Gripping apparatus for gripping a group of blanks and a separating element arranged between two groups of blanks

Abstract

A gripping apparatus (1) for gripping a group (2) of blanks and a separating element (3) which is arranged between two groups (2) of blanks superimposed on each other; the gripping apparatus (1) comprises: a first gripping unit (4) comprising a first main body (6) from which at least one first gripping device (7) projects which is configured to grip the group (2) of blanks; and a second gripping unit (5) comprising a second main body (8) provided with at least one coupling seat (9) engageable by the first gripping unit (4) and from which at least one second gripping device (10) projects and is configured to grip the separating element (3) The gripping apparatus (1) is configured to be arranged between: a first configuration, wherein the first gripping unit (4) is disengaged and disconnected from the coupling seat (9) of the second gripping unit (5), and the first gripping device (7) is configured to grip the group (2) of blanks; and a second configuration, wherein the first gripping unit (4) engages the at least one coupling seat (9) of the second gripping unit (5) such that the second gripping unit (5) is stably connected to the first gripping unit (4), and the second gripping device (10) of the second gripping unit (5) is configured to grip the separating element (3).

Description

[0001] “GRIPPING APPARATUS FOR GRIPPING A GROUP OF BUANKS AND A SEPARATING EUEMENT ARRANGED BETWEEN TWO GROUPS OF BUANKS”

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No. 102024000004582 filed on March 1, 2024, the entire disclosure of which is incorporated herein by reference.

[0004] Technical Field

[0005] The present invention relates to a gripping apparatus for gripping a group of blanks and a separating element arranged between two groups of blanks, in particular in the sector of the tobacco industry.

[0006] The invention is advantageously, but not exclusively, applied to the gripping of a group of stacked blanks and a separating element arranged between the two superimposed groups of blanks.

[0007] Prior Art

[0008] In packaging machines, flat blanks are typically fed by picking them up from a feeding support (such as a pallet). Typically, each feeding support comprises a plurality of groups of stacked blanks (each group also known as “bundle”). The groups of blanks are arranged side by side on the plane of the feeding support. Whereas, each group of blanks comprises a plurality of blanks stacked on top of one another. Generally, several layers of groups are arranged on the feeding support and each layer of groups is superimposed on the underlying one. Between two superimposed layers, a flat separating element (also known as “interlayer”) is typically arranged. The separating element typically has the same dimension in plan of the feeding support.

[0009] Currently, two types of gripping apparatuses are known.

[0010] The first type of gripping apparatuses provides for the group of bundles to be picked up with a first gripping apparatus, whereas the separating element is picked up with a second gripping apparatus, which is different from the first one.

[0011] The second type of gripping apparatuses provides for a single gripping apparatus provided with a gripping means for the group of blanks and a gripping means for the separating element.

[0012] The known gripping apparatuses, however, have the disadvantage of being complex, of having great overall space dimensions and of thus having significant inertias to be handled. A possible example of gripping apparatus is known from DE371860.

[0013] Description of the Invention

[0014] The object of the present invention is to provide a gripping apparatus for gripping a group of blanks and a separating element arranged between two groups of blanks which is devoid of the above-described drawbacks and is easy and cost-effective to manufacture. In accordance with the present invention, a gripping apparatus is provided, according to what is claimed in the appended claims.

[0015] The claims describe preferred embodiments of the present invention forming integral part of the present description.

[0016] Brief Description of the Drawings

[0017] The present invention will now be described with reference to the accompanying drawings, which illustrate non-limiting example embodiments thereof, wherein:

[0018] - Figure 1 schematically shows a plurality of groups of blanks separated by a respective separating element;

[0019] - Figure 2 is a front schematic perspective view of the gripping apparatus, in particular of a first gripping unit, in a first configuration;

[0020] - Figure 3 is a front schematic perspective view of a second gripping unit of the gripping apparatus;

[0021] - Figures 4 and 5 are two schematic views of an apparatus manufactured according to a first embodiment and arranged in a second configuration;

[0022] - Figure 6 is a side view of the apparatus in the working configuration of Figure 5;

[0023] - Figure 7 is a schematic perspective view of an apparatus manufactured according to a second and different embodiment in the second configuration;

[0024] - Figure 8 is a schematic section view of the apparatus of Figure 7;

[0025] - Figures 9 andlO are schematic perspective views (from different angulations) of the first gripping unit of the apparatus of Figures 7 and 8 and arranged in a first configuration; and

[0026] - Figure 11 is a schematic perspective view of a second gripping unit of the apparatus of Figures 7 and 8.

[0027] Preferred Embodiments of the Invention

[0028] In Figure 2, reference numeral 1 indicates, as a whole, a gripping apparatus 1 for gripping a group 2 of blanks and a separating element 3 which is arranged between two groups 2 of blanks superimposed on each other. As is illustrated in Figure 1, a separating element 3 is interposed between each layer of groups 2 of blanks. In other words, the separating element 3 separates from each other two groups 2 of blanks arranged on two planes on top of each other. Each group 2 of blanks comprises, in turn, a plurality of blanks superimposed on one another in an orderly manner. Typically, the groups 2 of blanks are provided in the proximity of the gripping apparatus 1 on a feeding support (such as a pallet).

[0029] The gripping apparatus 1 is provided with a main axis X which in the accompanying Figures 2-11 is oriented, in particular, vertically. During the handling of the gripping apparatus 1, the axis X can be oriented in a different manner, namely may also not be vertical.

[0030] The gripping apparatus 1 comprises two gripping units 4 and 5 which are respectively configured to manipulate (such as pick up from a pick-up station and release at a delivery station, which is preferably different with respect to the pick-up station) products of different type with respect to one another. In particular, the gripping unit is configured to manipulate the group 2 of blanks; whereas, the unit 5 is configured to manipulate the separating element 3.

[0031] The gripping unit 4 comprises a main body 6 from which at least one gripping device 7 projects which is configured to grip the group 2 of blanks. Whereas, the gripping unit 5 comprises a main body 8 (which is, in particular, other than the main body 6) provided with at least one coupling seat 9 engageable by the gripping unit 4 and from which at least one gripping device 10 (which is other than the gripping device 7) projects and is configured to grip the separating element 3.

[0032] The gripping apparatus 1 is configured to be arranged between a first configuration and a second configuration. In the first configuration (schematically illustrated in Figure 2), the gripping unit 4 is disengaged and disconnected from the coupling seat 9 (the latter, for example, visible in Figure 3) of the gripping unit 5, and the gripping device 7 is configured to grip the group 2 of blanks. In other words, the two units 4 and 5 are separate (not connected) and spaced from each other and only the unit 4 can be operated so as to grab the group 2 of blanks; whereas, the unit 5 is disconnected and not operable. In the second configuration (schematically illustrated in Figures 4-6), the gripping unit 4 engages, in particular mechanically, the at least one coupling seat 9 of the gripping unit 5, such that the gripping unit 5 is stably connected to the gripping unit 4, and the gripping device 10 of the gripping unit 5 is configured to grip the separating element 3. In other words, the two units 4 and 5 are stably connected to each other and the unit 5 is coupled to the unit 4, such that the unit 5 can be operated so as to grab the separating element 3. According to what is illustrated in Figures 2-11, the gripping unit 4 is superimposed (namely is arranged) on the gripping unit 5 along the main axis X. Two preferred embodiments will now be described in the following, without losing generality. The two embodiments differ from each other for the structural conformation of the units 4 and 5.

[0033] Figures 2-6 illustrate a first possible embodiment of the gripping apparatus 1. In particular, the gripping unit 4 is illustrated individually in Figure 2 (which is also the figure which illustrates the first configuration); whereas, the gripping unit 5 is illustrated individually in Figure 3.

[0034] In this embodiment, the main body 6 of the gripping unit 4 has a hollow parallelepiped shape comprising (in particular, consisting of) four plates 11, 12, 13 and 14 connected to one another and arranged respectively transverse (in particular orthogonal) to one another. In particular, the plates 11 and 13 which are counterposed and spaced from each other are at least partially parallel to the main axis X; whereas, the plates 12 and 14 which are counterposed and spaced from each other are at least partially orthogonal to the main axis X. In other words, the plates 11 and 13 are counterposed and spaced from each other and the plates 12 and 14 are counterposed and arranged transversely (in particular orthogonally) to the plates 11 and 13. Whereas, the main body 8 of the gripping unit 5 comprises a substantially “H” shape defined by two supporting elements 15 and 16, in particular profiles, parallel to each other and at least one supporting element 17, in particular profile, arranged transversely, in particular orthogonally, to the two elements 15 and 16. The coupling seats 9 (in particular two, as is illustrated in Figure 3) are made at the supporting element 17.

[0035] According to this embodiment, in the second configuration (schematically illustrated in Figures 4-6), the gripping device 7 of the gripping unit 4 engages, in particular mechanically, the at least one coupling seat 9 (which in this case is a slot) of the gripping unit 5, so as to stably connect the two gripping units 4 and 5. The at least one gripping device 7 and the at least one gripping device 10 is a suction means, such as a suction cup. In particular, each gripping device 7 and 10 is a suction means, such as a suction cup. In the second configuration the two units 4 and 5 are in fluidic (preferably pneumatic) connection with each other. Specifically, the gripping device 7 is in fluidic connection (namely in fluidic communication), in particular pneumatic connection, with the gripping device 10.

[0036] According to what is illustrated in Figures 2-6, the at least one gripping device 7 is movable

[0037] - transversely, in particular orthogonally, to the main axis X so as to bring it closer to or move it away from the main axis X; and - parallel to the main axis X between: a retracted position (Figures 5 and 6), in which a free end 18 of the gripping device 7 is arranged at a first distance (dimension measured parallel to the main axis X) from the main body 6; and an extracted position (Figures 2 and 4), in which the free end 18 of the gripping device 7 is arranged at a second distance (measured in the same manner) from the main body 6. The second distance is greater than the first distance. Preferably, each gripping device 7 is in the retracted position when the gripping apparatus 1 is in the first configuration and / or in the second configuration; and each first gripping device 7 is in the extracted position when the gripping apparatus 1 is moved from the first configuration to the second configuration, for facilitating the coupling.

[0038] The transverse movement of the gripping device 7 is obtained, in particular, by means of the aid of actuators 19 (in particular, pneumatic cylinders) arranged transversely (in particular orthogonally) to the main axis X, at the ends 20 of which the gripping device 7 is arranged (in particular, a respective actuator 21, described in the following, is arranged) and which, depending on their stroke (namely the movement of the actuators 19), consequently vary the distance of the device 7 from the main axis X. The actuators 19 are preferably at least two (in Figures 2-6 four are illustrated) and are arranged with an opposite direction (in particular, of extraction of the stem) with respect to each other. The actuators 19 are connected, in particular, to the plate 11 and / or 13. In other words, the at least one actuator 19 extending along a first direction is connected to the plate 11 and the at least one actuator 19 extending along a second direction, opposite the first one, is connected to the plate 13.

[0039] Similarly, the axial movement (namely the one parallel to the main axis X) of the gripping device 7 is also obtained, in particular, by means of the aid of the actuators 21 (in particular, pneumatic cylinders) arranged parallel to the main axis X, at the ends (namely, the end 18) of which the gripping device 7 is arranged and which, depending on their stroke (namely the movement of the actuators 21) consequently vary the distance of the device 7 from the main body 6. The actuators 21 are preferably two and are arranged with a concordant direction (in particular, of extraction of the stem) with respect to each other. The actuators 21 are connected, in particular, to the end 20 of the actuators 19.

[0040] The transverse and / or axial movement allows the device 7 to move in space so as to engage (namely to fit in) the coupling seat 9 when passing from the first configuration to the second configuration.

[0041] Advantageously, but not limitedly, according to what is illustrated in Figures 3-6, the gripping unit 5 has, in particular at the supporting element 17, at least one housing 22 (in particular two, as is illustrated in Figures 3 and 4) in which respective appendages 23 of the gripping unit 4 are arranged, when the apparatus 1 is in the second configuration and the gripping device 7 is in the retracted position. The appendages 23 project outwards, in particular from the plates 11 and 13, respectively.

[0042] Figures 7-11 illustrate a second and different possible embodiment of the gripping apparatus 1. In particular, the gripping unit 4 is illustrated individually in Figures 9 and 10; whereas, the gripping unit 5 is illustrated individually in Figure 11.

[0043] In this embodiment, the main body 6 of the gripping unit 4 only comprises the plate 12 oriented transversely, in particular orthogonally, to the main axis X. Whereas, the main body 8 of the gripping unit 5 of substantially “H” shape comprising two supporting elements 15 and 16, in particular profiles, parallel to each other and at least one supporting element 17, in particular profile, arranged transversely, in particular orthogonally, to the two elements 15 and 16. The coupling seats 9 (in particular two, as is illustrated in Figure 11) are made at the supporting element 17. In particular, the supporting element 17 comprises a connection body 28 connected to it. The coupling seats 9 are made at the connection body 28. The connection body 28 of substantially parallelepiped shape comprising an upper wall 29, a lower wall 30 (in particular parallel and counterposed to the upper wall 29), two side walls 31 (in particular parallel and counterposed to each other and orthogonal to the walls 29 and 30) and a septum 32 arranged, preferably centrally, between the walls 29 and 30 and orthogonal to the walls 31.

[0044] In particular, as is illustrated in Figure 11, the coupling seats 9 are four. The upper wall 29 is provided with the coupling seats 9. Preferably, but not limitedly, the coupling seats 9 each comprise a circular portion 34 and a slotted portion 35. The circular portion 34 allows a facilitated insertion of a respective coupling means 36, whereas the slotted portion 35 allows locking the respective coupling means 36, as it will be described in detail in the following.

[0045] The gripping unit 4 comprises one or more pairs of gripping elements 33 configured to grip the respective group 2 of blanks. In particular, each pair of gripping elements 33 grips the group 2 of blanks in a parallel manner (namely at two counterposed and aligned lateral sides of the group 2).

[0046] The two gripping elements 33 (of the same pair) are arranged, in particular, on opposite sides with respect to the axis X. The two gripping elements 33 of the same pair are parallel, face each other and are movable with respect to each other. Each gripping element 33 has a longitudinal extension substantially parallel to the axis X.

[0047] Preferably, the two gripping elements 33 of each pair of elements move (closer or away) translating with respect to each other, so as to be able to grip the group 2 of blanks in a parallel manner at the two counterposed and aligned lateral sides of the group 2.

[0048] According to what is illustrated in Figures 7-11, in the first configuration (Figures 9 and 10) the at least one pair of gripping elements 33 is movable between:

[0049] - a first gripping position, in which the gripping elements 33 are brought closer together, such that the group 2 of blanks that is arranged between them is gripped; and

[0050] - a first release position, in which the gripping elements 33 are moved away from each other, so that the group 2 of blanks is released.

[0051] Advantageously, as is illustrated in Figures 7-11 which are not limiting, the gripping unit comprises two pairs of gripping elements 33 which are side by side (in particular parallel to a direction DI schematically indicated in Figures 9 and 10).

[0052] As the pairs of gripping elements 33 increase, the gripping stability of the group 2 increases, while reducing (in particular annulling) the torque impressed by the gripping elements 33 on the group 2.

[0053] In particular, the at least one pair of gripping elements 33 is handled by a respective actuator 37, preferably pneumatic. Preferably, the actuators 37 are two, one for each gripping element 33 of the respective pair. Each actuator 37 is connected to the main body 6 (in particular to the plate 12) and acts on a respective substantially C-shaped motion transferring element 38. Each transferring element 38 is connected on one side to the respective actuator 37 and on the other side to the respective pair of gripping elements 33. In particular, each transferring element 38 is connected to the respective gripping element 33 through a connecting element 50 (which in the illustrated embodiment is preferably a plate). The gripping elements 33 of the gripping unit 4 extend from the respective connecting element 50 substantially parallel to the axis X and on the opposite side with respect to the respective transferring element 38.

[0054] The first transferring element 38 is connected to the respective first gripping element 33 of the pair through a first connecting element 50; whereas the second transferring element 38 is connected to the respective second gripping element 33 of the same pair through a second connecting element 50.

[0055] Preferably, in the case where there are several pairs of gripping elements 33, all the first gripping elements 33 of the pair are connected to the same (in particular, single) first connecting element 50 and all the second gripping elements 33 of the pair are connected to the same (in particular, single) second connecting element 50 (which is other than and distinct from the first element 50). Therefore, all the first gripping elements 33 of the pair which are connected to the same first connecting element 50 move as one (namely at the same time). Similarly, all the second gripping elements 33 of the pair which are connected to the same second connecting element 50 move as one (namely at the same time). In this manner, the gripping stability of the group 2 is improved.

[0056] According to a possible alternative, not illustrated, in order to allow the first and / or second gripping elements 33 of a first pair to have different strokes (in terms of absolute value of movement) with respect to first and / or second gripping elements 33 of another different pair, it is possible for at least two first gripping elements 33 of two different pairs to be arranged on two distinct connecting elements 50, thereby allowing adapting the stroke of the same to the shape and dimension of the portion of group 2 to be gripped.

[0057] Preferably, as is illustrated in Figure 8 (which is a section view according to a plane passing through a symmetry axis Z of two coupling means 36), the gripping unit 4 comprises the at least one coupling means 36 that is fixed and projects from the main body 8 (in particular from the plate 12). The coupling means 36 has the axis Z which is parallel to the axes X and Y. In particular, the coupling means 36 is a pivot. In the second configuration the at least one coupling means 36 engages, in particular mechanically, the at least one coupling seat 9 of the gripping unit 5. Preferably, the coupling means 36 comprises a first portion (the one directly connected to the main body 8, in particular to the plate 12) and a second portion both arranged in sequence along the axis Z. The first portion has a substantially circular cross-section (in particular orthogonal to the main axis Z) and having a first dimension (in particular, first diameter) and a second portion (arranged at the opposite end with respect to the one connected to the main body 8) also of substantially circular cross-section (orthogonal to the main axis Z) and having a second dimension (in particular, second diameter), which is greater than the first dimension. The second section is configured to be arranged through the circular portion 34 (which has a dimension such that the second portion passes through) and subsequently to be moved along the slotted portion 35 (which has a dimension such that the second portion may not be released) so as to stably connect the two units 4 and 5 in the second configuration. In other words, the second dimension is less than a respective dimension (in particular, diameter) of the circular portion 34 and is greater than a respective dimension (in particular, width measured orthogonally to the longitudinal extension) of the slotted portion 35 and, therefore, the second portion is arranged through the circular portion 34 and then translates (without withdrawing) along the slotted portion 35.

[0058] According to the preferred embodiment, the coupling means 36 are four arranged preferably equally spaced from the main axis X.

[0059] In the second configuration the two units 4 and 5 are in fluidic (preferably pneumatic) connection with each other. Specifically, the gripping device 10 is in fluidic connection (namely in fluidic communication), in particular pneumatic connection, with the gripping unit 4.

[0060] Advantageously, but not limitedly, as is illustrated in Figure 11, the connection body 28 has a central seat 39 (preferably coaxial to the axis X) inside which a centering element 40 (which is in particular coaxial to the axis X) is arranged (in the second configuration). The centering element 40 projects from the plate 12 of the main body 6. The centering element 40 is configured to engage the respective central seat 39 obtained in the connection body 28. In particular, the coupling means 36 are arranged around the centering element 40. Preferably, the centering element 40 is movable (parallel to the axis X). In particular, the centering element 40 is moved by means of an actuator 42, preferably pneumatic, which depending on its stroke brings the centering element 40 closer to or moves said centering element 40 away from the main body 6.

[0061] Advantageously, but not limitedly, as is illustrated in Figures 7 and 11, the unit 5 comprises a safety element 43 which limits the stroke of the unit 4 towards the unit 5. The safety element 43 thus prevents an involuntary collision between parts of the unit 4 with parts of the unit 5 from occurring during the passage from the first configuration to the second configuration.

[0062] Advantageously, but not limitedly, the apparatus 1 according to any embodiment comprises a sensor 44 (which can comprise, for example, a laser device) configured to detect the presence of the group 2 of blanks or the separating element 3. Additionally, or alternatively, the sensor 44 is configured to measure the distance of the unit 4 from the group 2 of blanks or the separating element 3.

[0063] Advantageously, but not limitedly, the apparatus 1 according to any embodiment comprises a stop element 45 configured to prevent the apparatus 1 from being further brought closer to the group 2 of blanks or the separating element 3. As is illustrated in Figure 7, the stop element 45 is configured (in the second configuration) to be arranged against (in particular in contact with) the plate 12. The stop element 45 projects from at least one (in particular both) of the supporting elements 15 and 16 of the unit 5. The stop element 45 is preferably interposed between the gripping devices 10 which, as is illustrated in Figures 3-7 and 11, are arranged at the ends of each supporting element 15 and 16.

[0064] Preferably, the stop element 45 is provided with a suction means, such as a suction cup, at its free end (as is illustrated in Figure 11).

[0065] Advantageously, but not limitedly, the apparatus 1 according to any embodiment comprises a connection interface 46, in particular a quick coupler, through which the gripping apparatus 1, in particular the gripping unit 4 at the main body 6, is connectable to an actuator device, such as to a robotic arm (not illustrated). According to what is illustrated in Figures 2-6, the connection interface 46 is coaxial to the main axis X. According to what is illustrated in Figures 7-11, the connection interface 46 has a symmetry axis Y, which is parallel to and spaced from the main axis X.

[0066] Advantageously, the apparatus 1 according to any embodiment comprises a control unit 47 configured to control the unit 4 and 5 (and in particular its components) so as to allow the apparatus 1 to pass in an automated manner (without requiring the intervention of an operator) from the first configuration to the second configuration, and vice versa.

[0067] Advantageously, but not limitedly, the control unit 47 is preferably an electronic control unit 47 connected by means of wires or wirelessly to the units 4 and 5.

[0068] According to an additional aspect of the present invention, a method of gripping the group 2 of blanks and the separating element 3 which is arranged between two groups 2 of blanks superimposed on each other is provided, in particular by means of the previously described apparatus 1. In the following, the method is described in detail, of which the sequence of execution of the steps is not defined by the order described in the following. In detail, the method mainly (but not exclusively) comprises the steps of: arranging the gripping apparatus 1 in the first configuration, wherein the gripping unit 4 is disengaged and disconnected from the coupling seat 9 of the gripping unit 5; and the gripping device 7 is configured to grip the group 2 of blanks; preferably handling (in particular moving by means of the apparatus 1) at least one group 2 of blanks; arranging the gripping apparatus 1 in the second configuration, wherein the gripping unit 4 engages, in particular mechanically, the at least one coupling seat 9 of the gripping unit 5, such that the gripping unit 5 is stably connected to the gripping unit 4, and the gripping device 10 of the gripping unit 5 is configured to grip the separating element 3 ; and preferably handling the separating element 3.

[0069] Advantageously, but not limitedly, the step of arranging the gripping apparatus 1 in the second configuration comprises the sub-step of engaging, in particular mechanically, the gripping device 7 of the gripping unit 4 in the at least one coupling seat 9 of the gripping unit 5, so as to stably connect the gripping units 4 and 5.

[0070] Advantageously, but not limitedly, the step of arranging the gripping apparatus 1 in the second configuration comprises the sub-step of fluidically, in particular pneumatically, connecting the gripping device 7 to the gripping device 10.

[0071] Advantageously, but not limitedly, the method performed by the apparatus 1 in Figures 2-6, comprises the further steps of: moving transversely, in particular orthogonally, to the main axis X the at least one gripping device 7, so as to bring it closer to or move it away from the main axis X; and moving parallel to the main axis X between: a retracted position, in which a free end 18 of the gripping device 7 is arranged at a first distance from the main body 6; and an extracted position, in which the free end 18 of the gripping device 7 is arranged at a second distance from the main body 6; the second distance being greater than the first distance.

[0072] According to a further embodiment, in the case where the gripping device 7 comprises at least one pair of gripping elements 33, in particular gripper, the step of arranging the gripping apparatus 1 (in particular the one illustrated in Figures 7-11) in the first configuration comprises the sub-step of moving transversely, in particular orthogonally, to the main axis X the at least one pair of gripping elements 33 between:

[0073] - a gripping position, in which the gripping elements 33 are brought closer together, such that the group 2 of blanks that is arranged between them is gripped; and

[0074] - a release position, in which the gripping elements 33 are moved away from each other, so that the group 2 of blanks is released.

[0075] Preferably, in the step of arranging the gripping apparatus 1 in the gripping position or in the release position, the gripping elements 33 of a same pair are moved at least partially at the same time (simultaneously).

[0076] According to a possible variation, in the step of arranging the gripping apparatus 1 in the gripping position or in the release position, the gripping elements 33 of two different pairs are moved at least partially at the same time (simultaneously). Alternatively, in the step of arranging the gripping apparatus 1 in the gripping position or in the release position, the gripping elements 33 of two different pairs are moved at least partially staggered in time (for example in the case where they have to travel different strokes from each other, in terms of absolute value of movement).

[0077] The apparatus 1 and the method described so far have a plurality of advantages.

[0078] Firstly, the gripping apparatus 1 allows easily manipulating groups 2 of blanks as well as separating elements 3 without requiring the aid of additional apparatuses. In fact, the apparatus 1 can pass from the first configuration to the second configuration, and vice versa, in a simple and quick manner.

[0079] Secondly, the passage from the first configuration to the second configuration, and vice versa, does not require a manual intervention of disassembly and reassembly by an operator, instead it occurs in a completely automated manner.

[0080] The apparatus 1 allows gripping the group 2 of blanks and / or the separating element 3 in a stable and safe manner, adapting to the overall dimensions of the group 2 and / or the separating element 3, as well as the separating element 3.

[0081] The apparatus 1 guarantees the correct gripping of the group 2 and / or the separating element 3 regardless of their size. Therefore, in the case of change in size (namely the variation of at least one characteristic of the group 2 and / or the separating element 3 between: shape, dimension, material) no intervention of the operator is necessary. It is the gripping apparatus 1 to vary the relative position in space of the gripping devices 7 and 10 so as to adapt to the possible modified characteristic.

[0082] List of the Reference Numerals of the Figures

[0083] 1 gripping apparatus

[0084] 2 group

[0085] 3 separating element

[0086] 4 gripping unit

[0087] 5 gripping unit

[0088] 6 main body

[0089] 7 gripping device

[0090] 8 main body

[0091] 9 coupling seat

[0092] 10 gripping device

[0093] 11 plate

[0094] 12 plate

[0095] 13 plate

[0096] 14 plate

[0097] 15 supporting element

[0098] 16 supporting element

[0099] 17 supporting element

[0100] 18 free end

[0101] 19 actuators

[0102] 20 end

[0103] 21 actuators 22 housing

[0104] 23 appendages

[0105] 28 connection body

[0106] 29 upper wall

[0107] 30 lower wall

[0108] 31 side wall

[0109] 32 septum

[0110] 33 gripping element

[0111] 34 circular portion

[0112] 35 slotted portion

[0113] 36 coupling means

[0114] 37 actuator

[0115] 38 motion transferring element

[0116] 39 central seat

[0117] 40 centering element

[0118] 42 actuator

[0119] 43 safety element

[0120] 44 sensor

[0121] 45 stop element

[0122] 46 connection interface

[0123] 47 control unit

[0124] 50 connecting element

[0125] DI distances

[0126] X main axis

[0127] Y symmetry axis

[0128] Z symmetry axis

Claims

C L A I M S1. A gripping apparatus (1) for gripping a group (2) of blanks and a separating element (3) which is arranged between two groups (2) of blanks superimposed on each other; the gripping apparatus (1) is provided with a main axis (X), in particular vertical, and comprises: a first gripping unit (4) comprising a first main body (6) from which at least one first gripping device (7) projects which is configured to grip the group (2) of blanks; a second gripping unit (5) comprising a second main body (8) provided with at least one coupling seat (9) engageable by the first gripping unit (4) and from which at least one second gripping device (10), other than the first gripping device (7), projects and is configured to grip the separating element (3); wherein, the gripping apparatus (1) is configured to be arranged between: a first configuration, wherein, the first gripping unit (4) is disengaged and disconnected from the coupling seat (9) of the second gripping unit (5), and the first gripping device (7) is configured to grip the group (2) of blanks; and a second configuration, wherein the first gripping unit (4) engages, in particular mechanically, the at least one coupling seat (9) of the second gripping unit (5) such that the second gripping unit (5) is stably connected to the first gripping unit (4), and the second gripping device (10) of the second gripping unit (5) is configured to grip the separating element (3).

2. The gripping apparatus (1) according to claim 1, wherein in the second configuration the first gripping unit (4) is arranged superimposed on the second gripping unit (5) along the main axis (X).

3. The gripping apparatus (1) according to claim 1 or 2, wherein in the second configuration the first gripping device (7) of the first gripping unit (4) engages, in particular mechanically, the at least one coupling seat (9) of the second gripping unit (5) such that the first gripping unit (4) and the second gripping unit (5) are stably connected.

4. The gripping apparatus (1) according to any one of the preceding claims, wherein: the at least one first gripping device (7) and the at least one second gripping device (10) is a suction means, such as a suction cup; and in the second configuration, the first gripping device (7) is in fluidic, in particularpneumatic, connection with the second gripping device (10).

5. The gripping apparatus (1) according to any one of the preceding claims, wherein the at least one first gripping device (7) is movable: transversely, in particular orthogonally, to the main axis (X) so as to bring it closer to or move it away from the main axis (X); and parallel to the main axis (X) between a retracted position, in which a free end (18) of the first gripping device (7) is arranged at a first distance from the first main body (6); and an extracted position, in which the free end (18) of the first gripping device (7) is arranged at a second distance from the first main body (6); the second distance being greater than the first distance.

6. The gripping apparatus (1) according to claim 5, wherein each first gripping device (7) is in the retracted position when the gripping apparatus (1) is in the first configuration and / or the second configuration; and each first gripping device (7) is in the extracted position when the gripping apparatus (1) moves from the first configuration to the second configuration.

7. The gripping apparatus (1) according to claim 1 or 2, wherein the first gripping device (7) comprises at least one pair of gripping elements (33), in particular gripper, which is movable transversely, in particular orthogonally, to the main axis (X); wherein in the first configuration the at least one pair of gripping elements (33) is movable between:- a gripping position, in which the gripping elements (33) are brought closer together such that the group (2) of blanks that is arranged between them is gripped; and- a release position, in which the gripping elements (33) are moved away from each other, so that the group (2) of blanks is released.

8. The gripping apparatus (1) according to any one of the preceding claims, wherein the first gripping unit (4) comprises at least one first coupling means (36) that is fixed, in particular is a pivot, that projects from the first main body (6); wherein, in the second configuration the at least one first coupling means engages, in particular mechanically, the at least one coupling seat (9) of the second gripping unit (5).

9. The gripping apparatus (1) according to any one of the preceding claims, wherein the second gripping unit (5) of substantially "H" shape comprises two first supportingelements (15, 16) parallel to each other and at least one second supporting element (17) arranged transversely, in particular orthogonally, to the two first supporting elements (15, 16).

10. The gripping apparatus (1) according to claim 8 and 9, wherein: the second supporting element (17) comprises a connection body (28) of substantially parallelepiped shape comprising an upper wall (29), a lower wall (30), two side walls (31) and a septum (32) arranged, preferably centrally, between the walls (29; 30) and orthogonal to the side walls (31); the upper wall (29) is provided with the coupling seats (9), each of which comprises a circular portion (34) and a slotted portion (35); the coupling means (36) comprise a first portion having a substantially circular crosssection and having a first dimension and a second portion also having a substantially circular section and having a second dimension; wherein the second dimension is greater than the first dimension; wherein the second dimension is less than a respective dimension of the circular portion (34) and is greater than a respective dimension of the slotted portion (35); and wherein the second section is configured to be arranged through the circular portion (34) and subsequently be moved along the slotted portion (35) so as to stably connect the two units (4, 5) in the second configuration.

11. The gripping apparatus (1) according to any one of the preceding claims, comprising a connection interface (46), in particular a quick coupler, through which the gripping apparatus (1), in particular the first gripping unit (4) at the first main body (6), is connectable to an actuator device, such as to a robotic arm; and wherein the connection interface (46) is coaxial to the main axis (X); or the connection interface (46) has a symmetry axis (Y), which is parallel to and spaced from the main axis (X).

12. A method of gripping a group (2) of blanks and a separating element (3) that is arranged between two groups (2) of blanks superimposed on each other, in particular by means of an apparatus (1) according to any one of claims 1 to 11, the apparatus (1) comprises a first gripping unit (4) comprising a first main body (6) from which at least a first gripping device (7) projects which is configured to grip the group (2) of blanks; and a second gripping unit (5) comprising a second main body (8) provided with at least one coupling seat (9) engageable by the first gripping unit (4) and from which at least onesecond gripping device (10), other than the first gripping device (7) projects and is configured to grip the separating element (3); the method comprises the steps of: arranging the gripping apparatus (1) in a first configuration, wherein the first gripping unit (4) is disengaged and disconnected from the coupling seat (9) of the second gripping unit (5); and the first gripping device (7) is configured to grip the group (2) of blanks; preferably handling at least one group (2) of blanks; arranging the gripping apparatus (1) in a second configuration, wherein the first gripping unit (4) engages, in particular mechanically, the at least one coupling seat (9) of the second gripping unit (5), such that the second gripping unit (5) is stably connected to the first gripping unit (4), and the second gripping device (10) of the second gripping unit (5) is configured to grip the separating element (3); and preferably handling one separating element (3).

13. The method according to claim 12, wherein the step of arranging the gripping apparatus (1) in the second configuration comprises the sub-step of engaging, in particular mechanically, the first gripping device (7) of the first gripping unit (4) in the at least one coupling seat (9) of the second gripping unit (5), so as to stably connect the first gripping unit (4) and the second gripping unit (5).

14. The method according to claim 12 or 13, wherein the step of arranging the gripping apparatus (1) in the second configuration comprises the sub-step of fluidically, in particular pneumatically, connecting the first gripping device (7) with the second gripping device (10).

15. The method according to any one of claims 12 to 14, comprising the further steps of: moving transversely, in particular orthogonally, to the main axis (X) the at least one first gripping device (7), so as to bring it closer to or move it away from the main axis (X); and moving parallel to the main axis (X) between: a retracted position, in which a free end (18) of the first gripping device (7) is arranged at a first distance from the first main body (6); and an extracted position, in which the free end (18) of the first gripping device (7) is arranged at a second distance from the first main body (6); the second distance being greater than the first distance.

16. The method according to claim 12, wherein the first gripping device (7) comprises at least one pair of gripping elements (33), in particular gripper, and the step of arranging the gripping apparatus (1) in the first configuration comprises the sub-step of moving transversely, in particular orthogonally, to the main axis (X) the at least one pair of gripping elements (33) between:- a first gripping position, in which the gripping elements (33) are brought closer together, such that the group (2) of blanks that is arranged between them is gripped; and- a first release position, in which the gripping elements (33) are moved away from each other, so that the group (2) of blanks is released.

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