JP6554489B2 - パレットを把持、移動および配置するためのグリッパ - Google Patents
パレットを把持、移動および配置するためのグリッパ Download PDFInfo
- Publication number
- JP6554489B2 JP6554489B2 JP2016569981A JP2016569981A JP6554489B2 JP 6554489 B2 JP6554489 B2 JP 6554489B2 JP 2016569981 A JP2016569981 A JP 2016569981A JP 2016569981 A JP2016569981 A JP 2016569981A JP 6554489 B2 JP6554489 B2 JP 6554489B2
- Authority
- JP
- Japan
- Prior art keywords
- gripper
- pallet
- side member
- lock
- support structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/02—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/02—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element
- B60P1/022—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element with a loading platform outside the wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/44—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading having a loading platform thereon raising the load to the level of the load-transporting element
- B60P1/4485—Attaching the complete loading platform unit to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/08—Multilevel-deck construction carrying vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/06—Trailers
- B62D63/08—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0294—Vehicle bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0301—General arrangements
- B65G2814/0311—Other article loading or unloading devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Automatic Assembly (AREA)
- Jigs For Machine Tools (AREA)
- Pallets (AREA)
- Loading Or Unloading Of Vehicles (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Clamps And Clips (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Description
Claims (12)
- パレット(1)を把持し、移動させ、方向付け、および配置するためのグリッパ(6)であって、前記グリッパ(6)が、前記パレット(1)の長手方向の側部材(11)に沿って前記パレット(1)を把持するための連結手段を備え、前記グリッパ(6)が、支持構造に沿って移動する自動マニピュレータにヒンジ接続されるように設計され、前記パレット(1)が、前記支持構造上の所定の積載位置に、または、地面などの積み下ろし位置に、移動させ、方向付け、および、配置することを可能にし、
前記連結手段が、
前記グリッパ(6)の下面(13)から突出し、側部材(11)の上面(14)に形成されたセンタリング孔(19)に係合するように設計されたセンタリングピン(18)と、
前記センタリングピン(18)の両側に位置し、前記グリッパ(6)に統合された、アクチュエータ(21)および接続手段により駆動される、2つのスナップロック(20)と
を備えている、グリッパ(6)。 - 前記接続手段が、スピンドル(23)または複数のスピンドルによるシステムであることを特徴とする請求項1記載のグリッパ(6)。
- 前記スナップロック(20)が、ツイストロック式であることを特徴とする
請求項1または2記載のグリッパ(6)。 - 前記アクチュエータ(21)は、前記スナップロック(20)を、パレット(1)の解除の向きからロックの向きへと、ロックの向きから解除の向きへと回転させることを可能にし、前記スナップロック(20)が、前記側部材(11)の前記上面(14)に形成された連結開口部(24)に係合するように設計されている、請求項3記載のグリッパ(6)。
- 前記グリッパ(6)が、前記センタリングピン(18)が前記センタリング孔(19)に完全に係合したときに、前記側部材(11)の前記上面(14)の、前記グリッパ(6)の下面(13)との接触を検知するための誘導型センサ(25)を備えている、請求項1〜4のいずれか1項に記載のグリッパ(6)。
- 前記連結手段が、
前記グリッパ(6)による前記パレット(1)の持ち上げの開始時に、スナップロック(20)のそれぞれがそのロックの向きにおいて、対応する側部材(11)に正しく連結されていることを確認するために、前記グリッパ(6)のそれぞれのスナップロック(20)において、荷重センサ(26)を備えている、請求項1〜5のいずれか1項に記載のグリッパ(6)。 - 各荷重センサ(26)は、ベルビルワッシャシステム(27)に関連付けられ、アナログ出力の近接センサ(26a)を備え、グリッパ(6)により持ち上げられた荷重の関数としての、ベルビルワッシャシステムの圧縮が、ベルビルワッシャシステム(27)により支持されたターゲット(28)と、近接センサ(26a)との間の相対的な変位をもたらし、前記近接センサ(26a)からの出力信号の振幅が、持ち上げられた質量に直接依存する、請求項6記載のグリッパ(6)。
- 前記グリッパ(6)が、前記パレット(1)の駆動部材に機械的に係合する位置に配置されるように適合された作動手段を備え、前記駆動部材が、前記パレット(1)のロック/ロック解除を行うスタッドを移動させることを特徴とする、請求項1〜7のいずれか1項に記載のグリッパ(6)。
- 前記作動手段が、前記側部材(11)内に完全に受容されるように設計されている、請求項8記載のグリッパ(6)。
- 前記作動手段が、各グリッパ(6)の下面(13)上で突出するように配置され、前記下面(13)が、その連結の間に、側部材(11)の上面(14)と接触し、前記側部材(11)が、その上面(14)に、前記作動手段を受容するための開口部(15)を有する
請求項9記載のグリッパ(6)。 - 前記作動手段が、自由端(17a)が前記駆動部材と連動するように設計された制御ロッド(17)を有する、油圧シリンダー型のアクチュエータ(16)を備えている、
請求項10記載のグリッパ(6)。 - 搭載または下ろされたパレット(1)を保管するための支持構造(7)と、パレット(1)を把持し、移動させ、方向付け、前記支持構造(7)上の所定の位置に配置するための、グリッパ(6)を備えたマニピュレータとを備えた搭載および保管システムであって、前記搭載および保管システムが、請求項1〜11のいずれか1項に記載のグリッパ(6)を備えている搭載および保管システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1454779A FR3021604B1 (fr) | 2014-05-27 | 2014-05-27 | Ensemble de verrouillage pour le verrouillage et le deverrouillage d'une palette sur une structure support |
FR1454779 | 2014-05-27 | ||
PCT/FR2015/051406 WO2015181503A1 (fr) | 2014-05-27 | 2015-05-27 | Prehenseur pour accrocher, deplacer et deposer une palette |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017524586A JP2017524586A (ja) | 2017-08-31 |
JP6554489B2 true JP6554489B2 (ja) | 2019-07-31 |
Family
ID=51610223
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016569979A Expired - Fee Related JP6619754B2 (ja) | 2014-05-27 | 2015-05-27 | 支持構造上のパレットをロックおよびロック解除するためのロックアセンブリ |
JP2016569981A Expired - Fee Related JP6554489B2 (ja) | 2014-05-27 | 2015-05-27 | パレットを把持、移動および配置するためのグリッパ |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016569979A Expired - Fee Related JP6619754B2 (ja) | 2014-05-27 | 2015-05-27 | 支持構造上のパレットをロックおよびロック解除するためのロックアセンブリ |
Country Status (12)
Country | Link |
---|---|
US (2) | US10059571B2 (ja) |
EP (2) | EP3148840B1 (ja) |
JP (2) | JP6619754B2 (ja) |
KR (2) | KR20170013238A (ja) |
CN (2) | CN106458075B (ja) |
AU (2) | AU2015265669B2 (ja) |
CA (2) | CA2950352A1 (ja) |
FR (1) | FR3021604B1 (ja) |
MX (2) | MX2016014787A (ja) |
PL (2) | PL3148840T3 (ja) |
RU (2) | RU2683216C2 (ja) |
WO (2) | WO2015181503A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3025762B1 (fr) * | 2014-09-11 | 2016-09-09 | Lohr Electromecanique | Vehicule de transport a structure longitudinale rallongee pour un manipulateur motorise |
CN105501235B (zh) * | 2015-12-25 | 2018-05-01 | 济南轨道交通装备有限责任公司 | 一种带插销机构的活动隔板 |
ES2684176B1 (es) * | 2017-03-30 | 2019-07-29 | Efitrans Efficient Logistics S L U | Sistema portavehiculos y metodo de carga de vehiculos en un sistema portavehiculos |
US10577106B2 (en) * | 2017-08-31 | 2020-03-03 | The Boeing Company | System and method for restraining cargo |
FR3088264B1 (fr) | 2018-11-12 | 2020-11-13 | Lohr Ind | Support de charge destine a etre positionne, verrouille et deverrouille sur une structure porteuse par un ensemble adapte. |
DE102018128883B4 (de) * | 2018-11-16 | 2022-04-21 | Stark Spannsysteme Gmbh | Palettengreifer und zugehöriges Betriebsverfahren |
US20200247624A1 (en) * | 2019-02-05 | 2020-08-06 | Duane Adels | Trailer conveyor system and method |
KR20240007160A (ko) | 2021-04-12 | 2024-01-16 | 스트럭처럴 서비시스, 인크. | 크레인 오퍼레이터를 지원하기 위한 시스템 및 방법 |
FR3123632A1 (fr) * | 2021-06-07 | 2022-12-09 | Airbus (S.A.S.) | Aéronef comprenant une soute équipée d’un dispositif de chargement et de déchargement de conteneurs |
CN113665615B (zh) * | 2021-09-16 | 2022-06-28 | 中车齐齐哈尔车辆有限公司 | 一种自动导向集装箱锁头及车辆 |
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US3788238A (en) * | 1972-04-11 | 1974-01-29 | Evans Prod Co | Car shipping apparatus |
FR2538324A1 (fr) * | 1982-12-22 | 1984-06-29 | Perrot Pierre | Plateau porteur elevateur et inclinable s'auto-adaptant pour aller sur route, rail, tous terrains ou mer |
US4597712A (en) * | 1983-08-01 | 1986-07-01 | Dallas Smith Engineering Corporation | Trailer apparatus for transporting vehicles and other cargo |
FI90923C (fi) * | 1989-12-08 | 1994-04-11 | Kone Oy | Menetelmä ja laite kontin paikallistamiseksi nostamista varten |
US5246241A (en) * | 1992-04-23 | 1993-09-21 | Baver Bruce W | Adjustable deck trailer apparatus |
CA2116515C (en) * | 1993-03-05 | 1999-03-30 | Walter P. Demonte | Palletizer trailer and storage container |
DE4437802C2 (de) * | 1994-10-12 | 2000-01-05 | Dwa Deutsche Waggonbau Gmbh | Arretier- und Sicherungseinrichtung für die obere Ladeplattform doppelstöckiger Eisenbahngüterwagen |
GB2298842A (en) * | 1995-02-28 | 1996-09-18 | Treton Developments Inc | Motor vehicle transportation |
FR2752554B1 (fr) * | 1996-08-20 | 1998-10-23 | Lohr Ind | Rancher porteur a moyen de levage integre et ensemble porteur constitue d'au moins un couple de deux ranchers lies fonctionnellement entre eux |
JP4598999B2 (ja) * | 2001-07-18 | 2010-12-15 | 三菱重工業株式会社 | クレーン及びクレーンの制御方法 |
US6205932B1 (en) * | 1998-04-21 | 2001-03-27 | National Steel Car Limited | Autorack railcar structure |
JP2001287190A (ja) * | 2000-04-07 | 2001-10-16 | Denso Corp | ロボット |
US20080219823A1 (en) * | 2006-09-13 | 2008-09-11 | Gregg Dane W | Liftgate mount assembly with retractable pin interface |
JP5133721B2 (ja) * | 2008-01-31 | 2013-01-30 | ファナック株式会社 | 作業分担機能を備えた生産システム |
RU130266U1 (ru) * | 2012-10-16 | 2013-07-20 | Контейнер Квик Лок Люксембург С.А. | Запирающее устройство |
ES2630396T3 (es) * | 2013-04-12 | 2017-08-21 | Dana Limited | Dispositivo y método de control para bloqueo de contenedor |
FR3012090B1 (fr) * | 2013-10-17 | 2017-05-05 | Lohr Electromecanique | Procede de chargement et de dechargement d'un espace localise sur un vehicule |
FR3024084B1 (fr) * | 2014-07-28 | 2018-01-05 | Lohr Electromecanique | Palette porteuse, individuelle et universelle, pour vehicule porte-voitures |
FR3025762B1 (fr) * | 2014-09-11 | 2016-09-09 | Lohr Electromecanique | Vehicule de transport a structure longitudinale rallongee pour un manipulateur motorise |
US9527422B1 (en) * | 2015-08-26 | 2016-12-27 | 1892575 Alberta Ltd. | Trailer |
-
2014
- 2014-05-27 FR FR1454779A patent/FR3021604B1/fr not_active Expired - Fee Related
-
2015
- 2015-05-27 CA CA2950352A patent/CA2950352A1/fr not_active Abandoned
- 2015-05-27 CN CN201580025849.7A patent/CN106458075B/zh not_active Expired - Fee Related
- 2015-05-27 CN CN201580025820.9A patent/CN106414170B/zh not_active Expired - Fee Related
- 2015-05-27 PL PL15731647T patent/PL3148840T3/pl unknown
- 2015-05-27 RU RU2016146132A patent/RU2683216C2/ru not_active IP Right Cessation
- 2015-05-27 US US15/314,156 patent/US10059571B2/en not_active Expired - Fee Related
- 2015-05-27 JP JP2016569979A patent/JP6619754B2/ja not_active Expired - Fee Related
- 2015-05-27 US US15/314,163 patent/US9850104B2/en active Active
- 2015-05-27 RU RU2016146127A patent/RU2680542C2/ru not_active IP Right Cessation
- 2015-05-27 AU AU2015265669A patent/AU2015265669B2/en not_active Ceased
- 2015-05-27 WO PCT/FR2015/051406 patent/WO2015181503A1/fr active Application Filing
- 2015-05-27 WO PCT/FR2015/051405 patent/WO2015181502A1/fr active Application Filing
- 2015-05-27 MX MX2016014787A patent/MX2016014787A/es unknown
- 2015-05-27 AU AU2015265668A patent/AU2015265668B2/en not_active Ceased
- 2015-05-27 MX MX2016015086A patent/MX2016015086A/es unknown
- 2015-05-27 KR KR1020167033018A patent/KR20170013238A/ko unknown
- 2015-05-27 CA CA2950349A patent/CA2950349A1/fr not_active Abandoned
- 2015-05-27 KR KR1020167033019A patent/KR20170013239A/ko unknown
- 2015-05-27 PL PL15736535T patent/PL3148841T3/pl unknown
- 2015-05-27 EP EP15731647.2A patent/EP3148840B1/fr active Active
- 2015-05-27 JP JP2016569981A patent/JP6554489B2/ja not_active Expired - Fee Related
- 2015-05-27 EP EP15736535.4A patent/EP3148841B1/fr active Active
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