Gripping and handling device for slab-shaped objects and trolley comprising such device

Abstract

Gripping device (1; 200) for gripping and moving a plate-like object (3; 203), comprising: - a support structure (4; 204) defining a coupling portion; - a mobile frame (5; 205) movably connected to said support structure (4; 204) to be able to rotate around a rotation axis (6; 206); - actuation members (7; 207) configured to selectively rotate said mobile frame (5; 205) around said rotation axis (6; 206) between a retracted position and a tilted position; - a variable-geometry frame (8; 208), connected in proximity to a free end of said mobile frame (5; 205), at a position opposite with respect to said rotation axis (6; 206); - gripping organs (9; 209) operatively connected to said variable-geometry frame (8; 208) and configured to define a gripping plane for gripping and holding said plate-like object (3; 203); wherein said variable-geometry frame (8; 208) is configured to adjust the reciprocal position of said gripping organs (9; 209) along said gripping plane.

Description

[0001] “GRIPPING AND HANDLING DEVICE FOR SLAB-SHAPED OBJECTS AND TROLLEY COMPRISING SUCH DEVICE”

[0002] FIELD OF THE TECHNIQUE

[0003] The present invention relates to a gripping and handling device, for gripping and handling plate-shaped objects, such as a glass plate, a sheet metal plate or other panels, usable during the handling of such material or its installation.

[0004] In particular, such a device is suitable to be used in combination with a transport trolley, in turn configured for handling on irregular surfaces, such as steps.

[0005] STATE OF THE ART

[0006] The use of trolleys for ground handling of plates, in particular glass plates, has long been known.

[0007] Traditional trolleys may be manually operated or motorized, by means of an electric motor unit Generally, such trolleys have a base carrying wheels, so that they can be moved on the ground, and a support structure that extends from a top of the base and defines at least one seat in which the plates can be positioned.

[0008] The seat is configured so that the plates can usually be positioned vertically or slightly inclined.

[0009] The base, as well as the support structure, are covered with protective materials such as rubber or wood, which prevent the plates from slipping and reduce the risk of possible damage to the plates during transport

[0010] Such trolleys overall have a simple structure and are easy to produce. However, one drawback concerns their limited ability to deal with non-f lat surfaces, such as ramps, or possible obstacles along the ground, such as bumps or steps. The rigidity of their structure indeed makes it difficult to overcome uneven surfaces without compromising the integrity of the plates, exposing them to possible damage during transport.

[0011] To promote the handling of large plates or plates with a high weight, motorized trolleys have been developed that comprise a base frame, to which wheels and a motor unit for moving such wheels are connected, and a support surface operatively connected to the base frame and tiltable along a side of the base frame, to vary the orientation of the support surface between a horizontal position and an inclined position with respect to a vertical direction. The movement of the support surface is obtained by hydraulic members operatively connected to the base frame. Such a trolley allows heavy or large plates to be transported safely and efficiently, since during transport the support surface can be oriented horizontally, parallel or substantially parallel to the ground.

[0012] However, even this solution is not free from drawbacks, particularly regarding the inability to allow the movement of plates along routes that include stairs.

[0013] The use of such a trolley is furthermore limited to transporting plates whose dimensions are compatible with those of the support surface.

[0014] It is noted that the plates rest on the trolley during their handling, without being securely retained, with the risk of damage in the event of jolts due to irregularities along the route, such as a hole.

[0015] There is a need in the field to ensure a secure and adjustable grip of plate-shaped objects, adaptable to variable load dimensions, within a flexible and practical solution able to improve operational efficiency and ensure safety during the handling of such loads.

[0016] OBJECTIVES OF THE INVENTION

[0017] An objective of the present invention is to enable a firm and secure grip of plate-shaped objects to be moved along a path, such as glass plates, marble plates, panels and frames in general.

[0018] A further objective of the present invention is to allow a firm grip of plate-shaped or similar objects, with the possibility of adjusting the mutual position of the gripping members assigned to gripping such objects.

[0019] Another objective of the present invention is to allow an adjustment of the inclination of plate-shaped objects during their handling, still ensuring a secure and stable grip.

[0020] A further objective of the present invention is to make the use of a gripping device for plate-shaped objects, or in general for frames, flexible, making it possible to adapt it practically and easily to the different dimensions of the objects to be retained and handled.

[0021] These and other objectives are achieved by a gripping and handling device, for gripping and handling plate-shaped objects, according to claim 1. The dependent claims specify further advantages of the gripping and handling device according to the invention.

[0022] Furthermore, the invention also relates to a transport trolley comprising such a gripping and handling device according to claim 15.

[0023] The advantages offered by the gripping and handling device according to the invention and by a transport trolley comprising it are evident

[0024] The gripping and handling device according to the invention, hereinafter gripping device for brevity, comprises gripping members, whose relative position is adjustable along at least two mutually orthogonal directions, to ensure a secure and stable grip of plate-shaped objects of various sizes. In particular, the gripping members are connected to a variable-geometry frame, to adjust the mutual positioning of the gripping members, improving the versatility of the gripping device.

[0025] The object of the invention is a gripping device comprising a support structure configured to be connectable to an external structure, wherein the support structure defines a coupling plane, a movable frame movably connected to the support structure so as to rotate around a rotation axis, wherein the rotation axis is parallel to the coupling plane, movement members operatively connected to the movable frame and to the support structure and configured to selectively rotate the movable frame around the rotation axis, between a retracted position, in which the movable frame is proximal to the support structure, and a tilted position, in which the movable frame is rotated away from the support structure, a variable-geometry frame connected near a free end of the movable frame, in a position opposite with respect to the rotation axis, gripping members operatively connected to the variable-geometry frame and configured to define a gripping plane, for gripping and retaining the plate-shaped object, wherein the variable-geometry frame is configured to adjust the position of the gripping members along the gripping plane toward or away from a coupling portion between the variable-geometry frame and the movable frame.

[0026] Such a gripping device is relatively simple to manufacture and extremely practical to use, allowing production and maintenance costs to be minimized while maintaining high reliability and operational safety.

[0027] Moreover, such a gripping device is configured to be connected to a transport trolley, by means of which plate-shaped objects can be moved on the ground.

[0028] The gripping device thus allows increasing the flexibility of use of a transport trolley, enabling the collection and retention of plate-shaped objects that normally could not be moved and held in position by the trolley alone. In particular, the trolley comprises a load-bearing frame on which at least two tracks are mounted rotatably so as to protrude downward from the load-bearing frame and define a sliding plane for the trolley. Each of the tracks comprises a first portion and a second portion, inclined with respect to the first portion, to facilitate the overcoming of obstacles such as steps, stairs or bumps. The tracks are spaced apart and parallel to each other and are operated by motor means. The trolley further comprises a load structure articulated to the load-bearing frame and adjustment means for adjusting the inclination of the load structure toward or away from the load-bearing frame. The load structure, in turn, acts as a contrast surface against which a corresponding support structure of the gripping device can be positioned, to allow its connection to the trolley.

[0029] A transport trolley thus configured allows easy handling of plate-shaped objects along a route in which obstacles such as stairs or ramps may be present, thereby overcoming the drawbacks affecting the solutions of the prior art

[0030] DESCRIPTION OF THE FIGURES

[0031] The present invention will now be described, by way of illustration but not limitation, according to its preferred embodiments, with particular reference to the Figures of the attached drawings, in which:

[0032] Figure 1 shows a top perspective view of a gripping device according to the invention operatively connected to a trolley;

[0033] Figures 2 and 3 show a top perspective view of the gripping device of Figure 1, in further operational configurations;

[0034] Figure 4 shows a side view of the gripping device of Figure 3;

[0035] Figures 5 and 6 show side views of the gripping device according to the invention, in further operational configurations;

[0036] Figures 7 and 8 show respective side views of a further embodiment of a gripping device according to the invention, operatively connected to a trolley;

[0037] Figure 9 shows a top perspective view of a further operational configuration of the gripping device on board a trolley according to the invention;

[0038] Figure 10 shows a schematic view of a detail of a further embodiment of some components of the gripping device according to the invention;

[0039] Figures 11-13 show side views of a further embodiment of a gripping device according to the invention, in some possible use configurations;

[0040] Figure 14 shows a perspective view of the gripping device of Figures 11-13.

[0041] DESCRIPTION OF THE INVENTION

[0042] With reference to a first possible embodiment illustrated in the attached Figures, a gripping device according to the present invention is indicated overall with 1.

[0043] The gripping device 1 is configured for gripping plate-shaped objects, that is, objects having a large planar extension relative to their thickness, while it is understood that it is likewise usable for gripping frames or further objects having a wide flat gripping portion.

[0044] The gripping device 1 is configured to be operatively connected to a trolley, along a loading plane thereof, in order to allow the trolley to transport in a firm and secure manner the plate-shaped objects retained by the gripping device.

[0045] In the referenced attached Figures, the gripping device 1 is indeed shown connected in a front position to a transport trolley 2, which also forms an object of the present invention.

[0046] The use of a gripping device 1 on board a transport trolley 2 allows plate-shaped objects to be firmly gripped and retained, ensuring a correct and effective positioning of the plate-shaped object relative to the transport trolley 2.

[0047] As will be better described hereinafter, the gripping device allows the position and inclination of the plate-shaped object, retained by the gripping device 1 itself, to be adjusted relative to the transport trolley 2. In this way, it is possible to optimally position the plate-shaped object during the handling phase on board the transport trolley 2 and furthermore prepare it for installation or, in general, unloading from the transport trolley 2 itself.

[0048] Furthermore, it is noted that the transport trolley 2 is configured to adjust, in turn, the inclination and / or the position of a load structure to which the gripping device 1 is operatively connected, providing further flexibility of use to the gripping device 1, increasing the number and type of movements allowed to the gripping device 1 for handling the plate-shaped object.

[0049] To facilitate understanding and operation of the gripping device 1 of the invention, the overall bulk of a plate-shaped object 3 is shown extremely schematically in the attached Figures, by means of dashed lines.

[0050] The proportions of the plate-shaped object 3 are exemplary, without any limiting intent, since the gripping device 1 is usable for gripping and handling plateshaped objects 3 having shapes and / or proportions different from those shown in the Figures, e.g., square, oval, circular or with a greater thickness.

[0051] In the description that follows, reference will initially be made to the gripping device 1 alone, and subsequently a transport trolley 2 comprising such a gripping device 1 will be described, which, as stated, also forms an object of the present invention.

[0052] When installed on board the transport trolley 2, the gripping device 1 is interposed between the trolley and a plate-shaped object 3 to be handled.

[0053] The gripping device 1 comprises a support structure 4, in turn connectable to an external structure, to allow the connection of the gripping device 1 itself to such external structure.

[0054] Preferably, the external structure corresponds to a portion of a transport trolley 2.

[0055] The support structure 4 defines a coupling plane P or, more generally, a coupling interface, at which the connection between the gripping device 1 and the transport trolley 2 takes place, see for example Figures 4-6.

[0056] As stated, the gripping device 1 is configured to be connected to a transport trolley 2, in proximity to a loading portion thereof, to allow the collection and retention in position of plate-shaped objects 3 that normally could not be handled by the transport trolley 2 alone.

[0057] It is noted that the expression “coupling plane P” is intended to indicate a surface or a portion at which the gripping device 1 is connected to the transport trolley 2, without thereby limiting such portion exclusively to a plane. In other words, the connection between the gripping device 1 and the transport trolley 2 may also occur along multiple surfaces defined at a coupling interface between the support structure 4 and a corresponding coupling portion of the transport trolley 2.

[0058] The gripping device 1 comprises a movable frame 5 that is connected to the support structure 4. The movable frame 5 is movable relative to the support structure 4 so as to be at least rotatable around a rotation axis 6.

[0059] In particular, the movable frame 5 is connected at a bottom portion thereof to a bottom portion of the support structure 4 (see, for example, Figure 1). Preferably, the movable frame 5 comprises a movable portion that is cantilever-hinged to the support structure 4, as better described hereinafter.

[0060] The rotation axis 6 is parallel to the coupling plane P defined by the support structure 4.

[0061] The gripping device 1 comprises movement members 7 operatively connected to the movable frame 5 and to the support structure 4, which are configured to selectively rotate the movable frame 5 around the rotation axis 6.

[0062] In particular, the movement members 7 move the movable frame 5 between a retracted position, in which the movable frame 5 is close to the support structure 4 (see, for example, Figure 4), and a tilted position, in which the movable frame 5 is rotated away from the support structure 4 (see, for example, Figure 6).

[0063] By way of example, the movement members 7 are configured to allow a precise position control. In particular, the movement members 7 comprise at least one linear actuator.

[0064] The gripping device 1 comprises a variable-geometry frame, indicated overall with 8, to which gripping members 9 are connected. In particular, the variablegeometry frame 8 is connected to an end of the movable frame 5 opposite the rotation axis 6.

[0065] As will be better described hereinafter, the variable-geometry frame 8 is configured to adjust the mutual position of the gripping members 9 along a gripping plane, to ensure a firm grip in position of a plate-shaped object 3. By modifying the configuration of the variable-geometry frame 8, the mutual position of the gripping members 9 is adjusted, adapting it to the specific dimensions of the plate-shaped object 3 to be gripped, improving the operational flexibility of the gripping device 1.

[0066] Preferably, the gripping members 9 comprise suction elements, of the type selectively operable to retain or release a plate-shaped object 3.

[0067] With reference to what is shown by way of example but not limitation in the attached Figures, the gripping members 9 comprise four suction cups, while it is understood that alternative embodiments, not shown, comprising a different number of suction cups, are possible.

[0068] The variable-geometry frame 8 is configured to adjust the position of the gripping members 9 at least along a first direction 10 and a second direction 11 and, optionally, by means of a rotation.

[0069] The individual gripping members 9 may be moved independently from one another, to allow the gripping point configuration to be adapted in an extremely flexible manner according to the specific dimensions and characteristics of a plateshaped object 3 to be retained and handled.

[0070] The first direction 10 and the second direction 11 are perpendicular to each other (see, for example, Figure 1).

[0071] The variable-geometry frame 8 comprises a central support 12, to which extendable arms are connected that, in turn, carry the gripping members 9.

[0072] The central support 12 is operatively connected to the movable frame 5.

[0073] More precisely, the central support 12 is connected in a position diametrically opposite the rotation axis 6.

[0074] With reference to the accompanying Figures, the extendable arms are slidably connected to the central support 12, in order to adjust the mutual position of the gripping members 9 along the first direction 10 and the second direction 11.

[0075] With reference to the preferred embodiment shown in the accompanying Figures, the variable-geometry frame 8 is hinged to the movable frame 5 so that it can be rotated around an additional rotation axis 13, which is perpendicular to the gripping plane and to the rotation axis 6.

[0076] This additional rotation allows the orientation of the gripping members 9-and of any plate-like object 3 supported by the gripping members themselves-to be varied.

[0077] According to one embodiment, the gripping device 1 includes motor means 14, operatively connected to the variable-geometry frame 8 and to the central support 12, to selectively actuate the variable-geometry frame 8 in rotation around the additional rotation axis 13. In other words, the motor means 14 allow the angular position of the variable-geometry frame 8 relative to the movable frame 5 to be automatically and precisely varied around the additional rotation axis 13.

[0078] It is understood that, according to an alternative embodiment not shown in the accompanying Figures, the gripping device 1 is devoid of the motor means 14, and the rotation of the variable-geometry frame 8 relative to the movable frame 5 around the additional rotation axis 13 is carried out manually. According to this embodiment, locking means are provided to selectively allow or prevent the rotation of the variablegeometry frame 8 around the additional rotation axis. Preferably, the selective locking means are configured as spring-loaded handles, to facilitate an operator’s manual unlocking and repositioning of the variable-geometry frame 8 around the additional rotation axis 13.

[0079] According to yet another alternative embodiment, the central support 12 is fixedly connected to the movable frame 5, with no relative rotation therefore occurring between the variable-geometry frame 8 and the movable frame 5.

[0080] As mentioned, the variable-geometry frame 8 comprises arms slidably connected to the central support 12, to adjust the mutual position of the gripping members 9.

[0081] According to a preferred embodiment, the variable-geometry frame 8 comprises a first arm 15 and a second arm 16 slidably connected to the central support 12, so as to extend away from or towards each other along the first direction 10, from opposite sides of the central support 12 itself.

[0082] The central support 12 defines a first seat 17 slidably engaged by the first arm 15 and a second seat 18 slidably engaged by the second arm 16 (see, for example, Figure 1).

[0083] The first seat 17 and the second seat 18 are parallel to each other. Consequently, the first arm 15 and the second arm 16 are parallel to each other, and both are parallel to the first direction 10.

[0084] Preferably, the first seat 17 and the second seat 18 are mutually adjacent, so that the first arm 15 and the second arm 16 are close to each other, thus optimizing the overall size of the variable-geometry frame 8.

[0085] The first seat 17 and the second seat 18 each define a cavity having a shape complementary to the section of the first arm 15 and the second arm 16, respectively. Consequently, the first arm 15 can slide without rotating relative to the first seat 17 and, similarly, the second arm 16 can slide without rotating within the second seat 18. The absence of relative rotation between the first arm 15, the second arm 16 and the central support 12 ensures a coplanar positioning of the gripping members 9.

[0086] The variable-geometry frame 8 further comprises a first variable-geometry group 19, connected to one end of the first arm 15, and a second variable-geometry group 20, connected to one end of the second arm 16.

[0087] The first variable-geometry group 19 and the second variable-geometry group 20 protrude from opposite sides of the central support 12 and can be brought closer to or further from it along the first direction 10 (see, for example, Figure 1 where they are spaced apart, and Figure 2 where they are brought closer together).

[0088] The first variable-geometry group 19, in turn, comprises a first fixed support 21 along which a first movable arm 22 and a second movable arm 23 slide, each carrying a respective gripping member among the gripping members 9.

[0089] In particular, each of the gripping members 9 is connected to a free end of the first movable arm 22 and of the second movable arm 23, on the side opposite to the first fixed support 21.

[0090] The first movable arm 22 and the second movable arm 23 extend from opposite sides of the first fixed support 21 and can be moved closer to or farther from each other along the second direction 11.

[0091] The first fixed support 21 defines a first sleeve 24 slidably engaged by the first movable arm 22 and a second sleeve 25 slidably engaged by the second movable arm 23. The first sleeve 24 and the second sleeve 25 are parallel to each other and mutually adjacent.

[0092] The first sleeve 24 and the second sleeve 25 are both constrained to one end of the first arm 15.

[0093] The first movable arm 22 slidably engages the first sleeve 24 through a formfit connection that prevents relative rotation around an axis parallel to the second direction 11.

[0094] Similarly, the second movable arm 23 slidably engages the second sleeve 25 through a form-fit connection that prevents relative rotation around an axis parallel to the second direction 11.

[0095] The second variable-geometry group 20 has a configuration similar to that described with reference to the first variable-geometry group 19, and comprises a second fixed support 26 constrained to one end of the second arm 16, a third movable arm 27 and a fourth movable arm 28 which, as in the first variable-geometry group 19, move along the second direction 11.

[0096] The second fixed support 26 defines a third sleeve 29 slidably engaged by the third movable arm 27 and a fourth sleeve 30 slidably engaged by the fourth movable arm 28.

[0097] The third sleeve 29 and the fourth sleeve 30 are mutually adjacent and parallel to each other.

[0098] The third movable arm 27 engages the third sleeve 29 and the fourth movable arm 28 engages the fourth sleeve 30 in a complementary manner, preventing relative rotation around an axis parallel to the second direction 11.

[0099] The absence of relative rotation of the first movable arm 22 and the second movable arm 23 with respect to the first fixed support 21, as well as that of the third movable arm 27 and the fourth movable arm 28 with respect to the second fixed support 26, keeps the gripping members 9 correctly oriented and coplanar, thus ensuring an effective grip of the plate-like objects 3.

[0100] The variable-geometry frame 8 exhibits high operational flexibility. In particular, the mobility of the individual movable arms 22, 23, 27, 28 makes it possible to adjust the mutual position of the gripping members 9 connected to them, with respect to the central support 12, adapting it to the dimensions of various plate-like objects 3. The gripping device 1 according to the invention can thus be used to firmly hold plate-like objects 3 of different sizes, ensuring high versatility in use and improved operational efficiency.

[0101] The gripping device 1 comprises first locking means, collectively indicated by 31, for the selective locking in position of the first arm 15 along the first seat 17 and of the second arm 16 along the second seat 18.

[0102] By way of example, the first locking means 31 comprise at least one locking pin movably connected to the first seat 17 between an engagement position, in which it protrudes through said first seat 17 to engage a respective hole among a plurality of holes arranged in alignment along the first arm 15, and a release position, in which it is lifted to free the previously engaged hole, allowing the first arm 15 to move along the first direction 10.

[0103] The first locking means 31 comprise at least one additional locking pin movably connected to the second seat 18 and movable between an engagement position, in which it protrudes through said second seat 18 to engage a respective hole among a plurality of holes aligned along the second arm 16, and a release position, in which it is lifted to free the previously engaged hole, allowing the second arm 16 to move along the first direction 10.

[0104] The gripping device 1 comprises safety means 32 configured to firmly lock the first arm 15 and the second arm 16 in position relative to the central support 12 and prevent accidental movements.

[0105] By way of example, the safety means 32 are configured as spring-loaded handles.

[0106] According to an alternative embodiment, the safety means 32 comprise screws equipped with a control knob that engage respective threaded seats passing through the central support 12, to press firmly against a portion of the first arm 15 and of the second arm 16, locking them in position regardless of the position assumed by the locking means 31.

[0107] It should be noted that the first arm 15 and the second arm 16 can be moved relative to the support 12 independently of each other, offering a high degree of flexibility in adjusting the positioning of the gripping members 9.

[0108] The first movable arm 22, the second movable arm 23, the third movable arm 27 and the fourth movable arm 28 each define a plurality of seats that can be engaged by respective second locking means 33, according to procedures similar to those described for the first locking means 31, to which reference is made.

[0109] Furthermore, the gripping device 1 comprises second safety means 34, operatively connected to the first fixed support 21 and the second fixed support 26, and configured to lock in position the first movable arm 22 and the second movable arm 23 relative to the first fixed support 21, and similarly the third movable arm 27 and the fourth movable arm 28 relative to the second fixed support 26.

[0110] The second safety means 34 are configured similarly to the first safety means 32 previously described, to which reference is made.

[0111] As mentioned, the movable frame 5 is hinged to the support structure 4 and can be moved by the actuation means 7.

[0112] With reference to the embodiment shown in the accompanying Figures, the actuation means 7 are interposed between the movable frame 5 and the support structure 4.

[0113] In particular, the support structure 4 comprises a first base 35 and a second base 36, which, in turn, extends orthogonally from a bottom portion of the first base 35.

[0114] The first base 35 extends further than the second base 36.

[0115] The first base 35 and the second base 36 act as supports to which a crossmember element 37 is connected, which in turn acts as the support to which the movable frame 5 is hinged (see, for example, Figure 1).

[0116] The crossmember element 37 holds at a spaced and cantilevered position the point at which the movable frame 5 is hinged to the support structure 4, allowing the actuation means 7 to be positioned in the space between the movable frame 5 and the support structure 4.

[0117] The support structure 4 further comprises a housing 38, defined by at least two spaced and parallel partitions, near the joining region between the first base 35 and the second base 36. This housing 38 serves as a reference and support for the connection of the actuation means 7 to the support structure 4.

[0118] As mentioned, the actuation means 7 are configured as a linear actuator and, in this regard, comprise a fixed element 39, configured for example as a cylinder, and a mobile element 40, for example a rod, that slidably engages the fixed element and can be actuated relative to it, between an extended and a retracted position, by an electric actuation unit not shown in detail in the accompanying Figures (see Figures 5 and 6).

[0119] The fixed element 39 is hinged at its bottom portion to the housing 38, while the mobile element 40 has a free end that is hinged to a portion of the movable frame 5, so that during extension of the mobile element 40, a rotation of the movable frame 5 away from the support structure 4 is caused, and consequently a rotation of the actuation means 7 occurs.

[0120] It should be noted that both the fixed element 39 and the mobile element 40, by virtue of being connected respectively to the support structure 4 and to the movable frame 5, can rotate around respective rotation axes, which are parallel to each other and to the rotation axis 6.

[0121] The actuation means 7 configured in this manner optimize the overall size of the gripping device 1 while allowing a wide rotation of the movable frame 5 relative to the support structure 4 around the rotation axis 6.

[0122] Optionally, the gripping device 1 comprises a liftable support structure 4 to allow the movement of the movable frame 5-and therefore of the gripping members 9 operatively connected to it-along a lifting direction 41 perpendicular to the rotation axis 6 and parallel to the coupling plane (see, for example, Figure 4).

[0123] According to this version, the support structure 4 comprises a slide 42 slidably connected to the first base 35 along the lifting direction 41 and an actuator to control the movement of the slide 42 along the first base 35.

[0124] In accordance with this version, the second base 36 is connected to the slide 42, so that the movement of the slide 42 along the lifting direction 41 causes the second base 36, and consequently the movable frame 5 and the gripping members 9 connected thereto, to move.

[0125] The gripping device 1 configured in this manner allows an additional adjustment of the position of the gripping members 9, increasing the flexibility of use of the gripping system 1 itself.

[0126] The gripping device 1 comprises rolling members 43 that protrude downward from the second base 36 to provide a rotatable support should the second base 36 be positioned near the ground during use of the gripping device 1.

[0127] The rolling members 43 are configured as a pair of mutually spaced wheels. Preferably, the wheels are of the swivel type so that they can autonomously align according to the direction of movement of the gripping device 1 along a handling path.

[0128] According to an alternative embodiment, the gripping device 1 comprises an articulated connection between the movable frame 5 and the support structure 4, to adjust the inclination and the distance of the movable frame 5 relative to the support structure 4 (see Figures 7 and 8).

[0129] The greater mobility of the movable frame 5 relative to the support structure 4 is obtained by using an extendable guide 44 in place of the crossmember element 37.

[0130] The mobile frame 5 is hinged to an end portion of the extendable guide 44, such that the rotation axis 6 can be moved closer to or farther away from the support structure 4. More precisely, the rotation axis 6 can be moved towards or away from the first base 35.

[0131] The increased mobility of the mobile frame 5 enhances the flexibility of use of the gripping device 1, providing an additional degree of freedom in adjusting the position of the gripping members 9.

[0132] According to one aspect of this embodiment, the gripping device 1 comprises additional actuation means 45 operatively connected to the mobile frame 5 and to the support structure 4 to cause an extension or shortening of the extendable guide 44.

[0133] The additional actuation means 45 are configured to mutually move the mobile frame 5 and the support structure 4 farther from or closer to one another. Moreover, the additional actuation means 45 adjust the inclination of the mobile frame 5 relative to the support structure 4 with a rotation opposite to that imposed by the actuation means 7.

[0134] The additional actuation means 45 comprise a linear actuator having a first end hinged to a portion of the support structure 4 and a second end, opposite the first, hinged to the extendable guide 44.

[0135] The additional actuation means 45 act in thrust along a direction different from that of the actuation means 7, generating a pushing action against the mobile frame 5 similar to that of a pantograph mechanism.

[0136] It is understood that an alternative embodiment is possible, not shown in the accompanying Figures, in which the gripping device 1 comprises actuation means 7 and additional actuation means 45 operatively connected to the mobile frame 5 to move it relative to the support structure 4 by tilting it and / or moving it farther away or closer. In this version, the gripping device 1 is without an extendable guide 44, and the additional actuation means 45 are connected directly to the mobile frame 5.

[0137] In particular, the rotation axis 6 is defined by the hinged connection between one end of the additional actuation means 45 and the mobile frame 5.

[0138] Preferably, the additional actuation means 45 are hinged at a first end near a bottom portion of the mobile frame 5, and at a second end near a top portion of the support structure 4 (with reference to the first base 35), while the actuation means 7 are hinged near their first end to a top portion of the mobile frame 5 and at their second end to a bottom portion of the support structure 4 (again with reference to the first base 35).

[0139] By acting on the actuation means 7 and on the additional actuation means 45, it is possible to adjust the inclination and / or the relative distance of the mobile frame 5 with respect to the support structure 4.

[0140] The present invention also relates to a transport trolley 2 for transporting a slab-shaped object 3 over a height difference, in particular on stairs, both uphill and downhill, or along other inclined paths such as a ramp, as well as along substantially flat paths.

[0141] The structural and functional features of the transport trolley 2 are identical to those of the transport trolley described in Italian patent no. 102020000017764, the content of which is hereby expressly incorporated by reference in its entirety.

[0142] The transport trolley 2 comprises a load-bearing frame 51 on which at least two tracks 52 are rotatably mounted so as to protrude from a bottom portion of the loadbearing frame 51, thereby defining a sliding plane for the transport trolley 2.

[0143] The at least two tracks 52 are rotatably mounted on opposite sides of the loadbearing frame 51, substantially parallel and spaced apart from each other.

[0144] Each of the tracks 52 comprises a first portion 53 and a second portion 54 inclined relative to the first portion 53.

[0145] The first portion 53 has a length greater than that of the second portion 54, being at least twice as long.

[0146] The transport trolley 2 comprises motor means, not shown in detail in the accompanying Figures, for driving the at least two tracks 52. It is noted that the motor means are configured to allow independent or simultaneous actuation of the at least two tracks 52, depending on specific operational requirements.

[0147] The transport trolley 2 comprises a load structure 55 on which a previously described gripping device 1 is intended to be positioned.

[0148] The transport trolley 2 includes adjustment means 56 configured to adjust the inclination of the load structure 55 relative to the load-bearing frame 51 and to the tracks 52.

[0149] In particular, the adjustment means 56 are configured to adjust the position of the load structure 55 by moving it closer to or farther from the load-bearing frame 51.

[0150] The adjustment means 56 comprise an actuator or jack hinged at one end to the load-bearing frame 51 and at the opposite end to the load structure 55, in a manner well known to a person skilled in the art and therefore not further described.

[0151] The transport trolley 2 may also comprise actuation means, not shown in detail, for moving the load structure 55, or a portion thereof, along the lifting direction 41.

[0152] The load structure 55 serves as an interface for connecting the gripping device 1 onboard the transport trolley 2.

[0153] In particular, the support structure 4 is configured to be connected to the transport trolley 2 near the load structure 55 and to be firmly retained there.

[0154] The use of a gripping device 1 onboard a transport trolley 2 allows slab-shaped objects 3, even of considerable size, to be moved over difficult surfaces, ensuring safe and easy handling.

[0155] The presence of the tracks 52 allows obstacles such as steps or ramps to be tackled and overcome in a practical and efficient manner.

[0156] The transport trolley 2 comprises at least one control logic unit, not illustrated in the accompanying Figures, to which the actuation means 7, any motor means 14, any additional actuation means 45, as well as the motor means for driving the tracks 52 and the inclination adjustment means 56 of the load structure 55, are operatively connected, in order to control and manage the operation of the transport trolley 2 and of the gripping device 1 installed thereon.

[0157] Based on what has been previously described, it is evident that a transport trolley 2 comprising a gripping device 1 according to the invention is capable of achieving the intended purposes, allowing firm and secure gripping of slab-shaped objects 3, as well as their movement along ramps, stairs, or surfaces with obstacles such as steps or bumps.

[0158] The gripping device 1 comprises a variable-geometry frame 8 through which the relative position of the individual gripping members 9 can be adjusted, enabling the secure gripping of slab-shaped objects 3 of various sizes.

[0159] Furthermore, the variable-geometry frame 8, when the gripping device 1 is not in use, can be adjusted to a non-use position in which the individual gripping members are brought closer together, reducing the overall footprint of the gripping device 1 onboard the transport trolley 2 and facilitating its transport.

[0160] With reference to the accompanying Figure 10, an alternative embodiment of the variable-geometry frame, indicated by reference numeral 108, is shown in a highly schematic manner.

[0161] In the following description, to indicate components corresponding to those described in relation to the previous embodiment of the variable-geometry frame, the same reference numerals will be used, increased by one hundred units.

[0162] The variable-geometry frame 108, similarly to the previous embodiment, is configured to adjust the position of the gripping members 109. In particular, the variable-geometry frame 108 is configured to adjust the position of four gripping members 109 connected thereto.

[0163] The variable-geometry frame 108 comprises a central support 112 to which extendable arms 160 are hinged.

[0164] Specifically, the variable-geometry frame 108 comprises four extendable arms 160 connected at diametrically opposite positions of the central support 112.

[0165] With reference to the schematic view of Figure 10, the central support 112 has a rectangular footprint, and each of the extendable arms 160 is connected near a respective corner of the central support 112.

[0166] Each of the extendable arms 160 is of the variable-length type along a respective longitudinal direction 161 and carries a respective gripping member 109 near its distal end relative to the central support 112.

[0167] To this end, each of the extendable arms 160 comprises a fixed base element 161 hinged to the central support 112 and a mobile element 161 slidably connected to the fixed element 161.

[0168] The extendable arms 160 allow adjustment of the position of the gripping members 109, bringing them closer to or farther from the central support 112.

[0169] Furthermore, since each of the extendable arms 160 is hinged to the central support 112, it allows movement of a respective gripping member 109 along an arc of circumference.

[0170] The variable-geometry frame 108 comprises locking means, not shown in the accompanying Figures, for angularly locking the extendable arms 160 in position.

[0171] In addition, each of the extendable arms 160 comprises a respective locking device to selectively lock the extension of the arm itself, thereby holding the respective gripping member firmly in position.

[0172] Similarly to what has been described for the previous embodiment, the variable-geometry frame 108 allows flexible adjustment of the reciprocal positioning of the individual gripping members 109, ensuring firm and secure gripping of slabshaped objects of various sizes.

[0173] In the accompanying Figures 11-14, a further embodiment of the gripping device according to the invention is shown, indicated overall by reference numeral 200.

[0174] In the following description, the same reference numerals used previously will indicate corresponding components, increased by two hundred units relative to the first embodiment shown in Figures 1-9.

[0175] The gripping device 200 is substantially similar, in structure and operation, to the gripping device 1 described earlier, and differs mainly in the configuration of the mobile frame 205 and in the manner in which this is connected to the support structure 204 and to the variable-geometry frame 208.

[0176] The gripping device 200 is configured to be installed onboard a transport trolley 202 for handling a slab-shaped object 203.

[0177] The gripping device 200 comprises a support structure 204, which defines a coupling plane or interface P, in accordance with what has been previously described with reference to the first embodiment.

[0178] In this embodiment, the mobile frame 205 is connected to the support structure 204 by a hinge connection arranged at the top of the support structure 204. The hinge connection is configured to allow and guide the relative rotation of the mobile frame 205 with respect to the support structure 204 around a rotation axis 206, oriented parallel to the coupling plane P.

[0179] More specifically, an upper end of the mobile frame 205 is hinged to the top of the support structure 204.

[0180] The mobile frame 205 can rotate relative to the support structure 204 between a lowered position (see Figure 11), in which it is substantially adjacent to the support structure 204, and a tilted-away position in which it is arranged at a distance from the latter (see, for example, Figures 13 and 14).

[0181] The gripping device 200 comprises actuation means 207 operatively connected to the mobile frame 205 and to the support structure 204, which are configured to control the rotation of the mobile frame 205 around axis 206, in a manner analogous to that previously illustrated for actuation means 7 of the first embodiment (see, for example, Figures 11 and 13).

[0182] The actuation means 207 comprise linear actuators or equivalent devices. The gripping device 200 comprises a variable-geometry frame 208 to which gripping members 209 are connected, preferably of the suction-cup type, configured to selectively hold the slab-shaped object 203.

[0183] The variable-geometry frame 208 is connected to an end of the mobile frame 205 opposite the rotation axis 206, and may be provided with a central support 212 and extendable arms carrying the gripping members 209, in a manner analogous to that described for frame 8 of the first embodiment, to which full reference is made.

[0184] The variable-geometry frame 208 is configured to adjust the reciprocal position of the gripping members 209 along a gripping plane in order to ensure firm gripping of a slab-shaped object 203. By modifying the configuration of the variablegeometry frame 208, the reciprocal position of the gripping members 209 is adjusted to match the specific size of the slab-shaped object 203 to be gripped and held, thereby improving the operational flexibility of the gripping device 200.

[0185] The variable-geometry frame 208 is configured to adjust the position of the gripping members 209 at least along a first direction 210 and a second direction 211 and, optionally, by means of a rotation (see Figure 12). The individual gripping members 209 can be moved independently of one another, allowing extremely flexible adaptation of the gripping points based on the specific dimensions and characteristics of the slab-shaped object 203 to be held and handled.

[0186] The first direction 210 and the second direction 211 are perpendicular to each other.

[0187] The variable-geometry frame 208 comprises a central support 212 to which extendable arms are connected, which in turn carry the gripping members 209.

[0188] The central support 212 is operatively connected to the mobile frame 205. More precisely, the central support 212 is connected at a position diametrically opposite the rotation axis 206.

[0189] The gripping device 200 comprises an additional hinge connection 260 between the variable-geometry frame 208 and the mobile frame 205 to allow and guide the rotation of the variable-geometry frame 208 around an additional rotation axis 261, parallel and opposite to the rotation axis 206.

[0190] The gripping device 200 further comprises additional actuation means 262 operatively connected to the mobile frame 205 and to the variable-geometry frame 208 to selectively control their mutual rotation and positioning.

[0191] The additional actuation means 262 are configured to move the variablegeometry frame 208 between a retracted position, in which it is positioned proximal to the mobile frame 205 (see, for example, Figure 11), and a tilted-away position in which the variable-geometry frame 208 is rotated away from the mobile frame 205 (see, for example, Figures 13 and 14).

[0192] The additional hinge connection 260 acts as a joint to allow the relative rotation between the variable-geometry frame 208 and the mobile frame 205 around the additional rotation axis 261, thereby providing greater operational flexibility to the gripping device 200.

[0193] More specifically, the gripping device 200 comprises a bracket 263 to which the variable-geometry frame 208 is connected (see, for example, Figure 11).

[0194] The bracket 263 supports the variable-geometry frame 208 at one of its ends and, at a second end thereof, is hinged to the mobile frame 205. With reference to the preferred embodiment shown in the accompanying Figures 11-14, the bracket 263 is configured as an angular element having two coplanar portions that are orthogonal to one another.

[0195] The additional actuation members 262 are connected to a portion of the bracket 263 at a position distal with respect to the point where the bracket 263 itself is hinged to the mobile frame 205, so as to define a pushing lever useful for causing the bracket 263 to rotate.

[0196] In accordance with what has been described in relation to the previous embodiment, the variable-geometry frame 208 may also be hinged relative to the mobile frame 205 to rotate about an axis 213, perpendicular to the axis 206. In particular, the variable-geometry frame 208 is hinged at the end of the bracket 263 to which it is connected, so that it may rotate relative to the mobile frame 205.

[0197] The variable-geometry frame 208 may be actuated in rotation about the axis 213 by motor means, or manually operated through selective locking means, as already described with reference to the previous embodiment, to which full reference is made.

[0198] According to one aspect of the invention, the mobile frame 205 may be selectively extended in order to increase the operational flexibility of the gripping device 200, with reference to the possibility of varying the positioning of the gripping organs 209 relative to the support structure 204.

[0199] To this end, the mobile frame 205 is configured as an extendable element comprising a first portion 264 and a second portion 265 slidably connected to one another. With reference to a preferred embodiment, the second portion 265 slidably engages the first portion 264, forming a telescopic or substantially telescopic or similar structure. The first portion 264 and the second portion 265 may be configured as profiled tubular elements, for example with a square or rectangular cross-section, so as to allow their relative sliding while preventing any mutual rotation.

[0200] The gripping device 200 comprises an actuator 266, configured as a linear actuator, operatively connected to the first portion 264 and the second portion 265 to command their relative movement. The actuator 266 is also configured to maintain the first portion 264 and the second portion 265 in position (see, for example, Figures 11 and 13). In particular, the actuator 266 commands the extraction or insertion of the second portion 265 with respect to the first portion 264.

[0201] The configuration of the actuator 266 is considered to fall within the ordinary knowledge of a person skilled in the art and will therefore not be described further.

[0202] According to one aspect of the invention, the support structure 204 of the gripping device 200 is of the extendable type, meaning that it may be deformed along a direction parallel or substantially parallel to the plane P.

[0203] To this end, the support structure 204 comprises a bottom portion 267 and a top portion 268 slidably connected to each other. In particular, the top portion 268 can be selectively moved relative to the bottom portion 267 by means of a respective actuator 269 (see, for example, Figure 11).

[0204] The respective actuator 269 is a linear actuator and comprises a fixed element operatively connected to the bottom portion 267 and a movable element operatively connected to the top portion 268. The movable element may be configured as a rod movable in extension or retraction relative to the fixed element, in a manner within the reach of a person skilled in the art. The movement of the movable element of the respective actuator 269 controls and commands the relative positioning of the top portion 268 with respect to the bottom portion 267.

[0205] The ability to vary the dimensions of the support structure 204 along a direction parallel or substantially parallel to the plane P makes it possible to vary the position of the rotation axis 206, thereby contributing to increasing the degrees of freedom with which the variable-geometry frame 208 and the gripping organs 209 connected thereto may be moved and positioned, improving the operational flexibility of the gripping device 200.

[0206] As described with reference to the previous embodiment, the support structure 204 may be of the extensible type, so as to allow the movement of the mobile frame 205, and therefore of the gripping organs 209 operatively connected thereto, along a lifting direction 241 perpendicular to the rotation axis 206 and parallel to the coupling plane P (see, for example, Figure 11).

[0207] From the above, it is evident that the second embodiment of the gripping device 200 differs from the previous one essentially in that the mobile frame 205 is hinged at the top of the support structure 204, instead of at a bottom portion thereof, and in that the variable-geometry frame 208 is connected at the opposite end of the mobile frame 205, relative to the top of the support structure 204, through a connection providing two degrees of freedom, namely two rotations about mutually orthogonal axes.

[0208] Moreover, the mobile frame 205 and the support structure 204 may be deformed along respective directions, in order to increase the degrees of freedom for moving and positioning the gripping organs 209.

[0209] The operating principle and general configuration of the other components of the gripping device 200 correspond to those described in relation to the previous embodiment, to which reference is made.

[0210] The foregoing describes some embodiments and suggests variants of the present invention, but it should be understood that those skilled in the art may make modifications and changes without thereby departing from the scope of protection, as defined by the appended claims.

Claims

CLAIMS1. Gripping device (1; 200) for gripping and moving a plate-like object (3; 203), wherein said gripping device (1; 200) comprises:- a support structure (4; 204) configured to be connectable to an external structure, wherein said support structure (4; 204) defines a coupling portion;- a mobile frame (5; 205) movably connected to said support structure (4; 204), at least so as to be able to rotate around a rotation axis (6; 206);- actuation members (7; 207) operatively connected to said mobile frame (5; 205) and said support structure (4; 204) and configured to selectively rotate said mobile frame (5; 205) around said rotation axis (6; 206) between a retracted position, in which said mobile frame (5; 205) is proximal to said support structure (4; 204), and a tilted position, in which said mobile frame (5; 205) is rotated away from said support structure (4; 204);- a variable-geometry frame (8; 208), connected in proximity to a free end of said mobile frame (5; 205), at a position opposite with respect to said rotation axis (6; 206); - gripping organs (9; 209) operatively connected to said variable-geometry frame (8; 208) and configured to define a gripping plane for gripping and holding said plate-like object (3; 203);wherein said variable-geometry frame (8; 208) is configured to adjust the reciprocal position of said gripping organs (9; 209) along said gripping plane, approaching or distancing them with respect to a coupling portion between said variable-geometry frame (8; 208) and said mobile frame (5; 205).

2. The gripping device (1; 200) according to claim 1, wherein said variable-geometry frame (8; 208) is configured to adjust the position of said gripping organs (9; 209) along at least a first direction (10; 210) and a second direction (11; 211) perpendicular to each other.

3. The gripping device (1; 200) according to claim 1 or 2, wherein said gripping organs (9; 209) comprise suction cups.

4. The gripping device (1; 200) according to any one of the preceding claims,wherein said variable-geometry frame (8; 208) comprises a central support (12; 212) to which extensible arms are connected through a sliding connection or a hinge connection, to adjust the reciprocal position of said gripping organs (9; 209) along at least said first direction (10; 210) and said second direction (11; 211).

5. The gripping device (1; 200) according to any one of the preceding claims, wherein said variable-geometry frame (8; 208) is hinged to said mobile frame (5; 205) so as to be rotatable around an additional rotation axis (13; 213) perpendicular to said gripping plane and said rotation axis (6; 206).

6. The gripping device (1; 200) according to any one of the preceding claims, comprising actuation members (7) operatively connected to said variable-geometry frame (8) and said mobile frame (5), to selectively actuate said variable-geometry frame (8) in rotation around said additional rotation axis (13), causing said gripping organs (9) to rotate.

7. The gripping device (1; 200) according to claim 1, wherein said variable-geometry frame (8) comprises a first arm (15) and a second arm (16) slidably connected to said central support (12), to extend away from or towards each other along said first direction (10) from opposite sides of said central support (12);a first variable-geometry group (19) connected to an end of said first arm (15) and comprising a first fixed support (21) to which a first mobile arm (22) and a second mobile arm (23) are slidably connected along said second direction (11), each provided with a respective gripping organ (9);a second variable-geometry group (20) connected to an end of said second arm (16) and comprising a second fixed support (26) to which a third mobile arm (27) and a fourth mobile arm (28) are slidably connected along said second direction (11), each bearing a respective gripping organ (9).

8. The gripping device (1; 200) according to claim 1, wherein said mobile frame (5; 205) is movably connected to said support structure (4; 204) along a lifting direction (41; 241) which is perpendicular to said rotation axis (6; 206), such that said rotation axis (6; 206) is in turn movable along said lifting direction (41; 241).

9. The gripping device (1) according to claim 8, wherein said mobile frame (5) is movably connected to said support structure (4) such that a bottom portion and / or a top portion of said mobile frame (5) may be rotated relative to said support structure (4).

10. The gripping device (200) according to claim 1, wherein said mobile frame (205) comprises a top end hinged to a top portion of said support structure (204), so as to be rotated around a rotation axis (206).

11. The gripping device (200) according to claim 1 or 10, wherein said variablegeometry frame (208) is hinged to a bottom end of said mobile frame (205), so as to be actuated in rotation around an additional rotation axis (261) parallel and opposite to said rotation axis (206).

12. The gripping device (200) according to claim 11, comprising additional actuation members (262) connected to said mobile frame (205) and to said variable-geometry frame (208) to selectively command their reciprocal rotation and positioning around said additional rotation axis (261).

13. The gripping device (200) according to any one of claims 10 to 12, wherein said mobile frame (205) is configured as an extendable element along a direction parallel to a coupling plane (P) configured in turn to connect the gripping device (200) to a transport trolley (2), wherein said mobile frame (205) comprises a first portion (264) and a second portion (265) slidably connected to each other, and an actuator (266) operatively connected to said first portion (264) and said second portion (265) to command their relative movement.

14. The gripping device (200) according to claim 13, wherein said support structure (204) is of the extendable type along a direction parallel or substantially parallel to said coupling plane (P), said support structure (204) comprising a bottom portion (267) and a top portion (268) slidably connected to each other, wherein said gripping device (200) comprises a respective actuator (269) connected to said bottom portion (267) and said top portion (268) to command and control their reciprocal positioning.

15. A transport trolley (2; 202) for transporting a plate-like object (3; 203), inparticular on steps, comprising a supporting frame (51) on which at least two tracks (52) are rotatably mounted so as to protrude downward from said supporting frame (51) and define a sliding plane for said transport trolley (2; 202), each of said tracks (52) comprising a first portion (53) and a second portion (54) inclined with respect to said first portion (53), said at least two tracks (52) being spaced apart and parallel to each other, motor means for driving said at least two tracks (52), a loading structure (55) articulated to said supporting frame (51), inclination adjustment means (56) for varying an inclination of said loading structure (55) towards or away from said supporting frame (51), wherein said transport trolley (2; 202) comprises a gripping device (1; 200) according to any one of claims 1 to 14, connected such that said support structure (4; 204) is in abutment against said loading structure (55).

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