Dual axle device for grasping and lifting flexible sheet material

Abstract

The present invention relates to the field of production lines or facilities for the treatment or processing of flexible sheet materials, in particular to a gripping and lifting device for implementation in such production lines or facilities. The preferred application of the invention is the handling of animal hides subjected to tanning processes.

Description

Technical Field

[0001] This invention relates to the field of production lines or facilities for handling or processing flexible sheet materials, and particularly to a gripping and lifting device for implementation in such processing production lines or facilities.

[0002] A preferred application of the present invention is the handling of animal hides that have undergone a tanning process.

[0003] It goes without saying that the present invention can also be applied to handling any type of flexible sheet material, such as leather, synthetic leather, fabric, nonwoven fabric, plastic sheet material and similar materials. Background Technology

[0004] In leather processing, and more generally, wherever large hides need to be moved, properly loading the hides onto the processing and finishing line is a significant challenge. The sequential loading of the individual hides must ensure that they are positioned in an orderly manner, and most importantly, that the leather is completely flat, without folds, wrinkles, creases, or any kind of irregularity.

[0005] Due to the delicate nature of these processes, the step of positioning the hides relative to the workstations used for processing the hides themselves in a predetermined arrangement is still primarily done manually.

[0006] The difficulties associated with the positioning of hides stem essentially from the type of material being processed; by their very nature, various leather sheets have irregular sizes and shapes, may have different thicknesses, and belong to a non-uniform typological classification.

[0007] Manual positioning ensures a certain speed of operation and allows the operator to address issues related to the variability and orientation of the supports from which the leather is picked up (hides can be stacked for processing purposes, such that each hide has a grain surface in contact with the grain surface of the hide below, which is therefore oriented in the opposite direction and must be positioned correctly).

[0008] However, technology is indeed moving toward fully automated solutions because, in addition to the unavoidable uncertainties that arise in the precision and repeatability of the processing chain, human intervention also involves a significant risk of potential physical harm or health risks to the operator.

[0009] As is well known, flexible material sheets are arranged on various supports such as trays or brackets when they arrive at the work area. On these supports, the sheets are stacked on top of each other in a pile or stacked manner.

[0010] The sheets must be processed in workstations, such as, but not limited to, coating or drying stations, with upstream handling equipment that moves each sheet to the workstation.

[0011] In order for a single sheet to be properly gripped by a handling device, it must be “sheet-separated,” meaning that a portion or edge of the sheet must be lifted to separate it from the rest of the sheet stack below, thus presenting at least one free edge or portion that can be accessed by the handling device.

[0012] However, this operation presents some challenges; the sheets tend to adhere to each other, and this adhesion tends to resist the lifting of the upper sheet from the sheet immediately below it. This adhesion creates strong friction between adjacent sheets, which counteracts the sliding of the upper sheet relative to the lower sheet. Therefore, when removing the top sheet from the stack, if the friction between the upper and lower sheets is not overcome, the entire stack may shift unexpectedly, wrinkles may form on the remaining sheets in the stack, or even, especially in the case of a stack arrangement on a support, the remaining sheets may fall off the support. Summary of the Invention

[0013] Therefore, the applicant's objective is to develop an apparatus that solves the aforementioned problems and allows for the automation of the single-sheet separation process of individual flexible material sheets.

[0014] Furthermore, and more generally, the object of the present invention is to provide an apparatus that allows the sheet to be gripped and lifted from the surface on which it is placed.

[0015] Therefore, the purpose of the device according to the invention is to perform the grasping and lifting process in an automated, repeatable and industrializable manner.

[0016] Additionally, the purpose of the device according to the invention is to present individual flexible material sheets to the conveying equipment in an arrangement suitable for sheet grasping and in the correct orientation, so as to ensure the full stretching of the conveyed sheet, such as a leather sheet, and to avoid the formation of upturned edges, creases, wrinkles, or more generally, other irregularities.

[0017] The features of the apparatus and method for gripping and lifting the flange of a flexible material sheet are defined by the appended claims, the essential features are defined by the independent claims, and some auxiliary features are covered by the dependent claims. Attached Figure Description

[0018] The features and advantages of the device according to the invention will become clearer from the following description of embodiments thereof, which are provided by way of non-limiting example with reference to the accompanying drawings, wherein:

[0019] Figure 1 A leather processing production line is shown, in which pallets and sheets of material to be processed stacked on the pallets are visible; and an apparatus and handling device according to the invention;

[0020] Figure 2 yes Figure 1 A view of the processing production line, in which the device grasps the flange of the first sheet of the sheet stack;

[0021] Figure 3 It shows Figure 2 A detailed view of the capture steps illustrated in the diagram;

[0022] Figure 4 This is a view of the processing line shown in the previous attached diagram during the sheet flanging lifting step;

[0023] Figure 5 It shows in Figure 4 The sheet flange lifting step following the lifting step illustrated in the diagram;

[0024] Figure 6 This is a separate view of the device according to the invention;

[0025] Figure 7 It is an exploded view of the suction inlet; and

[0026] Figure 8 It shows Figure 7 The suction inlet is combined with the spacer. Detailed Implementation

[0027] Referring to the accompanying drawings, consider the following spatial references:

[0028] - The horizontal plane XY corresponds to a plane that coincides with or is parallel to the ground in use;

[0029] - Vertical axis Z, which rises vertically from the horizontal plane;

[0030] -Horizontal axis X;

[0031] - and the horizontal axis Y, which is perpendicular to the horizontal axis X and the vertical axis Z.

[0032] The attached diagram schematically illustrates a machining production line arranged along a working direction X' parallel to the horizontal axis X. This machining production line includes at least:

[0033] - Support member P, on which multiple flexible material sheets F1, F2, F3...Fn to be processed are stacked one on top of the other; support member P defines a stacking plane AA on which each of the multiple sheets F1, F2, F3...Fn is placed;

[0034] - The handling equipment AM is located downstream of the stacking support P and is equipped to grab one sheet F1, F2, F3...Fn from a plurality of sheets and transport it to the workstation SL;

[0035] - The sheet workstation SL is located downstream of the handling equipment AM; and

[0036] - A device 1 for gripping and lifting the flange L of sheet F1, which is operatively placed between the stacking support P and the handling equipment AM.

[0037] As shown in the example illustration, the stacking support consists of a tray P. The tray P supports multiple stacked sheets F1, F2, F3... and defines a stacking plane AA parallel to the horizontal plane XY for each sheet.

[0038] As will become clearer in the following description, the stacking support P can take other forms; one particularly used alternative is a bracket. In this case, the support has a substantially inverted "V" shape, above which sheets are arranged across a horizontal bar, defining a stacking plane AA that is inclined relative to the horizontal plane XY.

[0039] Another alternative is a platform, where only one sheet is placed at a time.

[0040] Therefore, depending on the stacking support chosen, the stacking plane AA can have any tilt between 0° and 90° relative to the horizontal plane XY (or conversely, relative to the vertical plane YZ perpendicular to the working direction X').

[0041] The first sheet F1 of a stack of sheets is defined as the sheet having at least one fully exposed surface. Each sheet F1, F2…Fn has an initial portion and an end portion. The first sheet F1 defines a flange L located in the initial portion of the sheet F1. This flange is intended to be lifted by device 1 to make it available to a handling device AM, which then grasps it and picks up the sheet F1 to bring it to workstation SL. The flange is characterized by having a free peripheral edge Lb.

[0042] This invention specifically relates to apparatus 1. Stacking support P, handling equipment, and workstation are types known in the industry. As mentioned above, the stacking support P can be a pallet, a bracket, or any other element suitable for supporting one or more stacks of sheets. The handling equipment AM can be, for example, a robotic arm, as shown in the example illustrated in the image, while the workstation SL can be of any type, such as a coating station, a drying station, or another processing station.

[0043] In one aspect, the invention provides an apparatus for gripping and lifting a flange L of a flexible material sheet F1, wherein the flange L is arranged according to a stacking plane AA. The apparatus includes at least one gripping member 11 of the flange L, which is capable of applying a gripping force to the flange L. The gripping member 11 is arranged on a beam 10, which defines its own transverse axis Y' parallel to the transverse axis Y. The beam 10 is mounted on a column 12 and is movable along a vertical axis Z perpendicular to the horizontal plane XY. The column 12 is movable along a horizontal axis X perpendicular to both the vertical axis Z and the transverse axis Y.

[0044] In one embodiment, the beam 10 is rotatably mounted on the column 12 to position at least one gripping member 11 relative to the stacking plane AA at a location where the gripping force is applied along the lifting direction.

[0045] In one embodiment, at least one gripping member 11 may be oriented relative to the stacking plane AA to enhance the application of gripping force along the lifting direction.

[0046] In a preferred embodiment of the present invention, the device 1 includes a plurality of gripping members 11 with a flange L.

[0047] In a preferred embodiment, at least one gripping member 11 is a suction inlet.

[0048] Preferably, the gripping member 11 consists of a plurality of suction inlets 11 arranged substantially in a straight line along the transverse axis Y' of the beam 10 itself. Each inlet 11 is capable of applying vacuum pressure to the flange L, thereby applying a gripping force thereon.

[0049] In a preferred embodiment, this linear arrangement is organized on beam 10, which defines its own transverse axis Y'.

[0050] Furthermore, according to the preferred embodiment, the beam 10 supports a plurality of orderly arranged suction inlets 11 in a prominent arrangement.

[0051] Preferably, but not limited to, each suction inlet 11 protrudes vertically from the beam 10.

[0052] In the example illustrated in the accompanying drawings, only a single row of suction inlets 11 is shown. However, other embodiments may include multiple rows of inlets, each row having a different number of inlets 11.

[0053] Beam 10 can move along the vertical axis Z. Therefore, beam 10 can move along this axis between different heights relative to the ground.

[0054] For details, please refer to the following: Figure 4 The beam 10 is supported and cantilevered by vertical columns 12 arranged along the vertical axis Z.

[0055] Beam 10 is slidably supported on the column and moves toward or further away from the ground along two opposite directions Z' and Z" on axis Z.

[0056] This movement is achieved by engaging beam 10 with a 120 linear guide driven by an electric motor.

[0057] The vertical column 12 rises from the base 13 (such as a pedestal), which defines a base plane parallel to the ground for the column.

[0058] The vertical column 12 can also be slidably connected to the base 13. In particular, the column 12 can move along the horizontal axis X, allowing it to move toward or away from the stacking support P in the working forward direction X' or the opposite direction X".

[0059] When the vertical column 12 moves along axis X, the vertical column 12 also causes the beam 10 to move accordingly.

[0060] Preferably, but not limited to, the movement is achieved by engaging the vertical column 12 with the linear guide 130, which is securely attached to the base 13 and driven by an electric motor.

[0061] The two movements along axes X and Z can be combined to achieve the desired movement of the gripping member 11 toward or away from the stacking support P and lift the flange L, as will be explained in more detail below.

[0062] In an embodiment of the present invention, the device 1 includes a mechanism for deflecting the column 12 relative to the vertical axis Z and the horizontal plane XY.

[0063] In one embodiment, the tilting mechanism of column 12 includes a hinge and a thrust device (not shown) that acts on column 12 to adjust its tilt relative to the vertical axis Z and the horizontal plane XY.

[0064] However, in other embodiments, the deflection mechanism may include any type of mechanical and / or electrical components capable of deflecting the column 12 to a desired degree.

[0065] Now for reference Figure 7 and Figure 8 Each suction inlet 11 includes a cylindrical tubular sleeve 110, which includes a recess at its lower end, the recess having a specific insert 11 that defines an engagement contact surface with the flange L.

[0066] In a preferred embodiment, the insert 111 has a rectangular cross-section with rounded corners to maximize the suction force while minimizing the edge effect, i.e., the tendency of the sucked object to detach due to the angle difference between the suction plane and the object itself.

[0067] In addition to the insert 111, there is a head element 112 designed to contact the flange L of the sheet material. The head element 112 is made of a suitable material, such as, but not limited to, delrin or polizene, to avoid leaving marks on the leather, while also allowing the head element 112 to slide easily over the sheet.

[0068] The suction inlet 11 also includes a seal 113 with a protruding peripheral lip 113a, which increases the suction surface area, thereby enhancing gripping force and ensuring high reliability, even in the presence of imperfect planar surfaces between the sheet and the suction inlet 11.

[0069] In this embodiment, the dimensions of the protruding peripheral lip 113a can vary depending on the position of the suction inlet 11 along the beam 10. The insert 111 is mounted on the beam 10 via a spring-loaded retraction mechanism 114 to compensate for potential height differences. A pair of additional tension springs introduces further adaptability and gripping efficiency, ensuring compensation for misalignment with the horizontal plane XY.

[0070] Each suction inlet 11 is also associated with a spacer 116, which extends parallel to the tubular sleeve 110.

[0071] In a preferred embodiment, all suction inlets 111 simultaneously contact the sheet flange L and apply the same vacuum pressure, thereby applying the same lifting force. This results in more efficient clamping and handling of the flange L.

[0072] According to an additional aspect of the invention, at least one set of suction inlets 14 is movable along the beam 10 on the axis Y' of the beam 10. In a preferred embodiment, this at least one set of suction inlets 14 is located at the free end 10' of the beam 10.

[0073] For more detailed information, please refer to [link / reference]. Figure 4 A set of movable suction inlets 14 is mounted on a sliding support 140 that engages with the beam 10. The support 140 is connected to a piston (such as a pneumatic piston) configured to move the support 140 along the axis Y' and thus move the set of suction inlets 14 along the axis Y' a desired distance. This system serves to spread and stretch the sheet flange L, preventing wrinkles from forming during pickup.

[0074] As a non-limiting example, a variation of this movable suction inlet system may include a single movable suction inlet 11, instead of a set and / or alternative motion mechanisms for the inlet assembly 14 other than a pneumatic piston as described above.

[0075] In the described example, beam 10 has two movable assemblies 14, 14' located at the aforementioned free end 10' and opposite end 10", and spans the fixed suction inlet assembly.

[0076] Depending on the specific material handling requirements, movable suction inlet assemblies 14, 14' can be arranged along beam 10 in other ways, such as at the central position.

[0077] Beam 10 is rotatably mounted on vertical column 12 at opposite ends 10” relative to its own axis Y'. Beam 10 can then be rotated about its own axis Y' to position the suction inlet in a position perpendicular to the stacking plane AA, so as to apply a vertical lifting force on the flange L along the lifting direction.

[0078] Preferably, the beam 10 is rotatably mounted so as to allow rotation between 0° and 90° relative to the horizontal plane XY (or relative to the vertical plane YZ).

[0079] In the example illustrated in the figure, this rotatable assembly is obtained by engaging one end of beam 10 to column 12 by means of pin 15. Rotation of beam 10 about its axis Y' can be achieved manually or automatically (e.g., using a motor control system).

[0080] Similarly, in the illustrated example, when beam 10 is set to 0°, suction inlet 11 protrudes vertically from it, parallel to the vertical axis Z.

[0081] In another aspect, the present invention provides a method for gripping and lifting the flange L of a flexible material sheet F1 having an initial portion and an end portion, wherein the flange L is arranged in the initial portion of the sheet F1 according to a stacking plane AA.

[0082] The method includes the following steps:

[0083] -Move the beam 10, which is provided with at least one gripping member 11, toward the stacking support P, wherein the sheet F1 of flexible material is arranged such that at least one gripping member 11 contacts the flange L; wherein moving the beam 10 toward the stacking support P includes moving the beam 10 along a vertical axis Z perpendicular to the horizontal plane XY and / or along a horizontal axis X perpendicular to the vertical axis Z until it reaches a first position close to the initial portion of the sheet F1;

[0084] - Operate at least one gripping member 11 to apply a gripping force on the flange L along the lifting direction; and

[0085] -By moving beam 10 away from the stacking plane AA along the vertical axis Z and moving beam 10 toward the end of sheet F1 along the horizontal axis X, beam 10 is moved from the first position to the second position.

[0086] In one embodiment, the method further includes the step of orienting the beam 10 relative to the stacking plane AA by rotating the beam 10 about its own axis Y' to position at least one gripping member 11 near the flange L.

[0087] In one embodiment, the method further includes the step of orienting at least one gripping member 11 near the flange L.

[0088] The illustrative operational description of the apparatus will now be discussed, referencing... Figures 1 to 5 The first sheet F1 of the stacked sheets F1, F2...Fn on pallet P has its flange L located on the stacking plane AA. For sheets to be handled by the handling equipment AM located downstream of the gripping and lifting device 1, the sheet flange L must be gripped and lifted.

[0089] The member 11 is oriented by rotating the beam 10 about its axis Y' so as to apply a gripping action on the flange L along the lifting direction perpendicular to the plane AA.

[0090] Then, the grasping components 11 are moved toward the stacked support P until they contact the flange L. This is achieved by moving the beam 10 along the vertical axis Z (and specifically along direction Z) and along the horizontal axis X (and specifically along direction X") until the beam 10 reaches the first position X1, Z1. Figure 2 This movement is achieved through [the following].

[0091] Once contact is made, the gripping member 11 applies a gripping force to the flange L.

[0092] Then, beam 10 moves from the first position X1, Z1 to the second position X2, Z2 along the horizontal axis X and the vertical axis Z, causing beam 10 to move along the horizontal axis X toward the end portion of sheet F1, and lifting beam 10 along the vertical axis Z to an elevated position Z2 above Z1. Figure 5 ).

[0093] Now consider a specific example of separating the flange L from a single sheet from a stacking plane AA parallel to the horizontal plane XY.

[0094] Beam 10 remains rotated at 0° because suction inlet 11 is aligned along axis Z, which is perpendicular to stack plane AA.

[0095] Then, beam 10 moves along axis X and along axis Z to the first position X1, Z1, where the suction inlet 11 contacts the flange.

[0096] Once suction begins, beam 10 moves along axis X from a first position X1 to a second position X2 closer to the end portion of sheet F1. Then, movement occurs in the opposite direction X" of the working feed direction X" of the working advance direction X' on the processing line. Simultaneously, beam 10 moves along axis Z from a first position Z1 to a second raised position Z2. Thus, the flange L is not simply lifted vertically upwards along a lifting direction perpendicular to the stacking plane AA, but moves towards the end portion of sheet F1. Once the free edge Lb of the lifted sheet F1 reaches the target height, this combined movement along axes X and Z stops, allowing the handling device AM to grasp the flange. This target height is the maximum distance Zq between the lifted flange L and the stacking plane AA, defined by sheet F2 located below sheet F1, which is the object of the single-sheet separation operation. Figure 5 ).

[0097] This movement effectively overcomes the adhesive force between the first sheet F1 and the sheet below F2. This prevents the sheets below F2, F3...Fn from being affected by the lifting action applied by the gripping member, thereby preventing the formation of creases or folds, or preventing them from slipping off the stack and / or supports.

[0098] By overcoming these adhesive forces, the cycle time for gripping each sheet is significantly reduced. This results in faster sheet separation, providing a clear advantage in terms of feed time for workstations.

[0099] Additionally, the gripping reliability of the gripping member 11 on the flanging L device has been improved. Tests show that when using the device according to the invention, the number of times the gripping member 11 loses grip on the sheet flanging L is greatly reduced.

[0100] The described device also has the advantage that it can be used with any stacking support, plate, tray, bracket or other support.

[0101] The device according to the invention allows for the automatic gripping and lifting of the flange L of the first sheet of a stacked sheet pile, thereby achieving the goal of avoiding the use of an operator and overcoming the resulting human intervention.

[0102] The use of this device in leather processing production lines has proven particularly effective in solving common problems in current technologies. Indeed, it is evident that the aforementioned friction and adhesion problems occur specifically between sheets of material such as natural or synthetic leather, hides, or the like. Therefore, this device enables automated gripping of such material sheets, and furthermore, allows for rapid, precise, and repeatable gripping of sheets directly on the stacked surfaces of the leather sheets. This facilitates subsequent handling of the leather and its proper positioning throughout the process, significantly improving the overall quality of the process itself while substantially reducing time.

[0103] Facilities equipped with this device have been found to meet the speed and precision requirements for the transport, transfer, and processing of sheet materials.

[0104] The present invention has now been described with reference to preferred embodiments. It is intended that other embodiments involving the same inventive core may exist, all of which fall within the protection scope of the appended claims.

Claims

1. An apparatus for gripping and lifting a flange (L) of a flexible material sheet (F1), wherein the flange (L) is arranged according to a stacking plane AA, the gripping and lifting apparatus comprising: At least one gripping member (11) of the flange (L), the at least one gripping member (11) being capable of applying a gripping force on the flange (L), the at least one gripping member (11) being arranged on a beam (10) that defines its own transverse axis (Y') parallel to the transverse axis Y. The beam (10) is mounted on the column (12) and is capable of moving along a vertical axis Z perpendicular to the horizontal plane XY. The column (12) is capable of moving along a horizontal axis X that is perpendicular to the vertical axis Z and the horizontal axis Y.

2. The apparatus according to claim 1, wherein, The beam (10) is rotatably mounted on the column (12) so as to place the at least one gripping member (11) relative to the stacking plane AA in a position that enhances the application of the gripping force along the lifting direction.

3. The apparatus according to any one of the preceding claims, wherein the at least one gripping member (11) is oriented relative to the stacking plane AA to enhance the application of the gripping force along the lifting direction.

4. The device according to any one of the preceding claims, wherein the column (12) is arranged according to the vertical axis Z, and the beam (10) is slidably mounted on the column (12).

5. The device according to any one of the preceding claims, wherein the beam (10) is mounted on the column by means of a linear guide.

6. The device according to any one of the preceding claims, wherein the column (12) is raised from the base (13) and is slidable along the axis X on the base (13).

7. The apparatus according to claim 6, wherein, The column (12) is mounted on the base (13) by means of a linear guide.

8. The apparatus according to any one of the preceding claims further includes a tilting mechanism for tilting the column (12) relative to the vertical axis Z and the horizontal plane XY.

9. The apparatus according to claim 8, wherein, The skew mechanism includes a hinge and a thrust device that acts on the column (12) to adjust its inclination relative to the vertical axis Z and the horizontal plane XY.

10. The apparatus according to any one of the preceding claims, wherein the beam (10) is capable of rotating relative to its own transverse axis Y' by an angle between 0° and 90°.

11. The apparatus according to any one of the preceding claims, wherein the at least one gripping member (11) is capable of applying vacuum pressure on the flange (L), thereby causing the flange (L) to lift.

12. The apparatus according to any one of the preceding claims includes a plurality of gripping members (11), wherein at least one of the plurality of gripping members (11) is capable of applying vacuum pressure on the flange (L) to cause the flange (L) to be lifted.

13. The apparatus according to claim 12, wherein, The plurality of gripping members (11) are divided into one or more gripping member groups (14), each group comprising one or more of the gripping members (11), wherein at least one group (14) of the gripping member groups (14) is capable of moving along its own transverse axis (Y') on the beam (10).

14. The apparatus according to claim 13, wherein the at least one set (14) of gripping members (14) is placed at the end of the beam (10).

15. The apparatus according to claim 13 or claim 14, wherein, The at least one set of gripping members (14) are slidably mounted on a support (140) which engages with the beam (10) and is connected to a piston configured to move the support (140) along the beam (10) for a desired length.

16. The device according to any one of the preceding claims, wherein the at least one gripping member (11) comprises a sleeve (110) preferably in the shape of a cylindrical tube, the sleeve having a recess at its lower end, on which an insert (111) is arranged, the insert (111) defining a mating surface with the flange (L).

17. The apparatus according to any one of the preceding claims, wherein the at least one gripping member (11) is a suction inlet.

18. The apparatus according to any one of claims 16 and 17, wherein the at least one clamping member (11) is mounted on the beam (10) in an oriented manner to facilitate the positioning of the insert (111) of the sleeve (110) near the flange (L) and the orientation of the mating surface toward the flange (L).

19. The apparatus according to any one of the preceding claims, wherein the lifting direction is inclined relative to the stacking plane AA, preferably substantially perpendicular.

20. A method for clamping and lifting a flange (L) of a flexible material sheet (F1), the flexible material sheet (F1) having an initial portion and an end portion, wherein the flange (L) is arranged in the initial portion of the sheet (F1) according to a stacking plane AA, the method comprising the steps of: -Move the beam (10) with at least one gripping member (11) toward the stacking support (P), the sheet (F1) of the flexible material being arranged at the stacking support (P) such that the at least one gripping member (11) contacts the flange (L), wherein moving the beam (10) toward the stacking support (P) includes moving the beam (10) along a vertical axis Z perpendicular to the horizontal plane XY and / or along a horizontal axis X perpendicular to the vertical axis Z until it reaches a first position close to the initial portion of the sheet (F1); - Operate the at least one gripping member (11) to apply a gripping force on the flange L along the lifting direction; and - By moving the beam (10) away from the stacking plane AA along the vertical axis Z and moving the beam (10) toward the end portion of the sheet (F1) along the horizontal axis (X), the beam (10) is moved from the first position to the second position.

21. The method of claim 21, further comprising the following steps: The beam (10) is oriented relative to the stacking plane AA by rotating the beam (10) about its own transverse axis (Y') to position the at least one gripping member (11) near the flange (L).

22. The method according to any one of claims 20 and 21, further comprising the step of orienting the at least one gripping member (11) near the flange (L).

23. The method according to any one of claims 20 to 22, wherein the lifting direction is inclined relative to the stacking plane AA, and preferably substantially perpendicular.

Images