Patent Description:
More in particular, the present invention relates to a compact depalletizing machine for pallets/platforms of glass bottles, tins, cans for beverages and the like. Use to which the following disclosure will make explicitly reference without thereby losing generality.

As is known, in the machine packaging filed there are numerous models of depalletizing machines that are capable of unpacking in a completely automated manner a pallet of bottles, tins or cans, providing at the outlet a succession of bulk products, ready to be sent to other machines.

The depalletizing machines for pallets of tins and cans most currently widespread on the market comprise: a lifting platform, on which the pallet to be unpacked is placed; a bulk-products storage shelf, which is placed beside the lifting platform, immovable in space at a given height from the ground generally greater than <NUM> meters, and is dimensioned so as to be able to accommodate an entire layer of tins or cans; and a transversal pushing blade, which is arranged in a horizontal position on the opposite side of the lifting platform with respect to the bulk-products storage shelf, at a height from the ground slightly greater than that of the bulk-products storage shelf.

The lifting platform is capable of step lifting the pallet to be unpacked, so as to bring, each time, the upper layer of the pallet to be unpacked at the level of the bulk-products storage shelf.

The transversal pushing blade, in turn, is horizontally movable at the top of the pallet to be unpacked, so as to come into abutment against the lateral side of the layer of the pallet which is at the height of the bulk-products storage shelf, i.e. the upper layer of the pallet, and then move horizontally towards the bulk-products storage shelf, pushing in block the entire upper layer of the pallet on the adjacent bulk-products storage shelf.

Finally, the above-described depalletizing machines are provided with an outlet conveyor, which is capable of transferring outside of the machine the tins or the cans arriving on the bulk-products storage shelf, providing at the outlet a succession of bulk tins or cans.

Unfortunately, although ensuring a very high hourly productivity, the above-described depalletizing machines have high dimensions that prevent the installation thereof in small-sized bottling or boxing lines.

Moreover, the above-described depalletizing machines have in average very high operating costs, mainly due to the high consumption of electric energy.

The depalletizing machines used for unpacking pallets of glass bottles and the like, for example, require very powerful electric motors, with the high energy consumptions that this entails. Notoriously, in fact, a layer of bottles has a rather high weight, hence the pushing blade has to exert a remarkable push in order to succeed in pushing/moving the entire layer of bottles onto the bulk-products storage shelf.

In patent application <CIT> there is described a compact depalletizing machine that overcomes a good part of the above-described drawbacks, anyway ensuring a remarkable hourly productivity.

In the depalletizing machine object of patent application <CIT>, the bulk-products storage shelf is replaced by a small auxiliary movable platform, which is dimensioned so as to accommodate one single row of products at a time, and is vertically movable alongside the lifting platform between an upper position in which the auxiliary movable platform is adjacent to the top of the pallet to be unpacked, substantially coplanar to the upper layer of the pallet, and a lower position in which the auxiliary movable platform is spaced beneath the top of the pallet to be unpacked, at the side of a small belt conveyor, which is capable of receiving and transferring the bulk products outside of the depalletizing machine.

Additionally, the depalletizing machine object of patent application <CIT> uses, instead of the pushing blade, a gripping head which is movable forwards and backwards on a horizontal reference plane intersecting the top of the pallet to be unpacked, and is capable of moving one row of products at a time from the top of the pallet to be unpacked onto the auxiliary movable platform stationary in the upper position.

More in detail, the gripping head of the depalletizing machine object of patent application <CIT> comprises: a transversal support beam, which is arranged in a horizontal position at the side of the top of the pallet to be unpacked, and is horizontally movable to and from the upper layer of the pallet to be unpacked while remaining parallel to itself; an auxiliary floating bar, which is fixed to the support beam so as to remain suspended alongside and parallel to the latter, and is capable of moving vertically with respect to the support beam while remaining parallel to itself; and a vacuum gripping equipment which is located on the side of the auxiliary floating bar, on the opposite side with respect to the support beam, and is capable of grasping and holding a single row of products by gripping the lateral side of the products.

Even more in detail, the transversal support beam is capable of moving forwards and backwards on the horizontal reference plane, between a first operating position in which the support beam arranges the auxiliary bar adjacent to a lateral row of the upper layer of the pallet, so that the vacuum gripping equipment can firmly grasp and hold the entire row of products; and a second operating position in which the support beam is placed at the side of the lifting platform, with the floating bar vertically aligned to the auxiliary movable platform, so as to allow the vacuum gripping equipment to deposit the row of products onto the auxiliary movable platform stationary in the upper position.

Although operating excellently, the compact depalletizing machine object of patent application <CIT> requires the pallet to be unpacked to be placed on the lifting platform in a quite precise manner, because the vacuum gripping equipment present on the side of the floating bar has to be able to simultaneously rest on all of the products of the lateral row of the upper layer of the pallet. Working condition difficult to obtain if the lateral side of the pallet stationary on the lifting platform is greatly inclined with respect to the transversal support beam.

Aim of the present invention is to make the depalletizing machine object of patent application <CIT> still more versatile and efficient.

According to the present invention, there is provided a depalletizing machine as defined in Claim <NUM> and preferably, though not necessarily, in any one of the claims dependent thereon.

The present invention will now be described with reference to the accompanying drawings, which illustrate a non-limiting example embodiment thereof, wherein:.

With reference to <FIG>, reference number <NUM> denotes, as a whole, a depalletizing machine adapted to unpack in automatic manner a pallet or platform of products <NUM>, providing at outlet a succession of bulk products, ready to be used by other machines.

In other words, the depalletizing machine <NUM> is adapted to receive at inlet a pallet of products <NUM> and to provide at outlet a succession of bulk products.

More in detail, the depalletizing machine <NUM> is particularly adapted to unpack in automatic manner a pallet <NUM> of bottles <NUM>, providing at outlet a succession of bulk bottles <NUM>, ready to be used by other machines.

The depalletizing machine <NUM> is thus particularly adapted to unpack in automatic manner an object formed by a given number of ordered and compact layers <NUM> of bottles <NUM> which are stacked on top of each other, and are resting on a traditional transportation platform <NUM>, usually having a rectangular or square shape.

Additionally, each layer of bottles <NUM> is basically formed by a given number of rows of bottles <NUM> which are arranged closely juxtaposed to each other, and are located resting on a support-board or tray <NUM> that, in turn, rests on the immediately underlying layer of bottles <NUM>.

Clearly, the depalletizing machine <NUM> could also be used to unpack in automatic manner a pallet of tins, cans for beverages or similar products, providing at the outlet a succession of bulk products, ready to be used by other machines.

With reference to <FIG>, <FIG>, <FIG> and <FIG>, the depalletizing machine <NUM> firstly comprises a rigid supporting framework <NUM>, which is preferably made of metal material, and more in detail of rectilinear metal section-bars firmly fixed to each other, and is adapted to stably rest on and optionally be anchored to the ground.

The depalletizing machine <NUM> additionally comprises: a lifting platform <NUM>, which is adapted to receive resting on it the pallet to be unpacked <NUM>, and is fixed to the supporting framework <NUM> with the capability of moving vertically so as to be able to lift from the ground the pallet to be unpacked <NUM> and to place the upper layer <NUM> of the pallet at an elevated and substantially horizontal reference plane P, which is at a predetermined height h<NUM> from the ground; and an auxiliary movable platform <NUM>, which is dimensioned so as to temporarily receive/accommodate one single row of bottles <NUM> or other products coming from the pallet <NUM> stationary on the lifting platform <NUM>, and is fixed to the supporting framework <NUM> alongside the lifting platform <NUM>, with the capability of moving vertically in a separate and independent manner with respect to the lifting platform <NUM>.

More in detail, the auxiliary platform <NUM> is oblong in shape and is vertically movable at the side of the lifting platform <NUM>, between a loading position (see <FIG>, <FIG> and <FIG>) in which the auxiliary platform <NUM> is aligned to the horizontal reference plane P, i.e. is substantially coplanar to the elevated plane P, and is thus capable of loading/ receiving a row of bottles <NUM> belonging to the upper layer <NUM> of the pallet to be unpacked <NUM>, and an unloading position (see <FIG> and <FIG>) in which the auxiliary movable platform <NUM> is at a predetermined height h<NUM> from the ground, spaced beneath the elevated plane P, and is capable of unloading the previously loaded row of bottles <NUM>.

The lifting platform <NUM>, on the other hand, is adapted to lift from the ground the pallet to be unpacked <NUM> so as to align, each time, the upper layer <NUM> of the pallet <NUM> with the elevated plane P.

Preferably, the elevated plane P is moreover at a height h<NUM> from the ground ranging between <NUM>,<NUM> and <NUM>,<NUM> (meters), and/or greater than the maximum height of the pallets <NUM> to be unpacked.

When it is in the unloading position, in turn, the auxiliary platform <NUM> is preferably at a height h<NUM> ranging between <NUM>,<NUM> and <NUM>,<NUM> (meters).

Additionally the depalletizing machine <NUM> also comprises a gripping head <NUM>, which is fixed to the supporting framework <NUM> so as to be able to move horizontally on the elevated plane P, above the lifting platform <NUM> and the auxiliary platform <NUM>, and is adapted to transfer one single row of bottles <NUM> at a time from the top of the pallet to be unpacked <NUM> up to the auxiliary platform <NUM> stationary in the loading position.

More in detail, the gripping head <NUM> is provided with a vacuum gripping equipment <NUM> which is capable of firmly grasping and holding all of the bottles <NUM> that form a row of bottles <NUM> of the upper layer <NUM> of the pallet to be unpacked <NUM>, gripping by vacuum on the side/trunk of the bottles <NUM>.

In other words, the vacuum gripping equipment <NUM> is structured/dimensioned so as to grip by vacuum the side/trunk of the bottles <NUM> forming the row of bottles <NUM>, regardless of the shape and/or dimensions of the single bottles <NUM>.

Therefore, the vacuum gripping equipment <NUM> is capable of firmly grasping and holding also tins, cans for beverages and other products.

The gripping head <NUM>, in addition, is movable forwards and backwards on the elevated plane P while remaining always on the plane parallel to itself, between a first operating position (see <FIG>, <FIG>, <FIG>, <FIG> and <FIG>) in which the gripping head <NUM> is arranged at the side of the lifting platform <NUM>, substantially vertically aligned to the auxiliary platform <NUM>, and a second operating position (see <FIG> and <FIG>) in which the gripping head <NUM> is vertically aligned to the lifting platform <NUM>, and is arranged adjacent to the bottles <NUM> that form a lateral row of the upper layer <NUM> of the pallet <NUM> stationary on the lifting platform <NUM>, so that the vacuum gripping equipment <NUM> can firmly grasp and hold the bottles <NUM> of said lateral row.

With reference to <FIG>, <FIG>, <FIG> and <FIG>, additionally the depalletizing machine <NUM> preferably also comprises: an outlet conveyor <NUM>, which is adapted to transfer the bulk bottles <NUM> or other products outside of the depalletizing machine <NUM>, is preferably firmly fixed to the supporting framework <NUM>, and is located beneath the elevated plane P, beside the vertical corridor engaged by the auxiliary platform <NUM> preferably on the opposite side with respect to the lifting platform <NUM>, so as to be adjacent to the auxiliary movable platform <NUM> stationary in the unloading position; and a products moving assembly <NUM>, which is preferably firmly fixed to the supporting framework <NUM>, and is adapted to push, on command, the bottles <NUM> from the auxiliary platform <NUM> to the outlet conveyor <NUM>, when the auxiliary movable platform <NUM> is beside the outlet conveyor <NUM>, i.e. when the auxiliary platform <NUM> is in the unloading position.

More in detail, the outlet conveyor <NUM> is preferably provided with a product resting and/or advancing plane which is horizontally aligned and flanked to the auxiliary platform <NUM> in the unloading position. In other words, the product resting and/or advancing plane of the outlet conveyor <NUM> is at a height from the ground substantially equal to the height h2.

The products moving assembly <NUM>, in turn, is preferably structured so as to be able to horizontally push an entire row of bottles <NUM> from the auxiliary platform <NUM> stationary in the unloading position to the immediately adjacent outlet conveyor <NUM>.

With reference to <FIG>, <FIG>, <FIG> and <FIG>, in the example shown, in particular, the rigid supporting framework <NUM> preferably has a substantially parallelepiped-shaped cage structure, and the lifting platform <NUM> is preferably placed inside the supporting framework <NUM> with the capability of moving vertically while remaining inside the supporting framework <NUM>.

Additionally, the lifting platform <NUM> preferably comprises: a horizontal deck <NUM> with a plate-like structure, preferably made of metal material, which is preferably substantially rectangular in shape, is preferably fixed in a vertically slidable manner to the four vertical uprights <NUM> of the supporting framework <NUM>, and is dimensioned so as to be able to receive resting on it the transportation platform <NUM> of the pallet to be unpacked <NUM>; and optionally also a preferably electrically- or pneumatically- operated, centering assembly (not visible in the figures), which is placed on the horizontal deck <NUM>, and is capable of centering the platform <NUM> of the pallet to be unpacked <NUM> on the rigid platform <NUM> and optionally also firmly locking the transportation platform <NUM> on the rigid deck <NUM>.

In the example shown, in particular the horizontal deck <NUM> preferably has a rectangular shape substantially complementary to that of the transportation platform <NUM> of the pallet to be unpacked <NUM>.

Preferably, the depalletizing machine <NUM> additionally comprises a first, preferably electrically-operated, driving assembly <NUM>, which is adapted to move, on command and preferably also in a step manner, the horizontal deck <NUM> of the lifting platform <NUM> along the vertical uprights <NUM> of the supporting framework <NUM>, in a substantially vertical direction d<NUM>, so as to be able to vary/adjust, on command, the height of the horizontal deck <NUM> from the underlying ground.

In other words, the driving assembly <NUM> is adapted to progressively move the lifting platform <NUM> upwards along the vertical uprights <NUM> of the supporting framework <NUM>, so as to align each time the upper layer <NUM> of the pallet to be unpacked <NUM> to the elevated plane P.

In the example shown, in particular, the driving assembly <NUM> preferably comprises, on each vertical upright <NUM> of the supporting framework <NUM>: a pair of gear wheels <NUM> coplanar to each other, which are fixed in axially rotatable manner to the vertical upright <NUM>, in the proximity respectively of the upper end and of the lower end of the vertical upright <NUM>; and an roller chain <NUM> which is looped around the two gear wheels <NUM>, so that the two rectilinear sections of the chain <NUM> are parallel to the longitudinal axis of the vertical upright <NUM>, i.e. substantially vertical.

Additionally, the driving assembly <NUM> preferably also comprises at least one and more conveniently a pair of electric motors <NUM>, each of which is preferably fixed cantilevered to the top of a corresponding vertical upright <NUM> of rigid framework <NUM>, and is adapted to drive into rotation, selectively in both rotation directions, the gear wheels <NUM> fixed to the upper ends of at least two adjacent vertical uprights <NUM> of the rigid framework <NUM>.

More in detail, each electric motor <NUM> is mechanically connected to the upper gear wheels <NUM> of two adjacent vertical uprights <NUM> preferably by means of a gearing cascade that moreover comprises a drive shaft <NUM>, which extends horizontally astride of the two vertical uprights <NUM> and directly supports the upper gear wheels <NUM>.

Preferably, the two electric motors <NUM> are furthermore arranged horizontally aligned with and coaxial to each other and are optionally also mechanically connected to one another by means of a transversal driving shaft <NUM>.

The horizontal deck <NUM> of lifting platform <NUM> is rigidly fixed to a branch of each roller chain <NUM> of driving assembly <NUM>, so as to move along the vertical uprights <NUM> of the supporting framework <NUM> together with the chains <NUM>.

With reference to <FIG>, <FIG>, <FIG> and <FIG>, the auxiliary movable platform <NUM>, on the other hand, is oblong in shape and is preferably fixed in a vertically slidable manner to a pair of vertical uprights <NUM> of supporting framework <NUM>, so as to be able to move alongside the lifting platform <NUM> in a substantially vertical direction d<NUM>.

More in detail, the auxiliary platform <NUM> extends bridging two adjacent vertical uprights <NUM> of supporting framework <NUM>, and is preferably butt-fixed to both vertical uprights <NUM> so as to be able to freely move along the vertical uprights <NUM>.

In the example shown, in particular, the auxiliary platform <NUM> preferably comprises: a preferably rectilinear and preferably made of metal material, supporting crossbeam <NUM> which extends horizontally astride of said pair of vertical uprights <NUM> of supporting framework <NUM>, and has the two ends fixed in freely slidable manner to the vertical uprights <NUM>, so as to be able to move along the vertical uprights <NUM> in direction d<NUM> while remaining parallel to itself; and a preferably substantially rectangular-shaped, upper horizontal shelf <NUM> which is rigidly fixed above the supporting crossbeam <NUM>, preferably with the longer sides parallel to the longitudinal axis of the crossbeam, and is dimensioned so as to accommodate/receive resting on it one single row of bottles <NUM> or other products.

Preferably, the depalletizing machine <NUM> is furthermore provided with a second, preferably electrically-operated, driving assembly <NUM> which is adapted to move on command the supporting crossbeam <NUM> of auxiliary platform <NUM> on supporting framework <NUM>, in the direction d<NUM>, i.e. vertically, so as to be able to align, on choice and alternatively, the upper shelf <NUM> of auxiliary platform <NUM> to the elevated plane P or to the product resting and/or advancing plane of the outlet conveyor <NUM>.

In other words, the driving assembly <NUM> is adapted to move the auxiliary platform <NUM> up and down along the vertical uprights <NUM> of supporting framework <NUM>, between the loading position and the unloading position.

More in detail, the driving assembly <NUM> preferably comprises, on each vertical upright <NUM> of supporting framework <NUM>: a pair of toothed pulleys <NUM> coplanar to each other, which are fixed in axially rotatable manner to the vertical upright <NUM>, in proximity of the upper end and of the lower end of the vertical upright <NUM>; and a toothed belt <NUM> which is looped around the two toothed pulleys <NUM>, so that the two rectilinear segments of the belt <NUM> are parallel to the longitudinal axis of the vertical upright <NUM>.

Preferably, the driving assembly <NUM> moreover also comprises an electric motor <NUM>, which is preferably fixed cantilevered to a stiffening crossbeam that connects the lower ends of the two vertical uprights <NUM> flanking the auxiliary platform <NUM>, and is mechanically connected to one of the two toothed pulleys <NUM> of each pair of toothed pulleys <NUM> by means of a horizontal drive shaft, so as to be able to drive into rotation the two lower toothed pulleys <NUM> selectively in both rotation directions.

The two ends of the supporting crossbeam <NUM> of auxiliary platform <NUM> are mechanically connected to a branch of the facing belt <NUM> of driving assembly <NUM>, so as to move along the respective vertical uprights <NUM> of supporting framework <NUM> together with the toothed belts <NUM>.

With reference to <FIG>, the gripping head <NUM>, in turn, is preferably firmly fixed to the top of supporting framework <NUM>, above the lifting platform <NUM> and the auxiliary movable platform <NUM>, and is capable of freely moving/shifting on the reference plane P in a substantially horizontal direction ds.

In addition, the gripping head <NUM> comprises: a preferably rectilinear and preferably made of metal material, main support beam <NUM> which extends on the elevated plane P horizontally and orthogonally to the direction ds, and is fixed in a horizontally slidable manner to the supporting framework <NUM>; and a preferably rectilinear and preferably made of metal material, auxiliary floating bar <NUM> that directly supports the vacuum gripping equipment <NUM> and is attached to the support beam <NUM> so as to remain suspended alongside the latter.

More in detail, the vacuum gripping equipment <NUM> is preferably placed on a lateral side of the auxiliary floating bar <NUM>, on the opposite side with respect to the support beam <NUM>, so as to be able to rest on the side of the bottles <NUM> which are at the height of the elevated plane P, and form an entire row of products of the upper layer <NUM> of the pallet.

Additionally, the auxiliary floating bar <NUM> is stably fixed to the support beam <NUM> with the capability of freely oscillating with respect to the latter about a substantially vertical reference axis, so as to be able to vary its orientation with respect to the adjacent support beam <NUM>.

The depalletizing machine <NUM> is furthermore provided with a floating-bar orienting and locking assembly, which is capable of arranging and stably maintaining the floating bar <NUM> in a predetermined operating position with respect to the support beam <NUM>, preferably at least when the gripping head <NUM> is in the first operating position.

More in detail, the floating-bar orienting and locking assembly is preferably adapted to arrange and maintain the floating bar <NUM> substantially parallel to the support beam <NUM>.

With reference to <FIG>, <FIG> and <FIG>, in particular, the gripping head <NUM> is preferably provided with a mechanical swivel joint <NUM> which is interposed between the auxiliary floating bar <NUM> and the support beam <NUM>, and allows the floating bar <NUM> to freely oscillate with respect to the support beam <NUM> about a reference axis A, which is substantially vertical and substantially orthogonal to the longitudinal axis B of floating bar <NUM> and/or to the longitudinal axis C of support beam <NUM>.

More in detail, the swivel joint <NUM> is divided into an upper swiveling section and into a lower swiveling section, which are capable of freely rotating one with respect to the other about axis A. The lower swiveling section is preferably integral with the central section of the auxiliary floating bar <NUM>. The upper swiveling section, in turn, is preferably integral with the central section of support beam <NUM>.

In other words, the swivel joint <NUM> is preferably interposed between the central section of the auxiliary floating bar <NUM> and the adjacent central section of the main support beam <NUM>.

Additionally, the gripping head <NUM> is preferably moreover provided with a preferably electrically- or pneumatically-operated, orienting and locking device <NUM> which is preferably located on the support beam <NUM> and/or on the auxiliary floating bar <NUM>, and is capable, on command, of arranging and stably maintaining the floating bar <NUM> in a predetermined operating position in which the floating bar <NUM> is preferably substantially parallel to the support beam <NUM>.

Preferably, the floating bar <NUM> is furthermore vertically movable with respect to the support beam <NUM>, so that its distance from the horizontal reference plane P can be varied.

More in detail, the auxiliary floating bar <NUM> is preferably hanged/fixed to the support beam <NUM> also with the capability of moving vertically with respect to the latter, and the gripping head <NUM> is preferably also provided with a preferably electrically- or pneumatically- operated, actuator device <NUM> which is capable, on command, of lifting and lowering the floating bar <NUM> with respect to the main support beam <NUM>.

Preferably, the maximum shift/stroke of the auxiliary floating bar <NUM> in vertical direction is furthermore less than <NUM> (centimeters).

More in detail, the actuator device <NUM> is preferably interposed between the support beam <NUM> and the swivel joint <NUM>, and is preferably structured so as to move the swivel joint <NUM> by a few centimeters upwards and/or downwards with respect to support beam <NUM>, in a direction d<NUM> substantially vertical and substantially perpendicular to direction ds.

With reference to <FIG>, in the example shown, in particular, the two ends of support beam <NUM> are preferably fixed in slidable manner to a pair of horizontal crossbeams <NUM> of supporting framework <NUM>, which substantially lie on the reference plane P and extend in the direction ds one spaced beside the other, preferably rigidly connecting the upper ends of just as many pairs of vertical uprights <NUM>.

Preferably, the depalletizing machine <NUM> is moreover provided with a third, preferably electrically-operated, driving assembly <NUM> which is adapted to move on command the support beam <NUM> on the horizontal crossbeams <NUM> of supporting framework <NUM>, in the direction ds, while maintaining the support beam <NUM> always parallel to itself.

More in detail, the driving assembly <NUM> preferably comprises, on each horizontal crossbeam <NUM> of supporting framework <NUM>: a pair of toothed pulleys <NUM> coplanar to each other, which are fixed in axially rotatable manner to the horizontal crossbeam <NUM>, in the proximity of the two ends of the crossbeam; and a toothed belt <NUM> which is looped around the two toothed pulleys <NUM>, so that the two rectilinear segments of the same belt <NUM> are parallel to the longitudinal axis of the horizontal crossbeam <NUM>.

Preferably, the driving assembly <NUM> furthermore also comprises an electric motor <NUM>, which is preferably fixed cantilevered to one of the two horizontal crossbeams <NUM> of supporting framework <NUM>, and is mechanically connected to one of the toothed pulleys <NUM> of each pair of toothed pulleys <NUM> by means of a horizontal drive shaft <NUM>, so as to be able to drive into rotation the two toothed pulleys <NUM> selectively in both rotation directions.

The two ends of support beam <NUM> are mechanically connected each to one branch of the facing toothed belt <NUM> of driving assembly <NUM>, so as to move along the respective horizontal crossbeams <NUM> together with the toothed belts <NUM>.

With reference to <FIG>, additionally the gripping head <NUM> is preferably provided with an intermediate bracket <NUM>, which directly supports the swivel joint <NUM> and is firmly fixed to the support beam <NUM> with the capability of freely moving with respect to the latter in the direction d4.

More in detail, the intermediate bracket <NUM> preferably has an upside-down L-shaped structure, is placed astride of the central section of support beam <NUM>, and is firmly fixed to the body of support beam <NUM> with the capability of freely sliding only in vertical direction, i.e. perpendicular to the longitudinal axis C of support beam <NUM>.

Preferably, the swivel joint <NUM> is furthermore rigidly fixed to the bracket <NUM> via the interposition of a manually-operated, adjustment mechanism <NUM> that allows increasing or decreasing by some degrees the tilt angle of the rotation axis A of swivel joint <NUM> with respect to the horizontal reference plane P.

The rotation axis A of swivel joint <NUM>, therefore, can be tilted by a few degrees with respect to the vertical.

In other words, the rotation axis A of swivel joint <NUM> lies on a vertical plane which is substantially parallel to the movement direction ds of gripping head <NUM> on the elevated plane P, and is preferably also perpendicular to the longitudinal axis C of support beam <NUM>.

In the example shown, in particular, the adjustment mechanism <NUM> is preferably structured so as to be able to modify the tilt angle of the rotation axis A of swivel joint <NUM> up to a maximum of ±<NUM>° with respect to the vertical.

More in detail, with reference to <FIG>, the adjustment mechanism <NUM> preferably comprises: a squared-section rectilinear bar <NUM> which extends above the bracket <NUM>, parallel to the longitudinal axis C of support beam <NUM>, and is firmly fixed to the bracket <NUM> with the capability of freely rotating about its longitudinal axis; a crank <NUM> which is fixed to one of the two ends of rectilinear bar <NUM> so as to allow the user to manually rotate the rectilinear bar <NUM> about its longitudinal axis; and a pair of manually-operated, locking clamps <NUM> that are placed in the proximity of the two ends of rectilinear bar <NUM>, and are capable of preventing the rotation of rectilinear bar <NUM> about its longitudinal axis.

The upper swiveling section of swivel joint <NUM> is preferably fixed in rigid and cantilevered manner on the side of rectilinear bar <NUM>.

With particular reference to <FIG> and <FIG>, the actuator device <NUM>, in turn, is preferably placed on the support beam <NUM>, beneath the intermediate bracket <NUM>, and is capable of lifting on command the intermediate bracket <NUM> by a few centimeters (for example <NUM>) with respect to support beam <NUM>. Clearly, every vertical movement of the intermediate bracket translates into a vertical movement of the swivel joint <NUM> and of the floating bar <NUM> integral thereto.

In the example shown, in particular, the actuator device <NUM> is preferably pneumatically-operated and preferably comprises a pair of single-acting or double-acting cylinders <NUM>, which are fixed to the support beam <NUM> in vertical position and beneath the intermediate bracket <NUM>, on opposite sides of swivel joint <NUM>, and are capable of lifting and lowering, on command, the bracket <NUM> with respect to the support beam <NUM>.

With reference to <FIG>, the orienting and locking device <NUM>, on the other hand, is preferably located on the support beam <NUM> and is selectively adapted to come into abutment against the floating bar <NUM>, in two points arranged on opposite sides of swivel joint <NUM>, so as to arrange the floating bar <NUM> substantially parallel to the support beam <NUM> and prevent any further rotation of the floating bar <NUM> about axis A.

More in detail, the orienting and locking device <NUM> is preferably attached underneath the support beam <NUM>, and preferably comprises: a preferably U- or C- shaped, suspended rigid structure <NUM> which hangs beneath the central section of support beam <NUM>, facing the swivel joint <NUM>, and is capable of freely and horizontally moving to and from the floating bar <NUM> while remaining always parallel to itself; and at least one single-acting or double-acting cylinder <NUM>, which is rigidly fixed beneath the central section of the support beam <NUM> and is capable of moving, on command, the suspended rigid structure <NUM> between a first operating position in which the rigid structure <NUM> is in abutment against the floating bar <NUM> in two points arranged on opposite sides of swivel joint <NUM>, and a second operating position in which the rigid structure <NUM> is at a given distance from the floating bar <NUM>, so as to allow the floating bar <NUM> to freely rotate about the rotation axis A of swivel joint <NUM>.

In the example shown, in particular, the suspended rigid structure <NUM> preferably comprises: a rectilinear horizontal bar <NUM>, preferably having a square section, which hangs underneath the support beam <NUM> so as to be substantially parallel to the latter, i.e. perpendicular to the direction ds, and with the capability of moving to and from the floating bar <NUM> while remaining always parallel to itself; and a pair of rectilinear projecting pins <NUM>, which jut out cantilevered from the two ends of the rectilinear horizontal bar <NUM>, towards the floating bar <NUM>, preferably while remaining parallel to direction ds.

The pneumatic piston <NUM>, in turn, is preferably rigidly fixed beneath the central section of support beam <NUM>, in horizontal position and with the movable piston-rod arranged parallel to the direction ds and rigidly fixed to the rectilinear horizontal bar <NUM>.

With reference to <FIG>, the vacuum gripping equipment <NUM>, in turn, is preferably at least partially incorporated in the floating bar <NUM>.

More in detail, the floating bar <NUM> is internally hollow, and the vacuum gripping equipment <NUM> preferably comprises: a mat of soft and elastically deformable material <NUM>, which is preferably made of a polymeric material foam, is firmly fixed to the side of floating bar <NUM> on the opposite side with respect to the support beam <NUM>, so as to cover a section of the floating bar <NUM> of given length and not less than the maximum width of the pallets <NUM> that can be unpacked by the machine, and is preferably provided with a multitude of transversal through ducts <NUM> that communicate with the internal cavity of the floating bar <NUM>; and a flexible connection piping (not shown in the figures) which connects the internal cavity of floating bar <NUM> to a preferably electrically-operated, air suction assembly <NUM> that, in turn, is adapted to stably maintain the inside of floating bar <NUM> at a pressure lower than the ambient pressure.

In the example shown, in particular, the air suction assembly <NUM> is preferably fixed to the supporting framework <NUM>, beneath the outlet conveyor <NUM>.

The mat of soft and elastically deformable material <NUM>, on the other hand, is preferably made of a closed-cell polymeric material foam, it has a thickness preferably ranging between <NUM> and <NUM> (millimeters), and preferably covers the lateral side of the floating bar <NUM> substantially for the entire length of floating bar <NUM>.

Furthermore, the transversal through ducts <NUM> of the mat of soft and elastically deformable material <NUM> are preferably substantially rectilinear, and end at the wall of the floating bar <NUM>, where there are small pass-through holes <NUM> that put into communication the transversal ducts <NUM> with the internal cavity of floating bar <NUM>, so as to create a vacuum inside the various transversal ducts <NUM>.

Preferably, the transversal through ducts <NUM> have a substantially circular cross-section, with a nominal diameter preferably less than <NUM> (millimeters) and more conveniently less than <NUM>.

With reference to <FIG>, the gripping head <NUM> is preferably also provided with a series of tray-pushing antennas <NUM>, which are suitably spaced along the floating bar <NUM> and jut out cantilevered from the floating bar <NUM> upwards, preferably in a substantially vertical direction, so as to be able to come into abutment against the lateral side of the support-board or tray <NUM> lying on the upper layer <NUM> of the pallet to be unpacked <NUM>.

Clearly, in a different embodiment, the tray-pushing antennas <NUM> may jut out cantilevered upwards starting from the support beam <NUM>.

Preferably, the depalletizing machine <NUM> additionally also comprises a large tray-collecting storage <NUM> preferably with a suspended pocket structure, which is firmly fixed to the supporting framework <NUM> at the side of lifting platform <NUM>, on the opposite side with respect to the auxiliary platform <NUM>, and is arranged in an elevated position so that its upper mouth is substantially horizontally aligned with the elevated plane P.

When the gripping head <NUM> moves horizontally towards the upper layer <NUM> of the pallet to be unpacked <NUM>, the tray-pushing antennas <NUM> that rise from the floating bar <NUM>, rest on the lateral edge of the support-board or tray <NUM> which is resting above the upper layer <NUM> of pallet <NUM>, so as to progressively push it in direction ds, towards the tray-collecting storage <NUM>.

With reference to <FIG>, <FIG>, <FIG> and <FIG>, the products moving assembly <NUM>, in turn, is preferably rigidly fixed to a horizontal crossbeam <NUM> of the rigid framework <NUM>, which extends bridging the two vertical uprights <NUM> that flank and support the auxiliary platform <NUM>, at a predetermined height from the ground.

Preferably, the products moving assembly <NUM> additionally comprises: a transversal pushing blade <NUM>, oblong in shape, which is arranged in a horizontal position, alongside the vertical corridor engaged by the auxiliary platform <NUM>, at a height from the ground slightly greater than that of the auxiliary platform <NUM> in the unloading position and/or than that of the product resting and/or advancing plane of the outlet conveyor <NUM>; and a preferably electrically-operated, shifting device <NUM> which is interposed between the pushing blade <NUM> and the horizontal crossbeam <NUM> so as to support the pushing blade <NUM>, and is capable of moving the pushing blade <NUM> horizontally in a direction d<NUM> preferably substantially parallel to the direction ds, so as to push the bottles <NUM> resting on the auxiliary platform <NUM> stationary in the unloading position, from the auxiliary platform <NUM> onto the outlet conveyor <NUM>.

More in detail, the transversal pushing blade <NUM> is preferably substantially rectilinear, is preferably suspended beneath the horizontal crossbeam <NUM>, and is preferably substantially perpendicular to the direction ds.

The shifting device <NUM>, in turn, is preferably structured so as to move horizontally the pushing blade <NUM> in direction d<NUM> while maintaining the blade always substantially parallel to itself.

Therefore, the transversal pushing blade <NUM> moves horizontally while remaining substantially parallel to the support beam <NUM> of gripping head <NUM> and substantially perpendicular to the movement direction ds of the gripping head <NUM> on the elevated plane P.

More in detail, the transversal pushing blade <NUM> is placed at a height from the ground slightly greater than the height h<NUM>, so as to be movable above and more or less flush with the auxiliary platform <NUM> stationary in the unloading position and with the product resting and/or advancing plane of the outlet conveyor <NUM>.

Preferably, the transversal pushing blade <NUM> is moreover placed on the opposite side of the vertical corridor engaged by the auxiliary platform <NUM> with respect to the outlet conveyor <NUM>, whereas the shifting device <NUM> is adapted to move the pushing blade <NUM> horizontally through the vertical corridor engaged by the auxiliary platform <NUM>, so as to bring the pushing blade <NUM> into abutment against the entire row of bottles <NUM> resting on the auxiliary platform <NUM> stationary in the unloading position, and then to push the row of bottles <NUM> horizontally on the adjacent outlet conveyor <NUM>.

In the example shown, in particular, the pushing blade <NUM> preferably consists of a rectilinear section bar <NUM>, preferably made of metal material, which has an axial length greater than the nominal length of the rows of bottles <NUM> to be moved; and of a rectilinear stiffening bar <NUM>, preferably having a square section and preferably made of metal material, which is firmly fixed to the back of the rectilinear section bar <NUM>.

The shifting device <NUM>, on the other hand, preferably comprises: a pair of articulated arms <NUM> with pantograph movement, which are mounted movable beneath the horizontal crossbeam <NUM> so as to be able to open/divaricate in scissors-like manner on a substantially horizontal plane, in the direction ds, and directly support the pushing blade <NUM>; and a preferably electrically-operated, command servomotor <NUM> which is preferably located above the horizontal crossbeam <NUM>, and is mechanically connected to both articulated arms <NUM> so as to be able to open and close them in a synchronized manner.

More in detail, each articulated arm <NUM> with pantograph movement preferably comprises: a preferably rectilinear and preferably made of metal material, rigid upper half-arm which extends horizontally and has the proximal end pivoted in axially rotatable manner on the horizontal crossbeam <NUM> so as to be able to freely rotate about a first vertical axis; a preferably rectilinear and preferably made of metal material, rigid lower half-arm which extends horizontally and has the proximal end pivoted in axially rotatable manner to the distal end of the upper half-arm so as to be able to freely rotate about a second vertical axis; and a gearing cascade which is adapted to transmit, to the lower half-arm, the rotation motion with which the upper half-arm rotates about the first axis, so that the lower half-arm is forced to rotate with respect to the upper half-arm about the second axis with a double angular speed with respect to the angular speed with which the upper half-arm rotates about the first axis and with a rotation section opposite the latter.

In other words, the gearing cascade of the articulated arm <NUM> is adapted to transmit, to the lower half-arm, the rotation motion with which the upper half-arm rotates around the first axis, so as to coordinate the scissor-like opening of the two half-arms with the rotation of the upper half-arm about the first axis.

The pushing blade <NUM>, or rather the rectilinear bar <NUM>, is preferably attached to the distal ends of the lower half-arms of both articulated arms <NUM> via as many swivel joints with vertical rotation axis.

The servomotor <NUM>, in turn, is preferably mechanically connected to the upper half-arm of both articulated arms <NUM>, so as to rotate both upper half-arms about the respective first rotation axes.

With reference to <FIG>, preferably the outlet conveyor <NUM> in turn consists of a linear belt conveyor of known type, which is preferably fixed to the supporting framework <NUM> in a substantially horizontal position, so that its product advancing plane is substantially coplanar to the upper shelf <NUM> of the auxiliary platform <NUM> in the unloading position.

In other words, the linear belt conveyor is preferably fixed to the supporting framework, so that its product advancing plane is at a height from the ground substantially equal to the height h<NUM>.

Finally, the depalletizing machine <NUM> preferably moreover comprises an electronic control device <NUM> that is adapted to control the driving assemblies <NUM>, <NUM> and <NUM>, the orienting and locking device <NUM>, the actuator device <NUM> and the servomotor <NUM> of shifting device <NUM>, so as to automatedly unpack the pallet <NUM> temporarily resting on the lifting platform <NUM>.

Preferably, the electronic control device <NUM> is furthermore capable of commanding/driving also the air suction assembly <NUM>, so as to adjust/vary also the flow rate of the air that is sucked through the mat of soft and elastically deformable material <NUM>.

The operation of depalletizing machine <NUM> differs from that of the depalletizing machine described in patent application <CIT> for the fact that the electronic control device <NUM>, while approaching the gripping head <NUM> to the upper layer <NUM> of the pallet for picking up a new row of bottles <NUM>, deactivates the orienting and locking device <NUM> so as to allow the floating bar <NUM> to freely rotate/oscillate about the reference axis A.

With reference to <FIG>, being free to rotate/ oscillate about axis A, on touching the lateral row of the upper layer <NUM> of the pallet, the floating bar <NUM> arranges itself automatically parallel to the row of bottles <NUM> to be picked up, thus bringing the vacuum gripping equipment <NUM> into abutment against all the bottles <NUM> that form the lateral row, regardless of the orientation/inclination of the row of bottles <NUM> with respect to the support beam <NUM>.

Assuming that the vacuum gripping equipment <NUM> of the gripping head <NUM> is already active and capable of firmly grasping and holding the entire row of bottles <NUM>, after bringing the vacuum gripping equipment <NUM> into abutment against all the bottles <NUM> of the lateral row of the upper layer <NUM> of the pallet, the electronic control device <NUM> lifts the floating bar <NUM> so as to lift (a few millimeters are sufficient) the bottles <NUM> of the lateral row from the immediately underlying support-board or tray <NUM>; and then takes the gripping head <NUM> back into the first operating position so as to place the row of bottles <NUM> above the auxiliary platform <NUM>.

During the return of the gripping head <NUM> in the first operating position, the electronic control device <NUM> newly activates the orienting and locking device <NUM> so as to newly arrange the floating bar <NUM> parallel to the support beam <NUM>, and imped any further rotation of the floating bar <NUM> about axis A.

After aligning the gripping head <NUM> to the auxiliary platform <NUM>, the electronic control device <NUM> lowers the floating bar <NUM> so as to lay down the entire row of bottles <NUM> on the auxiliary platform <NUM>; and then temporarily deactivates the vacuum gripping equipment <NUM> so as to release the bottles <NUM> on the auxiliary platform <NUM>.

Additionally, with reference to <FIG>, while the floating bar <NUM> approaches the lateral row of the upper layer <NUM> of the pallet, the tray-pushing antennas <NUM> of gripping head <NUM> come into abutment against the lateral edge of the support-board or tray <NUM> which is resting above the upper layer <NUM> of the pallet <NUM>, step pushing it in the direction ds towards the tray-collecting storage <NUM> located on the opposite side with respect to the gripping head <NUM>.

Clearly, the support-board or tray <NUM> rotates and falls by gravity directly into the tray-collecting storage <NUM>, when the barycenter of the support-board or tray <NUM> moves beyond the perimeter of the upper layer <NUM> of the pallet to be unpacked <NUM>.

The advantages resulting from the particular structure of gripping head <NUM> are remarkable and numerous.

Firstly, thanks to the presence of the swivel joint <NUM>, the floating bar <NUM> is capable of orienting itself parallel to the row of bottles <NUM> to be picked up in complete autonomy and without the intervention of the operator, thus eliminating the problems deriving from an incorrect positioning of the pallet to be unpacked <NUM> on the lifting platform <NUM>.

Furthermore, being dimensioned for transferring one row of products at a time from the top of the pallet <NUM> up to the outlet conveyor <NUM>, the depalletizing machine <NUM> has bulks significantly smaller than those of a traditional depalletizing machine.

For the same reason, additionally, the depalletizing machine <NUM> does not require electric motors of great power/large dimensions with all the entailing savings.

Finally, the use of a vacuum gripping equipment <NUM> capable of autonomously adhering to the side of the bottles <NUM> regardless of the shape and/or dimension of the bottles, allows the gripping head <NUM> to firmly grasp and hold also tins, cans for beverages and other products without the need to be reconfigured.

It is finally clear that modifications and variations may be made to the above-described depalletizing machine <NUM> without thereby departing from the scope of protection of the present invention.

For example, in a less sophisticated embodiment of the gripping head <NUM>, the mat of soft and elastically deformable material <NUM> can be replaced by a dense series/multitude of small-sized suction cups that are fixed cantilevered on the lateral side of the floating bar <NUM> preferably according to a quincunx distribution, and are connected to the air suction assembly <NUM> so as to attach themselves by vacuum on the side of the bottles <NUM> that form the lateral row of the upper layer <NUM> of the pallet to be unpacked <NUM>.

Clearly, the suction cups are capable of adhering/ attaching themselves by vacuum also to tins, cans and the like.

Additionally, the centering assembly of the lifting platform <NUM> can be replaced by a preferably electrically- or pneumatically- operated, locking assembly which is placed on the horizontal deck <NUM>, and is only capable of firmly locking the transportation platform <NUM> on the rigid deck <NUM>.

Claim 1:
A depalletizing machine (<NUM>) of the type comprising: a rigid supporting framework (<NUM>) adapted to be stably rest on the ground; a lifting platform (<NUM>), which is adapted to receive resting on it the pallet to be unpacked (<NUM>) and is vertically movable on said rigid supporting framework (<NUM>), so as to lift the pallet to be unpacked (<NUM>) from the ground and to align the upper layer (<NUM>) of the pallet to an elevated reference plane (P); an auxiliary movable platform (<NUM>), which is dimensioned so as to receive/accommodate a row of products (<NUM>) coming from the pallet (<NUM>) stationary on the lifting platform (<NUM>), and is vertically movable on said rigid supporting framework (<NUM>), beside the lifting platform (<NUM>), between a loading position in which the auxiliary movable platform (<NUM>) is aligned to said reference plane (P) and is able to load/receive a row of products (<NUM>), and an unloading position in which the auxiliary movable platform (<NUM>) is spaced beneath said reference plane (P) and is able to unload the previously loaded row of products (<NUM>); and a gripping head (<NUM>), which is provided with a vacuum gripping equipment (<NUM>) capable of firmly grasping and holding an entire row of products (<NUM>), and is horizontally movable on said reference plane (P) between a first operating position in which the gripping head (<NUM>) is placed at the side of the lifting platform (<NUM>), substantially vertically aligned to the auxiliary movable platform (<NUM>), and a second operating position in which the gripping head (<NUM>) is vertically aligned to the lifting platform (<NUM>) and arranges said vacuum gripping equipment (<NUM>) resting on a lateral row of products (<NUM>) of the upper layer (<NUM>) of the pallet to be unpacked (<NUM>);
the gripping head (<NUM>) comprising: a support beam (<NUM>), which is horizontally movable on said rigid support framework (<NUM>) while remaining substantially parallel to itself; and an auxiliary floating bar (<NUM>) that supports the vacuum gripping equipment (<NUM>) and is attached to said support beam (<NUM>) so as to remain suspended alongside the latter;
the depalletizing machine being characterised in that the auxiliary floating bar (<NUM>) is fixed to the support beam (<NUM>) with the capability of freely oscillating with respect to the beam about a first substantially vertical axis (A), so as to be able to vary its orientation with respect to said support beam (<NUM>).