WO2010044109A1 - Machine à empiler et/ou désempiler - Google Patents

Machine à empiler et/ou désempiler Download PDF

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Publication number
WO2010044109A1
WO2010044109A1 PCT/IT2008/000643 IT2008000643W WO2010044109A1 WO 2010044109 A1 WO2010044109 A1 WO 2010044109A1 IT 2008000643 W IT2008000643 W IT 2008000643W WO 2010044109 A1 WO2010044109 A1 WO 2010044109A1
Authority
WO
WIPO (PCT)
Prior art keywords
stacking
counter
destacking
gripping unit
profiles
Prior art date
Application number
PCT/IT2008/000643
Other languages
English (en)
Inventor
Vittorio Ferrero
Original Assignee
Trevisan Cometal S.P.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trevisan Cometal S.P.A. filed Critical Trevisan Cometal S.P.A.
Priority to PCT/IT2008/000643 priority Critical patent/WO2010044109A1/fr
Publication of WO2010044109A1 publication Critical patent/WO2010044109A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the object of the present invention is a stacking and/or destacking machine (hereinafter, stacking/destacking machine) .
  • the stacking machines in the strict sense of the term serve the function of withdrawing the profiles from a roller unit and positioning them within the baskets, while the destacking machines serve the function of withdrawing the profiles from the baskets and positioning them on a roller unit.
  • the stacking machines are also adapted to destack, as well as the destacking machines are adapted to stack. For this reason, a stacking/destacking machines is generally- referred to, which is capable of performing both functions.
  • the stacking/destacking machines In order to carry out such handling of the strips, the stacking/destacking machines have a main supporting structure along which a trolley can move, according to one or more axes, which supports a handling unit which, in turn, moves a gripping unit carrying the above- mentioned nippers.
  • the gripping unit is capable of performing lifting and lowering movements relative to the main supporting structure, for the destacking and stacking of the profiles and the strips, respectively.
  • stacking/destacking machines are not free from drawbacks .
  • the object of the present invention is thus to provide a stacking/destacking machine that is such as to at least partially overcoming the problems mentioned with reference to the prior art.
  • the object of the present invention is to provide a stacking/destacking machine wherein the danger of accidental movements of the profiles on the strips is reduced and which can operate with movements of the gripping unit under speeds and accelerations that are sufficiently high.
  • a gripping unit that can be moved relative to the main supporting structure at least along a stacking/destacking direction and that is suitable to stack and/or destack profiles that are supported by- strips by means of strip handlings,
  • - counter-means suitable to exert counter-forces such as to urge the profiles against the strips supporting the same while the strips are being handled by the gripping unit.
  • FIG. 1 is a perspective view of a stacking/destacking machine according to the invention in a specified use condition
  • Fig. 2 is a perspective view of a stacking/destacking machine from Fig. 1 in a particular condition of use
  • FIG. 3 is a side view of a stacking/destacking machine according to a further possible embodiment of the invention.
  • Fig. 4 is a sectional view according to the line
  • Fig. 5 is a further side view of the stacking/destacking machine in Fig. 3;
  • Fig. 6 is a plan view of the stacking/destacking machine in Fig . 3 ;
  • Fig. 7 is a perspective view of a nipper of the stacking/destacking machine according to a possible embodiment of the invention
  • Fig. 8 is an exploded, perspective view of the nipper in Fig . 7 ;
  • Fig. 12 is a side view of the gripping unit in Fig.
  • Fig. 13 is a enlarged view of a detail of the gripping unit in Fig. 12;
  • Fig. 16 is a schematic view of a stacking/destacking machine portion according to a possible embodiment of the invention
  • Fig. 17 is a schematic view of a further portion of the stacking/destacking machine according to a possible embodiment of the invention.
  • Fig. 18 is a perspective view of a gripping unit of the stacking/destacking machine according to a possible embodiment of the invention.
  • Fig. 19 is an enlarged perspective view of the gripping unit in Fig. 18;
  • Fig. 20 is a side view of the gripping unit in Fig. 18;
  • Fig. 21 is a schematic view of a further portion of the stacking/destacking machine according to a possible embodiment of the invention.
  • a stacking/destacking machine is generally indicated with the reference number 1.
  • the stacking/destacking machine can be included in a complex plant, for example, an aluminium extrusion and profiling plant.
  • a complex plant for example, an aluminium extrusion and profiling plant.
  • one or more stations can be provided, in which the material to be processed is passed through special processing stations in sequence (for example: extrusion, stretching, cutting of the profiles, ageing in ageing furnaces, packaging) .
  • the stacking/destacking machine 1 can be arranged between two or more of these stations, for example, between the cutting station and the ageing station.
  • One or more layers of profiles 3, preferably supported by one or more strips 4, are sent towards and/or drawn from the stacking/destacking machine 1 by means of roller units 5, which run along development directions S, preferably rectilinear and mutually parallel in the proximity of the stacking/destacking machine 1 (it shall be noted that the profiles 3 are schematically indicated as a parallelepiped in the Figures. Instead, the strips 4 are visible, for example, in Fig. 13) .
  • the strips 4 and profiles 3 are placed within baskets 2 that are capable of moving along the roller units 5 or they can be directly moved by the roller units 5.
  • the movement of the strips is preferably automatically controlled, for example by belt systems 6.
  • the stacking/destacking machine 1 can be usefully included also in more complex plants, for example, comprising more than two roller units.
  • the stacking/destacking machine 1 according to the invention comprises a main supporting structure 7, preferably of the portal type. It can be provided with, for example, four uprights 8 resting on or secured to the ground, and with as many crosspieces 9 transversally connected to the uprights 8. It shall be apparent that different configurations of the main supporting structure 7 can be provided. For example, it is possible to provide a different number of uprights and/or crosspieces (for example, a number of crosspieces above four) or also structures not necessarily configured as a portal .
  • the stacking/destacking machine 1 preferably comprises a trolley 10 which is mobile relative to the main supporting structure 7.
  • the trolley 10 is mobile along only one trolley direction X relative to the main supporting structure 7 (two axes configuration) .
  • Such trolley direction X is preferably transversal, still more preferably orthogonal, to the development direction S of the roller units 5, so that the stacking and destacking operations can occur between adjacent roller units.
  • the trolley 10 is capable of performing movements according two directions relative to the main supporting structure, particularly the direction X, transversal and preferably orthogonal to the development direction of the roller units 5, and a second direction orthogonal to the trolley direction X and parallel to the development directions S of the roller units 5 (three axes configuration) . It shall be apparent that further modes to handle the trolley 10 relative to the main supporting structure 7 are possible, relative to what has been described above.
  • the trolley 10 is provided with one or more pairs of gear wheels 11 meshing corresponding racks which are prearranged along one or more of the crosspieces 9 and which extend along the trolley direction X.
  • the gear wheels are actuated by, for example, an electric motor controlled by special control electronics, for example, by inverter systems. In this manner, the actuation of the electric motors translates into a trolley handling along the trolley direction X.
  • the stacking/destacking machine 1 comprises a gripping unit 12 having the function of stacking and/or destacking the semifinished products, particularly the strips and profiles.
  • the gripping unit 12 is capable of moving relative to the trolley 10 along a stacking/destacking direction I/D particularly between a lifted and a lowered position. In the lifted position, the trolley 10 can freely move without the gripping unit interfering with the baskets.
  • the lowered position is suitable to the strips insertion in or withdrawal from the baskets.
  • the gripping unit 12 is so shaped as to be capable of firmly gripping and releasing the strips and/or profiles. To this aim, it advantageously comprises a plurality of nippers 13 associated to a gripping frame
  • the gripping frame 20 comprises two side beams 21 interconnected by a plurality of cross beams 22, preferably orthogonal thereto.
  • Support plates 23 are further preferably provided, which are also arranged between the side beams 21, by means of which the connection between the gripping unit 12 and mobile trolley 10 is provided.
  • the nippers 13 are preferably so arranged along the side beams 21 as to be able to laterally grip and release the strips.
  • the connection between nippers 13 and gripping frame 20 can be of a rigid type, where the term "rigid” is to be meant in the sense that the nippers are not capable of performing relative movements relative to the gripping frame 20 along the stacking/destacking direction I/D.
  • the connection between nippers 13 and gripping frame 20 can be of a mobile type, that is, such that relative movements between nippers 13 and gripping frame 20 along the stacking/destacking direction I/D are, on the contrary, allowed. In this manner it is possible that, during the gripping frame 20 lowering towards the lowered position, the nippers 13 stay at different levels, for example, if there is the need to grip the strips 4 at points with offset heights.
  • the gripping arms 14 of each nipper are actuated by a cylinder-pneumatic piston unit 15, the piston of which is associated to a first one 14' of the gripping arms 14, and the cylinder of which is associated to a second one 14'' of the gripping arms 14.
  • the nippers 13 further comprise a tracer point 18, preferably arranged between the first 14 ' and the second 14 ' ' gripping arms , capable of translating relative to the gripping arms, particularly along the stacking/destacking direction I/D.
  • the tracer point 18 is connected to sensing means 19 capable of measuring the relative movements relative to portions (fixed or mobile, as it will be seen below) of the nipper.
  • the sensing means 19 associated to the tracer points 18 of each nipper 13 can be advantageously exploited in order to carry out a diagnostics for the occurred correct positioning of the gripping unit.
  • the respective sensing means can send a confirmation signal that the gripping position has been reached, and this implies that the gripping unit lowering has successfully occurred. If not all the nippers send this signal, this means that some abnormalities in the lowering movement of the gripping unit have occurred.
  • the moving means 24 can be variously configured.
  • the moving means 24 comprise a rigid transmission between the trolley 10 and the gripping unit 12.
  • the flexible connection means 26 support the gripping unit 12 in a non-completely rigid manner. Therefore, the flexible connection means 26 are able to oppose the gripping unit 12 weight, that is to exert forces thereon, which face the lifted position, but not to push the gripping unit 12 towards the lowered position. Consequently, the flexible connection means 26 go along with the gripping unit 12, by supporting it, in the lowering and raising movements thereof but, in the case that the gripping unit 12 meets obstacles along the path towards the lowered position, they are not capable of pushing on the gripping unit, which, thus, is not able in turn to push against the obstacle.
  • the guide means serve the function of making so that the gripping unit 12, kept overhanging by the flexible connection means 26, follows the desired path, that is, moves along the stacking/destacking direction I/D.
  • the moving means 24 comprise an oleohydraulic actuating unit 28, preferably comprising, in turn, at least one oleohydraulic cylinder-piston unit 29, wherein an oleohydraulic piston runs within a chamber defined by a oleohydraulic cylinder according to an actuating direction.
  • the cylinder-piston unit actuating direction A is substantially orthogonal to the stacking/destacking direction i/D.
  • the actuating unit 28 can take different configurations relative to what has been described above.
  • electrical drives, or linear actuators of a different nature, or non-linear drives for example, oleohydraulic rotating actuators such as vane pumps, or the like.
  • the flexible connection means 26 preferably comprise chains 27.
  • Such chains 27 are advantageously directly handled by the actuating unit 28, particularly by the cylinder-oleohydraulic piston unit 29, and are also connected to the gripping unit 12, for example, at the supporting plates 23, directly or via intermediate members.
  • the chains 27 are preferably guided according to predetermined paths via special transmission means 31.
  • such transmission means 31 comprise a plurality of pulleys 32 associated to the trolley 10, and rotating relative thereto.
  • the stacking/destacking machine 1 comprises means 35 for the compensation of the gripping unit 12 weight, that is, means which are adapted to exert on the gripping unit 12 opposite compensation forces relative to the weight thereof.
  • the weight compensation means 35 make so that the resulting force (which will be called “bulk weight” herein below) exerted by the gripping unit on optional obstacles to the movement (and vice versa, in response, that is, by the obstacles on the gripping unit) is noticeably lesser than the gripping unit actual weight .
  • the bulk weight intensity is equal to the difference between the gripping unit actual weight and the compensation forces exerted by the compensation means, opposite the actual weight.
  • the gripping unit 12 weight compensation means 35 are so shaped that the compensation forces are variable as a function of the same gripping unit 12 position between the lifted position and the lowered position. According to a particularly advantageous embodiment, the gripping unit 12 weight compensation means 35 are so configured that the compensation forces increase as the gripping unit 12 approaches the lowered position. In other words, when the gripping unit 12 is at the or in the proximity of the lifted position, the compensation forces are of a limited extent. Instead, when the gripping unit approaches the lowered position, and the risk of unexpected impacts with the strips or profiles, or with undesired obstacles, is higher, the gripping unit 12 weight compensation means 35 exert higher compensation forces, so that the gripping unit bulk weight is noticeably lesser than the actual weight.
  • the gripping unit 12 weight compensation means 35 comprise one or more pneumatic actuating units 36 so arranged as to act between gripping unit 12 and trolley 10.
  • pneumatic actuating units 36 are preferably arranged in parallel to the guide means 25, particularly at the bars 33 and guides 34, still more preferably connected to the trolley 10, so as to be moved therewith when it moves along the trolley direction X.
  • the pneumatic actuating units 36 comprise one or more pneumatic cylinder-piston units 37, in which a piston 38 is slidable within a chamber defined by a cylinder 39 according to a sliding direction which is substantially parallel to the stacking/destacking direction i/D.
  • the piston 38 given the orientation thereof, splits the cylinder chamber 39 into a lower chamber 39' and an upper chamber 39'' (see, in this regard, the schematic view in Fig. 16) , where the terms "lower” and “upper” are to be meant with reference to the machine 1 in the standard use conditions thereof.
  • the pneumatic circuit 40 is adapted to be kept closed, that is to be kept in such a configuration that the air and/or gas amount present therein (and in the cylinder 39 lower chamber 39') keeps being substantially constant.
  • This particular embodiment implements particularly the advantageous characteristic according to which the reaction forces acting on the gripping unit increase as the gripping unit approaches to the lowered position thereof. In fact, the air and/or gas amount being constant, as the gripping unit 12 lowers, the cylinder 39 lower chamber 39' volume decreases, consequently the pressure therein increases.
  • the compensation effect can be also implemented in other ways.
  • the compensation can occur through elastic means, for example, mechanical springs
  • the gripping unit 12 weight compensation means 35 comprise means 41 for the adjustment of the supply circuit 40 overall volume.
  • the adjustment means 41 are capable of changing the air and/or gas volume hold in the supply circuit and the lower chamber 39' . Therefore, the adjusting means 41 of the supply circuit 40 volume implement the means for the adjustment of the trend of the compensation forces acting on the gripping unit described above. In fact, a decrease in the air and/or gas volume involves a pressure increase, particularly in the lower chamber 39' , while a volume increase involves a decrease of such pressure.
  • the weight compensation means 35 can provide adjusting means
  • Such means can be, for example, so shaped as to suck and/or discharge air/gas from the external environment .
  • the gripping unit 12 weight compensation means 35 and the embodiment variations described heretofore can be advantageously also provided in stacking/destacking machines in which the handling means have a different configuration compared to the one which has been described.
  • the compensation means 35 can be provided also in the absence of the guide means 25 (and possible embodiments thereof) , and/or in the absence of the flexible connection means 26 (and embodiment variations thereof) which are so shaped as to support the gripping unit without substantially exerting pushing actions thereon, which face the lowered position.
  • the nippers weight compensation is performed by the gripping unit 12 weight compensation means 35.
  • such means 35 by acting on the gripping unit 12 on the whole, also act on the nippers.
  • Such solution is advantageous, for example, in the case that the nippers are fixed relative to the gripping frame 20, but can be usefully adopted also in the case such nippers are mobile relative to it according to what has been described before.
  • the means 47 compensation action finds expression substantially only on the nippers, not on the gripping unit on the whole.
  • the nippers 13 weight compensation means 47 are so shaped that the nippers 13 weight compensation forces decrease following the gripping frame 20 relative movements relative to the nippers 13 towards the lowered position. In order to better understand this aspect, it shall be considered the following case. Under standard conditions, during the gripping unit 12 lowering movement, gripping frame 20 and nippers 13 lower in a substantially integral manner.
  • the gripping unit keeps the lowering motion thereof, while such nippers, blocked by the obstacle, remain substantially steady in an absolute position, but perform a relative movement towards the raised position relative to the gripping frame.
  • the nippers meet the obstacle, the latter is subjected to the nippers bulk weight, which bulk weight, due to the configuration of the nippers weight compensation means, increases as the gripping frame continues the motion thereof towards the lowered position, therefore when the impact has already occurred.
  • the nippers 13 weight compensation means 47 comprise at least one pneumatic cylinder-piston unit 48 preferably for each nipper 13, in which a piston 49 is slidable within a chamber 69 defined by a cylinder 50 according to a sliding direction which is substantially parallel to the stacking/destacking direction i/D.
  • the piston 49 given the orientation thereof, splits the cylinder 50 chamber 69 into a lower chamber 69' and an upper chamber 69'' (the terms “lower” and "upper:' are to be meant according to what has been already stated before) .
  • the pneumatic cylinder-piston units 48 are associated to the gripping frame 20 and the nippers 13 in such a manner that, during the gripping unit 12 movements towards the lowered position, the lower chambers 69' volumes increase in the presence of obstacles 71 which oppose the nippers movement, such as to make so that the gripping frame performs relative movements towards the lowered position relative to the nippers (such aspect is schematically illustrated in Fig. 17) .
  • the tracer point 18 is mobile relative to the mobile plate 52. To this aim it can be, for example, connected to a trolley 59 slidable relative to a track 60 secured to the mobile plate 52. The connection between trolley 59 and tracer point 18 preferably takes place via an intermediate plate 61, which thereby results to be mobile relative to the mobile plate 52.
  • the sensing means 19 of the tracer point 18, described above are connected to the mobile plate 52 and the intermediate plate 61, so as to be able to detect the relative movements between tracer point 18 and mobile plate 52.
  • the sensing means 19 will be able to be connected to the fixed plate 51 instead to the mobile plate 52, thereby detecting the relative movements between tracer point 18 and fixed plate 51, therefore between tracer point 18 and gripping frame 20.
  • the nippers 13 weight compensation means 47 and the embodiment variations thereof described heretofore can be advantageously- provided also in stacking/destacking machines in which the handling means have different configurations compared to those described.
  • the compensation means 35 can be provided also in the absence of the guide means 25 (and possible embodiments thereof) , and/or in the absence of the flexible connection means 26 (and embodiment variations thereof) which are so shaped as to support the gripping unit without substantially exerting pushing actions thereon, which face the lowered position.
  • the nippers 13 weight compensation means 47 can be provided as an alternative or in addition to the gripping unit 12 weight compensation means 35.
  • the stacking/destacking machine 1 is so provided that the gripping unit 12 is capable of performing comb-inserting and comb-withdrawing movements.
  • comb-inserting and comb-withdrawing movements is meant a movement of the gripping unit along a comb-inserting/comb-withdrawing direction P/D suitable to insert/withdraw the strips into special combs 62 arranged on the side walls of the baskets ( Figures 12- 13) .
  • Such combs 62 comprise a plurality of projecting arms 63 so arranged as to define seats 64 between consecutive arms, in which the strips can be inserted. This makes for example possible the stacking in the same basket of more strips one upon the other, therefore also of the profiles 3 supported by the latter.
  • the stacking/destacking machine 1 comprises special comb-inserting/comb-withdrawing means 65 ( Figures 14- 15) .
  • such means 65 comprise pneumatic actuating members.
  • the comb- inserting/comb-withdrawing means 65 comprise a first 66 and a second 67 pneumatic comb-inserting cylinder-piston units preferably arranged in series.
  • Such first 66 and second 67 comb-inserting/comb-withdrawing cylinder- piston units are so arranged as to be able to move together with the gripping unit 12 in the movements thereof between lifted position and lowered position along the stacking/destacking direction I/D, and are so oriented as to be able to transversally move the same gripping unit 12 to the stacking/destacking direction I/D along the comb-inserting/comb-withdrawing direction P/D.
  • a first advantage is the possibility of combining the movements of the two cylinder-piston units so as to accurately reach a plurality of preset positions, corresponding to the respective stop positions as well as combinations thereof. Particularly, it is possible to accurately reach three operative positions, respectively indicated with B, C, and D in Fig. 13. Such positions can be, for example, reached by completely withdrawing the piston of the first, second, and both cylinder piston units, respectively.
  • a further advantage is the possibility of carrying out a compensation of the forces which the nippers would exert on an optional obstacle in the comb-inserting movement, which could cause an accidental and undesired opening of the gripping arms 14, therefore the strip slipping-off .
  • Such compensation can be achieved, for example, by supplying the first and/or second cylinder- piston units with supply circuits capable of being kept closed, according to modes similar to those described with reference, for example, to the cylinder-piston units 37 lower chamber for the gripping unit 12 weight compensation .
  • the speed and accelerations of the gripping unit can be increased without a substantial danger of accidental movements of the profiles 3 on the strips.
  • the movements of the gripping unit can be speeded up along the stacking/destacking direction I/D and/or that of the trolley 10 along the trolley direction X.
  • the machine 1 is thus capable of rapidly performing the stacking/destacking operations, thereby contributing to the overall efficacy of the processing plant in which it is inserted.
  • the counter-means 101 comprise means 102 for adjusting the intensity of the counter-forces . Due to the advantageous provision of the means 102 for adjusting the intensity of the counter-forces, it is possible to arrange for the counter-forces to have variable intensities based on the actual position of the gripping unit 12. Particularly, the counter- forces can be adjusted such as to have different intensities proximate to or in the lowered position and during the movements in the stacking/destacking direction.
  • the means 102 for adjusting the intensities of the counter- forces are configured such that the counter- forces have the highest intensities while the strips 4 are being handled by the gripping unit 12 and have the lowest intensities when the gripping unit 12 is proximate to the profiles 3 either to start handling the strips or after the latter is ended .
  • the step of handling the strips by the gripping unit i.e. the step in which the nippers have gripped the strips either to stack or destack them
  • the step of handling the strips by the gripping unit is that in which the danger of accidental movements of the profiles 3 is the highest. Therefore, having high counter- forces reduces the danger that these accidental movements may occur.
  • the counter-means 101 can be exerted by means of magnetic or electromagnetic fields, or the like, by which a similar technical effect is obtained.
  • the counter-means 101 are preferably configured such as to exert their counter-forces at least partially by means of their weight.
  • suitable actuators may be avoided, which would entail higher costs and increased size.
  • these actuators may be provided and the counter-forces may be exerted by means of external power sources .
  • means 103 may be provided for compensating the weight of the counter-means 101, such as to exert compensation forces on the counter-means 101 that are opposite to their weight.
  • the bulk weight of the counter- means 101 may be changed. Particularly, it is possible to cause this bulk weight to result small when the counter-means 101 come in contact with the profiles 3.
  • the counter-means 101 comprise sponges and/or brushes 104, or similar soft elements, which are suitable to come in pressing contact with the profiles 3 without causing dangerous impacts. Furthermore, the sponges and/or brushes are capable to cope with the shape and/or size of the profiles 3 and thereby they ensure a high versatility of use.
  • the counter-means 101 comprise a frame 105 mobile relative to the gripping unit 12, particularly in the counter- direction K as defined above.
  • This frame 105 preferably comprises a plate 106 that supports the sponges/brushes 104 and slides relative to the gripping frame 20 in the counter-direction K. Thereby, the weight thereof is at least partially expressed just in the counter-direction and thus can be discharged on the profiles 3 that are supported by the strips.
  • the plate 106 is developed transversally to the counter- direction K between the side beams 21 of the gripping frame 20.
  • the weight compensation means 103 of the counter- means 101 comprise one or more, preferably two, pneumatic cylinder-piston units 107. Each of them has a cylinder 108 and a piston 109 sliding within a chamber 110 being defined by the cylinder.
  • the piston 109 is preferably connected to the mobile plate 106 and, most preferably, is mobile in the counter-direction K.
  • the cylinder 110 is preferably connected to one of the cross beams 22 of the gripping frame.
  • the cylinder-piston unit 107 also acts as a guide for the sliding movement of the frame 105 in the counter-direction K.
  • further guides 111 may be provided, which are for example also connected to the cross beams 22 such that the mobile frame 105 slides relative to the same.
  • the piston 109 separates the chamber 110 into a lower chamber 110' and an upper chamber HO'', where the terms "lower” and “upper” are to be understood as having the same meaning as used, for example, for the lower 39' and upper 39'' chambers of the pneumatic cylinder-piston units 37 that are described above with reference to the weight compensation of the gripping unit 12.
  • the pneumatic cylinder-piston units 107 are advantageously supplied or can be supplied with air and/or gas at the lower chambers 110', such that the respective pistons 109 are left suspended on the air and/or gas volume, thereby providing for the weight compensation.
  • the pneumatic cylinder-piston units 107 have been described with reference to the function of weight compensation of the counter-means, they may also be optionally used to actively contributing to the obtainement of the counter- forces. For example, by also suitably supplying the upper chamber 110' 'with air and/or gas, a pressure force can be obtained on the piston which is consistent with the counter-forces.
  • the stacking/destacking machine comprises automatic means for detecting the presence/absence and/or shape of the profiles 3. These automatic detection means can be usefully used for increasing the level of automation and the machine productivity rate.
  • the detection of the absence or presence and/or shape of the profiles 3 allows for example automatically adjusting the motion, both in terms of position and speed, of the gripping unit as a function of the actual operating conditions of the machine (for example, the type and/or size of the provided profiles) .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L’invention concerne une machine à empiler et/ou désempiler (1). Cette machine comprend une structure de support principale (7), une unité de préhension (12) qui peut être déplacée par rapport à la structure de support principale (7) au moins dans un sens d’empilage/désempilage (I/D) et conçue pour empiler et/ou désempiler les profilés (3) supportés par des bandes (4) par des opérations de manutention des bandes (4), des contre-moyens (101) appropriés pour exercer des contre-forces de manière à pousser en force les profilés (3) contre les bandes (4) supportant ces derniers au cours des opérations de manutention des bandes (4) par l’unité de préhension (12).
PCT/IT2008/000643 2008-10-13 2008-10-13 Machine à empiler et/ou désempiler WO2010044109A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IT2008/000643 WO2010044109A1 (fr) 2008-10-13 2008-10-13 Machine à empiler et/ou désempiler

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2008/000643 WO2010044109A1 (fr) 2008-10-13 2008-10-13 Machine à empiler et/ou désempiler

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Publication Number Publication Date
WO2010044109A1 true WO2010044109A1 (fr) 2010-04-22

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103707315A (zh) * 2013-12-19 2014-04-09 张凤阳 一种机械手
CN107176458A (zh) * 2017-07-14 2017-09-19 陕西宝深机械(集团)有限公司 快速准确定位型码坯夹具双向移动装置
CN112224852A (zh) * 2020-10-14 2021-01-15 广东坚美铝型材厂（集团）有限公司 一种铝材全自动装框机

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JPS57151533A (en) * 1981-03-16 1982-09-18 Okura Yusoki Co Ltd Conveyor
FR2560172A1 (fr) * 1984-02-23 1985-08-30 Okura Yusoki Co Ltd Appareil de chargement de palettes
GB2205300A (en) * 1987-06-03 1988-12-07 Bat Cigarettenfab Gmbh Device for lifting stack e g of cardboard sheets
WO1999000306A2 (fr) * 1997-06-29 1999-01-07 Yehiel Goldstein Dispositif d'emballage de filets
DE19847932A1 (de) * 1998-10-19 2000-04-20 Lemo Maschb Gmbh Vorrichtung zum Abtransportieren von stapelbaren Beutelpaketen, insbesondere Kunststoffbeuteln mit Bodenfalte
DE10353351A1 (de) * 2003-11-14 2005-06-02 Maschinenbau U. Konstruktion Gmbh Elmshorn Roboter und Verfahren zum Umsetzen von Kartonagenstapeln

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Publication number Priority date Publication date Assignee Title
JPS57151533A (en) * 1981-03-16 1982-09-18 Okura Yusoki Co Ltd Conveyor
FR2560172A1 (fr) * 1984-02-23 1985-08-30 Okura Yusoki Co Ltd Appareil de chargement de palettes
GB2205300A (en) * 1987-06-03 1988-12-07 Bat Cigarettenfab Gmbh Device for lifting stack e g of cardboard sheets
WO1999000306A2 (fr) * 1997-06-29 1999-01-07 Yehiel Goldstein Dispositif d'emballage de filets
DE19847932A1 (de) * 1998-10-19 2000-04-20 Lemo Maschb Gmbh Vorrichtung zum Abtransportieren von stapelbaren Beutelpaketen, insbesondere Kunststoffbeuteln mit Bodenfalte
DE10353351A1 (de) * 2003-11-14 2005-06-02 Maschinenbau U. Konstruktion Gmbh Elmshorn Roboter und Verfahren zum Umsetzen von Kartonagenstapeln

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103707315A (zh) * 2013-12-19 2014-04-09 张凤阳 一种机械手
CN107176458A (zh) * 2017-07-14 2017-09-19 陕西宝深机械(集团)有限公司 快速准确定位型码坯夹具双向移动装置
CN112224852A (zh) * 2020-10-14 2021-01-15 广东坚美铝型材厂（集团）有限公司 一种铝材全自动装框机

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