EP0802144A1 - Device for gripping and handling loads - Google Patents

Device for gripping and handling loads 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
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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
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German (de)
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.)
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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/en
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)

Abstract

The handling machine has a frame (1) with at least two arms (2) carrying, at their free ends, suction pad grippers (3). The arms (2) are each mounted for pivoting on the frame to allow movement of the grippers in a plane parallel to that of the upper surfaces of the loads to be lifted. The arms can be disposed between two end positions including retracted and deployed positions. In the latter, they are held radially with the perimeter of the frame to cover a large part of the dimensions of the load to be handled. The retracted position of the arms cab include a position in which they are held within the chassis perimeter.

Description

La présente invention concerne un dispositif pour saisir et manipuler des charges possédant au moins une face sensiblement plane, telles que des plaques ou blocs, ce dispositif comprenant des organes de préhension, par exemple à dépression ou magnétiques, portés par un châssis manipulable par un organe de levage.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.

Les dispositifs connus pour manipuler des charges notamment au moyen d'organes à dépression sont tous construits sur le même principe. Ces dispositifs comportent un châssis relativement encombrant pourvu d'un ou plusieurs rails porte-bras ou porte-organes à dépression. Lorsque les organes à dépression sont directement portés par le rail, ils sont montés à coulissement sur ce dernier. Les rails sont quant à eux également mobiles pour permettre un déplacement des organes de préhension suivant un axe perpendiculaire à l'axe de coulissement de ces derniers. De manière analogue, lorsque les organes de préhension sont portés par des bras, ces bras coulissent sur le rail et sont réalisés de longueur réglable pour permettre un déplacement en X et en Y des organes de préhension. Un tel déplacement en X et en Y des organes de préhension présente un certain nombre d'inconvénients. Les manipulations pour faire passer des organes de préhension d'une position à une autre sont longues et fastidieuses. Les déplacements de ces organes sont rapidement limités par construction de telle sorte que de tels dispositifs sont limités à la saisie et la manipulation de charges de formats sensiblement identiques ou relativement proches. En outre, le châssis et les bras en raison de leur encombrement, empêchent parfois la saisie de charges placées par exemple contre un mur.The known devices for handling loads, in particular by means of vacuum members, 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.

Le but de la présente invention est de pallier les inconvénients précités en proposant un dispositif pour saisir et manipuler des charges dont les organes de préhension peuvent être déplacés aisément pour couvrir une large gamme de dimensions des charges à manipuler.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.

Un autre but de la présente invention est de proposer un dispositif dont le châssis est de dimension réduite de manière à permettre la saisie de charges difficilement accessibles, telles que celles placées contre un mur ou celles contenues à l'intérieur d'un conteneur.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.

Un autre but de la présente invention est de proposer un dispositif dont la conception du déplacement des bras permet à tout instant de garantir un positionnement sûr du dispositif sans risque de renversement de ce dernier.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.

A cet effet, l'invention a pour objet un dispositif pour saisir et manipuler des charges possédant au moins une face sensiblement plane, telles que des plaques ou blocs, du type comprenant des organes de préhension, par exemple à dépression ou magnétiques, portés par un châssis manipulable par un engin de levage, caractérisé en ce que le châssis est équipé d'au moins deux bras portant respectivement, de préférence à leur extrémité libre, au moins un organe de préhension, ces bras étant montés chacun à pivotement sur ledit châssis de manière à pouvoir déplacer chacun leur(s) organe(s) de préhension dans un même plan sensiblement parallèle à la surface de la face sensiblement plane de la charge à manipuler, ces bras pouvant être déplacés entre deux positions extrêmes, l'une de plus faible encombrement, l'autre de déploiement dans laquelle les bras sont dans une disposition rayonnante autour du périmètre du châssis de manière à couvrir une large gamme de dimensions des charges à manipuler.To this end, 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.

Selon une forme de réalisation préférée de l'invention, le châssis est un châssis rigide dont la position de plus faible encombrement des bras est une position correspondant à un repli des bras au moins partiellement à l'intérieur, ou au voisinage, du périmètre du châssis. Les bras sont cinématiquement solidaires par l'intermédiaire d'au moins un organe de transmission qui, lors du déplacement angulaire commandé d'un bras, entraîne un déplacement angulaire dit symétrique d'au moins un autre bras pour maintenir le centre de gravité du dispositif en une position ou une pluralité de positions prédéterminées correspondant à une position d'équilibre prédéterminée du châssis par rapport au(x) point(s) d'ancrage de l'engin de levage sur le châssis.According to a preferred embodiment of the invention, 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.

Grâce à cette conception de déplacement des bras, l'opérateur est certain qu'à tout moment les règles de sécurité relatives au positionnement de l'ensemble du dispositif sont respectées.Thanks to this design of movement of the arms, the operator is certain that at all times the safety rules relating to the positioning of the entire device are respected.

L'invention sera bien comprise à la lecture de la description suivante d'un exemple de réalisation, en référence aux dessins annexés dans lesquels :

  • la figure 1 représente une vue en position éclatée des éléments constitutifs du dispositif objet de l'invention, une lumière de la came ayant été agrandie ;
  • la figure 2 représente une vue en perspective du dispositif de la figure 1 en position assemblée des éléments et à l'état replié du dispositif ;
  • la figure 3 représente une vue de dessus du dispositif de la figure 2 en position déployée et
  • la figure 4 représente une vue en coupe longitudinale d'un pivot bras/châssis.
The invention will be clearly understood on reading the following description of an exemplary embodiment, with reference to the accompanying drawings in which:
  • Figure 1 shows an exploded position view of the components of the device object of the invention, a light of the cam having been enlarged;
  • 2 shows a perspective view of the device of Figure 1 in the assembled position of the elements and in the folded state of the device;
  • FIG. 3 represents a top view of the device of FIG. 2 in the deployed position and
  • FIG. 4 represents a view in longitudinal section of an arm / chassis pivot.

Le dispositif, objet de l'invention, permet la saisie et la manipulation de charges possédant au moins une face sensiblement plane. Ces charges peuvent se présenter sous forme de plaques telles que des tôles, des plaques de verre, sous forme de blocs, tels que des pierres, des boîtes, des conteneurs, etc.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.

Ce dispositif comporte un châssis 1 manipulable par un engin de levage qui permet la saisie du dispositif et son déplacement pour le transfert des charges d'un poste de préhension à un poste de dépose. L'engin de levage peut être un bras manipulateur de robot, une grue, le dispositif constituant dans ce cas un palonnier, ou tout autre engin approprié pour assurer le déplacement du dispositif.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.

Le châssis 1 est un châssis de préférence rigide constitué d'un ou plusieurs éléments fixes éventuellement à positionnement réglable les uns par rapport aux autres. Ce châssis 1 est équipé d'au moins deux bras 2 qui portent respectivement à leur extrémité libre un organe de préhension 3 de la charge. Ces bras 2 sont généralement réalisés à partir de tubes, de préférence métalliques, creux. Les organes de préhension 3 sont des organes de préhension à dépression ou magnétiques. Dans les exemples représentés aux figures, le châssis 1 est équipé de quatre bras 2 qui portent chacun un organe de préhension 3 à dépression appelé parfois dans ce qui suit ventouse à dépression. Ces organes de préhension 3, en soi connus, sont généralement reliés aux bras 2 par un montage dit à rotule ou à rotule et à palpeur. Un tel montage permet à l'organe de préhension 3 de s'incliner d'un angle faible (environ 10°) dans tous les sens pour s'adapter à des surfaces de charges qui ne seraient pas parfaitement planes.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. In the examples shown in the figures, 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.

Les bras 2 sont quant à eux montés chacun à pivotement sur le châssis 1 par l'intermédiaire d'au moins un axe. Ce montage à pivotement desdits bras 2 permet auxdits bras de pouvoir déplacer chacun leur(s) organe(s) de préhension dans un même plan, encore appelé plan commun, sensiblement parallèle à la surface de la face sensiblement plane de la charge à manipuler. Un exemple d'une liaison pivot bras 2/châssis 1 est représenté à la figure 4 et sera décrit ci-après. Bien évidemment, ces bras 2, indépendamment de ce mouvement de pivotement par rapport au châssis 1, peuvent également être de longueur réglable et se présenter par exemple sous forme de bras télescopiques.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.

Ces bras 2 peuvent être déplacés notamment entre deux positions extrêmes, l'une de plus faible encombrement correspondant à la figure 2 dans laquelle les bras 2 sont rapprochés du châssis 1, l'autre de déploiement correspondant à la figure 3 dans laquelle les bras 2 sont dans une disposition rayonnante autour du châssis 1. Dans la position de plus faible encombrement, les bras 2 sont repliés pour pouvoir pénétrer au moins partiellement à l'intérieur du périmètre du châssis 1 ou venir se positionner au voisinage du périmètre du châssis par exemple le long d'un côté du châssis. Ces deux positions extrêmes peuvent toutefois varier à l'infini en fonction de la destination du dispositif et des charges à transporter. Toutefois, un tel montage des bras 2 sur le châssis 1 permet, lorsque les positions extrêmes des bras 2 sont optimisées, de couvrir une large gamme de dimensions de charges à manipuler. Il est à noter que, généralement, le périmètre du châssis porte-bras s'inscrit à l'intérieur d'un polygone, de préférence un quadrilatère, lesdits bras étant reliés à pivotement au châssis porte-bras par l'intermédiaire d'axes disposés de préférence aux angles du polygone. La longueur de chaque bras 2 est généralement choisie au plus légèrement supérieure à la longueur d'un côté du châssis polygonal adjacent au point pivot du bras sur ledit châssis de telle sorte que chaque bras en position repliée de plus faible encombrement ne fait au pire que légèrement saillie du châssis.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. 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. However, such 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. It should be noted that, generally, the perimeter of the arm support frame fits inside of a polygon, preferably a quadrilateral, said arms being pivotally connected to the arm-carrying chassis by means of axes preferably arranged at the corners of the polygon. The length of 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.

Pour faciliter le positionnement des bras 2 entre ces positions extrêmes, l'opérateur peut procéder de différentes manières. L'opérateur peut, dans une version entièrement manuelle du dispositif, régler le positionnement des bras 2 en agissant par traction ou poussée sur ces derniers. Toutefois, dans ce cas, l'opérateur n'a jamais la garantie de travailler dans des conditions sûres dans lesquelles le dispositif n'est pas en déséquilibre.To facilitate the positioning of the arms 2 between these extreme positions, 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. However, in this case, the operator is never guaranteed to work in safe conditions in which the device is not unbalanced.

Dans une seconde version appelée semi-manuelle du dispositif, les bras 2 sont cinématiquement solidaires, par exemple deux à deux, par l'intermédiaire d'au moins un organe de transmission 8 qui, lors du déplacement angulaire commandé d'un bras 2, entraîne un déplacement angulaire dit symétrique d'au moins un autre bras pour maintenir le centre de gravité du dispositif en une position ou une pluralité de positions prédéterminées correspondant à une position d'équilibre prédéterminée du châssis 1 par rapport au(x) point(s) d'ancrage de l'engin de levage sur le châssis 1. Cet organe de transmission peut être constitué d'au moins une transmission sans fin en prise chaque fois avec une partie mobile 4A du pivot 4 solidaire du bras 2 porte-organe de préhension 3 ou avec le bras 2 lui-même, de sorte que le déplacement angulaire commandé d'un bras entraîne un déplacement angulaire symétrique d'au moins un autre bras. Ce montage permet d'assurer l'équilibre du châssis par rapport au(x) point(s) d'ancrage ou d'accrochage de l'engin de levage sur le châssis. En effet, la symétrie des bras par rapport au(x) point(s) d'ancrage est conservée. Ces bras peuvent se déplacer symétriquement par rapport à une droite telle que la droite D ou la droite D' dans la figure 3. Le positionnement et le déplacement du centre de gravité du dispositif dépendent du nombre de points d'ancrage de l'engin de levage sur le châssis 1 et bien évidemment de la position de chacun des bras. Ainsi, dans le cas où le point d'ancrage de l'engin de levage sur le châssis est unique, le centre de gravité du dispositif se situe sur une droite, voire une demi-droite, perpendiculaire au plan dans lequel se déplacent les organes de préhension et passant par le point d'ancrage de l'engin de levage sur le châssis 1. Cette demi-droite est en pratique une demi-droite verticale ayant pour origine le point d'ancrage de l'engin de levage sur le châssis et s'étendant au-dessous du châssis 1. Dans le cas de deux points d'ancrage de l'engin de levage sur le châssis 1, le centre de gravité sera situé dans un plan défini par le déplacement du segment de droite délimité par les deux points d'ancrage dans une direction perpendiculaire au plan de déplacement des organes de préhension. En pratique, ce plan est un plan vertical, voire un demi-plan vertical, délimité par le segment de droite constitué par les deux points d'ancrage de l'engin de levage sur le châssis 1.In a second version called semi-manual of the device, 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. Thus, in the case where the anchor point of the lifting device on the chassis is unique, 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. In the case of two anchoring points of the lifting device on 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.

Dans le cas d'au moins trois points d'accrochage, le centre de gravité du dispositif est situé à l'intérieur du volume défini par le déplacement de la surface correspondant au polygone formé par lesdits points d'ancrage dans une direction s'étendant perpendiculaire au plan de déplacement des organes de préhension. On garantit ainsi l'équilibre dynamique du dispositif évitant ainsi tout risque de blessures de l'opérateur situé à proximité.In the case of at least three attachment points, 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.

A titre d'exemple, la transmission sans fin peut être constituée par une chaîne, un câble, une courroie ou similaire reliant deux bras 2 disposés de préférence de manière opposée sur le châssis 1, par exemple, les bras 21 et 22 à la figure 3, cette transmission étant enroulée d'une part sur au moins un tour et demi autour de la partie mobile 4A du pivot 4 solidaire du premier bras 21 et fixée à ce dernier et, d'autre part, sur au moins un tour et demi autour de la partie mobile 4A du pivot 4 solidaire du second bras 22 et fixée à ce dernier. D'autres montages de cette transmission peuvent être envisagés. L'organe de transmission pourrait ainsi être constitué par un ensemble de biellettes formant avec lesdits bras un parallélogramme déformable. Ainsi, le déplacement de l'un des bras 21 ou 22 entraîne automatiquement un déplacement angulaire commandé d'un autre bras. Ceci facilite les opérations de positionnement des bras devant être réalisées par l'opérateur ou par une machine. Ces bras peuvent être rendus indépendants en déplacement les uns des autres grâce à un dispositif de débrayage rapporté. L'organe de transmission 8 est alors débrayable au moyen d'un dispositif de débrayage approprié qui, dans une position donnée, inactive l'organe de transmission, rendant les bras 2 indépendants en déplacement. A titre d'exemple de dispositif de débrayage, on peut citer un dispositif agissant sur la tension ou le relâchement de l'organe de transmission constitué par un câble.By way of example, 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. Other arrangements for this transmission can be envisaged. The transmission member could thus be constituted by a set of links forming with said arms a deformable parallelogram. Thus, 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. By way of example of 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.

Dans une troisième version du dispositif, plus sophistiquée que les précédentes, représentée en vue éclatée à la figure 1, chaque bras porte-organe de préhension 3 est équipé d'un organe de transmission de préférence sans fin 8 en prise chaque fois avec la partie mobile 4A du pivot 4 solidaire du bras 2 ou le bras 2 lui-même, les mouvements angulaires des bras 2 étant commandés à partir d'une came rotative 9, telle qu'un plateau, pourvue de lumières 10 formant à chaque fois un chemin de came, chaque organe de transmission 8 portant un doigt 12 guidé par le chemin de guidage de la came lorsque celle-ci est animée d'un mouvement de rotation autour de son axe de manière à ce que l'on puisse déplacer simultanément lesdits bras 2 entre deux positions d'encombrement extrêmes. La came rotative 9 affecte dans ce cas, par exemple, la forme d'un disque. L'organe de transmission peut quant à lui, de manière analogue à ce qui a été décrit ci-dessus, être constitué par un câble, une courroie, etc. Il peut également être prévu que les lumières 10 de la came 9 délimitant les chemins de came comportent une zone élargie 11 à l'intérieur de laquelle, dans une position stationnaire de la came 9, le doigt 12 peut se déplacer librement dans l'espace élargi de ladite zone 11 de manière à pouvoir déplacer angulairement chaque bras 2 indépendamment les uns des autres. Ce réglage peut être intéressant dans le cas d'une manipulation et d'une saisie de charges de forme complexe. Dans cette troisième version, le déplacement des bras peut être réalisé symétrique par rapport à un axe vertical correspondant à l'axe vertical sensiblement médian du châssis. Ces bras peuvent occuper un grand nombre de positions tout en maintenant le châssis en position d'équilibre lorsqu'il est manipulé par un engin de levage. Dans les versions décrites ci-dessus, les organes de transmission peuvent par exemple être disposés à l'intérieur de gaines susceptibles d'être intégrées à l'intérieur de la structure du châssis et éventuellement à l'intérieur du pivot 4 de manière à être complètement masqués.In a third version of the device, more sophisticated than the previous ones, shown in exploded view in FIG. 1, 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. In this case, 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. In this third version, 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. In the versions described above, 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.

Pour faciliter le travail de l'opérateur et en particulier supprimer toute opération de réglage du positionnement des bras 2, la came 9, entraînée manuellement ou automatiquement en rotation, est susceptible d'occuper au moins une position d'arrêt prédéterminée correspondant à un positionnement donné des bras 2 porte-organe de préhension 3. La ou les positions d'arrêt prédéterminées de la came correspondent à des positions les plus fréquemment utilisées des bras 2. Dans le cas d'un entraînement automatique de la came, au moyen par exemple d'un moteur, les positions d'arrêt du moteur prédéterminées correspondent à des positions données des bras 2.To facilitate the work of the operator and in particular to eliminate any operation for adjusting the positioning of the arms 2, 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. In the case of an automatic drive of the cam, by means for example of a motor, the predetermined motor stop positions correspond to given positions of the arms 2.

Lorsqu'une position angulaire des bras 2 a été réglée selon l'un des modes de réalisation précités, il est important que le bras 2 ne se dérègle pas, notamment lorsque, par inadvertance, l'opérateur touche ledit bras 2. Pour ce faire, le pivot 4 entre châssis 1 et bras 2 comporte un frein 6 pour maintenir le bras 2 dans une position angulaire choisie par l'opérateur. Un exemple de pivot 4 est représenté à la figure 4. Ce pivot 4 est, de manière en soi connue, constitué d'au moins deux parties, l'une 4A mobile solidaire du bras 2 porte-organe de préhension 3, l'autre 4B fixe solidaire du châssis 1. Un frein 6, tel qu'une rondelle Belleville, est inséré entre les parties fixe 4B et mobile 4A du pivot 4.When an angular position of the arms 2 has been adjusted according to one of the abovementioned embodiments, it is important that the arm 2 is not adjusted, in particular when, inadvertently, the operator touches said arm 2. To do this , 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.

Dans un mode de réalisation particulier de l'invention, les organes de préhension 3 sont des ventouses à dépression activées par une action de vide fournie par un bloc dépresseur 7 (figures 1 et 2) porté par le châssis 1, ce bloc dépresseur 7 étant réglable en position à l'intérieur du polygone du châssis 1 pour assurer l'équilibre statique du dispositif. Grâce à ce réglage en position du bloc dépresseur 7 sur le châssis 1, il est possible d'utiliser pour un même châssis des blocs dépresseurs de conception, de construction et de poids différents en fonction de la destination du dispositif. Ce bloc dépresseur 7 est par exemple installé sur un tiroir coulissant entre des rails-glissières ménagés sous une platine dudit châssis 1. La platine du châssis 1 sert d'interface entre les organes de préhension et l'engin de levage. Elle peut être équipée par exemple sur sa face supérieure d'un anneau permettant à l'engin de levage de saisir ledit châssis 1. Le châssis 1 comporte également un tableau de commande 14 équipé d'organes de commande, tels que des boutons, pour assurer le fonctionnement du dispositif et éventuellement celui de l'engin de levage. Ce tableau de commande peut être installé de manière amovible sur ledit châssis 1.In a particular embodiment of the invention, 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.

Dans ce mode de réalisation et comme le montre la figure 4, les pivots entre bras 2 et châssis 1 sont creux pour intégrer des conduits 13A, 13B entre organe de préhension 3 à dépression et bloc dépresseur 7. Ces conduits sont ainsi complètement protégés et ne peuvent en aucun cas être endommagés. Le conduit 13B provenant du bloc dépresseur 7 est relié, dans la partie fixe 4B du pivot 4, à un raccord tournant 5 représenté à la figure 4. Un autre conduit 13A relié à l'organe de préhension 3 est également raccordé audit raccord tournant 5.In this embodiment and as shown in FIG. 4, 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 .

Bien évidemment, l'invention ne se limite pas aux formes de réalisation précitées mais englobe au contraire un grand nombre d'autres modes de réalisation de l'invention restant dans le cadre de la présente invention.Obviously, the invention is not limited to the abovementioned embodiments but on the contrary encompasses a large number of other embodiments of the invention remaining within the scope of the present invention.

Claims (11)

Dispositif pour saisir et manipuler des charges possédant au moins une face sensiblement plane, telles que des plaques ou blocs, du type comprenant des organes de préhension, par exemple à dépression ou magnétiques, portés par un châssis (1) manipulable par un engin de levage,
caractérisé en ce que le châssis (1) est équipé d'au moins deux bras (2) portant respectivement, de préférence à leur extrémité libre, au moins un organe de préhension (3), ces bras (2) étant montés chacun à pivotement (4) sur ledit châssis (1) de manière à pouvoir déplacer chacun leur(s) organe(s) de préhension dans un même plan sensiblement parallèle à la surface de la face sensiblement plane de la charge à manipuler, ces bras (2) pouvant être déplacés entre deux positions extrêmes, l'une de plus faible encombrement, l'autre de déploiement dans laquelle les bras (2) sont dans une disposition rayonnante autour du périmètre du châssis (1) de manière à couvrir une large gamme de dimensions des charges à manipuler.Device for gripping and handling loads having at least one substantially planar face, such as plates or blocks, of the type comprising gripping members, for example vacuum or magnetic, carried by a frame (1) which can be manipulated by a lifting machine ,
characterized in that the chassis (1) is equipped with at least two arms (2) carrying respectively, preferably at their free end, at least one gripping member (3), these arms (2) being each pivotally mounted (4) on said chassis (1) so as to each be able to move their gripping member (s) in the same plane substantially parallel to the surface of the substantially flat face of the load to be handled, these arms (2) can be moved between two extreme positions, one of smaller dimensions, the other of deployment in which the arms (2) are in a radiating arrangement around the perimeter of the chassis (1) so as to cover a wide range of dimensions loads to handle. Dispositif selon la revendication 1,
caractérisé en ce que le châssis est un châssis rigide dont la position de plus faible encombrement des bras (2) est une position correspondant à un repli des bras (2) au moins partiellement à l'intérieur, ou au voisinage, du périmètre du châssis (1).Device according to claim 1,
characterized in that the chassis is a rigid chassis, the position in which the arms (2) take up the least space is a position corresponding to a folding of the arms (2) at least partially inside, or in the vicinity, of the perimeter of the chassis (1). Dispositif selon la revendication 1,
caractérisé en ce que les bras (2) sont cinématiquement solidaires par l'intermédiaire d'au moins un organe de transmission (8) qui, lors du déplacement angulaire commandé d'un bras (2), entraîne un déplacement angulaire dit symétrique d'au moins un autre bras pour maintenir le centre de gravité du dispositif en une position ou une pluralité de positions prédéterminées correspondant à une position d'équilibre prédéterminée du châssis (1) par rapport au(x) point(s) d'ancrage de l'engin de levage sur le châssis (1).Device according to claim 1,
characterized in that the arms (2) are kinematically integral by means of at least one transmission member (8) which, during the controlled angular displacement of an arm (2), causes an angular displacement known as symmetrical at least one other arm for maintaining the center of gravity of the device in a position or a plurality of predetermined positions corresponding to a predetermined position of equilibrium of the chassis (1) by relative to the point (s) of anchoring of the lifting device on the chassis (1). Dispositif selon l'une des revendications 1 à 3,
caractérisé en ce que l'organe de transmission (8) est débrayable au moyen d'un dispositif de débrayage approprié qui, dans une position donnée, inactive l'organe de transmission, rendant les bras (2) indépendants en déplacement.Device according to one of claims 1 to 3,
characterized in that the transmission member (8) is disengageable by means of an appropriate declutching device which, in a given position, inactivates the transmission member, making the arms (2) independent in movement. Dispositif selon l'une des revendications 1 à 4,
caractérisé en ce que l'organe de transmission (8) est constitué d'au moins une transmission sans fin en prise chaque fois avec le bras (2) et/ou la partie mobile (4A) d'un pivot (4) solidaire du bras (2) porte-organe de préhension (3).Device according to one of claims 1 to 4,
characterized in that the transmission member (8) consists of at least one endless transmission each time engaged with the arm (2) and / or the movable part (4A) of a pivot (4) integral with the arm (2) gripping member holder (3). Dispositif selon l'une des revendications 1 à 5,
caractérisé en ce que les mouvements angulaires des bras (2) sont commandés à partir d'une came (9) rotative, telle qu'un plateau, pourvue de lumière (10) formant à chaque fois un chemin de came, chaque organe de transmission (8) portant un doigt (12) guidé par le chemin de guidage de la came lorsque celle-ci est animée d'un mouvement de rotation autour de son axe de manière à ce que l'on puisse déplacer simultanément lesdits bras (2) entre deux positions d'encombrement extrêmes.Device according to one of claims 1 to 5,
characterized in that the angular movements of the arms (2) are controlled from a rotary cam (9), such as a plate, provided with light (10) each forming a cam path, each transmission member (8) carrying a finger (12) guided by the guide path of the cam when the latter is rotated around its axis so that said arms can be moved simultaneously (2) between two extreme dimensions. Dispositif selon la revendication 6,
caractérisé en ce que les lumières (10) de la came (9) délimitant les chemins de came comportent une zone élargie (11) à l'intérieur de laquelle, dans une position stationnaire de la came (9), le doigt (12) peut se déplacer librement dans l'espace élargi de ladite zone (11) de manière à pouvoir déplacer angulairement chaque bras (2) indépendamment les uns des autres.Device according to claim 6,
characterized in 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 the enlarged space of said zone (11) so as to be able to angularly move each arm (2) independently of each other. Dispositif selon la revendication 6,
caractérisé en ce que la came (9), entraînée manuellement ou automatiquement en rotation, est susceptible d'occuper au moins une position d'arrêt prédéterminée correspondant à un positionnement donné des bras (2) porte-organe de préhension (3).Device according to claim 6,
characterized in that the cam (9), driven manually or automatically in rotation, is capable of occupying at least one predetermined stop position corresponding to a given positioning of the arms (2) holding the gripping member (3). Dispositif selon l'une des revendications 1 à 8,
caractérisé en ce que le pivot (4) entre châssis (1) et bras (2) comporte un frein (6) pour maintenir le bras (2) dans une position angulaire choisie par l'opérateur.Device according to one of claims 1 to 8,
characterized in that 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. Dispositif selon l'une des revendications 1 à 9,
caractérisé en ce que le périmètre du châssis porte-bras s'inscrit à l'intérieur d'un polygone, de préférence un quadrilatère, lesdits bras étant reliés à pivotement au châssis porte-bras par l'intermédiaire d'axes disposés de préférence aux angles du polygone, la longueur de chaque bras (2) étant choisie au plus légèrement supérieure à la longueur d'un côté du châssis polygonal adjacent au point pivot du bras sur ledit châssis de telle sorte que chaque bras, en position repliée de plus faible encombrement, ne fait au pire que légèrement saillie du châssis.Device according to one of claims 1 to 9,
characterized in that the perimeter of the arm-support chassis is inside a polygon, preferably a quadrilateral, said arms being pivotally connected to the arm-support chassis by means of axes preferably arranged at angles of the polygon, the length of each arm (2) being 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, is lower size, at worst only slightly protrudes from the chassis. Dispositif selon l'une des revendications 1 à 10,
caractérisé en ce que le pivot (4) entre bras (2) et châssis (1) est creux pour intégrer des conduits (13A, 13B) entre organe de préhension (3) à dépression et bloc dépresseur (7).Device according to one of claims 1 to 10,
characterized in that the pivot (4) between arms (2) and chassis (1) is hollow to integrate conduits (13A, 13B) between gripping member (3) with vacuum and depressor block (7).
EP97400865A 1996-04-19 1997-04-17 Device for gripping and handling loads Pending EP0802144A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9604930 1996-04-19
FR9604930A FR2747660B1 (en) 1996-04-19 1996-04-19 DEVICE FOR SEIZING AND HANDLING LOADS

Publications (1)

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

Family

ID=9491377

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97400865A Pending EP0802144A1 (en) 1996-04-19 1997-04-17 Device for gripping and handling loads

Country Status (2)

Country Link
EP (1) EP0802144A1 (en)
FR (1) FR2747660B1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0919515A2 (en) * 1997-12-02 1999-06-02 Honda Giken Kogyo Kabushiki Kaisha Load retainer assembly and retaining apparatus
CN104016218A (en) * 2014-06-24 2014-09-03 山东温声玻璃有限公司 Sucking disc frame for hoisting glass
CN109625921A (en) * 2018-11-30 2019-04-16 芜湖益盈鼎裕自动化设备有限公司 The full-automatic overlay film iron hoop of four points of disks of one kind and expansion film ring handling device
CN115402913A (en) * 2022-09-04 2022-11-29 安徽科沃福汽车科技有限公司 Automobile top cover hoisting equipment

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DE2835921A1 (en) * 1978-08-16 1980-02-21 Siemens Ag Suction grab for flat items - has arms steplessly adjustable through right angle by central hinge
US4228993A (en) * 1978-05-01 1980-10-21 Ppg Industries, Inc. Sheet orienting and transporting frame
DE3500342A1 (en) * 1985-01-08 1986-07-10 Reinhard Dipl.-Ing. 3070 Nienburg Göpfert Appliance for lifting and shifting material to be lifted
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 (en) * 1990-09-11 1992-03-18 Societe D'etudes Pour L'automatisation De L'industrie De La Chaussure Sepaic Gripper device for variously shaped products
DE4209935A1 (en) * 1992-03-27 1992-11-19 Herbert Gegenheimer Universally adjustable gripper and vacuum head positioning fixture - has adjustable blocks around circumference of baseplate to enable workhead to be positioned anywhere within working envelope

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* 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 (en) * 1978-08-16 1980-02-21 Siemens Ag Suction grab for flat items - has arms steplessly adjustable through right angle by central hinge
DE3500342A1 (en) * 1985-01-08 1986-07-10 Reinhard Dipl.-Ing. 3070 Nienburg Göpfert Appliance for lifting and shifting material to be lifted
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 (en) * 1990-09-11 1992-03-18 Societe D'etudes Pour L'automatisation De L'industrie De La Chaussure Sepaic Gripper device for variously shaped products
DE4209935A1 (en) * 1992-03-27 1992-11-19 Herbert Gegenheimer Universally adjustable gripper and vacuum head positioning fixture - has adjustable blocks around circumference of baseplate to enable workhead to be positioned anywhere within working envelope

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0919515A2 (en) * 1997-12-02 1999-06-02 Honda Giken Kogyo Kabushiki Kaisha Load retainer assembly and retaining apparatus
EP0919515A3 (en) * 1997-12-02 2001-04-11 Honda Giken Kogyo Kabushiki Kaisha Load retainer assembly and retaining apparatus
CN104016218A (en) * 2014-06-24 2014-09-03 山东温声玻璃有限公司 Sucking disc frame for hoisting glass
CN109625921A (en) * 2018-11-30 2019-04-16 芜湖益盈鼎裕自动化设备有限公司 The full-automatic overlay film iron hoop of four points of disks of one kind and expansion film ring handling device
CN115402913A (en) * 2022-09-04 2022-11-29 安徽科沃福汽车科技有限公司 Automobile top cover hoisting equipment

Also Published As

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

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