Apparatus and method for moving a pair of workpieces having a rough surface and an opposing finely machined surface

Abstract

A device (1) for moving a workpiece (P) is described, comprising: a workpiece support plane (5) configured to support one or more workpieces (P); a first clamping device (30) and a second clamping device (40), which respectively define a first clamping plane (32) and a second clamping plane (42) of the workpiece (P); wherein the device (1) is configured to move the first clamping device (30) and the second clamping device (40) between the following positions: i) a picking position, wherein the first clamping device (30) or the second clamping device (40) is configured to pick up a workpiece placed on the workpiece; The invention relates to a method for preparing a workpiece (P) for use in a workpiece storage area (6) and a workpiece support plane (5) for transferring the workpiece (P) from the first clamping device (30) to the second clamping device (40) and vice versa; and a method for preparing a workpiece (P) for use in a workpiece storage area (6) and a workpiece support plane (5) for transferring the workpiece (P) from the first clamping device (30) to the second clamping device (40) and vice versa.

Description

Technical Field

[0001] The present invention relates to the field of moving workpieces. In particular, the present invention relates to an apparatus for moving workpieces and a method for moving a pair of workpieces (eg, stone slabs) having a rough surface and an opposite finished surface.

[0002] The term "finished surface" refers to a surface of a workpiece that has been subjected to one or more finishing operations, such as sanding, polishing, blasting, brushing, etc. Typically, these finishing operations are performed after roughing and are intended to reduce surface roughness and any dimensional inaccuracies of the surface.

[0003] The term "rough surface" refers to the surface of a workpiece obtained directly from a rough machining operation such as cutting or milling without undergoing a finishing operation. Typically, a rough surface has characteristics of surface roughness and / or appearance and / or dimensional error that are significantly worse than a finished surface. Background Art

[0004] The production of workpieces having a rough side and an opposite finished side is typical of the processing of stone materials such as marble and granite in the form of slabs or blocks. Such workpieces can be used in applications where the finished part of the workpiece is visible, while the non-finished part of the workpiece is hidden. For example, the workpiece can be used as an element of a wall, furniture and / or floor, so that the finished side is visible, while the opposite rough side is anchored to a structure or placed on the ground and is thus hidden.

[0005] Typically, the mechanical processing of a workpiece starting from a raw material or a semi-finished product provides that the workpiece is first processed in a machine or machine assembly organized in a production line, the machine(s) being appropriately configured to perform machining operations such as cutting, milling, drilling and surface finishing.

[0006] Then, at the end of the machining cycle, the workpiece is transferred to a temporary support surface, which is usually provided downstream of the machine or machine assembly.

[0007] A "support surface" is a surface suitable for supporting a workpiece, which surface can receive the workpiece from a machine or a machine component. The support surface can consist, for example, of an end portion of a conveyor, which moves the workpiece through the machine or the machine component, or of a special surface, which receives the workpiece from a processing space provided in the machine or the machine component.

[0008] Typically, the workpieces located on the support plane have a predetermined orientation resulting from the machining cycle they undergo. Referring to the above-mentioned field of machining workpieces made of stone, for example, typically the roughened side of the workpiece is placed on the support plane with the finished side facing upwards.

[0009] In this case, the workpieces must be cleared from the temporary support surface and transferred to a workpiece storage area where they are unloaded for subsequent transport, storage operations or further processing.

[0010] "Workpiece storage area" means any area capable of receiving and holding workpieces, even if only temporarily, such as defined on a pallet, in a dedicated container, or on a loading / unloading conveyor or machine work surface. Summary of the invention

[0011] In the field of mechanical machining of workpieces, machines for machining sheet-like or block-like workpieces, as well as devices for loading / unloading sheet-like materials, are known which enable the workpiece to be automatically moved from a machining plane.

[0012] For example, document WO 2011 / 144270A1 in the name of the same applicant shows a machine for processing bulk or plate-like materials, which includes a processing group whose function is to keep the plate suspended from the work surface, thereby allowing the plate to be repositioned. The processing group is pneumatic and includes a clamping device equipped with one or more pneumatically activated suction cups, which can be tilted between an initial non-operating position and a final operating position, in which the suction cups cannot interact with the plate blank and in which the suction cups can contact the upper surface of the plate blank. The clamping device of the processing group includes a plate and an associated suction cup. The plate is integrally fixed to a tool holder assembly and can rotate around an axis together with the tool holder assembly. The non-operating position of the plate is vertical; the operating position of the plate is horizontal.

[0013] US2018 / 0272542A1 shows a clamping device used in an apparatus for loading / unloading slab materials. The clamping device has a first articulated structure supporting a first clamping processing group and a second articulated structure supporting a second clamping processing group. The chuck includes a coupling plate, which always faces downward due to its installation on the articulated structure and the type of movement applied by the articulated structure itself. The articulated structures can move independently of each other. The workpiece can be picked up and put down by a single clamping processing group, for example, by retracting the second clamping processing group device to realize the first clamping processing group. By adjusting the distance between the two chucks and by rotating 360° around its vertical axis, the clamping device mounted on an overhead crane or a robot is able to pick up and place the workpiece, thereby constraining the workpiece by tools mounted on the first clamping processing group and the second clamping processing group.

[0014] In this context, the Applicant has identified a need to arrange the workpieces in the storage area in an orientation different from that of the workpieces on the support plane, ie to be able to decide for a given workpiece whether the original orientation is to be maintained or altered.

[0015] The Applicant notes that the machines disclosed in WO 2011 / 144270A1 and US 2018 / 0272542A1 allow only limited variations in the orientation of the picked-up workpiece.

[0016] For example, the applicant notes that the clamping devices disclosed in WO 2011 / 144270A1 and US 2018 / 0272542A1 do not allow for placing a workpiece in a configuration that is inverted relative to the initial configuration.

[0017] Furthermore, the Applicant has noticed that the above-described clamping devices clamp the workpiece at a clamping surface and that this clamping surface cannot be arranged against a wall or another workpiece.

[0018] Therefore, unloading the workpieces in a configuration that is inverted relative to the initial configuration can only be done manually by an operator.

[0019] Applicants have therefore identified a need for an apparatus for moving workpieces that allows for greater flexibility in the ultimate placement of the workpieces in a storage area.

[0020] In the case of workpieces having a finished face and a relatively rough face, such as workpieces machined from stone, the Applicant has observed that if the workpieces are stacked on top of each other in the same orientation, the rough face of one workpiece will come into contact with the finished face of an adjacent workpiece and risk damaging the finished face.

[0021] Applicants have also recognised that if the workpieces are stacked in alternating orientations, the finished surface of one workpiece will contact the finished surface of an adjacent workpiece (if any), thereby preventing or minimising the risk of damaging the finished surfaces of the workpieces.

[0022] However, the above-mentioned known clamping devices do not allow such an "alternating" arrangement of the finishing surfaces between one workpiece and an adjacent workpiece in the storage area.

[0023] Thus, according to a first aspect, the present invention relates to an apparatus for moving a workpiece, comprising:

[0024] a workpiece support plane configured to support one or more workpieces;

[0025] A first clamping device and a second clamping device, respectively defining a first clamping plane and a second clamping plane of the workpiece;

[0026] Wherein, the apparatus is configured to move the first clamping device and the second clamping device between the following positions:

[0027] i) a pick-up position, wherein the first clamping device or the second clamping device is configured to pick up a workpiece placed on the workpiece support surface;

[0028] ii) exchanging positions, wherein the first clamping device and the second clamping device face each other so that the first clamping plane and the second clamping plane of the workpiece face each other to allow the workpiece to be transferred from the first clamping device to the second clamping device, or vice versa; and

[0029] iii) a placement position, wherein the second gripping device or the first gripping device is configured to release the workpiece transferred in the exchange position in a workpiece storage area.

[0030] The term "clamping plane" is used to denote a plane defined by the clamping device on which the workpiece to be moved is positioned and on which the workpiece to be moved is held by suitable holding elements of the clamping device. The clamping plane can, for example, be defined by a plane of the clamping device, by which a holding action can be exerted on the workpiece to be moved, for example by a pneumatic holding action of one or more suction cups, or by a magnetic holding action of one or more magnets, or by a mechanical holding action of one or more gripping clamping devices.

[0031] Due to the above-described configuration and cooperation of the components, the apparatus according to the invention can advantageously automatically and flexibly process the layout of the workpieces in the storage area by orienting the finished surfaces of the workpieces in the desired and most appropriate manner.

[0032] Thus, for example, the apparatus according to the invention is advantageously able to automatically arrange workpieces in a storage area by changing the direction of the finished surface between a workpiece and an adjacent workpiece, thereby preventing the finished surface of the workpiece from coming into contact with the rough surface and preventing possible damage.

[0033] According to the invention, the workpiece is initially arranged in practice on the work surface, with at least one face visible and at least one face resting on the work surface.

[0034] At least one of the first clamping device and the second clamping device is configured to clamp the workpiece by placing a corresponding clamping surface adjacent to a visible surface of the workpiece.

[0035] The clamping device holding the workpiece can be moved into the exchange position in such a way that the face of the workpiece initially placed on the support plane faces away from the clamping device.

[0036] The other clamping device can be moved towards the exchange position so that its own clamping plane can approach the face of the workpiece initially placed on the support plane and then clamp the workpiece.

[0037] Thus, the workpiece can be exchanged between the two clamping devices in such a way that the initially visible face of the workpiece, for example the machined face, is oriented away from the receiving clamping device and is therefore visible again, while the face of the workpiece initially supported is oriented towards the receiving clamping device and is therefore not visible again.

[0038] The clamping device receiving the workpiece can be moved into a placement position and the face of the workpiece initially visible is placed against a wall or a horizontal surface or against another workpiece, since this face does not face the clamping device.

[0039] In a second aspect of the invention, the invention relates to a method of moving a pair of workpieces having a rough surface and an opposing finished surface by means of an apparatus for moving the workpieces, the apparatus comprising:

[0040] a workpiece support plane configured to support one or more workpieces;

[0041] A first clamping device and a second clamping device, respectively defining a first clamping plane and a second clamping plane of the workpiece;

[0042] The method comprises the following steps:

[0043] a) providing a plurality of workpieces, the workpieces having a rough surface located on the workpiece support plane and a fine-machined surface facing away from the workpiece support plane, or vice versa, wherein the fine-machined surface is located on the workpiece support plane and the rough surface faces away from the workpiece support plane;

[0044] b) picking up a first workpiece of a pair of workpieces from the workpiece support plane by one of the first clamping device and the second clamping device, keeping the finished surface or the rough surface of the first workpiece of the pair of workpieces facing the clamping device for picking up the first workpiece;

[0045] c) moving the first workpiece of the pair of workpieces to a workpiece storage area by means of the first clamping device or the second clamping device used in step b);

[0046] d) releasing a first workpiece of a pair of workpieces into a workpiece storage area such that the finished surface or the roughened surface is visible;

[0047] e) picking up a second workpiece of the pair of workpieces from the workpiece support plane by one of the first clamping device and the second clamping device, keeping the finished surface or the rough surface of the second workpiece of the pair of workpieces facing the clamping device for picking up the second workpiece;

[0048] f) positioning the first clamping device and the second clamping device in an exchange position, wherein the first clamping device and the second clamping device face each other so that the first clamping plane and the second clamping plane of the second workpiece of the pair of workpieces face each other;

[0049] g) transferring a second workpiece of the pair of workpieces from the first clamping device to the second clamping device so that the finished surface or the rough surface of the second workpiece of the pair of workpieces is oriented away from the second clamping device, or transferring the second workpiece of the pair of workpieces from the second clamping device to the first clamping device so that the finished surface or the rough surface of the second workpiece of the pair of workpieces is oriented away from the first clamping device;

[0050] h) moving the second workpiece of the pair of workpieces toward the workpiece storage area by means of the first holding device or the second holding device to which the workpiece was transferred in step g);

[0051] i) releasing the second workpiece of the pair of workpieces in the workpiece storage area by means of the first clamping device or the second clamping device to which the workpieces were transferred in step g), with the finished surface or the roughened surface of the second workpiece abutting against the visible finished surface or the visible roughened surface of the first workpiece of the pair of workpieces;

[0052] l) Optionally, repeating steps a) to i) for one or more further pairs of workpieces.

[0053] Advantageously, the method according to the invention allows the workpieces to be automatically arranged in the storage area by alternating the orientation of the finished surfaces between one workpiece and an adjacent workpiece so as to position each finished surface of a workpiece against a finished surface of an adjacent workpiece and each rough surface of a workpiece against a rough surface of an adjacent workpiece.

[0054] In this manner, the workpieces may be advantageously positioned in the storage area to minimize, and preferably substantially prevent, friction damage to the finished surfaces of the workpieces.

[0055] In step a), the workpieces are arranged in the same orientation, with the finished surface visible and the rough surface placed on the support plane, or, alternatively, with one finished surface placed on the workpiece support plane and one rough surface facing away from the workpiece support plane.

[0056] In steps b) to d), a first workpiece is picked up, moved to a storage area and released, wherein the finished or roughened surface faces the clamping device used, so that after the release, the finished or roughened surface is visible.

[0057] In steps e) to i), the second workpiece is picked up while keeping its finished or rough surface facing the clamping device that picks it up, exchanged between the two clamping devices in such a way that, after the exchange, the rough surface or finished surface of the second workpiece faces the clamping device that receives it and the finished surface or rough surface is visible, and then the second workpiece is released in the workpiece storage area.

[0058] In this way, advantageously, the finished surface without clamping plane can be arranged against a visible finished surface of a first workpiece in the workpiece storage area or in a similar manner the rough surface without clamping plane can be arranged against a visible rough surface of a first workpiece in the workpiece storage area.

[0059] In this way, the method for moving workpieces according to the invention advantageously allows the storage of workpieces avoiding possible contact of the finished surfaces of the workpieces with the rough surfaces of adjacent workpieces.

[0060] In the following description and in the claims that follow, directional terms such as "horizontal," "horizontally," "vertical," and "vertically" are used to refer to the instrument in its operating configuration wherein the workpiece support plane provides a horizontal reference plane.

[0061] In particular, in the following description and in the subsequent claims, the terms "vertical", "substantially vertical", "vertically" and "substantially vertically" are used to indicate not only an orientation that is not strictly perpendicular to a horizontal plane, but also an orientation that can deviate from such a vertical orientation. For example, the above terms can indicate an orientation that can deviate from an orientation perpendicular to a horizontal plane by an angle of up to about 15°.

[0062] For example, in a workpiece storage area, a deviation from a completely vertical orientation may be appropriate in order to correctly place the workpieces side by side and subsequently pick them up more easily.

[0063] In the above two aspects, the present invention may have at least one of the following preferred features. Therefore, unless otherwise explicitly stated, these features may exist alone or in combination in the device of the first aspect of the present invention or in the method of the second aspect of the present invention.

[0064] Preferably, the workpiece storage area is remote from the workpiece support plane.

[0065] In this way, the workpieces can be advantageously stored in an area where a pallet, container, conveyor, loading / unloading table or working plane of a machine on or in which the workpieces can be placed can be easily located without interfering with the workpiece supporting surface.

[0066] In a preferred embodiment, the apparatus according to the invention may comprise a single treatment set comprising a first holding device and a second holding device.

[0067] In another preferred embodiment, the apparatus according to the present invention may include a first treatment group including the first clamping device and a second treatment group including the second clamping device, the first treatment group and the second treatment group being structurally independent of each other.

[0068] Advantageously, this makes it possible to have more than one mobile device configuration in order to meet the most different application requirements.

[0069] In a preferred embodiment, the apparatus according to the invention may comprise a supporting device of a single treatment group comprising the first holding means and the second holding means, or comprising the first supporting device of the first treatment group and the second supporting device of the second treatment group.

[0070] Preferably, the support device is configured to support the respective processing group above the workpiece support plane.

[0071] Advantageously, the processing group can operate above a workpiece support surface and move the workpiece in a desired manner, for example, when the moving equipment includes a gantry support structure.

[0072] Preferably, the supporting device of the single processing group comprising the first clamping device and the second clamping device or the supporting device of one or both of the first processing group and the second processing group is movable perpendicularly to the workpiece supporting plane.

[0073] In this way, the clamping device and its associated workpiece can advantageously be moved to and from a workpiece support plane and to and from a horizontal support plane in a workpiece storage area.

[0074] Preferably, the supporting device of the single processing group comprising the first clamping device and the second clamping device or the supporting device of one or both of the first processing group and the second processing group is movable parallel to the workpiece supporting plane.

[0075] In this way, the clamping device and the associated workpiece can advantageously be moved such that the latter is laterally away from the workpiece support plane.

[0076] Preferably, the supporting device of the single processing group or the supporting device of one or both of the first processing group and the second processing group is movable in directions perpendicular to each other and parallel to the workpiece supporting plane.

[0077] By coordinating the parallel and perpendicular movements relative to the workpiece support surface with one another, it is advantageously possible to define a trajectory of the support device between the workpiece support surface and the workpiece storage area.

[0078] Preferably, the individual processing groups are supported by respective supporting devices in a rotatable manner about a vertical axis perpendicular to the workpiece support plane.

[0079] In this way, it is advantageously possible to rotate the workpiece or the processing group and the corresponding clamping device in order to adapt the orientation of the workpiece about the vertical axis on the workpiece support plane.

[0080] In this way, advantageously, the workpiece to be moved or the clamping device can be appropriately positioned relative to the workpiece to be moved.

[0081] Furthermore, by rotating the individual processing groups, the relative positions of the first and second clamping devices with respect to the workpiece storage area can advantageously be exchanged.

[0082] In another preferred embodiment, one or both of the first and second independently structured processing groups are rotatably supported by a supporting device around a vertical axis perpendicular to the workpiece supporting plane.

[0083] In this case, it is also advantageous to rotate the workpiece about this axis, or to rotate each processing group together with its respective clamping device, in order to adapt the orientation of the workpiece on the workpiece support plane.

[0084] In this way, advantageously, the workpiece to be moved or the clamping device can be appropriately positioned relative to the workpiece to be moved.

[0085] In a preferred embodiment, a single processing group may include a support body for the first and second clamping devices, the support body being configured to support the first and second clamping devices at a distance from each other along a direction parallel to the workpiece support plane.

[0086] In another preferred embodiment, the structurally independent first processing group and second processing group each include a first support body of the first clamping device and a second support body of the second clamping device, and the first support body and the second support body are configured to support the first clamping device and the second clamping device at a certain distance from each other along a direction parallel to the workpiece support plane.

[0087] In this way, advantageously, the first clamping device and the second clamping device can be kept at a certain distance from each other, and if necessary the distance between them can be changed, so that when one clamping device moves the workpiece, the other clamping device does not hinder its operation.

[0088] Preferably, the support of a single treatment group, or the support of each of the structurally independent first and second treatment groups, is associated with a lower end of a respective supporting device.

[0089] In this way, for example, when the moving device comprises one or more gantry support structures, it is advantageously possible to move the processing group above the workpiece support plane and to move the workpiece in a desired manner.

[0090] In a preferred embodiment, the movement device according to the invention comprises first actuator means configured to move the first clamping device in a direction perpendicular to the plane supporting the workpiece and relative to the support of the single processing group or the first processing group.

[0091] In this way, the first clamping device can advantageously be moved to and from the workpiece supporting plane independently of the second clamping device, for example when removing a workpiece from the workpiece supporting plane or when placing a workpiece in a workpiece storage area.

[0092] In a preferred embodiment, the movement device according to the invention comprises second actuator means configured to move the second clamping means in a direction perpendicular to the plane supporting the workpieces and relative to the support of the single or second processing group.

[0093] In this way, the second clamping device can advantageously be moved to and from the workpiece supporting plane independently of the first clamping device, for example when removing a workpiece from the workpiece supporting plane or when placing a workpiece in a workpiece storage area.

[0094] In a preferred embodiment, the first clamping device can be rigidly fixed to the support body of the single treatment group or to the support body of the first treatment group by means of a respective first vertically extending support arm.

[0095] In this way, advantageously, the first holding device can be moved together with the support body by means of the aforementioned support device of a single process group or of the first process group.

[0096] In a further preferred embodiment, the first holding device can be movably associated to the support of the individual process group or the first process group by means of a respective first vertically extending support arm.

[0097] Thus, by providing suitable actuator means of the first vertically extending support arm, the first clamping means may advantageously be moved in horizontal and vertical directions relative to the respective support body.

[0098] And this is independent of the movement of the support device of the single process group or the first process group.For example, the first vertically extending support arm of the first clamping device may be mounted on the support body slidably in the horizontal direction and / or in the vertical direction.

[0099] Advantageously, the first vertically extending support arm also allows the first clamping device and the support body to be spaced apart in the vertical direction, so that a workpiece held by the first clamping device can be kept at a distance from the support body during its movement.

[0100] In a further preferred embodiment, the first holding device can be movably associated to the support body of a single processing group by means of a respective first support arm, the first support arm comprising a respective horizontally extending portion and a respective vertically extending portion.

[0101] As will be more clearly understood below, and depending on the requirements of the specific application, this further preferred configuration advantageously enables the first clamping device to be moved relative to the support body of a single processing group by moving the first support arm away from or towards the support body.

[0102] As will be described in more detail below, according to this preferred configuration, lateral obstruction of a single processing group including a first clamping device can be advantageously reduced by providing an area in the support body of the single processing group for accommodating a horizontal extension of the first support arm.

[0103] The horizontal extension of the first support arm also provides horizontal spacing between the first clamping device and the second clamping device.

[0104] The vertical extension of the first support arm provides vertical spacing between the first clamping device and the support of the individual processing groups.

[0105] In a preferred embodiment, the mobile device according to the present invention may include a third actuator device, which acts on the first support arm of the first clamping device and is configured to move the first clamping device parallel to the workpiece support plane by sliding the first support arm on or in the support body of a single processing group.

[0106] According to this preferred configuration, during the movement operation performed in the working space of the apparatus according to the invention, it is advantageously possible to move the first support arm and the first clamping device associated therewith in the horizontal direction by appropriately changing the positioning of the first support arm and the first clamping device associated therewith relative to the second clamping device.

[0107] In an alternative preferred embodiment, the mobile device according to the present invention may include a third actuator device, which acts on the first support arm of the first clamping device and is configured to move the first support arm and the first clamping device parallel to the workpiece support plane and towards and away from the support body of the single processing group.

[0108] According to this other preferred configuration, during the movement operation performed in the working space of the apparatus according to the invention, the first support arm and the first clamping device associated therewith can advantageously be moved in the horizontal direction by appropriately changing the positioning of the first support arm and the first clamping device relative to the second clamping device and relative to the support body of the single treatment group.

[0109] In both preferred configurations described above, the first clamping device can thus be brought closer to the second clamping device to reach the exchange position and moved away from the second clamping device after the workpiece has been transferred.

[0110] In a preferred embodiment of the apparatus according to the present invention, the above configuration can also be applied to the second clamping device and its supporting and moving elements, so as to achieve the above advantageous technical effects.

[0111] Therefore, in a preferred embodiment providing two structurally independent process groups, the second holding device can be rigidly fixed to the support body of the second process group by means of a respective second vertically extending support arm.

[0112] In this way, advantageously, the second holding device can be moved together with the corresponding support body by means of the second support apparatus of the second processing group.

[0113] In this case, the distance between the first clamping device and the second clamping device can be adjusted by adjusting the distance between the first processing group and the second processing group.

[0114] In a further preferred embodiment, the second holding device can be movably associated with the support body of the single process group or the second process group by means of a respective second vertically extending support arm.

[0115] Thus, advantageously, by providing the second vertically extending support arm with suitable actuator means, the second holding means can also be moved in horizontal and vertical directions relative to the support of the single process group or the second process group.

[0116] For example, the second vertically extending support arm of the second clamping device may be slidably mounted on the support body along the horizontal direction and / or along the vertical direction.

[0117] Advantageously, the second vertically extending support arm also allows the second clamping device and the support to be spaced apart in the vertical direction, so that the workpieces held by the second clamping device can be kept at a distance from the support of a single processing group during its movement.

[0118] In another preferred embodiment, the second holding device is movably associated with the support body of a single treatment group by means of a respective second support arm, the second support arm comprising a respective horizontal extension and a respective vertical extension.

[0119] As will become clearer below, this further preferred configuration advantageously enables the second holding device to be moved relative to the support body of an individual treatment group by moving the second support arm away from or towards the support body, depending on the specific application requirements.

[0120] As will be described in more detail below, according to this preferred configuration, lateral obstruction of a single processing group including a second clamping device can be advantageously reduced by providing an area in the support body of the single processing group for accommodating a horizontal extension of a second support arm.

[0121] The horizontally extending portion also provides a horizontal spacing between the second clamping device and the first clamping device.

[0122] The vertically extending portion provides vertical spacing between the second holding device and the support of the individual processing groups.

[0123] In an alternative preferred embodiment, the mobile device according to the present invention may include a fourth actuator device, which acts on the second support arm of the second clamping device and is configured to move the second clamping device parallel to the workpiece support plane by sliding the second support arm on or in the support body of the single processing group.

[0124] According to this preferred configuration, during the movement operation performed in the working space of the apparatus according to the invention, the second support arm and the second clamping device associated therewith can advantageously be moved in the horizontal direction by appropriately changing the positioning of the second support arm and the second clamping device associated therewith relative to the first clamping device.

[0125] In an alternative preferred embodiment, the mobile device according to the present invention may include a fourth actuator device, which acts on the second support arm of the second clamping device and is configured to move the second support arm and the second clamping device parallel to the workpiece support plane and towards and away from the support body of the single processing group.

[0126] According to this further preferred configuration, during the movement operations performed in the working space of the apparatus according to the invention, the second support arm and the second clamping device associated therewith can advantageously be moved in the horizontal direction by appropriately changing the positioning of the second support arm relative to the first clamping device and relative to the support body of the individual treatment groups.

[0127] In both preferred configurations described above, the second gripping device can thus be brought closer to the first gripping device to reach the exchange position and moved away from the first gripping device after the workpiece has been transferred.

[0128] In a preferred embodiment, the first holding device and the second holding device are movably associated to the support body of a single processing group on opposite sides thereof.

[0129] In this way, advantageously, it is possible to have a symmetrical mass arrangement relative to the support of the individual treatment groups, with corresponding benefits in terms of the balancing of the moving parts of the apparatus rotating about a vertical axis.

[0130] In a preferred embodiment, in the support body of a single treatment group, a receiving area for the horizontal extension of the first support arm of the first clamping device is defined.

[0131] Advantageously, this preferred configuration allows reducing lateral obstruction of a single treatment group and allows guiding the sliding of the horizontal extension of the first support arm in the support body during movement towards and away from the support body.

[0132] Preferably, the third actuator device is configured to insert and extract the horizontal extension of the first supporting arm of the first clamping device into and from the receiving area, respectively.

[0133] In a preferred embodiment, the receiving area of ​​the horizontal extension of the first supporting arm of the first holding device is defined in a substantially hollow box-shaped portion of the supporting body of the individual processing groups.

[0134] In a preferred embodiment of the apparatus according to the present invention, the above-described configuration of the support body of a single treatment group can also be applied to the second clamping device and the corresponding support arm, thereby achieving the above-described advantageous technical effects.

[0135] Therefore, in a preferred embodiment, in the support body of a single treatment group, a receiving area for the horizontal extension of the second support arm of the second holding device is defined.

[0136] Similar to what was shown above with respect to the support arm of the first clamping device, this preferred configuration advantageously allows reducing lateral obstruction of a single treatment group and guiding the sliding of the horizontal extension of the second support arm in the support body during movement towards and away from the support body.

[0137] Preferably, the fourth actuator device is configured to insert and extract the horizontal extension of the second supporting arm of the second clamping device into and out of the receiving area, respectively.

[0138] Preferably, the receiving area of ​​the horizontal extension of the second supporting arm of the second holding device is defined in a substantially hollow box-shaped portion of the supporting body of the single processing group.

[0139] Due to the presence of the accommodation area of ​​the horizontal extension of the first and / or second supporting arm of the first and / or second holding device, the masses involved and the mechanical moments generated during the rotation of a single processing group about a vertical axis can advantageously be significantly reduced.

[0140] In this preferred configuration, the mobile device according to the invention also achieves the further advantage of greater flexibility of use due to the extreme compactness and reduced lateral obstruction of the individual treatment groups (the extreme compactness and lateral obstruction of the individual treatment groups are related to the possibility of partially or completely inserting the horizontal extension of the first support arm and / or the second support arm of the first clamping device and / or the second clamping device into the accommodation area defined in the support body of the individual treatment group), thereby allowing the individual treatment groups to be rotated also in the peripheral area of ​​the operating area of ​​the mobile device.

[0141] In a preferred embodiment, the third actuator device is configured to move the horizontally extending portion of the first support arm of the first clamping device in a direction substantially parallel to the workpiece support plane between the following positions:

[0142] a first insertion position, in which the horizontal extension of the first supporting arm of the first clamping device is substantially completely accommodated in the accommodation area defined in the supporting body of the single treatment group; and

[0143] - a second extracted position, in which the horizontal extension of the first supporting arm of the first holding device extends at least partially in a cantilevered manner outside the supporting body of the individual treatment group.

[0144] In a preferred embodiment, the fourth actuator means is configured to move the horizontally extending portion of the second support arm of the second clamping means in a direction substantially parallel to the workpiece support plane between the following positions:

[0145] a first insertion position, in which the horizontal extension of the second supporting arm of the second clamping device is substantially completely accommodated in the accommodation area defined in the supporting body of the single treatment group; and

[0146] - a second extraction position, in which the horizontal extension of the second supporting arm of the second holding device extends at least partially in a cantilevered manner outside the supporting body of the individual treatment group.

[0147] In this way, advantageously, the horizontal extension of the support arm of the first clamping device and / or the second clamping device can be inserted into / withdrawn from the support body of the single treatment group using a basically drawer-like guide slide, thereby achieving a high compactness of the single treatment group in any configuration of insertion, partial withdrawal or complete withdrawal of the horizontal extension of the support arm.

[0148] Preferably, the horizontal extension of the first supporting arm of the first clamping device and / or the horizontal extension of the second supporting arm of the second clamping device comprises one or more rod-like elements, preferably, the one or more rod-like elements are parallel to each other.

[0149] Preferably, the rod-shaped element is slidably mounted in a receiving area defined in the support body of the individual treatment groups.

[0150] Preferably, the horizontal extension of the first supporting arm of the first clamping device and the horizontal extension of the second supporting arm of the second clamping device comprise a plurality of rod-like elements, preferably parallel to each other, slidably mounted in a receiving area defined in the support body of a single processing group.

[0151] In this way, advantageously, the first clamping device and / or the second clamping device can be accurately positioned using a structure of the respective support arm which has suitable rigidity but at the same time is low weight and cost.

[0152] Furthermore, the accommodation area defined within the support body of a single treatment group can in this way efficiently and simultaneously accommodate and guide the horizontal extension of the first support arm and the horizontal extension of the second support arm.

[0153] Preferably, the rod-shaped element of the horizontally extending portion of the first supporting arm of the first clamping device and the rod-shaped element of the horizontally extending portion of the second supporting arm of the second clamping device at least partially penetrate each other into the accommodating area defined in the supporting body of the single processing group.

[0154] In this way, advantageously, the size of the receiving area of ​​the horizontally extending parts of the supporting arms of the first and second clamping devices defined within the supporting body of a single processing group can be reduced as much as possible.

[0155] Thus, for example, the receiving area may be dimensioned to have a smallest possible lateral dimension, substantially equal to the length of the horizontal extension of the supporting arms of the first and second clamping means.

[0156] In a preferred embodiment, the horizontally extending portion of the first supporting arm of the first clamping device and / or the horizontally extending portion of the second supporting arm of the second clamping device may be substantially telescopic.

[0157] Also in this case, advantageously, by extending or retracting the horizontal extension of the first and / or second supporting arms of the clamping device, the lateral dimensions of a single treatment group can be minimized and increased operational flexibility of the mobile apparatus of the invention achieved.

[0158] In another preferred embodiment, the horizontally extending portion of the first supporting arm of the first clamping device and / or the horizontally extending portion of the second supporting arm of the second clamping device may be slidably supported outside the supporting body of the processing group.

[0159] In this case, it is advantageously possible to reduce the lateral dimensions of the treatment group as much as possible and to achieve an increased operational flexibility of the mobile apparatus of the invention.

[0160] Preferably, the first clamping device and the second clamping device are respectively hinged to:

[0161] - a respective first vertically extending support arm or a second vertically extending support arm, or

[0162] - vertical extensions of the first support arm and the second support arm,

[0163] Located at the free end of the first support arm or the second support arm, or located at the free ends of the vertically extending parts of the first support arm and the second support arm.

[0164] In this way, the first clamping device and the second clamping device can be rotated relative to their respective support arms to change their respective inclinations relative to the support arms and relative to the workpiece support plane.

[0165] In a preferred embodiment, the mobile device of the present invention may include:

[0166] - fifth actuator means configured to rotate the first clamping means about a first horizontal axis substantially parallel to the workpiece supporting plane; and / or

[0167] - sixth actuator means configured to rotate the second clamping means about a horizontal axis substantially parallel to the workpiece supporting plane.

[0168] Advantageously, the fifth actuator device and / or the sixth actuator device perform a rotational movement of the first clamping device and / or the second clamping device relative to their respective support arms about a horizontal axis.

[0169] This allows the first clamping device and / or the second clamping device to be oriented such that:

[0170] i) parallel to the workpiece support plane at the pick-up position,

[0171] ii) after exchanging positions and facing each other according to the desired orientation, and

[0172] iii) in a placement position to release the workpiece into the workpiece storage area in a desired orientation (eg horizontal or substantially vertical).

[0173] Preferably, the fifth actuator means and the sixth actuator means are configured to rotate the first clamping means and the second clamping means by an angle equal to at least 90° about a horizontal axis substantially parallel to the workpiece supporting plane.

[0174] In this way, the respective clamping plane can be rotated between a configuration essentially parallel to the workpiece support plane, for example in the pick-up position, and a configuration essentially perpendicular to the workpiece support plane, for example in the exchange position.

[0175] In a preferred embodiment, the mobile device of the present invention comprises:

[0176] - seventh actuator means, configured to rotate the first clamping means about a vertical axis substantially perpendicular to the workpiece supporting plane; and / or

[0177] - eighth actuator means configured to rotate the second clamping device about a vertical axis substantially perpendicular to the workpiece supporting plane.

[0178] Thus, it is advantageously possible to:

[0179] i) rotating a workpiece picked up on a horizontal plane and oriented horizontally without changing the mutual position of the first clamping device and the second clamping device, and

[0180] ii) changing the mutual position of the first clamping device and the second clamping device when at least one of the first clamping device and the second clamping device is not oriented horizontally, for example when at least one of the first clamping device and the second clamping device is oriented substantially vertically.

[0181] In a preferred embodiment, the first clamping device and / or the second clamping device comprise respective pneumatic clamping elements, which comprise one or more suction elements.

[0182] Pneumatic clamping elements allow effective holding of a workpiece, regardless of the type of material it is made of, by bringing a respective clamping surface into proximity with one surface of the workpiece.

[0183] In a further preferred embodiment, the first clamping device and / or the second clamping device may comprise a respective clamping element of magnetic type, which can be effectively used to move a workpiece made of ferromagnetic material, or a clamping element of mechanical type, which can be effectively used to move a workpiece regardless of the type of material the workpiece is made of. For example, the clamping element of mechanical type may be a gripping clamping element comprising at least one clamping element movable towards and away from the fixed support member or two clamping elements movable relative to each other.

[0184] In a preferred embodiment of the moving method of the present invention, step b) of picking up the first workpiece of the pair of workpieces by one of the first clamping device and the second clamping device and / or step e) of picking up the second workpiece of the pair of workpieces comprises:

[0185] - moving the support of the single processing group towards the workpiece support plane; and / or

[0186] - moving one of the first clamping device and the second clamping device relative to the support of the single processing group towards the workpiece support plane;

[0187] - operating the first clamping device or the second clamping device to associate the first workpiece or the second workpiece of the pair of workpieces to the first clamping device or the second clamping device.

[0188] Preferably, step b) of picking up the first workpiece of the pair of workpieces from the workpiece support plane by means of one of the first clamping device and the second clamping device, and / or step e) of picking up the second workpiece of the pair of workpieces from the workpiece support plane by means of one of the first clamping device and the second clamping device comprises:

[0189] - moving the support of the first processing group or the second processing group towards the workpiece support plane; and / or

[0190] - moving one of the first clamping device and the second clamping device relative to the corresponding support of the first processing group or the second processing group towards the workpiece support plane;

[0191] - operating the first clamping device or the second clamping device to associate the first workpiece or the second workpiece of the pair of workpieces to the first clamping device or the second clamping device.

[0192] In a preferred embodiment of the moving method of the present invention, step f) of positioning the first clamping device and the second clamping device in the exchange position includes rotating the first clamping device and the second clamping device to arrange the first clamping plane and the second clamping plane of the picked workpiece in the pair of workpieces in a position facing each other.

[0193] In this way, advantageously, the workpiece can be oriented according to a transfer direction which allows exchanging the workpiece between the first clamping device and the second clamping device.

[0194] The transfer direction is preferably inclined at an angle of approximately 90° relative to the workpiece support plane, or, if desired, may exhibit different inclinations relative to the workpiece support plane as long as they allow exchanging workpieces between the first and second clamping devices.

[0195] In a preferred embodiment of the moving method of the invention, the step f) of positioning the first and second clamping devices in the exchanged position comprises moving the first and second clamping devices away from each other before rotating the first and second clamping devices.

[0196] In this way, the first clamping device and the second clamping device can advantageously be sufficiently spaced apart from each other before a rotation of the clamping device is performed.

[0197] In a preferred embodiment of the moving method of the present invention, step g) transfers the second workpiece of the pair of workpieces from the first clamping device to the second clamping device, or vice versa; step g) includes activating the second clamping device and deactivating the first clamping device, or vice versa.

[0198] Preferably, the clamping device receiving the workpiece is activated before the clamping device releasing the workpiece is deactivated.

[0199] In this way, the workpiece can be released from the first clamping device at its finished surface and held by the second clamping device at its rough surface, and vice versa.

[0200] In a preferred embodiment of the moving method of the present invention, step h) of moving the second workpiece of the pair of workpieces toward the workpiece storage area includes rotating the second clamping device to orient the corresponding second clamping plane and the finished surface or the rough surface of the second workpiece of the pair of workpieces in a position parallel to the workpiece support plane, or in a position facing away from the first clamping plane.

[0201] In another preferred embodiment, the step h) of moving the second workpiece of the pair of workpieces toward the workpiece storage area includes rotating the first clamping device to position the corresponding first clamping plane and the finished surface or the rough surface of the second workpiece of the pair of workpieces in a position parallel to the workpiece support plane or facing away from the second clamping plane, respectively.

[0202] In both preferred embodiments, the second workpiece is thus redirected from the above-mentioned transfer direction into a placement direction suitable for placing the second workpiece, wherein the second workpiece is transferred from one holding device to the other holding device in this transfer direction.

[0203] Furthermore, in both preferred embodiments, the second workpiece is simultaneously moved away from the gripping device which initially picked it up.

[0204] Preferably, step h) comprises rotating the second holding device or the first holding device about a vertical axis or about a horizontal axis by an angle equal to 90° or 180°.

[0205] Specifically, after the transfer, the clamping device that rotates to receive the second workpiece is rotated 90° around the horizontal axis, suitable for reorienting the second workpiece from a vertical transfer direction to a horizontal placement direction.

[0206] After the transfer, the gripping device that rotatably receives the second workpiece is rotated 180° about a horizontal or vertical axis, adapted to reorient the second workpiece from a vertical transfer orientation to a vertical placement orientation facing the opposite side.

[0207] Preferably, step h) of moving the second workpiece of the pair of workpieces toward the workpiece storage area includes rotating the second clamping device or the first clamping device about a horizontal rotation axis so that the finished surface or the rough surface of the second workpiece of the pair of workpieces is oriented so that the finished surface or the rough surface faces the visible finished surface or the visible rough surface of the first workpiece of the pair of workpieces previously released in the workpiece storage area.

[0208] In this way, the workpieces can be advantageously stacked horizontally and vertically, preventing possible undesired damage to the finished surfaces of the workpieces that face and abut one another in the workpiece storage area.

[0209] Preferably, step h) comprises rotating the second holding device or the first holding device around a horizontal axis by an angle equal to 90°.

[0210] Preferably, the step h) of moving the second workpiece of the pair of workpieces towards the workpiece storage area comprises moving the second clamping device and the first clamping device away from each other before rotating the second clamping device or the first clamping device.

[0211] In this way, a possible contact between the second workpiece and a clamping device which releases the second workpiece during the transfer of the second workpiece can advantageously be prevented.

[0212] Preferably, step d) of releasing the first workpiece of the pair of workpieces comprises deactivating the second clamping device or the first clamping device after releasing the first workpiece of the pair of workpieces in the workpiece storage area.

[0213] Preferably, step i) of releasing the second workpiece of the pair of workpieces into the workpiece storage area comprises, after placing the second workpiece on the first workpiece of the pair of workpieces in the workpiece storage area, deactivating the second clamping device or the first clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0214] Additional features and advantages of the invention will become more apparent from the following detailed description of one of the preferred embodiments of the invention, provided by way of indicative and non-limiting examples, with reference to the accompanying drawings, in which:

[0215] Figure 1A is a perspective view of a first preferred embodiment of an apparatus for moving a workpiece according to the present invention;

[0216] Figure 1B is a perspective view of a second preferred embodiment of an apparatus for moving a workpiece according to the present invention;

[0217] Figure 2 yes Figure 1A and Figure 1B A perspective view of a detail of an apparatus in which some elements are removed to highlight other elements;

[0218] Figure 3 yes Figure 1A and Figure 1B A side view of a detail of the device in which some elements are removed to highlight other elements;

[0219] Figure 4 yes Figure 1AA perspective view of some details of the apparatus in FIG.

[0220] Figure 5 is from Figure 1A and Figure 1B A perspective view of a processing group of the apparatus as viewed from below;

[0221] Figure 6 yes Figure 1A and Figure 1B A side view of a processing group of the device;

[0222] Fig. 6A is along Figure 6 A cross-sectional view of line AA;

[0223] Figure 6B is along Figure 6 A cross-sectional view along line BB;

[0224] FIG. 7A to FIG. 7L Shows Figure 1A corresponding schematic side views of the apparatus in different operating configurations;

[0225] FIG. 8A to FIG. 8O Shows Figure 1A Corresponding schematic side views of the instrument in different operating configurations. DETAILED DESCRIPTION

[0226] In the drawings, an apparatus for moving a workpiece according to the invention is generally indicated by reference numeral 1 and hereinafter by the abbreviated notation “apparatus 1 ”.

[0227] Refer to the attached Figure 1A-Figure 6B The device 1 is described by a reference system shown in , which comprises an X-axis, a Y-axis perpendicular to the X-axis, and a Z-axis perpendicular to the X-axis and the Y-axis, wherein the X-axis and the Y-axis define a horizontal plane and the Z-axis defines a vertical direction.

[0228] The apparatus 1 comprises a horizontal workpiece support surface 5 which can receive a workpiece P from a processing machine for block or plate-like material (e.g. stone) or from a production line in which one or more processing machines are active (e.g. one or more cutting, milling and / or polishing machines for material).

[0229] exist Figure 1A In the preferred embodiment shown, the workpiece support surface 5 may be configured to receive workpieces from a conveyor (not shown) that moves the workpieces along a production workpiece processing line (also not shown).

[0230] exist Figure 1B In the preferred embodiment shown, the workpiece support surface 5 may comprise, for example, the end of a conveyor, not shown, which moves the workpiece along a processing line for processing the workpiece.

[0231] The apparatus 1 is configured to move workpieces and place them in a workpiece storage area 6 , for example, which is located at a given distance from the workpiece support surface 5 .

[0232] The workpiece storage area 6 is defined in or by a support adapted to receive the workpieces P, such as a pallet, a container, a floor, a conveyor or a working plane of a machine.

[0233] The apparatus 1 comprises a processing group 20 for a workpiece supported above a workpiece support plane 5 by a corresponding support device 10 which is configured to operate above the workpiece support plane 5 and the workpiece storage area 6 and is movable perpendicularly to the workpiece support plane 5 .

[0234] In the preferred embodiment shown, the machine 1 includes a gantry structure 11 within which the workpiece support surface 5 and the workpiece storage area 6 are preferably located.

[0235] In a preferred embodiment illustrated by way of example only, the gantry structure 11 includes a plurality of vertical support structures or shoulders 12 and a pair of longitudinal rails 13 parallel to the Y-axis and held in an elevated position relative to the workpiece support plane 5 by the vertical support structures 12.

[0236] The crossbeam 2 parallel to the X-axis extends between the longitudinal rails 13 and is movable along the longitudinal rails in a longitudinal direction parallel to the Y-axis.

[0237] The crossbeam 2 comprises a transverse guide 14 which is also held in a raised position relative to the workpiece support plane 5 by the vertical support structure 12 .

[0238] The actuator device 15 is, for example, via a rack-and-pinion coupling (see Figure 2 ) actuates the movement of the crossbeam 2 and the transverse guides 14 associated therewith relative to the vertical support structure 12 and the longitudinal guides 13 associated therewith.

[0239] Preferably, the supporting device 10 comprises a slide 16 slidably mounted on the transverse guide 14 and movable on the crossbeam 2 in a transverse direction parallel to the X-axis.

[0240] The movement of the slide 16 along the transverse guide 14 takes place by the action of an actuator device 17 , for example by means of a rack and pinion coupling.

[0241] Preferably, the support device 10 includes a support member 18, which is connected to the slide 16 and moves vertically relative to the slide 16 itself along a vertical axis Z1 perpendicular to the workpiece support plane 5, moving toward and away from the workpiece support plane 5 (see Figure 3 ).

[0242] The vertical movement of the support device 10 relative to the slide 16 occurs by the action of an actuator device 19, for example by a linear actuator, for example of the recirculating ball type (see Figure 3 ).

[0243] In the preferred embodiment shown, the processing group 20 is arranged below the support device 10 and is rotatably connected to the lower end 19a of the support device 10 via the shaft 9 (see Figure 3 ).

[0244] Preferably, the processing group 20 is rotatable relative to the supporting device 10 about a vertical axis Z1.

[0245] Preferably, the rotation of the treatment group 20 about the vertical axis Z1 is operated by actuator means 21 associated with the support device 10, for example mounted on the support member 18 and acting on the rotary drive shaft 9 of the treatment group 20 (see Figure 4 ).

[0246] Preferably, the processing group 20 comprises a support body 22 which preferably extends in a direction parallel to the workpiece support plane 5, ie parallel to the plane represented by the X-axis and the Y-axis.

[0247] Preferably, the support body 22 comprises a substantially hollow box-shaped portion 23 defining a receiving area 24 .

[0248] In the preferred embodiment shown, the first support arm 25 is rigidly connected to the support body 22 at a first lateral end 22 a.

[0249] Preferably, the first support arm 25 extends vertically below the support body 22 .

[0250] In the preferred embodiment shown, the apparatus 1 comprises a first clamping device 30 for the workpiece articulated at the lower end 26 of the first support arm 25 so as to rotate about a first horizontal axis R1 (see Figure 4 ).

[0251] Preferably, the rotation of the first clamping device 30 relative to the first support arm 25 and about the first horizontal axis R1 is operated by an actuator device 31 preferably mounted at the lower end 26 of the first support arm 25 (see Figure 4 and Figure 5 ).

[0252] In the preferred embodiment shown, the first clamping device 30 is rotatable about the first horizontal axis R1 between the following positions:

[0253] - Figure 7A-7F , Figure 8A-8D and Figure 8H-8I The horizontal configuration shown is parallel to the workpiece support plane 5,

[0254] - Figure 4 , Figure 5 , Figure 7G-7L , Figure 8E-G and Figure 8J-Figure 8O A first vertical configuration is shown which is perpendicular to the workpiece support plane 5 and oriented at 90° relative to the horizontal configuration, and

[0255] A second vertical configuration (not shown) perpendicular to the workpiece support plane 5 , which is oriented at 90° relative to the horizontal configuration and rotated by 180° about the first horizontal axis R1 relative to the first vertical configuration.

[0256] The first clamping device 30 comprises a clamping surface 32 which defines a first clamping plane of the workpiece P.

[0257] Preferably, the clamping surface 32 is configured to come into contact with a surface of the workpiece P in order to exert the holding action of the first clamping device 30 on the workpiece itself.

[0258] The processing group 20 also includes a second support arm 35 .

[0259] In the preferred embodiment shown, the second support arm 35 is substantially L-shaped and includes a horizontal extension 36 (at Fig. 6A and Fig. 7E ) and vertically extending portions 37, defining multiple portions of an L-shape.

[0260] Preferably, the horizontal extension 36 of the second support arm 35 is at least partially received in a receiving area 24 defined in the support body 22 of the processing group 20 .

[0261] Preferably, the horizontal extension portion 36 of the second support arm 35 includes a plurality of rod-shaped elements 36a parallel to each other, which are slidably mounted in the receiving area 24, such as Fig. 6A shown.

[0262] Preferably, the horizontal extension 36 of the second support arm 35 is substantially arranged in a drawer-like manner along the horizontal axis A1. Figure 7A-7D and Figure 8A-8E The first insertion position shown in Figure 7E-7G , Figure 7J-7L , Figure 8F-8J and Figure 8M-Figure 8O The second withdrawn position shown in FIG. 2 is slidably mounted in the receiving area 24 .

[0263] In the first insertion position, the horizontally extending portion 36 of the second support arm 35 is preferably substantially completely received in the receiving area 24 , and the distance between the vertically extending portion 37 of the second support arm 35 and the first support arm 25 is minimal.

[0264] In the second extracted position, the horizontally extending portion 36 of the second support arm 35 is preferably partially extracted from the receiving area 24 , and the distance between the vertically extending portion 37 of the second support arm 35 and the first support arm 25 is at a maximum.

[0265] The travel of the horizontal extension portion 36 of the second support arm 35 between the first inserted position and the second withdrawn position may vary within a wide range and may be determined by a person skilled in the art according to application requirements.

[0266] In a preferred embodiment, in an illustrative and non-limiting example, the travel of the horizontal extension 36 of the second support arm 35 between the first inserted position and the second extracted position may vary between 250 mm and 900 mm.

[0267] In the preferred embodiment shown, the apparatus 1 comprises an actuator device 38 mounted on the support 22 and configured to actuate the actuator 120 in a controlled manner, for example by means of a rack and pinion or a screw-nut mechanism. Figure 7A-7D and Figure 8A-8E The first insertion position shown and Figure 7E-7G , Figure 7J-7L , Figure 8F-8J and Figure 8M-Figure 8O The horizontal extension 36 of the second support arm 35 is moved between the second extracted position shown.

[0268] In the preferred embodiment shown, the vertical extension 37 of the second support arm 35 is rigidly connected to the horizontal extension 36 at an end 36b of the horizontal extension 36 facing away from the first support arm 25 and extends vertically downwardly therefrom.

[0269] Preferably, the vertically extending portion 37 of the second support arm 35 has substantially the same vertical extension as the first support arm 25 .

[0270] The vertical extension of the first support arm 25 and the second support arm 35 may vary within a wide range and may be determined by a person skilled in the art according to application requirements.

[0271] Thus, in a preferred embodiment, the first support arm 25 and the second support arm 35 may have a vertical extension which, in an indicative, non-limiting example, may be comprised between 600 mm and 1500 mm.

[0272] In the preferred embodiment shown, the machine 1 comprises second gripping means 40 of the workpiece articulated at the lower end 39 of the vertical extension 37 of the second support arm 35 so as to rotate about a second horizontal axis R2 parallel to the first horizontal axis R1 .

[0273] Preferably, if Figure 5As shown, the rotation of the second clamping device 40 relative to the second support arm 35 is operated by an actuator device 41 mounted at the lower end 39 .

[0274] Preferably, the second clamping device 40 can rotate around the second horizontal axis R2 between the following positions:

[0275] - Figure 7K-7L The horizontal configuration shown is parallel to the workpiece support plane 5,

[0276] - Figure 4 , Figure 5 , Figure 7A-7J and Figure 8A-8M a first vertical configuration shown in , which is perpendicular to the workpiece support plane 5 and oriented at 90° relative to the horizontal configuration, wherein the second clamping device 40 faces the first clamping device 30, and

[0277] - Figure 8N-Figure 8O The second vertical configuration shown in FIG. 5 , which is perpendicular to the workpiece support plane 5 , is oriented at 90° relative to the horizontal configuration and is rotated 180° relative to the first vertical configuration, wherein the second clamping device 40 faces away from the first clamping device 30 .

[0278] Preferably, the second clamping device 40 comprises a clamping surface 42 which defines a second clamping plane of the workpiece P.

[0279] Preferably, the clamping surface 42 is configured to come into contact with a surface of the workpiece P in order to exert the holding action of the second clamping device 40 on the workpiece itself.

[0280] In the preferred embodiment shown, the first clamping device 30 and the second clamping device 40 each include one or more clamping elements 50, for example two clamping elements 50 per clamping device 30, 40, which are configured to exert a pneumatic holding action on the face of the workpiece P.

[0281] Preferably, each clamping element 50 comprises at least one suction element comprising a membrane 51 which surrounds a clamping area 52 defined in the respective clamping face 32 , 42 .

[0282] Preferably, the first clamping device 30 and the second clamping device 40 each comprise a plurality of holes 53 opening onto the clamping area 52 and in fluid communication with a pneumatic system (not shown) configured to exert a pneumatic suction action onto the clamping area 52 .

[0283] The above-described apparatus 1 is configured to move the first clamping device 30 and the second clamping device 40 between a plurality of operating positions.

[0284] In particular, the actuator means 15 drive the movement of the crossbeam 2 (on which the transverse guides 14 extend) relative to the vertical support structure 12 and the longitudinal guides 13 associated therewith, and are therefore configured to translate the clamping devices 30, 40 along the Y axis.

[0285] The actuator device 17 drives the slide 16 along the transverse guide 14 and is thus configured to move the clamping devices 30 , 40 on the crossbeam 2 along the X-axis.

[0286] The actuator device 19 drives the vertical movement of the support member 18 relative to the slide 16 and is therefore configured to translate the clamping devices 30 , 40 along the vertical axis Z1 perpendicularly to the crossbeam 2 and the workpiece support plane 5 .

[0287] The actuator means 21 drives the rotational movement of the processing group 20 about the vertical axis Z1 and is therefore configured to rotate the gripping means 30 , 40 about the vertical axis Z1 .

[0288] The actuator device 31 drives the rotational movement of the first clamping device 30 relative to the first support arm 25 and is thus configured to rotate the first clamping device 30 around the first horizontal axis R1 .

[0289] The actuator means 38 drives the translational movement of the horizontal extension 36 of the second support arm 35 and is therefore configured to translate the second clamping means 40 along the horizontal axis A1 away from and towards the support 22 of the processing group 20 and simultaneously away from and towards the first clamping means 30 .

[0290] The actuator device 41 drives the rotational movement of the second clamping device 40 relative to the second support arm 35 and is thus configured to rotate the second clamping device 40 around the second horizontal axis R2.

[0291] In the preferred embodiment shown, the first clamping device 30 and the second clamping device 40 of the instrument 1 can thus be in the pick-up position ( Fig. 7A , Fig. 7E , Fig. 8A and Figure 8H ), swap positions ( Figure 7H and Figure 8K ) and placement ( Fig.7D , Figure 7L , Figure 8G and Fig.8O ) between the

[0292] In the picking position, the first clamping device 30 or the second clamping device 40 is arranged in a horizontal configuration, wherein the corresponding first clamping surface 32 or the second clamping surface 42 is adjacent to the finished surface F2 or the rough surface F1 of the workpiece P located on the workpiece support plane 5 .

[0293] For clarity, in Figure 7A-7L and Figure 8A-Figure 8O In FIG. 1 , the finished surface F2 of the workpiece P is indicated by a thick line.

[0294] In the exchange position, the processing group 20 is arranged at a higher position than in the pick-up position, so that the workpiece P can be rotated about the horizontal axes R1 , R2 without coming into contact with the workpiece support plane 5 .

[0295] Both the first clamping device 30 and the second clamping device 40 are arranged in the above-mentioned respective first vertical configuration so as to be arranged such that their respective clamping faces 32 , 42 and their respective clamping planes face each other.

[0296] The horizontal extension 36 of the second support arm 35 is almost completely inserted into the receiving area 24 defined in the support body 22 of the processing group 20 so as to keep the first clamping device 30 and the second clamping device 40 in close proximity to each other, separated by the thickness of the single workpiece P (see Figure 7H , Fig.7I and Figure 8K , Figure 8L ).

[0297] In the placement position, the operational configuration of the first clamping device 30 or the second clamping device 40 causes the workpiece P to be released from the corresponding first clamping surface 32 or second clamping surface 42 at a predetermined position in the workpiece storage area 6, depending on which of the two clamping devices is moving the workpiece P.

[0298] Specifically, the first clamping device 30 or the second clamping device 40 may be in a corresponding horizontal configuration for placing the workpiece horizontally in the workpiece storage area 6, for example Fig.7D and Figure 7L as shown, or in a corresponding second vertical configuration to place the block vertically in the workpiece storage area 6, e.g. Figure 8G and Fig.8O shown.

[0299] Preferably, the apparatus 1 further comprises a control unit, not shown, which is suitably programmed to control the movements of the first 30 and second 40 holding means and their respective supporting elements according to a control program.

[0300] In particular, the control unit preferably includes a data processing unit, which may include one or more electronic processors, and the data processing unit is configured to execute a control program of the apparatus 1, in particular to control the movement of the crossbeam 2 along the Y direction, the movement of the support device 10 along the horizontal X direction and the vertical Z direction, the movement of the second clamping device 40 to and from the support body 22, and to rotate the first clamping device 30 and the second clamping device 40 around the axis R1 and the axis R2.

[0301] In a preferred embodiment, the control unit may also comprise a user interface, for example provided with a keyboard and a screen, via which appropriate input data for the movement to be performed may be entered.

[0302] Various modifications of the device 1 are possible.

[0303] For example, the first clamping device 30 and the second clamping device 40 can each be supported by a corresponding supporting device 10, which is structurally independent of each other and can move independently of each other on the beam 2 of the portal structure 11, or each move on the corresponding beam according to a configuration with two parallel and structurally independent beams.

[0304] In this possible preferred embodiment, each supporting device 10 moves a corresponding processing group 20 associated with a corresponding clamping device 30, 40, which can be moved by the instrument 1 in a manner similar to the manner described above with reference to the single processing group 20 of the preferred embodiment shown in the accompanying drawings.

[0305] In this preferred embodiment, which may have structurally independent support devices 10 , the clamping means 30 , 40 are moved relative to each other in the X direction by moving each support device 10 .

[0306] According to another variant, the gripping devices 30 , 40 can be movably associated to the support body 22 of a single processing group 20 by means of respective vertically extending support arms which are movable independently of one another on the support body 22 in the X direction.

[0307] According to another variant, the first support arm 25 can be implemented in a manner similar to the above-mentioned second support arm 35, and can include a horizontal extension portion that is at least partially accommodated in the accommodating area 24 so as to allow the first clamping device 30 to be horizontally translated relative to the support body 22 of the processing group 20 in a manner similar to the second clamping device 40 of the preferred embodiment shown in the figure.

[0308] Furthermore, according to another variation, the first support arm 25 and / or the second support arm 35 may be configured to allow the first clamping device 30 and / or the second clamping device 40 to rotate around respective vertical axes or vertical portions of the first support arm 25 and the second support arm 35 , respectively.

[0309] In yet another variation, the first support arm 25 and / or the second support arm 35 may be configured to allow the first clamping device 30 and / or the second clamping device 40 to translate along respective vertical axes.

[0310] In this case, the apparatus 1 comprises suitable means for moving the first support arm 25 and / or the second support arm 35 along the respective vertical axis.

[0311] Additionally, the horizontally extending portion of the first support arm 25 and / or the second support arm 35 may be telescopically configured to allow the distances of the first clamping device 30 and the second clamping device 40 , respectively, from the support body 22 to be adjusted independently of each other.

[0312] By means of a preferred embodiment of the method according to the invention, the above-described apparatus 1 can be used to move a pair of workpieces P having a rough surface F1 and an opposite finely machined surface F2, as will be described below with reference to Figure 7A-Figure 8O As shown in Figure 1A The operating configuration of the apparatus 1 is described with reference to a preferred embodiment for purposes of illustration only and not limitation.

[0313] More specifically, FIG. 7A to FIG. 7L The operation steps of the method for horizontally stacking a pair of workpieces P1, P2 are shown, and FIG. 8A to FIG. 8O The operational steps of the method for vertically stacking the pair of workpieces P1 , P2 are described.

[0314] In a first step, a plurality of workpieces P are provided, wherein the roughened surface F1 is placed on a workpiece support plane 5 and the finely machined surface F2 faces away from the workpiece support plane.

[0315] Next, the apparatus 1 is placed in the pick-up position by placing the first clamping surface 32 of the first horizontally oriented clamping device 30 in contact with the finished surface F2 of the first workpiece P1 of the plurality of workpieces P, and the first workpiece P1 is clamped by activating the suction clamping element 50 of the first clamping device 30 so as to keep the finished surface F2 facing the first clamping device 30 itself ( Fig. 7A ; Fig. 8A ).

[0316] Next, the first clamping device 30 moves vertically upward to lift the first workpiece P1 from the workpiece supporting plane 5 ( Figure 7B ; Figure 8B ).

[0317] In the preferred embodiment shown, lifting is performed by operating the actuator means 19 , which causes the support device 10 to translate relative to the slide 16 (and therefore relative to the first clamping means 30 ) along the vertical axis Z1 .

[0318] Next, the first clamping device 30 is horizontally translated between the position where the first workpiece P1 is arranged above the workpiece support plane 5 and the position where the first workpiece P1 is arranged in the workpiece storage area 6 ( Figure 7C ; Figure 8C ).

[0319] This translation may have a longitudinal component (parallel to the Y-axis) and / or a lateral component (parallel to the X-axis).

[0320] Preferably, the longitudinal component of the translation of the first clamping device 30 can be obtained by translation of the transverse guide 14 along the longitudinal guide 13 fixed to the supporting structure 12 , this translation being operated by means of the actuator device 15 .

[0321] Preferably, the transverse component of the translation of the first clamping device 30 can be achieved by translation of a slide 16 operated by means of an actuator device 17 along a transverse guide 14 extending on the crossbeam 2 .

[0322] In a preferred embodiment, the processing group 20 can be rotated about the vertical axis Z to switch positions between the first clamping device 30 and the second clamping device 40 and to better position the first workpiece P1 relative to the workpiece storage area 6 (see Fig.8D ).

[0323] Such rotation of the treatment group 20 is preferably performed by operating the actuator means 21 .

[0324] In a preferred embodiment of the method according to the invention, the workpieces P can be stored according to a vertical or substantially vertical orientation, and the first clamping device 30 can be rotated 90° about the first horizontal axis R1 from a horizontal configuration to a second vertical configuration (see Fig. 8E ) to change the direction of the first workpiece P1 from horizontal to substantially vertical.

[0325] Preferably, such rotation of the first clamping device 30 is performed by operating the actuator device 31 .

[0326] In one embodiment, if appropriate, depending on the geometry of the workpiece storage area 6, the second clamping device 40 can be moved away from the first clamping device 30 (see Figure 8F ).

[0327] Preferably, this translation of the second clamping device 40 is performed by operating the actuator device 38 .

[0328] In the subsequent step, the first clamping device 30 is translated downward so as to hold the first workpiece P1 in a horizontal direction (see Fig.7D ) or basically vertical (see Figure 8G ) is placed in the workpiece storage area 6.

[0329] Preferably, this translation of the first clamping means 30 is performed by operating the actuator means 19 which move the support member 18 of the support device 10 downwardly along the vertical axis Z1 relative to the slide 16 .

[0330] Subsequently, the first workpiece P1 is released from the first clamping device 30 by deactivating the suction clamping element 50 .

[0331] Thus, the finished surface F2 of the first workpiece P1 is visible, especially facing upward ( Fig.7D ) or facing sideways ( Figure 8G ).

[0332] The transfer of the first workpiece P1 from the workpiece support surface 5 to the workpiece storage area 6 can be carried out in substantially the same manner using the second gripping device 40 .

[0333] Next, the apparatus 1 is placed in the pick-up position again by placing the first clamping surface 32 of the first clamping device 30 in contact with the finished surface F2 of the second workpiece P2 of the pair of workpieces P, and the second workpiece P2 is held by activating the suction clamping element 50 of the first clamping device 30 so as to keep the finished surface F2 facing the first clamping device 30 itself ( Fig. 7E ; Figure 8H ).

[0334] Next, the first clamping device 30 is translated vertically upward to lift the second workpiece P2 from the workpiece supporting plane 5 ( Figure 7F ; Figure 8I ).

[0335] Preferably, lifting is performed by operating the actuator means 21 , which causes the support member 18 of the support device 10 to translate relative to the slide 16 along the vertical axis Z1 (and therefore causes the first clamping means 30 to translate).

[0336] Subsequently, the first clamping device 30 is rotated 90° around the first horizontal axis R1 from the horizontal configuration to the first vertical configuration ( Figure 7G ; Figure 8J ) so that the second workpiece P2 faces the second clamping device 40.

[0337] Preferably, the rotation is performed by operating the actuator device 31 .

[0338] Next, the second clamping device 40 is brought closer to the first clamping device 30, specifically, by translating the horizontal extension arm 36 along the horizontal axis A1 in the direction from the second withdrawal position to the second insertion position ( Figure 7H ; Figure 8K ) so that, in the exchange position of the apparatus 1 , the second clamping surface 42 is placed in contact with the rough surface F1 of the second workpiece P2 , preferably, this translation being performed by operating the actuator device 38 .

[0339] Subsequently, the second workpiece P2 is released from the first clamping device 30 by deactivating the suction clamping element 50 of the first clamping device 30 , and simultaneously, the second workpiece P2 is held by the second clamping device 40 by activating the suction clamping element 50 of the second clamping device 40 .

[0340] In this way, the second workpiece P2 is transferred from the first clamping device 30 to the second clamping device 40 ( Figure 7H ; Figure 8K ).

[0341] Next, for example, by translating the horizontally extending arm 36 ( Figure 7J , Figure 8M ), so that the second clamping device 40 moves away from the first clamping device 30, thereby moving the second workpiece P2 away from the first clamping device 30.

[0342] Preferably, the translation is performed by operating actuator means 38 .

[0343] Before or after transferring the second workpiece P2 from the first clamping device 30 to the second clamping device 40, the support device 10 is moved along the transverse guide 14 between a position where the second workpiece P2 is arranged above the workpiece support plane 5 and a position where the second workpiece P2 is arranged substantially above the workpiece storage area 6 ( Fig.7I ; Figure 8L ).

[0344] Preferably, the translation movement may have a longitudinal component (parallel to the Y-axis) and / or a transverse component (parallel to the X-axis).

[0345] Preferably, the longitudinal component of the translation is achieved by a translation of the crossbeam 2 , the transverse guide 14 being performed along the longitudinal guide 13 by means of actuator means 15 .

[0346] Preferably, the transverse component of translation is achieved by translating the slide 16 along a transverse guide 14 associated with the crossbeam 2 , performed by means of actuator means 17 .

[0347] In a preferred embodiment, the second clamping device 40 is rotated 90° about the second horizontal axis R2 from the first vertical configuration to the horizontal configuration to change the direction of the second workpiece P2 from vertical to horizontal ( Figure 7K ).

[0348] Preferably, the rotation is performed by operating the actuator device 41 .

[0349] In another preferred embodiment, the second clamping device 40 rotates 180° about the second horizontal axis R2 from the first substantially vertical configuration to the second vertical configuration ( Figure 8N ) so that the second workpiece P2 is vertically facing away from the first clamping device 30.

[0350] Preferably, the rotation is performed by operating the actuator device 41 .

[0351] Subsequently, the second clamping device 40 moves downward so as to hold the second workpiece P2 in the horizontal direction ( Figure 7L ) or basically vertical ( Fig.8O ) is placed in the workpiece storage area 6.

[0352] Preferably, such movement of the second clamping means 40 is performed by operating the actuator means 19 which translate the support member 18 of the supporting device 10 downwardly along the vertical axis Z1 relative to the slide 16 .

[0353] Subsequently, the second workpiece P2 is released from the second clamping device 40 by deactivating the suction clamping element 50 .

[0354] In this way, the finished surface F2 of the second workpiece rests on the finished surface F2 of the first workpiece P1.

[0355] Transfer of the second workpiece P2 from the workpiece support plane 5 to the workpiece storage area 6 may be performed in a substantially similar manner, namely by first picking up the workpiece from the workpiece support plane 5 by the second gripping device 40 and then transferring it to the first gripping device 30 in a manner similar to that described above.

[0356] Obviously, the above operation may be repeated to move further pairs of workpieces P1 , P2 from the workpiece support plane 5 to the workpiece storage area 6 by arranging the finished surfaces F2 of each pair of workpieces P1 , P2 against each other.

[0357] In a further preferred embodiment of the invention, the movement operation can also be performed on the pair of workpieces P1, P2 starting from the workpieces P1, P2 being placed with their finished surfaces F2 on the workpiece support plane 5. In this case, what is said with reference to the finished surface F2 must be understood as reference to the rough surface F1 and vice versa.

[0358] Obviously, those skilled in the art can make various modifications and changes to the above-mentioned device and method for moving a workpiece to meet specific and possible requirements, and all these modifications and changes are within the protection scope of the present invention as defined by the appended claims.

Claims

1. An apparatus (1) for moving a pair of workpieces (P) having a rough surface (F1) and an opposite finely machined surface (F2), comprising: a workpiece support plane (5) configured to support one or more workpieces (P); A first clamping device (30) and a second clamping device (40) respectively defining a first clamping plane (32) and a second clamping plane (42) of the workpiece (P); and a workpiece storage area (6) configured to store stacked pairs of workpieces; Wherein, the device (1) is configured as follows: A) moving the first clamping device (30) and the second clamping device (40) between the following positions: i) a pick-up position, wherein the first clamping device (30) or the second clamping device (40) is configured to pick up a workpiece (P) placed on the workpiece support plane (5); ii) exchanging positions, wherein the first clamping device (30) and the second clamping device (40) face each other so that the first clamping plane (32) and the second clamping plane (42) of the workpiece (P) face each other to allow the workpiece (P) to be transferred from the first clamping device (30) to the second clamping device (40), or vice versa; and iii) a placement position, wherein the second gripping device (40) and the first gripping device (30) are both configured to release the workpiece (P) transferred in the exchange position into the workpiece storage area (6); or B) moving the first clamping device (30) and the second clamping device (40) between the following positions: i) a picking position, wherein the first clamping device (30) and the second clamping device (40) are both configured to pick up a workpiece (P) placed on the workpiece support plane (5); ii) exchanging positions, wherein the first clamping device (30) and the second clamping device (40) face each other so that the first clamping plane (32) and the second clamping plane (42) of the workpiece (P) face each other to allow the workpiece (P) to be transferred from the first clamping device (30) to the second clamping device (40), or vice versa; and iii) a placement position, wherein the second gripping device (40) or the first gripping device (30) is configured to release the workpiece (P) transferred in the exchange position in the workpiece storage area (6); or C) moving the first clamping device (30) and the second clamping device (40) between the following positions: i) a picking position, wherein the first clamping device (30) and the second clamping device (40) are both configured to pick up a workpiece (P) placed on the workpiece support plane (5); ii) exchanging positions, wherein the first clamping device (30) and the second clamping device (40) face each other so that the first clamping plane (32) and the second clamping plane (42) of the workpiece (P) face each other to allow the workpiece (P) to be transferred from the first clamping device (30) to the second clamping device (40), or vice versa; and iii) a placement position, wherein the second gripping device (40) and the first gripping device (30) are both configured to release the workpiece (P) transferred in the exchange position into the workpiece storage area (6).

2. The apparatus (1) according to claim 1, comprising a single processing group (20), said single processing group comprising said first clamping device (30) and said second clamping device (40).

3. The apparatus (1) according to claim 1 comprises a first processing group and a second processing group, wherein the first processing group comprises the first clamping device (30), and the second processing group comprises the second clamping device (40), and the first processing group and the second processing group are structurally independent of each other.

4. The apparatus (1) according to claim 2, further comprising a supporting device (10) of the single treatment group (20).

5. The apparatus (1) according to claim 3, further comprising a supporting device for the first processing group and a supporting device for the second processing group, the supporting device (10) being configured to support the corresponding processing group (20) above the workpiece supporting plane (5).

6. The device (1) according to claim 4, wherein: The supporting device (10) of the individual processing groups (20) can be moved perpendicularly to the workpiece supporting plane (5) and / or parallel to the workpiece supporting plane (5), preferably in directions perpendicular to each other.

7. The device (1) according to claim 5, wherein: The supporting devices of one or both of the structurally independent first and second processing groups are movable perpendicularly to the workpiece supporting plane (5) and / or parallel to the workpiece supporting plane (5), preferably in directions perpendicular to each other.

8. The device (1) according to claim 4, wherein: The single processing group (20) is rotatably supported by the supporting device (10) about a vertical axis (Z1) perpendicular to the workpiece supporting plane (5).

9. The device (1) according to claim 5, wherein: One or both of the structurally independent first and second processing groups are rotatably supported by corresponding supporting devices (10) around a vertical axis (Z1) perpendicular to the workpiece supporting plane (5).

10. The device (1) according to claim 2, wherein: The single processing group (20) comprises a support body (22) for the first clamping device (30) and the second clamping device (40), and the support body is configured to support the first clamping device (30) and the second clamping device (40) at a certain distance from each other along a direction parallel to the workpiece supporting plane (5).

11. The device (1) according to claim 3, wherein: The structurally independent first processing group and the second processing group each respectively include a first support body of the first clamping device (30) and a second support body of the second clamping device (40), and the first support body and the second support body are configured to support the first clamping device (30) and the second clamping device (40) at a certain distance from each other along a direction parallel to the workpiece supporting plane (5).

12. The device (1) according to claim 10, wherein: The support body (22) of the individual treatment group (20) is associated with the lower end (19a) of the corresponding support device (10).

13. The device (1) according to claim 11, wherein: The support body of each of the structurally independent first and second treatment groups is associated with a lower end (19a) of a corresponding support device (10).

14. The apparatus (1) according to claim 10, comprising a first actuator device (17), which is configured to move the first clamping device (30) along a direction perpendicular to the workpiece support plane (5) and relative to the support body (22) of the single processing group (20).

15. The apparatus (1) according to claim 11, comprising a first actuator device (17), which is configured to move the first clamping device (30) along a direction perpendicular to the workpiece support plane (5) and relative to the support body (22) of the first processing group.

16. The apparatus (1) according to claim 10, comprising a second actuator device (17), which is configured to move the second clamping device (40) along a direction perpendicular to the workpiece support plane (5) and relative to the support body (22) of the single processing group (20).

17. The apparatus (1) according to claim 11, comprising a second actuator device (17), which is configured to move the second clamping device (40) along a direction perpendicular to the workpiece support plane (5) and relative to the support body (22) of the second processing group.

18. The device (1) according to claim 10, wherein: The first clamping device (30) is rigidly fixed to the support body (22) of the single processing group (20) by means of a respective first vertically extending support arm (25).

19. The device (1) according to claim 11, wherein The first clamping device (30) is rigidly fixed to the support body (22) of the first processing group by means of a respective first vertically extending support arm (25).

20. The device (1) according to claim 10, wherein The first clamping device (30) is movably associated to the support body (22) of the single processing group (20) via a corresponding first vertically extending support arm.

21. The device (1) according to claim 11, wherein The first clamping device (30) is movably associated to the support body (22) of the first processing group via a respective first vertically extending support arm.

22. The device (1) according to claim 10, wherein: The first clamping device (30) is movably associated to the support body (22) of the single processing group (20) by means of a respective first support arm, the first support arm comprising a respective horizontal extension and a respective vertical extension.

23. The apparatus (1) according to claim 20 comprises a third actuator device, which acts on a first support arm of the first clamping device (30) and is configured to move the first clamping device (30) parallel to the workpiece support plane (5) by sliding the first support arm on or in the support body (22) of the single processing group (20).

24. The apparatus (1) according to claim 22 comprises a third actuator device, which acts on the first support arm of the first clamping device (30) and is configured to move the first support arm and the first clamping device (30) parallel to the workpiece support plane (5) and toward and away from the support body (22) of the single processing group (20).

25. The apparatus (1) according to claim 9, wherein: The second clamping device (40) is rigidly fixed to the support body of the second processing group by means of a respective second vertically extending support arm.

26. The apparatus (1) according to claim 8, wherein The second holding device (40) is movably associated to the support body (22) of the single processing group (20) via a corresponding second vertically extending support arm.

27. The apparatus (1) according to claim 9, wherein: The second holding device (40) is movably associated to the support body (22) of the second processing group via a respective second vertically extending support arm.

28. The apparatus (1) according to claim 8, wherein The second clamping device (40) is movably associated to the support body (22) of the single processing group (20) by means of a respective second support arm (35), the second support arm comprising a respective horizontal extension (36) and a respective vertical extension (37).

29. The apparatus (1) according to claim 26 comprises a fourth actuator device (38), which acts on a second support arm of the second clamping device (40) and is configured to move the second clamping device (40) parallel to the workpiece support plane (5) by sliding the second support arm on or in the support body (22) of the single processing group (20).

30. The apparatus (1) according to claim 28 comprises a fourth actuator device (38), which acts on the second support arm (35) of the second clamping device (40) and is configured to move the second support arm (35) and the second clamping device (40) parallel to the workpiece support plane (5) and toward and away from the support body (22) of the single processing group (20).

31. The apparatus (1) according to claim 22 or 26, wherein: The first clamping device (30) and the second clamping device (40) are movably associated with the support body (22) of the single processing group (20) at opposite sides of the support body (22) of the single processing group (20).

32. Apparatus (1) according to claim 22 or 28, wherein: In the support body (22) of the single processing group (20), a receiving area (24) is defined for the horizontal extension part (36) of the first support arm (30) of the first clamping device (30) and / or the horizontal extension part (36) of the second support arm (35) of the second clamping device (40).

33. The apparatus (1) according to claim 32 comprises a third actuator device, which acts on the first support arm of the first clamping device (30) and is configured to insert the horizontal extension part of the first support arm of the first clamping device (30) into the accommodating area (24) and withdraw it from the accommodating area.

34. The apparatus (1) according to claim 32 comprises a fourth actuator (38), which acts on the second support arm (35) of the second clamping device (40) and is configured to insert the horizontal extension part (36) of the second support arm (35) of the second clamping device (40) into the accommodating area (24) and to withdraw it from the accommodating area.

35. The apparatus (1) according to claim 32, wherein: The receiving area (24) of the horizontal extension of the first supporting arm of the first clamping device (30) is defined in the hollow box-shaped portion (23) of the supporting body (22) of the single processing group (20).

36. The apparatus (1) according to claim 32, wherein: The receiving area (24) of the horizontal extension (36) of the second supporting arm (35) of the second clamping device (40) is defined in the hollow box-shaped portion (23) of the supporting body (22) of the single processing group (20).

37. Apparatus (1) according to claim 32, comprising third actuator means acting on the first support arm of the first clamping means (30) and configured to move the horizontal extension of the first support arm of the first clamping means (30) along a direction parallel to the workpiece support plane (5) between the following positions: a first insertion position, in which the horizontal extension of the first support arm of the first clamping device (30) is completely accommodated in the accommodation area (24) defined in the support body (22) of the single treatment group (20); and - a second extraction position, in which The horizontal extension of the first support arm of the first clamping device (30) extends at least partially in a cantilevered manner to the outside of the support body (22) of the single processing group (20).

38. The apparatus (1) according to claim 32, comprising a fourth actuator (38) acting on the second support arm (35) of the second clamping device (40) and configured to move the horizontal extension (36) of the second support arm (35) of the second clamping device (40) along a direction parallel to the workpiece support plane (5) between the following positions: - a first insertion position, in which the horizontal extension (36) of the second support arm (35) of the second clamping device (40) is completely accommodated in the accommodation area (24) defined in the support body (22) of the single treatment group (20); and - a second extraction position, in which The horizontal extension (36) of the second support arm (35) of the second clamping device (40) extends at least partially in a cantilevered manner to the outside of the support body (22) of the single processing group (20).

39. The apparatus (1) according to claim 32, wherein: The horizontal extension part of the first support arm of the first clamping device (30) and / or the horizontal extension part (36) of the second support arm (35) of the second clamping device (40) includes one or more rod-shaped elements (36a), which are preferably parallel to each other and are slidably mounted in the accommodating area (24), which is defined in the support body (22) of the single processing group (20).

40. The device (1) according to claim 39, wherein The horizontal extension portion of the first support arm of the first clamping device (30) and the horizontal extension portion (36) of the second support arm (35) of the second clamping device (40) include a plurality of rod-shaped elements (36a), which are preferably parallel to each other and are slidably mounted in the accommodating area (24) and at least partially interlaced with each other in the accommodating area (24), and the accommodating area is defined in the support body (22) of the single processing group (20).

41. The apparatus (1) according to claim 22, wherein: The horizontal extension portion of the first supporting arm of the first clamping device (30) is of telescopic type.

42. The apparatus (1) according to claim 28, wherein The horizontal extension (36) of the second support arm (35) of the second clamping device (40) is of telescopic type.

43. The apparatus (1) according to claim 22, wherein: The horizontal extension portion of the first support arm of the first clamping device (30) is slidably supported outside the support body (22) of the processing group (20).

44. The apparatus (1) according to claim 28, wherein The horizontal extension portion (36) of the second support arm (35) of the second clamping device (40) is slidably supported outside the support body (22) of the processing group (20).

45. Apparatus (1) according to claim 18 or 25, wherein: The first clamping device (30) and the second clamping device (40) are hinged to the corresponding first vertically extending support arm (25) or the second vertically extending support arm at the free end (26) of the first vertically extending support arm (25) or the second vertically extending support arm.

46. ​​Apparatus (1) according to claim 22 or 28, wherein: The first clamping device (30) and the second clamping device (40) are hinged to the corresponding vertical extension parts (37) of the first support arm and the second support arm (35) at the free ends (39) of the vertical extension parts (37) of the first support arm and the vertical extension parts (37) of the second support arm (35), respectively.

47. The apparatus (1) according to claim 45, comprising: fifth actuator means (31) configured to rotate said first clamping means (30) about a first horizontal axis (R1) parallel to said workpiece supporting plane (5); and / or A sixth actuator device (41) is configured to rotate the second clamping device (40) about a second horizontal axis (R2) parallel to the workpiece supporting plane (5).

48. Apparatus (1) according to claim 47, wherein The fifth actuator device (31) and the sixth actuator device (41) are configured to rotate the first clamping device (30) and the second clamping device (40) respectively around the first horizontal axis (R1) and the second horizontal axis (R2) parallel to the workpiece supporting plane (5) by an angle equal to at least 90°.

49. The apparatus (1) according to claim 18 or 19, comprising: - seventh actuator means (21) configured to rotate said first clamping means (30) about a vertical axis (Z1) perpendicular to said workpiece supporting plane (5); and / or - eighth actuator means (21) configured to rotate said second clamping means (40) about a vertical axis (Z1) perpendicular to said workpiece supporting plane (5).

50. The apparatus (1) according to claim 1, wherein The first clamping device (30) and / or the second clamping device (40) comprises a respective pneumatic clamping element (50) comprising one or more suction elements.

51. A method of moving a pair of workpieces (P) having a rough surface (F1) and an opposite finished surface (F2) by means of a device (1) for moving the workpieces (P), the device (1) comprising: a workpiece support plane (5) configured to support one or more workpieces (P); A first clamping device (30) and a second clamping device (40) respectively defining a first clamping plane (32) and a second clamping plane (42) of the workpiece (P); The method comprises the following steps: a) providing a plurality of workpieces (P), each of which has a rough surface (F1) placed on the workpiece support plane (5) and a finely machined surface (F2) facing away from the workpiece support plane (5), or has a finely machined surface (F2) placed on the workpiece support plane (5) and a rough surface (F1) facing away from the workpiece support plane (5); b) picking up a first workpiece (P1) of a pair of workpieces (P) from the workpiece support plane (5) by means of one of the first clamping device (30) and the second clamping device (40), keeping the finished surface (F2) or the rough surface (F1) of the first workpiece (P1) of the pair of workpieces (P) facing the clamping device for picking up the first workpiece (P1); c) moving the first workpiece (P1) of the pair of workpieces (P) towards the workpiece storage area (6) by means of the first clamping device or the second clamping device used in step b); d) releasing the first workpiece (P1) of the pair of workpieces (P) into the workpiece storage area (6) so that the finished surface (F2) or the rough surface (F1) is visible; e) picking up a second workpiece (P2) of a pair of workpieces (P) from a workpiece support plane (5) by means of one of a first clamping device (30) and a second clamping device (40), keeping the finished surface (F2) or the rough surface (F1) of the second workpiece (P2) of the pair of workpieces facing the clamping device for picking up the second workpiece (P2); f) positioning the first clamping device (30) and the second clamping device (40) in an exchange position, wherein the first clamping device (30) and the second clamping device (40) face each other, so that the first clamping plane (32) and the second clamping plane (42) of the second workpiece (P2) of the pair of workpieces (P) face each other; g) transferring the second workpiece (P2) of the pair of workpieces (P) from the first clamping device (30) to the second clamping device (40) so that the finished surface (F2) or the rough surface (F1) of the second workpiece (P2) of the pair of workpieces faces away from the second clamping device (40), or transferring the second workpiece (P2) of the pair of workpieces (P) from the second clamping device (40) to the first clamping device (30) so that the finished surface (F2) or the rough surface (F1) of the second workpiece (P2) of the pair of workpieces faces away from the first clamping device (30); h) moving the second workpiece (P2) of the pair of workpieces (P) toward the workpiece storage area (6) by means of the first clamping device (30) or the second clamping device (40) to which the workpiece was transferred in step g); i) releasing the second workpiece (P2) of the pair of workpieces (P) in the workpiece storage area (6) by means of the first clamping device (30) or the second clamping device (40) to which the workpieces were transferred in step g), so that the finished surface (F2) or the rough surface (F1) of the second workpiece (P2) is placed on the visible finished surface (F2) or the visible rough surface (F1) of the first workpiece (P1) of the pair of workpieces (P); l) Optionally, steps a) to i) are repeated for one or more further pairs of workpieces (P).

52. A method according to claim 51, wherein the apparatus (1) comprises a single processing group (20), the single processing group comprising the first clamping device (30) and the second clamping device (40), and wherein the step b) of picking up the first workpiece (P1) of the pair of workpieces (P) from the workpiece support plane (5) by means of one of the first clamping device (30) and the second clamping device (40) and / or the step e) of picking up the second workpiece (P2) of the pair of workpieces (P) from the workpiece support plane (5) comprises: - moving the support body (22) of the single processing group (20) towards the workpiece support plane (5); and / or - moving one of the first clamping device (30) and the second clamping device (40) relative to the support (22) of the single processing group (20) towards the workpiece support plane (5); - operating the first clamping device (30) or the second clamping device (40) to associate the first workpiece (P1) or the second workpiece (P2) of the pair of workpieces (P) to the first clamping device (30) or the second clamping device (40).

53. The method of claim 51, wherein: The apparatus (1) comprises a first processing group and a second processing group, wherein the first processing group comprises the first clamping device (30), and the second processing group comprises the second clamping device (40), and the first processing group and the second processing group are structurally independent of each other. And wherein the step b) of picking up the first workpiece (P1) of the pair of workpieces (P) from the workpiece support plane (5) by means of one of the first clamping device (30) and the second clamping device (40) and / or the step e) of picking up the second workpiece (P2) of the pair of workpieces (P) from the workpiece support plane (5) comprises: - moving the support of the first processing group or the second processing group towards the workpiece support plane (5); and / or - moving one of the first clamping device (30) and the second clamping device (40) towards the workpiece support plane (5) relative to a corresponding support of the first processing group or the second processing group; - operating the first clamping device (30) or the second clamping device (40) to associate the first workpiece (P1) or the second workpiece (P2) of the pair of workpieces (P) to the first clamping device (30) or the second clamping device (40).

54. The method of claim 51, wherein: The step f) of positioning the first clamping device (30) and the second clamping device (40) in the exchange position comprises: rotating the first clamping device (30) and the second clamping device (40) so as to arrange the first clamping plane (32) of the picked workpiece (P1) and the second clamping plane (42) of the picked workpiece (P2) of the pair of workpieces (P) in a position facing each other.

55. The method of claim 54, wherein: The step f) of positioning the first clamping device (30) and the second clamping device (40) in the exchange position comprises: before rotating the first clamping device (30) and the second clamping device (40), moving the first clamping device (30) and the second clamping device (40) away from each other.

56. The method of claim 51, wherein: The step g) transfers the second workpiece (P2) of the pair of workpieces (P) from the first clamping device (30) to the second clamping device (40), or vice versa; the step g) includes: activating the second clamping device (40) and deactivating the first clamping device (30), or vice versa.

57. The method of claim 51, wherein: The step h) of moving the second workpiece (P2) of the pair of workpieces (P) towards the workpiece storage area (6) comprises: - rotating the second clamping device (40) to orient the corresponding second clamping plane (42) and the finished surface (F2) or the roughened surface (F1) of the second workpiece (P2) of the pair of workpieces (P) in a position parallel to the workpiece support plane (5) or in a position facing away from the first clamping plane (32), or - Rotating the first clamping device (30) to orient the corresponding first clamping plane (32) and the finished surface (F2) or the rough surface (F1) of the second workpiece (P2) of the pair of workpieces (P) in a position parallel to the workpiece support plane (5) or in a position facing away from the second clamping plane (42).

58. The method of claim 57, wherein: The step h) comprises: rotating the second clamping device (40) or the first clamping device (30) around a vertical axis (Z1) or around a horizontal axis (R1, R2).

59. The method of claim 51, wherein: The step h) of moving the second workpiece (P2) of the pair of workpieces (P) toward the workpiece storage area (6) comprises: rotating the second clamping device (40) or the first clamping device (30) around a horizontal rotation axis (R1, R2) to orient the finished surface (F2) or the rough surface (F1) of the second workpiece (P2) of the pair of workpieces (P) so that the finished surface (F2) or the rough surface (F1) faces the visible finished surface (F2) or the visible rough surface (F1) of the first workpiece (P1) of the pair of workpieces (P) previously released in the workpiece storage area (6).

60. The method of claim 57, wherein: The step h) comprises: rotating the second clamping device (40) or the first clamping device (30) around a horizontal axis (R2, R1) by an angle equal to 90°.

61. The method of claim 51, wherein: The step h) of moving the second workpiece (P2) of the pair of workpieces (P) toward the workpiece storage area (6) comprises: before rotating the second clamping device (40) or the first clamping device (30), moving the second clamping device (40) and the first clamping device (30) away from each other.

62. The method of claim 51, wherein: The step d) of releasing the first workpiece (P1) of the pair of workpieces (P) comprises: after the first workpiece (P1) of the pair of workpieces (P) has been released in the workpiece storage area (6), deactivating the second clamping device (40) or the first clamping device (30).

63. The method of claim 51, wherein: The step i) of releasing the second workpiece (P2) of the pair of workpieces (P) in the workpiece storage area (6) comprises: after placing the second workpiece (P2) on the first workpiece (P1) of the pair of workpieces (P) in the workpiece storage area (6), deactivating the second clamping device (40) or the first clamping device (30).

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