Apparatus for supporting a piece

{
  "publication_number": "EP3265270A1",
  "country": "EP",
  "kind": "A1",
  "title": "Apparatus for supporting a piece",
  "abstract": "An apparatus is disclosed for supporting a workpiece, wherein a carriage carries a linear actuator with a vertical axis, which in turn carries a head that is orientable in space to engage and support a portion of the workpiece; the carriage further carries a second element that can rotate the head to adjust a panning angle of the head, the second element being integral with a solid surface that gives rise to action means that can engage selectively on a solid counter-surface that gives rise to reaction means outside the carriage, so that the carriage is movable by rotating the action means engaged on the reaction means.",
  "claims": [
    "1. Apparatus for supporting a workpiece, said apparatus comprising one or more supporting units (1), each supporting unit comprising: - a carriage (2) that is movable at least in one first direction (F1); - a first element (6) carried by said carriage (2) and movable with respect to said carriage at least in one second direction (F2) that is transverse to said first direction (F1); - first actuating means (5) carried by said carriage (2) and arranged for moving said first element (6) in said second direction (F2); - a gripping head (4) carried by said first element (6) with the possibility of orientation in space and arranged for engaging and supporting at least one portion of the workpiece; - a second element (8) carried by said carriage (2) and movable with respect to said carriage at least in one third direction (F3) that is transverse to said second direction (F2); - second actuating means (7) carried by said carriage (2) and arranged for moving said second element (8) in said third direction (F3); and - action means (9) carried by said carriage (2) with the possibility of being driven by said second actuating means (7);characterized in that said apparatus comprising reaction means (10) that is outside said carriage (2) and is operationally associable with said action means (9), said action means (9) and reaction means (10) selectively adopting an engaged configuration, wherein they are coupled with one another in such a manner that said second actuating means (7) can drive said action means (9) and consequently move said carriage (2) through the effect of the interaction between said action means (9) and said reaction means (10), and a disengaged configuration, in which they are not coupled with one another in such a manner that said second actuating means (7) can drive said action means (9) without moving said carriage (2).",
    "2. Apparatus according to claim 1, wherein said action means (9) is movable together with said second element (8), said action means (9) comprising at least one solid surface that, in said engaged configuration, interacts in contact with said reaction means (10), said reaction means (10) comprising a solid counter-surface.",
    "3. Apparatus according to claim 2, wherein said solid surface is arranged on a rotatable element that, in said engaged configuration, can rotate coupled in contact with said solid counter-surface of said reaction means (10).",
    "4. Apparatus according to claim 2 or 3, wherein said solid surface, in said engaged configuration, is coupled with said reaction means (10) by friction, in which case said solid surface comprises a friction surface, or by meshing, in which case said solid surface is on at least one gear member.",
    "5. Apparatus according to any preceding claim, comprising sensor means for detecting a position of each supporting unit (1) along said first direction (F1), said sensor means comprising encoder means (17; 18).",
    "6. Apparatus according to any preceding claim, wherein said reaction means (10) comprises a fixed element extending in a longitudinal direction parallel to said first direction (F1).",
    "7. Apparatus according to any preceding claim, comprising third actuating means (11) for controlling movements of said action means (9) and/or of said reaction means (10) between said engaged and disengaged configurations.",
    "8. Apparatus according to any preceding claim, wherein the action means (9) of two or more of said supporting units (1) is operationally associated with the same reaction means (10).",
    "9. Apparatus according to any preceding claim, wherein the carriages (2) of two or more of said supporting units (1) are movable in the same first direction (F1) and are coupled with the same guiding means (3).",
    "10. Apparatus according to any preceding claim, wherein said second element (8) interacts with said gripping head (4) to set a desired orientation of the head.",
    "11. Apparatus according to any preceding claim, wherein said first element (6) is movable linearly according to a motion axis, said second direction (F2) coinciding with said motion axis.",
    "12. Apparatus according to any preceding claim, wherein said second element (8) is rotatable around a rotation axis coinciding with the motion axis of said first element (6), said third direction (F3) being an orbital direction around said rotation axis.",
    "13. Apparatus according to any preceding claim, wherein: said gripping head (4) is carried by said first element (6) with the possibility of orientation in space according to at least a first degree of freedom and/or a second degree of freedom; the movements in said second direction (F2) and in said third direction (F3) adjust, respectively, an elevation angle and a panning angle of said gripping head (4); said first actuating means (5) comprises a linear actuator and said second actuating means (7) comprises a rotor; said supporting unit (1) comprises connecting means (12; 16) arranged for removably connecting said gripping head (4) to said second element (8) so that said gripping head, when it is connected to said second element is moved together with said second element to adjust a panning angle of the head; said first element (6) carries said gripping head (4) with the possibility of orientation of said gripping head in a substantially idling or non-locked manner, each supporting unit (1) comprising brake means operationally associated with said gripping head (4) for locking the latter in a desired orientation; said connecting means comprises at least one coupling member (12) arranged on said second element (8) and couplable in contact with at least one corresponding coupling counter-member (16) arranged on said gripping head (4), thereby said second element (8) can drag said gripping head in said third direction (F3) when said coupling member and counter-member (12; 16) are coupled one to the other; said gripping head (4) is moved with the possibility of reaching at least one work zone, wherein it engages and supports a portion of the workpiece, and at least one setting zone, wherein a desired orientation of the gripping head (4) in space is set; said work zone is situated at a zone that is higher than said setting zone; said second element (8) is arranged in said setting zone, said gripping head (4) being moved by said second actuating means (7) during setting of the desired orientation; said connecting means (12; 16) are disengaged from one another when said head (4) is placed by said first actuating means (5) in said work zone; said gripping head (4) comprises at least one engaging portion (13) arranged for engaging with and disengaging from a coupling member (12) of said connecting means, and at least one other engaging portion (13), which is arranged for engaging with and disengaging from said coupling member (12), said engaging portions (13) being arranged on two peripheral zones of said gripping head (4), said two peripheral zones being diametrically opposite one another with respect to a central zone of said head at which said head (4) is coupled with said first element (6); said gripping head (4) has a gripping zone facing the portion of the workpiece and has a gripping axis (X) arranged obliquely to an extension direction of said gripping head that extends between said two peripheral zones.",
    "14. Apparatus according to any preceding claim, wherein said at least one third direction (F3) beings circumferential and - each supporting unit comprising at least one coupling member (12) arranged on said second element (8) and couplable in bilateral contact with at least one corresponding coupling counter-member (16) arranged on said gripping head (4), that is a contact which can be selectively on one side and on one opposite side of said coupling counter-member (16), thereby said coupling member can push against one side, or against one opposite side of said coupling counter-member (16) to move said gripping head in said third circumferential direction (F3) in one direction or in one opposite direction.",
    "15. Method for using the apparatus according to any preceding claim, comprising the following steps: selecting said engaged configuration and driving said second actuating means (7) to move said action means (9) and consequently, through the effect of the interaction between said action means (9) and said reaction means (10), moving said carriage (2) to adjust the position thereof; or selecting said disengaged configuration and driving said second actuating means (7) to move said second element (8) to adjust the orientation, in particular a panning angle, of said gripping head (4)."
  ],
  "description_excerpt": "The invention relates to an apparatus according to the preamble of claim 1, for supporting a workpiece being machined, in particular a wide workpiece, with one dimension (thickness) that is significantly less than the other two dimensions (width and length), of non-flat shape, for example a panel of complex shape, like in particular, a panel with a double curvature.\n\nSuch an apparatus is known from DE 196 21 658 A1.\n\nSpecifically, but not exclusively, the apparatus in question can be usefully employed in the aerospace industry and/or in the automotive industry, in particular as part of a numerically controlled machining centre for machining workpieces made of various materials, aluminium, plastics, composite materials, etc.\n\nIn particular, reference is made to an apparatus for supporting a workpiece in a machining position, in which the apparatus comprises a plurality of orientable heads each arranged for engaging and supporting a portion of the workpiece.\n\nBoth international patent application PCT/IB2014/063743, and international patent application PCT/IB2014/062921, both belonging to the applicant of this application, show an apparatus of this type, in which each orientable gripping head is carried by the movable element of a vertical linear actuator and is operationally associated, during setting of the desired orientation, with a disk rotated by an electric motor.\n\nPatent US 8,079,578 shows a supporting apparatus comprising various linear actuators that each carry a suction cup that is suitable for engaging and supporting at least one workpiece in a fixed machining position.",
  "cpc": [
    "B23Q 1/037",
    "B23Q 1/035",
    "B25B 11/005"
  ],
  "ipc": [
    "B23Q 1/03",
    "B25B 11/00"
  ],
  "assignees": [
    "CMS SPA"
  ],
  "inventors": [
    "PESENTI GINO",
    "RINALDI NICOLA"
  ],
  "filing_date": "2016-03-02",
  "publication_date": "2018-01-10",
  "priority_date": "2015-03-03",
  "application_number": "EP-16717463-A",
  "family_id": "52815148"
}