Multi-tool gripping head of a sorting device and operating method of the multi-tool gripping head

Abstract

A gripping head (T) of a handler in a sorting device is disclosed, which comprises a support frame, at least one gripping tool having a control line and at least one socket for a first holding tool, and further comprises a revolver-shaped carrier mounted on the support frame having an engagement body having a plurality of first releasable engagement tools that engage with each of the first holding tools of a plurality of gripping tools further having second holding tools, and at least one transport carriage having a second releasable engagement tool that engages with the second holding tool. The carrier is movably mounted on the support frame along a sliding axis between at least a home position, a mounting position, and an operating position, wherein at the home position, the first holding tool of a gripping tool is engaged with the first releasable engagement tool of the revolver-shaped carrier, at the mounting position, the second releasable engagement tool is coupled with the second holding tool of a selected gripping tool, and at the operating position, the first holding tool of a gripping tool is disengaged from the first releasable engagement tool of the revolver-shaped carrier and the selected gripping tool is spaced apart from the revolver-shaped carrier.

Description

Technical Field

[0001] The present invention relates to the field of flat plate processing in a cutting factory. In particular, the present invention relates to a multi-tool gripping head for a handler in a sorting device.

[0002] (In the field of flat plate processing (such as metal, plastic, wood, composite materials, etc.), especially in automatic cutting and sorting stations, there is a need to assist the cutting machine with an automatic flat plate processing device (also called a handler or sorting device) that can draw out unprocessed flat plates from their respective warehouses, transfer them onto the introduction table of the cutting center, and then take out the cut pieces and scraps and distribute them to subsequent collection stations. A particularly effective and advantageous sorting device is described, for example, in Patent Document 1 filed by the present application.

[0003] Typically, these machines are equipped with a handler having a gripping head that can operate with a plurality of workpieces having different materials, thicknesses, and sizes. For such purposes, in this field, it is common for different replaceable collection tools to engage with the handler gripping head.

[0004] Therefore, usually, a general-purpose fixing member is provided at the tip of each gripping head. The general-purpose fixing member can engage with a number of different operating tools controlled by appropriate control lines or energy lines (such as pneumatic fluid, hydraulic fluid, electric current, etc.).

[0005] The various tools are neatly stored in a tool carrier area located outside the operating area. Within the tool carrier area, the gripping head is guided from the sorting device, collects the various tools, uses the various tools in their respective operating steps, and can release the various tools at the end of a specific operating step. Obviously, the step of the operating cycle in which the gripping head interacts with the tool carrier, called the "tool change step", represents the downtime in the operating time of the machine, and it is desirable to eliminate this downtime.

[0006] As another technical field, for example, in the field of machine tools, there are some in which a plurality of tools are directly mounted on the same operation head. However, the technical approach used in machine tools is not immediately applicable to the field of handlers for a series of reasons, mainly because the multi-tool head is large. In fact, in the operation of a sorting device, it is required that a plurality of gripping heads operate close to each other and that it be possible to process workpieces stacked at different heights. Therefore, in order to be used at a very high position, it is necessary to make the area of the gripping head as small as possible. The presence of a plurality of tools attached to the multi-tool head determines a planar size that may not be compatible with the operation of a handler for a sorting device.

[0007] Patent Document 2 discloses a tool-changing machine having a selection support that cooperates with a mandrel.

[0008] Patent Document 3 discloses a machine for changing an end effector stored on a linear storage. In said machine, the pickup head has to be moved.

Prior Art Documents

Patent Documents

[0009]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0010] Therefore, it seems necessary to provide an improved sorting device arranged to omit a separate tool carrier in which the gripping head must be arranged for tool changing operations. In particular, it is desirable to provide a gripping head for a sorting device that can use various types of tools and that is not troubled by time- and space-consuming tool changing operations while maintaining the versatility of known gripping heads. Means for solving the problems

[0011] The above object according to the present invention is achieved by a gripping head of a sorting device having the features defined in the appended independent claims and a method of operating the same. Other preferred features of the present invention are defined in the dependent claims.

Brief Description of the Drawings

[0012] Further features and advantages of the present invention will become more apparent in any case from the following detailed description of preferred embodiments of the present invention, provided purely by way of non-limiting example and shown in the accompanying drawings.

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Embodiments for Carrying Out the Invention

[0013] The sorting device is usually arranged to cooperate with a cutting center - for example, a laser cutting device (not shown) for metal flat plates. The sorting device has a process of taking out individual unprocessed metal flat plates horizontally arranged in a laminate from a storage area and transferring them to the inlet of the unprocessed metal plate cutting device. When the cutting of a large number of formed workpieces from the metal plate is completed, the sorting device further performs a process of taking out the individual workpieces and transporting them to an appropriate sorting position so that the individual workpieces are in a sorted state - in some cases, a stacked state. When the transportation of the workpieces is completed, the scrap of the remaining metal plate is also carried out to a waste disposal location by the sorting device.

[0014] As can be inferred, in various manufacturing batches, the original plates, individual workpieces, and scraps can have very different properties, sizes, shapes, and weights, so the sorting device must employ various gripping tools. For such gripping operations, the sorting device utilizes, in a known manner, one or more gripping heads provided with gripping tools attached to the lower end of a handling arm belonging to a system having displacement axes along at least two orthogonal axes and a vertical axis on a horizontal plane.

[0015] According to the present invention, the gripping head T for the sorting device is composed of a housing frame that houses a plurality of tools. In FIGS. 1 and 2, the gripping head T is shown in a reduced home state. The internal structure is invisible due to the presence of the covering C. At the upper part, the gripping head T terminates with a flange F that is fixed to the moving arm of the sorting device. By fixing the flange F, the control or energy transmission line L passes through, for example, a vacuum tube, a compressed air tube, one or more electric cables, etc., in order to appropriately control the members and tools of the gripping head. At the lower part, the gripping head T houses a plurality of gripping tools, which will be detailed hereinafter.

[0016] As particularly shown in FIG. 3, the gripping head T consists of a support frame 1 integral with the fastening flange F. A series of operating members are attached onto the gripping head T. The operating components include a revolver-shaped tool carrier 2 provided with a relative rotation actuator 3 for driving rotation about the axis H, and a vertical transfer table 4 provided with a relative linear actuator 5. Preferably, a pneumatic distribution section 6 is further provided on the head T. The pneumatic distribution section 6 provides a single pneumatic line that extends across the flange F to communicate with a plurality of lines to various control members on the head.

[0017] In FIGS. 4A and 4B, the revolver-shaped tool carrier 2 provided with the actuator 3 is shown in detail.

[0018] The revolver-shaped tool carrier 2 is substantially rotatably mounted about a selection axis H and is rotationally driven by a pulley 22 operated by an actuator 3 including a gear motor M1 and a toothed belt 31. The engaging body 21 is provided with a plurality of tools U, which will be described in more detail below.

[0019] The selection axis H is preferably horizontal.

[0020] Preferably, coaxially with the pulley 22, a rotary fluid distributor 23 connected to the engaging body 21 for fluid exchange is provided. The distributor 23 serves to provide continuity to a plurality of fluid pipes directed towards the tools and to connect a plurality of input fluid connectors 24 arranged at fixed positions on the distributor to a corresponding plurality of tool sockets 25 provided on the movable gripping tool.

[0021] The fixed input connectors 24 on the distributor 23 are connected to a pneumatic distribution section 6 so as to appropriately fluid connect a vacuum line from a handling arm (not shown) to the tool sockets 25 rotatably mounted on the engaging body 21. For that reason, vacuum suction creates an air flow of suction from the tool towards the upper part of the handling arm.

[0022] Preferably, between the tool sockets 25 and the rotary fluid distributor 23, flexible and telescopic hoses 25' are provided, spirally wound as shown in the drawings for example, so as to allow continuity of the fluid pipes even when the tool moves far away from the rotary distributor 23 (as will be further shown below).

[0023] The rotary fluid distributor 23 preferably holds, at its central position, a longitudinal through hole 26 parallel to the axis H, suitable for accommodating also electrical through-lines for supplying other electrical devices - for example the engaging body 21 - or other electromagnets mounted on the tool U.

[0024] The rotation control of the gear motor M1 is preferably changed to perform rotations smaller than 360° in two opposite directions. As a result, there is no need to provide a sliding contact to maintain the continuity of the electrical wiring, and alternating torsions in the two directions are allowed.

[0025] In the illustrated embodiment, the engaging body 21 is considered to hold four different tools U1 to U4. For such a purpose, the main body 21 has a square flat plate shape with four orthogonal side surfaces to which the same number of gripping tools U1 to U4 are coupled. Each surface is provided with a pair of an adjustment hole 28 and an electromagnet 27. Each surface is further provided with a fork having a pair of elastic arms 29a and 29b that are elastically pushed toward each other to define a gripping operation for the gripping tools U1 to U4.

[0026] The electromagnet 27 and the fork having the elastic arms 29a and 29b as a whole form a releasable engaging tool. This is also possible in different embodiments. The electromagnet 27 and the fork having the elastic arms 29a and 29b keep the tools U1 to U4 engaged with the engaging body 21, but allow controlled detachment in the manner and at the time exemplified below.

[0027] All of the various gripping tools U1 to U4 are provided with a general-purpose fixed base 200 (FIG. 4C). Different active components are fixed to the general-purpose fixed base 200 according to the type of the tool. The base 200 includes a holding tool arranged to surely engage with a corresponding releasable engaging tool existing on the engaging body 21 of the revolver-type carrier 2. Specifically, the base 200 includes a pair of centering pins 201 for engaging with the corresponding centering holes 28 of the engaging body 21 and a metal insert 202 for coupling with the electromagnet 27. On the same base 200, a pair of holding pins 203 intended to engage with an engaging tool provided on the transfer table 4 are further provided, as will be understood hereinafter.

[0028] The lateral design of the base 200 is considered to cooperate with the elastic arms 29a and 29b and maintain a firmly snap-engaged state between the elastic arms 29a and 29b.

[0029] As shown in FIG. 4B, the engaging body 21 of the revolver-type carrier 2 utilizes the engagement with the centering hole 28 of the centering pin 201 and the holding snap force applied by the elastic arms 29a, 29b, and the electromagnet 27 to hold four types of tools in a releasable manner. In FIG. 4B, the revolver-shaped carrier 2 is attached to a first tool U1 having a plurality of circular vacuum suction caps, a second tool U2 having one elongated vacuum suction cap, and a third tool U3 having four electromagnet cylinders, which are three exemplary gripping tools having different active components. A fourth tool U4 having a single circular vacuum suction cap is shown separately in FIG. 4C at intervals.

[0030] FIG. 4D shows another suitable tool U5 (e.g., attachable to the gripping head instead of the tool U3) having two concentric electromagnets suitable for independent control. In particular, the first central electromagnet is circular and has a diameter in the range of 25 to 35 mm. This is intended to collect smaller workpieces (up to about 40 kg). The second peripheral electromagnet is annular. It exerts the assisting force of the first electromagnet when the weight of the workpiece to be collected exceeds 40 kg and up to about 130 kg. The start of the electromagnet can be controlled by alternately controlling the two electromagnets or simultaneously controlling them. In this way, a tool having a three-fold shape with different load-bearing capacities and programmable according to the workpiece to be collected is provided.

[0031] FIG. 5A shows in detail the transport table 4 and the relative linear actuator 5 attached to the frame T.

[0032] According to the illustrated embodiment, the transport table 4 includes a shelf 41 fixed to a movable slider 42 slidably attached along the sliding axis Y. The sliding axis Y is preferably vertical.

[0033] The shelf 41 is provided with an engaging tool. By this engaging tool, the shelf 41 can be firmly fixed to the selected gripping tool in a releasable manner.

[0034] It should be noted that the shelf 41 supports the engaging tool of the cantilever beam at a distance from the movable slider 42 in the direction of the central axis of the gripping head. In particular, the engaging tool is present in a central region that can engage with the holding tools of the gripping tools U1 to U5 when desired.

[0035] According to the illustrated embodiment, the releasable engaging tool is composed of a shaft 43 that is rotatably supported at the end portion 41' of the shelf 41 and is driven to rotate alternately by a pneumatic actuator 44.

[0036] The rotation axes of the shaft 43 and the actuator 44 are specified as the axis W in the figure.

[0037] The shaft 43 has at least a portion with a cross-section having two different orthogonal dimensions - a short one and a long one. For example, the shaft 43 with a cylindrical cross-section is provided with two opposing lateral recesses 43a (Fig. 5C). The shaft 43 engages with the fork portion defined between the two holding pins 203 of the tools U1 to U5 and provides alternately a large diameter or a small diameter, thereby preventing or allowing a relative disengaging movement in the intersecting direction.

[0038] Therefore, the two holding pins 203 of the gripping tools U1 to U5 have a narrower portion 203'. Corresponding to such a narrow portion, the center-to-center distance between the surfaces of the two pins is larger than the smaller dimension of the shaft 43 corresponding to the recess 43a. Thereby, the two holding pins 203 can slide freely so as to intersect the shaft 43 corresponding to the recess 43a, while lateral displacement is prevented when the large portion of the shaft 43 is between the two narrow portions 203' of the pins 203.

[0039] In other words, depending on the rotation angle taken by the shaft 203, as will be explained in more detail, it is possible to keep a pair of holding pins 203 in an intersecting state or free them.

[0040] The end portion 41' of the shelf board 41 further has guide parallel holes 45 for accommodating a pair of holding pins 203. The guide parallel holes 45 are orthogonal to the shaft 43 and intersect the rotating seat at two opposing side portions of its rotation axis W. Thereby, when the holding pin 203 is inserted into the guide parallel hole 45, it can engage in the lateral direction with respect to the shaft 43.

[0041] Furthermore, a pair of opening cam members 46 are installed on the shelf 41 in a state of being arranged on the opposing side portions of the shaft 43. The pair of opening cam members 46 are designed to contact and spread during the mounting step so as to open the elastic arms 29a, 29b.

[0042] The rectilinear motion of the movable slider 42 is controlled by a linear actuator 5 - for example, a ball screw 51 that is rotationally driven by an electric motor 52 via a transmission belt 53.

[0043] Preferably, the linear actuator 5 controls the movable slider 42 by means of a floating joint 54 that transmits the driving force via an elastic member - for example, a helical spring. The floating joint 54 has the purpose of compensating for any misalignment between the linear actuator and the platform, and ensures that the movement control along the axis Y is transmitted to the carrier 4 without jamming in any case.

[0044] The actuator 5 is configured to move the carrier 4 between a home position where the movable slider 42 is in the upper position, a mounting position where the carrier 4 is attached to a desired tool (as will be described later), and one or more operating positions where the slider 42 descends along the axis Y to the lower position and the tool attached to the carrier 4 gradually extends under the gripping head (FIG. 5A).

[0045] In the home position (Fig. 6A), the movable slider 42 is in its upper position, keeping the shelf 41 having the shaft 43 substantially centered with respect to the revolver-shaped carrier 2. That is, the axis W is close to the axis H. In this state, the revolver-shaped carrier 2 can rotate freely around the axis H, and the tool surrounds the shelf assembly 41 and the actuator 44 without being obstructed. In fact, for such purposes, the tools U1 to U5 are engaged with the support 21 at a radial distance from the axis of rotation H sufficient to leave a space for the shelf assembly 41 and its actuator 44.

[0046] In the attachment position (Fig. 6B), the movable slider 42 is moved vertically downward by a distance sufficient to engage the main body 41' of the shelf assembly 41 with the selected tool U, that is, the tool in the lower position on the revolver-shaped carrier 2 - for example, tool U4 in the drawing. In such a state, the holding pin 203 engages with the guide hole 205, and the region 203' of each reduced portion is close to the lateral surface of the shaft 43.

[0047] At this position, depending on the rotation angle taken, the shaft 43 is captured or released from the two holding pins 203.

[0048] In Figs. 6B and 6C, since the large diameter of the shaft 43 faces the two opposing holding pins 203 (in fact, a recess 43a can be seen at the upper part of the shaft), it is locked between the two opposing holding pins 203. In this state, the tool U4 and the transfer table 4 are made integral not only along a horizontal axis parallel to the axis W by the engagement of the pin 203 and the hole 45, but also along a vertical axis parallel to the axis Y by the engagement of the shaft 43 between the pins 203.

[0049] Conversely, when the shelf 41 approaches the selected tool U, relative movement along the vertical axis must be allowed, and by rotating the shaft 43 by 90°, the small-diameter portion (recess 43a) faces the holding pins 203 located on two opposite sides. In the tool mounting step, the pair of opening wedges 46 come into contact and spread and separate the elastic arms 29a and 29b, so that the tool U is no longer held by the revolver-shaped carrier. As long as the shaft 43 is not rotated and engages with the two holding pins 203, the tool is maintained in the revolver-shaped carrier 2 only by the action of the electromagnet 27. When the tool is finally attached to the carrier 4, the electromagnet 27 can be deactivated 27, so that the tool is completely released from the revolver-shaped carrier 2 and can be moved integrally with the carrier 4.

[0050] When the desired tool U is integrated with the carrier 4 and released from the revolver-shaped carrier 2, the shelf assembly 41 can be shifted to an operating position far from the gripping head by further translating the slider 42 along the vertical axis Y.

[0051] Figures 10 to 14 show various views of the gripping head with the slider 42 fully extended and the tool U4 extended downward in the operating position.

[0052] In this state, the selected tool U is placed at a sufficient distance from the gripping head so that it can easily act on the workpiece to be collected without being affected by the large bulk of the revolver-shaped carrier 2 and the entire gripping head T.

[0053] To prevent the weight applied to the gripping tool from being applied to the linear actuator 5, preferably, at the moving end operation position, a stop tool for directly fixing the slider 42 to the structure of the frame 1 is provided. In the embodiment shown in FIG. 13, these stop tools are in the form of a pair of pins 42a integral with the slider 42 that abut against a pair of hooks 11 integral with the frame 1. Also in this case, due to the presence of the floating joint 54, it is not necessary to finely adjust the stop tool. This is because any mounting inaccuracy is absorbed by the floating joint 54 without causing jamming or damage to the control member.

[0054] Figures 15 to 22 show various selection steps of the gripping head according to the present invention.

[0055] In FIG. 15, the gripping head T is in the reference state. In the figure, the revolver-shaped carrier 2 has a "zero" rotation angle, and the carrier table 4 is in the upper home position.

[0056] In FIG. 16, the tool U4 is selected. The tool U4 is brought to the lowered position by rotation - for example, a 90° rotation - around the axis H of the revolver-type carrier 2.

[0057] In FIG. 17, the carrier table 4 is moved to the mounting position so that the holding pins 203 engage with the guide holes 45 to expand the elastic arms 29a and 29b. The tool is still held on the revolver-type carrier 2 by the action of the electromagnet 27.

[0058] In FIG. 18, the stage of finally engaging the tool with the carrier table 4 is shown. The pneumatic actuator 44 rotates the shaft 43, determines the capture of the shaft 43 between the two holding pins 203, and fixes the tool U4 to the carrier table 4 along the moving axis Y. The operation of the electromagnet 27 is stopped, and the tool is completely released from the revolver-type carrier 2.

[0059] In FIG. 19, the operating procedure of the tool is shown. The slider 42 extends downward, and the tool U4 is brought to an operating position, for example, 200 mm below the mounting position. In this step, the tool U4 is powered by a control line or energy transmission that harmonizes with the function of the tool U4. For example, vacuum suction is actuated along the extendable pipe 25'.

[0060] In this state, the gripping head T programs the work to be performed with the selected tool placed in the operating position. For example, a new metal plate is collected and the new metal plate is transferred to the entrance of the cutting center.

[0061] At the end of this work cycle, if another tool needs to be gripped with another tool, the current tool is returned to the mounting position and the power supply along the control line is stopped (FIG. 20).

[0062] The carrier 4 is returned to the mounting position, the current tool is released from the shaft 43, and is pulled back by the electromagnet 27 (FIG. 21). Thereafter, the carrier 4 returns to the home position (FIG. 22), and the tool is again securely engaged by the elastic arms 29a and 29b, and the revolver-shaped carrier 2 can rotate again to newly select the desired tool.

[0063] Due to the specific layout of the head according to the present invention, all the tools mounted on the revolver-type carrier are always securely engaged via the electromagnet 27 and the elastic arms 29a, 29b, and are also correctly (electrically or pneumatically) supplied. Therefore, all the tools operate completely without any problem with respect to the carrier at the home position. Thus, it becomes possible to utilize an additional operation mode. In fact, the tool can be used to collect workpieces of not excessive weight even though it remains on the revolver-shaped carrier (because the load is supported by the releaseable engaging tool that does not exert a high force on the rotation axis H and in the layout provided in at least the preferred embodiment).

[0064] Thereby, the workpiece can be rotated on a horizontal axis (i.e., axis H), and then tilted from a horizontal posture, and can be laid on a rack or a feeding device of an adjacent row of workpieces (rather than stacking one on top of the other). A welding station, an anthropomorphic robot, or any automated station can enjoy the benefits of non-horizontal deposition. As shown in the sequence of FIGS. 23-23C, the workpiece can be collected in a horizontal posture and then gradually rotated to a vertical posture by rotating a revolver-shaped carrier around axis H.

[0065] As can be clearly understood from the above-reported description, the gripping head and the relative operating method for the sorting device according to the present invention enable perfect reaching of the set object.

[0066] In fact, the gripping head is arranged to carry a series of different tools attached to a revolver-shaped carrier. Therefore, there is no need to move the gripping head within the surrounding carrier area for tool change, and the selection of the required tool can be performed in a short time. Therefore, it is possible to significantly shorten the time of the work cycle.

[0067] By providing a revolver-shaped carrier that rotatably supports a plurality of fully operating tools around a horizontal axis, further advantages are brought in the handling of workpieces.

[0068] Furthermore, by the pickup operation of the selected tool onto the transfer table, the individual tool can be displaced from the tool carrier by a sufficient distance, so that, despite the bulk of the same tool carrier, no special tool working constraints occur. Therefore, the gripping head can operate in the same way as a conventional single-tool handler, but can operate in a much faster and more flexible way.

[0069] However, the present invention should not be considered limited to the specific embodiments shown, and various modifications are possible within the reach of all those skilled in the art without departing from the scope of protection of the present invention, which is defined only by the following claims.

[0070] For example, in this specification, we have always referred to a revolver-shaped carrier having four tools and releasably engageable tools relative to the four tools, but it does not deny that more than four tools can also be mounted on the carrier unit, and if so, they can be mounted according to the respective thickness of the tools.

[0071] Furthermore, it is understood that the expression "revolver-shaped carrier" also means a rotary tool rack, a tool carousel, a tool turret, but carrier units for a plurality of tools having different selection movements are also re-proposed, for example, those involving linear movement or more complex displacements, provided that they enable the selection of the desired tool accommodated in a certain position of the movable carrier and can be picked up and spaced by a transfer table therefrom.

[0072] Finally, it should be noted that the engaging and holding tools of the tools may be very different from those shown in the drawings, although they are within the scope of the present teaching.

Claims

1. A gripping head of a handler within a sorting device, comprising a support frame, a plurality of gripping tools provided with control lines and at least one socket for a first holding tool, a revolver-shaped carrier mounted on the support frame having an engagement body provided with a plurality of first releasable engagement tools that engage with the first holding tool of each of the plurality of gripping tools further having a second holding tool, at least one transfer table provided with a second releasable engagement tool that engages with the second holding tool, further comprising, the transfer table is movably mounted on the support frame along a sliding axis between at least a mounting position and an operating position, at the mounting position, the second releasable engagement tool is engaged with the second holding tool of a selected one of the plurality of gripping tools, at the operating position, the first holding tool of the selected gripping tool is disengaged from the first releasable engagement tool of the revolver-shaped carrier, and the selected gripping tool is spaced apart from the revolver-shaped carrier, the engagement body is rotatably mounted so as to surround a selection axis perpendicular to the sliding axis, characterized by the gripping head.

2. The gripping head according to claim 1, wherein the revolver-shaped carrier is controlled at various selection positions by a rotary actuator.

3. The gripping head according to claim 2, wherein between the rotary actuator and the revolver-shaped carrier, a rotary flow distributor is provided for connecting a flow pipe for the gripping tool from a fixed position to the socket for the control line that rotates with the revolver-shaped carrier.

4. The gripping head according to any one of claims 1, 2, or 3, wherein the first releasable engagement tool comprises a fork having an elastically snapping arm and at least one operable electromagnet.

5. The gripping head according to claim 4, wherein the transfer table comprises a cantilever of a shelf assembly mounted on a displacement slider controlled by a linear actuator.

6. The gripping head according to claim 5, wherein between the displacement slider and the linear actuator, a floating joint is provided for transferring a control action by an elastic tool.

7. The gripping head according to claim 6, wherein the shelf assembly includes a terminal portion having two guiding parallel holes intersecting the vertical housing sheet, a shaft having a portion with a non-circular cross-section is rotatably supported, gripping head.

8. The gripping head according to claim 7, wherein the shaft is driven to rotate by a two-position actuator.

9. The gripping head according to any one of claims 5 to 8, wherein an opening wedge is further provided on the shelf assembly and is arranged to contact the elastic arm and spread and separate the elastic arm.

10. An operating method of a gripping head for a handler of a sorting device, which provides a revolver-shaped carrier with a plurality of gripping tools, a selection actuator for the revolver-shaped carrier, a carrier slidably attached along a sliding shaft, and a support frame accommodated together with a linear actuator for the carrier, selecting a desired gripping tool on the revolver-shaped carrier by the selection actuator via rotation about an axis perpendicular to the sliding shaft; moving the carrier along the sliding shaft from a home position to a mounting position where the desired gripping tool is coupled to the selection actuator by the linear actuator; transporting the selection actuator to be integrated with the carrier at an operating position where the selection actuator releases and separates from the revolver-shaped carrier; executing a gripping cycle with the selected gripping tool, a method having.

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