Modular support device for a tool
The modular support device with adjustable arms and fixing elements addresses the limitation of fixed tool-surface combinations by providing adaptable attachment solutions for diverse tools and surfaces, enhancing versatility and stability.
Patent Information
- Application Number
- FR2022013555
- Authority / Receiving Office
- FR · FR
- Patent Type
- Utility models
- Current Assignee / Owner
- Filing Date
- 2022-12-16
- Publication Date
- 2025-01-17
- Estimated Expiration
- 2032-12-16
AI Technical Summary
Existing support devices for tools are typically tailored to specific types of tools and surfaces, requiring separate designs for each combination, limiting versatility and adaptability.
A modular support device with a base and interchangeable arms of varying lengths and fixing elements, allowing for adjustable configurations to accommodate different tools and surfaces, including magnetic and suction cup fixing options, and a pneumatic circuit for actuation.
Enables versatile attachment of tools to various surfaces with adjustable stability and load-bearing capabilities, reducing the need for multiple dedicated support devices.
Smart Images
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Abstract
Description
Title of the invention: Modular support device for a tool
[0001] The present invention relates to a modular support device for a tool allowing the tool to be fixed to a surface of an object.
[0002] Such a support device is for example intended to fix a tool, such as a robotic arm, on a surface of an object, such as a metal plate, on which the tool is to act. According to a particular application, the fixing device cooperates with the support of a robotic arm to fix the robotic arm on the hull of a naval vessel.
[0003] Such a support device makes it possible to place a tool in an intervention zone of the tool, for example for automated operations of the tool or when the latter is controlled remotely or even in order to facilitate the use of the tool by taking charge of maintaining it.
[0004] However, such a support device is generally adapted to a type of tool, in particular in terms of dimensions and / or mass of the tool, or to a type of surface on which the support device can be fixed. Thus, it is necessary to provide or produce a specific support device for each tool and / or each surface receiving the tool.
[0005] One of the aims of the invention is to overcome these drawbacks by proposing a support device suitable for several types of tool carried by the support device and several types of surfaces receiving the support device.
[0006] For this purpose, the invention relates to a modular support device for a tool, comprising a base and at least one fixing device for fixing the support device to the surface of an object, said fixing device being reversibly fixed to the base, the support device further comprising at least a first arm and a second arm each extending between a first end, comprising at least a first reversible fixing element to the base, and a second end, comprising at least a second reversible fixing element to the fixing device, the first arm and the second arm having different lengths, measured between the first end and the second end, the support device being configurable between at least a first configuration, in which the fixing device is fixed to the base by the first arm, and a second configuration,wherein the attachment device is attached to the base by the second arm such that the attachment device extends a different distance from the base between the first configuration and the second configuration.
[0007] The support device according to the invention can be adapted to several tools by modulating the distance separating the base from the fixing device by choosing an arm of the desired length, a greater distance making the support device suitable for supporting heavier loads. Furthermore, the support device can be adapted by choosing the fixing device received by the arm fixed to the base, for example a magnetic fixing device for a metal surface or a suction cup for a non-magnetic surface, such as glass or the like. Thus, the support device according to the invention can be easily assembled from different constituent elements adapted to the intended use of the fixing device.
[0008] The support device according to the invention may further comprise one or more of the following characteristics, taken in isolation or in any technically conceivable combination:
[0009] - the support device comprises a plurality of fixing devices, at least a first set of a plurality of first arms and a second set of a plurality of second arms, the attachment devices being attached to the base by the first arms of the first set in the first configuration and by the second arms of the second set in the second configuration;
[0010] - the base has a substantially cylindrical shape extending along an axis, the first arms, in the first configuration, and the second arms, in the second configuration, being distributed around the base and extending substantially radially in a direction substantially perpendicular to the axis from the base;
[0011] - the support device comprises a plurality of reversibly fixed wedges on the base, two adjacent arms of the first set fixed on the base in the first configuration or of the second set in the second configuration being separated by at least one wedge;
[0012] - the base comprises a lower crown portion and a upper crown portion upper, the first end of the first arm, in the first configuration, and of the second arm, in the second configuration, being fixed between the lower crown portion and the upper crown portion;
[0013] - the first arm and the second arm can be fixed in different positions on the base;
[0014] - the base comprises a tool support base for receiving a tool and at at least one force sensor arranged to measure the load exerted by the tool on the support base, the support device being configured in the first configuration or in the second configuration depending on said load;
[0015] - the first arm and the second arm each comprise at least one channel forming a part of a pneumatic circuit, the base and the fixing device each comprising at least one complementary channel forming another part of the pneumatic circuit, said channel of the first arm, in the first configuration, and said channel of the second arm, in the second configuration, being in fluid communication with the complementary channels of the base and the fixing device so as to form a pneumatic circuit going from the base to the fixing device;
[0016] - the support device comprises a plurality of fixing devices generating an adhesion force on a different surface of an object, each fixing device comprising a fixing element complementary to the second fixing element of the first arm and of the second arm, the fixing device fixed to the first arm, in the first configuration, or to the second arm, in the second configuration, being selected according to the nature of the surface of the object on which the support device is fixed and / or according to the tool carried by the support device;
[0017] - the fixing devices comprise at least one suction cup fixing device and at least one magnetic attachment device.
[0018] Other aspects and advantages of the invention will appear on reading the following description, given by way of example and with reference to the appended drawings, in which:
[0019] [Fig-1] - [Fig.l] is a schematic perspective representation of a device support according to the invention, in a configuration of the support device
[0020] [Fig.2] - [Fig.2] is a schematic representation of the use of a device support according to the invention for fixing a tool on the surface of an object,
[0021] [Fig.3] - [Fig.3] is an exploded schematic representation of the support device according to the invention showing the elements which can be assembled to configure the support device in a first configuration or in a second configuration,
[0022] [Fig.4] - [Fig.4] is an exploded schematic representation of part of the support device during its assembly in a first configuration or in a second configuration, and
[0023] [Fig.5] - [Fig.5] is a schematic cross-sectional representation of part of the support device assembled in first configuration.
[0024] With reference to Figs. 1 and 2, a support device 1 is described receiving a tool 2 for fixing the latter on the surface 4 of an object. As will be described in more detail later, the surface 4 can be of any nature, such as a magnetic surface, for example a metal plate, or a non-magnetic surface, for example glass, a plastic material or other. The support system makes it possible, for example, to reversibly fix a tool, such as a robotic arm, on the hull of a naval vessel, for example for maintenance operations, such as the application of a layer of paint, as shown in [Fig. 2]. It is however understood that the support system 1 can be used to fix any type of objects together.
[0025] The support device comprises a base 6 and at least one fixing device 8 reversibly fixed to the base 6 by at least one first arm 10 or by at least one second arm 12.
[0026] The base 6 is arranged to receive in a modular and reversible manner the first arm 10 or the second arm 12 and to receive the tool 2 to be fixed on the surface 4 of an object.
[0027] For this purpose, the base 6 comprises, for example, a crown for receiving the arms 10, 12 and a support base 14 for receiving the tool 2.
[0028] The receiving crown is for example formed by a lower crown portion 16 and an upper crown portion 18 fixed to each other and defining between them a fixing zone for the arms and other functional elements, as will be described later. The lower 16 and upper 18 crown portions for example each have a disc shape extending along an axis, the crown portions being coaxial when they are assembled to form the crown. When the base 6 is fixed on the surface 4 of the object, the axis is for example substantially perpendicular to the surface 4, the lower crown portion 16 extends opposite the surface 4 in the vicinity thereof and the upper crown portion extends outside and is spaced from the surface 4.In other words, when the support device 1 is fixed on the surface 4, the lower crown portion 16 is interposed between the surface 4 and the upper crown portion 18. In the remainder of the description, the terms “lower”, “upper”, “below” and “above” are defined according to the direction of the axis in the direction going from the lower crown portion 16 to the upper crown portion 18.
[0029] The lower crown portion 16 comprises, for example, a peripheral groove 20, forming the edge of the lower crown portion 16, and a central opening 22 forming the center of the lower crown portion 16. Between the peripheral groove 20 and the central opening 22, the lower crown portion 16 comprises a fixing interface 24 for the upper crown portion 18. Thus, the fixing interface 24 surrounds the central opening 22 and the peripheral groove 20 surrounds the fixing interface 24. As more particularly visible in [Fig. 4], the fixing interface 24 comprises, for example, a plurality of orifices 26 opening into an upper face of the lower crown portion 16 and extending along axes substantially parallel to the axis of the receiving crown. The orifices 26 are distributed regularly on the upper face of the fixing interface 24 and are spaced apart from each other.The peripheral groove 20 is delimited by a wall 28 of the fixing interface 24, substantially perpendicular to the upper face of the fixing interface 24, and by an external wall 30 substantially parallel to the wall 28 of the fixing interface 24, the wall 28 of the fixing interface 24 and the external wall 30 being connected to each other by a bottom wall 32 substantially parallel to the upper face of the fixing interface 24. The peripheral groove 20 is open upwards, . that is to say towards the upper crown part 18. According to the embodiment shown in Figs 3 to 5, the height of the external wall 30, measured in the direction of the axis of the receiving crown, is less than the height of the wall 28 of the fixing interface 24.
[0030] The upper crown portion comprises a central opening 34 surrounded by a fixing interface 36 to the lower crown portion 16. When the receiving crown is mounted, the central opening 34 and the fixing interface 36 of the upper crown portion 18 extend respectively opposite the central opening 22 and the fixing interface of the lower crown portion 16. More particularly, the fixing interface 36 comprises a lower face extending opposite the upper face of the fixing interface 24 of the lower crown portion 16. The fixing interface 36 comprises a plurality of pins 38 extending projecting from the lower face towards the upper face of the fixing interface 24 of the lower crown portion 16.The fixing interface 36 of the upper crown part 18 comprises as many pins 38 as there are orifices 26 in the fixing interface 24 of the lower crown part 16 and the pins 38 each have a shape substantially complementary to that of the orifices 26. Thus, the upper crown part 18 is fixed to the lower crown part 16 by inserting the pins 38 into the orifices 26. It is understood that, as a variant, the pins are provided in the fixing interface 24 of the lower crown part 16 and the orifices are provided in the fixing interface 36 of the upper crown part 18.
[0031] When the pins 38 are introduced into the orifices 26, a space is left free between the lower crown part 16 and the upper crown part 18, this space forming with the peripheral groove 20 the fixing zone of the arms 10, 12, as will be described later.
[0032] The support base 14 is mounted on the receiving crown, more particularly on the upper crown part 18. The support base 14 has for example the shape of a disc, with a central opening 40 extending opposite the central opening of the receiving crown. As indicated previously, the support base 14 is adapted to receive the tool 2. The connection between the support base 14 and the tool 2 can be made in any suitable manner.
[0033] According to one embodiment, in order to allow a suitable configuration of the fixing device 1 as will be described in more detail later, at least one force sensor 42 arranged to measure the load exerted by the tool 2 on the support base 14, as shown in [Fig. 5]. The force sensor 42 is interposed between the upper crown portion 18 and the support base 14 in order to measure the load exerted on the support base. The force sensor 42 is for example part of an electronic crown 44 interposed between the upper crown portion 18 and the support base 14 and comprising all the electronic components necessary for the operation and control of the support device 1. Thus, the electronic crown 44 comprises at least one control module receiving in particular the load measured by the force sensor 42 in order to determine the necessary configuration of the support device 1 and / or in order to check whether the configuration in which the support device 1 is located is suitable for the supported tool and / or for the surface 4 on which the support device 1 must be placed.
[0034] As indicated previously, the support device 1 can be placed in several configurations, in particular by the choice of the arm equipping the support device 1. Thus, in a first configuration, the or each fixing device 8 is fixed to the base 6 by a first arm 10 and, in a second configuration, the or each fixing device 8 is fixed to the base 6 by a second arm 12.
[0035] The first arm 10 and the second arm 12 each extend between a first end 46 and a second end 48.
[0036] The first end 46 comprises at least one first fixing element 50 reversible to the base 6. The first fixing element 50 is for example formed by an imprint having a shape substantially complementary to the space extending between two adjacent pins 38 of the receiving ring. Thus, the imprint comprises, for pins 38 having the shape of a cylinder of revolution, two notches in the shape of an arc of a circle extending on either side of the first end 46 and open in opposite directions. Each notch extends around a portion of the corresponding pin 38 so as to block the first end 46 between two adjacent pins 38, as is more particularly evident from [Fig. 4].In order to improve the attachment of the first arm 10 or the second arm 12 to the base 6, the first end 46 of each arm may further comprise a curved section 52 having a shape substantially complementary to a portion of the peripheral groove 20 of the lower crown portion 16. The curved section 52 extends into a portion of the peripheral groove 20 when the arm is mounted on the base 6 and locks the position of the arm, in particular preventing it from changing orientation relative to the base 6. Thus, when the first arm 10 or the second arm 12 is attached to the base 6, the latter extends in a radial direction substantially perpendicular to the axis of the receiving crown, as shown in Figs. 1 and 2.To fix an arm to the base 6, it is sufficient to position the arm on the lower crown part 16 between two holes 26 and by placing the curved section 52 in the peripheral groove 20 or to slide the first end 46 between two pins 38 of the upper crown part 18 and to fix the upper crown part 18 on the lower crown part 16. The arm is then fixed to the base 6 and oriented in the desired direction. It should be noted that the arm can be placed in several positions around the base. 6 by selecting the pair of pins 38 between which the first end 46 of the arm is placed. The arm can be removed from the base 6 simply by separating the lower crown portion 16 from the upper crown portion 18.
[0037] The second end 48 comprises at least one second reversible fixing element 54 of the fixing device 8 on the arm. The second fixing element 54 is for example formed by an orifice passing through the second end 48 arranged to receive a complementary fixing element provided on the fixing device 8, for example a fixing foot 56. A locking device, for example pneumatically actuated as will be described later, of the fixing foot 56 may further be provided around the orifice in order to block the fixing foot 56 in the orifice when the locking device is actuated and in order to release it when the locking device is deactivated.
[0038] It is understood that the first fixing element 50 and the second fixing element 54 are identical for the first arm 10 and the second arm 12 so that they can be used in the same way to be reversibly fixed on the base 6 and to reversibly receive a fixing device 8.
[0039] The difference between the first arm 10 and the second arm 12, and what determines the choice between the first configuration and the second configuration, is the length of these arms, measured between their first end 46 and their second end 48. Thus, the length of the second arm 12 is greater than the length of the first arm 10. In other words, when the fixing device 8 is fixed to the first arm 10 in the first configuration, the fixing device 8 is closer to the base 6 than when it is fixed to the second arm 12 in the second configuration. Thus, the choice of the first or second configuration makes it possible to place the fixing device 8 at the desired distance from the base 6, in particular depending on the load exerted by the tool 2 on the support device.Indeed, the greater this load, the more advantageous it is to place the fixing device 8 far from the base 6, in particular when several fixing devices 8 are provided, as will now be described. The choice of the first or second configuration can also be made as a function of the surface 4 of the object, in particular as a function of the space available on the surface 4 or to pass over an opening made in this surface 4 for example.
[0040] As indicated above, it is advantageous to provide several fixing devices 8 in order to ensure the fixing and stability of the support device 1 on the surface 4. Thus, between three and six fixing devices 8 can be fixed on the base 6 in different configurations of the support device 1 depending on the tool 2 carried by the support device 1 and / or depending on the surface 4 of the object on which the support device 1 is to be fixed. In other words, the device support 1 comprises a first set of several first arms 10 and a second set of several second arms 12, the fixing devices 8 being fixed to the base 6 by the first arms 10 of the first set in the first configuration and by the second arms 12 of the second set in the second configuration. The number of first arms 10 or second arms 12 is equal to the number of fixing devices 8 to be fixed to the base 6. Thus, the first set comprises between three and six first arms 10 and the second set comprises between three and six second arms 12.
[0041] Depending on the number of arms fixed to the base 6, there may remain spaces in the fixing zone of the receiving ring between two adjacent arms. In order to fill these spaces, shims 58 may be fixed on the base 6 between the adjacent arms, that is to say between the first arms 10 in the first configuration and between the second arms 12 in the second configuration. Each shim 58 is arranged to fill the space of the fixing zone extending between two adjacent pins 38, the number of shims between two adjacent arms thus depending on the number of pairs of adjacent pins 38 between these arms. Each shim 58 may be fixed to the base 6 in the same way as the arms. Thus, each shim 58 comprises a fixing element 60 formed by an imprint having a shape substantially complementary to the space extending between two adjacent pins 38 of the receiving ring.The wedge 58 may also further comprise a curved section 62 positioned in the peripheral groove 20. Thus, in all configurations of the support device 1 and regardless of the number of first arms 10 or second arms 12, no space in the fixing zone is left free, each space extending between two pins 38 being occupied by the fixing element 50 of a first arm in the first configuration or of a second arm 12 in the second configuration or by the fixing element 60 of a wedge 58.
[0042] It should be noted that in [Fig. 3], all the shims 58 have been shown as forming a crown. It is understood, however, that when the support device 1 is assembled, only the shims 58 necessary to fill the spaces between two adjacent arms are used, as shown in [Fig. 1]. Similarly, in Figs. 3 and 4, the first arms 10 and the second arms 12 have been shown, but it is understood that only the first arms 10 in the first configuration and only the second arms 12 in the second configuration are present when the support device 1 is assembled, as shown in Figs. 1 and 2.
[0043] Each fixing device 8 is also adjustable depending on the load exerted by the tool 2 on the support device 1 and / or the surface 4 of the object on which the support device 1 is to be fixed. Thus, in one configuration, each fixing device 8 may be a suction cup fixing device, as shown in [Fig.2], or, in another configuration, a magnetic fixing device, as shown in [Fig.l]. Several types of magnetic fixing devices can also be provided depending on the desired magnetic adhesion strength, for example by varying the number of magnets. Thus, magnetic fixing devices comprising one, two or three magnets can be provided for different configurations of the support device 1.
[0044] The fixing devices 8 may be pneumatically actuated, for example to create a vacuum between the suction cup and the surface of the object for the suction cup fixing device or to bring the magnet(s) closer to the surface 4 for the magnetic fixing device, in order to trigger the fixing of the support device 1 on the surface 4 of the object.
[0045] In this case, the support device 1 comprises a pneumatic circuit extending from the base 6 to the fixing device(s) 8 via the first arm(s) 10 in the first configuration or via the second arm(s) 12 in the second configuration. For this purpose, the first arms 10 of the first set and the second arms 12 of the second set each comprise at least one channel 64 for circulating a fluid. The base 6, the wedges 58 and the fixing devices 8 each comprise at least one complementary channel 66 forming the other parts of the pneumatic circuit, the channels 64 of the arms and the complementary channels 66 being in fluid communication with each other to form the pneumatic circuit and allow the circulation of a fluid from the base 6 to the fixing devices 8 when the support device 1 is assembled.The pneumatic circuit is supplied with fluid, for example compressed air, by a supply inlet 68 of the pneumatic circuit, for example provided on one of the wedges 58 and connected to a source of fluid (not shown). The pneumatic circuit is controlled by means of the control module of the electronic crown 44. The base 6 also comprises solenoid valves controlled by the control module in order to control the pneumatic circuit. The pneumatic circuit can also be used to control the locking device of the second fixing element 52 of the arms, as described previously. Each arm, the base, the fixing devices and the wedges can each comprise several channels, for example two channels, in order to form several pneumatic circuits, one being for example dedicated to the activation of the fixing of the support device 1 on the surface 4 and another being dedicated to its deactivation.
[0046] The operation of the support device 1, and in particular the choice of the configuration in which it must be placed, will now be described.
[0047] The choice of configuration is made for example by means of software in which the nature of the tool 2 and the load that it exerts on the support device 1 and the nature of the surface 4 of the object on which the support device 1 are entered are entered. must be placed. The software indicates, based on this information, the configuration of the support device 1 to be adopted. This choice is made in particular between the first configuration and the second configuration and between “sub” configurations of these first and second configurations, in which the number of first arms 10 or second arms 12, the nature and the number of fixing devices 8 are determined.
[0048] Thus, by way of example, for a light load and a magnetic surface 4, the first configuration is for example selected with three first arms 10 and three magnetic fixing devices with a single magnet. For a heavy load and a magnetic surface 4, the second configuration is for example selected with six second arms 12 and six magnetic fixing devices with three magnets. Between these two extremes, a plurality of configurations can be adopted by varying the number of arms and / or the type of fixing device 8. For non-magnetic surfaces, the fixing devices chosen are suction cup fixing devices.
[0049] The base 6, in particular the electronic crown 44, may further comprise several functional elements making it possible to ensure the proper functioning of the support device 1.
[0050] Thus, one or more tilt sensors may be provided to determine the position of the support device 1 and the tool 2 relative to the axis of gravity. Light-emitting diodes may be provided to be visible from outside the support device 1 in order to know the state of the support device 1, in particular whether the support device 1 is fixed or not on the surface 4, whether the locking devices of the fixing devices are in their locked or unlocked state, whether the support device 1 is in an overload state and must be reconfigured, etc. An audible alarm may also be provided in the event of a malfunction, for example in the event of an overload, a power supply fault or a risk of falling due to an incorrect tilt detected by the tilt sensor(s).A battery may also be provided to enable autonomous operation of the support device 1 and possibly of the tool 2 carried by it. For this purpose, the electronic crown 44 may also be electrically connected to the tool 2 by providing suitable connection elements. This connection may also make it possible to limit the movements of the tool depending on the load that the fixing device 1 can support according to the configuration in which it has been mounted.
[0051] The support device 1 described above can thus make it possible to fix a large number of tools 2 on different types of surface 4 with a limited number of components of the support device. The support device 1 can thus be easily adapted to a large number of situations without the need to provide a specific support device for each of these situations.
Claims
Claims
1. Modular support device (1) for a tool (2), comprising a base (6) and at least one fixing device (8) for fixing the support device on the surface (4) of an object, said fixing device (8) being reversibly fixed on the base (6), the support device further comprising at least a first arm (10) and a second arm (12) each extending between a first end (46), comprising at least a first fixing element (50) reversible to the base (6), and a second end (48), comprising at least a second fixing element (54) reversible to the fixing device (8), the first arm (10) and the second arm (12) having different lengths, measured between the first end (46) and the second end (48), the support device being configurable between at least a first configuration, in which the fixing device (8) is fixed to the base (6) by the first arm (10),and a second configuration, wherein the fixing device (8) is fixed to the base (6) by the second arm (12) such that the fixing device (8) extends a different distance from the base (6) between the first configuration and the second configuration.,
2. A support device according to claim 1, comprising a plurality of fixing devices (8), at least a first set of a plurality of first arms (10) and a second set of a plurality of second arms (12), the fixing devices (8) being fixed to the base (6) by the first arms (10) of the first set in the first configuration and by the second arms (12) of the second set in the second configuration.
3. Support device according to claim 2, in which the base (6) has a substantially cylindrical shape extending along an axis, the first arms (10), in the first configuration, and the second arms (12), in the second configuration, being distributed around the base (6) and extending substantially radially in a direction substantially perpendicular to the axis from the base (6).
4. Support device according to claim 2 or 3, comprising a plurality of wedges (58) reversibly fixed on the base (6), two adjacent arms (10, 12) of the first set fixed on the base in the first configuration or of the second set in the second configuration being separated by at least one wedge (58).
5. A support device according to any one of claims 1 to 4, wherein the base (6) comprises a lower crown portion (16) and an upper crown portion (18), the first end (46) of the first arm (10), in the first configuration, and of the second arm (12), in the second configuration, being fixed between the lower crown portion (16) and the upper crown portion (18).
6. A support device according to any one of claims 1 to 5, wherein the first arm (10) and the second arm (12) can be fixed in different positions on the base (6).
7. A support device according to any one of claims 1 to 6, wherein the base (6) comprises a tool support base (14) for receiving a tool (2) and at least one force sensor (42) arranged to measure the load exerted by the tool (2) on the support base (14), the support device being configured in the first configuration or in the second configuration depending on said load.
8. A support device according to any one of claims 1 to 7, wherein the first arm (10) and the second arm (12) each comprise at least one channel (64) forming a part of a pneumatic circuit, the base (6) and the fixing device (8) each comprising at least one complementary channel (66) forming another part of the pneumatic circuit, said channel (64) of the first arm (10), in the first configuration, and said channel (64) of the second arm (12), in the second configuration, being in fluid communication with the complementary channels (66) of the base (6) and of the fixing device (8) so as to form a pneumatic circuit going from the base (6) to the fixing device (8).
9. Support device according to any one of claims 1 to 8, comprising a plurality of fixing devices (8) generating an adhesion force on a different surface (4) of an object, each fixing device (8) comprising a fixing element complementary to the second fixing element (54) of the first arm (10) and of the second arm (12), the fixing device (8) fixed to the first arm (10), in the first configuration, or to the second arm (12), in the second configuration, being selected according to the nature of the surface (4) of the object on which the support device is fixed and / or according to the tool (2) carried by the support device.
10. A support device according to claim 9, wherein the fixing devices (8) comprise at least one fixing device to suction cup and at least one magnetic attachment device.