Gripping tool and improved sorting system making use of said tool

Abstract

A sorting system and a gripping tool thereof to be mounted on a handling device for handling pieces cut out from planar sheets are disclosed. The gripping tool includes: an engaging head interchangeably paired with an operating end of a displaceable handling device: an actuator mounted on the engaging head, including at least a first actuator unit; and attaching and coupling units having attaching and coupling devices, mounted on the engaging head. The attaching and coupling units are mounted on a frame including at least four rods articulated together through respective hinges arranged on a lying plane. The attaching and coupling devices are arranged on a plane parallel to the lying plane. The articulated frame being supported on the engaging head. The first actuator unit drives at least one of the rods of the articulated frame by rotation around at least one of the hinges on the lying plane.

Claims

1. A gripping tool to be mounted on a handling device for handling pieces cut out from planar sheets, the gripping tool comprising: an engaging head (T.sub.2) being interchangeably paired with an operating end of a displaceable handling device, actuation means mounted on said engaging head (T.sub.2), the actuation means comprising at least a first actuator unit (12), and a plurality of attaching and coupling units (N.sub.1-N.sub.4) provided with attaching and coupling devices (1-4), mounted on said engaging head (T.sub.2), wherein said attaching and coupling units (N.sub.1-N.sub.4) are mounted on a frame (10) comprising at least four rods articulated together through respective hinging elements (C.sub.1-C.sub.4) arranged on a lying plane, said attaching and coupling devices (1-4) being arranged on a plane parallel to said lying plane, said articulated frame (10) being supported on said engaging head (T.sub.2) and being comprised of the at least four rods that define four articulated arms (10i, 10ii, 10iii, 10iv) with opposite pairs of equal length, the articulated four articulated arms (10i, 10ii, 10iii, 10iv) being articulated together through the four hinging elements (C.sub.1-C.sub.4), and wherein said first actuator unit (12) drives at least one of said at least four rods of said articulated frame (10) by rotation around at least one of said hinging elements (C.sub.1-C.sub.4) on said lying plane.

2. The tool as in claim 1, wherein said first actuator unit (12) drives said one of said at least four rods such that the articulated frame (10) takes two end-of-travel configurations, a folded one, wherein said attaching and coupling units (N.sub.1-N.sub.4) are close to each other and aligned, and a deployed one, wherein said attaching and coupling units (N.sub.1-N.sub.4) are spaced apart along two different Cartesian axes.

3. The tool as in claim 2, wherein said attaching and coupling units (N.sub.1-N.sub.4) are arranged at the hinging elements (C.sub.1-C.sub.4).

4. The tool as in claim 3, wherein said articulated frame (10) is supported on said engaging head (T.sub.2) through two parallel rotation pins (C.sub.5, C.sub.6) fixed and perpendicular to said lying plane.

5. The tool as in claim 3, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude.

6. The tool as in claim 2, wherein said articulated frame (10) is supported on said engaging head (T.sub.2) through two parallel rotation pins (C.sub.5, C.sub.6) fixed and perpendicular to said lying plane.

7. The tool as in claim 6, wherein said four articulated rods (10.sup.i, 10.sup.ii, 10.sup.iii, 10.sup.iv) are movably mounted, two of the four articulated rods (10i, 10ii, 10iii, 10iv) being connected integral in rotation with said parallel rotation pins (C.sub.5, C.sub.6).

8. The tool as in claim 7, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude.

9. The tool as in claim 6, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude.

10. The tool as in claim 2, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude.

11. The tool as in claim 2, wherein said articulated frame (10) is supported on said engaging head (T.sub.2) through a dismountable intermediate head (T.sub.3), composed of two paired plates.

12. The tool as in claim 1, wherein said attaching and coupling devices are in the form of suction cups (1-4) supported on respective valve bodies (5-8).

13. The tool as in claim 12, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude.

14. The tool as in claim 1, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude.

15. The tool as in claim 14, wherein said articulated extension unit has a swinging arm (15) rotatably mounted on a pneumatic cylinder (M.sub.1) integral with said engaging head (T.sub.2), the rotation axis of said pneumatic cylinder (M.sub.1) being arranged horizontally.

16. A sorting system for cut-out metal sheet pieces (P) comprising the tool as in claim 14 as well as a deposition rack (R) provided with parallel bearing rods (21a, 21b) and with a corresponding up-right support (22) for supporting a plurality of up-right pieces (P) placed alongside to each other.

17. The tool as in claim 1, wherein said articulated frame (10) is supported on said engaging head (T.sub.2) through a dismountable intermediate head (T.sub.3), composed of two paired plates.

18. A gripper tool as in claim 1, wherein two opposite arms (10i and 10iii), of the four articulated arms, are C-shaped, with the hinged elements (C.sub.1-C.sub.4) of the two opposite arms (10i and 10iii) being arranged at curved ends of the C-shape.

19. A gripping tool to be mounted on a handling device for handling pieces cut out from planar sheets, the gripping tool comprising: an engaging head (T.sub.2) being interchangeably paired with an operating end of a displaceable handling device, actuation means mounted on said engaging head (T.sub.2), the actuation means comprising at least a first actuator unit (12), and a plurality of attaching and coupling units (N.sub.1-N.sub.4) provided with attaching and coupling devices (1-4), mounted on said engaging head (T.sub.2), wherein said attaching and coupling units (N.sub.1-N.sub.4) are mounted on a frame (10) comprising at least four rods articulated together through respective hinging means (C.sub.1-C.sub.4) arranged on a lying plane, said attaching and coupling devices (1-4) being arranged on a plane parallel to said lying plane, said articulated frame (10) being supported on said engaging head (T.sub.2), wherein said first actuator unit (12) drives at least one of said rods of said articulated frame (10) by rotation around at least one of said hinging means (C.sub.1-C.sub.4) on said lying plane, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude, and wherein said articulated extension unit has a swinging arm (15) rotatably mounted on a pneumatic cylinder (M.sub.1) integral with said engaging head (T.sub.2), the rotation axis of said pneumatic cylinder (M.sub.1) being arranged horizontally.

20. A sorting system for cut-out metal sheet pieces (P) comprising: a gripping tool to be mounted on a handling device for handling pieces cut out from planar sheets, the gripping tool comprising: an engaging head (T.sub.2) being interchangeably paired with an operating end of a displaceable handling device, actuation means mounted on said engaging head (T.sub.2), the actuation means comprising at least a first actuator unit (12), and a plurality of attaching and coupling units (N.sub.1-N.sub.4) provided with attaching and coupling devices (1-4), mounted on said engaging head (T.sub.2), wherein said attaching and coupling units (N.sub.1-N.sub.4) are mounted on a frame (10) comprising at least four rods articulated together through respective hinging means (C.sub.1-C.sub.4) arranged on a lying plane, said attaching and coupling devices (1-4) being arranged on a plane parallel to said lying plane, said articulated frame (10) being supported on said engaging head (T.sub.2), wherein said first actuator unit (12) drives at least one of said rods of said articulated frame (10) by rotation around at least one of said hinging means (C.sub.1-C.sub.4) on said lying plane, wherein an articulated extension unit is provided between said engaging head (T.sub.2) and said articulated frame (10), configured so that said lying plane may be rotated from a horizontal attitude to a vertical attitude; and a deposition rack (R) provided with parallel bearing rods (21a, 21b) and with a corresponding up-right support (22) for supporting a plurality of up-right pieces (P) placed alongside to each other.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further features and advantages of the invention will however be more evident from the following detailed description of a preferred embodiment, given by mere way of non-limiting example and illustrated in the accompanying drawings, wherein:

(2) FIG. 1 is a perspective view of a tool according to the invention in an extended condition;

(3) FIG. 2 is a view similar to that of FIG. 1 with the tool in a folded condition;

(4) FIG. 3A is a perspective view of the coupling unit assembly of the tool in extended condition

(5) FIG. 3B is a plan view from below of the assembly of FIG. 3A;

(6) FIG. 4A is a perspective view of the assembly of FIG. 3A in a folded condition;

(7) FIG. 4B is a plan view from below of the assembly of FIG. 4A;

(8) FIG. 5A is an elevational side view of the tool according to the invention, with the coupling unit assembly in an extended condition and rotated by 90;

(9) FIG. 5B is a perspective view of the tool of FIG. 5A;

(10) FIG. 6A is a view similar to that of FIG. 5A, with the coupling unit assembly in a folded condition;

(11) FIG. 6B is a view similar to that of FIG. 5B with the coupling unit assembly in the conditions of FIG. 6A;

(12) FIG. 7 is a perspective schematic view of an exemplary deposition rack;

(13) FIG. 8 is a perspective view of a deposition table with a pair of exemplary deposition racks; and

(14) FIGS. 9A-9C are elevational side views showing a deposition sequence of the tool of the invention using a rack as in FIG. 7.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

(15) A machine for managing pieces cut out from metal sheets, also called sorting apparatus, has one or a plurality of mobile handling devices (not shown)for example four handling devices as described in WO2008/139409equipped with a terminal head T1, to which a series of different removable tools can be suitably engaged.

(16) A tool for the movement of cut-out pieces has in turn an engaging head T2, intended to firmly pair, through short rotation or reciprocal engagement motions, with the terminal head T1 of the handling device. The engaging head T2 of the various tools has the same configuration, so as to ensure the interchangeability of the tools on the terminal heads T1 of the handling devices.

(17) On the tool engaging head T2 are mounted the tool operating components. Through the engaging head T2 are also passing energy transfer lines, which come from the end of the handling device and are intended for the operating components: typically, the energy transfer lines are pneumatic pipes (of the vacuum or compressed air type), but could be also electric cables.

(18) Referring to FIG. 1, the operating components, in the specific application of lifting metal sheet pieces, comprise a gripping assembly formed by one or more attaching and coupling units N.sub.1-N.sub.4. The latter are, for example, in the form of suction cups 1-4 mounted at the end of a suitable valve body 5-8 on which the end of a pneumatic pipe (not shown) of the aforementioned energy transfer lines is engaged. The pneumatic pipe is connected to a vacuum pump suitable for creating a negative pressure at the open end of the suction cups 1-4, which are thereby suitable for holding a metal sheet or a flat piece.

(19) The attaching and coupling units N.sub.1-N.sub.4 are arranged so that their parts intended to be attached to the piece to be picked-up, i.e. the contact part of the suction cups 1-4, lie in a same coupling plane. Therefore, the attaching and coupling units N.sub.1-N.sub.4 are arranged with the respective axes of symmetry parallel to each other.

(20) According to the invention, the individual attaching and coupling units N.sub.1-N.sub.4 are mounted cantilevered and projecting from an articulated frame 10, composed of at least four rods/links articulated together through at least four hinging elements C.sub.1-C.sub.4, thereby forming an articulated quadrilateral link.

(21) The at least four hinging elements C.sub.1-C.sub.4 are arranged in a lying plane which is parallel to the coupling plane of the suction cups 1-4.

(22) Depending on how the articulated frame 10 is constrained to a support thereof, for example to an intermediate head T.sub.3, its articulated arms follow a typical kinematic mechanism of articulated parallelogram or pantograph or hybrid conditions.

(23) In the embodiment shown in the figures (see in particular FIGS. 3A and 3B), the frame 10 is composed of four rods/links 10.sup.i, 10.sup.ii, 10.sup.iii, 10.sup.iv, with opposite pairs of equal length, articulated together through the four hinging elements C.sub.1-C.sub.4.

(24) On a support bracket 11, integral with the intermediate head T.sub.3, are also provided two rotation pins C.sub.5 and C.sub.6 on which two opposite rods 10.sup.ii, 10.sup.iv of the articulated frame 10 are integrally mounted in rotation. The articulated frame 10 can therefore assume different attitudes, remaining on its plane, through simple rotations around the rotation axes of the two pins C.sub.5 and C.sub.6 perpendicular to the lying plane.

(25) The hinging elements C.sub.1-C.sub.4 are preferably spindles integral with the valve bodies 5-8, provided with a threaded end on which an attaching nut is engaged.

(26) Preferably, both the rotation pins C.sub.5 and C.sub.6, and the hinging elements C.sub.1-C.sub.4 are equipped with rolling or sliding bearings, to reduce friction even in the presence of significant weights burdening the tool.

(27) On the support bracket 11 an actuator 12 is further mounted, equipped with an actuating stem 12a constrained with a hinge 13 to a small arm 14 integral in rotation with one of the rotation pins C.sub.5. Alternatively, the actuating stem 12a could be constrained to other parts of the articulated frame 10 and has however the function of transferring the control from the actuator 12 to the frame 10, so as to change its configuration as necessary.

(28) The actuator 12 is preferably a single-stroke pneumatic actuator (i.e. not partializable), suitable for controlling the frame 10 into two opposite end-of-travel attitudes. For simplicity, the actuator 12 is preferably controlled by a single electrovalve (not shown) which introduces or releases air pressure in the double-acting circuit of the actuator: when the electrovalve is de-energized, the articulated frame 10 assumes a first folded position shown in FIGS. 4A and 4B, when, on the contrary, the electrovalve is energized, the frame 10 assumes a second extended position shown in FIGS. 3A and 3B.

(29) The two positions can be achieved through a double-acting actuator or with a single-acting actuator which cooperates with return elastic means.

(30) In particular, as can be seen in the figures, the frame 10 toggles from a first folded configuration, wherein the attaching and coupling units N.sub.1-N.sub.4 are aligned with and in a close position to each other, to a second deployed configuration, wherein the attaching and coupling units N.sub.1-N.sub.4 are arranged at the vertices of a rectangle whose sides are the four rods 10.sup.i, 10.sup.ii, 10.sup.iii, 10.sup.iv.

(31) To obtain an advantageous alignment of the attaching and coupling units N.sub.1-N.sub.4, as can be seen for example in FIGS. 2 and 6B, preferably two opposite rods 10.sup.i and 10.sup.iii are generally C-shaped, with the hinging elements C.sub.1-C.sub.4 arranged at the curved ends of the C-shape. In this way, the main portion of the rods 10.sup.i and 10.sup.iii does not interfere with the units N.sub.1 and N.sub.3 that are in an intermediate position in the folded configuration (FIG. 4B).

(32) The geometric variation that may be achieved makes the use of the gripping arrangement effective both for long and narrow pieces (in the deployed configuration), and for pieces with a more squared dimensional ratio (in the unfolded configuration).

(33) This geometric variation capability allows to combine in a single tool multiple different configuration, representing as many as four different tools of the prior art. The need for tool changeover in multiple conditions is therefore eliminated, reducing cycle times, and the space occupied in the tool warehouse is reduced (and thus the relative encumbrance on the ground near the machine).

(34) The intermediate head T.sub.3 preferably has two homologous plates, one integral with the bracket 11 of the articulated frame 10 and one integral, directly or indirectly, with the engaging head T.sub.1. The subdivision into two plates stabilizes the connection (two flanges suitable for being paired with screws, for example), simplifies the assembly/disassembly operations and allows to have connections in register for the energy transmission lines.

(35) According to a preferred embodiment of the invention, furthermore, one side of the intermediate head T.sub.3 is integral with an articulated extension unit, suitable for rotating the same intermediate head around a horizontal axis. In particular, the illustrated exemplary extension unit provides for a swinging arm 15 component rotatably mounted on a pneumatic motor or cylinder M.sub.1 integral, in turn, with the engaging head T.sub.2. The rotation axis of the pneumatic cylinder M.sub.1 is arranged horizontally. The rotating pneumatic cylinder M.sub.1 can assume two end-of-travel positions, causing the swinging arm 15 to rotate correspondingly, for example by 90. The angle of rotation of the swinging arm 15, for example by 90 or by another predefined angle (between 0 and 90), is preferably defined through mechanical register means, by which the position of two end-of-travel abutments of the extension unit is adjusted.

(36) Providing for this articulated extension unit advantageously allows to move the lying plane of the attaching and coupling units N.sub.1-N.sub.4 from a horizontal attitude (FIGS. 1-2) to an almost vertical attitude (FIGS. 5A-6B), with the gripping unit assembly both in folded condition and in deployed condition.

(37) Due to this adaptability feature of the units N.sub.1-N.sub.4, both in the lying plane and in the spatial orientation, it is also possible to carry out innovative sorting operations in this field.

(38) In particular, as an accessory of the tool according to the invention, a rack R is provided (FIGS. 7 and 8), formed by a support frame 20 on which pairs of parallel bearing rods 21a and 21b are attached, between which an up-right support 22 is also provided.

(39) The bearing rods 21a and 21b have at least one portion of surface appropriately treatedfor example coated with soft materialto serve as a bearing for the cut-out metal sheet pieces P, with the purpose of not creating abrasions and holding them in position. Preferably the rods 21a and 21b are swingingly mounted on the frame 20, i.e. rotatable on their longitudinal axis, being thereby arranged so as to face the portion of treated surface in the best way to accommodate the specific shape of the cut-out pieces P.

(40) The rack R is provided for arranging the cut-out sheet pieces P next to each other in an almost up-right position (as shown in the figures). To this end, at the end of the bearing rods 21a and 21b, on one side of the rack, the up-right supports 22 are provided.

(41) The cut-out pieces P therefore abut, by their lower edge on the rods 21a and 21b, while by their back side to the supports 22, thereby maintaining a substantially up-right position.

(42) As depicted in FIG. 8, the deposition warehouse of the pieces P may be thereby configured as a drawer D on which some pieces P.sub.1 are traditionally laid flat, other pieces P are placed up-right next to each other on one or more racks.

(43) In FIGS. 9A-9C a deposition sequence of a piece P on the rack 20 through the tool according to the invention is shown.

(44) In FIG. 9A, the piece P is on board of the tool, which has already been rotated by 90 after having picked up the piece P in the horizontal attitude. The handling device brings the tool closer to the rack 20, then a vertical translation is carried out until the lower edge of the piece P is laid on the bearing rods 21a and 21b. The vacuum pump, which keeps the suction cups 1-4 suctioning and therefore attached to the metal sheet piece P, is turned off (FIG. 9B). The pneumatic circuit is possibly inverted, producing a blast of compressed air out of the suction cups 1-4, so as to push the piece P to abut against the up-right support 22 (FIG. 9C). This same sequence is also repeated with the subsequent pieces, which are progressively placed next to the previous ones, providing to displace the lowering position of the tool in each cycle, so as to place the individual pieces already in their correct position on the rack.

(45) As can be seen from the above description, the tool according to the invention perfectly solves the objects set forth in the introduction.

(46) The attaching and coupling unit assembly has a variable geometry suitable for picking up metal sheet pieces of different linear extension but also of variable shape and dimensional ratios. The structure of this assembly, provided with only hinges and a single actuator, is defined in a simple, economical and suitable way to also support significant weights, not relying on linear guides.

(47) The tool provides for drivers that may be controlled by an energy line even only of the pneumatic type, for the benefit of its application to multiple existing handling devices.

(48) It is understood, however, that the invention is not to be considered as limited to the particular arrangement illustrated above, which represents only an exemplary embodiment thereof, but different variants are possible, all within the reach of a person skilled in the art, without departing from the scope of the invention itself, as defined by the following claims.

(49) For example, next to or in place of the pneumatic actuators it is possible to provide, if preferred, for electric actuators, possibly having continuous control over a predefined stroke. Actuators can have a driving element providing either a linear movement (for example transferred to a lever) or a rotation movement (for example transferred to one of said rotation pins).

(50) Moreover, although only four attaching and coupling units have been illustrated, a greater number thereof could also be provided, compatibly with the available overall dimensions. Providing for the articulated extension unit is not strictly necessary for the main teaching of the invention, even though it is preferred to configure the racked deposition system.

(51) Again, as mentioned above, the shape of the articulated frame, the position and the number of articulation hinges and of constraint to the bracket, as well as the fixing position of the attaching and coupling units, may differ significantly from the illustrated one. For example, the four rods of the articulated frame 10 can be arranged as a fixed rod and three articulated moving rods with two hinges on the fixed rod.

(52) Finally, the attaching and coupling units could comprise devices of different nature with respect to the suction cups, for example they could be in the form of electromagnets.