Method and apparatus for automated processing of flexible layered materials - Patents.com

Abstract

A method and apparatus for the automated processing of flexible layered material, comprising manipulating the pick-up of a flexible material (P) by a pick-up member (34) engaging a first portion of the flexible material and processing the pick-up member along a predetermined trajectory to place a second free portion (LP) of the flexible material on a deposition surface (2) of the flexible material, wherein at each deposition of the flexible material (P) a frictional force is generated between the flexible material and said surface, a second portion of the flexible material (P) is suspended from the pick-up member, and following deposition of the free portion of the flexible material at a deposition point (PD), the pick-up member exerts a tensile force (FD) on the flexible material (P) having a magnitude less than the frictional force (FA) while the flexible material is deposited on said surface at a controlled release rate.

Description

[Technical field]

[0001] The present invention relates to a method and apparatus for the automated processing of flexible layered materials.

[0002] In particular, although not exclusively, the present invention finds advantageous application in the treatment of animal hides which are subjected to a tanning process. [Background technology]

[0003] The tanning process is known to involve several chemical and mechanical treatment steps intended to transform animal hides into products having physical and mechanical properties suitable for use in many sectors, including the manufacture of clothing, footwear and furniture.

[0004] Traditionally, the tanning process is divided into two main stages. In the first stage, the hides are treated with aqueous solutions of various chemical products and subjected to various types of mechanical operations. In the second stage, chemical, mechanical or combined finishing treatments are carried out on the dried hides, the purpose of which is substantially to improve or modify their appearance or hand. Before finishing, the hides are dehydrated in order to facilitate drying and the loss of unpleasant odors produced by the chemical tanning stage. Many stages of the tanning process are still carried out manually, in particular those which require the positioning of the hides according to a predetermined arrangement relative to the very operational unit used to treat them.

[0005] The widespread use of manual manipulation of skins is primarily due to the variability of a number of factors, including: -Variations in the shape and size of the hides handled; -Variations in skin thickness and type; - Fluctuations in the support (pallets, overhead conveyors, so-called hoses, drying racks, etc.) on which the skins are picked up excessively; - Processing speed; - a method for positioning said skin on a support: In many cases, the skins do not arrive at the processing unit in a fixed order, but for process reasons, they may be stacked such that each skin has its grain side in contact with the grain side of the skin below which are consequently oriented in the opposite direction.

[0006] Similar drawbacks can arise more generally in processes that require the handling of other types of flexible materials than animal skins or hides.

[0007] Examples of apparatus for handling flexible layered materials are disclosed in US Pat. No. 5,393,323 and US Pat. No. 5,493,624.

[0008] The document US 2007 / 0133633 A1 discloses in particular a gripping system consisting of a pair of gripping members for gripping the flexible material to be transferred and placing it on a target surface on one side; the reciprocating distance between the two gripping members arranged at the two ends of the gripped side of the material allows the material to remain laterally stretched during the transfer between the gripping surface and the destination surface. The controlled speed at which the system deposits the material on the target surface, combined with the gradual downward movement of the gripping system as it advances along the system to facilitate the spreading of the material, allows a gentle support of the material as it approaches the target surface and, ultimately, facilitates its complete release without specific minor or major wrinkles on that basis. However, the system is not suitable for handling delicate materials such as, for example, certain soft or thin leathers, considering that, due to their gripping properties, these gripping members inevitably leave obvious marks on both sides of the material at the gripping position that would alter its quality.

[0009] US Pat. No. 5,399,633 describes a different handling system for flexible materials, in which the material is wound around a cylinder rotating around its axis, producing a complete winding of the material on the cylinder in the form of a reel. The start of the winding is made possible by a slot inside the cylinder, which makes it possible to hold one side of the material inside and block it, so as to allow the winding of the remaining material (without it slipping off). Once the winding of the material is complete, the cylinder moves along the surface on which the wound material is released, and rotates progressively and simultaneously in a controlled manner to deposit the material on the target surface. This gripping system also necessarily exerts undesirable pressure on both sides of the material that must be transported (the gripping sides in the slot), leaving marks and causing, among other things, undesirable friction along the entire contour of the material to be wound, which, for example in the case of fine-grained leather, results in unacceptable quality. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] JP 5145606B2 [Patent Document 2] SU 1377298A1 Summary of the Invention [Problem to be solved by the invention]

[0011] The object of the present invention is therefore to propose a method and an apparatus which makes it possible to generally take advantage of the increased automation of the handling of flexible materials, through a method and an apparatus for transporting flexible materials which does not impair the quality of the flexible materials.

[0012] Another object of the invention is in particular to propose said method and said device which are capable of leaving no gripping marks on the surface of said flexible material.

[0013] Another object of the invention is to propose said method and said device particularly, although not exclusively, for handling animal hides in the tanning process.

[0014] A further object of the invention is to propose a method and a device making it possible to implement an effective technique for positioning flexible materials in an extended position on various types of surfaces, both fixed and mobile.

[0015] It is a further object of the present invention to provide a system which allows for easy automation of the pick-up of animal hides from hangers on an overhead conveyor by an automated manipulator. [Means for solving the problem]

[0016] The above object is achieved by a technical solution having the features set forth in the independent claims. Further features of the invention are the subject of the dependent claims. Effect of the Invention

[0017] According to the invention it is possible to automate the fundamental handling steps of flexible materials in general, and animal hides in particular, in the tanning process, with advantages both in terms of productivity, reduced risks to worker safety and health, as well as reduced errors in the positioning steps of the hides compared to fully manual procedures, and preservation of the handled materials, which are not altered by the handling and transport method.

[0018] Furthermore, the operating procedures carried out according to the invention allow the correct handling of the flexible material, regardless of its shape, size, thickness and type, as well as regardless of the type of support on which the material to be treated is placed. In addition, the invention allows said flexible material to be positioned according to a correctly spread configuration on the target surface intended to receive said flexible material.

[0019] These and further advantages and features of the present invention will be better understood by those skilled in the art from the following description and the accompanying drawings, which are given as examples and should not be considered in a limiting sense. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a simplified block diagram showing a possible layout of a plant for processing animal hides, provided with a hide processing area equipped with a device according to the invention. [Diagram 2] FIG. 1 shows a first perspective view of an industrial robot that can be used to realize a device according to the invention. [Diagram 3] FIG. 2 shows a second perspective view of an industrial robot that can be used to realize the device according to the invention. [Figure 4] FIG. 4 shows the industrial robot of FIGS. 2 and 3 equipped with a tool (34) for picking up and transferring the skins according to a possible embodiment of the invention. [Diagram 5] FIG. 2 is a schematic side view of an overhead conveyor for transporting skins in a plant equipped with an apparatus according to the invention. [Figure 6] FIG. 6 is a detailed view of FIG. 5. [Figure 7] FIG. 2 is a schematic partial side view of an overhead conveyor for transporting skins in a plant equipped with an apparatus according to the invention. [Figure 8] FIG. 6 is a first top view of the plant in FIG. 5 with the industrial robot (3) in a first position. [Figure 9] FIG. 6 is a second top view of the plant in FIG. 5 with the industrial robot (3) in a second position. [Figure 10] FIG. 6 is a perspective view of the system of FIG. [Figure 11] FIG. 2 is a simplified block diagram of a possible control system that can be implemented in an apparatus according to the present invention. [Figure 12] FIG. 2 shows a schematic diagram of the steps of deposition of a skin onto a deposition support. [Figure 13]FIG. 13 is a view similar to FIG. 12 illustrating the forces acting on the peel during deposition. [Figure 14] FIG. 13 is an image showing only one hanger and spreader of an overhead conveyor (not shown in this view) according to a further embodiment of the present invention. [Figure 15] FIG. 11 is a diagram showing a first operation of the operation sequence of the gripping means of the hanger. [Figure 16] FIG. 11 is a diagram showing a second operation of the operating sequence of the gripping means of the hanger. [Figure 17] FIG. 2 is a first diagram showing the main parts of the spreader cylinder and the spreader movement of the cylinder in order. [Figure 18] FIG. 2 is a second diagram showing the main parts of the spreader cylinder and the spreader movement of the cylinder in order. [Figure 19] FIG. 2 shows a device according to the invention having a sheet made of flexible material, for example leather, suspended from a hanger, the device being provided with said spreading means in the closed position. [Figure 20] FIG. 20 is a top view of the device described above with the spreading means in the closed position of FIG. 19. [Figure 21] FIG. 13 is a diagram of the apparatus with the skin positioned for easy engagement by the spreading action of the two opposing skin flaps by the spreader. [Figure 22] FIG. 22 is a top view of the device shown in FIG. 21. [Figure 23] FIG. 2 shows a first of two further embodiments of the tool (34). [Figure 24] FIG. 1 shows a second of two further embodiments of a tool (34). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] For example, the method and apparatus according to the invention can be used to handle animal hides that are intended to be placed in place before being introduced into a chemical, mechanical or chemical-mechanical treatment unit in a tanning plant.

[0022] The method and apparatus are particularly, if not exclusively, suited for handling premium or even expensive animal hides, given their ability to leave no marks on the surface.

[0023] Furthermore, as will become apparent from the following description, according to an aspect of the invention, the method and the apparatus enable the pick-up member never to come into contact with one of the two sides of the flexible material, thus completely protecting the flexible material from the effects of picking, handling, releasing and depositing operations.

[0024] This contributes to maintaining the quality of the flexible material, particularly, but not exclusively, when the flexible material has two sides with different properties, as commonly occurs in the case of animal hides.

[0025] In this case, in particular, it is necessary to avoid the picking device coming into contact with the so-called "grain" of the hides, i.e. the most valuable side of the hides, the quality of which must be maintained at all times during all industrial handling operations.

[0026] The following description provides examples of the construction and use of the subject methods and devices.

[0027] For example, the flexible material may be a skin (P) intended to be introduced in a stretched state into a finishing unit, such as a spray tunnel, where a product having a given chemical composition is sprayed onto the skin.

[0028] The method of feeding the skins towards the finishing unit is a known method and therefore will not be described in more detail.

[0029] In the accompanying drawings the finishing unit is diagrammatically indicated by block (1) and consists of a spray tunnel provided in the finishing area (R) of the hide.

[0030] Said finishing area (R) may be an area of ​​the same plant where the tanning of the hides takes place or it may be an area located at a different site.

[0031] Typically, the finishing area (R) is located downstream of other areas or zones in which conditioning operations for the tanning of the incoming hides (PC) are carried out, consisting of tanning (C), mechanical processing of the wet hides (LU), retanning, dyeing and greasing (RT) and drying (AS). These areas (PC, C, LU, RT, AS) are equipped with corresponding equipment known per se. The hides (P) are introduced into the finishing unit (1) by a conveying unit (2) in which identical hides (P) are located, one of the two faces (SI, S2) of which is completely in contact with the conveying unit (2). For example, the transport unit (2) is a conveyor belt configured to transport the skins (P) along a predetermined direction (D2) to the infeed section (IN) of the finishing unit (1).

[0032] In this example, the processing device according to the invention is housed in said transport unit (2) and is configured to pick up said skins (P) from corresponding supports in a predefined picking area (PP) and deposit them on said transport unit (2). In this example, said skin processing device comprises an anthropomorphic industrial robot (3) with six degrees of freedom that is located and acts in a maneuvering space (S3) that intercepts both one side of said transport unit (2) and the supports from which said skins (P) are picked up. The maneuvering space (S3) is a space in which said industrial robot (3) can move freely while picking up said skins (P) and depositing them on said transport unit (2).

[0033] In this example, the industrial robot (3) is of a type known per se from a structural and functional point of view, and comprises a support structure (30) arranged in a given area of ​​the maneuvering space (S3) and an arm with two elements (31, 32) articulated on the support structure (30) by a respective rear element (32). The arms are controlled by respective actuators so that they can rotate on the support structure (30) about a vertical axis (JI). Furthermore, the rear element (32) can rotate about a first horizontal axis (J2), while the front element (31) of the same arm can rotate on the rear element (32) about a further horizontal axis (J3). The front element (31) of the arm comprises a wrist member (33) supported by a fork-shaped member (330) attached to the end of the same front element (31). The fork-shaped member (330) is controlled by a corresponding actuator that controls its rotation about a further axis (J4), i.e., about the longitudinal axis of the second element (31). The wrist member (33) is attached to the fork-shaped member (330) by means of an actuator that controls its rotation about a fifth axis (J5), which is perpendicular to the two legs of the fork-shaped member (330). The end of the wrist member (33) is defined by a flange (331), which in turn rotates about a sixth axis (J6), which is oriented perpendicular to the flange. The rotations about the axes (JI, J2, J3, J4, J5, J6) are controlled by respective actuators (A1, A2, A3, A4, A5, A6) shown in the block diagram of FIG. 11, where the reference "UC" denotes a programmable control system, the structure of which is known per se to industrial automation engineers.

[0034] Preferably, the support structure (30) is mounted on a guide (3G) that allows the industrial robot (3) to be positioned in some proximity to the transport unit (2). For example, in Fig. 9, the robot (3) is distant from the transport unit (2) and the operator (OP) can access this unit by having the necessary space to move freely. Conversely, in Fig. 8, the robot (3) is positioned closer to the transport unit (2). For example, the guide (3G) is a straight guide oriented along the aforementioned direction "D2" and positioned upstream of the transport unit (2).

[0035] In the figure, the reference symbol "QC" denotes a control panel installed in an area outside the manipulation space (S3) of the industrial robot (3).

[0036] For example, Kawasaki industrial robots model BX100L and model BX130X may be used.

[0037] Also, for example, a Fanuc R-1000 series industrial robot can be used.

[0038] According to the invention, the industrial robot (3) comprises a tool (34) adapted to pick the individual skins (P) at the picking points (PP) and place them on the transport unit (2). The tool (34) is attached to the wrist member (33) by means of the flange (331), so that it is possible to move the tool (34) within the operational space (S3) by controlling the movement of the arms (31, 32) and the rotation of the flange (331) to which the tool (34) is attached.

[0039] For example, the tool (34) comprises a frame (35) on which two rollers (36) oriented parallel to the axis (J6) are mounted. A corresponding actuator (37) is connected to one of the rollers (36) and controls its rotation about its respective longitudinal axis. The actuator (37) is mounted on one side of the frame (35). On the same side, the frame (35) is engaged in its central part on the flange (331). A web (38) is attached to the rollers (36) which is looped closed on itself, thus guiding their movement along a direction (DT) perpendicular to the axis (J6).

[0040] The web (38) may be a single continuous web-shaped element or may be comprised of multiple elements as further disclosed below.

[0041] In practice, the rotation of the flange (331) determines the corresponding rotation of the frame (35) about the axis (J6), and the actuator (37) controls the movement (DT) of the web (38) relative to the frame (35). The coordinated movements of the arms (31, 32) relative to the support structure (30), the coordinated movements of the wrist members (33) relative to the arms (31, 32) and the coordinated movements of the frame (35) relative to the wrist members (33) allow the movement of the tool (34) and therefore of the web (38) to be controlled within the maneuvering space (S3). In particular, the frame (35) is moved between a point (PP) for picking up the skins and a point (PD) for placing them on the transport unit (2). In general, the spatial orientation of the frame (35) at the skin pick-up point and the skin deposit point are different from each other. According to the example shown in Figures 5 to 10, the skins (P) are transported to a collection point (PP) by an overhead conveyor (4) having hangers (40) from which the skins (P) are suspended, typically assuming an inverted "U" configuration with the grain (PF) on the outside, and such a configuration is also shown in Figures 14 to 22.

[0042] The picking point (PP) may be provided with a spreader (DV) configured to determine the spread of one side of the skin (P) arriving at the picking point (PP), which can be used to create a space between the two sides of the skin hung on a hanger sufficient to insert the tool (34) attached to the industrial robot (3).

[0043] For example, the spreader (DV) consists of rods (AD) mounted to slide longitudinally on respective supports (SD), which in turn are mounted to slide on guides (GD) oriented at right angles to the rods (AD). The rods (AD) can therefore move both longitudinally and parallel to themselves. With reference to FIG. 14, the guides are mounted on posts (100) that define an axis (Y) perpendicular to and corresponding to the hangers (40). The movement of the rods (AD) to manipulate the spreading of the skin is shown in turn in FIGS. 17 and 18. Also, FIGS. 8 and 9 show two different positions of the rods (AD).

[0044] The block diagram of FIG. 11 shows an actuator (A7) which controls the longitudinal movement of the rod (AD) on the support (SD) and an actuator (A8) which controls the movement of the support (SD) on the guide (GD).

[0045] Furthermore, the struts (100) of the spreader (DV) support on their upper surface rods (AD) and blocking means (200) with blocking clamps actuated by a control device to clamp the hanger in order to determine and ensure a predetermined position (PP2) in which the clamps engage the hanger, thereby preventing it from vibrating. The clamps are preferably, if not exclusively, actuated by pneumatic actuation means. Figures 15 and 16 show the successive movements of the blocking means (200), particularly when they are formed on the hanger (40) by the clamps.

[0046] When the skin (P) reaches the picking point (PP), the rod (AD) is retracted so as not to impede the passage of the skin, as shown, for example, in Figures 7, 19 and 20. When the skin (P) reaches the sampling point (PP), the rod (AD) is withdrawn, inserts itself between the opposing inner sides of the skin suspended on the hanger, and returns to the withdrawn position along the guide (GD) parallel to the direction (D2), as shown, for example, in Figures 8 and 21 and 22. This determines the branching of one side (P) of the skin relative to the other side of the same skin, thus forming a space into which the tool (34) is inserted. Preferably, the rod (AD) is formed by a retractable piston.

[0047] Depending on the diameter of the rods forming the hanger, the spreader may not be necessary. In particular, if the diameter of the rods is less than 25 mm, for example, it is preferable to use a spreader, since in this case the space between the opposing sides of the skin hanging on the hanger may be insufficient to insert the tool (34). Conversely, if the diameter of the rods forming the hanger is such that the opposing sides of the skin remain hung sufficiently apart, for example if the diameter of the rods is greater than 25 mm, a spreader may not be necessary.

[0048] At the pick-up point (PP), the frame (35) is oriented vertically, i.e. on its free side (350) (opposite the side on which the actuator (37) is attached, which controls the movement of the web (38), oriented perpendicularly to the hanger (40) present at the pick-up point (PP). In this configuration, the frame (35) is lifted, releasing the skin (P) from the hanger (40). In this way, the skin (P) is transferred onto the tool (34), since the frame (35) has two flaps protruding downwards, a front flap and a rear flap. At this stage, the web (38) is stopped.

[0049] Subsequently, the tool (34) is guided by the robot (3) towards the leather deposition point (PD), where the frame (35) is rotated about the axis (J6) such that the leading edge of the leather (P) is deposited on the conveying unit (2). At the same time, the actuator (37) moves the web (38) in the same direction as the direction (D2) of the conveying unit (2), and the robot (3) lowers the tool (34) towards the conveying unit (2) and moves the tool itself along a direction opposite to the direction (D2) of the conveying unit (2) at a preset speed. The vector sum of the speed (V8) of the web (38) relative to the conveying unit (2) and the retraction speed (V3) of the tool is lower than the forward speed (V2) of the latter in the direction (D). In FIG. 12, "V3" represents the retraction speed of the tool (34) parallel to the conveying unit (2) during the deposition of the leather on the conveying unit (2), "V8" represents the speed of the web (38), and "V2" represents the forward speed of the conveying unit (2) along the direction (D2). In absolute value, V8 - V3 < V2. Preferably, V8 - V3 ~ V2, that is, the difference between V8 - V3 is of the same order of magnitude as the value of V2.

[0050] In fact, referring to FIG. 12, while a part (LP) of the leather (P) is deposited on the conveying unit (2), another part of the same leather is engaged by the tool (34) which is simultaneously moved in a direction opposite to the moving direction of the conveying unit (2), that is, in a direction opposite to the direction in which the leather is released by the tool (34).

[0051] Subsequently, when the transfer of the leather (P) from the tool (34) to the conveying unit (2) is completed, the tool (34) is returned to the leather picking point (PP) and the above-described cycle is repeated.

[0052] Thus, the tool (34) is configured to engage the skin (P) at the pick-up point (PP) and deposit identical skins (P) on the transport unit (2), and is also configured to allocate the skins (P) while placing them on the transport unit (2).

[0053] By adjusting the speeds V3 and V8 as described above with respect to the speed V2, the hides are subjected to an expansion or traction force while being transferred to the conveying unit (2).

[0054] The speeds V3 and V8 can be adjusted relative to the speed V2 to achieve a more or less rapid deposition of the skins on the transport unit (2). With the same retreat speed (V3) of the tool (34) and the same forward speed (V2) of the transport unit (2), by increasing the unwinding speed (V8) of the web (38), the deposition speed of the skins on the transport unit (2) is increased, i.e. the total time required for the complete transfer of the skins from the tool (34) to the transport unit is reduced. By keeping the tool (34) in a fixed position (V3=0), a slower deposition of the skins on the transport unit can be achieved. If the forward speed (V2) of the transport unit (2) is kept constant, by adjusting the speeds V8 and V3, it is possible to adjust the deposition speed of the skins on the transport unit (2) accordingly.

[0055] In practice, the above-mentioned tool (34) is a tool with a movable skin (P) engaging surface, the speed of which can be adjusted to correspondingly adjust the skin deposition speed on the transport unit. By adjusting the speed of this movable surface, the tension to which the skin is subjected during deposition on the transport unit is also adjusted. The adjustment range of the tension to which the skin is subjected during deposition on the transport unit can be further extended by adjusting the retraction speed (V3) of the tool.

[0056] The aforementioned movable surface of the tool (34) is simultaneously a surface for holding the skin (P) and releasing it at a controlled speed. In other words, the tool (34) releases the skin (P) by displacing the skin during the release at a pre-established release speed, while the same skin is deposited on the conveying unit (2). Thus, during the deposition phase of the skin, the skin is simultaneously released by the tool (34). In the above example, the skin release speed determined by the tool (34) is the speed "V8".

[0057] Preferably, in order to facilitate the tensioning of the skins during their deposition stage on the transport unit (2), the material from which the web (38) is made, and more generally the material from which the moving surface with which it engages the skins, has a higher coefficient of friction with respect to the skins (P) than the material from which the transport unit (2) is made. The Applicants have carried out experimental tests during which they have verified that by using a material satisfying the above conditions, deposition of the skins on the transport unit (2) can be obtained without the formation of folds or wrinkles of a size that would impair the correct execution of the subsequent skin processing operations.

[0058] The following table shows data regarding the tests carried out.

[0059] In particular, the Applicants carried out tests using various types of leather and with a dynamometer at different speeds of a deposition unit consisting of a wire conveyor belt of the type commonly used to handle animal hides in the tanning process, measuring the values ​​of the frictional forces occurring between said hides and said conveying unit, then calculating the respective values ​​of the coefficient of friction, the data obtained and the experimental conditions adopted being reported in Table 1 below.

[0060] Instead, Table 2 below shows experimental data obtained during the performance of similar experimental tests, in which the frictional forces generated between the skin and the aforementioned web (38) were measured.

[0061] In said table, the symbols shown therein have the following meanings: A1: Printed leather in contact with the conveying unit on the outside; B1: Suede in external contact with the conveying unit; C1: Hard split leather in external contact with the conveying unit; D1: Standard half-calf split leather in external contact with the conveying unit; E1: Half-calf leather in external contact with the conveying unit; A2: Printed leather in contact with the conveying unit on the inside; B2: suede in contact with the conveying unit on the inside; C2: Hard split leather in contact with the conveying unit on the inside; D2: Standard half-calf split leather in inner contact with the conveying unit; E2: Half calf leather in inner contact with the conveying unit; VA2: forward speed of the conveying unit at the peel deposition stage; FA2: friction force caused by contact between the skin and the conveying unit; CA2: Coefficient of kinetic friction due to contact between the hide and the conveying unit; VA8: release speed of the skin from the face of the tool (34); FA8: friction force caused by contact between the leather and the surface of the tool (34); CA8: Coefficient of kinetic friction resulting from contact between the leather and the face tool 34.

[0062] [Table 1] TIFF2025512721000003.tif84133

[0063] [Table 2] TIFF2025512721000005.tif197133

[0064] The device and method according to the invention make it possible to obtain effective control of the deposition of the hide, in all tested conditions, for all tested web speeds and for any type of hide used, such that the hide spreads on the deposition unit without wrinkling.

[0065] Furthermore, the data generated at different operating conditions constitute an impressive database (DB) which makes it possible to automatically determine the force values ​​occurring corresponding to the various surfaces involved, depending for example on the characteristics of the surfaces themselves and on the speed of the transport unit (2) in the processing line, thus making it possible to optimize the stages of transporting material from one point of the line to another.

[0066] The experimental tests were carried out on dry hides. However, the hides (P) may also be wet hides intended to be introduced into a drying tunnel (not visible in the drawing) before undergoing further processing. The structure and operation of the industrial robot (3) and the tool (34) are identical to those already described with respect to the previous example. In this case, the conveying unit (2) is associated with the drying tunnel and is intended to introduce the hides into the infeed of the same tunnel. Overall, the system is identical to that described in the previous example, except that the hide processing unit is a drying tunnel instead of a spraying tunnel. Also, in this case, the hides (P) are placed on the conveying unit (2) in a stretched position, without presenting significant folds or wrinkles, in order to reach the downstream processing units, in particular the drying tunnel in this example.

[0067] In a further method of use, the industrial robot (3) can deposit the skins (P) on a fixed plane replacing the transport unit (2) described above, or the transport unit (2) is stopped at the skin deposition stage depending on the operations to be performed on the skins (e.g. visual inspection of the skins by a qualified person before placing them in a processing unit such as a spraying tunnel or drying tunnel). In this case, the speed (V2) of the surface on which the skins are deposited is zero, and the retraction with a non-zero speed (V3) of the tool (34) during the placement of the skins on the fixed surface determines the required expansion.

[0068] The use of an industrial robot (3) makes it possible to effectively manage the movement of the picking device (34) within the space (S3) and ensures high flexibility in the positioning of the skins on the deposition surface (2). For example, the skins (P) can be deposited on the surface (2) oriented longitudinally or transversely relative to the surface.

[0069] In Figures 8 and 9, a skin (P), depicted in dotted lines, is placed on said surface (2) in an orientation perpendicular to the orientation of the skins previously placed on said surface.

[0070] Furthermore, the use of an industrial robot (3) makes it easier to modify the deposition point (PD) of the skin on the deposition surface (2) by program and also to modify said point (PD) more easily depending on the length or width of the skin (P).

[0071] In the above mentioned example, a method is carried out comprising the steps of: - picking up the flexible material (P) from a pick-up point (PP) by a pick-up member configured to engage with a first portion of the flexible material (P) corresponding to an engagement surface provided by the pick-up member; - moving said picking member along a predetermined trajectory until a second free portion (LP) of said flexible material (P) is positioned on a surface (2) for depositing peels at a deposition point (PD) of said surface, - at the stage of deposition of each flexible material (P), frictional forces arise between said skin (P) and the deposition surface (2) of each flexible material, and - the second portion of the flexible material (P) is suspended from the picking member, and, after deposition of the free portion of the flexible material at the deposition point (PD), while the flexible material (P) is positioned on the surface (2) and released by the picking member at a controlled release speed, the picking member exerts an expansion force (FD) on the flexible material (P) having a magnitude lower than the friction force (FA), The expansion force (FD) is a force directed in the opposite direction to the friction force (FA), such that the flexible material (P) is tensioned while positioned on the deposition surface (2) while being released at a controlled rate by the picking member, and the picking member is in contact with only one (SI) of the two faces (S1, S2) of the flexible material (P) during the entire processing operation.

[0072] In the above mentioned examples, a method is also implemented which comprises the steps of: - picking up the flexible material (P) from the pick-up point (PP) by a picking member (34) configured to engage with a first portion of the flexible material (P) corresponding to a contact area of ​​the flexible member having an engagement surface provided by the picking member; - moving said picking member along a predetermined trajectory until a second free portion (LP) of said flexible material (P) is positioned on a surface (2) for depositing peels at a deposition point (PD) of said surface, - at the stage of deposition of each flexible material (P), frictional forces arise between said skin (P) and the deposition surface (2) of each flexible material, and - the second portion of the flexible material (P) is suspended from the picking member, and, after deposition of the free portion of the flexible material at the deposition point (PD), the picking member exerts an expansion force (FD) on the flexible material (P) having a magnitude lower than the friction force (FA) while the flexible material (P) is positioned on the surface (2) and released by the picking member at a controlled release rate, The expansion force (FD) is a force directed in the opposite direction to the friction force (FA), such that the flexible material (P) is tensioned while positioned on the deposition surface (2) while being released at a controlled rate by the picking member, and the contact area changes as the flexible material is released and deposited on the surface (2).

[0073] From the foregoing it is evident that the method according to the invention can comprise one or more of the following further features, in particular also in combination with one another: - said pick-up member engages the flexible material (P) via its engagement surface having a coefficient of friction greater than the coefficient of friction imparted by said deposition surface (2) to said flexible material (P); - said engagement surface is a surface by which the release speed of said flexible material (P) by said pick-up member is controlled, said surface being moved at a preset speed along a preset release direction during positioning of said flexible material on said deposition surface (2); - said engagement surfaces are rotated at a predetermined angular velocity about their respective rotation axes (J6); - the engagement surface is a movable surface (38) that controls the rate of release of the flexible material; - said engagement surface is formed on a pick-up member attached to an industrial robot (3); - the deposition surface (2) is a movable or fixed surface; - during the deposition of the flexible material, the pick-up device is moved at a predetermined speed (V3) along a direction (D3) opposite to the direction of release (DT) of the skin by the pick-up device; said engagement surface being a flat surface which undergoes a translation movement in said release phase;

[0074] From the above description, the device according to the present invention comprises a pick-up means configured to engage a flexible material (P) corresponding to a contact area between the flexible material (P) and the pick-up means, and a drive means for the pick-up means programmed to move the pick-up means along a predetermined trajectory in a state of occurrence of a friction force (FA) between the flexible material (P) and a predetermined target surface (2) in order to place a second free portion of the flexible material (P) on a predetermined deposition point (PD) of the predetermined target surface (2), wherein the pick-up means exerts an expansion force (FD) on the flexible material (P) whose magnitude is smaller than the friction force (FA). Meanwhile, it is also clear that the device is characterized in that the pick-up means is controlled by a control device programmed such that the flexible material (P) is released by the pick-up means at a controlled release speed and simultaneously positioned on the surface (2), the expansion force (FD) is a force directed in the opposite direction to the friction force (FA), and the control device controls the movement of the flexible material (P) relative to the pick-up member, while the same flexible material (P) is released and placed on the surface (2) and varies the contact area during the release and deposition of the flexible material on the surface (2).

[0075] The above description also shows that the device according to the invention can be configured as an automatic processing device for flexible layered material, comprising pick-up means arranged to engage a flexible material (P) at a first portion of said flexible material (P) and processing means for said pick-up means programmed to move said pick-up means along a predetermined trajectory in order to place a second free portion of said flexible material (P) on a given deposition point (PD) of a given target surface (2) under the development of a friction force (FA) between said flexible material (P) and said target surface (2), said pick-up means being in contact with only one surface (SI) of said flexible material (P) and said pick-up means being in contact with said first surface (SI) in order to place a second free portion of said flexible material (P) on a given deposition point (PD) of a given target surface (2) under the development of a friction force (FA) between said flexible material (P) and said target surface (2). the pick-up means is controlled by a control device programmed to exert an expansion force (FD) on the flexible material (P) having a magnitude smaller than that of the friction force (FA) while the flexible material (P) is released by the pick-up means at a controlled release speed and simultaneously positioned on the surface (2), the expansion force (FD) being a force directed in a direction opposite to the friction force (FA), and the control device controls the movement of the first portion of the flexible material (P) relative to the pick-up member while the same flexible material (P) is released and positioned on the surface (2).

[0076] The device according to the invention may also have one or more of the following characteristics, in particular also in combination with one another: - said pick-up member comprises an engagement surface having a coefficient of friction with said flexible material (P) greater than the coefficient of friction provided by said deposition surface (2); - the engagement surface is a movable surface by which the release rate of the flexible material (P) by the pick-up member is controlled, the movable surface moving at a predetermined speed along a predetermined release direction (DT) while depositing the flexible material on the deposition surface (2); - the engagement surface is formed on a pick-up member attached to the industrial robot (3); - a control device controls movement of the first portion of the flexible material (P) through the engagement surface; - the engagement surface is a flat surface that undergoes a transition during the release step; - the deposition surface (2) is a movable or fixed surface; During the deposition of the flexible material, the pick-up device is moved at a given speed (V3) along a direction (D3) opposite to the direction of release (DT) of the flexible material by the pick-up device. - the device comprises means (DV) configured to place the flexible material at a pick-up position, said means (DV) being arranged and operative at a predetermined point (PP) for picking up the flexible material, and comprising spreading means (AD) controlled to spread one side of the flexible material in preparation for removing it.

[0077] Advantageously, the pick-up member can be controlled by a control unit (UC) programmed to control the magnitude of the expansive force (FD) as a function of the coefficient of friction of the engagement surface of the pick-up member and of the coefficient of friction of the deposition surface (2) with respect to the flexible material (P). For this purpose, a database (DB) can be set up in which a number of values ​​of the coefficient of friction are stored and to which the control unit (UC) can have access, so that an operator can iteratively select the operating parameters of the system (e.g. the above-mentioned speeds V3 and V8) depending on the flexible material to be processed and on the material from which the deposition surface and the engagement surface of the pick-up member are made.

[0078] In a possible practical embodiment of the device according to the invention, the pick-up member comprises a frame (35) on which at least two rollers (36) are mounted parallel to one another and controlled by corresponding actuators (37) controlling their rotation around their respective longitudinal axes, and a web (38) mounted on the rollers (36) closed with a ring on the rollers themselves and thus guiding their movement in a direction (DT) perpendicular to the central longitudinal axis of the frame (35) engaged on the terminal axis (J6) of the robot arm (3).

[0079] It is understood that the number of said rollers (36) can vary as a function of different variables and operating conditions, in particular the width and number of the elements forming the web (38), the width of the frame (35), the dimensions of the flexible material (P) to be handled, or the width of the space into which a picking member must be inserted to allow engagement of the flexible material (P).

[0080] As an example, said rollers (36) may be two in number, as shown in the embodiment of Figure 6. In this example, said web (38) is formed by a single continuous web-like element.

[0081] Further by way of example, said rollers (36) may be in number of three, with their respective longitudinal axes arranged according to a triangular arrangement, such a configuration being shown by way of example in Figure 23, where one can also discern the wedge-shaped contour of said frame (35).

[0082] In a particularly preferred embodiment of the invention, for example the embodiment shown in figure 24, in the realization of said tool (34), two rollers (36) have a length corresponding to the width of said frame (35) and the third roller (in the front position of the drawing) is divided into two elements (36A, 36B) axially aligned with each other, the sum of their lengths being equal to the length of each of the other two rollers (36). This solution is particularly preferred to strengthen the structure of said frame (35) and therefore of said tool (34) in terms of bending stresses, when the tool has to handle leather of large dimensions and therefore of considerable weight (such as those handled by a conveyor web 3400 mm wide). In this embodiment, preferably, said two rollers (36) have a length of 3400 mm and said rollers (36A, 36B) are both 1700 mm long.

[0083] The length of the roller (36) is typically in the range of 1000 to 4000 mm.

[0084] The length of the assembly formed by the rollers (36A, 36B) is typically in the range of 1000 to 4000 mm.

[0085] The length of the rollers (36A, 36B) is typically in the range of 500 to 2000 mm, and preferably the two rollers (36A, 36B) have the same length.

[0086] In a further preferred embodiment of the invention, it is also possible to envisage the use of more than one web (38), preferably two webs arranged side by side, as shown in FIG. 24, in order to obtain a greater bending strength of the structure.

[0087] This solution, like the previous one, has the objective of making the structure of the frame (35) and of the picking members generally more robust and resistant when dealing with flexible materials such as leather, which have large dimensions and therefore a high weight; therefore, this solution is particularly useful in plants with conveyor belts 3400 mm wide.

[0088] Accordingly, a particularly preferred configuration of the present invention provides for the use of two rollers (36) on one side of the tool (34), two axially aligned rollers (36A, 36B) on the other side of the tool (34), and two side-by-side webs (38) each wound around the roller (36) and the respective roller (36A) or (36B).

[0089] Advantageously, said two rollers (36) each have a length dimension of 3400 mm, said two rollers (36A, 36B) each have a length dimension of 1700 mm and said two webs (38) each have a length dimension of 1700 mm along the direction of said rollers (36, 36A, 36B).

[0090] Furthermore, in a further preferred embodiment of the invention, a sensor can be provided on the web to detect the presence of the skin on the web and therefore signal any anomalies in engagement by the picking members.

[0091] It will be appreciated that what has been described with respect to animal hides can be applied to other flexible materials as well that are inherently characterized by low stiffness and are therefore susceptible to the formation of folds or wrinkles as they are transferred from the picking point to the different deposition points. For example, in addition to animal hides, these materials can be synthetic hides, sheets of nonwoven fabrics, sheets of plastic materials, and similar flexible layered materials of relatively small thickness.

[0092] It will also be understood that instead of the movable surface (38) a fixed surface may be provided constituting the outer surface of the tool which engages with the hide. By appropriately adjusting the speed of rotation of the tool (34) about the axis (J6), it is also possible to control the release speed of the hide from the tool (34).

[0093] With reference to Figures 14 to 22, possible embodiments of devices for facilitating engagement of skins (or sheet-like flexible material) from a hanger of an overhead conveyor by means of the handling device described above, or more generally by means of handling devices of different construction or configuration, are described below.

[0094] In relation to said figures, a facilitating device means a device capable of lifting and partially stretching an edge (L) of a sheet (P) of flexible material suspended from a sling (40), creating an operating space between the remaining vertical flap and the partially lifted flap (L) in which a pick-up means can be easily inserted, and thus enabling said sheet of flexible material (P) to be easily picked up.

[0095] More specifically, the hanger (40) is part of the overhead conveyor (4).

[0096] The sheet (P) is hung on a hanger in an inverted U-shape and defines two opposing edges (L).

[0097] The hanger defines a horizontal "X" axis that is parallel to the ground.

[0098] The promoting device is provided on its upper side with a post (100) which supports a locking means (200) and an expanding means (AD).

[0099] The post is disposed perpendicular to the hanger and defines a vertical "Y" axis.

[0100] The locking means (200) comprises a lockable gripping member actuated by a control device for engaging the hanger to determine and secure a predetermined position (PP2). Thus, the gripping member engages the hanger to prevent vibratory movement thereof.

[0101] The gripping members are preferably, but not exclusively, operated by a pneumatic actuator (201).

[0102] The control system (not shown) includes appropriate sensors to stop the advancement of the hanger corresponding to a desired working position (PP2).

[0103] As regards said spreading means, they comprise a piston (AD) arranged along an axis (X') parallel to the axis of the hanger. Said position (PP2) corresponds to a position in which the axis (X') of said piston (AD) and the axis (X) of the hanger are coplanar. In a preferred embodiment, said piston (AD) is a telescopic piston.

[0104] In the desired operating position (PP2), when the piston (AD) is pulled out and extended, it fits between the two flaps (L) of the sheet suspended from the hanger (40) in the space created by the positioning of the sheet on the hanger.

[0105] Moreover, the piston (AD) is slidably mounted on the post (100). The piston (AD) is therefore free to slide along an axis (Z) perpendicular to the axis (X) of the hanger and the axis (Y) of the post. This sliding is obtained by a linear guide (400) actuated by an actuator (preferably, but not exclusively, pneumatically operated).

[0106] The piston (AD), when inserted or removed between the two flaps (L), translates along the axis (Z) making it possible to increase the spacing between the flaps themselves, thus creating an available space for the removal of the thin sheet of flexible material (P) by a picking device making it possible to remove the flexible material (P) from the hanger. By way of example, the flexible material pick-up device may be the pick-up member described above with reference to Figures 1 to 13.

[0107] The flap (L), intercepted by the piston (AD) moving in the direction of the axis (Z), is then partially lifted and expands about a bulge parallel to the XZ plane.

[0108] The piston (AD) can have a suitably shaped insert (301) at its end to minimize friction with the skin. This insert (301) can also have a reduced diameter relative to the piston so as to fit between the flaps of the seat, even if they are very close to each other.

[0109] The promotion device according to the invention has a number of advantages.

[0110] In particular, the use of pneumatic gripping members making it possible to hold the hanger in a fixed position allows a high reliability of the system, since it makes it possible to always guarantee the insertion of a telescopic piston inside the space created between the two flaps of the material (P) placed on the hanger of the overhead conveyor. Moreover, the spreading means make it possible to spread the flaps of the sheet and separate them efficiently and quickly. Once the flaps are appropriately spread, they can be gripped or, in any case, engaged by a suitable manipulator.

[0111] It will be understood that the details of implementation may in any case be varied in an equivalent manner with respect to the individual features described and exemplified, without departing from the scope of protection granted by this patent according to the appended claims.

Claims

1. - picking up the flexible material (P) from a pick-up point (PP) by a pick-up member (34) configured to engage a first portion of said flexible material (P) corresponding to a contact area between the engagement surface of the pick-up member and the flexible material; - moving said pick-up member along a predetermined trajectory until a second free portion (LP) of said flexible material (P) is positioned on a deposition surface (2) for depositing said flexible material at a deposition point (PD) on said deposition surface; 1. A method for automated processing of flexible layered material, comprising: - during each deposition step of the flexible material (P), frictional forces arise between said flexible material (P) and the deposition surface (2) of said flexible material, - said second portion of flexible material (P) is suspended from said pick-up member; after deposition of the free portion of the flexible material at the deposition point (PD), the pick-up member exerts a tension force (FD) on the flexible material (P) that is less intense than the friction force (FA) while the flexible material (P) is released onto the surface (2) at a controlled release rate, The pick-up member is controlled by a control unit (UC) programmed to control the strength of the tension force (FD), which is a force directed in a direction opposite to the friction force (FA), as a function of the coefficient of friction between the engagement surface of the pick-up member and the flexible material (P) and between the deposition surface (2) and the flexible material (P), so that the flexible material (P) is tensioned while positioned on the deposition surface (2) while being released at a controlled speed by the pick-up member; The pick-up member (34) is attached to an industrial robot so that the engagement surface of the pick-up member (34) is movable; A method wherein the contact area of ​​the flexible material with the engagement surface is adapted to vary during release and deposition of the flexible material onto the deposition surface (2).

2. - picking up the flexible material (P) from a pick-up point (PP) by a pick-up member (34) configured to engage with a first portion of the flexible material (P) corresponding to an engagement surface of the pick-up member; - moving said pick-up member along a predetermined trajectory until a second free portion (LP) of said flexible material (P) is positioned on a deposition surface (2) for depositing said flexible material at a deposition point (PD) on said deposition surface; 1. A method for automated processing of flexible layered material, comprising: - during each deposition step of the flexible material (P), frictional forces arise between said flexible material (P) and the deposition surface (2) of said flexible material, - said pick-up member (34) is mounted on an industrial robot so that its engagement surface is movable; - said second portion of flexible material (P) is suspended from said pick-up member; after deposition of the free portion of the flexible material at the deposition point (PD), the pick-up member exerts a tensile force (FD) on the flexible material (P) that is less intense than the frictional force (FA) while the flexible material (P) is released onto the deposition surface (2) at a controlled release rate, said pick-up member is controlled by a control unit (UC) programmed to control the strength of said tension force (FD), directed in a direction opposite to said friction force (FA), as a function of the coefficient of friction between said engagement surface of said pick-up member and said flexible material (P), so that said flexible material (P) is tensioned while positioned on said deposition surface (2) while being released at a controlled rate by said pick-up member; - the method, wherein said picking element contacts only one (S1) of the two faces (S1, S2) of said flexible material (P) during the entire processing operation.

3. 3. The method according to claim 1, wherein the coefficient of friction between the engagement surface of the pick-up member (34) and the flexible material (P) is higher than the coefficient of friction between the deposition surface (2) and the flexible material (P).

4. 4. The method according to any one of claims 1 to 3, wherein the engagement surface is a surface that controls the release speed of the flexible material (P) by the pick-up member, and the engagement surface is moved at a predetermined speed along a predetermined release direction during positioning of the flexible material (P) onto the deposition surface (2).

5. A method according to any one of claims 1 to 4, wherein said engagement surfaces rotate about their respective axes of rotation (J6) at a predetermined angular velocity.

6. A method according to any one of claims 1 to 5, wherein the engagement surface is a movable surface (38) that controls the rate of release of the flexible material.

7. The method according to any one of claims 1 to 6, wherein the deposition surface (2) is a moving surface or a fixed surface.

8. 8. The method according to any one of claims 1 to 7, wherein during the deposition of the flexible material, the pick-up member is moved at a predetermined speed (V3) along a direction (D3) opposite to a direction (DT) of release of the flexible material by the pick-up member.

9. a pick-up means configured to engage the flexible material (P) corresponding to a contact area between the flexible material (P) and the pick-up means; drive means for said pickup means programmed to move said pickup means along a predetermined trajectory to place a second free portion of said flexible material (P) on a predetermined deposition point (PD) on a predetermined target surface (2) under a friction force (FA) between said flexible material (P) and said predetermined target surface (2); 1. An apparatus for the automated processing of flexible layered materials, comprising: The pick-up means is attached to an industrial robot (3) so that the engagement surface of the pick-up means is movable; the pickup means exerts a tension force (FD) on the flexible material (P) that is less in intensity than the friction force (FA) while the flexible material (P) is placed on the surface (2) at a controlled release rate; the pick-up member is controlled by a control unit (UC) programmed to control the strength of the tension force (FD), directed in a direction opposite to the friction force (FA), as a function of the coefficient of friction between the engagement surface of the pick-up member and the flexible material (P) and between the surface (2) to be deposited and the flexible material (P); The control unit controls the pick-up means while the flexible material (P) is released and placed on the surface (2), varying the contact area during the release of the flexible material and its deposition on the surface (2).

10. a pick-up means configured to engage the flexible material (P) corresponding to a first portion of the flexible material (P); handling means for said pick-up means programmed to move said pick-up means along a predetermined trajectory to place a second free portion of said flexible material (P) on a predetermined deposition point (PD) on a predetermined target surface (2) under a friction force (FA) between said flexible material (P) and said predetermined target surface (2); 1. An apparatus for the automated processing of flexible layered materials, comprising: The pick-up means is attached to an industrial robot (3) so that the engagement surface of the pick-up means is movable; While the flexible material (P) is released by the pickup means at a controlled release rate and simultaneously placed on the surface (2), the pickup means contacts only the surface (S1) of the flexible material (P) and exerts a tension force (FD) on the flexible material (P) that is less in intensity than the friction force (FA); the pick-up member is controlled by a control unit (UC) programmed to control the strength of the tension force (FD), which is a force directed in a direction opposite to the friction force (FA), as a function of the coefficient of friction between the engagement surface of the pick-up member and the flexible material (P) and between the surface (2) to be deposited and the flexible material (P); The control unit controls the movement of the first portion of the flexible material (P) relative to the pick-up member while the flexible material (P) is released and placed on the surface (2).

11. 11. Apparatus according to claim 9 or 10, wherein the coefficient of friction between the engagement surface of the pick-up means and the flexible material is higher than the coefficient of friction between the surface (2) to be deposited and the flexible material (P).

12. 12. The apparatus according to any one of claims 9 to 11, wherein the pick-up member is provided with an engagement surface for engaging the flexible material, the engagement surface being a surface that controls the rate of release of the flexible material (P) by the pick-up member, the engagement surface being moved at a predetermined speed along a predetermined release direction while the flexible material is being placed onto the surface (2) to be deposited.

13. Apparatus according to any one of claims 9 to 12, wherein the surface (2) to be deposited is a moving surface or a fixed surface.

14. 14. The apparatus according to claim 9, wherein in the step of depositing the flexible material, the pick-up member is moved at a predetermined speed (V3) along a direction (D3) opposite to a direction (DT) of release of the flexible material by the pick-up member.

15. 11. The device according to claim 9 or 10, comprising a database (DB) in which a plurality of values ​​of the friction coefficient are stored, and the control unit (UC) connected to the database (DB).

16. said pick-up member comprising a frame (35) on which are mounted at least two rollers (36) parallel to one another and connected in a slaved manner to corresponding actuators (37) controlling their rotation about their respective longitudinal axes; 16. Apparatus according to any one of claims 9 to 15, wherein the roller (36) is fitted with a web (38) that is closed in a loop around the roller (36) and thus guides the roller for movement along a direction (DT) perpendicular to the central longitudinal axis of the frame (35) that is engaged with the end axis (J6) of the robot arm (3).

17. 17. Apparatus according to claim 16, wherein the pick-up member comprises a frame (35) on which three rollers (36; 36, 36A, 36B) are mounted, the axes of said rollers being arranged in a triangular arrangement.

18. 17. The apparatus of claim 16, wherein two rollers (36) are mounted on one side of the frame (35) and two axially aligned rollers (36A, 36B) are mounted on the other side of the frame, the sum of whose lengths is equal to the length of each of the other two rollers (36).

19. Apparatus according to any one of claims 16 to 18, wherein the web (38) is made up of a plurality of elements arranged side by side.

20. Apparatus according to any one of claims 16 to 19, comprising a sensor on the web (38) for detecting the presence of the flexible material (P) on the web.

21. A device according to any one of claims 9 to 20, wherein the engagement surface is a plane that is movable during the release phase.

22. a means (DV) configured to place the flexible material at a picking position, the means (DV) being arranged and operative at a predetermined point (PP) for picking the flexible material, and comprising a spreading means (AD) controlled to spread one side of the flexible material when preparing the flexible material for picking; The means (DV) configured to place the flexible material at a picking location is arranged at a picking station (PP) that intersects with an overhead conveyor provided with hangers (40) on which the flexible material is suspended, The device according to any one of claims 9 to 21, further comprising a locking means (200) arranged in a controlled manner to temporarily lock the hanger (40) gradually reaching the picking station (PP), the locking means (200) being arranged and operative at the picking station (PP).

23. A pickup means configured to engage the flexible material (P) with an engagement surface of the pickup means corresponding to a contact area of ​​the first free portion of the flexible material (P); a drive means for the pickup means, the drive means being programmed to move the pickup means along a predetermined trajectory for depositing a second free portion of the flexible material (P) onto a predetermined deposition point (PD) on the predetermined target surface (2) in a state where a friction force is generated between the flexible material (P) and the predetermined target surface (2); 1. An automated processing device for flexible layered materials, comprising: the pick-up means is controlled by a control device programmed to apply a tension force (FD) to the flexible material (P) that is less in magnitude than the friction force (FA) while the flexible material (P) is being placed on the target surface (2) at a controlled release rate; said tension force (FD) is directed along the opposite direction of said friction force (FA); said control device controls said pick-up means during the release and deposition of said flexible material (P) onto said target surface (2) to vary said contact area during said release and deposition of said flexible material; said pick-up means comprising a frame (35) on which are mounted at least two rollers (36) parallel to one another and connected in a slaved manner to corresponding actuators (37) controlling their rotation about their respective longitudinal axes; The roller (36) is fitted with a web (38) that is looped closed around the roller (36) and thus guides the roller for movement along a direction (DT) perpendicular to the central longitudinal axis of the frame (35) that is engaged on the distal shaft (J6) of the robot arm (3).

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