Palletizing line

Abstract

A palletizing line (1) is provided comprising a stacking unit (3) defining a palletizing area (3a) and a pick-up area (3b) and configured to handle the blocks (10) between said areas (3a, 3b); a handling unit (4) configured to place blocks (10) in the pick-up area (3b) and comprising an alignment station (4h) defining a fifth support surface (4i'''''') of the blocks (10) and provided with an aligner (47) of the sheets constituting the blocks (10), entirely located above the fifth support surface (4i''''').

Description

[0001] DESCRIPTION

[0002] PALLETIZING LINE

[0003] The present invention relates to a palletizing line of the type specified in the preamble of claim 1.

[0004] Consequently, the invention relates to a line for palletizing blocks of paper sheets, in detail paper boxes, configured to arrange and stack said blocks of paper sheets, for example on a pallet. In particular, said line relates to the palletization of blocks of paper boxes, that is containers, generally having a parallelepiped shape, folded onto themselves to form a slab-shaped sheet, mostly square or rectangular, composed of overlapping layers each of which identifies at least one side of said box.

[0005] As is known, the function of a palletizing line is to handle boxes or other paper sheets, individually or preferably stacked in blocks, by positioning them according to a predefined arrangement order on a palletizing area usually identified as shipping pallets. Generally the blocks of paper sheets arrive at the palletizing line having a uniform orientation so as to allow the palletizing line to handle the boxes regardless of their size. Known palletizing lines are mainly composed of an initial group, arranged according to the advancement of the boxes along said line, the group being configured to receive the blocks of sheets entering said line, a handling unit of the boxes, and a stacking unit of the paper sheets on a pallet.

[0006] The initial group can be configured to receive the blocks of paper sheets coming from a production line of said boxes. Alternatively, it can be identified as a palletizing station of said paper sheets.

[0007] The handling unit consists of a continuous transport system configured to define a handling support surface of paper sheets so as to handle the boxes along a preferred handling trajectory. The transport system is a conveyor belt or a series of rollers, idle and / or motorized.

[0008] The handling unit may provide a sheet orientator.

[0009] The orientator is configured to rotate the blocks of sheets moving along said trajectory around a rotation axis normal to the abutment surface. An example of orientator is described in patent application US2004069596A1 . It provides a rotatable cylinder, idly or motor-driven, around said rotation axis and configured to intercept the paper sheets which, therefore, by hitting said cylinder rotate changing their orientation.

[0010] The stacking unit provides a stacking station on which a pallet is placed and a robotic arm for picking the blocks of sheets from the line.

[0011] The known technique described includes some important drawbacks.

[0012] In particular, box palletizing lines represent, from a production point of view, the bottleneck of the entire production system. In fact, they exhibit a processing speed (i.e. handling and stacking) lower than the speed of production / loading of the paper sheets on said line.

[0013] Therefore, an important drawback lies in the fact that palletizing lines, due to this slow processing speed, cause a slowdown of the entire production system with a consequent increase in production costs.

[0014] It is noted that, to limit this drawback, some palletizing lines feature an intermediate lifting group, placed between the handling unit and the stacking unit of the palletizing line, facilitating the picking-handling of the blocks of sheets by the robotic arm and thus their stacking.

[0015] The intermediate group performs two operations, of which the first one, mainly related to the blocks of paper sheets, consists in alignment, and the second in lifting.

[0016] The first function is performed by means of a first abutment perpendicular to the handling trajectory and second abutments parallel to the handling trajectory and configured to come into contact with the sheets when in contact with the first abutment.

[0017] The lifting, performed only after the alignment, provides a displacement of the blocks of paper sheets along a normal to the abutment surface so as to facilitate and thus speed up the operations of the robotic arm.

[0018] It is noted that the introduction of the lifting group has only partially solved the aforementioned drawback, which therefore remains substantially unsolved to date.

[0019] In this situation, the technical task underlying the present invention is to devise a palletizing line capable of substantially overcoming at least part of the aforementioned drawbacks.

[0020] Within said technical task, an important object of the invention is to achieve a palletizing line having an increased processing speed and which, therefore, does not define a bottleneck of a production system.

[0021] Therefore, an important object of the invention is to implement a palletizing line which, despite having reduced implementation complexity, overall speeds up production, allowing production costs to be reduced.

[0022] The technical task and the specified objects are achieved by a palletizing line as claimed in the appended claim 1. Preferred embodiments are described in the dependent claims. The features and advantages of the invention are clarified below by the detailed description of preferred embodiments of the invention, with reference to the accompanying drawings, in which:

[0023] Fig. 1 shows, to scale, a palletizing line according to the invention;

[0024] Fig. 2 illustrates, to scale, a portion of the palletizing line according to the invention; Figs. 3a-3d present, to scale, a functional sequence of a second portion of the palletizing line wherein, in particular, the support surface is respectively in receiving position (3a, 3b), a deviation position (3c), and a supplementary deviation position (3d);

[0025] Fig. 4a shows, to scale, an assembly of the palletizing line according to the invention;

[0026] Fig. 4b highlights, to scale, an exploded detail of the assembly of Fig. 4a;

[0027] Fig. 5 shows, to scale, a section of a further assembly of the palletizing line according to the invention;

[0028] Fig. 6 shows, to scale, a perspective view of a further different assembly of the palletizing line according to the invention;

[0029] Fig. 7 highlights, to scale, a sub-assembly of the assembly of Fig. 6;

[0030] Fig. 8 shows, to scale, a view of a second sub-assembly of the assembly of Fig. 7;

[0031] Fig. 9a is, to scale, a different view of the second sub-assembly of Fig. 8;

[0032] Fig. 9b shows, to scale, the second sub-assembly of Figs. 8 and 9a in a different position;

[0033] Fig. 10 shows, to scale, an alternative assembly with respect to that shown in Fig. 6 of the palletizing line according to the invention;

[0034] Fig. 11 shows, to scale, a different perspective view of the assembly of Fig. 10; and Fig. 12 shows, to scale, a sub-assembly of the assembly of Figs. 10 and 11.

[0035] In the present document, dimensions, values, shapes and geometric references (such as perpendicularity and parallelism), when associated with words such as "about" or other similar terms such as "approximately" or "substantially", are to be understood as subject to measurement errors or inaccuracies due to production and / or manufacturing errors and, above all, to a slight deviation from the value, dimension, shape or geometric reference to which they are associated. For example, such terms, if associated with a value, preferably indicate a divergence not exceeding 10% of the value itself.

[0036] Furthermore, when used, terms such as "first", "second", "upper", "lower", "main" and "secondary" do not necessarily identify an order, a priority of relationship or relative position, but may simply be used to more clearly distinguish between different components.

[0037] Unless otherwise indicated, “perpendicular”, “transverse”, “parallel” or “normal” or other geometric positioning terms between geometric elements (for example axes, directions and lines) are to be understood with reference to their mutual geometric position between the corresponding projections. Said projections are defined on a single plane parallel to the laying plane(s) of said geometric elements.

[0038] The measurements and data reported in the present text are to be considered, unless otherwise indicated, as carried out in the ICAO Standard Atmosphere (ISO 2533:1975). Unless otherwise specified, as results from the following discussions, terms such as "processing", "computing", "determination", "calculation", or similar, are considered to refer to the action and / or processes of a computer or similar electronic computing device that manipulates and / or transforms data represented as physical quantities, such as electronic quantities of registers of a computer system and / or memories into other data similarly represented as physical quantities within computer systems, registers or other storage, transmission or display devices of information.

[0039] With reference to the Figures, the palletizing line according to the invention is globally denoted by the number 1.

[0040] It is configured to palletize blocks 10 of paper sheets on a support, for example on a pallet. Preferably, the palletizing line 1 is configured to exclusively palletize blocks 10 made of paper sheets on a pallet. More exclusively, the line 1 is configured to arrange and stack blocks 10 of paper sheets defined by one or more paper boxes folded onto themselves forming said sheet and stacked.

[0041] Each block 10 defines a main extension axis and, therefore, a first side parallel to the main longitudinal extension axis and a second side perpendicular to the main extension axis and preferably of length smaller than the first side.

[0042] It is noted that a block 10 may comprise one or more paper sheets (in particular one or more folded paper boxes) stacked with one another and suitably bound together, for example, by a strap.

[0043] The palletizing line 1 comprises, broadly speaking, an initial group 2 configured to receive blocks 10 entering said line 1.

[0044] The initial group 2 is configured to receive the blocks 10 from a production line and, therefore, is configured to connect the line 1 with said production line. Alternatively or additionally, the initial group 2 is configured to receive the blocks 10 from loading means (for example pallet trucks or forklifts) configured to place blocks 10 in said initial group 2. The initial group 2 may be of known type and thus not further described.

[0045] The palletizing line 1 comprises a stacking unit 3 configured to handle said blocks 10 in at least one palletizing area 3a, preferably by picking them from at least one picking area 3b (in detail preferably only one); and a handling unit 4 configured to arrange the blocks 10 in the picking area 3b and, in detail, to handle the blocks 10 from the initial group 2 to said picking area 3b.

[0046] The handling unit 4 is preferably configured to arrange the blocks 10 in the picking area 3b by handling the blocks 10 at least along a handling trajectory and according to a direction of advancement of the blocks 10 at least along said trajectory. In detail, it is configured to handle the blocks 10 from the initial group 2 to the picking area 3b. In this document, the expressions “downstream” and “upstream” are therefore to be understood in accordance with said direction of advancement.

[0047] The trajectory may comprise a first section defining a first handling direction 4a; preferably a second section downstream of the first section and defining a second handling direction 4b suitably transverse, for example normal, to the first direction 4a; and more preferably a third section upstream of the first section and defining a third handling direction 4c suitably transverse, for example normal, to the first direction 4a.

[0048] One or more of the first, second and third directions 4a, 4b, 4c may be rectilinear.

[0049] The handling unit 4 comprises a plurality of stations each defining a support surface 4i for blocks 10.

[0050] Suitably, each support surface 4i is parallel to the walkable plane and therefore perpendicular to the gravitational gradient.

[0051] The trajectory, and thus the first and second directions 4a, 4b, and, if present, also the third direction 4c, are suitably parallel to one or more of the surfaces 4i.

[0052] One or more stations may be configured to handle said blocks 10 along part of the handling trajectory. Consequently, at least one station may comprise a handler defining said support surface 4i and a direction of advancement; and preferably a frame configured to constrain said handler to the ground.

[0053] The handler, illustrated in Fig. 5, may be of the continuous type. In detail, it may comprise a continuous conveyor 41 extending along a closed path developing along said direction of advancement; rolling elements 42 hingedly mounted in an idle manner to the conveyor 41 defining a rotation axis and protruding therefrom defining said support surface 4i; and a motor 43 kinematically connected to the conveyor 41 so as to handle it along said closed path (i.e. along the direction of advancement), dragging the rolling elements 42 and thus the blocks 10 along the direction of advancement.

[0054] The conveyor 41 may comprise hingedly interconnected cleats and / or a belt or other similar continuous transport system.

[0055] The rolling elements 42 may be balls or rollers.

[0056] The direction of advancement may be barycentric to the support surface 4i.

[0057] Each station may be configured to handle the blocks 10 also along a transverse drift direction, for example normal, to the direction of advancement. To this end, the rolling elements 42 (in this case preferably identifiable as balls) protrude from the conveyor 41 both at a first face defining said support surface 4i and at a second face opposite to the first with respect to the same conveyor 41 ; and the handler may also comprise a continuous belt 44 in contact with the rolling elements 42 at the second face and configured to handle along the drift direction, causing rotation of the rolling elements 42. The rolling elements 42 may thus rotate with respect to the conveyor 41 around an additional rotation axis transverse and in detail perpendicular to the drift direction, and preferably parallel to the direction of advancement, dragging the blocks 10 also along the drift direction.

[0058] The additional rotation axis is transverse and in detail perpendicular to the rotation axis.

[0059] It is noted that in the case of handling of both the belt 44 and the conveyor 41 , the rolling elements 42 may rotate in accordance with both the rotation axis and the additional rotation axis.

[0060] The drift direction may be barycentric to the support surface 4i.

[0061] The motor 43 may be kinematically connected to the continuous belt 44 so as to control said handling. In detail, the motor 43 is kinematically connected both to the belt 44 and to the conveyor 41 and, suitably, configured to handle them independently of each other.

[0062] The motor 43 may be electric.

[0063] The handling group 4 comprises multiple stations operable in a suitably independent manner with respect to each other. In detail, it comprises at least one handling station 4d configured to handle the blocks 10 by defining a pair 10a of blocks 10 (i.e. exclusively two blocks 10) in mutual contact suitably at the first side of each block 10; at least one flanking station 4e, preferably only one, configured to receive the blocks 10 from said handling station 4d and simultaneously handle a pair 10a of blocks 10 suitably towards the stacking unit 3. Said flanking station 4e is configured to handle the blocks 10 also individually.

[0064] More in detail, the handling unit 4 may be devoid of robotic arms or other similar solutions for handling the blocks 10. Consequently, along the direction of advancement, the handling of the blocks 10 is performed exclusively by said stations.

[0065] The pair 10a therefore identifies two blocks 10 horizontally (i.e. parallel to the support surface 4i) juxtaposed and in mutual contact.

[0066] Said at least one handling station 4d may comprise a handler as described above.

[0067] Said at least one handling station 4d is configured to handle the blocks 10 along a direction of advancement coinciding with the first direction 4a. Consequently, said handling station 4d provides a drift direction transverse, preferably normal, to the first direction 4a and preferably parallel to the second direction 4b.

[0068] The first direction 4a may be barycentric to the support surface 4i defined by the one or more handling stations 4d.

[0069] Preferably, the handling unit 4 comprises multiple handling stations 4d sequentially arranged along said first direction 4a and mutually distinguishable as at least a first handling station 4d’ preferably defining a first support surface 4i’ , and a second handling station 4d” preferably defining a second support surface 4i”. Preferably, a further third handling station 4d”’ is added thereto, preferably defining a third support surface 4i”’. More preferably, the handling station 4d’ comprises a first handler defining a first support surface 4i’; the second station 4d” comprises a second handler defining the second support surface 4i”; and, if present, the third handling station 4d”’ comprises a third handler defining said third support surface 4i”’.

[0070] Each of said first, second and / or third handler is similar to the handler described above.

[0071] In particular, the first handling station 4d’ is placed downstream of the second handling station 4d”. If present, the third handling station 4d”’ is interposed between the first and second station 4d’, 4d”.

[0072] As shown in Fig. 1 , one or more handling stations 4d, 4d’, 4d”, 4d”’ may comprise an abutment 45 for the blocks 10 along the drift direction.

[0073] Each abutment 45 may be configured also to cause a rotation of the blocks 10 (suitably if handled both along the drift direction and along the advancement direction) around an axis normal to the support surface 4i, 4i’, 4i”, 4i’”, and preferably of angular amplitude equal to 90°. To this end, it is configured to come into contact with the block 10 at a contact point located on the side of the block 10 normal to the first direction 4a (i.e. to the advancement direction) and proximal to a side of the block 10 parallel to the advancement direction.

[0074] It is noted that in the case of multiple stations 4d having said abutment 45, the possible rotations caused by said abutments 45 have the same angular amplitude and suitably the same direction.

[0075] In general, the abutment 45 therefore comprises a bulkhead 451 defining an opposing surface 451b on which the block 10 slides, and an incidence edge 451a of said block (in detail of the contact point) which therefore impacts said edge, rotates, and then rests on said surface 451b.

[0076] The opposing surface 451 b is parallel to the first direction 4a.

[0077] The edge 451a identifies a side of said abutment 45 and precisely of the bulkhead 451 normal to the first direction 4a. It can be identified by a rolling element hinged to said bulkhead 451 defining said incidence edge 451a and preferably hingedly mounted in idle manner to the bulkhead defining a revolution axis perpendicular to the support surface 4i, 4i’, 4i”, 4i”’.

[0078] The first handling station 4d’ may therefore comprise a first abutment 45’ defining an end stop for the blocks 10 along the drift direction.

[0079] The first abutment 45’ comprises a first bulkhead 45 T defining a first opposing surface 451 b’ and preferably a first incidence edge 451a’ configured to cause said rotation of the blocks 10.

[0080] The first bulkhead 45T may be static and therefore always at the same distance from the first direction 4a. In detail, the first contact surface 451 b’ is spaced from the first direction 4a and in particular located at a peripheral side of the first support surface 4i’ defined by the first station 4d’.

[0081] The second handling station 4d” may comprise a second abutment 45” comprising, in turn, a second bulkhead 451” defining a second incidence edge 451a” and a second opposing surface 451b”.

[0082] The second bulkhead 451” may be movable along the drift direction, i.e. perpendicularly to the first direction 4a. To this end, the second abutment 45” may comprise a handling element 452, for example pneumatic or electric, configured to handle the second bulkhead 451” along the drift direction suitably between an opposing configuration in which the second opposing surface 451b” has a minimum distance from the first direction 4a and a spacing configuration in which the second contact surface 451 b” has a maximum distance from the first direction 4a.

[0083] Said minimum distance may be 0.1 m.

[0084] Said maximum distance may be greater than the distance of the first surface 451b’ from the first direction 4a. It may be 0.2 m.

[0085] The third handling station 4d”’ may comprise a third abutment 45”’ configured to define an abutment for the blocks 10 when handled along the drift direction of the second handling station 4d”.

[0086] The third abutment 45’” may be configured to cause a rotation of the blocks 10 having the same direction as that of the second abutment 45”. It therefore comprises a third bulkhead 45T” defining a third incidence edge 451a’” and a third opposing surface 451b’”.

[0087] The third bulkhead 45T” may be static and therefore the opposing surface is always at the same distance from the first direction 4a. In detail, the third opposing surface 451 b’” may be at a distance from the first direction 4a greater than the distance of the first opposing surface 451 b’ from the first direction 4a and preferably substantially not greater than said maximum distance. In particular, the distance of the third opposing surface 451b’” from the first direction 4a is substantially equal to said minimum distance.

[0088] The flanking station 4e is configured to receive the blocks from the handling station 4d and handle them towards the stacking unit 3. In detail, it is configured to receive the blocks 10 and handle them first along the first direction 4a and subsequently along the second direction 4b. More in detail, the flanking station 4e is configured to handle the blocks 10 along a direction of advancement coinciding with the second direction 4b and a drift direction parallel to the first direction 4a.

[0089] Said flanking station 4e is configured to simultaneously handle a pair 10a of said blocks 10 and / or a single block 10.

[0090] The flanking station 4e may preferably define a fourth support surface 4i"". The flanking station 4e may comprise a fourth handler (suitably similar to the handler described above) defining said fourth support surface 4i"".

[0091] The flanking station 4e defines an entry side of the blocks 10 into the same station 4a (i.e. onto the fourth support surface 4i"") proximal to the at least one handling station 4d and in particular to the second handling station 4d”; and preferably an exit side of the blocks 10 from the same station 4a (i.e. from the fourth support surface 4i"") proximal to the stacking unit 3.

[0092] The entry side may be transverse, for example perpendicular, to the first direction 4a.

[0093] The exit side may be transverse, for example perpendicular, to the second direction 4b.

[0094] The flanking station 4e may comprise a stop 46 for the blocks 10 entering the flanking station 4e and thus handling along the drift direction, and therefore, in this case, along the first direction 4a.

[0095] The stop 46 may comprise a support wall 461 defining a support surface 461 b for the blocks 10 entering the station 4e.

[0096] Said support surface 461b is parallel to the second direction 4b and precisely perpendicular to the first direction 4a. It therefore defines an abutment for the blocks 10 when handled along the first direction 4a.

[0097] The support wall 461 may be movable along the first direction 4a so as to vary the distance of the support surface from the entry side and / or from the second direction 4b. Consequently, the stop 46 may comprise a translator 462, for example pneumatic or electric, configured to translate the support wall 461 along the first direction 4a, suitably varying said distance continuously and preferably defining for said stop 46 one or more positions.

[0098] Said one or more positions preferably provide a deviation position in which the contact side between the blocks 10 of the pair 10a is barycentric to said fourth support surface 4i"". Consequently, the distance of the support wall 461 and in detail of the support surface 461b from the second trajectory 2b is substantially between 80% and 120% and in detail between 90% and 110% of a side and in particular of the second side of the block 10. More in detail, in deviation position, this distance is approximately equal to the second side.

[0099] Said one or more positions may also provide a supplementary deviation position in which the distance of the support wall 461 and thus of the support surface 461 b from the second trajectory 4b is substantially between 40% and 60% and in detail between 45% and 55% of a side and in particular of the second side of the block 10. In detail, in supplementary deviation position, this distance is approximately equal to half the second side.

[0100] Said supplementary deviation position is adopted when the station 4e handles a single block 10. Said one or more positions preferably provide a reception position in which the first block 10 comes into contact with the support surface 461b by being placed flush with the entry side. In detail, the distance between the support surface 461 b and the entry side is thus approximately between 80% and 120% and in detail between 90% and 110% of a side and in particular of the second side of the block 10. Precisely, in reception position, said distance is approximately equal to the second side.

[0101] Furthermore, the handling unit 4 may also comprise at least one distancing station 4f, interposed between the flanking station 4e and the stacking unit 3, configured to make the blocks 10 available to said stacking unit 3. Preferably, the handling unit 4 comprises only one distancing station 4f.

[0102] The distancing station 4f may comprise an additional handler similar to the handler described above.

[0103] The distancing station 4f is configured to receive the blocks 10 from the flanking station 4e (suitably at the exit side) and handle them towards the stacking unit 3. In detail, it is configured to receive and handle the blocks 10 along the second direction 4b identifying the direction of advancement of said distancing station 4f.

[0104] Additionally, in the case of a trajectory comprising a third direction 4c, the handling unit 4 may also comprise one or more supplementary handling stations 4g configured to handle the blocks 10 along at least said third direction 4c.

[0105] Each of said one or more supplementary handling stations 4g may comprise a handler similar to the handler described above.

[0106] Said one or more supplementary handling stations 4g are configured to handle the blocks 10 along a direction of advancement coinciding with the third direction 4c; and a drift direction parallel to the first direction 4a.

[0107] Said one or more supplementary handling stations 4g may be configured to handle the blocks 10 into the handling station 4d and preferably exiting from the initial group 2.

[0108] The handling unit 4 also comprises an alignment station 4h defining a fifth support surface

[0109] The alignment station 4h (Figs. 6 and 10) may be configured to handle the blocks 10 along the handling trajectory and in particular along the second direction 4b. It therefore comprises a fifth handler for the blocks 10 defining the fifth support surface 4i

[0110] The alignment station 4h may be configured to align the sheets of a pair 10a of blocks and / or of a single block 10 at least parallel to the second direction 4b. It therefore also comprises a sheet aligner 47 of the sheets constituting the blocks 10 and preferably entirely positioned above the fifth support surface

[0111] In this document, the terms “above” and “below” respectively identify a point at higher and lower gravitational potential; and therefore, “above” is at a greater distance from the walkable surface on which the line 1 is placed, while “below” is at a smaller distance from the walkable surface on which the line 1 is placed.

[0112] The aligner 47 is spaced and thus not in contact with the fifth support surface

[0113] The aligner 47, highlighted in Fig. 7, is configured to align the sheets, suitably exclusively, parallel to the second direction 4b. It therefore defines at least one alignment surface 47a configured to come into contact with the sheets to align them. In detail, the aligner 47 defines two alignment surfaces 47a configured to come into contact, from opposite sides with respect to the direction 4a, with the sheets (and thus with a block 10 and / or a pair 10a) which are therefore enclosed between said surfaces. More in detail, it comprises two panels 471 each defining one said surface 47a; and preferably a guide 472 configured to command a mutual handling between the panels 471 (thus between the surfaces 47a) along an alignment axis 47b suitably perpendicular to said surfaces 47a.

[0114] The alignment surface 47a may be parallel to the handling trajectory 4a, 4b, 4c at the fifth support surface 4i Preferably, it is transverse and in detail perpendicular to the fifth support surface

[0115] Each panel 471 is placed above the fifth support surface

[0116] Each panel 471 may define, in addition to the alignment surface 47a, a lead-in surface 47c configured to promote contact with the block 10 and / or the pair 10a on the alignment surface 47a.

[0117] Each lead-in surface 47c identifies a surface having a distance from the second direction 4b varying monotonically with a maximum value distal from the alignment surface 47a and a minimum value at the alignment surface 47a. Consequently, the lead-in surfaces 47c of said two panels 471 define an “entry cone” of the blocks 10 between the alignment surfaces 47a.

[0118] Said minimum value is equal to the distance of the alignment surface 47a from the second direction 4b.

[0119] The lead-in surface 47c is upstream of the alignment surface 47a.

[0120] The alignment axis 47b may be parallel to the fifth support surface 4i

[0121] The alignment axis 47b may be perpendicular to the alignment surfaces 47a.

[0122] The guide 472 may be configured to handle both panels 471. In detail, it is configured to handle the panels 471 suitably in a dependent or independent manner. More in detail, the guide 472 commands the panels 471 with equal speed and opposite direction. Consequently, the alignment surfaces 47a are always equidistant from the second trajectory 4b.

[0123] The guide 472 may define a maximum distance and a minimum distance between the alignment surfaces 47a and thus be configured to handle and stop the panels 471 by defining a distance between the alignment surfaces 47a comprised between said minimum and maximum distances.

[0124] The maximum distance may be substantially between 2 m and 1.5 m and in detail approximately equal to 1.7 m.

[0125] The minimum distance may be substantially between 0.7 m and 0.5 m and in detail approximately equal to 0.33 m.

[0126] The guide 472 may comprise a rail 472a defining the alignment axis 47b; and two carriages 472b each of which constrained to said panel 471 and slidable along said rail 472a.

[0127] The rail 472a may be motorized so as to command the sliding of the carriages 472b along said axis 47b.

[0128] The guide 472 and precisely the rail 472a is placed above the fifth handler and therefore above the fifth support surface 4i In detail, the guide 472 and in particular the rail 472a is spaced from the fifth surface 4i by a working distance equal to the height of the block 10 (i.e. to the extension of the block 10 along a direction normal to the fifth support surface 4i ). More in detail, said working distance is at least substantially between 0.7 m and 0.3 m and in detail approximately equal to 0.45 m.

[0129] Each panel 471 has a height (also calculated along a direction normal to the fifth support surface 4i ) lower than the distance between guide 472 and support surface 4i so as to avoid contact of the panel 471 against the support surface 4i. Preferably, the height of the panel 471 is between 90% and 70% of said working distance.

[0130] The alignment station 4h may also comprise a stop body 49 (Figs. 8, 9a, 9b) for stopping the advancement of the blocks 10 on the fifth support surface 4i

[0131] The stop body 49 is configured to stop the advancement of the blocks 10 on the fifth support surface 4i when said blocks 10 are in contact with the at least one alignment surface 47a. The stop body 49 defines at least one stop surface 49a against which the blocks 10 abut when handled along the handling trajectory on the fifth support surface

[0132] The stop surface 49a and in particular the stop body 49 are placed at the fifth support surface 4i and not upstream of the alignment surface 47a.

[0133] Preferably, they are downstream of the alignment surface 47a (in detail of the aligner 47). Alternatively, they are superimposed on said alignment surface 47a with respect to the normal to the second direction 4b.

[0134] The stop body 49 is loosely constrained to the fifth support surface 4i (i.e. to the fifth handler) and defines an active position (Fig. 9b) in which the stop surface 49a protrudes at least partially from the fifth support surface 4i (i.e. protrudes towards the panel 471 and is thus able to come into contact with the blocks 10) and a passive position (Fig. 9a) in which the stop surface 49a does not protrude from the fifth support surface 4i and is therefore not able to come into contact with the blocks 10.

[0135] The stop body 49 may also define a slide 49b configured to lift and space at least part of the blocks 10 and in particular at least the edge of the blocks 10 in contact with the stop surface 49a.

[0136] The slide 49b may be integral with the stop body 471. Consequently, in the active position the slide 49b protrudes partially from the fifth support surface 4i (i.e. at least the first end protrudes, lifting at least one edge of the blocks 10) and a passive position in which the slide 49b does not protrude from the fifth surface 4i and thus does not lift the blocks from said fifth support surface 4i

[0137] The slide 49b defines a sliding surface inclined with respect to the fifth support surface Consequently, at least in the active position, the slide 49b thus defines a first end protruding from the fifth surface and proximal to the stop surface 49a and a second end not protruding from the fifth support surface 4i and distal from the stop surface 49a.

[0138] The fifth handler may be similar to the handler described above.

[0139] Alternatively, the fifth handler may differ from that of the other stations. For example, it may be configured to define a housing for each stop body 49. Preferably, the fifth handler comprises a plurality of belts (as illustrated in Figs. 6, 8-9b) mutually spaced so as to define said housings for the stop bodies 49 between said belts.

[0140] The handling unit 4 may also comprise a final station 4I configured to place the blocks in the picking area 3b.

[0141] The final station 4I is downstream of the flanking station 4e, in detail of the distancing station 4f, so as to receive blocks 10 in pair 10a. Optionally, it may be downstream of the alignment station 4h so as to receive the blocks 10 only after the alignment of the sheets. Consequently, the at least one block 10 and / or the at least one pair 10a undergoes a handling after the sheets have been aligned.

[0142] The final station 4I defines a sixth support surface It is configured to handle on the sixth surface the blocks 10 exiting the alignment station 4h along the handling trajectory and in particular along the second direction 4b. To this end, the final station 4I may comprise a sixth handler, suitably similar to the handler described above, defining said sixth support surface

[0143] The sixth handler and therefore the sixth support surface are configured to receive the blocks 10 and / or the pair 10a exiting the alignment station 4h.

[0144] Consequently, the final station 4I may comprise a lifter 48 defining said picking area 3b and configured to lift the blocks 10 from said sixth support surface 4i to said picking area 3b defining a lifting axis 48a. The picking area 3b is parallel to the sixth support surface 4i

[0145] The picking area 3b is spaced and placed above the sixth support surface

[0146] The lifting axis 48a is perpendicular to the sixth support surface 4i and preferably to said picking area 3b. It is therefore also perpendicular to the plane defined by directions 4a and 4b.

[0147] The lifter 48 is configured to lift along said axis 48a one or more blocks 10 and, suitably, also to stack them along the lifting axis 48a defining an assembly of blocks 10.

[0148] In particular, it is configured to lift a pair 10a of blocks 10 and suitably stack it on a second pair 10a along said lifting axis 48a. Alternatively or additionally, the lifter 48 is configured to lift a single block 10 and suitably stack it on another block 10 along the lifting axis 48a.

[0149] Said assembly thus identifies at least two blocks 10 (in detail four) vertically (i.e. perpendicularly to the sixth support surface 4i ), juxtaposed in pairs and in mutual contact. The lifter 48 may comprise a first lifting column 481 and a second lifting column 482.

[0150] The first lifting column 481 may be proximal to the alignment station 4h.

[0151] The second lifting column 482 may be distal from the alignment station 4h.

[0152] The picking area 3b is spanned between the columns 481 and 482.

[0153] The sixth support surface 4i is between the columns 481 and 482.

[0154] The columns 481 and 482 are configured to perform the lifting of at least one block along the lifting axis 48a. To this end, each column 481 and 482 may comprise a lifting body (for example a profile) configured to come into contact with a block 10 and in particular with both blocks 10 of a pair 10a by lifting them from the sixth support surface Consequently, the first lifting column 481 comprises a first lifting body 481a and the second column 482 comprises a second lifting body 482a.

[0155] The lifter 48 may also comprise a plate 483 configured to intercept and stop the advancement of the blocks 10 and / or of a pair 10a along the handling trajectory and in particular along the second direction 4b.

[0156] The plate 483 defines an interception surface 483a perpendicular to the second direction 4b.

[0157] The interception surface 483a identifies the surface against which the blocks 10 and / or the pair 10a comes into contact at the end of the handling along the handling trajectory.

[0158] The plate 483 and therefore the interception surface 483a are static.

[0159] The plate 483 and thus the interception surface 483a are positioned distally from the alignment station 4h.

[0160] The interception surface 483a is downstream of the second column 48 and in detail of the second lifting body 482a, which is thus capable of lifting the blocks 10 when in contact with said interception surface 483a. The stacking unit 3 is configured to palletize blocks 10 and / or pairs 10a. It is therefore configured to stack the blocks 10 at said at least one palletizing area 3a and, precisely, to pick the blocks 10 from the picking area 3b and place them in the palletizing area 3a.

[0161] The stacking unit 3 is configured to handle at least one pair 10a of blocks 10 (in detail a single pair 10a or two pairs 10a stacked in said final station 4I as described above) and / or at least one block 10 (in detail a single block 10 or two blocks 10 stacked in said final station 4I).

[0162] The stacking unit 3 may define a single palletizing area 3a. Preferably, it defines multiple palletizing areas 3a, and precisely two palletizing areas 3a arranged on opposite sides with respect to the second direction 4b and suitably equally spaced from said second direction 4b.

[0163] Each palletizing area 3a may be identifiable, for example, as a portion of a walkable surface designated for the palletizing. It may comprise a pallet.

[0164] The stacking unit 3 may be of the robotic type and therefore comprise a gripper 31 for gripping said blocks, a robotic arm 32 configured to handle said gripper 31 ; and suitably a base structure 33 for anchoring the arm 32 to an external support and preferably to a walkable surface.

[0165] The robotic arm 32 is hinged to the base structure 33 and therefore rotates around a handling axis 3c suitably substantially perpendicular to said walkable surface and, in detail, parallel to the gravitational gradient. Consequently, the unit 3 may comprise a hinge 34 defining said handling axis 3c, suitably motorized.

[0166] Said handling axis 3c may intersect the second direction 4b. Therefore, the handling axis 3c and the second direction 4b are coplanar.

[0167] The robotic arm 32 may comprise one or more rigid bodies 32a, identifiable as optionally telescopic profiles. In detail, it preferably comprises a final rigid body 32a distal from the base structure 33.

[0168] Each rigid body 32a defines a prevalent development direction.

[0169] The robotic arm 32 may comprise at least one mechanical joint 32b each interposed between two adjacent rigid bodies 32a and configured to mutually handle said rigid bodies 32a. Preferably, the arm 32 comprises multiple mechanical joints 32b configured to handle the rigid bodies 32a with respect to each other in a suitably independent manner.

[0170] Optionally, the robotic arm 32 may comprise a final mechanical joint 32b interposed and therefore constraining the final rigid body 32a to the gripper 31 .

[0171] The mechanical joints 32b are configured to handle and, precisely, rotate the rigid bodies 32a with respect to each other, varying the opening angle between adjacent rigid bodies 32a. The gripper 31 may comprise a base 311 constrained to the robotic arm 32 suitably at the final rigid body 32a; and one or more gripping bodies 312 for the blocks 10. Preferably, it comprises at least a pair of gripping bodies 312 for the blocks 10 configured to come into contact on opposite sides with respect to the blocks 10, which are thus each clamped between said gripping bodies 312. More preferably, the gripper 31 comprises a first pair and a second pair of gripping bodies 312 for the blocks 10, thus allowing the gripper 31 to grip a pair 10a of blocks 10.

[0172] Each gripping body 312 defines a gripping surface 312a configured to come into contact with the blocks 10. It may therefore comprise a plate defining said gripping surface 312a and a foot fixed integrally with and perimetrally to said plate.

[0173] Preferably, the gripping bodies 312 have the gripping surfaces 312a parallel to each other. The gripping surface 312a may be parallel to the prevalent development direction of the final rigid body 32a.

[0174] In order to facilitate the gripping of the blocks 10, the gripper 31 may comprise at least one sliding body 313 configured to handle a gripping body 312 along an actuation axis 3d suitably normal to said gripping surface 312a.

[0175] The sliding body 313 may be configured to mutually handle the gripping bodies 312 of a pair of bodies 312 along the actuation axis 3d so as to vary the distance between the gripping surfaces 312a. In particular, the gripper 31 comprises two sliding bodies 313 each of which configured to handle between them the bodies 312 of one pair of gripping bodies 312 so as to independently handle the gripping bodies 312 of distinct pairs.

[0176] A sliding body 313 comprises at least one slider engaged with a gripping body 312, a guide defining said actuation axis 3d.

[0177] The sliding body 313 may be configured to handle both gripping bodies 312 of a pair, suitably simultaneously and more suitably at equal speed and in opposite directions. Consequently, it comprises two sliders each of which associated with a gripping body 312 and a guide defining said actuation axis 3d for both sliders.

[0178] Optionally, the gripper 31 may comprise an additional sliding body 314 configured to handle the pairs of gripping bodies 312 with respect to each other, varying their mutual distance along an additional actuation axis 3e suitably normal to said actuation axis 3d.

[0179] The additional sliding body 314 comprises two additional sliders each of which engaged with a pair of bodies 312 and an additional guide defining said additional actuation axis 3e. Each gripping body 312 is preferably detachably constrained to the base 311 so as to allow replacement of only the gripping bodies 312. Consequently, the gripper 31 comprises for each gripping body 312 a constraint 315 of the gripping body 312 to the rest of the gripper 31 (precisely to the base 311 , in particular to the handler and more specifically to the slider). The constraint 315 is configured to detachably constrain the gripping body 312 to the rest of the gripper 31 and thus defines an engagement configuration and a release configuration of the gripping body 312 with respect to the rest of the gripper 31.

[0180] Preferably, the transition from the release configuration to the engagement configuration is passive and the transition from the engagement configuration to the release configuration is active, i.e., executed only following an external command such as that given by the control unit introduced below. Consequently, in case of blockage (for example due to malfunction), the constraint 315 remains in the engagement configuration and transition to the release configuration is prevented.

[0181] In detail, the constraint 315 preferably comprises a catch 315a integral with one of the gripping body 312 and the rest of the gripper 31 and a seat 315b integral with the other of the gripping body 312 and the rest of the gripper 31 and configured to be integrally engaged or disengaged with / from the catch 315a, defining said configurations.

[0182] The catch 315a may be fixed to the body 312 and the seat 315b to the rest of the gripper 31.

[0183] The catch 315a may comprise a pin and one or more slots made on the lateral surface of said pin.

[0184] The seat 315b may comprise a housing for said pin and thus for the catch 315a; and for each slot a locking device for said catch in said housing.

[0185] The locking device may comprise a hole facing said housing, a sliding stop in said hole; a spring configured to push said stop to protrude into said hole so as to insert it into said slot, defining the engagement configuration; and an actuator configured to command the stop not to enter into said slot, defining said release configuration. Therefore, the transition from the engagement configuration to the release configuration is performed only actively through activation of the actuator; whereas the transition from the release configuration to the engagement configuration does not require the use of the actuator.

[0186] The actuator may be pneumatic and therefore configured to command by depressing of said hole the extraction of said stop from said slot and thus the disengagement between the catch 315a and the seat 315b.

[0187] The stacking unit 3 may also comprise a magazine 35 of gripping bodies 312.

[0188] The magazine 35 is configured to allow the gripper 31 to replace the gripping bodies 312 thanks to the constraint 315. It comprises one or more pairs of gripping bodies 312 and thus at least one storage station for each pair of bodies 312.

[0189] Preferably, the gripping bodies 312 differ in the extension of the gripping surface 312a and in detail in the height of the gripping surface 312a calculated perpendicularly to said actuation axis 3d. Finally, the palletizing line 1 also comprises a control unit for the operation of the line 1.

[0190] Said control unit may be identified as a processor or other similar device in data connection (wired or wireless) with the various groups 2, 3 and / or 4 so as to allow control of their operation.

[0191] In detail, it is in data connection with the stacking unit 3 so as to command the handling of the gripper 31 and / or the change of the gripping body 312.

[0192] The control unit is in data connection with stations 4d, 4f and, if present, 4g, 4h and / or 4I so as to command the advancement of the blocks 10 and / or of the pairs 10a.

[0193] It is finally specified that all the support surfaces 4i (in detail 4i’, 4i”, 4i”’, 4i””, 4i””’ and / or 4i”””) are mutually parallel and preferably coplanar.

[0194] The operation of the palletizing line 1 previously described in structural terms is as follows. In detail, such operation introduces a new palletizing process.

[0195] The palletizing process and in particular the various steps and sub-steps described below are implementable and thus controllable by the control unit. They are executed in accordance with the order in which they are described unless otherwise specified.

[0196] Initially, the process provides for a loading step of the blocks 10 onto said line 1 , suitably performed at the initial group 2.

[0197] In this step, at least a first and a second block 10 are successively introduced onto the line 1 at the initial group 2.

[0198] It is noted that in the loading step the blocks 10 may be placed with their main extension axis and thus the first side parallel to the handling trajectory and, in particular, to the first direction 4a or, preferably, to the third direction 4c.

[0199] In the loading step, the blocks 10 arrive at one or more handling stations 4d, initiating the next step. In particular, the blocks 10 may be handled, suitably along at least the third direction 4c, by one or more supplementary handling stations 4g which transport the blocks 10 entering into the first handling station 4d’.

[0200] The palletizing process comprises a handling process in which the handling unit 4 handles at least one block 10 according to an advancement direction at least along the handling trajectory 4a, 4b, 4c.

[0201] The handling process may provide for handling a block 10 along the handling trajectory 4a, 4b, 4c and thus its placement in the picking area 3b.

[0202] In some cases, the handling process may include the formation and thus handling of a pair 10a of blocks 10. It therefore comprises a coupling step of two blocks 10 defining a pair 10a.

[0203] In this coupling step, the handling of a first and a second block 10 is carried out in sequence at least along the handling trajectory and in particular along the first direction 4a. The coupling step may include a first handling sub-step in which the at least one handling station 4d handles the first block 10 along the handling trajectory placing it at the entry side of the flanking station 4e and in particular above the support surface 4i of the flanking station 4e; a second handling sub-step in which the at least one handling station 4d brings the second block 10 into contact with said first block 10, defining said pair 10a of blocks 10 and suitably leaving it on the support surface 4i of the handling station 4d adjacent to the flanking station 4e, i.e., the second handling station 4d”; a pushing sub-step in which the second block 10 is also pushed on top of the flanking station 4e; and preferably a centring sub-step in which the contact side between the blocks is placed barycentrically to the support surface 4i of the flanking station 4e.

[0204] At the end of the coupling step, and in detail of the second sub-step, the first block 10 and the second block show the same side and, preferably, the second side parallel to the exit side of the flanking station 4e.

[0205] In the first handling sub-step, one or more handling stations 4d command the advancement of the first block 10, suitably along the first direction 4a, which therefore crosses said stations 4d and positions itself onto the support surface 4i of the flanking station 4e, flush with the entry side of the flanking station 4e.

[0206] Preferably, during the first sub-step, the handling stations 4d both take care to advance the first block 10 and to rotate it by a first angle suitably equal to 90°, 180° or 270° (preferably 180°), appropriately using the abutments 45. For example, in the case of a first angle equal to 180°, the block 10 performs a first rotation of 90° using the third abutment 45”’ of the third handling station 4d”’; and then an additional rotation of 90° using the second abutment 45” of the second handling station 4d” which is suitably placed in the distancing configuration. Preferably, in the first handling sub-step, the stop 46 is in the reception position. Consequently, the first block 10 enters the flanking station 4e, resting on the support surface 461 b of the support wall 461 , and preferably aligning flush with the entry side within the same station 4e.

[0207] At the end of the first handling sub-step, the second side of the first block 10 is parallel to the exit side of the flanking station 4e.

[0208] In the second sub-step, one or more handling stations 4d command the advancement of the second block 10, suitably along the first direction 4a, which thereby crosses said handling stations 4d and, suitably remaining on the support surface 4i of a handling station 4d (for example the second), approaches and contacts the first block 10, defining said pair 10a.

[0209] The second sub-step ends with contact between the first and second blocks 10, i.e., when the second side of the second block 10 is parallel to the exit side of the flanking station 4e. Additionally, in the second sub-step, the handling stations 4d may also rotate the second block by a second angle suitably equal to 90°, 180° or 270°, using one or more abutments 45 as described above.

[0210] It is emphasized that at the end of the first and second sub-steps, the blocks 10 are in mutual contact along their first or second sides and preferably along the second side. To this end, the second angle is equal to the first angle or the difference between said angles is 180°.

[0211] Preferably, in the second sub- step of handling, the stop 46 is still in the reception position. Consequently, the first block 10 rests on the support surface 461b of the support wall 461 ; the second block 10 then abuts against the first block is stopped.

[0212] In the second sub-step of handling, the flanking station 4e may keep the rolling elements 42 — and thus the support surface — stationary.

[0213] In the subsequent pushing sub-step, at least one handling station 4d (in detail the second handling station 4d”) handles the pair 10a — i.e. , simultaneously the first and second blocks 10 — by pushing along the first direction 4a the second block 10 against the first block 10 until the entire pair 10a is on the flanking station 4e. Additionally, this action may be assisted by the flanking station 4e, which handles at least the first block 10 along its drift direction.

[0214] To allow this handling during the pushing sub-step, the stop 46 begins transitioning to the deviation position, thereby handling the support surface 461 b away from the entry side and allowing the second block to enter the flanking station 4e. The transition of the stop 46 to the deviation position is completed during the centring sub- step.

[0215] Finally, there is the centring sub-step, in which the pair 10a — and thus the contact side between the blocks 10 — is centred relative to the support surface 461b of the flanking station 4e, and in particular the contact side aligns with the second direction 4b. In detail, the flanking station 4e handles the pair 10a so that the contact side between the first and second block 10 is substantially centred on the support surface 461 b of the flanking station 4e, in particular on the handling trajectory and preferably aligned with the second direction 4b.

[0216] It is underlined that, as described above, in this centring sub-step the stop 46 passes to the deviation position, ensuring the centring of the pair relative to the support surface and the second direction 4b.

[0217] The handling process includes an advancement step in which the flanking station 4e may handle the pair 10a of blocks 10, and then the final station 4I places them into the picking area 3b.

[0218] The advancement step comprises a sliding sub-step in which the flanking station 4e and, if present, the at least one distancing station 4f provide for the handling of the pair 10a along the handling trajectory and in particular along the second direction 4b. At the end of the sliding sub-step, the pair 10a is preferably at the alignment station 4h.

[0219] The handling process thus includes an alignment step of the sheets of the at least one block 10 and in detail of said pair 10a of blocks 10, suitably performed by the alignment station 4h and specifically by the aligner 47.

[0220] The alignment step is performed by the alignment station 4h.

[0221] The alignment step may include a “parallel alignment” relative to a direction parallel to the second direction 4b. In detail, the parallel alignment is carried out by the two panels 471 , which enclose the pair 10a between them by contacting the sheets of the blocks 10 along the side parallel to the second direction 4b on the support surface.

[0222] In detail, in the alignment step the following steps occur in order: the regulation step, then the contact step.

[0223] In the regulation step, the guide 472 handles the panels 471 along the alignment axis 47b; positioning the alignment surfaces 47a at a mutual distance equal to the extent of the blocks 10 and / or the pair 10a along the normal to the second direction 4b.

[0224] In detail, in this step, in the case of single blocks 10, the panels 471 may be mutually positioned so that the distance between the surfaces 47a is equal to the second side of the block 10; while it is equal to twice the second side of the block 10 in the case of the pair 10a.

[0225] In the contact step, the blocks 10 and / or the pair 10a, suitably handled by the handler, advance along the second trajectory and enter between the lead-in surfaces 47c (in detail into the “entry cone” defined by them), thus aligning the sheets parallel to the second direction 4b between the alignment surfaces 47a.

[0226] Once the alignment step, has been completed the handling process may include a stopping step.

[0227] In the possible stopping step, the stop body 49 switches to the active position, stopping the advancement of the blocks 10 and / or of the pair 10a and preferably causing at least part of the slide 49b to protrude, thereby lifting at least one edge of the blocks 10 and detaching it from the fifth handler.

[0228] At this point, the handling process includes an arrangement step of at least one block 10 and / or at least one pair 10a in the picking area 3b. In this step, the lifter 48 handles the at least one block 10 upward along the lifting axis 48a, placing it into the picking area 3b.

[0229] The arrangement step may include a placement step in which at least one block 10 and / or at least one pair 10a transitions from the alignment station 4h to the final station 4I.

[0230] The arrangement step may include a lifting step of a block 10 and / or one pair 10a of blocks 10, appropriately carried out by the final station 4I and specifically by the lifter 48. In this lifting step, the lifter 48 positions the block 10 and / or the pair 10a in the picking area 3b. In detail, it lifts the pair 10a of blocks 10 along the lifting axis 48a.

[0231] Optionally, in this lifting step, the lifter 48 forms an assembly of two pairs 10a by placing one pair 10a of blocks 10 in the picking area 3b on top of another pair 10a previously placed in said picking area 3b.

[0232] It is noted that, in the case of a stopping step during the alignment step, the lifting step may initially include an unlocking step in which the stop body 49 switches to the passive position, allowing the blocks 10 and / or pair 10a to come into contact with the fifth handler, which handles them along the second direction, placing them in the final station 4I.

[0233] It is emphasized that the arrangement step is executed only after the alignment step. In particular, between the alignment step and the lifting step, there is a placement step in which the block 10 and / or pair 10a is handled along the handling trajectory and, in particular, along the second direction 4b (i.e. , the block is aligned, translated, and then lifted).

[0234] In the placement step 48, the block 10 and / or the pair 10a is handled along the second direction 4b and brought into contact with the plate 483, and in detail with the intercepting surface 489a.

[0235] The arrangement step may include a lifting step, suitably concluded with the block 10 and / or the pair 10a resting against the intercepting surface 489a.

[0236] The palletizing process finally includes a final step in which the stacking unit 3 takes the blocks 10 from the picking area 3b into a palletizing area 3a and, in particular, onto a pallet arranged in said palletizing area 3a.

[0237] This final step includes a spreading out sub-step in which the gripping bodies 312 are mutually distanced along the actuation axis 3d and, in detail, along the supplementary actuation axis 3e; a first positioning sub-step in which the robotic arm 32 places the empty gripper 31 (i.e., without blocks 10) at the picking area 3b; a gripping sub-step in which the gripper 31 grasps at least one pair 10a of blocks 10; and a second positioning sub-step in which the robotic arm 32 positions the loaded gripper 31 (loaded, i.e., with at least one block 10); and a release sub-step of at least one pair 10a into the palletizing area 3a, and in particular onto the pallet.

[0238] In the first positioning sub-step, the robotic arm 32, exploiting the mechanical joints 32b and the hinge 34, handles the gripper 31 with the gripping bodies 312 mutually spaced (along the actuation axis 3d and optionally along the supplementary actuation axis 3e), placing them at the picking area 3b and, in particular, arranging the pair 10a between the gripping surfaces 312a.

[0239] In the gripping sub-step, the gripper 31 grasps a pair 10a of blocks 10. In detail, the gripping bodies 312 are handled along the actuation axis 3d and, if necessary, along the supplementary actuation axis 3e so that a first pair of gripping bodies 312 grips the first block 10 of the pair and the second pair grips the second block 10.

[0240] In the second positioning sub-step, the robotic arm 32 handles the gripper 31 and therefore the pair 10a into the palletizing area 3a.

[0241] In the release sub-step, the gripper 31 releases the pair 10a of blocks 10 into the palletizing area 3a.

[0242] In some cases, leveraging the independent motion of the pairs of gripping bodies 312, the first pair of gripping bodies 312 releases the first block 10 at a first point of the palletizing area 3a; then the arm 32 handles the gripper 31 to a second point of the palletizing area 3a, different from the first one; and finally, the second pair of gripping bodies 312 releases the second block 10 at the second point of the palletizing area 3a.

[0243] It is noted that, if the assembly of two pairs 10a is present in the picking area 3b, the final step initially includes a sub-step of replacement of the gripping body 312 of the gripper 31 ; while in the gripping sub-step, the gripper 31 grasps the entire assembly, and in the release sub-step, the gripper 31 releases the entire assembly (i.e. , both pairs 10a) or at first only the two first blocks 10 and later the two second blocks 10.

[0244] In the replacement sub-step, the robotic arm 32 handles the gripper 31 to the storage magazine 35, and in particular to an empty storage station; the constraint 315 switches to the release configuration allowing the detachment of the gripping bodies 312 from the gripper 31 ; the robotic arm 32 handles the gripper 31 at the storage station equipped with the gripping bodies 312 to be picked up and brings the hook 315a into contact with the latch 315b; and then the constraint 315 switches to the engagement configuration, securely fixing the gripping bodies 312 to the gripper 31.

[0245] The palletizing line 1 and thus the palletizing process according to the invention achieve significant advantages.

[0246] Indeed, by enabling the handling of a pair 10a or even two pairs 10a, faster palletization of the blocks 10 is achieved, thereby increasing production speed and reducing costs. It is emphasized that such function was achieved without degrading the palletization, thus ensuring both correct positioning of the blocks 10 and their free orientation on the pallet — even when picked by the gripper 31 in a pair 10a or individually — as well as perfect alignment of the sheets of each block 10.

[0247] Other advantages derive particularly from the constraint 315 which, by defining a transition from the engagement configuration to the active release configuration that is and therefore performed only following an external command, (that is following the activation of the actuator), allows to eliminate the risk of detachment of the gripping bodies 312 and the associated hazards. A particular advantage arises from having separated the alignment of the sheets 11 and the lifting of the blocks 10 into two successive stations 4h and 4I, allowing the same line to handle differently sized objects such as the pairs 10a and the individual blocks 10. This feature is particularly effective because it does not interfere with the handling of the blocks and / or pairs 10a.

[0248] The invention is susceptible to variants within the scope of the inventive concept defined by the claims.

[0249] For example, in a preferred embodiment, the final station 4I and the alignment station 4h may coincide (Figs. 10 and 11) and, therefore, the fifth support surface 4i””’ and sixth surface 4i””” may coincide. In this case, the palletizing line 1 includes the alignment station 4h also performing the function of the final station 4I.

[0250] Consequently, the alignment station 4h includes the above-described lifter 48 defining a lifting axis 48a transverse and, in detail, perpendicular to said fifth support surface 4i””’. The lifter 48 is configured to lift the blocks 10 from said fifth support surface 4i””’ to said picking area 3b. It includes a first lifting column 481 proximal to the flanking station 4e and a second lifting column 482 distal from the flanking station 4e and therefore positioned on the opposite side of the fifth support surface 4i””’ with respect to the first column 481. The lifter 48 is analogous to that described above.

[0251] In this case, the picking area 3b is parallel to the fifth support surface 4i””’.

[0252] The picking area 3b is spaced and positioned above the fifth support surface 4i””’.

[0253] It is specified that, in this case, each column 481 and 482 may include a lifting body (as described above) configured to contact a block 10 and, in particular, both blocks 10 of a pair 10a, lifting them from the fifth support surface.

[0254] Also in this case, the aligner 47 is spaced apart and therefore not in contact with the fifth support surface 4i””’ and thus the sixth surface 4i”””.

[0255] Advantageously, unlike what was previously described, the aligner 47 is configured to perform said sheet alignment when lifted by the lifter 48. This function contrasts with the previous setup where the alignment was performed with the sheets stationary and / or handling along the second direction 4b. Consequently, it includes at least one alignment surface 47a proximal to the picking area 3b and, in detail, interposed between the picking area 3b and fifth support surface 4i””’. Optionally, the at least one alignment surface 47a may correspond to the picking area 3b.

[0256] The aligner 47 may be associated with and thus fastened to one of the lifting columns 481 or 482. Preferably, it is associated with and therefore fastened to the first lifting column 481. The aligner 47, as described above, includes two panels 471 configured to come into contact with the sheets (and thus with a block 10 and / or a pair 10a) from opposite sides with respect to direction 4a and therefore to the block 10 and / or to the pair 10a; and preferably a guide 472 configured to command a mutual handling between the panels 471 along said alignment axis 47b.

[0257] Each panel 471 is located above the fifth support surface 4i””’. It is proximal to the pick-up area 3b and, in detail, located between the pick-up area 3b and the fifth support surface 4i””’. Preferably, each panel 471 has a distance from the fifth support surface 4i””’ (thus from the sixth surface 4i”””) of at least 1 cm and in detail essentially between 2 cm and 15 cm, more specifically between 5 cm and 10 cm.

[0258] Each panel 471 may define, in addition to the alignment surface 47a, a first contact surface 47d configured to facilitate contact with the block 10 and / or the pair 10a on the alignment surface 47a.

[0259] The first contact surface 47d defines an extension of the alignment surface 47a toward the fifth support surface 4i””’ (thus the sixth support surface 4i”””). It therefore identifies the point of the panel 471 closest to said support surface 4i””’.

[0260] The first contact surface 47d has a divergent development with respect to the lifting axis 48a and, in detail, varies monotonically variable, defining a distance from the axis 48a that is minimal at the alignment surface 47a and maximal distally from the alignment surface 47a. Consequently, the pilot hole surfaces 47c of said two panels 47 define an "entry cone" for blocks 10 with an axis along the lifting axis 48a and thus developing perpendicularly to the fifth support surface 4i””’.

[0261] This minimum value corresponds to the distance from the alignment surface 47a to the second direction 4b.

[0262] The guide 472 may be placed at the pick-up area 3b.

[0263] The guide 472 may be configured to handle both panels 471. In detail, it is configured to handle the panels 471 in a dependent or independent manner. More specifically, the guide 472 commands the panels 471 with equal speed and opposite direction. As a result, the alignment surfaces 47a are always equidistant from the second trajectory 4b. It is similar to what was previously described and thus reference is made to the description.

[0264] Finally, in this example, the alignment station 4h (and thus the final station 4I) may be devoid of the stop body 49; and in detail, the stop body 49 may be part of the flanking station 4e upstream of said stations 4i and 4I.

[0265] Also in this case, the handling process may foresee the handling of a block 10 and / or of a pair 10a along the handling trajectory 4a, 4b, 4c and subsequently their placement in the pick-up area 3b.

[0266] It may be similar to what was described above until the alignment step. In this case, in fact, the stopping step may precede the alignment step. Furthermore, advantageously, the handling process allows the alignment step and the arrangement step to be carried out substantially in parallel when at least one block 10 or, preferably, one pair 10a is present on the fifth surface 4i””’. The alignment, being carried out in parallel to the lifting and especially immediately before the pick-up from the area 3b, allows both to reduce the handling time of at least one block 10 and to align the sheets just before they are grasped by the stacking unit 3, minimizing the risk of sheet misalignment within a block. It should be noted that this alignment issue, even if minimal, is particularly critical in palletizing, and this solution avoids even minimal sheet misalignments.

[0267] In detail, while the arrangement step is ongoing (more specifically, during the lifting step), the lifter 48 handles the sheets (in detail, one block 10 or a pair 10a) from the fifth support surface 4i””’ to the pick-up area 3b, appropriately handling them along the lifting axis 48a (in a manner similar to what was described above).

[0268] Simultaneously, the alignment step takes place. In fact, the sheets (in detail, a block 10 or a pair 10a) when handled by the lifter 48 come into contact with the alignment surface 47a and slide along said surface, becoming aligned. In particular, the at least one block 10 is simultaneously enclosed and in contact with the alignment surfaces 47a of the two panels 471 , and the sheets are thus aligned with each other. More specifically, during the lifting of the at least one block 10, the sheets initially encounter the first contact surfaces 47d and are guided by them between the alignment surfaces 47a.

[0269] In a further example, in the first handling sub-step, the handling stations 4d provide only for the advancing of the first block 10 along the first direction 4a, without any rotation. Alternatively, in the first handling sub-step, the handling stations 4d move forward the first block 10 along the first direction 4a while rotating it by 90° (for example using only the second stop 45).

[0270] In another example, in the second handling sub-step, the handling stations 4d handle the second block, preferably rotating it by 180° (using both the second and third stops 45) or rotating it by 90° (for example using only the second stop 45).

[0271] In both these examples, the second stop 45” is preferably in the flanking configuration.

[0272] The first direction 4a may be parallel to the second direction 4b and possibly to the third direction 4c.

[0273] The handling unit 4 may not have a lifting station 4I. Thus, the alignment station 4h is configured to place the blocks 10 and / or the pair 10a into the pick-up area 3b.

[0274] These examples may be implemented both independently and in combination with what has been described above.

[0275] In this context, all details may be replaced by equivalent elements, and the materials, shapes, and dimensions may be any.

Claims

CLAI M S1. Palletizing line (1) for at least one block (10) of paper sheets comprising:- a stacking unit (3) defining a palletizing area (3a) and a pick-up area (3b) and configured to handle said at least one block (10) from said pick-up area (3b) to said palletizing area (3a);- a handling unit (4) configured to place said at least one block (10) in said pick-up area (3b) by handling said at least one block (10) in accordance with an advancing direction along at least one handling path (4a, 4b, 4c);- said handling unit (4) comprising a plurality of stations (4d, 4e, 4f, 4g, 4h), each defining a support surface (4i) configured to support said at least one block (10); and characterized in that- said stations (4d, 4e, 4f, 4g, 4h) include an alignment station (4h) defining a fifth support surface (4i””’) for said at least one block (10) and configured to handle said blocks at least along a portion of said handling path (4a, 4b, 4c); and in that- said alignment station (4h) comprises an aligner (47) for said sheets constituting said at least one block (10), integrally placed above said fifth support surface (4i””’).

2. Palletizing line (1) according to claim 1 , wherein said alignment station (4h) comprises a lifter (48) defining said pick-up area (3b), which is parallel to and positioned above said fifth support surface (4i””’); said lifter (48) is configured to lift said at least one block from said fifth support surface (4i””’) to said pick-up area (3b), handling said at least one block (10) along a lifting axis (48a) transverse to said fifth support surface (4i””’); wherein said aligner (47) defines at least one alignment surface (47a) configured to come into contact with said sheets of said at least one block (10), aligning them; and wherein said at least one alignment surface (47a) is interposed between said pick-up area (3b) and said fifth support surface (4i””’) such that, when said lifter (48) lifts said at least one block (10) from said fifth support surface (4i””’) to said pick-up area (3b), said sheets of said at least one block (10) come into contact with said at least one alignment surface (47a).

3. Palletizing line (1) according to claim 2, wherein said aligner (47) comprises two panels (471) spaced from said fifth support surface (4i””’) and each defining a respective said at least one alignment surface (47a); wherein said alignment surfaces (47a) are configured to contact said sheets and thus said block (10) from opposite sides, thereby clamping said block (10) between said alignment surfaces (47a); wherein said two panels (471) further comprise respective first contact surfaces (47d), each defining a prolongation of said alignment surface (47a) toward said fifth support surface (4i””’).

4. Palletizing line (1) according to claim 3, wherein said first contact surfaces (47d)have a divergent development with respect to said lifting axis (48a), with a minimum distance from said lifting axis (48a) at said alignment surface (47a) and a maximum distance distal from said alignment surface (47a).

5. Palletizing line (1) according to at least one of claims 3-4, wherein said aligner (47) comprises a guide (472) configured to command mutual handling between said panels (471) along an alignment axis (47b) parallel to said fifth support surface (4i””’) and perpendicular to said alignment surfaces (47a); and wherein said guide (472) is placed at said pick-up area (3b).

6. Palletizing line (1) according to at least one of claims 2-4, wherein said lifter (48) comprises a first lifting column (481) and a second lifting column (482) configured to handle said at least one block (10) along said lifting axis (48a); said first lifting column (481) and said second lifting column (482) are placed on opposite sides of said fifth support surface (4i””’); and wherein said first lifting column (481) is upstream of said second lifting column (482) with respect to said advancing direction of said at least one block (10) along at least said handling path (4a, 4b, 4c); and wherein said aligner (47) is fastened to said first lifting column (481).

7. Palletizing method comprising said palletizing line (1) according to at least claim 2, comprising:- a handling process with an advancing step in which said handling unit (4) handles said at least one block (10) in accordance with said advancing direction along at least one handling path (4a, 4b, 4c); characterized in that said handling process comprises:- an alignment step in which said sheets of said at least one block (10) are brought into contact with said at least one alignment surface (47a) and which are thus aligned with each other;- an arrangement step in which said lifter (48) lifts said at least one block (10) from said fifth support surface (4i””’) to said pick-up area (3b), handling said at least one block (10) along said lifting axis (48a); and in that said alignment step and said arrangement step are carried out simultaneously.

8. Palletizing line (1) of blocks (10) of paper sheets including:- a stacking unit (3) defining a palletizing area (3a) and a picking area (3b) and configured to handle said blocks (10) from said picking area (3b) to said palletizing area (3a);- a handling unit (4) configured to arrange said blocks (10) in said picking area (3b)by handling said blocks at least along a handling trajectory (4a, 4b, 4c);- said handling unit (4) comprising a plurality of stations (4d, 4e, 4f, 4g, 4h, 41) each defining a support surface (4i) configured to support said blocks (10) characterized in that- said stations (4d, 4e, 4f, 4g, 4h, 4I) include o at least one handling station (4d) configured to handle said blocks (10) along a first section of said handling trajectory (4a, 4b, 4c) defining a first direction, o a flanking station (4e) configured to receive said blocks from said at least one handling station (4d) and simultaneously handle a pair of said blocks (10) in mutual contact along a second section of said handling trajectory (4a, 4b, 4c) defining a second direction; o said flanking station (4e) by defining an entry side of said blocks in said flanking station (4e) proximal to said at least one handling station (4d) and in that it comprises- a control unit configured to command in this order: o to at least one said handling station (4d) seguentially■ to handle one of said blocks (10) to said flanking station (4e)■ to bring a second block (10) into contact with said first block (10) defining said pair (10a) of blocks (10) and thus■ to push at least said second block (10) by arranging said pair (10a) of blocks (10) in said flanking station (4e), o to said flanking station (4e) of handling said pair of blocks to said picking area (3b) and o to said stacking unit (3) to handle said pair (10a) of blocks (10) from said picking area (3b) to said palletizing area (3a).

9. Palletizing line (1) according to claim 9, wherein said control unit commands said at least one handling station (4d) to seguentially place said first of said blocks (10) on said flanking station (4e) flush with said entry side and then to bring said second of said blocks (10) into contact with said first block (10), defining said pair (10a) of blocks (10), while said first block (10) is kept stationary and flush with said entry side of said flanking station (4e).

10. Palletizing line (1) according to at least one of claims 8-9, wherein said at least one handling station comprises an abutment (45) defining an opposing surface (451 b) parallel to said first direction (4a) and an edge (451a) identifying one side of said opposing surface (451 b) normal to said first direction (4a), such that when said block (10) is handled along said first direction (4a), it strikes said edge (451a), rotates 90°, and then slides on said opposing surface (451b).

11. Palletizing method comprising said palletizing line (1) according to at least one of claims 8-10, characterized in that it comprises- a pairing step of two of said blocks (10) defining said pair (10a)- an advancing step in which said flanking station (4e) handles said pair (10a) of blocks (10) to said picking area (3b); and- a final step in which said stacking unit (3) picks up said pair (10a) of blocks (10) from said picking area (3b) and places them in said palletizing area (3a). and in that said coupling step in turn comprises- a first handling sub-step in which said at least one handling station (4d) handles along said handling trajectory a first block (10) by arranging it at said flanking station I4el;- a second handling sub-step in which said at least one handling station (4d) brings said second block (10) into contact with said first block (10) defining said pair (10a) of blocks (10); and- a pushing sub-step in which said at least one handling station (4d) pushes said second block (10) against said first block (10) by placing said pair (10) on said support surface (4i) of said flanking station (4e). Additionally, this action may be assisted by the flanking station 4e that handles at least the first block 10 along its drift direction.

12. Palletizing method according to the preceding claim, wherein in said first handling sub-step said at least one handling station (4d) places said first block (10) in said flanking station (4e) flush with said entry side of said flanking station (4e); and wherein in said second handling sub-step said at least one handling station (4d) brings said second block (10) into contact with said first block (10) while said first block (10) remains stationary and flush with said entry side of said flanking station (4e).

13. Palletizing method according to at least one of claims 11-12, wherein said flanking station (4e) defines a first direction (4a) and said flanking station (4e) defines a second direction (4b) perpendicular to said first direction (4a); wherein in said centring substep said contact side between the blocks (10) of said pair (10a) is aligned with said second direction (4b).

14. Palletizing line (1) of blocks (10) of paper sheets including:- a stacking unit (3) defining a palletizing area (3a) and a picking area (3b) and configured to handle said blocks (10) from said picking area (3b) to said palletizing area (3a);- a handling unit (4) configured to arrange said blocks (10) in said picking area (3b)by handling said blocks at least along a handling trajectory (4a, 4b, 4c); said stacking unit (3) comprising a gripper (31) for gripping said blocks (10);- a robotic arm (32) configured to handle said gripper (31);- said gripper (31) comprising: o a base (311) fixed to said robotic arm (32); and o at least one pair of gripping bodies (312) movable with respect to said base (311) and configured to grip said blocks (10); and- at least one pair of gripping bodies (312) movable with respect to said base (311) and configured to grip said blocks (10); and characterized in that- said constraint (315) defines o an engagement configuration of said gripping body (312) to said base (311); and o a release configuration of said gripping body (312) with respect to said base (311); and in that- the transition from said engagement configuration to said release configuration is passive and can therefore be carried out without an external command; and the transition from said release configuration to said engagement configuration is active and therefore executable only following an external command.

15. Palletizing line (1) according to the preceding claim, wherein said fastening (315) comprises a catch (315a) integral with one of said gripping body (312) and said base (311) and a lock (315b) fixed to the other between said gripping body (312) and said base (311) and configured to engage or disengage from said catch (315a), defining said release and engagement configurations; wherein said catch (315a) comprises a pin and at least one slot obtained on the lateral surface of said pin; and wherein said lock (315b) comprises a housing for said pin and, for each slot, a blocking device of said catch (315a) to said housing; wherein said blocking device comprises a hole facing said housing, a sliding stop in said hole, a spring configured to push said stop to protrude into said hole so as to insert said stop into said slot, thereby defining said engagement configuration, and an actuator configured to command said stop not to enter into said slot, thereby defining said release configuration; and wherein said actuator is pneumatic and therefore configured to command the transition from said engagement configuration to said release configuration by depressing of said hole.

Images