In the figures described above the robot 61 is represented without means to grip the rolls, in order to simplify the drawing. However, according to a particularly advantageous embodiment of the invention, the head of the robot has a particular configuration, illustrated hereunder in two different embodiments with reference to FIGS. 17 to 23.
The 1st embodiment in the gripping participant mounted on the head in the robot 61 is highlighted in FIGS. 17A to 21, in which FIGS. 17B and 17A demonstrate aspect opinions from the mind with all the gripping participants depicted in two different roles, specifically a position to grip a roll using the axis within a horizontal placement (FIG. 17B) along with a situation to release the roll in the situation with straight axis (FIG. 17A). FIG. 18 is a plan view according to line XVIII-XVIII in FIG. 17A and FIG. According to line XXI-XXI in FIG 21 is a front view. 17A, whilst FIGS. 20 and 19 are axonometric opinions in the gripping associates inside the two positions indicated schematically in FIGS. 17B and 17A.
In a advantageous embodiment in the technology, the suction power head features a roll gripping work surface, pointed out with 501 and getting an roughly toned semi-rounded design. Specifically, the outer lining 501 carries a spherical central region 501A as well as a semicircular extension 501B. As outlined by a likely embodiment of the innovation, the gripping surface area 501 is divided (FIG. 19) into five suction power regions 503A, 503B and 503C as the circular key location has no suction power, since it correlates using the axial pit in the moves.
The suction power location 503A carries a considerably annular condition and it is delimited by two concentric annular projections, outlined inside of which is a compartment which, through suction power pockets 505A, is put in water experience of a flexible suction power duct 507, subsequently attached to a suction range. The numeral 505B indicates suction apertures of the two locations 503B establishing inside a percentage of annular work surface concentric for the key segment 501A. The numeral 505C shows suction power openings that link up the areas 503C towards the suction collection 507.
A push control device operated by an actuator 507 (FIG. 20), for example from the electro-magnetic kind, is associated with the suction pockets 505A, 505B and 505C. Procedure is certainly to selectively open up or close the suction power pockets500B and 500A, 500C. In this way, it is actually easy to on the other hand location simply the slots 505A in substance experience of the suction power duct 507, retaining the openings 505C and 505B shut, or to also place the pockets 505B and optionally also the holes 505C in experience of the duct orbital stretch wrapper. Opening or shutting of the suction pockets505A and 505B, 505C takes place being a purpose of the size in the roll being interested. The greater the diameter of the roll is, the higher the amount of annular or semi-annular areas 503A, 503B, 503C to be positioned in connection with the suction series 507 will likely be. This assures greatest grip as being a purpose of the size of your roll and lowest atmosphere intake.