公开(公告)号：WO1995003901A1

公开(公告)日：1995-02-09

申请号：PCT/EP1994002452

申请日：1994-07-25

Applicant: SAPIN AMADA S.P.A. ,  CODATTO, Antonio

Inventor： SAPIN AMADA S.P.A.

IPC: B21D43/10

CPC classification number: B23Q1/035 ,  B21D5/0281 ,  B21D28/265 ,  B21D43/00 ,  B21D43/10 ,  B21D43/11 ,  B23Q7/042

Abstract: The mechanical hand (16) comprises, on one hand, a zone (46) for the support and sliding of a panel or slab (SP) in a horizontal working plane (WP) and, on the other hand, a handling gripper (36) which can move horizontally along and across the whole range of said supporting and sliding zone (46). The gripper (36) has a lower jaw (40) located below the working plane (WP). The support and sliding zone (46) is defined by retractable members consisting of an array of vertically moving pillars (48) with each of which are associated positive control means for causing them to perform selectively a travel independently of that of the other pillars between a raised position in which one of its upper support and sliding surfaces is in the working plane (WP), and a lowered position in which the surface is at a level which is lower than that of the lower jaw (40) of the gripper (36). Control means are provided which interconnect the means (Mx, My, Mz) for controlling the movement of the gripper (36) and the means for controlling the movements of each support (48) such that, when the gripper (36) passes through and stops in the zone (46) of the pillars (48), the pillars (48a) which are in correspondence with or in the vicinity of the gripper (36) are lowered such that they do not interfere with its lower jaw (40) whilst the other pillars (48) are raised in order to hold the panel (SP).

Abstract translation: 机械手（16）一方面包括用于在水平加工平面（WP）中支撑和滑动面板或板坯（SP）的区域（46），另一方面，包括处理夹持器（36） ），其可以沿着并跨越所述支撑和滑动区域（46）的整个范围水平移动。 夹持器（36）具有位于加工平面（WP）下方的下钳口（40）。 支撑和滑动区域（46）由可垂直移动的支柱（48）组成的可伸缩构件限定，每个垂直移动的支柱（48）与每个相关联的正的控制装置相关联，使它们能够选择性地执行与 其上部支承和滑动表面中的一个在工作平面（WP）中的升高位置，以及下降位置，其中表面处于比夹具（36）的下颚（40）低的水平 ）。 提供了控制装置，其互连用于控制夹持器（36）的移动的装置（Mx，My，Mz）和用于控制每个支撑件（48）的运动的装置，使得当夹持器（36） 在支柱（48）的区域（46）中停止，与夹具（36）相对应或附近的支柱（48a）下降，使得它们不干扰其下颚（40），同时 为了保持面板（SP），升起另一支柱（48）。