Sliding layer gripping device and relative layer transfer method

A method for transferring layers with a sliding layer gripping device comprising an anthropomorphic robot and a gripping head mounted on the robot for picking a first layer of products of a pallet,

• wherein the gripping head comprises a main frame and also an upper compaction unit and an intermediate translation plane arranged on the main frame,
• wherein said main frame is connected to the intermediate translation plane and to the upper compaction unit with a first pair of linear translation guides and a second pair of linear translation guides, respectively, arranged parallel to each other on the inner side of the sides of the main frame,
• wherein a pair of belts moved by a brushless motor controlled by the robot is arranged between the main frame and the upper compaction unit for the relative sliding of the main frame and of the upper compaction unit with respect to the intermediate translation plane according to parallel planes, and substantially horizontal in operation,
• wherein the intermediate translation plane has a loading side of the layer opposite to an unloading side of the layer, and
• wherein the gripping head comprises a lower compaction unit connected to the intermediate translation plane with a pair of linear translation guides, and
• wherein the lower compaction unit comprises two parallel sides provided, on opposite inner sides, with the pair of linear translation guides coupled with the intermediate translation plane, a rear abutment board placed between the sides on the opposite side with respect to the intermediate translation plane, and also a pair of transversely movable lateral boards placed within the sides, the method comprising:
• picking a layer from a pallet or from a transport means;
• and
• depositing onto the same or different pallet or transport means,
• wherein picking the layer comprises:
• positioning the gripping head at the picking level;
• tightening the boards of the upper compaction unit about the layer;
• and
• dragging the layer on the intermediate translation plane with coordinated movement of robot and brushless motor;
• and
• wherein depositing the layer comprises:
• positioning the gripping head at the unloading level;
• dragging the layer from the intermediate translation plane to the unloading position with coordinated movement of robot and upper compaction unit;
• opening the boards and releasing the layer;
• and
• raising the gripping head upwards again by means of the robot.