Multi-tool chuck for a sorting device and method of operating the same

Abstract

A chuck (T) for a processor in a sorting machine and its operating method are disclosed. The chuck (T) includes a support frame (1), at least one gripping tool (U) equipped with at least one socket (25) for a control line and at least one gripping tool (U) with a first holding device (200, 202), and further includes: a rotator-shaped carrier (2) mounted on the support frame (1) and equipped with a plurality of first releasable engagement devices (29a, 29b, 27), the plurality of first releasable engagement devices (29a, 29b, 27) being readily connected to the first holding devices (200, 202) of a corresponding plurality of gripping tools (U1-U5), the plurality of gripping tools (U1-U5) also having a second holding device (203); at least one conveying platform (4) equipped with a second releasable engagement device (43, 45), the second releasable engagement device (43, 45) being readily connected to the first holding device (200, 202) of the first holding device (200, 202), the plurality of gripping tools (U1-U5) also having a second holding device (203); and at least one conveying platform (4) equipped with a second releasable engagement device (43, 45), the second releasable engagement device (43, 45) being readily connected to the first holding device (200, 202). Two holding devices (203) are connected, and the conveying platform (4) is movably mounted on the support frame (1) at least between an original position, an attached position, and an operating position. In the original position, the first holding device (200, 202) of the gripping tool (U1-U5) is engaged with the first releasable engagement device (29a, 29b, 27) of the rotator-shaped carrier (2). In the attached position, the second releasable engagement device (43, 45) is connected with the second holding device (203) of the selected gripping tool (U). In the operating position, the first holding device (200, 202) of the gripping tool is separated from the first releasable engagement device (29a, 29b, 27), and the selected gripping tool (U) is separated from the rotator-shaped carrier (2).

Description

Technical Field

[0001] This invention relates to the field of sheet material processing in cutting plants. In particular, this invention relates to a multi-tool chuck for a handler in sorting equipment. Background Technology

[0002] In the field of sheet processing (metal, plastic, wood, composite materials, etc.), especially in automated cutting and sorting stations, automated sheet handling equipment (also known as processing machines or sorters) is needed to assist cutting machines. This equipment retrieves raw sheet materials from their respective warehouses, conveys them to the inlet table at the cutting center, and then removes the cut fragments and waste for distribution to subsequent collection stations. For example, a particularly efficient and advantageous sorting machine is described in WO2008 / 139409, under the same applicant's name.

[0003] Typically, these machines are equipped with a chuck that can handle multiple workpieces of different materials, thicknesses, and sizes. For this purpose, it is common practice in this field for different interchangeable collection tools to easily engage with the chuck.

[0004] Typically, a universal fastening element is provided at the end of each chuck, which can engage with multiple different operating tools and is controlled by a suitable control line or energy line (pneumatic fluid, hydraulic fluid, electric current, etc.).

[0005] Different tools are neatly stored in a tool rack area located outside the operating area. Chucks can be guided from the sorter to the tool rack area to collect them, use them in the corresponding operating steps, and then release them at the end of the specific work step. Clearly, the steps in the operating cycle that cause the chucks to interact with the tool rack are called "tool change steps," representing idle time in machine operation time, which is desirable to eliminate.

[0006] In other technical fields, such as machine tools, multiple tools are directly mounted on the same operating head. However, the technical methods used for machine tools are not immediately applicable to the field of handlers for a number of reasons, primarily the size of multiple tool heads. In fact, the operation of sorting machines requires multiple chucks to interact and operate at close range, handling workpieces stacked at varying heights; therefore, it is necessary to minimize the space occupied by the chucks (for a significant height). The presence of multiple tools mounted on a multi-tool head dictates a planned volume incompatible with the operation of handlers used in sorting machines.

[0007] JP S5919292 discloses a machine having a changing tool with a selection bracket that engages with a spindle.

[0008] US2016 / 0089792 discloses a machine for replacing an end effector stored in a linear memory, wherein the pickup head should be shifted at the linear memory.

[0009] Therefore, there is a need for an improved sorting device arranged to distribute individual tool carriers where chucks are displaced for tool changing operations. In particular, it is desirable to provide a chuck for a sorting machine that can use various types of tools, maintaining the versatility of known chucks without incurring the time and space costs associated with tool changing operations. Summary of the Invention

[0010] The above-mentioned objective according to the invention is achieved by a chuck of a sorting device having the features defined in the appended claims and a method of operating thereof. Attached Figure Description

[0011] In any event, other features and advantages of the invention will become more apparent from the following detailed description of preferred embodiments of the invention, which are provided purely as non-limiting examples and illustrated in the accompanying drawings, wherein:

[0012] Figure 1 This is a perspective view of the chuck according to the present invention in a compacted state;

[0013] Figure 2 It depends on different perspectives and Figure 1 Similar views;

[0014] Figure 3 This is an exploded perspective view of the chuck according to the present invention;

[0015] Figure 4A This is a perspective view of a rotator-shaped carrier according to an embodiment of the present invention;

[0016] Figure 4B yes Figure 4A A three-dimensional view of the support structure of the rotating frame;

[0017] Figure 4C This is a 3D view of an exemplary scraping tool;

[0018] Figure 4D It has another exemplary crawling tool Figure 1 A 3D diagram of the clamp;

[0019] Figure 5A This is a three-dimensional view of the transport platform and its actuators in their original state, with some parts removed.

[0020] Figure 5B yes Figure 5AA 3D view showing the details of the transmission platform;

[0021] Figure 5C yes Figure 5B A 3D view of the platform's only rotary actuator;

[0022] Figure 6A This is a three-dimensional bottom view of the clamp according to the present invention in its original state;

[0023] Figure 6B This is a perspective view of the details of a delivery platform coupled with an exemplary tool, with some parts removed;

[0024] Figure 6C Is with Figure 6B A similar view, with the supporting shelves removed for clarity;

[0025] Figure 7 Is with Figure 2 The same 3D model, except the cover has been removed;

[0026] Figure 8 It depends on different perspectives and Figure 7 Similar views;

[0027] Figure 9 It is a longitudinal cross-sectional view taken along a plane coplanar with the axis of rotation of the rotator-shaped carrier;

[0028] Figure 10 This is a perspective view of the clamp of the present invention in its extended operating state;

[0029] Figure 11 This is a perspective view of the clamp of the present invention in its extended operating state, wherein the cover has been removed;

[0030] Figure 12 and Figure 13 It depends on different perspectives and Figure 11 Similar views;

[0031] Figure 14 Is with Figure 9 A similar view, in which the chuck is in an extended operation state;

[0032] Figures 15-22 This is a front side view of the clamp, showing the operating sequence of the present invention, with the cover removed;

[0033] Figure 23 This is a perspective view of a chuck according to the invention, which uses a tool held in a rotator-shaped carrier to collect a workpiece; and

[0034] Figures 23A-23C It is based on the rotation sequence of the workpiece being pulled. Figure 23 Elevation side view of the clamp. Detailed Implementation

[0035] Sorting machines are typically arranged in conjunction with the cutting center of laser cutting equipment, such as for sheet metal (not shown). The sorting machine's task is to pick up individual raw sheet metal pieces, usually arranged horizontally in a stack, from the storage area and convey them to the entrance of the cutting equipment. Once multiple shaped workpieces have been cut from the sheet metal, the sorting machine's further task is to pick up individual workpieces and convey them (possibly stacking them) to the appropriate sorting location in a sorting manner. At the end of the workpiece conveying process, even any remaining scrap sheet metal is removed by the sorting machine to a disposal location.

[0036] As one might guess, sorting machines must employ a variety of gripping tools because raw material sheets, individual workpieces, and scrap can have very different properties, sizes, shapes, and weights in different manufacturing batches. For this gripping operation, the sorting machine utilizes one or more chucks equipped with gripping tools in a manner known per se, the chucks being mounted at the lower end of a processing arm belonging to a system with displacement axes, along at least two orthogonal axes in the horizontal plane and a vertical axis.

[0037] According to the present invention, the chuck T for a sorting machine includes a housing frame that accommodates a plurality of tools. Figure 1 and Figure 2 The chuck T shown is in its compact, original state; the internal structure is not visible due to the presence of the cover C; at the top, the chuck T ends with a flange F, which is fixed to the moving arm of the sorter; by fastening the flange F, a control or power transmission line L passes through – for example, a vacuum tube, a compressed air tube, one or more cables, etc. – to properly control the components of the chuck and tools; at the bottom, the chuck T accommodates multiple gripping tools, which will be better described below.

[0038] In particular, such as Figure 3 As shown, the chuck T consists of a support frame 1, which is integrated with the fastening flange F, and a series of operating components are mounted on it. The operating components include a rotary tool carrier (which has a relative rotary actuator 3 for driving rotation about axis H) and a vertical transfer platform 4 with a relative linear actuator 5. A pneumatic distribution unit 6 is further preferably provided on the chuck T, which connects a single pneumatic line passing through the flange F to multiple lines to various control components on the chuck.

[0039] Figure 4A and Figure 4B The rotary tool carrier and its actuator 3 are shown in detail.

[0040] The rotator-shaped tool carrier essentially comprises a coupling body 21, which is rotatably mounted about a selection axis H and driven to rotate by a pulley 22 actuated by an actuator 3 comprising a gear motor M1 and a toothed belt 31. Several tools U are attached to the coupling body 21, which will be described more clearly below.

[0041] The axis H is preferably horizontal.

[0042] Preferably, a rotary fluid distributor 23 coaxial with the pulley 22 is provided, which is fluidly connected to the coupling body 21. The purpose of the distributor 23 is to provide continuity for multiple fluid tubes pointing to the tool, connecting multiple fluid input connectors 24 arranged in fixed positions on the distributor to corresponding multiple tool sockets 25 provided on the movable gripping tool.

[0043] A fixed input connector 24 on distributor 23 connects to pneumatic distribution unit 6 to properly fluidly connect a vacuum tube from processing arm (not shown) to tool socket 25, which is movably rotatably mounted on connector 21. For this reason, vacuum suction generates an intake airflow from the tool to the top of processing arm.

[0044] Preferably, a corresponding flexible and extendable hose 25', for example as shown, is provided between the tool socket 25 and the rotary fluid dispenser 23, such that the fluid hose is allowed to remain continuous even when the tool is moved away from the rotary fluid dispenser 23 (as will be shown further).

[0045] The rotary fluid distributor 23 preferably has a longitudinal through-hole 26 at the center, which is parallel to the axis H and also facilitates the reception of an electrical through-wire to supply other electrical devices, such as an electromagnet 27 integral with the coupling body 21 or other electromagnets carried on the tool U.

[0046] The rotation control of the gear motor M1 is preferably alternating, so as to perform rotations of less than 360° in two opposite directions. Therefore, there is no need to provide sliding contact to maintain the continuity of the wires, but rather to allow for alternating twisting in both directions.

[0047] In the illustrated embodiment, the coupling body 21 is conceived to accommodate four different tools U1-U4. For this purpose, the coupling body 21 is in the shape of a square plate with four orthogonal sides to which an equal number of gripping tools U1-U4 are attached. On each side, an electromagnet 27 and a pair of centering holes 28 are provided. Each side is also equipped with a fork-like structure having a pair of elastic arms 29a and 29b, one elastic arm elastically pushing against the other to define the gripping action of the gripping tools U1-U4.

[0048] The electromagnet 27 and the fork-like structure with elastic arms 29a and 29b integrally form a releasable engagement device, which can even be implemented in different ways. They keep tools U1-U4 engaged with the engagement body 21, but allow controlled separation in the manner and at the time described below.

[0049] All gripping tools U1-U4 are equipped with a universal fastening base 200. Figure 4C The movable parts, varying depending on the tool type, are secured here. The base 200 is equipped with a retaining device arranged to securely engage with a corresponding releasable engaging device present on the engaging body 21 of the rotator-shaped carrier 2. Specifically, the base 200 has a pair of centering pins 201 for engaging with corresponding centering holes 28 of the engaging body 21, and metal inserts 202 for connecting to the electromagnet 27. A pair of retaining pins 203 are also provided on the same base 200 for engaging with engaging devices provided on the transfer platform 4, as will be seen further.

[0050] The side design of the base 200 is conceived to cooperate with the flexible arms 29a, 29b and maintain a secure snap-fit ​​engagement between them.

[0051] like Figure 4B As shown, by utilizing the engagement of the centering pin 201 with the centering hole 28 and the retaining latching force provided by the elastic arms 29a, 29b and the electromagnet 27, the connecting body 21 of the rotator-shaped carrier 2 releasably holds four different tools. Figure 4B In the middle, the rotator-shaped carrier 2 is attached to three exemplary gripping tools with different moving parts:

[0052] The first tool U1 with multiple round vacuum caps

[0053] The second tool U2 has two slender vacuum caps, and

[0054] The third tool U3 is equipped with four electromagnetic cylinders. The fourth tool U4, equipped with a single circular vacuum cap, has been separated and... Figure 4C It is displayed separately in the middle.

[0055] Figure 4DAnother preferred tool, U5 (e.g., which can be mounted on a chuck instead of tool U3), is shown, equipped with two concentric electromagnets that are easily and independently controlled. Specifically, the first central electromagnet is circular with a diameter between 25 and 35 mm: used for collecting smaller workpieces (up to approximately 40 kg). The second peripheral electromagnet is annular: used to provide an auxiliary force to the first electromagnet when the weight of the workpiece to be collected exceeds 40 kg, up to approximately 130 kg. The activation of the two electromagnets can be controlled alternately or simultaneously. Thus, a tool with triple-fold geometry and different load capacities is provided, which can be programmed according to the workpiece to be collected.

[0056] Figure 5A The conveyor platform 4 with associated linear actuators 5 is shown in detail, both mounted on the frame T.

[0057] According to the illustrated embodiment, the conveying platform 4 includes a shelf 41 fastened to a movable slider 42, which is slidably mounted along a sliding axis Y. The sliding axis Y is preferably vertical.

[0058] Shelf 41 is provided with a coupling device by which shelf 41 can be securely fastened to a selected gripping tool in a releasable manner.

[0059] It should be noted that the shelf 41 supports the cantilevered engagement device at a certain distance from the moving slider 42 in the direction of the central axis of the chuck. In particular, when needed, the engagement device is located in the central area where it can engage with the holding device of the gripping tools U1-U5.

[0060] According to the embodiment shown, the releasable engagement device includes a shaft 43, which is rotatably supported on the terminal body 41' of the shelf 41 and driven to rotate alternately by a pneumatic actuator 44.

[0061] The rotation axes of shaft 43 and actuator 44 are labeled as axis W in the attached drawings.

[0062] At least a portion of the transverse section of shaft 43 has two different orthogonal dimensions, a shorter one and a longer one: for example, shaft 43 with a cylindrical cross-section is provided with two opposing side grooves 43a. Figure 5C Shaft 43 is used to engage with the fork-like feature defined between the two retaining pins 203 of tools U1-U5, or to provide a larger or smaller diameter and thereby prevent or allow relative lateral disengagement movement, respectively.

[0063] Therefore, the two retaining pins 203 of the gripping tools U1-U5 have narrower cross-sectional portions 203'. Corresponding to these narrower portions, the center distance between the surfaces of the two pins is greater than the smaller dimension of the shaft 43 corresponding to the groove 43a. Therefore, the two retaining pins 203 can slide freely laterally on the shaft 43 corresponding to the groove 43a, and lateral movement can be prevented if the larger portion of the shaft 43 is located between the two narrower portions 203' of the pins 203.

[0064] In other words, depending on the rotation angle taken by shaft 43, the pair of retaining pins 203 can be held in a laterally captured or free position, which will be better described below.

[0065] The end body 41' of the shelf 41 also has parallel guide holes 45 to receive the pair of retaining pins 203. The parallel guide holes 45 are orthogonal to the shaft 43 and intersect its rotating base on opposite sides of its axis of rotation W. Therefore, when the retaining pins 203 are inserted into the guide holes 45, they can engage with the shaft 43 laterally.

[0066] In addition, a pair of open wedges 46 are mounted on the shelf 41, arranged on opposite sides of the shaft 43, and are designed to contact and unfold the elastic arms 29a and 29b during the attachment step.

[0067] The linear motion of the movable slider 42 is controlled by a linear actuator 5, for example, a ball screw 51 is driven to rotate by a motor 52 via a transmission belt 53.

[0068] Preferably, the linear actuator 5 controls the movable slider 42 via a floating joint 54, which transmits the driving force through an elastic member (e.g., a coil spring). The purpose of the floating joint 54 is to compensate for any misalignment between the linear actuator and the platform, ensuring that motion control along the Y-axis is transmitted to the conveyor platform 4 without jamming under any circumstances.

[0069] Actuator 5 is configured as ( Figure 5A The conveyor platform 4 is moved between its original position (where the movable slider 42 is in the upper position), the attached position (where the conveyor platform 4 is attached to the desired tool, as will be described further), and one or more operating positions (where the slider 42 descends along the Y axis to a lower position and the tool attached to the platform 4 gradually extends below the chuck).

[0070] In the original position ( Figure 6AThe movable slider 42 is positioned at its upper part, keeping the shelf 41 and shaft 43 approximately centered relative to the rotator-shaped carrier 2: axis W close to axis H. In this configuration, the rotator-shaped carrier 2 can rotate freely about axis H, and the tools can move around the shelf assembly 41 and actuator 44 undisturbed. In fact, for this purpose, tools U1-U5 engage with the support 21 at a radial distance from the rotation axis H, sufficient to allow space for the shelf assembly 41 and its actuator 44.

[0071] At the attachment position ( Figure 6B The movable slider 42 moves vertically downward by a measure sufficient to engage the end body 41' of the shelf assembly 41 with a selected tool U, which is a tool positioned lower on the rotator-shaped carrier 2, such as tool U4 in the figure. In this case, the retaining pin 203 engages with the guide hole 205, and the correspondingly reduced cross-sectional area 203' is located near the side of the shaft 43.

[0072] In this position, the shaft 43 is captured or released by two retaining pins 203, depending on the rotation angle taken.

[0073] exist Figure 6B and Figure 6C In this configuration, the shaft 43 is positioned so that its larger diameter faces two opposing retaining pins 203 (in fact, the groove 43a is visible on the upper part of the shaft), thus locking the shaft 43 between the retaining pins 203. In this configuration, the tool U4 and the transfer platform 4 are integrated along a horizontal axis parallel to axis W due to the engagement of the pins 203 with the holes 45, and along a vertical axis parallel to axis Y due to the engagement of the shaft 43 between the pins 203.

[0074] Conversely, as the shelf 41 moves closer to the selected tool U, relative movement along the vertical axis must be allowed, and the shaft 43 rotates 90° so that its smaller diameter portion (groove 43a) faces the two opposing retaining pins 203. During the tool attachment step, a pair of open wedges 46 contact and extend the elastic arms 29a and 29b, thus no longer holding the tool U on the rotator-shaped carrier: as long as the shaft 43 does not rotate and engage the two retaining pins 203, the tool is held attached to the rotator-shaped carrier 2 solely by the action of the electromagnet 27. Once the tool is finally attached to the transfer platform 4, the electromagnet 27 can be deactivated, allowing the tool to be completely released from the rotator-shaped carrier 2 and moved integrally with the transfer platform 4.

[0075] Once the required tool U is integrated with the transfer platform 4 and released from the rotator-shaped carrier 2, the shelf assembly 41 can be moved away from the chuck's operating position by further translation of the slider 42 along the vertical axis Y.

[0076] Figure 10-14 Various views of the chuck are shown, with tool U4 extending downwards in the operating position and slider 42 extending to its maximum extent.

[0077] In this case, the selected tool U is at a sufficient distance from the chuck so that it can be easily applied to the workpiece to be collected, without being affected by the large volume of the rotator-shaped carrier 2 and the entire chuck T.

[0078] To prevent the weight of the gripping tool from being applied to the linear actuator 5, a stop device is preferably provided at the end of the stroke operation position, which securely fastens the slider 42 directly to the structure of the frame 1. Figure 13 In the illustrated embodiment, these stop devices are in the shape of a pair of pins 42a integral with the slider 42, which abut against a pair of hooks 11 integral with the frame 1. In this case, due to the presence of the floating joint 54, no fine-tuning of the stop devices is required, as any installation error will be absorbed by the floating joint 54 without interfering with or damaging the control components.

[0079] Figures 15-22 Different selection steps for the chuck according to the present invention are shown.

[0080] exist Figure 15 In the middle, the chuck T is in the reference state, the rotator-shaped carrier 2 adopts a "zero" rotation angle, and the transfer platform 4 is in the upper original position.

[0081] exist Figure 16 In this process, tool U4 is selected and positioned in a lower position by rotating the rotator-shaped carrier 2 about axis H (e.g., rotating 90°).

[0082] exist Figure 17 In the middle, the transfer platform 4 moves to the attachment position so that the retaining pin 203 engages with the guide hole 45 and the elastic arms 29a and 29b are extended. Under the action of the electromagnet 27, the tool remains on the rotator-shaped carrier 2.

[0083] exist Figure 18 The image shows the final engagement steps of the tool with the transfer platform 4. The pneumatic actuator 44 rotates the shaft 43, thereby securing it between the two retaining pins 203 and clamping the tool U4 along the motion axis Y onto the transfer platform 4. The electromagnet 27 is deactivated, thus completely releasing the tool from the rotator-shaped carrier 2.

[0084] exist Figure 19 The diagram illustrates the tool's operating steps. The slider 42 extends downwards, bringing the tool U4 into the operating position, for example, 200 mm below the attachment position. In this step, the tool U4 is powered by a control line or an energy transfer functioning accordingly, such as initiating vacuum suction along the extendable tube 25'.

[0085] In this scenario, the chuck T performs programmed tasks using the selected operating position. For example, it collects a new sheet of metal and conveys it to the entry point at the cutting center.

[0086] At the end of this work cycle, if a different tool is needed to perform a different gripping action, the current tool will be brought back to the attachment position, and the power supply along the control line will be interrupted. Figure 20 ).

[0087] The conveyor platform 4 is brought back to the attachment position, and the current tool is released from axis 43 and retrieved via electromagnet 27. Figure 21 Afterwards, teleportation platform 4 returns to its original position. Figure 22 The tool is also firmly engaged again by the elastic arms 29a and 29b, and the rotator-shaped carrier 2 can be rotated again to perform a new selection of the required tool.

[0088] Due to the specific layout of the chuck according to the invention, all tools on the rotator-shaped carrier are securely engaged and properly (electrically or pneumatically) supplied in any case via the electromagnet 27 and the elastic arms 29a and 29b: thus they can operate perfectly without any obstruction to the transfer platform in its original position. This allows for the utilization of additional operating modes. In fact, although these tools remain on the rotator-shaped carrier, they can still be used to collect workpieces of moderate weight (because the load is supported by the rotation axis H and the releasable engagement device, which does not exert a large force, at least in the layout provided in the preferred embodiment).

[0089] Therefore, workpieces can also be rotated on the horizontal axis (i.e., the H-axis) and then changed from a horizontal to an inclined orientation to be placed on a rack or feeder of adjacent workpieces (instead of stacking one on top of another). Welding stations, humanoid robots, or automated stations in any case can benefit from non-horizontal deposition. Figures 23-23C As shown in the sequence, workpiece P can be collected in a horizontal position and then gradually rotated to a vertical position by rotating a rotator-shaped carrier around axis H.

[0090] As can be clearly understood from the above description, the chuck and related operating method for the sorting equipment according to the present invention allow for perfect access to the set object.

[0091] In fact, the chucks are arranged so that a range of different tools can be mounted on a rotator-shaped carrier: thus, the required tool can be selected quickly without moving the chucks in the peripheral carrier area where tool changes are performed. This can save considerable time in the operation cycle.

[0092] A rotator-shaped carrier that supports multiple fully operational tools in a manner that allows them to rotate around a horizontal axis offers further advantages in workpiece handling.

[0093] Furthermore, the pick-up action of the selected tool onto the conveyor platform allows a single tool to be moved far enough from the tool carrier that no specific working limitations of the tool arise, despite the large size of the same tool carrier. Therefore, the chuck can operate in the same way as a conventional single-tool handler, but in a faster and more flexible manner.

[0094] However, it should be understood that the present invention should not be considered as limited to the specific embodiments shown, but may have different variations, all of which are within the capabilities of those skilled in the art without departing from the scope of protection of the present invention, as defined only by the appended claims.

[0095] For example, although the description consistently refers to a rotator-shaped carrier with four tools and relatively releasable engagement devices, it is not excluded that more than four tools may be mounted on the carrier unit, depending on the volume of each tool.

[0096] Furthermore, it should be understood that the term "rotator-shaped carrier" also means a rotating tool rack, tool turntable, tool turret, and also includes carrier units for multiple tools with different selectable movements, such as linear movements or movements with more complex displacements, provided that the desired tool is selected and located at a specific position on the movable carrier from which it can be picked up and separated by the transport platform.

[0097] Finally, despite the teachings provided here, it must be noted that tool engagement and retention devices can also differ significantly from those shown in the diagram.

Claims

1. A chuck (T) for a processor in a sorting machine, comprising: Supporting framework (1), Multiple gripping tools (U1-U5), each equipped with at least one socket (25) for the control line and a first holding device, The chuck (T) further includes: A rotator-shaped carrier (2) is mounted on the support frame (1), the support frame being equipped with a coupling body (21) having a plurality of first releasable coupling devices, the plurality of first releasable coupling devices being readily connected to the first holding device of the corresponding gripping tool of the plurality of gripping tools (U1-U5), the plurality of gripping tools (U1-U5) also having a second holding device. At least one conveying platform (4) is equipped with a second releasable engagement device, which is readily coupled to the second retaining device. The coupling body (21) is rotatably mounted about a selection axis (H) perpendicular to the sliding axis (Y), and the conveying platform (4) is movably mounted on the support frame (1) along the sliding axis (Y) at least between the original position, the attached position, and the operating position. In the original position, the first holding device of the gripping tool (U1-U5) engages with the first releasable engagement device of the rotator-shaped carrier (2), and the rotator-shaped carrier (2) is able to rotate freely about the selection axis (H). At the attachment position, the second releasable engagement device is connected to the second holding device of a selected gripping tool from the plurality of gripping tools (U1-U5). In the operating position, the first holding device of the selected gripping tool is separated from the first releasable engagement device, and the selected gripping tool is spaced apart from the rotator-shaped carrier (2).

2. The chuck (T) according to claim 1, wherein, The rotator-shaped carrier (2) is controlled by a rotary actuator (3) to be in different selected positions.

3. The chuck (T) according to claim 2, wherein, A rotary fluid distributor (23) is provided between the rotary actuator (3) and the rotary carrier (2) to connect the fluid pipe for the gripping tool (U1-U5) to the socket (25) for the control line from a fixed position, the control line rotating integrally with the rotary carrier (2).

4. The chuck (T) according to claim 1, 2 or 3, wherein, The first releasable engagement device includes a fork with snap-action resilient arms (29a, 29b) and at least one actuable electromagnet (27).

5. The chuck (T) according to claim 1, wherein, The conveying platform (4) includes a shelf assembly (41) which is cantilevered on a movable slider (42) controlled by a linear actuator (5).

6. The chuck (T) according to claim 5, wherein, A floating joint is provided between the movable slider (42) and the linear actuator (5), and the floating joint can easily transmit control actions through an elastic device.

7. The chuck (T) according to claim 6, wherein, The shelf assembly (41) includes a terminal body (41') equipped with two parallel guide holes (45) that intersect with a vertical receiving base in which a shaft (43) having a portion of a non-circular cross section (43a) is rotatably supported.

8. The chuck (T) according to claim 7, wherein, The shaft (43) is driven to rotate by a dual-position rotary actuator (44).

9. The chuck (T) according to any one of claims 5 to 8, wherein, The first releasable engagement device includes a fork with snap-action resilient arms (29a, 29b) and at least one actuable electromagnet (27), and a pair of open wedges (46) are also mounted on the shelf assembly (41), the pair of open wedges (46) being arranged to contact and deploy the resilient arms (29a, 29b).

10. A method of operating a chuck (T) for a processor in a sorting machine, wherein, The chuck (T) is provided with a support frame (1), on which a rotator-shaped carrier (2) having multiple gripping tools (U1-U5), a rotary actuator (3) for the rotator-shaped carrier (2), a transfer platform (4), and a linear actuator (5) for the transfer platform (4) are housed. The conveying platform (4) is slidably mounted along the sliding axis (Y). Furthermore, the operation method is characterized by including the following steps: By rotating about a selection axis (H) perpendicular to the sliding axis (Y), the rotary actuator (3) selects the desired gripping tool on the rotator-shaped carrier (2). The linear actuator (5) displaces the conveying platform (4) along the sliding axis (Y) from its original position to an attachment position connected to the selected gripping tool. The selected gripping tool is released from the rotator-shaped carrier (2) and integrally transferred to the transfer platform (4) from an operating position spaced apart from the rotator-shaped carrier (2). Perform a crawling loop using the selected crawling tool.

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