IT201900016463A1 - Automated robotic warehouse for plates - Google Patents

Description

DESCRIPTION

Attached to a patent application for INDUSTRIAL INVENTION having the title

"Automated robotic warehouse for plates"

The present invention relates to an automatic warehouse for plates. In particular, but not exclusively, the invention is useful for storing large ceramic slabs.

In the ceramic tile production sector, a technology is now well established that allows the production of large format slabs, up to 4000x2000 mm.

As part of the overall production cycle, the plates must be stored, waiting to be sent for subsequent processing or to be transported to the end user or to a store.

Currently, the plates are stored in stacks, formed by a certain number of plates arranged horizontally and superimposed on each other. Given the high weight of the plates of such large dimensions, it is not possible to overlap more than a certain number of plates. This entails the need to store the slabs in a large number of stacks, occupying a rather large surface overall compared to the number of slabs stored.

The use of temporary supports in the form of trestles is also known, equipped with a median edge that rises from a support base. The slabs are arranged with one side resting on the base of the temporary support, and reclined to lean against the median edge, so as to assume a position close to the vertical. This solution allows to slightly increase the number of slabs that can be stored for the same surface occupied. On the other hand, the handling of the trestles greatly complicates the logistics of the warehouse.

The object of the present invention is to offer an automatic warehouse for plates which allows to overcome the drawbacks of the currently known warehouses.

An advantage of the warehouse according to the present invention is to allow, for the same surface occupied, the storage of a greater number of plates than in the current warehouses. Indicatively, the warehouse according to the present invention, with the same surface area occupied, allows to store a number of plates four times higher than the current warehouses.

Another advantage of the warehouse according to the present invention is that it allows simple and effective handling of the plates, both at the entrance and at the exit from the warehouse.

A further advantage of the warehouse according to the present invention is to simplify and speed up the composition of groups of different plates leaving the warehouse.

Further features and advantages of the present invention will better appear from the detailed description that follows of an embodiment of the invention in question, illustrated by way of example but not of limitation in the attached figures in which:

Figure 1 shows a schematic vertical elevation view of a component of the warehouse according to the present invention;

Figure 2 shows an isometric view of the component of Figure 1;

Figure 3 shows an isometric schematic view of a second component of the warehouse according to the present invention;

Figure 4 shows an embodiment of the warehouse according to the present invention;

Figure 5 shows a vertical elevation view of the warehouse of Figure 4;

Figure 6 shows a plan view of an entrance area of the warehouse according to the present invention, in a more complex embodiment;

Figure 7 shows a plan view of an exit area of the warehouse of Figure 7.

In the following description, general reference will be made to slabs (L), intended as products with two opposite rectangular main surfaces, delimited by sides whose length is much greater than the thickness of the slab, understood as the distance that separates the two main surfaces.

In the case of ceramic slabs, of the two main surfaces, one is the laying surface or brand, that is the surface intended to be hooked to the support structure, typically using specific mortars or adhesives, the other is the visible surface or face, intended to remain exposed after laying the slab.

The automatic warehouse according to the present invention however lends itself to the management of any type of plate.

The automatic warehouse according to the present invention comprises at least a first rack (20), provided with a plurality of sides (21) parallel to each other and aligned along a longitudinal direction (Y). Each edge (21) is structured to define a substantially vertical or slightly inclined plane with respect to the vertical plane, suitable for allowing the support of at least one slab (L) resting on one side and arranged with a small inclination with respect to a vertical plane. In other words, each side (21) is structured to support at least one slab placed on one side and slightly reclined so as to rest the opposite side on the side (21), assuming a slightly inclined orientation with respect to the vertical. For example, the sides (21) are inclined in a concordant manner of about 3 ÷ 4 ° with respect to a vertical plane. To facilitate the positioning described above, a lower support (23) can be arranged in proximity of each side, on which the plates (L) are placed in support, which has an upper surface inclined to descend in the direction of the respective side (21) . Two adjacent banks (21) define a containment space (22) for one or more plates (L) arranged as described above. A first slab (L) is leaning against a side (21), while the other slabs (L) contained in the same containment space (22) are placed consecutively on each other and on the first slab (L). The slab (L) furthest from the side (21), i.e. the last slab (L) of the group resting on the same side (21), is the accessible slab (L), i.e. the slab that can be reached and hooked by a gripping means which will be described below. Obviously, the inclination of the slabs (L) resting on the same side (21) slightly increases, passing from the first to the last slab, but still remains close to the vertical.

In the warehouse according to the present invention, the slabs (L) are therefore not stacked together, with the main surfaces oriented horizontally, but are placed side by side with an orientation close to the vertical. With the same surface area occupied, the number of plates that can be stored using a rack (20) is therefore considerably greater than that allowed by a traditional warehouse.

At least one shuttle (30) is movable alongside the rack (20) along a direction parallel to the longitudinal direction (Y). For example, the shuttle (30) is movable along a rectilinear rail, in a manner known to those skilled in the art. The shuttle (30) comprises a gripping means (31), structured to fit into a containment space (22) and to pick up or release at least one plate (L). In addition, the shuttle (30) is provided with at least one support (32), structured to allow the support of at least one plate (L) on board the shuttle (30). In particular, the support (32) is configured to support a slab (L) in a position similar to that assumed by the slab (L) in the containment space (22), i.e. a position lying on a plane with an inclination close to the vertical. . The shuttle (30), moving along the rack (20), can reach all the containment spaces (22) provided. The gripping means (31) is able to fit into each of the containment spaces (22) provided for picking up or depositing a slab (L). To introduce a plate into the magazine, the shuttle (30) moves into a loading position and, through the gripping means (31), picks up the plate (L) and places it on the support (32). Obviously, the gripping means can sequentially pick up a predetermined number of plates (L) which are placed on the support (32). Once the loading is complete, the shuttle (30) moves along the rack (20), reaching the containment spaces (22) provided for each slab. At each containment space (22) provided, the gripping means (31) picks up the accessible slab (L) of the group placed on the support (32), and places it in the containment space (22). Similarly, if a certain number of slabs (L) are to be removed, the shuttle (30) moves in succession to the various containment spaces (22), loading the slabs (L) on the support (32), by means of the gripping means (31). Once the loading is complete, the shuttle (30) reaches an unloading position in correspondence with which, by means of the gripping means (31), it unloads the plates (L) in succession. The combination of the rack (20) and the shuttle (30) therefore allows the plates (L) to be handled in a very simple and effective way, both when entering the warehouse and exiting the warehouse.

In a way known in the field, the automatic warehouse according to the present invention comprises a main control system, arranged to identify each slab (L) introduced into the warehouse and to match each identified slab (L) with a containment space (22). The main control system also governs the operation of the shuttle (30), to lead it to a specific containment space (22) in which to deposit or pick up a plate (L). The operations of inserting and extracting the plates (L) can therefore be managed automatically.

In a way known in the field, the main control system mentioned in the present description and in the subsequent claims is generically indicated as a single unit, but in fact it can be equipped with distinct functional modules (memory modules or operating modules), each in charge of controlling a certain device or cycle of operations. Basically, the main control system can consist of a single electronic device, programmed to perform the functions described, and the different functional modules can correspond to hardware entities and / or software routines forming part of the programmed device. Alternatively or in addition, these functions can be performed by a plurality of electronic devices on which the aforementioned functional modules can be distributed. The units can also use one or more processors to execute the instructions contained in the memory modules. The units and the aforementioned functional modules can also be distributed on different computers locally or remotely based on the architecture of the network in which they reside.

In the preferred but not exclusive embodiment shown, the gripping means (31) comprises a robot (33) structured to move a gripping head (34) in space for at least one plate (L). The robot (33), for example, is in the form of an articulated arm with six rotation axes, known to those skilled in the art. The robot (33) is mounted on the shuttle (20). The gripping head (34), for example, comprises a group of suckers arranged with their gripping surfaces on a plane, so as to be able to adhere to a face of a plate (L). The articulation with which the robot (33) is equipped allows you to move the gripping head (34) in space, and to rotate the gripping head (34) between at least a substantially vertical position, and a substantially horizontal position. In the substantially vertical position of the gripping head (34), the robot (33) is able to pick up or release a plate (L) in a containment space (22) or on the support (32). In a manner known in the art, the gripping head (34) is equipped with position and orientation sensors, which assist a robot control system (33) in controlling the gripping head (34) itself, favoring the correct approach to a slab (L) to be picked up, or to a slab (L) on which a subsequent slab (L) must be placed. In this case, to avoid excessive sliding between the plate (L) already positioned and the plate (L) to be unloaded, the robot (33) carries out the following release phases. Initially, the plate (L) to be unloaded is placed on the lower side at a predetermined distance from the plate (L) already positioned. Once the support has been made, the plate (L) to be unloaded is inclined towards the plate (L) already positioned, and is subsequently released.

Preferably the robot (33) is designed to assume a holding position in which the gripping head (34) keeps at least one plate (L) in position on the support (32). In this way, the robot (33) can be used as a means to stabilize the plates (L) during the movement of the shuttle (30). Preferably, the holding position substantially corresponds to the position in which the gripping head (34) grasps or releases a plate (L) placed on the support (32). Basically, before each movement of the shuttle (30), the robot (33) positions the gripping head (34) in contact with the accessible slab (L) of the group of slabs positioned on the support (32). If the displacement of the shuttle (30) takes place after the loading of a plate (L) on the support (32), the gripping head (34) is kept in contact with the plate (L) just loaded on the support (32). If the shuttle (30) is to be moved after unloading a plate (L), before the shuttle (30) starts, the robot (33) moves the gripping head (34) to the accessible plate (L) of the remaining ones on the support (32).

To facilitate the insertion of the gripping means (31), preferably the sides (21) are movable along the longitudinal direction (Y) independently of each other, to allow a temporary enlargement of each containment space (22). The figures show, by way of example, an enlarged containment space (22e) to facilitate access to the gripping means (31). To this end, the sides (21) are slidingly associated with a base profile (24), designed to rest on the ground. The movement of the sides (21) along the longitudinal direction (Y) can be achieved by means of a motor kinematic mechanism known in the field, and therefore not described in detail. The displacement of the sides (21) is regulated by the main control system of the warehouse, so that the sides (21) of the containment space (22) intended to receive or offer a plate (L) are widened to allow the entry of the gripping means (31), or the gripping head (34). To limit the number of sides (21) to be moved at the same time, the rack (20) can be divided into groups of sides (21) served by independent motor mechanisms.

To increase the capacity of the automatic magazine, a second rack (20) can be arranged parallel to the longitudinal direction (Y) and to the first rack (20). In this case the shuttle (30) is movable between the first and the second rack, along a corridor parallel to both. The gripping means (31) is able to access the containment spaces (22) of both racks (20), which are located on opposite sides of the shuttle (30).

Two shuttles (30) can be placed along the same corridor between the two racks (20), moving along the same guide. In this case, it is advantageous to place a loading position at one end of the corridor and an unloading position at the opposite end of the corridor. A first shuttle (30) takes care of introducing the plates (L) into the racks, taking them from the loading position and bringing them to their respective containment spaces (22). The second shuttle takes care of the extraction of the slabs (L) from the racks, taking them from the containment spaces (22) and leading them to the unloading position, in the manner already described. The operations of the two shuttles (30) are coordinated by the main control system of the warehouse, so that they do not interfere with each other.

The capacity of the magazine can be increased according to requirements, by arranging a plurality of racks (20) parallel and side by side. One or two shuttles (30) are placed in each corridor interposed between two adjacent racks (20). Each shuttle (30) is managed by the main control system in the manner described above. As already mentioned, the automatic warehouse according to the present invention comprises an inlet section (40), equipped with a transport plane (41) for plates (L) to be introduced into the warehouse. For example, the transport plane (41) comprises a motorized roller conveyor, known to those skilled in the art.

The transport plane (41) comprises at least one terminal (42) located at an entry end of the path followed by the shuttle (30), in a position reachable by the gripping means (31). For example, the terminal (42) is a branch of the transport surface (41), obtained by means of a deviation device comprising two or more motorized belts, arranged between the rollers of the transport surface (41), which can rise above the surface support defined by the rollers to pick up a plate (L), lifting it from the rollers themselves, or lower below the support surface defined by the rollers, to allow the passage of the plates (L). Diverter devices of the type described above are well known in the art.

The terminal (42) is arranged at one end of the corridor along which the shuttle (30) is mobile. When the shuttle (30) is at this end, the gripping means (31) is able to reach a plate (L) arranged on the terminal (42), to load it on the support (32) and lead it to a containment space (22) prefixed.

In the embodiment comprising several racks (20) and several shuttles (30) arranged between the adjacent racks (20), the transport plane (41) is equipped with several terminals (41), each of which is located at the end of entry of the path of one of the shuttles (30) present, or at the entrance end of the corridor crossed by one of the shuttles (30) present.

Advantageously, the inlet section (40) can be provided with a control device (43), designed to carry out a qualitative control of the plates (L) in transit on the transport surface (41), and to qualify the plates ( L) which do not have predetermined characteristics. The control device (43), known in the art, is arranged for example to detect surface defects, deformations or fractures in the sheets (L) in transit.

Downstream of the control device (43), the transport plane (41) is provided with an evacuation section (44), designed to remove the plates (L) which are qualified as rejects from the control device (43). The evacuation section (44) is also in the form of a branch of the transport plane (41), obtained by means of a deviating device comprising two or more motorized belts, arranged between the rollers of the transport plane (41), which can lift up to the above the support surface defined by the rollers to pick up a plate (L), lifting it by the rollers themselves, or lower below the support surface defined by the rollers, to allow the plates to pass through (L).

The automatic warehouse according to the present invention comprises an outlet section (50), equipped with a transport plane (51) for plates (L) to be extracted from the warehouse. For example, the transport plane (51) comprises a motorized roller conveyor, known to those skilled in the art.

The transport plane (51) comprises at least one terminal (52) located at an exit end of the path followed by the shuttle (30), in a position reachable by the gripping means (31). For example, the terminal (52) is a branch of the transport surface (51), obtained by means of a deviation device comprising two or more motorized belts, arranged between the rollers of the transport surface (41), which can rise above the surface support defined by the rollers to pick up a plate (L), lifting it from the rollers themselves, or lower below the support surface defined by the rollers, to allow the passage of the plates (L).

The terminal (52) is arranged at one end of the corridor along which the shuttle (30) is mobile. When the shuttle (30) is at this end, the gripping means (31) is able to pick up a plate (L) placed on the support (32) and position the plate (L) on the terminal (52), from the which is led to the transport plane (51).

In the embodiment comprising several racks (20) and several shuttles (30) arranged between the adjacent racks (20), the transport plane (51) is equipped with several terminals (52), each of which is located at the end of exit of the path of one of the shuttles (30) present, or at the exit end of the corridor crossed by one of the shuttles (30) present.

In the embodiment shown, there are two output terminals (52), both afferent to the transport plane (51). The plates taken from the racks (20) by the different shuttles (30) are carried in succession to the terminals (52), in the order established by the main control system of the warehouse, and from the terminals (52) they are fed to the transport plane (51 ), always in an order established by the main warehouse control system.

Thanks to the outlet section (50), governed by the main control device, it is therefore possible to automatically manage the exit of the plates (L) from the warehouse. The plates (L) are arranged in succession on the transport plane (51) according to a predetermined packaging that is to be made.

Advantageously, the outlet section can be provided with a packaging device (60), designed to pick up the plates (L) from the transport plane (51) and to arrange the plates (L) in predetermined packages each comprising two or more plates. Various types of packaging devices are known in the art. In the embodiment shown, the packaging device (60) comprises an arm (61), equipped with a gripping head suitable for gripping a plate (L) arranged on the transport plane (51) of the outlet section. The arm (61) is movable between a gripping area on the transport plane (51) and one or more packaging positions (P), at which the arm releases each plate (L) picked up. The packaging positions can be provided with various packaging aids, such as for example boxes open at the top, pallets, sides or other. The packaging device (60) is governed by the main control device, to arrange the plates (L) in a predetermined order in a predetermined packaging position (P).

The packaging device (60) can also be equipped with a plugging machine (62), designed to interpose one or more shock-absorbing bags between the plates (L) and the walls of the package, particularly in the case in which the latter consists of from a wooden crate or other material. The shock-absorbing bags, known in the field, are substantially constituted by closed self-inflating flexible envelopes. The plugging machine (62) includes an insertion head (63) that is movable between the various packaging positions (P), to introduce the shock-absorbing bags inside the various packages.

Furthermore, the packaging device (60) can be equipped with a strapping machine (64), known in the field, designed to tighten one or more straps around each finished package and / or the individual sheets (L), as these the latter are arranged in the package.

Claims (11)

CLAIMS 1) Automatic warehouse for plates, characterized by the fact of including: at least a first rack (20), comprising a plurality of sides (21) parallel to each other and aligned along a longitudinal direction (Y), in which two adjacent sides (21) define a containment space (22) for one or more slabs (L) arranged on a plane with a small inclination with respect to a vertical plane; at least one shuttle (30), movable alongside the rack (20) along a direction parallel to the longitudinal direction (Y), which comprises a gripping means (31), structured to fit into a containment space (22) and to pick up or release at least one plate (L), and at least one support (32), structured to allow the support of at least one plate (L) arranged on a plane with a small inclination with respect to a vertical plane. 2) Automatic warehouse according to claim 1, in which the sides (21) are movable along the longitudinal direction (Y) independently of each other, to allow a temporary enlargement of each containment space (22) and favor the insertion of the gripping means (31). 3) Automatic warehouse according to claim 1, wherein the gripping means (31) comprises a robot (33) structured to move a gripping head (34) in space for at least one plate (L). 4) Automatic warehouse according to claim 3, in which the robot (33) is designed to assume a holding position in which the gripping head (34) keeps at least one plate (L) in position on the support (32). 5) Automatic warehouse according to claim 1, comprising at least a second rack (20), arranged parallel to the longitudinal direction (Y) and to the first rack (20), in which the shuttle (30) is movable between the first and the second rack . 6) Automatic warehouse according to claim 1, comprising an inlet section (40), equipped with a transport plane (41) for slabs (L) to be introduced into the warehouse, in which the transport plane (41) comprises at least one terminal (42) located at an entry end of the path followed by the shuttle (30), in a position reachable by the gripping means (31). 7) Automatic warehouse according to claim 6, in which the inlet section (40) comprises a control device (43) arranged to carry out a qualitative control of the plates (L) in transit on the transport plane (41), and to qualify the sheets (L) which do not have predetermined characteristics are rejected as waste. 8) Automatic warehouse according to claim 6, in which the transport plane (41) comprises at least an evacuation section (44), arranged to remove the plates (L) which are qualified as rejects from the control device (42). 9) Automatic warehouse according to claim 1, comprising an outlet section (50) equipped with a transport plane (51) for slabs (L) to be extracted from the warehouse, in which the transport plane (51) comprises at least one terminal ( 52) located at an exit end of the path followed by the shuttle (30), in a position reachable by the gripping means (31). 10) Automatic warehouse according to claim 9, in which the outlet section comprises a packaging device (60), arranged to pick up the plates (L) from the transport plane (51) and to arrange the plates (L) in predetermined packages each comprising two or more plates. 11) Automatic warehouse according to claim 1, comprising a main control system, arranged to identify each slab (L) introduced into the warehouse and to match each identified slab (L) with a containment space (22).