EP2236449A1 - Lifting device having a gripper and control means for activating and deactivating said gripper - Google Patents

Abstract

The device (1) has a digital data processing unit i.e. microprocessor, controlling activation of a gripper (11) e.g. clamp for taking a load (3) and the deactivation of the gripper for depositing the load, based on the signal. A control unit comprises a manual control member formed by a movable part of a control handle (4). The processing unit controls the activation or deactivation of the gripper when preset movement and/or preset position of the movable part of the handle corresponds to an activation or deactivation setpoint of the gripper.

Description

The present invention generally relates to load handling devices.

• des moyens d'entrainement en déplacement d'un préhenseur de la charge, tel qu'une ventouse ou une pince, de manière à entrainer la charge en déplacement, de préférence au moins en monte et/ou baisse, ledit préhenseur étant apte à présenter une configuration dite active dans laquelle la charge est saisie par ledit préhenseur et une configuration dite inactive dans laquelle le préhenseur peut être déplacé librement par rapport à la charge,
• une poignée de commande des moyens d'entrainement en déplacement, ladite poignée comportant au moins deux parties dites respectivement l'une fixe, l'autre mobile formant la partie saisissable par l'opérateur, ces parties fixe et mobile, de préférence entrainables en déplacement par lesdits moyens d'entrainement en déplacement du préhenseur, étant animées d'un déplacement relatif entre elles, ladite poignée comprenant des moyens d'émission de données représentatives du déplacement relatif et/ou de la position relative entre parties fixe et mobile de la poignée permettant de commander lesdits moyens d'entrainement en déplacement,
• des moyens de commande d'activation et de désactivation du préhenseur de la charge,
• des moyens de traitement de données configurés au moins pour recevoir des signaux de la poignée de commande correspondant au déplacement relatif et/ou à la position relative entre parties fixe et mobile de ladite poignée et pour émettre des consignes de pilotage aux moyens d'entrainement en déplacement du préhenseur au moins en fonction des signaux reçus de la poignée de commande.

The invention more particularly relates to a load handling device comprising:

• drive means for moving a gripper of the load, such as a suction cup or a gripper, so as to cause the load in displacement, preferably at least up and / or down, said gripper being able to present a so-called active configuration in which the load is grasped by said gripper and a so-called inactive configuration in which the gripper can be moved freely with respect to the load,
• a control handle of the drive means in displacement, said handle comprising at least two parts respectively said one fixed, the other mobile forming the part that can be grasped by the operator, these fixed and movable parts, preferably drivable on the move by said means for moving the gripper, being moved relative to each other, said handle comprising data transmission means representative of the relative displacement and / or the relative position between the fixed and movable parts of the handle for controlling said drive means in displacement,
• control means for activating and deactivating the load gripper,
• data processing means configured at least to receive signals from the control handle corresponding to the relative displacement and / or the relative position between the fixed and movable parts of said handle and to issue control instructions to the driving means; moving the gripper at least according to the signals received from the control handle.

We know of the state of the art, and in particular the document US 6386513 , a device as described above. However, with known load handling devices of the state of the art, the taking of a load is carried out by bringing the gripper to the level of the load with the aid of a control handle moving the gripper , then pressing with a thumb on a specific button of this handle to activate the gripper. Similarly, the charging is effected by bringing the load to the height of its receiving area using the control handle, then pressing with the thumb on said specific button of the handle or another button on the deposit handle. Thus, in the handling devices of the state of the art, the control means for activating and deactivating the gripper are formed by one or more specific buttons of the control handle moving the gripper and the operator must, to press the button (s), apply your next thumb movements that can cause musculoskeletal disorders (MSD).

The documents EP-0108725 and FR-2511921 each offer a load handling device that provides an automatic load-taking function. However, none of these handling devices describes a function of removing the load without having to press a specific button. The operator therefore remains at risk of musculoskeletal disorder. In addition, the safety problem related to a possible inadvertent press on the button of removal of the load is not solved.

The object of the present invention is to propose a load handling device which makes it possible to carry out the loading and depositing operations of the load by reducing the risk of the appearance of musculoskeletal disorders (MSDs) for the operator.

Another object of the invention is to provide a more secure operating load handling device, that is to say for which the risk is reduces the load is released from the gripper while it is moved or is located at an altitude too high relative to its receiving medium.

• des moyens d'entrainement en déplacement d'un préhenseur de la charge, tel qu'une ventouse ou une pince, de manière à entrainer la charge en déplacement, de préférence au moins en monte et/ou baisse, ledit préhenseur étant apte à présenter une configuration dite active dans laquelle la charge est saisie par ledit préhenseur et une configuration dite inactive dans laquelle le préhenseur peut être déplacé librement par rapport à la charge,
• une poignée de commande des moyens d'entrainement en déplacement, ladite poignée comportant au moins deux parties dites respectivement l'une fixe, l'autre mobile formant la partie saisissable par l'opérateur, ces parties fixe et mobile, de préférence entrainables en déplacement par lesdits moyens d'entrainement en déplacement du préhenseur, étant animées d'un déplacement relatif entre elles, ladite poignée comprenant des moyens d'émission de données représentatives du déplacement relatif et/ou de la position relative entre parties fixe et mobile de la poignée permettant de commander lesdits moyens d'entrainement en déplacement,
• des moyens de commande d'activation et de désactivation du préhenseur de la charge,
• des moyens de traitement de données configurés au moins pour recevoir des signaux de la poignée de commande correspondant au déplacement relatif et/ou à la position relative entre parties fixe et mobile de ladite poignée et pour émettre des consignes de pilotage aux moyens d'entrainement en déplacement du préhenseur au moins en fonction des signaux reçus de la poignée de commande,
  caractérisé en ce que
  les moyens de commande d'activation et de désactivation du préhenseur de la charge sont à commande automatique et comprennent au moins un capteur apte à émettre automatiquement un signal qui, seul ou en combinaison avec le signal d'au moins un autre capteur, est représentatif de l'état prêt à poser ou prêt à saisir de la charge,
  les moyens de traitement étant configurés pour commander l'activation du préhenseur pour la prise de la charge et la désactivation dudit préhenseur pour le dépôt de la charge, l'activation et la désactivation du préhenseur étant commandées au moins en fonction dudit signal et/ou de la combinaison de signaux,
  et/ou
  les moyens de commande d'activation et de désactivation du préhenseur de la charge sont à commande manuelle et comprennent un unique organe de commande manuelle formé par ladite partie mobile de la poignée, les moyens de traitement étant configurés pour commander l'activation du préhenseur lorsqu'un mouvement prédéterminé et/ou une position prédéterminée de ladite partie mobile de la poignée correspondant à une consigne d'activation du préhenseur est détecté(e) par les moyens de traitement,
  et pour commander la désactivation du préhenseur lorsqu'un mouvement prédéterminé et/ou une position prédéterminée de ladite partie mobile de la poignée correspondant à une consigne de désactivation du préhenseur est détecté(e) par les moyens de traitement.

For this purpose, the invention relates to a load handling device comprising:

• drive means for moving a gripper of the load, such as a suction cup or a gripper, so as to cause the load in displacement, preferably at least up and / or down, said gripper being able to present a so-called active configuration in which the load is grasped by said gripper and a so-called inactive configuration in which the gripper can be moved freely with respect to the load,
• a control handle of the drive means in displacement, said handle comprising at least two parts respectively said one fixed, the other mobile forming the part that can be grasped by the operator, these fixed and movable parts, preferably drivable on the move by said means for moving the gripper, being moved relative to each other, said handle comprising data transmission means representative of the relative displacement and / or the relative position between the fixed and movable parts of the handle for controlling said drive means in displacement,
• control means for activating and deactivating the load gripper,
• data processing means configured at least to receive signals from the control handle corresponding to the relative displacement and / or the relative position between the fixed and movable parts of said handle and to issue control instructions to the driving means; moving the gripper at least according to the signals received from the control handle,
  characterized in that
  the activation and deactivation means of the load gripper are automatically controlled and comprise at least one sensor able to automatically transmit a signal which, alone or in combination with the signal from at least one other sensor, is representative of the state ready to be installed or ready to seize the load,
  the processing means being configured to control the activation of the gripper for the taking of the load and the deactivation of said gripper for depositing the load, the activation and deactivation of the gripper being controlled at least according to said signal and / or the combination of signals,
  and or
  the load gripper activation and deactivation control means are manually controlled and comprise a single manual control member formed by said movable portion of the handle, the processing means being configured to control the activation of the gripper when a predetermined movement and / or a predetermined position of said movable portion of the handle corresponding to an activation instruction of the gripper is detected (e) by the processing means,
  and to control the deactivation of the gripper when a predetermined movement and / or a predetermined position of said movable portion of the handle corresponding to a set point of deactivation of the gripper is detected (e) by the processing means.

With such a design of the control means for activating and deactivating the gripper, it is not necessary to provide a specific button on the control handle moving the gripper to activate and deactivate the gripper. Thus, the taking or depositing of the load is effected by a particular movement or position of the handle or automatically, without the operator having to make binding movements for his fingers, in particular the thumb, which could cause him musculoskeletal disorders (MSDs).

In addition, such activation and deactivation control means make it possible to reduce the risks of inadvertent release of the load, unlike the devices of the state of the art for which the operator can inadvertently press the button dedicated to the deposit of the load.

• la figure 1 est une vue schématique du dispositif de manutention selon l'invention équipé d'une structure porteuse ;
• la figure 1A est une vue de la poignée du dispositif de manutention selon l'invention de la figure 1 ;
• la figure 2 est une vue schématique du dispositif de manutention selon l'invention montrant les liaisons entre les différents organes électroniques du dispositif de manutention et les moyens de traitement dudit dispositif ;
• la figure 2A est une vue schématique d'un capteur de distance situé sur le préhenseur du dispositif de manutention de la figure 2 ;
• la figure 2B est une vue schématique d'un capteur d'effort disposé sur le lien du dispositif de manutention de la figure 2 ;
• la figure 3 est une vue schématique du préhenseur en descente équipé d'un capteur de contact, à l'état inactif du préhenseur ;
• la figure 3A est une vue schématique du capteur de contact équipant le préhenseur de la figure 3, à l'état inactif du capteur de contact ;
• la figure 4 est une vue schématique du préhenseur en appui sur la charge posée ;
• la figure 4A est une vue schématique du capteur de contact équipant le préhenseur de la figure 4, à l'état actif du capteur de contact ;
• la figure 5 est une vue schématique du préhenseur en prise avec la charge, en montée, à l'état actif du préhenseur ;
• la figure 5A est une vue schématique du capteur de contact équipant le préhenseur de la figure 5, à l'état actif du préhenseur et à l'état inactif du capteur de contact.

The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:

• the figure 1 is a schematic view of the handling device according to the invention equipped with a bearing structure;
• the Figure 1A is a view of the handle of the handling device according to the invention of the figure 1 ;
• the figure 2 is a schematic view of the handling device according to the invention showing the connections between the various electronic devices of the handling device and the processing means of said device;
• the Figure 2A is a schematic view of a distance sensor located on the gripper of the handling device of the figure 2 ;
• the Figure 2B is a schematic view of a force sensor disposed on the link of the handling device of the figure 2 ;
• the figure 3 is a schematic view of the descent gripper equipped with a contact sensor, in the inactive state of the gripper;
• the figure 3A is a schematic view of the contact sensor fitted to the gripper of the figure 3 , in the inactive state of the contact sensor;
• the figure 4 is a schematic view of the gripper bearing on the load laid;
• the Figure 4A is a schematic view of the contact sensor fitted to the gripper of the figure 4 in the active state of the contact sensor;
• the figure 5 is a schematic view of the gripper engaged with the load, mounted, in the active state of the gripper;
• the Figure 5A is a schematic view of the contact sensor fitted to the gripper of the figure 5 , in the active state of the gripper and in the inactive state of the contact sensor.

* Referring to the figures and as recalled above, the invention relates to a load handling device 1 which comprises means 2 for moving the load 3, preferably at least goes up and / or down.

As illustrated in figure 1 , said displacement drive means 2 are formed at least by a winch 21 consisting of a drum around which is able to wind and unwind a link 6, such as cable, rope, chain, to move the load in goes up and / or down. For this purpose, the link 6 is equipped with a gripper 11 of the load. The means 2 for moving the load 3 are also referred to as means 2 for moving the gripper 11. This gripper may for example be formed of one or more suction cups as illustrated in FIG. figure 1 , a clip or a hook. The unwinding or winding of the link is performed by a motor 20 controlled by processing means 7 detailed below.

The winch and the motor are carried by a carrier structure 10. It can be provided that said drive means 2 are mounted movable relative to the carrier structure 10 for example in the horizontal plane. To do this, the carrier structure 10 can be equipped with rails extending in the horizontal plane and the motor and winch assembly can be fixed on a frame slidable along said rails. Alternatively, it can be provided that the drive means 2 are carried by an articulated bracket allowing movement in the horizontal plane of the drive means 2 and therefore the load.

The handling device comprises a handle 4 for controlling the drive means 2 in displacement. Said handle 4 comprises at least two parts 4A, 4B, respectively one fixed 4A, the other 4B mobile. These fixed and mobile parts 4A, 4B are driven by a relative movement between them. Preferably, these portions 4A, 4B are movable in displacement by said drive means in displacement 2 of the load. In particular, the fixed portion 4A of the handle is mounted integral with the link 6 and the movable portion 4B of the handle is embedded on the movable element formed by the fixed part of the handle.

As illustrated in Figure 1A , the handling device comprises a sensor 5 preferably contactless, said intention, providing data representative of the distance D4 between parts 4A, 4B fixed and movable handle. The movable part 4B of the handle forms the part that can be grasped by the operator, and the distance of said part 4B from the fixed part 4A makes it possible to control said drive means in displacement 2. Said part 4B is able to take less a position relative to the fixed part 4A, corresponding to a so-called neutral distance between the fixed and mobile parts for which the drive means 2 in motion are inactive.

It should be noted that the distance between the fixed and movable portions of the handle means the relative position of a given point of the movable portion of the handle relative to a given point of the fixed part. Thus, the intention sensor provides data representative of the position of the movable portion relative to the fixed portion of the handle.

Said intention sensor 5 is here an inductive sensor, also called Hall effect sensor. The sensor 5 is carried by the fixed portion 4A of the handle and disposed facing a member of the movable portion of the handle made of a magnetizable metal material (as opposed to a non-magnetic material). The sensor and the magnetizable metal element are arranged so that their relative position varies as the moving part is moved relative to the fixed part of the handle. In the example illustrated in the figures, the fixed part 4A of the handle has an elongated body equipped at its upper end with a housing housing the intention sensor. The movable portion 4B of the handle is in the form of a sleeve threaded onto the elongate body of the fixed portion for sliding mounting along said body of the fixed portion. Said sleeve is equipped with an upper plate 41, forming said element of magnetizable metal material, located opposite the sensor 5.

As a variant, said intention sensor may be an optical sensor for example laser or ultrasonic sensor, or any other type of sensor for measuring the displacement of the movable portion relative to the fixed portion of the handle.

Said gripper 11 is able to present a so-called active configuration in which the load is gripped by said gripper and a so-called inactive configuration in which the gripper can be moved freely relative to the load. For the passage from one configuration to another of the gripper, the device comprises means for controlling activation and deactivation of the gripper 11 of the load.

Said device comprises data processing means 7 configured at least to receive signals from the control handle 4 corresponding to the relative position between the fixed and movable parts of said handle and to issue control instructions to the drive means 2. moving the gripper 11 at least according to the signals received from the control handle.

The data processing means 7 are of the digital type and comprise data storage means. The data storage means make it possible to memorize the neutral distance of the handle for which the moving drive means 2 must remain inactive. Said digital data processing means 7 are designed to generate control instructions for the load displacement drive means 2 as a function of at least the measured distance D4 by the stationary and mobile fixed part 4A, 4B sensor 5 handle and said neutral distance.

It should be noted that when reference is made to a load speed instruction, this is translated physically for the device by a speed reference of the winch motor (in one direction or the other), which corresponds to also at a set speed of winding or unwinding of the link winch controlled by the engine.

The digital data processing means 7 are for example formed by a microprocessor. Thus, when in the following description it is specified that the processing means 7 are configured to perform a given operation, such as the issuance of a control command of the displacement of the load, it means that the microprocessor comprises computer instructions for performing said operation. It is also provided means for converting the analog signal from the intention sensor 5 into a digital signal adapted to the digital processing means (here the microprocessor) and means for converting the digital signal from the data processing into an analog signal adapted to the control of the driving means in displacement of load (here the motor of the winch).

Said processing means 7 can be housed in the fixed part of the handle or in another part of the device. The communication between the processing means 7 and the other corresponding elements of the device, such as the different sensors used which transmit input data and the motor which receives setpoint signals from the processing means 7, is realized from preferably by wire connection. Alternatively, it could be provided that the communication is wireless (for example radio type).

The driving instruction of the moving means is calculated from the comparison of the distance measured between the fixed and mobile parts of the handle with the stored neutral distance. This comparison makes it possible to detect the desired direction of movement of the load and the desired speed. In particular, the larger the difference between the measured distance and the neutral distance, the higher the target speed is important. Said movable portion of the handle is thus mounted movably between a so-called low end position remote from the fixed part, for which the descent load displacement speed is maximum, and a so-called high end position. close to the fixed part, for which the speed of movement of the load in ascending order is maximum. The equilibrium position corresponds to a setpoint of zero displacement speed of the load.

By deriving the reference speed in time, the processing means can determine a corresponding reference acceleration. Thus, the driving in displacement of the load can be realized according to a speed and / or a acceleration of setpoint, in rise or in descent.

The digital data processing means 7 are configured to memorize said neutral distance and to allow updating of this memorized neutral distance.

As illustrated in Figure 1A , the handle 4 comprises return means 9, for example resilient, such as a spring or flexible blades, of the movable part 4B in at least one position of equilibrium with respect to the fixed part 4A of said handle corresponding to said neutral distance between fixed and movable parts.

Said device comprises a sensor 8 said grasping the handle, allowing for example to detect the presence of a hand on the handle. Said digital data processing means 7 are configured to memorize, as neutral distance, the distance between the fixed and movable parts of the handle for which, in the absence of detection of gripping of the handle by said capture sensor 8, the The signal emitted by the intention sensor 5 is stable for a predetermined time that can be modified and / or parameterized. Preferably, the processing means 7 record the equilibrium position of the handle corresponding to the neutral distance at least each time the device is powered up.

Advantageously, said digital data processing means 7 are configured to generate a motion control signal of the load on rise and / or fall, when the distance between the fixed parts 4A and mobile 4B of the handle 4 measured by the intention sensor 5 is outside at least a range of distances, called the activation game, whose terminals are preferably modifiable and / or parameterizable. Said activation game is preferably centered on the equilibrium position of the handle (stored as a neutral distance).

According to a first embodiment of the invention, the activation and deactivation control means of the gripper 11 of the load 3 are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of at least one other sensor, is representative of the state ready to be installed or ready to enter the load.

The device according to the invention has a dual function of taking and removing the load by the gripper. The processing means 7 are configured to control the activation of the gripper for the taking of the load and the deactivation of said gripper for depositing the load as a function of at least said signal and / or the combination of signals. Of course the device is configured to perform these two operations of setting and depositing selectively. These two operations of taking and depositing the load, selectively executable, are both implemented in the processing means of the device according to the invention.

In other words, as detailed below, for the automatic control mode, the processing means control the activation of the gripper in certain conditions according to the signal or signals received, and control the deactivation of said gripper in other conditions according to the signal or signals received.

The design of the activation and deactivation control means of the gripper 11 in the form of sensors for detecting the state ready to placing or grasping the load, allows the taking and depositing of the load automatically, without manual intervention of the operator other than the actuation of the handle 4 for bringing the gripper 11 to the level of the load 3 with a view to taking up the load or for bringing the gripper assembly 11 and load 3 to the level of the load-receiving support, for the purpose of laying said load.

Preferably, the device comprises means for storing the active or inactive state of the gripper. To do this, at each setting or deposit operation, the processing means assign a value, for example 0 or 1, to a parameter associated with the state of the gripper 11. The value 1 corresponds to an active state of the gripper 11, that is to say, engaged with the load, and the value 0 corresponds to an inactive state of the gripper 11, that is to say free with respect to the load. Said state parameter is preferably initialized to the value 0, the gripper 11 being initially free with respect to the load 3. Thus, the handling device knows the state of the gripper 11 permanently. During each operation of setting or placing the load 3 by the gripper 11, the value of the state parameter is modified so as to indicate that the gripper 11 is engaged with, or free of, the load 3 .

As detailed below, the value of the state parameter of the gripper 11 is combined with the information given by the sensors to decide whether to trigger the activation or deactivation of the gripper. In other words, the processing means are configured to control the activation and deactivation of the gripper based on at least the signal or signals emitted by the sensor or sensors and at least the state of the gripper at the time of receiving the signal or signals from the sensors. Thus, when the sensor (s) transmit to the processing means (7) a signal or a combination of signals representative of the state ready to put on or seize the load, the processing means (7) generate a change of state of the gripper so that if the gripper was free in relation to the load, the gripper is activated and if the gripper was engaged with the load, said gripper is disabled. Activation or deactivation of the gripper is then carried out reliably and easily, without particular stress on the members of the operator who could cause musculoskeletal disorders (MSD).

Advantageously, said automatic control means are formed at least by a sensor 51 of speed and / or acceleration of displacement, preferably at least in the up-down direction, of the gripper or of an element that can be moved by the gripper. This sensor is formed here by an accelerometer. The speed to be measured of the load or the gripper is obtained by integrating the signal representative of the acceleration provided by the accelerometer.

In the example illustrated in the figures, said accelerometer 51 is fixed on the gripper 11. Alternatively, it can be provided that the accelerometer 51 is fixed on an integral element moving the gripper such as the link 6 or the fixed part of the handle 4.

The accelerometer can be used to detect whether the gripper is resting on the load, or for taking the load if the gripper 11 was hitherto free from the load, or for the laying of said load if the gripper He was hitherto engaged with the charge. When the assembly formed of the gripper 11 and the load 3 comes into bearing contact with the support of the load, or when the gripper 11 comes into bearing contact with the load 3 to be taken, a shock occurs which can be detected by the accelerometer. Such an impact corresponds to a large acceleration value in rise or fall and, possibly, a sudden variation of the acceleration measured by the accelerometer, or to an acceleration in the opposite direction to the driving instruction.

• le capteur mesure une accélération supérieure à une valeur seuil donnée positive modifiable et/ou paramétrable, ou inférieure à une valeur seuil donnée négative modifiable et/ou paramétrable,
  et, éventuellement, la variation d'accélération sur une durée donnée modifiable et/ou paramétrable est supérieure à une valeur seuil donnée positive modifiable et/ou paramétrable, ou est inférieure à une valeur seuil donnée négative modifiable et/ou paramétrable,
• et/ou, le capteur mesure une accélération en sens opposé à celui de la consigne de pilotage du lien.

The processing means can thus be configured in such a way that the control of the activation or deactivation of the gripper requires that at least the following condition be fulfilled:

• the sensor measures an acceleration greater than a positive, modifiable and / or parameterizable positive threshold value, or less than a modifiable and / or parameterizable negative threshold value,
  and, optionally, the acceleration variation over a given modifiable and / or parameterizable duration is greater than a modifiable and / or parameterizable positive given threshold value, or is smaller than a modifiable and / or parameterizable negative threshold value,
• and / or, the sensor measures an acceleration in the opposite direction to that of the steering control of the link.

Preferably, the activation or deactivation of the gripper requires at least that, on the one hand, a shock is detected by the accelerometer as detailed above, and, secondly, that after detection of this shock and for a given changeable and / or configurable duration, the measured speed of the load is substantially zero, which makes it possible to verify that the load is stopped in its displacement.

When the above requirement (s) are fulfilled, the load is in the ready-to-fit state. The processing means 7 generate a load setting instruction, that is to say activation of the gripper if it was previously in the inactive state, that is to say free relative to to the charge. Conversely, if the gripper was in the active state, that is to say in engagement with the load, the processing means control the deactivation of the gripper, that is to say the laying of the load.

As detailed below, it is preferable for security reasons, to configure the processing means 7 so that they trigger the installation or the taking of the load only if, on the one hand, the signals emitted by the accelerometer makes it possible to detect a shock and possibly a substantially zero speed of the load after the shock, and, on the other hand, another sensor confirms that the load is ready to put or ready to grip, such as a distance sensor between the gripper and the ground. Such a combination of different sensors makes it possible to ensure that the load is not likely to be dropped when it is too high. Indeed, the load was able to stop against an obstacle on its trajectory downhill or uphill.

In combination or not with the accelerometer 51 as described above, it can be provided that said automatic control means are formed at least by a sensor (not shown) of the distance between the gripper 11 and a laying surface (or reception) of the load.

The distance sensor between the gripper and the load support is preferably carried by the gripper and preferably directed downwards.

The processing means can thus be configured in such a way that the control of the activation or deactivation of the gripper requires that at least the following condition be fulfilled: for a predetermined modifiable and / or parameterizable duration, the distance measured between the gripper and the laying surface of the load is less than a given modifiable and / or parameterizable threshold value corresponding to a position of applying the load on the laying surface.

Preferably, when such a distance sensor thus configured is used, the processing means comprise means for storing the height of the load, so as to define the distance between the gripper and the load-laying surface to be associated with the load. said processing means in the state ready to put on or seize the load. This representative distance of the state ready to pose or to seize the load corresponds substantially to the height of the load, possibly added to the height existing between the position of said sensor and the position of the part bottom of the gripper in contact with the load, in the gripping state of the gripper and the load.

Thus, when the distance measured is less than the threshold distance representative of the state ready to set or to seize the load, the processing means control either the activation of the gripper if said gripper was so far in the inactive state , that is to say, released from the load, or the deactivation of the gripper if it was in the active state, that is to say in engagement with the load.

In combination or not with the accelerometer 51 and the distance sensor as described above, it can be provided that said automatic control means are formed at least by a sensor 53 of the distance between the gripper and the load, said sensor distance is preferably carried by the gripper and preferably directed downwards.

The processing means can thus be configured in such a way that the control of the activation or deactivation of the gripper requires that at least the following condition be fulfilled: for a predetermined modifiable and / or parameterizable duration, the distance measured between the gripper and the load is less than a modifiable and / or parameterizable threshold value, corresponding to a position of application of the gripper on the load.

Thus, when the gripper 11 approaches the load 3 to be taken so that the distance between gripper and load becomes less than said threshold distance, the processing means 7 trigger the taking of the load if the gripper was inactive. In the case where the load is already engaged, the passage of the threshold triggers the installation of the load.

For this purpose, said distance sensor is configured such that, when the gripper 11 bears on the load 3 whose weight is taken up by the laying surface of the load, that is to say at the state of the load and in the state of support of the gripper 11 on said load 3, the sensor 53 is located at a given distance from the upper part of the load 3 which is lower than said threshold distance corresponding to a state ready to enter or to put the load. The sensor 53 is also configured with the gripper 11 so that when the gripper 11 no longer rests on the load 3, that is to say in the suspended state of the gripper 11 by the link 6 means of drive 2, said gripper being or not engaged with the load, the distance between the sensor 53 and the upper part of the load 3 is greater than said threshold distance.

More specifically, it can be provided that the gripper 11 has a vertical clearance with the load 3 so as to allow the sensor 53 to be brought closer to the load in the bearing position of the gripper 11 on the load 3 and to be removed from said load 3 when the gripper 11 is suspended by the link 6 of the drive means 2. This vertical clearance may correspond to a possible deformation of the gripper 11 in abutment against the load 3, in particular in the case where the gripper comprises at least a sucker. Thus, the gripper 11 engaged with the load 3 is slightly movable relative to the load. Once the load lifted from its support surface, the distance between the gripper and the load increases slightly and becomes greater than the threshold previously defined, which allows the processing means 7 to detect that the load is no longer in the ready state to deposit or seize. Conversely, when the load is lowered to its support and the gripper rests on the load, the gripper collapses slightly on the load under the effect of its weight so that the distance measured is less than the only defined. The processing means then detect that the load is in the ready state to pose or seize.

In combination or not with one or more of the sensors described above, such as the accelerometer 51, or the distance sensors 53, it can be provided that said automatic control means are formed at least by a sensor 52 of measuring a signal representative of the effort to which the link is subjected. The force sensor 52 is formed here by a load cell and is interposed between the link 6 and the handle 4, above said handle. One could also provide that the force sensor is interposed between the link 6 and another element drivable by the link 6, such as the gripper 11, being located above said entrainable element.

When the gripper 11, engaged or not with a load, is suspended from the link 6 to be moved up and down, the weight of the gripper 11 is fully taken over by the link 6 and the force sensor 52 disposed on the link 6 measures a force corresponding at least to the weight of the gripper. In the set state of the load on its support surface and in the set state of the gripper resting on the load, the gripper is no longer suspended by the link 6 and the force sensor measures a force less than that for which the gripper is suspended at the link. An adjustable and / or parameterizable force threshold value is thus defined below which the processing means 7 consider that the gripper 11 rests on the load 3 and the processing means can be configured in such a way that the control activation or deactivation of the gripper requires that at least the following condition be fulfilled: for a predetermined modifiable and / or parameterizable duration, the value of the effort to which the link is subjected is less than said effort threshold value.

Thus, if the load measured by the load cell falls below the predefined threshold value then the grip is triggered, if the gripper was not already engaged. Conversely, if the gripper was already engaged, the deposit is triggered.

In combination or not with one or more of the sensors described above, such as the accelerometer 51, or the sensors 53 or the force sensor 52, it can be provided that said automatic control means are also formed at less by a sensor 54 of bearing contact of the gripper on the load. Alternatively, it can be provided that the sensor 54 of the state of contact is configured to detect the state of contact of the handle 4 on the gripper 11.

As illustrated in FIGS. 3A, 4A, and 5A , the contact sensor 54 is located on a portion of the gripper facing the ground. In the example illustrated in the figures, the contact sensor 54 comprises a so-called fixed portion 541, integral in displacement of the gripper 11 and a so-called mobile portion 542 slidably mounted between two stop positions, one in which the movable portion 542 comes in contact with the fixed portion 541 and the other in which said movable portion 542 is biased away from the fixed portion 541, by gravity. The two parts 541, 542 are housed in a hollow body 540 which forms sliding guide of the mobile part 542. The movable part 542 is formed of a head, able to come into contact with the fixed part 541 of the sensor, which is located at the end of a stem. Said rod is oriented downwards and extends out of the body 540 through an opening in said body.

As explained above, the gripper 11 has a vertical clearance with the load 3. Thus, when the gripper bears on the load, the suction cups of the gripper 11 are deformed slightly and the rod of the movable portion 542 comes into abutment against the load 3, which causes the head of said movable portion 542 to come into contact with the fixed portion 541 of the sensor 54. This state of contact of the sensor 54 corresponds to a bearing contact of the gripper 11 on the load 3 and generates a signal to the processing means 7 which then considers that the load is in a state ready to put or grab. When the gripper 11 is raised, with or without load, the rod of the movable portion 542 no longer bears against the load 3 and then departs from the fixed portion 541 by gravity.

The processing means can thus be configured in such a way that the control of the activation or deactivation of the gripper requires that at least the following condition be fulfilled: said contact state is detected, preferably for a predetermined modifiable duration, and / or configurable. The treatment means then control either the activation of the gripper if the gripper was inactive, or the inactivation of the gripper if the gripper was active.

Among the sensors described above, the so-called relative reference sensors, such as the accelerometer, the sensor between the gripper and the load, and the contact sensor between the gripper and the load, which provide information corresponding to the sensor, can be distinguished. state ready to set or to seize the load relative to an element of the device, and the so-called absolute reference sensors, such as the distance sensor between the gripper and the ground and the force sensor (or load cell) giving a direct information of the state ready to pose or seize charge.

Although it is conceivable to use alone each of the different sensors as described above to trigger the taking or deposit of the load, it is preferable as described below, that the control of the activation or the Disabling the gripper requires that several conditions associated with different sensors are fulfilled. In other words, it is preferable for the processing means 7 to trigger the activation or deactivation of the gripper only if they receive at least one particular combination of signals from at least two different sensors in order to increase reliability and reliability. safety of the operations of taking and depositing the load. In particular, it is advantageous to combine a relative reference sensor and an absolute reference sensor.

It can thus be expected that the triggering of the laying or the taking of the load is carried out at least according to the signals received from the accelerometer 51 and the signals received from the force sensor 52. According to this first combination of sensors, when the processing means 7 detect a shock and, possibly after this shock, a speed of the gripper or the load lower than a threshold value chosen as corresponding to a stopped state of the load, and that at the same time, the stress detected on the link is less than another threshold value chosen as corresponding to a state of the load on its support, then said processing means 7 control the deposition of the load on the ground, if the gripper was inactive, and the seizure of the load if the gripper was active.

Such a combination makes it possible in particular to avoid triggering a load installation if an impact is recorded during the movement of the load, while the weight of the load is still mainly supported by the handling device.

In the case of such a combination of different sensors, the threshold value of effort corresponding to a free state of the link with respect to the load (that is to say a set state) can be chosen as being less than corresponding threshold value which is chosen when the force sensor is the only sensor used to control the activation or deactivation of the gripper. In general, the larger the number of sensors used in combination, to detect the state ready to put or to seize the load, the more the threshold value of each sensor can be raised with respect to the threshold value that would be associated to this sensor in the case of a combined use of a lower number of sensors. Of course, when the sensor used is configured to detect a ready state or enter the load if the value of the parameter it measures is greater than a given threshold value, it can be expected to lower this threshold value if several sensors different are used in combination to control the activation or deactivation of the gripper.

In a manner similar to the combination of the force and acceleration sensors described above, it is possible to combine the signals of the force sensor and the contact sensor to control the activation or deactivation of the gripper.

It is also possible to combine the signals received from the accelerometer with the signals received from the distance sensor relative to the ground to control the setting or depositing of the load. For this purpose, when signals emitted by the acceleration sensor correspond to the detection of a shock and, possibly, to the detection of the stopping of displacement of the load after said impact, as explained above, and when the distance measured between the gripper and the load bearing surface is less than a threshold distance corresponding to a state ready to set or to seize the load, then the processing means control the taking of the load if the gripper was hitherto inactive. Conversely, the processing means control the deposition of the load if the gripper was in the active state.

Such a combination of sensors makes it possible to avoid releasing the load while it is at a significant distance from the ground.

• le capteur de distance entre préhenseur et charge, avec le capteur d'effort, ou
• le capteur de distance entre préhenseur et charge, avec le capteur de distance entre préhenseur et surface support de la charge, ou
• le capteur d'effort avec le capteur de distance entre préhenseur et surface support de la charge,
• le capteur de contact avec le capteur de distance entre préhenseur et surface support de la charge, ou
• l'accéléromètre avec le capteur de distance entre préhenseur et charge, ou
• l'accéléromètre avec le capteur de contact.

Alternatively, it can also control the activation or deactivation of the gripper based on other combinations of sensors. It is thus possible, for example, to make a combination using:

• the distance sensor between gripper and load, with the force sensor, or
• the distance sensor between the gripper and the load, with the distance sensor between the gripper and the support surface of the load, or
• the force sensor with the distance sensor between the gripper and the support surface of the load,
• the contact sensor with the distance sensor between the gripper and the support surface of the load, or
• the accelerometer with the distance sensor between gripper and load, or
• the accelerometer with the contact sensor.

These different combinations make it possible to overcome the various disadvantages of each of the sensors, and thus to have more precise information on the state of the gripper and the load for triggering the setting or deposit at the right moment.

For a given combination of sensors, the processing means 7 verify, for each sensor, whether the condition or conditions representative of the state ready to put on or seize the load, as described above, are satisfied. If so, the processing means 7 control the taking of the load if the gripper was in the inactive state or the deposition of the load if the gripper was in the active state.

• l'accéléromètre, le capteur d'effort et le capteur de distance entre préhenseur et surface de pose ; ou
• le capteur de distance entre préhenseur et charge, le capteur d'effort et le capteur de distance entre préhenseur et surface de pose ; ou
• le capteur de contact, le capteur d'effort et le capteur de distance entre préhenseur et surface de pose ; ou
• l'accéléromètre, le capteur de distance entre préhenseur et charge et le capteur de distance entre préhenseur et surface de pose ; ou
• l'accéléromètre, le capteur de distance entre préhenseur et charge et le capteur d'effort ;
• l'accéléromètre, le capteur de contact et le capteur de distance entre préhenseur et surface de pose ;
• l'accéléromètre, le capteur de contact et le capteur d'effort.

Similar to the sensor combinations described above, it is possible to combine a larger number of different sensors to control the activation or deactivation of the gripper in order to obtain a greater redundancy of the information. We will be able to combine

• the accelerometer, the force sensor and the distance sensor between the gripper and the laying surface; or
• the distance sensor between the gripper and the load, the force sensor and the distance sensor between the gripper and the laying surface; or
• the contact sensor, the force sensor and the distance sensor between the gripper and the laying surface; or
• the accelerometer, the distance sensor between the gripper and the load and the distance sensor between the gripper and the laying surface; or
• the accelerometer, the distance sensor between gripper and load and the force sensor;
• the accelerometer, the contact sensor and the distance sensor between the gripper and the laying surface;
• the accelerometer, the contact sensor and the force sensor.

Advantageously, it is possible to provide that under predetermined conditions for which the processing means 7 are in a zone of uncertainty and fail to detect the state ready to set or to seize the load, for example the due to a displacement of the load that is too slow, the processing means 7 are configured to control a fast backward movement of the gripper that is imperceptible to the operator. Depending on the detection or not by the sensor (s) of this controlled movement, the processing means can detect the state ready to set or seize the load, or the opposite state, and thus leave their zone of uncertainty .

The processing means comprise means for transmitting priority steering commands capable, as a function of one or more events detected by the processing means, to modify the steering setpoint in movement of the gripper 11 corresponding to the signals from the handle . In other words, the piloting instructions issued by said priority control direction transmission means have priority over the steering commands associated with moving the movable portion of the handle relative to the fixed portion.

Thus, the processing means are designed for following a so-called input event trigger the means of issuing priority instructions that frame the control of the movement of the load by issuing priority control instructions. The means for issuing priority instructions can be deactivated following another so-called output event. The detection of said events may be associated with the reception by the particular signal processing means and / or parameter values such as the travel distance, a duration or a measured effort as detailed below.

In particular, it can be provided that, preferably after the control of the activation or the deactivation of the gripper 11, the means for issuing priority instructions are configured for, during a predetermined modifiable and / or parameterizable duration, modifying the instruction driving the drive means 2 for moving the gripper 11 in the direction of stopping or limiting the speed and / or the acceleration of the displacement of the gripper 11. Such a configuration of the processing means makes it possible to allow the gripper 11 time to grasp or deposit the load 3 before continuing to manipulate the handling device. In particular, in the case where the gripper is a suction cup, it is necessary to ensure that the suction cups applied against the load have been depressed long enough to allow the taking of said load.

Similarly, it can be provided that at least after the control of the activation or the deactivation of the gripper 11, the means for issuing priority instructions are configured for, over a given displacement distance of the link, modifiable and / or or parameterizable, modify the driving instruction of the driving means 2 for moving the gripper 11 in the direction of a limitation of the speed and / or acceleration of the displacement of the gripper 11.

The limitation of the speed and / or the acceleration of the link movement over a given duration and / or distance after taking or depositing the load makes it possible to reduce the risk of an accident related to the handling of said load. In addition, after taking the load, the device does not perceive the weight of the load until the link is sufficiently stretched to allow the lifting of the load. The limitation of the speed and / or the acceleration in displacement of the tie thus makes it possible to reduce the risk of impact in the moving drive means due to a sudden tension of the link resulting from a rapid lifting of the load. . Such a feature is particularly advantageous in the case of handling a bag where it is lifted by its handle.

Finally, it can also be provided that, said device comprising means for measuring a signal representative of a force exerted on the gripper 11 in a climb, the processing means are configured for, after the control of the activation of the gripper, adapting the control setpoint of the drive means 2 in displacement of the gripper 11 as a function of the measured force, in the sense of a limitation of the speed reference and / or acceleration of displacement.

Such a feature further reduces the risk of shock in the drive means taking into account the force experienced by the gripper. The measurement of effort can be obtained using a specific force sensor or by measuring the characteristics, such as the intensity and / or the voltage of the motor supply current 20.

The limitation of the speed and / or the acceleration can be achieved by modifying the sensitivity of the handle. For this purpose, the processing means 7 are configured to generate a speed setpoint Vcons so that for at least one given measured speed range Vmes, the ratio, denoted R, between, on the one hand, the set speed Vcons and, on the other hand, the difference, noted E, between the measured distance D4 and the neutral distance of the handle, decreases when the measured speed Vmes decreases. In other words, over said given range of measured speed, the ratio R increases as the measured speed increases.

The device is intended for its operation to be powered by the electrical sector. Said device also comprises means said relay means designed to take over the power supply of said device in case of power failure. Said relay means may be formed for example by an inverter, a capacitor, a battery and / or an electric generator. Said device also comprises means for managing the stopping of the movement of the load and / or bringing said load to a predetermined security position, and / or means for generating a warning signal. Said processing means are configured to activate said management means and / or said means for generating a warning signal when said relay means are active. The warning signal may be a visual and / or audible signal, a data record and / or the sending of data to a terminal outside the device.

The relay means thus make it possible to supply, for a given duration, the electrical or electronic components of the device, such as the motor 20 of the drive means 2, the different sensors and the processing means 7, which allows the operator to put the load safely. In particular, the use of such backup power relay means avoids a sudden stop of the device which could generate a shock at the link of the fact of sudden deceleration of the load. It can thus be provided that the processing means 7 are configured to detect a mains power failure and, using the relay means, control the drive means 2 so as to slow down the movement of the load 3 until at its stop, preferably in a position on its receiving surface.

According to a second embodiment of the invention, the control means for activation and deactivation of the gripper 11 of the load are manually controlled and comprise a single manual control member formed by the movable portion of the handle.

The processing means 7 are then configured to control the activation or deactivation of the gripper when a predetermined movement and / or a predetermined position of the moving part of the handle corresponding to an activation or deactivation of the gripper is detected. by the processing means. In other words, the processing means are configured to control the activation of the gripper when a predetermined movement and / or a predetermined position of said movable portion of the handle corresponding to an activation instruction of the gripper is detected (e) by the processing means, and for controlling the deactivation of the gripper when a predetermined movement and / or a predetermined position of said movable portion of the handle corresponding to a set point of deactivation of the gripper is detected (e) by the processing means.

As for the automatically controlled embodiment, the device according to this second manually controlled embodiment comprises a dual function of taking and depositing the load, the taking of the load being effected under predefined conditions and the removal of the load taking place under other predefined conditions.

Thus, when the control means for activating and deactivating the gripper are formed by the movable portion of the handle, a position and / or a specific movement of the movable portion of the handle, which is grasped by the hand of the operator, is sufficient to cause the installation or taking the load. To do this, the specific position and / or movement of the movable portion of the handle that controls said load intake or deposit is stored in the processing means and associated with the activation or deactivation control of the gripper.

It can be provided that the activation and deactivation control of the gripper are each associated with a specific position and / or movement distinct from the handle. Preferably, as recalled above, the device is equipped with means for detecting the activated or deactivated state of the gripper. Thus, it is possible to provide that the same position and / or specific movement of the movable portion of the handle serve as an activation and deactivation control signal, the selection of the activation or deactivation operation is performing according to the detected state of the gripper at the time of receiving the activation or deactivation control signal.

Thus, when the processing means 7 detect said position and / or the specific movement of the moving part of the handle and that the state of the gripper is hitherto deactivated, that is to say free of charge, the processing means 7 generate an activation instruction of the gripper to capture the load. In other words, the processing means 7, upon receipt of an activation or deactivation control signal, trigger a state change instruction of the gripper. Conversely, when said position and / or the specific movement of the movable portion of the handle are detected and the gripper has hitherto been activated, that is to say in engagement with the load, the processing means generate a setpoint disabling the gripper to place the load.

The choice of a specific position and / or movement of the moving part of the handle for controlling the activation or deactivation of the gripper makes it possible to achieve this control by moving the movable portion of the handle which is natural for the operator.

The present invention is not limited to the embodiments described and shown, but the skilled person will be able to make any variant within his mind.

Claims (10)

Load handling device (3) comprising: - Means (2) for driving a gripper (11) of the load, such as a suction cup or a gripper, in such a way as to cause the load (3) to move, preferably at least upwards, and or lowering, said gripper being able to present a so-called active configuration in which the load is gripped by said gripper and a so-called inactive configuration in which the gripper can be moved freely with respect to the load, a handle (4) for controlling the displacement drive means (2), said handle (4) comprising at least two parts (4A, 4B), respectively called one (4A) fixed, the other (4B) mobile forming the part capable of being grasped by the operator, these parts (4A, 4B) fixed and movable, preferably displaceable in displacement by said drive means in displacement (2) of the gripper, being animated by a relative displacement between them, said handle (4) comprising data transmission means (5) representative of the relative displacement and / or the relative position (D4) between the fixed and movable parts (4A, 4B) of the handle for controlling said means for traveling training (2), control means for activating and deactivating the gripper (11) of the load, data processing means (7) configured at least to receive signals from the control handle (4) corresponding to the relative displacement and / or the relative position between the fixed and movable parts of said handle and to issue instructions for controlling means (2) for driving the gripper (11) in movement at least as a function of the signals received from the control handle,
characterized in that
the activation and deactivation means of the gripper (11) of the load are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of at least one other sensor , is representative of the state ready to ask or ready to seize the charge,
the processing means being configured to control the activation of the gripper for the taking of the load and the deactivation of said gripper for depositing the load, the activation and deactivation of the gripper being controlled at least according to said signal and / or the combination of signals,
and or
the activation and deactivation means of the gripper (11) of the load are manually controlled and comprise a single manual control member formed by said movable portion of the handle, the processing means being configured to control the activation gripper when a predetermined movement and / or a predetermined position of said movable portion of the handle corresponding to an activation instruction of the gripper is detected (e) by the processing means,
and to control the deactivation of the gripper when a predetermined movement and / or a predetermined position of said movable portion of the handle corresponding to a set point of deactivation of the gripper is detected (e) by the processing means. Device according to Claim 1, characterized in that the device comprises means for memorizing the active or inactive state of the gripper (11),
and in that the processing means (7) control the activation or the deactivation of the gripper in function of at least the signal (s) emitted by the at least one sensor and at least the state of the gripper at the moment of receiving the signal or signals from the sensors. Device according to one of the preceding claims, of the type in which the control means for activating and deactivating the gripper (11) of the load are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of at least one other sensor, is representative of the state ready to set or ready to seize the load, the processing means being configured to control the activation of the gripper for the taking of the load and the deactivation of said gripper for the deposition of the load, the activation and deactivation of the gripper being controlled at least according to said signal and / or combination of signals,
characterized in that said automatic control means are formed by at least one sensor (51) speed and / or acceleration of movement of the gripper (11) or a trainable element in displacement by the gripper, said sensor (51 ) of speed and / or acceleration being preferably carried by the gripper and / or an integral element moving the gripper. Device according to one of the preceding claims, of the type in which the control means for activating and deactivating the gripper (11) of the load are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of at least one other sensor, is representative of the state ready to be installed or ready to capture the load, the processing means being configured to control the activation of the gripper for the taking of the load and deactivation of said gripper for deposition of the charge, activation and deactivation of the gripper being controlled at least according to said signal and / or combination of signals,
characterized in that said automatic control means is formed at least by a sensor of the distance between the gripper (11) and a load-laying surface (3), said distance sensor being preferably carried by the gripper. Device according to one of the preceding claims, of the type in which the control means for activating and deactivating the gripper (11) of the load are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of at least one other sensor, is representative of the state ready to set or ready to seize the load, the processing means being configured to control the activation of the gripper for the taking of the load and the deactivation of said gripper for the deposition of the load, the activation and deactivation of the gripper being controlled at least according to said signal and / or combination of signals,
characterized in that said automatic control means is formed at least by a sensor (53) of the distance between the gripper (11) and the load (3), said distance sensor being preferably carried by the gripper. Device according to one of the preceding claims,
of the type in which the control means for activating and deactivating the gripper (11) of the load are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of minus another sensor, is representative of the state ready to put or ready to enter the load, the processing means being configured to control the activation of the gripper for the taking of the load and the deactivation of said gripper for the deposit of charging, activation and deactivation of the gripper being controlled at least according to said signal and / or combination of signals,
characterized in that , the gripper being suspended from a link drivable by said displacement drive means, said automatic control means are formed at least by a sensor (52) for measuring a signal representative of the effort to which the link (6) is submitted. Device according to one of the preceding claims,
of the type in which the control means for activating and deactivating the gripper (11) of the load are automatically controlled and comprise at least one sensor capable of automatically transmitting a signal which, alone or in combination with the signal of minus another sensor, is representative of the state ready to put or ready to enter the load, the processing means being configured to control the activation of the gripper for the taking charge and deactivating said gripper for depositing the charge, the activation and deactivation of the gripper being controlled at least according to said signal and / or the combination of signals,
characterized in that said automatic control means are formed at least by a sensor (54) of the state of contact between the gripper (11) and the load (3) and / or the state of contact between the gripper ( 11) and the handle (4) when it is of the type drivable by said moving drive means. Device according to one of the preceding claims, characterized in that said device comprises means for issuing priority instructions capable of modifying the steering setpoint in displacement of the gripper (11), preferably at least after the control of the activation or disabling the gripper (11) Device according to one of the preceding claims, characterized in that , said device being intended for its operation to be powered by the electrical sector, said device also comprises means said relay means designed to take over the power supply of said device in case of power failure. Device according to Claim 9, characterized in that the said device also comprises means for managing the stopping of the displacement of the load and / or of bringing the said load to a predetermined security position, and / or means of generating a warning signal, said processing means being configured to activate said management means and / or said means for generating a warning signal when said relay means are active.

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