of a disc.
  • the transmission member can meanwhile, analogously to what has been described above, be constituted by a cable, a strap, etc. It can also be provided that the apertures 10 of the cam 9 delimiting the cam paths comprise an enlarged zone 11 inside which, in a stationary position of the cam 9, the finger 12 can move freely in space enlarged of said zone 11 so as to be able to angularly move each arm 2 independently of each other. This setting can be useful in the case of handling and entering loads of complex shape.
  • the movement of the arms can be made symmetrical with respect to a vertical axis corresponding to the substantially median vertical axis of the chassis. These arms can occupy a large number of positions while maintaining the chassis in a position of equilibrium when it is handled by a lifting device.
  • the transmission members can for example be arranged inside sheaths capable of being integrated inside the chassis structure and possibly inside the pivot 4 so as to be completely masked.
  • the cam 9, driven manually or automatically in rotation is capable of occupying at least one predetermined stop position corresponding to a positioning given arms 2 gripper holder 3.
  • the predetermined stop position or positions of the cam correspond to the most frequently used positions of arms 2.
  • the predetermined motor stop positions correspond to given positions of the arms 2.
  • the pivot 4 between chassis 1 and arm 2 comprises a brake 6 to maintain the arm 2 in an angular position chosen by the operator.
  • An example of pivot 4 is shown in FIG. 4.
  • This pivot 4 is, in a manner known per se, consisting of at least two parts, one 4A movable secured to the arm 2 holding the gripping member 3, the other 4B fixed integral with the chassis 1.
  • a brake 6, such as a Belleville washer, is inserted between the fixed 4B and mobile 4A parts of the pivot 4.
  • the gripping members 3 are vacuum suction cups activated by a vacuum action provided by a depressor block 7 ( Figures 1 and 2) carried by the frame 1, this depressor block 7 being adjustable in position inside the chassis polygon 1 to ensure the static balance of the device. With this adjustment in position of the depressor block 7 on the frame 1, it is possible to use for the same frame depressor blocks of different design, construction and weight depending on the destination of the device.
  • This depressor unit 7 is for example installed on a sliding drawer between slide rails formed under a plate of said chassis 1.
  • the plate of the chassis 1 serves as an interface between the gripping members and the lifting machine. It can be equipped for example on its upper face with a ring allowing the lifting machine to grasp said chassis 1.
  • the chassis 1 also includes a control panel 14 equipped with control members, such as buttons, for ensure the operation of the device and possibly that of the lifting machine. This control panel can be removably installed on said chassis 1.
  • the pivots between arm 2 and chassis 1 are hollow to integrate conduits 13A, 13B between gripping member 3 with vacuum and depressor block 7. These conduits are thus completely protected and do not can in no case be damaged.
  • the conduit 13B coming from the depressor block 7 is connected, in the fixed part 4B of the pivot 4, to a rotary connector 5 shown in FIG. 4.
  • Another conduit 13A connected to the gripping member 3 is also connected to said rotary connector 5 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP97400865A 1996-04-19 1997-04-17 Vorrichtung zum Greifen und Handhaben von Lasten Pending EP0802144A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9604930 1996-04-19
FR9604930A FR2747660B1 (fr) 1996-04-19 1996-04-19 Dispositif pour saisir et manipuler des charges

Publications (1)

Publication Number Publication Date
EP0802144A1 true EP0802144A1 (de) 1997-10-22

Family

ID=9491377

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97400865A Pending EP0802144A1 (de) 1996-04-19 1997-04-17 Vorrichtung zum Greifen und Handhaben von Lasten

Country Status (2)

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EP (1) EP0802144A1 (de)
FR (1) FR2747660B1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0919515A2 (de) * 1997-12-02 1999-06-02 Honda Giken Kogyo Kabushiki Kaisha Lasthalteanordnung und Haltegerät
CN104016218A (zh) * 2014-06-24 2014-09-03 山东温声玻璃有限公司 一种吊装玻璃的吸盘架
CN109625921A (zh) * 2018-11-30 2019-04-16 芜湖益盈鼎裕自动化设备有限公司 一种四分盘全自动覆膜铁环及扩膜环搬运装置
CN115402913A (zh) * 2022-09-04 2022-11-29 安徽科沃福汽车科技有限公司 一种汽车顶盖吊装设备

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2835921A1 (de) * 1978-08-16 1980-02-21 Siemens Ag Vakuumgreifer
US4228993A (en) * 1978-05-01 1980-10-21 Ppg Industries, Inc. Sheet orienting and transporting frame
DE3500342A1 (de) * 1985-01-08 1986-07-10 Reinhard Dipl.-Ing. 3070 Nienburg Göpfert Vorrichtung zum anheben und versetzen von hebegut
US4685714A (en) * 1986-12-18 1987-08-11 Hoke Thomas A Lifting assembly
US4767143A (en) * 1987-02-24 1988-08-30 The Boeing Company Robot hand
EP0475863A1 (de) * 1990-09-11 1992-03-18 Societe D'etudes Pour L'automatisation De L'industrie De La Chaussure Sepaic Greifvorrichtung für Gegenstände mit verschiedenen Formen
DE4209935A1 (de) * 1992-03-27 1992-11-19 Herbert Gegenheimer Universal verstellbare vakuumsauger bzw. greifwerkzeugaufnahme und justiereinheit zum aufnehmen von produktionsteilen im automatisierten fertigungsablauf

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4228993A (en) * 1978-05-01 1980-10-21 Ppg Industries, Inc. Sheet orienting and transporting frame
DE2835921A1 (de) * 1978-08-16 1980-02-21 Siemens Ag Vakuumgreifer
DE3500342A1 (de) * 1985-01-08 1986-07-10 Reinhard Dipl.-Ing. 3070 Nienburg Göpfert Vorrichtung zum anheben und versetzen von hebegut
US4685714A (en) * 1986-12-18 1987-08-11 Hoke Thomas A Lifting assembly
US4767143A (en) * 1987-02-24 1988-08-30 The Boeing Company Robot hand
EP0475863A1 (de) * 1990-09-11 1992-03-18 Societe D'etudes Pour L'automatisation De L'industrie De La Chaussure Sepaic Greifvorrichtung für Gegenstände mit verschiedenen Formen
DE4209935A1 (de) * 1992-03-27 1992-11-19 Herbert Gegenheimer Universal verstellbare vakuumsauger bzw. greifwerkzeugaufnahme und justiereinheit zum aufnehmen von produktionsteilen im automatisierten fertigungsablauf

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0919515A2 (de) * 1997-12-02 1999-06-02 Honda Giken Kogyo Kabushiki Kaisha Lasthalteanordnung und Haltegerät
EP0919515A3 (de) * 1997-12-02 2001-04-11 Honda Giken Kogyo Kabushiki Kaisha Lasthalteanordnung und Haltegerät
CN104016218A (zh) * 2014-06-24 2014-09-03 山东温声玻璃有限公司 一种吊装玻璃的吸盘架
CN109625921A (zh) * 2018-11-30 2019-04-16 芜湖益盈鼎裕自动化设备有限公司 一种四分盘全自动覆膜铁环及扩膜环搬运装置
CN115402913A (zh) * 2022-09-04 2022-11-29 安徽科沃福汽车科技有限公司 一种汽车顶盖吊装设备

Also Published As

Publication number Publication date
FR2747660A1 (fr) 1997-10-24
FR2747660B1 (fr) 1998-06-26

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