EP1597188A2 - Handling gripper for an electrolysis cell service machine for the production of aluminium - Google Patents

Handling gripper for an electrolysis cell service machine for the production of aluminium

Info

Publication number
EP1597188A2
EP1597188A2 EP04714818A EP04714818A EP1597188A2 EP 1597188 A2 EP1597188 A2 EP 1597188A2 EP 04714818 A EP04714818 A EP 04714818A EP 04714818 A EP04714818 A EP 04714818A EP 1597188 A2 EP1597188 A2 EP 1597188A2
Authority
EP
European Patent Office
Prior art keywords
clamp
rod
gripping member
locking
handling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04714818A
Other languages
German (de)
French (fr)
Other versions
EP1597188B1 (en
Inventor
Patrick Delescluse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fives ECL SAS
Original Assignee
ECL SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ECL SAS filed Critical ECL SAS
Publication of EP1597188A2 publication Critical patent/EP1597188A2/en
Application granted granted Critical
Publication of EP1597188B1 publication Critical patent/EP1597188B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • C—CHEMISTRY; METALLURGY
    • C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
    • C25C—PROCESSES FOR THE ELECTROLYTIC PRODUCTION, RECOVERY OR REFINING OF METALS; APPARATUS THEREFOR
    • C25C3/00—Electrolytic production, recovery or refining of metals by electrolysis of melts
    • C25C3/06—Electrolytic production, recovery or refining of metals by electrolysis of melts of aluminium
    • C25C3/08—Cell construction, e.g. bottoms, walls, cathodes
    • C25C3/10—External supporting frames or structures

Definitions

  • the invention relates to plants for the production of aluminum by igneous electrolysis according to the Hall-Héroult process. It relates more particularly to the handling devices used in said factories.
  • Aluminum metal is produced industrially by igneous electrolysis, namely by electrolysis of alumina in solution in a bath of molten cryolite, called electrolyte bath, according to the well-known Hall-Héroult process.
  • the electrolyte bath is contained in cells, called “electrolysis cells", comprising a steel box, which is coated internally with refractory and / or insulating materials, and a cathode assembly located at the bottom of the cell.
  • Anodes typically made of carbonaceous material, are partially immersed in the electrolyte bath.
  • the assembly formed by an electrolysis tank, its anodes and the electrolyte bath is called an electrolysis cell.
  • the factories contain a large number of electrolysis cells arranged in a line, in buildings called halls or electrolysis rooms, and electrically connected in series using connecting conductors, so as to optimize the floor occupation of factories.
  • the cells are generally arranged so as to form two or more parallel lines which are electrically linked together by end conductors. The electrolysis current thus cascades from one cell to the next.
  • an electrolysis plant requires work on the electrolysis cells, including the replacement of used anodes. by new anodes, the removal of liquid metal from the cells and the removal or addition of electrolyte.
  • the most modern factories are equipped with a lifting and handling unit comprising an overhead crane, which can be translated above and along the electrolysis cells, and a trolley fitted with several handling elements and intervention (often called "tools"), such as shovels and hoists.
  • the handling member which is intended for handling and moving loads such as anodes comprises a clamp capable of gripping the load, called a "handling clamp".
  • a clamp capable of gripping the load
  • this clamp is placed near the rod of the anode intended to be gripped, then closed on the rod sufficiently to allow the anode to be lifted. The anode is then moved, then positioned or deposited in the desired location.
  • the Applicant has therefore sought handling tongs which make it possible to avoid these drawbacks while remaining reliable, simple and of reduced bulk.
  • the subject of the invention is a handling clamp intended for the industry of the production of aluminum by igneous electrolysis, capable of gripping a charge by a gripping member (called a "rod” thereafter) fixed to said charge, and comprising locking means capable of preventing the opening of the clamp when the load is suspended by the latter.
  • the handling clamp according to the invention which is intended to grip a load provided with a rod, comprises: - at least one movable gripping member, typically a jaw, having an open position and a closed position,
  • - connecting means capable of limiting the axial displacements of the rod in the clamp between a first so-called “low” position and a second so-called “high” position when the gripping member (s) are in the closed position
  • At least one locking system preferably mechanical, capable of blocking the said gripping member (s) in the closed position when it is locked (or “engaged"), said locking system being locked when the rod is in the low position and unlocked (“disengaged") when the rod is in the high position.
  • the Applicant has had the idea of providing the clamp with a locking system which is locked or unlocked by the mere movement of the rod in the clamp.
  • the locking system blocks the gripping member (s) in the closed position, preventing the opening of the clamp and the release of the rod.
  • the locking is therefore controlled by the presence and the position of the rod in the clamp, which avoids untimely drops of the load in the event of failure of the actuation means of the movable gripping member (s) of the clamp.
  • the invention also relates to the use of the handling tongs according to the invention in an aluminum production plant by igneous electrolysis, in particular for handling anodes made of carbonaceous or other material.
  • the invention also relates to a lifting and handling unit comprising at least one load handling member (typically anodes) provided with a handling clamp according to the invention.
  • load handling member typically anodes
  • FIG. 1 illustrates a typical electrolysis room, seen in section, intended for the production of aluminum.
  • FIG. 2 illustrates, in profile view, a handling clamp according to the invention.
  • FIG. 3 illustrates, in profile view, the mobile elements of a handling clamp according to the invention.
  • FIG. 4 illustrates a handling clamp according to the invention, seen in longitudinal section along two perpendicular planes (planes A-A and B-B).
  • FIG. 5 illustrates the operation of the locking system of the handling clamp according to the invention using a particular example.
  • Electrolysis plants for the production of aluminum include a liquid aluminum production area which includes one or more electrolysis rooms (1).
  • each electrolysis room (1) comprises electrolysis cells (2) and at least one lifting and handling unit, or "service machine", (6, 7, 8 , 9, 10).
  • the electrolysis cells (2) are normally arranged in rows or rows (typically side-by-side or head-to-head), each row or row typically comprising one or more hundreds of cells.
  • Said cells (2) comprise a series of anodes (3) provided with a metal rod (4) intended for fixing and electrical connection of the anodes to a metallic anode frame (not illustrated).
  • the anode rod (4) is typically of substantially rectangular or square section.
  • the lifting and handling unit (6, 7, 8, 9, 10) is used to carry out operations on the cells such as changing the anode or filling the feed hoppers with ground bath and A1F 3 electrolysis cells. It can also be used to handle various loads, such as tank elements, pockets of liquid metal or anodes.
  • Said unit (6, 7, 8, 9, 10) typically comprises an overhead crane (6), a carriage (7) capable of moving on the overhead crane (6), and handling and intervention devices (often called “tools") (8, 9, 10), such as a cabin (8) for the operator, a shovel or crust tongs ( not shown), a picker (not shown) or a. handling member (9) provided with a gripper or handling clamp (10). The latter member is particularly intended for handling the anodes (3), although it can also be used for handling other loads.
  • the overhead crane (6) rests and travels on raceways (11, 12) arranged parallel to each other and to the main axis - and typically longitudinal axis - of the hall (and of the cell file).
  • the traveling crane (6) can thus be moved along the electrolysis room (1).
  • the handling clamp (10) which is intended to grip a rod (4) fixed to a load (3) - typically an anode - and provided with at least one connecting means (5, 5a, 5b), typically a cavity, comprises:
  • At least one connecting means (101a, 101b) able to cooperate with the connecting means or means (5, 5a, 5b) of the rod (4) so as to limit the axial displacements of the rod (4) in the clamp (10) between a so-called “low” position and a so-called “high” position when the or each gripping member (100a, 100b) is in the closed position,
  • At least one locking system capable of blocking the or each gripping member (100a, 100b) in the closed position when it is locked, and capable of being locked when the rod (4) is in the low position and unlocked when the rod (4) is in the high position.
  • the gripping member or members In the open position, the gripping member or members provide sufficient space to allow insertion of the rod into the clamp.
  • the or each gripping member (100a, 100b) is advantageously able to pivot around an axis (105).
  • the clamp (10) typically comprises two gripping members (100a, 100b), which are advantageously able to pivot around an axis (105) specific to each gripping member or common to the two gripping members.
  • the clamp (10) is then typically symmetrical with respect to an axis C, called “central axis", which can coincide with the axis of the rod (4).
  • the axis (s) (105) are preferably substantially perpendicular to the axis C, so as to be substantially horizontal in use.
  • the connecting means (101a, 101b) of the clamp (10) typically comprise a projection on the or each gripping member (100a, 100b) and the corresponding connecting means or means (5, 5a, 5b) of the rod ( 4) include at least one cavity.
  • the projection (s) (101a, 101b) of the or each gripping member (100a, 100b) are able to cooperate with the corresponding cavity (s) (5, 5a, 5b) of the rod (4) so as to limit the displacements axial of the rod (4) between said low and high positions when the or each gripping member (100a, 100b) is in the closed position.
  • the dimensions of the connecting means (101a, 101b, 5, 5a, 5b) are such that, when engaged, the rod (4) can still be moved between the high position, in which the locking system (120) is unlocked (as shown in Figure 5 (E)), and the down position, in which the locking system (120) is locked (as shown in Figure 5 (F)). This can be obtained by fitting one or more cavities (5, 5a, 5b) with sufficient clearance to allow these movements.
  • the connecting means (101a, 101b) of the clamp (10) and the corresponding connecting means (5, 5a, 5b) of the rod (4) are advantageously such that they substantially limit - and possibly prevent - the rotation of the rod (4) about its axis A, which ensures precise positioning of the load attached to the rod, generally an anode.
  • the clamp further comprises a clamp body (109) and a fixing means (108). The latter makes it possible in particular to fix the clamp (10) to a handling member (9).
  • the locking system (120) comprises at least one locking element (102a, 102b), such as a tooth or a hook, fixed to each gripping member (100a, 100b ), and at least one movable lock (121) having at least a first position called “locking” and a second position called “unlocking", said lock (121) being:
  • the locking system (120) of the clamp (10) is locked (or “engaged") when, at the same time, the gripping member (s) (100a, 100b) are in the closed position and the rod (4) is in the low position, which typically occurs when the load is suspended by the clamp (10), and it is unlocked when the rod (4) is in the high position, which typically occurs when the clamp ( 10) pushes on the rod (4).
  • the clamp (10) according to the invention thus allows locking or unlocking of said locking system (120) by a simple relative movement of the rod (4) relative to the clamp (and typically in the clamp).
  • the bolt locking position (121) is typically a low position and the unlocking position is typically a high position, this which allows the locking system (120) to be locked by the effect of gravity.
  • the latch (121) is advantageously able to be moved along a central axis of symmetry C of the clamp (10).
  • the lock (121) is typically provided with at least one cavity (126a, 126b), such as a notch or a mortise, capable of cooperating with the or each locking element (102a, 102b) so as to prohibit the movement of the or each gripping member (100a, 100b) from the closed position to the open position.
  • a cavity such as a notch or a mortise
  • the lock (121) has a waiting position - which is typically said locking position but which may be different from this - and is located in the clamp so that the rod (4) can move from the waiting position to the unlocking position when it is inserted into the clamp.
  • the lock (121) may include a pushing member (124), such as a stud, and is capable of being moved from the standby position to said unlocking position by a pushing of the rod (4 ) - and more precisely the end (4 ') of the rod (4) - on said thrust member (124).
  • Said thrust member (124) is typically located near the end (127) of the latch (121) located on the side of the opening of the clamp.
  • the clamp (10) may further comprise at least one guide piece (122, 123) capable of guiding the movement of the latch (121) during its movements between its different positions.
  • the clamp (10) comprises a first guide piece (122) capable of sliding inside the lock (121) and a second guide piece (123) able to guide the 'low' end (127) of the lock (121).
  • the first guide piece (122) is typically fixed to a ball joint or a transverse or axial axis.
  • the second guide piece (123) also acts as a stop.
  • the locking system (120) further comprises at least one return means, such as an elastic element, (125) able to cause the lock (121) to move from the unlocked position to the locked position, and able to keep it in the latter position, when the or each gripping member (100a, 100b) is in the closed position and the rod (4) is in the low position.
  • the return means (125) which is typically a spring, is advantageously integrated into the lock (121) in order to isolate it from the environment and, possibly, to lubricate it, in order to maintain its elasticity and avoid its deterioration.
  • the return means (125) is advantageously located in a recess inside the lock (121) and / or in a recess inside a guide piece (122) of the lock.
  • the return means (125) is located partly in a recess inside the lock (121) and partly in a recess inside a guide piece ( 122) of the lock.
  • the locking system (120) further comprises at least one means, called blocking means, capable of holding the or each gripping member (100a, 100b) in the open position when the lock (121 ) is in the locked position or in the standby position, as illustrated in Figures 5 (B), 4 (B) and 4 (C).
  • blocking means make it possible to mechanically prohibit the closing of the clamp when the rod is not placed correctly in the latter, in particular when the rod is not placed in the clamp so as to allow the engagement of the means of connection (101a, 101b, 5, 5a, 5b) between the rod and the clamp.
  • This variant also allows unhindered insertion of the rod into the clamp.
  • Said locking means are advantageously formed by the bolt (121) and the locking elements (102a, 102b) which are then such that said elements are supported on the bolt when the latter is in the waiting position (typically the position locking), so as to prohibit the closing of the gripping member (s).
  • the clamp (10) may further comprise one or more guide parts (103, 104) of the rod (4) to ensure satisfactory positioning of the latter between the gripping members (100a, 100b) of the clamp.
  • the insertion of the rod (4) into the clamp can possibly be limited by a stop (123).
  • the gripping members (100a, 100b) and / or the guide piece or pieces (103, 104) preferably define a cavity which matches the shape of the rod so as to limit, or even prevent, rotation.
  • FIGS 3 and 4 illustrate a clamp (10) in which the actuation system (110) comprises two connecting rods (114a, 114b) and an actuator (112), which is typically a jack.
  • the actuator (112) and the connecting rods (114a, 114b) are typically connected by a common actuation axis (1 13) fixed to the actuation rod (111) of the actuator.
  • This variant has the advantage of being simple, reliable and effective.
  • the pliers according to the invention advantageously comprises two movable gripping members (100a, 100b) and the latch (121) is preferably located between these two gripping members. This configuration allows a compact construction and protects the lock from impact with external elements.
  • the locking system (120) is preferably entirely mechanical, such as that illustrated in FIGS. 3 to 5, in order to avoid the failure modes linked to electrical or electromechanical elements.
  • the gripping members (100a, 100b) can pivot freely around their respective (or common) axis (105) and allow, in particular, positioning of the locking element (s) (102a, 102b) opposite each corresponding cavity (126a, 126b) and the engagement of the connecting means (101a, 101b, 5, 5a, 5b), typically by introduction of the projections (101a, 101b) in the corresponding cavities (5, 5a, 5b) of the rod (4).
  • the gripping members (100a, 100b) are locked when the clamp (10) is pulled up and the rod (4) descends under the effect of its own weight and that of the load ( Figure 5 (E) ).
  • the descent of the rod (4) is stopped by the connecting means (101a, 101b, 5, 5a, 5b).
  • the locking element (s) (102a, 102b) are inserted into the corresponding cavity (ies) (126a, 126b) and cooperate with them so as to prevent the opening of the gripping members (100a, 100b) of the clamp (10) ( Figure 5 (F)).
  • Lockout is effective as long as the load is suspended.
  • the locking system is unlocked by raising the rod in the clamp, which is typically achieved by pressing the load.
  • Such a system has the advantage of not requiring additional actuators and thus increasing the reliability of the device. It also has the advantage of ensuring a locking action independently of the weight of the load and the friction force between the connecting means (101a, 101b, 5, 5a, 5b).
  • the latch (121) has a waiting position ( Figures 5 (A) and 5 (B)) which merges with the locking position ( Figure 5 (F)).
  • the locking elements (102a, 102 b) cooperate with the lock (121), by pressing on the latter, so as to prevent the closing of the clamp as long as the rod (4) is not deep enough to allow alignment of the projections (101a, 101b) and cavities (5, 5a, 5b).
  • the locking elements (102a, 102b) cooperate with the latch (121) by a cam effect.
  • the invention also relates to a lifting and handling unit (6, 7, 8, 9, 10) comprising at least one load handling member (such as anodes) (9) provided with a handling clamp (10) according to the invention.
  • the invention makes it possible to avoid dual-control systems. It also has the advantage of being practically insensitive to acceleration during handling.
  • Rod typically an anode rod
  • Rod connecting means typically cavities
  • 101a, 101b Means for connecting the clamp, typically projections

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Metallurgy (AREA)
  • Electrochemistry (AREA)
  • Materials Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Organic Chemistry (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Electrolytic Production Of Metals (AREA)
  • Clamps And Clips (AREA)
  • Manipulator (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
  • Electrolytic Production Of Non-Metals, Compounds, Apparatuses Therefor (AREA)

Abstract

The invention relates to a handling gripper (10) used to grip a load, provided with a rod and comprising at least one moveable gripping element, typically a jaw (100a, 100b) having an open position and a closed position, an actuating system (110) for displacing the gripping element(s) (100a, 100b) between an open position and a closed position, connection means (101 a, 101 b) for limiting the axial displacements of the rod in said gripper (10) between a first low position and a second high position when the gripping element(s) (100a, 100b) is/are in a closed position, at least one locking system (20), which is preferably mechanical, used to lock the gripping element or each gripping element (100a, 100b) when in a closed position when the former is in a locked position, said locking system (12.0) being locked when the rod is in a low position and being unlocked when the rod is in a high position. Locking is controlled by the presence and position of the rod in the gripper, thereby preventing loads from being dropped in an untimely manner in the event of failure of the actuating means or moveable gripping elements of the gripper.

Description

PINCE DE MANUTENTION D'UNE MACHINE DE SERVICE DE CELLULES DΕLECTROLYSE POUR LA PRODUCTION D'ALUMINIUM HANDLING PLIERS OF AN ELECTROLYSIS CELL SERVICE MACHINE FOR THE PRODUCTION OF ALUMINUM
Domaine de l'inventionField of the invention
L'invention concerne les usines de production d'aluminium par électrolyse ignée selon le procédé de Hall-Héroult. Elle concerne plus particulièrement les appareils de manutention utilisés dans lesdites usines.The invention relates to plants for the production of aluminum by igneous electrolysis according to the Hall-Héroult process. It relates more particularly to the handling devices used in said factories.
Etat de la techniqueState of the art
L'aluminium métal est produit industriellement par électrolyse ignée, à savoir par électrolyse de l'alumine en solution dans un bain de cryolithe fondue, appelé bain d'électrolyte, selon le procédé bien connu de Hall-Héroult. Le bain d'électrolyte est contenu dans des cuves, dites « cuves d'électrolyse », comprenant un caisson en acier, qui est revêtu intérieurement de matériaux réfractaires et/ou isolants, et un ensemble cathodique situé au fond de la cuve. Des anodes, typiquement en matériau carboné, sont partiellement immergées dans le bain d'électrolyte. L'ensemble formé par une cuve d'électrolyse, ses anodes et le bain d'électrolyte est appelé une cellule d'électrolyse.Aluminum metal is produced industrially by igneous electrolysis, namely by electrolysis of alumina in solution in a bath of molten cryolite, called electrolyte bath, according to the well-known Hall-Héroult process. The electrolyte bath is contained in cells, called "electrolysis cells", comprising a steel box, which is coated internally with refractory and / or insulating materials, and a cathode assembly located at the bottom of the cell. Anodes, typically made of carbonaceous material, are partially immersed in the electrolyte bath. The assembly formed by an electrolysis tank, its anodes and the electrolyte bath is called an electrolysis cell.
Les usines contiennent un grand nombre de cellules d'électrolyse disposées en ligne, dans des bâtiments appelés halls ou salles d'électrolyse, et raccordées électriquement en série à l'aide de conducteurs de liaison, de façon à optimiser l'occupation au sol des usines. Les cellules sont généralement disposées de manière à former deux ou plusieurs files parallèles qui sont électriquement liées entre elles par des conducteurs d'extrémité. Le courant d'électrolyse passe ainsi en cascade d'une cellule à la suivante.The factories contain a large number of electrolysis cells arranged in a line, in buildings called halls or electrolysis rooms, and electrically connected in series using connecting conductors, so as to optimize the floor occupation of factories. The cells are generally arranged so as to form two or more parallel lines which are electrically linked together by end conductors. The electrolysis current thus cascades from one cell to the next.
En fonctionnement, une usine d'électrolyse nécessite des interventions sur les cellules d'électrolyse parmi lesquelles figurent notamment le remplacement des anodes usées par des anodes neuves, le prélèvement de métal liquide des cellules et les prélèvements ou ajouts d'électrolyte. Les usines les plus modernes sont équipées d'une unité de levage et de manutention comportant un pont roulant, qui peut être translaté au-dessus des cellules d'électrolyse et le long de celles-ci, et un chariot muni de plusieurs organes de manutention et d'intervention (souvent appelés « outils »), tels que des pelles et des palans.In operation, an electrolysis plant requires work on the electrolysis cells, including the replacement of used anodes. by new anodes, the removal of liquid metal from the cells and the removal or addition of electrolyte. The most modern factories are equipped with a lifting and handling unit comprising an overhead crane, which can be translated above and along the electrolysis cells, and a trolley fitted with several handling elements and intervention (often called "tools"), such as shovels and hoists.
L'organe de manutention qui est destiné à la manutention et au déplacement de charges telles que des anodes comporte une pince apte à saisir la charge, appelée "pince de manutention". Par exemple, lors des opérations de manutention des anodes, cette pince est placée à proximité de la tige de l'anode destinée à être saisie, puis fermée sur la tige de manière suffisante pour permettre de soulever l'anode. L'anode est ensuite déplacée, puis positionnée ou déposée à l'endroit souhaité.The handling member which is intended for handling and moving loads such as anodes comprises a clamp capable of gripping the load, called a "handling clamp". For example, during anode handling operations, this clamp is placed near the rod of the anode intended to be gripped, then closed on the rod sufficiently to allow the anode to be lifted. The anode is then moved, then positioned or deposited in the desired location.
Or, il peut arriver que la charge puisse tomber de manière accidentelle, typiquement parce qu'elle a été relâchée accidentellement en cours de manutention, par exemple à cause d'une ouverture intempestive de la pince (provenant typiquement d'une commande d'ouverture erronée).However, it can happen that the load can fall accidentally, typically because it was accidentally released during handling, for example because of an untimely opening of the clamp (typically coming from an opening command erroneous).
La demanderesse a donc recherché des pinces de manutention qui permettent d'éviter ces inconvénients tout en restant fiables, simples et d'encombrement réduit.The Applicant has therefore sought handling tongs which make it possible to avoid these drawbacks while remaining reliable, simple and of reduced bulk.
Description de l'inventionDescription of the invention
L'invention a pour objet une pince de manutention destinée à l'industrie de la production d'aluminium par électrolyse ignée, apte à saisir une charge par un organe de prise (appelé "tige" par la suite) fixé à ladite charge, et comportant des moyens de verrouillage aptes à interdire l'ouverture de la pince lorsque la charge est suspendue par celle-ci.The subject of the invention is a handling clamp intended for the industry of the production of aluminum by igneous electrolysis, capable of gripping a charge by a gripping member (called a "rod" thereafter) fixed to said charge, and comprising locking means capable of preventing the opening of the clamp when the load is suspended by the latter.
Plus précisément, la pince de manutention selon l'invention, qui est destinée à saisir une charge munie d'une tige, comporte : - au moins un organe de préhension mobile, typiquement une mâchoire, possédant une position ouverte et une position fermée,More specifically, the handling clamp according to the invention, which is intended to grip a load provided with a rod, comprises: - at least one movable gripping member, typically a jaw, having an open position and a closed position,
- un système d'actionnement pour déplacer le ou les organes de préhension entre la position ouverte et la position fermée, - des moyens de liaison aptes à limiter les déplacements axiaux de la tige dans la pince entre une première position dite "basse" et une deuxième position dite "haute" lorsque le ou les organes de préhension sont en position fermée,- an actuation system for moving the gripping member (s) between the open position and the closed position, - connecting means capable of limiting the axial displacements of the rod in the clamp between a first so-called "low" position and a second so-called "high" position when the gripping member (s) are in the closed position,
- au moins un système de verrouillage, de préférence mécanique, apte à bloquer le ou les dits organes de préhension en position fermée lorsqu'il est verrouillé (ou "enclenché"), ledit système de verrouillage étant verrouillé lorsque la tige est en position basse et déverrouillé ("désenclenché") lorsque la tige est en position haute.- At least one locking system, preferably mechanical, capable of blocking the said gripping member (s) in the closed position when it is locked (or "engaged"), said locking system being locked when the rod is in the low position and unlocked ("disengaged") when the rod is in the high position.
La demanderesse a eu l'idée de munir la pince d'un système de verrouillage qui est verrouillé ou déverrouillé par le seul déplacement de la tige dans la pince. Lorsqu'il est verrouillé, le système de verrouillage bloque le ou les organes de préhension en position fermée, interdisant ainsi l'ouverture de la pince et la libération de la tige. Le verrouillage est donc contrôlé par la présence et la position de la tige dans la pince, ce qui évite les chutes intempestives de la charge en cas de défaillance des moyens d'actionnement du ou des organes mobiles de préhension de la pince.The Applicant has had the idea of providing the clamp with a locking system which is locked or unlocked by the mere movement of the rod in the clamp. When locked, the locking system blocks the gripping member (s) in the closed position, preventing the opening of the clamp and the release of the rod. The locking is therefore controlled by the presence and the position of the rod in the clamp, which avoids untimely drops of the load in the event of failure of the actuation means of the movable gripping member (s) of the clamp.
L'invention a également pour objet l'utilisation de la pince de manutention selon l'invention dans une usine de production d'aluminium par électrolyse ignée, notamment pour la manutention d'anodes en matériau carboné ou autre.The invention also relates to the use of the handling tongs according to the invention in an aluminum production plant by igneous electrolysis, in particular for handling anodes made of carbonaceous or other material.
L'invention a encore pour objet une unité de levage et de manutention comportant au moins un organe de manutention de charges (typiquement des anodes) muni d'une pince de manutention selon l'invention.The invention also relates to a lifting and handling unit comprising at least one load handling member (typically anodes) provided with a handling clamp according to the invention.
L'invention sera mieux comprise à l'aide de la description détaillée de modes de réalisation préférés de celle-ci qui sont exposés ci-dessous et qui sont illustrés à l'aide des figures annexées. La figure 1 illustre une salle d'électrolyse typique, vue en section, destinée à la production d'aluminium.The invention will be better understood with the aid of the detailed description of preferred embodiments thereof which are set out below and which are illustrated with the aid of the appended figures. FIG. 1 illustrates a typical electrolysis room, seen in section, intended for the production of aluminum.
La figure 2 illustre, en vue de profil, une pince de manutention selon l'invention.FIG. 2 illustrates, in profile view, a handling clamp according to the invention.
La figure 3 illustre, en vue de profil, les éléments mobiles d'une pince de manutention selon l'invention.FIG. 3 illustrates, in profile view, the mobile elements of a handling clamp according to the invention.
La figure 4 illustre une pince de manutention selon l'invention, vue en section longitudinale selon deux plans perpendiculaires (plans A- A et B-B).FIG. 4 illustrates a handling clamp according to the invention, seen in longitudinal section along two perpendicular planes (planes A-A and B-B).
La figure 5 illustre le fonctionnement du système de verrouillage de la pince de manutention selon l'invention à l'aide d'un exemple particulier.FIG. 5 illustrates the operation of the locking system of the handling clamp according to the invention using a particular example.
Les usines d'électrolyse destinées à la production d'aluminium comprennent une zone de production d'aluminium liquide qui comprend une ou plusieurs salles d'électrolyse (1). Tel qu'illustré à la figure 1, chaque salle d'électrolyse (1) comporte des cellules d'électrolyse (2) et au moins une unité de levage et de manutention, ou "machine de service", (6, 7, 8, 9, 10). Les cellules d'électrolyse (2) sont normalement disposées en rangées ou files (typiquement côte-à-côte ou tête-à-tête), chaque rangée ou file comportant typiquement une ou plusieurs centaines de cellules. Lesdites cellules (2) comprennent une série d'anodes (3) munies d'une tige métallique (4) destinée à la fixation et au raccordement électrique des anodes à un cadre anodique métallique (non illustré). La tige d'anode (4) est typiquement de section sensiblement rectangulaire ou carrée.Electrolysis plants for the production of aluminum include a liquid aluminum production area which includes one or more electrolysis rooms (1). As illustrated in FIG. 1, each electrolysis room (1) comprises electrolysis cells (2) and at least one lifting and handling unit, or "service machine", (6, 7, 8 , 9, 10). The electrolysis cells (2) are normally arranged in rows or rows (typically side-by-side or head-to-head), each row or row typically comprising one or more hundreds of cells. Said cells (2) comprise a series of anodes (3) provided with a metal rod (4) intended for fixing and electrical connection of the anodes to a metallic anode frame (not illustrated). The anode rod (4) is typically of substantially rectangular or square section.
L'unité de levage et de manutention (6, 7, 8, 9, 10) sert à effectuer des opérations sur les cellules telles qu'un changement d'anode ou le remplissage des trémies d'alimentation en bain broyé et en A1F3 des cellules d'électrolyse. Elle peut également servir à manutentionner des charges diverses, telles que des éléments de cuve, des poches de métal liquide ou des anodes. Ladite unité (6, 7, 8, 9, 10) comprend typiquement un pont roulant (6), un chariot (7) apte à se déplacer sur le pont roulant (6), et des organes de manutention et d'intervention (souvent appelés « outils ») (8, 9, 10), tels qu'une cabine (8) pour l'opérateur, une pelle ou pince à croûte (non illustrée), un piqueur (non illustré) ou un. organe de manutention (9) muni d'une pince de préhension ou pince de manutention (10). Ce dernier organe est tout particulièrement destiné à la manutention des anodes (3), bien qu'il puisse également être utilisé pour la manutention d'autres charges.The lifting and handling unit (6, 7, 8, 9, 10) is used to carry out operations on the cells such as changing the anode or filling the feed hoppers with ground bath and A1F 3 electrolysis cells. It can also be used to handle various loads, such as tank elements, pockets of liquid metal or anodes. Said unit (6, 7, 8, 9, 10) typically comprises an overhead crane (6), a carriage (7) capable of moving on the overhead crane (6), and handling and intervention devices (often called "tools") (8, 9, 10), such as a cabin (8) for the operator, a shovel or crust tongs ( not shown), a picker (not shown) or a. handling member (9) provided with a gripper or handling clamp (10). The latter member is particularly intended for handling the anodes (3), although it can also be used for handling other loads.
Le pont roulant (6) repose et circule sur des chemins de roulement (11, 12) disposés parallèlement l'un à l'autre et à l'axe principal - et typiquement longitudinal - du hall (et de la file de cellules). Le pont roulant (6) peut ainsi être déplacé le long de la salle d'électrolyse (1).The overhead crane (6) rests and travels on raceways (11, 12) arranged parallel to each other and to the main axis - and typically longitudinal axis - of the hall (and of the cell file). The traveling crane (6) can thus be moved along the electrolysis room (1).
Selon l'invention, la pince de manutention (10), qui est destinée à saisir une tige (4) fixée à une charge (3) - typiquement une anode - et munie d'au moins un moyen de liaison (5, 5a, 5b), typiquement une cavité, comporte :According to the invention, the handling clamp (10), which is intended to grip a rod (4) fixed to a load (3) - typically an anode - and provided with at least one connecting means (5, 5a, 5b), typically a cavity, comprises:
- au moins un organe de préhension mobile (100a, 100b), typiquement une mâchoire, ayant une position ouverte apte à former une ouverture, typiquement tournée vers le bas en utilisation, dans laquelle la tige (4) peut être insérée, et une position fermée apte à retenir la tige (4), - un système d'actionnement (110) pour déplacer le ou chaque organe de préhension (100a, 100b) entre les positions ouverte et fermée,- at least one movable gripping member (100a, 100b), typically a jaw, having an open position capable of forming an opening, typically turned downwards in use, into which the rod (4) can be inserted, and a position closed capable of retaining the rod (4), - an actuation system (110) for moving the or each gripping member (100a, 100b) between the open and closed positions,
- au moins un moyen de liaison (101a, 101b) apte à coopérer avec le ou les moyens de liaison (5, 5 a, 5b) correspondants de la tige (4) de manière à limiter les déplacements axiaux de la tige (4) dans la pince (10) entre une position dite "basse" et une position dite "haute" lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée,- At least one connecting means (101a, 101b) able to cooperate with the connecting means or means (5, 5a, 5b) of the rod (4) so as to limit the axial displacements of the rod (4) in the clamp (10) between a so-called "low" position and a so-called "high" position when the or each gripping member (100a, 100b) is in the closed position,
- au moins un système de verrouillage (120) apte à bloquer le ou chaque organe de préhension (100a, 100b) en position fermée lorsqu'il est verrouillé, et apte à être verrouillé lorsque la tige (4) est en position basse et déverrouillé lorsque la tige (4) est en position haute. En position ouverte, le ou les organes de préhension dégagent un espace suffisant pour permettre l'insertion de la tige dans la pince.- at least one locking system (120) capable of blocking the or each gripping member (100a, 100b) in the closed position when it is locked, and capable of being locked when the rod (4) is in the low position and unlocked when the rod (4) is in the high position. In the open position, the gripping member or members provide sufficient space to allow insertion of the rod into the clamp.
Le ou chaque organe de préhension (100a, 100b) est avantageusement apte à pivoter autour d'un axe (105).The or each gripping member (100a, 100b) is advantageously able to pivot around an axis (105).
La pince (10) comporte typiquement deux organes de préhension (100a, 100b), qui sont avantageusement aptes à pivoter autour d'un axe (105) propre à chaque organe de préhension ou commun aux deux organes de préhension. La pince (10) est alors typiquement symétrique par rapport à un axe C, dit "axe central", qui peut coïncider avec l'axe de la tige (4). Le ou les axes (105) sont de préférence sensiblement perpendiculaires à l'axe C, de manière à être sensiblement horizontaux en utilisation.The clamp (10) typically comprises two gripping members (100a, 100b), which are advantageously able to pivot around an axis (105) specific to each gripping member or common to the two gripping members. The clamp (10) is then typically symmetrical with respect to an axis C, called "central axis", which can coincide with the axis of the rod (4). The axis (s) (105) are preferably substantially perpendicular to the axis C, so as to be substantially horizontal in use.
Les moyens de liaison (101a, 101b) de la pince (10) comprennent typiquement une saillie sur le ou chaque organe de préhension (100a, 100b) et le ou les moyens de liaison correspondants (5, 5a, 5b) de la tige (4) comprennent au moins une cavité. La ou les saillies (101a, 101b) du ou de chaque organe de préhension (100a, 100b) sont aptes à coopérer avec la ou les cavités correspondantes (5, 5a, 5b) de la tige (4) de manière à limiter les déplacements axiaux de la tige (4) entre lesdites positions basse et haute lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée. Les dimensions des moyens de liaison (101a, 101b, 5, 5a, 5b) sont telles que, lorsqu'ils sont enclenchés, la tige (4) peut encore être déplacée entre la position haute, dans laquelle le système de verrouillage (120) est déverrouillé (tel qu'illustré à la figure 5(E)), et la position basse, dans laquelle le système de verrouillage (120) est verrouillé (tel qu'illustré à la figure 5(F)). Ceci peut être obtenu en aménageant une ou des cavités (5, 5a, 5b) avec un jeu suffisant pour permettre ces déplacements.The connecting means (101a, 101b) of the clamp (10) typically comprise a projection on the or each gripping member (100a, 100b) and the corresponding connecting means or means (5, 5a, 5b) of the rod ( 4) include at least one cavity. The projection (s) (101a, 101b) of the or each gripping member (100a, 100b) are able to cooperate with the corresponding cavity (s) (5, 5a, 5b) of the rod (4) so as to limit the displacements axial of the rod (4) between said low and high positions when the or each gripping member (100a, 100b) is in the closed position. The dimensions of the connecting means (101a, 101b, 5, 5a, 5b) are such that, when engaged, the rod (4) can still be moved between the high position, in which the locking system (120) is unlocked (as shown in Figure 5 (E)), and the down position, in which the locking system (120) is locked (as shown in Figure 5 (F)). This can be obtained by fitting one or more cavities (5, 5a, 5b) with sufficient clearance to allow these movements.
Les moyens de liaison (101a, 101b) de la pince (10) et le ou les moyens de liaison correspondants (5, 5 a, 5b) de la tige (4) sont avantageusement tels qu'ils limitent sensiblement - et empêchent éventuellement - la rotation de la tige (4) autour de son axe A, ce qui permet d'assurer un positionnement précis de la charge fixée à la tige, généralement une anode. Typiquement, la pince comporte en outre un corps de pince (109) et un moyen de fixation (108). Ce dernier permet notamment de fixer la pince (10) à un organe de manutention (9).The connecting means (101a, 101b) of the clamp (10) and the corresponding connecting means (5, 5a, 5b) of the rod (4) are advantageously such that they substantially limit - and possibly prevent - the rotation of the rod (4) about its axis A, which ensures precise positioning of the load attached to the rod, generally an anode. Typically, the clamp further comprises a clamp body (109) and a fixing means (108). The latter makes it possible in particular to fix the clamp (10) to a handling member (9).
Dans un mode de réalisation préféré de l'invention, le système de verrouillage (120) comporte au moins un élément de verrouillage (102a, 102b), tel qu'une dent ou un crochet, fixé à chaque organe de préhension (100a, 100b), et au moins un verrou mobile (121) ayant au moins une première position dite "de verrouillage" et une deuxième position dite "de déverrouillage", ledit verrou (121) étant :In a preferred embodiment of the invention, the locking system (120) comprises at least one locking element (102a, 102b), such as a tooth or a hook, fixed to each gripping member (100a, 100b ), and at least one movable lock (121) having at least a first position called "locking" and a second position called "unlocking", said lock (121) being:
- apte à se déplacer de la position de déverrouillage à la position de verrouillage lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée et que la tige (4) est en position basse,- able to move from the unlocking position to the locking position when the or each gripping member (100a, 100b) is in the closed position and the rod (4) is in the low position,
- apte à coopérer avec le ou chaque élément de verrouillage (102a, 102b) de manière à permettre le mouvement du ou de chaque organe de préhension (100a, 100b) lorsqu'il est en position de déverrouillage et à maintenir le ou chaque organe de préhension (100a, 100b) en position fermée lorsqu'il est en position de verrouillage,- able to cooperate with the or each locking element (102a, 102b) so as to allow movement of the or each gripping member (100a, 100b) when it is in the unlocking position and to maintain the or each gripping member gripping (100a, 100b) in the closed position when it is in the locked position,
- et apte à être déplacé de la position de verrouillage à la position de déverrouillage par un déplacement axial de la tige (4) de la position basse à la position haute.- And able to be moved from the locking position to the unlocking position by an axial displacement of the rod (4) from the low position to the high position.
Dans ce mode de réalisation, le système de verrouillage (120) de la pince (10) est verrouillé (ou "enclenché") lorsque, en même temps, le ou les organes de préhension (100a, 100b) sont en position fermée et la tige (4) est en position basse, ce qui se produit typiquement lorsque la charge est suspendue par la pince (10), et il est déverrouillé lorsque la tige (4) est en position haute, ce qui se produit typiquement lorsque la pince (10) exerce une poussée sur la tige (4). La pince (10) selon l'invention permet ainsi un verrouillage ou un déverrouillage dudit système de verrouillage (120) par un simple déplacement relatif de la tige (4) par rapport à la pince (et typiquement dans la pince).In this embodiment, the locking system (120) of the clamp (10) is locked (or "engaged") when, at the same time, the gripping member (s) (100a, 100b) are in the closed position and the rod (4) is in the low position, which typically occurs when the load is suspended by the clamp (10), and it is unlocked when the rod (4) is in the high position, which typically occurs when the clamp ( 10) pushes on the rod (4). The clamp (10) according to the invention thus allows locking or unlocking of said locking system (120) by a simple relative movement of the rod (4) relative to the clamp (and typically in the clamp).
En utilisation, la position de verrouillage du verrou (121) est typiquement une position basse et la position de déverrouillage est typiquement une position haute, ce qui permet le verrouillage du système de verrouillage (120) par l'effet de la gravité. Dans ce cas, le verrou (121) est avantageusement apte à être déplacé selon un axe de symétrie central C de la pince (10).In use, the bolt locking position (121) is typically a low position and the unlocking position is typically a high position, this which allows the locking system (120) to be locked by the effect of gravity. In this case, the latch (121) is advantageously able to be moved along a central axis of symmetry C of the clamp (10).
Afin de permettre le verrouillage, le verrou (121) est typiquement muni d'au moins une cavité (126a, 126b), telle qu'un cran ou une mortaise, apte à coopérer avec le ou chaque élément de verrouillage (102a, 102b) de façon à interdire le déplacement du ou de chaque organe de préhension (100a, 100b) de la position fermée à la position ouverte.In order to allow locking, the lock (121) is typically provided with at least one cavity (126a, 126b), such as a notch or a mortise, capable of cooperating with the or each locking element (102a, 102b) so as to prohibit the movement of the or each gripping member (100a, 100b) from the closed position to the open position.
De préférence, le verrou (121) possède une position d'attente - qui est typiquement ladite position de verrouillage mais qui peut être différente de celle-ci - et est situé dans la pince de manière à ce que la tige (4) puisse le déplacer de la position d'attente à la position de déverrouillage lors de son introduction dans la pince. Dans ce but, le verrou (121) peut comporter un organe de poussée (124), tel qu'un téton, et est apte à être déplacé de la position d'attente à ladite position de déverrouillage par une poussée de la tige (4) - et plus précisément l'extrémité (4') de la tige (4) - sur ledit organe de poussée (124). Ledit organe de poussée (124) est typiquement situé à proximité de l'extrémité (127) du verrou (121) située du côté de l'ouverture de la pince.Preferably, the lock (121) has a waiting position - which is typically said locking position but which may be different from this - and is located in the clamp so that the rod (4) can move from the waiting position to the unlocking position when it is inserted into the clamp. For this purpose, the lock (121) may include a pushing member (124), such as a stud, and is capable of being moved from the standby position to said unlocking position by a pushing of the rod (4 ) - and more precisely the end (4 ') of the rod (4) - on said thrust member (124). Said thrust member (124) is typically located near the end (127) of the latch (121) located on the side of the opening of the clamp.
La pince (10) peut comprendre en outre au moins une pièce de guidage (122, 123) apte à guider le déplacement du verrou (121) lors de ses déplacements entre ses différentes positions. Dans le mode de réalisation illustré à la figure 4, la pince (10) comporte une première pièce de guidage (122) apte à coulisser à l'intérieur du verrou (121) et une deuxième pièce de guidage (123) apte à guider l'extrémité "basse" (127) du verrou (121). La première pièce de guidage (122) est typiquement fixée à une rotule ou un axe transversal ou axial. Dans l'exemple de la figure 4, la deuxième pièce de guidage (123) agit également comme butée.The clamp (10) may further comprise at least one guide piece (122, 123) capable of guiding the movement of the latch (121) during its movements between its different positions. In the embodiment illustrated in FIG. 4, the clamp (10) comprises a first guide piece (122) capable of sliding inside the lock (121) and a second guide piece (123) able to guide the 'low' end (127) of the lock (121). The first guide piece (122) is typically fixed to a ball joint or a transverse or axial axis. In the example of FIG. 4, the second guide piece (123) also acts as a stop.
Dans un mode de réalisation préféré de l'invention, le système de verrouillage (120) comprend en outre au moins un moyen de rappel, tel qu'un élément élastique, (125) apte à provoquer le déplacement du verrou (121) de la position de déverrouillage à la position de verrouillage, et apte à le maintenir dans cette dernière position, lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée et que la tige (4) est en position basse. Le moyen de rappel (125), qui est typiquement un ressort, est avantageusement intégré dans le verrou (121) afin de l'isoler de l'environnement et, éventuellement, de le lubrifier, afin de maintenir son élasticité et d'éviter sa détérioration. Dans ce but, le moyen de rappel (125) est avantageusement situé dans un évidement à l'intérieur du verrou (121) et/ou dans un évidement à l'intérieur d'une pièce de guidage (122) du verrou. Dans l'exemple de la figure 4, le moyen de rappel (125) est situé en partie dans un évidement à l'intérieui- du verrou (121) et en partie dans un évidement à l'intérieur d'une pièce de guidage (122) du verrou.In a preferred embodiment of the invention, the locking system (120) further comprises at least one return means, such as an elastic element, (125) able to cause the lock (121) to move from the unlocked position to the locked position, and able to keep it in the latter position, when the or each gripping member (100a, 100b) is in the closed position and the rod (4) is in the low position. The return means (125), which is typically a spring, is advantageously integrated into the lock (121) in order to isolate it from the environment and, possibly, to lubricate it, in order to maintain its elasticity and avoid its deterioration. For this purpose, the return means (125) is advantageously located in a recess inside the lock (121) and / or in a recess inside a guide piece (122) of the lock. In the example of FIG. 4, the return means (125) is located partly in a recess inside the lock (121) and partly in a recess inside a guide piece ( 122) of the lock.
Selon une variante avantageuse de l'invention, le système de verrouillage (120) comporte en outre au moins un moyen, dit de blocage, apte à maintenir le ou chaque organe de préhension (100a, 100b) en position ouverte lorsque le verrou (121) est en position de verrouillage ou en position d'attente, tel qu'illustré aux figures 5(B), 4(B) et 4(C). Ces moyens de blocages permettent d'interdire mécaniquement la fermeture de la pince lorsque la tige n'est pas placée correctement dans celle-ci, notamment lorsque la tige n'est pas placée dans la pince de manière à permettre l'enclenchement des moyens de liaison (101a, 101b, 5, 5a, 5b) entre la tige et la pince. Cette variante permet également une insertion sans entrave de la tige dans la pince. Lesdits moyens de blocage sont avantageusement formés par le verrou (121) et les éléments de verrouillage (102a, 102b) qui sont alors tels que lesdits éléments s'appuient sur le verrou lorsque celui-ci est en position d'attente (typiquement la position de verrouillage), de façon à interdire la fermeture du ou des organes de préhension.According to an advantageous variant of the invention, the locking system (120) further comprises at least one means, called blocking means, capable of holding the or each gripping member (100a, 100b) in the open position when the lock (121 ) is in the locked position or in the standby position, as illustrated in Figures 5 (B), 4 (B) and 4 (C). These blocking means make it possible to mechanically prohibit the closing of the clamp when the rod is not placed correctly in the latter, in particular when the rod is not placed in the clamp so as to allow the engagement of the means of connection (101a, 101b, 5, 5a, 5b) between the rod and the clamp. This variant also allows unhindered insertion of the rod into the clamp. Said locking means are advantageously formed by the bolt (121) and the locking elements (102a, 102b) which are then such that said elements are supported on the bolt when the latter is in the waiting position (typically the position locking), so as to prohibit the closing of the gripping member (s).
Tel qu'illustré aux figures 4 et 5, la pince (10) peut en outre comprendre une ou plusieurs pièces de guidage (103, 104) de la tige (4) pour assurer un positionnement satisfaisant de celle-ci entre les organes de préhension (100a, 100b) de la pince. L'enfoncement de la tige (4) dans la pince peut éventuellement être limité par une butée (123). Les organes de préhension (100a, 100b) et/ou la ou les pièces de guidage (103, 104) définissent de préférence une cavité qui épouse la forme de la tige de façon à en limiter, voire empêcher, la rotation.As illustrated in Figures 4 and 5, the clamp (10) may further comprise one or more guide parts (103, 104) of the rod (4) to ensure satisfactory positioning of the latter between the gripping members (100a, 100b) of the clamp. The insertion of the rod (4) into the clamp can possibly be limited by a stop (123). The gripping members (100a, 100b) and / or the guide piece or pieces (103, 104) preferably define a cavity which matches the shape of the rod so as to limit, or even prevent, rotation.
Les organes de préhension (100a, 100b) de la pince peuvent être actionnés par différents moyens. Les figures 3 et 4 illustrent une pince (10) dans laquelle le système d'actionnement (110) comprend deux bielles (114a, 114b) et un actionneur (112), qui est typiquement un vérin. L'actionneur (112) et les bielles (114a, 114b) sont typiquement reliés par un axe d'actionnement (1 13) commun fixé à la tige d'actionnement (111) de l'actionneur. Cette variante présente l'avantage d'être simple, fiable et efficace.The gripping members (100a, 100b) of the clamp can be actuated by different means. Figures 3 and 4 illustrate a clamp (10) in which the actuation system (110) comprises two connecting rods (114a, 114b) and an actuator (112), which is typically a jack. The actuator (112) and the connecting rods (114a, 114b) are typically connected by a common actuation axis (1 13) fixed to the actuation rod (111) of the actuator. This variant has the advantage of being simple, reliable and effective.
La pince selon l'invention comporte avantageusement deux organes de préhension mobiles (100a, 100b) et le verrou (121) se situe de préférence entre ces deux organes de préhension. Cette configuration permet une construction compacte et protège le verrou des chocs avec des éléments extérieurs.The pliers according to the invention advantageously comprises two movable gripping members (100a, 100b) and the latch (121) is preferably located between these two gripping members. This configuration allows a compact construction and protects the lock from impact with external elements.
Le système de verrouillage (120) est de préférence entièrement mécanique, tel que celui illustré aux figures 3 à 5, afin d'éviter les modes de défaillance liés à des éléments électriques ou électromécaniques.The locking system (120) is preferably entirely mechanical, such as that illustrated in FIGS. 3 to 5, in order to avoid the failure modes linked to electrical or electromechanical elements.
Le fonctionnement du système de verrouillage (120) de la pince de manutention (10) selon l'invention est illustré à l'aide de l'exemple particulier de la figure 5. Le système d'actionnement (110) de la pince n'est pas représenté afin de simplifier la figure.The operation of the locking system (120) of the handling clamp (10) according to the invention is illustrated using the particular example of FIG. 5. The actuation system (110) of the clamp does not is not shown to simplify the figure.
Lorsque le verrou (121) est en position de déverrouillage (figure 5(D)), les organes de préhension (100a, 100b) peuvent pivoter librement autour de leur axe respectif (ou commun) (105) et permettre, notamment, le positionnement du ou des éléments de verrouillage (102a, 102b) en face de chaque cavité (126a, 126b) correspondante et l'enclenchement des moyens de liaison (101a, 101b, 5, 5a, 5b), typiquement par introduction des saillies (101a, 101b) dans les cavités (5, 5a, 5b) correspondantes de la tige (4). Les organes de préhension (100a, 100b) sont verrouillés lorsque la pince (10) est tractée vers le haut et que la tige (4) descend sous l'effet de son propre poids et de celui de la charge (figure 5(E)). La descente de la tige (4) est arrêtée par les moyens de liaison (101a, 101b, 5, 5a, 5b). Lorsque le verrou (121) est en position de verrouillage, le ou les éléments de verrouillage (102a, 102b) sont insérés dans la ou les cavités (126a, 126b) correspondantes et coopèrent avec celles-ci de façon à interdire l'ouverture des organes de préhension (100a, 100b) de la pince (10) (figure 5(F)). Le verrouillage est effectif tant que la charge est suspendue. Le système de verrouillage est déverrouillé en remontant la tige dans la pince, ce qui est typiquement obtenu en appuyant sur la charge. Un tel système présente l'avantage de ne pas nécessiter des actionneurs supplémentaires et d'augmenter ainsi la fiabilité du dispositif. Il présente également l'avantage d'assurer une action de verrouillage indépendamment du poids de la charge et de la force de friction entre les moyens de liaison (101a, 101b, 5, 5a, 5b).When the lock (121) is in the unlocked position (FIG. 5 (D)), the gripping members (100a, 100b) can pivot freely around their respective (or common) axis (105) and allow, in particular, positioning of the locking element (s) (102a, 102b) opposite each corresponding cavity (126a, 126b) and the engagement of the connecting means (101a, 101b, 5, 5a, 5b), typically by introduction of the projections (101a, 101b) in the corresponding cavities (5, 5a, 5b) of the rod (4). The gripping members (100a, 100b) are locked when the clamp (10) is pulled up and the rod (4) descends under the effect of its own weight and that of the load (Figure 5 (E) ). The descent of the rod (4) is stopped by the connecting means (101a, 101b, 5, 5a, 5b). When the lock (121) is in the locked position, the locking element (s) (102a, 102b) are inserted into the corresponding cavity (ies) (126a, 126b) and cooperate with them so as to prevent the opening of the gripping members (100a, 100b) of the clamp (10) (Figure 5 (F)). Lockout is effective as long as the load is suspended. The locking system is unlocked by raising the rod in the clamp, which is typically achieved by pressing the load. Such a system has the advantage of not requiring additional actuators and thus increasing the reliability of the device. It also has the advantage of ensuring a locking action independently of the weight of the load and the friction force between the connecting means (101a, 101b, 5, 5a, 5b).
Dans l'exemple illustré à la figure 5, le verrou (121) comporte une position d'attente (figures 5(A) et 5(B)) qui se confond avec la position de verrouillage (figure 5(F)). Dans ce cas, les éléments de verrouillage (102a, 102 b) coopèrent avec le verrou (121), en s'appuyant sur ce dernier, de manière à interdire la fermeture de la pince tant que la tige (4) n'est pas suffisamment enfoncée pour permettre l'alignement des saillies (101a, 101b) et des cavités (5, 5a, 5b). Les éléments de verrouillage (102a, 102b) coopèrent avec le verrou (121) par un effet de came. Lors de son introduction entre les organes de-préhension de la pince, la tige (4) pousse le verrou (121) vers le haut, en s'appuyant sur l'organe de poussée (124), jusqu'à ce que le mouvement des éléments de verrouillage ne soit plus entravé par le verrou (figure 5(C)). Cette variante présente l'avantage d'empêcher simplement la préhension de la charge tant que le système de verrouillage n'est pas susceptible d'être enclenché.In the example illustrated in Figure 5, the latch (121) has a waiting position (Figures 5 (A) and 5 (B)) which merges with the locking position (Figure 5 (F)). In this case, the locking elements (102a, 102 b) cooperate with the lock (121), by pressing on the latter, so as to prevent the closing of the clamp as long as the rod (4) is not deep enough to allow alignment of the projections (101a, 101b) and cavities (5, 5a, 5b). The locking elements (102a, 102b) cooperate with the latch (121) by a cam effect. When it is introduced between the gripping members of the clamp, the rod (4) pushes the latch (121) upwards, by pressing on the pushing member (124), until the movement locking elements is no longer hindered by the latch (Figure 5 (C)). This variant has the advantage of simply preventing gripping of the load as long as the locking system is not likely to be engaged.
L'invention a également pour objet une unité de levage et de manutention (6, 7, 8, 9, 10) comportant au moins un organe de manutention de charges (telles que des anodes) (9) muni d'une pince de manutention (10) selon l'invention. L'invention permet d'éviter les systèmes à double-commande. Elle présente également l'avantage d'être pratiquement insensible aux accélérations durant la manutention.The invention also relates to a lifting and handling unit (6, 7, 8, 9, 10) comprising at least one load handling member (such as anodes) (9) provided with a handling clamp (10) according to the invention. The invention makes it possible to avoid dual-control systems. It also has the advantage of being practically insensitive to acceleration during handling.
Liste des repères numériquesList of digital markers
1 Salle d'électrolyse1 electrolysis room
2 Cellule d'électrolyse2 Electrolysis cell
3 Charge, typiquement une anode3 Charging, typically an anode
4 Tige, typiquement une tige d'anode4 Rod, typically an anode rod
4' Extrémité de la tige, typiquement la tête de la tige d'anode4 'End of the rod, typically the head of the anode rod
5, 5a, 5b Moyens de liaison de la tige, typiquement des cavités5, 5a, 5b Rod connecting means, typically cavities
6 Pont roulant6 Overhead crane
7 Chariot7 Trolley
8 Cabine8 Cabin
9 Organe de manutention9 Handling equipment
10 Pince de manutention10 Handling tongs
11, 12 Chemins de roulement11, 12 Tracks
100a, 100b Organes de préhension de la pince100a, 100b Gripper grippers
101a, 101b Moyens de liaison de la pince, typiquement des saillies101a, 101b Means for connecting the clamp, typically projections
102a, 102b Eléments de verrouillage102a, 102b Locking elements
103, 104 Pièces de guidage de la tige103, 104 Rod guide pieces
105 Axe de rotation des organes de préhension105 Axis of rotation of the gripping members
108 Moyen de fixation108 Fastening means
109 Corps de pince109 Pliers body
110 Système d'actionnement110 Actuation system
111 Tige d'actionnement111 Actuator rod
112 Actionneur (vérin)112 Actuator (cylinder)
113 Axe d'actionnement113 Operating axis
114a, 114b Bielles114a, 114b Connecting rods
120 Système de verrouillage 121 Verrou mobile120 Locking system 121 Movable lock
122 Pièce de guidage du verrou122 Lock guide piece
123 Pièce de guidage du verrou, Butée123 Lock guide piece, Stopper
124 Organe de poussée du verrou124 Lock pushing device
125 Moyen de rappel125 Reminder
126a, 126b Cavités126a, 126b Cavities
127 Extrémité du verrou 127 End of the lock

Claims

REVENDICATIONS
1. Pince de manutention (10), destinée à saisir une tige (4) fixée à une charge (3) et munie d'au moins un moyen de liaison (5, 5a, 5b), comportant : au moins un organe de préhension mobile (100a, 100b), typiquement une mâchoire, ayant une position ouverte apte à former une ouverture, typiquement tournée vers le bas en utilisation, dans laquelle la tige (4) peut être insérée, et une position fermée apte à retenir la tige (4), un système d'actionnement (110) pour déplacer le ou chaque organe de préhension (100a, 100b) entre les positions ouverte et fermée, au moins un moyen de liaison (101a, 101b) apte à coopérer avec le ou les moyens de liaison (5, 5a, 5b) correspondants de la tige (4) de manière à limiter les déplacements axiaux de la tige (4) dans la pince (10) entre une position dite1. Handling clamp (10), intended to grip a rod (4) fixed to a load (3) and provided with at least one connecting means (5, 5a, 5b), comprising: at least one gripping member mobile (100a, 100b), typically a jaw, having an open position capable of forming an opening, typically turned downwards in use, in which the rod (4) can be inserted, and a closed position capable of retaining the rod ( 4), an actuation system (110) for moving the or each gripping member (100a, 100b) between the open and closed positions, at least one connecting means (101a, 101b) capable of cooperating with the means or the means connecting (5, 5a, 5b) corresponding to the rod (4) so as to limit the axial displacements of the rod (4) in the clamp (10) between a so-called position
"basse" et une position dite "haute" lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée, au moins un système de verrouillage (120) apte à bloquer le ou chaque organe de préhension (100a, 100b) en position fermée lorsqu'il est verrouillé, et apte à être verrouillé lorsque la tige (4) est en position basse et déverrouillé lorsque la tige (4) est en position haute."low" and a position called "high" when the or each gripping member (100a, 100b) is in the closed position, at least one locking system (120) capable of blocking the or each gripping member (100a, 100b) in the closed position when it is locked, and capable of being locked when the rod (4) is in the low position and unlocked when the rod (4) is in the high position.
2. Pince (10) selon la revendication 1, caractérisée en ce que le ou chaque organe de préhension (100a, 100b) est apte à pivoter autour d'un axe (105).2. Pliers (10) according to claim 1, characterized in that the or each gripping member (100a, 100b) is able to pivot around an axis (105).
3. Pince (10) selon l'une quelconque des revendications 1 ou 2, caractérisée en ce qu'elle comporte deux organes de préhension (100a, 100b).3. Pliers (10) according to any one of claims 1 or 2, characterized in that it comprises two gripping members (100a, 100b).
4. Pince (10) selon la revendication 3, caractérisée en ce que les deux organes de préhension (100a, 100b) sont aptes à pivoter autour d'un axe (105) propre à chaque organe de préhension ou commun aux deux organes de préhension.4. Pliers (10) according to claim 3, characterized in that the two gripping members (100a, 100b) are able to pivot around an axis (105) specific to each gripping member or common to the two gripping members .
Pince (10) selon l'une quelconque des revendications 1 à 4, caractérisée en ce que les moyens de liaison (101a, 101b) de la pince (10) comprennent au moins une saillie sur le ou chaque organe de préhension (100a, 100b), et en ce que le ou les moyens de liaison correspondants (5, 5a, 5b) de la tige (4) comprennent au moins une cavité.Clamp (10) according to any one of claims 1 to 4, characterized in that the connecting means (101a, 101b) of the clamp (10) comprise at least a projection on the or each gripping member (100a, 100b), and in that the corresponding connecting means or means (5, 5a, 5b) of the rod (4) comprise at least one cavity.
6. Pince (10) selon l'une quelconque des revendications 1 à 5, caractérisée en ce que le système de verrouillage (120) comporte au moins un élément de verrouillage (102a, 102b), tel qu'une dent ou un crochet, fixé à chaque organe de préhension (100a, 100b), et au moins un verrou mobile (121) ayant au moins une première position dite "de verrouillage" et une deuxième position dite "de déverrouillage", ledit verrou (121) étant apte à se déplacer de la position de déverrouillage à la position de verrouillage lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée et que la tige (4) est en position basse, apte à coopérer avec le ou chaque élément de verrouillage (102a, 102b) de manière à permettre le mouvement du ou de chaque organe de préhension (100a, 100b) lorsqu'il est en position de déverrouillage et à maintenir le ou chaque organe de préhension (100a, 100b) en position fermée lorsqu'il est en position de verrouillage, et apte à être déplacé de la position de verrouillage à la position de déverrouillage par un déplacement axial de la tige (4) de la position basse à la position haute.6. Clamp (10) according to any one of claims 1 to 5, characterized in that the locking system (120) comprises at least one locking element (102a, 102b), such as a tooth or a hook, fixed to each gripping member (100a, 100b), and at least one movable lock (121) having at least a first position called "locking" and a second position called "unlocking", said lock (121) being able to move from the unlocking position to the locking position when the or each gripping member (100a, 100b) is in the closed position and the rod (4) is in the low position, able to cooperate with the or each locking element (102a, 102b) so as to allow movement of the or each gripping member (100a, 100b) when it is in the unlocked position and to maintain the or each gripping member (100a, 100b) in the closed position when it is in the locked position, and able to be re moved from the locking position to the unlocking position by an axial displacement of the rod (4) from the low position to the high position.
7. Pince (10) selon la revendication 6, caractérisée en ce que, en utilisation, la position de verrouillage du verrou (121) est une position basse et la position de déverrouillage est une position haute.7. Clamp (10) according to claim 6, characterized in that, in use, the locking position of the latch (121) is a low position and the unlocking position is a high position.
8. Pince (10) selon l'une quelconque des revendications 6 ou 7, caractérisée en ce que le verrou (121) est muni d'au moins une cavité (126a, 126b) apte à coopérer avec le ou chaque élément de verrouillage (102a, 102b) de façon à interdire le déplacement du ou de chaque organe de préhension (100a, 100b) de la position fermée à la position ouverte.8. Clamp (10) according to any one of claims 6 or 7, characterized in that the lock (121) is provided with at least one cavity (126a, 126b) capable of cooperating with the or each locking element ( 102a, 102b) so as to prohibit the movement of the or each gripping member (100a, 100b) from the closed position to the open position.
Pince (10) selon l'une quelconque des revendications 6 à 8, caractérisée en ce que le verrou (121) possède une position d'attente et est situé dans la pince de manière à ce que la tige (4) puisse le déplacer de la position d'attente à ladite position de déverrouillage lors de son introduction clans la pince.Pliers (10) according to any one of claims 6 to 8, characterized in that the latch (121) has a waiting position and is located in the clamp so that the rod (4) can move it from the waiting position to said unlocking position when it is inserted into the clamp.
10. Pince (10) selon la revendication 9, caractérisée en ce que la position d'attente correspond à la position de verrouillage.10. Clamp (10) according to claim 9, characterized in that the waiting position corresponds to the locking position.
11. Pince (10) selon l'une quelconque des revendications 9 et 10, caractérisée en ce que le verrou (121) comporte un organe de poussée (124), tel qu'un téton, et est apte à être déplacé de la position d'attente à ladite position de déverrouillage par une poussée de la tige (4) sur ledit organe de poussée (124).11. Pliers (10) according to any one of claims 9 and 10, characterized in that the latch (121) comprises a pushing member (124), such as a stud, and is capable of being moved from the position waiting at said unlocking position by pushing the rod (4) on said pushing member (124).
12. Pince (10) selon la revendication 11, caractérisée en ce que l'organe de poussée (124) est situé à proximité de l'extrémité (127) du verrou (121) située du côté de l'ouverture de la pince.12. Clamp (10) according to claim 11, characterized in that the pushing member (124) is located near the end (127) of the latch (121) located on the side of the opening of the clamp.
13. Pince (10) selon l'une quelconque des revendications 6 à 12, caractérisée en ce qu'elle comprend en outre au moins une pièce de guidage (122, 123) apte à guider le déplacement du verrou (121) lors de ses déplacements entre ses différentes positions.13. Pliers (10) according to any one of claims 6 to 12, characterized in that it further comprises at least one guide piece (122, 123) capable of guiding the movement of the latch (121) during its displacements between its different positions.
14. Pince (10) selon l'une quelconque des revendications 6 à 13, caractérisée en ce que le système de verrouillage (120) comprend en outre au moins un moyen de rappel (125) apte à provoquer le déplacement du verrou (121) de la position de déverrouillage à la position de verrouillage, et apte à le maintenir dans cette dernière position, lorsque le ou chaque organe de préhension (100a, 100b) est en position fermée et que la tige (4) est en position basse.14. Clamp (10) according to any one of claims 6 to 13, characterized in that the locking system (120) further comprises at least one return means (125) capable of causing the displacement of the lock (121) from the unlocking position to the locking position, and able to maintain it in the latter position, when the or each gripping member (100a, 100b) is in the closed position and the rod (4) is in the low position.
15. Pince (10) selon la revendication 14, caractérisée en ce que le moyen de rappel (125) est un élément élastique, tel qu'un ressort. 15. Clamp (10) according to claim 14, characterized in that the return means (125) is an elastic element, such as a spring.
16. Pince (10) selon l'une quelconque des revendications 14 ou 15, caractérisée en ce qu'un moyen de rappel (125) est situé dans un évidement à l'intérieur du verrou (121) et/ou dans un évidement à l'intérieur de la pièce de guidage (122).16. Pliers (10) according to any one of claims 14 or 15, characterized in that a return means (125) is located in a recess inside the lock (121) and / or in a recess at inside the guide piece (122).
17. Pince (10) selon l'une quelconque des revendications 14 à 15, caractérisée en ce qu'un moyen de rappel (125) est situé en partie dans un évidement à l'intérieur du verrou (121) et en partie dans un évidement à l'intérieur d'une pièce de guidage (122).17. Pliers (10) according to any one of claims 14 to 15, characterized in that a return means (125) is located partly in a recess inside the lock (121) and partly in a recess inside a guide piece (122).
18. Pince (10) selon l'une quelconque des revendications 6 à 17, caractérisée en ce que le système de verrouillage (120) comporte en outre au moins un moyen, dit de blocage, apte à maintenir le ou chaque organe de préhension (100a, 100b) en position ouverte lorsque le verrou (121) est en position de verrouillage ou en position d'attente.18. Pliers (10) according to any one of claims 6 to 17, characterized in that the locking system (120) further comprises at least one means, called blocking means, capable of holding the or each gripping member ( 100a, 100b) in the open position when the lock (121) is in the locked position or in the standby position.
19. Pince (10) selon l'une quelconque des revendications 6 à 18, caractérisée en ce qu'elle comporte deux organes de préhension mobiles (100a, 100b) et en ce que le verrou (121) se situe entre ces deux organes de préhension.19. Clamp (10) according to any one of claims 6 to 18, characterized in that it comprises two movable gripping members (100a, 100b) and in that the latch (121) is located between these two members gripping.
20. Pince (10) selon l'une quelconque des revendications 1 à 19, caractérisée en ce que le système d'actionnement (110) comprend deux bielles (114a, 114b) et un actionneur (112) et en ce que l'actionneur (112) et les bielles (114a, 114b) sont reliés par un axe d'actionnement (113) commun fixé à la tige d'actionnement (111) de l'actionneur.20. Clamp (10) according to any one of claims 1 to 19, characterized in that the actuation system (110) comprises two connecting rods (114a, 114b) and an actuator (112) and in that the actuator (112) and the connecting rods (114a, 114b) are connected by a common actuation axis (113) fixed to the actuation rod (111) of the actuator.
21. Pince (10) selon la revendication 20, caractérisée en ce que l'actionneur (112) est un vérin.21. Clamp (10) according to claim 20, characterized in that the actuator (112) is a jack.
22. Pince (10) selon l'une quelconque des revendications 1 à 21, caractérisée en ce que le système de verrouillage (120) est entièrement mécanique. 22. Clamp (10) according to any one of claims 1 to 21, characterized in that the locking system (120) is entirely mechanical.
23. Unité de levage et de manutention (6, 7, 8, 9, 10) comportant au moins un organe de manutention (9) de charges (3) muni d'une pince de manutention (10) selon l'une quelconque des revendications 1 à 22.23. Lifting and handling unit (6, 7, 8, 9, 10) comprising at least one load handling member (9) (3) provided with a handling clamp (10) according to any one of claims 1 to 22.
24. Utilisation de la pince de manutention (10) selon l'une quelconque des revendications 1 à 22 dans une usine de production d'aluminium par électrolyse ignée, notamment pour la manutention d'anodes en matériau carboné ou autre. 24. Use of the handling tongs (10) according to any one of claims 1 to 22 in a factory for the production of aluminum by igneous electrolysis, in particular for handling anodes made of carbonaceous or other material.
EP04714818A 2003-02-28 2004-02-26 Handling gripper for an electrolysis cell service machine for the production of aluminium Expired - Lifetime EP1597188B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0302500 2003-02-28
FR0302500A FR2851762B1 (en) 2003-02-28 2003-02-28 HANDLING CLAMP OF AN ELECTROLYSIS CELL SERVICE MACHINE FOR THE PRODUCTION OF ALUMUNIUM
PCT/FR2004/000430 WO2004079046A2 (en) 2003-02-28 2004-02-26 Handling gripper for an electrolysis cell service machine for the production of aluminium

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EP1597188A2 true EP1597188A2 (en) 2005-11-23
EP1597188B1 EP1597188B1 (en) 2008-09-10

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EP04714818A Expired - Lifetime EP1597188B1 (en) 2003-02-28 2004-02-26 Handling gripper for an electrolysis cell service machine for the production of aluminium

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US (1) US7850218B2 (en)
EP (1) EP1597188B1 (en)
CN (1) CN100377985C (en)
AR (1) AR043215A1 (en)
AT (1) ATE407907T1 (en)
AU (1) AU2004217777B2 (en)
BR (1) BRPI0407884A (en)
CA (1) CA2517267C (en)
DE (1) DE602004016465D1 (en)
EA (1) EA007259B1 (en)
FR (1) FR2851762B1 (en)
IS (1) IS7989A (en)
WO (1) WO2004079046A2 (en)
ZA (1) ZA200506334B (en)

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CN104669288B (en) * 2015-02-03 2018-11-13 徐州德坤电气科技有限公司 A kind of small U-tube of fin assembly is unordered to grab cannula manipulator automatically
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CN109171111B (en) * 2018-08-07 2021-04-23 武汉理惠诚机器人科技有限公司 Automatic blanking device for cold and hot mold treatment of shoe blanks
US10787259B2 (en) * 2018-11-08 2020-09-29 Colorado State University Research Foundation Compliant bistable gripper for aerial perching and grasping
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Also Published As

Publication number Publication date
EP1597188B1 (en) 2008-09-10
US20060290153A1 (en) 2006-12-28
WO2004079046A3 (en) 2005-05-06
CA2517267A1 (en) 2004-09-16
WO2004079046A2 (en) 2004-09-16
DE602004016465D1 (en) 2008-10-23
AR043215A1 (en) 2005-07-20
AU2004217777B2 (en) 2008-10-16
IS7989A (en) 2005-08-18
EA200501378A1 (en) 2006-02-24
CN100377985C (en) 2008-04-02
ATE407907T1 (en) 2008-09-15
AU2004217777A1 (en) 2004-09-16
EA007259B1 (en) 2006-08-25
CA2517267C (en) 2011-10-11
US7850218B2 (en) 2010-12-14
FR2851762B1 (en) 2006-02-10
ZA200506334B (en) 2006-10-25
FR2851762A1 (en) 2004-09-03
BRPI0407884A (en) 2006-03-01
CN1753829A (en) 2006-03-29

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