The principle of load balancing is used in theaters, in order to move scenery (using nothing but human power) which can reach weights of up to 800 kg. We therefore find ourselves presented with the principle of comparative weight balancing.
This balancing is achieved by the addition of cast iron blocks with unit weights of 6-12 or 18 kg.
Manual loading and unloading of these cast iron blocks, stacked on counter-weighted trolleys, can cause lumbar problems for technicians carrying out these maneuvers.
Le système Block – Flex is in charge of handling the cast iron blocks.
This consists of one or more robotic units, which are located at the loading gangways, generally with one at a higher level than that of the theater, and the other below the theater.
The equipment of each unit is made up of :
• A poly-articulated, multi-axis robot, in charge of gripping the cast iron blocks. (Figures 1 and 2).
• A translator, embarking the robot and moving along the length of the gangway, to allow the robot to be placed in front of each manual team. (Figures 3 and 4).
• An analog clamp to clamp the counter-weight trolley’s rope. This ensures a gradual release to control the direction of momentum. (Figure 5).
• This clamp is also equipped with an analog load cell, allowing the loads involved to be reported (Figure 6).
• A leveling clamp also allows the rope to be clamped and allows for vertical movement to position the counter-weight trolley in the robot movement area. (Figure 7).
• A position encoder, allowing the direction of momentum to be reported. (Figure 8).
• Proximity detectors to detect the presence of cast iron blocks, in order to control their storage near carriers.
• An automation monitor to manage all commands. (Figure 9).
• A cratering, to ensure people’s protection.
• A block-lifter, to ensure the transfer of the cast iron blocks between the two levels of the robotic units.