EP3040172B1

EP3040172B1 - Plant and process for the processing of a block

Info

Publication number: EP3040172B1
Application number: EP15198063.8A
Authority: EP
Inventors: Remo Pisetta; Walter Gilli
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-12-05
Filing date: 2015-12-04
Publication date: 2022-09-21
Anticipated expiration: 2035-12-04
Also published as: PT3040172T; EP3040172A1

Description

The present disclosure relates in general to the processing of an initial block of porphyry, such as a porphyry sheet or slab portion, in order to obtain a processed block, such as a so-called porphyry cube, tile piece or tile. This processed block is normally used in the building sector for paving roads and in general for enriching and embellishing the urban environment.
In the continuation of the present disclosure, this processed block is referred to as a porphyry cube, it being understood that it may have any form necessary for the intended use. The initial block is a piece of porphyry of any shape with dimensions bigger than those of the processed block. The initial block may be an unprocessed piece or a processing reject in the stone sector.
The present disclosure arises from the realization on the part of the authors of the present patent application that, during the last decade, the world stone market has undergone a radical change. The number of stone producers/exporters has increased exponentially (in particular in China, India, Turkey and Pakistan) and globalization, along with the intensification of economic relations and the liberalization of trading, has had the effect that stone has become freely available throughout the world at a low price; this has been due mainly to the extremely competitive labour costs over which conventional Italian domestic operators/manufacturers no longer have any control. A further advantage in terms of competitivity for the aforementioned foreign stone manufacturers also consists in the availability of almost limitless natural resources which are not subject to any particular constraints as regards the exploitation and placement of the materials derived from processing waste in the stone sector.
Since 2007 the porphyry industry in the Trento area, following the extremely negative repercussions of the general economic situation, has attempted to counteract the decline in competitivity by promoting the positive reputation enjoyed by the material in the design world and the tradition and traceability of the product ("made in Italy"), while also deploying the typical marketing tools based on valorization of the product quality, communication services, professional qualifications of the stone-laying personnel, technical assistance and aftersales service.
However, it is logical to consider that the aforementioned measures, while significant and important, are able to have a concrete effect on the market and operators in the sector, only if there is a radical transformation of the method for processing the base material, since the extremely negative economic situation has revealed all the limitations of the sector where entrepreneurial individualism has been the main obstacle to innovation and research and development.
Moreover the product "porphyry" cannot be regarded as an ordinary stone among the many varieties: it is an architectural design and urban-engineering product which is historically recognized the world over as being a "unique and highly valued functional component of the building industry, in particular with regard to urban design".
A plant for processing porphyry and according to the preamble of claim 1 and a method according to the preamble of claim 11 are known from Italian patent_ITVI930185.
In the light of the above comments, a technical problem forming the basis of the present disclosure consists in the provision of a plant and a method for processing an initial porphyry block, which are able to meet the requirements mentioned above with reference to the prior art and achieve further advantages.
This is obtained by providing a processing plant and an associated method as defined in the respective independent claims. Preferred features of the present disclosure are defined in the respective dependent claims.
In particular, the present disclosure is based on the recognition that there exists a need to avoid a system for manually splitting or manually cutting an initial porphyry block since this system has a number of limitations, namely is based on procedures which are entirely - and arbitrarily - controlled by the single operator, with all the associated consequences.
With the manual splitting method, moreover, manufacturers are bound by a standard production procedure which often results in problems of overproduction in some product categories.
In other words, the authors of the present disclosure have recognized that a limited range of formats which may be produced results in the exclusion of specific market opportunities.
By way of example, at present the production of a cube with dimensions 10x10 may be managed with a good quality level, but a cube with dimensions 8x8 or 9x9 cannot be produced unless modifications are made to specific machinery.
An order which may be placed for material with dimensions 7.5x7.5, or in any case with tolerances +/- 5 mm, cannot be realized at present and is practically impossible for smaller size formats (e.g. 5x5). In fact, the same shearing machinery which is currently used, also for reasons associated with the operator safety devices, cannot cater for the processing of blocks with particularly small dimensions.
Moreover, the division of the porphyry product into variable thicknesses may today constitute a further obstacle in design processes where it is attempted to achieve very small dimensional variability margins in order to facilitate the cube laying process (for example using adhesive cements or in any case latest generation cement premixes - e.g., Mapestone^®). Such selection of the thicknesses today can only be performed manually (visually), and in all cases with any additional random checking system, with a large error margin and with increased commercialization costs.
Therefore, in order to achieve product differentiation with new and different formats and thus satisfy more varied marketing and installation criteria, the authors of the present disclosure have recognized that an essential goal is to achieve competitivity in the global markets.
In accordance with the present disclosure it is envisaged automating the method for processing an initial block, reducing to a minimum lost time and waste material by means of careful cost evaluation procedures and orienting production towards customer/client demand so that it is satisfied it in real time and with the correct amounts.
A method and an automated plant using industrial methods for managing the processing of initial blocks, such as slabs of porphyry, have therefore been devised with specific attention to the quality and the variability of the products, on the basis of the final demand for the porphyry cube to be obtained.
In particular, according to the present disclosure, at least one processing step is envisaged where an initial block is scanned by an apparatus configured to acquire information about the dimensions of the block and for detection of the grain and colour of the block. After scanning, the initial block is gripped by a gripping apparatus configured to place the block of porphyry in a certain position along the processing line. In practice, the block is situated along a processing line and a certain position of the block is known.
This certain position is necessary for a following step during which the initial block is cut. For this purpose a member is provided so as to be able to take the block from the certain position and position it in an equally certain position, namely a spatial position, with respective spatial coordinates, which may be determined and/or recognized by a control unit, underneath a shearing or cutting blade, so that the cut is performed according to the design. In fact, the choice of the side to be cut and the manner in which the initial block is cut may be performed by means of a calculation and control unit based on the information which is obtained from scanning and also based on the "certain" position of the gripping apparatus.
For example from the scanning step it may be understood whether the initial block has a given roughness which must be removed or unsuitable colours which are not useful for the final product. Alternatively, based on the shape of the initial block it is possible to establish how to obtain the greatest number of cubes with given dimensions.
Cutting may be performed in the same cutting station in temporal sequence, namely processing the block in the same cutting station several times, or in sequence in successive cutting stations, or in a combination of these sequences.
If processing is performed in the same cutting station, it is possible to envisage using an articulated robot able to grip the initial block and rotate it suitably so that the correct side to be cut is positioned underneath the blade.
In one embodiment of the present disclosure it is possible to envisage two main processing stages performed in succession in a spatial/temporal sequence, one after the other, each including substantially the same apparatus, namely the scanning apparatus, the gripping apparatus and the one or more cutting stations.
In the first cutting step or stage, the initial block is cut so as to obtain a plurality of porphyry strips. In practice, the initial block is analyzed in order to trim off any parts to be eliminated and the initial block then cut into adjacent "slices". If the initial block is a sheet-like part, several sheet-like strips, i.e. narrow and long sheet-like strips, are obtained. These strips may be understood as being intermediate blocks which may be further processed during the second processing step, in order to obtain the aforementioned processed blocks or cubes.
During the second step or stage it is envisaged analyzing again each sheet-like strip by means of the scanning apparatus in order to evaluate again its form. Then the strip is gripped by the gripping apparatus so as to be positioned in a certain position and be able to be gripped by the articulated robot.
Any number of scanning and gripping units may be provided depending on the number of strips obtained at the end of the first step. A cutting station (for each strip) may be provided downstream of each scanning unit and gripping apparatus. This cutting station may be configured to cut the strip at right angles to its length so as to obtain a plurality of porphyry cubes.
At least one processing step is envisaged where an initial block is scanned by an apparatus configured to acquire information about the dimensions of the block and/or for detection of the grain and colour of the block. After scanning, the initial block is gripped by a gripping apparatus configured to place the block of porphyry in a certain position along the processing line. In practice, the block is situated in a predefined processing zone so that a certain position of the block, i.e. the coordinates of the part, are known. The gripping apparatus is a member configured to grip the part or block from above, by means of a sucker or sucking action, and displace it into a well-defined processing zone or region.
This certain position is necessary for a following step during which the initial block is cut in a respective first cutting station.
For this purpose a first member able to take the block from the certain position and position it in an equally certain position underneath a cutting or shearing blade, namely spatially defined position, with respective spatial coordinates, which may be determined and/or recognized by a control unit, is provided.
In this way, the cut may be performed depending on an initial design.
In fact, the choice of the side to be cut, and the manner in which the initial block is cut (design), may be performed by means of a calculation and control unit on the basis of the information which is obtained from scanning and also on the basis of the "certain" position determined by the gripping apparatus and the aforementioned well-defined gripping zone.
For example from the scanning step it may be understood whether the initial block has a given roughness which must be removed or unsuitable colours which are not useful for the final product. Alternatively, based on the form of the initial block it is possible to establish how to obtain the greatest number of cubes with given dimensions.
According to the present disclosure, in order to perform the cut, the plant comprises at least one first manipulator device or member and one second manipulator device or member each provided with a respective pincer body or body having two prongs, for holding the block. The pincer body of the first manipulator device or member is intended to take the block situated downstream of the gripping apparatus from the aforementioned certain position and convey the block underneath the shears or blade of the cutting station.
The pincer body of the first manipulator device or member and the pincer body of the second manipulator device or member are also arranged and/or configured to hold the block simultaneously or together underneath the shears of the cutting station. More particularly, the pincer body of the second manipulator device or member grips the block on the opposite side to the pincer body of the first manipulator device or member, relative to the shears, in order to hold a cut part of the block after cutting. The pincer body of the second manipulator device or member may thus prevent the cut part from falling.
In other words, the first member and the second member each comprise a pincer body or a body having two jaws or two prongs between which the block to be cut is inserted. Consequently, as mentioned above, in accordance with the present disclosure, the second member is configured to take hold of the block cut by the first member when the initial block to be cut is situated underneath the shears of the cutting station. Consequently the cut part is already gripped or held beforehand by the second member, and more particularly between the jaws or prongs of the pincer body of the second member, when the entire block is still held between the jaws or prongs of the pincer body of the first member, and the entire block is situated underneath the shears of the cutting station. The operation therefore consists practically of a "hand to hand" transfer of the part between the pincer body of the first member and the pincer body of the second member. In other words, gripping of the cut part (after the cutting step) is performed in a "flying manner" between the pincer body of the first member and the pincer body of the second member, so that the block is gripped or held simultaneously by the pincer body of the first member and the pincer body of the second member.
It can be seen that the "hand to hand" gripping transfer between the pincer body of the first member and the pincer body of the second member allows the position of the cut part to be controlled and therefore further scanning apparatus may not be provided nor are strictly necessary.
Preferably, it is possible to envisage a further cutting stage or generally stage for processing an initial block. The second cut or processing operation in general is performed directly after the first cut, when the cut part is gripped by the pincer body of the second member or second manipulator device. The plant may therefore include a second cutting station or a second processing - for example smoothing, engraving or other - station. As regards the cutting station, it must be understood that it may comprise any known cutting system suitable for the purpose, such as a diamond disk.
The second cutting station may therefore be arranged directly downstream of the first cutting station and is intended to receive the part to be processed by the second member described above. The term "directly" in the context of the present disclosure, is understood as meaning that the second cutting station or other processing station is situated directly after, or downstream of, the first cutting station, without any other equipment in between.
It should be noted, as mentioned above, that the part of the initial block which is cut by the first cutting station is also characterized by a given certain position, for example, by the certain position underneath the blade of the first cutting station. The second member is able to position the block in an equally certain position underneath another cutting or shearing blade if the second station is a cutting station, so that a second cut may be performed on the cut part, depending on the design. Alternatively, the second member is configured to position the cut part in another processing station.
More particularly, during the first cutting step or phase, the initial block may be cut so as to obtain a first strip of porphyry or stone. In practice, the initial block is initially analyzed in order to trim off any parts to be eliminated and the initial block then cut into adjacent "slices". If the initial block is a sheet-like part, several sheet-like strips, i.e. a plurality of narrow and long sheet-like strips, are obtained. These strips may be understood as being intermediate blocks which may be further cut along a direction on the short side in the second cutting station, in order to obtain the aforementioned processed blocks or cubes.
During the second step or stage it is therefore envisaged taking directly from the first cutting station a strip or other cut block which is obtained and positioning it in a certain position underneath the second cutting station or in another processing station.
Consequently, according to an embodiment of the present disclosure, a first cutting station has, associated with it, at least one second cutting station or other processing station (at least one second cutting station uniquely associated with a respective first cutting station). This second cutting station, also called secondary cutting station, may be configured to cut the strip at right angles to its length so as to obtain a plurality of porphyry cubes.
In one embodiment, two second cutting stations or two secondary cutting stations situated adjacent to each other are envisaged, each provided with a respective second member with pincer body and being configured to grip alternately a strip or part obtained in the first cutting station, so that, while a second member associated with a second cutting station is busy gripping a part cut by the first cutting station, another second member associated with the other second station is busy performing further cutting of the cut part or another processing operation.
Further characteristic features and modes of use of the present plant will become clear from the following detailed description of a preferred example of embodiment thereof, provided by way of a non-limiting example.
It is evident, however, that each embodiment forming the subject of the present disclosure may have one or more of the advantages listed above; in any case it is not required that each embodiment should have simultaneously all the advantages listed. Reference will be made to the figures of the attached drawings in which:

Figure 1 shows a schematic view, from above, of a plant for processing a block of porphyry according to the present disclosure;
Figure 2 shows the detail I of the plant according to Figure 1 in which a scanning apparatus and a gripping apparatus are in an operating position;
Figures 3-3A show in part the detail II of the plant according to Figure 1 relating to a cutting station, in respective operating positions or steps;
Figures 4, 5, 5A show in part the detail II of the plant according to Figure 1 relating to a cutting station, in further respective operating positions or steps;
Figures 6 and 7 show in part the detail VII of the plant according to Figure 1 relating to a cutting station, in respective operating positions or steps;
Figures 8A-8V show schematic views of possible initial blocks of porphyry to be cut according to a programmed cutting mode, and consequent semi-processed blocks, or strips, obtained after cutting.
Figures 9A-9T shows schematic views of possible initial blocks of porphyry to be cut and semi-processed blocks, or strips, obtained, according to a programmed cutting mode which is an alternative to that shown in Figures 8A-8V;
Figure 10 shows a schematic view, from above, of a plant for processing a block of porphyry according to an embodiment of the present disclosure;
Figure 11 shows another schematic view, from above, of the plant according to Figure 10;
Figure 12 shows a view, from above, of a supporting surface for a "certain" position of the plant according to Figure 10 or Figure 11;
Figures 13-15 show in part a first cutting station of the plant shown in Figure 1 with respective manipulator device or member in respective operating positions or steps;
Figures 16-19 show the first member and the second member of the plant in respective operating positions or steps during "hand-over" of a cut part;
Figures 20-21 show a second cutting station or secondary station of the plant according to Figure 10, in respective operating positions or steps.

With reference to the attached figures, the reference number 10 denotes a plant for processing a porphyry block 11, or "initial block", so as to obtain a plurality of strips, i.e. so-called "intermediate blocks", and then porphyry cubes, i.e. so-called "processed blocks".
The attached figures show various preferred embodiments schematically shown in Figures 1-7 and Figures 10-21. It is to be understood that the parts of the two embodiments may be combined with each other to obtain the final result and must not be regarded as rigidly belonging to the first embodiment or to successive embodiments. What is important is that the parts with reference numbers are to be regarded as having the same function in all the embodiments.
In the example shown, the initial block 11 is an unprocessed piece obtained from a slab of porphyry and therefore resembling a sheet-like body with an irregular profile. Based on the irregular sheet or plate-like form, the block 11 has two opposite sides of larger area and a plurality of side walls which define the perimetral profile.
The term "strip" is understood as meaning, in the context of the present disclosure, an intermediate block or sub-piece obtained from a first operation of shearing (or first stage of processing) the block 11, for example along a first cutting direction, and having, for example, the form of a long and narrow strip, as described in the continuation of the present description. The strips are identified by the references F1, F2, F3, F4, F5, F6 and F7 in the attached figures.
The term "cube" is understood as meaning, in connection with the present disclosure, a further sub-piece (the aforementioned "processed block") obtained from a second shearing operation (or second processing stage) along a given cutting direction, preferably, for example, orthogonal to the first direction of cutting of the strip and having, for example, a cube or parallelepiped-like form, as described in the continuation of the present description.
In particular, the plant includes a processing line, indicated generally by the reference number 12, including one or more cutting stations 14, 16, 18, 20, in the example four cutting stations, arranged after a zone 24 for receiving the porphyry block which is loaded onto the processing line 12.
The plant 10 includes a scanning station or apparatus 22 and a gripping apparatus 26.
It can be seen that the processing line 12 shown in the figures in schematic form defines a movement path of the block 11, having a direction of movement indicated by respective arrows 15 and extending between an entry zone for the porphyry block 11, in the region of the receiving zone 24, directly upstream of the scanning apparatus 22, and an exit zone for a finished cube, downstream of three of the four cutting stations 16, 18, 20.
In particular, the movement path, in the example, extends from the scanning station 22, passing through the gripping apparatus 26, and a first cutting station 14 which is located downstream of the gripping apparatus 26. The path then branches off, downstream of the first cutting station 14, into the three other cutting stations 16, 18 and 20 which may be configured to operate in parallel with each other.
Further scanning and gripping apparatus, such as those shown above, are provided between the first cutting station 14 and the other three cutting stations 16, 18 and 20, each being located upstream of the respective cutting station 16, 18 and 20 and not shown in the drawings in order to simplify the figures.
With respect to the aforementioned direction of movement, which in the figures is from left to right, within the plant 10, as mentioned, "upstream" and "downstream" positions are defined. Each reference to an "upstream" position and "downstream" position here and in the remainder of the text will be understood as being, as specified above, with reference to the direction or path of movement of the porphyry block 11 along the processing line 12.
The processing line 12 includes a conventional conveyor 32 and a specific conveyor 32a, or belt conveyor 32a, i.e. provided with single belts, as will be described below. The specific conveyor 32a is arranged downstream of the conventional conveyor, and more particularly downstream of the gripping apparatus 26.
It should be pointed that the receiving zone generally indicated by the reference number 24 may preferably be associated with storage zones (supply store) where the unprocessed material is loaded onto the processing line 12, more particularly onto the conventional conveyor 32, a washing zone where the material is washed and a layout and alignment apparatus by means of which the porphyry block is positioned and aligned on the transportation line 12.
These zones and apparatus are not shown in the drawings since they are known to a person skilled in the art and do not relate specifically to the subject of the present disclosure.
According to one aspect of the present disclosure, the porphyry block 11 undergoes scanning by the scanning apparatus 22 in order to start definition of a subsequent shearing operation. This scanning operation is a kind of photograph or image recording operation which is carried out for each moving piece or block 11 and involves, for example, a dimensional check of the unprocessed product and, at least, detection of the grain and colour thereof. Preferably, recording of the image is performed within a three-dimensional volume.
In practice, each porphyry block, or rather each side of each porphyry block 11, is scanned (and therefore a corresponding digital image acquired) in order to acquire information (mainly of an optical or visual type) which may then be processed so as to define possible cutting lines 33 in the successive shearing or cutting stations, with a view to obtaining a greater added value, as will be described below.
In other words, a viewing or analysis system is provided for managing optimization of a shearing grid for the block 11, with construction of a geometrical model and definition of shearing lines and identification of a certain gripping point. A shearing grid is for example shown in Figures 8B and Figure 9B.
A series of sensors may also be provided on the belts 32A in order to check positioning of the part and its movement along the whole of the plant 10.
In particular, for example, an optical scan is carried out in order to produce a three-dimensional geometrical model of the part and identify the direction of the "grain of the stone" (so as to reduce as far as possible the waste and possibility of breakage of the part). Moreover, depending on the model and the production requirements, the map for optimum shearing of the part is established and the "certain gripping position" (i.e. the best position for handling the piece with respect to the cut) is defined for subsequent management of shearing. Even more particularly, cutting algorithms are used to obtain the maximum added value from the porphyry block depending on an order placed or the value of the material.
In practice, by scanning the block it is also possible to process the choice for positioning in a certain manner (with specific spatial coordinates) the block 11 (certain positioning) so that shearing of specific parts of the piece may be then performed in an equally "certain" manner.
The expression "certain position" or the adjective "certain" is understood as meaning that the plant is configured to determine in an automatic and automated manner the arrangement, orientation or spatial position of the block 11 after scanning, so that the spatial position in relation to a given reference point of each part, for example each side, of the block 11, is known, and the block 11, and/or each intermediate block, may be then managed in an automated manner.
Figure 2, Figures 8A-8V and Figures 9A-9T show a block 11 or a strip with which ideal shearing lines 33, 47 are associated, said lines being determined on the basis of the aforementioned evaluations.
On the basis of the information defined by means of the scanning apparatus and the aforementioned cutting algorithms, the part is positioned/oriented by the gripping apparatus 26 in accordance with the aforementioned correct ("certain") gripping position. In other words, the porphyry block 11 is received by means of the gripping apparatus 26 and is positioned with a "certain" position and orientation along the processing line 12, namely on the belt conveyor 32a, so that it is in the most correct ("certain") position possible (and therefore able to be controlled automatically) for the following cutting operation. Figure 2 shows the block 11 which is suitably rotated so that the ideal cutting lines 33 are parallel to the direction of the travel path.
The gripping apparatus 26 is a sucker apparatus which picks up the porphyry block 11 by means of suction and releases it after suitable repositioning on the belt conveyor 32a. The latter conveys the porphyry block 11 to the first cutting station 14.
The first cutting station includes a manipulator 34 and shears 35.
More particularly, the first cutting station 14 includes an anthropomorphic robot (manipulator 34) which positions the part to be machined underneath the shears 35.
The manipulator 34 is a robot of the known type within the technical knowledge of the person skilled in the art and includes an articulated arm 36 and a pincer body 38. The pincer body 38 is, for example, mounted rotatably about its axis relative to the articulated arm 36. The pincer body 38 is configured to take hold of the porphyry block 11.
In other words, the porphyry block 11 is gripped by a manipulator 34 which performs the sequence of operations for positioning the porphyry block under the shears 35, also of the known type and within the technical knowledge of a person skilled in the art. In practice the manipulator 34 conveys the porphyry block 11 underneath the shears, with a sequence of movements predetermined on the basis of the set cutting parameters.
More particularly, during this step it is envisaged introducing specific techniques for managing the shearing operation, such as the "dead blow" (namely a blow, known in the sector, not produced by a constant and progressive force) again in order to reduce the breakages. The aim of this cutting or shearing operation is to produce porphyry base strips F1, F2, F3, F4, F5, F6 and F7 on which to carry out a following final processing step, or in general further processing of the porphyry base strips F1, F2, F3, F4, F5, F6 and F7 which have, as mentioned, a generally narrow and long shape. As regards the "dead blow" for managing the shears, it is envisaged using systems for measuring the breakage pressure of the parts and detecting that the parts have been split.
The pincer body 38 grips the porphyry block 11 so as to cut it in accordance with parameters determined by the cutting algorithm. It can be seen that the position for gripping by the pincer body 38 defines a gripping side or zone 40 on the porphyry block 11, which in Figures 8A-8D is indicated by a bold line, or in Figures 9A-9C is associated with a rectangle which schematically identifies the pincer body 38.
With respect to this gripping side or zone 40 it is possible to identify a front side or zone 41, opposite to the gripping side or zone 40, a right-hand side or zone 43 and a left-hand side or zone 44 of the initial block 11.
As can be noted, in Figures 3, 3A and 8A-8D it can be seen that the manipulator 34 grips the porphyry block 11 so that the gripping side or gripping zone 40 is substantially parallel to the ideal cutting lines 33. Alternatively, as shown in Figures 9A-9D and described more fully below, the manipulator 34 may grip the porphyry block 11 so that the gripping side or zone 40 is substantially orthogonal or transverse to the ideal cutting lines 33.
Viewing Figures 8A-8D or 9A-9D it can be understood even better that the aforementioned management of positioning of the part by the gripping apparatus 26 is convenient precisely because it ensures secures gripping by the manipulator 34 (Figure 3) on the gripping side or zone 40 which is most suitable for subsequent cutting, based on optimization of the part.
More particularly, with reference to Figures 3 to 5a, it can be seen that the manipulator 34 may allow cutting of the porphyry block 11 on several sides, before obtaining the single strips.
For example, the manipulator 34 raises the porphyry block from the "certain" position on the belt conveyor 32a in order to carry out a first cut, such as for example a cut on a right-hand side, namely on one of the two sides. Then the manipulator 34 may rotate the machined porphyry block through 180° in order to obtain a cut on the left-hand side, namely on the other of the two sides. This cut on the opposite side may be obtained alternatively by means of displacement of the part in a horizontal direction. In practice trimming of both the right-hand side and the left-hand side of the porphyry block 11 may be performed (Figure 4).
Then the part is rotated through 90° in order to obtain a machining cut for the front side 41 of the block 11 and obtain a first long and narrow strip as required (Figure 5 and Figure 5A).
It should be pointed out that rotation of the manipulator may be selected to be about all three axes and with any rotational sequence, in order to machine all three perimetral sides or zones of the block 11 or about a single axis, in order to machine a single side, depending on the strips to be obtained. It should also be noted the choice of the gripping position and the subsequent rotation depends on the information acquired during optimization of the part and the definition of the one or more cutting parameters, for the purpose of subsequent cutting.
In practice, for example, on the basis of part optimization and definition of the one or more cutting parameters, a preferred cutting program is determined. The gripping side or zone 40 may be chosen so as to minimise the interference of the pincer body 38 with the shears.
It is also pointed out that, owing to the manipulator which can be rotated with a great degree of freedom, cutting may be performed with a high flexibility in terms of configuration and modularity in keeping with the optimization requirements indicated.
It should also be understood that the manipulator 34, the scanning station 22 and the gripping apparatus 26 are interfaced with each other and controlled by a control system se as to ensure suitable integration and management of the processing parameters of the cutting station.
In other words, the system 13 for controlling and managing the manipulator 34 used in this station controls not only the manipulator but also the entire production line and ensures positioning of the part, as well as the conveyor 32 and the belts 32a.
It is pointed out, moreover, that the use of robotized arms for managing the movement of the parts and the belts avoids the need to use support benches or surfaces which, as is well known, accumulate dirt and dust.
For each porphyry block it is therefore possible to produce a plurality of strips F1 F2, F3, F4, F5, F6 and F7, which may be again machined using a method such as that described hitherto.
In connection with the belts 32A, it should be noted that these belts consist of a plurality of longitudinal members arranged alongside each other and defining a plurality of intermediate empty spaces which extend in the direction of the travel path. The belts 32A may be managed by an inverter so as to adjust the speed thereof and manage the corresponding energy savings and are intended to supply the various work stations. Control of the movement of the belts 32A may be managed by a modern computerized system; the system is composed of a series of apparatus (plc, sensors, three-dimensional scanner, etc.). which are managed by dedicated software.
The presence of the aforementioned intermediate spaces allows the pincer body 38 to be suitably accommodated and inserted and enables the pincer body 38 to grip and raise the porphyry block or strip after shearing.
As regards the strips F1, F2, F3, F4, F5, F6 and F7 it can be seen that they are transported by the belts 32A to a further scanning station and gripping apparatus situated downstream of the first cutting station and identical to the scanning station 22 and the station 26 described above.
It should also be noted that usually the "good" strips F1, F2, F3, F4, F5, F6 and F7 are conveyed along the belts 32A, while the machining waste is intercepted by means of a partition (not shown), for example a telescopic partition, which is positioned above the conveyor belt 32a, to avoid the waste being deposited on the conveyor, overloading it. Optionally, downstream of the first cutting station 14 and before said further scanning stations and gripping apparatus, a supply store 45 may be provided. In particular, the parts produced by the first shearing operation are loaded into a supply buffer for the second processing stage. It should be noted that such management of the buffer could also be avoided with management of the line speed, with the whole of the travel path acting as a buffer.
In practice, the supply store may manage the supply of the semi-finished product output by the first shearing stage towards the following processing stage consisting potentially of several shearing stages in parallel.
The supply store 45 is an apparatus configured to evaluate the flow of incoming parts and the occupied state of the cutting stations 16, 18, 20 situated downstream. The store 45 is also controlled by the control system 13 which evaluates the necessary configuration and operating parameters.
After the store 45 and the scanning stations and gripping apparatus, the single strips F1, F2, F3, F4, F5, F6 and F7 (semi-finished parts) are again positioned and aligned on the transportation line 12 in order to be transferred to the following processing steps. As mentioned, this operation may embrace several destination stations, so that the steps for finishing the parts may be performed in parallel and the working loads optimized.
With regard to scanning and shearing definition: for each moving strip F1, F2, F3, F4, F5, F6 and F7, these operations are performed again, without considering the outcome of the previous scanning operation, avoiding problems of identification of the parts and ensuring a second independent evaluation, to the advantage of the quality. In practice, optical scanning may be performed so as to produce a three-dimensional geometrical model of the part for each strip. Moreover, depending on the model and the production requirements, the map for optimum shearing of the part may be determined.
On the basis of the information defined by the scanning step, subsequent certain positioning of the strip is performed; in practice, each strip of porphyry F1, F2, F3, F4, F5, F6 and F7 is positioned in a "certain" gripping position.
In particular, as mentioned, the strip has a long and narrow shape, and therefore possible cutting lines 47 at right angles to direction of the long side of the strip are defined in order to obtain the desired cubes.
The pincer 38 of the manipulator 34 is configured to grip the strip along a long side 43, performing firstly a cut from right to left and then overturning the part through 180° in order to obtain all the cubes.
With reference to Figures 9A-9T, as mentioned above this shows a different sequence, or program, for cutting the block 11, which may be an alternative to that shown in Figures 8A-8V and which is self-explanatory and can be clearly understood from Figures 9A-9T.
In particular, in this case, for example, the manipulator 34 raises the porphyry block 11 from the "certain" position on the conveyor 32 in order to carry out a first shearing step, such as shearing on a front side or zone 41, i.e. on the opposite side to the gripping side or zone 40. Then, the manipulator rotates the block 11 through 90° with respect to a vertical axis so as to cut one of the two lateral sides or zones, namely a right-hand side or zone or a left-hand side or zone. Then the manipulator 34 may rotate the processed porphyry block through 180° in order to obtain a cut on the left-hand side, namely on the other of the two sides. This cut on the opposite side may be obtained alternatively by means of displacement of the part in a horizontal direction. In practice trimming of both the right-hand side and the left-hand side of the porphyry block 11 is performed.
From the above description it is clear that the plant 10 ensures the coordinated movement and handling of the parts being processed, characterized by significant variability in terms of size and shape.
The plant 10 ensures moreover a controlled management of the components of the plant by means of a control system.
The control system has the characteristics of a high configurational adaptability, selfregulating capacity and flexibility in order to satisfy the optimization requirements, adapting the many parameters for controlling and implementing the operations. It manages planning of the cutting programs, including the instructions for automatically moving the parts, identifying non-optimum situations and/or exceptions, such as material breakage conditions and consequent replanning. Moreover, by means of adjustment of the speed of the transportation line, it is possible to evaluate the option of reducing to a minimum the need to provide buffers for storing the material between the processing stations.
With reference to Figures 10-21, the plant includes a processing line indicated generally by a broken line and identified with the reference number 12, said processing line 12 extending from a zone for receiving the porphyry block (not visible in the drawings) and continues as far as a cleaning apparatus 24. In particular porphyry blocks or parts are transported into the cleaning apparatus 24 via a conveyor 32.
The plant 10 includes a scanning station or apparatus 22 located downstream of the cleaning apparatus 24, a gripping apparatus 26, at least one first cutting station 14 and, preferably a second cutting station 16 situated directly downstream of the first cutting station 14, or another processing station.
In practice, the processing line 12 has preferably arranged along it a pair of cutting stations 14, 16 which are situated directly one after another so that, after a first cut performed in the block 11, the strip obtained or other cut part may be immediately cut or in any case processed in the second cutting station 16.
It can be seen that the processing line 12 shown in the figures in schematic form defines a movement path of the block 11, having a direction of movement indicated by respective arrows 15 and extending between an entry zone for the porphyry block 11, in the region of the cleaning apparatus 24, directly upstream of the scanning apparatus 22, and an exit zone for the finished cube, downstream of the second cutting station 16.
In particular, the movement path, in the example, extends from the scanning station 22, passing through the gripping apparatus 26, and the first cutting station 14 which is located directly downstream of the gripping apparatus 26. The processing line or path then continues downstream of the first cutting station 14 into the second cutting station 16.
With respect to the aforementioned direction of movement it is possible to identify "upstream" and "downstream" positions. Each reference to an "upstream" position and "downstream" position in connection with the present disclosure will be understood as meaning, as specified above, with reference to the direction or path of movement of the porphyry block 11 along the processing line 12.
It should be pointed that the receiving zone may preferably be associated with storage zones (supply store) where the unprocessed material is loaded onto the processing line 12, more particularly onto the conventional conveyor 32, with the aforementioned washing zone or apparatus 24 where the material is washed, and with a layout and alignment apparatus by means of which the porphyry block is positioned and aligned on the transportation line 12.
These zones and apparatus are not shown in the drawings in a specific and detailed manner since they are known to a person skilled in the art and do not relate specifically to the subject of the present disclosure.
According to one aspect of the present disclosure, the porphyry block 11 undergoes scanning by the scanning apparatus 22 in order to start definition of a subsequent shearing operation. This scanning operation is a kind of photograph or image recording operation which is carried out for each part or block 11 moving for example on the conveyor belt and involves, for example, a dimensional check of the unprocessed product and , at least, detection of the grain and colour thereof. Preferably, recording of the image is performed within a three-dimensional volume.
In practice, each porphyry block, or rather each side of each porphyry block 11, is scanned (and therefore a corresponding digital image acquired) so as to acquire information (mainly of an optical or visual type) which may then be processed so as to define possible cutting lines 33 in the successive shearing or cutting stations, with a view to achieving a greater added value, as will be described below.
In other words, a viewing or analysis system is provided for managing optimization of a shearing grid for the block 11, with construction of a geometrical model and definition of shearing lines and identification of a certain gripping point. A shearing grid is for example shown in Figure 8B and Figure 9B.
In particular, for example, an optical scan is carried out in order to produce a three-dimensional geometrical model of the part and identify the direction of the "grain of the stone" (so as to limit as far as possible waste and possibility of breakage of the part).
Moreover, depending on the model and the production requirements, the map for optimum shearing of the part is established and the "certain gripping position" (i.e. the best position for handling the part in relation to the cut) is defined and must be associated with the part for subsequent management of shearing. Even more particularly, cutting algorithms are used to obtain the maximum added value from the porphyry block depending on an order placed or the value of the material.
In practice, by scanning the block it is also possible to determine the choice for positioning in a certain manner (with specific spatial coordinates) the block 11 (certain positioning) on a support surface so that shearing of specific parts of the piece may be then performed in an equally "certain" manner on a support surface 27.
The expression "certain position" or the adjective "certain" is understood as meaning that the plant is configured to determine in an automatic and automated manner the arrangement, orientation or spatial position of the block 11 after scanning, so that the spatial position with respect to a given reference point of each part, for example each side, of the block 11, is known, and the block 11, and/or each intermediate block, may be then managed in an automated manner. For this purpose, the block 11 is gripped by the gripping apparatus 26 which, by means of the sucker or suction, raises vertically the part and orients it according to the predefined design so as to position it on the support surface 27 in a given stable position and direction. In particular, the support surface comprises at least one slot 28 for allowing successive gripping of the part by a pincer body 38, without any risk of displacement thereof.
It should be noted that, in the scanning apparatus, the part is identified and so-called nesting of the part is performed in order to identify both the standard and commissioned product and its best yield or greatest added value (its morphological characteristics). By means of a Cartesian system the part is raised and positioned in a certain position with precise coordinates to allow subsequent automated machining.
Figure 11, Figures 8A-8V and Figures 9A-9T show a block 11 or a strip with which ideal shearing lines 33, 47 are associated, said lines being determined on the basis of the aforementioned evaluations.
On the basis of the information defined by means of the scanning apparatus and the aforementioned cutting algorithms, the part is positioned/oriented by the gripping apparatus 26 in accordance with the aforementioned correct ("certain") gripping position. In other words, the block of porphyry 11 is received by means of the gripping apparatus 26 and is positioned with a "certain" position and orientation on the support surface 27 so that it is in the most correct certain position possible (and therefore able to be controlled automatically) for the following cutting operation. For example the block 11 is rotated in a suitable manner and oriented on the support surface 27 so that, once gripped subsequently for cutting, the ideal cutting lines 33 are parallel to the direction of the travel path.
The gripping apparatus 26 is as mentioned, a sucker apparatus which picks up the porphyry block 11 by means of suction and releases it after suitable repositioning on the support surface 27.
From the latter the porphyry block 11 is transferred to the first cutting station 14. The first cutting station 14 includes first shears 35.
A first manipulator or first member 34 is associated with the first cutting station 14. More particularly, the first cutting station 14 includes an anthropomorphic robot (manipulator 34) which positions the part to be machined under the shears 35.
The manipulator 34 is a robot of the known type within the technical knowledge of the person skilled in the art and includes an articulated arm 36 and a pincer body 38. The pincer body 38 is, for example, mounted rotatably about its axis relative to the articulated arm 36. The pincer body 38 is configured to grip the porphyry block 11. The pincer body is preferably, as shown in the drawings, a body having two jaws or prongs between which the porphyry block 11 to be cut is held. The articulated arm 36 may rotate the part about 6 axes.
In other words, the porphyry block 11 is gripped by the first manipulator 34 which performs the sequence of operations for positioning the porphyry block under the shears 35, also of the known type and within the technical knowledge of a person skilled in the art. In practice the manipulator 34 conveys the porphyry block 11 under the shears, with a sequence of movements predetermined on the basis of the set cutting parameters. More particularly, during this step it is envisaged introducing specific techniques for managing the shearing operation, such as the "dead blow" (namely a blow, known in the sector, not produced by a constant and progressive force), again in order to reduce breakages. The aim of this first cutting or shearing operation is to produce porphyry base strips F1, F2, F3, F4, F5, F6 and F7 on which to carry out a following final processing step, or in general further processing of the porphyry base strips F1, F2, F3, F4, F5, F6 and F7 which have, as mentioned, a generally narrow and long shape. As regards the "dead blow" for managing the shears, it is envisaged using systems for measuring the breakage pressure of the parts and detecting that the parts have been split.
The pincer body 38 grips the porphyry block 11 so that it may be cut it in accordance with the parameters determined by the cutting algorithm. It can be seen that the position for gripping by the pincer body 38 defines a gripping side or zone 40 on the porphyry block 11, which in Figures 8A-8D is indicated by a bold line, or in Figures 9A-9C is associated with a rectangle which schematically identifies the pincer body 38.
With respect to this gripping side or zone 40 it is possible to identify a front side or zone 41, opposite to the gripping side or zone 40, a right-hand side or zone 43 and a left-hand side or zone 44 of the initial block 11.
As can be noted, in Figures 12, 13, 14 and 15 it can be seen that the manipulator 34 grips the porphyry block 11 so that the gripping side or gripping zone 40 is substantially parallel to the ideal cutting lines 33. Alternatively, as shown in Figures 9A-9D and described more fully below, the manipulator 34 may grip the porphyry block 11 so that the gripping side or zone 40 is substantially orthogonal or transverse to the ideal cutting lines 33.
Viewing Figures 8A-8D or 9A-9D it can be understood even better that the aforementioned management of positioning of the part by the gripping apparatus 26 is convenient precisely because it ensures precise gripping by the manipulator 34 (Figure 12) on the gripping side or zone 40 which is most suitable for subsequent cutting, based on optimization of the part. It can be seen that the part 11 is placed on the support surface 27 so that the gripping side or zone 40 is on the same side as the inlet opening of the slot 28 and may therefore be gripped by the pincer body 38.
More particularly, with reference to Figures 12 to 15, it can be seen that the first manipulator 34 may allow cutting of the porphyry block 11 on several sides, before obtaining the single strips.
For example, the first manipulator 34 raises the porphyry block 11 from the "certain" position on the support surface 27 in order to carry out a first shearing step, such as shearing on a right-hand side, namely on one of the two sides. Then, the manipulator 34 may rotate the processed porphyry block through 180° in order to obtain a cut on the left-hand side, namely on the other one of the two sides. This cut on the opposite side may be obtained alternatively by means of displacement of the part in a horizontal direction. In practice trimming of both the right-hand and left-hand side of the porphyry block 11 is performed (Figure 16).
Then, the part is rotated through 90° in order to obtain a machining cut for the front side 41 of the block 11 and obtain a first long and narrow strip as required (Figure 16 and Figure 17).
It should be pointed out that rotation of the manipulator may be chosen about all three axes and with any rotational sequence, in order to machine all three perimetral sides or zones of the block 11, or about a single axis, in order to machine a single side, depending on the strips to be obtained. It should also be noted the choice of the gripping position and the subsequent rotation depends on the information acquired during optimization of the part and the definition of one or more cutting parameters, for the purpose of the subsequent cutting operation.
In practice, for example, depending on part optimization and definition of the one or more cutting parameters, a preferred cutting program is established. The gripping side or zone 40 may also be chosen so as to minimize the interference of the pincer body 38 with the shears.
It is also pointed out that, owing to the manipulator which can be rotated with a great degree of freedom, cutting may be performed with a high degree of configurational flexibility and modularity, in keeping with the optimization requirements indicated.
It should also be understood that the manipulator 34, the scanning station 22 and the gripping apparatus 26 are interfaced with each other and controlled by a control system so as to guarantee suitable integration and management of the processing parameters of the cutting station.
In other words, the system for controlling and managing the manipulator 34 used in this station controls not only the manipulator but also the entire production line and manages the entire part positioning process.
For each porphyry block it is therefore possible to produce, in the first cutting station 14, a plurality of strips F1, F2, F3, F4, F5, F6 and F7. With reference to Figures 9A-9T, as mentioned above, these show a different sequence, or program, for cutting the block 11, which may be an alternative to that shown in Figures 8A-8V and which is self-explanatory and can be clearly understood from Figures 9A-9T.
In particular, in this case, for example, the manipulator 34 raises the porphyry block 11 from the "certain" position on the support surface 32 in order to carry out a first shearing step, such as shearing on a front side or zone 41, i.e. on the opposite side to the gripping side or zone 40. Then, the manipulator rotates the block 11 through 90° with respect to a vertical axis so as to cut one of the two lateral sides or zones, namely a right-hand side or zone or a left-hand side or zone. Thereafter, the manipulator 34 may rotate the processed porphyry block through 180° in order to obtain a cut on the left-hand side, namely on the other of the two sides. This cut on the opposite side may be obtained alternatively by means of displacement of the part in a horizontal direction. In practice trimming of both the right-hand and left-hand side of the porphyry block 11 is performed.
According to another aspect of the present disclosure, each strip F1, F2, F3, F4, F5, F6 and F7 is processed immediately downstream of the first cutting station 14, by means of the second cutting station 16.
A manipulator 34 identical to that of the first cutting station 14 is associated with the second cutting station 16 and is able to grip the strip F1, F2, F3, F4, F5, F6 and F7 output from the first cutting station 14, in reality even before the strip F1, F2, F3, F4, F5, F6 and F7 is cut. In practice, the manipulator 34 associated with the second cutting station 16 simultaneously takes hold of the part or block 11 when the latter is underneath the shears 35 of the first cutting station 14 so that, when the strip F1, F2, F3, F4, F5, F6 and F7 is cut, it is already held by the manipulator 34 associated with the second cutting station 16 and it is not necessary to rest it on a further support surface.
It can be understood that, owing to control of the movements of the manipulator 34, the position of each strip F1, F2, F3, F4, F5, F6 and F7 is known to the control system and therefore cutting of the strip F1, F2, F3, F4, F5, F6 and F7 may also be programmed so as to obtain a cube or other product. In practice, since the position of the strip is known and optical scanning of the initial block has been completed, it is possible to program the second cutting station in accordance with a predetermined three-dimensional geometrical model. Moreover, depending on the model and the production requirements, the map for optimum shearing of the part may be determined.
In other words, based on the information defined by the initial scanning step and the position of the strip in the first cutting station, gripping of each porphyry strip F1, F2, F3, F4, F5, F6 and F7 by the manipulator 34 of the second cutting station 14 may be programmed.
In particular, as mentioned, the strip F1, F2, F3, F4, F5, F6 and F7 has a long and narrow shape, and therefore possible cutting lines 47 at right angles to the direction of the long side of the strip F1, F2, F3, F4, F5, F6 and F7 are defined, in order to obtain the desired cubes.
For example, the pincer 38 of the manipulator 34 of the second cutting station is configured to take hold of, directly from the pincer 38 of the manipulator of the first cutting station, the strip along a long side 43, performing firstly a cut from right to left and then overturning the part through 180° in order to obtain all the cubes.
From the above description it is clear that the plant 10 ensures the coordinated movement and handling of the parts being processed, characterized by significant variability in terms of size and shape.
The plant 10 ensures moreover controlled management of the components of the plant by means of a control system.
The control system has the characteristics of a high configurational adaptability, selfregulating capacity and flexibility in order to satisfy the optimization requirements, adapting the many parameters for controlling and implementing the operations. It manages planning of the cutting programs, including the instructions for automatically moving the parts, identifying non-optimum situations and/or exceptions, such as material breakage conditions and consequent replanning. Moreover, by means of adjustment of the speed of the transportation line, it is possible to evaluate the option of reducing to a minimum the need to provide buffers for storing the material between the processing stations.
The present invention has been described hitherto with reference to an embodiment thereof in which a single second cutting station 16 is associated with the first cutting station 14.
It should be understood that two second cutting stations 16, 18, may be provided, as shown in Figure 10, situated directly downstream of the first cutting station 14, for gripping and cutting in an alternating time sequence the strip F1, F2, F3, F4, F5, F6 and F7 output from the first cutting station 14. More particularly, the two second cutting stations 16, 18 are configured to handle in parallel with each other a strip output from the first cutting station 14. For example, the two second cutting stations 16, 18 are configured to process alternately a leading strip output from the first cutting station 14. As a result of this alternate working configuration, it is possible to optimize the times so that, while a second cutting station 16 is cutting a strip, the other station is busy gripping, by means of the associated manipulator 34, a strip output from the first cutting station 14 and vice versa.
Consequently, the processing line 12 is duplicated downstream of the first cutting station 14.
In a more advanced embodiment of the present disclosure, two first cutting stations 14, 20 are provided, being directly situated downstream of the gripping apparatus 26, for receiving and cutting in an alternating time sequence the block 11 arriving from the scanning station 22. More particularly, the two first cutting stations 14, 20 are configured to process alternately a leading block output from the scanning station 22. As a result of this alternate working configuration it is possible to optimize the working time and spaces occupied by the plant 10 so that, while a first cutting station 14 is cutting a block, the other station is busy receiving the block 11 output from the scanning station 22 and vice versa.
Consequently, the processing line 12 is duplicated downstream of the gripping apparatus 26.
Each first cutting station 14, 20 may be associated with two second cutting stations 16, 18 configured, as described above, to cut alternately a strip output from the respective first cutting station 14,. 20.
It should also be noted that only the "good" strips F1, F2, F3, F4, F5, F6 and F7 may be gripped by the manipulator of the second cutting station 16, while the machining waste is excluded.
The present invention has been described hitherto with reference to a preferred embodiment thereof.
It is to be understood that other embodiments relating to the same inventive idea may exist, all of these falling within the scope of protection of the appended claims.

Claims

Plant (10) for processing a block of porphyry (11) or stone, the plant including, in a processing line (12), a processing group including a scanning station or apparatus (22) configured to acquire information about the block (11), a gripping apparatus (26), one or more cutting stations (14, 16, 18, 20) or at least one cutting station, and a control unit (13) configured to coordinate the operations of the scanning station or apparatus (22), the gripping apparatus (26) and the one or more cutting stations (14, 16, 18, 20) in order to identify the certain position of the block of porphyry (11) and determine one or more cutting parameters on the basis of the information detected by the scanning apparatus (22); wherein the plant (10) comprises at least one manipulator device or member (34) adapted to take the block (11) from the certain position and position it under the shears or blade of the one or more cutting stations (14, 20), and wherein the one or more cutting stations (14, 16, 18, 20) is/are configured to cut the block of porphyry starting from the certain position and on the basis of one or more of the cutting parameters determined by the control unit (13), characterized in that
the scanning station or apparatus (22) is configured to detect the grain and the colour of the block (11);

the gripping apparatus (26) is configured to grip the block (11) from above by suction action and displace the block of porphyry in said certain position along the processing line (12), wherein the certain position is a spatial position with respective spatial coordinates;

wherein said gripping apparatus (26) is located along the processing line (12) between the scanning apparatus (22) and the one or more cutting stations (14, 16, 18, 20); and

wherein said at least one manipulator device or member (34) is provided with a respective pincer body (38) or body having two prongs, for retaining the block (11), wherein the pincer body (38) of the manipulator device or member (34) is adapted to take the block (11) from the certain position and position it under the shears or blade of the one or more cutting stations (14, 20) and

wherein said manipulator device or member (34) is a first manipulator device or member (34) and the plant includes a second manipulator device or member (34) provided with a respective pincer body (38) or body having two prongs, for retaining the block (11), wherein the pincer body (38) of the first manipulator device or member (34) is adapted to take the block (11) from the certain position and position it under the shears or a blade of the cutting station (14, 20), wherein the pincer body (38) of the first manipulator device or member (34) and the pincer body (38) of the second manipulator device or member (34) are arranged and/or configured to hold the block (11) together or simultaneously under the shears (35) or blade of the cutting station (14, 20), and wherein the pincer body (38) of the second manipulator device or member (34) is adapted to grip the block on the opposite side to the pincer body of the first manipulator device or member (34), relative to the shears (35), in order to hold a cut part of the block (11) after cutting.
Plant according to claim 1, wherein said processing group is a first processing group and wherein the plant includes one or more second processing groups located downstream of the first processing group along the processing line (12), wherein the one or more second processing groups include(s) a further scanning station or apparatus (22); a further gripping apparatus (26) configured to place a strip output from the first processing group in a certain position along the processing line (12), and at least one further cutting station (16, 18, 20), wherein the further gripping apparatus is located along the processing line between the further scanning apparatus (22) and the one further cutting station; and wherein the control unit (13) is configured to coordinate the operations of the further scanning station or apparatus (22), the further gripping apparatus (26) and the one further cutting station (14, 16, 18, 20), and determine one or more further cutting parameters based on the information detected by the further scanning apparatus (22),
and wherein the further cutting station (14, 16, 18, 20) is configured to cut the porphyry strip on the basis of the one or more further cutting parameters determined by the control unit (13).
Plant (10) according to claim 2, wherein a block obtained downstream of the cutting station, output from the first processing group, is a long and narrow shaped strip and/or wherein a block obtained downstream of the cutting station, output from the second processing group, is a cube of porphyry or a finished article or a processed block.
Plant (10) according to any one of the preceding claims, wherein the manipulator device (34) includes an articulated arm (36) and wherein the pincer body (38) is arranged at one end of the articulated arm (36) and/or wherein the manipulator device (34) is a device configured to move the block according to a sequence of movements and/or rotations predetermined on the basis of the cutting parameters set, so that it is possible to cut the block of porphyry (11) on several sides or in several zones of the block of porphyry.
Plant (10) according to any one of the preceding claims, comprising two first members configured to take blocks of porphyry (11) placed in a certain position and position them under the shears (35) of a respective cutting station (14, 20).
Plant (10) according to any one of the preceding claims, wherein the plant (10) comprises a processing station (16, 18) located downstream of the cutting station (14, 16) and wherein the second manipulator member is configured to bring the cut part of the block (11) after cutting into the processing station (16, 18) and/or wherein the processing station (16, 18) is a cutting station provided with respective shears (35) or a blade.
Plant according to claim 6, comprising two second manipulator members or manipulator devices for each cutting station (14, 20), said two second members being configured to grip alternately cut parts of the block (11) of the cutting station (14, 20).
Plant according to any one of the preceding claims, wherein the gripping apparatus (26) is adapted to position the block (11) on a supporting surface (27) in said certain position and wherein said supporting surface (27) has a slot for receiving the pincer body of the first manipulator device or member (34) and allow gripping of the block (11) by the pincer body (38) of the first manipulator device or member (34).
Plant (10) according to any one of the preceding claims, wherein the first manipulator device (34) is configured to grip the block of porphyry (11) via the pincer body (38) on one gripping side, or zone, (40, 48) and is configured to allow cutting, by the shears (35), of one or more sides or zones of the block (41) different from said gripping side or zone (40), such as a front side or zone (41), opposite to the gripping side or zone (40), a right-hand side or zone (43) and/or a left-hand side or zone (44).
Plant according to claim 9, wherein the manipulator (34) is configured to grip the block of porphyry (11) in such a way that the gripping side or zone (40) extends in a direction substantially parallel, substantially orthogonal or transverse with respect to ideal cutting lines (33) and/or
wherein the manipulator device (34) is configured to lift the block of porphyry (11) from the certain position determined by the gripping apparatus (26) in order to perform a first cutting step on a first side or zone the block of porphyry and then rotate the processed block of porphyry through a predefined angle of rotation and/or move the block by means of displacement in a horizontal direction, so as to obtain shearing on another side or zone of the block, and/or further rotate, with a further angle of rotation, the partially processed block of porphyry, so to achieve shearing and processing of a further side or zone of the block and obtain a plurality of strips.
Method for processing a block of porphyry or stone, the method including a processing stage including a scanning step for acquiring information relating to the dimensions of the block and determining one or more shearing or cutting parameters, a gripping step and one or more cutting steps, carried out after the gripping step, for cutting the block of porphyry in a certain position and on the basis of said one or more shearing parameters; wherein the method includes the use of a manipulator device or member (34) to take the block from the certain position and position it underneath a blade (35) of a cutting station (14, 20)
characterized in that

the scanning step is for detection of the grain and colour of the block;

said gripping step follows the scanning step to grip the block (11) from above by suction action in order to identify a gripping zone of the block and then displace the block of porphyry in said certain position along a processing line (12), wherein the certain position is a spatial position with respective spatial coordinates;

wherein the manipulator device or member (34) is provided with a respective pincer body and is adapted to take the block from the certain position and position it underneath a blade (35) of a cutting station (14, 20) and wherein the manipulator device or member (34) is a first manipulator device or member (34) and the method includes the use of a second manipulator device or member (34) provided with a respective pincer body or body having two prongs, for retaining the block (11),
- wherein the pincer body of the first manipulator device or member (34) and the pincer body of the second manipulator device or member (34) hold the block (11) simultaneously or together under the shears (35) or blade of the cutting station (14, 20),

and wherein the pincer body of the second manipulator device or member (34) grips the block on the opposite side to the pincer body of the first manipulator device or member (34), relative to the shears (35), so as to retain a cut part of the block (11) after cutting.
Method according to claim 11, wherein the processing stage is a first processing stage and the method includes at least one second processing stage carried out after the first processing stage along the processing line (12), wherein the second processing stage is intended to process a cut or processed block or strip obtained after the one or more cutting steps of the first processing stage, wherein the second processing stage includes
a scanning step for acquiring information about the strip and determining one or more additional shearing or cutting parameters;

a gripping step following the scanning step in order to identify a gripping zone of the strip and place the strip of porphyry in a certain position along a processing line (12);

and one or more cutting steps (14, 16, 18, 20), carried out after the gripping step, for cutting the strip in said certain position and on the basis of said one or more further shearing parameters.
Method according to claim 11 or 12, including a plurality of second processing steps which are performed in parallel so as to process a plurality of strips obtained in the first processing stage.
Method according to either one of the preceding claims 12 or 13, wherein after the first processing stage a long and narrow shaped strip is obtained and wherein during the second stage the strip is cut along cutting lines transverse or orthogonal with respect to a longitudinal direction of the strip, so as to obtain a cube of porphyry or a finished article or a processed block.
Method according to any one of the preceding claims 11 to 14, wherein the manipulator device (34) includes an articulated arm (36) which moves the block according to a sequence of movements and/or rotations predetermined on the basis of the cutting parameters set, so that it is possible to cut the block of porphyry (11) on several sides of the block of porphyry.
Method according to any one of claims 11 to 15, wherein the second manipulator member is configured to bring the cut part of the block (11), after cutting, into a further cutting station (16, 18) provided with respective shears (35) and/or wherein two second members are provided and alternately grip a cut portion of the block (11) after the cutting step in the cutting station (14, 16) in order to perform subsequent processing.