APPARATUS AND METHOD FOR MOVING PAIRS OF WORKPIECES HAVING A ROUGH FACE AND AN OPPOSITE FINISHED FACE

Abstract

An apparatus includes a piece-supporting plane to support one or more worked pieces, and first and second gripping devices, respectively defining first and second gripping planes of a worked piece. The apparatus moves the first and the second gripping devices among: a picking position wherein the first or the second gripping device is configured to pick up a worked piece laid on the piece-supporting plane; an exchange position wherein the first gripping device and the second gripping device are mutually oriented such that the first and the second gripping planes of the worked piece are facing each other to allow transferring the worked piece from the first gripping device to the second gripping device, or vice versa; and a laying position, wherein the second gripping device or the first gripping device is configured to release the worked piece being transferred in the exchange position in a piece storage area.

Claims

1-48. (canceled)

49. An apparatus for moving worked pieces comprising: a piece-supporting plane configured to support one or more worked pieces; and a first gripping device and a second gripping device, respectively defining a first gripping plane and a second gripping plane of a worked piece; wherein the apparatus is configured to move the first gripping device and the second gripping device among: i) a picking position wherein the first gripping device or the second gripping device is configured to pick up a worked piece laid on the piece-supporting plane; ii) an exchange position wherein the first gripping device and the second gripping device are mutually oriented such that said first gripping plane and second gripping plane of the worked piece are facing each other to allow transferring the worked piece from the first gripping device to the second gripping device, or vice versa; and iii) a laying position, wherein the second gripping device or the first gripping device is configured to release in a piece storage area the worked piece transferred in the exchange position.

50. The apparatus according to claim 49, comprising a single handling group including said first gripping device and second gripping device or a first handling group including said first gripping device and a second handling group including said second gripping device, said first handling group and second handling group being structurally independent from each other.

51. The apparatus according to claim 50, further comprising a supporting equipment of said single handling group or a supporting equipment of said first handling group and a supporting equipment of said second handling group, the supporting equipment being configured to support a respective handling group above said piece-supporting plane.

52. The apparatus according to claim 50, wherein the single handling group comprises a supporting body of said first gripping device and second gripping device, the supporting body being configured to support said first gripping device and second gripping device at a distance from each other along a direction parallel to the piece-supporting plane, or said structurally independent first handling group and second handling group comprise, each, a first supporting body of said first gripping device and, respectively, a second supporting body of said second gripping device, said first support body and second support body being configured to support said first gripping device and second gripping device at a distance from each other along a direction parallel to the piece-supporting plane.

53. The apparatus according to claim 52, comprising a first actuator device configured to move the first gripping device along a direction perpendicular to the piece-supporting plane and relatively to said supporting body of the single handling group or of the first handling group.

54. The apparatus according to claim 52, comprising a second actuator device configured to move the second gripping device along a direction perpendicular to the piece-supporting plane and relatively to said supporting body of the single handling group or of the second handling group.

55. The apparatus according to claim 52, wherein the first gripping device is rigidly fixed to said supporting body of the single handling group, or of the first handling group, by a respective first vertically extending supporting arm.

56. The apparatus according to claim 52, wherein the first gripping device is movably associated to said supporting body of the single handling group by means of a respective first supporting arm comprising a respective horizontally extending portion and a respective vertically extending portion.

57. The apparatus according to claim 52, wherein the first gripping device is movably associated to said supporting body of the single handling group or of the first handling group, by means of a respective first vertically extending supporting arm and wherein the apparatus comprises a third actuator device active on the first supporting arm of the first gripping device and configured to move the first gripping device in parallel to the piece-supporting plane by sliding the first supporting arm on or in the supporting body of the single handling group.

58. The apparatus according to claim 56, comprising a third actuator device active on the first supporting arm of the first gripping device and configured to move said first supporting arm and said first gripping device in parallel to the piece-supporting plane towards and away from said supporting body of the single handling group.

59. The apparatus according to claim 52, wherein the second gripping device is movably associated to said supporting body of the single handling group by means of a respective second supporting arm comprising a respective horizontally extending portion and a respective vertically extending portion.

60. The apparatus according to claim 59, comprising a fourth actuator device active on the second supporting arm of the second gripping device and configured to move the second gripping device in parallel to said piece-supporting plane by sliding the second supporting arm on or in the supporting body of the single handling group.

61. The apparatus according to claim 59, comprising a fourth actuator device active on the second supporting arm of the second gripping device and configured to move said second supporting arm and said second gripping device in parallel to said piece-supporting plane and towards and away from said supporting body of the single handling group.

62. The apparatus according to claim 56, wherein in the supporting body of the single handling group a housing zone is defined of the horizontally extending portion of the first supporting arm of the first gripping device.

63. The apparatus according to claim 59, wherein in the supporting body of the single handling group a housing zone is defined of the horizontally extending portion of the horizontally extending portion of the second supporting arm of the second gripping device.

64. The apparatus according to claim 58, wherein in the supporting body of the single handling group a housing zone is defined of the horizontally extending portion of the first supporting arm of the first gripping, and wherein the third actuator device is configured to insert and respectively extract the horizontally extending portion of the first supporting arm of the first gripping device into and out of said housing zone.

65. The apparatus according to claim 61, wherein in the supporting body of the single handling group a housing zone is defined of the horizontally extending portion of the horizontally extending portion of the second supporting arm of the second gripping device, and wherein the fourth actuator device is configured to insert and respectively extract the horizontally extending portion of the second supporting arm of the second gripping device into and out of said housing zone.

66. The apparatus according to claim 58, wherein in the supporting body of the single handling group a housing zone is defined of the horizontally extending portion of the first supporting arm of the first gripping device, wherein the third actuator device is configured to move the horizontally extending portion of the first supporting arm of the first gripping device along a direction substantially parallel to the piece-supporting plane between: a first insertion position wherein the horizontally extending portion of the first supporting arm of the first gripping device is substantially completely housed in said housing zone defined in the supporting body of the single handling group; and a second extraction position wherein the horizontally extending portion of the first supporting arm of the first gripping device is at least partially extending in a cantilevered fashion externally to the supporting body of the single handling group.

67. The apparatus according to claim 61, wherein in the supporting body of the single handling group a housing zone is defined of the horizontally extending portion of the horizontally extending portion of the second supporting arm of the second gripping device, and wherein the fourth actuator device is configured to move the horizontally extending portion of the second supporting arm of the second gripping device along a direction substantially parallel to the piece-supporting plane between: a first insertion position wherein the horizontally extending portion of the second supporting arm of the second gripping device is substantially completely housed in said housing zone defined in the supporting body of the single handling group; and a second extraction position wherein the horizontally extending portion of the second supporting arm of the second gripping device is at least partially extending in a cantilevered fashion externally to the supporting body of the single handling group.

68. The apparatus according to claim 49, wherein the first gripping device is hinged to a respective vertically extending first supporting arm at a free end of the first supporting arm and the second gripping device is hinged to a respective vertically extending second supporting arm at a free end of the second supporting arm.

69. The apparatus according to claim 59, wherein the first gripping device is hinged to a vertically extending portion of the first supporting arm at a free end of the vertically extending portion of the first supporting arm, and the second gripping device is hinged to a vertically extending portion of the second supporting arm at a free end of the vertically extending portion of the second supporting arm.

70. The apparatus according to claim 49, comprising: a fifth actuator device configured to rotate the first gripping device about a first horizontal axis substantially parallel to the piece-supporting plane; and/or a sixth actuator device configured to rotate the second gripping device about a second horizontal axis substantially parallel to the piece-supporting plane.

71. The apparatus according to claim 49, comprising: a seventh actuator device configured to rotate the first gripping device about a vertical axis substantially perpendicular to the piece-supporting plane; and/or an eighth actuator device configured to rotate the second gripping device about a vertical axis substantially perpendicular to the piece-supporting plane.

72. A method for moving pairs of worked pieces having a rough face and an opposite finished face by means of an apparatus for moving worked pieces comprising: a piece-supporting plane configured to support one or more worked pieces; and a first gripping device and a second gripping device, respectively defining a first and a second gripping plane of a worked piece; the method comprising the steps of: a) providing a plurality of worked pieces with a rough face laid on the piece-supporting plane and a finished face facing away from the piece-supporting plane or vice versa, with a finished face laid on the piece-supporting plane and a rough face facing away from the piece-supporting plane; b) picking up from the piece-supporting plane a first piece of a pair of worked pieces by means of one of the first gripping device or the second gripping device keeping the finished face or the rough face of the first piece of the pair of worked pieces facing the gripping device used to pick up the first piece; c) moving the first piece of the pair of worked pieces towards a piece storage area by means of the first or the second, gripping device, used in step b); d) releasing the first piece of the pair of worked pieces in the piece storage area leaving visible the finished face or the rough face; e) picking up from the piece-supporting plane a second piece of a pair of worked pieces by means of one of the first gripping device or the second gripping device keeping the finished face or the rough face of the second piece of the pair of worked pieces facing towards the gripping device used to pick up the second piece; f) positioning the first gripping device and the second gripping device in an exchange position wherein the first gripping device and the second gripping device are mutually oriented such that said first and second gripping planes of the second piece of the pair of worked pieces are facing each other; g) transferring the second piece of the pair of worked pieces from the first gripping device to the second gripping device in such a way as to orient the finished face or the rough face of the second piece of the pair of worked pieces away from the second gripping device, or transferring the second piece of the pair of worked pieces from the second gripping device to the first gripping device in such a way as to orient the finished face or the rough face of the second piece of the pair of worked pieces away from the first gripping device; h) moving the second piece of the pair of worked pieces towards said piece storage area by means of the first or second gripping device, which the piece is transferred to in step g); i) releasing the second piece of the pair of worked pieces in the piece storage area by means of the first or second gripping device which the piece is transferred to in step g) lying the finished face or the rough face of the second piece against the visible finished face or the visible rough face of the first piece of the pair of worked pieces; l) optionally, repeating steps a)-i) on one or more further pairs of worked pieces.

73. The method according to claim 72, wherein said apparatus comprises a single handling group including said first and second gripping devices, and wherein said step b) of picking up the first piece of the pair of worked pieces from the piece-supporting plane and/or said step e) of picking up the second piece of the pair of worked pieces from the piece-supporting plane by means of one of the first gripping device or the second gripping device comprises: moving a supporting body of the single handling group towards the piece-supporting plane; and/or moving one of the first gripping device or the second gripping device towards the piece-supporting plane relatively to the supporting body of the single handling group; and operating the first gripping device or the second gripping device to associate the first piece or the second piece of the pair of worked pieces to the first gripping device or to the second gripping device.

74. The method according to claim 72, wherein said apparatus comprises a first handling group including said first gripping device and a second handling group including said second gripping device, said first and second handling groups being structurally independent from each other, and wherein said step b) of picking up the first piece of the pair of worked pieces from the piece-supporting plane and/or said step e) of picking up the second piece of the pair of worked pieces from the piece-supporting plane by means of one of the first gripping device or the second gripping device comprises: moving a supporting body of the first handling group or of the second handling group towards the piece-supporting plane; and/or moving one of the first gripping device or the second gripping device towards the piece-supporting plane relatively to a respective supporting body of the first or the second handling group; and operating the first gripping device or the second gripping device to associate the first piece or the second piece of the pair of worked pieces to the first gripping device or to the second gripping device.

75. The method according to claim 72, wherein said step f) of positioning the first gripping device and the second gripping device in the exchange position comprises rotating the first gripping device and the second gripping device so as to arrange said first and second gripping planes of the picked up piece of the pair of worked pieces in a mutually facing position.

76. The method according to claim 72, wherein said step h) of moving the second piece of the pair of worked pieces towards said piece storage area comprises: rotating the second gripping device to orient the respective second gripping plane and the finished face or the rough face of the second piece of the pair of worked pieces in a position parallel to the piece-supporting plane or in a position facing away from the first gripping plane, or rotating the first gripping device to orient the respective first gripping plane and the finished face or the rough face of the second piece of the pair of worked pieces in a position parallel to the piece-supporting plane or in a position facing away from the second gripping plane.

77. The method according to claim 72, wherein said step h) of moving the second piece of the pair of worked pieces towards said piece storage area comprises rotating the second gripping device or the first gripping device about a horizontal rotation axis to orient the finished face or the rough face of the second piece of the pair of worked pieces such that said finished face or rough face is facing the visible finished face or the visible rough face of the first piece of the pair of worked pieces previously released in the piece storage area.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0210] Additional characteristics and advantages of the present invention will be better apparent from the following detailed description of one of the preferred embodiments thereof, made with reference to the attached drawings and provided by way of indicative and non-limiting example, in which:

[0211] FIG. 1A is a perspective view of a first preferred embodiment of an apparatus for moving worked pieces according to the present invention;

[0212] FIG. 1B is a perspective view of a second preferred embodiment of an apparatus for moving worked pieces according to the present invention;

[0213] FIG. 2 is a perspective view of a detail of the apparatus in FIGS. 1A and 1B, with some elements removed to highlight others;

[0214] FIG. 3 is a side view of a detail of the apparatus of FIGS. 1A and 1B, with some elements removed to highlight others;

[0215] FIG. 4 is a perspective view of some details of the apparatus in FIG. 1A;

[0216] FIG. 5 is a perspective view from below of a handling group of the apparatus of FIGS. 1A and 1B;

[0217] FIG. 6 is a side view of the handling group of the apparatus of FIGS. 1A and 1B;

[0218] FIG. 6A is a sectional view along the line A-A of FIG. 6;

[0219] FIG. 6B is a sectional view along the line B-B of FIG. 6;

[0220] FIGS. 7A to 7L show respective schematic side views of the apparatus of FIG. 1A in different operating configurations;

[0221] FIGS. 8A to 8O show respective schematic side views of the apparatus of FIG. 1A in different operating configurations.

DETAILED DESCRIPTION OF THE CURRENTLY PREFERRED EMBODIMENTS OF THE INVENTION

[0222] In the attached figures, an apparatus for moving worked pieces according to the present invention is generally indicated by the numerical reference 1 and hereinafter referred to by the abbreviated notation of apparatus 1.

[0223] The apparatus 1 is described with reference to a reference system, illustrated in the attached FIGS. 1A-6B, comprising an X axis, a Y axis perpendicular to the X axis and a Z axis perpendicular to the X and Y axes, wherein the X and Y axes define a horizontal plane and the Z axis defines a vertical direction.

[0224] The apparatus 1 comprises a horizontal piece-supporting plane 5, which may receive worked pieces P from a processing machine of a material in block or slab form, for example stone material, or from a production line in which one or more processing machines are active, for example one or more cutting, milling and/or polishing machines of the material.

[0225] In the preferred embodiment illustrated in FIG. 1A, the piece-supporting plane 5 may be configured to receive worked pieces from a conveyor, not illustrated, that moves the pieces along a production worked piece processing line, also not illustrated.

[0226] In the preferred embodiment illustrated in FIG. 1B, the piece-supporting plane 5 may, for example, comprise the end of a conveyor that moves the pieces along the worked production line for machining the pieces, not illustrated.

[0227] The apparatus 1 is configured to move the worked pieces and place them in a piece storage area 6, for example positioned at a given distance from the piece-supporting plane 5.

[0228] The piece storage area 6 is defined in or by a support adapted to receive the pieces P, such as a pallet, a container, a floor, a conveyor or a working plane of a machine.

[0229] The apparatus 1 comprises a handling group 20 of the worked pieces supported above the piece-supporting plane 5 by a respective supporting equipment 10 configured to operate above the piece-supporting plane 5 and the piece storage area 6 and movable orthogonally to the piece-supporting plane 5.

[0230] In the preferred embodiments illustrated, the apparatus 1 comprises a gantry structure 11 within which the piece-supporting plane 5 and the piece storage area 6 are preferably positioned.

[0231] In the preferred embodiments illustrated by way of example only, the gantry structure 11 comprises a plurality of vertical support structures or shoulders 12 and a pair of longitudinal guides 13, parallel to the Y axis and maintained in a raised position with respect to the piece-supporting plane 5 by the vertical support structures 12.

[0232] A crossbeam 2 parallel to the X axis extends between the longitudinal guides 13 and is movable along them in a longitudinal direction parallel to the Y axis.

[0233] The crossbeam 2 comprises a transversal guide 14 which is also held in a raised position with respect to the piece-supporting plane 5 by the vertical support structures 12.

[0234] An actuator device 15 drives the movement of the crossbeam 2 and the transversal guide 14 associated thereto with respect to the vertical support structures 12 and the longitudinal guides 13 associated thereto, for example by means of a pinion-rack coupling (see FIG. 2).

[0235] Preferably, the supporting equipment 10 comprises a slide 16, slidably mounted on the transversal guide 14 and movable on the crossbeam 2 along a transversal direction parallel to the X axis.

[0236] The movement of the slide 16 along the transversal guide 14 takes place by the action of an actuator device 17, for example by means of a pinion-rack coupling.

[0237] Preferably, the supporting equipment 10 comprises a support member 18 connected to the slide 16 and vertically movable with respect to the slide 16 itself along a vertical axis Z1, perpendicular to the piece-supporting plane 5, moving towards and away from the piece-supporting plane 5 (see FIG. 3).

[0238] The vertical movement of the supporting equipment 10 with respect to the slide 16 takes place by the action of an actuator device 19, for example by means of a linear actuator, for example of the recirculating ball type (see FIG. 3).

[0239] In the preferred embodiments illustrated, the handling group 20 is arranged below the supporting equipment 10 and is rotatably connected to a lower end 19a of the supporting equipment 10 by means of a shaft 9 (see FIG. 3).

[0240] Preferably, the handling group 20 is rotatable with respect to the supporting equipment 10 about the vertical axis Z1.

[0241] Preferably, the rotation of the handling group 20 about the vertical axis Z1 is operated by an actuator device 21 associated with the supporting equipment 10, for example mounted on the support member 18, and active on the rotational drive shaft 9 of the handling group 20 (see FIG. 4).

[0242] Preferably, the handling group 20 comprises a supporting body 22 preferably extending in a direction parallel to the piece-supporting plane 5, i.e. parallel to the plane indicated by the X and Y axes.

[0243] Preferably, the supporting body 22 comprises a substantially hollow box-shaped portion 23 defining a housing zone 24.

[0244] In the preferred embodiments illustrated, a first supporting arm 25 is rigidly connected at a first transversal end 22a of the supporting body 22.

[0245] Preferably, the first supporting arm 25 vertically extends below the supporting body 22.

[0246] In the preferred embodiments illustrated, the apparatus 1 comprises a first gripping device 30 of the pieces hinged at a lower end 26 of the first supporting arm 25 so as to rotate about a first horizontal axis R1 (see FIG. 4).

[0247] Preferably, the rotation of the first gripping device 30 with respect to the first supporting arm 25 and about the first horizontal axis R1 is operated by an actuator device 31, preferably mounted at the lower end 26 of the first supporting arm 25 (see FIGS. 4 and 5).

[0248] In the preferred embodiments illustrated, the first gripping device 30 is rotatable about the first horizontal axis R1 between: [0249] a horizontal configurationshown in FIGS. 7A-7F, 8A-8D and 8H-8Iparallel to the piece-supporting plane 5, [0250] a first vertical configuration, illustrated in FIGS. 4, 5, 7G-7L, 8E-8G and 8J-8O, perpendicular to the piece-supporting plane 5 and oriented at 90 with respect to the horizontal configuration, and [0251] a second vertical configurationnot illustratedperpendicular to the piece-supporting plane 5, oriented at 90 with respect to the horizontal configuration and rotated of 180 about the first horizontal axis R1 with respect to the first vertical configuration.

[0252] The first gripping device 30 comprises a gripping face 32 defining a first gripping plane of a worked piece P.

[0253] Preferably, the gripping face 32 is configured to be placed in contact with a face of a worked piece P to exert a retaining action of the first gripping device 30 on the piece itself.

[0254] The handling group 20 further comprises a second supporting arm 35.

[0255] In the preferred embodiment illustrated, the second supporting arm 35 is substantially L-shaped and comprises a horizontally extending portion 36 (better shown in FIGS. 6A and 7E) and a vertically extending portion 37, defining as many portions of the L.

[0256] Preferably, the horizontally extending portion 36 of the second supporting arm 35 is at least partially housed in the housing zone 24 defined in the supporting body 22 of the handling group 20.

[0257] Preferably, the horizontally extending portion 36 of the second supporting arm 35 comprises a plurality of rod-shaped elements 36a parallel to each other, slidably mounted in the housing zone 24, as illustrated in FIG. 6A.

[0258] Preferably, the horizontally extending portion 36 of the second supporting arm 35 is slidably mounted substantially in a drawer-like fashion in the housing zone 24 along a horizontal axis A1 between a first insertion position, illustrated in FIGS. 7A-7D and 8A-8E, and a second extraction position, shown in FIGS. 7E-7G, 7J-7L, 8F-8J and 8M-8O.

[0259] In the first insertion position, the horizontally extending portion 36 of the second supporting arm 35 is preferably substantially entirely housed in the housing zone 24 and the distance between the vertically extending portion 37 of the second arm 35 and the first arm 25 is minimal.

[0260] In the second extraction position, the horizontally extending portion 36 of the second supporting arm 35 is preferably partially extracted from the housing zone 24 and the distance between the vertically extending portion 37 of the second arm 35 and the first arm 25 is maximum.

[0261] The stroke of the horizontally extending portion 36 of the second supporting arm 35 between the first insertion position and the second extraction position can vary within wide ranges and can be determined by a person skilled in the art according to application requirements.

[0262] In preferred embodiments, the stroke of the horizontally extending portion 36 of the second supporting arm 35 between the first insertion position and the second extraction position may vary, in an illustrative and non-limiting example, between 250 and 900 mm.

[0263] In the preferred embodiments illustrated, the apparatus 1 comprises an actuator device 38 mounted on the supporting body 22 and configured to move the horizontally extending portion 36 of the second supporting arm 35 between the first insertion position, illustrated in FIGS. 7A-7D and 8A-8E, and the second extraction position, illustrated in FIGS. 7E-7G, 7J-7L, 8F-8J and 8M-8O, e.g. by means of a pinion-rack or screw-nut mechanism.

[0264] In the preferred embodiments illustrated, the vertically extending portion 37 of the second supporting arm 35 is rigidly connected to the horizontally extending portion 36 at an end 36b of the latter facing away from the first supporting arm 25 and extends vertically downwards therefrom.

[0265] Preferably, the vertically extending portion 37 of the second supporting arm 35 has substantially the same vertical extension as the first supporting arm 25.

[0266] The vertical extension of the first supporting arm 25 and of the second supporting arm 35 can vary within wide ranges and can be determined by a person skilled in the art depending on the application requirements.

[0267] Thus, in preferred embodiments, the first supporting arm 25 and the second supporting arm 35 may have a vertical extension that may be comprised between 600 and 1500 mm in an indicative and non-limiting example.

[0268] In the preferred embodiment illustrated, the apparatus 1 comprises a second gripping device 40 of the pieces hinged at a lower end 39 of the vertically extending portion 37 of the second supporting arm 35 so as to rotate about a second horizontal axis R2 parallel to the first horizontal axis R1.

[0269] Preferably, the rotation of the second gripping device 40 with respect to the second supporting arm 35 is operated by an actuator device 41, mounted at the lower end 39, as illustrated in FIG. 5.

[0270] Preferably, the second gripping device 40 is rotatable about the second horizontal axis R2 between: [0271] a horizontal configurationshown in FIG. 7K-7Lparallel to the piece-supporting plane 5, [0272] a first vertical configurationillustrated in FIGS. 4, 5, 7A-7J and 8A-8Mperpendicular to the piece-supporting plane 5 and oriented at 90 with respect to the horizontal configuration, wherein the second gripping device 40 faces the first gripping device 30, and [0273] a second vertical configurationshown in FIG. 8N-8Operpendicular to the piece-supporting plane 5, oriented at 90 with respect to the horizontal configuration and rotated of 180 with respect to the first vertical configuration, wherein the second gripping device 40 faces away from the first gripping device 30.

[0274] Preferably, the second gripping device 40 comprises a gripping face 42 defining a second gripping plane of a worked piece P.

[0275] Preferably, the gripping face 42 is configured to be placed in contact with a face of a worked piece P to exert a retaining action of the second gripping device 40 on the piece itself.

[0276] In the preferred embodiment illustrated, the first gripping device 30 and the second gripping device 40 each comprise one or more gripping elements 50, for example two gripping elements 50 for each gripping device 30, 40, configured to exert a pneumatic retaining action on a face of a piece P.

[0277] Preferably, each gripping element 50 comprises at least one suction element comprising a membrane 51, which encloses a gripping area 52 defined in the respective gripping face 32, 42.

[0278] Preferably, the first gripping device 30 and the second gripping device 40 each comprise a plurality of holes 53 open on the gripping area 52 and in fluid communication with a pneumatic system (not shown) configured to exert a pneumatic suction action on the gripping area 52.

[0279] The above described apparatus 1 is configured to move the first gripping device 30 and the second gripping device 40 between a plurality of operating positions.

[0280] In particular, the actuator device 15 drives the movement of the crossbeam 2, on which the transversal guide 14 extends, with respect to the vertical support structures 12 and the longitudinal guides 13 associated thereto and is therefore configured to translate the gripping devices 30, 40 along the Y axis.

[0281] The actuator device 17 drives the movement of the slide 16 along the transversal guide 14 and is therefore configured to move the gripping devices 30, 40 on the crossbeam 2 along the X axis.

[0282] The actuator device 19 drives the vertical movement of the support member 18 with respect to the slide 16 and is therefore configured to translate the gripping devices 30, 40 perpendicularly to the crossbeam 2 and the piece-supporting plane 5 along the vertical axis Z1.

[0283] The actuator device 21 drives the rotational movement of the handling group 20 about the vertical axis Z1 and is therefore configured to rotate the gripping devices 30, 40 about the vertical axis Z1.

[0284] The actuator device 31 drives the rotational movement of the first gripping device 30 with respect to the first supporting arm 25 and is therefore configured to rotate the first gripping device 30 about the first horizontal axis R1.

[0285] The actuator device 38 drives the translation movement of the horizontally extending portion 36 of the second supporting arm 35 and is therefore configured to translate the second gripping device 40 along the horizontal axis A1 away from and towards the supporting body 22 of the handling group 20 and, at the same time, away from and towards the first gripping device 30.

[0286] The actuator device 41 drives the rotational movement of the second gripping device 40 with respect to the second supporting arm 35 and is therefore configured to rotate the second gripping device 40 about the second horizontal axis R2.

[0287] In the preferred embodiment illustrated, the first gripping device 30 and the second gripping device 40 of the apparatus 1 are thus movable between a pick-up position (illustrated in FIGS. 7A, 7E, 8A and 8H), an exchange position (illustrated in FIGS. 7H and 8K) and a laying position (illustrated in FIGS. 7D, 7L, 8G and 8O).

[0288] In the pick-up position, the first gripping device 30 or the second gripping device 40 is arranged in a horizontal configuration with the respective first or second gripping face 32 or 42 adjacent to a finished face F2 or to a rough face F1 of a worked piece P lying on the piece-supporting plane 5.

[0289] For the sake of clarity, in FIGS. 7A-7L and 8A-8O the finished face F2 of worked piece P is illustrated with a thicker line.

[0290] In the exchange position, the handling group 20 is arranged at a higher position than the pick-up position so that the worked piece P can be rotated about a horizontal axis R1; R2 without coming in contact with the piece-supporting plane 5.

[0291] Both the first gripping device 30 and the second gripping device 40 are arranged in the respective first vertical configuration described above so as to be arranged with their respective gripping faces 32, 42, and their respective gripping planes, facing each other.

[0292] The horizontally extending portion 36 of the second supporting arm 35 is almost completely inserted into the housing area 24 defined in the supporting body 22 of the handling group 20 so as to keep the first and second gripping devices 30, 40 in close proximity to each other, spaced out by the thickness of a single piece P (see FIGS. 7H, 7I and 8K, 8L).

[0293] In the laying position, the operative configuration of the first gripping device 30 or of the second gripping device 40, depending on which of the two gripping devices is moving the worked piece P, provides that the piece P is released from the respective first or second gripping face 32 or 42 at a predetermined position in the piece storage area 6.

[0294] In particular, the first gripping device 30 or the second gripping device 40 may be in the respective horizontal configuration for horizontally laying the piece in the piece storage area 6 such as for example illustrated in FIGS. 7D and 7L, or in the respective second vertical configuration, to vertically lay the piece in the piece storage area 6 such as for example shown in FIGS. 8G and 8O.

[0295] Preferably, the apparatus 1 further comprises a control unit, not shown, suitably programmed to control the movement of the first gripping device 30 and of the second gripping device 40 as well as their respective support elements according to a control program.

[0296] In particular, the control unit preferably comprises a data processing unit, which may comprise one or more electronic processors, configured to execute the control programs of the apparatus 1, in particular to control the movement of the crossbeam 2 along the Y direction, of the supporting equipment 10 along the horizontal X and vertical Z direction, of the second gripping device 40 to and from the supporting body 22, as well as to rotate the first gripping device 30 and the second gripping device 40 about the axes R1 and R2.

[0297] In a preferred embodiment, the control unit may also include a user interface, e.g. equipped with a keyboard and a screen, through which interface appropriate input data can be entered for the movements to be performed.

[0298] Variants of the apparatus 1 described are possible.

[0299] For example, the first gripping device 30 and the second gripping device 40 may each be supported by respective supporting equipments 10 that are structurally independent from each other and movable independently from each other on the crossbeam 2 of the gantry structure 11 or each on a respective crossbeam according to a configuration with two parallel and structurally independent crossbeams.

[0300] In this possible preferred embodiment, each supporting equipment 10 moves a respective handling group 20 which a respective gripping device 30, 40 is associated to, movable by the apparatus 1 in a similar manner to that described above with reference to the single handling group 20 of the preferred embodiment illustrated in the figures.

[0301] In this possible preferred embodiment provided with structurally independent supporting equipments 10, the movement of the gripping devices 30, 40 relative to each other along the X direction takes place by moving each supporting equipment 10.

[0302] According to another variant, the gripping devices 30, 40 can be movably associated to the supporting body 22 of the single handling group 20 by means of respective vertically extending supporting arms that can be moved independently of each other on the supporting body 22 along the X direction.

[0303] According to another variant, the first supporting arm 25 may be realized in a similar manner to the second supporting arm 35 described above and may comprise a horizontally extending portion at least partially housed in the housing zone 24 so as to allow a horizontal translation of the first gripping device 30 with respect to the supporting body 22 of the handling group 20 in a similar manner to the second gripping device 40 of the preferred embodiment illustrated in the figures.

[0304] Furthermore, according to another variant, the first supporting arm 25 and/or the second supporting arm 35 may be configured so as to allow a rotation of the first gripping device 30 and/or of the second gripping device 40 about respective vertical axes of, or a vertical portion of, the first supporting arm 25 and, respectively, of the second supporting arm 35.

[0305] In yet another variant, the first supporting arm 25 and/or the second supporting arm 35 may be configured so as to allow a translation of the first gripping device 30 and/or of the second gripping device 40 along respective vertical axes.

[0306] In this case, the apparatus 1 comprises a suitable device for moving the first supporting arm 25 and/or the second supporting arm 35 along respective vertical axes.

[0307] In addition, the horizontally extending portion of the first supporting arm 25 and/or of the second supporting arm 35 may be telescopically configured to allow the distance of the first gripping device 30 and, respectively, of the second gripping device 40 from the supporting body 22, to be adjusted independently of each other.

[0308] The above-described apparatus 1 may be used to move pairs of worked pieces P having a rough face F1 and an opposite finished face F2 by a preferred embodiment of the method according to the invention which will be described below, by way of illustration only, and not by way of limitation, with reference to the operating configurations of the apparatus 1 of FIG. 1A illustrated in FIGS. 7A-8O.

[0309] More particularly, FIGS. 7A to 7L illustrate the operating steps of a method for stacking a pair of worked pieces P1, P2 horizontally, while FIGS. 8A to 8O illustrate the operating steps of a method for stacking the pair of worked pieces P1, P2 vertically.

[0310] In a first step, a plurality of pieces P are provided with the rough face F1 resting on the piece-supporting plane 5 and the finished face F2 facing away therefrom.

[0311] Next, the apparatus 1 is placed in the pick-up position by placing the first gripping face 32 of the first horizontally oriented gripping device 30 in contact with the finished face F2 of a first worked piece P1 of the plurality of pieces P, and the first worked piece P1 is grasped by activating the suction gripping element 50 of the first gripping device 30, so as to keep the finished face F2 facing the first gripping device 30 itself (FIG. 7A; 8A).

[0312] Next, the first gripping device 30 is moved vertically upwards to lift the first worked piece P1 off the piece-supporting plane 5 (FIG. 7B; 8B).

[0313] In the preferred embodiment illustrated, the lifting is carried out by operating the actuator device 19, which leads to a translation along the vertical axis Z1 of the supporting equipment 10 with respect to the slide 16 (and thus of the first gripping device 30).

[0314] Next, the first gripping device 30 is horizontally translated between a position where the first worked piece P1 is arranged above the piece-supporting plane 5 to a position where the first worked piece P1 is arranged at the piece storage area 6 (FIG. 7C; 8C).

[0315] This translation can have a longitudinal component (parallel to the Y axis) and/or a transverse component (parallel to the X axis).

[0316] Preferably, the longitudinal component of the translation of the first gripping device 30 may be achieved by a translation of the transversal guide 14 along the longitudinal guides 13 fixed to the support structures 12 operated by means of the actuator device 15.

[0317] Preferably, the transversal component of the translation of the first gripping device 30 may be achieved by translation of the slide 16 along the transversal guide 14 extending on the crossbeam 2 operated by means of the actuator device 17.

[0318] In a preferred embodiment, it is possible to rotate the handling group 20 about the vertical axis Z to switch places between the first gripping device 30 and the second gripping device 40 and better position the first worked piece P1 relative to the worked piece storage area 6 (see FIG. 8D).

[0319] Preferably, this rotation of the handling group 20 is carried out by operating the actuator device 21.

[0320] In a preferred embodiment of the method according to which the worked pieces P can be stored according to a vertical or substantially vertical orientation, the first gripping device 30 can be rotated of 90 about the first horizontal axis R1 from the horizontal configuration to the second vertical configuration (FIG. 8E) to change the orientation of the first worked piece P1 from horizontal to essentially vertical.

[0321] Preferably, this rotation of the first gripping device 30 is carried out by operating the actuator device 31.

[0322] In one embodiment and if appropriate depending on the geometric configuration of the piece storage area 6, the second gripping device 40 may be moved away from the first gripping device 30 by translating the horizontally extending arm 36 along the direction from the first insertion position towards the second extraction position (FIG. 8F).

[0323] Preferably, this translation of the second gripping device 40 is carried out by operating the actuator device 38.

[0324] In a subsequent step, the first gripping device 30 is translated downwards so as to place the first worked piece P1 in the piece storage area 6 with a horizontal orientation (FIG. 7D) or substantially vertical orientation (FIG. 8G).

[0325] Preferably, this translation of the first gripping device 30 is carried out by operating the actuator device 19 which moves the support member 18 of the supporting equipment 10 downwards along the vertical axis Z1 with respect to the slide 16.

[0326] Subsequently, the first worked piece P1 is released from the first gripping device 30 by deactivating the suction gripping element 50.

[0327] In this way, the finished face F2 of the first worked piece P1 is visible, in particular facing upwards (FIG. 7D) or laterally (FIG. 8G).

[0328] The transfer of the first worked piece P1 from the piece-supporting plane 5 to the piece storage area 6 can be carried out in substantially the same way by means of the second gripping device 40.

[0329] Next, the apparatus 1 is placed again in the pick-up position by placing the first gripping face 32 of the first gripping device 30 in contact with the finished face F2 of a second worked piece P2 of the pair of pieces P, and the second worked piece P2 is retained by activating the suction gripping element 50 of the first gripping device 30, so as to keep the finished face F2 facing the first gripping device 30 itself (FIG. 7E; 8H).

[0330] Next, the first gripping device 30 is translated vertically upwards to lift the second worked piece P2 off the piece-supporting plane 5 (FIG. 7F; 8I).

[0331] Preferably, the lifting is carried out by operating the actuator device 21, which leads to a translation along the vertical axis Z1 of the support member 18 of the supporting equipment 10 with respect to the slide 16 (and thus to a translation of the first gripping device 30).

[0332] Subsequently, the first gripping device 30 is rotated of 90 about the first horizontal axis R1, from the horizontal configuration to the first vertical configuration (FIG. 7G; 8J), so that the second worked piece P2 faces the second gripping device 40.

[0333] Preferably, this rotation is carried out by operating the actuator device 31.

[0334] Next, the second gripping device 40 is brought closer to the first gripping device 30, in particular by translating the horizontally extending arm 36 along the horizontal axis A1 in the direction from the second extraction position to the second insertion position (FIG. 7H; 8K) so as to place the second gripping face 42 in contact with the rough face F1 of the second worked piece P2 in the exchange position of the apparatus 1. Preferably, this translation is carried out by operating the actuator device 38.

[0335] Subsequently, the second worked piece P2 is released from the first gripping device 30 by deactivating the suction gripping element 50 of the first gripping device 30 and simultaneously retained by the second gripping device 40 by activating the suction gripping element 50 of the second gripping device 40.

[0336] In this way, the second worked piece P2 is transferred from the first gripping device 30 to the second gripping device 40 (FIG. 7H; 8K).

[0337] Next, the second gripping device 40 is moved away from the first gripping device 30, for example by translating the horizontally extending arm 36 in the direction from the first insertion position to the second extraction position (FIG. 7J, 8M) so as to move the second worked piece P2 away from the first gripping device 30.

[0338] Preferably, this translation is carried out by operating the actuator device 38.

[0339] Prior to or following the transfer of the second worked piece P2 from the first gripping device 30 to the second gripping device 40, the supporting equipment 10 is moved along the transversal guide 14 between a position where the second worked piece P2 is arranged above the piece-supporting plane 5 to a position where the second worked piece P2 is arranged above substantially at the storage area 6 (FIG. 7I; 8L).

[0340] Preferably, this translation movement can have a longitudinal component (parallel to the Y axis) and/or a transversal component (parallel to the X axis).

[0341] Preferably, the longitudinal component of the translation is achieved by means of a translation of the crossbeam 2 which the transversal guide 14 is associated to along the longitudinal guides 13 carried out by means of the actuator device 15.

[0342] Preferably, the transversal component of the translation is achieved by translating the slide 16 along the transversal guide 14 associated with the crossbeam 2 carried out by means of the actuator device 17.

[0343] In a preferred embodiment, the second gripping device 40 is rotated of 90 about the second horizontal axis R2 from the first vertical configuration to the horizontal configuration to change the orientation of the second worked piece P2 from vertical to horizontal (FIG. 7K).

[0344] Preferably, this rotation is carried out by operating the actuator device 41.

[0345] In another preferred embodiment, the second gripping device 40 is rotated of 1800 about the second horizontal axis R2 from a first substantially vertical configuration to a second vertical configuration (FIG. 8N) so that the second worked piece P2 faces vertically away from the first gripping device 30.

[0346] Preferably, this rotation is carried out by operating the actuator device 41.

[0347] Subsequently, the second gripping device 40 is moved downwards so as to place the second worked piece P2 in the piece storage area 6 in a horizontal orientation (FIG. 7L) or substantially vertical orientation (FIG. 8O).

[0348] Preferably, this movement of the second gripping device 40 is carried out by operating the actuator device 19 which translates the support member 18 of the supporting equipment 10 downwards along the vertical axis Z1 with respect to the slide 16.

[0349] Subsequently, the second worked piece P2 is released from the second gripping device 40 by deactivating the suction gripping element 50.

[0350] In this way, the finished face F2 of the second worked piece rests against the finished face F2 of the first worked piece P1.

[0351] The transfer of the second worked piece P2 from the piece-supporting plane 5 to the piece storage area 6 can be carried out in a substantially similar manner by initially picking it up from the piece-supporting plane 5 by means of the second gripping device 40 and subsequently transferring it to the first gripping device 30 in a similar manner to those described above.

[0352] Clearly, the above operations can be repeated to move additional pairs of worked pieces P1, P2 from the piece-supporting plane 5 to the piece storage area 6 by arranging the finished faces F2 of each pair of pieces P1, P2 resting against each other.

[0353] In further preferred embodiments of the invention, it is also possible to perform the described operations of moving pairs of worked pieces P1, P2 starting from worked pieces P1, P2 with their finished face F2 resting on the piece-supporting plane 5. In this case, what is said with reference to the finished face F2 must be understood as being referred to the rough face F1 and vice versa.

[0354] Clearly, a person skilled in the art may make numerous modifications and variations to the apparatus and method of moving pieces described above in order to meet specific and contingent requirements, all of which are within the scope of protection of the present invention as defined by the following claims.