• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device for object handling, said device (1) comprising an arm (2) and a movement system (6) of the arm for moving the arm (2) up and down. The displacement system (6) comprises an electric motor (3), a motion transmission system (7) which comprises a free wheel mechanism configured to transmit the movement of the motor (3) to the arm (2) when the motor ( 3) rotates in a given direction of rotation, called up direction, corresponding to a rise of the arm (2), and for when the motor rotates in the opposite direction and the arm (2) is blocked downwardly by an obstacle, no longer transmit the movement of the motor (3) to the arm (2).
    公开号:FR3068026A1
    申请号:FR1755682
    申请日:2017-06-22
    公开日:2018-12-28
    发明作者:Denis Joncheray
    申请人:NEODITECH；
    IPC主号:
    专利说明:

    (04) DEVICE FOR HANDLING OBJECTS.
    FR 3 068 026 - A1 (£ /) The invention relates to a device for handling objects, said device (1) comprising an arm (2) and a movement system (6) of the arm allowing the movement of the arm ( 2) uphill and downhill. The movement system (6) comprises an electric motor (3), a movement transmission system (7) which comprises a freewheel mechanism configured to transmit the movement of the motor (3) to the arm (2) when the motor ( 3) turns in a given direction of rotation, called the direction of ascent, corresponding to an ascent of the arm (2), and for, when the motor turns in the opposite direction and the arm (2) is blocked in descent by an obstacle, no longer transmit the movement of the motor (3) to the arm (2).

    101
    FIELD OF THE INVENTION
    The present invention relates generally to object handling devices.
    PRIOR ART
    Handling devices are known from the state of the art which include an arm provided with a gripping tool. A drive motor makes it possible to raise and lower the arm, in particular to allow the gripping tool to grasp an object, also called load, from above.
    The gripping tool is provided with a contact sensor which detects the contact between the gripping tool and an object, which can be an obstacle or the object to be grasped.
    When the contact sensor detects contact between the gripping tool and the object, said sensor transmits a signal to a control unit of the handling device so that the control unit of the handling device controls the stopping of the arm displacement drive motor.
    However, it can be seen that, while the control unit receives and processes the signal emitted by the sensor, then the control unit stops the engine, the engine continues to run so that the gripping tool continues to descend with the arm, and impacts, where a force is exerted on the object, which can damage the object and / or damage the handling device itself.
    In other words, the reaction time of the sensor and of the control unit to stop the engine is too long and does not make it possible to securely control the descent of the gripping tool with a view to removing or entering it. 'an object.
    The object of the present invention is to propose a new device making it possible to overcome all or part of the problems set out above.
    In particular, an object of the invention is to propose a new object handling device making it possible to grasp and / or move and / or deposit an object in a secure manner.
    SUMMARY OF THE INVENTION
    To this end, the subject of the invention is a device for handling objects, said device comprising an arm and an arm movement system allowing the movement of the arm up and down, the movement system comprising:
    - an electric motor;
    -a motion transmission system that includes a freewheel mechanism configured to:
    transmitting the movement of the motor to the arm when the motor rotates in a given direction of rotation, called the direction of rise, corresponding to a rise in the arm, and
    - when the engine turns in the opposite direction, called the direction of descent, and the arm is blocked in descent by an external obstacle, no longer transmit the movement of the engine to the arm.
    Thus, when, due to the descent of the arm, the gripping tool encounters an object or obstacle, the freewheel mechanism of the handling device makes it possible to no longer transmit the driving movement of the motor to the arm. The device thus benefits from an automatic mechanical declutching function when the arm or the gripping tool is stopped during its descent by an obstacle external to the handling device.
    Direct or indirect contact of the arm with an obstacle during the descent of the arm, thus causes the mechanical stopping of the transmission of movement between the motor and the movement transmission system of the device.
    Even if the motor continues to run, its movement is no longer transmitted to the arm. When the obstacle is an object to be grasped which has come into contact with the gripping tool carried by the arm, the gripping tool then simply remains in contact with the object without transmitting to it the force of the motor which would risk damage.
    The device thus makes it possible to pick up or drop an object (or load) from above, in a secure manner.
    As mentioned above, in the event of an obstacle on the lowering path of the arm, the freewheel mounting between the arm and the motor of the device makes it possible to disengage the transmission of movement between the motor and the arm so that the rotation of the motor in the direction of descent no longer drives the arm.
    The freewheel system allows the load to be moved at high speed while controlling impact with an obstacle or with the object to be taken. Such a safety function makes it possible to quickly move the arm downhill without risk of damage.
    Advantageously, the device comprises a sensor which further detects the contact of the tool with the object. The contact detection signal is received by a control unit of the device which controls the stopping of the engine. It should be noted that, when the engine is actually stopped, the movement transmission between the engine and the tool is already deactivated, due to the declutching function provided by the freewheel, which avoids any risk of deterioration during entering the load by the gripping tool or when depositing the object with the gripping tool on a support.
    According to an advantageous characteristic, the freewheel mechanism also includes a mechanical restraint system configured for, in the absence of an external obstacle blocking the descent of the arm:
    - mechanically hold the arm when the engine is not running;
    - mechanically control the lowering of the arm when the motor turns in the lowering direction.
    In other words, when the arm is driving, the retaining mechanism makes it possible, in the stopped state of the engine, to prevent the downward movement of the arm, and allows, by turning the engine in the opposite direction to the direction of ascent, control the downward movement of said arm.
    By control is meant the fact that the descent of the arm is slaved to the rotation of the motor in the direction of descent, the rotation of the motor releasing or authorizing a descent of the arm. The descent distance of the arm is therefore proportional to the number of engine rotation turns in the direction of descent, in the absence of any obstacle preventing the descent of the arm, that is to say when the arm is leading.
    According to an advantageous characteristic of the invention, the freewheel mechanism of the transmission system comprises an inner ring coupled to the motor, and an outer ring, coupled to the arm, which is rotatable by the inner ring in a given direction of rotation. , called the direction of ascent, said freewheel mechanism also comprising a mechanical retention system, limiting or preventing the rotation of the outer ring relative to the inner ring in the other direction, called the direction of descent.
    According to an advantageous characteristic of the invention, the movement transmission system comprises a transmission device interposed between the arm and the freewheel mechanism, said transmission device comprising:
    - first and second deflection elements, such as pulleys,
    - At least one elongated transmission element, preferably a belt, which forms an endless loop between the two return elements;
    the first deflection element being coupled to the freewheel mechanism and the arm being coupled to said elongated transmission element, the elongated transmission element being rotatably connected to at least said first deflection element.
    According to an advantageous characteristic of the invention, said at least one elongated transmission element is a belt.
    According to an advantageous characteristic of the invention, the first deflection element is mounted integral in rotation with the outer ring of the freewheel mechanism, and the second deflection element is mounted on the chassis of the device, preferably free to rotate on it -same, apart from the first deflection element.
    According to an advantageous characteristic of the invention, said transmission device also comprises a guide rail system, the arm comprising a connecting part slidably coupled with said rail to allow the guide of the arm during its upward or downward movement. .
    According to an advantageous characteristic of the invention, the device comprises a suction system associated with the gripping tool to allow gripping or depositing an object, the suction system being configured for:
    - in the activated state of the handling device, but in the absence of an object entry command, present a first non-zero suction speed, and,
    - following an object entry command, present a second suction speed higher than the first suction speed.
    According to an advantageous characteristic of the invention, the arm comprises a plurality of sections hinged together, preferably by double-pivot connections, around axes parallel to the direction of ascent and descent of the arm.
    According to an advantageous characteristic of the invention, the chassis of the device comprises attachment means making it possible to hang and unhook the device on a means of transport, such as a pallet truck.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Other characteristics and advantages of the invention will emerge from the description which follows, which is purely illustrative and not limiting and should be read with reference to the appended drawings, in which:
    - Figure 1 is a perspective view of the handling device according to an embodiment of the invention;
    - Figure 2 is a perspective view of the handling device of Figure 1, the covering elements of the transmission system being removed;
    - Figure 3 is a perspective view of the upper part of the transmission system of the handling device of Figure 1;
    - Figure 4 is a perspective view from another angle of the upper part of the transmission system of Figure 3, part of the system being removed to show the freewheel;
    - Figure 5 is a perspective view of the lower part of the transmission system of the device of Figure 2;
    - Figure 6 is a perspective view of an engine, turbine and battery assembly of a device according to an embodiment of the invention;
    - Figure 7 is a perspective view of the device according to an embodiment of the invention, in the state mounted on a forklift or pallet truck;
    - Figure 8 is a partial perspective view from below of the pallet truck showing the device fixing system on the forks of said pallet truck;
    - Figure 9 is a perspective view of the handling device according to an embodiment mounted on a pallet truck and used to grab a bag in a shelf;
    - Figure 10 is a sectional view showing an embodiment of freewheel usable in a device according to an embodiment of the invention
    DETAILED DESCRIPTION
    The concept of the invention is described more fully below with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. Similar numbers refer to similar elements in all of the drawings. However, this concept of the invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set out here. Instead, these embodiments are offered so that this description is complete, and communicates the scope of the concept of the invention to those skilled in the art. The scope of the invention is therefore defined by the appended claims.
    A reference throughout the specification to "an embodiment" means that a particular functionality, structure, or feature described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in one embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. Additionally, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.
    In Figure 1, there is shown a device 1 for handling objects. Handling an object, also known as a load, can include grabbing, moving, and placing the object.
    Said device 1 comprises a column 100 having a longitudinal axis A1 and an arm 2 movable along the column. In particular, the device comprises a displacement system 6 making it possible to move the arm up and down. The displacement system 6 is housed at least partially in column 100.
    The arm 2 comprises several sections 21, 22, 23 articulated around axes parallel to each other. Said axes are parallel to the direction of ascent and descent of the arm, which is vertical in the example illustrated in the figures.
    As illustrated in FIG. 9, a gripping tool 19 is able to be coupled to said arm 2. In particular, the gripping tool 19 is intended to be coupled to the free end of the arm by a coupling interface 24. L coupling interface 24 is articulated relative to the arm about an axis parallel to the direction of raising and lowering of the arm. The gripping tool 19 is for example a pneumatic suction cup.
    The arm 2 comprises a plurality of sections 21, 22, 23 hinged together. Each section is articulated to another section by a double-pivot connection. The pivot axes are parallel to the direction of rise and fall of the arm. Such an arm design makes it possible to easily and quickly reach a given area while also making it possible to benefit from a so-called resting position of the arm in which said arm is folded in accordion fashion to limit the size of the device.
    The section 21 is articulated on one side to the section 22, and, on the other side, to a connection support 25 slidably mounted on rails 53 along the column 100. The connection support 25 only has a degree of freedom which corresponds to sliding mobility (or sliding connection) along the longitudinal axis of the column 100.
    The displacement system 6 comprises an electric motor 3 and a movement transmission system 7 interposed between the motor 3 and the arm 2.
    The movement transmission system 7 comprises a freewheel mechanism 4 configured to transmit the movement of the motor 3 to the arm 2 when the motor 3 rotates in a direction, called the direction of ascent, corresponding to an ascent of the arm 2.
    The freewheel mechanism 4 is configured so that, when the motor turns in the opposite direction, called the direction of descent, not to transmit the movement of the motor 3 to the arm 2. The arm is, in the direction of descent and in the absence of an obstacle, leading and the freewheel mechanism also includes a retaining function which allows when the engine is not running, to hold the arm, and when the engine is running in the descent direction, to control the descent of the arms.
    Controlling the rotation of the motor in said direction of descent makes it possible to control the descent of the driving arm. Indeed, the free descent of the arm is limited (or controlled) by said rotation of the motor. It is the rotation of the motor which frees (or authorizes) the movement of the driving arm in the direction of a descent. In other words, the motor thus forms a brake on the free descent of the arm, the rotation of the motor making it possible to release the descent from a distance depending on the rotation of the motor.
    Thus, when the motor rotates in one direction, the arm is driven in the upward direction. The engine is driving and the arm is driven. In the opposite direction of rotation of the motor, the arm is leading due to its weight and descends from the length which the rotation of the motor allows. When the engine is stopped, the lowering of the arm is also stopped thanks to the holding function (or non-return) of the freewheel mechanism.
    In the example illustrated in the figures, the freewheel mechanism 4 of the transmission system comprises an inner ring 41 coupled to the motor 3. In the example illustrated more particularly in Figure 4, said coupling is achieved by means of a bevel gear unit 31 coupled to the output shaft of the motor 3 and coupled by a coupler 32 to a transmission shaft 341 on which the inner ring 41 is fixed. Each shaft can be composed of several shafts or sections.
    The transmission shaft 341 is guided in rotation by two bearings 342, 343 each comprising a bearing. The transmission shaft is mounted for rotation with the inner ring 41, for example by a key.
    The freewheel mechanism 4 also includes an outer ring 42. Bearing elements such as rollers or balls are interposed between the inner ring and the outer ring. The outer ring 42 can be driven in the upward direction by the inner ring 41 which is integral in rotation with the motor 3. Said outer ring 42 is then driven by the inner ring 41.
    When the motor turns in the direction of descent the outer ring is driven by the arm. Under the weight of the arm, the outer ring can rotate in the same direction as the inner ring in the direction of descent, by an angle of rotation depending on that of the first ring, preferably substantially equal.
    As recalled above, a retaining mechanism allows the inner ring to retain the outer ring when the latter is driven by the weight of the arm. The rotation of the inner ring in the direction of descent makes it possible to release and control the descent of the arm.
    When the arm during its descent encounters an obstacle preventing it from descending further and the motor continues to rotate in the direction of descent, the inner ring of the freewheel rotates freely relative to the outer ring.
    In the example shown diagrammatically in FIG. 10, this retaining function is obtained by the geometric configuration of the outer peripheral face of the inner ring 41, which in combination with the geometric configuration of the inner peripheral face of the outer ring, defines for each of the rolling elements 44 a housing having a narrow section at one end of said housing. In the example illustrated in FIG. 10, the rolling element is returned towards this end of narrow section by a spring 43.
    Thus, when the engine is not running, the outer ring is prevented from turning in the direction of descent of the load 200 ′ due to the jamming of the rolling elements 44. When the load 200 ′ is driving and the engine is running in the direction of descent, the outer ring 42 is free to rotate as far as the rotation of the inner ring 41 allows it. In addition, when the engine rotates in the upward direction, the rotation of the inner ring 41 is transmitted to the outer ring 42 by jamming the rolling elements 44.
    Alternatively, the retaining function can be achieved by a ratchet system between the inner ring and the outer ring.
    The movement transmission system 7 comprises a transmission device 5 interposed between the arm 2 and the freewheel mechanism 4. Said transmission device 5 comprises a pulley 51 upper and a pulley 52 lower. A belt 50, preferably notched, is wound around the two pulleys 51, 52 to form an endless loop between the two pulleys 51, 52. Alternatively, the belt could be replaced by a chain. In general, said belt can be produced in the form of an elongate element integral in rotation, that is to say synchronized, with at least the upper pulley 51.
    In the example illustrated in the figures, two transmission devices 5 are provided, to reinforce security. The description given below for a transmission device 5 also applies to the other transmission device.
    The upper pulley 51 is mounted for rotation with the outer ring 42 of the freewheel mechanism 4, for example using a key. In particular, the outer ring 42 extends inside the upper pulley 51. The lower pulley 52 is mounted on the chassis of the free device to rotate on itself, and at a distance from the first pulley 51. The arm connection support is attached to a strand of the belt 50.
    Thus, the arm can be driven up and down by moving the belt 50 in one direction and the other, while the rails 53 guide this movement. Positioning the freewheel at the drive system makes it possible to disengage and therefore stop the descent of the arm when, during its descent, the arm 2 or the gripping tool 19 arrives against an obstacle.
    Column 100 also includes a guide rail system 53. The support part 25 of the arm is slidably mounted with said rail 53 to allow the guiding of the arm 2 during its upward or downward movement.
    The vertical guide rail system 53 also makes it possible to take up the force of the arm which results from its cantilevered position of the column and which would tend to cause it to tilt.
    Thus, the motor 3 makes it possible to rotate each pulley 51 in a direction of rotation causing the arm to rise. In the opposite direction of rotation, when the arm descends, the motor 3 simply regulates the descent speed, because it is the arm and possibly the load supported by the arm which causes the arm to descend.
    As illustrated in FIGS. 1 and 2, the coupling interface 24 is fixed to a ring 26 which is coupled to the section 23 of the arm and which has a movement clearance parallel to the axis A1.
    Said ring 26 comprises a sensor, for example an inductive sensor, which makes it possible to detect the position of said ring 26 along its axis of movement and thus to detect, during the descent of said gripping tool 19, direct contact or indirect of the gripping tool with an obstacle.
    The sensor then emits an engine stop command signal. It should be noted that, when the engine is actually stopped, the movement transmission between the engine and the tool is already deactivated, due to the declutching function provided by the freewheel, which avoids any risk of deterioration during load entry by the gripping tool or when depositing the load with the gripping tool on a support.
    The device comprises a suction system 17 associated with the gripping tool 19 to allow an object to be grasped or deposited. According to a particular aspect, the suction system 17 comprises a turbine 170 associated with a motor 171, and a suction duct connected to the gripping tool 19.
    The device comprises a control unit configured to, in the activated state of the handling device, but in the absence of an object entry command, controlling the operation of the suction system 17 according to a first non-suction suction speed nothing. Following an object entry command, the control unit controls the operation of the suction system 17 according to a second suction speed greater than the first suction speed.
    Thus as soon as the device is activated, that is to say when the electrical contact is actuated, the turbine 170 operates continuously at least at a suction speed lower than the speed intended for gripping an object, to allow, when the user controls the gripping of an object, the turbine is already in operation and can quickly reach the speed necessary for gripping the object. The suction system 17 makes it possible to obtain a high flow rate while limiting energy consumption.
    The chassis 101 of the device 1 comprises hooking members 18 allowing the device 1 to be hooked and unhooked on the forks 81 of a pallet truck 8. The symmetry of the hooking members 18 makes it possible to install the device in two directions different on the forks 81 of a pallet truck 8. The hooking members 18 are in the form of plates shaped as a hook.
    The device comprises a control system 190 making it possible to control the motor 3 and the suction system 17. As illustrated in FIG. 9, the control system 190 is in the form of a control handle or joystick, accessible from the user being located on the arm 2, to allow the user to control the rotation of the motor 3 in the direction of descent or lifting of the arm 2 and to control the suction system to activate or deactivate the gripping tool.
    To secure the ascent / descent and control the stroke of the arm, the handling device also includes top and bottom limit switches which transmit a stop rotation signal to the motor.
    The device 1 also comprises, juxtaposed with the column 100, an assembly 400 which has a framework in which are housed:
    -a set of battery (s) 150 which allows the device to be autonomous for several hours. This battery kit is for example composed of four 12 Volt 100 Ah batteries. The batteries are used to power the various electrical or electronic elements of the device including the motor 171 for controlling the turbine 170 and the motor 3 for controlling the arm 2;
    - The turbine 170, associated with the motor 171, which allows the operation of the gripping tool 19, by air suction, to ensure the picking up and placing of objects, in particular bags and cartons;
    an electrical assembly marked 151 comprising for example variators, circuit breakers and braking resistor.
    The control unit includes for example a processor or microcontroller. Said control unit is configured to transmit control instructions to the drive motor 3 and to transmit control instructions for the gripping tool as a function of signals transmitted by the control system 190.
    Advantageously, the control unit includes electronic and / or computer processing means which can be implemented in the form of a computer program or via hardware components (eg networks of programmable doors).
    Computer programs, or computer instructions, can be contained in program storage devices, such as computer readable digital data storage media, or executable programs. Programs or instructions can also be executed from program storage devices.
    According to a particular embodiment, the handling device makes it possible to offer assistance in taking cartons, bags and other parts from storage racks, to limit the manual handling of loads. It is thus possible to better organize the order preparation operations.
    According to one embodiment, in the state mounted on a carriage, such as a pallet truck, the handling device allows, with rapidity, to
    - take cardboard boxes and bags deep under racks or shelves;
    - place these boxes and bags on a pallet
    - move around the warehouse
    - be energy self-sufficient
    The device thus makes it possible to fetch a cardboard or bag on a pallet on the ground and also makes it possible to climb to a given height to reach packages stored under the highest racks.
    The handling device can be adapted to different types of electric pallet trucks. The manipulator arm 2 has a small footprint, which allows it to maintain a pallet on board the pallet truck.
    The invention is not limited to the embodiments illustrated in the drawings. Consequently, it should be understood that, when the features mentioned in the appended claims are followed by reference signs, these signs are included only for the purpose of improving the intelligibility of the claims and are in no way limitative of the scope of the claims.
    In addition, the term "comprising" does not exclude other elements or steps. In addition, features or steps which have been described with reference to one of the embodiments set out above can also be used in combination with other features or steps of other embodiments set out above.
    Such a device makes it possible to provide an ergonomic solution to the handling of cartons, bags or other loads, for example in logistics areas, in particular for the preparation of orders.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Device (1) for handling objects, said device (1) comprising a
    5 arms (2) and a movement system (6) of the arm allowing the movement of the arm (2) up and down, the movement system (6) comprising:
    - an electric motor (3);
    a movement transmission system (7) which comprises a freewheel mechanism (4) configured for:
    transmitting the movement of the motor (3) to the arm (2) when the motor (3) rotates in a given direction of rotation, called the direction of rise, corresponding to a rise in the arm (2), and
    - when the motor (3) turns in opposite direction, called direction of
    15 descent, and the arm (2) is blocked in descent by an external obstacle, no longer transmit the movement of the motor (3) to the arm (2).
    [2" id="c-fr-0002]
    2. Device (1) according to claim 1, characterized in that the freewheel mechanism (4) also comprises a configured mechanical restraint system
    20 for, in the absence of an external obstacle blocking the descent of the arm:
    - mechanically hold the arm when the motor (
    [3" id="c-fr-0003]
    3) does not rotate;
    - mechanically check the lowering of the arm (2) when the motor is running in the lowering direction.
    3. Device (1) according to claim 2, characterized in that, the freewheel mechanism (4) of the transmission system (7) comprises an inner ring (41) coupled to the motor (3), and an outer ring (42), coupled to the arm (2), which is rotatable by the inner ring (41) in a given direction of rotation, called the direction of rise,
    30 said freewheel mechanism (4) also comprising a mechanical retention system, limiting or preventing rotation of the outer ring (42) relative to the inner ring (41) in the other direction, called the direction of descent.
    [4" id="c-fr-0004]
    4. Device (1) according to one of the preceding claims, characterized in that the movement transmission system (7) comprises a device for
    [5" id="c-fr-0005]
    5 transmission (5) interposed between the arm (2) and the freewheel mechanism (4), said transmission device (5) comprising:
    - a first and a second return element (51, 52), such as pulleys,
    - at least one elongated transmission element (50), preferably a belt, which forms an endless loop between the two return elements (51, io 52) ,;
    the first deflection element (51) being coupled to the freewheel mechanism (4) and the arm (2) being coupled to said elongated transmission element (50), the elongated transmission element (50) being integral in rotation with at least said first return element (51, 52).
    5. Device (1) according to claim 4, characterized in that said at least one elongated transmission element (50) is a belt.
    [6" id="c-fr-0006]
    6. Device (1) according to claim 4 or 5, characterized in that the first
    20 return element (51) is mounted in rotation with the outer ring (42) of the freewheel mechanism, and the second return element (52) is mounted on the chassis (101) of the device (1), preferably free to rotate on itself, at a distance from the first deflection element (51).
    25
    [7" id="c-fr-0007]
    7. Device (1) according to one of claims 4 to 6, characterized in that said transmission device (5) also comprises a guide rail system (53), the arm (2) comprising a connecting part ( 25) slidingly coupled with said rail (53) to allow the arm (2) to be guided during its upward or downward movement.
    [8" id="c-fr-0008]
    8. Device (1) according to one of the preceding claims, characterized in that the device (1) comprises a suction system (17) associated with the gripping tool (19) to allow to grasp or deposit an object , the suction system (17) being configured to:
    - in the activated state of the handling device (1), but in the absence of an object entry command, present a first suction speed not
    5 void, and,
    - following an object entry command, present a second suction speed higher than the first suction speed.
    [9" id="c-fr-0009]
    9. Device (1) according to one of the preceding claims, characterized in that the arm (2) comprises a plurality of sections (21, 22, 23) hinged together, preferably by double-pivot connections, around axes parallel to the direction of ascent and descent of the arm (2).
    [10" id="c-fr-0010]
    10. Device (1) according to one of the preceding claims, characterized in that the chassis (101) of the device (1) comprises hooking means (18) allowing the device (1) to be hooked and unhooked. on a means of transport (8), such as a pallet truck.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
    2018-12-28| PLSC| Search report ready|Effective date: 20181228 |
    2019-06-19| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-19| PLFP| Fee payment|Year of fee payment: 4 |
    2021-06-22| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1755682|2017-06-22|
    FR1755682A|FR3068026B1|2017-06-22|2017-06-22|DEVICE FOR HANDLING OBJECT|FR1755682A| FR3068026B1|2017-06-22|2017-06-22|DEVICE FOR HANDLING OBJECT|
    EP18177802.8A| EP3418245A1|2017-06-22|2018-06-14|Device for handling an object|
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