Handling system for heavy objects such as electromotive units, with position guidance

Abstract

Handling system (10) for handling heavy objects, comprising a conveyor (7) extending along a longitudinal axis (X), the conveyor being configured to transport heavy objects along the longitudinal axis, a pendulum-mounted gripper (1), the gripper being attached to a hoist, the pendulum mounting comprising at least an upward and / or downward kinematic, and a lateral movement relative to the conveyor, the gripper being configured to grasp and carry one of the heavy objects, the gripper comprising at least two pilot elements (21, 22), the handling system comprising two stationary guide profiles (31, 32) each intended to receive one of the pilot elements, each guide profile extending along a vertical axis (Z), the guide profiles having a cross-section comprising a V-shape open towards a transverse axis (Y).

Description

[0001] This disclosure generally relates to the field of handling systems for lifting and moving heavy objects such as electric motor sets or powertrains for motor vehicles.

[0002] The present invention relates more specifically to a handling system comprising a pendulum-mounted gripping device.

[0003] The present invention also relates to a method associated with the lifting and moving of heavy objects such as electric motor sets.

[0004] It is known to use a hoist system with three independent hooks attached to the ends of three small slings. However, correctly positioning the hooks proves tedious and time-consuming. Furthermore, one of the hooks may strike the object being lifted, potentially damaging it.

[0005] It is in the context described above that the present inventors sought to improve handling systems for lifting and moving heavy objects such as electric motor sets or powertrains for motor vehicles.

[0006] To this end, a handling system is proposed here for handling objects, such as motor vehicle electric motors, the handling system comprising: a conveyor extending along a longitudinal axis, the conveyor being configured to transport objects along the longitudinal axis, a pendulum-mounted gripper, the gripper being attached to a hoist supported by a support structure, the pendulum mounting comprising at least an upward and / or downward kinematic, and a lateral displacement relative to the conveyor, the gripper being configured to grasp and carry one of the objects, characterized in that the gripping device comprises at least two pilot elements, and on the other hand the handling system comprises two stationary guide profiles, each intended to receive one of the pilot elements, each guide profile extending along a vertical axis, allowing the pilot elements to slide relative to the guide profiles along the vertical axis, at least one of the guide profiles having a section comprising a V-shape open towards a transverse axis, the transverse axis being perpendicular to the longitudinal axis and to the vertical axis.

[0007] It should be noted that the handling operation in question may consist of removing a heavy object from the conveyor and placing it at a distance from the conveyor, or conversely, the operation in question may consist of bringing a heavy object and placing it in an ad-hoc position on the conveyor.

[0008] It is stated from the outset that this is a system to assist in a handling maneuver controlled primarily by a human operator.

[0009] Thanks to the provisions described above, simple and reliable mechanical guidance is provided for the horizontal positioning of the gripper in the X and Y axes. This is particularly useful for precisely positioning the gripper in the correct position above the heavy object to be gripped, or conversely, for accurately placing the heavy object in the desired position on the conveyor. The positioning accuracy referred to here is defined to within a few millimeters, for example, 2 or 3 mm.

[0010] The docking of the pilot elements on the guide profiles also prevents rotation around the vertical Z axis. The only degree of freedom that remains possible for the gripping device is translation along the vertical Z axis, which corresponds to pure placement or pure lifting.

[0011] The handling operation is controlled by an operator who, in the illustrated example, has a control device that allows them, at a minimum, to raise or lower the hoist. Optionally, the control device can also control lateral movement towards the conveyor or, conversely, movement away from the conveyor. Depending on the kinematics of the hoist support, such as a sliding or pivoting mechanism, lateral movement can also be generated by the operator's own movement, without a motorized control.

[0012] Therefore, this is an assistance system and not a completely autonomous robot with programming, learning, or a sensor or vision system.

[0013] Such an assistance system offers very good reliability and a relevant economic cost, when compared to a complex and expensive autonomous robot.

[0014] It is worth noting that the pendulum assembly can be of the floating type, meaning that the weight of the gripper (and any heavy object attached to it) can be compensated by a proactive gravity compensation system. In practice, the hoist control system compensates, on average, for the force generated by the weight attached to the hoist.

[0015] The gripping device is attached to a cable or chain of the hoist, generically referred to here as a "suspension link".

[0016] The support structure that supports the hoist can be, for example, a rotating mobile gantry or a gantry equipped with at least one slide, or even two slides for two degrees of freedom in the horizontal plane.

[0017] It should be noted that not all heavy objects to grasp are identical; indeed, there can be a diversity of objects.

[0018] For the purposes of this document, the term 'heavy objects' refers to objects generally weighing more than 15 kg, often at least 40 kg, with no upper limit. In the case of electric motors or power units, this refers to approximately 100 kg, although these values ​​are not exhaustive.

[0019] According to one option, the gripping device includes a gripper with two arms movable between a gripping position and a releasing position, each arm includes at least one lifting finger.

[0020] Consequently, the heavy object is grasped when the two arms move closer together. Conversely, the heavy object is released when the two arms move away from each other.

[0021] It is noted that the clamp closure can be controlled by an operator command. According to an advantageous variant, the clamp closure can be triggered by the gripping device coming into contact with the top of the object to be grasped.

[0022] For the reverse operation of releasing, the opening of the gripper can be controlled by an operator command. According to an advantageous variant, the gripper opening can be triggered by the gripper re-attaching itself to the top of the object to be grasped.

[0023] Each lifting finger fits under a shoulder or into a lifting ring of the object to be grasped.

[0024] According to one embodiment, the two movable arms are movable in translation in an antagonistic manner.

[0025] This configuration allows for easy adaptation to objects of different lengths, particularly along the axis of movement of the arms.

[0026] In this translational configuration, the approach movement can be coordinated by a mechanical interface, as can the extension movement, for example via a toothed wheel interposed between the two movable arms, each equipped with a rack. A double cam system can also be used.

[0027] According to an alternative embodiment, the two arms can be rotated, which forms a simple solution to implement.

[0028] According to an advantageous option, the movement of the two movable arms is subject to a push-push mechanism, which alternately leads to a closing of the gripper or an opening of the gripper.

[0029] According to one embodiment, the gripping device includes at least one downward-projecting pusher, the pusher being configured to cooperate with an upper area of ​​the object in order to alternately cause the gripper to close and open.

[0030] In other words, it is a mechanical bistable control, alternately joining a closed state and an open state.

[0031] When the object is gripped, its own weight maintains the clamping pressure. It is not possible to generate a release command for the object, thus eliminating the risk of it falling (the object must be placed down before it can be released).

[0032] According to one embodiment, the gripping device includes a control tube, preferably in the shape of an arc of a circle arranged in the horizontal plane, the control tube being able to be grasped by one or both hands of the operator.

[0033] The operator can thus act on the gripping device, in particular by exerting a force in the horizontal plane to guide the movement of the device along the longitudinal direction and along the transverse direction.

[0034] According to one embodiment, the operating tube of the gripper device is arranged, in the horizontal plane, in a position opposite to the position of the pilot elements.

[0035] Put another way, the hoist attachment point is interposed between the operating tube of the gripping device and the pilot elements.

[0036] In practice, when the gripper is positioned directly above the deposit or pick-up point on the conveyor, the operating tube and the pilot elements are located on either side of the conveyor. The operator simply pushes the gripper towards the guide profiles, making the operation ergonomic and easy. The conveyor does not obstruct the operator's view.

[0037] According to one embodiment, auxiliary guidance is provided by the hoist, where the hoist and / or the suspension link are received in a funnel shape.

[0038] This forms an early and crude X-shaped guide which is then completed by the pilot elements which come to rest in the guide profiles.

[0039] The early auxiliary guidance mentioned here makes it possible to compensate for positional deviations of more than 10 cm, for example up to 15 cm or even 20 cm. Then, the interaction between the pilot elements and the guide profiles takes over, reducing the positioning deviation from 4 to 5 centimeters down to a few millimeters, as mentioned above.

[0040] In one embodiment, the open V-shape of the guide profiles opens towards the conveyor axis. However, the reverse is also possible; the V-shape of the guide profiles can have its apex pointing towards the conveyor axis. In other words, the apex of the V can be towards Y+ or Y-.

[0041] According to another aspect, the present invention also relates to a handling method for handling objects such as electric motor sets using a handling system, the gripping device comprising a gripper, the method comprising: a- approach of the gripping device, b- docking of the pilot elements relative to the guide profiles, c- descent of the gripping device with guidance in the guide profiles, d- closing or opening the gripper's clamp, e- lifting the gripping device and moving it in the horizontal plane.

[0042] Optionally, the object can then be placed elsewhere to be released in the case of the unloading operation from the conveyor.

[0043] In the case of a conveyor loading operation, after the deposit, one can then go and pick up another object at a distance from the conveyor.

[0044] According to one embodiment, the opening and closing of the gripper are obtained in response to the pressure of one or more pusher(s) on an upper area of ​​the object, in order to cause the gripper to open and close alternately.

[0045] As mentioned above, this provides an alternation of closing and opening, which is similar to a mechanically controlled bistable system.

[0046] According to one embodiment, in the approach step of the gripping device (a-), an auxiliary guidance step is provided, guiding the hoist and / or the suspension link in a funnel shape.

[0047] The invention will be further detailed by describing non-limiting embodiments, and based on the accompanying figures illustrating variants of the invention, in which: [ Fig.1 ] schematically illustrates, from an elevation perspective, an example of a handling system with a gripping device attached to a hoist according to the present invention; [ Fig.2 ] schematically illustrates, in a top view, the handling system shown in the figure 1 ; Fig.3 ] schematically illustrates, from an elevation perspective, the guiding elements for positioning the gripping device relative to fixed elements, including the conveyor and the objects picked up or placed on it; [ Fig.4 ] schematically illustrates an example of a gripper system that allows an object to be grasped for lifting and moving; [ Fig.5 [ ] schematically shows in perspective an example of a gripping device in the handling system of the figure 1 ; Fig.6 ] schematically illustrates an example of steps in a process applied according to the present invention.

[0048] In the various figures, the same references designate identical or similar elements. For the sake of clarity, some elements are not necessarily shown to scale.

[0049] The handling system 10 shown in figures 1 et 2 It comprises a conveyor 7 configured to transport heavy objects, and a gripper 1 configured to grasp, lift, and move said heavy objects. The mechanical interface between the gripper and the objects to be lifted will be discussed later. The proposed system is, in fact, an operator assistance system where the operator guides the gripper with their hands; it is not a true robot, but a material handling assistance system.

[0050] Among the heavy components of interest here are EdM electro-motor units or powertrains for motor vehicles. Other parts of a certain weight may also be included, such as a suspension system, a motorized axle, or any other sub-assembly that makes up a motor vehicle. It is possible that the present invention could be applied to fields other than automotive manufacturing.

[0051] The handling system 10 is located in an orthonormal coordinate system of space comprising the X direction corresponding to the longitudinal direction of the conveyor, the Z direction corresponding to the vertical direction and the Y direction perpendicular to the two previous ones and corresponding to the transverse horizontal direction of the conveyor.

[0052] Conveyor 7 is configured to transport heavy objects generally along the longitudinal axis X, the central axis of the conveyor plane is noted X1. The heavy objects are for example placed directly on a conveyor belt or rollers or on supports placed on the conveyor belt or rollers.

[0053] The conveyor is not described in further detail here; it is assumed to be known in itself. It can be continuous operation or transfer logic.

[0054] The handling operation in question may consist of removing a heavy object from conveyor 7 and placing it at a distance from the conveyor, for example on another support. Here, the heavy object therefore leaves the conveyor.

[0055] At the time of the heavy object being picked up by the gripper 1, the heavy object is in a stationary position, either because of the stationary state of the conveyor or because of a stop on a stop preventing the object from advancing further while the conveyor continues to advance (e.g., thanks to a roller system).

[0056] Conversely, the operation in question may consist of bringing a heavy object and placing it in an ad-hoc position on conveyor 7. Here, the heavy object therefore joins the conveyor.

[0057] The gripping device is attached to a hoist 5. The hoist is supported by a support structure 6. The hoist is located directly above a lifting point on the gripping device in the position of placing on the conveyor or picking up from the conveyor, the axis Z1 of the hoist is located directly above a central axis of the conveyor X1 or in the vicinity of the latter.

[0058] The gripping device is attached to the hoist 5 via a lifting point 94 and a suspension link 93 as already introduced above.

[0059] The term "hoist" here refers to a lifting system with a single suspension point. Put another way, the gripping device 1 is a pendulum-mounted device.

[0060] In the illustrated example, the hoist includes a winch, a cable 91, a chain 93 and a hook 92.

[0061] The suspension link, metal cable and / or chain, is unwound during a downward action of the hook 92 of the hoist, and conversely, the suspension link is wound up during an upward action of the hook of the hoist.

[0062] Thus, the pendulum assembly on the support structure 6 includes at least one up and / or down kinematic.

[0063] According to one example of an embodiment, the raising of the hoist is obtained in response to an action by the operator on a button B1 provided on a control box 18 (cf. figure 2 Similarly, the descent of the hoist is obtained in response to another action by the operator on a button B2 provided on the control box 18.

[0064] In another embodiment, a floating mounting system can be implemented through proactive weight compensation on the suspension link. In this case, ascent is triggered by a small weight reduction caused by an operator action, and descent is triggered by a small weight increase caused by an operator action.

[0065] Regarding the movement of the hoist in the other two directions, namely in the horizontal plane, this movement can be motorized or not.

[0066] In all cases, in the absence of external constraints, the suspension link tends to return to a strictly vertical direction (gravity return with self-centering).

[0067] When horizontal movement is not motorized, a manual push or pull on the gripping device will cause the hoist to move. In this case, the hoist is generally mounted on a trolley with wheels or rollers that moves along a slide, similar to a small overhead crane.

[0068] When the horizontal movement of the hoist is motorized, the corresponding actuators are controlled in response to a command provided by the operator OP, by means of buttons B3, B4 provided on the control box 18.

[0069] Thus, optionally, the kinematics include a motorized lateral movement relative to the conveyor.

[0070] The grasping device 1, also simply called the grasper, includes a body 11 which forms the framework of the grasping device 1.

[0071] The gripping device 1 comprises two arms 41, 42 that can be moved between a gripping position and a release position. The two arms 41, 42 are mounted on the body according to a rotational and / or translational kinematics.

[0072] The two arms 41,42 together form a clamp, tightened for the gripping position, and spread apart for the releasing position.

[0073] Each arm includes at least one lifting finger. Each lifting finger 43, 44, 45 fits under a shoulder or into a lifting ring of the object to be grasped.

[0074] There can be 3 fingers of lifting or 4 fingers of lifting. There can also be more than four fingers of lifting.

[0075] Since not all heavy objects to grasp are of the same type, a diversity of object types must be managed. Thus, some fingers can be used for one type of object and other fingers can be used for a second type of object.

[0076] Some fingers can also have two possible mechanical positions with the possibility of switching from one to the other (configurable finger).

[0077] The closing (or opening) of the gripper can be controlled by an operator command. According to an advantageous variant, the closing (or opening) of the gripper can be controlled by the gripper's positioning on top of the object to be grasped. This particular variant is described later.

[0078] The gripper 1 includes a control tube 12. This control tube forms a handrail which can be grasped by one hand of the operator OP or even both hands of the operator, in order to be able to move, in particular in the horizontal plane, the gripper 1 loaded or not with an object of type electromotor group EdM.

[0079] As illustrated, the operating tube 12 is in the shape of a circular arc arranged in the XY plane, convex as seen by the operator. However, the operating tube could be straight.

[0080] It should also be noted that instead of a control tube, one or more control handles that can be grasped by the operator's hands could be provided.

[0081] The operator OP can act on the gripping device in particular by exerting a force in the horizontal plane on the operating tube 12 to guide the movement of the device along the longitudinal direction X and along the transverse direction Y.

[0082] For the approach guidance function, the gripper device 1 includes two pilot elements 21,22. The two pilot elements 21,22 are mounted on the gripper, i.e. they are fixed to the body of the gripper, and due to the pendulum mounting, they are mobile with the gripper relative to the conveyor 7 and the surrounding infrastructure.

[0083] The first pilot element 21 is mounted on the free end of an arm 51 which protrudes at a distance from the body 11 of the gripper, so as to be far enough from the axis of the conveyor when the gripper is in a posture of picking up or placing objects on the conveyor.

[0084] The second pilot element 22 is mounted on the free end of another parallel arm 52 which also protrudes at a distance from the gripper body 11, for the same reasons as before.

[0085] Each pilot element in the illustrated example is formed as a cylinder with a vertical axis. The height H2 of each pilot element can be, for example, between 10 cm and 40 cm. The diameter of the cylinder can be close to 5 cm. Of course, these numerical values ​​are not limiting.

[0086] The axis of the first pilot element 21 is at a distance D2 from the axis of the second pilot element 22. D2 is predefined, fixed and can be for example between 30 cm and 90 cm, with consequently a significant lever arm to block a possible rotation around the vertical axis.

[0087] The operating tube 12 of the gripper is arranged, in the horizontal plane, in a position opposite to the position of the pilot elements 21, 22. The hoist attachment point 94 is interposed between the operating tube 12 and the pilot elements 21, 22. Thus, when the axis Z1 of the gripper is directly above the depositing or picking position on the conveyor, the operating tube 12, on the one hand, and the pilot elements 21, 22, on the other hand, are located on either side of the conveyor 7 (cf. figures 2 And 5 ).

[0088] On the stationary side, the handling system comprises two guide profiles 31, 32, fixed relative to the frame, either directly or indirectly. Each guide profile extends along the vertical axis Z.

[0089] Each guide profile is arranged laterally relative to the conveyor so as not to obstruct the arrival or departure of heavy objects conveyed by the conveyor.

[0090] The two guide profiles are stationary and each is designed to receive one of the pilot elements. In practice, the first profile 31 is designed to receive and locate the first pilot element 21. Similarly, the second profile 32 is designed to receive and locate the second pilot element 22.

[0091] At least one of the guide profiles has a V-shaped cross-section open towards the transverse axis Y. In the illustrated example, both profiles each have a V-shaped cross-section open towards the conveyor axis. The cylindrical pilot elements 21 and 22 each fit into the bottom of the V-shape to ensure the desired positioning of the gripper in the horizontal plane.

[0092] We note that a single V-shaped locating, supplemented by another remote planar contact point, would also be suitable for the positioning function, mutatis mutandis.

[0093] It is also noticeable that in the illustrated example, the profile section has a W shape. Therefore, there are two possible positioning options; the operator uses one or the other depending on the type of objects to be handled, e.g., left pair or right pair. A mechanical keying mechanism can be implemented to encourage the operator to use the correct V-shaped pair.

[0094] The height H3 of each guide profile 31,32 can for example be between 40 cm and 90 cm.

[0095] As is apparent from figures 3 et 4 Each guide profile allows the pilot element, received at that point within the V-shaped groove, to slide along a stroke of several tens of centimeters. The gripper can thus be lowered along a strictly vertical trajectory, preventing contact between the gripper's lifting arms or fingers and the part to be gripped. The same principle applies to the gripper's retraction at the end of the placement sequence.

[0096] Optionally, for the lifting phase of the object, the operator can also use the guide profiles so that the beginning of the ascent of the gripping device occurs along a fairly strict vertical line.

[0097] Regarding the guidance and precise positioning system of the gripper relative to the conveyor, although a V-shaped system has been represented, it is understood that any other locating system to converge the positioning of the gripper relative to the structure linked to the conveyor may be suitable within the framework of the present invention.

[0098] For example, V-shaped forms could be positioned on the gripper and cylindrical forms could be stationary, namely the reverse of the example illustrated in the figures.

[0099] Furthermore, auxiliary guidance is provided by the hoist, arranged in the upper part of the handling system. The hoist 5 and / or the suspension link 93 are received in a funnel-shaped recess 8.

[0100] Thus, when the gripping device 1 is brought close to the target position above the conveyor, it is the upper funnel shape 8 which allows for a rough positioning, before the intervention of the interaction between the pilot elements and the guide profiles discussed above.

[0101] Note that the control unit 18, which allows the operator to trigger movements, can be a wired or wireless control box. The control box can be placed in one of the receptacles 88, 89 provided for this purpose, cf. figure 5 .

[0102] According to the illustrated example, the gripping device 1 includes at least one downward-projecting pusher 14, the pusher being configured to cooperate with an upper area 15 of the heavy object in order to alternately cause the gripper to close and open.

[0103] Each time the push button 14 is pressed by the contact on the upper part of the object, the mechanical control of the gripper changes state. This principle is generally known as "toggle push-push control." For picking up the heavy object, the first contact changes the gripper from the open state to the closed state.

[0104] The object is then lifted, and its own weight maintains the clamping pressure. It is not possible to generate a release command for the object, thus eliminating the risk of it falling (the object must be set down before it can be released). This grip can be described as a "sugar tong" type.

[0105] When the gripper and the object are placed back on a support, a new contact cycle of the pusher 14 on the object changes the gripper from the gripped state to the released state. At this point, the gripper can be lifted without taking the placed object with it.

[0106] We therefore have an alternation of gripping and releasing, without needing to perform any specific command other than that of lowering the gripper.

[0107] To the figure 6 The steps of the process promoted here have been represented by boxes: a- approach of the gripping device, b- docking of the pilot elements relative to the guide profiles, c- descent of the gripping device with guidance in the guide profiles, d- closing or opening the gripper's clamp, e- lifting the gripping device and moving it in the horizontal plane.

Claims

1. Handling system (10) intended for handling objects, the handling system comprising: - a conveyor (7) extending along a longitudinal axis (X), the conveyor being configured to transport objects along the longitudinal axis, - a pendulum-mounted gripper (1), the gripper being attached to a hoist supported by a support structure, the pendulum mounting comprising at least an upward and / or downward kinematic movement, and a lateral movement relative to the conveyor, the gripper being configured to grasp and carry one of the objects, characterized in thatthe gripping device includes at least two pilot elements (21,22), and on the other hand the handling system includes two guide profiles (31,32), stationary and each intended to receive one of the pilot elements, each guide profile extending along a vertical axis (Z) allowing a sliding of the pilot elements relative to the guide profiles along the vertical axis, at least one of the guide profiles having a section comprising a V shape open towards a transverse axis (Y), the transverse axis being perpendicular to the longitudinal axis (X) and to the vertical axis (Z).

2. Handling system according to claim 1, characterized in that the gripping device includes a gripper with two arms (41,42) movable between a gripping position and a releasing position, each arm includes at least one lifting finger.

3. Handling system according to claim 2, characterized in thatthe two movable arms (41,42) are movable in translation in an antagonistic manner.

4. Handling system according to claim 2, characterized in that the gripping device includes at least one downward-projecting pusher (14), the pusher being configured to cooperate with an upper area (15) of the object in order to alternately cause the gripper to close and open.

5. Handling system according to any one of claims 1 to 4, wherein the gripping device comprises a maneuvering tube (12), preferably in the form of an arc of a circle arranged in the horizontal plane (XY), the maneuvering tube being able to be grasped by one or both hands of the operator (OP).

6. Handling system according to claim 5, characterized in that the operating tube (12) of the gripping device is arranged, in the horizontal plane, in a position opposite to the position of the pilot elements (21,22), 7. Handling system according to any one of claims 1 to 5, characterized in that an auxiliary guidance is provided by the hoist, where the hoist and / or the suspension link are received in a funnel shape (8).

8. A handling method for handling objects such as electric motor sets, using a handling system according to any one of claims 1 to 7, the gripping device comprising a gripper, the method comprising: - approaching the gripping device, - docking the pilot elements (21,22) relative to the guide profiles (31,32) - lowering the gripping device with guidance in the guide profiles, - closing or opening the gripper's jaw, - lifting the gripping device and moving it in the horizontal plane (XY).

9. Method according to claim 8, wherein the opening and closing of the gripper are obtained in response to the pressing of one or more pusher(s) (14) on an upper area (15) of the object, in order to cause alternately the closing and opening of the gripper.

10. Method according to any one of claims 8 to 9, wherein, in the approach step of the gripping device, an auxiliary guidance step is provided, guiding the hoist and / or the suspension link in a funnel shape (8).

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