Patent Description:
In particular, the present invention relates to an extensible gripping device for equipping a handling robot, to allow the gripping, handling and preparation of cutting equipment for a "slitter" type cutting line.

In the following description and claims, explicit reference will be made to a cutting equipment comprising annular or cylindrical tools such as circular or annular cutting blades, separators, rubber rings, etc. usable for processing metal strips wound on reels, but the person skilled in the art will have no difficulty in understanding how the present invention can be easily implemented also in other technical fields, in particular in all those fields wherein it is necessary to pick up or put away tools from a warehouse.

It is known that in the sector of machining strips of metallic material, the tools are configured as annular elements which, when not in use, are stored in a magazine, hung from one or more tool-holder shafts projecting cantilevered from a fixed wall or by an upright rotatably mounted on a base. Several tools can be positioned along the same tool holder shaft, leaning against each other.

The use of a gripping device configured to selectively grip the individual tools of the cutting equipment, to pick them up or place them with respect to a magazine or, more generally, to a support arm or shaft has been known for some time.

In general, such a gripping device is engaged movably along a support frame, which in turn can be moved, and is configured to individually grip and move circular tools between a pick-up point or station and a release point or station.

The support frame has a linear development along a vertical direction or in other words along a direction normal to the floor on which the gripping device rests.

The support frame can be moved along a track and can be selectively actuated in rotation around an axis of rotation substantially parallel to the vertical direction of the support frame itself.

The gripping device, in turn, is slidably associated with the support frame, so as to be able to slide along the vertical direction - direction of linear development - along which the frame itself extends. Furthermore, the gripping device comprises a gripping element which can be moved selectively with respect to the support frame along a gripping direction which is oriented normal to the direction of linear development.

In general, the gripping device comprises a support arm along which gripping members are slidably engaged, configured to grip or release a cutting tool. In particular, the gripping members are connected to the support arm by means of a carriage, which can be selectively activated in motion by means of suitable actuating members.

The gripping members, therefore, can be moved towards or away from the support frame along the gripping direction.

Such a gripping device has some limitations of use with particular reference to the ability to ensure rapid and precise movement of the individual tools.

The high weight of the tools, in fact, involves a high inertia and causes deformation or bending of the gripping arm and possibly of the gripping device, especially when the gripping members are positioned cantilevered relative to the support arm, following a high excursion in their movement.

These deformations, in turn, determine an imprecise positioning of the gripping device which must be compensated through complex software corrections to be imparted to the movement members of the gripping device. The incorrect or inaccurate positioning of the gripping device can cause accidental impacts during the handling of the individual tools, with consequent damage to them and the need to replace them, if possible, with additional cutting tools.

Damage to the cutting tools results in tooling downtime and therefore non-operation of the entire cutting line, with negative repercussions on production costs.

Furthermore, the heavy weight of the cutting equipment limits the actuation speed of the gripping device, thus increasing setup times.

Documents <CIT>, <CIT> and <CIT> describe some examples of systems for gripping and handling tools.

Documents <CIT>, <CIT> and <CIT> describe further examples of manipulation systems of the traditional type each comprising an extendable portion.

The object of the present invention is to allow in a simple, efficient and rapid way the gripping and handling of annular or cylindrical tools, even of heavy weight, of the type used in a cutting equipment of a slitter line.

Another object of the present invention is to allow the gripping of individual tools which make up a cutting fixture, by means of an extensible gripping device which has a resistant and rigid structure which allows rapid and precise handling of the individual tools themselves.

A further object of the present invention is that of optimizing the time required for the forming of a cutting equipment through the movement of the single tools which make up the cutting equipment itself.

The specific object of the invention is an extensible gripping device according to claim <NUM> configured for gripping a tool, wherein the extensible gripping device comprises gripping members, an extendable structure for supporting and moving the gripping members along a gripping direction, attachments configured for attaching the extendable grip device to a frame, wherein the attachment plates delimit the extendable grip device from opposite sides and are connected to each other via a transversal element (cross member), wherein the extensible frame comprises two operatively connected side plates sliding opposite sides of the cross member, a first cradle element (cradle member) slidably connected to the side plates and a second cradle element (cradle member) slidably connected to the first cradle member, wherein the gripping members are operatively connected to the second cradle member, a motor unit operationally connected to the side plates via a first transmission assembly, wherein the first transmission assembly is configured to move the side plates relative to the fixing plates along the gripping direction, a second transmission assembly configured to kinematically connect the side plates with the first cradle element and the first cradle element with the second cradle element through respective pinion-rack type connections, so that the movement of the lateral plates with respect to the fixing plates determines a simultaneous movement of the first cradle element which, in turn, causes a simultaneous movement of the second cradle element all with the same forward direction along the gripping direction, wherein the motor unit is constrained to the transversal element and the first transmission unit comprises a mechanical transmission for connecting the motion output of the motor unit to both the side plates.

According to another aspect of the invention, the first transmission unit can comprise a recirculating screw which protrudes from the motion output of the motor unit, along a direction parallel to the gripping direction and engages a corresponding bush connected to both side plates by means of brackets which protrude from opposite sides of the bush.

According to a further aspect of the invention, the second cradle element can be fitted inside the first cradle element and both have a respective open top portion to allow access to their interior.

According to an additional aspect of the invention, the second transmission unit can comprise two first racks, each connected to a respective one of the fixing plates, and two first external pinions each pivoted to a respective one of the side plates and in engagement with a respective one of the first racks, wherein the outer pinions project outwards of a respective one between the side plates.

According to another aspect of the invention, the second transmission unit can comprise first internal sprockets each keyed on a same first shaft along which a respective first external sprocket is coupled, wherein each of the first shafts is rotatably connected passing through a between the side plates, in such a way as to project from both sides of this respective between the side plates and to support on one side one of the first outer sprockets and on an opposite side one of the first inner sprockets, wherein the first internal pinions mesh with a respective one of the second bottom racks, comprised in the second transmission unit, wherein each of the second bottom racks protrudes outwards from a respective one of the lateral sides of the first cradle element.

According to a further aspect of the invention, the second bottom racks may be positioned offset from the first racks, wherein the first racks mesh mutually between the first outer pinions at a top portion of the first outer pinions and the second outer racks bottom respectively mesh between the second inner pinions at a bottom portion thereof.

According to an additional aspect of the invention, the second drive unit may comprise two second top racks each of which extends outwardly from a respective one of the side plates and meshes with a respective one of the second outer sprockets, included in the second drive unit, wherein each of the second outer pinions is pivoted outwardly of a respective sidewall of the first cradle member by a respective second shaft, wherein each of the second shafts extends through a respective sidewall of the first cradle member and supports from a side opposite to that engaged by the second outer sprockets a respective one between second inner sprockets.

According to another aspect of the invention, each of the second internal pinions can protrude internally from a respective side of the first cradle element, in a position interposed between the lateral sides of the first cradle element and the lateral sides of the second cradle element, wherein each of the second internal pinions engages a respective one of the third racks comprised in the second transmission unit, wherein each of the third racks is externally connected to a lateral side of the second cradle element.

According to a further aspect of the invention, each of the third racks may be positioned offset relative to a respective one of the top second racks, such that each of the third racks engages a bottom portion of a respective one of the second inner pinions and each of the second top racks engages a top portion of a respective one of the second outer pinions.

According to an additional aspect of the invention, the extensible gripping device can comprise at least one linear position sensor operatively connected to the cross member and to at least one of the side plates to detect a relative position of the side plates with respect to the cross member, wherein the at least one linear position sensor is operatively connected to the at least one control logic unit or comprises an indirect rotary sensor operatively connected to the control logic unit and via an encoder to the motor unit.

According to another aspect of the invention, the gripping members can be connected to the second cradle element via a rail, connected to a bottom portion of the second cradle element and a carriage which slidably engages the rail, along a direction parallel to the direction gripping device, the extensible gripping device comprising actuating members connected to the second cradle element and to the carriage for selectively moving the carriage between a retracted position and an extracted position relative to the second cradle element.

The advantages offered by the extensible gripping device according to the invention are evident.

In particular, the extensible gripping device according to the invention has an extendable structure, which can be moved between a retracted position and an extracted position, so as to ensure precise movement of cutting tools, even in the case in which such tools have a high weight.

The extensible gripping device according to the invention has an extendable structure comprising several connected components that are movable together, so as to be able to slide with respect to each other.

In particular, the single components have a high strength and mechanical rigidity as well as their reciprocal connection, so as to prevent any deformation of the structure during its movement in extension or in return towards a retracted position.

The movement of the individual components occurs via a pinion-rack transmission system capable of ensuring a precise and rapid movement and such as to effectively counteract the inertia of the individual tools during their movement.

The present invention will now be described, for illustrative but not limiting purposes, according to its preferred embodiments, with particular reference to the Figures of the attached drawings, wherein:.

The attached <FIG> shows an extensible gripping device according to the invention, indicated as a whole with <NUM>, connected to a handling structure.

In particular, the extensible gripping device <NUM> is slidably connected along a frame <NUM>.

The frame <NUM> has an elongated shape and comprises a base portion and a top portion, both with a rectangular or square plan, mutually connected by column elements.

The frame <NUM>, therefore, has a column shape, open on four sides, which develops along a development direction <NUM>.

The development direction <NUM> is vertical with respect to a ground or pavement along which the frame <NUM> can be installed.

The frame <NUM> can be operated in rotation around the direction of development <NUM> and is optionally slidably engaged along a ground guide, not shown in the attached <FIG>, according to methods within the reach of a person skilled in the art.

The frame <NUM> comprises movement members <NUM> operatively connected to opposite sides of the extensible gripping device <NUM> and to the frame <NUM>, configured to selectively control the movement of the latter along the frame <NUM>.

The frame <NUM> and the movement members <NUM> do not form a specific object of the present invention and, therefore, will not be further described hereinafter.

The extensible gripping device <NUM> comprises gripping members, indicated as a whole with <NUM>, configured to selectively grip and hold individual tools that make up the cutting equipment of a slitter-type cutting line.

With reference to what is illustrated by way of example in the attached <FIG>, the gripping members <NUM> are configured to grip and hold an annular-type cutting blade <NUM>, while understanding that they are configured to grip further annular or cylindrical elements such as rubber spacers or rings able to compose a previously described cutting equipment.

The gripping members <NUM> comprise gripping elements of a mechanical type, such as a self-centering chuck or similar, an electromagnet or a combination thereof (the latter option is shown in the attached <FIG> and <FIG>), without limitation.

In general, similar gripping members <NUM> are known in the field and, as such, they do not form the specific object of the present invention except in relation to their use in the extensible gripping device <NUM>.

In the following description and in the attached Figures, the discussion and illustration of the gripping members <NUM> will be limited to those components which are useful for understanding the present invention.

The extensible gripping device <NUM> can be moved along a gripping direction <NUM> between a retracted configuration, wherein it has a minimum length (see for example <FIG>) and an extracted position wherein it has a maximum length (see for example <FIG> and <FIG>).

In this regard, the extensible gripping device <NUM> comprises an extendable structure configured to selectively support and move the gripping members <NUM> along the gripping direction <NUM>.

The gripping direction <NUM> is orthogonal or substantially orthogonal to the development direction <NUM> of the frame <NUM>.

The extendable structure is therefore configured to selectively extend along the gripping direction <NUM> between a retracted position and an extracted position.

The extendable grip device <NUM> comprises two fastening plates <NUM> for attaching the extensible gripping device <NUM> to the frame <NUM>.

The fastening plates <NUM> laterally delimit, on opposite sides, the extensible gripping device <NUM> and are mutually connected, at one of their ends, by means of a transversal element <NUM>, to define a substantially "U"-shaped structure, with the concavity facing towards a bottom portion of the extensible gripping device <NUM>.

The fastening plates <NUM> comprise skids <NUM> or similar elements which extend outside the fastening plates <NUM> themselves (see for example <FIG>), i.e. which extend outside the extensible gripping device <NUM>, and are configured to slidably engage respective guides, not shown in the attached Figures, which extend along the frame <NUM> to allow the sliding connection between the extensible gripping device <NUM> and the frame <NUM>.

Furthermore, the fastening plates <NUM> act as a support for the movement members <NUM> which, in turn, move the extensible gripping device <NUM> along the direction of development <NUM>.

The fastening plates <NUM> and the cross member <NUM> serve as a support for the extensible frame of the extensible gripping device <NUM> and the frame <NUM>.

According to a preferred embodiment illustrated in the attached Figures, the transversal element <NUM> is shaped like a plate. Optionally, the transversal element <NUM> comprises one or more crosspieces or longitudinal members constrained to a top portion of the transversal element <NUM>, to mechanically stiffen and reinforce the same (see for example <FIG>. In the remaining Figures, these crosspieces or longitudinal members are been purposely removed to facilitate understanding of the conformation of the cross member <NUM>).

The fastening plates <NUM> are positioned opposite and parallel to each other and act as supports for the extensible structure.

As mentioned, the extensible structure comprises movable elements, slidably connected to each other along the gripping direction <NUM>.

In this regard, it should be noted that the extensible structure comprises two lateral plates <NUM>, slidingly connected to opposite sides of the transversal element <NUM>, a first cradle element <NUM>, in turn slidingly connected to both lateral plates <NUM>, and a second cradle <NUM> slidingly connected to the first cradle element <NUM>.

The second cradle element <NUM> is placed inside the first cradle element <NUM> which, in turn, is placed between the two lateral plates <NUM>.

The lateral plates <NUM> are positioned interposed between the fastening plates <NUM>.

In other words, the extendable structure is positioned between the fastening plates <NUM>.

The term "cradle element" is intended to indicate an element which has at least one bottom element which at least partially delimits a bottom portion in such a way as to define a concavity facing upwards or in other words towards the top of the element to cradle itself.

Each of the cradle elements has a front opening and a rear opening, opposite each other to allow the relative sliding of a cradle element with respect to the next and the possibility of being retracted inside each other.

Furthermore, each of the cradle elements has an open top portion which facilitates access to its interior, for example to facilitate normal maintenance operations and, in general, access to the components housed inside the extensible gripping device <NUM>.

Each of the cradle elements preferably has a "U" cross-section, as mentioned with the concavity facing a top of the extensible gripping device <NUM>, while understanding that alternative embodiments are possible, not shown, which have a "V" or semicircular, semi-elliptical or polygonal shape or more generally define a concavity facing the top portion of the extensible gripping device <NUM>.

The shape of the bottom portion of the first cradle element <NUM> and that of the second cradle element <NUM> depends on the needs of use and, therefore, can vary.

With reference to what is illustrated in the attached Figures, the first cradle element <NUM> and the second cradle element <NUM> each comprise individual lateral plate elements connected to each other via a plate or a crosspiece, preferably via a removable connection, for example of the bolted type, although it is considered that according to an alternative embodiment the single plate elements can be connected to each other in a permanent way, by means of welding.

By way of non-limiting example, the first cradle element <NUM> comprises a first bottom plate <NUM> to whose opposite sides respective two first lateral plates <NUM> are connected to define the cradle shape.

The first lateral plates <NUM> are parallel to each other and perpendicular or substantially perpendicular to the first bottom plate <NUM>.

The first bottom plate <NUM> and the first lateral plates <NUM> can delimit one or more openings, to lighten the overall weight of the first cradle element <NUM> and to promote the access inside the first cradle element <NUM> itself.

The second cradle element <NUM> has a structure similar to that described in relation to the first cradle element <NUM>, comprising at least one bottom crosspiece <NUM> and two second lateral plates <NUM> connected to the opposite ends thereof according to the same methods described in relation to the first cradle element <NUM> to which reference is made. In particular, with reference to what is illustrated in the attached <FIG>, the second cradle element <NUM> comprises two bottom crosspieces <NUM> while understanding that an alternative embodiment of the second cradle element <NUM> comprises a bottom plate instead of two crosspieces bottom.

It is understood that alternative embodiments of the first cradle element <NUM> are possible, not shown in the Figures, wherein the first lateral plates <NUM> are parallel to each other and inclined with respect to the first bottom plate <NUM> or, again, without the bottom plate <NUM> with the lateral plates <NUM> directly connected to each other by brackets.

Similar considerations apply in relation to alternative embodiments of the second cradle element <NUM>.

Using several plate elements and crosspieces to obtain the first cradle element <NUM> and the second cradle element <NUM> simplifies the mechanical machining necessary for the creation of openings or seats for the connection or housing of the components of the extensible gripping device <NUM>.

The first cradle element <NUM> and the second cradle element <NUM>, as well as the side plates <NUM> are made of metal, preferably of aluminum alloy although it is understood that it is possible to use alternative metal alloys which have high performance in relation to their weight, for example magnesium alloys.

According to a further embodiment, at least one of the first cradle element <NUM> and the second cradle element <NUM> is made by means of a single metal plate, possibly perforated, suitably bent to assume a cradle configuration, with a "U" or "V" or according to further variants described above, to which reference is fully made.

It is understood that alternative embodiments of the extensible gripping device <NUM> are possible, not illustrated in the attached Figures, comprising a third cradle element or even further cradle elements, slidably connected to each other, although falling within the same inventive concept of the extensible gripping device <NUM> according to the invention.

The overall number of cradle elements present in the extensible gripping device <NUM> can vary according to some operating parameters including, for example, the maximum pre-established length along the gripping direction <NUM> that the extensible gripping device <NUM> must be able to assume or the maximum load that can be transported.

The extensible gripping device <NUM> comprises lateral linear guides <NUM> for the sliding connection between the lateral plates <NUM> and the cross member <NUM>.

Each of the lateral linear guides <NUM> is connected to a top portion of a respective side plate <NUM> and engages respective bottom skids <NUM> which extend from a bottom portion of the cross member <NUM> (see, for example, the diagram of <FIG>).

The lateral linear guides <NUM> are parallel to each other and to the gripping direction <NUM>.

According to a preferred embodiment, each of the lateral linear guides <NUM> protrudes from a respective support <NUM> which, in turn, protrudes from a top portion of a respective one of the lateral plates <NUM> (see for example <FIG> and <FIG>).

In practice, the lateral linear guides <NUM> and the relative bottom skids <NUM> define a sliding connection between the lateral plates <NUM> and the transversal element <NUM> and, consequently, between the lateral plates <NUM> and corresponding between the fastening plates <NUM>, along the gripping direction <NUM>.

The first cradle element <NUM> is slidably connected to both side plates <NUM> according to similar methods.

In more detail, the extensible gripping device <NUM> comprises first linear guides <NUM> which protrude outwardly from the first cradle element <NUM> and slidably engage respective first shoes <NUM> which protrude internally from the side plates <NUM> (see <FIG>).

The first linear guides <NUM> are parallel to each other and to the gripping direction <NUM> and extend outside the first cradle element <NUM>, each from a respective lateral side of the first cradle element <NUM> itself.

The first skids <NUM> extend inside each of the lateral plates <NUM>, i.e. in the space delimited between the side plates <NUM>.

With reference to the schematic view illustrated in the attached <FIG>, wherein some components have been specifically removed to facilitate the intelligibility of the extensible structure, the extensible gripping device <NUM> comprises two pairs of first linear guides <NUM>, wherein each pair is placed at a lateral side of the first cradle element <NUM>.

In practice, the first linear guides <NUM> and the respective first skids <NUM> define the sliding connection between the first cradle element <NUM> and the lateral plates <NUM> along the gripping direction <NUM>.

The extensible gripping device <NUM> comprises second linear guides <NUM> which protrude outwardly from the second cradle element <NUM>, so as to face respective lateral sides of the first cradle element <NUM> and engage respective second skids <NUM> which protrude internally from the first cradle element <NUM> (see, for example, <FIG>).

The second linear guides <NUM> are parallel to each other and to the gripping direction <NUM>.

The second linear guides <NUM> and the respective second skids <NUM> define a sliding connection between the first cradle element <NUM> and the second cradle element <NUM> along the gripping direction <NUM>.

It is understood that with respect to the preferred embodiment of the extensible gripping device <NUM> described above, alternative embodiments are possible, not shown in the attached Figures, wherein at least one of the second linear guides <NUM> protrudes from a bottom portion of the second element cradle <NUM> and engages respective second skids <NUM> which, similarly, extend at a bottom portion of the first cradle element <NUM>.

It is understood that alternative embodiments of the linear guides are possible, which slidingly connect the side plates <NUM> to the first cradle element <NUM> or the first cradle element <NUM> to the second cradle element <NUM>, for example comprising circular bars, slidingly engaged in respective bushings, instead of skids, or similar systems although capable of ensuring a sliding and guided motion along a pre-established linear direction.

With reference to what has been described above, it is evident that the sliding connections between the lateral plates <NUM> and the first cradle element <NUM>, as well as those between the first cradle element <NUM> and the second cradle element <NUM> allow to limit or avoid the occurrence of flexural deformation phenomena of the extensible structure during its extension/withdrawal along the gripping direction <NUM>.

In practice, the shape of the individual mobile elements of the extensible structure and their sliding connections confer a high rigidity and flexural strength, to promote a precise movement of the extensible structure and of the gripping members <NUM> connected to it along the gripping direction <NUM>, overcoming a drawback which affects the solutions of the state of the art.

The extensible gripping device <NUM> comprises a motor unit <NUM> operatively connected to the lateral plates <NUM> through a first transmission unit, to move both lateral plates <NUM> simultaneously and in a synchronized manner relative to the fastening plates <NUM>, along the gripping direction <NUM> and a second transmission unit configured to transmit the motion of the lateral plates <NUM> to the first cradle element <NUM> and to the second cradle element <NUM>, moving them in turn along the gripping direction <NUM>.

As will be better described below, the motor unit <NUM> in synergy with the first transmission unit and the second transmission unit moves the extensible structure in extraction or retraction along the gripping direction <NUM>.

The motor unit <NUM> comprises an electric motor operatively connected to at least one control logic unit <NUM> (see for example <FIG>) by means of which its operation is controlled, according to methods within the reach of a person skilled in the art.

According to a preferred embodiment, illustrated in the attached Figures, the motor unit <NUM> is connected to the transversal element <NUM> (see, for example, <FIG>), so as to project cantilevered from a bottom portion of the transversal element <NUM> same.

With reference to the view illustrated in <FIG>, the motor unit <NUM> extends into the space delimited between the transverse <NUM> and the fastening plates <NUM>.

The first transmission unit comprises a recirculating screw type transmission for connecting the motion output of the motor unit <NUM> to both lateral plates <NUM> and determining their movement along the gripping direction <NUM>.

In more detail, it should be noted that the first transmission unit comprises a recirculating screw <NUM>, for example a recirculating ball or roller screw, mounted in line with the motor unit <NUM> and which protrudes from the output of the latter along a parallel direction to the gripping direction <NUM> and engages a corresponding bush <NUM> connected to both lateral plates <NUM> by means of brackets <NUM> which branch off from opposite sides of the bush <NUM> itself (see, for example, <FIG>).

It is understood that according to an alternative embodiment, not shown in the enclosed Figures, the first transmission group comprises a transmission of the screw/nut screw type in place of the recirculating screw and the relative bush.

The rotational actuation of the motor unit <NUM> therefore determines the movement of the bush <NUM> along the gripping direction <NUM> and, consequently, the movement of both lateral plates <NUM> along the gripping direction <NUM> itself.

It is observed that both lateral plates <NUM> are moved relative to both fastening plates <NUM> as well as the cross member <NUM>.

As mentioned, the extensible gripping device <NUM> comprises a second transmission unit which connects in a kinematic way each of the lateral plates <NUM> to respective between the fastening plates <NUM>, as well as the lateral plates <NUM> to the first cradle element <NUM> and the first element to cradle <NUM> to the second cradle element <NUM>, to command the movement of the first cradle element <NUM> and of the second cradle element <NUM> along the gripping direction <NUM>.

According to a preferred embodiment, the second transmission group comprises kinematic couplings of the pinion-rack type.

In more detail, the second transmission unit comprises two first racks <NUM>, each connected to a respective one of the fastening plates <NUM>, and two first external pinions <NUM>, each pivoted to a respective one of the latera plates <NUM> and engaging along a respective one of the first racks <NUM>.

The first racks <NUM> extend along a direction parallel to the gripping direction <NUM> and each of the first external pinions <NUM> is pivoted to rotate around an axis perpendicular to the gripping direction <NUM> and normal to a respective one of the lateral plates <NUM>.

The first external pinions <NUM> project outside a respective one of the lateral plates <NUM> to which they are pivoted.

The second transmission unit also comprises two first internal pinions <NUM> each keyed on the same first shaft <NUM> along which a respective one of the first external pinions <NUM> is constrained.

Each first shaft <NUM> is rotatably supported passing through a respective lateral plate <NUM>. In practice, each first shaft <NUM> extends from both sides of a respective lateral plate <NUM> to act as a support for a respective first outer pinion <NUM> and a respective between the first <NUM> internal sprockets.

By way of example, each of lateral side plates <NUM> can have a first seat <NUM>° in which a respective one of the first shafts <NUM> is housed and kept rotating (see <FIG> and <FIG>).

Preferably, the first external sprockets <NUM> have the same dimensions, with reference to their external diameter, as those of the first internal sprockets <NUM>.

Each of the first internal pinions <NUM> meshes with a respective one of the second bottom racks <NUM> included in the second transmission group, in which the second bottom racks <NUM> protrude outwardly from the lateral sides of the first cradle element <NUM>.

The second bottom racks <NUM> extend parallel to each other and to the gripping direction.

The second bottom racks <NUM> are positioned along the side walls which delimit the first cradle element <NUM>.

In particular, the second bottom racks <NUM> are positioned offset with respect to the first racks <NUM> relative to the first internal pinions <NUM>, so that while the first racks <NUM> mesh respectively between the first external pinions <NUM> at a top portion of the first outer pinions <NUM> themselves, the second bottom racks <NUM> mesh respective between the second inner pinions <NUM> at a bottom portion thereof.

In other words, the first racks <NUM> and the second bottom racks <NUM> are opposed to each other and mutually connected through the first external pinions <NUM> and the first internal pinions <NUM>.

The rotation of the first external pinions <NUM> has the same rotational direction to that of the first internal pinions <NUM> and causes a synchronized and opposite movement of the first racks <NUM> and of the second bottom racks <NUM>.

In practice, the movement of the lateral plates <NUM> with respect to the transversal element <NUM> determines the simultaneous movement of the first cradle element <NUM> with respect to both side plates <NUM> along the gripping direction <NUM>, with the same direction.

The second transmission unit further comprises two second top racks <NUM> each of which protrudes internally from a respective one of the lateral plates <NUM>, to which it is constrained.

Each of the second top racks <NUM> is positioned so as not to interfere with the second bottom racks <NUM> and the second inner pinions <NUM>.

The second transmission unit comprises two second external pinions <NUM>, each of which is pivoted on the outside of a respective lateral side of the first cradle element <NUM> (see <FIG>) and meshes with a respective one of the second top racks <NUM>.

In more detail, each of the second external pinions <NUM> is pivoted to a respective side of the first cradle element <NUM> so as to extend outwards of the latter and to face inside one of the respective lateral plates <NUM>.

The second outer pinions <NUM> are positioned offset from the first inner pinions <NUM> so as not to interfere with the second bottom racks <NUM> (see <FIG> ).

Furthermore, each of the second top racks <NUM> engages a respective one of the second outer pinions <NUM> at a top portion of the second outer pinions <NUM> themselves.

Each of the second external pinions <NUM> is pivoted to a respective side of the first cradle element <NUM> via a respective second shaft <NUM>.

In this regard, it should be noted that the first cradle element <NUM> has second seats <NUM>', each along a lateral side of the first cradle element <NUM> itself, wherein a respective one of the second shafts <NUM> is housed and kept rotating (see <FIG>).

Each of the second shafts <NUM>, similarly to what has been described in relation to the first shafts <NUM>, extends through both sides of a respective side of the first cradle element <NUM>.

Similarly to what has been described in relation to the first shafts <NUM>, each of the second shafts <NUM> extends from both sides of a respective lateral side of the first cradle element <NUM>.

The second transmission unit comprises second internal pinions <NUM> which protrude internally from the first cradle element <NUM>, from a respective lateral side, being interposed between the lateral sides of the first cradle element <NUM> and the lateral sides of the second cradle element <NUM>.

Each of the second inner pinions <NUM> engages a respective one of the second shafts <NUM>.

In practice, each of the second shafts <NUM> acts as a support for a respective one of the second outer pinions <NUM> and a respective one of the second inner pinions <NUM>.

Preferably, the second external sprockets <NUM> have the same dimensions, with reference to their external diameter, as those of the second internal sprockets <NUM>.

The second external pinions <NUM> and the second internal pinions <NUM> rotate in the same direction around the same rotation axis which is orthogonal to the gripping direction <NUM> and parallel to the rotation axis of each of the second shafts <NUM>.

The second transmission group comprises two third racks <NUM> each externally connected to a respective lateral side of the second cradle element <NUM>, wherein each of the third racks <NUM> is meshed by a respective one of the second internal pinions <NUM>.

Each of the third racks <NUM> is positioned offset relative to a respective one of the second top racks <NUM> with respect to the second outer pinions <NUM> and the second inner pinions <NUM>.

In this regard, it should be noted that in fact each of the third racks <NUM> engages a bottom portion of a respective of the second internal pinions <NUM>, while each of the second top racks <NUM> engages a top portion of a respective of the second external pinions <NUM>.

In practice, each of the second top racks <NUM> is opposed to a respective one of the third racks <NUM> to which it is kinematically connected via respective links between the second external pinions <NUM> and the second internal pinions <NUM>.

The rotation of the second external pinions <NUM>, which has the same rotation direction and is simultaneous to that of the respective ones between the second internal pinions <NUM> causes a synchronized movement and in the opposite direction, between the second top racks <NUM> and the third racks <NUM>.

Therefore, the movement of the first cradle element <NUM> along the gripping direction <NUM> determines the simultaneous movement of the second cradle element <NUM>, with the same direction.

It should be noted that between the lateral plates <NUM> and the lateral sides of the first cradle element <NUM> as well as between the lateral sides of the first cradle element <NUM> and those of the second cradle element <NUM> there is an interspace such as to allow the housing of the components of the second transmission unit (see the schematic view of <FIG>).

With reference to the above, the second transmission unit comprises a cascade of pinion-rack kinematic systems operatively connected to each other in such a way that the extraction of the side plates <NUM> with respect to the fastening plates <NUM>, along the gripping direction <NUM>, causes the extraction of the first cradle element <NUM> with respect to the side plates <NUM> themselves and, at the same time, the extraction of the second cradle element <NUM> with respect to the first cradle element <NUM>.

In other words, the extensible gripping device <NUM> according to the invention, thanks to the use of the first transmission group and the second transmission group previously described, requires a single motor group <NUM> to be able to extend or retract along the gripping direction <NUM>, limiting the overall number of components comprised in the extensible gripping device <NUM> itself.

With reference to the preferred embodiment illustrated in the attached Figures, the second transmission unit comprises two first racks <NUM>, two second bottom racks <NUM>, two second top racks <NUM> and two third racks <NUM> which engage respective pinions, within a symmetrical solution with respect to a median plane of central symmetry which develops parallel to the gripping direction <NUM> and parallel to the lateral plates <NUM>.

This symmetry allows a balanced movement, and therefore without jamming, of the extensible gripping device <NUM> along the gripping direction <NUM>.

It is understood that an alternative embodiment is possible, not shown in the attached Figures, comprising a second transmission group of the asymmetrical type with respect to this median plane of central symmetry, i.e. comprising a single first rack <NUM>, a second rack bottom <NUM>, a second top rack <NUM> and a third rack <NUM>.

The extensible gripping device <NUM> therefore comprises a first and a second transmission unit capable of moving both lateral plates <NUM>, the first cradle element <NUM> and the second cradle element <NUM> in an extremely precise and rapid manner, thus allowing effective extraction or recall of the extensible gripping device <NUM> along the gripping direction <NUM>.

The use of pinion-rack kinematic mechanisms ensures precise movement of the extensible gripping device <NUM> and capable of effectively counteracting the inertia determined by the individual elements that make up the extensible gripping device <NUM> itself, as well as that determined by the individual tools <NUM> when taken from the gripping devices <NUM>.

As mentioned, the extensible gripping device <NUM> comprises gripping members <NUM>, for the selective gripping of tools <NUM>.

The gripping members <NUM> are slidably connected to the second cradle element <NUM>, at a bottom portion of the latter, by means of a guide, so as to be able to vary their position relative to the second cradle element <NUM> itself, in order to selectively extend beyond the overall dimensions in plan of the latter (see <FIG> wherein the gripping members <NUM> extend outside the second cradle element <NUM> along the gripping direction <NUM>).

In detail, the guide comprises a rail <NUM>, connected to a bottom portion of the second cradle element <NUM> and a carriage <NUM> which slides into the rail <NUM>, along the gripping direction <NUM> (see <FIG>).

The extensible gripping device <NUM> comprises actuation members <NUM> connected to the second cradle element <NUM> and configured to selectively move the carriage <NUM> along the gripping direction <NUM> between a retracted position, wherein the gripping members <NUM> are positioned close to a head end of the second cradle element <NUM> (see for example <FIG>) and an extracted position wherein the gripping members <NUM> protrude cantilevered from the second cradle element <NUM> (see <FIG>) to promote the gripping or release of a tool <NUM>.

The actuating members <NUM> are of the type within the reach of a person skilled in the art and comprise, by way of example, an actuation such as a piston, possibly telescopic, or a pinion-rack unit or a recirculating screw which engages a bushing associated with the carriage <NUM> or equivalent solutions, which will not be further described.

The actuation members <NUM> are operatively connected to at least one control logic unit <NUM> which selectively controls their actuation.

The extensible gripping device <NUM> comprises position sensors, to detect the reciprocal position of the components of the extendable structure, operatively connected to the logic control unit <NUM>.

In particular, the position sensors make it possible to detect the achievement of at least one limit position by the lateral plates <NUM> relative to respective fastening plates <NUM>, as well as that of the first cradle element <NUM> with respect to the lateral plates <NUM> or that of the second cradle element <NUM> with respect to the first cradle element <NUM>, according to methods within the reach of a person skilled in the art which, therefore, will not be further described or illustrated.

According to a preferred embodiment, the extensible gripping device <NUM> comprises at least one linear position sensor <NUM> operatively connected to the cross member <NUM> and to at least one of the lateral plates <NUM> so as to detect the relative position of the lateral plates <NUM> with respect to the fastening plates <NUM> (see for example <FIG>).

Knowing the position of the lateral plates <NUM> determines the position of the front end of the second cradle element <NUM> along the gripping direction <NUM>.

The at least one linear position sensor <NUM> is operatively connected to the at least one control logic unit <NUM>.

According to an alternative embodiment not shown in the attached Figures, the extensible gripping device <NUM> comprises an indirect type rotary sensor operatively connected to the recirculating screw via an encoder to perform the same function described in relation to the linear position sensor to which reference is made.

The extensible gripping device <NUM> optionally comprises laser or position sensors, not shown in detail in the attached Figures, positioned on the gripping members <NUM> and operatively connected to the logic control unit <NUM>, which are configured to detect the position of the tool <NUM> to pick up and transmit related data to the control logic unit which, by comparing them with those of the linear position sensor <NUM> or of the rotary sensor, controls the movement and positioning of the extensible gripping device <NUM> along the gripping direction <NUM>.

A brief description of the operation of the extensible gripping device <NUM> is given below with particular reference to the movement of the extendable structure between the retracted and the extracted configurations.

With the extensible gripping device <NUM> in the retracted configuration, the at least one motor unit <NUM> is activated causing the movement of the bush <NUM>, in a sliding manner, along the gripping direction <NUM>, away from the motor unit <NUM> itself.

The bush <NUM> determines the sliding of the lateral plates <NUM> with respect to the fastening plates <NUM>.

The lateral plates <NUM> advancing along the gripping direction <NUM> drag the first external pinions <NUM> which, by engaging respective first racks <NUM>, are actuated in rotation.

The rotation of the first external pinions <NUM> causes the rotation of the first internal pinions <NUM> which, in turn, cause the extraction of the second bottom racks <NUM> with which they mesh and, therefore, the extraction of the first cradle element <NUM>, relatively to the lateral plates <NUM>.

Consequently, the advancement of the first cradle element <NUM> with respect to the lateral plates <NUM> determines the advancement of the second external pinions <NUM> relative to respective between the second top racks <NUM> with which they mesh, thus determining the rotation of the second external pinions <NUM>.

The rotation of the second external pinions <NUM> imposes the rotation of the second internal pinions <NUM> which, in turn, determine the advancement of respective third racks <NUM> with which they mesh, causing their extraction with respect to the first cradle element <NUM>.

The third racks <NUM>, as mentioned, are constrained externally to the sides of the second cradle element <NUM> and, therefore, their extraction relative to the first cradle element <NUM> determines the extraction of the second cradle element <NUM> itself with respect to the first cradle element <NUM>.

The elongation of the extendable structure along the gripping direction <NUM> allows the gripping members <NUM> to be positioned at a pick-up or release point of a tool <NUM> to be picked up or to be released.

With reference to what has been described above, it is clear that the extensible gripping device <NUM> is capable of achieving the set objects.

The use of pinion-rack units for moving the lateral plates <NUM> relative to the fastening plates <NUM>, of the first cradle element <NUM> with respect to the lateral plates <NUM> and of the second cradle element <NUM> with respect to the first cradle element <NUM> ensures a precise and rapid linear movement of the extensible gripping device <NUM>, avoiding displacements or misalignments due to the load of the at least one tool moved by the extensible gripping device <NUM> itself with respect to a predetermined positioning.

The extensible gripping device <NUM> is therefore capable of overcoming a drawback which afflicts the solutions of the prior art.

Furthermore, the use of a transmission comprising pinion-rack units makes it possible to effectively counteract the effects of the inertias acting on the extensible gripping device <NUM> during its extension or withdrawal, allowing the movement speed of the extensible gripping device <NUM> to be increased itself and therefore its productivity, understood as the time required to compose a cutting fixture comprising a plurality of tools <NUM> aligned in succession with each other according to a predetermined pattern.

Claim 1:
Extensible gripping device (<NUM>) configured for gripping a tool (<NUM>), wherein said extensible gripping device (<NUM>) comprises:
- gripping members (<NUM>),
- an extensible structure for supporting and moving said gripping members (<NUM>) along a gripping direction (<NUM>),
- fastening plates (<NUM>) configured for fixing said extensible gripping device (<NUM>) to a frame (<NUM>),
wherein said fastening plates (<NUM>) delimit said extensible gripping device (<NUM>) from opposite sides and are connected to each other via a transversal element (<NUM>),
wherein said extensible structure comprises two lateral plates (<NUM>) operatively slidably connected to opposite sides of said transversal element (<NUM>), a first cradle element (<NUM>) slidably connected to said lateral plates (<NUM>) and a second cradle element (<NUM>) slidably connected to said first cradle element (<NUM>), wherein said gripping members (<NUM>) are operatively connected to said second cradle element (<NUM>),
- a motor unit (<NUM>) operatively connected to said lateral plates (<NUM>) via a first transmission unit, wherein said first transmission unit is configured to move said lateral plates (<NUM>) relative to said fastening plates (<NUM>) along said gripping direction (<NUM>),
- a second transmission unit configured to kinematically connect said lateral plates (<NUM>) with said first cradle element (<NUM>) and said first cradle element (<NUM>) with said second cradle element (<NUM>) via respective connections of pinion-rack type, so that the movement of said lateral plates (<NUM>) with respect to said fastening plates (<NUM>) causes a simultaneous movement of said first cradle element (<NUM>) which, in turn, causes a simultaneous movement of said second cradle element (<NUM>) all with the same direction of advancement along said gripping direction (<NUM>),
wherein said motor unit (<NUM>) is constrained to said transversal element (<NUM>) and said first transmission unit comprises a mechanical transmission for connecting the motion output of motor unit (<NUM>) to both said lateral plates (<NUM>).