GRIPPING TOOL FOR MESH CONTAINER AND TRANSFER SYSTEM COMPRISING IT

Abstract

GRIPPING TOOL FOR MESH CONTAINER AND TRANSFER SYSTEM COMPRISING SAME The invention relates to a gripping tool (1) for mesh container comprising a frame (2) which carries a support assembly (3) defining a support plane and configured to be able to come into contact with a lower face of a bottom mesh of the container, characterized in that the gripping tool (1) further comprises a clamping assembly (4) carried by the frame (2) and comprising at least one pair (7G, 7D) of gripper members (70, 71) and an actuating mechanism (8) capable of moving the gripper members (70, 71) relative to each other so as to move, in use, the clamping assembly (4) between an inactive unlocking position in which the gripper members (70, 71) are spaced apart from each other so as to allow movement of a container relative to the support assembly (3) on which it rests,and an active locking position in which the clamping members (70, 71) are capable of clamping a wire or the like of the bottom mesh so as to allow the container to be held in position on the support assembly (3). The present invention also relates to a transfer system comprising a robotic arm carrying such a gripping tool (1). Figure to be published with the abstract: Figure 2.,

Description

Title of the invention: GRIPPING TOOL FOR MESH CONTAINER AND TRANSFER SYSTEM COMPRISING IT

[0001] The present invention relates to the field of gripping containers for the purpose of transferring them, in particular, gripping mesh containers for the purpose of unloading and loading them.

[0002] The present invention relates to a gripping tool for a mesh container and a transfer system comprising it.

[0003] A mesh container is understood to mean any container or receptacle having at least one bottom wall made of wire or largely openwork, in other words a bottom crossed by a plurality of openings or meshes, regardless of the material of said container. For example, such a container may be a metal tray having a bottom wall made of wire and a lateral peripheral wall made of wire.

[0004] The gripping tool and the transfer system according to the present invention are particularly, but not limited to, suitable for use in the poultry industry, and more particularly, for handling an egg tray. Such an egg tray, constructed of metal wire, generally comprises a mesh bottom on which the small end of each egg rests and a mesh support arranged above the bottom and connected to it. The bottom and the support are made of transverse and longitudinal wires. The mesh of the support has meshes of larger dimensions than those of the mesh of the bottom, thus allowing the passage of the eggs only through the meshes of the mesh support, and between which the eggs can be placed individually. The gripping tool according to the present invention could however be used with other configurations of egg trays, and generally of mesh containers.A plurality of egg trays are stored one above the other in a slide-out trolley, each tray resting on slides of the trolley.

[0005] Another field of application of the present invention is, among others, the field of bakery. Indeed, during their production, bakery, pastry or Viennese pastry products are often supported on a wire mesh support tray. Such a tray generally consists of a grid formed of a plurality of parallel metal wires. In a manner similar to egg crates, a plurality of support trays are stored one above the other in a slide trolley, each tray resting on slides of the trolley.

[0006] It is emphasized that the application of the present invention is also not limited to a particular type of content. In other words, the mesh container intended to be handled by the gripping tool and the transfer system according to the present invention could contain both fragile items, such as eggs, and any other item, whether or not fully received within the volume of the container.

[0007] Currently, the handling of such containers, particularly between a container storage area and a machine, is often done by hand. An operator manually picks up each of the containers and places them at a workstation or on a dedicated conveyor that moves the containers to the workstation.

[0008] However, such handling requires labor and results in wasted time. In addition, in the case where each container is placed directly by an operator at the workstation, such handling entails a risk of the containers falling on the route between the storage area and the workstation. In the case where each container is placed on a dedicated conveyor, such an installation has a significant footprint.

[0009] The handling of such containers can also be done in an automated manner, by a transfer system using a robot to load and unload the containers. Such a robot is equipped with a gripper arranged to come into contact with a container, grasp it, then move it to an unloading area and unload it.

[0010] Grippers comprising a set of suction cups are known. However, such grippers are not suitable for mesh containers.

[0011] Grippers are also known which are equipped with a means capable of gripping a container from below and are therefore suitable for wire mesh containers. For example, French patent FR2797507 describes a gripping and transport means fitted to a three-axis robot and comprising an elongated pallet. In practice, the elongated pallet is simply slid under the container to be gripped and then slightly lifts this container to move it between its storage area and a desired unloading area.

[0012] However, with such a gripper, the container being held on the pallet by its own weight only, there is a significant risk of the container falling when it is moved.

[0013] The applicant company therefore sought to propose an automated gripping solution, applicable to a mesh container as defined above which can be grasped from below and not grasped using suction cups, and making it possible to avoid any risk of the container falling when it is moved between its storage area and its unloading area, in particular in the event of a sudden shutdown of the system.

[0014] The present invention relates to a gripping tool intended to be mounted on a robotic arm and arranged for handling a mesh container comprising at least one bottom mesh made of wires or the like, a lower face of which is at least partially accessible, the gripping tool comprising a chassis which carries, on a first side thereof, a support assembly defining a support plane for a container and configured to be able to come into contact with a lower face of a bottom mesh and for supporting a container, characterized in that the gripping tool further comprises a clamping assembly carried by the frame, on the first side thereof, and comprising at least one pair of gripper members and an actuating mechanism capable of moving the gripper members relative to each other so as to move, in use, the clamping assembly between an inactive unlocking position in which the gripper members are spaced apart from each other so as to allow movement of a container relative to the support assembly on which it rests, and an active locking position in which the gripper members are capable of pinching a wire or the like of the bottom mesh so as to allow the container to be held in position on the support assembly.

[0015] Thus, a container resting on the support assembly is held in position on the support assembly, reliably, by simply moving the clamping assembly into the active locking position, in other words by a simple clamping action on the bottom mesh of the container. The clamping assembly according to the present invention therefore makes it possible to prevent movement relative to the support assembly of a container supported by said support assembly, and therefore to prevent the container from falling from the support assembly.

[0016] It will be easily understood that, in the case where the mesh container is provided with a largely perforated bottom, the clamp-forming members are arranged and configured so as to be capable, in the active locking position, of clamping a region of a part delimiting an opening or separating two openings of the bottom of a container resting on the support assembly.

[0017] In a particular embodiment, for the or each pair of clamping members, the two members are mounted to be movable in rotation only, relative to the frame, at the level of the support plane, around axes of rotation perpendicular to the support plane so that they are able to be brought closer to or moved away from each other by the actuating mechanism, in use, the bringing together of the clamping members bringing the clamping assembly into the active locking position in which the clamping members are able to clamp the wire on the frame side or the like of the bottom mesh resting on the support assembly, called the rearmost wire, and the member intended to come into contact against a face directed away from the frame of the rearmost wire, called the front member,is also mounted to be movable between a retracted position in which the front member is retracted under the support plane and an extended position in which the front member projects beyond the support plane.

[0018] The or each front member is therefore sized and configured to be able to pass through the bottom mesh, in other words to be able to pass from its retracted position to its extended position through a mesh or an opening in the bottom mesh.

[0019] It will be easily understood that, in the case where the mesh container is provided with a largely perforated bottom, the clamping members are arranged and configured so as to be capable, in the active locking position of the clamping assembly, of clamping a zone of the bottom located between the chassis-side edge, called the rear edge, and an opening adjacent to this rear edge of the bottom of a container resting on the support assembly, which zone is called the rearmost zone.

[0020] Preferably, for the or each pair of clamping members, the front member comprises at least one pawl-forming finger having a front stop-forming face, the or each finger being pivotally mounted about a pivot axis located in the plane of the support assembly and parallel to the plane of the front stop-forming face, and the or each finger being biased by a tension spring tending to hold it in the extended position in which the front stop-forming face is orthogonal to the support plane, the or each finger further has an inclined face which is inclined away from the support plane and directed away from the chassis when the finger is in the extended position, such that the finger is able to pivot about the pivot axis against the spring towards its retracted position when a container moves towards the chassis and passes over the finger.

[0021] Preferably, for the or each pair of clamp-forming members, the member intended to come into contact against a face directed towards the chassis of the rearmost wire, called the rear member, comprises a face forming a rear stop which extends in a plane perpendicular to the support plane and beyond the support plane.

[0022] Advantageously, for the or each pair of clamping members, the rear member also comprises a top stop face which projects beyond the rear stop face and extends, in use, in a plane disposed above the support plane and above a plane containing the upper end of the opposite member.

[0023] Thus, a mesh container resting horizontally on the support assembly and coming into contact with the rear member of the or each pair of members forming a clamp is blocked vertically on the one hand by the support assembly and on the other hand by the or each face forming a high stop.

[0024] Preferably, the face forming the rear stop is a flat face and the face forming the top stop is a flat face forming an angle of between 90 and 135 degrees with the face forming the rear stop.

[0025] Alternatively, the or each rear member could comprise a concave face complementary to the convex shape of a wire intended to be clamped by the pair of members forming a clamp, which concave face serves both as a rear stop and as a top stop.

[0026] It will be understood that the face forming a rear stop or any other face serving as a rear stop makes it possible to reference the positioning of a mesh container coming into contact with the rear member, despite dispersions in the positioning of such a container on the trolley on which it is stored, and therefore to facilitate the removal of this container, particularly in a machine.

[0027] Advantageously, the or each rear member further comprises a face forming a low stop extending from the face forming a rear stop, the face forming a high stop and the face forming a low stop being arranged symmetrically with respect to the plane of the support assembly, and the or each front member comprises two pawl-forming fingers mounted around the same pivot axis and arranged symmetrically with respect to each other with respect to the plane of the support assembly. Thus, in the event of the gripping tool being turned 180 degrees, the roles of the face forming a high stop and the face forming a low stop can be reversed and the face forming a front stop of one or other of the two fingers is used.

[0028] Preferably, the clamping assembly comprises two pairs of clamp members, the two pairs being spaced apart from each other along the frame.

[0029] In a particular embodiment, the actuating mechanism comprises, for each member, a lever supporting the member and mounted to rotate, the lever supporting the member of the or one of the pairs intended to come into contact against the face directed towards the chassis of the rearmost wire, called the rear member, being connected to a first axis of rotation and the lever supporting the other member, called the front member, of said pair being connected to a second axis of rotation, in the case of two pairs of members forming a clamp, the lever supporting the front member of the other pair being integral in rotation with the lever connected to said first axis of rotation and the lever supporting the rear member of said other pair being integral in rotation with the lever connected to said second axis of rotation, the two axes of rotation being coupled to each other by two pinions each mounted around an axis of rotation and meshing with each other,the actuating mechanism further comprising a linear actuator whose direction of action is perpendicular to the axes of rotation, the linear actuator being connected on the one hand to the frame and on the other hand to one of the levers.

[0030] Thus, a single linear actuator makes it possible to drive in rotation in a synchronized manner all of the members of the pair or pairs of members forming a clamp.

[0031] In a particular embodiment, the linear actuator is a cylinder, in particular a double-acting cylinder.

[0032] Alternatively, the actuator of the actuating mechanism could be a non-linear actuator.

[0033] Each lever supporting a front member may be a cranked lever having an opening facing the rear member of the same pair.

[0034] Advantageously, the support assembly comprises at least two support arms secured to the chassis, parallel to each other and arranged on either side of the clamping assembly. In other words, the clamping assembly is arranged between the two support arms support.

[0035] Advantageously, each support arm can be extended by an extension removably fixed to the free end of the arm and in the longitudinal extension thereof, the face of the extension intended to be turned, in use, towards the container, being at the level of the support plane. These extensions make it possible to adapt to mesh containers of different dimensions, in particular different widths.

[0036] Alternatively, each support arm could be a telescopic arm.

[0037] In addition, an extension forming an angle less than 90 degrees with the longitudinal axis of each support arm may be fixed to a side of the frame adjacent to the support assembly side, which extension extends in the plane of the support arms so as to be able to cooperate, in use, with the underside of a bottom mesh resting on the support arms. This extension may be in the form of a cylindrical bar. This extension makes it possible to adapt to mesh containers of different dimensions, in particular different lengths.

[0038] In a particular embodiment, the gripping tool further comprises a detection unit carried by the chassis and arranged to detect a container located on the support assembly side of the chassis, the detection unit preferably comprising a camera provided with a lens and a lighting source, the optical axis of the lens being located in the plane of the support assembly.

[0039] Thus, the camera can, for example, detect the presence of a container stored on a trolley and also identify the position of this stored container. The lighting source makes it easier to detect the container by illuminating it.

[0040] Preferably, the illumination source is configured to provide peripheral illumination around the camera lens, for example in the form of an illumination ring.

[0041] The present invention also relates to a system for transferring a mesh container or the like comprising at least one bottom mesh made of wires or the like, a lower face of which is at least partially accessible, which system is characterized by the fact that it comprises a robotic arm carrying a gripping tool as defined above, the robotic arm being capable of moving the gripping tool in the three dimensions of space.

[0042] Preferably, the gripping tool is connected to the robotic arm via a pivoting base configured to allow the gripping tool to be turned 180 degrees.

[0043] To better illustrate the object of the present invention, a particular embodiment thereof will be described below, with reference to the attached drawings. In these drawings:

[0044] [Fig. 1] is a perspective view of an example of a mesh container that the tool gripper according to the present invention is capable of manipulating;

[0045] [Fig.2] is a front perspective view of the gripping tool according to the present invention;

[0046] [Fig.3] is a top view of the gripping tool of [Fig.2];

[0047] [Fig.4] is a side view of the support assembly of the gripping tool of [Fig.2];

[0048] [Fig.5] is a top view of the clamping assembly alone of the gripping tool of [Fig.2], which clamping assembly is in the inactive unlocking position;

[0049] [Fig.6] is a front perspective view of the clamping assembly of [Fig.5];

[0050] [Fig.7] is a top view, in section at the level of the median plane of the assembly support, showing a pair of clamp-forming members in active locking position;

[0051] [Fig.8] is a front perspective view of one of a pair of organs forming a clamp, called the rear member, of the clamping assembly of [Fig.5];

[0052] [Fig.9] is a perspective view of the other of a pair of organs forming a clamp, called the front member, of the clamping assembly of [Fig.5], which front member is in the extended position;

[0053] [Fig. 10] is a view in use of the gripping tool of [Fig. 3], an egg tray similar to that of [Fig. 1] being supported by the support assembly but not being locked in position thereon by the clamping assembly; and

[0054] [Fig.11] is a view in use of the gripping tool of [Fig.10], the clamping assembly being in the active locking position, only the pinched rear region of a bottom of a mesh container being shown for clarity.

[0055] In the description which follows, the terms “front” and “rear” are to be considered in relation to the direction of advancement of a gripping tool 1 equipping a transfer system according to the invention and moved towards a mesh container C to be handled.

[0056] Furthermore, in the description which follows, the terms “left” and “right”, “high” and “low”, “upper” and “lower” are used with reference to the orientation of the gripping tool 1 in use as shown in the Figures and considering a horizontal support plane, it is understood that depending on the orientation of the gripping tool 1 these terms can be interchanged.

[0057] The gripping tool 1 according to the present invention is intended to be mounted on a robotic arm (not shown) and arranged for handling a mesh container C comprising at least one bottom mesh C0 made of wires or the like.

[0058] As can be seen in [Fig.l], such a wire mesh container C could be an egg tray type container. Such an egg tray is a receptacle made of metal wire or plastic wire and intended to contain a plurality of eggs. This tray C comprises a bottom mesh C0 intended to support the eggs. This bottom mesh C0 is delimited by a rectangular frame between which extend a plurality of transverse and longitudinal wires. This crate C also comprises a mesh support Cl arranged above the bottom mesh CO, at a certain distance from the latter, the rectangular frame of which is superimposable with the frame of the bottom mesh CO and comprising a plurality of transverse and longitudinal wires extending in the plane of the frame. The distance between the bottom mesh CO and the mesh support Cl is such that the eggs supported by the bottom mesh CO protrude above the mesh support Cl. The bottom mesh CO and the mesh support Cl are connected to each other by V-shaped wires welded to each of the two frames as well as by V-shaped wires formed in one of the longitudinal wires of the bottom mesh CO and welded to a longitudinal wire of the mesh support CL. The meshes delimited by the longitudinal and transverse wires of the mesh support Cl have dimensions greater than those of the bottom mesh CO.These meshes are sized to accommodate each egg individually. Typically, such an egg tray C is stored on a slide-mounted trolley (not shown), with the underside of the transverse end regions of the bottom mesh CO resting on slides of the trolley. Thus, in the stored state, the egg tray C is accessible from below, at least in its region between the two transverse end regions.

[0059] Referring to Figures 2 to 4 and 10 and 11, it can be seen that the gripping tool 1 according to the preferred embodiment of the present invention comprises a frame 2, a support assembly 3, a clamping assembly 4 and a detection unit 5.

[0060] The chassis 2 carries the support assembly 3, the clamping assembly 4 and the detection unit 5 and is intended to be connected to a robotic arm.

[0061] This chassis 2 comprises, on a first side thereof, a front wall 20, and on a second side thereof, opposite the first side, a rear wall 21, two side walls 22 connecting the front wall 20 and rear wall 21 together at their ends, an upper wall 23 and a lower wall 24 opposite the upper wall 23. One of the two side walls 22 is intended to be connected to a robotic arm, in particular the side wall 22 on the detection unit 5 side. As indicated previously, the so-called upper wall 23 could be located below the so-called lower wall 24 in the event of a 180-degree turn of the gripping tool 1. The rear wall 21 is a flat wall which supports a portion of the feed passage 6 on its outer face directed away from the front wall 20.The feed passage portion 6 may comprise an angle iron 60 fixed by screwing to the rear wall 21 and a pivoting base 61 secured to the angle iron 60 and capable of allowing the passage of a robot beam, in other words of the set of cables and / or pipes ensuring the control and the supply of the gripping tool 1. The pivoting base 61 is configured to allow a 180 degree turn of the gripping tool 1. The front wall 20 may comprise several planar wall sections, including a first section extending . parallel to the rear wall 21 and a second section forming an angle with the rear wall 21. Several spacers 25 may extend between the inner face of the front wall 20 and the inner face of the rear wall 21, which inner faces are directed towards each other. The front wall 20 has cutouts at the level of the support assembly 3, the clamping assembly 4 and the detection unit 5.

[0062] The support assembly 3 is intended to support a mesh container C from below.

[0063] In the embodiment shown, the support assembly 3 comprises two support arms 30 which are fixedly connected to the chassis 2. Each support arm 30 is in the form of an openwork rectangular plate having a free front longitudinal end and a rear longitudinal end fixed to the chassis 2. An extension 31, in the form of a solid plate of the same width and height as the arm 30, can be fixed to the front end of each arm 30. The rear end of each arm 30 is fixed, in particular by screwing, to the rear wall 21 of the chassis 2. Thus, each arm 30 passes through a cutout made in the front wall 20 of the chassis 2. Each arm 30 is further fixed at the front wall 20 of the chassis 2 by means of fixing plates screwed on the one hand to the front wall 20 and on the other hand to the arm 30.The two arms 30 are spaced apart from each other by a certain desired distance. For example, one of the arms 30 is arranged at the end of the second section of the front wall 20 opposite the end on the first section side and the other arm 30 is arranged at the first section. The two support arms 30 extend in the same plane, so that their upper or lower support faces, intended to cooperate with a container C to be handled, define a support plane. This support plane is perpendicular to the planes of the front 20 and rear 21 walls and is intended to be horizontal when moving a container C supported by the support assembly 3. The front end edges of the two arms 30 are arranged in the same plane which is perpendicular to the support plane.

[0064] Alternatively, it would be possible to provide support arms movable between a retracted position and a deployed position in which the support arms define a support plane.

[0065] The clamping assembly 4 is capable of retaining, by clamping, a container C supported by the support assembly 3 so as to maintain it in position relative to the support assembly 3 in a simple and reliable manner.

[0066] In the embodiment shown, the clamping assembly 4 comprises two pairs 7G, ​​7D of clamping members 70, 71 and an actuating mechanism 8 for these pairs 7G, ​​7D of clamping members 70, 71. It should be emphasized that the number of pairs is not limited to two, so that the clamping assembly 4 could comprise a single pair of clamping members, for example arranged at an equal distance from each support arm 30, or more than two pairs of clamping members.

[0067] As can be seen in Figures 5 to 7, each pair 7G, 7D of clamping members 70, 71 comprises a rear member 70 and a front member 71 mounted so as to be able to be brought closer to or moved away from each other. The rear members 70 and front members 71 are arranged and configured to each come into contact with a face of the frame-side peripheral wire F of the bottom mesh C0 of a container C supported by the support assembly 3, in particular with a face of the wire F forming the frame of the bottom mesh C0 and positioned on the frame side 2, called the extreme rear wire, in the case of a tray C for eggs as shown in [Fig. 1].

[0068] If we refer more particularly to [Fig.8], we can see that each rear member 70 is in the form of a block, in a single piece, having a face forming a rear stop 70a, a face forming a top stop 70b and a face forming a bottom stop 70c, which faces are oriented on the same side of the block, called the front side AV. The face forming a rear stop 70a is a flat rectangular face extending in a plane orthogonal to the support plane. The face forming a rear stop 70a projects on either side of the support plane. Thus, if we consider a support plane placed horizontally, the face forming a rear stop 70a projects above the support plane and below the support plane. In other words, if we consider a container C supported horizontally by the support arms 3, the face forming a rear stop 70a is capable of preventing movement of the container C in this horizontal support plane and in the direction of the chassis 2.The rear stop face 70a is delimited in the upper part by the top stop face 70b and in the lower part by the bottom stop face 70c. These faces are flat faces facing each other on either side of the support plane and form an angle slightly greater than 90 degrees with the rear stop face 70a. In particular, these faces are inclined away from the support plane. The faces forming the upper stop 70b and the lower stop 70c are arranged symmetrically with respect to the plane of the support arms 30. Thus, if we consider a support plane placed horizontally, the face forming the upper stop 70b, which is the face which is located above the support plane in the Figures representing the tool 1 in a given orientation, is capable of preventing a movement of a container C supported horizontally by the support arms 30 in a vertical direction and away from the support arms 30.As indicated previously, depending on the orientation of the tool 1, the face forming a lower stop 70c can become the face which is above the support plane, namely the face serving as a high stop in the event of a 180-degree turn of the tool 1, and therefore become the face capable of preventing movement of the container C in a vertical direction and away from the support arms 30. In other words, depending on the orientation of the tool 1, one or the other of the face forming a high stop 70b and the face forming a lower stop 70c is capable of forming a vertical stop, the container C being blocked vertically between the face serving as a stop. high and support arms 3.

[0069] Referring now to [Fig.9], it can be seen that each front member 71 comprises two pawl fingers 710. Each finger 710 comprises a stop portion having a front stop face 710a and an inclined face 710b connected to each other and forming an angle of approximately 45 degrees between them. This stop portion is carried by a mounting portion. The mounting portion comprises, at its end opposite the stop portion, a hook to which one end of a tension spring 711 is connected. The other end of the spring 711 is connected to a finger support 712 located opposite the front stop face 710a. The mounting portion also comprises a through hole arranged between the hook and the stop portion. A pivot axis is received in the orifice of each of the two fingers 710, which orifices are coaxial, and is supported by two bearings integral with the finger support 712 and extending on either side of the fingers 710.The pivot axis extends in the plane of the support arms 30. Thus, the two fingers 710 are able to pivot about the pivot axis. More precisely, under the action of the tension springs 711, the two fingers 710 are placed in an extended position, in which the front stop-forming faces 710a of the two fingers 710 extend in the same plane which is orthogonal to the support plane and parallel to the plane of the rear stop-forming face 70a, one of the fingers 710 projecting on one side of the support plane and the other finger 710 projecting on the other side of the support plane. Thus, in the extended position, the front stop-forming faces 710a of a front member 71 are in a plane parallel to the plane of the rear stop-forming face 70a of a rear member 70 of the same pair.When a container C slides on the support arms 30, towards the face forming a rear stop 70a, it passes over the inclined face 710b of the finger 710 projecting beyond the support plane, therefore projecting above the support arms 30 considering horizontal support arms 30. The force applied by the container C on the inclined face 710b then opposes the force of the spring 711 and causes said finger 710 to pivot around the pivot axis towards a retracted position. In this retracted position, said finger 710 of each pair of members 7G, ​​7D disappears below the support plane, in particular at the level of the thickness of the support arms 30.

[0070] Each pair of clamping members 7G, ​​7D is arranged in the vicinity of one of the support arms 30, the two pairs 7G, ​​7D being mounted between the two support arms 30. In other words, each rear member 70 is arranged in the space located between a support arm 30, the front wall 20 of the chassis 2 and the associated front member 71. For each pair 7G, 7D, the maximum spacing between the front member 71 and the rear member 70 of the same pair is limited by an indexing stop 32 secured to the associated support arm 30. This indexing stop 32 extends in the plane of the support arm 30 and has a surface oriented towards the chassis 2 capable of cooperating with the support of fingers 712. Upper and lower guides 33 can be fixed on either side of each indexing stop 32 so that the finger support 712 can be received between these guides 33. The two indexing stops 32 are arranged at an equal distance from the front side end AV of each support arm 30.

[0071] The presence, on each rear member 70, of a face forming a top stop 70b and a face forming a bottom stop 70c arranged on either side of the face forming a rear stop 70a and projecting on either side of the plane of the support arms 30, as well as the presence, on each front member 71, of two surfaces forming a front stop 710a each projecting on one side of the plane of the support arms 30 in the extended position of the fingers 710, makes it possible to grasp and move a container C by orienting the gripping tool 1 both with the upper wall 23 of the chassis 2 directed upwards and with the lower wall 24 of the chassis 2 directed upwards, the chassis 2 being able to pivot around its connection to the robotic arm at its side wall 22. In other words, a pair of gripper members 7G, ​​7D can constitute both a left pair and a right pair depending on the orientation of the gripping tool 1.Similarly, a face located in a high position in a first orientation of tool 1 can be found in a low position in a second orientation of tool 1, and vice versa.

[0072] As can be seen in Figures 5 to 7, the actuating mechanism 8 of the two pairs of gripper members 7G, ​​7D comprises a single linear actuator 80, levers 81G, 81D, 82G, 82D, two rotation axes 83G, 83D and a pinion gear 85G, 85D.

[0073] Each rear member 70 and each front member 71 is carried by a lever. The levers 81G, 81D, 82G, 82D therefore comprise two rear levers 81G, 81D secured to the rear side AR of the block of each rear member 70 and two front levers 82G, 82D secured to the finger support 712 of each front member 71. Each front lever 82G, 82D is secured, at its end opposite that carrying the associated member 71, to the rear lever 81D, 81G of the other pair of members. The four levers 81G, 81D, 82G, 82D extend in planes which are parallel to each other. Each front lever 82G, 82D is an elbow lever having an elbow whose concavity is turned towards the associated rear lever 81D, 81G and whose two branches form an angle greater than 90 degrees between them. Each rear lever 81G, 81D is an elbow lever having two elbows, a first elbow at the level of the axes of rotation 83G, 83D and a second elbow between the first elbow and the rear member 70.The concavity of the first elbow is turned towards the front member 71 and the branches of this first elbow are oriented so as to bypass the right axis of rotation 83D. The concavity of the second elbow is turned towards the rear AR, the two branches of the second elbow forming between them an angle greater than 90 degrees.

[0074] Each of the two rear levers 81G, 81D comprises a through hole, with an axis orthogonal to the plane of the lever, at its end opposite the rear member 70. A rotation axis 83G, 83D is received in each of these holes, so that each rear lever 81G, 81D is integral in movement with a rotation axis 83G, 83D. The two rotation axes 83G, 83D are carried by the chassis 2 by means of two support plates 84, namely a lower plate and an upper plate, fixed to the outer face of the front wall 20 of the chassis 2 and extending parallel to each other on the support assembly 3 side of the chassis 2. The ends of the rotation axes 83G, 83D pass through these plates 84 and are connected to these plates 84 by means of washers and nuts, ball bearings being mounted between each rotation axis 83G, 83D and the associated orifice of each plate.Thus, the two rotation axes 83G, 83D are mounted to be mobile in rotation around their axes which are parallel to each other and perpendicular to the support plane.

[0075] Referring more particularly to [Fig.6], it can be seen that a first pinion 85G is mounted around a first of the rotation axes, called the left rotation axis 83G. This first pinion 85G is arranged between the lower support plate 84 and the rear lever 81D of one of the pairs of gripper members, called the right pair 7D. A second pinion 85D is mounted around a second of the rotation axes, called the right rotation axis 83D. This second pinion 85D is arranged between the upper support plate 84 and the rear lever 81G of the other pair of gripper members, called the left pair 7G. The first and second pinions 85G, 85D mesh with each other.

[0076] The single linear actuator 80 is a jack whose body 80a is received inside the chassis 2 and whose rod 80b projects beyond the front wall 20 of the chassis 2. This jack 80 is articulated between the chassis 2 and one of the rear levers 81G, 81D. In particular, the body 80a of the jack 80 is connected to the inner face of the rear wall 21 of the chassis 2 and the rod 80b is connected to the rear lever 81G of the left pair of gripper members 7G.

[0077] Thus, due to the configuration of the levers 81G, 81D, 82G, 82D and the connection between the rear lever 81G, 81D of one pair and the front lever 82G, 82D of the other pair, an extension of the rod 80b of the jack 80 causes a movement of the left rear lever 81G and therefore of the rear member 70 of the left pair 7G in the direction of the front member 71 of the left pair 7G, as well as a movement of the right front lever 82D, secured to the left rear lever 81G, in the direction of the rear member 70 of the right pair 7D. Simultaneously, due to the gearing 85G, 85D mounted on the rotation axes 83G, 83D and the connection of each rear lever 81G, 81D with one of the rotation axes 83G, 83D, the rotation of the right rotation axis 83D in a first direction of rotation, under the effect of the movement of the left rear lever 81 G, causes the rotation of the left rotation axis 83G in a second direction of rotation, opposite to the first direction of rotation. This rotation of the left rotation axis 83G in turn causes a movement of the right rear lever 81D secured to it in the direction of the front member 71 of the right pair 7D, as well as a movement of the left front lever 82G, secured to the right rear lever 81D, in the direction of the rear member 70 of the left pair 7G. In other words, an extension of the rod 80b of the jack 80 causes a rapprochement between the clamp-forming members 70, 71 of the two pairs 7G, ​​7D in a simultaneous and identical manner. The stroke of the cylinder 80 is adjusted so that the bringing together of the clamping members 70, 71 allows the container C to be clamped, in particular the rearmost wire F of the bottom mesh C0 of the container C, between the clamping members 70, 71. Such bringing together for clamping purposes is called the active locking position (Figures 7 and H).

[0078] Conversely, a retraction of the rod 80b of the jack 80 causes a separation between the clamp-forming members 70, 71 of the two pairs 7G, ​​7D simultaneously and identically, until the front members 71 come into abutment against their indexing stop 32, as visible in Figures 2 and 3. This position of the clamp-forming members 70, 71, in which the front 71 and rear 70 members of each pair 7G, 7D do not allow the clamping of a wire F of the container C is called the inactive unlocking position.

[0079] The detection unit 5 allows the determination of the position of the container C to be handled, in particular the position of the lower face of this container C. The detection unit 5 comprises a camera 50 and a lighting source 51.

[0080] As can be seen in [Fig. 3], the camera 50 is mounted in the interior space of the chassis 2, in the vicinity of one of the side walls 22. In particular, the camera 50 is fixed to the front of a camera support plate fixed to the inner faces of the rear wall 21 and the left side wall 22. The camera 50 is directed towards the space located at the front AV of the front wall 20 of the chassis 2, therefore, during use, in the direction of a container C to be handled. As can be seen in [Fig. 4], the optical axis A0 of the lens of the camera 50 lies in the plane of the support arms 30 and extends substantially parallel to the longitudinal axis of each support arm 30. The lighting source 51 is integral with the camera support plate. The lighting source 51 is arranged around the lens of the camera 50.

[0081] Concerning the dimensions of the gripping tool 1, these are linked to the dimensions of the containers C which will be handled. By way of non-limiting example, in the case where the gripping tool 1 is intended to handle containers C having a length strictly greater than 510 mm, the gripping tool 1 could have the following dimensions: a maximum depth (between the free end of a support arm 30 and the feed passage part 6) of 549 mm, a length of 782 mm, a maximum height of 184 mm, with a chassis 2 having a maximum depth (between the support arm 30 side of the chassis 2 and the opposite side thereof) of 115 mm, and with a support assembly 3 having a distance between the two support arms 30 of 370 mm and a width of each support arm 30 of 70 mm. It is understood that these dimensions could be reduced or increased.

[0082] In use, the gripping tool 1 is carried by a robotic arm of a transfer system, which robotic arm, well known per se, is capable of moving the gripping tool 1 in the three dimensions of space. The gripping tool 1 is also capable of being pivoted relative to the robotic arm, so that the support plane is defined by one or other of the support faces of the support arms 30. The gripping tool 1 is implemented according to a method as described below in order to transfer a mesh container C from a first area, for example a storage area, such as a slide trolley on which one or more containers C are stored, to a second, desired receiving area.

[0083] The method according to the invention comprises a first step of determining the position of the container C to be handled, a second step of positioning the gripping tool 1 relative to the lower face of the bottom grid C0 of the container C to be handled, a third step comprising ensuring the support of the container C by the support assembly 3 ([Fig. 10]), and a fourth step comprising ensuring the holding in position of the container C on the support assembly 3 using the clamping assembly 4 ([Fig. 11]).

[0084] More precisely, during the first step, in the case where the position of the container C is not known in advance, the detection unit 5 is used, in a manner known per se and which is therefore not necessary to describe here in detail, to determine the position of the container C.

[0085] During the second step, once the position of the container C has been determined, the gripping tool 1 is positioned relative to the detected container C, using the robotic arm, such that support faces of the two support arms 30 are opposite the accessible lower face of the bottom grid C0 of the container C to be gripped. At this step, the clamping assembly 4 is in the inactive unlocking position.

[0086] During the third step, as can be seen in [Fig. 10], the support arms 30 are moved, by movement of the robotic arm, under the bottom mesh C0 so as to slide the container C on the support arms 30 until the container C rests on the two support arms 30 with the rearmost wire F of the bottom mesh C0 interposed between the rear member 70 and the front member 71 of each of the two pairs of gripper members 7G, ​​7D. During the movement of the container C along the support arms 30 towards the front wall 20 of the chassis 2, for each pair 7G, 7D of gripper members 70, 71, the finger 710 which is located initially in the extended position above the support plane is pushed towards its retracted position by the application of the weight of the container C against the inclined face 710b of the finger 710 during the passage of the rearmost wire F over said inclined face 710b. Once the rearmost wire F of the container C is interposed between the front stop forming face 710a of said finger 710 and the rear stop forming face 70a of the associated rear member 70, the finger 710 returns to the extended position under the effect of the spring 711, thus preventing any movement of the container C towards the front AV. In other words, the rearmost wire F is located between the pairs 7G, ​​7D of clamping members 70, 71.

[0087] Then, during the fourth step, as can be seen in [Fig.l 1], the jack 80 is actuated so that the gripper members 70, 71 of each pair 7G, 7D are moved towards each other until they clamp the rearmost wire F between the rear stop face 70a of the rear member 70 and the front stop face 710a of the associated front member 71. In this active blocking position of the clamping assembly 4, the container C rests on the support arms 30 and the wire F of the bottom mesh C0 clamped by the clamping members 70, 71 is blocked between the support arms 30, the face forming the top stop 70b of the rear members 70, the face forming the rear stop 70a of the rear members 70 and the face forming the front stop 710a of the front members 71. Thus, considering a horizontal support plane, the container C is blocked both vertically and horizontally.The transfer of container C between the two zones can therefore be carried out safely.

[0088] It is easily understood that the placement of the container C in the desired receiving area is just as simple, since it is sufficient to place the container C on a suitable support in the desired receiving area, then to move the clamping assembly 4 to its inactive unlocking position by retracting the rod 80b of the jack 80, and finally to move the arms 30 vertically downwards so as to disengage them from the container C and thus prevent the fingers 710 from opposing the movement of withdrawal of the arms 30 from the receiving area. Once the container C has been placed in the desired receiving area, the gripping tool 1 can be positioned again in the storage area, for handling another container C.

[0089] It is understood that the particular embodiment which has just been described has been given for informational purposes and is not limiting, and that modifications may be made without departing from the scope of the present invention.

Claims

1.

2. Claims Gripping tool (1) intended to be mounted on a robotic arm and arranged for handling a mesh container (C) comprising at least one bottom mesh (CO) made of wires or the like, a lower face of which is at least partially accessible, the gripping tool (1) comprising a chassis (2) which carries, on a first side thereof, a support assembly (3) defining a support plane for a container (C) and configured to be able to come into contact with a lower face of a bottom mesh (CO) and to support a container (C), characterized in that the gripping tool (1) further comprises a clamping assembly (4) carried by the chassis (2), on the first side thereof, and comprising at least one pair (7G, 7D) of gripper members (70, 71) and an actuating mechanism (8) capable of moving the gripper members (70, 71) relative to each other so as to move, in use,the clamping assembly (4) between an inactive unlocking position in which the clamping members (70, 71) are spaced apart from each other so as to allow movement of a container (C) relative to the support assembly (3) on which it rests, and an active locking position in which the clamping members (70, 71) are capable of clamping a wire (F) or the like of the bottom mesh (CO) so as to allow the container (C) to be held in position on the support assembly (3)., Gripping tool (1) according to claim 1, characterized in that, for the or each pair (7G, 7D) of gripper members (70, 71), the two members (70, 71) are mounted to be movable in rotation only, relative to the frame (2), at the level of the support plane, around axes of rotation (83G, 83D) perpendicular to the support plane so that they are able to be brought closer to or moved away from each other by the actuating mechanism (8), in use, the bringing together of the gripper members (70, 71) bringing the clamping assembly (4) into the active locking position in which the gripper members (70, 71) are able to pinch the wire (F) on the frame (2) side or the like of the bottom mesh (C0) resting on the support assembly (3), called the rearmost wire (F), and the member (71) intended to come into contact against a face directed away from the chassis (2) of the rearmost wire (F), called the front member (71),is also mounted movably between a retracted position in which the front member (71) is retracted under the, support plane and an extended position in which the front member (71) projects beyond the support plane.

3. Gripping tool (1) according to claim 2, characterized in that, for the or each pair (7G, 7D) of gripper members (70, 71), the front member (71) comprises at least one pawl-forming finger (710) having a front stop-forming face (710a), the or each finger (710) being pivotally mounted about a pivot axis located in the plane of the support assembly (3) and parallel to the plane of the front stop-forming face (710a), and the or each finger (710) being biased by a tension spring (711) tending to hold it in the extended position in which the front stop-forming face (710a) is orthogonal to the support plane, the or each finger (710) further has an inclined face (710b) which is inclined away from the support plane and directed away from the chassis (2) when the finger (710) is in the extended position,such that the finger (710) is able to pivot about the pivot axis against the spring (711) towards its retracted position when a container (C) moves towards the frame (2) and passes over the finger (710).,

4. Gripping tool (1) according to any one of claims 2 and 3, characterized in that, for the or each pair (7G, 7D) of gripper-forming members (70, 71), the member (70) intended to come into contact against a face directed towards the frame (2) of the rearmost wire (F), called rear member (70), comprises a face forming a rear stop (70a) which extends in a plane perpendicular to the support plane and beyond the support plane.

5. A gripping tool (1) according to claim 4, characterized in that, for the or each pair (7G, 7D) of gripper members (70, 71), the rear member (70) also comprises a top stop face (70b) which projects beyond the rear stop face (70a) and extends, in use, in a plane disposed above the support plane and above a plane containing the upper end of the opposite member (71).

6. Gripping tool (1) according to any one of claims 1 to 5, characterized in that the clamping assembly (4) comprises two pairs (7G, 7D) of gripper members (70, 71), the two pairs (7G, 7D) being spaced from each other along the frame (2).

7. Gripping tool (1) according to claim 2, characterized in that the actuating mechanism (8) comprises, for each member (70, 71), a lever (81G, 81D, 82G, 82D) supporting the member (70, 71) andmounted to rotate, the lever (81G; 81D) supporting the member (70) of the or one of the pairs (7G, 7D) intended to come into contact against the face directed towards the chassis (2) of the rearmost wire (F), called the rear member (70), being connected to a first axis of rotation (83G; 83D) and the lever (82G; 82D) supporting the other member (71), called the front member (71), of said pair being connected to a second axis of rotation (83G; 83D), in the case of two pairs (7G, 7D) of members forming a clamp (70, 71), the lever (82G; 82D) supporting the front member (71) of the other pair being integral in rotation with the lever (81G; 81D) connected to said first axis of rotation (83G; 83D) and the lever (81G; 81D) supporting the rear member (70) of said other pair being rotationally integral with the lever (82G; 82D) connected to said second rotation axis (83G;83D), the two rotation axes (83G, 83D) being coupled to each other by two pinions (85G, 85D) each mounted around an axis of rotation (83G, 83D) and meshing with each other, the actuating mechanism (8) further comprising a linear actuator (80) whose direction of action is perpendicular to the rotation axes (83G, 83D), the linear actuator being connected on the one hand to the frame (2) and on the other hand to one of the levers (81G, 81D, 82G, 82D).;

8. Gripping tool (1) according to any one of claims 1 to 7, characterized in that the support assembly (3) comprises at least two support arms (30) secured to the frame (2), parallel to each other and arranged on either side of the clamping assembly (4).

9. Gripping tool (1) according to any one of claims 1 to 8, characterized in that it further comprises a detection unit (5) carried by the chassis (2) and arranged to detect a container (C) located on the support assembly (3) side of the chassis (2), the detection unit (5) preferably comprising a camera (50) provided with a lens and a lighting source (51), the optical axis (A0) of the lens being located in the plane of the support assembly (3).

10. System for transferring a mesh container (C) or the like comprising at least one bottom mesh (C0) made of wires or the like, a lower face of which is at least partially accessible, which system is characterized in that it comprises a robotic arm carrying a gripping tool (1) according to any one of claims 1 to 9, the robotic arm being capable of moving the gripping tool (1) in the three dimensions of space.

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