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 initial embodiment in the gripping fellow member attached to your head of your robot 61 is explained in FIGS. 17A to 21, in which FIGS. 17B and 17A present area landscapes of the head using the gripping people represented in two various placements, specifically a job to traction a roll with the axis in a horizontal situation (FIG. 17B) along with a place to discharge the roll within the placement with top to bottom axis (FIG. 17A). FIG. According to line XVIII-XVIII in FIG 18 is a plan view. 17A and FIG. 21 is a front view according to line XXI-XXI in FIG. 17A, although FIGS. 19 and 20 are axonometric views in the gripping people in the two placements mentioned schematically in FIGS. 17B and 17A.
In an beneficial embodiment of your creation, the suction power brain carries a roll gripping area, mentioned with 501 and getting an about toned semi-spherical shape. More specifically, the outer lining 501 carries a spherical central location 501A along with a semicircular extension 501B. According to a possible embodiment in the technology, the gripping surface 501 is divided (FIG. 19) into five suction power places 503C, 503A and 503B whilst the rounded main location has no suction power, mainly because it correlates with all the axial golf hole in the moves.
The suction power place 503A includes a substantially annular shape and it is delimited by two concentric annular projections, described on the inside that is a inner compartment which, by using suction slots 505A, is put in liquid relationship with a versatile suction duct 507, consequently associated with a suction range. The numeral 505B suggests suction power apertures of the two places 503B creating within a section of annular work surface concentric towards the core portion 501A. The numeral 505C suggests suction openings that link up areas 503C to the suction collection 507.
A push device operated by an actuator 507 (FIG. 20), for instance of your electromagnetic kind, is assigned to the suction holes 505C, 505B and 505A. Operations is unquestionably to selectively open or shut the suction power slots500A and 500B, 500C. By doing this, it is actually easy to otherwise position simply the openings 505A in substance relationship with the suction duct 507, keeping the pockets 505B and 505C closed, or perhaps to also place the openings 505B and optionally also the holes 505C in experience of the duct orbital stretch wrapper. Opening up or closing from the suction power pockets505B and 505A, 505C transpires as being a purpose of the diameter of the roll being active. The larger the diameter in the roll is, the greater the quantity of annular or semi-annular places 503A, 503B, 503C to get positioned in experience of the suction series 507 will likely be. This assures greatest traction being a purpose of the diameter from the roll and lowest air flow usage.