Tool holder for load handling equipment, load handling equipment comprising it, assembly comprising a tool and said tool holder, and method of coupling a tool to said tool holder

Abstract

Tool holder (1) comprising a body (2) with tool receiving locations (3), two parallel locking pins (4) each mounted to slide movable between an unlocked position and a locked position in which they protrude at least partially into the receiving locations (3), and a device (5) for controlling the movement of the locking pins (4) from the locked position to the unlocked position.The locking axes (4) are connected to each other by a mechanical linkage, coupling said locking axes (4) together in two opposite directions during movement. Each locking axis (4) is equipped with a return element (7) in the locked position. The tool holder (1) includes a blocker (8) for one of the locking axes (4) in the unlocked position. This blocker (8) is configured to move from an active position to an inactive position in parallel with the movement of the tool receiving position(s) (3) from a state unoccupied by the tool to a state occupied by the tool. Figure for the abbreviation: Fig. 3.

Description

Title of the invention: Tool holder for load handling equipment, load handling equipment comprising it, assembly comprising a tool and said tool holder, and method of coupling a tool to said tool holder

[0001] The present invention relates to a tool holder for a load handling machine, an assembly comprising a tool and said tool holder, a load handling machine comprising said tool holder and a method of coupling a tool to said tool holder.

[0002] It relates in particular to a tool holder interposable between a handling machine arm and a tool for coupling the tool to the arm, said tool holder said to have automatic locking comprising a body with at least one tool receiving location intended to be occupied by a part of the tool in the state coupled of the tool to the tool holder, two parallel locking axes each mounted movable by sliding between an unlocked position in which they extend at least partially inside said body and a locked position in which they protrude at least partially into the one or one of the receiving locations so as to be able to insert each into a part of the tool, and a control device for moving the locking axes from the locked position to the unlocked position.

[0003] Such a tool holder is known. The locking pins of the tool holder traditionally engage in the locked position by inserting into at least one through-hole in the tool. The locking pins are actuated either by a hydraulic cylinder or manually. Hydraulic cylinders have the disadvantage of making the tool holder more complex, and there is often uncertainty regarding the effectiveness of the locking mechanism. Manually actuating the locking pins requires the machine operator to dismount and actuate the locking pins to engage them in the locked position.

[0004] An object of the invention is to provide a tool holder whose design allows for simple automatic locking of the tool and the tool holder without compromising the compactness of the tool holder.

[0005] To this end, the invention relates to a tool holder that can be interposed between a handling machine arm and a tool for coupling the tool to the arm, said tool holder, said to have automatic locking, comprising a body with at least one tool receiving location intended to be occupied by a portion of the tool when the tool is coupled to the tool holder, and two parallel locking axes, each mounted to slide freely between an unlocked position in which they extend at least partially inside said body and a locked position in which they protrude at least partially into the receiving position(s) so that each can be inserted into a part of the tool, and a control device for moving the locking axes from the locked position to the unlocked position, characterized in that the locking axes are connected to each other by a mechanical linkage coupling said locking axes together in movement along two opposite directions to allow, in parallel with the movement of one of the locking axes along one direction, the synchronous movement of the other locking axis along an opposite direction, in that each locking axis is equipped with a return element in the locked position, and in that the tool holder includes at least one blocker for at least one of the locking axes in the unlocked position,This blocker is mounted to move between an active position and an inactive position, and is configured to move from the active position to the inactive position in parallel with the movement of at least one tool receiving position from a state unoccupied by the tool to a state occupied by the tool.

[0006] The presence of a mechanical link between the locking axes allows for safe and synchronous movement of the locking axes without compromising the simplicity and compactness of the tool holder. This synchronous movement ensures locking, because if one locking axis is not in the correct position, the movement of both locking axes is prevented. This configuration also limits the number of ancillary components and allows, for example, the use of a single locking device and a simplified control mechanism. The control mechanism and the locking device can, by acting on a single locking axis, simultaneously control or lock the other locking axis. This results in increased compactness of the tool holder. The presence of a return element for each locking axis in the locked position ensures automatic locking without operator intervention.Indeed, the blocker is configured to transition from the active to the inactive position in parallel with the transition of at least one tool receiving position from a state unoccupied by the tool to a state occupied by the tool. This allows the blocker to transition from the active to the inactive position simply by inserting at least part of the tool into the receiving position(s) of the tool holder. In other words, the blocker is configured to transition from the active to the inactive position based on the occupied / unoccupied state of the blocker or at least one of the tool receiving positions. The blocker transitions from the active to the inactive position simply by inserting the tool into the blocker or at least one of the tool receiving positions.

[0007] According to one embodiment of the invention, the blocker displacement drive device comprises at least one pivoting part and the part of the blocker displacement drive device protruding inside at least one of the tool receiving locations is formed by at least a part of said pivoting part.

[0008] In this embodiment, the fact that at least a portion of the drive device protrudes into at least one of the tool receiving positions allows said portion of the drive device to be engaged by said tool when the tool is positioned in said position. This results in ease of use without compromising simplicity of construction.

[0009] According to one embodiment of the invention, the drive device for moving the blocker comprises at least one connecting rod coupled to said pivoting part, the connecting rod extending between the pivoting part and the blocker and being coupled with play to the blocker. Said pivoting part is thus configured to be driven in pivoting motion depending on the occupied / unoccupied state of one or more of the tool receiving positions.

[0010] According to one embodiment of the invention, the drive device for moving the blocker includes at least one connecting rod coupled to said pivoting part, the connecting rod extending between the pivoting part and the blocker and being coupled with play to the blocker.

[0011] According to one embodiment of the invention, the blocker includes, for an assembly with play with the connecting rod, a light inside which a connecting rod axis to the blocker is able to circulate.

[0012] According to one embodiment of the invention, the tool holder includes a lock reset device and the resettable lock reset device is configured to allow the lock to be reset even when said tool receiving location is occupied by said tool.

[0013] The lockout reset device is configured to bring the tool holder into a position in which the lockout is able to move from the inactive to the active position depending on the position occupied by the locking pins. The lockout is configured so that, when the locking pins are locked, it is automatically reset to allow the locking pins to move from the inactive to the active position, regardless of whether one or more of the tool receiving positions is occupied or not. In other words, the reset device is configured so that, when the locking pins are locked, it automatically resets the lockout, that is, brings the tool holder into a position in which the lockout is able to move from the inactive position to active position, regardless of whether the tool's receiving positions are occupied or unoccupied.

[0014] According to one embodiment of the invention, at least a portion of the lock's reset device is mounted to move along at least one of the locking axes. Because at least a portion of the lock's reset device is mounted to move along at least one of the locking axes, the lock's reset is dependent on the position of the locking axes. In particular, preferably, the lock is automatically reset in the locked position of the locking axes to allow the lock to move from the inactive position to the active position by moving the locking axes from the locked position to the unlocked position.

[0015] According to one embodiment of the invention, the locker reset device comprises at least one locker return element in active position formed by the weight of the locker and / or an elastically deformable member and a neutralizing member of the locker drive device in movement to allow the locker to pass from the inactive position to the active position including in the occupied state of said at least one receiving location by a tool.

[0016] According to one embodiment of the invention, the neutralizing element of the drive mechanism for the locking device is mounted integrally with the locking axes during movement. This neutralizing element projects from one of the locking axes in a direction transverse to said locking axis to form a push-active part on at least a portion of the drive mechanism for the locking device. Preferably, the portion of the drive mechanism for the locking device on which the neutralizing element forms a push-active part is the portion of the drive mechanism formed by the connecting rod, when this drive mechanism includes a connecting rod.

[0017] According to one embodiment of the invention, the mechanical connection between the locking axes is a meshing connection. Preferably, said connection comprises a pinion carried by the body, this pinion being configured to permanently mesh with two racks, one mounted integrally with one of the locking axes, the other integrally with the other locking axis.

[0018] According to one embodiment of the invention, the control device for moving the locking axes from the locked position to the unlocked position is a pivoting lever in contact with at least one of the locking axes, this lever extending at least partially outward from the body to form a visual indicator of the position of the locking axes.

[0019] According to one embodiment of the invention, the tool holder comprises at least one sensor for detecting the position of at least one of the locking axes. The The presence of such a sensor allows the machine to be controlled if necessary. In particular, the machine's control unit can command the arm's movement to stop and / or modify its movement based on the data provided by the sensor.

[0020] According to one embodiment of the invention, the tool holder includes at least a visual indicator of the position of the blocker and / or of the position of at least a part of the drive device in movement of the blocker.

[0021] The invention further relates to an assembly comprising at least one tool holder and a tool that can be coupled to said tool holder, characterized in that the tool holder conforms to that described above.

[0022] The invention also relates to a load handling device comprising at least one load handling arm that can be coupled to a tool holder which is itself coupled to a tool, characterized in that the tool holder conforms to that described above.

[0023] The invention also relates to a method of coupling a tool to a tool holder suitable for equipping a load handling machine arm, characterized in that the tool holder conforms to that described above, said method includes a step of introducing the tool into the or at least one of the tool receiving locations to allow the passage of the blocker from the active position to the inactive position and consequently the passage of the locking axes from the unlocked position to the locked position. Brief description of the drawings

[0024] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the accompanying drawings in which:

[0025] [Fig.1] represents a perspective view of a tool / tool ​​holder assembly during coupling of the tool to the tool holder with a detail view taken at the level of a tool receiving location;

[0026] [Fig.2] represents a perspective view of a tool holder;

[0027] [Fig.3] represents in the form of two views, one in perspective, the other in section, of a tool holder according to the invention in the unlocked position of the locking axes and in the unoccupied state of the tool receiving locations;

[0028] [Fig.4] represents a partial cross-sectional view of the tool holder during the introduction of a tool into a tool receiving location of the tool holder;

[0029] [Fig.5] represents in the form of two partial views, one, partially in section, the other, in section, of a tool holder according to the invention in a partially locked position of the locking axes and in the occupied state of the tool receiving locations before resetting the blocker;

[0030] [Fig.6A] represents in the form of two partial views, one, partially in section, the other, in section, of a tool holder according to the invention in the locked position of the locking axes and in the occupied state of the tool receiving locations;

[0031] [Fig.6B] represents a partial view of the tool holder associated with a detail view, to visualize the re-cocking device;

[0032] [Fig.7] represents a partial cross-sectional view of the tool holder in the locked state;

[0033] [Fig.8] represents in the form of two views, one partially in section, the other in section, parts of a tool holder according to the invention in the inactive position of the blocker during the passage of the locking axes from the locked position to the unlocked position of the locking axes and in the occupied state of the tool receiving positions;

[0034] [Fig.9] represents in the form of two cross-sectional views, parts of a tool holder according to the invention in the unlocked position of the locking axes and active of the blocker and in the occupied state of the tool receiving locations;

[0035] [Fig. 10] represents a perspective view of a machine equipped with a tool holder according to the invention.

[0036] As mentioned above, the invention relates to a tool holder 1 suitable for being disposed at the end of a lifting arm 20 of a handling device 23, as illustrated in [Fig. 10], this tool holder 1 being automatically capable of attaching to a tool 21 to form an assembly conforming to [Fig. 1].

[0037] The tool holder 1 interposable between the arm 20 of the handling device 23 and the tool 21, illustrated in [Fig.1] in the form of a fork tool, comprises a body 2 with at least one receiving location 3 for the tool 21 intended to be occupied by a part of the tool 21 in the coupled state of the tool 21 to the tool holder 1. An example of such a tool holder 1 is illustrated in [Fig.2].

[0038] In this example, the body 2 comprises two cheeks connected to each other by crossbars, one of the crossbars carrying a coupler to the arm 20 of the handling device 23, the coupling being able to be carried out for example by means of removable pins inserted into through holes positionable in coincidence of the coupler and the arm 20 in a manner known in itself.

[0039] The body 2 here comprises two tool 21 receiving positions 3 arranged outside the gap defined by the cheeks. The body 2 could equivalently have comprised a single tool 21 receiving position 3 arranged inside the gap defined by the cheeks. The tool receiving position(s) 3 are here in the form of a U open towards the tool 21 to be received. Each tool receiving position 3 of the tool holder 1 comprises one or two through slots arranged in alignment with a tool holder locking axis 4. 1 which will be described below, these housings being suitable for the locking axis 4 to pass through in the locked position of said locking axis, as illustrated in [Fig.4],

[0040] Similarly, the tool 1 includes, for each tool receiving location 3 of the tool holder 1, at least one part 22 made here in the form of a through hole positionable between the through holes of the location 3, and in coincidence with the through holes of said tool receiving location 3 in the occupied state of said receiving location 3 by a part of the tool 21.

[0041] Thus, the locking axis 4 passes through the through housings of the location 3 and the through bore of the tool in the locked position of the locking axis 4.

[0042] The body 2 of the tool holder 1 further includes, in a manner known per se, two lugs or hooks visible in [Fig. 2] intended to engage with a tube of the tool, as illustrated in [Fig. 1]. This mechanical connection is well known to those versed in this art. In practice, generally, when the tool holder 1 is coupled to the arm 20 of the handling equipment 23, the operator of the handling equipment 23 first brings the hooks or lugs of the tool holder 1 into engagement with the tool tube before pivoting the tool holder around the tool tube to bring each tool receiving position 3 of the tool holder 1 into a position in which the through-hole of the tool is aligned with the through-holes of said tool receiving position 3 of the tool holder 1. The coupling is finalized once the locking pins 4 are in the locked position.

[0043] The tool holder 1 comprises two parallel locking pins 4 each mounted slidably between an unlocked position in which they extend at least partially inside the body 2 and a locked position in which they protrude at least partially into the one or one of the receiving locations 3 of the tool holder 1 so that each can be inserted into a part 22 of the tool 21.

[0044] These locking axes 4 are each housed at least partially in one of the cross members of the tool holder connecting the two cheeks of the tool holder 1, this cross member being hollow as can be seen in [Fig.3].

[0045] These locking axes 4, which in the unlocked position are housed inside said cross member, when they pass from the unlocked position to the locked position, protrude from said tube to each insert themselves into a receiving position 3 for the tool 21, as illustrated by the passage from [Fig.4] to [Fig.5].

[0046] In this embodiment, the locking pins 4 move from the unlocked position to the locked position by moving apart. Alternatively, and particularly when the tool receiving position(s) 3 for the tool 21 are located within the gap defined by the cheeks of the body 2, the locking pins 4 are mounted to move in a direction that allows them to move closer together when of the passage of said 4 locking axes from the unlocked position to the locked position.

[0047] The tool holder 1 includes, for the transition of the locking axes 4 from the unlocked to the locked position, a mechanical linkage 6. This mechanical linkage 6 is, in the example shown, at least partially inserted into the tube housing the locking axes 4. This mechanical linkage 6 couples the locking axes 4 in a fixed manner during movement along two opposite directions, so that, while one of the locking axes 4 moves in one direction, the other locking axis 4 moves synchronously in the opposite direction. In the examples shown, as illustrated in [Fig. 6A], this mechanical linkage 6 between the locking axes 4 is a meshing linkage.

[0048] This mechanical link 6 includes a pinion 61 meshed with two parallel racks 62, each attached to a locking shaft 4.

[0049] It is understood that the movement resulting from the sliding displacement of one of the racks is transmitted by the pinion to the other rack. The two racks 62 thus move synchronously in opposite directions.

[0050] Each locking axis 4 is equipped with a return member 7 configured to return the locking axis 4 to the locked position. This return member 7 is in the form of a spring extending between a fixed part of the tool holder 1 and a part of the rack 62.

[0051] Thus, in the absence of a retaining mechanism for the locking axes 4 in the unlocked position, the locking axes 4 are in the locked position. To allow temporary retention of the locking axes 4 in the unlocked position, the tool holder 1 includes at least one locking device 8 for at least one of the locking axes 4 in the unlocked position.

[0052] In the examples shown, only one active locking device 8 on one of the locking axes 4 is provided. The presence of only one locking device 8 is sufficient due to the fixed mounting of the locking axes 4 during movement thanks to the mechanical linkage 6.

[0053] This blocker 8 is configured to move from the active position to the inactive position in parallel with the movement of at least one tool receiving location 3 of the tool 21 from a state unoccupied by the tool to a state occupied by the tool 21 to allow the movement of the blocker 8 from the active position to the inactive position by simply inserting the tool 21 into the tool receiving locations 3 of the tool holder 1.

[0054] This blocker 8 is, in the examples shown, a movable part by pivoting. Obviously, other embodiments of a movable blocker, for example by translation, could also have been considered without departing from the scope of the invention.

[0055] The tool holder 1 includes, for the transition from the active position to the inactive position of the blocker 8, a device 9 for driving the blocker 8 in movement. At least a part of the drive device 9 protrudes inside at least one of the tool receiving locations 3 for a tool 21 so that it can be stressed by said tool in the positioned state of the tool 21 in said location 3, as illustrated in figures 4 and 5.

[0056] The drive device 9 for the displacement of the blocker 8 comprises at least one pivoting part 91. The portion of the drive device 9 for the displacement of the blocker 8 that projects inside at least one of the tool receiving slots 3 for a tool 21 is formed by at least a portion of said pivoting part 91. This pivoting part 91 is shown in the figures as a pivoting lever angled to present an arm capable of projecting inside one of the tool receiving slots 3 2 for the tool of the tool holder 1 when it encounters the tool 21, as illustrated in [Fig. 4]. This encounter results from the insertion of the tool 21 into the U formed by said tool receiving slot 3, the bottom of said slot corresponding to the web of the U being provided with a portion of the pivoting lever.

[0057] The pivoting part 91 pivots. The pivoting movement of this pivoting part 91 is transmitted to the locking mechanism 8, moving it from the active position to the inactive position, in which it releases one of the locking axes 4. The locking axis return mechanism 7 then returns the locking axes 4 to the locked position. The movement of one of the locking axes 4 from the unlocked position to the locked position simultaneously generates the movement of the other locking axis 4 from the unlocked position to the locked position.

[0058] The transmission to the blocker 8 of a movement resulting from the pivoting of the pivoting part 91 can be achieved in different ways. In the example shown, the displacement drive device 9 for the blocker 8 includes at least one connecting rod 92 coupled to the pivoting part 91. This connecting rod 92 extends between the pivoting part 91 and the blocker 8, and is coupled with play to the blocker 8.

[0059] This blocker 8 includes, for mounting with play with the connecting rod 92, a slot 81 inside which a connecting shaft 93 of the connecting rod 92 to the blocker 8 is able to move.

[0060] As illustrated in Figures 4 and 5, the pivoting movement of the pivoting part 91 under the action of the tool 21 is transmitted via the connecting rod 92 to the locking mechanism 8 to generate a pivoting movement of the locking mechanism 8, which moves from the active position to the inactive position. The locking pins 4 then engage in the through slots of the receiving positions 3 and in the through bore of the tool 21, which is positioned to coincide with said slots. The locking of the tool 21 is then complete.

[0061] To allow the locking axes 4 to move from the locked to the unlocked position, the tool holder 1 includes a control device 5 for moving the locking axes 4, as shown in particular in Figures 5, 6A, 8, and 9. This control device 5 for moving the locking axes 4 from the locked to the unlocked position is a pivoting lever 51 that engages with at least one of the locking axes 4. This lever 51 extends at least partially from the body to form a visual indicator of the position of the locking axes 4.

[0062] Thus, in the locked position of the locking axes 4, as illustrated in [Fig.5], this pivoting lever 51, which is bent, partially protrudes outside the gap formed by the cheeks of the body 2 and may have a green protruding part to visually indicate to the operator of the machine that the locking axes 4 are in the locked position.

[0063] Conversely, in the unlocked position of the locking axes 4, as illustrated in [Fig.8], the pivoting lever 51 protrudes more widely outside the gap formed by the cheeks of the body 2 of the tool holder 1 and displays a red color visible to the operator of the machine, thus informing him of the unlocked position of the locking axes 4.

[0064] The difference in protruding position of the pivoting lever 51 can also be interpreted visually by the operator of the machine in the absence of a color code.

[0065] It is understood that when the locking axes 4 are in the locked position, as illustrated in [Fig.5], the sole movement of the pivoting lever 51 does not allow the locking axes 4 to be held in the unlocked position because the blocker 8 remains in the inactive position due to the presence of the tool in the tool receiving positions 3 of the tool holder 1. It is therefore necessary to reset the blocker 8 to bring the tool holder 1 into a configuration in which the blocker 8 is able to move from the inactive position to the active position.

[0066] For this purpose, the tool holder 1 includes a reset device 10 for the blocker 8. This reset device 10 for the blocker 8, which thus forms a resettable blocker, is configured to allow the blocker to be reset, including in the occupied state of the tool receiving position(s) 3 by said tool 21.

[0067] As illustrated in the figures, at least a portion of the reset device 10 of the blocker 8 is mounted fixedly to the movement of at least one of the locking axes 4. Indeed, the reset device 10 of the blocker 8 comprises at least one return element 11 of the blocker 8 to the active position, formed by the weight of the blocker 8 and / or an elastically deformable member, and a neutralizing member 12 of the drive device 9 for the movement of the blocker 8, to allow the blocker 8 to move from the inactive position to the active position, including when said blocker 8 is occupied by at least one receiving position 3 by a tool 21.

[0068] In the example of [Fig. 5], the return element 11 of the blocker 8 in the active position comprises both the weight of the blocker 8 due to the eccentric mounting of its pivot axis, and a spring extending between the blocker 8 and a fixed part of the tool holder. This return element 11 acts against the drive device 9 for moving the blocker 8 when the tool receiving positions 3 of the tool holder 1 are occupied by the tool 21 as illustrated in [Fig. 5].

[0069] The neutralizing member 12 of the drive device 9 for the displacement of the blocker 8 is mounted integrally with the locking axes 4. This neutralizing member 12 projects from one of the locking axes 4 in a direction transverse to the axis of the locking 4 to form an active part by pushing on at least a portion of the drive device 9 for the displacement of the blocker 8.

[0070] The part of the drive device 9 for moving the blocker 8 on which the neutralizing member 12 forms an active part by push, is here the part of the drive device 9 formed by the connecting rod 92. This neutralizing member 12, which is integral with one of the locking axes 4, is configured to act by push on at least a part of the drive device 9 for moving the blocker 8 in the driven state in movement of the locking axis 4 from the unlocked position to the locked position.This neutralizing element 12 is, in the case of the presence of a connecting rod 92 linked by a connecting shaft 93 to the blocker, active by pushing on said connecting shaft 93 capable of moving inside the slot 81 of the connecting rod 92 to bring said connecting rod and the associated connecting shaft 93 into the slot 81 in a position in which a pivoting movement of the blocker 8 for the passage from the inactive position to the active position is possible.

[0071] This movement of the connecting rod inside the light 81 resulting from the pushing action of the neutralizing member 12 on said connecting rod 92 via the connecting axis 93 is visible when passing from [Fig.5] to [Fig.7] via figures 6A and 6B.

[0072] It is understood, with regard to figures 7 and 8, that, when the locking axis 4 is moved from the locked position to the unlocked position by the control device 5, when this locking axis 4 is in the unlocked position, a notch provided on the locking axis 4 can engage with a part of the blocker 8 which is allowed to pivot in order to partially fit into this notch.

[0073] The locking mechanism 8 is in the active position when a portion of the locking mechanism 8 is inserted into the notch carried by the locking pin 4. Naturally, the locking mechanism 8 is in the inactive position when the locking mechanism 8 is withdrawn from said notch.

[0074] The function of the drive device 9 for moving the blocker 8 is therefore to move the blocker 8 from an active position in which it is partially inserted into the locking axis notch 4 in an inactive position in which it has come out of the locking axis notch 4.

[0075] The return element 11 of the blocker 8 allows a portion of the blocker 8 to be reintroduced into the notch as soon as this notch is positioned opposite the portion of the blocker 8 with which it is able to cooperate. The tool holder 1 may include at least one visual indicator 14 of the position of the blocker 8 and / or of the position of at least a portion of the drive device 9 for moving the blocker 8.

[0076] To complete the tool holder 1, this tool holder 1 includes at least one sensor 13 for detecting the position of at least one of the locking axes 4. This sensor 13 for detecting the position of at least one of the locking axes 4 can be used to send information to the machine.

[0077] Similarly, the tool 21 may be provided with a means, such as an RFID chip, capable of providing information to the device.

[0078] The control unit of the machine can be configured to allow or prohibit movement of the lifting arm 20 of the machine according to said data.

[0079] Finally, as mentioned above, the tool holder 1 includes at least one sensor for detecting the position of at least one of the locking axes 4, which can be implemented in the form of a color code as described above for the part of the pivoting lever 51 of the control device 5 visible to the operator.

[0080] In summary, coupling a tool 21 to a tool holder 1 includes a step of introducing the tool 21 into the tool holder 1 or at least one of the tool holder 3 positions to allow the locking mechanism 8 to move from the active position to the inactive position, and consequently the locking axes 4 to move from the unlocked position to the locked position. This sequence of steps is illustrated in Figures 3 to 6A.

[0081] The resetting of the blocker 8 is illustrated by [Fig.7] and is carried out in the end-of-travel position of the locking axes 4.

[0082] Figures 8 and 9 illustrate the actuation of the locking axis control device 5 for moving the locking axes 4 from a locked position to an unlocked position in order to allow the tool 21 to be uncoupled from the tool holder 1.

[0083] Fig. 3 illustrates the return of the blocker 8 to the active position of holding the locking axes 4 in the unlocked position with the tool 21 removed from the receiving positions 3 of the tool holder 1.

[0084] Thanks to the presence of the reset device, the tool 21 can be removed from the receiving positions 3 of the tool holder 1 after the locking axes 4 have been brought into the unlocked position and the locking axes have been automatically locked in the unlocked position.

Claims

Demands

1. Tool holder (1) interposable between a handling machine arm (20) and a tool (21) for coupling the tool (21) to the arm (20), said tool holder (1) being self-locking comprising a body (2) with at least one tool (21) receiving location (3) intended to be occupied by a portion of the tool (21) when coupled to the tool holder (1), two parallel locking pins (4) each mounted to slide freely between an unlocked position in which they extend at least partially inside said body (2) and a locked position in which they protrude at least partially into one or both of the receiving locations (3) so as to be able to insert each into a portion (22) of the tool (21), and a control device (5) for moving the locking pins (4) from the locked position to the unlocked position,characterized in that the locking axes (4) are connected to each other by a mechanical linkage (6) coupling said locking axes (4) together in movement along two opposite directions to allow, in parallel with the movement of one of the locking axes (4) along one direction, the synchronous movement of the other locking axis (4) along an opposite direction, in that each locking axis (4) is equipped with a return element (7) in the locked position, and in that the tool holder (1) includes at least one lock (8) of at least one of the locking axes (4) in the unlocked position, this lock (8) being movably mounted between an active position and an inactive position, this lock (8) being configured to move from the active position to the inactive position in parallel with the movement of at least one tool receiving position (3) (21) from a state unoccupied by the tool to a state occupied by the tool.

2. Tool holder (1) according to claim 1, characterized in that it comprises, for the transition from the active position to the inactive position of the blocker (8), a device (9) for driving the blocker (8) in movement and in that at least a part of the drive device (9) protrudes inside at least one of the tool receiving locations (3) (21).

3. Tool holder (1) according to claim 2, characterized in that the displacement drive device (9) of the blocker (8) includes at least one pivoting part (91) and in that the part of the moving drive device (9) of the blocker (8) projecting inside at least one of the tool receiving locations (3) (21) is formed by at least a part of said pivoting part (91).

4. Tool holder (1) according to claim 3, characterized in that the displacement drive device (9) of the blocker (8) comprises at least one connecting rod (92) coupled to said pivoting part (91), the connecting rod (92) extending between the pivoting part (91) and the blocker (8) and being coupled with play to the blocker (8).

5. Tool holder (1) according to claim 4, characterized in that the blocker (8) comprises, for a mounting with play with the connecting rod (92), a slot (81) inside which a connecting shaft (93) of the connecting rod (92) to the blocker (8) is able to move.

6. Tool holder (1) according to any one of claims 1 to 5, characterized in that the tool holder (1) comprises a lock-reset device (10) and in that the lock-reset device (10) of the lock-resettable lock-reset device (8) is configured to allow the lock-reset device to be reset even when said tool receiving location (3) is occupied by said tool (21).

7. Tool holder (1) according to claim 6, characterized in that at least a part of the reset device (10) of the blocker (8) is mounted fixed in movement of at least one of the locking axes (4).

8. Tool holder (1) according to any one of claims 6 or 7, taken in combination with claim 2, characterized in that the reset device (10) of the blocker (8) comprises at least one return element (11) of the blocker (8) in active position formed by the weight of the blocker (8) and / or an elastically deformable member and a neutralizing member (12) of the drive device (9) in displacement of the blocker (8) to allow the passage of the blocker (8) from the inactive position to the active position including in the occupied state of said at least one receiving location (3) by a tool (21).

9. Tool holder (1) according to claim 8, characterized in that the neutralizing member (12) of the drive device (9) for the movement of the blocker (8) is mounted integrally with the locking axes (4) during movement, this neutralizing member (12) protruding from one of the locking axes (4) in a direction transverse to said locking axis (4) to form an active part by pushing on at least a part of the moving drive device (9) of the blocker (8).

10. Tool holder (1) according to any one of claims 1 to 9, characterized in that the mechanical linkage (6) between the locking axes (4) is a meshing linkage.

11. Tool holder (1) according to any one of claims 1 to 10, characterized in that the control device (5) for moving the locking axes (4) from the locked position to the unlocked position is a pivoting lever (51) engaging with at least one of the locking axes (4), this lever (51) extending at least partially outward from the body (2) to form a visual indicator of the position of the locking axes (4).

12. Tool holder (1) according to any one of claims 1 to 11, characterized in that the tool holder (1) comprises at least one sensor (13) for detecting the position of at least one of the locking axes (4).

13. Tool holder (1) according to any one of claims 1 to 12, characterized in that the tool holder (1) includes at least one visual indicator (14) of the position of the blocker (8).

14. Assembly comprising at least one tool holder (1) and a tool (21) coupleable to said tool holder (1), characterized in that the tool holder (1) conforms to one of claims 1 to 13.

15. Load handling device (23) comprising at least one load handling arm (20) couplingable to a tool holder (1) itself couplingable to a tool (21), characterized in that the tool holder (1) conforms to any one of claims 1 to 13.

16. Method of coupling a tool (21) to a tool holder (1) suitable for equipping a load handling arm (20), characterized in that the tool holder (1) being in accordance with one of claims 1 to 13, said method includes a step of introducing the tool (21) into the or at least one of the tool (21) receiving locations (3) to allow the passage of the blocker (8) from the active position to the inactive position and consequently the passage of the locking axes (4) from the unlocked position to the locked position.

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