Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
  • B23D35/00—Tools for shearing machines or shearing devices; Holders or chucks for shearing tools
  • B23D35/008—Means for changing the cutting members
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
  • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
  • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor

Definitions

• the present invention relates to a system for supporting cutting tools which are used in slitter type sheet metal cutting lines.
• the present invention relates to an automated support system configured to support said cutting tools during an unloading and loading phase relative to cantilevered arms of a warehouse, with the aid of a robot, and during an unloading and loading phase on respective arms of a carousel system of a slitter line.
• cutting formation is intended to indicate a group of cutting tools, selected from one or more circular blades and one or more annular spacer elements, arranged between them according to a predetermined sequence and usable in this sequence for processing sheets of metallic material wound on coils.
• cohesive in reference to a cutting formation, it is meant to indicate the sequential operation, respectively, of inserting or removing in sequence the plurality of cutting tools of the cutting formation in or from a support arm.
• a support system for cutting tools also called “interim”
• interim a support system for cutting tools
• Each among the support arms has two ends, one of which is constrained to a support structure while the opposite one is free to allow the composition or decomposition of the cutting formation.
• the support arms are positioned spaced apart and aligned along a vertical direction, in order to prepare, each time, a plurality of cutting tools which will then be transferred to an arm of a carousel system of the slitter system and mounted from there on a cutting machine to perform the cutting of a sheet according to a predetermined cutting pattern.
• the attached Figure 3 illustrates, by way of example, an interim support system 100 of a known type, by the same Applicant, comprising two horizontal support arms 200, arranged aligned in a vertical direction and configured to support the circular blades (illustrated in the Figure) and the spacer elements (in the attached Figure 3 two cutting tools are shown, by way of example, shaped as annular elements, at the opposite ends of each arm 200).
• Each of the support arms 200 is constrained, at a respective end 400, to a support structure 500 and has a free opposite end 600, to allow, as mentioned, the loading on the support arms of the cutting tools according to a preferred cutting formation, as well as to allow their removal, for example at the end of a processing.
• the interim system 100 is installed in an interposed position between a warehouse, optionally automatic, from which it can receive or wherein it can deposit the circular blades and the spacer elements by means of a manipulator robot, and a parking station comprising a carousel system, wherein the cutting tools arranged according to a predefined cutting formation, coming from the interim system 100, awaiting their use on the machine or coming from this at the end of a machining can be arranged or removed.
• the interim system 100 is configured to be selectively facing the automatic warehouse or the parking station.
• the interim system 100 comprises a rotary drive to allow the rotation of the support structure 500 around an axis 700.
• the pair of arms 200 therefore, can be rotated and aligned, alternatively, to the automatic warehouse or to the parking station according to specific needs of use.
• An interim system 100 described above in fact, allowed the automation of the process of composition/decomposition of the cutting formations, an activity that previously was manually carried out by specialized personnel.
• the interim system 100 is not free from drawbacks.
• one or more manipulating robots provide to position, generally one at a time, the individual circular blades and the spacer elements that make up a first cutting formation along a support arm of the interim system 100, for example, the arm indicated with reference 201 (illustrated in Figure 3) and only subsequently can they be used, to position, generally one at a time, the individual circular blades and the spacer elements that make up a second cutting formation along a support arm of the interim system 100, for example the arm indicated with the reference 202 (also shown in Figure 3).
• the sequential positioning or picking up of the circular blades and the spacer elements first on/from one support arm 201 and then on/from the other support arm 202 of the interim system 100 represents a limit for the cutting line setup time.
• JP2002160189 A A further embodiment of a system for the composition or decomposition of cutting formations is described in document JP2002160189 A. This teaches the use of an automated system comprising several manipulating robots to enslave, from time to time, the individual horizontal arms provided in the interim system. This automated system is highly complex and is difficult to integrate into a pre-existing cutting line.
• the purpose of the present invention is, therefore, to provide a support system to perform the composition or decomposition of cutting formations within a flexible solution, capable of optimizing tooling times.
• Another purpose of the present invention is to provide a support system for cutting formations designed to reduce plant downtime related to the composition or decomposition of the cutting formations, thus increasing the operation of the cutting plant itself.
• the specific object of the present invention is a support system configured to assemble or disassemble pairs of cutting formations, comprising a first arm, a second arm, a first structure for the cantilevered support of the first arm, a second structure for the support of the second arm, at least one guide defining a path along which the first structure and the second structure are slidingly associated in succession to each other, first moving members configured to move the first support structure along the guide and second moving members configured to move the second support structure along the guide, wherein the first support structure and the second support structure are mutually movable along the guide between an assembled formation, wherein they are arranged abutted against each other in a position side by side with the first arm and the second arm aligned parallel to each other and facing a same side of the guide, with the first arm aligned on the top of the second arm and at least one disconnected position, wherein the first support structure and the second support structure are spaced apart.
• the first support structure and the second support structure can be configured complementary to be coupled side by side along the guide so as to arrange the first arm aligned on the top of the second arm, with the first arm and the second arm facing on the same side of the guide.
• the first support structure can comprise a first connection portion, to connect the first support structure to the first moving members and a second support portion, to support the first arm, wherein the second portion laterally projects from the first portion.
• the second support structure can comprise a respective first connection portion, to connect the second support structure to the second moving members, and a respective second support portion, to support the second arm.
• the first arm can be constrained at a first end thereof to the second portion, from which it projects orthogonally, and is configured to load or remove a cutting formation at a second free end thereof
• the second arm is constrained at a first end thereof to the respective second portion of the second support structure, from which it projects orthogonally, and is configured to load or remove a cutting formation at a second free end thereof
• the second portion of the first support structure can develop with respect to a plane where the guide lies at a first height or distance greater than a second height or distance of the respective second portion of the second support structure from the first guide, whereby the first arm is arranged with respect to the plane of the guide at a greater distance than that of the second arm.
• the first moving members can comprise a first carriage sliding engaged along the guide and connected below the first support structure and actuation components configured to move the first carriage along the guide
• the second moving members can comprise a second carriage slidably associated with the guide and below the second support structure and actuation components configured to move the second carriage along said guide.
• the first moving members can comprise a first rotary drive, interposed between the first support structure and the first carriage, the first rotary drive defining a first axis of rotation of the first support structure and wherein the second moving members can comprise a second rotary drive, interposed between the second support structure and the second carriage, the second rotary drive defining a second axis of rotation of the second support structure, wherein the first axis of rotation and the second rotation axis are orthogonal to the guide plane.
• the first arm can be misaligned with respect to the first axis of rotation by a first offset distance.
• the second arm can be misaligned with respect to the second axis of rotation by a second offset distance, wherein the second offset distance can optionally be equal to the first offset distance.
• the support system can comprise first gripping members, operatively connected to the first arm, and second gripping members, operatively connected to the second arm, configured to take and move circular blades and spacer elements to be respectively loaded or removed along the first arm and the second arm.
• the first gripping members can comprise a first guide element constrained to the first support structure and defining a guide along which to move a first slider carrying at least a first gripper component and the second gripping members can comprise a second guide element constrained to the second support structure and defining a guide along which to move a second slider carrying at least a second gripper component, the at least one first gripper component and the at least one second gripper component can be operated between a clamping configuration and a releasing configuration respectively at the first arm and the second arm.
• the at least one first gripper component can comprise at least two first gripping elements, supported movably at opposite ends of a first portal structure, and first actuation members adapted to control the movement of the first elements
• the first portal structure can be configured to accommodate the first arm
• the at least one second gripper component can comprise at least two second gripping elements, movably supported at opposite ends of a second portal structure, and second drive for the selective movement of the second gripping elements
• the second portal structure is configured to accommodate the second arm.
• the first gripping members can be positioned above the first arm, at a greater distance from the plane defined by the guide than a positioning distance of the first arm from the plane, and the second gripping members can be positioned under the second arm, at a distance from the plane defined by the lower guide with respect to a positioning distance of the second arm from the plane or wherein the first gripping members can be arranged laterally to the first arm and the second gripping members can be arranged laterally to the second arm in a diametrically opposite position to that of the first gripping members, so that the first gripping members and the second gripping members do not interfere with each other when the first support structure is associated side by side with the second support structure .
• the support system for cutting formations according to the invention is configured to cooperate with multiple manipulator robots which are responsible for picking up or storing the individual circular blades and related annular spacer elements from or in a corresponding warehouse.
• the support system according to the invention can cooperate in the simultaneous composition or decomposition of two cutting formations, thus reducing the tooling time compared to that required by conventional solutions that operate on a single cutting formation at a time.
• the support system for cutting formations according to the invention can be easily implemented in well-known tooling lines, without requiring complex and costly changes to the layout of the lines themselves for its installation.
• Figures 1 and 2 show perspective views from above of a support system for cutting formations according to the invention in different operating positions, coupled (Figure 1) or separate (Figure 2);
• Figure 3 shows a perspective view from above of a detail of a support system for cutting formations of the prior art
• Figure 4 shows a perspective view of a detail of some components of the support system for cutting formations of Figure 1;
• Figure 5 shows a schematic perspective view of an operational configuration assumed by the support system for cutting formations of Figure 1;
• Figure 6 shows a side view of a detail of a formation assumed by the support system for cutting formations of Figure 5;
• Figure 7 shows a perspective view from above of a further operational training assumed by the support system for cutting formations in Figure 1;
• Figure 8 shows a side view of a detail of the configuration assumed by the support system for cutting formations of Figure 7;
• Figures 9 and 10 are detailed perspective views of some components of the support system for cutting formations of Figure 1.
• the support system for cutting formations comprises a first arm 2 and a second arm 3 along which the cutting tools that make up a formation can be loaded from time to time.
• the first arm 2 defines a first working axis 4 and the second arm 3 defines a second working axis 5 (see for example Figure 1), along which the individual circular blades and the spacer elements are moved.
• the first arm 2 and the second arm 3 are supported by respective support structures, as better described below.
• the support system 1 comprises a first structure 6 for the cantilevered support of the first arm 2 and a second structure 7 for the cantilevered support of the second arm 3 (see for example Figure 2).
• the support system 1 comprises at least one guide 8 which defines a path along which the first support structure 6 and the second support structure 7 are slidingly associated, in succession to each other.
• the guide 8 also defines a plane, not shown, or lying plane of the guide 8, along which the first support structure 6 and the second support structure 7 can be moved.
• the guide 8 is configured to be constrained to the ground and thus provide a stable support along which to move the first support structure 6 and the second support structure 7.
• the guide 8 can be configured as a linear track.
• the guide 8 can be configured as a track with a more complex conformation, comprising for example linear sections and one or more curved sections, depending on specific needs for handling the first support structure 6 and of the second support structure 7.
• the support system 1 comprises first moving members 9, configured to move the first support structure 6 along the guide 8 and second moving members 10, configured to move the second support structure 7 along the guide 8 (see Figure 2 ).
• first support structure 6 and the second support structure 7, being disconnected and independent from each other, can be moved independently along the guide 8.
• the first moving members 9 can comprise a first carriage 11 associated with the first support structure 6 and actuation components, not illustrated in detail in the attached Figures, for sliding drive the first carriage 11 along the guide 8.
• the drive components can comprise at least one motorized pinion associated with the first carriage 11 and able to engage on a first rack 12 (shown in Figure 1) associated along the guide 8 and, optionally, a second motorized pinion associated with the first carriage 11 and adapted to engage on a second rack 13 (shown in Figure 1) associated along the guide 8 in a distal position from the first rack 12.
• the drive components can comprise a belt transmission driven by a motorized pulley, or a system comprising hydraulic cylinders or similar systems adapted to determine a controlled actuation of the first carriage 11 along the guide 8.
• the second moving members 10 can comprise a second carriage 14 slidingly associated with the second support structure 7 and actuation devices, not illustrated in detail in the attached Figures, to actuate the second carriage 14 along the guide 8 according to similar methods to those described in relation to the actuation devices associated with the first support structure 6.
• the first moving members 9 also comprise a first rotary drive 15 interposed between the first support structure 6 and the first carriage 11.
• the first rotary drive 15 comprises a first rotary joint 16, for example a fifth wheel or a similar rotary connection element, capable of defining a first vertical axis of rotation 17 (see Figures 1 and 2), orthogonal to the plane wherein the first support structure 6 is moved along the guide 8.
• the first support structure 6, therefore, can be selectively operated in rotation around the first axis of rotation 17.
• the first rotary drive 15 comprises members for controlling the actuation of the first support structure 6 around the first axis of rotation 17 according to methods known in the field, which will therefore not be further described.
• the second moving members 10 comprise a second rotary drive 18, interposed between the second support structure 7 and the second carriage 14.
• the second rotary drive 18 can be configured in a similar way to the first rotary drive 15 and, therefore, can comprise at least a second rotary joint 19 configured to define a second axis of rotation 20 vertical, that is orthogonal to the plane wherein the second support structure 7 is moved along the guide 8, around which the second support structure 7 can be selectively operated in rotation.
• the second moving members 10 comprise members for controlling the actuation of the second support structure 7 around the second rotation axis 20.
• the first axis of rotation 17 and the second axis of rotation 20 are aligned parallel to each other.
• the support system 1 is configured to operate in a line for setting up cutting formations comprising at least a first and a second automatic warehouse, 21 and 22 respectively, and at least one parking station 23 comprising at least one carousel system (see Figures 5 to 8), as better described below.
• the first automatic warehouse 21 and the second automatic warehouse 22 are provided in a position side by side.
• the first automatic warehouse 21 and the second automatic warehouse 22 can be arranged in a different way, for example facing each other or inclined to each other.
• the first automatic warehouse 21 and the second automatic warehouse 22 are of the rotating type, although it is understood that they could possibly be wall-mounted without any limitation.
• the guide 8 is configured to be positioned in correspondence with the first automatic warehouse 21 and the second warehouse 22.
• the guide 8 is positioned relative to the first warehouse 21 and the second warehouse 22 to allow the positioning, respectively, of the first support structure 6 at least at the first warehouse 21 and the second support structure 7 at least at the second warehouse 22.
• the first support structure 6 and the second support structure 7 are configured to be movable independently from each other in order to position each cutting formation at the first and second automatic warehouse 21, 22 respectively.
• the first automatic warehouse 21 and the second automatic warehouse 22 each comprise a plurality of cantilevered arms, configured to support the circular blades and the spacer elements suitable for composing one or more cutting formations.
• the first automatic warehouse 21 is operatively enslaved by a first manipulator robot 24 and, similarly, the second automatic warehouse 22 is enslaved by a second manipulator robot 25.
• first automatic warehouse 21, the second automatic warehouse 22, the first manipulator robot 24 and the second manipulator robot 25 are of a type known to the person skilled in the art and, therefore, will not be further described in detail in in order not to burden the description of the invention.
• a tooling line comprising a support system 1 operatively connected to a first automatic warehouse 21 served by a first manipulator robot 24, to a second automatic warehouse 22 served by a second manipulator robot 25 and to a parking station 23, comprising a carousel system for supporting pairs of cutting formations, schematically illustrated in the attached Figures 5 and 7, also forms the subject of the present invention.
• the independent movement between the first support structure 6 and the second support structure 7 allows to position the first arm 2 in correspondence with the first automatic warehouse 21 (which is coupled to the first robot manipulator 24) and to position the second arm 3 in correspondence of the second automatic warehouse 22 (which is coupled to the second manipulator robot 25).
• the support system 1 allows to assemble or disassemble at the same time, a first cutting formation along the first arm 2, and a second cutting formation along the second arm 3, considerably reducing the time required for the assembling/disassembling of the formations of cutting the line.
• the support system 1 can assume different operating configurations.
• the support system 1 can assume an assembled configuration, wherein the first support structure 6 and the second support structure 7 are mutually abutted in a side by side positioning along the guide 8, in succession to each other (see Figures 1 and 7), and a disconnected position, wherein the first support structure 6 and the second support structure 7 are spaced and separated from each other (see Figures 2 and 5).
• the first arm 2 and the second arm 3 are operatively coupled.
• the first arm 2 is aligned above the second arm 3, i.e. the first arm 2 and the second arm 3 are mutually aligned along a direction orthogonal to the plane of movement of the first support structure 6, bearing the first arm 2, and of the second support structure 7, carrying the second arm 3, along the guide 8 (see Figure 1).
• the support system 1 is able to operate with the parking station 23 to receive or at the same time provide a pair of cutting formations to the carousel system of the parking station 23 itself.
• the carousel system of the parking station 23 generally has pairs of arms aligned with each other, one above the other, which protrude radially from a vertical support column.
• the person skilled in the art will easily understand how the support system 1 can therefore be easily integrated into a tooling line comprising a parking station 23 of a known type, without requiring any modification to the layout of this station.
• first support structure 6 and the second support structure 7 can be coupled side by side along the guide 8, in succession to each other.
• the first support structure 6 comprises a first connecting portion 26, to connect the first support structure 6 itself to the first moving members 9, and a second supporting portion 27, to support the first arm 2. More in detail, the second portion 27 extends sideways to the first portion 26 (see Figure 2).
• the first arm 2 is constrained at its first end 28 to the second portion 27, from which it protrudes orthogonally, and is free at a second end 29 thereof, opposite the first end 28, to allow the loading or removal of the cutting tools that make up the cutting formation.
• first arm 2 extends horizontally from the first support structure 6, i.e. it lies on a plane parallel to the plane wherein the first support structure 6 can be moved along the guide 8.
• the first arm 2 is misaligned with respect to the first axis of rotation 17.
• the first working axis 4 of the first arm 2 is orthogonal with respect to the first rotation axis 17 and is spaced from it.
• the first support structure 6 is configured to firmly support the first arm 2 and counteract the bending and torsion stresses deriving from the cantilevered positioning of the first arm 2 with respect to the first axis of rotation 17.
• first support structure 6 can comprise first reinforcement baffles, indicated as a whole with 30 and aligned parallel to the first working axis 4 and transverse to the first axis of rotation 17 and/or second reinforcement baffles, indicated overall with 31 (see Figure 2), parallel to the first work axis 4 and to the first rotation axis 17.
• the first reinforcement baffles 30 and the second reinforcement baffles 31 are firmly connected to each other, for example by welding or suitable mechanical bolted connections or similar suitable for the purpose.
• first reinforcement baffles 30 and the second reinforcement baffles 31 can assume different configurations than those illustrated in the attached Figures, in terms of shape, number and arrangement, even in the context of a solution capable of conferring high strength and rigidity to the first support structure 6.
• the second support structure 7 comprises a respective first connection portion 32, to connect the second support structure 7 itself to the second moving members 10 and a respective second support portion 33, to support the second arm 3.
• the respective first portion 32 and the second portion 33 develop side by side (see Figure 2).
• the second arm 3 is constrained to its first end 34 to the respective second portion 33 of the second support structure 7, from which it extends orthogonally, and is free at one of its second ends 35, opposite the first end 34, to allow loading or removal of a cutting formation and its components.
• the second support structure 7 can comprise, like that described for the first support structure 6, first reinforcement baffles 36 parallel to the second working axis 5 and transversal to the second rotation axis 20 and/or second reinforcement baffles 37 parallel to the second work axis 5 and to the second rotation axis 20 (see Figure 2).
• the second support structure 7 can comprise further reinforcement baffles, wholly indicated by 38, which are aligned transversely to the second working axis 5 and parallel to the second axis of rotation 20 (see Figure 2). It is understood that the first reinforcement baffles 36 and the second reinforcement baffles 37, and any further reinforcement baffles 38, can assume different formations than those illustrated in the attached Figures, in terms of shape, number and arrangement, albeit within a solution able to give a high strength and rigidity to the second support structure 7.
• first support structure 6 and the second support structure 7 can be mutually coupled in a side-by-side position, in mutual succession along the guide 8, to arrange the first arm 2 and the second arm 3 in an aligned position, one above the other (i.e. lying on a same plane orthogonal to the plane along which the first support structure 6 and the second support structure 7 are moved along the guide 8), and facing on the same side of the guide 8 (see Figure 7).
• the second portion 27 of the first support structure 6 develops at a first height or distance from the plane of the guide 8 which is greaterthan a second height or distance with which the respective second portion 33 of the second structure support 7 is placed with respect to this plane of positioning of the guide 8.
• the first support structure 6 and the second support structure 7 are shaped complementary to each other.
• the second portion 27 of the first support structure 6 is associated with the respective second portion 33 of the second support structure 7, by means of a shape coupling.
• the second portion 27 of the first support structure 6 is coupled at least on the top of the second portion 33 of the second support structure 7.
• the first arm 2 and second arm 3 are positioned with the first above the second.
• first arm 2 is misaligned with respect to the first axis of rotation 17 by a first offset distance 39 equal to the distance present between the second arm 3 and the first axis of rotation 17 with the support structure arranged in assembled configuration (see, for example, Figure 2).
• the respective first portion 32 and the respective second portion 33 of the second support structure 7 can be arranged laterally aligned with each other.
• the second arm 3 is laterally misaligned with respect to the second rotation axis 20 by a second offset distance 40 (see, for example, Figure 2).
• the second offset distance 40 can be equal to the first offset distance 39 in such a way that by arranging the first support structure 6 abutted side by side with the second support structure 7, with the second portion 27 of the first support structure 6 arranged in abutment above the respective second portion 33 of the second support structure 7, the first arm 2 and the second arm 3 are aligned one above the other (see Figure 1).
• the second arm 3 can be positioned along the second support structure 7 in a position aligned with the second axis of rotation 20.
• the second support structure 7 comprises a respective first portion 32 and a respective second portion 33 aligned one above the other.
• the respective second portion 33 is aligned on the top of the respective first portion 32.
• the second arm 3 and its second working axis 5 are aligned with the second rotation axis 20.
• the first offset distance 39 is equal to the distance between the first rotation axis 17 and the second rotation axis 20.
• the support system 1 is extremely flexible in its use, being able to couple together the first arm 2 and the second arm 3 so as to assume a traditional type formation with the two arms 2, 3 mutually aligned one above the other, along a direction orthogonal to the movement plane of the first support structure 6 and of the second support structure 7 along the guide 8.
• the support system 1 can assume further operational configurations wherein the first arm 2 and the second arm 3 are each arranged at a respective automatic warehouse 21, 22, at which cutting tools can be loaded or unloaded.
• the support system 1 therefore allows to operate in a parallel way (i.e. simultaneously) on the first arm 2 and on the second arm 3, significantly reducing the time required for the composition or decomposition of a pair of cutting formations.
• the support system 1 is in any case able to operate by moving the first support structure 6 and/or the second support structure 7 at the working pair.
• the support system 1 comprises first gripping members 41 and second gripping members 42 configured to pick up and move the circular blades and the spacer elements respectively along the first arm 2 and the second arm 3 (see, for example, Figure 2).
• first gripping members 41 are operatively connected to the first arm 2 while the second gripping members 42 are operatively connected to the second arm 3.
• first gripping members 41 and the second gripping members 42 can be operated independently from each other.
• the first gripping members 41 are slidingly associated with the first arm 2 along a direction parallel to that of the first working axis 4.
• the first gripping members 41 comprise a first guide element 43 constrained to the first support structure 6 and defining a guide along which to move a first slider 44 through linear moving members 45 of a type known in the field (see Figures 9 and 10).
• the first guiding element 43 develops linearly along a direction parallel to that of the first working axis 4.
• the first slider 44 carries at least a first gripper component 46, operable between a gripping configuration (see Figure 9) and a release configuration (see Figure 8). It is observed that the at least one gripper component 46 is configured to operate simultaneously along at least two diametrically opposite portions of the circumference of the first arm 2.
• the at least one gripper component 46 is able to perform a balanced grip of the circular blade or the spacer element to be moved along the first arm 2, without stopping or jams.
• the at least one first gripper component 46 comprises at least two first gripping elements 47 supported movable at the opposite ends of a first portal structure 48 and first drive members 49 suitable for controlling the movement of the first gripping elements 47 .
• the first portal structure 48 comprises a central portion from which two support portions branch off from opposite sides, each configured to support a respective first gripping element 47.
• the first portal structure 48 can be configured, according to a cross-sectional view, with a "C" or "U” shape or more generally comprise a central portion 50 from which they branch off, orthogonally, from opposite sides, at least one pair of support portions or uprights 51.
• the first portal structure 48 is configured to accommodate the first arm 2 between the pair of uprights 51.
• the first portal structure 48 is connected to the first slider 44 in correspondence with the central portion 50.
• Each of the first gripping elements 47 is operatively connected to a respective end of an upright 51 in such a way as to face laterally on the first arm 2, in a diametrically opposite position with respect to the facing position of the other first gripping element 47 connected to the other upright 51.
• the first portal structure 48 could be shaped in a different way, for example as an arch or a portion of a circumference, and be equipped with a central connecting portion from which they branch off, on opposite sides, two arcuate portions adapted to support respective first gripping elements 47.
• each first gripping element 47 can be configured as a pallet that can be moved by means of the first drive members 49 between a gripping position (see Figure 9) and a release position (see Figure 10).
• each blade is placed in proximity to the first arm 2 while in the release position each blade is moved away from the first arm 2.
• first drive members 49 can be configured to drive each pallet in rotation and/or translation, according to methods known in the field.
• the second gripping members 42 have a structure similar to that described in relation to the first gripping members 41 and will be briefly described below.
• the second gripping members 42 are slidingly associated with the second arm 3 along a direction parallel to that of the second working axis 5.
• the second gripping members 42 comprise a second guide element 52 constrained to the second support structure 7 and defining a guide along which to move a second slider 53 by means of second linear moving members 54.
• the second guide element 52 develops linearly along a direction parallel to the second working axis 5.
• the second slider 53 carries at least a second gripper component 55, operable between a grip configuration and a release configuration.
• the at least one second gripper component 55 is configured to operate simultaneously along at least two diametrically opposite portions of the circumference of the second arm 3, for the same purposes described in relation to the first gripping members 41 to which reference is made.
• the at least one second gripper component 55 comprises at least two second gripping elements 56 supported movable at opposite ends of a second portal structure 57 and second driving members 58 for the selective rotation and/or translation of the second gripping elements 56.
• the second portal structure 57 can be configured "C" or "U” shape or more generally comprise a central portion 59 from which two supporting portions or uprights 60 project orthogonally.
• the second portal structure 57 is configured to accommodate the second arm 3 between the pair of uprights 60.
• the second portal structure 57 is operatively connected to the second slider 53 at the central portion 59.
• Each among the second gripping elements 56 is operatively connected to a respective end of an upright 60 in such a way as to laterally face on the second arm 3, in a diametrically opposite position with respect to the facing position of the other second gripping element 56 connected to the other upright 60.
• the second portal structure 57 of the second gripping members 42 could be configured differently according to what is disclosed about the first portal structure 48 of the first gripping members 41.
• Each second gripping element 56 of the second gripping members 42 can be configured as a pallet which can be moved by the second driving members 58 between a gripping position, wherein each pallet is arranged at the second arm 3, and a release position, wherein each pallet is arranged away from the second arm 3.
• the second driving members 58 can be configured in a different way with respect to the solution described, for example to drive the second gripping elements 56 in translation instead of rotation.
• the first gripping members 41 and the second gripping members 42 are positioned in such a way as not to interfere with each other when the support system 1 is arranged along the guide 8 in an assembled configuration.
• first gripping members 41 are illustrated above the first arm 2, that is to say at a greater distance from the plane defined by the guide 8 than the positioning distance of the first arm 2 from this plane, while the second gripping members 42 are illustrated below the second arm 3, that is to say at a lower distance from the plane defined by the guide 8 than the distance of the second arm 3 from this plane.
• first gripping members 41 and the second gripping members 42 can assume different positions. For example, they can extend laterally with respect to the first arm 2 and the second arm 3, from opposite sides, according to a positioning such as to allow in any case the support system 1 to assume the assembly configuration.
• the first gripping members 41 may comprise a third gripper component 61 operatively connected to the first slider 44, in a longitudinally spaced position with respect to that of the first gripper component 46 (see Figures 2 and 4).
• the third gripper component 61 is operatively connected to the first portal structure 48 spaced from the first gripper component 46 by means of support arms 62.
• Each of the support arms 62 has at a free end 63 a respective third gripping element 64 which can be operated between a gripping position and a release position according to methods similar to those described for the first gripping elements 47 of the first gripper component 46.
• the second gripping members 42 may comprise a fourth gripper component 65 operatively connected to the second portal structure 57 in a distal position from the second gripper component 55 (see Figure 1).
• the fourth gripper component 65 comprises fourth gripping elements 66 which can be operated between a gripping configuration and a release configuration through respective actuation members corresponding to those described in relation to the other gripper components 46, 55 and 61.
• first gripper component 46 and a third gripper component 61 advantageously allows the cutting tools to be pushed, respectively:
• the support system 1 is configured to be operatively connected to a control system wholly indicated with 67 (schematically illustrated in Figures 5 and 7).
• control system 67 is configured to manage the operation of the first moving members 9 and of the second moving members 10, in order to command and control the movement of the first support structure 6 and of the second support structure 7 along guide 8.
• the control system 67 moreover, controls the rotation of the first support structure 6 and of the second support structure 7 in rotation respectively around the first rotation axis 17 and the second rotation axis 20. Furthermore, the control system 67 is operatively connected to the first gripping members 41 and to the second gripping members 42 to command and control their operation.
• the control system 67 can be based on a PLC logic and comprise suitable sensors, not illustrated in detail, suitable for detecting the positioning and operating conditions of the support system 1.
• control system 67 can also be operationally connected to the first automatic warehouse 21, to the second automatic warehouse 22, to the first manipulator robot 24, to the second manipulator robot 25 and to the parking station 23 in order to manage and/or check the operating parameters of a tooling line including these components in addition to the support system 1.
• a support system 1 it is reported, in a nutshell, the operation of a support system 1 according to the invention is reported, describing it in relation to a cutting line comprising a first automatic warehouse 21 served by a first manipulator robot 24, a second automatic warehouse 22 served by a second manipulator robot 25 and a parking station 23 for the cutting formations.
• the first support structure 6 and the second support structure 7 are positioned along the guide 8 respectively in correspondence with the first automatic warehouse 21 and the second automatic warehouse
• the first arm 2, along which to compose a cutting formation, is oriented facing the first automatic warehouse 21, nearthe first robot manipulator 24, and the second arm 3, along which a further cutting formation, facing the second warehouse automatic 22, near the second manipulator robot 25 (see Figure 5).
• the first gripping members 41 and the second gripping members 42 are activated in a release configuration to allow the sequential loading of circular blades and spacer elements respectively along the first arm 2, by the first manipulator robot 24, and along the second arm 3, by the second manipulator robot 25.
• the first support structure 6 is rotated around the first axis of rotation 17, for example with a clockwise rotation direction, up to orient the first arm 2 facing the parking station 23.
• the second support structure 7 is rotated around the second axis of rotation 20, for example with a counterclockwise rotation direction, until the second arm 3 faces the rest station
• first moving members 9 and the second moving members 10 are actuated to reciprocally approach the first support structure 6 to the second support structure 7, along the guide 8.
• the first support structure 6 and the second support structure 7 are moved closer together, until the second portion 27 of the first support structure 6 is brought in abutment against the respective second portion 33 of the second support structure 7.
• the support system 1 With the second portion 27 abutting at least on the top of the respective second portion 33, the support system 1 is in an assembled configuration and, therefore, the first arm 2 is aligned on the top of the second arm 3.
• control system 67 can command a further translation of the first moving members 9 and of the second moving members 10 to bring the first arm 2 and the second arm 3 facing corresponding arms of the carousel system of the parking station 23.
• the first gripping members 41 and the second gripping members 42 are operated, by activating the gripper components 46, 55, 61 and 65 in gripping formation, to find with the cutting formations supported respectively along the first arm 2 and the second arm 3.
• the first gripping members 41 and the second gripping members 42 are actuated by moving the corresponding first gripper components 46 and the second gripper components 55, and possibly the corresponding third gripper components 61 and the fourth gripper components 65, along the respective gripping elements guide 43, 52 thus causing the two gripping formations to come out of the support system 1 and their insertion along respective arms of the carousel system of the parking station 23.
• the support system 1 can achieve the intended purposes, allowing the simultaneous composition of two cutting formations.
• Such cutting formations are, for example, provided to define a pair to be installed on board a sheet metal cutting machine.
• the support system 1 described above can be used to perform the following actions simultaneously:
• a second cutting formation composed on the support arm 3 and configured to be mounted on board a cutting machine for subsequent processing.
• the support system 1 therefore, allows to reduce overall the composition/removal time of a pair of cutting formations and thus to increase the productivity of the tooling line wherein it can be installed. It is also noted that the support system 1 is configured to collaborate with a carouseltype parking station 23, generally present in a slitter-type sheet metal cutting line tooling line. Therefore, the support system 1 can be installed in a pre-existing cutting formations tooling line to replace an interim system of the traditional type, thus allowing to increase the productivity of this tooling line.
• the support system 1 is configured as an extremely flexible use solution capable of operating correctly even in the event of failure of the pair formed by the first automatic warehouse 21 and by the first robot manipulator 24 or of the pair formed by the second automatic warehouse 22 and by the second manipulator robot 25. In this case, in fact, it is possible to proceed according to a traditional method of composition of the cutting formations which provides for the composition of a first cutting formation along the first arm 2, at the end ofwhich one proceeds with the composition of a second cutting formation alongthe second arm 3.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• Forests & Forestry (AREA)
• Manipulator (AREA)

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• 2020
  • 2020-10-30 EP EP20835865.5A patent/EP4237182A1/de not_active Withdrawn
  • 2020-10-30 WO PCT/IB2020/060212 patent/WO2022090779A1/en not_active Ceased

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