FR3062331A1 - DEVICE FOR PREVENTING OBJECTS SUCH AS BAGS CONTAINING BULK PRODUCTS - Google Patents

Abstract

The present invention relates to a device for gripping objects such as bags containing bulk products, which is adapted to be fixed to the end of a handling arm, and which comprises a clamp (5) consisting of two jaws (6) movable in synchronism between two extreme positions, namely a so-called "spaced" position in which they are unable to grip one of said objects, and a so-called "close" position in which they are able to grip said object, the passing from one of said positions towards the other operating in a generally transverse direction (a), characterized in that it comprises a support (SU) for fixing on which said jaws (6) are hinged by means of articulation, said jaws (6) extending under said support (SU) which has, in said transverse direction (a), a predetermined width, and that said jaws (6) and said articulation means are configured from such that, irrespective of the relative position of said jaws (6) between said extreme positions, their maximum mutual spacing remains substantially the same and is always slightly smaller or at most equal to said width of said support (SU), without overflowing transversely to the beyond said support (SU).

Description

Holder (s): limited unit.

EMA ENGINEERING Responsible company Request (s) for extension:

(® Agent (s): REGIMBEAU.

* 54) DEVICE FOR GRIPPING OBJECTS SUCH AS BAGS CONTAINING BULK PRODUCTS.

FR 3,062,331 - A1 (© The present invention relates to a device for gripping objects such as bags containing bulk products, which is capable of being fixed to the end of a handling arm, and which comprises a clamp (5) constituted by two jaws (6) movable in synchronism between two extreme positions, namely a so-called “spread position in which they are unable to grip one of said objects, and a so-called“ close position in which they are able to enclose said object, the passage from one of said positions to the other taking place in a generally transverse direction (a), characterized in that it comprises a support (SU) for fixing on which said jaws are articulated ( 6) via articulation means, said jaws (6) extending under said support (SU) which has, in said transverse direction (a), a predetermined width, and that said jaws (6) and said means articulate ion are configured in such a way that, whatever the relative position of said jaws (6) between said extreme positions, their maximum mutual spacing remains substantially the same and is always slightly less than or at most equal to said width of said support (SU), without overflowing transversely beyond said support (SU).

i

FIELD OF THE INVENTION

The present invention relates to a device for gripping objects such as bags containing bulk products.

TECHNOLOGICAL BACKGROUND OF THE INVENTION

In the field of packaging and transport of bagged materials, such as bulk animal feed, it is common, when the bags are heavy and / or of large capacity, to place them on a pallet, arranging them relative to each other so that the risk of falling at least part of these bags from the pallet is minimized.

Despite the precautions taken, some of these falls are inevitable.

To overcome this drawback, it is now necessary in particular for export transportation, to equip the aforementioned pallets with a cardboard box, generally with a height of about 1.10 m. Once this box is full, we cover it with a lid. The assembly can then be handled, without the risk of the contents of the box escaping.

Of course, as long as the bags have a low weight, it is easy to manually place them in the box, lowering themselves above its upper opening.

On the other hand, it sometimes happens that the bags weigh up to 50 kg, so that this manual positioning is in no way possible for reasons of ergonomics, arduous work and profitability.

Under these conditions, one immediately thinks of the need to use a clamp system to ensure these manipulations.

However, it is easily understood that the presence of the cardboard box (therefore made of a deformable material) represents a strong constraint since any improper handling of the clamp which would come to interfere with the box would immediately result in at least partial destruction of this one.

Document FR-A-2 972 668 describes a device for gripping fragile objects such as boxes containing eggs. As illustrated in particular in FIGS. 9 and 10, this device makes it possible to handle boxes containing eggs and to deposit them in a box, without damaging the latter. However, the amplitude of possible separation between the jaws of the clamp integrated into this device is large (see in particular FIG. 6), so that in the event of handling error the jaws would irreparably damage the box.

The present invention therefore aims to improve the device as described above, so that it can be used without risk of interference with the box to be filled.

SUMMARY OF THE INVENTION

Thus, the present invention relates to a device for gripping objects such as bags containing bulk products, which is capable of being fixed to the end of a handling arm, and which comprises a clamp consisting of two movable jaws in synchronism between two extreme positions, namely a so-called spread position in which they are unable to grip one of said objects, and a so-called close position in which they are able to grip said object, the passage from one of said positions towards the another operating in a generally transverse direction, characterized in that it comprises a fixing support on which said jaws are articulated via articulation means, said jaws extending under said support, which has, in said transverse direction, a predetermined width, and that said jaws and said articulation means are configured in such a way that, whatever t the relative position of said jaws between said extreme positions, their maximum mutual spacing remains substantially the same and is always slightly less than or at most equal to said width of said support, without protruding transversely beyond said support.

Thanks to this gripping device, whatever happens, the jaws of the clamp will not occupy more space than that of the fixing support so that the withdrawal of the jaws relative to a bag to be deposited in the bottom of a body will be able to be done without risk of touching and / or damaging this body.

According to other advantageous characteristics of this device, taken alone or in a combination of at least two of them:

said maximum mutual spacing is between 95% and 100% of said width of the support;

said support comprises an upper plate under which are arranged two modules called synchronization modules, movable in transverse direction relative to said plate, these two modules being movable in synchronism between a retracted position in which they extend integrally under the plate, one side transverse of one being opposite a transverse face of the other, and an extended position in which the two modules extend only partially under the plate and are directed in opposite directions;

said support also comprises, under each of said synchronization modules, a module called jaw actuation module movable in transverse direction relative to said plate, these jaw actuation modules being movable in synchronism between a retracted position in which they extend fully under the synchronization modules, and an extension position in which they extend only partially under the synchronization modules and are directed in opposite directions;

the two transverse faces of said synchronization modules each comprise a drive pinion which meshes on the one hand with a first rack secured to said plate and, on the other hand, with a second rack secured to the associated jaw actuation module;

said jaws are articulated on said jaw actuation modules.

the opposite faces of transverse sides integral with said jaw actuation modules comprise guides for moving carriages on which said jaws are articulated;

one of said opposite faces of said transverse sides has a first guide oriented parallel to the direction of movement of said jaw actuation modules, while the other of said faces has a second guide oriented obliquely;

the carriage associated with the first guide is a driver, that is to say driving, while the carriage associated with the second guide is a follower, that is to say driven;

said jaws have the same longitudinal extent; each jaw has at its free end a set of parallel fingers and that the two jaws are arranged so that in the close position, the fingers of one of the jaws are interposed between the fingers of the other jaw.

BRIEF DESCRIPTION OF THE DRAWINGS

Other characteristics and advantages of the invention will appear on reading the following description of a preferred embodiment of the invention. This description is made with reference to the accompanying drawings in which:

Figure 1 is a perspective view of the gripping device according to the invention, which is shown in a position in which the jaws of the clamp are spaced from one another; Figure 2 is a side view of the device of Figure 1;

Figure 3 is a view of the device of Figure 2, along the sectional plane III-III of the latter;

Figures 4 and 6 are side views of the device of the preceding figures, in two different positions where the jaws of the clamp are respectively opened and closed;

Figures 5 and 7 are sectional views of Figures 4 and 6 along the respective planes V-V and VI-VI;

Figures 8 and 10 are views similar to Figures 4 and 6, the device having its modules respectively spaced from each other relative to the picked up position of Figure 4;

Figures 9 and 11 are sectional views of the device of Figures 8 and 10 according to the plans IX-IX and XI-XI of these figures;

Figures 12, 14 and 16 are front views of the gripping device in which the jaws are in the closed position, the difference between these three figures being that the modules occupy different positions;

Figures 13, 15 and 17 are respectively sectional views of Figures 12, 14 and 16 along the section planes XIII-XIII, XV-XV and XVII-XVII;

Figures 18, 20 and 22 are diagrams of the device intended to show how the establishment of a bag inside a box;

finally, FIGS. 19, 21 and 23 are detailed views of the part identified by a circle in FIGS. 18, 20 and 22.

DETAILED DESCRIPTION

With reference to FIG. 1 in which a gripping device according to the invention is shown, the transverse and longitudinal directions of this device are identified in the figure respectively by the arrows a and b. And this also applies to the other figures.

The device of the invention, as described here, essentially comprises a support SU for fixing with an upper plate 2, under which are arranged two synchronization modules 3 provided movable relative to the plate 2.

In addition, the support SU also incorporates two jaw actuation modules 4, arranged under the synchronization modules 3.

In a variant not shown, these latter modules 4 could be non-existent.

In any event, whatever the relative position of these modules 3 and 4, the mutual spacing between the jaws 6 which constitute the clamp of this device remains the same and is always slightly less than or equal to the width of said support SU , it being understood that when the modules 3 and 4 occupy an undeployed position in which they are fully housed under the upper plate 2, then said width of the support SU is that of this plate, while when these modules occupy a position at least partially deployed in which they are not fully housed under the plate, then the width of the support SU corresponds to the spacing between the most distant edges of these modules.

The support SU device 1 firstly comprises an upper plate 2 which has a rectangular shape, of small thickness. It has a flat upper surface 20, as well as a grooved lower face 21. More specifically, we are dealing with two large grooves 210 which extend transversely, that is to say in the direction of the arrow a.

The transverse and longitudinal lateral faces of this plate 2 are respectively referenced 22 and 23.

The upper face 20 receives a motor M for actuating the device. Preferably, this motor is an electric servomotor.

It is used in particular to drive a pinion 90 to which we will return later in the description.

Although this is not shown here because it is not the heart of the invention, the SU mounting support can be fixed to the end of an articulated arm, for example constituting a robot so that that this gripping device 1 can be oriented on demand in space.

At the lower face 21, each groove 210 is bordered by two rectilinear racks 24 oriented transversely and extending substantially over half of the transverse extent of the plate.

In Figure 1, only a pair of racks 24 is visible. However, the second pair extends on either side of the second groove and is arranged opposite to the pair which has just been described. In other words, the second pair of racks emerges on the face 23 located on the right part of FIG. 1. Each rack has on its underside a set of teeth 240.

Their utility and function will be explained later.

Below the lower level of the plate 2 extend two modules 3 called synchronization modules. These are identical modules, so that only one of them will be described below (but it is understood that this applies, unless otherwise stated, for the other module).

As can be seen in FIG. 1, this module 3 has a generally parallelepiped shape with upper and lower faces 30 and 31, as well as transverse lateral 32 and longitudinal 33 faces.

The longitudinal dimension of this module 3 is such that it is configured to be inserted in the groove 210 of the plate 2, so as to be framed, that is to say immediately bordered by the aforementioned racks 24.

In one embodiment, the module 2 is mounted on a set of carriages which slide on a set of rails secured to the underside of the plate 2, as shown in FIG. 2.

Note the presence, substantially mid-length of the two transverse faces 32 of the module 3, of a pinion 320 with a longitudinal axis of rotation which meshes with the racks 24.

Under the plate 2 and not visible in the accompanying figures is present a pneumatic cylinder such as a rodless cylinder. Its function will be explained later.

The device also comprises two modules 4 called jaw actuation modules.

As for the synchronization modules 3, the two actuation modules 4 present are identical so that one of them will be described but it is understood that this description also applies to the other module 4, unless otherwise stated.

The module 4 has a perforated upper face 40 which has an arm-shaped extension 400 arranged to slide in a transverse housing attached to the lower face 31 of the associated module 3.

Furthermore, the module 4 comprises two vertical and transverse sides 41 and 42 which are attached to the aforementioned face 40.

Along the upper rim of each side 41 and 42 extends a rack 43 of the same type as the rack 24 described above. This rack extends over the same longitudinal extent as the rack 24 and its teeth 430 are directed upwards.

In the position shown in Figure 1, the pinion 320 of the module 3 extends at each end of the racks 24 and 43 with which it cooperates so that this corresponds substantially to the maximum position of extension of the modules 3 and 4 compared to deck 2.

In other words, provided that the module 4 is moved in the direction of the arrow a, the arm 40 will engage in the housing provided for this purpose of the module 3, then the latter will also engage in turn , always in the same direction until it is housed below the plate 2.

Below the racks 43 also extend, on the sides 41 and 42, guides respectively referenced 410 and 420.

More specifically, the sidewall 41 carries, on one of its transverse faces, a straight guide 410 and disposed in an oblique orientation so that it arises substantially below the rack 43 to extend to the opposite opposite edge of this same flank 41.

In other words, the guide 41 has an upward slope as soon as one moves in the direction of the arrow a.

Although this is not actually visible in FIG. 1, the second face of the same flank 41 comprises a guide 420 of the same type, but oriented transversely and horizontally over the same longitudinal extent as the guide 410. It will be noted that this guide 420 is however visible in Figure 3, and more particularly on the left side thereof.

The second side is equipped in the same way.

Each actuation module 4 is associated with a jaw 6 constituting a clamp 5. Again, these two jaws are identical except that they are in an inverted position on either side of the fixing support.

More precisely, each jaw has a relaxed longitudinal body 60 which is extended in transverse direction by two parallel wings 61 and 62.

Opposite the wings 61 and 62, the body 60 is continued by fingers 600 spaced two by two and the two jaws 6 are shaped so that, when in the close position, the fingers 600 of one of these jaws are inserted in the spaces which separate the fingers 600 of the second jaw two by two.

The wing 61 of the jaw is provided with a hinge axis 70 directed longitudinally, while the second wing 62 is provided with a second axis 80, also directed longitudinally. This axis 80 is offset longitudinally relative to the first axis 70, as can be seen in FIG. 3.

The axis 70 is called the tilting axis of the jaw 6, while the axis 80 is called the drive axis of the jaw 6.

Furthermore, each guide 410 and 420 is associated with a carriage numbered 7, respectively 8. Thus, the carriage 7 is engaged on the relaxed oblique guide 410 and carries two sides between which the above-mentioned axis 70 is articulated.

Likewise, the carriage 8 which cooperates with the guide 420 has two sides between which the above-mentioned axis 80 is articulated.

The carriage 8 is preferably provided as a leader, that is to say a tractor, while the carriage 7 is simply a follower.

We understand that, as soon as we move the two carriages 7 and 8 simultaneously from the position of Figure 1 to the position of Figure 3, we will operate a simultaneous tilting of the jaws 6 so that their teeth are oriented first in a vertical direction (that is to say the clamp opening position) towards a horizontal direction (that is to say the clamp closing position).

More specifically, the movement of the carriages 7 and 8 is controlled by the above-mentioned rodless pneumatic cylinder. This jack drives the carriage 8 which in turn drives the carriage 7 via the axes 80 and 70.

By positioning the horizontal guide 420 and the oblique guide 410, the distance between the carriage 7 and the carriage 8 varies. The carriage 8, which remains on the same horizontal plane during its movement, forces the carriage 7, which is on an oblique plane, to go up relative to the carriage 8.

The carriage 8 being articulated further forward of the jaw 6 and the carriage 7 being linked to the rear of the jaw 6, therefore the front of the jaw 6 remains on the horizontal plane while the rear of the jaw rises relative to the front, which has the effect of causing the jaw to rotate.

It will be noted that the device is moreover equipped with means 9 which make it possible to maintain unchanged the spacing between the two synchronization modules 3 always at equal distance, this despite their possibility of sliding relative to one another. These means 9 also make it possible to transmit to the modules 3 and 4 a movement order.

These means 9 are visible only in FIGS. 10, 15 and 17. They include two racks 900 of the same type as the previous ones which are fixed to the transverse faces, facing one another, of the two modules

3.

These two racks work (that is to say cooperate) with a pinion 90 of vertical axis which is integral with the underside of the plate 2 and more precisely is located in the space located between the two grooves 210. Thus, from when this pinion 90 is rotated on itself via the motor M, it will move the two modules 3 simultaneously, in opposite directions and in a synchronized manner.

In view of the above, it is understood that, as soon as the motor M controls the drive of the pinion 9 which has just been described, this will cause the antagonistic displacement of the two synchronization modules 3 conversely one on the other, so that they pass from a position in which they are retracted below the plate 2 to a position in which they are at least partially extracted from below the plate 2. This corresponds for example to the situation of figure 3.

During this movement, the pinions 320 also move in a rotational movement and in turn drive the modules 4, via their racks 43. This thus controls the antagonistic movement of the two modules 4 in opposite directions, one of the other. This is the situation shown in Figure 4.

In other words, we will be able to give a width, that is to say a transverse extent of the device 1 which will be conditioned to the positioning of the modules 3 and 4 relative to the plate 2. Thus, it will be possible, using the system of the present invention, to grasp with the clamp 5, and more particularly using its jaws 6, objects of more or less large dimensions.

Similarly, and independently of the control of the modules 3 and 4, it will be possible to modify the orientation of the jaws 6 so that they can occupy an extreme position in which they are spaced from one another and are not absolutely not able to grasp an object (this is for example the situation in Figure 9) in a position in which they have tilted and are able to grasp an object (this is the situation in Figure 11).

To do this, the movement of the carriage 8 associated with the horizontal guide 320 is simultaneously controlled, so that its associated tilting axis 80 is moved.

Simultaneously, the driven carriage 7 which is associated with the other guide 420 simultaneously descends the slope of this guide and causes the tilting of the axis 70 which is associated with it. Under these conditions, we go from the situation in FIG. 9 to that of FIG. 11.

Of course, depending on the relative position of the support 2 and the modules 3 and 4, the jaws 6 will be more or less spaced from each other as shown for example in Figures 12, 14 and 16. In doing so , we adapt to the size of the object to be handled on demand.

However, the situation in FIG. 16 corresponds to the minimum space requirement that the two jaws 6 can have. In other words, this corresponds to the situation in which the two jaws are nested one inside the other at their teeth 600 due to the fact that the modules 3 and 4 are completely retracted below the fixing support 2.

Conversely, when these modules 3 and 4 are extracted to their maximum travel from below the support 2, then the jaws 6 occupy a situation which corresponds to their maximum mutual spacing.

In Figures 5 and 7, there is shown by the letter P the plane which descends from one of the longitudinal edges of the support 2 vertically and downwards. Thus, we realize that, whatever the position of the jaws 6 of the clamp 5, their maximum mutual spacing remains substantially the same and is always slightly less than or at most equal to the width of the support 2 without overhanging transversely beyond of this support 2.

In other words and with reference to the aforementioned figures, it is effectively noted that the clamp 5 never crosses the plane P identified in the figures. This also applies to all the other positions, including those of FIGS. 9 and 11 in which the modules 3 and 4 are extracted from below the support 2. Again, the jaws 6 do not project beyond the plane.

Under these conditions, as soon as the displacement of the modules 3 and 4 has been adjusted so as to correspond substantially to the dimensions of the opening of a box, then there is the assurance that the jaws will be able to be moved in this body without interfering with its peripheral walls. This is also illustrated in Figures 18, 20 and 22.

With reference to these figures, it is proposed to deposit in a box C having a bottom FC and peripheral walls PC, a bag S. Prior to the positioning of the bag in the box, the bag was removed by the device 1 and the latter has been placed directly above the body so that it is entirely above its opening.

The device 1 is then piloted in the direction of the arrow f, that is to say in the direction of the body, so that the support 2 and its associated modules 3 and 4 partially engage in the opening. Insofar as the box C has been provided with dimensions compatible with those of the bag, the device can then be engaged as far as the bottom of the box so as to occupy the position of FIG. 18.

Then, the pivoting of the jaws 6 is piloted as explained above so that they progressively pass from the position of FIG. 20 to the position of FIG. 22 in which the bag S is deposited by gravity against the bottom FC.

Insofar as the jaws which have operated their pivoting are moved on either side of the device 1 and more particularly of its support 2 and its modules, the actuation of the jaws was done entirely inside the internal space of the box without interfering with the peripheral walls thereof.

Thus, thanks to the invention, it is possible to deposit objects such as bags in crates without risking the slightest problem with interference of the jaws with this crate. In addition, due to the presence of synchronization and actuation modules, the spacing of which can be chosen on demand, it is not only possible to grasp objects of different sizes but also to arrange them in boxes of overall dimensions and volume. different.

Claims (11)

1. Device (1) for gripping objects such as bags (9) containing bulk products, which is capable of being fixed to the end of a handling arm, and which comprises a clamp (5) constituted of two jaws (6) movable in synchronism between two extreme positions, namely a so-called spread position in which they are unable to grip one of said objects, and a so-called close position in which they are able to grip said object, the passage of one of said positions towards the other operating in a generally transverse direction (a), characterized in that it comprises a support (SU) for fixing on which said jaws (6) are articulated via articulation means, said jaws (6) extending under said support (SU) which has, in said transverse direction (a), a predetermined width, and that said jaws (6) and said articulation means are configured such that, whatever that you t the relative position of said jaws (6) between said extreme positions, their maximum mutual spacing remains substantially the same and is always slightly less than or at most equal to said width of said support (SU), without protruding transversely beyond said support (SU ). 2. Device according to claim 1, characterized in that said mutual spacing is between 95% and 100% of the width of said support. 3. Device according to claim 1 or 2, characterized in that said support (SU) comprises an upper plate (2) under which are arranged two modules (3) said synchronization modules, movable in transverse direction relative to said plate ( 2), these two modules (3) being movable in synchronism between a retracted position in which they extend entirely under the plate (2), a transverse face of one (31) being opposite a transverse face ( 30) on the other, and an extension position in which the two modules (3) extend only partially under the plate (2) and are directed in opposite directions. 4. Device according to claim 3, characterized in that said support (SU) also comprises, under each of said synchronization modules (3), a module called jaw actuation module (4) movable in transverse direction relative to said plate (2), these jaw actuation modules (4) being movable in synchronism between a retracted position in which they extend integrally under the synchronization modules (3), and an extension position in which they extend only partially under the synchronization modules (3) and are directed in opposite directions. 5. Device according to claim 4, characterized in that the two transverse faces (30, 31) of said synchronization modules (3) each comprise a drive pinion (320) which meshes on the one hand with a first rack ( 24) secured to said plate (2) and, on the other hand, with a second rack (43) secured to the actuation module (4) of associated jaw. 6. Device according to claim 4 or 5, characterized in that said jaws (6) are articulated on said jaw actuation modules (4). 7. Device according to claim 6, characterized in that the opposite faces of transverse flanks (41, 42) integral with said jaw actuation modules (4) comprise guides (410, 420) for moving carriages (7, 8) on which said jaws (6) are articulated. 8. Device according to Claim 7, characterized in that one of said opposite faces of the transverse sides (41, 42) comprises a first guide (420) oriented parallel to the direction of movement of said modules (4) for actuating jaw, while the other of said faces has a second guide (410) oriented obliquely. 9. Device according to claim 8, characterized in that the carriage (8) associated with the first guide (420) is a driver, that is to say driving, while the carriage (7) associated with the second guide (410 ) is a follower, i.e. trained. 10. Device according to one of the preceding claims, characterized in that said jaws (6) have the same longitudinal extent. 11. Device according to one of the preceding claims, characterized in that each jaw (6) has at its free end a set of parallel fingers (600) and that the two jaws (6) are arranged so that in close position, the fingers (600) of one of the jaws (6) are interposed between the fingers (600) of the other jaw (6). 1/13 2/13