Sorting and storing facility for plates

Abstract

A sorting and storage facility for plates (L), comprising: a warehouse (20, 21) provided with a plurality of accommodation spaces (22); a manipulator (3) provided for gripping and releasing the sheet (L) and for displacing the sheet (L) between the auxiliary position (D) and the one or more accommodation spaces (22). The warehouse (20, 21) comprises at least one shelf (20) comprising a plurality of side walls (21) parallel to each other and aligned along a longitudinal direction (Y), where two adjacent side walls (21) define a receiving space (22) for one or more panels (L) arranged on a plane slightly inclined with respect to a vertical plane; the manipulator (3) comprises a gripping device (31) which can be moved between a first position, in which the gripping device can grip or release the sheet (L) positioned in the auxiliary position (D), and a second position, in which the gripping device itself can be inserted into the receiving space (22) in order to release or pick up the sheet (L) in the receiving space (22).

Description

Technical Field

[0001] The present invention relates to a sorting and storage facility for sheets. In particular, but not limited to, the present invention is applicable to the storage of large-sized ceramic sheets. Background Art

[0002] In the tile production industry, the technology that allows the manufacture of large sheets with dimensions up to 4000×2000 mm is currently mature.

[0003] As part of the entire production cycle, these sheets must be stored waiting to be transferred to subsequent processing operations or transported to the end user or point of sale.

[0004] Currently, sheets are basically stored in two modes.

[0005] In the first mode, the sheets are stored in stacks formed by a certain number of horizontally arranged and stacked sheets. Since these large-sized sheets are very heavy, it is impossible to stack more than a certain number of sheets. This requires storing the sheets in a large number of stacks, which generally occupies a relatively large surface area compared to the number of sheets stored.

[0006] In the second mode, the sheets are stored on a temporary support defined by side walls rising from a support base. The sheets are arranged to be rested on the base of the temporary support on one side while leaning against the middle side wall in an inclined manner to present an almost vertical posture. The temporary support can be placed on the ground or stacked in two or three layers. This solution can slightly increase the number of sheets that can be stored on the same occupied surface. On the other hand, this elevated positioning requires creating a bulky and expensive support structure because the support structure is designed to withstand a huge weight. Summary of the Invention

[0007] The object of the present invention is to provide a sorting and storage facility for sheets that can eliminate the drawbacks of currently known warehouses.

[0008] One advantage of the facility according to the present invention is that it can store a larger number of sheets on the same occupied surface compared to current warehouses. Specifically, compared to existing warehouses, the facility according to the present invention can store four times the number of sheets on the same occupied surface.

[0009] Another advantage of the facility according to the present invention is that it allows the sheets to enter and leave the facility through simple and effective movement.

[0010] Another advantage of the facility according to the present invention is that it simplifies and accelerates the process of combining different groups of sheets leaving the warehouse facility. Brief Description of the Drawings

[0011] From the following detailed description of the embodiments of the present invention, further features and advantages of the present invention will become more apparent. The embodiments are shown in the drawings by way of non-limiting examples, wherein:

[0012] Figure 1 is a schematic view of a facility according to the present invention;

[0013] Figure 2 is a side view of a facility according to the present invention;

[0014] Figure 3 and Figure 4 and Figure 5 and Figure 6 show a part of the facility of Figure 1 at different operating stages;

[0015] Figure 7 and Figure 8 show devices of the facility at two different operating positions. Detailed Embodiments

[0016] In the following description, reference will be made generally to a sheet (L), which is understood to be a product provided with two opposite rectangular main surfaces, the two opposite rectangular main surfaces being delimited by side boundaries whose length is much greater than the thickness of the sheet, the thickness of the sheet being understood as the distance separating the two main surfaces.

[0017] In the case of a ceramic sheet, one of the two main surfaces is the laying or mounting surface, i.e., the surface intended to be hooked to a support structure usually by means of a specific mortar or adhesive, and the other is the visible surface, intended to remain exposed after the sheet is laid.

[0018] However, the facility according to the present invention is adapted to manage any type of sheet.

[0019] In the case of a ceramic sheet, one of the two main surfaces is the laying or mounting surface, i.e., the surface intended to be connected to a support structure usually by means of a specific mortar or adhesive, and the other is the visible surface, intended to remain exposed after the sheet is laid.

[0020] In the following description, reference will also be made to motors for moving and / or rotating various components of the sorter, without describing the motors in detail. The term motor is intended to mean an actuator capable of moving one part or component relative to another part or component, with or without a kinematic transmission mechanism inserted, which kinematic transmission mechanism may include, for example, gears, belts, rollers or other transmission systems known in the art. The motor is preferably an electric motor, possibly provided with an encoder to allow precise control thereof by a main processor. This main processor coordinates the activation of the various motors therebetween to obtain a pre-established movement.

[0021] In addition, in the following description, reference will be made to a sliding guide, not described in detail, which is used to facilitate relative sliding between parts or components of a sorting machine. The term sliding guide is intended to denote a device known in the art that is interposed between two parts or components intended to slide or rotate relative to each other. The sliding guide used in the sorting machine according to the present invention may have rollers, wheels, balls, sliding plates or other equivalent configurations, which are known in the art.

[0022] The sorting and storage facility for sheets according to the present invention includes a warehouse (20, 21) (warehouse), which is provided with a plurality of receiving spaces (22), each receiving space being intended to receive one or more sheets (L).

[0023] The warehouse (20, 21) includes at least one first shelf (20), which is provided with a plurality of side walls (21). Each side wall (21) defines a resting plane (C) that is slightly inclined relative to the vertical plane. In other words, each side wall (21) is configured to define a plane that is substantially vertical or slightly inclined relative to the vertical plane, so as to be adapted to enable at least one sheet (L) to lean one side against it and be arranged parallel to the resting plane (C) to be supported.

[0024] Each side wall (21) is configured to support at least one sheet, which is arranged to rest on one side and is slightly inclined to lean the opposite side against the side wall (21), arranged substantially parallel to the resting plane (C), or adopted a orientation that is slightly inclined relative to the vertical direction. For example, the side wall (21) is inclined by about 3 - 4° relative to the vertical plane in a consistent manner, so that the resting plane (C) is also inclined by about 3 - 4° relative to the vertical plane.

[0025] The side walls (21) are arranged transversely to the longitudinal direction (Y) and are distributed in rows parallel to the longitudinal direction (Y). In particular, the intersection between the side wall (21) and the plane containing the longitudinal direction (Y) is defined by a bundle of line segments that are parallel to each other and perpendicular to the longitudinal direction (Y). Preferably, the longitudinal direction (Y) is horizontal.

[0026] Two consecutive side walls (21) face each other and define a receiving space (22) for one or more sheets (L) arranged as described above. The first sheet (L) abuts against the side wall (21), while the other sheets (L) received in the same receiving space (22) abut against the first sheet (L) continuously with each other. The sheet (L) remote from the side wall (21), or the last sheet (L) of a group of sheets abutting against the same side wall (21) is the accessible sheet (L), i.e., this sheet can be reached and hooked by a gripping device to be disclosed below. Obviously, the inclination of the sheets (L) abutting against the same side wall (21) slightly increases from the first sheet to the last sheet, but always remains close to vertical.

[0027] In the facility according to the invention, the sheets (L) are adjacent to each other in a nearly vertical orientation. Thus, the number of sheets that can be stored using the shelf (20) on the same occupied surface is significantly greater than the number of sheets stored in stacks in a stacked form.

[0028] Preferably, each side wall (21) is defined by at least two rods (21a) located in a plane parallel to the shelving plane (C). In the illustrated embodiment, each side wall 21 is defined by three rods (21a). Preferably, the rods (21a) are connected to a shelving profile (21b) arranged substantially parallel to the longitudinal direction (Y). The connection between the rod (21a) and the shelving profile (21b) is preferably removable. This enables the rods (21a) to be quickly repositioned to change the structure and / or capacity of the receiving space (22).

[0029] The facility according to the invention further includes a manipulator (3) configured to grip and release the sheets (L) and to displace the sheets (L) between an accessory position (D) and one or more receiving spaces (22).

[0030] The manipulator (3) includes a gripping device (31) movably coupled to a support structure (4) that defines a displacement plane (M) of the gripping device (31). In other words, the gripping device (31) can be translated on the displacement plane (M) by a motor device to be better disclosed below.

[0031] The displacement plane (M) is parallel to the shelving plane (C). By moving on the displacement plane (M), the gripping device (31) itself can be inserted into the receiving space (22) to release or pick up the sheet (L).

[0032] The fact that the displacement plane (M) is parallel to the rest plane (C) enables the clamping device (31) to effectively utilize most of each receiving space (22). In fact, if one considers the distance between two adjacent side walls measured perpendicular to the rest plane (C), the free space necessary to avoid interference with the side walls (21) is essentially limited to the total height of the clamping device (31) and the maximum number of sheets (L) that the receiving space (22) is intended to accommodate. The side walls (21) can then be arranged at a relatively reduced distance, and there is no need to provide complex mechanisms to enable two consecutive side walls to be expanded when the clamping device (31) has to be inserted, as occurs in facilities of the known type.

[0033] The clamping device (31) includes a clamping plane (P). Substantially, this clamping plane (P) is the plane in which the sheet (L) is clamped by the clamping device (31).

[0034] The clamping device (31) rotates about a rotation axis (Z) located on the displacement plane (M) to adopt at least one insertion position in which the clamping plane (P) is parallel to the rest plane (C). In the insertion position, the overall dimension of the clamping device (31) measured perpendicular to the rest plane (C) is minimized to allow a significant reduction in the distance between two consecutive side walls (21).

[0035] The clamping device (31) is able to move on the displacement plane (M) along at least two perpendicular directions. Preferably, one of these two perpendicular directions is substantially horizontal, or has a horizontal component. This enables the clamping device (31) to be inserted into the receiving space (22) from a position lateral to the receiving space (22).

[0036] In the illustrated embodiment, the manipulator (3) is able to move along a sliding direction (X) parallel to the longitudinal direction (Y) towards the shelf (20). For example, the manipulator (3) is able to move along a linear guide in a manner known to the person skilled in the art.

[0037] As already explained, the manipulator (3) is able to move between an auxiliary position (D) and each receiving space (22), that is, the manipulator (3) is able to reach the auxiliary position (D) and each receiving space (22). This auxiliary position (D) is substantially the area in which the sheet (L) is intended to stay or is positioned by the manipulator (3). Preferably, the auxiliary position (D) is located on a horizontal plane.

[0038] In one possible embodiment, the auxiliary position (D) is static. In another possible embodiment, the auxiliary position (D) is movable. For example, the auxiliary position (D) is located on a conveying device (2) that will be better disclosed below.

[0039] The clamping device (31) is configured to be inserted into the receiving space (22) and to pick up or release at least one sheet (L), and to be inserted into each receiving space (22) to pick up or place the sheet (L). For example, in order to place the sheet (L) in a set of receiving spaces (22), the manipulator (3) moves to the auxiliary position (D) and picks up the sheet (L) by means of the clamping device (31). Subsequently, the manipulator (3) moves along the shelf (20) to the receiving space (22) provided for the sheet. In the provided receiving space (22), the clamping device (31) is inserted into the provided receiving space (22) and the sheet (L) is placed there.

[0040] Similarly, if it is necessary to pick up a sheet (L), the manipulator (3) moves to the receiving space (22) of the sheet (L). Subsequently, the clamping device (31) is inserted into the receiving space, and the clamping device (31) picks up the accessible sheet (L) of the sheet group located in the receiving space. Once the sheet (L) is picked up, the clamping device (31) places the sheet in the auxiliary position (D). Thus, the combination between the shelf (20) and the manipulator (3) enables the sheet (L) to be moved into and out of the facility very simply and effectively.

[0041] To increase the capacity of the automated warehouse, a second shelf (20) can be arranged parallel to the longitudinal direction (Y) and the first shelf (20). In this case, the manipulator (3) can move between the first shelf and the second shelf along a channel parallel to the first shelf and the second shelf. The clamping device (31) can access the receiving spaces (22) of both shelves (20). By arranging a plurality of parallel and adjacent shelves (20), the capacity of the warehouse can be increased as required. One or two manipulators (3) can be placed in each channel between two adjacent shelves (20). Each manipulator (3) is managed by the main control system of the facility in the above-described mode.

[0042] As already explained, the clamping device (31) includes a clamping plane (P) at which clamping occurs. In other words, the clamping plane (P) is intended to be positioned in contact with the surface of the object to be picked up. In the insertion position of the clamping device (31), the clamping plane (P) is substantially parallel to the resting plane (C).

[0043] In particular, the clamping device (31) includes clamping means that define the clamping plane (P). For example, the clamping device includes a plurality of suction cups.

[0044] The clamping device (31) rotates about a rotation axis (Z) between an insertion position and a second position, in which insertion position the clamping plane (P) is parallel to the resting plane (C), and in which second position the clamping plane (P) is substantially parallel to the plane in which the auxiliary position (D) is located. Preferably, in the second position, the clamping plane (P) is substantially horizontal.

[0045] Preferably, the support structure (4) of the manipulator (3) includes at least one upright portion (41a) arranged to be located on the displacement plane (M).

[0046] In particular, the support structure (4) includes a slider (42a) that can slide along the upright portion (41a), and the clamping device (31) that rotates about the rotation axis (Z) is coupled to the slider. The slider (42a) can slide along the upright portion (41a) by means of guiding members and motor devices known to those skilled in the art.

[0047] In the illustrated embodiment, the support structure (4) includes a second upright portion (41b) and a second slider (42b), the second upright portion being substantially parallel to and coplanar with the first upright portion (41a), and the second slider can slide along the second upright portion (41b), and the clamping device (31) that rotates about the rotation axis (Z) is coupled to the second slider. The clamping device (31) is substantially included between the two upright portions (41a, 41b), and the clamping device is slidably supported by the two upright portions (41a, 41b) on the displacement plane (M) and rotates about the rotation axis (Z). The position of the clamping device (31) between the two upright portions (41a, 41b) on a plane parallel to the accommodation plane (C) is such that the overall dimensions are significantly reduced when measured in a direction perpendicular to the accommodation plane (C) of the group formed by the support structure (4) and the clamping device (31).

[0048] In the illustrated embodiment, the clamping device (31) is coupled to the sliders (42a, 42b). In particular, both sides of the frame (31a) that rotates about the rotation axis (Z) are coupled to the sliders (42a, 42b) by means of corresponding rotary joints known in the industry. As already described, the rotation of the frame (31a) about the rotation axis (Z) is obtained by a motor (4a), which is connected to at least one side of the frame (31a) by a transmission device known in the industry. Preferably, the motor (4a) is coupled to one of the sliders (42a, 42b).

[0049] Furthermore, the sliding members (42a, 42b) can slide along the upright portions (41a, 41b) by means of at least one motor. Preferably, each sliding member (42a, 42b) can slide by means of a respective motor coupled to the carriage (30). Each motor is connected to the respective sliding member (42a, 42b) by means of a motion mechanism known in the art.

[0050] Preferably, each sliding member (42a, 42b) is provided with a respective arm (420a, 420b). The arms (420a, 420b) are coplanar with the displacement plane (M) and extend downward relative to the axis of rotation (Z). In this way, in the lower position of the sliding members (42a, 42b), i.e., near the lower end of the upright portions (41a, 41b), the clamping device (31) and the clamping plane (P) can be positioned below the upright portions (41a, 41b) to reach the auxiliary position (D). This further makes it possible to avoid any interference between the upright portions (41a, 41b) and the underlying auxiliary position (D), especially if the auxiliary position is located on the transfer plane (2) which will be further disclosed.

[0051] By vertically moving the clamping device (31), the clamping device (31) can reach the height of the auxiliary position (D) to pick up or release the sheet (L), and the clamping device can reach the height of different receiving spaces (22) to pick up or release the sheet (L).

[0052] In the illustrated preferred but non-exclusive embodiment, the clamping device (31) can move along at least one substantially horizontal transverse direction (T) on the displacement plane (M). The transverse direction (T) is perpendicular to the longitudinal direction (Y). The clamping device (31) can move between at least one first position and at least one second position along the transverse direction (T). In the at least one first position, the clamping device is located in a position vertically stacked on the auxiliary position (D). In the at least one second position, the clamping device (31) is arranged inside the receiving space (22). The clamping device (31) can further move along a rising-falling direction (T1) perpendicular to the transverse direction (T) on the moving plane (M).

[0053] In a possible alternative embodiment not shown, one or more auxiliary stations (D) are arranged aligned along the longitudinal direction (Y) on the shelf (20). In other words, one or more operating stations (D) can be located at the ends of the shelf (20) along the longitudinal direction (Y). In this case, the displacement of the clamping device (31) along the transverse direction (T) is not necessary because the displacement along the rising-falling direction (31) is sufficient.

[0054] In the preferred but non-exclusive embodiment shown, the manipulator (3) includes a carriage (30) that is movable along a substantially horizontal sliding direction (X). Preferably, but not necessarily, the sliding direction (X) is parallel to the longitudinal direction (Y). The support structure (4) is coupled to the carriage (30).

[0055] As already explained, the clamping device (31) rotates about a substantially horizontal axis of rotation (Z). Preferably, but not necessarily, the axis of rotation (Z) is substantially perpendicular to the sliding direction (X). In addition, the clamping device (31) is movable along the transverse direction (T) already indicated above, which is substantially horizontal and perpendicular to the sliding direction (X). Preferably, the support structure (4) is movable along the transverse direction (T), and the clamping device (31) is movable integrally with the support structure (4) along the transverse direction (T).

[0056] The manipulator (3) is constructed such that the clamping device (31) can move with a high degree of freedom within the working space, which is substantially defined by the available stroke of the carriage (30) along the sliding direction (X), the available stroke of the support structure (4) along the transverse direction (T) perpendicular to the sliding direction (X), and the available stroke of the clamping device (31) along the up-down direction (T1) on the moving plane (M). In fact, the clamping device can reach any position defined by three coordinates, which correspond to the midpoint of the available stroke of the carriage (30) along the sliding direction (X), the midpoint of the available stroke of the support structure (4) along the transverse direction (T), and the midpoint of the available stroke of the clamping device (31) along the up-down direction (T1) on the moving plane (M). In addition, the clamping device (31) can be oriented about the axis of rotation (Z) in a desired manner.

[0057] In fact, due to the coordinated combination of the movements of the carriage (30), the support structure (4), and the clamping device (31), it is possible to move the sheet (L) with a relatively high degree of freedom. In particular, the clamping device (31) is arranged to translate along the transverse direction (T). This enables the sheet (L) to be moved from the auxiliary position (D) to the receiving space (22) with a high degree of freedom and vice versa.

[0058] In the preferred but non-exclusive embodiment shown, the movement of the clamping device (31) along the transverse direction (T) is obtained by the movement of the support structure (4) along the transverse direction (T). In particular, the support structure (4) is coupled to the carriage (30) and is translatable along the transverse direction (T). For this purpose, the upright portions (41a, 41b) are connected to the carriage (30) in a slidable manner along the transverse direction (T).

[0059] In the preferred but non-exclusive embodiment shown, the gripping device (31) includes a frame (31a) coupled to the support structure (4), which is rotatable about a rotation axis (Z).

[0060] A gripping device including, for example, a plurality of suction cups is coupled to the frame (31a). The suction cups have respective gripping surfaces, i.e., surfaces intended to contact and adhere to the surface of an object to be supported in a manner known in the art. These acting surfaces face the same direction and are located on the gripping plane (P) of the gripping device.

[0061] By rotating the frame (31a) about the rotation axis (Z), the gripping plane of the gripping device (31) rotates about the rotation axis (Z). In this mode, by changing the orientation of the gripping mechanism in space, it is also possible to rotate the sheet (L) supported by the gripping mechanism. This enables, for example, picking up a sheet (L) arranged to rest in a horizontal position on the operating station (D), and after the sheet (L) is lifted, rotating the sheet (L) to a preset angular position in a plane substantially parallel to the resting plane (C) to arrange the sheet (L) in the receiving space (22).

[0062] The frame (31a) is rotated about the rotation axis (Z) by a motor (4a) (of a type known in the art) coupled to the support structure (4). In the embodiment shown, the frame (31a) includes a plurality of rods that are connected together to form a substantially rectangular peripheral structure having connection devices for the suction cups. The suction cups are connected to the frame (31a) by respective arms (31b). Preferably, the arms (31b) are slidable and lockable in a plurality of positions along the rotation axis (Z). In addition, the suction cups can be arranged transversely to the rotation axis (Z) in a plurality of positions along the respective arms (31b). This allows for optimal positioning and / or spatial distribution of the suction cups relative to the dimensions and shape of the sheet (L).

[0063] The carriage (30) is coupled to the main frame (1) of the sorter and is slidable along a sliding direction (X).

[0064] In a manner known in the art, the main frame (1) is configured to rest on the ground or a substrate. In the depicted embodiment, the main frame includes two upper beams (11) that are arranged parallel to the sliding direction (X), and the carriage (30) is slidably coupled to the two upper beams. Sliding guides are interposed between each beam (11) and the carriage (30). The upper beams (11) are supported by a plurality of vertical uprights arranged to be anchored to the ground or the substrate. In cases where it is necessary to increase the stiffness of the main frame (1), additional cross beams can be arranged to connect the uprights together.

[0065] The sliding of the carriage (30) is obtained by a motor known in the art. Due to the sliding connection with the upper beam (11), the carriage (30) is stably and precisely supported by the main frame (1).

[0066] The carriage (30) is located at a height higher than the auxiliary position (D). The support structure (4) is located below the carriage (30). In particular, the uprights (41a, 41b) are connected to the carriage (30) at one end and extend vertically below the carriage (30).

[0067] The carriage (30) includes at least one cross member (32) arranged substantially horizontally and perpendicular to the sliding direction (X). The cross member (32) is connected at its ends to two plates (33) that can slide along the upper beam (11).

[0068] Each upright (41a, 41b) is connected to the cross member in a manner that can slide along the transverse direction (T) on the cross member. In particular, each upright (41a, 41b) is connected to the cross member (32) at one end, and the upright itself extends vertically below the cross member (32). A sliding guide is interposed between each upright (41a, 41b) and the cross member (31). The sliding of each upright (41a, 41b) along the corresponding cross member is obtained by a motor of a known type.

[0069] In the preferred but non-exclusive embodiment shown, the carriage (30) includes two cross members (32) that are parallel to each other and connected to the plates (33) at their respective ends. The uprights (41a, 41b) are connected to support frames (43, 44) that are slidably connected to the cross members (32). The support frames (43, 44) include two brackets (43), each bracket being connected to a corresponding upright (41a, 41b) that is slidably constrained to one or two cross members (32). The brackets (43) are connected together by a rod (44) such that the brackets (43) are firmly joined at least with respect to sliding along the transverse direction (T). Due to the above parts, the structure of the carriage (30) is thus rigid and durable.

[0070] In the preferred but non-exclusive embodiment shown, the auxiliary position (D) is a movable station. In particular, the auxiliary position (D) is located on the conveying plane (2). Preferably, the conveying plane (2) is capable of moving along a conveying direction parallel to the longitudinal direction (Y). In the depicted embodiment, the conveying plane (2) includes a belt conveyor, which is known in the art. In summary, the conveying plane (2) includes a pair of motor-driven belts that close in a loop around a path defined by a series of pulleys. Along at least an upper section of the path followed, the belts are located in a horizontal plane and are parallel to each other and to the conveying direction. However, the embodiment of the conveying plane (2) is not decisive for the purposes of the present invention and can be constructed in different ways known in the art. For example, the conveying plane (2) can include a motor-driven roller conveyor or a motor-driven belt.

[0071] The conveying plane (2) is intended to support the sheet (L) and move the sheet (L) forward along the conveying direction. One or more auxiliary stations (D) can be defined or positioned on the conveying plane (2). In particular, the auxiliary position (D) can be identified in any area of the conveying plane (2) suitable for supporting the sheet (L).

[0072] In particular, during an operating cycle of inserting the sheet (L) into the facility, a series of sheets (L) are fed to the manipulator (3) through the conveying plane (2). Each sheet (L) is arranged in the auxiliary position (D), that is, in a position that can be reached by the clamping device (31). The clamping device (31) picks up the sheet (L) from the conveying plane (2) and moves the sheet (L) to the corresponding receiving space (22), which is selected based on a set sorting criterion. In the reverse operating cycle, in order to remove the sheet (L) from the facility, the clamping device (3) picks up the sheet (L) from the corresponding receiving space (22) and brings the sheet (L) to the conveying plane (2), successively placing the sheet (L) on the conveying plane, and each sheet (L) is arranged in the auxiliary position (D). In the embodiment shown, the conveying plane (2) is located between two shelves (20) parallel to the longitudinal direction (Y). In this case, the clamping device (31) can insert itself into each receiving space (22) of the two shelves (20).

[0073] These possible combinations of movements allow the clamping device (31) to reach positions on the conveying plane (2) for picking up or releasing the sheet (L), and to reach the receiving spaces (22) located next to the conveying plane (2) for placing or picking up the sheet (L). For example, assume from Figure 2Starting from the initial position shown, in which the gripping device (31) is substantially in its first position, i.e., substantially positioned above the transfer plane (2) to pick up the sheet (L) resting in a horizontal position on the transfer plane (2), the gripping device (31) can be brought to its second position to transfer the sheet (L) to the receiving space (22) by a coordinated combination of movements which can also occur simultaneously with each other, at least for some time intervals and without having to follow the order indicated below:

[0074] Movement of the carriage (30) along the sliding direction (X);

[0075] Movement of the gripping device (31) along the ascending - descending direction (T1);

[0076] Rotation of the gripping device (31) about the axis of rotation (Z);

[0077] Movement of the gripping device (31) along the transverse direction (T).

[0078] During Figures 2 to 8 In the exemplary operating cycle shown, after hooking the sheet (L), the gripping device (31) follows an operating path from the first position on the transfer plane (2) to the second position within a set of receiving spaces (22). This gripping device includes at least one component for lifting from the transfer plane (2) and at least one component for descending inside the set of receiving spaces (22). During the operating path, before being inserted into the set of receiving spaces (22), the gripping device (31) rotates about the axis of rotation (Z), bringing the gripping plane (P) from a substantially horizontal position to an insertion position substantially parallel to the resting plane (C).

[0079] The sheet (L) can be picked up and placed during the stop of the transfer plane (2) (i.e., the transfer plane can be temporarily stopped during the placement or picking up of the sheet (L) by the gripping device (31)), or can be picked up and placed during the movement of the transfer plane (2), i.e., without the need to stop the transfer plane (2). In this case, the gripping device (31) synchronously follows the transfer plane (2) during the step of picking up or placing the sheet (L), i.e., the gripping device (31) performs a movement along the sliding direction (X) parallel to the longitudinal direction (Y), which movement is at least partially parallel to the transfer plane (2) and has the same speed as the transfer plane.

[0080] Except for the final descent of the sheet (L) to rest in the envisaged receiving space (22), the transfer of the sheet (L) from the transfer plane (2) to the provided receiving space (22) occurs substantially at a height higher than the transfer plane (2).

[0081] In a possible alternative embodiment, not shown, of the facility, the auxiliary position is located in a vehicle, such as an automatically driven carriage or vehicle. The vehicle is provided with a loading plane adapted to support one or more sheets arranged to rest on a horizontal or inclined plane. In this alternative embodiment of the facility, the vehicle is guided to a proximity position at which the vehicle can be reached by the gripping device (31). In this proximity position, the gripping device (31) reaches the auxiliary position located on the vehicle and places or picks up the sheet (L) by the movements already disclosed. Subsequently, the vehicle continues its travel along a set path towards a subsequent destination. The facility can be provided with a plurality of vehicles of the above type, each vehicle being able to be guided to at least one proximity position at which the vehicle can be reached by the gripping device (31).

[0082] In a manner known in the art, the automated warehouse according to the present invention includes a main control system arranged to identify each sheet (L) introduced into the warehouse and to match each identified sheet (L) with a storage space (22). The main control system also manages the operation of the manipulator (3) to bring it to a specific storage space (22) in which to place or pick up the sheet (L). Thus, the operations of introducing and removing the sheet (L) can be managed automatically.

[0083] The criteria for selecting and sorting the sheets (L), or for distributing the sheets (L) in specific storage spaces (22), can be of different types. For example, the sheets (L) can be sorted and grouped according to color, actual size, the presence or absence of more or less evident defects. To evaluate the parameters selected for sorting, a system for observing and analyzing the sheets (L) can be arranged upstream of the manipulator device along the conveying plane (2). Such an observation and analysis system is known in the art to be implemented in different ways and is connected to the main control system that manages the operation of the sorter.

[0084] In a manner known in the art, the main control system mentioned in this specification and the appended claims is generally referred to as a single unit, but in fact can be provided with different functional modules (memory modules or operation modules), each functional module being responsible for controlling a given device or operating cycle. Substantially, the main control system can consist of a single electronic device programmed to perform the described functions, and the various functional modules can correspond to hardware and / or routine software entities that are part of the programmed device. Alternatively or additionally, such functions can be performed by a plurality of electronic devices on which the aforementioned functional modules can be distributed. These units can also rely on one or more processors to execute the instructions contained in the memory module. Furthermore, these units and the aforementioned functional modules can be distributed on different local or remote calculators based on the architecture of the network on which they reside.

Claims

1. A sorting and storage facility for a sheet (L), comprising: Warehouses (20, 21), provided with a plurality of accommodation spaces (22); A manipulator (3), arranged to grip and release a sheet (L), and to displace the sheet (L) between an auxiliary position (D) and one or more of the accommodation spaces (22); Characterized in that: The warehouse (20, 21) comprises at least one shelf (20), the at least one shelf being provided with a plurality of side walls (21) arranged transversely to the longitudinal direction (Y) and parallel to each other; Each of the side walls (21) defines a resting plane (C) oriented slightly inclined with respect to the vertical plane; Two consecutive side walls (21) face each other and define the accommodation space (22) for one or more sheets (L) arranged substantially parallel to the resting plane (C); The manipulator (3) comprises a clamping device (31), which is movably coupled to a support structure (4), the support structure defining a displacement plane (M) of the clamping device (31); The displacement plane (M) is parallel to the resting plane (C) so that the clamping device (31) can be inserted into the accommodation space (22) for releasing or picking up a sheet (L).

2. The facility according to claim 1, wherein, The clamping device (31) comprises a clamping plane (P), and the clamping device rotates about a rotation axis (Z) located on the displacement plane (M) to adopt at least one insertion position and a second position, in the at least one insertion position, the clamping plane (P) is parallel to the resting plane (C), and in the second position, the clamping plane (P) has an inclination different from that in the insertion position.

3. The facility according to one of the preceding claims, wherein, The clamping device (31) is movable on the displacement plane (M) along at least two perpendicular directions.

4. The facility according to one of the preceding claims, wherein, The support structure (4) comprises at least one upright portion (41a) arranged on the displacement plane (M).

5. The facility according to claim 4, wherein, The clamping device (31) can slide along the upright portion (41a).

6. The facility according to claim 5, wherein, The support structure (4) comprises a slider (42a) that can slide along the upright portion (41a), the slider being coupled to the clamping device (31) that rotates about the rotation axis (Z).

7. The facility according to claim 6, wherein, The support structure (4) comprises: a second upright portion (41b), substantially parallel and coplanar with the first upright portion (41a); and a second slider (42b), which can slide along the second upright portion (41b), the second slider being coupled to the clamping device (31) that rotates about the rotation axis (Z), such that the clamping device (31) is located between the two upright portions (41a, 41b).

8. The facility according to claim 7, wherein, The first slider (42a) and the second slider (42b) comprise respective arms (420a, 420b), the arms (420a, 420b) being coplanar with the displacement plane (M) and extending downward with respect to the rotation axis (Z).

9. The facility according to one of the preceding claims, wherein, The manipulator (3) comprises a carriage (30), which can move along a substantially horizontal sliding direction (X), and the carriage is coupled to the support structure (4).

10. The facility according to claim 9, wherein, The support structure (4) is movable along a transverse direction (T) that is substantially horizontal and perpendicular to the sliding direction (X).

11. The facility according to claim 10, wherein, The sliding direction (X) is parallel to the longitudinal direction (Y).

12. The facility according to one of the preceding claims, comprising a conveying device (2) arranged to displace the sheet (L) along at least one conveying direction parallel to the longitudinal direction (Y), wherein, The auxiliary position (D) is arranged on the conveying device (2).

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