Method and apparatus for handling elongated shaped products

Abstract

The method for handling elongated shaped products, in particular metal products, such as bars or metal profiles for reinforced concrete, for example shaped, comprises the steps of providing a release station (5), in which at least one product (2) is arranged along a longitudinal direction (Y), and an unloading station (6), spaced from said release station (5); providing a handling group (10), provided with at least one pair of gripping devices (11), movable along said longitudinal direction (Y) and / or a transverse direction (X), the gripping devices (11 ) also being movable along a third direction (Z), transverse to a plane containing the longitudinal direction (Y) and to the transverse direction (X), for picking up the product (2) at the release station (5).

Description

DescriptionMETHOD AND APPARATUS FOR HANDLING ELONGATED SHAPED PRODUCTSTechnical Field

[0001] The present invention relates to a method and an apparatus for handling elongated shaped products, in particular metal shaped products, such as rods or bars, for reinforced concrete.Prior art

[0002] In particular, apparatuses for the production of the so-called "longitudinal slings" are known, consisting of straight or shaped elements, i.e. with one or more bends at one or both ends, and of long stirrups, i.e. large-sized stirrups.

[0003] These products, which precisely constitute the reinforcement of structural elements, such as beams and pillars, are difficult to handle, due to both the dimensions and the particular, extremely variable geometry, which they assume once bent.

[0004] In addition, these products must be handled in the production area several times, to reach different working stations and, finally, to be joined with the rest of the products required by the same job order and loaded together on the means of transport. For this purpose, the reinforcement products are deposited, often disorderly, picked up and transferred several times in the production area, with considerable expenditure of time and labour.

[0005] More precisely, it is difficult to arrange these products even temporarily in an orderly fashion, for example stacked or placed side by side according to a specific arrangement, due to their size and complex geometry, since they often have bent portions and therefore deviate from a rectilinear configuration. In particular, the presence of at least one bend in the finished products shifts the center of gravity from the longitudinal axis of the bent bar or rod, thus generating a tendency to rotate when the piece is lifted. The products, therefore, could not maintain an orderly configuration when lifted with the means usually used in order to be transferred to the different areas of the production plant.

[0006] In some known plants, indeed, it is customary to resort to lifting means that retain the products by means of bands or chains, at a hooking portion. The application of the bands or chains around the products takes place manually, under conditions that are difficult to be made completely safe, with the use of labour and requiring special intervention spaces.

[0007] Newer plants allow to arrange the worked products automatically in an orderly manner, by transferring them from a working zone to a release station.

[0008] For example, Applicant's application WO 2022 / 234608 illustrates a plant of this type.

[0009] Further examples of bar transfer plants are illustrated by EP1375022, EP3950218 and WO 01 / 91936.

[0010] Currently, the subsequent lifting of the products from the release station is carried out manually with straps or chains and therefore it is not currently possible to maintain the product ordering achieved in the most recent known systems during the transfer phases.

[0011] Therefore, in the specific sector, the need is felt to handle these products without the intervention of the operator in an orderly manner.Presentation of the invention

[0012] The task of the present invention is to solve the aforementioned problems, by devising a method and an apparatus for handling elongated shaped products, in particular bent products, which allows to handle the products in an orderly manner, without requiring the intervention of the operator.

[0013] Within the scope of this task, it is a further object of the present invention to provide an apparatus for handling elongated shaped products, in particular bent products, of simple constructive and functional design, with safe and reliable use, as well as relatively inexpensive cost.

[0014] The cited objects are achieved, according to the present invention, by the method for handling elongated shaped products according to claim 1 , as well as by the apparatus according to claim 8.

[0015] The method for handling elongated shaped products, in particular shaped metal products, such as metal bars or profiles for reinforced concrete, envisages providing a departure station, in which at least one product is arranged, already worked or not worked, oriented along a longitudinal direction, and an arrival station, spaced, at least along a direction transverse to the longitudinal direction, from the departure station.

[0016] The method then provides for providing a handling group, suspended above the departure station and the arrival station, by means of a framework carrying at least one pair of gripping devices, movable along the transverse direction.

[0017] Each gripping device comprises a gripping member movable between an open configuration and a closed configuration, to grasp one or more products and movable along a third direction, transverse to a plane containing the longitudinal direction and the transverse direction, for picking up and releasing the product.

[0018] The method also provides for providing a control unit associated with the handling group to control the actuation of the handling group and, in particular, of the gripping devices.

[0019] At least one of the gripping devices is then operated in an alignment path developed by the control unit to align the arrangement of the gripping devices, in a plane containing the longitudinal direction and the transverse direction, to the conformation of the product on a projection of the plane, independently moving the at least one gripping device with respect to the frame along the transverse direction.

[0020] If the handling group is provided in a station distant from the departure station, then, before, during or after the alignment step, the handling group is actuated in an approaching path at least according to the transverse direction. The approaching path is processed by the control unit, to approach the handling group to the departure station.

[0021] Subsequently, the aforementioned gripping devices are actuated by motion along the third direction in a first way, to intercept the at least one product at the departure station by means of the gripping members arranged in the open configuration.

[0022] Then the gripping members are actuated in the closed configuration, to retain the at least one product.

[0023] The product is picked up, by actuating the gripping devices by motion along the third direction in a second way, opposite to the first way.

[0024] The handling group is then actuated in a transfer path at least along the transverse direction. The transfer path is processed by the control unit, to bring said product to said arrival station.

[0025] Subsequently, the transferred product is released at the arrival station, by actuating the gripping members in the open configuration.

[0026] Preferably, the method also includes the step of actuating the at least one gripping member of said gripping device in an orientation path processed by the control unit, to orient the gripping capacity of the gripping device to the conformation of the product, by rotating the same gripping member around a longitudinal axis of the gripping device, parallel to the third direction.

[0027] Preferably, the alignment path also provides for actuating by motion at least one gripping device along the longitudinal direction with respect to the framework, in particular to balance the support to the product.

[0028] In addition, the approaching motion and / or the transfer motion, processed by the control unit, may provide for shifting the framework carrying the handling group along the longitudinal direction.

[0029] The third direction is preferably substantially vertical.

[0030] According to a particular aspect of the method, the step of actuating at least one of the gripping devices in an alignment path may comprise the step of storing through the control unit data relating to the geometric conformation of the product, so that the control unit processes said alignment path.

[0031] Preferably, the step of releasing the transferred product is preceded by the further step of actuating the gripping devices along the third direction in the first way.

[0032] The apparatus for handling elongated shaped products, in particular shaped metal products, such as metal bars and profiles for reinforced concrete, comprises a handling group suspended above a framework carrying at least one pair of gripping devices.

[0033] The framework extends along a longitudinal direction and is movable along a direction transverse to the longitudinal direction.

[0034] Each gripping device comprises a gripping member movable between an open configuration and a closed configuration, to grasp at least one product, preferably a plurality of products, and is movable along a third direction, transverse to a plane containing thelongitudinal direction and the transverse direction, for picking up and releasing the at least one product.

[0035] The apparatus also comprises a control unit configured to process an alignment path to adapt the positioning of the gripping devices, on a plane containing the longitudinal direction and the transverse direction, to a geometric conformation of the at least one product, projected on the same plane, actuating at least one gripping device with respect to the frame, independently, along the transverse direction, to intercept the at least one product. This phase allows, in particular, to safely handle products whose conformation deviates from straightness.

[0036] Each gripping device preferably comprises a body carrying the gripping member in the shape of a jaw.

[0037] The gripping member preferably shapes a first prong and a second prong, each being provided with a stem and with a closing end, movable by an opening and closing motion, between an open configuration, at which the closing ends are mutually spaced apart, and a closed configuration, to retain the at least one product, at which the closing ends are set beside.

[0038] Said opening and closing motion can take place by rotating at least one, preferably each, of the closing ends about a longitudinal axis of a respective stem. This conformation considerably reduces the overall dimension of the hooking member in the open configuration.

[0039] At least one gripping device of the handling group can also be movable on command of the control unit, with respect to the framework, according to the longitudinal direction, to have maximum flexibility of movement within the plant.

[0040] At least one gripping device of the handling group can also be movable by an orientation motion, being orientable around a respective longitudinal axis, to adapt its gripping capacity to the orientation of a portion of the at least one product to be intercepted.

[0041] The framework carrying the handling group is also preferably movable, on command of the control unit, along the longitudinal direction, to transfer the at least one product from a departure station to a destination station, which are distant along both the transverse and longitudinal directions.

[0042] The object of the invention also concerns a plant for working elongated shaped products, comprising the aforementioned apparatus, in addition to a working station for the products, served by a feed route for the products to be worked, a release station for the products worked from the working station, arranged downstream of the working station, a magazine for storing the products worked and / or to be worked and an unloading station, which are spaced from the release station. The control unit of the apparatus is configured to process a transfer path for transferring at least one product from a departure station, in particularchosen from among the feed station, the release station, the magazine and the unloading station, to an arrival station, chosen in particular from among the feed route, the magazine and the unloading station.Description of the drawings

[0043] The details of the invention will be more apparent from the detailed description of a preferred embodiment of a plant that includes the apparatus for handling elongated shaped products, illustrated by way of example in the attached drawings, in which: figure 1 shows a perspective view of a plant for working elongated shaped products, in particular bars, comprising the apparatus according to the invention; figures 2 to 11 show respective perspective views of a handling group of the apparatus, in subsequent operating steps, exemplary of a handling cycle.Description of preferred embodiments of the invention

[0044] With particular reference to the figures, 1 indicates a plant for working elongated shaped products 2, in particular intended for the production of straight and / or bent and / or curved products for the manufacture of reinforcement for reinforced concrete.

[0045] In the figures, for the sake of simplicity, a single cylindrical shape product 2 schematically represents both the least usual case in which a single product is handled and, the more common one, a plurality of products 2, loose or bound, which must be handled together.

[0046] The plant 1 employs the apparatus 100 for handling the products 2, according to the invention.

[0047] The plant 1 also preferably comprises a working station 3, a magazine 4, arranged near the working station 3, for containing at least the products 2 preferably resulting from a working, for example shaping, operated on semi-finished products 2’, for example cut or otherwise worked in a previous step, a release station 5, arranged downstream of the working station 3, for collecting the worked products 2, and an unloading station 6.

[0048] The arrangement described and illustrated, relating to the stations and operating groups is exemplary of a plant in which the apparatus 100 according to the invention can be employed. Alternatively, according to the invention, different arrangements are possible.

[0049] The working station 3 can be a bending station in which, for example, the shaping of the products 2 is operated.

[0050] "Shaping" means a working operation that comprises at least one bend on the semi-finished elongated shaped product 2’.

[0051] The apparatus according to the invention can also be used in working plants of a type other than shaping, for example for the curvature of elongated shaped products, by bending being understood a bending operation, in which the bend made has a radius of curvature usually greater than 1000 mm.

[0052] Fig. 1 shows, an example of an apparatus for shaping the semi-finished products 2’.Additional types of apparatuses can be provided for the same purpose.

[0053] In the example illustrated in figure 1 , therefore, the working station 3 comprises at least one, preferably at least one pair of working units 30, which operate the desired working on the semi-finished products 2’, to transform them into worked products 2.

[0054] The working units 30 are aligned along a longitudinal direction Y to receive the semi-finished products 2’ arranged according to the respective longitudinal axis.

[0055] The working units 30 can be placed side by side, preferably parallel to the same longitudinal direction Y, of a feed route 31 , for example rollers or catenary, configured to feed and, preferably, singularize, the semi-finished products 2’ to be transferred to the working units 30.

[0056] Furthermore, the working units 30 themselves can be usefully equipped with at least one transfer device 32, configured to pick up the semi-finished products 2’ from the feed route 31 and transfer them to the working units 30. Said transfer preferably takes place in a direction transverse X, in particular perpendicular, to the longitudinal direction Y.

[0057] The same transfer device 32 can also be configured to pick up the worked products 2 from the working units 30 and release them to the aforementioned release station 5 (see figure 1)-

[0058] The transfer device 32 is preferably of the type illustrated in patent application WO 2022 / 234608 in the name of the Applicant.

[0059] The magazine 4 preferably comprises at least one storage zone P comprising a support structure 40, for example in the form of a grid, for supporting the semi-finished products 2’ and / or the worked products 2. The support structure 40 performs in particular the function of supporting the products 2, 2’, keeping them raised from the ground, to allow handling operations, as described below.

[0060] Each product 2, 2’ can be arranged, individually or in groups, on the support structure 40. The magazine 4 is preferably located in front of the working station 3. Different arrangements are likewise possible.

[0061] Preferably, the magazine 4 comprises a further storage zone P’, for example placed side by side of the storage zone P to preferably contain the semi-finished products 2’. Said further storage zone P’ can provide a plurality of seats 41 , for example shaped like cradles, arranged spaced apart, in succession according to the aforementioned longitudinal direction Y, to define respective compartments and stably contain therein respective plurality of semi-finished products 2’.

[0062] The release station 5 is preferably located adjacent to the working station 3 to collect, preferably in an orderly manner, the products 2 picked up from the working station 3, by means of the transfer device 32 or by equivalent means. The release station 5 may comprise support means 50, for example a cradle- or trellis-like or conveyor belts, forsupporting distal sections of the worked products 2 (see for example figures 1 and 5), so as to allow them to be handled, as described in detail below.

[0063] The handling apparatus 100 comprises a handling group 10 for the products 2, cooperating with the working station 3, for handling, transferring and unloading the products 2 between distanced stations, for example between the release station 5 and / or the magazine 4 and / or the unloading station 6.

[0064] As is evident from the description that follows, it is understood that the handling group 100 is also capable of handling different products, for example the same semi-finished products 2’.

[0065] The apparatus 100 preferably comprises a structure 7 adapted to support, in a suspended condition, the handling group 10.

[0066] The structure 7 develops at a pair of opposed sides, parallel, oriented along the longitudinal direction Y preferably at the sides of the magazine 4 or in any case at the handling area of the handling group 10. The structure 7 preferably comprises, for each support side, a rest beam 70, supported by a plurality of uprights 71 .

[0067] The handling group 10, which forms a framework 72 carrying a plurality of gripping devices 11 , is in turn supported by the structure 7, by interposition of a pair of crosspieces 73.

[0068] More precisely, the framework 72 of the handling group 10, which is oriented along the longitudinal direction Y, is slidably supported by the crosspieces 73 oriented according to the transverse direction X, which are supported, at their respective ends, by the aforementioned opposed beams 70. More precisely, the crosspieces 73 form respective running routes or transverse rails 74 on which the framework 72 is slidable.

[0069] According to a preferred embodiment, illustrated in figure 1 , the handling group 10, movable transversely along the crosspieces 73, is configured to be slidable along the beams 70 of the structure 7 along the longitudinal direction Y. More precisely, the crosspieces 73 that support the aforementioned framework 72 can in turn be rigidly connected by means of a pair of spars 75, arranged to slidingly rest on the beams 70 of the structure 7.

[0070] In particular, the spars 75 can carry respective trolleys, slides or equivalent means, coupled to respective sliding guides 76 or rails, formed by the beams 70 along the longitudinal direction Y.

[0071] According to the embodiment described in the figures, the structure 7 is preferably oriented along the longitudinal direction Y to allow the handling group 10 to be actuated movable in that direction. Further spatial arrangements likewise also possible. Still, alternatively, it is possible to provide that the handling group 10 is fixedly supported by the structure 7, being movable only along the transverse direction X along the crosspieces 73. In this particular case, the crosspieces 73 are fixed to the beams 70, thus being able to avoid providing the connection spars 74.

[0072] The handling group 10 comprises at least one pair of gripping devices 11 , configured to cooperate in a pick-up motion, in a transfer motion and in an unloading motion, to correspondingly operate the pick-up, transfer and unloading of at least the worked products 2, in particular between the release station 5, the magazine 4 and the unloading station 6. Preferably, the handling group 10 comprises three gripping devices 11. Alternatively, it is possible to provide that the handling group 10 comprises a different number of gripping devices 11 .

[0073] The gripping devices 11 are arranged in succession along the framework 72.

[0074] The products 2 can be transferred by means of the gripping devices 11 and stored at least temporarily in a zone of the plant, in particular in the magazine 4 or directly in the unloading station 6. Alternatively or in addition, the products 2 can be loaded, for example, directly onto platforms 60 provided or not with wheels, in the latter case forming part of respective trucks, and provided at the unloading station 6 for subsequent transport.

[0075] The gripping devices 11 are applied in suspension to the framework 72, oriented according to the longitudinal direction Y, also movable, as described above, along the transverse direction X along the crosspieces 73 resting on the structure 7.

[0076] Each gripping device 11 carried by the framework 72 is also movable, preferably independently, with respect to the framework 72 itself, in the transverse direction X as well as, preferably in the longitudinal direction Y, along suitable guide means. More precisely, the framework 72 carries transverse guide elements 77 and, preferably, longitudinal guide elements 78, which allow respective independent motions for each gripping device 11.

[0077] Each gripping device 11 is also movable by the aforementioned pick-up and release motion, in a third direction Z, transverse, in particular orthogonal, to the plane containing the longitudinal direction Y and the transverse direction X, for picking up and releasing the products 2, 2’. Preferably the third direction Z coincides with the vertical direction, to operate the lifting and lowering of the products 2, 2’.

[0078] The gripping device 11 is also movable by an orientation motion about its own longitudinal axis, so as to orient the gripping capacity in a manner corresponding to the orientation of the portion of product 2 to be intercepted. More precisely, this orientation motion allows the gripping device 11 to intercept portions arranged along the longitudinal direction Y, but also portions that are shaped, bent or curved with respect to the same longitudinal direction Y.

[0079] In particular, each gripping device 11 comprises a body 12 applied to the framework 72 by interposition of the aforementioned guide elements, and a gripping member 13 carried at the end of the body 12.

[0080] The body 12 develops along the aforementioned third direction Z. In particular, it is preferably extendable and retractable, therefore movable in the aforementioned third direction Z, to allow picking up, in particular lifting, and unloading, in particular lowering, theproducts 2 to be transferred.

[0081] The gripping member 13 is orientable according to the aforementioned orientation motion with respect to the body 12 around the longitudinal axis of the body 12 itself, to allow the gripping capacity to be oriented in a manner corresponding to the orientation of the portion of product 2 to be intercepted.

[0082] The gripping member 13 is preferably of the jaw type, movable between an open configuration and a closed configuration, to surround the products 2, preferably a plurality of products 2, supporting them below.

[0083] The gripping member 13 preferably comprises a first prong 14 and a second prong 15, which are protruding from the body 12.

[0084] The prongs 14, 15 are preferably L-shaped, forming for example a pair of stems S arranged substantially parallel, as a continuation of the body 12. In practice, the stems S are preferably oriented along the third direction Z. In addition, the stems S are spaced so as to be able to include between them the transverse encumbrance of the products 2 to be handled, thus the transverse encumbrance of at least one product 2 to be handled.

[0085] Each prong 14, 15 also forms a closing end T, for example oriented transversely, in particular perpendicularly, with respect to the stem S (see in particular figures 2 to 5).

[0086] The first prong 14 and the second prong 15 are movable in an opening and / or closing motion, between the open configuration and the closed configuration. In particular, in the open configuration, the closing ends T of the prongs 14, 15 are spaced apart, in particular opposed, leaving the containment space between the stems S accessible (see figure 4). In the closed configuration, on the other hand, the closing ends T are facing, so as to close the aforementioned space, cooperating to retain the products 2 therein (see figure 6).

[0087] The aforementioned opening and / or closing motion of the prongs 14, 15 is for example a rotation motion of each stem S around its own longitudinal axis, with the advantage of minimising its encumbrance in the opening steps. This considerably facilitates the steps of inserting the gripping member 13 between the products 2 to be picked up, which can therefore be picked up effectively even if arranged in a compact configuration, to the advantage of a logic of saving the space used in the production area.

[0088] Alternatively, different embodiments of the gripping members 13 can be provided, as long as they are suitable for the purpose.

[0089] The apparatus 100 also comprises a control unit 200 for processing at least one path of approach to the picking station, in particular to the release station 5, from the current position of the handling group 10 in the production area, and a transfer path of the products 2 to be handled, from the aforementioned station, for example from the release station 5, to the magazine 4 and to the unloading station 6 or directly to the latter.

[0090] The apparatus 100 may usefully comprise sensor means for detecting the current positionof the handling group 10, and transmitting respective positioning data to the control unit 200, so that it processes the aforementioned paths and keeps a mapping of the products 2 deposited and picked up in the magazine 4 always up to date.

[0091] The apparatus 100 can also receive by input and / or transmit also data relating to the conformation assumed by the product 2 following working undergone at the working unit 3.

[0092] The control unit 200 can also process respective alignment paths, to adapt the arrangement of the gripping devices 11 of the handling group 10, on a plane containing the longitudinal direction Y and the transverse direction X, to the conformation that the product 2 to be handled has assumed on a projection of the same plane, following working undergone at the working station 3. Such alignment paths may include actuating the gripping devices 11 into motion along the transverse direction X and / or the longitudinal direction Y, respectively along the transverse 77 and longitudinal 78 guide members.

[0093] The control unit 200 can also process an orientation path, to actuate the aforementioned orientation motion of one or more gripping members 13 of the gripping devices 11 , through a rotation motion around the longitudinal axis of the same body 12, so as to orient the gripping capacity accordingly.

[0094] The operation of the apparatus for handling elongated shaped products, which implements the method according to the invention, is understandable from the foregoing description.

[0095] In an initial step at least one product 2 is made available in a zone of the plant 1 , at a departure station, for example downstream of the working station 3, at the release station 5. Likewise, it is possible to provide that the at least one product to be handled is in the further storage zone P’, in which the semi-finished products 2’, for example cut, are stored to be transferred to the feed route 31. Furthermore, more usually, a plurality of products 2, 2’ is handled at each transfer cycle.

[0096] The handling group 10 is then actuated into motion, under the control of the control unit200, to travel along an approaching path processed by the control unit 200 and approach the product 2 to be picked up at the release station 5.

[0097] To this end, the control unit 200 of the apparatus 100 processes, in particular, the approaching path of the handling group 10 along the beams 70 of the structure, if movable also in the longitudinal direction Y, and / or along the crosspieces 73 according to the transverse direction X. In practice, this approaching path can therefore involve a corresponding motion along the longitudinal direction Y, if such motion capacity is provided, and / or along the transverse direction X, from the departure station to an arrival station, for example at the unloading station 6, the working station 3 or the magazine 4.

[0098] The individual gripping devices 11 may initially be arranged on the framework 72 in an aligned configuration along the longitudinal direction Y (see figure 2).

[0099] The control unit 200 can then process respective alignment paths, to adapt the arrangementof the gripping devices 11 of the handling group 10 to the conformation that the product 2 has assumed as a result of working undergone at the working station 3.

[0100] For example, if the product 2 is L-shaped, with a single end bend, the control unit 200 commands to arrange two adjacent gripping devices 11 in an aligned manner along the longitudinal direction Y, to intercept the elongated portion of the L, while the third gripping device 11 is shifted in the transverse direction X, so as to follow the course of the L-bent portion (see figure 3).

[0101] The gripping member 13 of the latter gripping device 11 is also actuated in the aforementioned orientation motion along an orientation path, also processed by the control unit 200, to orient the gripping member 13 in a rotated configuration, for example by 90°, adapted to intercept the same L-bent portion (see figures 4 and 5).

[0102] The bodies 12 of the gripping devices 11 of the handling group 10 are then moved, in particular outstretched, in the third direction Z in a first way, preferably downwards, lowering the gripping members 13 arranged in the open configuration, with the closing ends T spaced apart, so as to be easily inserted in the zone below the product 2 and to be able to embrace the product 2 between the stems S (see figure 5).

[0103] In the next step, the prongs 14, 15 are actuated into the opening and / or closing motion, in particular by rotating around the axes of the stems S, so as to arrange the closing ends T in the facing condition, closing the containment space between the prongs themselves. The product 2 is thus held firmly between them (see figure 6).

[0104] Subsequently, the bodies 12 of the gripping devices 11 with the gripping members 13 in the closed configuration are actuated, in particular retracted, into the pick-up motion along the third direction Z, in a second, lifting way, opposite to the first way, thus lifting the product 2 from the release station 5 (see figure 7).

[0105] The control unit 200 then processes the transfer path, to bring the picked-up product 2 to an arrival station, for example to the magazine 4 or to the unloading station 6, defining for example a combination of translation paths, in the longitudinal direction Y and / or in the transverse direction X (see figure 8) along the corresponding guide means.

[0106] Following the processed transfer path, the handling group 10 reaches the arrival station, carrying for gripping the picked-up product 2 (see figures 9 and 10).

[0107] The control unit 200 therefore commands the unloading of the product 2, for example on the platform 60 in the unloading station 6, again extending the bodies 12 in the aforementioned unloading motion along the third direction Z (see figure 11 ). Finally, the product 2 is released, bringing the prongs 14, 15 into the open configuration.

[0108] In the particular case in which the platform 60, for example of a truck, were mistakenly arranged with a not perfectly longitudinal orientation, the control unit 200 can process for each gripping device 11 , on the basis of information detected or otherwise received, thecontrol unit 200 can process for each gripping element 11 appropriate coordinated displacements in the transverse direction X along the transverse guide elements 77 for the alignment of the products 2 to the actual orientation of the platform 60. In this way, it is possible to avoid complicated manoeuvres of aligning the truck to the products 2, all the more difficult if the truck is of the articulated type.

[0109] In the practical implementation of the invention, the materials employed, as well as the shape and dimensions, may be any according to requirements.

[0110] Where technical features mentioned in each claim are followed by reference signs, such reference signs have been included for the sole purpose of increasing the understanding of the claims and accordingly they do not have any limiting value on the scope of each element identified by way of example by such reference signs.

Claims

Claims1. A method for handling elongated shaped products, in particular metal shaped products, such as metal bars or profiles for reinforced concrete, comprising the steps of: a) providing a departure station (31 , 4, 5, 6), in which at least one product (2, 2’) is arranged, oriented along a longitudinal direction (Y), and an arrival station (31 , 4, 5, 6), spaced, at least along a direction transverse (X) to said longitudinal direction (Y), from said departure station (31 , 4, 5, 6); b) providing a handling group (10), suspended above said departure station (31 , 4, 5, 6) and said arrival station (31 , 4, 5, 6) by means of a framework (72) carrying at least one pair of gripping devices (11 ), said framework (72) being movable along said transverse direction (X), each said gripping device (11 ) comprising a gripping member (13) movable between an open configuration and a closed configuration, in order to grasp one or more of said products (2, 2’), and being movable along a third direction (Z), transverse to a plane containing said longitudinal direction (Y) and said transverse direction (X), in order to pick up and release said product (2, 2’), c) providing a control unit (200) associated with said handling group (10) to control the actuation of said handling group (10) and, in particular, of said gripping devices (11 ); d) actuating at least one of said gripping devices (11 ) in an alignment path processed by said control unit (200) to align the arrangement of said gripping devices (11 ), in a plane containing said longitudinal direction (Y) and said transverse direction (X), to a conformation of said product (2, 2’) on a projection of said plane, independently moving at least said gripping device (11 ) with respect to said framework (72) along said transverse direction (X); e) if said handling group (10) is provided in a position distant from said departure station (31 , 4, 5, 6), actuating said handling group (10), before, during or after said step d)., in an approaching path at least according to said transverse direction (X), processed by said control unit (200), to approach said handling group (10) to said departure station (31 , 4, 5, 6); f) actuating said gripping devices (11 ) by motion along said third direction (Z) in a first way, to intercept said product (2) at said departure station (31 , 4, 5, 6) by means of said gripping members (13) arranged in said open configuration; g) actuating said gripping members (13) in said closed configuration, to retain said product (2, 2’); h) picking up said product (2, 2’) by actuating said gripping devices (11 ) by motion along said third direction (Z) in a second way, opposite to said first way; i) actuating said handling group (10) by motion in a transfer path at least along said transverse direction (X), processed by said control unit (200), to bring said product (2, 2’) to said arrival station (31 , 4, 5, 6);I) releasing said transferred product (2, 2’) at said arrival station (31 , 4, 5, 6), by actuating said gripping members (13) in said open configuration.

2. The method of claim 1 , wherein it comprises the further step of actuating at least one said gripping member (13) of a said gripping device (11 ) in an orientation path processed by said control unit (200) to orient the gripping capacity of said gripping device (11 ) to said conformation of said product (2, 2’), by rotating said gripping member (11 ) around a longitudinal axis of said gripping device (11 ), preferably parallel to said third direction (Z).

3. The method of any one of the preceding claims, wherein said alignment path also provides for actuating in motion at least one said gripping device (11 ) along said longitudinal direction (Y) with respect to said framework (72), in particular to balance the support for said product (2, 2’).

4. The method of any one of the preceding claims, wherein said approach motion and / or said transfer motion, processed by said control unit (200), involves moving said framework (72) carrying said handling group (10) along said longitudinal direction (Y).

5. The method of any one of the preceding claims, wherein said third direction (Z) is substantially vertical.

6. The method of any one of the preceding claims, wherein said step of d). actuating at least one of said gripping devices (11 ) in an alignment path comprises the step of storing through said control unit (200) data relating to the geometric conformation of said product (2, 2’), so that said control unit (200) processes said alignment path.

7. The method of any one of the preceding claims, wherein step of I.) releasing said transferred product (2, 2’) is preceded by the further step of actuating said gripping devices (11 ) along said third direction (Z) in said first way.

8. An apparatus for handling elongated products, in particular shaped metal products, such as metal bars and profiles for reinforced concrete, comprising a handling group (10) suspended above from a framework (72) carrying at least one pair of gripping devices (11 ), said framework (72) extending along a longitudinal direction (Y) and being movable along a direction (X) transverse to said longitudinal direction (Y), each said gripping device (11 ) comprising a gripping member (13) movable between an open configuration and a closed configuration, to grip at least one said product (2, 2'), preferably a plurality of products (2, 2'), and being movable along a third direction (Z), transverse to a plane containing said longitudinal direction (Y) and said transverse direction (X), to pick up and release said at least one product (2, 2'), and a control unit (200) configured to process an alignment path to adapt the positioning of said gripping devices (11 ), on a plane containing said longitudinal direction (Y) and said transverse direction (X), to a geometric conformation of said at least one product (2, 2’), projected on the same plane, being configured to actuate at least onesaid gripping device (11 ) with respect to said framework (72), independently, along said transverse direction (X), to intercept said product (2, 2’) having said geometric conformation.

9. The apparatus of claim 8, wherein each said gripping device (11 ) comprises a body (12) and a gripping member (13) in the shape of a jaw, carried by said body (12).

10. The apparatus of claim 9, wherein said gripping member (13) comprises a first prong (14) and a second prong (15), each being equipped with a stem (S) and a closing end (T), being movable by an opening and closing motion, between an open configuration, at which said closing ends (T) are mutually spaced apart, and a closed configuration, to retain said at least one product (2, 2’), at which said closing ends (T) are brought together.

11. The apparatus of claim 10, wherein said opening and closing motion occurs by rotation of each of said closing ends (T) around a longitudinal axis of a respective said stem (S).

12. The apparatus of any one of claims 8 to 11 , wherein at least one said gripping device (11 ) of said handling group (10) is also movable upon command of said control unit (200), with respect to said framework (72), in said longitudinal direction (Y).

13. The apparatus of any one of claims 8 to 12, wherein at least one said gripping device (11 ) of said handling group (10) is also movable with an orientation motion, being orientable around a respective longitudinal axis, to adapt its gripping capacity to the orientation of a portion of said at least one product (2, 2'), to be intercepted.

14. The apparatus of any one of claims 8 to 13, wherein said framework (72) carrying said handling group (10) is also movable, on command of said control unit (200), along said longitudinal direction (Y), to transfer said at least one product (2, 2’) from a departure station to an arrival station, which are distant along both said transverse and longitudinal directions (X, Y).

15. A plant for working elongated shaped products, comprising the apparatus according to one of claims 8 to 14, characterized in that it comprises a working station (3) for said products, served by a feed route (31 ) for said products (2’) to be worked, a release station (5) for said products (2) worked by said working station (3), arranged downstream of said working station (3), a magazine (4) for storing at least said products (2, 2’), and an unloading station (6), spaced from said release station (5), said control unit (200) of said apparatus (100) being configured to process a transfer path for transferring said at least one product (2, 2’) from a departure station, in particular chosen from among said feed route (31 ), said release station (5), said magazine (4) and said unloading station (6), to an arrival station, chosen in particular from among said feed route (31 ), said magazine (4) and said unloading station (6).

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