WO2009093197A1

WO2009093197A1 - Gripper for holding and moving panels

Info

Publication number: WO2009093197A1
Application number: PCT/IB2009/050248
Authority: WO
Inventors: Piergiorgio Benuzzi
Original assignee: Giben International S.P.A.
Priority date: 2008-01-23
Filing date: 2009-01-22
Publication date: 2009-07-30
Also published as: ITBO20080042A1

Abstract

Described is a gripper (1) for holding panels (3) to be fed to a panel saw machine equipped with a power-driven crossbeam (11) for mounting the gripper (1). The gripper (1) comprises: a first jaw (4), a second jaw (5) mobile relative to each other between an open and a closed configuration to form a mouth (7) for holding the panels (3); and actuating means (8) designed to impart movement to at least one jaw (4) relative to the other jaw (5) in such a way as to define the open or closed configuration of the gripper mouth (7); the gripper (1) comprises a gripper body (9) which supports the first jaw (4) and the second jaw (5) and the actuating means (8).

Description

Gripper for holding and moving panels

Technical Field

This invention relates to panel saw machine technology, in particular for panels used in the manufacture of furniture or panelling in general.

More specifically, the invention relates to a gripper used for feeding a panel saw machine.

Background Art

Usually the gripper is designed not only to interact with a vertical pile of panels being fed to the machine in such a way as to pick up a predetermined number of panels from the top of the pile, hold these panels together as a unit or stack and transfer one stack at a time to the sawing station, but also to push the single panel or the stack of panels along a horizontal work table forming part of the panel saw machine.

Already known to prior art are panel saw machine feed systems comprising power-driven crossbeams which move in a horizontal plane over the tops of the panel piles being fed to the machine. The crossbeams are equipped with grippers which project downwardly towards the piles and which are suitably shaped and driven not only to pick up and transfer the panels but also to simply push the panels. The grippers of these prior art feed systems have complex and cumbersome mechanical structures.

This mechanical complexity is determined by the very nature of the operations to be performed and the type and weight of the loads handled by the grippers. The large overall size of the gripper is also influenced by the size of its components which must be large and strong enough to do the work required.

This large overall size is also due to the structure and location on the gripper mounting crossbeam of all the actuators that drive the gripper, these actuators being in many cases associated with the crossbeam on two or more sides of the horizontal gripper mounting crossbeam itself.

For these reasons, prior art grippers have mechanically complex and cumbersome structures with high production costs.

Aim of the Invention

This invention therefore has for an aim to overcome the above mentioned disadvantages by providing a gripper that is at once simple in mechanical design, highly reliable in terms of operation and compact in size. Another aim of the invention is to provide a gripper which is relatively inexpensive and which, moreover, has a more pleasing appearance than prior art grippers.

The technical characteristics of the invention according to the aforementioned aims may be easily inferred from the contents of the appended claims, especially claim 1, and also any of the claims that depend, either directly or indirectly, on claim 1.

Brief Description of the Drawings

The advantages of the invention are apparent from the detailed description which follows, with reference to the accompanying drawings which illustrate preferred, non-limiting embodiments of it provided merely by way of example and in which:

- Figure 1 is a side assembly and section view of a gripper according to the invention; - Figure 2 illustrates a second embodiment of the gripper of Figure 1, again represented in an assembly and longitudinal section view;

- Figures 3 and 4 show the gripper of Figure 2 in top plan and front face views, respectively;

- Figures 5 to 7 illustrate the first jaw of the gripper of Figure 2 in a side view, a front view and a top plan view, respectively;

- Figures 8 to 10 illustrate the second jaw of the gripper of Figure 2 in a side view, a front view and a top plan view, respectively;

- Figure 11 is a schematic side view, with some parts in cross section, of a third embodiment of the gripper according to the invention in a first working configuration; - Figure 12 is a schematic top plan view of the gripper of Figure 11;

- Figure 13 is a schematic side view, with some parts in cross section, of the gripper of Figure 11 in a second working configuration;

- Figure 14 shows the cross section XIV-XIV of Figure 13.

Detailed Description of the Preferred Embodiments of the Invention

With reference to the accompanying drawings, in particular Figure 1, the numeral 1 denotes in its entirety a gripper for holding panels 3 and used, in this case, only for pushing the panels 3 along a table P for feeding a panel saw machine, in particular for panels made of wood or the like.

The pile 2 of panels 3 is schematically represented in Figure 2 and, as described in more detail below in connection with another embodiment of the gripper 1, also shown in Figure 2, the panels 3 may be picked up directly from the pile 2. Similarly, the crossbeam 11 that mounts the gripper 1 and forms part of the panel saw machine 10 is also illustrated partially since it is of known type.

In other terms, the panel saw machine 10 on which the gripper 1 can be mounted is not fully illustrated in the drawings since it is of well known type and outside the scope of this invention. The machine should, however, be imagined as being located on the right of an observer looking at Figure 1.

The gripper 1 essentially comprises a first jaw 4 and a second jaw 5 functionally interconnected, by way of non limiting example, by a hinge pin 6 and combined to form a mouth 7 for picking up the panels 3.

The gripper 1 is equipped with actuating means, labelled 8 in their entirety, designed to impart to one jaw 4 or 5 relative to the other 5 or 4, the movements necessary to open and close the mouth 7 (see arrows F, Figure 1) and, consequently to clamp the latter tightly on predetermined sets of panels 3 of the pile 2 to be moved.

In the description which follows, express reference is made to sets of two or more panels 3, purely as a non-limiting example of how the gripper 1 can be used and it will be understood that the gripper might also be used to move single panels

3 and/or to pick up and transfer from the pile 2 a single panel 3 at a time when necessary. Looking more closely at the constructional details, the gripper 1 comprises a hollow or tubular body 9 associated with the crossbeam 11 that supports and moves the gripper 1 as it operatively interacts with the panels 3.

As shown in more detail in Figure 1, the horizontal crossbeam 11 has a quadrangular profile to which the gripper 1 is connected directly but only for descriptive purposes and without limiting the scope of the invention.

The crossbeam 11, as is very well known, is a component part of the panel saw machine which, as already stated, is not described in any further detail.

More specifically, the connection comprises integrally but removably associating the body 9 of the gripper 1 substantially only on one side 12 of the crossbeam 11, to which the body 9 is connected by a bolted flange 13.

More specifically, the body 9 supports both the jaws 4 and 5 and the means 8 that actuate them.

More in detail, in the embodiment illustrated in Figure 1, the second jaw 5 is fixed, forming an integral part of the body 9 and protruding from an operative end of the gripper body 9: this architecture, as mentioned above, regards a gripper

1 designed in particular to grip the panels 3 and push them along the work table P of the panel saw machine 10.

The first jaw 4, on the other hand, is rotatable about the pin 6 in such a way as to open or close the gripper mouth 7.

The above mentioned actuating means 8, which impart rotational movement to the first jaw 4, comprise, in particular, a crank mechanism 14, essentially comprising a crank lever 15, built into the first jaw 4 itself and hence rotatable about the hinge pin 6, equipped with a slider 16 translatably coupled to a guide 17 contained in the gripper body 9.

The crank mechanism also has a link rod 18 interposed between and articulated to the first jaw 4 on one side and the slider 16 on the other side.

The actuating movement for opening and closing the mouth 7 of the gripper 1 is imparted to the crank mechanism 14 by the slider 16 (see arrow F16 in Figure 1) which, for this purpose, is associated with a stem 19 of a linear actuator 20, which is controlled from the outside and is also housed within the gripper body 9.

Figures 2 to 4 show a second embodiment of the gripper 1 whose technical characteristics are described below only where they differ from those of the embodiment described above. The common or equivalent parts of the two embodiments are denoted by the same reference numerals and will be described only in terms of their salient features.

In the gripper 1 of Figure 2 , the gripper body 9 is mounted under one side 12 of the crossbeam 11 which, in this case, is the horizontal side.

The gripper body 9 is mounted on an interposed plate 21 equipped with a hinge pin 22 which supports the gripper body 9 and which, in combination with screw adjustment means 23, makes it possible to vary the range of the rocking motion and hence the angular orientation of the gripper body 9 relative to the crossbeam 11 (see arrow F23 in Figure 2).

In other terms, the means 21, 22, 23 enable the gripper 1 to float relative to the work table P to absorb possible small undulating movements of the work table P.

Also in this embodiment of the gripper 1, the jaws 4 and 5 are mobile relative to each other to open and close the mouth 7.

In particular, as clearly shown in Figure 2, the first jaw 4 is driven by the crank mechanism 14 of the actuating means 8.

The second jaw 5, which has the shape of a fork, for example, is not fixed, however, but is free to move roto-translatably relative to the gripper body 9 in such a way as to change its position relative to the pin 6 by which the first jaw 4 is hinged to the gripper body 9.

In other terms, the second embodiment of the gripper 1 can be used not only as a gripper 1, with the second jaw 5 retracted in the gripper body 9, to pick the panels 3 up from the pile 2 and to feed the panel saw machine 10, but also, with the second jaw 5 protruding from the gripper body 9, to simply push the panel or panels 3 along the work table P of the panel saw machine 10 like the first embodiment of the gripper 1 described above.

In fact, as shown in Figure 2 and the details of Figures 5 to 10, the second jaw 5 is mounted on the gripper body 9 by means of two second hinge pins 24, separate from each other, and separate from the hinge pin 6 of the first jaw 4.

The two second pins 24 are associated with suitably designed respective cams 25 formed in the body of the second jaw 5.

The gripper body 9 is also equipped with suitable means 26 for roto- translatably driving the second jaw 5. The means 26 are mounted on the gripper body 9 itself and may be embodied by a customary actuator 29. More specifically, the drive means 26 comprise a stem 28 forming part of the pneumatic actuator 29 which is articulated at its free end to a protrusion 27 in the shape of an open fork, forming part of the second jaw 5.

In this way, activation of the actuator 29 (see arrow F29) causes movement in one direction to retract the second jaw 5 into the gripper body 9 (see continuous line in Figure 2) or a movement in the opposite direction so that the second jaw 5 protrudes from the gripper body 9 (see broken line in Figure 2).

Figures 11 to 14 show a third embodiment of the gripper 1 according to the invention. The reference numerals, when not specified, refer to technical characteristics already described above in connection with the other embodiments.

As illustrated, the first jaw 4 is driven by a linear actuator 20 preferably of commercial type.

The actuator 20 is located outside the gripper body 9 and its stem 19 is linked to the slider 16. More specifically, the actuator 20 is substantially coaxial with the gripper body 9 and located, relative to the latter, on the opposite side of the jaws 4, 5.

As illustrated, the gripper 1 is mounted on the crossbeam 11 by a bracket 13'.

Preferably, the bracket 13' has an arm 30 which extends in a direction parallel to the line of movement D of the stem 19 and a second arm 31 transversal to the first arm 30.

The gripper body 9 is fastened to the first arm 30 by screws 30' which engage the gripper body 9 itself and the second arm 31 is fastened to the crossbeam 11. As already mentioned, the linear actuator 20 is located on the outside of the gripper body 9 and is fastened to the latter by a set of bolts 32 engaged in respective threaded holes 32' made in the gripper body 9.

The bolts 32 and the holes 32' extend parallel to the line of movement D.

It should be noticed that the arm 30 of the bracket 13' has a first and a second opening 33, 34 for the passage of means 35 which connect the actuator 20 to a pneumatic supply system not illustrated. The connection means 35 and the pneumatic system are of substantially known type and therefore not described in any detail. The invention as described above therefore fully achieves the aforementioned aims and, thanks to a relatively simple and dimensionally compact structure, provides a highly reliable gripper 1 at a low cost.

The gripper 1 as a whole is independent of the other parts of the machine it is fitted to, allowing it to be manufactured and installed as a separate unit, with major economic advantages. It also has a pleasant overall appearance.

Furthermore, the structure of the second embodiment of the gripper according to the invention provides a multipurpose unit which lends itself to different uses in the context of panel saw machine operation while maintaining its compact size.

The presence of an external actuator simplifies gripper maintenance in the event of faults or malfunctions.

The invention described above is susceptible of industrial application and may be modified and adapted in several ways without thereby departing from the scope of the inventive concept. Moreover, all the details of the invention may be substituted by technically equivalent elements.

Claims

1. A gripper for holding panels (3) to be fed to a panel saw machine; the gripper (1) being mounted on and transported by a power-driven crossbeam (11) forming part of the panel saw machine (10); the gripper (1) comprising:

- a first jaw (4), a second jaw (5) mobile relative to each other between an open and a closed configuration to form a mouth (7) for holding the panels (3); and

- actuating means (8) designed to impart movement to at least one jaw (4) relative to the other jaw (5) in such a way as to define the open or closed configuration of the gripper mouth (7); the gripper (1) being characterized in that it further comprises a gripper body (9) which supports the first jaw (4) and the second jaw (5) and the actuating means (8).

2. The gripper according to claim 1, characterized in that the gripper body (9) is associated with the crossbeam (11) only on one side (12) of the crossbeam (11) itself.

3. The gripper according to claim 1, characterized in that the actuating means (8) comprise a crank mechanism (14) equipped with a crank lever (15) built into the first jaw (4) and rotatable about a hinge pin (6), a slider (16) translatably coupled to the gripper body (9) and to a link rod (18) interposed between and articulated to the first jaw (4) and to the slider (16), the mouth (7) of the gripper (1) being opened and closed by the driving movement imparted by the slider (16) to the crank mechanism (14).

4. The gripper according to claim 3, characterized in that the actuating means (8) comprise a linear actuator (20) associated with the slider (16).

5. The gripper according to claim 3 or 4, characterized in that the crank mechanism (14) is contained within the gripper body (9) which is hollow or tubular in cross section.

6. The gripper according to any of the foregoing claims from 1 to 5, characterized in that the linear actuator (20) is built into the gripper body (9) which is hollow or tubular in cross section.

7. The gripper according to claim 1, characterized in that the second jaw (5) is rigidly connected at one end of it to the gripper body (9).

8. The gripper according to claim 1, characterized in that the second jaw (5) is roto-translatably mobile relative to the hinge pin (6) of the first jaw (4) under the action of suitable drive means (26) in such a way that it has at least two end configurations, that is to say, a first working configuration in which the second jaw (5) protrudes from the gripper body (9) and faces the first jaw (4), and a second, non-operating configuration in which the second jaw (5) is housed inside the gripper body (9).

9. The gripper according to claim 8, characterized in that the second jaw (5) is connected to the gripper body (9) by second pins (24) associated with respective cams (25).

10. The gripper according to claim 8, characterized in that the drive means (26) comprise a stem (28) forming part of a linear actuator (29) articulated at its free end to a protrusion (27) in the shape of an open fork, forming part of the second jaw (5).

11. The gripper according to claim 10, characterized in that the drive means (26) are mounted on the gripper body (9).

12. The gripper according to claim 1, characterized in that the gripper body (9) is mounted under a horizontal side (12) of the crossbeam (11).

13. The gripper according to claim 1, characterized in that said gripper (1) comprises means (21, 22, 23) for mounting the gripper body (9) and designed in such a way that the orientation of the gripper body (9) can be angularly adjusted relative to the crossbeam (11) and can float relative to a work table (P).

14. The gripper according to any of the foregoing claims, characterized in that it comprises a linear actuator (20) operatively connected to the first or the second jaw (4, 5) and located inside the gripper body (9).

15. The gripper according to any of the foregoing claims from 1 to 13, characterized in that it comprises a linear actuator (20) operatively connected to the first or the second jaw (4, 5) and located outside the gripper body (9).

16. The gripper according to claim 15, characterized in that the linear actuator (20) is rigidly connected to the gripper body (9).