RU2829373C1 - Clamping device for lifting and moving objects - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to gripping devices. Clamping device designed to work with large and fragile objects can include large grippers protruding beyond the limits of the smaller grip support. Protruding areas of the second grip can be up to 4 times larger than the grip support and may contain reinforced ribs, made in such a way that the force applied from the second part of the body to the second grip is distributed to the projecting areas of the second grip outside the second part of the body, for example, by a value of at least 80%. Clamping device may include an automatic locking mechanism for opening and closing the grippers by an operator located at a distance from the clamping device.

EFFECT: improved device.

20 cl, 45 dwg

Description

This patent application claims priority to U.S. Provisional Patent Application No. 63/069,276, filed August 24, 2020, entitled Clamping device for lifting and transfer objects, by the same inventors, which is incorporated herein by reference in its entirety.

This patent application is a continuation-in-part of U.S. Patent Application Ser. No. 17/201,474, filed March 15, 2021, entitled Automatic Locking Mechanism and Clamping Devices with Automatic Locking Mechanism, which is a continuation-in-part of U.S. Patent Application Ser. No. 16/876,480, filed May 18, 2020, entitled Automatic Locking Mechanism and Clamping Devices with Automatic Locking Mechanism, which is a continuation-in-part of U.S. Patent Application Ser. No. 16/381,378, filed April 11, 2019, entitled Automatic Locking Mechanism and Clamping Devices with Automatic Locking Mechanism, now U.S. Patent No. 10,654,690, which claims priority from U.S. Provisional Patent Application Ser. No. 62/692,676, filed June 30, 2018 g., entitled Automatic locking mechanism and clamping devices with automatic locking mechanism, by the same inventors, which is incorporated herein by reference in its entirety.

The present invention relates to U.S. Patent Application Ser. No. 15/438,735, filed February 21, 2017, entitled Clamping device for lifting and transfer objects, now U.S. Patent No. 9,902,574 (NH001), of the same inventors, which is incorporated herein by reference in its entirety.

The present invention relates to U.S. Patent Application Ser. No. 16/154,734, filed October 9, 2018, entitled Clamping device with single movable jaw, now U.S. Patent No. 10,633,224 (NH006), which claims priority to U.S. Provisional Patent Application Ser. No. 62/570,108, filed October 10, 2017, entitled Scissor clamp with single movable jaw (NH006-PRO), by the same inventors, which is incorporated herein by reference in its entirety.

The present invention relates to U.S. Patent Application No. 16/593,716, filed October 4, 2019, entitled Auto lock cable lifter (NH012), which claims priority to U.S. Provisional Patent Application No. 62/741,555, filed October 5, 2018, entitled Auto lock cable lifter (NH012-PRO), by the same inventors, which is incorporated herein by reference in its entirety.

The present invention relates to U.S. Patent Application No. 11/074,317, filed March 7, 2005, entitled Clamping device for lifting slab, panel, or sheet material, now U.S. Patent No. 7,156,436 (NH013), to the same inventors, which is incorporated herein by reference in its entirety.

The present invention relates to U.S. Provisional Patent Application No. 63/022,724, filed May 11, 2020, entitled Clamping device for lifting and transfer objects, (NH029-PRO), by the same inventors, which is incorporated herein by reference in its entirety.

The present invention relates to lifting devices. More specifically, it relates to clamping devices for lifting and moving objects such as metal or ceramic plates.

Prerequisites for the creation of an invention

In heavy industry, it may be difficult to handle large and heavy items manually. Therefore, a winch connected to a clamping device can be used to lift and move heavy objects. The object can be clamped in a clamping device that is connected to a winch. The winch can lift the object to a certain height and then move it to the desired location.

Clamping devices may use a mechanism that converts the weight of an object into a clamping force, and the holding force exerted on the object by the clamping devices may be proportional to the weight of the object. A handling device such as a crane or winch may be attached to the clamping device to lift and move objects.

The basic clamping device of the prior art may include a rotating clamping jaw that can rotate to change the distance to a fixed clamping jaw. Rotation of the rotating clamping jaw may widen or narrow the gap between the two clamping jaws. For example, an object may be placed between the two jaws from a lower position and then moved upward to the gap between the two jaws. Moving the object upward may cause the rotating clamping jaw to rotate clockwise, causing the distance between the two jaws to increase to accommodate the object. After placing the object between the two jaws, the weight of the object may cause the object to move downward. Moving the object downward may cause the rotating clamping jaw to rotate counterclockwise, causing the distance between the two jaws to decrease or a clamping force may be applied to the object.

Fig. 1A and 1B show a prior art clamping device according to some embodiments. The clamping device may include a gripping device, typically made of structural steel components, which is configured to securely hold and lift building materials by moving in a scissor-like manner. The gripping device may use freely rotating pin connections to create a scissor-type configuration with two scissor arms.

The first ends of the scissor arms are configured to rotate toward each other in response to a vertical lift of the opposite second end of the scissor arms. The first end of the scissor arms rotates inward and creates a compression force that clamps the object to be lifted. In essence, the weight of the object is used to create such a clamping action.

The clamping device 100 may include two scissor arms 130 and 135 that can freely rotate around the pivot point 130A. The scissor arms 130 and 135 may include upper arms 131 and 136 together with lower arms 132 and 137, respectively, connected to a freely rotating pivot axis 130A.

The upper arms 131 and 136 can be connected to the pulling members 111 and 115, respectively. The connection between the upper arms and the pulling members can include freely rotating pin connections, for example, the pulling member 111 and 115 can rotate relative to the upper arm 131 and 136. The pulling members 111 and 115 can be connected to the lift 110, such as a winch. The connection between the pulling members and the lift can include freely rotating pin connections, for example, the pulling members 111 and 115 can rotate relative to the lift 140.

The lower arms 132 and 137 can be connected to the left and right grips, for example, the holding shoes 140 and 145, respectively, for holding an object. The connection between the lower arms and the holding shoes can include freely rotating pin connections, for example, the holding shoes 140 and 145 can be configured to rotate relative to the lower arm 132 and 137.

During operation, the object 120 is placed between the holding shoes 140 and 145. The lift 110 is raised, which pulls the pulling members 111 and 115 behind it. The pulling members 111 and 115 can, in turn, pull the upper arms 131 and 136 behind them. The scissor-like movement between the upper arms 131 and 136 and the lower arms 132 and 137 around the pivot point 130A can convert the pulling action of the upper arm 131 and 136 into a pressing action of the lower arm 132 and 137, which presses on the object 120 through the holding shoes 140 and 145.

As shown in Fig. 1A, the clamping device 100 holds the object 120 well for lifting it and then moving it to a new location. The weight of the object can be converted into a gripping force by the holding pads for fixing the object.

Disadvantages of clamping devices include the lack of efficiency of handling operations, such as the need for multiple operators to handle. For example, when an empty gripper is raised, the holding pads are compressed against each other (Fig. 1B). Accordingly, when lowering an empty gripper to approach an object, another operator may need to manually release the holding pads to place the object between the holding pads.

In industry, it may be difficult to manually handle large-sized items, even if they are light in weight. Therefore, a winch connected to a clamping device can be used to lift and move large-sized objects. The object can be clamped in a clamping device that is connected to a winch. The winch can lift the object to a certain height and then move it to the desired location.

There is essentially a need for a compact clamping device for processing lightweight and large-sized panels.

Brief description of embodiments

In some embodiments of the present invention, a clamping device for large-sized, thin and fragile panels is described. The clamping device may include two opposite grips configured to clamp a panel having a width parallel to the ground, a height in the direction of gravity and a thickness. The opposite grips may include a fixed grip rigidly connected to the housing of the clamping device, and a movable grip configured to move relative to the housing. The housing may contain a grip support that is rigidly connected to a set of clamping crossbars, wherein the other ends of the set of clamping crossbars are rigidly connected to the fixed grip.

The clamping device may include a clamping mechanism for moving the movable grip in the direction toward the fixed grip or away from it. The clamping mechanism may comprise a pulling element located between the grip support and the movable grip. The coupling unit between the pulling element and either the grip support or the movable grip may include an inclined surface configured to move the movable grip away from the grip support when the pulling element moves away from the grip support, for example when the pulling element moves upward relative to the grip support. The clamping mechanism may include a set of springs that is attached between the grip support and the movable grip. The set of springs may be biased to pull the movable grip toward the grip support.

Thus, the clamping mechanism can move the movable grip toward the fixed grip by moving the pulling member upward relative to the grip support, for example in the direction opposite to gravity. When the pulling member moves downward, for example in the direction of gravity, the set of springs can pull the movable grip toward the grip support.

In some embodiments, the clamping device may have a large clamping surface to reduce the pressure applied to the panel being clamped. The clamping device may be lightweight to facilitate handling without damaging fragile panels. The clamping device may include an auto-lock mechanism that allows a worker to operate the clamping device from a distance, such as at a winch handle connected to the clamping device.

In some embodiments, a larger clamping area can be achieved by larger grips, such as wider and/or higher grips, such as in one or two dimensions of the side surface of the panel. For example, the grips can be wide, such as in a direction parallel to the ground, when the panel is clamped in the clamping device. In some embodiments, the grips can be high, such as in the direction of gravity.

The fixed grip may include a connecting section separated from the clamping section with the clamping area. The connecting section may be used for connecting with a set of clamping crossbars. The movable grip may include only a clamping section having a clamping area, with a set of springs connected to the movable grip on the opposite surface of the clamping area. The movable grip may also include projecting sections for providing inclined surfaces for the pulling element.

In some embodiments, the lightweight configuration may include a clamping device configured to work with thin panels, for example, the maximum separation between the clamping jaws of the clamping device may be small, such as less than 200 mm, less than 150 mm, less than 100 mm, or less than 50 mm. A small maximum separation between the clamping jaws in the clamping device can reduce the set of clamping crossbars, which can make the clamping device more compact and lighter.

A lightweight configuration may include a set of small clamp crossbars, such as four small clamp crossbars arranged to secure a fixed gripper to a gripper support.

The lightweight configuration may include a clamping mechanism of small size, for example smaller than the clamping surface of the clamping grips. For example, the width of the pulling element may be approximately equal to the distance between the protruding sections of the movable grip, so that the pulling element can roll along the inclined surfaces of the protruding sections. Thus, the pulling element may be designed to press only on the middle section of the clamping area of the movable grip, wherein the middle section is formed by protruding sections having a width of less than one third, less than one fourth or less than one fifth of the width of the clamping area.

The springs may be arranged next to each other to form a small clamping mechanism. For example, the springs may be arranged immediately outside the pulling element, such as next to the protruding portions, such as the distance between the springs in the transverse direction may be slightly greater than the distance between the protruding portions.

In a small clamping mechanism, the jaws may have a thin plate reinforced with ribs to provide strength to the portions of the jaws outside the area in which the pull member pushes the movable jaw, or outside the area in which the springs attract the movable jaw.

In a lightweight configuration, it may be possible to provide for the use of clamping device elements with multiple functions. For example, the pulling element and the projecting sections on the movable gripper may be designed in such a way that the projecting sections can function as a guide for the pulling element. In this way, the pulling element can move in the space between the projecting sections, while the two rollers roll on the inclined surfaces of the projecting sections.

The pulling member may also be located between a set of clamping crossbars. The set of clamping crossbars may assist the projecting portions in limiting the movements of the pulling member, for example by preventing the rotation of the pulling member around the projecting portions and thereby limiting the movement of the pulling member in a straight line.

Additionally, some or all of the clamping crossbars may have an enlarged portion that may form a guard around the cross-sectional area of the pulling member that may limit movements of the pulling member toward or away from the clamping surfaces.

A lightweight configuration may include a small and hollow grip support. The grip support may be configured to accommodate a clamping mechanism, such as to accommodate a pulling member and a set of springs. Thus, the grip support may be small, such as only slightly larger than the pulling member, such as larger than the body of the pulling member together with the rollers at the end of the body of the pulling member. For example, the grip support may be approximately one third of the clamping surface and may be located in the middle of the clamping surface so that the clamping mechanism acts on the clamping surface with a uniform force.

The gripper support may be hollow, such as a thin shell configuration to reduce weight. The thin shell configuration may provide a roller surface on the back of the gripper support on which the pulling member may roll. A hollow gripper support may have reinforced members and additional hollow parts to minimize weight while providing sufficient strength to support the clamping mechanism.

In some embodiments, the self-locking configuration may automatically hold the jaws apart, such as when the clamping device is ready to release a panel or when the clamping device is ready to grip another panel. Automatic operation means that the clamping device may switch between a state of holding the jaws apart and a state of clamping the jaws without the presence of a worker at or near the clamping device.

The self-locking configuration may include a locking mechanism for the clamping mechanism of the clamping device. For example, the self-locking mechanism may include a first locking component, such as a receiving socket, connected to the housing of the clamping device, for example to a grip support. The self-locking mechanism may include a second locking component, such as a hook, configured to mate with the receiving socket and connected to a movable component of the clamping mechanism, such as a pulling member. When the locking is engaged, for example the hook is engaged with the receiving socket, the pulling member is rigidly connected to the grip support, which can lock the clamping mechanism, for example without movements of the pulling member the movable grip remains stationary. When the locking is released, for example the hook is released from the receiving socket, the pulling member becomes movable relative to the grip support, which can engage the clamping mechanism, for example the movements of the pulling member can cause the movable grip to move toward the stationary grip for clamping the panel.

The hook may be a rotary rod having a hook end that can engage with the receiving socket at an angle of rotation to engage the hook. The hook end may be designed to be released from the receiving socket at an angle of rotation to disengage the hook.

The pivot rod may include one or more pins that interact with the pivot inclined surfaces. The coupling assemblies may be designed so that when the rod moves in one direction, such as upward, the pins engage the pivot inclined surface to rotate the rod. When the rod moves in the opposite direction, such as downward, the pins engage the pivot inclined surface to further rotate the rod. The combination of the rotation of the rod causes the rod to switch between the angle of rotation for engaging and the angle of rotation for disengaging the hook. Thus, when the clamping device moves up and down, the locking mechanism can switch between the engaged and disengaged states, which can cause the jaws of the clamping device to remain stationary or move together to clamp the panel.

To coordinate the automatic locking mechanism, a play may be provided, for example a maximum gap between the bottom of the rollers and the upper surface of the grip support. The pulling member can move within this maximum gap without moving the movable grip. The maximum gap may be equal to at least the vertical distance between two pins on the rod minus the vertical distance between two depressions of the upper and lower inclined surfaces. The maximum gap may at least correspond to the movement of the rod, so that the upper pin moves from the depression of the upper inclined surface until the lower pin reaches the depression of the lower inclined surface.

Brief description of graphic materials

Fig. 1A-1B show a prior art clamping device according to some embodiments.

Fig. 2A and 2B illustrate operations of a clamping device having an automatic locking mechanism, according to some embodiments.

Fig. 3A-3C are schematic illustrations of a locking mechanism according to some embodiments.

Fig. 4A-4C illustrate a configuration of a locking mechanism according to some embodiments.

Figs. 5A-5B illustrate schematic configurations for a locking mechanism or assembly according to some embodiments.

Figs. 6A-6L illustrate a process for switching from an unlocked state to a locked state in accordance with some embodiments.

Figs. 7A-7L illustrate a process for switching from a locked state to an unlocked state in accordance with some embodiments.

Figs. 8A-8D illustrate optimized configurations for a locking assembly in accordance with some embodiments.

Figs. 9A-9B illustrate other schematic configurations for a locking mechanism or assembly according to some embodiments.

Fig. 10A-10C illustrate a process for switching from an unlocked state to a locked state in accordance with some embodiments.

Fig. 11A-11C illustrate a process for switching from a locked state to an unlocked state in accordance with some embodiments.

Figs. 12A-12D illustrate optimized configurations for a locking assembly in accordance with some embodiments.

Fig. 13A-13C show a locking element of the hook end of the rod with the hook portion of the hook receiving socket according to some embodiments.

Fig. 14A-14D show a switching configuration of a locking mechanism according to some embodiments.

Fig. 15A-15D show another configuration of the locking mechanism switching according to some embodiments.

Figs. 16A-16C show block diagrams of control of a locking mechanism according to some embodiments.

Fig. 17A-17B show block diagrams of control of a locking mechanism according to some embodiments.

Fig. 18 shows a clamping device according to some embodiments.

Figs. 19A-19B illustrate methods for operating a clamping device in accordance with some embodiments.

Fig. 20A-20B show a clamping device according to some embodiments.

Figs. 21A-21B illustrate methods for operating a clamping device in accordance with some embodiments.

Fig. 22A-22B show a clamping device according to some embodiments.

Figs. 23A-23B illustrate methods for operating a clamping device in accordance with some embodiments.

Fig. 24A-24B show a clamping device according to some embodiments.

Fig. 25A-25F show another configuration of a clamping device according to some embodiments.

Figs. 26A-26B illustrate methods for operating a clamping device in accordance with some embodiments.

Fig. 27A-27D show a clamping device according to some embodiments.

Figs. 28A-28B illustrate locking mechanisms for a clamping device according to some embodiments.

Figs. 29A-29B illustrate processes for controlling the operation of an automatic locking mechanism in accordance with some embodiments.

Fig. 30A-30B illustrate a compact clamping device capable of handling flat panels, according to some embodiments.

Fig. 31A-31B show a clamping device according to some embodiments.

Figs. 32A-32B are exploded perspective views of components of a clamping device according to some embodiments.

Fig. 33A-33C illustrate a configuration of interaction between a pulling member and a grip support according to some embodiments.

Fig. 34A-34B illustrate a configuration of interaction between a pulling member and a movable gripper in accordance with some embodiments.

Figs. 35A-35B are cross-sectional views of a clamping device according to some embodiments.

Fig. 36A-36B illustrate a clamping device according to some embodiments.

Fig. 37A-37F illustrate another configuration of a clamping device according to some embodiments.

Fig. 38 shows a configuration of a clamping device according to some embodiments.

Fig. 39A-39F show a clamping operation of a clamping device according to some embodiments.

Fig. 40A-40F show an operation of releasing a clamping device according to some embodiments.

Fig. 41A-41E show an operation of releasing a clamping device according to some embodiments.

Fig. 42A-42D illustrate an operation for releasing a clamping device according to some embodiments.

Fig. 43A-43E illustrate an operation for releasing a clamping device according to some embodiments.

Fig. 44A-44D illustrate an operation for releasing a clamping device according to some embodiments.

Fig. 45A-45C show an operation of releasing a clamping device according to some embodiments.

Detailed description of embodiments

In some embodiments of the present invention, an automatic locking mechanism and clamping devices including an automatic locking mechanism are described. The automatic locking mechanism may use up and down movements of the clamping device, such as a lowering and raising action of a winch on the clamping device, to switch the grips between a locked state in which the grips are fixedly spread apart, and an unlocked state in which the grips can move to clamp an object. The automatic locking mechanism may allow the clamping device to approach an object with the grips spread apart to place the object between the grips. The automatic locking mechanism may allow the clamping device to hold the grips spread apart to leave the object on the ground when the clamping device is raised.

The automatic locking mechanism may use inclined surfaces to convert up and down movements into rotational motion. The rotational motion may switch the latch between the locked and unlocked states, for example by coupling the hook end with the hook receiving socket.

The automatic locking mechanism may include one or more circular elements having teeth facing each other or facing away from each other. The arrangement of the teeth may be cyclic, with each tooth having a curved inclined surface, such as a helical surface, followed by a steep surface after reaching the top of the tooth. At the bottom of the steep surface there may be a valley point, which may represent the starting point for the next helical surface, such as the helical surface of the adjacent tooth.

The automatic locking mechanism may include a rod located between the circular elements. The rod may have one or more pins configured to interact with the teeth of the circular elements. When the circular elements move toward the pins, the pins may come into contact with the helical surfaces and then move along the helical surface until they stop at the depression point. The movement of the pins along the helical surfaces may rotate the rod, which may switch the engaging end of the rod in the engaging receiving socket, which may change the states of the locking mechanism.

In some embodiments, the automatic locking mechanism may be optimized, for example, by a support element for supporting the circular elements during the retractive movement of the circular elements relative to the rod. Other optimizations may include selecting a tooth angle of 40 to 50 degrees to obtain a helical surface for high rotational force with a small free play distance. Optimization may include spacing the circular elements with a pin located between them, or spacing the pins between which the circular elements are located to minimize the free play distance. The teeth may be chamfered to prevent pin engagement and to further minimize the free play distance.

The automatic locking mechanism can be used in clamping devices using scissor mechanisms, clamping devices using semi-scissor mechanisms, clamping devices using inclined surface mechanisms and clamping devices using rotary mechanisms.

In some embodiments of the present invention, an automatic locking mechanism and clamping devices including an automatic locking mechanism are described. A typical clamping device may operate on the principle of force conversion, for example converting a pulling force acting on the clamping device into a lateral force of the grippers for clamping an object. In other words, there is a lever transmission between the vertical pulling force for lifting the clamping device and the horizontal force pressing the grippers together. Thus, when the clamping device is raised, this lever transmission may cause the grippers to clamp the object, fixing the object between the grippers for lifting and moving.

However, when the clamping device is empty, e.g. not clamping an object, lifting the clamping device also activates the linkage to bring the grippers closer together. When there is no object, the grippers can close together until the distance between the grippers is minimal, e.g. when the grippers can no longer close together. This can cause difficulties in gripping an object with an empty clamping device, e.g. an additional action is required to separate the grippers before the object can be placed between the grippers.

The automatic locking mechanism may include a mechanism for disabling the linkage, for example by locking the linkage so that the jaws of the clamping device can remain stationary when the clamping device is lifted. Thus, when the locking mechanism is engaged, the linkage is disengaged. The disengagement of the linkage may be automatic, for example, activated when the clamping device moves down and up to grip and lift an object. Thus, the automatic locking mechanism may switch the engagement and disengagement of the linkage during the operation of lifting and releasing the object.

For example, the automatic locking mechanism may be engaged (or the linkage disengaged) when the clamping device is empty, e.g., not clamping an object. In this locked state, the grippers remain open, e.g., spread, even when the clamping device is raised.

When the clamping device comes into contact with the object, the automatic locking mechanism automatically switches from the locked state to the unlocked state to release the lever mechanism. In this unlocked state, when the clamping device is raised, the jaws move towards each other.

In some embodiments of the present invention, an automatic locking mechanism is described that can activate or deactivate a linkage between the pulling action and the lateral movements of the grippers. When the linkage is deactivated, the pulling member can lift the clamping device without moving the grippers. When the linkage is activated, lifting the pulling member can cause the grippers to move toward each other.

In some embodiments, the deactivation of the linkage may be accomplished by immobilizing the movable element of the linkage, such as when the clamping device is ready to depart after delivering the object to its destination. In this way, when the grippers are opened to the maximum distance, the movable element of the linkage is immobilized, disengaging the linkage between the pulling element and the grippers, which may keep the grippers widely spread even when the clamping device is raised.

The lever transmission can be reactivated when the clamping device with the grippers at their maximum distance is positioned so that a new object is located between the grippers. Thus, when the clamping device is raised, for example by pulling on the pulling element, the grippers are moved to clamp the object.

In some embodiments, the activation and deactivation of the lever transmission may be performed automatically, such as when the clamping device carrying the object completes delivery of the object, and when the empty clamping device comes into contact with the object for clamping.

In some embodiments, activation and deactivation of the linkage may be provided by a locking unit that can switch the linkage between an activated and deactivated state, such as by means of an automatic locking mechanism.

In some embodiments of the present invention, a clamping device is described that includes an automatic locking mechanism. The clamping device can be used to lift and/or move objects such as metal, granite, ceramic, glass, quartz or concrete slabs.

The clamping device may include a pulling member that may be configured to be connected to a winch to move the clamping device up and down. The clamping device may include a gripper assembly that has two opposing grippers. The gripper assembly may be configured to clamp an object. The clamping device may include a lever mechanism between the pulling member and the gripper assembly. The lever mechanism may be configured such that when the pulling member moves upward, the grippers move toward each other to clamp the object.

The automatic locking mechanism may prevent the jaws from moving towards each other when the clamping device is raised. If necessary, the locking mechanism may allow the jaws to remain open even during the lifting and movement of the clamping device. Typically, the clamping device is designed so that when one end of the clamping lever is pulled, the jaws of the clamping device clamp the object. Thus, when the clamping device is raised, the jaws are compressed together. This may be unacceptable, since the compressed jaws will have to be opened to receive the object. The locking mechanism may forcibly open the jaws when there is no object to be clamped. In this way, an empty clamping device with open jaws can be lifted and moved to the location of the object, where the open jaws can receive the object. The mechanism is then released, and when raised, the jaws can be compressed together to fix the object for movement.

The locking mechanism may lock the upper part of the lever, for example, to prevent the upper part of the lever from moving up/down or to the side. For example, the upper part of the lever may be locked at the pivot point between the upper part of the lever and the lower part of the lever or at any element rigidly connected to the pivot point. The upper part of the lever may be locked at an intermediate hinge at the upper part of the lever.

In some embodiments, the locking mechanism, for example a mechanism that can lock the grippers in the open state until they are released, can include a mechanism that connects a winch part of the clamping device, for example a part of the clamping device connected to a winch for pulling the clamping device, to a fixed component, such as fixed grippers or a pivot rod connecting the pivot points of the scissor mechanisms. Thus, this mechanism can be designed so that when it is locked, the winch part can move together with the pivot points, so that said scissor mechanisms cannot function. In this configuration, the winch part is then disconnected from the scissor mechanisms and, thus, when raised, the grippers remain open. If the mechanism is unlocked, the winch part can be separated from the pivot points so that the scissor mechanisms can function, for example by clamping an object. In this configuration, the winch part is then connected to the scissor mechanisms and, thus, when raised, the grippers can clamp an object.

The locking mechanism may be automatic, meaning that the mechanism may be locked or engaged, such as locking the jaws to hold the jaws apart, or unlocked or disengaged, such as unlocking the jaws to allow the jaws to move toward each other. The automatic mechanism may be triggered or activated when the clamping device contacts an object, and may alternate between engaging and disengaging the lock. For example, the locking mechanism may be engaged, meaning that the jaws may be kept wide apart and prevented from moving closer together when the clamping device is raised. The clamping device may be lowered toward an object, and after contacting the object, the locking mechanism may be disengaged, meaning that the jaws may move closer together when the clamping device is raised. The clamping device may be raised, causing the jaws to move toward each other to clamp the object. The clamping device may be moved to a new location. The clamping device may lower the object. When the object reaches the ground, the clamping device can be lowered further until it contacts the object to start or activate the locking mechanism to change the state of the locking mechanism. Then the locking mechanism can be engaged, which means that the jaws can be widely separated and cannot be brought together when the clamping device is raised. After this, the clamping device can move up to move another object. Since the locking mechanism is engaged, the clamping device can be raised without moving the jaws.

The locking mechanism may be a hands-free or operator-controlled mechanism that may provide the ability to switch between a clamping action of the grippers for clamping an object and a non-clamping action of the grippers for inserting an object. The hands-free mechanism may allow a single operator to operate the clamping device to lift and move an object. For example, the locking mechanism may be activated or released by a pushing action, such as when the clamping device contacts an object.

Fig. 2A and 2B show operations of a clamping device having an automatic locking mechanism, according to some embodiments. The clamping device 200 may include a pulling member 210, which may be connected to a winch for lifting and moving the clamping device. The clamping device 200 may include two opposing grippers 240, which may clamp an object. The clamping device 200 may include a lever mechanism 230, which connects the pulling member 210 to the grippers 240. The clamping device 200 may include an automatic locking mechanism 250 for locking or unlocking the lever mechanism 230.

In Fig. 2A, a locking configuration 250A is shown, for example, the automatic locking mechanism is engaged or locked, which can block the movement of the lever mechanism, for example, the disengagement of the lever mechanism between two components of the clamping device 200. In this locking configuration, the grippers remain widely separated even when the empty clamping device is lifted and are moved to approach the object 220 to grip it. For example, the automatic locking mechanism 250 can include two locking elements 251 and 252. The locking element 251 can be connected to the pulling element 210. The locking element 252 can be connected to the pivot point 230A of the lever mechanism 230. Other connection points can be used, such as a connection of two levers of the lever mechanism 250.

In the locking configuration 250A, two elements are connected to each other, for example, one element cannot move relative to the other element. Thus, the pulling element cannot move relative to the pivot point, and the grippers remain as they were when the clamping device was raised. Thus, the clamping device can approach the object 220 with the grippers widely spread. The clamping device can be positioned above the object and then lowered to place the object between the grippers.

In the unlocking configuration 250B, the two elements are disconnected, for example, one element can move relative to the other element. In this way, the pulling element can move relative to the pivot point, and when the clamping device is raised, the grippers are pressed against each other. In this way, the clamping device can be raised and then moved to a new location with the object securely clamped between the two grippers.

The locking and unlocking configurations can be automatically switched 260 by the upward and downward movements 261 of the clamping device. For example, the locking mechanism can be activated after the grippers are spread apart. In this way, the grippers are locked in the spread configuration, which allows the clamping device to receive an object. For example, after the object is delivered to the destination, the pulling element of the clamping device can be lowered, while the clamping device remains stationary, for example the pulling element moves downwards relative to the clamping device. When the pulling element is lowered, the grippers can move to the open position, for example, to move apart. In this way, the locking mechanism can be activated when the grippers are spread apart by a given distance, such as the maximum spreading distance or a distance close to this maximum distance. For example, the grippers can be spread apart by the maximum distance to partially activate the locking mechanism. When the pulling element reverses direction, for example, starts to pull upwards, the grippers can come together. The closing movement of the jaws may complete the locking mechanism, preventing further closing of the jaws and effectively keeping the jaws open at a distance less than the maximum distance.

The locking mechanism can be partially deactivated by lowering the pulling element relative to the clamping device. Lowering the pulling element can slightly separate the grippers. The pulling element can then be pulled upward to complete the deactivation process. The grippers can move toward each other to clamp the object.

In some embodiments, the automatic locking mechanism may be configured to be activated in two stages. The automatic locking mechanism may first be partially activated (or deactivated) by a lowering action of the pulling element (which may be realized by lowering the winch). The automatic locking mechanism may complete the activation (or deactivation) process by a lifting action on the pulling element (which may also be realized by raising the winch). Thus, the automatic locking mechanism may be automatic, for example, it may be activated by the same movement of lowering and raising the winch to receive, clamp and move the object.

A typical activation of the automatic locking mechanism may include partial activation by lowering the pulling member so that the grippers can move a certain distance apart. The pulling member is lowered relative to the other elements of the clamping device, so that in some embodiments the clamping device rests against something, for example an object that is carried by the clamping device, and this object is placed on the ground. Thus, the automatic locking mechanism can be partially activated by lowering a winch connected to the clamping device carrying the object so that the object comes into contact with the ground. Then the winch can be further lowered so that the grippers can move apart a certain distance apart, for example by moving the pulling member downwards relative to the rest of the clamping device.

The automatic locking mechanism can then be activated by fully pulling the pulling element upwards, which can lock the grippers in the open position at a previously set spreading distance or at a distance less than or slightly less than the previously set spreading distance, for example by allowing the grippers to move slightly closer together after pulling the pulling element.

A typical deactivation of the automatic locking mechanism may include a partial deactivation by lowering the pulling member. The pulling member may not have the ability to pre-pull upward due to the activation of the automatic locking mechanism. Thus, the pulling member can be partially released from the activation of the automatic locking mechanism by reversing the direction of movement, for example by lowering the pulling member. Lowering the pulling member can hold the grippers at the previous separation distance or can increase the separation distance, for example by increasing the separation distance by a small amount, for example by allowing the grippers to move slightly away from each other after lowering the pulling member.

The pulling element is lowered relative to the other elements of the clamping device, so that in some embodiments the clamping device rests against something, such as an object that the clamping device is ready to pick up, and this object is on the ground. Thus, the automatic locking mechanism can be partially deactivated by lowering the winch connected to the empty clamping device, so that the clamping device contacts the object. After this, the winch can be further lowered so that the pulling element can move downwards relative to the rest of the clamping device.

The automatic locking mechanism can then be completely deactivated by pulling the pull element upwards, allowing the clamps to move towards each other.

The automatic locking mechanism can be built into various clamping devices. For example, the clamping device can include two pivoting levers that move two opposing grips. The clamping device can include one pivoting lever that moves a movable grip and one fixed lever that supports a fixed grip. The clamping device can include two inclined surfaces that move two opposing grips. The clamping device can include one inclined surface that moves one movable grip and one fixed grip. The clamping device can include a pivoting inclined surface that moves one movable grip and one fixed grip.

Other configurations of the locking mechanism may be used that may lock any two components between the pulling member, the gripper, and the linkage between the pulling member and the gripper. For example, the locking mechanism may be between the pulling member and the gripper, or between the gripper and a component of the linkage.

Fig. 3A-3C is a schematic illustration of a locking mechanism according to some embodiments. Fig. 3A is a schematic illustration of a locking mechanism 350 that is switchable between a locked (or engaged) state 350A and an unlocked (or disengaged) state 350B.

The locking mechanism 350 may include 2 parts 351 and 352, which may be fixed together (in the locked or engaged state 350A) or may be separated from each other (in the unlocked or disengaged state 350B). The locking mechanism may be a switching mechanism that can change states using the same set of activation mechanisms. For example, the activation mechanism for the switching operation 360 may include a set of upward and downward forces 361 acting on one or both parts 351 and 352 of the locking mechanism.

The switching operation may involve converting a vertical force into a rotational force, for example, through an inclined surface such as a helical surface. The vertical force may be achieved by moving the clamping device up or down. The rotational force may be used to activate a rotary lock, which can be switched between a locked position and an unlocked position.

Fig. 3B(a)-(c) shows a schematic process of automatic activation of the locking mechanism. The locking mechanism can be designed to connect two movable components of the clamping device, such as the pulling member 310 and the pivot point 330. The locking mechanism 350 can include a first part 351, which is connected to the pulling member. The locking mechanism can include a second part 352, which is connected to the pivot point.

The first part may include circular elements 371 connected to the pulling element. The circular elements may be rigidly connected to the pulling element. The first part may include a rod 353, which is located in the circular elements. The rod may move up and down along the axis of the circular elements. The rod may also rotate around the same axis. The rod may have one or more pins, which may prevent the rod from separating from the circular elements. Thus, the rod may move up/down and rotate, but is subject to restriction by the pins. The rod may have a hook element at or near the end. The hook element may be coupled with the second part.

The second part may include a receiving socket 381, which may have a mating hook element, such as parallel hooks, for a detachable connection with the hook element of the rod. Switching the detachable connection from one state to another may be carried out by turning, for example by turning by 90 degrees.

In Fig. 3C(a), the locking mechanism is in the unlocked state 350A, wherein the engaging element of the rod is made parallel relative to the parallel engaging element of the receiving socket. Thus, the rod (and the circular elements) and the receiving socket are made with the possibility of disconnection, so that the pulling element can move a large distance relative to the pivot point.

In Fig. 3C(b), the pulling member moves toward the pivot point. The movement is relative, meaning that the two components move toward each other, for example one component moves while the other component is stationary, or both components move. The rod may come into contact with the receiving seat and then rotate. Such rotation may result in the rod engaging with the receiving seat, for example the engaging element in the rod is no longer parallel to the parallel engagement of the receiving seat, which results in the rod being connected to the receiving seat, for example the rod cannot be separated from the receiving seat. Due to the tolerance, the rod may move slightly relative to the receiving seat, but since the engaging element is engaged with the parallel engagement, the rod cannot be separated from the receiving seat or removed from it.

In Fig. 3C(c), the pulling member is relatively removed from the pivot point. The rod can still be connected to the receiving socket. The locking mechanism is activated, for example the locking mechanism is in the locked state 350B, fixing the pulling member with the pivot point. The term "locking" means that the pulling member and the pivot point are not separated and move as a single unit. Thus, the pulling member moves together with the pivot point, for example with the clamping device. The locking mechanism is now disengaged, and this means that the pulling member cannot influence the movements of the grippers.

In Fig. 3D(a), the locking mechanism is in the locked state 350B, wherein the engaging element of the rod is configured to engage with the parallel engaging element of the receiving socket. In this way, the rod (and the circular elements) and the receiving socket are connected to each other, for example, move as a single unit, so that the pulling element cannot move any large distance relative to the pivot point. The pulling element can still move a small distance, for example, dictated by the tolerance of the components.

In Fig. 3D(b), the pulling element is relatively moved toward the pivot point. The rod may be pressed against the circular elements and then rotated. Such a rotation may result in the rod being disengaged from the receiving socket, for example, the hook element in the rod is now parallel to the parallel hook of the receiving socket, which results in the possibility of separating the rod from the receiving socket or removing it.

In Fig. 3D(c) the pulling member is relatively removed from the pivot point. Now the rod can separate from the receiving socket. The locking mechanism is deactivated, for example the locking mechanism is in the unlocked state 350A, releasing the pulling member from the pivot point. The lever mechanism is now engaged, and this means that the movements of the pulling member can cause the grippers to move towards each other.

Fig. 4A-4C show a configuration of a locking mechanism according to some embodiments. Fig. 4A shows a diagram of a force conversion using an inclined surface, such as a portion of a helicoidal surface. The inclined surface can convert a vertical force into a force parallel to the surface of the inclined surface. In addition, when using a helicoidal surface, the parallel force can be a tangential force, such as a rotational force around the axis of the helicoid. Thus, when using a curved inclined surface, such as a helicoidal surface, the vertical force 462 can be converted into a rotational force 463 around the axis of the helicoid.

The circular element 471 may have a plurality of teeth 472 arranged around the circular element 471. Each tooth may have a curved inclined surface 473, such as part of a helicoidal surface. Each tooth may have a valley point 474, such as a connection between the end of the inclined surface of the tooth and the beginning of the rise of the next tooth.

A rod 453 can be arranged inside the circular element 471. A pin 454 can be connected to the rod 453, for example, protruding from the surface of the rod. The pin can penetrate the rod at the center of the rod, while it can protrude from both sides of the rod. In this way, the rod can be limited for movement in the vertical direction, for example along the axis of the rod, being subject to a limitation from the side of the pin. For example, the pin can come into contact with an inclined surface and thereby prevent the rod from continuing to move in a straight vertical direction. The rod can also rotate in the circular element, being subject to a limitation from the side of the pin. For example, the pin can come into contact with a depression point and thereby prevent the rod from continuing to rotate.

Thus, under the action of the vertical force 462, the rod can move in the vertical direction until the pin 454 comes into contact with the inclined surface 473. Then the pin moves along the inclined surface until it stops at the point 474 of the depression. The movement of the pin 454 along the inclined surface 473 can cause rotation 463 of the rod 453. The angle of rotation has a value from the point of application of the vertical force to the point of the depression.

Fig. 4B shows a first part, such as part 451, of the locking mechanism 450. The first part can function to convert vertical forces 461, such as forces caused by the lifting and lowering of the clamping device during the gripping and releasing of objects, into a rotational force 464.

The first part may include two circular elements 471 and 476 arranged concentrically. Each circular element may have a row of teeth arranged along the circumference of the circular element. The teeth may be arranged cyclically, for example, there may be 4 teeth in one circular element. Each tooth may have a curved inclined surface moving along the circumference of the circular element, such as part of a helicoidal surface. Each tooth may have a valley point at the end of the tooth, for example at the end of a curved inclined surface. Each tooth may have a sharp rise, for example from the valley point of an adjacent tooth.

For example, the circular element 471 may have a plurality of teeth, for example 4 teeth 472, arranged cyclically around the circumference of the circular element 471. Each tooth 472 may have a curved inclined surface 473 that ends at a valley point 474. At the valley point 474, an adjacent tooth may be located that has a sharp rise that turns into a new inclined surface.

Similarly, the circular element 476 may have a plurality of teeth, for example 4 teeth 477, arranged cyclically around the circumference of the circular element 476. Each tooth 477 may have a curved inclined surface 478, which ends at a valley point 479. At the valley point 479, an adjacent tooth may be located, which has a sharp rise, turning into a new inclined surface.

The rod 453 can be located in the circular elements 471 and 476. The outer circumference of the rod can be approximately the same as the inner circumference of the circular elements, so that the rod can be located in the circular elements by a sliding fit. Thus, the rod can move along the axis of the rod (which coincides with the axis of the circular elements), and can also rotate around the axis of the rod.

The pin 454 can pass through the center of the rod perpendicular to the axis of the rod. The pin can protrude from the outer circumference of the rod. The pin can be positioned so as to be between the circular elements. The pin can limit the movements of the rod inside the circular elements. For example, the rod can move vertically, but within the limitations of the two circular elements, for example, the rod can move relative to the circular elements, but the rod cannot be separated from the circular elements, for example, the rod cannot be removed from the circular elements. The rod can also rotate, but within the limitations of the teeth, for example, the rod can rotate, and when the pin collides with a tooth, the rod can move vertically to avoid the tooth before continuing to rotate.

The circular elements may be arranged so that a combination of a set of vertical movements or forces, such as an upward movement followed by a downward movement, or a downward movement followed by an upward movement, may rotate the rod to switch the locking mechanism between a locked state and an unlocked state. The circular elements may be arranged fixedly relative to each other, such that two circular elements may move as a single unit.

For example, the circular elements may be arranged so that the teeth on the circular elements face each other, such that the teeth on one circular element face the teeth on another circular element. In addition, the teeth are arranged in opposite directions, such that the inclined surfaces of the teeth in one circular element form an angle different from zero (e.g., are not parallel) with the inclined surfaces of the teeth in another circular element. The angle may be from 70 to 110 degrees, or from 75 to 105 degrees, or from 80 to 100 degrees, or from 85 to 95 degrees. In addition, the points of the tooth gullies in one circular element are made so that they face the inclined surfaces of the teeth in the opposite circular element.

During operation, the rod can move upward relative to the circular elements. For example, the circular elements can be rigidly connected to a component of the clamping device. This component can move downward, while the rod remains stationary. The pin 454, initially located at the point 479 of the root of the tooth 477 of the lower circular element 476, can move upward to enter into contact with the inclined surface 473 of the tooth 472 of the upper circular element 471. Further vertical movement of the rod can lead to movement of the pin along the inclined surface 473 and a stop at the point 474 of the root. Movement of the pin along the inclined surface can cause rotation of the rod, for example, by an angle corresponding to the distance traveled by the pin along the inclined surface.

Then the rod can move downwards relative to the circular elements. For example, a component in which the circular elements are rigidly connected to each other can move upwards, while the rod remains stationary. The pin 454, initially located at the point 474 of the root of the tooth 472 of the upper circular element 471, can move upwards to come into contact with the inclined surface of the tooth of the lower circular element. Further vertical movement of the rod can lead to movement of the pin along the inclined surface and a stop at the root point. Movement of the pin along the inclined surface can cause rotation of the rod, for example, by an angle corresponding to the distance traveled by the pin along the inclined surface.

The combination of moving the rod up and then down can result in the rotation of the rod by an angle corresponding to the movement of the pin from one point of the valley to the adjacent point of the valley, for example, the lower circular element. Thus, when there are 4 teeth in the circular element, the distance between two points of the valley can correspond to an angle of 90 degrees, for example, the rod rotates by an angle of 90 degrees when moving the rod up and down, for example, a component of a clamping device in which the circular elements are rigidly connected, moves down and up.

Further movements of the rod (or clamping device component) may rotate the rod by another 90 degrees, for example vertical movements 461 of the rod or clamping device component may be converted into rotational movement 464 of the rod.

Fig. 4C shows a second part, such as part 452, of the locking mechanism 450. The second part can function to convert rotation, such as rotation of a rod located inside two circular elements having teeth with curved inclined surfaces, into a mechanism for switching between a locked state and an unlocked state.

The second part 452 may include a receiving socket 481, configured to be fixed relative to the rotary rod 453. For example, at the end or near the end of the rod 453 there may be an asymmetric hook 455, including an elongated section 455A and a shortened section 455B, such as an oval or rectangular shape. The receiving socket 481 may have a parallel hook, configured to engage or fix on the elongated section of the rod 453.

Thus, when the rod rotates, the rod can be locked by the receiving socket, for example, in a locked state between the rod and the receiving socket, or the rod can be separated from the receiving socket, for example, in an unlocked state between the rod and the receiving socket. The locked and unlocked states can be switched by continuing to rotate the rod. For example, the rod can be arranged so that the extended section 450A engages with a parallel hook of the receiving socket, locking the rod 453 in the receiving socket 481. In the locked state, the rod can move a small distance relative to the receiving socket, but the rod cannot be separated from the receiving socket or removed from it.

When the rod is rotated by 90 degrees, the extended portion becomes parallel to the parallel hooks of the receiving socket, and the shortened portion does not engage with the receiving socket. This results in the release of the rod from the receiving socket, forming an unlocked state in which the rod can be separated from the receiving socket or removed from it. A repeated rotation of the rod by 90 degrees in any direction of rotation can again engage the locking mechanism due to the mating of the extended portion with the parallel hooks of the receiving socket. Thus, the locked and unlocked states can be switched by rotating the rod, for example, by rotating by 90 degrees.

A locking mechanism including circular elements having a configuration with periodically arranged teeth, a rod having an asymmetric hook, and a receiving socket having parallel hooks can be switched between locked and unlocked states by means of a series of up and down movements.

In some embodiments of the present invention, an automatic locking unit is described, having an automatic locking mechanism, which can be integrated into a clamping device. In the automatic locking unit, up and down movements of the clamping device can be used to switch the locking, for example between the locked and unlocked states, of two movable components of the clamping device. In the locked state, the two movable components of the clamping device are connected to each other, for example, they are non-removable or inseparable from each other, thereby holding the grippers in a fixed position when the clamping device is moved. In the unlocked state, the two movable components of the clamping device are separated, for example, one component can move relative to the other component, thereby applying a force to the grippers for clamping an object when the clamping device is raised.

In some embodiments, the automatic locking assembly may include an inclined surface, such as a curved inclined surface or a helical inclined surface, mated with a cylindrical element, such as a rotating pin, for example a roller. The inclined surface may change the direction of the force, for example, by converting up/down movements into a rotational movement. The mating assembly between the inclined surface and the cylindrical element may reduce friction, for example, it may be easier for a cylindrical element to move along an inclined surface than for a flat surface to move along an inclined surface, due to the minimal contact area. In addition, a bearing may be provided to further reduce friction between the cylindrical element and the inclined surface.

The automatic locking unit can be connected to the clamping device for automatically disabling or enabling the lever mechanism of the clamping device. The lever mechanism is designed with the possibility of converting the pulling force acting on the clamping device into the clamping force from the grips of the clamping device. The lever mechanism can include connecting levers, hinges and/or elements connected to each other and designed with the possibility of movement relative to the body of the clamping device.

In some embodiments, the automatic locking unit may include two locking elements that may be secured together, such as fixed together, and may be disconnected from each other, such as separated from each other. The two locking elements may include a hook and an eye, in which the hook may be connected to the eye for fixing the hook with the eye. The two locking elements may include a rod and a receiving socket, wherein the rod may enter the receiving socket for preventing lateral movement of the rod or the receiving socket. The two locking elements may include a rod having a hook element, such as an extended end, and a receiving socket with parallel hooks, such as two hooks extending parallel to each other. The hook element may be inserted into the receiving hook receiving socket, such as when the extended end is located parallel to the receiving hook receiving socket. In this configuration, the engaging element can enter and exit the receiving socket, for example, two locking elements can move freely relative to each other.

After inserting the hook element into the receiving socket with parallel hooks, the hook element can be rotated so that the extended end can be positioned perpendicular to the receiving socket with parallel hooks. In this configuration, the hook element is fixed in the receiving socket, since the hook ends of the parallel hooks of the receiving socket can prevent the extended end from coming out of the receiving socket.

In some embodiments, the automatic locking assembly may include two inclined surfaces together with one or more curved shape elements for interaction with the inclined surfaces. The curved shape elements may have a curved surface, such as a cylindrical or elliptical rod, or a partially cylindrical or elliptical rod. The curved surface may reduce friction with the inclined surfaces, for example due to a reduced contact area with the surface. The curved shape element may include a roller, such as a ball bearing or a roller bearing. The roller may further reduce friction with the inclined surface, for example due to the ability of the roller to roll.

The inclined surfaces may change the direction of movement of the curve element, for example, to rotate the curve element when the curve element moves toward and interacts with the inclined surfaces. The rotation of the curve element may be associated with a locking configuration of the automatic locking unit, for example when the rod is rotated with the extended end in a receiving socket with parallel hooks.

The automatic locking unit can be designed so that two inclined surfaces can face each other and also face a curved element, such as pins protruding from the rod. The first inclined surface can be designed to receive the protruding pins in a first direction of movement of the pins, and then move the protruding pins along this inclined surface. The inclined surface can be a curved inclined surface, such as a helicoidal surface. The movements of the protruding pins along the inclined surface can cause rotation of the rod, for example, when the pins pass along the helicoidal surface.

The second inclined surface may be configured to receive protruding pins, such as the same protruding pins or new additional pins protruding from the rod. The second inclined surface may move the protruding pins along the inclined surface, such as a helicoidal surface, such as by rotating the rod by means of the protruding pins passing along the helicoidal surface.

Fig. 5A-5B show schematic configurations for a locking mechanism or assembly according to some embodiments. The locking mechanism may use an inclined coupling assembly to repeatedly rotate the rod under the action of a repeating set of vertical forces. If the rod has rotational symmetry, for example, the geometric shape of the rod remains the same after rotation by a certain angle, a set of vertical forces acting on the rod may rotate the rod by half the angle of rotational symmetry. Two successive sets of vertical forces return the rod to its original position, for example, rotating the rod by the angle of rotational symmetry.

In some embodiments, the locking mechanism may include two lockable elements, such as a rod with a hook end, such as a hook element at the end of the rod or near it, and a hook receiving socket, such as a receiving socket having a hook portion that can be mated with the hook element of the rod. Depending on the position of the hook end, the rod may be locked in the hook receiving socket for moving together with the receiving socket, or the rod may move independently of the receiving socket, such as the rod may be separated from the receiving socket or removed from it, and in this case, the operation of the two units is ensured separately.

For example, the engaging element may have an elongated shape, such as a rectangular or oval shape. Thus, the rod may have a perpendicular elongated end, for example, the rod with the engaging element may look like a hammer. The perpendicular elongated end may have the shape of a square sledgehammer head connected to the rod as a hammer handle. The longer side of the elongated shape may be fixed in the engaging portion of the engaging receiving socket, while the shorter end may be released or configured to move from the engaging receiving socket. Rotation of the rod may result in switching between a fixed state, for example with the longer side engaged in the engaging receiving socket, and a free state, for example with the shorter side facing the engaging portion of the engaging receiving socket.

In Fig. 5A(a) - 5A(d) the configuration of the locking unit is shown, having two parts 551 and 552, forming two locked elements. The first part 551 can include a rod 553, having a hook end 555 for coupling with the hook part or hook element 581 of the second part 552. The rod 553 can be configured to move in another element of the first part, such as elements 571 and 576 with an inclined surface, each of which has at least an inclined surface, for example the rod can move along the axis of rotation of the elements 571 and 576 with an inclined surface. A sleeve 585 can be used to support the elements 571 and 576 with an inclined surface. The rod 553 can have a projecting element 554, located between the inclined surfaces of the elements 571 and 576 with an inclined surface. The protruding element can limit the movement of the rod, for example, the rod can move in one direction so that the protruding element can come into contact with the inclined surface of the element with the inclined surface, and the rod can move in the opposite direction so that the protruding element can come into contact with the inclined surface of another element with the inclined surface. By moving the rod 553 so that the protruding element 554 successively comes into contact with the inclined surfaces, the rod can rotate to switch between the configuration of connection and the configuration of disconnection with the hook portion 581.

Fig. 5A(a) schematically shows details of the first part 551 of the locking assembly using inclined coupling assemblies. The locking assembly may include two parts 551 and 552 that form two locked elements. The first part 551 may include an element 553 interacting with an inclined surface, such as a rod, together with elements 571 and 576 with an inclined surface, each of which has at least an inclined surface, for example two circular elements with periodically arranged teeth. The second part or the second locked element may include a hook receiving seat 581, which may include a hook portion 581A, such as parallel ends of a hook (shown in Fig. 5A(c)).

The first part or the first lockable element of the locking assembly may include an element cooperating with an inclined surface, such as a rod 553. One end of the rod may include a hook end or a hook element 555, which may include a perpendicular elongated section having a longer side 555A and a shorter side 555B. The longer side may be fixed in the hook receiving socket, wherein the longer side mates with the hook ends 581A of the hook receiving socket 581. When the longer side 555A of the end 555 of the rod mates with the hooks 581A of the hook receiving socket 581, the hook receiving socket 581 may be in engagement with the rod and cannot be disconnected from the rod, for example the locking mechanism is engaged.

The shorter side may allow the rod to move freely into and out of the hook receiving socket. The longer side 555A may be parallel to the parallel ends 581A of the hook, and the shorter side 555B may be free from the parallel ends of the hook. Thus, the rod 553 can be separated from the hook receiving socket 581 or removed from it, since the distance between the parallel ends 581A of the hook is greater than the shorter side 555B of the rod 553.

When the rod is rotated, for example by an angle of 90 degrees for this elongated hook element 555, the locking state can be switched between a locked and an unlocked state, for example the rod is engaged with the hook receiving socket, and the rod can move freely into and out of the hook receiving socket. When the shorter side of the rod 553 is free from the parallel ends of the hook of the hook receiving socket, the hooks do not grip the rod, and therefore the rod 553 and the hook receiving socket 581 can be disconnected, for example the locking mechanism is disabled.

The rod 553 may include a projecting element 554, such as a pin, which may be a pin passing through the rod and projecting from both sides of the rod, together with optional ball bearings or rollers connected to the ends of the pin or to a part of the pin in the rod. The optional bearings may provide easy rotation of the pin relative to the rod. The projecting pin may include cylindrical pins, rollers, elliptical pins or projections of any shape that can slide along the inclined surfaces of the first and second circular elements. Several pins may also be used. The projecting element may interact with the inclined surfaces of the elements 571 and 576 having inclined surfaces.

The elements 571 and 576 having inclined surfaces may include ring-shaped elements, such as circular elements, which may have inclined surfaces in the form of helical or spiral surfaces. The circular elements may have a hollow cylindrical shape, such as a ring or a hollow cylinder, with an axis of rotation 551A. For example, the circular elements may have cyclically arranged teeth, such as teeth arranged along the circumference of the circular elements. The number of teeth may be divisible by 2 or 4, such as 4 teeth or 8 teeth. The teeth may have helical surfaces rising from the base of the circular elements, followed by steep surfaces extending back down to the base after reaching the tops of the teeth. The other end of the helical surfaces may reach valley points, followed by steep surfaces of adjacent teeth.

The circular element 571 may have a plurality of teeth 572, for example 4 teeth, arranged cyclically around the circumference of the base of the circular element 571. Each tooth may have a helical surface 573. At the end of the helical surface 573 near the base, there may be a point 574 of depression, which may be followed by an adjacent tooth, for example a steep surface of an adjacent tooth.

Similarly, the circular element 576 can have 4 teeth 577, arranged cyclically around the circumference of the base of the circular element 576. Each tooth can have a helical surface 578. At the end of the helical surface 578 near the base, there can be a point 579 of a depression, which can be followed by an adjacent tooth, for example, a steep surface of an adjacent tooth.

Two circular elements may be arranged concentrically around the axis 551A, with the helical surfaces 573 and 578 facing each other. In addition, the teeth of the circular elements may be made in such a way that the tops of the teeth of one circular element face the helical surfaces of the other circular element, and the points of the valleys of one circular element face the helical surfaces of the other circular element.

The rod 553 can be located in the circular elements, for example, the axis of the rod coincides with the axes of the circular elements. The rod can be limited inside the circular elements, for example, without a protruding element, the rod can move along the axis and can rotate around the axis.

With a projecting element such as the pin 554, the rod 553 is further limited. For example, after the rod is placed in the circular element, the pin can be inserted in such a way that the pin is located between two circular elements. The pin can thus prevent the rod from being removed from the circular elements or separated from them.

The pin may further limit the movements of the rod in addition to the small axial movements due to the teeth of the circular elements preventing the pin from passing through the teeth. The rod may perform some rotational movements limited by the steep surfaces or helicoidal surfaces of the teeth. The rod may perform a full revolution, but only together with axial movements, for example, when the rotational movement is blocked by the teeth, the rod may move along the axis in such a way that the pin is released from the teeth before continuing the rotational movement.

The helical surfaces of the first and second circular elements may face each other and may be configured to provide a torque for rotating the rod due to the projecting pin. For example, the rod may be pushed into the first circular element, after which the projecting pin comes into contact with the helical surfaces of the first circular element. Due to the helical surfaces, the projecting pin can slide or roll along the helical surfaces, effectively rotating the rod by an angle corresponding to the size of the projecting pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces.

The rod can be pulled back, for example, a force can be applied to pull the rod out. In addition, the protruding pin can be configured to come into contact with the helical surfaces of the second circular element. Due to the helical surfaces, the protruding pin can slide or roll along the helical surfaces, effectively turning the rod by another angle corresponding to the size of the protruding pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces. Thus, when pushing in and pulling out, the rod can rotate by a certain angle, for example, by an angle of 90 degrees.

For example, pin 554 may face helical surfaces 573 and 578, such as being located between helical surface 573 of first circular element 571 and helical surface 578 of second circular element 576.

The rod can be pushed in such a way that the pin 554 comes into contact with the helicoidal surface 573 of the first circular element 571. After this, the pin can pass along the helicoidal surface 573 to the point 574 of the depression. The movement of the pin 554 can lead to a rotation of the rod 553 by an angle corresponding to the length of the movement, for example, the distance that the pin passes along the helicoidal surface 573.

The rod can be extended in such a way that the pin 554 comes into contact with the helicoidal surface 578 of the second circular element 576. The pin can pass along the helicoidal surface 578 to the point 579 of the depression of the second circular element 576. The movement of the pin 554 can lead to the rotation of the rod 553 by an angle corresponding to the length of the movement, for example, the distance that the pin passes along the helicoidal surface 578.

Fig. 5A(b) schematically shows the structure of the first part 551 of the locking unit. The first part or the first lockable element may include a first circular element 571 and a second circular element 576. The circular elements 571 and 576 may be placed inside the sleeve 585.

The first part may include a rod 553. One end of the rod may include a hook end or hook element 555, which may include a perpendicular elongated section having a longer side and a shorter side. The pin 554 may be inserted into the rod, for example after placing the rod inside at least the second circular element 576. Since the second circular element 576 is limited by the pin 554 and the hook end 555, the second circular element and the rod are connected together, for example, they cannot be separated from each other

The pin may have any configuration relative to the hook end. As shown, the pin is parallel to the hook end. Thus, the pin is designed so that when the pin abuts the point of the recess of the second circular element 576, the hook end is either parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving socket.

In Fig. 5A(c) the first part 551 of the locking assembly is shown, partially locked by the second part 552 of the locking assembly. The circular elements 571 and 576 are assembled inside the sleeve 585. The rod 553 can be assembled inside the first and second circular elements, with the pin 554 between the circular elements. Thus, the pin is designed so that when the pin rests against the point of the valley of the first circular element 571, the hook end is partially fixed on the parallel ends of the hook of the hook receiving socket, for example, forming an angle of 45 degrees. Thus, when the rod is further rotated by another 45 degrees, the pin should rest on the point of the valley of the second circular element 576, wherein the hook end is parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving socket.

Fig. 5A(d) shows a cross-section AA' of the first section 551 in the assembly of the locking unit, partially locked by the second part 552 of the locking unit. The cross-section passes through the pin 554.

In Fig. 5B(a) - 5B(d) another configuration of the locking unit is shown, having two parts 551 and 552, forming two locked elements. The first part 551 can include an upper element, having a hook end 555 for coupling with the hook part or hook element 581 of the second part 552. The upper element can include a rod 553, rigidly connected to elements 571 and 576 with an inclined surface, each of which has at least an inclined surface. Thus, the rod 553 and the elements 571 and 576 with an inclined surface are configured to act as a single unit of the upper element, such as an integrated upper element, including the rod 553 and the elements 571 and 576 with an inclined surface.

The sleeve 585 can be used to support the upper element, for example the upper element can be arranged in the sleeve 585 in such a way that the elements 571 and 576 with an inclined surface can slide in the sleeve 585. The sleeve 585 can have one or more projecting elements 554 that can project inwardly from the inner surface of the sleeve. The projecting elements 554 can be arranged between the inclined surfaces of the elements 571 and 576 with an inclined surface, for example the projecting elements can be installed after the upper element is already inside the sleeve. In this configuration, the projecting elements can limit the movement of the upper element inside the sleeve, for example the upper element can move in one direction in such a way that the projecting elements can come into contact with the inclined surface of the element with the inclined surface, and the upper element can move in the opposite direction in such a way that the projecting elements can come into contact with the inclined surface of another element with an inclined surface. By moving the upper member so that the protruding member 554 successively comes into contact with the inclined surfaces, the hook end of the upper member can rotate to switch between a configuration of connection and a configuration of disconnection with the hook portion 581.

Fig. 5B(a) schematically shows details of the first part 551 of the locking assembly using inclined coupling assemblies. The locking assembly may include two parts 551 and 552 that form two locked elements. The first part 551 may include an upper element that may include a rod 553 connected to elements 571 and 576 with an inclined surface, each of which has at least an inclined surface, for example two circular elements with cyclically arranged teeth. The second part 552 may include a hook receiving socket 581, which may include a hook part 581A, such as parallel ends of the hook (shown in Fig. 5B(c)).

The first part 551 or the first lockable element of the locking unit may include an upper element having a rod 553 rigidly connected to two elements 571 and 576 with an inclined surface. One end of the upper element, for example at one end of the rod 553, may include a hook end or hook element 555, which may include a perpendicular elongated section having a long side 555A and a shorter side 555B. The longer side can be fixed in the hook receiving socket, wherein the longer side mates with the hook ends 581A of the hook receiving socket 581. When the longer side 555A of the end 555 of the rod mates with the hooks 581A of the hook receiving socket 581, the hook receiving socket 581 can be in engagement with the rod and cannot be disconnected from the rod, for example the locking mechanism is engaged.

The shorter side may allow the rod to move freely into and out of the hook receiving socket. The longer side 555A may be parallel to the parallel ends 581A of the hook, and the shorter side 555B may be free from the parallel ends of the hook. Thus, the rod 553 can be separated from the hook receiving socket 581 or removed from it, since the distance between the parallel ends 581A of the hook is greater than the shorter side 555B of the rod 553.

When the upper element or rod is rotated, for example, by an angle of 90 degrees for this elongated hook element 555, the locking state can be switched between a locked and an unlocked state, for example the rod is engaged with the hook receiving socket, but the rod can move freely into and out of the hook receiving socket. When the shorter side of the rod 553 is free from the parallel ends of the hook of the hook receiving socket, the hooks do not grip the rod, and therefore the rod 553 and the hook receiving socket 581 can be disconnected, for example the locking mechanism is disabled.

The inclined surface elements 571 and 576 having inclined surfaces may include ring-shaped elements, such as circular elements, which may have inclined surfaces in the form of helical or spiral surfaces. The circular elements may have a hollow cylindrical shape, such as a ring or a hollow cylinder, with an axis of rotation 551A. For example, the circular elements may have cyclically arranged teeth, such as teeth arranged along the circumference of the circular elements. The number of teeth may be divisible by 2 or 4, such as 4 teeth or 8 teeth. The teeth may have helical surfaces rising from the base of the circular elements, followed by steep surfaces extending back down to the base after reaching the tops of the teeth. The other end of the helical surfaces may reach valley points, followed by steep surfaces of adjacent teeth.

The circular element 571 may have a plurality of teeth 572, for example 4 teeth, arranged cyclically around the circumference of the base of the circular element 571. Each tooth may have a helical surface 573. At the end of the helical surface 573 near the base, there may be a point 574 of depression, which may be followed by an adjacent tooth, for example a steep surface of an adjacent tooth.

Similarly, the circular element 576 can have 4 teeth 577, arranged cyclically around the circumference of the base of the circular element 576. Each tooth can have a helical surface 578. At the end of the helical surface 578 near the base, there can be a point 579 of a depression, which can be followed by an adjacent tooth, for example, a steep surface of an adjacent tooth.

Two circular elements may be arranged concentrically around the axis 551A, with the helical surfaces 573 and 578 facing each other. In addition, the teeth of the circular elements may be made in such a way that the tops of the teeth of one circular element face the helical surfaces of the other circular element, and the points of the valleys of one circular element face the helical surfaces of the other circular element.

The rod 553 can be located in the circular elements, for example the axis of the rod coincides with the axes of the circular elements. The rod can be rigidly limited inside the circular elements, for example the rod and the circular elements can move as a single unit, for example, with the formation of the upper element of the first part 551.

The upper element can be located in the sleeve 585, so that the sleeve is configured to accommodate the elements 571 and 576 with an inclined surface, for example, the inner diameter of the sleeve is the same as the outer diameters of the elements 571 and 576 with an inclined surface. One or more projecting elements 554, such as two pins on opposite sides of the sleeve, wherein each pin passes through the wall of the sleeve and projects inwardly from the inner region of the surface of the sleeve. The projecting pins can interact with the inclined surfaces of the elements 571 and 576. The projecting pin can include cylindrical pins, rollers, elliptical pins or projections of any shape that can slide along the inclined surfaces of the first and second circular elements. Several pins can also be used.

By means of a projecting element, such as a pin 554, the upper element is limited in its movement along the axis of rotation of the sleeve. For example, the pin can be inserted after the upper element, such as circular elements, is placed inside the sleeve, so that the pin is located between two circular elements. In this way, the pin can prevent the upper element from being removed from the sleeve or separated from it.

Due to the interaction between the pins and the inclined surfaces, the upper element can rotate while moving linearly along the axis of rotation. For example, when the pins come into contact with the helical inclined surface of the elements 571 or 576 with an inclined surface, the pins can slide along the helical inclined surface, which can rotate the upper element.

The helical surfaces of the first and second circular elements may face each other and may be configured to provide a torque for rotating the rod due to the projecting pin. For example, the upper element may be pushed in to move in one direction, such as to the right, as shown in Fig. 5B(b). Then, the projecting pins come into contact with the helical surfaces of the first circular element 571. Due to the helical surfaces, the projecting pins can slide or roll along the helical surfaces, effectively rotating the upper element by an angle corresponding to the size of the projecting pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces.

The upper element can be pulled back, for example the upper element can be pulled out to move in the opposite direction, for example to the left, as shown in Fig. 5B(b). In addition, the protruding pins can be configured to come into contact with the helical surfaces of the second circular element 576. Due to the helical surfaces, the protruding pins can slide or roll along the helical surfaces, effectively turning the rod by another angle corresponding to the dimensions of the protruding pins sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces. Thus, when pushing in and pulling out, the rod can rotate by a certain angle, for example by an angle of 90 degrees.

Fig. 5B(b) schematically shows the structure of the first part 551 of the locking unit. The first part or the first locked element may include a rod 553 rigidly connected to the first circular element 571 and the second circular element 576. The first part may be placed inside the sleeve 585.

One end of the rod 553 may include a hook end or hook element 555, which may include a perpendicular elongated section having a longer side and a shorter side. One or more pins 554 may be inserted into the sleeve, for example after placing the first part inside the sleeve. Since the circular elements 571 and 576 are limited by the pins 554, the upper element and the sleeve are connected together, for example, they cannot be separated from each other.

The pin may have any configuration relative to the hook end. As shown, the pin is parallel to the hook end. Thus, the pin is designed so that when the pin abuts the point of the recess of the second circular element 576, the hook end is either parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving socket.

In Fig. 5B(c) the first part 551 of the locking unit in assembly is shown, partially locked by the second part 552 of the locking unit. The upper element, including the rod 553 and the circular elements 571 and 576, are assembled inside the sleeve 585. The pins 554 can be installed through the wall of the sleeve between the circular elements. Thus, the pin is designed so that when the pin rests against the point of the valley of the first circular element 571, the hook end is partially fixed on the parallel ends of the hook of the hook receiving seat, for example, forming an angle of 45 degrees. Thus, when the rod is further rotated by another 45 degrees, the pin should rest on the point of the valley of the second circular element 576, wherein the hook end is parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving seat.

Fig. 5B(d) shows a cross-section AA' of the first section 551 in the assembly of the locking unit, partially locked by the second part 552 of the locking unit. The cross-section passes through the pin 554.

Fig. 6A-6L show a process of switching from an unlocked state to a locked state according to some embodiments. The locking unit may include a first part that may be lockable in a second part. In the unlocked state of the first part, in the second part, the first part can be removed from the second part or separated from it. In the locked state of the first part in the second part, the first part is connected to the second part, so that the first and second parts move together as a single unit, for example, the first part cannot be removed from the second part or separated from it. The first part can make movements a short distance relative to the second part, for example movements due to a manufacturing or design tolerance or due to a tolerance for the possibility of locking two parts.

The first part may be connected, for example rigidly connected, to the first movable component of the clamping device. The second part may be connected, for example rigidly connected, to the second movable component of the clamping device.

The first part may include two circular elements together with a rod located in the circular elements. The rod may have a projecting pin (or more than one projecting pin) located between the two circular elements. The rod may have a hook end, which may be a hook element at or near the end of the rod. The rod may move a short distance, for example limited by the movements of the pin, which is blocked by the first and second circular elements.

The second portion may include a hook receiving socket, which may include a parallel hook portion that may be mated with the hook end of the rod.

By using a sequence of vertical movements, the locking node can change the state between the locked and unlocked state. And by using the same sequence of vertical movements again, the state can change again. Thus, a sequence of vertical movements can switch the states of the locking node. A sequence of vertical movements can include a downward movement followed by an upward movement of the first part relative to the second part.

The locking unit may be in an unlocked state, in which the first part is separated from the second part. In the unlocked state, the clamping device operates with the ability to clamp an object. The first movable component may move downwardly relative to the second component. The downward movement of the first movable component may partially ensure switching from the unlocked state to the locked state.

In Fig. 6A, the first part 651 can be brought to the second part 652. For example, the winch can deliver the clamping device that clamps the object to the destination. To lay the object on the ground, the winch can be lowered. After the object touches the ground, the winch can be lowered further. The first movable component of the clamping device can move to the second movable component, bringing the first part of the locking unit to the second part of the locking unit.

The first part can be arranged so that the axis of the circular elements and the rod 653 is perpendicular to the ground, for example parallel to the direction of gravity. In this way, gravity can pull the rod 653 downwards, so that the pin 654 can move along the helicoidal surface until it stops at the point of the depression of the lower circular element 676. The arrangement of the pin can be made so that when the pin rests against the point of the depression of the lower circular element 676.

In Fig. 6B, the first part 651 may be lowered further towards the second part 652.

For example, the winch may further lower the first movable component toward the second movable component of the clamping device until the rod 653 comes into contact with the hook receiving seat 681. After the rod comes into contact with the hook receiving seat, further lowering of the first movable component (or lowering of the first part 651 or lowering of the two circular elements) may cause the two circular elements to move downwards onto the pin, or the pin moves 654A upwards relative to the circular elements.

In Fig. 6C, the first part 651 can be lowered further towards the second part 652. The circular elements can move downwards until the pin 654 is completely moved 654A with contact with the helical surface of the upper circular element 671.

In Fig. 6D, the first part 651 can be lowered further toward the second part 652. The circular elements can move downwards, causing the pin to move 654B along the helicoidal surface of the upper circular element. The movement 654B of the pin can cause the rotation 656A of the rod.

In Fig. 6E, the first part 651 can be lowered further towards the second part 652. The circular elements can move downwards until the pin has completely moved 654B along the helicoidal surface of the upper circular element, at which point the rod completes its rotational movement.

The degree of rotation of the rod may correspond to the angular distance of the helicoidal surface traveled in the upper circular element. For example, the pin may come into contact with the middle part of the helicoidal surface and then move to the point of the valley, which may correspond to approximately 45 degrees. Thus, the rod can rotate approximately 45 degrees.

In Fig. 6F, the first part 651 completes its movement toward the second part 652, for example the two parts can no longer move toward each other. The pin rests against the point 674 of the depression of the upper circular element 671. The rod 653 rotates approximately 45 degrees and partially engages with the engagement receiving socket 681.

Thus, the movement of the first movable component toward the second movable component partially completes the switching from the unlocked state to the locked state.

The first movable component may then move upward relative to the second component. The upward movement of the first movable component may complete the switch from the unlocked state to the locked state.

In Fig. 6G, the first part 651 may begin to move upward from the second part 652. For example, the winch may lift the first movable component upward, which may move away from the second movable component of the clamping device. The upward movement of the circular elements may cause the pin to move 654C from the upper circular element.

In Fig. 6H, the first portion 651 may be further moved upward from the second portion 652. The circular elements may move upward until the pin 654 completes its movement 654C with contact with the helical surface of the lower circular element 676.

In Fig. 6I, the first part 651 may be further moved upward from the second part 652. The circular elements may move upward, raising the rod for moving 656B (since the pin is in contact with the lower circular element) until the engaging element of the rod comes into contact with the engaging part of the engaging receiving socket. This distance may be small, for example, on the order of millimeters, for example, 1 mm, 2 mm, 3 mm, 5 mm or less than 10 mm.

In Fig. 6J, the first part 651 may be further moved upward from the second part 652. The circular elements may move upward until the pin begins to move 654D along the helicoidal surface of the lower circular element. The movement 654D of the pin along the helicoidal surface may cause the rotation 656C of the rod.

In Fig. 6K, the first part 651 may be further moved upward from the second part 652. The circular elements may move upward until the pin completes its movement 654D along the helicoidal surface of the lower circular element, resting against the point of the depression of the lower circular element. The rod also completes its rotational movement. The upward movement 656B of the rod and the movement 654D of the pin along the helicoidal surface may occur in any order, for example one before the other or simultaneously, for example at the same time.

The degree of rotation of the rod may correspond to the angular distance of the helical surface traveled in the lower circular element. For example, the pin may come into contact with the middle part of the helical surface and then move to the point of the valley, which may correspond to approximately 45 degrees. Thus, the rod can rotate approximately 45 degrees.

The two rotations 656A and 656C can be approximately 90 degrees, determined by the separation of the tooth in the lower circular element. At the beginning of the switching process (for example, Fig. 6A), the pin is at the point of the valley. After the two rotations 656A and 656C, the pin is at the adjacent point of the valley, separated by a tooth in the lower circular element. Thus, if the lower circular element has 4 teeth located at an equal distance, the total rotation angle is 360/4 = 90 degrees.

In Fig. 6L, the first part 651 completes its movement from the second part 652, for example, the two parts can no longer move away from each other. The pin rests 679 against the point of the depression of the lower circular element 676. The rod 653 rotates further by about 45 degrees to complete the rotation by 90 degrees and engages with the engagement receiving socket 681. Any further movement may cause the movement of the first and second parts as a single unit, for example the upper part engages or locks with the lower part and cannot be removed or separated as a result of further movements.

Thus, the movement of the first movable component away from the second movable component completes the switching from the unlocked state to the locked state.

Fig. 7A-7L show a process of switching from a locked state to an unlocked state according to some embodiments. The switching process may use the same set of vertical movements, such as a set of vertical movements that is used to change the state from an unlocked state to a locked state. The sequence of vertical movements may include a downward movement followed by an upward movement of the first part relative to the second part.

The locking unit may be in a locked state, in which the first part is connected to the second part. In the locked state, the jaws of the clamping device are widely separated, for example, the clamping device does not function in the usual way, for example, during normal operation, when the clamping device is raised up, the jaws are pressed together regardless of the presence or absence of an object between the jaws.

The first movable component may move downwardly relative to the second component. The downward movement of the first movable component may partially provide for switching from a locked state to an unlocked state.

In Fig. 7A, the first part 751 can be lifted and then pulls the second part 752 along with it. For example, the winch can carry an empty clamping device, for example when there is no object between the grips, to the location of the object. The grips can be widely spread, since the first part is locked in the second part, which can prevent the grips from moving towards each other.

In the locked state, the hook element of the rod engages with the hook part of the hook receiving socket. The rod may be slightly separated from the lower side of the hook receiving socket. The pin rests against the point of the depression of the lower circular element.

In Fig. 7B, the first part 751 may be lowered toward the second part 752. The rod may move downwardly 756A to engage the lower part of the engagement receiving socket.

For example, the winch can be lowered to place an object between the open grips. The winch can be lowered further until the clamping device comes into contact with the object that is between the grips. The winch can be lowered further until the first movable component of the clamping device moves toward the second movable component, ensuring that the hook rod comes into contact with the lower side of the hook receiving seat, for example, by coming into contact on the hook portion on the upper side of the hook receiving seat.

In Fig. 7C, the first part 751 may be lowered further toward the second part 752. The circular elements may move downwards until the pin 754 begins to move 754A to come into contact with the helical surface of the upper circular element 771.

In Fig. 7D, the first part 751 can be lowered further towards the second part 752. The circular elements can move downwards until the pin 754 moves completely 754A with contact with the helical surface of the upper circular element 771.

In Fig. 7E, the first part 751 may be lowered further toward the second part 752. The circular elements may move downwards, causing the pin to begin moving 754B along the helicoidal surface of the upper circular element. The movement 754B of the pin may cause the rod to rotate 756B.

In Fig. 7F, the first part 751 can be lowered further toward the second part 752. The circular elements can move downwards until the pin has completely moved 754B along the helicoidal surface of the upper circular element, at which point the rod completes its rotational movement. The pin rests against the point of the depression of the upper circular element. The rod rotates approximately 45 degrees and remains in partial engagement with the engagement receiving socket 781.

Thus, the movement of the first movable component to the second movable component partially completed the switching from the locked state to the unlocked state.

The first movable component may then move upward relative to the second component. The upward movement of the first movable component may complete the switching from the locked state to the unlocked state.

In Fig. 7G, the first part 751 may begin to move upward from the second part 752. For example, the winch may lift the first movable component upward, which may move away from the second movable component of the clamping device. The upward movement of the circular elements may begin with the movement 754C of the pin from the upper circular element.

In Fig. 7H, the first portion 751 may be moved further upward from the second portion 752. The circular elements may move upward until the pin 754 completes its movement 754C with contact with the helical surface of the lower circular element 776.

In Fig. 7I, the first part 751 can be moved further upward from the second part 752. The circular elements can move upward, raising the rod for moving 756C (since the pin is in contact with the lower circular element) until the engaging element of the rod comes into contact with the engaging part of the engaging receiving socket. This distance can be small, for example, on the order of millimeters, for example, 1 mm, 2 mm, 3 mm, 5 mm or less than 10 mm.

In Fig. 7J, the first part 751 can be moved further upward from the second part 752. The circular elements can move upward until the pin begins to move 754D along the helicoidal surface of the lower circular element. The movement 754D of the pin along the helicoidal surface can cause the rotation 756D of the rod.

In Fig. 7K, the first part 751 can be moved further upward from the second part 752. The circular elements can move upward until the pin completes its movement 754D along the helical surface of the lower circular element, resting against the point of the valley of the lower circular element. The rod also completes its rotational movement. The upward movement 756C of the rod and the movement 754D of the pin along the helical surface can occur in any order, for example one before the other or simultaneously, for example at the same time.

In Fig. 7L, the first part 751 can be moved upwardly further from the second part 752, for example, the two parts can be separated from each other, since the hook element of the rod is not in engagement with the hook part of the hook receiving socket. The pin rests against the point of the depression of the lower circular element 776. The rod 753 rotates by a full 90 degrees and can be separated from the hook receiving socket. Further upward movement can cause the first part to move away from the second part, which allows the clamps to move towards each other to clamp the object.

Thus, the movement of the first movable component away from the second movable component has completed the switching from the locked state to the unlocked state.

In some embodiments, the locking unit may be optimized to improve reliability, improve operation, and improve manufacturing. For example, the pulling force may be greater than the pushing force on the locking unit, and the locking unit may include an element for providing higher support in the pulling direction, which may provide better reliability of the locking mechanism. The locking unit may be configured to increase the degree of force conversion from vertical movements to rotational movements of the rod to provide better operation of the locking mechanism. The locking unit may be configured to reduce the free movement distance, such as the distance by which the pulling element of the clamping device is pulled upward, but without any reaction from the grippers.

Fig. 8A-8D show optimized configurations for the locking assembly according to some embodiments. In Fig. 8A(a)-8A(c), the locking assembly may include support members 885A and 885B to eliminate the imbalance of forces acting on the locking assembly, for example, on the circular members 871 and 876.

In Fig. 8A(a) and 8A(b), the locking unit can be connected, for example rigidly connected, to two movable components 810 and 830 of the clamping device. For example, the circular elements 871 and 876 can be connected to the upper movable component 810, such as a pulling element of the clamping device (for example, as in the configuration shown in Fig. 2A and 2B). The hook receiving socket 881 can be connected to the lower movable component 830, such as a pivot point of the clamping device (for example, as in the configuration shown in Fig. 2A and 2B).

During the first movement, the upper movable component may be pressed against the lower movable component, for example, due to the fact that the winch does not pull out and does not release the pulling element. In this case, the force with which the upper component presses on the lower component may depend on the weight of the pulling element. This pressing force may press the rod 853 against the upper circular element 871 with a force 861A equal to the pressing force.

In the second movement, the upper movable component can be pulled upward from the lower movable component, for example by means of a winch pulling the pulling element. In this case, the force with which the lower component pulls the upper component can depend on the weight of the gripper assembly. This upward pulling force can attract the rod 853 to the lower circular element 876 with a force 861B equal to the upward pulling force.

The force 861B pulling the lower circular element may be greater than the force 861A pushing the upper circular element away from the rod. In this way, the lower circular element may be supported from the bottom.

A sleeve 885 can be used to accommodate the circular elements 871 and 876. The sleeve can have a support element 885A on the lower side of the sleeve on the inner surface to support the lower circular element. The pin 871A can be used to attach the circular element 871 to the sleeve 885. The pin 876A can be used to attach the circular element 876 to the sleeve 885.

During manufacture, the circular elements may be inserted into the sleeve from the top side, with the lower circular element being inserted first, followed by the second circular element. Pins 871A and 876A may be used to secure the two circular elements to the sleeve.

During operation, the support member 885A can prevent the lower circular member from moving downwards, for example by supporting the lower annular member against a downward pulling force created by the rod. The pin 876A can be used to further support the lower circular member, for example to prevent the lower circular member from moving. The pin 871A can prevent the upper circular member from moving upwards, for example by protecting the upper circular member from a pushing force created by the rod.

The sleeve 885 may further have another support element 885B on the upper side of the sleeve on the outer surface for supporting both circular elements on the upper movable component 810. This support element 885B may support the sleeve 885 on the upper movable component. During production, the sleeve with the installed circular elements may be inserted into the upper movable component from the upper side so that the support element 885B rests on the mating element in the upper component. Optional fixed elements, such as a pin, may be used to secure the sleeve to the upper component. A press fit method may also be used.

In Fig. 8B(a)-8B(b) configurations are shown for different angles 863A and 863B of the teeth 872 on the circular element 871, such as the angles 863A and 863B of the helical surface 873 of the teeth 872 formed with the horizontal surface of the circular element 871, which is a surface perpendicular to the axis of the circular element. The force from the pin pressing on the helical surface 873 can be decomposed into a normal force and a parallel force 862A or 862B, which is a force for moving the pin along the helical surface for rotating the rod.

For a small angle 863A (Fig. 8B(a)) the parallel force 862A may be small compared to the parallel force 862B caused by a large angle 863B (Fig. 8B(b)). In these configurations, a larger angle is preferred to facilitate rotation of the rod, which can create an activation force for switching the locking mechanism.

Fig. 8B(c)-8B(d) show configurations for different angles 863C and 863D of the teeth on the circular element, for example, angles of the helical surface of the teeth formed with the horizontal surface of the circular element. The pin can move from the root point of the lower circular element along the helical surface of the tooth on the lower circular element and to rest at the root point of the upper circular element. The total vertical distance 865A or 865B can be the distance by which the circular elements move relative to the rod, for example, when the rod is locked in the hook receiving socket, and the movements of the pin relative to the circular elements can be considered as movements of the circular elements while maintaining the immobility of the rod. Thus, the upper movable component 810 (which is connected to the circular elements) can move downwardly by a distance 865A or 865B relative to the lower movable component 830 (which is connected to the hook receiving socket, which can be locked with the rod). In other words, the distance 865A or 865B can be a free play distance when the upper component changes directions. The free play distance can be a distance by which the upper component moves relative to the lower component to switch the states of the locking unit. The free play distance 865A or 865B can be as small as possible to improve the operation of the locking mechanism.

For a large angle 863C (Fig. 8B(c)) the free play distance 865A may be larger compared to the free play distance 865B due to a smaller angle 863D (Fig. 8B(d)). In these configurations, a smaller angle is preferred for better operation of the locking mechanism.

As shown in Fig. 8B(e), the locking unit can be designed so that the teeth of the circular elements can be optimized for large parallel forces and small free travel distances. The angles of the teeth, for example the angles between the helical surfaces and the plane perpendicular to the axis of the circular elements, can be from 30 to 60 degrees, or from 35 to 55 degrees, or from 40 to 50 degrees, or can be approximately 45 degrees.

Fig. 8B(f) shows the configuration of the circular elements built into the sleeve. The tooth 877 may have a helical surface 878 rising from a valley point 879 at the base of the circular element 876 and a steep surface that ends at the valley point of the adjacent tooth. The helical surface may be configured to form a constant angle with the axis 751A of the circular elements.

In Fig. 8C(a) and 8C(b) configurations for optimizing the free play distance of the circular elements relative to the rod are shown. If the circular elements are located further from each other, for example separated by a distance 867A, the free play distance can be greater compared to a smaller separation of the circular elements 867B. The minimum free play distance can be obtained by arranging two circular elements next to each other with a minimum gap 867C so that the pin 854 passes the top of the teeth of a circular element (such as the upper circular element, as shown in the illustration) when moving along the helical surface of the teeth of another circular element (such as the lower circular element, as shown in the illustration). The amount of the gap can be the distance between the pin and the opposite inclined surface, for example the clearance space on the path of the pin when moving along the inclined surface. The amount of the gap can be less than 10 mm, less than 5 mm or less than 2 mm.

In Fig. 8D(a) and 8D(b) configurations for optimizing the free play distance and facilitating the movement of the pin are shown. For example, if the steep surface of the teeth is vertical, for example parallel to the path along which the pin passes when moving from the helicoidal surface on one circular element to the point of the valley of another circular element, the pin can catch on the tops of the teeth. Thus, the recess 868A of the steep surface can increase the reliability of the operation of the locking assembly by preventing unwanted contact of the tops of the teeth with the pin. The recess 868A can be at a small angle to the vertical distance, for example from the axis of rotation of the circular elements. The angle of the recess 868A can be less than 10 degrees, less than 5 degrees or less than 2 degrees.

The rounding 868C of the tops of the teeth of the circular elements can further reduce the free play distance, allowing the circular elements to be located closer, for example, in the case of sharp teeth, the gap value 867D can be less than the gap value 867C. Alternatively, the tops of the teeth can be cut 868B at an angle parallel to the angle of the helical surface. The cutting 868B can occur in a section of the helical surface along which the pin does not pass, for example in the top part of the teeth at some distance from the place where the pin leaves the helical surface to move vertically to the point of the valley of another circular element. The parallel angle can ensure that the pin passes the tops with a constant gap due to the cut tops 868D of the teeth.

In some embodiments, the automatic locking unit may be designed so that two inclined surfaces may face away from each other. There may be two or more curved shape elements that are designed to mate with the inclined surfaces, such as two pins protruding from the rod. The two inclined surfaces may be located between two protruding pins so that the first protruding pin interacts with the first inclined surface, and the second protruding pin interacts with the second inclined surface. The inclined surface may be a curved inclined surface, such as a helical surface. The movements of the protruding pins along the inclined surface may cause the rod to rotate, for example, when the pins pass along the helical surface.

The first inclined surface can be configured to receive the first protruding pin in the first direction of movement of the pins or inclined surface, followed by movement of the first protruding pin along the first inclined surface.

The second inclined surface may be configured to receive a second protruding pin. The second inclined surface may move the second protruding pin along the second inclined surface, for example a helicoidal surface, for example by rotating the rod with the second protruding pin passing along the helicoidal surface.

Fig. 9A-9B show other schematic configurations for a locking mechanism or assembly according to some embodiments. The locking mechanism may use an inclined coupling assembly to repeatedly rotate the rod under the action of a repeated set of vertical forces.

In some embodiments, the locking mechanism may include two locking elements, such as a rod with a hook end and a hook receiving socket. Depending on the position of the hook end, the rod may be inseparable from the hook receiving socket or the rod may move independently of the receiving socket.

Fig. 9A(a)-9A(e) show the configuration of the locking unit having two parts 951 and 952 forming two lockable elements. The first part 951 may include a rod 953 having a hook end 955 for coupling with the hook portion or hook element 981 of the second part 952. The rod 953 may be configured to move in another element of the first part, such as an element 970 with an inclined surface having at least an inclined surface, for example the rod can move along the axis of rotation of the element 970 with an inclined surface. The sleeve 985 can be used to accommodate the first part, for example the rod 953 and the element 970 with an inclined surface. The rod 953 may have projecting elements 954A and 954B configured to be located on two sides of the inclined surfaces of the element 970 with an inclined surface. The protruding elements can limit the movement of the rod, for example, the rod can move in one direction so that the protruding element can come into contact with the inclined surface of the element with the inclined surface, and the rod can move in the opposite direction so that another protruding element can come into contact with the inclined surface of another element with the inclined surface. By moving the rod 953 so that the protruding elements 954A and 954B sequentially come into contact with the inclined surfaces, the rod can rotate to switch between the configuration of connection and the configuration of disconnection with the hook portion 981.

Fig. 9A(a) schematically shows details of the first part 951 of the locking unit using inclined coupling units. The locking unit may include two parts 951 and 952 that form two locked elements. The first part may include a rod 953 located in a circular element 970 so that the rod can move along the rotation axis of the circular element. The circular element 970 may have opposite inclined surfaces, for example cyclically located teeth on two opposite sides. The circular element 970 may include two circular elements 971 and 976, fixed together, with inclined surfaces facing in opposite directions. The circular element 970 may be a solid circular element having inclined surfaces on opposite sides. The second part may include a hook receiving socket 981.

The first part of the locking unit may include an element interacting with the inclined surface, such as a rod 953. One end of the rod may include a hook end or hook element 955, which may include a perpendicular extended section having a longer side 955A and a shorter side 955B. When the rod is rotated, for example by an angle of 90 degrees for this extended hook element 955, the locking state may be switched between a locked and an unlocked state.

The rod 953 may include at least two protruding elements, such as two pins 954A and 954B, which may extend through the rod and protrude from both sides of the rod.

The circular element 970 may include a ring-shaped element with inclined surfaces in the form of helical surfaces. The circular element 970 may have a hollow cylindrical shape, such as a ring or a hollow cylinder, with an axis of rotation 951A. The circular element may have cyclically arranged teeth, for example teeth arranged along the circumference of the circular element. The number of teeth may be divisible by 2 or 4, for example 4 teeth or 12 teeth. The teeth may have helical surfaces rising from the base of the circular elements, followed by steep surfaces extending back down to the base after reaching the tops of the teeth. The other end of the helical surfaces may reach valley points, followed by steep surfaces of adjacent teeth.

On one side, the circular element 970 may have a plurality of teeth 972, for example 4 teeth, arranged cyclically around the circumference of the base of the circular element 970. Each tooth may have a helical surface 973. At the end of the helical surface 973 near the base, there may be a point 974 of depression, which may be followed by an adjacent tooth, for example a steep surface of an adjacent tooth.

On the opposite side, the circular element 970 can have 4 teeth 977, arranged cyclically along the circumference of the base of the circular element 976. Each tooth can have a helical surface 978. At the end of the helical surface 978 near the base, there can be a point 979 of a depression, which can be followed by an adjacent tooth, for example, a steep surface of an adjacent tooth.

The circular element 970 may have teeth 972 and 977 and helical surfaces 973 and 978 facing each other. In addition, the teeth of the circular element may be designed in such a way that the tops of the teeth on one side are aligned along the axis of rotation 951A with the helical surfaces of the teeth on the opposite side, and the points of the root faces of the teeth on one side are aligned along the axis of rotation 951A with the helical surfaces of the teeth on the opposite side.

The rod 953 can be located in a circular element, for example, the axis of the rod coincides with the axes of the circular element 951A. The rod can be limited inside the circular elements, for example, the rod can move along the axis and can rotate around the axis in the absence of protruding elements.

With protruding elements such as pins 954A and 954B, the rod 953 is further limited. For example, the pins can be inserted after the rod is placed in the circular element so that the pins are located around the circular element. In this case, the pins can prevent the rod from being removed from the circular element or separated from it.

The pins may further limit the movements of the rod in addition to the small axial movements due to the teeth of the circular elements preventing the pins from passing through the teeth. The rod may perform some rotational movements limited by the steep surfaces or helicoidal surfaces of the teeth. The rod may perform a full revolution, but only in the presence of axial movements, for example, when the rotational movement is blocked by the teeth, the rod may move along the axis in such a way that the pins are released from the teeth before resuming the rotational movement.

The helical surfaces on two sides of the circular element may be facing away from each other and may be configured to provide torque for rotating the rod by means of projecting pins. For example, the rod may be pushed in one direction toward the circular element, with one projecting pin then coming into contact with the helical surfaces of one side of the circular element. Due to the helical surfaces, the projecting pin may slide or roll along the helical surfaces, effectively rotating the rod by an angle corresponding to the size of the projecting pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces.

The rod can be pulled back, for example by pushing in the opposite direction to the circular element. In addition, another projecting pin can be configured to come into contact with the helical surfaces of the opposite side of the circular element. Due to the helical surfaces, the projecting pin can slide or roll along the helical surfaces, effectively turning the rod by another angle corresponding to the size of the projecting pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces. Thus, when pushing in and pulling out, the rod can rotate by some angle, for example by an angle of 90 degrees.

For example, pin 954A may face helical surface 973 and pin 954B may face helical surface 978, such that helical surfaces 973 and 978 of circular element 970 may be located between two pins 954A and 954B.

The rod can be pushed in such a way that the pin 954A comes into contact with the helicoidal surface 973 of the circular element 970. After this, the pin can pass along the helicoidal surface 973 to the point 974 of the depression. The movement of the pin 954A can lead to the rotation of the rod 953 by an angle corresponding to the length of the movement, for example, the distance that the pin passes along the helicoidal surface 973.

The rod can be extended in such a way that the pin 954B comes into contact with the helicoidal surface 978 of the circular element 970. The pin can pass along the helicoidal surface 978 to the point 979 of the valley of the circular element 970. The movement of the pin 954B can lead to the rotation of the rod 953 by an angle corresponding to the length of the movement, for example, the distance that the pin passes along the helicoidal surface 978.

Fig. 9A(b) schematically shows the structure of the first part 951 of the locking unit. The first part may include a circular element 970 placed inside the sleeve 985. In the circular element 970, an opening 970A may be formed, which may receive a pin 970B for fixing the circular element 970 with the sleeve 985. The first part may include a rod 953. One end of the rod may include a hook element 955, which may include a perpendicular elongated section having a longer side and a shorter side. The pins 954A and 954B can be inserted into the rod, for example, after the rod is placed inside the circular element 970. Since the circular element 970 is limited by the pins 954A and 954B, the circular element and the rod are connected together, for example, they cannot be separated from each other.

The pins may have any configuration relative to the hook end. As shown, the pins are parallel to the hook end. Thus, the pin is designed so that when the pin abuts the root point of the teeth on the underside of the circular element 970, the hook end is either parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving socket.

Fig. 9A(c) shows the first part 951 in the assembly of the locking unit. Fig. 9A(d) shows the first part 951 in the assembly of the locking unit, partially locked by the second part 952 of the locking unit. The circular element 970 is assembled inside the sleeve 985. The rod 953 can be assembled inside the circular element with the arrangement of the circular element between the pins 954A and 954B. Thus, the pins are made so that when the pin 954B rests against the point of the root of the lower teeth of the circular element, the hook end is partially fixed on the parallel ends of the hook of the hook receiving socket, for example, forming an angle of 45 degrees. Thus, when the pin is further rotated another 45 degrees to abut the root point of the upper teeth of the circular member, the hook end is either parallel (unlocked state) or perpendicular (locked state) to the parallel hook ends of the hook receiving socket.

Fig. 9A(e) shows a cross-section BB' of the first section 951 in the locking assembly, partially locked by the second part 952 of the locking assembly. The cross-section passes through the pins 954A and 954B.

In Fig. 9B(a)-9B(e) another configuration of the locking unit is shown, having two parts 951 and 952, forming two lockable elements. The first part 951 can include an upper element, having a hook end 955 for coupling with a hook portion or hook element 981 of the second part 952. The upper element can include a rod 953, rigidly connected to an element 970 with an inclined surface, having at least an inclined surface. Thus, the rod 953 and the element 970 with an inclined surface are configured to act as a single unit of the upper element, such as an integrated upper element, including the rod 953 and the element 970 with an inclined surface.

The sleeve 985 can be used to accommodate the upper member, for example the upper member can be positioned in the sleeve 985 in such a way that the member 970 with an inclined surface can slide in the sleeve 985. The sleeve 985 can have two or more projecting members 954A and 954B that can project inwardly from the inner surface of the sleeve. The projecting members 954 can be positioned around the inclined surfaces of the member 970 with an inclined surface, for example the projecting members can be mounted on both sides of the member 970 with an inclined surface after the member 970 with an inclined surface is already inside the sleeve. In this configuration, the projecting members can limit the movement of the upper member inside the sleeve, for example the upper member can move in one direction in such a way that the projecting member can come into contact with the inclined surface of the member with an inclined surface, and the upper member can move in the opposite direction in such a way that the projecting member can come into contact with the other inclined surface of the member with an inclined surface. By moving the upper member so that the projecting members 954A and 954B sequentially come into contact with the inclined surfaces, the hook end of the upper member can rotate to switch between a configuration of connection and a configuration of disconnection with the hook portion 981.

Fig. 9B(a) schematically shows details of the first part 951 of the locking assembly using inclined coupling assemblies. The locking assembly may include two parts 951 and 952 that form two locked elements. The first part may include a rod 953 rigidly connected to a circular element 970, wherein the rod is located along the rotation axis of the circular element, and the rod and the circular element can move as a single unit. The circular element 970 may have opposite inclined surfaces, for example cyclically arranged teeth on two opposite sides. The circular element 970 may include two circular elements 971 and 976, fixed together, with inclined surfaces facing in opposite directions. The circular element 970 may be a solid circular element having inclined surfaces on opposite sides. The second part may include a hook receiving socket 981.

The first part of the locking unit may include an upper element having a rod 953 rigidly connected to the element 970 with an inclined surface. One end of the rod may include a hook end or hook element 955, which may include a perpendicular extended section having a longer side 955A and a shorter side 955B. When the rod is rotated, for example by an angle of 90 degrees for this extended hook element 955, the locking state may be switched between a locked and an unlocked state.

The circular element 970 may include a ring-shaped element with inclined surfaces in the form of helical surfaces. The circular element 970 may have a hollow cylindrical shape, such as a ring or a hollow cylinder, with an axis of rotation 951A. The circular element may have cyclically arranged teeth, for example teeth arranged along the circumference of the circular element. The number of teeth may be divisible by 2 or 4, for example 4 teeth or 12 teeth. The teeth may have helical surfaces rising from the base of the circular elements, followed by steep surfaces extending back down to the base after reaching the tops of the teeth. The other end of the helical surfaces may reach valley points, followed by steep surfaces of adjacent teeth.

On one side, the circular element 970 may have a plurality of teeth 972, for example 4 teeth, arranged cyclically around the circumference of the base of the circular element 970. Each tooth may have a helical surface 973. At the end of the helical surface 973 near the base, there may be a point 974 of depression, which may be followed by an adjacent tooth, for example a steep surface of an adjacent tooth.

On the opposite side, the circular element 970 may have 4 teeth 977, arranged cyclically around the circumference of the base of the circular element 976. Each tooth may have a helical surface 978. At the end of the helical surface 978, near the base, there may be a point 979 of a depression, which may be followed by an adjacent tooth, for example, a steep surface of an adjacent tooth.

The circular element 970 may have teeth 972 and 977 and helical surfaces 973 and 978 facing each other. In addition, the teeth of the circular element may be designed in such a way that the tops of the teeth on one side are aligned along the axis of rotation 951A with the helical surfaces of the teeth on the opposite side, and the points of the root faces of the teeth on one side are aligned along the axis of rotation 951A with the helical surfaces of the teeth on the opposite side.

The rod 953 can be located in a circular element, for example, the axis of the rod coincides with the axes of the circular element 951A. The rod can be rigidly limited inside the circular elements, for example, the rod and the circular elements can move as a single unit, for example with the formation of the upper element of the first part 951.

The upper element can be located in the sleeve 585, so that the sleeve is configured to accommodate the element 970 with an inclined surface, for example, the inner diameter of the sleeve is the same as the outer diameters of the element 970 with an inclined surface. There are two or more projecting elements 954A and 954B, such as two pins on opposite sides of the sleeve, and each pin passes through the wall of the sleeve and projects inward from the inner surface area of the sleeve. The projecting pins can interact with the inclined surfaces of the element 970.

With protruding elements such as pins 954A and 954B, the upper element is limited in movement along the axis of rotation of the sleeve. For example, the pins can be inserted after the upper element, such as circular elements, is placed inside the sleeve so that the pins are located around the circular element. In this way, the pins can prevent the upper element from being removed from the sleeve or separated from it.

Due to the interaction between the pins and the inclined surfaces, the upper element can rotate while moving linearly along the axis of rotation. For example, when the pins come into contact with the helical inclined surface of the element 970 with the inclined surface, the pins can slide along the helical inclined surface, which can rotate the upper element.

The helical surfaces on the two sides of the circular element may be facing away from each other and may be configured to provide a torque for rotating the rod due to the protruding pins. For example, the rod may be pushed to move in one direction, such as upward, as shown in Fig. 9B(b) and 9B(c). Then, the upper protruding pin 954A comes into contact with the upper helical surfaces of the circular element 970. Due to the helical surfaces, the protruding pin can slide or roll along the helical surfaces, effectively rotating the rod by an angle corresponding to the size of the protruding pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces.

The upper element can be pulled back, for example the upper element can be pulled out to move in the opposite direction, for example downwards, as shown in Fig. 9B(b) and 9B(c). In addition, another protruding pin 954B can be configured to come into contact with the helical surfaces of the opposite side of the circular element 970. Due to the helical surfaces, the protruding pin can slide or roll along the helical surfaces, effectively turning the rod by another angle corresponding to the size of the protruding pin sliding or rolling along the helical surfaces from the contact point to the rest point at the bottom of the helical surfaces. Thus, when pushing in and pulling out, the rod can rotate by a certain angle, for example by an angle of 90 degrees.

Fig. 9B(b) schematically shows the sleeve 985 of the locking unit. The sleeve 985 can include 2 sets of protruding pins 954A and 954B. The pins 954A and 954B can be inserted into the sleeve after placing the upper part, for example the circular element 970, inside the sleeve 985. Since the circular element 970 is limited by the pins 954A and 954B, the upper element containing the circular element and the rod is connected to the sleeve, for example the upper element can move a short distance relative to the sleeve, but they cannot be separated from each other.

Fig. 9B(c) shows the upper element of the locking unit, including the rod 955, fixedly placed in the circular element 970. The upper element can be manufactured to form a single element having the rod and the circular element. The upper element can be assembled by inserting the rod into the circular element and fixing the rod and the circular element together. A hook end can be formed at one end of the rod.

The upper element can be assembled in a sleeve, and the projecting pins can be inserted after the upper element is inside the sleeve. The pins can have any configuration relative to the hook end, for example parallel to the hook end. Thus, the pin is designed so that when the pin abuts against the root point of the teeth on the lower side of the circular element 970, the hook end is either parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving socket.

In Fig. 9B(d) the first part 951 of the locking unit is shown in assembly, partially locked by the second part 952 of the locking unit. The upper element includes the rod 953, and the circular element 970 is assembled inside the sleeve 985. The pins 954A and 954B are assembled by placing the circular element between them. Thus, the pins are designed so that when the pin 954B rests against the root point of the lower teeth of the circular element, the hook end is partially fixed on the parallel ends of the hook of the hook receiving seat, for example, forming an angle of 45 degrees. Thus, when the pin is further rotated by another 45 degrees to rest against the root point of the upper teeth of the circular element, the hook end is either parallel (unlocked state) or perpendicular (locked state) to the parallel ends of the hook of the hook receiving seat.

Fig. 9B(e) shows a cross-section BB' of the first section 951 in the locking assembly, partially locked by the second part 952 of the locking assembly. The cross-section passes through the pins 954A and 954B.

Fig. 10A-10C show a process of switching from an unlocked state to a locked state according to some embodiments. Fig. 10A(a)-10C(a) show perspective views, and Fig. 10A(b)-10C(b) show side views of the switching process. The locking unit may include a first part that may be lockable in a second part. The first part may include a circular element together with a rod located in the circular element. The rod may have two protruding pins (or more than two protruding pins) located around the circular element. The rod may have a hook end. The second part may include a hook receiving socket that may include a parallel hook portion that may be mated with the hook end of the rod.

In Fig. 10A(a)-10A(b), the first part may be configured to be separated from the second part when the hook end 1055 of the rod 1053 is parallel to the parallel hook portion of the hook receiving socket 1081. The upper pin 1054A may rest against the point of the root of the upper teeth 1072 of the circular element 1070.

In Fig. 10B(a)-10B(b), the first part can be lowered into the second part. The lower pin 1054B comes into contact with the helical surface of the lower teeth 1077 of the circular element 1070. The lower pin 1054B moves further along the helical surface and rests against the point of the root of the lower teeth 1077 of the circular element 1070. The rod 1053 rotates at an angle of 45 degrees so that the hook end 1055 is partially fixed in the hook receiving socket.

In Fig. 10C(a)-10C(b), the first part can be retracted upward from the second part. The upper pin 1054A comes into contact with the helical surface of the upper teeth 1072 of the circular element 1070. The upper pin 1054A moves further along the helical surface and rests against the point of the root of the upper teeth 1072 of the circular element 1070. The rod 1053 rotates by another angle of 45 degrees, for a total of 90 degrees, so that the hook end 1055 is fixed in the hook receiving socket. The locking unit completes the switching process from the unlocked state to the locked state.

Fig. 11A-11C show a process of switching from a locked state to an unlocked state according to some embodiments. Fig. 11A(a)-11C(a) show perspective views, and Fig. 11A(b)-11C(b) show side views of the switching process. The switching process may include the same set of vertical movements, such as a set of vertical movements used to change the state from an unlocked state to a locked state, which includes a downward movement followed by an upward movement of the first part relative to the second part.

In Fig. 11A(a)-11A(b), the first part can be fixed by the second part when the hook end 1155 of the rod 1153 is hooked by the parallel hook part of the hook receiving socket 1181. The upper pin 1154A can rest against the point of the depression of the upper teeth 1172 of the circular element 1170.

In Fig. 11B(a)-11B(b), the first part can be lowered into the second part. The lower pin 1154B comes into contact with the helical surface of the lower teeth 1177 of the circular element 1170. The lower pin 1154B moves further along the helical surface and rests against the point of the root of the lower teeth 1177 of the circular element 1170. The rod 1153 rotates at an angle of 45 degrees so that the hook end 1155 is partially fixed in the hook receiving socket.

In Fig. 11C(a)-11C(b), the first part can be retracted upward from the second part. The upper pin 1154A comes into contact with the helical surface of the upper teeth 1172 of the circular element 1170. The upper pin 1154A moves further along the helical surface and rests against the point of the root of the upper teeth 1172 of the circular element 1170. The rod 1153 rotates by an angle of 45 degrees more, by 90 degrees in total, so that the hook end 1155 is able to separate from the hook receiving socket, for example, in which case the hook end is parallel to the parallel hook portion of the hook receiving socket. The locking unit completes the process of switching from the locked state to the unlocked state.

In some embodiments, the locking assembly may be optimized to improve reliability, improve performance, and improve manufacturing.

Fig. 12A-12D show optimized configurations for the locking assembly according to some embodiments. In Fig. 12A(a)-12A(d), the locking assembly may include support members 1285A and 1285B to eliminate the imbalance of forces acting on the locking assembly, for example, on the circular member 1270.

In Fig. 12A(a) and 12A(b), the locking unit can be connected, for example rigidly connected, to two movable components 1210 and 1230 of the clamping device. For example, the circular element 1270 can be connected to the upper movable component 1210, such as a pulling element of the clamping device (for example, as in the configuration shown in Fig. 2A and 2B). The hook receiving socket 1281 can be connected to the lower movable component 1230, such as a pivot point of the clamping device (for example, as in the configuration shown in Fig. 2A and 2B).

During the first movement, the upper movable component may be pressed against the lower movable component, for example, due to the fact that the winch does not pull out and does not release the pulling element. In this case, the force with which the upper component presses on the lower component may depend on the weight of the pulling element. This pressing force may press the rod 1253 against the upper teeth 1272 of the circular element 1270 with a force 1261A equal to the pressing force.

In the second movement, the upper movable component can be pulled upward from the lower movable component, for example, by means of a winch pulling the pulling element. In this case, the force with which the lower component pulls the upper component can depend on the weight of the gripper assembly. This upward pulling force can attract the rod 1253 to the lower teeth 1277 of the lower circular element 1270 with a force 1261B equal to the upward pulling force.

The force 1261B pulling the circular element upward may be greater than the force 1261A pushing the circular element away from the rod. Thus, the circular element may be supported from the bottom.

A sleeve 1285 can be used to accommodate the circular element 1270. The sleeve can have a support element 1285A on the lower side of the sleeve on the inner surface to support the lower side of the circular element. The pin 1270A can be used to attach the circular element 1270 to the sleeve 1285.

During manufacturing, the circular element can be inserted into the sleeve from the top side. 1270A pins can be used to secure the circular element to the sleeve.

During operation, the support member 1285A can prevent the circular member from moving downward, for example by supporting the circular member from the bottom against the downward pulling force created by the rod. The pin 1270A can be used for additional support of the circular member, for example to prevent the circular member from moving.

The sleeve 1285 may further have another support element 1285B on the upper side of the sleeve on the outer surface to support the circular element on the upper movable component 1210. This support element 1285B may support the sleeve 1285 on the upper movable component. The upper movable component 1310 may have a support element 1285C on the lower side on the inner surface to support the sleeve.

When assembled, the sleeve with the circular element installed and secured by the pin 1270A can be inserted into the upper movable component from the upper side so that the support element 1285B rests on the mating element in the upper component. Optional locking elements such as a pin or an upper plate can be used to secure the sleeve to the upper component. A press fit method can also be used.

The locking unit, including the circular element, the projecting pins mounted on the rod, and the rod mounted inside the circular element, can be mounted in the upper movable component, for example without a sleeve. During assembly, the rod can be inserted into the circular element, followed by inserting the pins into the rod. The locking unit can be inserted into the upper movable component from the upper side until it abuts against the support element 1285D. To prevent the locking unit from moving, an optional locking element, such as the sleeve 1270B, can be inserted from the upper movable element.

In Fig. 12B(a)-12B(b) configurations are shown for different angles 1263A and 1263B of the teeth 1277 on the circular element 1270, such as the angles 1263A and 1263B of the helical surface 1273 of the teeth 1277 formed with the horizontal surface of the circular element 1270, which is a surface perpendicular to the axis of the circular element. The force from the pin pressing on the helical surface 1273 can be decomposed into a normal force and a parallel force 1262A or 1262B, which is a force for moving the pin along the helical surface for rotating the rod.

For a small angle 1263A (Fig. 12B(a)) the parallel force 1262A may be small compared to the parallel force 1262B caused by a large angle 1263B (Fig. 12B(b)). In these configurations, a larger angle is preferred to facilitate rotation of the rod, which can create an activation force for switching the locking mechanism.

In Fig. 12B(c)-12B(d) configurations for different angles 1263C and 1263D of the teeth on the circular element are shown, for example, angles of the helical surface of the teeth formed with the horizontal surface of the circular element. The lower pin can move from the root point of the lower teeth of the circular element along the helical surface of the tooth on the lower teeth of the circular element and up to the stop at the root point. The total vertical distance 1265A or 1265B can represent the distance by which the circular elements move relative to the rod, for example, when the rod is locked in the hook receiving socket, and the movements of the pin relative to the circular elements can be considered as movements of the circular elements while maintaining the immobility of the rod. Thus, the upper movable component 1210 (which is connected to the circular elements) can move downwardly by a distance 1265A or 1265B relative to the lower movable component 1230 (which is connected to the hook receiving socket, which can be locked with the rod). In other words, the distance 1265A or 1265B can be a free play distance when the upper component changes directions. The free play distance can be a distance by which the upper component moves relative to the lower component to switch the states of the locking unit. The free play distance 1265A or 1265B can be as small as possible to improve the operation of the locking mechanism.

For a large angle 1263C (Fig. 12B(c)) the free play distance 1265A may be larger compared to the free play distance 1265B due to a smaller angle 1263D (Fig. 12B(d)). In these configurations, a smaller angle is preferred for better operation of the locking mechanism.

As shown in Fig. 12B(e), the locking unit can be designed so that the teeth of the circular elements can be optimized for large parallel forces and small free play distances. The angles of the teeth, for example the angles between the helical surfaces and the plane perpendicular to the axis of the circular elements, can be from 30 to 100 degrees, or from 35 to 95 degrees, or from 40 to 90 degrees, or can be approximately 45 degrees.

Fig. 12B(f) shows the configuration of the circular elements built into the sleeve. The tooth 1272 may have a helical surface 1273 rising from a valley point 1274 at the base of the circular element 1270, and a steep surface that ends at the valley point of the adjacent tooth. The helical surface may be configured to form a constant angle with the axis 1151A of the circular elements.

In Fig. 12C(a) and 12C(b) configurations for optimizing the free play distance of the circular elements relative to the rod are shown. If the circular elements are located further from each other, for example, separated by a distance 1267A, the free play distance can be greater compared to a smaller separation of the circular elements 1267B. The minimum free play distance can be achieved by arranging two pins next to each other with a minimum gap 1267D for the pin 1254A so that the pin passes the tops of the teeth of the circular element (compared to the large gap 1267C) when moving along the helical surface of the teeth of the other circular element. The amount of the gap can be the distance between the pin and the opposite inclined surface, for example the clearance space on the path of the pin when moving along the inclined surface. The amount of the gap can be less than 10 mm, less than 5 mm or less than 2 mm.

In Fig. 12D(a) and 12D(b) configurations for optimizing the free play distance and facilitating the movement of the pin are shown. For example, if the steep surface of the teeth is vertical, for example parallel to the path along which the pin passes when moving from the helicoidal surface on one circular element to the point of the valley of another circular element, the pin can catch on the tops of the teeth. Thus, the recess 1268A of the steep surface can increase the reliability of the operation of the locking assembly by preventing unwanted contact of the tops of the teeth with the pin. The recess 1268A can be at a small angle to the vertical distance, for example from the axis of rotation of the circular elements. The angle of the recess 1268A can be less than 10 degrees, less than 9 degrees, or less than 2 degrees.

The rounding 1268C of the tops of the teeth of the circular elements can further reduce the free play distance, allowing the circular elements to be located closer, for example the clearance distance 1267E can be less than the clearance distance 1267D in the case of sharp teeth. Alternatively, the tops of the teeth can be cut 1268B at an angle parallel to the angle of the helical surface. The cutting 1268B can occur in a section of the helical surface along which the pin does not pass, for example in the top part of the teeth at a certain distance from the place where the pin leaves the helical surface to move vertically to the point of the valley of another circular element. The parallel angle can ensure that the pin passes the tops with a constant clearance due to the cut tops 1268D of the teeth.

In some embodiments, the hook end in the locking assembly may be optimized to improve reliability and performance.

Fig. 13A-13C show a locking element of the hook end of the rod with a hook portion of the hook receiving socket according to some embodiments. Fig. 13A(a) and 13A(b) show an unlocked and locked state of the locking element. The hook end 1355 may have an extended portion 1355A and a short portion 1355B. In the unlocked state (Fig. 13A(a)) the hook end 1355 of the rod 1353 may have an extended portion 1355A parallel to the parallel hook portion 1381A of the hook receiving socket 1381. In the locked state (Fig. 13A(b)) the hook end 1355 of the rod 1353 may have an extended portion 1355A perpendicular to the parallel hook portion 1381A of the hook receiving socket 1381.

In Fig. 13B(a) and 13B(b), the extended section 1355A of the hook end 1355 may be rounded so that it is smaller than the circle 1358, which is defined by the farthest point of the extended section relative to the axis of rotation. Thus, when the rod rotates, the circle 1358 represents the largest part occupied by the hook end.

In Fig. 13C(a) and 13C(b), the lower part 1357 of the hook end 1355 may be rounded, for example, to provide minimal contact with the lower side of the hook. The lower part 1357 may include an arc of a small radius protruding from the lower side of the hook end. The length or diameter of the arc may be less than 50%, less than 40%, less than 30%, less than 20% or less than 10% of the size of the rod. Thus, when the rod rotates, the rod may experience minimal friction due to the minimization of the contact surface area.

Fig. 14A-14D shows the configuration of the switching of the locking mechanism according to some embodiments. The clamping device 1400 can be used to lift and move objects using a lever mechanism between a pulling member connected to a winch and the grippers of the clamping device. The lever mechanism can include a scissor mechanism in which two scissor arms 1430 can rotate around a pivot point 1431. One end of the scissor arms can be connected together with a pulling member 1410. The other ends of the scissor arms can be connected to two grippers 1460 and 1440. When the pulling member is pulled up relative to the pivot point, the pulling force on the ends of the scissor arm can move the grippers toward each other to clamp an object 1420 located between the grippers. When the pulling member is lowered relative to the pivot point, the downward pulling force on the ends of the scissor arm can push the jaws away from each other to expand the gap between the jaws, effectively releasing the object.

An automatic locking mechanism may be installed in the clamping device. The automatic locking mechanism may be configured to engage and lock a lever mechanism, such as a scissor mechanism in a scissor clamping device. For example, the locking mechanism may lock a component of the lever mechanism in the clamping device housing, thereby effectively preventing the movement of the lever mechanism. In this state, the clamping device cannot operate the grippers by pulling or lowering the pulling device. Alternatively, the locking mechanism may lock the components of the lever mechanism, for example by locking two parts 1430A and 1430B of the scissor lever 3530. When part 1430A is locked with part 1430B, one end of the scissor levers cannot move when the pulling member is raised or lowered, effectively locking the lever mechanism.

The scissor clamping device may have an automatic locking mechanism 1450, which may include 2 parts 1451 and 1452, which may be fixed together (in a locked or engaged state) or may be separated from each other (in an unlocked or disengaged state). The locking mechanism may be a switching mechanism that can switch between the locked and unlocked states after actuation or activation. The actuation force or activation may be a force acting on one or both parts 1451 and 1452 of the locking mechanism. With the help of the locking mechanism built into the scissor clamping device, the force on the pulling member can activate the process of switching between the locked and unlocked states.

The locking mechanism may include a hook rod 1453 and a mating hook receiving socket 1481. The hook rod may have a hook end 1455, for example of an asymmetric shape, for example a shape having an elongated portion and a shortened portion, such as an oval or a rectangular shape. The hook receiving socket may have a mating hook end 1481A, which is configured to engage/lock or disengage/release on the hook end of the hook rod. Thus, when the rod rotates, switching between the locked (engaged) and unlocked (not engaged) states is possible. For example, the rod may be arranged so that the elongated portion of the hook end engages with the mating hook end of the hook receiving socket, locking the rod in the hook receiving socket. When the rod is rotated 90 degrees, the extended section becomes parallel to the hook receiving socket, and the shortened section does not engage with the hook end of the hook receiving socket. This results in the release of the rod from the hook receiving socket. A further rotation of the rod by 90 degrees in any direction of rotation can again engage the lock due to the mating of the extended section with the hook.

The automatic locking mechanism may include two elements with an inclined surface, such as circular elements 1471 and 1476, each of which has one or more inclined surfaces in the form of helicoidal surfaces. The catch rod may be located between the circular elements and may move along the axis of the circular elements. One or more elements interacting with the inclined surface, such as the protruding pin 1454, may be located facing the inclined surfaces of the circular elements.

As shown, the circular elements may be configured so that the inclined surfaces face each other with a projecting element located between the inclined surfaces. The projecting pin may move toward the first circular element in a first direction to interact with the inclined surfaces of the first circular element. The projecting pin may move toward the second circular element in a direction opposite to the first direction to interact with the inclined surfaces of the second circular element. The locking mechanism may be similar to the configuration shown in Fig. 5A-5D.

Alternatively, the circular elements may be designed so that the inclined surfaces face away from each other. There may be two protruding pins, wherein the first protruding pin faces the inclined surfaces of the first circular element, and the second protruding pin faces the inclined surfaces of the second circular element. The first protruding pin may move toward the first circular element in the first direction to interact with the inclined surfaces of the first circular element. The second protruding pin may move toward the second circular element in the direction opposite to the first direction to interact with the inclined surfaces of the second circular element. The first and second circular elements may be combined together to form a circular element with inclined surfaces protruding from both sides of the circular element. The locking mechanism may be similar to the configuration shown in Fig. 9A-9D.

Fig. 14A shows a scissor clamping device having an automatic locking mechanism 1450, such as the locking mechanism shown in Figs. 5A-5D. Another locking mechanism can be used, such as the locking mechanism shown in Figs. 9A-9D. The upper part 1451 of the locking mechanism is connected to the first part 1410 of the scissor lever of the clamping device, for example, to the pulling member. The lower part 1452 of the locking mechanism is connected to the second part 1431 of the scissor lever, such as a pivot point. The automatic locking mechanism can be connected to different parts of the clamping device, such as the automatic locking mechanism 1450A connected to two parts 1430A and 1430B of one side of the scissor lever, or the automatic locking mechanism 1450B connected to two parts 1430B of both sides of the scissor lever.

As shown, the locking mechanism is in an engaged state, for example, the upper part 1451 is fixed in the lower part 1452. Thus, the pulling member is fixed at the point of rotation 1431, for example in the body of the clamping device, and is limited only by the movements caused by the position of the locking mechanism. For example, since the rod 1453 can move between the inclined surfaces of the first and second circular elements 3571 and 1476, to switch the locked state of the locking mechanism, the pulling member can move relative to the body of the clamping device to activate or deactivate the locking mechanism. Thus, in the present description, the fact that the components are fixed together does not mean that these components are rigidly and immovably attached to each other. The term "the components are fixed together" can mean that an element of the components cannot move freely relative to another element of the components, for example, to be disconnected or separated from each other, and can mean that these elements can have limited movements relative to each other.

Due to the locked state of the locking mechanism, the pulling member is fixed in the clamping device body. The connection of the pulling member with the clamping device body can keep the grippers locked at a large spread to receive the object between the grippers.

The clamping device can be lowered, for example by lowering a winch connected to the pulling element. The object 1420 can be located between the open grips of the clamping device.

After the clamping device has come into contact with the object, the winch can be lowered further. Since the clamping device has come into contact with the object, the clamping device housing does not move downward when the winch is lowered. Instead, when the winch is lowered, the pulling member can move downward. The first part 1430A of the scissor arm can move downwardly relative to the second part 1430B of the scissor arm. The movement of the first part 1430A can cause the assembly of circular elements to move downwardly until the protruding pin in the rod comes into contact with the inclined surface of the upper (second) circular element. The rod can rotate at an angle, for example, 45 degrees.

In Fig. 14B, the winch can be raised. The first part 1430A of the scissor lever can move relative to the second part 1430B of the scissor lever. The movement of the first part 1430A can cause the assembly of circular elements to move upward until the protruding pin in the rod comes into contact with the inclined surface of the lower (or first) circular element. The rod can rotate to another angle, for example, to 45 degrees. Thus, the rod can rotate to a full angle of 90 degrees, which provides the possibility of switching from the locked state to the unlocked state, since after the rotation to 90 degrees, the hook end of the rod is no longer limited by the hook end of the hook receiving socket.

In Fig. 14C the winch can be raised further. Since the locking mechanism is now engaged, pulling the pulling member can activate the grippers to clamp the object.

Fig. 14D shows that after the object is clamped by the grippers, the winch can be further raised and moved to a destination where the object can be released.

Thus, by lowering and then raising the pulling element, the locking mechanism changes its state from locked to unlocked. There may be pauses between these stages.

Fig. 15A-15D shows another configuration of switching the locking mechanism according to some embodiments. The clamping device 1500 can have scissor arms 1530, configured to rotate around a pivot point 1531, connecting the pulling member 1510 with two grippers 1560 and 1540.

The clamping device may have an automatic locking mechanism 1550, which may include a first part 1551 and a second part 1552. The locking mechanism may include a hook rod 1553, having a hook end 1555 and a mating hook receiving socket 1581 with a hook end 1581A. The locking mechanism may include two elements with an inclined surface, such as circular elements 1571 and 1576. One or more elements interacting with the inclined surface, such as a protruding pin 1554 in the hook rod, may be located facing the inclined surfaces of the circular elements.

Fig. 15A shows a scissor clamp device having an automatic locking mechanism 1550, such as the locking mechanism shown in Fig. 5A-5D. Another locking mechanism can be used, such as the locking mechanism shown in Fig. 9A-9D. The upper part 1551 of the locking mechanism is connected to the first part 1510 of the scissor lever of the clamp device. The lower part 1552 of the locking mechanism is connected to the second part 1531 of the scissor lever. As shown, the locking mechanism is in a disconnected state, for example, the upper part 1551 is free from the lower part 1552. Thus, the pulling member can move freely relative to the pivot point 1531, for example to the body of the clamp device.

Due to the unlocked state of the locking mechanism, the winch connected to the pulling element can lift the clamping device with the grippers clamping the object 1520. The clamping device can be lowered, for example, by lowering the winch. As long as there is no contact with the ground, the clamping device and the object move as a single unit as a result of the action of the winch.

As shown in Fig. 15B, the winch can deliver the clamping device together with the clamped object to the destination. To lay the object on the ground, the winch can be lowered.

After the object has touched the ground, the winch can be lowered even lower. Since the object has come into contact with the ground, the body of the clamping device does not move downward when the winch is lowered. Instead, when the winch is lowered, the pulling member can move downward. The first part 1510 of the scissor arm can move downwardly relative to the second part 1531 of the scissor arm. The movement of the first part 1510 can cause the first part 1551 of the locking mechanism to move downwardly until the rod comes into contact with the mating hook receiving socket. Since the locking mechanism is in an unlocked state, the lowering of the pulling member can separate the grippers to stop the clamping action on the object. In addition, the hook end of the hook rod can enter the hook end of the hook receiving socket.

In Fig. 15C, the winch can be lowered further after the hook end has come into contact with the lower surface of the hook receiving socket. The pulling member is lowered further, dragging the assembly of circular elements (the first circular element 1571 and the second circular element 1576, connected as a single unit) downwards relative to the hook rod until the projecting pin in the rod comes into contact with the inclined surface of the upper (second) circular element. The rod can rotate by 45 degrees, partially engaging the hook end of the hook rod with the hook end of the hook receiving socket.

In Fig. 15D, the winch can be raised. The first part 1510 of the scissor lever can move upward relative to the second part 1531 of the scissor lever. The movement of the first part 1510 can cause the assembly of circular elements to move upward until the protruding pin in the rod comes into contact with the inclined surface of the lower (or first) circular element. The rod can rotate to another angle, for example, to 45 degrees. Thus, the rod can rotate to a full angle of 90 degrees, which provides the possibility of switching from the unlocked state to the locked state, since after turning to 90 degrees, the hook end of the rod is now completely limited by the hook end of the hook receiving socket.

The winch can be raised further upwards and moved to a new object to grab it. Since the locking mechanism is locked, the grippers remain spread to facilitate the reception of the object.

Thus, by lowering and then raising the pulling element, the locking mechanism changes its state from the unlocked state to the locked state. By alternating the process of changing the state from the locked state to the unlocked state, the operator can switch the locking mechanism between the locked and unlocked states by lowering and then raising the pulling element or by using a winch connected to the pulling element. There may be pauses between the lowering stage and the lifting stage.

Fig. 16A-16C show block diagrams of control of the locking mechanism according to some embodiments. In Fig. 16A, in operation 1600, switching between a movable state and a stationary state of a component of the clamping mechanism of the clamping device occurs. The switching process is activated when at least one of the jaws of the clamping device is near the opening distance from the other jaw. In the movable state, the component is configured to ensure movement of the jaws of the clamping device in the direction towards each other for clamping an object. In the stationary state, the component is configured to leave the jaws in the opened state.

In Fig. 16B, in operation 1620, a component of the clamping mechanism of the clamping device moves downward. When the component reaches a certain position, a switching mechanism is activated for switching between a movable state and a stationary state of at least one grip of the clamping device. In the movable state, this grip is configured to have a possibility of its movable access to an object located between this grip and another grip of the clamping device. In the stationary state, the grips are configured to remain open.

In Fig. 16C, in operation 1640, a component of the clamping mechanism of the clamping device moves downwardly to switch at least one grip of the clamping device between movably accessing an object located between this grip and another grip of the clamping device for clamping the object and being in an open state without clamping the object.

Fig. 17A-17B show block diagrams of control of the locking mechanism according to some embodiments. In Fig. 16C, operation 1700 moves the winch connected to the clamping device downwardly to come into contact with the surface. The clamping device clamps the object.

In operation 1710, the winch continues to move downward to open the grips to obtain an opening distance. When the grips reach the opening distance, the locking mechanism of the clamping device switches from a movable to a stationary state. In the movable state, the grips of the clamping device are configured to move toward each other to clamp the object. In the stationary state, the grips remain open and do not clamp the object. In operation 1720, the winch moves upward with the grips open and not clamping the object.

In Fig. 17B, operation 1740 moves the winch connected to the clamping device downwards to come into contact with the object. The jaws of the clamping device clamps are spread apart by a distance exceeding the size of the object. In operation 1750, the winch continues to move downwards to switch the locking mechanism of the clamping device from a stationary to a movable state. In the movable state, the jaws of the clamping device are configured to move toward each other to clamp the object. In the stationary state, the jaws are open and do not clamp the object. In operation 1720, the winch moves upwards so that the jaws clamp the object.

In some embodiments of the present invention, an automatic locking mechanism is described for a clamping device, wherein the clamping device uses a clamping mechanism to clamp an object. The automatic locking mechanism can be activated and deactivated, for example, by switching the clamping mechanism between an operating state in which the clamping mechanism is engaged, and a non-operating state in which the clamping mechanism is disabled.

The automatic locking mechanism may include three elements, which may include a first element, which may be rigidly connected to the first component of the clamping device, a second element, which may be rigidly connected to the second component of the clamping device, and a third element, movably, but permanently connected to the first element. The first and second components may be movable components of the clamping mechanism, such as two components of a lever transmission, which connect the pulling element of the clamping device to the grippers of the clamping device. When the lever transmission is movable, for example the first component is movable relative to the second component, the lever transmission is engaged, for example the grippers follow the movements of the pulling element. For example, when the pulling element is raised upward, for example by means of a winch connected to the pulling element, the grippers can move towards each other to clamp the object.

The automatic locking mechanism may activate the clamping mechanism linkage, allowing the first and second components to move relative to each other. The automatic locking mechanism may deactivate the clamping mechanism linkage, connecting the first and second components to each other, for example, by fixing the first component to the second component with an optional free play distance between the first and second components.

The activation and deactivation of the linkage can be performed by switching the automatic locking mechanism between a connection position in which the automatic locking mechanism causes the first component to be connected without the possibility of being separated from the second component, and a disconnection position in which the automatic locking mechanism causes the first component to be separated from the second component.

The first element may include a switching element that may perform the function of switching the automatic locking mechanism between the connection position and the disconnection position. The switching element may include inclined surfaces for converting vertical movements or forces into rotational movement or force. The vertical movements or forces may be provided by the clamping device, for example by an operator controlling a winch connected to the clamping device. The downward movement or downward force may be implemented by a winch lowering the clamping device onto the object, including actions of the clamping device coming into contact with the object. The upward movement or upward force may be implemented by a winch lifting the clamping device.

The movements or downward and upward acting forces can be used by the switching element to activate and deactivate with the possibility of rotation the locking element, which can respectively deactivate and activate the locking mechanism. The locking element can include a third element, which can be connected or disconnected from the second element of the locking mechanism by means of rotational movements.

The switching element may include one or more circular elements having two sets of teeth that may be facing each other or facing away from each other. Each tooth may include a valley region, an inclined surface rising from the valley region, and a steep surface extending downwards to the valley region of the adjacent tooth. The inclined surface and the steep surface may join at the top of the tooth.

Each set of teeth may be arranged around a circular element, for example arranged cyclically. For example, the first set of teeth may have 4 teeth surrounding the base of a circular element. The second set of teeth may also include 4 teeth surrounding the base of the same circular element, wherein the first and second sets of teeth are designed in such a way that they face away from each other. Alternatively, the second set of teeth may also include 4 teeth surrounding the base of another circular element. Two circular elements may be arranged at a distance from each other in such a way that the two sets of teeth face each other.

The first and second sets of teeth may be designed so that the tooth gullet area in the first set of teeth is aligned with the inclined surface of another tooth in the second set of teeth. The alignment may be along the axis of rotation of the circular element. The first and second sets of teeth may be designed so that the tooth gullet area in the second set of teeth is aligned with the inclined surface of another tooth in the first set of teeth. The alignment may be along the axis of rotation of the circular element.

Thus, the gullet area of each tooth may face the inclined surface of the other tooth (in the case of two circular elements located at some distance from each other, with two sets of teeth facing each other), or the gullet area may face away from the inclined surface of the other tooth (in the case of only one circular element having two sets of teeth facing in opposite directions).

The second element may include a part of the locking element, such as one component of the locking element, which may be locked in another component of the locking element or released from it. The part of the locking element may include an element of the receiving socket, which has a hooking part, such as two parallel hooks facing each other and located on two sides of the element of the receiving socket. The hooking part, such as parallel hooks, may be configured to connect to another component of the locking element, such as a third element of the automatic locking mechanism.

The third element may include another part of the locking element, wherein the component of the locking element may be configured to be locked or released from the element of the receiving socket, for example, parallel hooks. The third element may include a rod with a hook end at the end of the rod or near it for locking the second element, for example, in the receiving socket or parallel hooks. For example, the hook end may include an elongated end section located perpendicular to the axis of the rod. The elongated end section may have the shape of an ellipse or a rectangle, for example having a long side and a short side perpendicular to the rod. The hook end may be configured to be switched with the receiving socket, for example with parallel hooks. The hook end may be located between the connection position and the disconnection position.

In the connecting position, the hook end is connected to the receiving socket in such a way that the long side of the hook end is perpendicular to the parallel hooks, so that the rod is connected to the receiving socket and cannot be separated from the receiving socket.

In the disengaged position, the hook end faces the receiving socket in such a way that the long side of the hook end is parallel to the parallel hooks, so that the hook end can be removed from the parallel hooks, for example the rod can be separated from the receiving socket.

The third element may be located in the circular elements. For example, the third element may have the form of a rod, such as a rod with a hook end. The rod may be inserted into the hollow parts of the circular elements. For example, in the case of two circular elements located at a distance from each other, the circular elements may be concentric, and the rod is also concentric with the circular elements, for example, the axes of the rod and the circular elements are the same axes. In the case of one circular element, the rod and the circular element may be concentric.

The rod may have one or more projecting elements, for example one or more pins, passing through the rod. The pins may be designed to interact with the inclined surfaces of the teeth, for example moving along an inclined surface. The pins may have a length of the same size as the width of the inclined surface. Since the pins pass through the rod, for example passing through the center of the rod, the pins may project from both sides of the rod. Thus, the teeth may be designed such that both sides of the pins, for example two parts of the pins that project from two sides of the rod, rest on two inclined surfaces of two opposite teeth, for example two teeth along the axis of the circular elements.

The pins may interact with the inclined surfaces of the first and second sets of teeth in such a way that, under the action of a force causing the pins to come into contact with an inclined surface, for example an inclined surface of a tooth of the first or second set of teeth, the pins move along the inclined surface until they stop in the region of a depression at the bottom of the inclined surface. The movement of the pins along the inclined surface may cause the rod to rotate by an angle of, for example, 40 to 50 degrees, for example 45 degrees.

The force may be a vertical force, such as a downward force or an upward force. Alternating downward and upward forces may cause the pins to first engage the inclined surface of a tooth in the first set of teeth, followed by engagement with the inclined surface of another tooth in the second set of teeth. This alternation may cause the rod to rotate twice, forming a rotation of approximately 90 degrees, thereby switching the engagement end between the engagement position and the disengagement position from the engagement portion.

In some embodiments, the hook end may have a contact point with a minimum area, such as a sharp point or a round point at the central end of the rod. Thus, the rod may rotate on the contact point, for example, which contacts the surface of the receiving socket. The rod may be perpendicular to the receiving socket. The rod may be separated from the receiving socket and then brought into contact with the surface of the receiving socket, for example, into contact between parallel hooks. In this case, the rod may rotate on the contact point with a minimum area to switch between the connection position and the disconnection position. Rotation of the rod on the contact point with a minimum area may have reduced friction due to the minimum contact area.

In some embodiments, the automatic locking mechanism may include a sleeve for accommodating the circular elements. For example, the circular elements may include two circular elements spaced apart from each other and located in the sleeve. The sleeve may serve to hold the two circular elements at a fixed distance from each other. The circular elements may be fixed in the sleeve, for example, using pins or screws to secure the circular elements to the sleeve.

The sleeve may include a support element, such as a step in the inner surface of the sleeve. The support element may be configured to support one circular element, for example to prevent the circular elements from moving in one direction, such as in a downward direction. The support element may serve to balance the force acting on the circular elements from the rod. Since the rod may apply a greater force to the circular element in the downward direction compared to a lesser force in the upward direction, the support element may help the circular element resist the downward force.

In the case of two circular elements facing each other and located at a distance from each other, the supporting element can support one circular element, such as the lower circular element, for example the circular element located closer to the receiving socket. In the case of one circular element having two sets of teeth facing in opposite directions, the supporting element can support this circular element. It is possible to have two circular elements that touch each other, instead of one circular element. The supporting element can support the lower circular element.

In some embodiments, the clamping device may have a support element in the housing of the sleeve. For example, the sleeve may be connected to a first component of the clamping device. The first component may have a cavity, such as a recess, for receiving the sleeve. Alternatively, the sleeve may be received in the housing, and the housing may be connected to the first component. The housing may have a support element for supporting the sleeve in a downward direction, such as a step in the inner surface of the housing, on which the sleeve rests, for supporting the sleeve and preventing the sleeve from moving downward, for example toward the receiving socket.

In some embodiments, the clamping device may have a support element in the housing of the circular element. For example, the circular element may be a circular element of one piece or a circular element of two pieces that are connected to each other. The circular element may be connected to a first component of the clamping device without a sleeve. The first component may have a cavity, such as a recess, for receiving the circular element. Alternatively, the circular element may be received in the housing, and the housing may be connected to the first component. The housing may have a support element for supporting the circular element in a downward direction, such as a step in the inner surface of the housing, on which the circular element rests, for supporting the circular element and preventing the circular element from moving downward, for example toward the receiving socket.

In some embodiments, the inclined surfaces of the teeth in the two sets of teeth may be helical curves, such as portions of helical curves, around the circular elements. The tooth may have a helical curve that rises from the valley region and ends at the top of the tooth. The helical curve may have tangent lines that form a constant angle, such as with the axis of the circular element. The tangent line of the inclined surface, such as the helical curve, may form an angle of 40 to 50 degrees or 35 to 55 degrees.

In some embodiments, in the case of two circular elements having two sets of teeth facing each other, with a projecting pin located therebetween, the distance between the two sets of teeth may be designed to provide a minimum gap, such as a gap between two opposite teeth (in two sets of teeth), for the projecting pin to pass through them.

In the case of a single circular element having two sets of teeth facing in opposite directions, with two projecting pins between which the two sets of teeth are located, the distance between the two projecting pins may be designed to provide a minimum clearance distance, for example, when the projecting pin moves along an inclined surface of a tooth, providing a clearance on the opposite tooth for the passage of the opposite projecting pin through the opposite tooth.

In some embodiments, the tooth in the two sets of teeth is a beveled or rounded tooth. The beveled or rounded tooth may provide a smaller clearance distance either between two circular elements between which a projecting pin is located, or between two projecting pins between which a circular element is located. The beveled plane of one tooth may be parallel to the tangent of the opposite tooth to achieve a minimum clearance distance.

In some embodiments, the steep surface may be formed or chamfered to form an angle with the axis of rotation other than zero.

In some embodiments, the automatic locking mechanism can be used in a clamping device using a semi-scissor mechanism with at least a fixed grip connected to the housing and at least a movable grip connected to the scissor lever. The first part of the automatic locking mechanism can be connected to the first arm of the scissor lever. The second part of the automatic locking mechanism can be connected to the housing or to the second arm of the scissor lever.

The automatic locking mechanism can be used in a clamping device using a scissor mechanism containing two lever assemblies for moving two opposite grippers. The first part of the automatic locking mechanism can be connected to an element with an inclined surface or to the first lever of a lever assembly of two lever assemblies. The second part of the automatic locking mechanism can be connected to the second lever of a lever assembly of two lever assemblies or to the third lever of another assembly of two lever assemblies.

The automatic locking mechanism can be used in a clamping device using a scissor mechanism containing two lever assemblies for moving two opposite grippers. The first part of the automatic locking mechanism can be connected to the first lever of the lever assembly of the two lever assemblies. The second part of the automatic locking mechanism can be connected to the second lever of the lever assembly of the two lever assemblies or to the third lever of another assembly of the two lever assemblies.

The automatic locking mechanism may be used in a clamping device with a pulling element having a roller that rolls along an element with an inclined surface to move a movable grip to a fixed grip. The first part of the automatic locking mechanism may be connected to the pulling element or roller. The second part of the automatic locking mechanism may be connected to the body of the clamping device.

In some embodiments, the frit element of the automatic locking mechanism may include two circular elements or one circular element. In the case of two circular elements, each of the two circular elements may have a set of teeth located along the circumference of the circular element. The two circular elements may be configured to be located at a distance from each other with two sets of teeth facing each other. Alternatively, the two circular elements may be connected together, with the two sets of teeth facing in opposite directions.

In the case of a single circular element, the circular element may have two sets of teeth located on one or two circumferences of the circular element. The two sets of teeth may be designed so that they face opposite directions.

For configurations where two sets of teeth face each other, a protruding pin may be provided between the two sets of teeth. The protruding pin may be connected to the rod.

For configurations where the two sets of teeth face opposite directions, two protruding pins may be provided with the two sets of teeth between them. The protruding pins may be connected to the rod.

Fig. 18 shows a clamping device according to some embodiments. In the clamping device 1800, a semi-scissor mechanism can be used, wherein, for example, one grip is fixed, and the opposite grip is connected by a scissor mechanism to a pulling member. For example, a semi-scissor mechanism 1830 can connect a movable grip 1841 for movement to a fixed grip 1861.

The clamping device may include a plurality of semi-scissor mechanisms 1830 and 1830*, wherein each of the semi-scissor mechanisms is connected to a movable grip opposite to a fixed grip. The optional extended gripping plates 1840 and 1860 may be connected to a plurality of grippers on the same side, for example, the gripping plate 1840 is connected to the movable grippers 1841 and 1842.

Fixed grippers, such as gripper 1861, can be rigidly connected to the body 1805 of the clamping device. The semi-scissor mechanism can include a pivot point 1831, which is also rigidly connected to the body 1805. A gripper lever connected to the pivot point can be connected to a movable gripper 1841. An actuation lever connected to the pivot point can include a scissor hinge. Thus, when the actuation lever is pulled up, the scissor hinge is actuated. Due to the pivot point, the gripper lever moves when the actuation lever moves, which can cause the gripper 1831 to move toward the opposite gripper 1861.

The connecting crossbar 1811 can be connected to the ends of the levers for actuating the plurality of semi-scissor mechanisms 1830 and 1830*, for example, to actuate all of the semi-scissor mechanisms together. The scissor mechanism 1830 can include a plurality of guides 1812 to cause the connecting crossbar 1811 to make corresponding movements to actuate the semi-scissor mechanisms. The pulling member 1810 can be connected to the connecting rod 1811. When the pulling member is pulled up, the connecting crossbar also moves up, pulling the levers for actuating the semi-scissor mechanisms along with it. Through the pivot points, the movable grippers move toward the opposite grippers, pressing the movable gripping plate 1840 against the fixed gripping plate 1860.

Thus, the clamping device can have a lever mechanism connecting the pulling element 1810 with the gripping plate 1840. When the pulling element is pulled, the movable gripping plate can move toward the opposite plate of the fixed grip. When the pulling of the pulling element is stopped, the movable gripping plate can move in the opposite direction, for example, under the action of gravity. The lever mechanism can include a connecting crossbar connected to the actuation levers, connected to the pivot points and connected to the gripping levers.

A locking mechanism 1850 may be provided for actuating the clamping device without using hands using a plurality of semi-scissor mechanisms. The locking mechanism may allow or prevent the operation of the semi-scissor mechanism, for example, by allowing or preventing the operation of a linkage between the pulling member and the gripping plate. When the locking mechanism is activated or locked, the linkage is excluded or disabled, which means that pulling the pulling member does not cause the gripping plate to move. When the locking mechanism is deactivated or unlocked, the linkage is allowed or enabled, which means that pulling the pulling member causes the gripping plate to move toward the opposite gripping plate.

The locking mechanism may include an upper part 1851, which may be locked in the lower part 1852 or released from it. The upper part 1851 may be attached to the pulling element 1810 via the connecting crossbar 1811, for example the upper part may be attached to the connecting crossbar, and since the connecting crossbar is attached to the pulling element, the upper part may move as a single unit together with the pulling element. The lower part 1852 may be attached to the housing 1805 of the clamping device, for example to the connecting crossbar 1806 connecting two parts of the housing. The upper part may include a movable rod with an elongated head, which may be locked in a mating catch in the lower part or released from it.

The automatic locking mechanism can be connected to different parts of the clamping device, such as the automatic locking mechanism 1850A connected to the connecting crossbar 1811 and the housing 1805 of one side of the scissor lever, or the automatic locking mechanism 1850B connected to two parts 1830 of one side of the scissor lever.

The upper part 1851 can include a rod 1853 having an elongated head 1855. The elongated head can have one side that is longer than the side perpendicular to it, for example, have the shape of an ellipse or a rectangle. When the longer side of the elongated head is located inside the hook 1881 of the lower part 1852, the rod can be fixed in the hook, creating a locked state in which the upper part is fixed in the lower part. When the shorter side of the elongated head is located inside the hook 1881 of the lower part 1852, the rod can be extended from the hook, creating an unlocked state in which the upper part can move from the lower part.

The upper part may include circular elements 1882 and 1886 having inclined surfaces that may be mated with a projecting pin on the rod. The circular elements and the projecting pin may be designed in such a way that when the rod is pushed into and released from the circular elements, the rod may rotate at an angle, such as at an angle of 90 degrees, to switch between a longer side and a shorter side, such as between a locked state and an unlocked state.

When the locking mechanism is engaged, it means that the upper part is fixed in the lower part, and the pulling element is rigidly connected to the body of the clamping device. In this case, the pulling element cannot move to activate the semi-scissor mechanisms, and the movable gripping plate is stationary when pulling or lowering the pulling element.

When the locking mechanism is disengaged, it means that the upper part is not locked in the lower part, and the pulling member can move freely relative to the body of the clamping device. Thus, the pulling member can move to operate the semi-scissor mechanisms, and the movable gripping plate can move toward or away from the opposite gripping plate when pulling or lowering the pulling member, respectively.

The clamping device may have other additional assemblies, such as a contact mechanism 1870 for visually detecting an object, for example, when the clamping device moves toward an object to clamp it. The contact mechanism may be especially useful for transparent objects, such as glass sheets, when it may be difficult for the operator to see the edges of the sheets. The clamping device may include roller feet 1871 for rolling the scissor clamp, for example, for moving between areas on the ground. The clamping device may include a guide mechanism 1872 for guiding objects to the space between the fixed gripper and the movable gripper.

Fig. 19A-19B show methods for operating a clamping device according to some embodiments. The clamping device 1900 may include a locking mechanism that can automatically lock and release the grips.

Fig. 19A(a)-19A(d) show the process of gripping an object with an unoccupied clamping device.

In Fig. 19A(a), the locking mechanism is engaged 1950A, fixing the separation of the grippers, wherein, for example, the grippers are separated by a fixed distance regardless of the movements of the clamping device. Thus, when the clamping device is raised upward 1910 and moved to approach the object, the distance between the grippers does not change.

In Fig. 19A(b), the clamping device is moved to be positioned on the object. Since the locking mechanism is engaged, the space between the grips is large enough to accommodate the object. After this, the clamping device can be lowered so that the object is positioned between the grips.

The clamping device is lowered so far 1911 as to touch the object. Then the pulling element can be further lowered relative to the housing of the clamping device in order to partially unlock the locking mechanism. For example, the upper part of the locking mechanism can move downwards (since the upper part is attached to the pulling element), as a result of which the rod moves upwards. Circular elements with inclined surfaces in the upper part can partially rotate the rod, for example by means of protruding pins connected to the rod.

In Fig. 19A(c) the pulling member is raised upward 1912. At the beginning, the upper part of the locking mechanism can move upward (since the upper part is attached to the pulling member), as a result of which the rod moves downward. The circular elements with inclined surfaces in the upper part can partially rotate the rod by means of protruding pins connected to the rod. The full rotation can be 90 degrees, as a result of which the rod can be released from the hook in the lower part of the locking mechanism.

Then the pulling member is further raised upward. Since the locking mechanism is not locked, the lever mechanism is activated and the grippers move towards each other to clamp 1922 the object.

In Fig. 19A(d), the lifting of the pulling member also causes the object to be lifted after the object is clamped by the grippers. The clamping device can lift and move the clamped object to the destination.

Fig. 19B(a)-19B(d) show the process of releasing an object by a clamping device with the object clamped at the destination location.

In Fig. 19B(a), the locking mechanism is not engaged 1950B, allowing the grippers to move when the clamping device is raised. Thus, when the clamping device is raised upward 1910 and moved, the grippers clamp the object to fix the object in the clamping device.

In Fig. 19B (b), the clamping device is moved to the destination for releasing the object. The clamping device can be lowered 1911 until the object touches the ground. The pulling member can be further lowered, while the body of the clamping device remains stationary, being in contact with the object. Lowering the pulling member can lead to an increase in the distance between the grips, for example, increasing the spread of the clamps.

When the clamps are separated by a predetermined distance, such as the maximum distance, the upper part of the locking mechanism can come into contact with the lower part of the locking mechanism, for example, the extended head of the rod can come into contact with the hook of the lower part. Since the locking mechanism is disengaged, the shorter side of the extended head faces the hook, so that the extended head can enter the hook without any obstacle.

Lowering the pulling element can cause the upper part to lower, thereby moving the rod upward. The protruding pins coming into contact with the inclined surfaces of the circular elements can cause a partial rotation of the rod.

In Fig. 19B(c) the pulling element is raised upward 1912. At the beginning, the upper part of the locking mechanism can move upward (since the upper part is attached to the pulling element), as a result of which the rod moves downward. The entry of the projecting pins into contact with the inclined surfaces of the circular elements can again cause a partial rotation of the rod. The full rotation can be 90 degrees, due to which it is possible to fix the rod on the catch in the lower part of the locking mechanism, in which case, for example, the rod is rotated in such a way that the longer side is mated with the catch for fixing the rod with the catch.

The pulling element is then further lifted upwards. Since the locking mechanism is locked, the lever mechanism is deactivated and the grippers are immobile, for example fixed in the spread position.

In Fig. 19B(d) the clamping device is raised upward. Since the grippers are spread apart, the object remains at the destination and only the empty clamping device is moved. The clamping device is ready to move to approach a new object for gripping.

Fig. 20A-20B shows a clamping device according to some embodiments. In the clamping device 2000, an inclined coupling mechanism can be used, for example, a pulling member having an inclined surface can be connected to scissor arms for moving the clamping jaws. For example, a triangular pulling member can have inclined sides for pulling or retracting two scissor arms that can rotate around a pivot point 2031 to move the opposite jaws (Fig. 20A).

The clamping device may include extended grips 2040 and 2060. The clamping device may include a pulling member 2010 that can operate the scissor arms around a pivot point. Thus, when the pulling member is pulled up, the scissor arms can be pulled out. Due to the pivot point, the grip lever can move when the scissor arms are pulled out, which can cause the grippers to move to clamp the object.

Thus, the clamping device may have a lever mechanism connecting the pulling element 2010 with the grippers 2040 and 2060. When the pulling element is pulled, the grippers may move toward each other. When the pulling of the pulling element is stopped, the grippers may move apart, for example, under the action of gravity.

A locking mechanism 2050 may be provided to operate the clamping device without using hands. The locking mechanism may allow or prevent the engagement of the linkage between the pulling member and the grippers. When the locking mechanism is activated or locked, the linkage is excluded or disabled, which means that pulling the pulling member does not cause the grippers to move. When the locking mechanism is deactivated or unlocked, the linkage is permitted or activated, which means that pulling the pulling member causes the grippers to move toward each other.

The locking mechanism may include an upper part 2051, which may be locked in the lower part 2052 or released from it (Fig. 20B). The upper part 2051 may be attached to the pulling member 2010. The lower part 2052 may be attached to the pivot point 2031. The upper part may include a movable rod with an elongated head, which may be locked in the mating catch 2081 in the lower part or released from it.

The upper part 2051 may include a rod 2053 having an elongated head 2055. The upper part may include circular elements having inclined surfaces that may be mated with projecting pins on the rod. The circular elements and the projecting pins may be designed in such a way that when the rod is pushed into the circular elements and released from them, the rod may rotate at an angle, for example at an angle of 90 degrees, to switch between a longer side and a shorter side, for example between a locked state and an unlocked state.

When the locking mechanism is engaged, it means that the upper part is fixed in the lower part, and the pulling element is rigidly connected to the body of the clamping device. Thus, the pulling element cannot move to activate the lever mechanism, and when pulling or lowering the pulling element, the grippers are stationary.

When the locking mechanism is disengaged, it means that the upper part is not locked in the lower part, and the pulling element can move freely, for example, it can be separated relative to the body of the clamping device. Thus, the pulling element can move to operate the lever mechanism, and the grippers can approach or move apart when pulling or lowering the pulling element, respectively.

The clamping device may have other additional assemblies, such as a contact mechanism 2070 for visually detecting an object, for example, when the clamping device moves toward an object to clamp it. The contact mechanism may be especially useful for transparent objects, such as glass sheets, when it may be difficult for the operator to see the edges of the sheets. The clamping device may include roller feet 2071 for rolling the scissor clamp, for example, for moving between areas on the ground. The clamping device may include a guide mechanism 2072 for guiding objects to the space between the fixed gripper and the movable gripper.

Fig. 21A-21B show methods for operating a clamping device according to some embodiments. The clamping device 2100 may include a locking mechanism that can automatically lock and release the grips.

Fig. 21A(a)-21A(d) show the process of gripping an object with an unoccupied clamping device.

In Fig. 21A(a), the locking mechanism is engaged 2150A, locking the grippers in the spread position. In Fig. 21A(b), the clamping device is moved to place the object between the grippers. Then, the pulling member can be further lowered relative to the housing of the clamping device to partially unlock the locking mechanism. For example, the rod in the locking mechanism can partially rotate.

In Fig. 21A(c), the pulling member is raised upward and can partially rotate the rod again. A full rotation can release the rod from the hook in the locking mechanism. After this, the pulling member is further raised upward to move the grippers to clamp the object. In Fig. 21A(d), the lifting of the pulling member also causes the object to rise after the object is clamped by the grippers.

Fig. 21B(a)-21B(d) show the process of releasing an object by a clamping device with the object clamped at the destination location.

In Fig. 21B(a), the locking mechanism is released 2150B. In Fig. 21B(b), the clamping device moves to the destination and lowers the object to the ground. The pulling member can be further lowered to increase the spread of the clamps. The pulling member can be lowered until the rod is pressed against the catch, which can partially rotate the rod.

In Fig. 21B(c) the pulling member is raised up and can partially rotate the rod again. A full rotation can lock the rod in the catch. In Fig. 21B(d) the pulling member is raised up to move to approach a new object for its grip.

Fig. 22A-22B shows a clamping device according to some embodiments. In the clamping device 2200, a scissor mechanism can be used, for example, two grippers are connected by a scissor mechanism to a pulling member. For example, a scissor mechanism 2230 can be connected to grippers 2240 and 2260, so that when pulling or releasing the pulling member 2210, the grippers move towards each other or move apart, respectively.

The scissor mechanism may include a pivot point 2231 that is rigidly connected to the body of the clamping device. The scissor mechanism may include a lever of a pulling element that is connected to the pulling element and a grip lever connected to the grip and can rotate relative to the hinge 2231.

Thus, when the pulling element is pulled up, the scissor mechanism is activated. Due to the pivot point, the gripper arm moves when the pulling element lever is moved, which can move the grippers towards each other or apart.

Thus, the clamping device may have a lever mechanism connecting the pulling element 2210 with the grippers 2240 and 2260. When the pulling element is pulled, the grippers may move toward each other. When the pulling element is stopped, the grippers may move away from each other, for example, under the action of gravity. The lever mechanism may include levers of the pulling element connected to the gripper levers through pivot points.

A locking mechanism 2250 may be provided for the hands-free operation of the clamping device using a scissor mechanism. The locking mechanism may permit or prevent the operation of the scissor mechanism, such as permitting or preventing the operation of a linkage between the pulling member and the grippers. When the locking mechanism is activated or locked, the linkage is excluded or disabled, meaning that pulling the pulling member does not cause the grippers to move. When the locking mechanism is deactivated or unlocked, the linkage is permitted or activated, meaning that pulling the pulling member spreads the grippers.

The locking mechanism may include an upper part 2251, which may be locked in the lower part 2252 or released from it. The upper part 2251 may be attached to the lever 2230A of the pulling element. The lower part 2252 may be attached to the lever 2230B of the gripper. The upper part may include a movable rod with an elongated head, which may be locked in a mating catch in the lower part or released from it.

The upper part 2251 can include a rod 2253 having an elongated head 2255. The elongated head can have one side that is longer than the side perpendicular to it, for example, have the shape of an ellipse or a rectangle. When the longer side of the elongated head is located inside the hook 2281 of the lower part 2252, the rod can be fixed in the hook, creating a locked state in which the upper part is fixed in the lower part. When the shorter side of the elongated head is located inside the hook 2281 of the lower part 2252, the rod can be extended from the hook, creating an unlocked state in which the upper part can move from the lower part.

The upper part may include circular elements 2282 and 2286 having inclined surfaces that may be mated with projecting pins on the rod. The circular elements and the projecting pins may be designed in such a way that when the rod is pushed into and released from the circular elements, the rod may rotate at an angle, such as at an angle of 90 degrees, to switch between a longer side and a shorter side, such as between a locked state and an unlocked state.

When the locking mechanism is engaged, it means that the upper part is fixed in the lower part, and the lever of the pulling element is rigidly connected to the lever of the gripper. Thus, the pulling element cannot move to operate the scissor mechanism, and when pulling or lowering the pulling element, the grippers are stationary.

When the locking mechanism is disengaged, it means that the upper part is not locked in the lower part, and the pulling element can move freely, for example, it can be separated relative to the body of the clamping device. Thus, the pulling element can move to operate the scissor mechanism, and the movable grippers can approach or move apart when pulling or lowering the pulling element, respectively.

Fig. 23A-23B show methods for operating a clamping device according to some embodiments. The clamping device 2300 may include a locking mechanism that can automatically lock and release the grips.

Fig. 23A(a)-23A(d) show the process of gripping an object with an unoccupied clamping device.

In Fig. 23A(a), the locking mechanism is engaged 2350A, locking the grippers in the spread position. In Fig. 23A(b), the clamping device is moved to place the object between the grippers. Then, the pulling member can be further lowered relative to the housing of the clamping device to partially unlock the locking mechanism. For example, the rod in the locking mechanism can partially rotate.

In Fig. 23A(c), the pulling member is raised upward and can partially rotate the rod again. A full rotation can release the pin from the hook in the locking mechanism. After this, the pulling member is further raised upward to move the grippers to clamp the object. In Fig. 23A(d), the lifting of the pulling member also causes the object to rise after the object is clamped by the grippers.

Fig. 23B(a)-23B(d) show the process of releasing an object by a clamping device with the object clamped at the destination location.

In Fig. 23B(a), the locking mechanism is released 2350B. In Fig. 23B(b), the clamping device moves to the destination and lowers the object to the ground. The pulling member can be further lowered to increase the spread of the clamps. The pulling member can be lowered until the rod is pressed against the catch, which can partially rotate the rod.

In Fig. 23B(c), the pulling member is raised up and can partially rotate the rod again. A full rotation can lock the rod in the catch. In Fig. 23B(d), the pulling member is raised up to move to approach a new object for its grip.

Fig. 24A-24B shows a clamping device according to some embodiments. In the clamping device 2400, an inclined coupling mechanism can be used, for example, a pulling member having a roller for rolling on an inclined surface of a grip support. For example, the pulling member can be located between the grip and the grip support. When the pulling member rolls on the inclined surface of the grip support, the grip can move away from or toward the grip support.

The clamping device 2400 may be configured to lift heavy objects. The clamping device may include a first gripper 2460 connected to a clamping crossbar 2480. The clamping device may include a second gripping unit that may be movably and latchingly connected to the clamping crossbar. The second gripping unit may include a second gripper 2441 located opposite the first gripper. The second gripping unit may include a gripper support 2442 that can slide along the clamping crossbar for movable connection with the clamping crossbar. The second gripping unit may be configured to lock with the clamping crossbar. The second gripping unit may include stretchable elements, such as springs, that may be connected to the second gripper and the gripper support for pulling the second gripper toward the gripper support. The stretchable members may provide movement of the second grip from the grip support over a limited distance, such as a distance equal to or less than the distance between discrete locking positions of the discrete locking mechanism.

The clamping device may include a pulling element 2410, which may be configured to be pulled to lift the clamped object. The pulling element may move freely in the upward direction. The pulling element may be configured to apply a clamping force to the object when pulling, for example, by rolling the roller 2435 along the inclined surface 2470 of the grip support.

A locking mechanism 2450 may be provided to operate the inclined coupling mechanism without using hands. The locking mechanism may allow or prevent the engagement of the linkage between the pulling member and the gripper. When the locking mechanism is activated or locked, the linkage is excluded or disabled, which means that pulling the pulling member does not move the pulling member. When the locking mechanism is deactivated or unlocked, the linkage is allowed or enabled, which means that pulling the pulling member moves the pulling member to move the gripper to another gripper.

The locking mechanism may include an upper part 2451 that can be locked in or released from a lower part 2452. The upper part 2451 can be attached to a pulling member 2410. The lower part 2452 can be attached to a clamping crossbar 2480. The upper part may include a movable rod with an elongated head that can be locked in a mating catch in the lower part or released from it.

The automatic locking mechanism may be connected to various parts of the clamping device, such as another automatic locking mechanism connected to the roller 2435 and the housing 2442 of the gripper support.

The upper part 2451 may include a rod 2453 having an elongated head 2455. The upper part may include circular elements 2472 and 2476 having inclined surfaces that may be mated with projecting pins on the rod. The circular elements and the projecting pins may be designed in such a way that when the rod is pushed into the circular elements and released from them, the rod can rotate at an angle, for example at an angle of 90 degrees, to switch between a longer side and a shorter side, for example between a locked state and an unlocked state.

When the locking mechanism is engaged, it means that the upper part is fixed in the lower part, and the pulling element is rigidly connected to the body of the clamping device. Thus, the pulling element cannot move to activate the lever mechanism, and when pulling or lowering the pulling element, the grippers are stationary.

When the locking mechanism is disengaged, it means that the upper part is not locked in the lower part, and the pulling member can be separated from the body of the clamping device. Thus, the pulling member can move to operate the lever mechanism, and the grippers can be brought closer or moved apart when the pulling member is pulled up or lowered, respectively.

Fig. 25A-25F show another configuration of the clamping device according to some embodiments. The clamping device 2500 may use an inclined coupling mechanism, such as a pulling member 2510 having a roller for rolling on an inclined surface of a grip support (Fig. 25A).

The clamping device may include a first gripper 2560 connected to the clamping crossbars 2580. The clamping device may include a second gripping unit that may be movably and latchingly connected to the clamping crossbar. The second gripping unit may include a second gripper 2541 located opposite the first gripper. The second gripping unit may include a gripper support 2542 that can slide along the clamping crossbars for a movable connection with the clamping crossbar. The second gripper 2541 may be configured to move relative to the gripper support 2542, for example depending on the positions of the pulling member (Fig. 25B).

A locking mechanism 2550 may be provided to enable hands-free operation of the inclined coupling mechanism.

The locking mechanism may include an upper part that can be locked in the lower part or released from it. The lower part may include a hook receiving socket 2581 that can be attached to a fixed part of the clamping device, such as a housing of the clamping device, for example to a support 2542 of the gripper (Fig. 25C).

The upper part may include a shell 2585, which may be attached to a movable part of the clamping device, for example, to a pulling member 2510. A circular member 2570 may be located inside the shell 2585 and may be attached to the shell, for example, using a set of nuts and bolts 2570A. The shell 2585 may have a support 2585A, such as a step, to support the circular member 2570, for example, to counteract a downward force acting on the circular member. The circular member 2570 may include teeth 2572 and 2577, located on two opposite sides. A movable rod 2553 with protruding pins may be located inside the circular member. The rod 2553 may have an extended head 2555 for releasably mating with the hook receiving socket 2581 of the hook (Fig. 25D-25F).

Fig. 26A-26B show methods for operating a clamping device according to some embodiments. The clamping device 2600 may include a locking mechanism that can automatically lock and release the grips.

Fig. 26A(a)-26A(d) show the process of gripping an object with an unoccupied clamping device.

In Fig. 26A(a), the locking mechanism is engaged 2650A, locking the grippers in the spread position. In Fig. 26A(b), the clamping device is moved to place the object between the grippers. Then, the pulling member can be further lowered relative to the housing of the clamping device to partially unlock the locking mechanism. For example, the rod in the locking mechanism can partially rotate.

In Fig. 26A(c), the pulling member is raised upward and can partially rotate the rod again. A full rotation can release the rod from the hook in the locking mechanism. After this, the pulling member is further raised upward to move the grippers to clamp the object. In Fig. 26A(d), the lifting of the pulling member also causes the object to rise after the object is clamped by the grippers.

Fig. 26B(a)-26B(d) show the process of releasing an object by a clamping device with the object clamped at the destination location.

In Fig. 26B(a) the locking mechanism is released 2650B. In Fig. 26B(b) the clamping device moves to the destination and lowers the object to the ground. The pulling member can be further lowered to increase the spread of the clamps. The pulling member can be lowered until the rod is pressed against the catch, which can partially rotate the rod.

In Fig. 26B(c), the pulling member is raised up and can partially rotate the rod again. A full rotation can lock the rod in the catch. In Fig. 26B(d), the pulling member is raised up to move to approach a new object for its grip.

Fig. 27A-27D shows a clamping device according to some embodiments. The clamping device may include a first gripping unit and a second gripping unit, located substantially perpendicular to the clamping crossbar. The clamping crossbar may include a plurality of crossbars, which may be connected to the first and second gripping unit. The first gripping unit may be rigidly connected to the clamping crossbar. The second gripping unit may also be rigidly connected to the clamping crossbar. Alternatively, the second gripping unit may be movably connected to the clamping crossbar, for example with the ability to move along the clamping crossbar, and then fixed on the clamping crossbar, for example by means of a locking mechanism.

The clamping device may include a rotary member that may be associated with the gripping unit. For example, the gripping unit may include a grip facing a grip support. The rotary member may be located between the grip and the grip support and may be rotatably associated with a component of the gripping unit, such as a grip. A pulling member may be associated with the rotary member to rotate in one direction. A return mechanism, such as a coil spring assembly, may be used to rotate the rotary member in the opposite direction.

The coupling unit between the rotary element and a component of the gripping unit, such as a gripping support, may include an inclined surface, which may be designed in such a way that when the rotary element rotates in the direction determined by the pulling of the pulling element, the gripper moves away from the gripping support, if no obstacle blocks the movement of the gripper. If an object is already located between the grippers of the clamping device, the inclined surface may transform the action of pulling the pulling element into an action, for example, into a force that advances the gripper to clamp the object.

The inclined coupling assembly may include one or more helical surfaces associated with the rotary member and one or more rollers associated with a component of the gripping assembly, such as a gripping support.

Fig. 27A shows a perspective view of the clamping device. The clamping device 2700 may include a first grip 2760 connected to a clamping crossbar 2780. A rubber pad 2765 may be connected to the first grip to increase friction with the clamped objects. A gripping unit may be connected to the clamping crossbar, including a second grip 2741 and a gripping support 2742. A rubber pad 2745 may be connected to the second grip to increase friction with the clamped objects.

A rotary element 2730 may be arranged between the second gripper and the gripper support. The rotary element may be rotatably connected to the second gripper and may have inclined coupling units with the gripper support. The rotary element may have spiral surfaces interacting with rollers in the gripper support. The rollers may roll along the spiral or helical surfaces of the rotary element.

The pulling element 2743 may have one end rigidly connected to the rotating element and enclosing the rotating element. Thus, when the pulling element is pulled upward, the rotating element may rotate, as a result of which the helical surfaces on the rollers may rotate, moving the rotating element relative to the support of the gripper. The other end of the pulling element may include a hook, such as a hook, for connecting to a winch for moving the clamping device.

The clamping device may include other components, such as an automatic locking mechanism for engaging or disengaging the linkage between the pulling member and the second gripper. For example, the automatic locking mechanism may allow or prevent the possibility of rotation of the rotary member, whereby pulling the pulling member may or may not rotate the rotary member.

Fig. 27B shows a cross-section of a clamping device that may include a first grip 2760 rigidly connected to a clamping crossbar 2780, such as a single crossbar or a plurality of connecting crossbars. The first grip may include a rubber pad 2765 for increasing friction with the objects being clamped. In some embodiments, the first grip may be removably connected to the clamping crossbar together with a locking mechanism for securing the first grip to the clamping crossbar. Alternatively, the first grip may be part of the first gripping assembly, which may also include a first gripping support. The first grip of the first gripping support may be connected to the clamping crossbar, for example rigidly connected or removably connected to the locking mechanism.

The clamping device may include a second gripping unit that may be movably and latchingly connected to the clamping crossbar. The second gripping unit may include a second gripper 2741 located opposite the first gripper. The second gripper may include a rubber pad 2745 for increasing friction with the objects to be clamped. The second gripping unit may include a gripper support 2742 that may slide along the clamping crossbar for movable connection with the clamping crossbar. As shown, the first gripper is rigidly connected to the clamping crossbar, and the second gripping unit is movably connected to the clamping crossbar. Other configurations may be used, for example in which the first gripper is movably connected to the clamping crossbar, and the second gripping unit is rigidly connected to the clamping crossbar. Alternatively, the first gripper and the second gripping unit may both be movably connected to the clamping crossbar. The gripper or gripping assembly, if movably coupled to the clamping crossbar, may include a locking mechanism for securing the gripper or gripping assembly to the clamping crossbar.

There may be flexible connections between the second gripper and the grip support. The flexible connections may allow the second gripper to move in multiple directions relative to the grip support, such as downwards and away from the grip support. The flexible connections may include springs having two ends rigidly connected to the second gripper 2741 and the grip support 2742. The springs may bend and deform, allowing the second gripper to move relative to the grip support.

The clamping device may include a pulling element 2743, which may be configured to be pulled to lift the clamped object. The pulling element may be connected to a rotary element 2730, which is located between the second grip and the grip support. The pulling element may also be located between the clamping crossbar, for example between a plurality of clamping crossbars. The pulling element may move freely in the upward direction. In the downward direction, a set of springs may be used to pull the pulling element toward the rotary element.

The rotary member may be configured to apply a clamping force to the object during rotation, for example, via an inclined surface on the rotary member. For example, the grip support may include a set of rollers that can provide rolling friction with the inclined surface of the rotary member. Thus, friction may be minimal when the rotary member rotates, moving the second gripper away from the grip support due to the inclined surface.

The clamping device may include a locking mechanism 2750A, which may be associated with either the clamping crossbar or the second gripping unit, to prevent rotation of the rotary member. The rotary member may be limited in its rotation, and the second locking mechanism, when activated, attaches the rotary member to the second grip. The rotary member may be locked in the position of maximum opening of the grippers, which may ensure that the second grip is located closest to the grip support.

During operation, the locking mechanism, for example the locking mechanism that locks the second gripping unit on the clamping crossbar, can be unlocked, for example, by pulling back the second mating component to detach the second mating component 2772 from the first mating component. This results in the release of the second gripping unit from the clamping crossbar, and therefore the second gripping unit can slide along the clamping crossbar such that the distance between the two grippers can be large enough to accommodate the object.

After the object is placed between the first and second gripper, the locking mechanism may be engaged, such as the second mating component being lifted upward to engage the first mating component, locking the second gripper assembly to the clamping crossbar. If the locking mechanism is a discrete locking mechanism, there may be gaps between the object and the grippers.

This technological method may be optional. In some embodiments, the second gripping unit may be fixed to the clamping crossbar, and the clamping device may be designed to work with objects having a thickness range determined by the movements of the second gripper.

Next, the locking mechanism 2750A can be unlocked, so that the pulling member can be pulled up. Thanks to the rollers, the rotating member can easily rotate relative to the grip support. The second grip can move from the grip support until the second grip comes into contact with the object. If there is a gap between the object and the first grip, the second grip can continue to move to reduce the gap. Then the second grip continues to move until the first and second grips come into contact with the object.

Fig. 27C-27D show internal views of the rotary clamping device. The clamping device may include a first grip 2760 opposite a second grip 2741. A rotary member 2730 may be rotatably connected to the second grip, for example, by means of ball bearings. A pulling member 2743 may be connected to the rotary member and may rotate the rotary member when pulled in one direction, for example clockwise, as shown. A spring assembly 2735 may be connected between the rotary member and the second grip to rotate the rotary member in the opposite direction, for example when the pulling member is not pulled or released.

The rotary member may include an inclined surface, such as a spiral or helical surface 2771, which can change the distance between the rotary member and the grip support (not shown). The automatic locking mechanism 2750B or 2750C may be connected to the rotary member at different locations. The automatic locking mechanism may be rigidly connected to the second grip and may function to ensure or prevent rotation of the rotary member.

The pulling member 2743 can be connected to the rotating member 2730. For example, one end of the pulling member can be rigidly connected to the rotating member. Thus, when the pulling member is pulled up, the rotating member can rotate, for example, in a clockwise direction, as shown. The spring assembly 2735 can be used to rotate the rotating member in the opposite direction when the pulling member is relaxed.

A limiter can be used to limit the degree of rotation. For example, as shown, the rotary member can rotate a maximum of about 180 degrees. Rollers can be provided to reduce friction between the rotary member and the grip support (not shown). The rotary member can include an inclined surface, such as a spiral or helical surface 2771. There can be 2 spiral or helical surfaces, and the rotary member can provide a maximum spread from the grip support when rotating about 180 degrees.

Fig. 28A-28B show locking mechanisms for a clamping device according to some embodiments. The clamping device may use an inclined coupling mechanism, such as a rotary member having spiral or helical surfaces associated with rollers of a grip support. For example, the rotary member may be located between the grip and the grip support. When the rotary member rotates, the rollers may roll on the spiral or helical surfaces of the rotary member to push the grip away from the grip support or pull the grip toward it.

The pulling member may be connected to a rotating member for rotating the rotating member. When the pulling member is pulled up, the rotating member may rotate, and the second grip may move toward the first grip to clamp the object. When the pulling member is released, for example, not pulled up, a return mechanism such as a coil spring may rotate the rotating member in the opposite direction, which may move the second grip away from the first grip.

A locking mechanism may be provided to enable hands-free operation of the tilt coupling mechanism. The locking mechanism may allow or prevent rotation of the pivot element.

In Fig. 28A(a) and 28A(b) the locked and unlocked states for the locking mechanism of the clamping device 2800, in which a rotary mechanism is used, are shown. The upper part 2851A of the locking mechanism 2850A is connected to a pulling member, for example connected to a flexible member 2843 (for example, a cable, a belt or a chain), which is configured to rotate the rotary member 2830 (for example, a disk or a round plate). The lower part 2852A of the locking mechanism 2850A is connected to the housing of the clamping device.

When the upper part is locked relative to the lower part (Fig. 28A(a)), the pulling member 2843 is connected to the body of the clamping device. Thus, the pulling member cannot move freely, for example, the pulling member can be rigidly connected to the body (except that there can be a small distance of free play caused by the operation of the locking mechanism). The fixed pulling member can stop the rotation of the rotary member, and the grippers are fixed in place, for example, the grippers cannot move towards each other for clamping.

When the upper part is unlocked relative to the lower part (Fig. 28A(b)), the pulling member 2843 can move freely relative to the body of the clamping device. As a result, the upper part can move away from the lower part. When the pulling member is pulled, the rotary member can rotate in one direction. The rotation of the rotary member in this direction can lead to the movement of the grippers towards each other to clamp the object. When the pulling member is released, the rotary member can rotate in the opposite direction due to the presence of the spring configuration 2835. The rotation of the rotary member in this opposite direction can lead to the movement of the grippers away from each other to release the object.

The locking mechanism can be automatically switched by a set of vertical movements, which can include lowering the pulling element and then raising the pulling element. The set of vertical movements can rotate the rod having a hook end, which can switch between engagement and disengagement with the mating hook receiving socket.

Fig. 28B(a) and 28A(b) show a locked and unlocked state for another locking mechanism of the clamping device 2801, which uses a rotary mechanism. The upper part 2851B of the locking mechanism 2850B is connected to the body of the clamping device. The lower part 2852B of the locking mechanism 2850B is connected to a rotary member 2830 (for example, a disk or a round plate).

When the upper part is locked relative to the lower part (Fig. 28B(a)), the rotary member 2830 is connected to the body of the clamping device. Thus, the rotary member cannot rotate freely, for example, the rotary member can be rigidly connected to the body (except that there can be a small distance of free play caused by the operation of the locking mechanism). The fixed rotary member can stop the movement of the grippers, for example, the grippers cannot move towards each other for clamping.

When the upper part is unlocked relative to the lower part (Fig. 28B(b)), the rotary member 2830 can move freely relative to the body of the clamping device. As a result, the upper part can move away from the lower part. When the pulling member is pulled, the rotary member can rotate in one direction. Rotation of the rotary member in this direction can lead to movement of the grippers towards each other to clamp the object. When releasing the pulling member, the rotary member can rotate in the opposite direction due to the presence of the spring configuration 2835. Rotation of the rotary member in this opposite direction can lead to movement of the grippers away from each other to release the object.

The locking mechanism can be automatically switched by a set of vertical movements, which can include lowering the pulling element and then raising the pulling element. The set of vertical movements can rotate the rod having a hook end, which can switch between engagement and disengagement with the mating hook receiving socket.

Fig. 29A-29B show processes for controlling the operation of the automatic locking mechanism according to some embodiments. Fig. 29A(a)-(d) show the process of gripping an object with an unoccupied clamping device 2900. The clamping device is held by a winch connected to a pulling member 2943 of the clamping device. In Fig. 29A(a), the clamping device is brought to the object, for example, positioned above the object with the object located between two jaws of the clamping device. The automatic locking mechanism 2950 of the clamping device can be activated 2950A, for example be in a locked state, and this means that the rotary member 2930 is locked, for example, relative to the grip or a part of the housing, which can prevent the rotation of the rotary member. The locked rotary member can disconnect the lever transmission between the pulling member and the grip, and the grips can be moved apart, for example, to a maximum distance, to ensure that the object can be placed in the space between the grips. The activation of the locked state of the automatic locking mechanism can be performed after the delivery of the object by the clamping device is completed, as described in the following stages.

In Fig. 29A(b), the clamping device is lowered to place an object between two grippers. The clamping device can come into contact with the object, for example, by means of a mechanism 2970, which is connected to the automatic locking mechanism. The entry of the mechanism 2970 into contact can partially switch the automatic locking mechanism, for example partially activating the automatic locking mechanism if the automatic locking mechanism is deactivated, and partially deactivating the automatic locking mechanism if the automatic locking mechanism is activated. Since the locking mechanism is activated, the entry of this mechanism into contact with the clamping device when lowering to grip the object can partially deactivate 2950B the automatic locking mechanism. When the pulling member is raised, the rotary member can still be connected to the housing, for example, without the possibility of rotation yet.

In Fig. 29A(c), the pulling member is pulled upward, for example by means of a winch connected to the pulling member. The pulling movement may first complete the switching process, for example by completing the actuation process if the automatic locking mechanism is partially activated, or by completing the deactivation process if the automatic locking mechanism is partially deactivated. Since the automatic locking mechanism is partially deactivated, the pulling of the pulling member may complete the deactivation process, which allows the rotary member to rotate freely relative to the housing. Since the rotary member can rotate freely, the grippers can also move freely.

Further pulling of the pulling member may cause rotation of the rotary member, which may move the grippers toward each other to clamp the object. When the grippers come into contact with the object, the rotation of the rotary member may stop, and further pulling of the pulling member may exert a clamping force on the object through the grippers.

In Fig. 29A(d), additional pulling of the pulling member may result in lifting of the clamping device and the object clamped between the jaws of the clamping device. The clamping device may then be moved to a new location to release the object.

In Fig. 29B(a)-(d) the process of releasing an object by the clamping device 2900 holding the object is shown. In Fig. 29B(a) the clamping device with the object clamped between the grips is brought to the destination, for example to the location of the object. The mechanism 2950 of the automatic locking of the clamping device can be deactivated 2950B, and this means that the rotary member 2930 can rotate freely, and therefore the lever transmission between the pulling member and the gripper is engaged to move the grippers towards each other to clamp the object. The deactivation of the automatic locking mechanism can be performed after the completion of the gripping of the object by the clamping device, as described in the following stages.

In Fig. 29B(b), the clamping device is lowered to place an object on the ground or any surface at the destination. The lowering of the clamping device can be performed by lowering a winch associated with the pulling member. After the object touches the ground, the winch can continue to lower, thereby lowering the pulling member without lowering the clamping device. Since the automatic locking mechanism is deactivated, a spring mechanism in the rotating member, such as a coil spring connected to the rotating member, can rotate the rotating member and thus pull the pulling member down when the winch is lowered. The rotation of the rotating member can cause the grippers to spread apart.

The pulling member can be further moved downwards, for example by lowering a winch connected to the pulling member, which causes the rotating member to continue to rotate. When the rotating member rotates to a certain position, for example to a position that provides maximum spreading of the grippers (or when the rotating member encounters a limiter), the upper and lower parts of the locking mechanism can come into contact, which can stop the rotational movement of the rotating member. For example, the upper part can be connected to the pulling member, and thus, when lowering the pulling member to a position that provides maximum spreading of the grippers, the upper part can come into contact with the lower part, which is connected to the housing. Alternatively, the lower part can be connected to the rotating member, and thus, when rotating the rotating member to a position that provides maximum spreading of the grippers, the lower part can come into contact with the upper part, which is connected to the housing.

The engagement of two parts of the locking mechanism can partially switch the automatic locking mechanism, for example, partially activating the automatic locking mechanism if the automatic locking mechanism is deactivated, and partially deactivating the automatic locking mechanism if the automatic locking mechanism is activated. Since the locking mechanism is deactivated, bringing this mechanism into contact with the clamping device when lowering to release the object can partially activate the 2950A automatic locking mechanism. The pulling member of the rotary member can be partially connected to the housing due to the partial actuation process.

In Fig. 29B(c), the pulling member is pulled upward, for example by lifting a winch associated with the pulling member. The pulling movement may first complete the switching process, for example by completing the actuation process if the automatic locking mechanism is partially activated, or by completing the deactivation process if the automatic locking mechanism is partially deactivated. Since the automatic locking mechanism is partially activated, the pulling of the pulling member may complete the actuation process by locking the rotary member, for example in which case the rotary member cannot rotate relative to the housing. If free rotation is impossible for the rotary member, the grippers may also be fixed at the maximum spread.

Further pulling of the pulling element cannot lead to rotation of the turning element, as a result of which the grippers are kept apart at the maximum separation distance.

In Fig. 29B(d), the pulling member can be further pulled upward, for example, by means of a winch connected to the pulling member. Since the automatic locking mechanism is activated, the pulling of the pulling member cannot lead to the rotation of the rotary member, so the grippers are still spread to the maximum distance, for example to the previous distance when the automatic locking mechanism was activated. The clamping device can be raised upward. Since the grippers are spread, the object can be left on the ground, and the empty clamping device with the grippers opened can be moved to another location to grip another object.

This process may continue, for example, when moving the empty clamping device to approach the object to grip it.

In some embodiments of the present invention, a clamping device is described that is capable of working with large and fragile objects. The clamping devices may use a mechanism that converts the weight of the object into a clamping force, wherein the holding force acting on the object, created by the clamping devices, may be proportional to the weight of the object. For lifting and moving objects, a loading and unloading device, such as a crane or a winch, may be attached to the clamping device. In essence, the compact clamping device may have two opposite flat grips facing each other, connected by means of a clamping crossbar. In essence, the clamping device is designed to work with flat panels.

Fig. 30A-30B show a compact clamping device adapted to work with flat panels, according to some embodiments. In Fig. 30A, the clamping device 3000 may have a first grip 3001 located opposite a second grip 3002. The two grips are connected by a clamping crossbar 3005. When the clamping device is raised upward, the movable mechanism can be placed on a part of the grip, for example on the grip 3001, to reduce the space between the two grips, for example by bringing the grips together, substantially clamping a flat panel 3003 placed between the two grips. The clamping device 3000 can be compact, with the grips and the clamping crossbar located around the flat panel.

The compactness of the clamping device 3000 may make it difficult to work with thin and fragile panels, such as glass sheets or gypsum cement sheets, for example, due to the concentrated force acting on the compact grips. In addition, the compact clamping device may be designed to lift and move heavy panels, so it may be heavy and may cause problems for workers when used to work with fragile and lightweight panels.

For example, Fig. 30B shows a fragile, thin and lightweight panel 3003 having a small thickness 3008, such as less than 20 mm, less than 10 mm, less than 5 mm or less than 2 mm. The panel can be large, such as having a large height and width 3007. The large size of the panels can create difficulties in handling, especially with fragile panels.

In some embodiments of the present invention, a clamping device is described that is capable of handling thin, lightweight, and fragile flat panels such as flat metal, granite, ceramic, glass, quartz, concrete, wood, or gypsum cement sheets.

The clamping device may be provided with grippers having a larger contact area, for example larger than the clamping mechanism, to distribute the clamping force over a larger area and thus reduce the clamping pressure on the panel. Grips with a large contact area can ensure that the clamping device can work with fragile objects due to low pressure.

The clamping device may be a lightweight structure, such as one made of hollow or shell components. To reduce the weight of the clamping device, materials may be removed from the components of the clamping device without compromising the strength of the clamping device structure. In addition, the clamping device may have a small maximum spread between the jaws to reduce the weight and make it easier for the worker to handle the clamping device. The maximum spread may be less than 150 mm, less than 100 mm, less than 75 mm, or less than 50 mm.

The clamping device may be designed to minimize the number of components, for example, to reduce the weight of the clamping device, a component may be designed to operate in more than one capacity. For example, the pulling element in the clamping device may be designed to roll on inclined surfaces to bring the grippers together. A movement direction unit may be used to guide the movements of the pulling element. To reduce the number of components, the inclined surfaces and the clamping crossbar connecting the two grippers may be designed as a movement direction unit instead of forming a separate movement direction unit.

The clamping device may be configured to automatically lock the grippers at maximum extension so that the clamping device can grip an object, such as to place the object between two open grippers of the clamping device. After the object is properly positioned, the grippers may automatically unlock so that the grippers can move toward each other to clamp the object. The automatic locking configuration may simplify the operation of the clamping device, such as by allowing the clamping device to be operated by a single operator who controls the clamping device from a location remote from the object.

Fig. 31A-31B show a clamping device according to some embodiments. Fig. 31A shows a clamping device 3100 with two spread jaws 3130 and 3160. Fig. 31B shows a clamping device 3100 with a clamped object 3103.

The clamping device may include a compact clamping mechanism 3150 that is connected to a gripper 3130. The gripper 3130 may be much larger than the compact clamping mechanism 3150, for example 2-3 times larger. The clamping mechanism 3150 may include a lever mechanism that can move the gripper 3130 toward the gripper 3160 to clamp the panel 3103 or away from the gripper 3160 to release the panel 3103. The increased area of the clamps 3130 and 3160 may reduce the pressure on the object being clamped with the same clamping force.

The clamping device may have a small maximum gap 3131 between the grippers 3130 and 3160, for example 4 to 6 times less than the total thickness of the clamping device 3100. The small maximum gap may be less than 200 mm, less than 150 mm, less than 100 mm, less than 75 mm, or less than 50 mm. The small maximum gap may be configured to clamp thin panels, such as panels less than 150 mm, less than 100 mm, less than 75 mm, less than 50 mm, less than 20 mm, or less than 10 mm thick.

The clamping device may have an automatic locking mechanism 3180, which may be configured to automatically hold the spread grips when the clamping device is ready to grip an object, and which may be configured to automatically bring the grips together to clamp an object when the clamping device is raised.

In some embodiments, the clamping device may have a gripper 3130 configured to move along the clamping crossbar 3108 to approach the opposite gripper 3160 and clamp the object 3103. The gripper 3160 may be rigidly connected to the clamping crossbar 3108. A large fragile object may require a low clamping pressure, such as a large contact area with the object. With a small contact area, the clamping device may exert too much pressure on the object, which may lead to damage to the object. Therefore, the grippers 3130 and 3160 may have a large contact area, such as larger than the clamping mechanism 3150, to reduce the pressure that the clamping device exerts on the object when clamping. Large-area grippers can be used to increase the contact area between the grippers and the object, such as by providing a large surface area of the object or grippers.

Fig. 32A-32B are exploded perspective views of the components of the clamping device according to some embodiments. Fig. 32A is a view from the side of the clamping support. Fig. 32B is a view from the side of the fixed clamp. The clamping device may be configured to work with fragile, large and lightweight panels, while having the features of a lightweight clamping device with a large clamping surface. The clamping device 3200 may include a fixed clamp 3260 rigidly connected to a clamping support 3253 of a clamping mechanism (or a lever mechanism for a clamping device) 3250 through one or more clamping crossbars 3208. The fixed clamp 3260 may have a smaller portion for connecting to the clamping crossbars and a larger portion for clamping an object. The larger portion of the fixed clamp may reduce the pressure on the object, which may ensure that the clamping device works with fragile panels. A small part of the fixed grip can reduce the weight of the clamping device, which can provide easy handling. A plurality of clamping crossbars can provide strength of the clamping device with reduced weight. The grip support 3253 can have a small part together with the shell body to reduce weight, while ensuring the strength of the clamping mechanism.

The clamping device 3200 may include a movable gripper 3230 located opposite the fixed gripper 3260. The movable gripper 3230 may have an area of the same size as the majority of the fixed gripper 3260, for example, the movable gripper 3230 and the majority of the fixed gripper 3260 are configured to clamp an object. The movable gripper 3230 may include a flat plate to reduce weight together with reinforced ribs 3230A to increase strength.

The movable gripper 3230 may be configured to be movably connected to the gripper support 3253. For example, the movable gripper 3230 may be connected to the gripper support 3253 via a set of springs 3251. The springs may be biased to pull the movable gripper 3230 toward the gripper support 3253. During operation, the force from the pulling member 3210 may push the movable gripper 3230 away from the gripper support toward the fixed gripper 3260 to clamp an object located between the two grippers. When the force from the pulling member ceases to act, the springs may pull the movable gripper 3230 back toward the gripper support and away from the fixed gripper 3260.

The movable grip 3230 can be rotatably connected to the grip support 3253 via a set of connecting crossbars 3288. The connecting crossbars 3288 can be rotatably connected to the grip support at the upper part and also rotatably connected to the movable grip at the lower part. In this case, the movable grip 3230 can deviate from the grip support when the pulling member 3210 presses on the movable grip, and can move back to the grip support when the springs pull the movable grip back to the grip support. The springs and the connecting crossbars can connect the movable grip to the grip support in a lightweight configuration to provide a lightweight clamping device with a robust design.

The movable grip may include protruding elements 3232. The protruding elements 3232 may include inclined surfaces 3233 for the rollers 3211 in the pulling element 3210. The protruding elements may also be designed as a linear guide for the pulling element, for example the pulling element may be located between two protruding elements, so that when pulling, the movement of the pulling element may be limited to a movement in a straight line. The protruding elements may include connecting elements for connecting with the connecting crossbars 3288 to limit the movements of the movable grip.

The support 3253 of the gripper can be configured to accommodate a clamping mechanism, including a lever mechanism between the pulling member 3210 and the movable gripper 3230. The support of the gripper can have a smaller surface area than the movable gripper, in order to reduce the weight of the clamping device. Thus, the clamping mechanism can be configured to press on the middle part of the movable gripper, wherein the movable gripper includes reinforced ribs 3230A for distributing the clamping force to all areas of the movable gripper.

The grip support can be formed with a shell body, for example the inner part of the grip support can be hollow to reduce weight. Reinforced elements 3253A can also be used together with hollow parts 3253B of the grip support.

The clamping device 3200 may include a pulling element 3210 located between the support 3253 of the gripper and the movable gripper 3230. The pulling element 3210 may include a lever 3210A connected to rollers 3211 and 3212. Two outer rollers 3211 of the pulling element are designed with the possibility of rolling on the inclined surfaces of the protruding elements of the movable gripper. One inner roller 3212 is designed with the possibility of rolling on the surface 3255 of the gripper support shell.

When the pulling member moves away relative to the grip support, for example, when pulling up, the rollers 3211 can roll from the less protruding section 3232A to the more protruding section 3232B of the protruding elements 3232. When the rollers 3212 roll on the flat surface of the grip support, the difference in the height of the sections 3232A and 3232B of the protruding part 3232 can push the movable grip away from the grip support and toward the fixed grip 3260.

The pulling member 3210 may have a shape that allows the protruding members 3232 to be received as a linear guide, for example the pulling member, when pulled, follows the direction set by the protruding members.

When the pulling member moves toward the grip support, such as when the grip support (and grips) comes into contact with the ground surface or an object, the springs 3251 may pull the movable grip toward the grip support.

The clamping device 3200 may include an automatic locking mechanism 3280 configured to engage or disengage the clamping mechanism or the linkage between the pulling member and the grip support. The automatic locking mechanism may switch between an unlocked state in which the pulling member may be separated from the grip support, and a locked state in which the pulling member may not be separated from the grip support. When the pulling member may be separated from the grip support, the pulling member may roll along the inclined surfaces 3233 and may move the movable grip toward the fixed grip to clamp the object. When the pulling member may not be separated from the grip support, the pulling member may not roll along the inclined surfaces 3233, and thus the movable grip remains at a fixed distance from the fixed grip.

In Fig. 33A-33C the configuration of the interaction between the pulling element and the grip support is shown according to some embodiments. In Fig. 33A the grip support 3353 can be large enough to accommodate the pulling element. The grip support can include a hollow body 3354, for example the grip support can be hollow inside to reduce the weight of the clamping device. In areas requiring strength, reinforced sections 3357 can be provided in the hollow body of the grip support. Hollow sections 3356 can also be used to reduce weight. A flat surface 3355 can be formed in the hollow body 3354 as a rolling surface for the roller 3312 of the pulling element 3310.

In Fig. 33B, the pulling member 3310 is connected to the support 3353 of the gripper. The roller 3312 is arranged so as to roll on the flat surface 3355 when the pulling member is pulled upward relative to the support of the gripper. Springs 3351 and connecting crossbars 3388 can be used to connect the support of the gripper to the movable gripper.

In Fig. 33C, the pulling member 3310 is shown with a roller 3312 rolling on a flat surface 3355. As the pulling member moves from one end of the grip support to the opposite end, the roller 3312 can roll on the flat surface 3355.

Fig. 34A-34B shows the configuration of the interaction between the pulling member and the movable gripper according to some embodiments. The movable gripper 3430 may have a large surface area for clamping an object. The large movable gripper may be thin with reinforced ribs 3430A to reduce weight. The movable gripper may have projecting elements 3432 with an inclined surface 3433. The pulling member 3410 may have rollers 3411 configured to roll on inclined surfaces 3433. The projecting elements 3432 may be configured to guide the pulling member 3410, for example by limiting the pulling member so that the pulling member moves in a given direction when the rollers 3411 roll on the inclined surface 3433.

Fig. 35A-35B are cross-sectional views of the clamping device according to some embodiments. Fig. 35A is a cross-sectional view with spatially exploded components. Fig. 35B is a cross-sectional view. The clamping device 3500 may include a fixed grip 3560 rigidly connected to a grip support 3553 of a clamping mechanism (or a lever mechanism for a clamping device) 3550 through one or more clamping crossbars 3508. The fixed grip 3560 may have a smaller part for connecting to the clamping crossbars and a larger part for clamping an object. A plurality of clamping crossbars may provide strength of the clamping device with reduced weight. The grip support 3553 may have a small part together with the shell body to reduce weight while providing strength of the clamping mechanism.

The clamping device 3500 may include a movable gripper 3530 located opposite the fixed gripper 3560. The movable gripper 3530 may have an area of the same size as the majority of the fixed gripper 3560, for example, the movable gripper 3530 and the majority of the fixed gripper 3560 are configured to clamp an object. The movable gripper 3530 may include a flat plate to reduce weight along with reinforced ribs for strength.

The movable gripper 3530 may be configured to be movably connected to the gripper support 3553. For example, the movable gripper 3530 may be connected to the gripper support 3553 via a set of springs 3551. The springs may be biased to pull the movable gripper 3530 toward the gripper support 3553.

The movable gripper 3530 may be rotatably connected to the gripper support 3553 via a set of connecting crossbars 3588. The connecting crossbars 3588 may be rotatably connected to the gripper support at the upper part and also rotatably connected to the movable gripper at the lower part. In this case, the movable gripper 3530 may deviate from the gripper support when the pulling element 3510 presses on the movable gripper, and may move back toward the gripper support when the springs pull the movable gripper back toward the gripper support.

The movable grip may include protruding elements 3532. The protruding elements 3532 may include inclined surfaces 3533 for rollers 3511 in the pulling element 3510. The protruding elements may include connecting elements for connecting with connecting crossbars 3588 to limit the movements of the movable grip.

The support 3553 of the gripper can be configured to accommodate a clamping mechanism, including a lever mechanism between the pulling member 3510 and the movable gripper 3530. The support of the gripper can have a smaller surface area than the movable gripper, in order to reduce the weight of the clamping device. Thus, the clamping mechanism can be configured to exert pressure on the middle part of the movable gripper, wherein the movable gripper includes reinforced ribs for distributing the clamping force to all areas of the movable gripper.

The grip support can be formed with a shell body, for example the inside of the grip support can be hollow to reduce weight. Reinforced elements can also be used together with hollow sections of the grip support.

The clamping device 3500 may include a pulling element 3510 located between the support 3553 of the gripper and the movable gripper 3530. The pulling element 3510 may include a lever 3510A connected to rollers 3511 and 3512. Two outer rollers 3511 are configured to roll along the inclined surfaces of the protruding elements of the movable gripper. One inner roller 3512 is configured to roll along the surface of the gripper support shell.

When the pulling member is pulled relative to the grip support, for example pulled upward, the rollers 3511 can roll from a less protruding section to a more protruding section of the protruding elements 3532. When the rollers 3512 roll on the flat surface 3555 of the grip support, the difference in the height of the sections of the protruding section 3532 can push the movable grip away from the grip support toward the fixed grip 3560.

When the pulling member moves toward the grip support, such as when the grip support (and grips) comes into contact with the ground surface or an object, the springs 3551 may pull the movable grip toward the grip support.

The clamping device 3500 may include an automatic locking mechanism 3580 configured to engage or disengage the clamping mechanism or the linkage between the pulling member and the grip support. The automatic locking mechanism may switch between an unlocked state in which the pulling member may be separated from the grip support, and a locked state in which the pulling member may not be separated from the grip support. When the pulling member may be separated from the grip support, the pulling member may roll along the inclined surfaces 3533 and may move the movable grip toward the fixed grip to clamp the object. When the pulling member may not be separated from the grip support, the pulling member may not roll along the inclined surfaces 3533, and thus the movable grip remains at a fixed distance from the fixed grip.

Fig. 36A-36B shows a clamping device according to some embodiments. In the clamping device 3600, an inclined coupling mechanism can be used, for example, a pulling member having a roller for rolling on an inclined surface of a grip support. For example, the pulling member can be located between the grip and the grip support. When the pulling member rolls on the inclined surface of the grip support, the grip can move away from or toward the grip support.

The clamping device 3600 may be configured to lift large fragile objects. The clamping device may include a first gripper 3660 connected to a clamping crossbar 3608. The clamping device may include a second gripping unit that may be movably and latently connected to the clamping crossbar. The second gripping unit may include a second gripper 3630 located opposite the first gripper. The second gripping unit may include a gripper support 3653 that can slide along the clamping crossbar for movably connecting to the clamping crossbar. The second gripping unit may be configured to lock with the clamping crossbar. The second gripping unit may include stretchable elements, such as springs, that may be connected to the second gripper and the gripper support for pulling the second gripper toward the gripper support. The stretchable members may provide movement of the second grip from the grip support over a limited distance, such as a distance equal to or less than the distance between discrete locking positions of the discrete locking mechanism.

The clamping device may include a pulling element 3610, which may be configured to be pulled to lift the clamped object. The pulling element may move freely in the upward direction. The pulling element may be configured to apply a clamping force to the object during pulling, for example by rolling the rollers 3612 along the inclined surface 3633 of the projecting portion 3632 of the movable grip 3630, and by rolling the roller 3611 along the inclined surface 3655 of the support 3652 of the grip.

A locking mechanism 3680 may be provided to operate the inclined coupling mechanism without using hands. The locking mechanism may allow or prevent the engagement of the linkage between the pulling member and the gripper. When the locking mechanism is activated or locked, the linkage is excluded or disabled, which means that pulling the pulling member does not move the pulling member. When the locking mechanism is deactivated or unlocked, the linkage is allowed or enabled, which means that pulling the pulling member moves the pulling member to move the gripper to another gripper.

The locking mechanism may include an upper part 3641, which may be locked in the lower part 3642 or released from it. The upper part 3641 may be attached to the pulling member 3610. The lower part 3642 may be attached to the support 3652 of the gripper. The upper part may include a movable rod with an elongated head, which may be locked in a mating catch in the lower part or released from it.

The automatic locking mechanism may be connected to various parts of the clamping device, such as another automatic locking mechanism connected to the rollers 3611 or 3612 and the housing 3653 of the gripper support.

The upper part 3641 may include a rod 3683 having an elongated head 3686. The upper part may include a circular element 3670 having inclined surfaces on both sides of the circular element that may be mated with projecting pins on the rod. The circular element and the projecting pins may be designed in such a way that when the rod is pushed into the circular element and released from it, the rod can rotate at a certain angle, for example at an angle of 90 degrees, to switch between a longer side and a shorter side, for example between a locked state and an unlocked state.

When the locking mechanism is engaged, it means that the upper part is fixed in the lower part, and the pulling element is rigidly connected to the body of the clamping device. Thus, the pulling element cannot move to activate the lever mechanism, and when pulling or lowering the pulling element, the grippers are stationary.

When the locking mechanism is disengaged, it means that the upper part is not locked in the lower part, and the pulling member can be separated from the body of the clamping device. Thus, the pulling member can move to operate the lever mechanism, and the grippers can be brought closer or moved apart when the pulling member is pulled up or lowered, respectively.

Fig. 37A-37F show another configuration of the clamping device according to some embodiments. In the clamping device 3700, an inclined coupling mechanism can be used, for example, a pulling member 3710 having a roller for rolling on an inclined surface of the grip support.

The clamping device may include a first gripper 3760 connected to the clamping crossbars 3708. The clamping device may include a second gripping unit that may be movably and latchingly connected to the clamping crossbar. The second gripping unit may include a second gripper 3730 located opposite the first gripper. The second gripping unit may include a gripper support 3753 that can slide along the clamping crossbars for a movable connection with the clamping crossbar. The second gripper 3730 may be configured to move relative to the gripper support 3753, for example, depending on the positions of the pulling member.

A locking mechanism 3780 may be provided to enable hands-free operation of the inclined coupling mechanism.

The locking mechanism may include an upper part that can be locked in the lower part or released from it. The lower part may include a hook receiving socket 3781 that can be attached to a fixed part of the clamping device, such as a housing of the clamping device, for example to a support 3753 of the gripper.

The upper part may include a shell 3785, which may be attached to a movable part of the clamping device, for example, to a pulling member 3710. A circular member 3770 may be located inside the shell 3785 and may be attached to the shell, for example, using a set of nuts and bolts 3770A. The shell 3785 may have a support 3787A, such as a step, for supporting the circular member 3770, for example, to counteract a downward force acting on the circular member. The circular member 3770 may include teeth 3772 and 3777 located on two opposite sides. A movable rod 3783 with protruding pins may be located inside the circular member. The rod 3783 may have an elongated head 3786 for releasably connecting with the hook receiving socket 3781.

Fig. 38 shows a configuration of a clamping device according to some embodiments. The clamping device can be configured to work with lightweight, large and fragile flat panels. The clamping device can have a movable grip opposite the fixed grip for clamping panels with increased areas of the gripping surface to reduce the pressure exerted on the panels, thereby providing the ability to work with fragile panels. The fixed grip can be attached to the body of the clamping device, wherein the body includes a set of clamping crossbars associated with the gripper support for supporting the movable grip.

The clamping device may have a small clamping mechanism to reduce the weight, which ensures ease of handling for workers. The small clamping mechanism may include a small pulling member having rollers on both sides of the pulling member for rolling on inclined surfaces of two protruding sections on the movable grip. The protruding sections may be located in the middle part of the movable grip. Thus, the rollers, when rolling on the protruding sections, can press on a small area of the movable grip with a large clamping area. The small clamping mechanism may include a set of springs located on or near the protruding sections, for pulling the movable grip back to the grip support.

The clamping device can be designed to provide universal components, wherein, for example, the set of clamping crossbars and the projecting portions can also function as a linear guide for the pulling element. The clamping crossbars can have enlarged portions for additional coverage of the pulling element in order to limit the movement of the pulling element in undesirable directions, such as in directions toward or away from the panel being clamped.

The clamping device may include a small and hollow grip support. The grip support may be configured to accommodate a pulling member and a set of springs. Thus, the grip support may be small, such as just large enough for the pulling member assembly, such as a pulling member with attached rollers. The grip support may be hollow, such as having a thin shell configuration to reduce weight. The thin shell configuration may provide a roller surface on the rear side of the grip support on which the pulling member can roll. The hollow grip support may have reinforced elements and additional hollow parts to minimize weight while providing sufficient strength to support the clamping mechanism.

The clamping device may have other features to ensure low weight, such as having a small maximum spread between the movable jaw and the fixed jaw, thin rods for the clamp crossbars, and a thin plate for the jaws along with a reinforced rib for strength.

The clamping device may include an automatic locking element that can be controlled by a worker at a location remote from the clamping device, such as at a control section of a winch that is connected to the clamping device for lifting and moving the clamping device.

The self-locking element may include a receiving socket connected to the grip support. The self-locking mechanism may include a hooking element connected to the pulling element. The hooking element may be a rotary rod having a hooking end that can engage with the receiving socket in the state of rotation for engagement. The hooking end may be designed with the possibility of being released from the receiving socket in the state of rotation for disengagement.

The pivot rod may include one or more pins that interact with the pivot inclined surfaces. The coupling assemblies may be designed so that when the rod moves in one direction, such as upward, the pins engage the pivot inclined surface to rotate the rod. When the rod moves in the opposite direction, such as downward, the pins engage the pivot inclined surface to further rotate the rod. The combination of the rotation of the rod causes the rod to switch between the angle of rotation for engaging and the angle of rotation for disengaging the hook. Thus, when the clamping device moves up and down, the locking mechanism can switch between the engaged and disengaged states, which can cause the jaws of the clamping device to remain stationary or move together to clamp the panel.

Operation 3800 forms a clamping device. The clamping device may include a first gripper having a first clamping area having a first width. A portion of the first gripper may include a clamping area, which is an area on which the panel is clamped. The width of the clamping area is a direction parallel to the ground when the clamping device is suspended from the winch and is ready to grip, move and release panels. The width of the clamping area is a direction perpendicular to the thickness of the panel and also perpendicular to the force of gravity.

The clamping device may include a set of clamping crossbars. For example, the set of clamping crossbars may include 4 crossbars arranged in a rectangular shape. The crossbars may be round crossbars.

The clamping device may include a grip support having a second width. The width of the grip support is defined in the same direction as the width of the clamping region of the first grip. The first grip, the grip support and the set of clamping crossbars are rigidly connected to each other to form a clamping device body. The first grip and the grip support are connected to the set of clamping crossbars at both ends of the set of clamping crossbars. The set of clamping crossbars is connected to the first grip in a region outside the first clamping region. The first grip may have two parts. The first part may be a part having a clamping region. The second part may be a region to which the set of clamping crossbars is connected. The second part may be smaller than the first part.

The width of the clamping area is greater than the width of the gripping support, for example at least 2 times greater or 2-4 times greater. The greater width is intended to reduce the pressure on the panel. The smaller width is intended to create a compact, lightweight and small-sized clamping device.

In some embodiments, the grip support may have a hollow body with a flat surface along the length of the grip support. The hollow body may reduce the weight of the grip support, which may make the clamping device lighter and may simplify the worker's work with the clamping device. Part of the flat surface may be designed as a surface for moving the pulling element, for example for rolling the roller of the pulling element. The flat surface may be formed on the inner thin hollow part, so it may provide a light weight parameter for the grip support.

The clamping device may include a second gripper having a second clamping region located between the gripper support and the first gripper. The second gripper is located opposite the first gripper, so that the first and second grippers can clamp the panel. The second gripper is a movable gripper, for example the second gripper can move toward the first gripper to clamp the panel and can move away from the first gripper to release the panel. The movement of the second gripper can occur relative to the gripper support, for example the pulling element can press on the gripper support to move the second gripper toward the first gripper, and a set of springs can be connected between the gripper support and the second gripper to pull the second gripper away from the first gripper.

In some embodiments, the second clamping area may be similar to the first clamping area, for example, have the same area within the tolerance in the manufacturing process. Since the first and second grippers are configured to clamp the panel with the clamping areas, the optimal configuration is two identical clamping areas on two grippers. However, the clamping device can still work if one clamping area is larger than the other.

The second gripper has two protruding sections, each of which has an inclined surface. The protruding section may be located in the direction of gravity and may serve as a guide for the pulling element, since the pulling element is designed with the possibility of moving in the same direction. The protruding sections may have a thickness sufficient to accommodate the rollers of the pulling element, for example, the rollers may roll on the upper surfaces of the protruding sections. The protruding sections may have an inclined upper surface, for example, which is thicker near the clamping crossbars and thinner at a distance from the clamping crossbars in the lower part of the gripper support. In this way, the pulling element of the same thickness can move the second gripper away from the gripper support, when the pulling element rolls on the inclined surfaces.

The second gripper is connected to the gripper support via a set of springs. The set of springs is biased to pull the second gripper toward the gripper support. In some embodiments, the springs may be located around or inside two sliding tubes. The sliding tube may be connected at one end to the gripper support. The other sliding tube may be connected at the opposite end to the second gripper. The two sliding tubes may enter one another, so that the length of the two tubes may be increased or decreased. The sliding tubes may help support the springs, for example by preventing the springs from sagging, which may result in the second gripper lowering to positions that do not coincide with the first gripper.

In some embodiments, two pivotable connecting crossbars can be used to connect the grip support to the second grip. The connecting crossbars can prevent the second grip from moving away from the position that corresponds to the first grip.

The clamping device may include a pulling element located between the grip support and the second grip. The pulling element is designed to move the second grip relative to the grip support. For example, the pulling element can be pulled up by means of a connection to a winch. When pulled up, the pulling element can press on the second grip, so that the second grip moves away from the grip support. The pulling element may have rollers to facilitate upward and downward movement.

The pulling element may include a first roller for rolling relative to the grip support. For example, the pulling element may have a first set of rollers, which may include a central roller for rolling along a portion of the flat surface of the hollow grip support.

The pulling element may include two second rollers on both sides of the first roller for rolling along the inclined surfaces of the protruding sections. For example, the pulling element may have a second set of rollers, which may include rollers on both sides of the central roller for rolling along the inclined upper surfaces of the protruding sections of the second grip. When rolling along the inclined surfaces, the pulling element may move the second grip from the grip support to the first grip when the pulling element is raised. The inclined surfaces are designed in such a way that when the pulling element moves in the direction from the first and second rollers to the set of clamping crossbars, the second grip moves to the first grip.

In some embodiments, the pulling member is located between two projecting parts to limit the lateral movements of the pulling member. The pulling member is also located between a set of clamping crossbars to limit the movements of the pulling member. In some embodiments, the clamping crossbars may have enlarged parts surrounding the pulling member to limit the movements of the pulling member in directions parallel to the clamping crossbars. In this way, the pulling member may be limited to movements only up and down.

The clamping device may include a locking mechanism. The locking mechanism is designed in such a way that the locking mechanism switches between a locked and an unlocked configuration when the operator moves the clamping device down and up. The locking mechanism can be considered as an automatic locking mechanism, since the mechanism can be activated and deactivated remotely, for example by moving the clamping device down and up. For example, a winch can be connected to a pulling member of the clamping device. An operator can operate the winch while being remote from the clamping device. By moving the winch down so that the clamping device meets the resistance of the ground, and then moving the winch up to lift the clamping device, the locking mechanism can switch between a locked configuration and an unlocked configuration. In the unlocked configuration of the locking mechanism, the pulling member has the ability to separate from the grip support to move the movable grip. The distance between the pulling member and the grip support can be a retraction distance exceeding several millimeters, for example more than 5 mm, more than 10 mm, more than 15 mm, more than 20 mm or 30 mm. The pulling element and the grip support are components of a clamping device, wherein the pulling element and the grip support can be connected to each other in such a way that the distance between the pulling element and the grip support can be a retraction distance of less than 0.5 m, less than 0.4 m, less than 0.3 m or less than 0.2 m.

In the locked configuration of the locking mechanism, the pulling element does not have the ability to separate from the grip support to hold the movable grip from moving for clamping on the panel or for contact with the first grip. Inside the locking mechanism, internal movements can occur, so that the pulling element can move slightly relative to the grip support. The pulling element and the grip support are connected together through a locking mechanism subject to the action of internal movements of the components of the locking mechanism. In this case, in the locked configuration, the pulling element is connected to the grip support with a maximum retraction distance determined by the internal movements of the locking mechanism. The maximum retraction distance can be less than 50 mm, less than 45 mm, less than 40 mm, less than 35 mm, less than 30 mm, less than 25 mm, less than 20 mm or less than 15 mm.

The locking mechanism may include a first part connected to the pulling element and a second part connected to the grip support. The first part comprises a receiving socket. The first part comprises a rod having a hook end. The hook end and the receiving socket are designed with the possibility of rotary switching between an unlocked configuration, in which the hook end can be separated from the receiving socket, and a locked configuration, in which the hook end cannot be separated from the receiving socket.

The first part may also include a circular element having inclined surfaces, such as teeth, above and below the circular element. The rod may have pins that are configured to rest on the inclined surfaces. The rod may move within the circular element and may rotate when the pins slide along the inclined surfaces. The sliding of the pins may cause the rod to rotate, which may result in a switch in the mating of the end of the rod with the receiving socket.

Fig. 39A-39F show the clamping operation of the clamping device according to some embodiments. In Fig. 39A, the automatic locking mechanism 3980 is in the locked state 3980A. The clamping device can be suspended from the winch, for example by means of a connection with a pulling member. The rod can move under the action of gravity, so that the upper pin can rest against the recess of the upper rotary inclined surface. In the locked state, the hook end of the rod is fixed in the receiving socket. The pulling member 3910 does not have the ability to separate from the grip support 3960, while, for example, the pulling member and the grip support can move as a single unit. Therefore, the clamping device can move with the grippers spread apart.

As shown, the clamping device is in a locked state, wherein the rollers of the pulling element can come into contact with the inclined surfaces of the protruding sections of the movable grip.

Alternatively, the rollers can move further up or down, which can determine the spread of the grippers. The rollers can be retracted 3913A from the bottom of the grip support, so that the pulling element can move downwards, for example, by a maximum distance 3913A. This retraction distance 3913A between the bottom of the rollers and the grip support is necessary so that the pulling element can move relative to the rod.

The clamping device can be moved to the upper part of the panel 3903. When the grippers are spread apart, the clamping device can be positioned above the panel so that the panel is located in the space between the grippers. The clamping device can be lowered.

In Fig. 39B, the clamping device is lowered so that the clamping device comes into contact with the panel 3903, whereby, for example, the panel is located between the grips and contacts the clamping crossbars of the clamping device. The rod can be pushed upward until the lower pin comes into contact with the lower inclined surface. The rollers are lowered to move away from the protruding portions.

The rod comes into contact with the receiving socket, so the rod cannot move further down. Since the pulling element is lowered relative to the rod, it can be seen that the rod rises relative to the pulling element. The distance 3913B of the retraction between the rollers and the gripper support is less than the maximum distance 3913A of the retraction. The clamping device can be further lowered.

In Fig. 39C, the clamping device is lowered further, so that the lower pin moves along the lower inclined surface until it stops in the region of the recess. The movement of the pin can cause the rod to rotate by some angle, so that the rod is in an intermediate locked state 3980B. The angle is not large enough for the hook end of the rod to be released from the receiving socket, so the rod is still in engagement with the receiving socket. The rollers are further lowered until a small retraction 3913C (or zero retraction) is achieved from the projecting sections. Now the clamping device can be raised.

In Fig. 39D, the clamping device is raised upward until the upper pin comes into contact with the upper inclined surface. The rollers are raised to a retraction distance 3913D (which is located between 3913C and 3913A) from the projecting portions. The clamping device can be further raised.

In Fig. 39E, the clamping device is further raised so that the upper pin moves along the upper inclined surface until it stops in the region of the recess. The movement of the pin can lead to an additional rotation of the rod by a certain angle so that the rod is in the unlocked state 3980C. In the unlocked state, the hook end of the rod can be released from the receiving socket so that the rod can move relative to the receiving socket. The rollers are further raised to a distance 3913A of retraction from the protruding sections. The clamping device can be further raised.

In Fig. 39F, the clamping device is raised. The rod can move relative to the receiving socket, and thus the pulling member can move relative to the grip support. The rollers can roll on the projecting portions to move the movable clamp for clamping the panel. The retraction distance 3913F can exceed 3913A. The clamping device can be further raised and then moved to the destination.

Fig. 40A-40F show the operation of releasing the clamping device according to some embodiments. In Fig. 40A, the automatic locking mechanism 4080 is in the unlocked state 4080C. The clamping device can be suspended from the winch, for example by means of a connection to a pulling member. The rod can be lowered by gravity, but since the rod has the ability to separate from the receiving socket, the rod can be suspended, with the upper pin resting against the recess of the upper inclined surface.

In the unlocked state, the hook end of the rod is separated from the receiving socket. The pulling element also has the ability to separate from the grip support, wherein, for example, the rollers of the pulling element can roll along the inclined surfaces of the projecting sections and along the flat surface of the grip support. In this way, the grips of the clamping device can move toward each other to clamp the panel 4003. As shown, the rollers of the pulling element can be located at the top of the inclined surfaces of the projecting sections of the movable grip at a distance of 4013F of withdrawal.

The clamping device with the clamped panel can be moved to the destination. After reaching the destination, the clamping device can be lowered until the panel touches the ground. After the panel touches the ground, the clamping device continues to lower. The pulling element can roll on inclined surfaces and on a flat surface to retract the movable grip from the panel. The clamping device is lowered until the movable grip reaches the retraction limit, for example, when the rollers no longer touch the inclined surface. The clamping device can be designed so that in this position the rod begins to come into contact with the receiving socket. Since the rod is in a configuration of disengagement from the receiving socket, for example the hook end of the rod is not in a configuration of engagement with the receiving socket, the rod can enter the receiving socket.

In Fig. 40B, the clamping device is lowered further, so that the rod comes into contact with the receiving socket. After coming into contact, the rod can be pushed upward until the lower pin comes into contact with the lower inclined surface. The rollers are lowered to retract from the projecting sections. The retraction distance 4013B between the rollers and the gripper support is less than the maximum retraction distance 4013A. The clamping device can be further lowered.

In Fig. 40C the clamping device is lowered further so that the lower pin moves along the lower inclined surface until it stops in the region of the recess. The movement of the pin may cause the rod to rotate by some angle so that the rod is in an intermediate locked state 4080B. The angle is not large enough for the hook end of the rod to be fully engaged with the receiving socket, but the rod is already engaged with the receiving socket. The rollers are lowered further until they reach a small retraction 4013C (or zero retraction) from the projecting portions. Now the clamping device can be raised.

In Fig. 40D, the clamping device is raised until the upper pin comes into contact with the upper inclined surface. The rollers are raised to a retraction distance 4013D (which is between 4013C and 4013A) from the projecting portions. The clamping device can be further raised.

In Fig. 40E, the clamping device is raised further, so that the upper pin moves along the upper inclined surface until it stops in the region of the recess. The movement of the pin can lead to an additional rotation of the rod by a certain angle, so that the rod is in the locked state 4080A. In the locked state, the hook end of the rod is in engagement with the receiving socket, so the rod does not have the possibility of separating from the receiving socket. The rollers are further raised to a distance 4013 A of retraction from the protruding sections. The clamping device can be further raised.

In Fig. 40F the clamping device is raised. The rod and the receiving socket are connected to each other, and therefore the pulling element has no possibility of separation from the gripper support. The rollers remain at the previous retraction distance, for example at the retraction distance 4013A. In this way, the movable gripper is rigidly separated from the fixed gripper. The clamping device can be further raised and then moved to grip a new panel.

With the jaws spread apart, the clamping device can be lowered onto the new panel, for example, with the new panel positioned between the jaws. The self-locking mechanism can be switched and the jaws can be clamped onto the new panel to move the new panel to its destination.

In some embodiments, the grip support, the rollers of the pulling element and the inclined surfaces of the projecting portions of the movable grip are designed in such a way that there is some free play, for example a maximum retraction distance between the lower part of the rollers and the upper surface of the grip support. The pulling element can move within this maximum gap without moving the movable grip. The maximum gap can be equal to at least the vertical distance between two pins on the rod minus the vertical distance between two depressions of the upper and lower inclined surfaces. The maximum gap can at least correspond to the movement of the rod, so that the upper pin moves from the depression of the upper inclined surface until the lower pin reaches the depression of the lower inclined surface.

In some embodiments of the present invention, a clamping device for large and fragile objects is described, together with an automatic locking mechanism. The clamping device may include a first part of the housing and a second part of the housing, wherein the first grip is connected to the first part of the housing and the second grip is connected to the second part of the housing. For example, the first part of the housing may include a set of clamping crossbars, such as one or more clamping crossbars. The second part of the housing may include a gripper support, wherein the first and second parts are made in one piece or assembled together.

The first gripper may be connected to the first part of the housing, for example rigidly connected to the first part. The second gripper may be movably connected to the second part of the housing, for example the second gripper may move toward the first gripper relative to the second part to clamp the object. The second gripper may move away from the first gripper relative to the second part to release the object that was clamped between the first and second grippers.

A pulling element may be arranged between the second gripper and the second part of the housing, for example the gripper support. The pulling element may be configured to come into contact with the second gripper and the second part of the housing. The contact surface with the pulling element, such as the contact surface between the pulling element and the second part of the housing, or the contact surface between the pulling element and the second gripper, may include an inclined surface. For example, the pulling element may have one or more rollers for rolling on the surfaces of the second gripper and the second part. The second gripper may have an inclined surface for the rollers to roll on it. Alternatively, the second part of the housing may have an inclined surface for the rollers to roll on it.

The inclined surface can be designed in such a way that when a force is applied to the pulling element in a direction including the vertical direction, a second force is generated that pushes the second grip in a direction including the direction from the second grip to the first grip.

The inclined surface may be designed in such a way that when the pulling element moves in the direction of the first part of the housing, for example, to the set of clamping crossbars, the second grip moves towards the first grip.

The inclined surface may be designed such that in one direction the unoccupied space between the second gripper and the second part of the housing (for example, the gripper support) is smaller as it approaches the first part of the housing (for example, closer to the set of clamping crossbars) and larger as it moves away from the first part of the housing.

Thus, when the pulling member rolls along the inclined surface, the second gripper can move away from the second part of the housing or towards it, for example, respectively towards the first part of the housing or the first gripper or away from them.

In some embodiments, the first gripper and the second gripper may have comparable dimensions of the clamping surfaces for clamping the object. The comparable size may be within the manufacturing tolerance, such as having a difference of less than 1 or 2%. The comparable size may be based on clamping requirements, such as a difference of less than 20%, less than 15%, less than 10%, or less than 5%.

The first and second grippers may be larger than the first and second parts of the clamping device housing. For example, the second part of the housing may be located between two edges of the second gripper, wherein the two edges of the second gripper protrude beyond the second part of the housing. The second part of the housing may be connected to the second gripper in the area between two edges of the second gripper, wherein the two edges of the second gripper protrude beyond the second part of the housing. The first and second grippers may have a comparable first width. The second part of the housing may have a second width smaller than the first width. For example, the first width may be 1-4, 1-3 or 1-2 times greater than the second width. The first gripper may be connected to the first part of the housing outside the clamping area of the first gripper.

In some embodiments, the second gripper may be configured to receive a force from the second part of the housing. The second gripper may be configured to distribute the force from the second part of the housing fairly uniformly over the entire clamping area of the support of the second gripper, for example, over the protruding areas of the second gripper beyond the second part of the housing. For example, the second gripper may include reinforced ribs on the areas protruding beyond the second part of the housing. The areas protruding beyond the second part of the housing are configured to receive at least 80% of the force applied from the second part of the housing to the part of the second gripper connected to the second part of the housing.

In some embodiments, the clamping device may include an automatic locking mechanism that allows the clamping device to be controlled by a single operator operating the clamping device remotely, such as from a winch moving the clamping device.

The automatic locking mechanism can automatically disengage or engage the connection or linkage between the pulling element and the gripper or grippers. Automatic disengagement or engagement can simplify the operation of the clamping device, for example, to allow the clamping device to be operated by a single operator.

In some embodiments, the clamping device may have an automatic switching mechanism, such as an automatic locking mechanism, which prevents the grippers from moving towards each other when the clamping device is raised. If necessary, the locking mechanism may allow the grippers to remain open even during the lifting and movement of the clamping device. Typically, the clamping device is designed so that when one end of the clamping lever is pulled, the grippers of the clamping device clamp the object. Thus, when the clamping device is raised, the grippers are compressed together. This may be unacceptable, since the compressed grippers will have to be opened to receive the object. The locking mechanism may force the grippers to open when there is no object to be clamped. In this way, an empty clamping device with open grippers can be lifted and moved to a location of the object, where the open grippers can receive the object. Then the mechanism is released, and when raised, the grippers can be compressed together to fix the object for movement.

The locking mechanism may be activated when the grippers are spread apart. For example, after the object has been delivered to its destination, the pulling member of the clamping device may be lowered while the clamping device remains stationary, for example the pulling member moves downwards relative to the clamping device. When the pulling member is lowered, the grippers may move to an open position, for example by spreading apart. In this way, the locking mechanism may be activated when the grippers are spread apart by a predetermined distance, such as the maximum spreading distance or a distance close to this maximum distance. For example, the grippers may be spread apart by the maximum distance to partially activate the locking mechanism. When the pulling member reverses direction, for example starting to pull upwards, the grippers may close together. The closing movement of the grippers may complete the locking mechanism, preventing further closing of the grippers and effectively keeping the grippers open at a distance that is less than the maximum distance.

The locking mechanism can be partially deactivated by lowering the pulling element relative to the clamping device. Lowering the pulling element can slightly separate the grippers. The pulling element can then be pulled upward to complete the deactivation process. The grippers can move toward each other to clamp the object.

In some embodiments, the self-locking mechanism can be partially activated by lowering the pulling member so that the grippers can move a certain distance of retraction. The pulling member is lowered relative to the other elements of the clamping device, so that in some embodiments the clamping device rests against something, for example an object that is carried by the clamping device, and this object is placed on the ground. Thus, the self-locking mechanism can be partially activated by lowering the winch connected to the clamping device carrying the object so that the object comes into contact with the ground. Then the winch can be further lowered so that the grippers can move apart a certain distance of retraction, for example by moving the pulling member downwards relative to the rest of the clamping device.

The auto-locking mechanism can then be fully activated by pulling the pulling member upward, which can lock the claws in the open position at the previously set abduction distance or at an abduction distance less than or slightly less than the previously set abduction distance, for example by allowing the claws to move slightly closer together after pulling the pulling member upward.

In some embodiments, the automatic locking mechanism may be partially deactivated by lowering the pulling member. The pulling member may not have the ability to pre-pull upward due to the activation of the automatic locking mechanism. Thus, the pulling member may be partially released from the activation of the automatic locking mechanism by reversing the direction of movement, for example by lowering the pulling member. Lowering the pulling member may keep the grippers at the previous separation distance or may increase the separation distance, for example by increasing the separation distance by a small amount, for example by allowing the grippers to move slightly away from each other after lowering the pulling member.

The pulling element is lowered relative to the other elements of the clamping device, so that in some embodiments the clamping device rests against something, for example an object that the clamping device is ready to pick up, and this object is on the ground. In this case, the automatic locking mechanism can be partially deactivated by lowering the winch connected to the empty clamping device, so that the clamping device comes into contact with the ground. After this, the winch can be further lowered so that the pulling element can move downwards relative to the rest of the clamping device.

The auto-lock mechanism can then be completely deactivated by pulling the puller upwards, which can allow the grippers to move towards each other.

Fig. 41A-41E show an operation of releasing the clamping device according to some embodiments. The clamping device 4100 can use an inclined coupling mechanism, for example a pulling member 4110 having a roller for rolling on an inclined surface of a part of the clamping device housing. A locking mechanism 4180 can be provided for actuating the inclined coupling mechanism without using hands. When the locking mechanism is activated or locked, the pulling member 4110 is connected to a part 4153 of the clamping device housing. In this case, pulling the pulling member 4110 does not move the pulling member. When the locking mechanism is deactivated or unlocked, the pulling member 4110 can be separated from the part 4153 of the housing. In this case, pulling the pulling member 4110 moves the pulling member. The movement of the pulling member can cause the grip to shift to another grip for clamping an object.

The locking mechanism may include an upper part 4141, which may be locked in the lower part 4142 or released from it. The upper part 4141 may be attached to the pulling member 4110. The lower part 4142 may be attached to the grip support 4153. The upper part 4141 may include a pivotable hook end 4186, for example a pivotable elongated head, which may be connected to the mating hook part 4181 in the lower part 4142 or may be detachable from it.

The upper part 4141 may include a rod 4183 having an elongated head 4186. The upper part may optionally include a circular element 4170 having inclined surfaces 4171 and 4176 on both sides of the circular element that may mate with protruding pins 4184A and 4184B on the rod. The upper part may optionally include a sleeve 4185 for receiving the circular element 4170.

Fig. 41D shows the configuration of the locking mechanism. The upper part may include a rod 4183 having an elongated head and two protruding pins 4184A and 4184B. The circular element 4170 may be mounted on the sleeve 4185, wherein both the circular element and the sleeve are formed integrally with a component of the clamping device, such as a pulling element, or are mounted on it. When mounted on the rod, a protruding pin, such as the upper protruding pin 4184A, may be mounted. Then, the rod may be inserted into the circular element 4170. The lower protruding pin 4184B may be mounted on the rod, for example, to ensure that the circular element is located between the two protruding pins.

Fig. 41E shows another configuration of the locking mechanism. The upper part may include a rod 4183 assembled with a circular member 4170. When mounted on the rod, a protruding pin may be mounted, such as an upper protruding pin 4184A. Then, the rod may be inserted into the circular member 4170. A lower protruding pin 4184B may be mounted on the rod, for example, to ensure that the circular member is located between two protruding pins. The sleeve 4185 may be made integral with a component of the clamping device, such as a pulling member, or mounted on it. The upper part, for example a circular member with a rod mounted along the axis of rotation of the circular member, may be mounted in the sleeve.

In Fig. 41A, the automatic locking mechanism 4180 is in an unlocked state. The clamping device can be suspended from a winch, for example by means of a connection with a pulling element. In the unlocked state, the hook end of the rod is separated from the receiving socket. The pulling element also has the ability to separate from the housing of the clamping device. In this case, the grips of the clamping device can move toward each other to clamp the panel.

In Fig. 41B, the clamping device with the clamped panel can be moved to the destination. After reaching the destination, the clamping device can be lowered until the rod comes into contact with the receiving socket and presses on it. The lower pin moves along the lower inclined surface until it stops in the region of the recess. The movement of the pin can cause the rod to rotate by a certain angle.

In Fig. 41C, the clamping device is raised until the upper pin comes into contact with the upper inclined surface and presses on it. The upper pin moves along the upper inclined surface until it stops in the region of the recess. The movement of the pin may cause the rod to rotate at some angle so that the rod is in a locked state.

Fig. 42A-42D shows the operation of releasing the clamping device according to some embodiments. The clamping device 4200 can use an inclined coupling mechanism, for example a pulling member 4210 having a roller for rolling on an inclined surface of a part of the clamping device body. A locking mechanism 4280 can be provided for actuating the inclined coupling mechanism without using hands.

The locking mechanism may include an upper part 4241, which may be locked in the lower part 4242 or released from it. The upper part 4241 may be attached to the pulling member 4210. The lower part 4242 may be attached to the grip support 4253. The upper part 4241 may include a pivotable hook end 4286, for example a pivotable elongated head, which may be connected to the mating hook part 4281 in the lower part 4242 or may be detachable from it.

The upper part 4241 may include a rod 4283 having an elongated head 4286. The upper part may optionally include a circular element 4270 having inclined surfaces 4271 and 4276 on both sides of the circular element, which may mate with protruding pins 4284A and 4284B on a sleeve 4285 mounted on a component of the clamping device, for example mounted on a pulling element 4210.

Fig. 42D shows the configuration of the locking mechanism. The upper part may include a rod 4283 rigidly assembled with a circular element 4270, wherein, for example, the rod and the circular element are designed to function as a single unit. Alternatively, the rod may be made integral with the circular element. The sleeve 4285 may be made integral with a component of the clamping device, such as a pulling element, or mounted on it. The upper part, for example a circular element made integral with the rod, may be placed in the sleeve. The protruding pins 4284A and 4284B may be mounted on both sides of the circular element.

In Fig. 42A, the automatic locking mechanism 4280 is in an unlocked state. The clamping device can be suspended from a winch, for example by means of a connection with a pulling element. In the unlocked state, the hook end of the rod is separated from the receiving socket. The pulling element also has the ability to separate from the housing of the clamping device. In this case, the grips of the clamping device can move towards each other to clamp the panel. The lower pins rest against the region of the recess of the lower inclined surface.

In Fig. 42B, the clamping device with the clamped panel can be moved to the destination. After reaching the destination, the clamping device can be lowered until the rod comes into contact with the receiving socket and presses it. The circular element is raised until it reaches the upper pins. Then the circular element is rotated so that the upper inclined surface slides on the upper pins until it stops in the region of the recess. The circular element can be rotated by a certain angle.

In Fig. 42C, the clamping device is raised until the circular element comes into contact with the lower pins. Then, the circular element is rotated so that the lower inclined surface slides over the lower pins until it stops in the region of the recess. The circular element can additionally be rotated by some angle so that it is in a locked state.

Fig. 43A-43E show an operation of releasing the clamping device according to some embodiments. The clamping device 4300 can use an inclined coupling mechanism, for example a pulling member 4310 having a roller for rolling on an inclined surface of a part of the clamping device housing. A locking mechanism 4380 can be provided for actuating the inclined coupling mechanism without using hands. When the locking mechanism is activated or locked, the pulling member 4310 is connected to the part 4353 of the clamping device housing. In this case, pulling the pulling member 4310 does not move the pulling member. When the locking mechanism is deactivated or unlocked, the pulling member 4310 can be separated from the part 4353 of the housing. In this case, pulling the pulling member 4310 moves the pulling member. The movement of the pulling member can cause the grip to shift to another grip for clamping an object.

The locking mechanism may include an upper part 4341, which may be locked in the lower part 4342 or released from it. The upper part 4341 may be attached to the pulling member 4310. The lower part 4342 may be attached to the grip support 4353. The upper part 4341 may include a pivotable hook end 4386, for example a pivotable elongated head, which may be connected to the mating hook part 4381 in the lower part 4342 or may be detachable from it.

The upper part 4341 may include a rod 4383 having an elongated head 4386. The upper part may optionally include a first circular element 4371 having inclined surfaces and a second circular element 4376 having inclined surfaces that may mate with a protruding pin 4384 on the rod. The upper part may optionally include a sleeve 4385 for receiving the circular elements 4371 and 4376.

Fig. 43D shows the configuration of the locking mechanism. The upper part may include a rod 4383 having an elongated head and a protruding pin 4384. The circular elements 4371 and 4376 may be mounted on the sleeve 4385, wherein the circular elements and the sleeve are formed integrally with a component of the clamping device, such as a pulling element, or mounted on it. Then, during installation, the rod can be inserted into the circular elements 4371 and 4376. The protruding pin 4384 may be mounted on the rod, for example, to ensure that the protruding pin is located between two circular elements.

Fig. 43E shows another configuration of the locking mechanism. The upper part may include a rod 4383 assembled with circular elements 4371 and 4376 in a sleeve 4385. During installation, the circular elements 4371 and 4376 can be inserted into the sleeve 4385. Then, the rod can be inserted into the circular elements 4371 and 4376. A protruding pin 4384 can be mounted on the rod, for example, to ensure that the protruding pin is located between two circular elements. The second sleeve 4385* can be made integral with a component of the clamping device, such as a pulling element, or mounted on it. The upper part, for example, the circular elements in the sleeve with the rod, can be assembled in the second sleeve.

In Fig. 43A, the mechanism 4380 of the automatic lock is in an unlocked state. The clamping device can be suspended from a winch, for example by means of a connection with a pulling element. In the unlocked state, the hook end of the rod is separated from the receiving socket. The pulling element also has the possibility of separating from the housing of the clamping device. In this case, the grips of the clamping device can move towards each other to clamp the panel. The protruding pin rests against the recess of the lower inclined surface of the lower circular element 4376.

In Fig. 43B, the clamping device with the clamped panel can be moved to the destination. After reaching the destination, the clamping device can be lowered until the rod comes into contact with the receiving socket and presses on it. The protruding pin moves along the upper inclined surface of the upper circular element 4371 until it stops in the region of the recess. The movement of the pin can cause the rod to rotate by a certain angle.

In Fig. 43C, the clamping device is raised until the projecting pin comes into contact with the lower inclined surface and presses on it. The projecting pin moves along the lower inclined surface until it stops in the region of the recess. The movement of the pin may cause the rod to rotate at some angle so that the rod is in a locked state.

Fig. 44A-44D shows the operation of releasing the clamping device according to some embodiments. The clamping device 4400 can use an inclined coupling mechanism, for example a pulling member 4410 having a roller for rolling on an inclined surface of a part of the clamping device body. A locking mechanism 4480 can be provided for actuating the inclined coupling mechanism without using hands.

The locking mechanism may include an upper part 4441, which may be locked in the lower part 4442 or released from it. The upper part 4441 may be attached to the pulling member 4410. The lower part 4442 may be attached to the grip support 4453. The upper part 4441 may include a pivotable hook end 4486, for example a pivotable elongated head, which may be connected to the mating hook part 4481 in the lower part 4442 or may be detachable from it.

The upper part 4441 may include a rod 4483 having an elongated head 4486. The upper part may optionally include circular elements 4471 and 4476, each of which has inclined surfaces that can mate with one or more protruding pins 4484 on a sleeve 4485 mounted on a component of the clamping device, for example mounted on a pulling member 4410.

Fig. 44D shows the configuration of the locking mechanism. The upper part may include a rod 4483 rigidly assembled with circular elements 4471 and 4476, wherein, for example, the rod and the circular elements are configured to function as a single unit. Alternatively, the rod may be made integral with the circular elements. The sleeve 4485 may be made integral with a component of the clamping device, such as a pulling element, or installed on it. The upper part, for example a circular element made integral with the rod, may be placed in the sleeve. The protruding pins 4484 may be installed between the circular elements.

In Fig. 44A, the automatic locking mechanism 4480 is in an unlocked state. The clamping device can be suspended from a winch, for example by means of a connection with a pulling element. In the unlocked state, the hook end of the rod is separated from the receiving socket. The pulling element also has the possibility of separating from the housing of the clamping device. In this case, the grips of the clamping device can move towards each other to clamp the panel. The pins rest against the region of the recess of the upper inclined surface.

In Fig. 44B, the clamping device with the clamped panel can be moved to the destination. After reaching the destination, the clamping device can be lowered until the rod comes into contact with the receiving socket and presses it. The circular elements are raised until they reach the pins. Then the circular elements are rotated so that the lower inclined surface slides on the pins until it stops in the region of the recess. The circular elements can be rotated by a certain angle.

In Fig. 44C, the clamping device is raised until the circular elements come into contact with the pins on the upper inclined surface. Then the circular elements are rotated so that the upper inclined surface slides over the pins until it stops in the region of the recess. The circular elements can additionally be rotated by some angle so that they are in a locked state.

Fig. 45A-45C show an operation of releasing the clamping device according to some embodiments. The clamping device 4500 can use an inclined coupling mechanism, for example a pulling member 4510 having a roller for rolling on an inclined surface of a part of the clamping device housing. A locking mechanism 4580 can be provided for actuating the inclined coupling mechanism without using hands. When the locking mechanism is activated or locked, the pulling member 4510 is connected to the part 4553 of the clamping device housing. In this case, pulling the pulling member 4510 does not move the pulling member. When the locking mechanism is deactivated or unlocked, the pulling member 4510 can be separated from the part 4553 of the housing. In this case, pulling the pulling member 4510 moves the pulling member. The movement of the pulling member can cause the grip to shift to another grip for clamping an object.

The locking mechanism may include an upper part 4541, which may be locked in the lower part 4542 or released from it. The upper part 4541 may be attached to the support 4553 of the gripper. The lower part 4542 may be attached to the pulling member 4510. The upper part 4541 may include a pivotable hook end 4586, for example a pivotable elongated head, which may be connected to the mating hook part 4581 in the lower part 4542 or may be detachable from it. A spring 4547 may be used to bias the rod 4583, for example to push the rod toward the lower part 4542.

The upper part 4541 may include a rod 4583 having an elongated head 4586. The upper part may optionally include a circular element 4570 having inclined surfaces 4571 and 4576 on both sides of the circular element that may mate with protruding pins 4584A and 4584B on the rod. The upper part may optionally include a sleeve 4585 for receiving the circular element 4570.

The locking mechanism may be similar to other locking mechanisms described above, except for the reverse order of assembly, wherein, for example, the upper part 4541 is mounted on a fixed part of the housing, for example on the grip support, and the lower part 4542 is mounted on a movable part, for example on the pulling element. In addition, a biasing element, such as a spring 4547, may be used to bias the rod.

This configuration is described for a locking mechanism having a rod located in a circular member with projecting pins surrounding the circular member. Other configurations may be used for other locking mechanisms.

In Fig. 45A, the mechanism 4580 of the automatic lock is in an unlocked state. The clamping device can be suspended from a winch, for example by means of a connection with a pulling element. In the unlocked state, the hook end of the rod is separated from the receiving socket. The pulling element also has the possibility of separating from the housing of the clamping device. In this case, the jaws of the clamping device can move towards each other to clamp the panel. The rod 4583 can be pushed upward by the spring 4547 so that the lower pin 4584B rests on the lower inclined surface.

In Fig. 45B, the clamping device with the clamped panel can be moved to the destination. After reaching the destination, the clamping device can be lowered until the rod comes into contact with the receiving socket and presses on it. The upper pin moves along the upper inclined surface until it stops in the region of the recess. The movement of the pin can cause the rod to rotate at a certain angle.

In Fig. 45C, the clamping device is raised upward. Under the action of the biasing element, the rod is pushed upward until the lower pin comes into contact with the lower inclined surface and presses on it. The lower pin moves along the lower inclined surface until it stops in the region of the recess. The movement of the pin can cause the rod to rotate at a certain angle so that the rod is in a locked state.

Claims (129)

1. A clamping device comprising: a housing comprising a first housing part and a second housing part; a first grip connected to the first part of the body; the second grip, connected to the second part of the body, wherein the second part of the body is located between the two edges of the second grip, wherein the two edges of the second grip protrude beyond the second part of the body, wherein the first grip has dimensions comparable to the second grip for clamping the object; a pulling element located between the second part of the housing and the second gripper and coming into contact with the second part of the housing and the second gripper, wherein at least one of the contact surface between the pulling element and the second part of the housing or the contact surface between the pulling element and the second gripper comprises an inclined surface, wherein the inclined surface is designed so that when a force is applied to the pulling element in a direction including the vertical direction, a second force is generated pushing the second grip in a direction including the direction from the second grip to the first grip. 2. The clamping device according to claim 1, wherein the second grip is designed to receive force from the second part of the housing. 3. The clamping device according to claim 1, wherein the second gripper comprises reinforced ribs on the areas protruding beyond the second part of the housing. 4. The clamping device according to claim 1, wherein the second grip is designed in such a way that the force applied from the second part of the housing to the second grip extends to the protruding areas of the second grip outside the second part of the housing. 5. The clamping device according to claim 1, in which the protruding areas of the second grip outside the second part of the housing are less than 2 times larger than the part of the second grip connected to the second part of the housing. 6. The clamping device according to claim 1, wherein the regions protruding beyond the second part of the housing are designed to receive at least 80% of the force applied from the second part of the housing to the part of the second grip connected to the second part of the housing. 7. The clamping device according to claim 1, further comprising a mechanical switching mechanism, wherein the switching mechanism comprises a first element and a second element, wherein the first element of the switching mechanism is movably connected to the first component of the clamping device, wherein the second element of the switching mechanism is connected to the second component of the clamping device, wherein the first element and the second element are configured to be either in a connected configuration or in a disconnected configuration, wherein in the connected configuration the first element is connected to the second element so that the first component is connected to the second component, wherein in the disconnected configuration the first element is configured to be separated from the second element so that the first component is configured to be separated from the second component, wherein the movable connection of the first element to the first component includes interaction with an inclined surface for converting linear movements in two opposite directions of the first component into rotational movements in one direction of the first element for switching the first element between the connected configuration and the disconnected configuration with the second element. 8. The clamping device according to claim 1, wherein at least one tooth of the plurality of first teeth or the plurality of second teeth is rounded or chamfered in a direction parallel to the angle of the opposing inclined surface. 9. The clamping device according to claim 1, wherein the first and second inclined surfaces comprise sections of helicoidal curves around the axis of rotation, wherein the tangent lines to the helicoidal curves form an angle of 40 to 50 degrees with the axis of rotation. 10. The clamping device according to item 1, further comprising mechanical switching mechanism, wherein the switching mechanism comprises a first element and a second element, wherein the first element of the switching mechanism is movably connected to the first component of the clamping device, wherein the second element of the switching mechanism is connected to the second component of the clamping device, wherein the first element and the second element are configured to be in either a connected configuration or a disconnected configuration, wherein in the connection configuration the first element is connected to the second element such that the first component is connected to the second component, wherein in the disconnected configuration the first element is configured to be separated from the second element, so that the first component is configured to be separated from the second component, wherein the first component comprises a plurality of first teeth arranged around the axis of rotation, wherein each first tooth of the plurality of first teeth comprises a first cavity region formed with an adjacent first tooth, and a first inclined surface rising from the first cavity region, wherein the first component comprises a plurality of second teeth arranged around the axis of rotation, wherein each second tooth of the plurality of second teeth comprises a second cavity region formed with an adjacent second tooth, and a second inclined surface rising from the second cavity region, whereby the plurality of first and the plurality of second teeth are spaced apart from each other, where the first element is located along the axis of rotation, wherein the first element comprises at least a protruding element for interacting with the first and second inclined surfaces, wherein the interaction of at least the protruding element with the first and second inclined surfaces is adjusted in such a way that, upon the first force causing at least the protruding element to come into contact with the first inclined surface, at least the protruding element moves along the first inclined surface until it stops in the first region of the recess, which causes the second element to rotate by a first angle in the direction of rotation, wherein the interaction of at least the projecting element with the first and second inclined surfaces is adjusted in such a way that, upon the second force causing at least the projecting element to come into contact with the second inclined surface, at least the projecting element moves along the second inclined surface until it stops in the second region of the recess, which causes the second element to rotate by a second angle in the direction of rotation, wherein the alternation of the first angle and the second angle switches the engaging end of the first element between a configuration of connection and a configuration of disconnection with the engaging element of the second element. 11. The clamping device according to claim 1, wherein the plurality of first teeth and the plurality of second teeth are spaced apart by a fixed distance and are designed in such a way that the plurality of first teeth face the plurality of second teeth, and at least the projecting element is located between the plurality of first teeth and the plurality of second teeth. 12. The clamping device according to claim 1, wherein the plurality of first teeth face away from the plurality of second teeth, and at least the projecting element comprises two projecting elements, and wherein the plurality of first teeth and the plurality of second teeth are located between the two projecting elements. 13. The clamping device according to item 1, further comprising mechanical switching mechanism, wherein the switching mechanism comprises a first element and a second element, wherein the first element of the switching mechanism is movably connected to the first component of the clamping device, wherein the second element of the switching mechanism is connected to the second component of the clamping device, wherein the first element and the second element are configured to be in either a connected configuration or a disconnected configuration, wherein in the connection configuration the first element is connected to the second element such that the first component is connected to the second component, wherein in the disconnected configuration the first element is configured to be separated from the second element, so that the first component is configured to be separated from the second component, wherein the first element is configured to move along the axis of rotation of the third element of the mechanical switching mechanism, wherein the third element is connected to the first element, wherein the third element comprises a plurality of first teeth arranged around the axis of rotation, wherein each first tooth of the plurality of first teeth comprises a first cavity region formed with an adjacent first tooth, and a first inclined surface rising from the first cavity region, wherein the third element comprises a plurality of second teeth arranged around the axis of rotation, wherein each second tooth of the plurality of second teeth comprises a second cavity region formed with an adjacent second tooth, and a second inclined surface rising from the second cavity region, whereby the plurality of first and the plurality of second teeth are spaced apart from each other, wherein the first element comprises at least a protruding element for interacting with the first and second inclined surfaces, wherein the interaction of at least the projecting element with the first and second inclined surfaces is adjusted in such a way that, upon the first force causing at least the projecting element to come into contact with the first inclined surface, at least the projecting element moves along the first inclined surface until it stops in the first region of the recess, which causes the second element to rotate by a first angle in the direction of rotation, wherein the interaction of at least the protruding element with the first and second inclined surfaces is adjusted in such a way that, upon the second force, causing at least the protruding element to come into contact with the second inclined surface, at least the protruding element moves along the second inclined surface until it stops in the second region of the recess, which causes the second element to rotate by a second angle in the direction of rotation, wherein the alternation of the first angle and the second angle switches the engaging end of the first element between a configuration of connection and a configuration of disconnection with the engaging element of the second element. 14. The clamping device according to claim 1, wherein the plurality of first teeth and the plurality of second teeth are spaced apart by a fixed distance and are designed in such a way that the plurality of first teeth face the plurality of second teeth, and at least the projecting element is located between the plurality of first teeth and the plurality of second teeth. 15. The clamping device according to claim 1, wherein the plurality of first teeth face away from the plurality of second teeth, and at least the projecting element comprises two projecting elements, and wherein the plurality of first teeth and the plurality of second teeth are located between the two projecting elements. 16. The clamping device according to item 1, further comprising mechanical switching mechanism, wherein the switching mechanism comprises a first element and a second element, wherein the first element of the switching mechanism is movably connected to the first component of the clamping device, wherein the second element of the switching mechanism is connected to the second component of the clamping device, wherein the first element and the second element are configured to be in either a connected configuration or a disconnected configuration, wherein in the connection configuration the first element is connected to the second element such that the first component is connected to the second component, wherein in the disconnected configuration the first element is configured to be separated from the second element, so that the first component is configured to be separated from the second component, wherein the first component contains a cavity, wherein the first component comprises another protruding element protruding into the cavity, wherein the first element comprises a plurality of first teeth arranged around the axis of rotation, wherein each first tooth of the plurality of first teeth comprises a first cavity region formed with an adjacent first tooth, and a first inclined surface rising from the first cavity region, wherein the first element comprises a plurality of second teeth arranged around the axis of rotation, wherein each second tooth of the plurality of second teeth comprises a second cavity region formed with an adjacent second tooth, and a second inclined surface rising from the second cavity region, whereby the plurality of first and the plurality of second teeth are spaced apart from each other, wherein the first element is located inside a cavity with one or more protruding elements configured to interact with the first and second inclined surfaces, wherein the interaction of at least the projecting element with the first and second inclined surfaces is adjusted in such a way that, upon the first force causing at least the projecting element to come into contact with the first inclined surface, at least the projecting element moves along the first inclined surface until it stops in the first region of the recess, which causes the second element to rotate by a first angle in the direction of rotation, wherein the interaction of at least the protruding element with the first and second inclined surfaces is adjusted in such a way that, upon the second force, causing at least the protruding element to come into contact with the second inclined surface, at least the protruding element moves along the second inclined surface until it stops in the second region of the recess, which causes the second element to rotate by a second angle in the direction of rotation, wherein the alternation of the first angle and the second angle switches the engaging end of the first element between a configuration of connection and a configuration of disconnection with the engaging element of the second element. 17. The clamping device according to claim 1, wherein the plurality of first teeth and the plurality of second teeth are spaced apart by a fixed distance and are designed in such a way that the plurality of first teeth face the plurality of second teeth, and one or more projecting elements are located between the plurality of first teeth and the plurality of second teeth. 18. The clamping device of claim 1, wherein the plurality of first teeth face away from the plurality of second teeth, and wherein the one or more projecting elements comprise at least two projecting elements, and wherein the plurality of first teeth and the plurality of second teeth are located between the at least two projecting elements. 19. A clamping device comprising: a first gripper having a first clamping region having a first width; set of clamping crossbars; a grip support having a second width, wherein the first grip and the grip support are connected to the set of clamping crossbars at both ends of the set of clamping crossbars, wherein the set of clamping crossbars is connected to the first grip in a region outside the first clamping region, and the first width is greater than the second width, where the first width is less than 4 times greater than the second width; a second gripper having a second clamping region located between the gripper support and the first gripper, wherein the second clamping area is similar to the first clamping area, wherein the second grip comprises two protruding sections, each of which has an inclined surface, wherein the second grip is connected to the grip support through a set of springs, in this case, the set of springs is shifted to pull the second gripper to the gripper support; a pulling element located between the grip support and the second grip, wherein the pulling element comprises a first roller for rolling relative to the grip support, wherein the pulling element comprises two second rollers on both sides of the first roller for rolling along the inclined surfaces of the protruding sections, wherein the inclined surfaces are designed in such a way that when the pulling element moves in the direction from the first and second rollers to the set of clamping crossbars, the second grip moves toward the first grip; mechanical switching mechanism, wherein the switching mechanism comprises a first element and a second element, wherein the first element of the switching mechanism is movably connected to the first component of the clamping device, wherein the second element of the switching mechanism is connected to the second component of the clamping device, wherein the first element and the second element are configured to be in either a connected configuration or a disconnected configuration, wherein in the connection configuration the first element is connected to the second element such that the first component is connected to the second component, wherein in the disconnected configuration the first element is configured to be separated from the second element, such that the first component is configured to be separated from the second component, wherein the first element is configured to move along the axis of rotation of the third element of the mechanical switching mechanism, and the third element is connected to the first element, wherein the third element comprises a plurality of first teeth arranged around the axis of rotation, wherein each first tooth of the plurality of first teeth comprises a first cavity region formed with an adjacent first tooth, and a first inclined surface rising from the first cavity region, wherein the third element comprises a plurality of second teeth arranged around the axis of rotation, wherein each second tooth of the plurality of second teeth comprises a second cavity region formed with an adjacent second tooth, and a second inclined surface rising from the second cavity region, wherein the plurality of first and the plurality of second teeth are spaced apart from each other, wherein the first element comprises at least a protruding element for interacting with the first and second inclined surfaces, wherein the interaction of at least the protruding element with the first and second inclined surfaces is adjusted in such a way that, upon the first force causing at least the protruding element to come into contact with the first inclined surface, at least the protruding element moves along the first inclined surface until it stops in the first region of the recess, which causes the second element to rotate by a first angle in the direction of rotation, wherein the interaction of at least the projecting element with the first and second inclined surfaces is adjusted in such a way that, upon the second force causing at least the projecting element to come into contact with the second inclined surface, at least the projecting element moves along the second inclined surface until it stops in the second region of the recess, which causes the second element to rotate by a second angle in the direction of rotation, wherein the alternation of the first angle and the second angle switches the engaging end of the first element between a configuration of connection and a configuration of disconnection with the engaging element of the second element. 20. A clamping device comprising: clamping crossbar; the first gripping unit connected to the clamping crossbar, wherein the first gripping unit comprises a first gripper; the second gripping unit connected to the clamping crossbar, wherein the second gripping unit comprises a second gripper, wherein the second gripping unit comprises a gripping support, wherein the support of the grip is connected to the second grip in the area between the two edges of the second grip, and the two edges of the second grip protrude beyond the support of the grip, wherein the first grip has dimensions comparable to the second grip, for clamping the object, wherein the second grip and the grip support are designed with the possibility of forming an unoccupied space between the second grip and the grip support, in one direction, the unoccupied space is smaller as it approaches the clamping crossbar and larger as it moves away from the clamping crossbar; a pulling element located between the grip support and the second grip, wherein the element comprises one or more rollers, wherein one or more rollers are located in unoccupied space, mechanical switching mechanism, wherein the switching mechanism comprises a first element and a second element, wherein the first element of the switching mechanism is movably connected to the first component of the clamping device, wherein the second element of the switching mechanism is connected to the second component of the clamping device, wherein the first element and the second element are configured to be in either a connected configuration or a disconnected configuration, wherein in the connection configuration the first element is connected to the second element such that the first component is connected to the second component, wherein in the disconnected configuration the first element is configured to be separated from the second element, so that the first component is configured to be separated from the second component, wherein the first component contains a cavity, wherein the first component comprises another protruding element protruding into the cavity, wherein the first element comprises a plurality of first teeth arranged around the axis of rotation, wherein each first tooth of the plurality of first teeth comprises a first cavity region formed with an adjacent first tooth, and a first inclined surface rising from the first cavity region, wherein the first element comprises a plurality of second teeth arranged around the axis of rotation, wherein each second tooth of the plurality of second teeth comprises a second cavity region formed with an adjacent second tooth, and a second inclined surface rising from the second cavity region, whereby the plurality of first and the plurality of second teeth are spaced apart from each other, wherein the first element is located inside a cavity with one or more protruding elements configured to interact with the first and second inclined surfaces, wherein the interaction of at least the projecting element with the first and second inclined surfaces is adjusted in such a way that, upon the first force causing at least the projecting element to come into contact with the first inclined surface, at least the projecting element moves along the first inclined surface until it stops in the first region of the recess, which causes the second element to rotate by a first angle in the direction of rotation, wherein the interaction of at least the protruding element with the first and second inclined surfaces is adjusted in such a way that, upon the second force, causing at least the protruding element to come into contact with the second inclined surface, at least the protruding element moves along the second inclined surface until it stops in the second region of the recess, which causes the second element to rotate by a second angle in the direction of rotation, wherein the alternation of the first angle and the second angle switches the engaging end of the first element between a configuration of connection and a configuration of disconnection with the engaging element of the second element.