ITPR20100034A1 - BODY COLLECTION DEVICE - Google Patents

Description

DESCRIPTION

Attached to a patent application for INDUSTRIAL INVENTION having the title

â € œBODY WITHDRAWAL DEVICEâ €

The present invention relates to a device for removing at least one body, in particular it relates to a depalletizing machine for bodies arranged on pallets.

Machines for palletizing cylindrical bodies of the type known as â € œsnake palletizerâ € are known. These machines organize the bodies in several rows arranged one above the other. Normally the central bodies of each row rest in the concavity defined by two adjacent bodies of the underlying row. To allow the aggregation of these bodies, a ribbon (for example of paper) is normally used, which develops in a serpentine between the rows of bodies.

Machines are known which perform a depalletization of bodies thus organized. In order to carry out this depalletization, the bodies are picked up from the pallet by means of a head comprising magnetic means which constrain each body and transfer it to an area where they are the subject of other operations. The bodies are not always picked up in the same position and therefore there is a risk that there is not a perfect centering between the magnetic means of the head and the metal body to be picked up.

This can mean that the magnetic connection is not optimal with the risk that the magnet must be oversized in order to avoid detachments between the head and the body during the withdrawal of the latter.

In this context, the technical task underlying the present invention is to propose a device and a withdrawal method which overcomes the aforementioned drawbacks of the known art.

In particular, it is an object of the present invention to provide a device and a method for picking up a body capable of allowing centering of a head for picking up the bodies and the bodies themselves.

The specified technical task and the specified purposes are substantially achieved by a device and a method for removing a body comprising the technical characteristics set out in one or more of the appended claims.

Further characteristics and advantages of the present invention will become clearer from the indicative, and therefore non-limiting, description of a preferred but not exclusive embodiment of a device and method, as illustrated in the accompanying drawings in which:

Figure 1 shows a withdrawal device according to the present invention;

Figure 2 shows a component of the pick-up device of Figure 1;

Figure 3 shows a section view along the plane A-A indicated in Figure 2;

Figures 4 to 6 show successive operating steps of a pick-up device according to the present invention;

figure 7 shows a depalletizing machine integrating the pick-up device according to the present invention;

- figures 8 and 9 show a device for winding a strip of the depalletizing machine of figure 7;

- figures 10a, 11a, 12a show three successive operative configurations of the component of figure 8;

- figures 10b, 11b, 12b show in perspective view what is shown respectively in figures 10a, 11a, 12a.

With reference to the accompanying figures, the reference number 1 indicates a device for withdrawing at least one body. Advantageously, this pick-up device 1 is inserted in a depalletizing machine 10 illustrated by way of example in Figure 7. In this case, said at least one body is part of a plurality of bodies previously arranged on a pallet. In the preferred solution, each body constitutes a casing for a plurality of metal lids placed side by side one next to the other. Conveniently, the body is substantially cylindrical.

The pick-up device 1 comprises a load base 7 above which the body to be picked up can be positioned. For example, the loading base 7 could also be the walking surface above which the device 1 extends. In the case of the depalletizing machine 10, the loading base 7 could be part of supporting means on which the pallet is positioned.

The withdrawal device 1 also comprises:

-a head 2 in turn comprising body gripping means 20;

-a support 3 to which the head 2 is hung;

-means 8 for aligning the head 2 and the base 7 along a first direction 5a (said alignment means 8 positioning the head 2 above the base 7);

- means 4 for reciprocal approach of the head 2 and of the base 7 along the first direction 5a. Preferably, the approach means 4 allow the base 7 to approach the base 7 to the head 2-support 3 assembly.

In the preferred solution, the pick-up device 1 comprises a frame 11 in turn comprising an upright 12 and a crosspiece 13. Conveniently, the crosspiece 13 protrudes from the upright 12. The support 3 and the head 2 are in turn suspended from the crosspiece. 13.

The approach means 4 advantageously comprise first means 40 for moving the head 2 towards the loading base 7 (which in this case therefore remains fixed in space).

With reference to the solution illustrated in the accompanying figures, the first movement means 40 allow the movement of the crosspiece 13 along the upright 12. The means 8 for aligning the head 2 and the base 7 comprise second means 42 for moving the support 3 and the head 2 along the direction of development of the crosspiece 13 and / or third means 43 for moving the upright 12 with respect to a fixed reference in space. Conveniently, the first direction 5a develops along the physical vertical. Advantageously, the first movement means 40 comprise at least one fluid-dynamic jack. Conveniently also the second and third movement means 42, 43 comprise a fluid-dynamic actuation jack.

In the preferred solution, the support 3 is operatively interposed between the crosspiece 13 and the head 2. The weight of the head 2 is transferred to the crosspiece 13 through the support 3. The support 3 is normally located at a greater height than the head 2.

The head 2 comprises at least a first and a second feeler profile 21a, 21b. The first and second feeler profiles 21a, 21b are made of a material that has a low coefficient of friction (and preferably a good resistance to wear) so as to facilitate sliding on a surface of said body. For example, the first and second feeler profiles 21a, 21b are made of Polizene. Conveniently, the first and second feeler profiles 21a, 21b extend parallel to each other at least along a second direction 5b which is transverse to the first direction 5a. Advantageously, the second direction 5b is orthogonal to the first direction 5a. Normally the bodies to be picked comprise a straight solid having a lateral surface generated by the movement of a segment orthogonally to a closed line lying on a plane. As previously indicated, the body is preferably substantially cylindrical.

To facilitate withdrawal, it is important that said body is oriented so that said segment is arranged parallel to the second direction 5b.

The orthogonal projection of the gripping means 20 on a plane normal to the first direction 5a is at least partially interposed to the orthogonal projection on said plane normal to the first direction 5a of the first and second feeler profiles 21a, 21b. By orthogonal projection is meant a projection of an element conducted orthogonally to a reference plane (in the specific case to the plane normal to the first direction 5a).

The pick-up device 1 comprises means 6 for floating sliding of the head 2 with respect to the support 3 along a third direction 5c transverse to the first and second directions 5a, 5b. The floating sliding means 6 comprise:

-a slider 61 forming part of the head 2;

- guide means 62 of said slider 61 which allow the movement of said slider 61 and of said head 2 along the third direction 5c, said guide means 62 forming part of the support 3. Conveniently the third direction 5c is orthogonal to the first and / or to the second direction 5a, 5b.

The floating sliding means 6 of the slider 61 never completely constrains the movement of the slider 61 along the guide means 62. The floating sliding means 6 therefore differ from the first means 4 for moving the head 2 which comprise an actuator (for example a fluid-dynamic jack) which, when inactive, prevents the operation of said first movement means 40.

The cursor 61 is integral with the first and second probe profiles 21a, 21b.

Since the bodies to be picked up are not always in the same position, normally the first and second probe profiles 21a, 21b do not come into contact with the body simultaneously when the head 2 is approached to the body along the first direction 5a. Conveniently, following the action of the approach means 4, a force having a component along the third direction 5c and exerted by the body on only one of said first or second profile 21a, 21b feeler can cause a displacement of said head 2 along the third direction 5c to seek alignment along the third direction 5c of the gripping means 20 and a predetermined area of the body.

One of said first or second feeler profile 21a, 21b following a shape of said body external to the device allows to transfer the thrust along said first direction 5a induced by said first means 40 for moving the head 2 in a movement of the cursor 61 along the third direction 5c to allow the self-centering of the first and second profile 21a, 21b feeler with said body. In this regard it is necessary that the movement of the body along the third direction is hindered by a constraint. For example, this constraint could be determined by the presence of several bodies side by side horizontally which are held by two vertical sides in which the pallet is inserted to pick up the bodies arranged on it. The support 3 comprises means 30 for shock absorbing a thrust acting along the first direction 5a. This allows to cushion the contact that occurs between the head 2 and the body to be withdrawn. The shock-absorbing means 30 comprise a first and a second base 301, 302 which extend orthogonally to the first direction 5a and are mutually opposite. The first base 301 is integral with the guide means 62. Between the first and second base 301, 302 the shock-absorbing means 30 comprise elastic springs 300 oriented along the first direction 5a.

The shock-absorbing means 30 further comprise a first and a second arm 303, 304 which connect the first and second base 301, 302. The shock-absorbing means 30 further comprise a third and a fourth arm 305, 306 which connect the first and second base 301, 302. The first base 301, the first arm 303, the second arm 304, the second base 302, the third arm 305, the fourth arm 306 are consecutive to each other and hinged two by two.

The shock-absorbing means 30 therefore comprise a pantograph structure.

The first and fourth arms 303, 306 are symmetrically arranged with respect to a plane of symmetry. The second and third arms 304, 305 are symmetrically arranged with respect to the same plane of symmetry.

The floating sliding means 6 comprise means 63 for returning the slider 61 to a predetermined position of equilibrium with respect to the guide means 62. In the absence of external disturbing forces (or when these cease) the slider 61 spontaneously assumes, with respect to the guide means 62, said predetermined position of equilibrium.

The return means 63 comprise first return means 631 interposed between a first surface 611 of the slider 61 and a first surface 621 of the guide means 62. The first surface 611 of the slider 61 and the first surface 621 of the guide means 62 are opposite and lie on transverse planes (normally orthogonal) to the third direction 5c. Advantageously, the first return means 631 comprise first elastic means (for example a helical spring).

The return means 63 further comprise second return means 632 interposed between a second surface 612 of the slider 61 and a second surface 622 of the guide means 62. The second surface 612 of the slider 61 and the second surface 622 of the guide means 62 are mutually opposite and lie on transverse planes (preferably orthogonal) to the third direction 5c.

The slider 61 comprises a central body 64 extending along the third direction 5c. Orthogonally to the third direction 5c, a first and a second ends 65a, 65b of the slider 61 have a greater bulk than the central body 64. Advantageously, the slider 61 comprises a pin 610 at the ends of which two bushings 625, 626 are constrained. The central body 64 is integrated in the pin 610. The greater dimensions of the first and second ends 65a, 65b of the slider 61 with respect to the body 64 central is determined by the presence of the bushings 625, 626 to which the pin 610 is bound. In particular, the pin 620 is inserted in the bushings 625, 626.

The guide means 62 comprise a sleeve 623 having a through hole 624 into which said central body 64 is inserted, said sleeve 623 being interposed between the first and second ends 65a, 65b of the slider 61. The first return means 631 are interposed between the first end 65a of the slider 61 and said sleeve 623, said second return means 632 are interposed between the second end 65b of the slider 61 and said sleeve 623.

The head 2 comprises a seat 22 which defines a concavity facing an imaginary reference plane integral with the seat 22. The seat 22 comprises a bottom 23 counterfeiting said imaginary reference plane and at least a first and a second lateral wall 24a, 24b they extend away from said bottom 23 up to a first and a second flap 25a, 25b respectively; said first and said second flaps 25a, 25b respectively support the first and second feeler profiles 21a, 21b. The first and second feeler profiles 21a, 21b lie at the same distance from said bottom 23. The first and second feeler profiles 21a, 21b are symmetrically arranged along a plane of symmetry parallel to the first and second directions 5a, 5b.

In the preferred solution, the gripping means 20 comprise a magnet 200. In order to use similar gripping means 20, it is necessary that the bodies to be withdrawn are able to interact with the magnet 200 (for example the bodies could be metallic). Alternatively (not preferred solutions) the gripping means 20 could comprise gripper means which however would require a particular shaping of the bodies to be gripped or adhesive means.

In the preferred solution, the device 1 comprises means 201 for moving said magnet 200 which are movable between a first and a second configuration. In the first configuration, the magnet 200 is inside the seat 22 and proximal to said bottom 23. It is therefore in a position where it is protected from shocks. In the second configuration the magnet 200 is distal from said bottom 23 and approached to the first and second feeler profiles 21a, 21b. The means 201 for moving the magnet 200 comprise a fluid-dynamic piston which supports said magnet 200.

The magnet 200 and the first and second feeler profiles 21a, 21b define an operating unit 202, said head 2 comprising a plurality of operating units 202 side by side. Advantageously, the head 2 comprises three operating units side by side. This allows a simultaneous sampling of three bodies side by side. In the preferred solution the bodies are cylindrical and in this case it is necessary that the distance between the different bodies to be taken is equal to the distance between the magnets 200.

Refer to the solution of Figure 7, in which a depalletizing machine 10 is illustrated. This machine 10 shows at least one rail for carrying the pallet above said loading base 7. The pick-up device 1 allows to move said at least one body from the pallet into a container. This container is advantageously placed side by side with the pallet placed above the loading base 7. In addition to removing the bodies placed on the pallet, it is also important to remove a belt that develops in a serpentine between the bodies themselves. In this regard, the depalletizing machine 10 makes it possible to pick up bodies which are ordered and mutually constrained on pallets by means of at least one containment belt. The machine 10 comprises a tape winding device 1000 which is removed from the set of bodies placed on the pallet. The winding device 1000 comprises (see by way of example Figure 10a):

-a towing rotor 200;

- a driven rotor 300, the axis of rotation of the driving rotor 200 and the axis of rotation of the driven rotor 300 are aligned along an alignment direction 3100;

- means 400 for transmitting the motion from the driving rotor 200 to the driven rotor 300 comprising a flexible annular body 4000, substantially inextensible which extends along a path comprising: a first section 4100 between the driving rotor 200 and the driven rotor 300, a second section 4200 arched consecutive to the first section 4100 in which the annular body 4000 wraps around the driving rotor 200, a third section 4300 consecutive to the second section 4200 interposed between the driven rotor 300 and the driving rotor 200, a fourth section 4400 consecutive arcuate in the first and third section 4100, 4300 in which the annular body 4000 wraps around the driven rotor 300. The drive rotor 200 is driven by a motor. Conveniently, the annular body 4000 is a belt and conveniently the driving rotor 200 and the driven rotor 300 are two pulleys. The winding device 1 further comprises:

- a reel 3000 for winding said tape, said reel 3000 being driven into rotation by said driven rotor 300; suitably the coil 3000 is integral with the driven rotor 300;

-a slide 500 comprising an element 5100 for returning said annular body 4000;

- means 600 tensioners which press the return element 5100 against the annular body 4000 along said first section 4100;

-means 5200 for guiding the slide 500 at least between a first and second position following a trajectory at least partly transverse to the alignment direction 3100. The displacement of said slide 500 from the first to the second position is determined by a variation in the degree of tension of the annular body 4000 along the first section 4100. Said retention variation is induced by an increase in a resistant torque acting on the rotor 300 conducted. The movement of the slide 500 is accompanied by a variation in the development line of the annular body 4000 along the first portion 4100. Conveniently, the tensioning means 600 comprise elastic means 6000, for example a helical spring. The return element 5100 is a wheel that facilitates the sliding of the slide 500 on the annular 4000 body.

The winding device 1 also comprises means 700 for reversing the motion of the drawing rotor 200 which are directly or indirectly actuated by the passage of the slide 500 for a predetermined position during the stroke from the first to the second position. This allows you to loosen the tension of the tape. The slide 500 passing from the first to the second position evolves from the configuration of Figure 10a to that of Figure 11a.

The inversion means 700 are operated by the passage of the slide 500 for said predetermined position also during the stroke from the second to the first position.

In fact, the inversion of the motion of the belt allows to reduce the tension on the first section 4100 of the annular body 4000 and this is accompanied by the movement of the slide 500 towards the first position (see the passage from figure 11a to figure 12a. By decreasing the tension on the belt this last inversion of the motion allows to resume the approach of the belt by rotating the drive rotor 300 according to the original direction of rotation.

The means 5200 for guiding the slide 500 between the first and second positions extend orthogonally to the alignment direction 3100, imposing a trajectory orthogonal to the alignment direction 3100 on the slide 500.

The tensioning means 600 act on the slide 500 opposing the passage of the slide 500 from the first to the second position.

In the first position the return element 5100 causes said first section 4100 of the path of the annular body 4000 to assume an arched configuration, in the second position said return element 5100 allows said first section 4100 a less arched configuration.

In the preferred solution, the inversion means 700 comprise:

-a transducer 7100 which transforms a signal linked to the position of the slide 500 into an electrical signal; - a 7200 motor which rotates the drive rotor 200;

-a control unit 7300 which, as a function of said electrical signal, controls the direction of rotation of said motor 7200.

The transducer 7100 comprises an inductive sensor 7101 placed along the stroke of the slide 500, said sensor 7101 not being integral with the motion of the slide 500.

The slide 500 comprises an inclined surface 7102 of electrically conductive material facing said sensor 7101, a displacement of the slide 500 causing a moving away or an approach of said inclined surface 7102 to said sensor 7101, this causing a variation of the electrical signal output from said transducer 7100.

Advantageously, the tape winding device 1000 is synchronized with said pick-up device 1.

In particular, the depalletizing machine 10 comprises a central unit which coordinates the movements of the pick-up device 1 and of the winding device 10. The wrapping of the belt must in fact take place as the bodies placed on the pallet are picked up. Depending on the circumstances, the path of the belt between the rows of the bodies placed on the pallet is variable and this central unit must be programmed accordingly.

The object of the present invention is also a method of removing a body. This method is advantageously implemented by means of a withdrawal device 1 having one or more of the technical characteristics described above.

Said pick-up method comprises the step of positioning in front of the body 9 a pick-up head 2 comprising gripping means 20 and at least a first and a second feeler profile 21a, 21b. This step of positioning a pick-up head 2 in front of the body 9 envisages to face a portion 90 of the body 9 in which there is a junction of two surface portions 91 of the body which reaching out towards said head 2 approach one another. Advantageously, each of the two surface portions 91 constitutes a quarter of a lateral surface of a cylinder.

The method provides for the head 2 to be brought closer to the body 9 by means of a relative movement along a first direction 5a until at least one of the first or second profile 21a, 21b feeler of the head 2 comes into contact with the body 9. The second profile 21b feeler extends parallel to the first feeler profile 21a along a second direction 5b transversal to the first direction 5a. Advantageously, the second direction 5b is orthogonal to the first direction 5a.

The head 2 hangs from a support 3 and comprises a cursor 61 free to float along a third direction 5c relative to guide means 62 forming part of the support 3. The third direction 5c is transverse to the first and second direction 5a, 5b. Advantageously, the first, second and third directions 5a, 5b, 5c are two by two orthogonal. Conveniently, said body rests on a support and the movement of said body along a constraint direction is hindered by the presence of other bodies placed on the pallet. Advantageously, the constraint direction coincides with said third direction 5c. If during the step of approaching said head 2 to body 9 one of the first or second profile 21a, 21b feeler comes into contact with one of said two surface portions 91 of the body before the other profile 21a, 21b feeler the method provides to exert a force along the first direction 5a which compresses the head 2 and the body 9 one another. This allows the slider 61 to slide with respect to the guide means 62 and therefore the head 2 to slide with respect to the support 3 according to a component parallel to the third direction 5c until both the first and the second profile 21a, 21b feeler come into contact with the body 9.

In this configuration, the gripping means 20 counter face said junction of the two surface portions 91 of the body 9 which, extending towards said head 2, approach one another.

At this point the method provides for activating the gripping means 20 to fasten said body 9 to the head 2. The step of fastening said body 9 to the head 2 provides for magnetically connecting said body to the head 2. In this regard, the head 2 comprises a magnet 200 interacting with the body 9 (which preferably will be made of metal or other material with ferromagnetic properties). In particular, the magnet 200 interacts with said junction of two surface portions 91 of the body 9. The step of magnetically connecting the body 9 to the head 2 involves moving the magnet 200 with respect to the first and second probe profiles 21a, 21b along the first direction 5a. In particular, the magnet 200 is moved from a first position to a second position. In the first position the magnet 200 is moved away from the first and second profile 21a, 21b feeler and is approached to a bottom surface 23 of a seat 22. From said bottom surface 23 two walls develop respectively up to the first and second feeler profile 21a, 21b. In the second position the magnet 200 is approached to the first and second probe profiles 21a, 21b.

The method further comprises the step of lifting the head 2 and the body 9 constrained thereto along the first direction 5a. The phase of lifting the head 2 and the body 9 determines an elastic return of the head 2 and of the support 3 which will assume the relative position occupied immediately before the phase of exerting a force along the first direction 5a which compresses the one lâ € ™ other the head 2 and the body 9. The elastic recall is linked to the fact that there is no constraint exerted on the body 9 by elements external to the head 2 and which oppose this displacement (for example other bodies arranged side by side with each other) ™ other on the pallet).

The method subsequently provides for:

- positioning the body 9 above a container; - move the magnet 200 from the second to the first position.

During the step of moving the magnet 200 from the second to the first position, the body 9 constrained to the magnet 200 is held by the first and second profile 21a, 21b feeler, allowing it to be separated from the magnet 200. The head 2 can therefore pick up a new body 9 .

The invention achieves important advantages.

First of all, it allows you to correctly and quickly center the piece to be removed, thus allowing you to increase productivity.

The invention thus conceived is susceptible of numerous modifications and variations, all falling within the scope of the inventive concept that characterizes it. Furthermore, all the details can be replaced by other technically equivalent elements. In practice, all the materials used, as well as the dimensions, can be any according to requirements.

Claims (14)

CLAIMS 1.Device for sampling at least one body in turn comprising: -a load base (7) above which the body to be picked can be positioned; -a head (2) comprising body gripping means (20); -a support (3) to which the head (2) is hung; -means (8) for aligning the head (2) and the base (7) along a first direction (5a); - means (4) of relative approach of the head (2) and of the base (7) along the first direction (5a); characterized by the fact that the head (2) includes at least a first and a second probe profile (21a, 21b) which extend parallel to each other at least along a second direction (5b) transversal to the first direction (5a) , the orthogonal projection of the gripping means (20) on a plane normal to the first direction (5a) being at least partially interposed with the orthogonal projection of the first and second feeler profiles (21a, 21b) on said plane normal to the first direction (5a ); and characterized in that it comprises means (6) for floating sliding of the head (2) with respect to the support (3) along a third direction (5c) transversal to the first and second direction (5a, 5b), said means (6) for floating sliding including: -a slider (61) forming part of the head (2) and integral with the first and second feeler profiles (21a, 21b); -means (62) for guiding said slider (61) which allow the movement of said slider (61) and said head (2) along the third direction (5c), said guide means (62) being part of the support ( 3); following the action of the approaching means (4), a force having a component along the third direction (5c) is exerted by the body on only one of said first or second feeler profile (21a, 21b) being able to determine a displacement of said head (2) along the third direction (5c) to seek alignment along the third direction (5c) of the gripping means (20) and a predetermined area of the body. 2. Device according to claim 1, characterized in that the first direction (5a) is vertical. 3. Device according to claim 1 or 2, characterized in that said first direction (5a) is orthogonal to the second direction (5b). 3. Device according to any one of the preceding claims, characterized in that said third direction (5c) is orthogonal to the first and second direction (5a, 5b). 4. Device according to any one of the preceding claims, characterized in that the floating sliding means (6) comprise means (63) for returning the slider (61) to a predetermined equilibrium position with respect to the guide means (62). 5.Device according to claim 4, characterized in that the return means (63) comprise: - first return means (631) interposed between a first surface (611) of the slider (61) and a first surface (621) of the guide means (62), said first surface (611) of the slider (61) and said first surface (621) of the guide means (62) being opposite and lying on planes transversal to the third direction (5c); second return means (632) interposed between a second surface (612) of the slider (61) and a second surface (622) of the guide means (62), the second surface (612) of the slider (61) and the second surface (622) of the guide means (62) being mutually opposite and lying on planes transversal to the third direction (5c). 6. Device according to claim 5, characterized in that: -the slider (61) comprises a central body (64) extending along said third direction (5c); orthogonally to the third direction (5c) a first and a second ends (65a, 65b) of the slider (61) having a greater bulk than the central body (64); - the guide means (62) comprise a sleeve (623) having a through hole (624) in which said central body (64) is inserted, said sleeve (623) being interposed between the first and the second ends (65a, 65b) of the slider (61); said first return means (631) being interposed between the first end (65a) and said sleeve (623), said second return means (632) being interposed between said second end (65b) and said sleeve (623). 7. Device according to any one of the preceding claims, characterized in that said head (2) comprises a seat (22) which defines a concavity facing an imaginary reference plane integral with the seat (22), said seat (22) comprising a bottom (23) counterfeiting said imaginary reference plane and at least a first and a second lateral wall (24a, 24b) which extend away from said bottom (23) up to a first and a second edge (25a, 25b) respectively ; said first and said second flaps (25a, 25b) supporting respectively the first and second profile (21a, 21b) feeler. Device according to any one of the preceding claims, characterized in that the gripping means (20) comprise a magnet (200). 9. Device according to claim 8 when it depends directly or indirectly on claim 7, characterized in that it comprises means (201) for moving said magnet (200) which are movable between a first configuration in which the magnet (200) is internal to the seat (22) and proximal to said bottom (23) and a second configuration in which the magnet (200) is distal from said bottom (23) and approached to the first and second feeler profiles (21a, 21b). 10. Device according to claim 8 or 9, characterized in that at least said magnet (200) and the first and second feeler profiles (21a, 21b) define an operating unit (202), said head (2) comprising a plurality of (202) operating units side by side. 11. Depalletizing machine characterized in that it comprises a pick-up device according to one or more of claims 1 to 10. 12 Method of collection of a body characterized by the fact of including the following phases: -position in front of the body (9) a pick-up head (2) comprising gripping means (20) and at least a first and a second feeler profile (21a, 21b), said phase providing for facing with an interposed area between the first and the second profile (21a, 21b) feels a portion (90) of the body (9) in which there is a junction of two superficial portions (91) of the body which, extending towards said head (2), approach one to the € ™ other; - bring said head (2) closer to the body (9) by means of a relative movement along a first direction (5a) until at least one of the first or second profile (21a, 21b) feeler of the head (2) comes into contact with the body (9), the second feeler profile (21b) developing parallel to the first feeler profile (21a) along a second direction (5b) transversal to the first direction (5a); said head (2) being suspended from a support (3) and comprising a slider (61) free to float along a third direction (5c) relative to means (62) for guiding the support (3), said third direction (5c) being transversal to the first and second directions (5a, 5b); said method being further characterized in that, if during the step of bringing said head (2) closer to the body (9) one of the first or second feeler profile (21a, 21b) comes into contact with one of said two portions (91 ) surface of the body before the other profile (21a, 21b) the following phases are implemented: -exert a force along the first direction (5a) that compresses the head (2) and the body (9) one another, thus allowing the slider (61) to slide with respect to the guide means (62) and therefore a sliding of the head (2) with respect to the support (3) according to a component parallel to the third direction (5c) until both the first and the second probe profile (21a, 21b) come into contact with the body (9 ); -activating the gripping means (20) to constrain said body to the head (2). 13. Method according to claim 12, characterized in that the first, second and third directions (5a, 5b, 5c) are two by two orthogonal. 14. Method according to claim 12 or 13, characterized in that it comprises the step of lifting the head (2) and the body (9) constrained to it along the first direction (5a), thus determining an elastic return of the head (2 ) and of the support (3) in the relative position occupied immediately before the phase of exerting a force along the first direction (5a) which compresses the head (2) and the body (9) one another.