HANDLING SYSTEM FOR HEAVY OBJECTS SUCH AS ELECTRICAL MOTOR GROUPS, WITH POSITION GUIDANCE

Abstract

A handling system (10) for handling heavy objects, comprising a conveyor (7) extending along a longitudinal axis (X), the conveyor being configured to transport heavy objects along the longitudinal axis, a pendulum-mounted gripper (1), the gripper being attached to a hoist, the pendulum mounting comprising at least an upward and / or downward kinematic action and a lateral movement relative to the conveyor, the gripper being configured to grasp and carry one of the heavy objects, the gripper comprising at least two pilot elements (21, 22), the handling system comprising two stationary guide profiles (31, 32), each intended to receive one of the pilot elements, each guide profile extending along a vertical axis (Z), the guide profiles having a cross-section comprising a V-shape open to a transverse axis (Y). Figure 2

Description

Title of the invention: HANDLING SYSTEM FOR HEAVY OBJECTS SUCH AS GROUPS ELECTRIC MOTORS, WITH POSITION GUIDANCE

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

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

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

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

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

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

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

[0008] It is specified from the outset that this is a system for assisting a handling maneuver controlled essentially by a human operator.

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

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

[0011] The handling operation is controlled by an operator who, in the illustrated example, has a control device that allows them, at a minimum, to trigger an upward or downward movement of the hoist. Optionally, the control device can also control lateral movement towards the conveyor or, conversely, movement away from the conveyor. Depending on the kinematics of the hoist support, for example, on a slide or pivot, the lateral movement can also be generated by the movement exerted by the operator, without motorized control.

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

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

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

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

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

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

[0018] It is understood in this document that the term 'heavy objects' refers to objects generally weighing more than 15 kg, often at least 40 kg, without any upper limit. In the case of electric motor sets or powertrains, this refers to approximately 100 kg, although these values ​​are not limiting.

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

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

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

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

[0023] Each lifting finger is wedged under a shoulder or in a lifting ring of the object to be grasped.

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

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

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

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

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

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

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

[0031] When the object is gripped, its own weight maintains the clamping pressure of the gripper. It is not possible to generate a command to release the object, and therefore the risk of the object falling is avoided (it is necessary to set the object down in order to release it).

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

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

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

[0035] Expressed in other words, the hoist attachment point is interposed between the operating tube of the gripping device and the pilot elements.

[0036] In practice, when the gripping device is positioned directly above the deposit or pick-up position on the conveyor, the operating tube and the pilot elements are located on either side of the conveyor. The operator simply pushes the gripping device towards the guide profiles, which is an ergonomic and easy maneuver. The operator is not hindered by the presence of the conveyor.

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

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

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

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

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

[0042] The object can then optionally be placed elsewhere to be released in the case of the discharge operation from the conveyor.

[0043] In the case of a conveyor loading operation, after the deposit, it is then possible to pick up another object at a distance from the conveyor.

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

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

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

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

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

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

[0050] Among the heavy objects of interest here are EdM electro-motor units or powertrains for motor vehicles. Other parts of a certain weight may also be included, such as a suspension assembly, a motorized axle, or any other sub-assembly that forms part of a motor vehicle. It is not excluded that the present invention could be applied to fields other than automotive manufacturing.

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

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

[0053] The conveyor is not described in further detail here; it is assumed to be known per se. It may operate continuously or with transfer logic.

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

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

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

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

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

[0059] Here, "hoist" should be understood as a lifting system with a single suspension point. Put another way, the gripping device 1 is pendulum-mounted.

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

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

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

[0063] According to one embodiment, the hoist is raised in response to an action by the operator on a button B1 provided on a control box 18 (see [Fig. 2]). Similarly, the hoist is lowered in response to another action by the operator on a button B2 provided on the control box 18.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0077] The closing (or, respectively, the opening) of the gripper can be controlled by an operator command. According to an advantageous embodiment, the closing (or, respectively, the opening) of the gripper can be controlled by the gripping device coming into contact with the top of the object to be grasped. This particular embodiment is described later.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0101] It should be noted that the control unit 18 which allows the operator to trigger movements can be a wired control unit or a wireless control unit. The control unit can be placed in one of the receptacles 88, 89 provided for this purpose, see [Fig. 5].

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

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

[0104] After which the object is lifted, and its own weight maintains the clamping pressure of the gripper. It is not possible to generate a release command for the object, and the risk of the object falling is avoided (it is necessary to set the object down in order to release it). This grip can be described as a "sugar tong" type grip.

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

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

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

Claims

Demands

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

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

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

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

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

6. Handling system according to claim 5, characterized in that the operating tube (12) of the gripping device is arranged, in the horizontal plane, in a position opposite to the position of the pilot elements (21,22),

7. Handling system according to any one of claims 1 to 5, characterized in that it provides auxiliary guidance by the hoist, where the hoist and / or the suspension link are received in a funnel shape (8).

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

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

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

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