Ergonomic positioner

Abstract

The ergonomic positioner (1) comprises: at least one load-bearing mast (2) resting on the ground and provided with a sliding rail (3); gripping and rotational means (4) associated in a sliding manner with the sliding rail (3) and comprising: gripping means (5) rotatable around at least one axis of rotation (R); at least one motorized unit (8); a gearbox (9); at least one measuring device (11) of the torque positioned between the motorized unit (8) and the gearbox (9) which is configured to measure at least one value of driving torque (Cmot) delivered by the motorized unit (8); an electronic processing and control unit (14) operatively connected to the measuring device (11) and configured to receive from the latter the value of driving torque (Cmot) at input and to calculate, depending thereon, at least one value of effective torque (Cs, Cd) exerted on the gripping means (5).

Description

Technical Field

[0001] The present invention relates to an ergonomic positioner.Background Art

[0002] As is well known, an ergonomic positioner is a machine that allows a load, such as, e.g., a semi-finished product, to be lifted and rotated to a desired inclination to carry out welding, assembly and disassembly operations and the like.

[0003] This allows one or more operators to work at an ideal height and in the most suitable position while maintaining, as a result, optimal posture.

[0004] In detail, an ergonomic positioner comprises at least one load-bearing mast and gripping means associated with the load-bearing mast in a sliding manner and rotatable around at least one axis of rotation.

[0005] It is worth considering, in this regard, that the action of rotating the load raises important technical issues concerning, in particular, the structural stability of the ergonomic positioner itself.

[0006] Given the high mass of the load, indeed, the fact is not surprising that the driving torque required of the ergonomic positioner can be so high as to cause damage and / or premature end-of-life of one or more of the components of the latter.

[0007] It should be added, moreover, that the torque is a physical parameter that is highly dependent on the geometry of the lifted body and, therefore, is affected by drastic and sudden changes when, e.g., the load itself is assembled with other parts or is disassembled from some of its parts.

[0008] In other words, it is complex to estimate a priori the value taken by the driving torque required to rotate the load.

[0009] In this regard, to cope with many different operating conditions, it is common practice to use oversized components, particularly motors and gearboxes.

[0010] This expedient allows the previously mentioned structural risks to be averted but imposes, at the same time, inconveniently high costs of use and dimensional encumbrances.

[0011] That said, there is an increasing need to measure the driving torque.

[0012] With reference to ergonomic positioners, however, it should be borne in mind that the installation and configuration of the torque measuring devices would be particularly complex and feasible, in actual facts, at a very limited number of arrangements.

[0013] Added to this is the fact that the driving torque value measured by the measuring device is highly dependent on the positioning of the latter and can, as a result, also be very different from the actual torque value exerted by the load on the gripping means.

[0014] Document GB 2 362 346 A discloses a jig for holding a workpiece according to the preamble of claim 1, particularly an engine nacelle, cantilevered from an end of the jig.

[0015] Document US 2010 / 262275 A1 discloses a method and system for compensating for the load a part places on a part positioner system that positions the part for work operations by a robot.

[0016] Document US 6 264 418 B1 discloses a workpiece positioner adapted to move a workpiece from a load / unload zone to a work zone spaced from the load / unload zone.Description of the Invention

[0017] The main aim of the present invention is to devise an ergonomic positioner that enables the effective torque exerted by a load to be measured easily, efficiently and accurately, allowing the use of components sized to match the actual operational needs.

[0018] One object of the present invention is to devise an ergonomic positioner that implements at least one safety measure when the value of driving torque exceeds a predetermined threshold value.

[0019] Another object of the present invention is to devise an ergonomic positioner which allows the aforementioned drawbacks of the prior art to be overcome within the framework of a simple, rational, user-friendly and cost-effective solution.

[0020] The aforementioned objects are achieved by this ergonomic positioner having the characteristics of claim 1.Brief Description of the Drawings

[0021] Other characteristics and advantages of the present invention will become more apparent from the description of a preferred, but not exclusive, embodiment of an ergonomic positioner, illustrated by way of an indicative, yet non-limiting example, in the attached tables of drawings in which: Figure 1 is an axonometric, overall view of the positioner according to the invention; Figure 2 is a detailed view of the gripping and rotational means of the positioner according to the invention. Embodiments of the Invention

[0022] With particular reference to these figures, reference numeral 1 globally indicates an ergonomic positioner.

[0023] It is specified that, in the context of this disclosure, the expression "ergonomic positioner" refers to a machine adapted to lift from the ground at least one load such as, e.g., a semi-finished product, and to set it in rotation with respect to at least one axis of rotation.

[0024] In this case, the positioner 1 comprises: at least one load-bearing mast 2 resting on the ground and provided with at least one sliding rail 3 formed along a substantially vertical direction; gripping and rotational means 4 associated in a sliding manner with the sliding rail 3 and comprising gripping means 5 for gripping at least one load which are rotatable around at least one axis of rotation R.

[0025] The gripping means 5 comprise at least one gripping support 5 of one or more gripping elements not shown in the figures selectable depending on the magnitude and type of the load to be lifted and rotated.

[0026] In this regard, the gripping elements are of the type, e.g., of grippers and hooks. Gripping elements of different type and shape cannot however be ruled out which allow, however, efficient load gripping.

[0027] In addition, the gripping support 5 is substantially disc-shaped.

[0028] In the present case, the gripping support 5 is of the type of a backing pad.

[0029] Again, the gripping support 5 is provided with at least one gripping surface 6 associable with the gripping element.

[0030] Conveniently, the gripping surface 6 is substantially flat-shaped.

[0031] In addition, the gripping support 5 is provided with at least one sliding surface 7 associated with the sliding rail 3.

[0032] Specifically, the sliding surface 7 is opposite the gripping surface 6.

[0033] It is specified, at this point, that it is possible to rotate the gripping means 5 around multiple axes of rotation.

[0034] For example, the gripping means 5 are rotatable at least around the axis of rotation R and an auxiliary axis of rotation, arranged perpendicular to the axis of rotation R.

[0035] In this regard, and in accordance with a second embodiment, the gripping means 5 comprise at least one holding element, not shown in the figures, provided with at least one auxiliary gripping support associated with the gripping element and rotatable around the auxiliary axis.

[0036] In particular, the holding element is associated with the gripping surface 6.

[0037] In detail, the holding element is made protruding from the load-bearing mast 2. Again, the holding element is substantially L-shaped.

[0038] In addition, the auxiliary gripping support is shaped quite similarly to the gripping support 5.

[0039] According to a third embodiment, the positioner 1 comprises two load-bearing masts 2 opposite each other and connected to each other by means of a saddle element.

[0040] In particular, the saddle element is simultaneously associated with both gripping surfaces 6.

[0041] In detail, the saddle element is made protruding from both load-bearing masts 2. Again, the saddle element is substantially U-shaped.

[0042] In the present case, the saddle element is provided with at least one auxiliary gripping support.

[0043] Thus, it is emphasized that the special expedient of providing a holding element provided with at least one auxiliary gripping support allows the gripping means to rotate both around the axis of rotation R and around the auxiliary axis.

[0044] Similarly, it is emphasized that the special expedient of providing a saddle element provided with at least one auxiliary gripping support allows the gripping means to rotate both around the axis of rotation R and around the auxiliary axis.

[0045] The gripping and rotational means 4 then comprise at least one motorized unit 8 operatively connected to the gripping means 5 for driving the latter in rotation.

[0046] According to the preferred embodiment, the motorized unit 8 is of the type of an electric motor.

[0047] A motorized unit 8 of different type such as, e.g., the internal combustion type, the pneumatic type, or other types still known to the expert in the field, cannot however be ruled out.

[0048] In addition, the gripping and rotational means 4 comprise at least one gearbox 9 placed between the motorized unit 8 and the gripping means 5.

[0049] To be precise, the gearbox 9 is arranged substantially aligned with the motorized unit 8.

[0050] Specifically, the gearbox 9 and the motorized unit 8 are aligned along a direction parallel to the axis of rotation R of the gripping means 5.

[0051] In detail, the gearbox 9 is of the coaxial type.

[0052] The positioner 1 then comprises vertical movement means 10 associated with the gripping and rotational means 4 and suitable for the vertical movement of the latter along the sliding rail 3.

[0053] Advantageously, the vertical movement means 10 comprise at least one vertical movement element, not shown in the figures, associated with the gripping means 5.

[0054] To be precise, the vertical movement element is associated with the sliding surface 7.

[0055] Again, the vertical movement element is contained at least partly inside the load-bearing mast 2.

[0056] Conveniently, the vertical movement element has an elongated conformation.

[0057] Advantageously, the vertical movement element is rotatable axially around at least one substantially vertical axis.

[0058] To be precise, the vertical movement element is of the type of a worm screw, such as e.g. a trapezoidal profile worm screw.

[0059] In other words, the vertical movement element allows the gripping and rotational means 4 to be moved along the sliding rail 3 due to its own axial rotation.

[0060] In this regard, the vertical movement element allows the gripping and rotational means 4 to be moved in both ways along the sliding rail 3 according to their way of rotation.

[0061] In the present case, the vertical movement element allows the gripping and rotational means 4 to be moved by placing them in a position comprised between two extreme end-of-stroke positions.

[0062] In other words, the vertical movement element allows the gripping and rotational means 4 to be placed in a position defined in substantial continuity between a position arranged at a minimum height and a position arranged at a maximum height.

[0063] In this regard, the vertical movement means 10 comprise at least one rotational drive motor operatively connected to the vertical movement element for the rotational drive of the latter.

[0064] Specifically, the drive motor is associated with the load-bearing mast 2.

[0065] In detail, the drive motor is arranged on top of the load-bearing mast 2.

[0066] Again, the drive motor is of the type of an electric motor.

[0067] Similarly to what has been said for the motorized unit, different types of drive motor cannot be ruled out which allow the rotational operation of the transport device.

[0068] In other words, a drive motor of the internal combustion type, pneumatic type, or other types still known to the expert in the field cannot be ruled out.

[0069] In addition, different types of vertical movement means 10 such as, e.g., vertical movement means of the hydraulic type cannot be ruled out.

[0070] Similarly, the possibility of setting the gripping means 5 in rotation by means of a system of the hydraulic type which is located in place of the motorized unit 8 cannot be ruled out.

[0071] According to the invention, the positioner 1 comprises at least one measuring device 11 of the torque placed between the motorized unit 8 and the gearbox 9 which is configured to measure at least one value of driving torque C mot delivered by the motorized unit 8.

[0072] In accordance with the second and with the third embodiments, the positioner 1 comprises at least another measuring device 11 associated with the auxiliary gripping support.

[0073] This means that, according to the third embodiment, the positioner 1 comprises a total of at least three measuring devices 11.

[0074] Specifically, the measuring device 11 is of the type of a torque transducer.

[0075] In addition, the positioner 1 comprises at least one housing 12 adapted to contain, at least partly, the measuring device 11.

[0076] In this regard, the housing 12 is positioned between the motorized unit 8 and the gearbox 9.

[0077] In addition, the gripping and rotational means 4 comprise at least one torsional connecting element 13 adapted to connect the motorized unit 8 to the gripping means 5 in a kinematic manner.

[0078] Specifically, the gripping and rotational means 4 comprise at least one torsional connecting element 13 placed between the motorized unit 8 and the measuring device 11 and at least another torsional connecting element 13 placed between the measuring device 11 and the gearbox 9.

[0079] Again, at least one torsional connecting element 13 is comprised, at least partly, inside the housing 12.

[0080] To be precise, both torsional connecting elements 13 are comprised, at least partly, inside the housing 12.

[0081] In this case, the torsional connecting element 13 is of the type of an elastic joint. Providing at least one torsional connecting element 13 advantageously enables efficient transmission of the torque between the motorized unit 8 and the gripping means 5, thus offsetting any misalignment between the motorized unit 8, the measuring device 11 and the gearbox 9.

[0082] According to the invention, the positioner 1 comprises at least one electronic processing and control unit 14 operatively connected to the measuring device 11 and configured to receive from the latter the value of driving torque C mot at input and to calculate, depending thereon, at least one value of effective torque C s , C d exerted by the load on the gripping means 5.

[0083] In the present case, the electronic processing and control unit 14 is programmed to calculate at least one value of effective torque C s , C d starting from the value of driving torque C mot at input by multiplying the latter by at least one torque multiplying coefficient α.

[0084] Specifically, the torque multiplying coefficient takes into account the torque losses due to the components positioned between the gripping means 5 and the measuring device 11.

[0085] In this regard, the electronic processing and control unit 14 is programmed to calculate at least one value of static torque C s by multiplying the value of driving torque C mot by the torque multiplying coefficient α and is programmed to calculate at least one value of dynamic torque C d by multiplying the value of driving torque C mot by the torque multiplying coefficient α and by subtracting from this product at least one correction coefficient β.

[0086] For example, the correction coefficient β is of the type of a constant numerical coefficient.

[0087] In other words, the electronic processing and control unit 14 is programmed to calculate the value of static torque C s and the value of dynamic torque C d by means of the following mathematical formulas, respectively: C s = C mot ⋅ α C d = C mot ⋅ α − β

[0088] It is specified, in this regard, that the terms "static torque" C s and "dynamic torque" C d are meant to identify the effective torque C s , C d acting on the gripping means 5 when the latter are fixed in rotation around the axis of rotation R or rotating with respect to the latter, respectively.

[0089] In addition, the electronic processing and control unit 14 is configured to approximate at least one of either the value of static torque C s or the calculated value of dynamic torque C d .

[0090] In more detail, the electronic processing and control unit 14 approximates by excess at least one of either the value of static torque C s or the value of dynamic torque C d to the nearest hundred if the value of the last two digits before the decimal point is between 51 and 99 and approximates by default at least one of either the value of static torque C s or the value of dynamic torque C d to the nearest hundred if the value of the last two digits before the decimal point is between 50 and 00.

[0091] Conveniently, the positioner 1 comprises at least one display interface, not shown for simplicity's sake in the figures, provided with at least one screen.

[0092] Specifically, the display interface is operatively connected to the electronic processing and control unit 14 to receive from the latter at least one calculated value of effective torque C s , C d and to display it on the screen.

[0093] This advantageously allows for substantially real-time monitoring of the value of at least one of either the static torque C s or the dynamic torque C d , thus avoiding critical operating conditions of the positioner 1.

[0094] Preferably, the electronic processing and control unit 14 is programmed with at least one threshold value of maximum torque C max and is configured to compare the value of driving torque C mot at input with the value of maximum torque C max .

[0095] Specifically, the electronic processing and control unit 14 is operatively connected to the gripping and rotational means 4 and is configured to deactivate the motorized unit 8 when the value of driving torque C mot at input is greater than the value of maximum torque C max .

[0096] In this regard, the electronic processing and control unit 14 is programmed not to deactivate the motorized unit 8 for at least a first reference time, even if the value of driving torque C mot at input is greater than the value of maximum torque C max , when the gripping means 5 are activated in rotation.

[0097] Still, the electronic processing and control unit 14 is programmed not to deactivate the motorized unit 8 for at least a second reference time, even if the value of driving torque C mot at input is greater than the value of maximum torque C max , when the gripping means 5 are stopped in rotation.

[0098] For example, the first reference time is between 0.5 seconds and 1.5 seconds, better still between 0.75 seconds and 1.25 seconds, preferably equal to 1 second.

[0099] Again, for example, the second reference time is between 3 seconds and 7 seconds, better still between 4 seconds and 6 seconds, preferably equal to 5 seconds.

[0100] It cannot, however, be ruled out that at least one of either the first reference time or the second reference time vary dynamically, e.g. by following a hysteresis cycle.

[0101] In other words, it cannot be ruled out that at least one of either the first reference time or the second reference time be not constant and be defined according to, e.g., the values of angular acceleration of the gripping means 5.

[0102] The fact is emphasized, therefore, that the expedient of programming the electronic processing and control unit 14 not to deactivate the motorized unit during the transient phases of the gripping means 5 makes it possible to avoid unwanted downtime caused by unexpected torque spikes occurring during these phases.

[0103] This means that the electronic processing and control unit 14 is configured to deactivate the motorized unit 8 exclusively when the gripping means 5 are at full speed.

[0104] In addition, the positioner 1 comprises at least one signaling device, not shown in the figures, operatively connected to the electronic processing and control unit 14 and controllable by the latter depending on the ratio between the value of driving torque C mot at input and the value of maximum torque C max .

[0105] Preferably, the signaling device comprises at least one of: at least a first beacon which may be activated by the electronic processing and control unit 14 when the ratio of the value of driving torque C mot at input to the value of maximum torque C max is less than 0.7; at least a second beacon which may be activated by the electronic processing and control unit 14 when the ratio is comprised between 0.7 and 1; and at least a third beacon which may be activated by the electronic processing and control unit 14 when the ratio is higher than 1.

[0106] Specifically, the first beacon, the second beacon and the third beacon are arranged in alignment with each other.

[0107] Conveniently, the signaling device comprises at least a fourth beacon, which can be activated by the electronic processing and control unit 14 to signal that the gripping means 5 are positioned in a predetermined position.

[0108] In particular, the fourth beacon is arranged on top of the first, the second and the third beacons.

[0109] It cannot, however, be ruled out that the signaling device comprise a different number of beacons.

[0110] For example, it cannot be ruled out that the signaling device comprise a single beacon, which can be activated when the ratio of the value of driving torque C mot at input to the value of maximum torque C max is greater than 1.

[0111] According to a preferred embodiment, the signaling device is of the type of a lighting tower.

[0112] According to this embodiment, specifically, the first beacon emits a green-colored light, the second beacon emits a yellow-colored light, and the third beacon emits a red-colored light.

[0113] In addition, the fourth beacon emits a blue-colored light.

[0114] It is emphasized that the expedient of providing beacons which can be activated according to the ratio of the value of driving torque C mot at input to the value of maximum torque C max enables timely and effective signaling when the motorized unit 8 delivers values of driving torque C mot too close to the value of the maximum torque C max .

[0115] In fact, emergency downtime and possible structural damage can be avoided in this way.

[0116] It has in practice been ascertained that the described invention achieves the intended objects.

[0117] In particular, the fact is emphasized that the special expedient of providing a torque measuring device operatively connected to an electronic processing and control unit makes it possible to measure the actual torque exerted by the load easily, efficiently and accurately, thus allowing the use of components which are sized to match actual operational needs.

[0118] In addition, the fact is emphasized that the special expedient of providing a signaling device operatively connected to the electronic processing and control unit allows an initial safety measure to be implemented when the value of driving torque exceeds a predetermined threshold value.

[0119] In this regard, the special expedient of providing a processing and control unit configured to deactivate the motorized unit allows a second safety measure to be implemented when the value of driving torque exceeds a predetermined threshold value.

Claims

1. Ergonomic positioner (1), comprising: - at least one load-bearing mast (2) resting on the ground and provided with at least one sliding rail (3) formed along a substantially vertical direction; - gripping and rotational means (4) associated in a sliding manner with said sliding rail (3) and comprising: - gripping means (5) for gripping at least one load which are rotatable around at least one axis of rotation (R); - at least one motorized unit (8) operatively connected to said gripping means (5) for driving the latter in rotation; - at least one gearbox (9) positioned between said motorized unit (8) and said gripping means (5); characterized by the fact that it comprises: - at least one measuring device (11) of the torque positioned between said motorized unit (8) and said gearbox (9) which is configured to measure at least one value of driving torque (Cmot) delivered by said motorized unit (8); - at least one electronic processing and control unit (14) operatively connected to said measuring device (11) and configured to receive from the latter said value of driving torque (Cmot) at input and to calculate, depending thereon, at least one value of effective torque (Cs, Cd) exerted by said load on said gripping means (5).

2. Positioner (1) according to claim 1, characterized by the fact that said gripping and rotational means (4) comprise at least one torsional connecting element (13) adapted to connect said motorized unit (8) to said gripping means (5) in a kinematic manner.

3. Positioner (1) according to claim 2, characterized by the fact that said gripping and rotational means (4) comprise at least one torsional connecting element (13) positioned between said motorized unit (8) and said measuring device (11) and at least another torsional connecting element (13) positioned between said measuring device (11) and said gearbox (9).

4. Positioner (1) according to one or more of claims 2 to 3, characterized by the fact that said torsional connecting element (13) is of the type of an elastic joint.

5. Positioner (1) according to one or more of the preceding claims, characterized by the fact that said electronic processing and control unit (14) is programmed to calculate at least one said value of effective torque (Cs, Cd) starting from said value of driving torque (Cmot) at input by multiplying the latter by at least one torque multiplying coefficient (α).

6. Positioner (1) according to claim 5, characterized by the fact that said electronic processing and control unit (14) is programmed to calculate at least one value of static torque (Cs) by multiplying said value of driving torque (Cmot) by said torque multiplying coefficient (α) and is programmed to calculate at least one value of dynamic torque (Cd) by multiplying said value of driving torque (Cmot) by said torque multiplying coefficient (α) and subtracting from this product at least one correction coefficient (β).

7. Positioner (1) according to one or more of the preceding claims, characterized by the fact that it comprises at least one display interface provided with at least one screen, said display interface being operatively connected to said electronic processing and control unit (14) to receive from the latter at least one said calculated value of effective torque (Cs, Cd) and to display it on the screen.

8. Positioner (1) according to one or more of the preceding claims, characterized by the fact that said electronic processing and control unit (14) is programmed with at least one threshold value of maximum torque (Cmax) and is configured to compare said value of driving torque (Cmot) at input with said value of maximum torque (Cmax).

9. Positioner (1) according to one or more of the preceding claims, characterized by the fact that said electronic processing and control unit (14) is operatively connected to said gripping and rotational means (4) and is configured to deactivate said motorized unit (8) when said value of driving torque (Cmot) at input is greater than said value of maximum torque (Cmax).

10. Positioner (1) according to one or more of the preceding claims, characterized by the fact that it comprises at least one signaling device operatively connected to said electronic processing and control unit (14) and controllable by the latter depending on the ratio between said value of driving torque (Cmot) at input and said value of maximum torque (Cmax).

11. Positioner (1) according to claim 10, characterized by the fact that said signaling device comprises at least one of: - at least a first beacon which may be activated by said electronic processing and control unit (14) when the ratio of said value of driving torque (Cmot) at input to said value of maximum torque (Cmax) is less than 0.7; - at least a second beacon which may be activated by said electronic processing and control unit (14) when said ratio is comprised between 0.7 and 1; and - at least a third beacon which may be activated by said electronic processing and control unit (14) when said ratio is higher than 1.

12. Positioner (1) according to one or more of claims 10 to 11, characterized by the fact that said signaling device is of the type of a lighting tower.

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