The present invention concerns a palletization device and process.

More specifically, the present invention concerns a palletization device suitable for handling groups of products of various kinds intended to constitute layers on support means such as pallets and the like, to then be sent to the storage and sales points.

The present invention also concerns a palletization process of products of various kinds.

STATE OF THE ART

In various fields of production such as the paper industry, also known as "tissue" industry, or the bottled product industry, the so-called "beverage" industry, but also in other fields, the products or the multiple packages of products are arranged on support means such as pallets and the like, for the purposes of storage, warehousing and/or transportation.

In some cases, moreover, the packages of products are directly put on sale on the pallets themselves.

In production and packaging lines of products, whatever kind they may be, the packages or the bundles are transported, for example on roller means, to collection areas in which they are arranged in an organised manner facing one another so as to form groups, of predetermined dimensions in relation to the storage and transportation requirements.

Such groups are then picked up one by one and then arranged layered one on top of the other on top of a pallet or similar. The complete pallet, thus made, is then stored or transported into the sales points.

Picking up the groups of packages and subsequently depositing them on the pallet is usually carried out, in known production plants, by palletization robots, anthropomorphous or even of another type, equipped with gripper means that laterally grip the groups of products and arrange them in successive layers on the pallet.

The known gripper means mounted on the palletizing robots currently widely used in the various production fields are not, however, able to ensure satisfactory results from various points of view.

Firstly, conventional gripper means allow groups comprising a limited number of products or packages of products to be handled. In particular, as such a number of products or packages of products increases, the risk of the grip of the gripper means not being secure increases, and therefore there is increased risk of one or more products or packages of products falling during the step of creating the layers on the pallet.

Moreover, conventional gripper means are not able to ensure that the precise arrangement of the products or packages made upstream of the step of creating the layers is then actually maintained on the pallet. In other words, it is possible for some packages to accidentally move during the step of depositing on the pallet, creating layering of irregular shape and size and/or characterised by unstable conditions.

The same groups of products or packages, made at the collection areas of the production lines, are often organised in a not very precise and approximate manner, particularly in the case in which the products or the packages of products dealt with are not completely rigid, like for example packages of rolls of paper, o similar: this fact makes it difficult for the gripper means to take hold, and it also makes the subsequent step of depositing on the pallet difficult.

Moreover, the conventional gripper means do not ensure efficient results in particular if used with rather delicate products like, indeed, packages of tissue products - rolls, wipes, and the like - since the clamping action of the gripper means to get hold of the groups of packages can cause damage, deformation or in any case other unwanted and disadvantageous drawbacks in terms of storage and transportation.

PURPOSES OF THE INVENTION

The technical task of the present invention is therefore to improve the state of the art, by devising a palletization device that makes it possible to eliminate the aforementioned drawbacks.

In such a technical task, a purpose of the present invention is to make a palletization device that makes it possible to safely and effectively handle groups consisting of a relatively large number of products or packages of products, even ^' of relatively large dimensions .

Another purpose of the present invention is to devise a palletization device that makes it possible to handle groups of products or packages of products that are delicate and easily damaged or deformed.

Yet another purpose of the present invention is to devise a palletization process that makes it possible to effectively and reliably make layers of groups of products of large dimensions, or in a large in number or delicate and easily damaged or deformed.

Such a technical task and such a purpose are accomplished by a palletization device according to claim 1, by a gripper according to claim 24, by a support base according to claim 25, and by a palletization process according to claim 32.

The palletization device advantageously comprises a gripper equipped with compacting means that clamp onto the sides of the groups of products during the pick-up step, together with gripping elements having lower portions that insert under the groups of products to lift them.

In this way, the lifting no longer occurs by friction on the sides of the groups of products, but rather by simple lifting of groups held in correct position by the compacting means.

Thanks to this provision delicate or unstable products can also be dealt with, even in a large number for each group .

The invention also foresees a support base for the organised group of products equipped with mobile rollers that lower, with respect to each organised group of products, by a height such as to allow the insertion, under them, of the lower portions of the gripping elements.

The dependent claims refer to preferred and advantageous embodiments of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS.

The characteristics of the invention will become clearer to any man skilled in the art from the following description and from the attached tables of drawings, given as a non-limiting example, in which: figure 1 is a detailed side view of the palletization device according to the present invention;

figure 2 is a front view of the gripper of the device;

figure 3 is a side view of the same gripper;

figure 4 is a perspective view of the gripper with the gripping elements and the compacting means in open position;

figure 5 is a perspective view of the same gripper with the gripping elements and the compacting means in closed position;

figure 6 is a side view of the support base of the device, with the rollers in upper position;

figure 7 is a perspective view of the support base with the rollers in lower position;

figure 8 is an axonometric view of another embodiment of the support base of the device according to the invention;

figure 9 is a plan view of the support base of figure 8;

figure 10 is a front view of the support base of figures 8,9; figure 11 is an axonometric view of the support base with some parts removed for greater clarity;

figure 12 is a detailed side view of the transportation surface of the groups of products according to the embodiment of figures 8-11;

figure 13 is a detailed axonometric view of the transportation surface of the groups of products according to the embodiment of figures 8-12;

figure 14 is an enlargement of figure 11.

EMBODIMENTS OF THE INVENTION.

With reference to the attached figure 1, a palletization device according to the present invention is wholly indicated with 1.

The palletization device described hereafter can be foreseen, for example, in any line or plant for producing and/or packaging products of various kinds in which groups of products, or groups of multiple packages of products, o similar, must be arranged in layers stacked on support means such as pallets or similar .

The arrangement in layers on pallets and the like can be carried out, for example, in order to store and warehouse the products, or in order to transport them, or furthermore to place them directly on sale at the distribution points, or for any other mainly logistical requirement .

In the rest of the description, by the expression group or groups of products we indicate an organised group or groups of packaged products, or an organised group or groups of multiple packages of products.

For example, each group of products to which we refer in the present description can consist of a group of packages of tissue products such as rolls and the like, or a group of bundles of bottled products, or a group of boxed products, or furthermore a group of products or packages of products of any other kind, and suitable for being stored in layers of pallets.

Moreover, by organised group of products we mean a group of products or packages of products arranged side-by-side, according to a predetermined arrangement or according to pre-ordered configurations, so as to optimise the relationship between the surface available and the number of products or of packages of products, and so as to define substantially a layer of the pallet being formed.

Usually, such a predetermined arrangement foresees that an organised group of products be made that in plan has a substantially square or rectangular bulk.

In any case, the organised group of products can, in plan, also have a different shape. Figure 1 represents a detailed side view of the palletization device according to the present invention.

The palletization device 1 according to the present invention comprises a gripper, wholly indicated with 2. The device 1 also comprises a support base, wholly indicated with 3, for the groups of products that must be picked up by the gripper 2.

In figure 1, the organised group of products is indicated with 4, and it has a substantially parallelepiped shape.

The dimensions and the proportions of the organised group of products 4 represented in figure 1 are, however, absolutely indicative and not for limiting purposes .

The gripper 2 comprises a support 5, able to be connected to a robotic palletization arm and the like, not represented in the figures.

The support 5 is substantially rectangular in shape and is provided, at the top, with a shank 6 for coupling with a robot, through known means not represented in the figures.

In greater detail, the shank 6 allows the gripper 2 to be associated for example with the arm of an anthropomorphous robot, or with a robot of another type, such as a cartesian robot or similar.

The gripper 2 comprises at least two gripping elements

7.

The gripping elements 7 are associated with the support 5 on opposite sides, and are moveable at least from respective open positions to respective closed positions in which they are suitable for lifting the organised group of products 4, as will be made clearer in the rest of the description.

In greater detail, as illustrated in figures 3, 4, 5, the gripper 2 comprises four gripping elements 7, two per side with respect to the support 5, i.e. in interfacing pairs.

As will become clearer hereafter, the gripping elements 7 comprise respective lower portions, wholly indicated with 8, suitable for inserting under the organised group of products 4, achieving the important technical advantages described hereafter.

The gripper 2 also comprises compacting means, wholly indicated with 9, which are used to compact the organised group of products 4.

The compacting means 9 are associated with the support 5 of the gripper 2, and are moveable at least from respective open positions to respective compacting positions, in which they wrap around the organised group of products 4 so as to make an optimal configuration to subsequently hold the elements 7, as will be made clearer hereafter.

The compacting means 9 are arranged between the gripping elements 2, according to what is illustrated in figures 2, 4, 5.

Each gripping element 7 of the gripper 2 comprises a framework structure 10 with reinforcing central uprights 11.

Each gripping element 7 is associated with respective linear actuation means, wholly indicated with 12, which control the movement of each gripping element 7 from the respective open position to the respective closed position, and vice-versa.

More specifically, the linear actuation means 12 are suitable for translating the gripping elements 7 along respective directions: the interfacing gripping elements 7 are actuated to translate along the same direction, as will be made clearer hereafter.

The linear actuation means 12 of each gripping element 7 comprise two parallel stems 13 fixed, with the respective ends, to the upper vertices of the framework structure 10, substantially perpendicular to the plane defined by the latter.

The stems 13 are able to slide inside respective linear guide channels 14 foreseen in the support 5.

The linear actuation means 12 comprise, for each gripping element 7, a servo-pneumatic positioning system that is able to actuate each element 7 in relation to certain preset instructions and relative, in particular, to the positioning of each element 7 and to the force exerted.

In greater detail, the servo-pneumatic positioning system comprises, for example, an electronic controller, slaved to the unit for managing and controlling the operation of the robot on which the gripper 2 is mounted, of the type known in the field and not represented in the figures. The electronic controller in turn is operatively associated with a proportional pneumatic valve, of the known type, which controls the operation of a respective linear pneumatic actuator 15, also of the known type, associated with the stems 13 of each gripping element 7.

The system also comprises sensors that detect the position of the stem of the linear pneumatic actuator 15, as well as pressure sensors to detect the force exerted, and that are part of a feedback control system, or similar.

Alternatively, the linear actuation means 12 can comprise a servo-pneumatic positioning system, like the one described above or in any case substantially equivalent in terms of operation, for each pair of gripping elements 7 - i.e. those in interfacing pairs - or a single system for all of the gripping elements 7 of the gripper 2.

As will become clearer hereafter, each servo-pneumatic positioning system makes it possible to control the movement over time, and therefore the final positioning, of each linear pneumatic actuator 15 of each gripping element 7 with precision in the order of tenths of a millimetre.

Moreover, each servo-pneumatic positioning system makes it possible to control with precision the force exerted by each actuator 15, so as to handle each organised group of products 4 according to the desired ways, which will be described hereafter.

The lower portion 8 of each gripping element 7 comprises a respective group of parallel rods 16, arranged substantially like a comb, the function of which will become clearer hereafter.

The rods 16 have a relatively low thickness with respect to the other dimensions of length and width so as to be able to be easily inserted even in narrow spaces, and, moreover, the rods 16 are also somewhat rigid so as not to bend very much even if loaded with heavy weights. For example, the rods 16 can be made from carbon fibres in a resin matrix or from another advanced composite material with high modulus of elasticity.

The compacting means 9 comprise four opposite first mobile walls 17, suitable for surrounding the organised group of products 4 at two opposite sides thereof.

The first mobile walls 17 are associated, in pairs, with two first sides 18 of the support 5, and are preferably made from a rigid and light material.

In particular, the aforementioned first sides 18 are, in the embodiment represented, the long sides of the support 5.

The first walls 17 are associated with respective first translation means, wholly indicated with 19, along a first direction.

The first translation means 19 of the first walls 17 comprise first pneumatic actuators 20.

In greater detail, there are four first pneumatic actuators 20, mounted in pairs along the first sides 18 of the support 5, with respective axes perpendicular to the first sides themselves 18.

The four first walls 17 are connected to the respective four first pneumatic actuators 20 through first brackets 21. The four first walls 17 are also engaged, along its most outer sides, by first substantially rectangular- shaped recesses 22, regularly spaced apart.

The first translation means 19 of the first walls 17 also comprise, for each of the first actuators 20, a respective servo-pneumatic positioning system substantially analogous to the one described earlier for the linear actuation means 12 - which is able to actuate each first actuator 20, and therefore each first wall 17, in relation to certain preset instructions and relative, in particular, to the positioning and to the force exerted on the organised group of products 4, and that will in any case become clearer hereafter.

Alternatively, there can be a single servo-pneumatic positioning system for each pair of first pneumatic actuators 20, i.e. for each pair of first walls 17, in interfacing pairs.

The compacting means 9 also comprise two opposite second mobile walls 23.

The second walls 23 are associated with two second sides 24 of the support 5, and are also made preferably from rigid and light material.

In particular, the aforementioned second sides 24 are the short sides of the support 5, perpendicular to the first sides 18.

Moreover, the second mobile walls 23 are associated with respective second translation means, wholly indicated with 25, along a second direction.

The first direction of translation of the first walls

17 is substantially perpendicular to the second direction of translation of the second walls 23.

The second translation means 25 of the two second mobile walls 23 respectively comprise two second pneumatic actuators 26.

In greater detail, there are two second pneumatic actuators 26, mounted along the second sides 24 of the support 5, with respective axes perpendicular to the second sides themselves 24.

The two second mobile walls 23 are connected to the respective two second pneumatic actuators 26 through second brackets 27.

The two second walls 23 are engaged, along their most outer sides, by substantially rectangular second recesses 28, regularly spaced apart.

The second recesses 28 of the second mobile walls 23 are arranged offset with respect to the first recesses 22 of the first mobile walls 17.

The second translation means 25 of the second walls 23 also comprise, for each of the second pneumatic actuators 26, a respective servo-pneumatic positioning system - substantially analogous to the one described earlier for the linear actuation means 12 and for the first translation means 19 - that is able to actuate each second actuator 26, and therefore each second wall 23, in relation to certain preset instructions and relative, in particular, to the positioning and to the forced exerted on the organised group of products 4, and that will in any case be made clearer hereafter. Alternatively, there can be a single servo-pneumatic positioning system for each pair of second pneumatic actuators 26, i.e. for each pair of second walls 23, in interfacing pairs.

The servo-pneumatic positioning systems of the first translation means 19 and of the second translation means 25 are, in turn, operatively connected to the unit for controlling and managing the operation of the robot on which the gripper 2 is mounted.

On the outer surfaces 29 of the first walls 17 there are means 30 for picking up sheets, to be placed between the various organised groups of products 4 that make up a pallet, in a way per se known in the field. The sheets can, for example, be made from material of the cardboard or similar type.

The pick-up means 30 comprise, for each of the outer surfaces 29 of the first walls 17, one or more small pneumatic pistons 31, fixed to the first walls 17 themselves, and equipped with respective gripping members 32.

The gripping members 32 are for example of the suction cup type, or similar.

The gripping members 32 are suitable for sticking to the surface of the sheet to be picked up so as to hold it and lift it, according to ways and criteria that will be made clearer hereafter.

The small pistons 31 are fixed to the first walls 17 in positions offset with respect to the rods 16 of the gripping elements 7, as can be seen for example in figure 3. In this way, therefore, the gripping elements 32 can freely insert between the rods 16 to pick up the sheets. The support base 3 for the groups of products 4, intended to be picked up by the gripper 2, is represented in detail in figures 6, 7.

The support base 3 has a structure totally similar to that of conventional roller conveyors.

The support base 3 comprises a frame 33, held up by four legs 34 with adjustable feet 35.

The frame 33 at the top defines a transportation surface 36 of the groups of products 4.

The transportation surface 36 is defined by a plurality of transportation means 37 of the organised groups of products 4.

In this embodiment, the transportation means 37 consist of a plurality of parallel rollers, supported at the respective ends by two opposite side walls 38 fixedly connected to the frame 33.

The transportation rollers 37 of the groups of products 4 are associated with respective actuation means 39. The actuation means 39 of the rollers 37 comprise at least one electric geared motor group, with which the rollers 37 are associated through transmission means 40 that are per se known in the field.

For example, the transmission means 40 can be of the belt, chain or gear wheel type or other equivalent devices .

The support base 3 also comprises a support surface A for the organised groups of products 4.

The support surface A is defined by ribs 41 arranged vertical and parallel, having relatively low thickness. The ribs 41 can, for example, be mounted on a single support, plate or they can be mounted on a plurality of distinct and separate support plates or elements.

As illustrated in figure 6, the ribs 41 are mounted so as to be offset, in the direction of forward motion of the organised groups of products 4, with respect to the rollers 37. The support base 3 for the organised group of products 4 comprises selective vertical translation means T of the rollers 37 under the support surface A defined by the ribs 41, to allow the insertion of the lower portions 8 of the gripping elements 2.

Through the aforementioned vertical translation means T, indeed, the rollers 37 are selectively commanded to move from at least one lower position, illustrated in figure 7, in which they are below the support surface A defined by the ribs 41, and in which therefore the lower portions 8 of the gripping elements 2 can insert between the ribs 41 themselves under each organised group of products 4, to at least one upper position, illustrated in figure 6, in which, on the other hand, the rollers 37 are positioned at a greater height with respect to the support surface A, so as to define the aforementioned transportation surface 36, on which the organised groups of products are moved according to the direction of forward motion.

The vertical translation means T of the rollers 37 comprise at least one actuator - for example electric or pneumatic - for example associated with the side support walls 38 of the rollers 37, and that operates the translation thereof from the aforementioned lower position to the aforementioned upper position and vice- versa.

The frame 33 of the support base 3 also comprises an end stop wall 42 of the groups of products.

In an alternative embodiment of the support base 3 - not represented in the figures - the rollers 37 are rotatably supported in a fixed and predetermined position, whereas the ribs 41 are associated with respective vertical translation means - consisting for example of an electric pneumatic or similar actuator. Such translation means make it possible to lift the ribs 41 themselves from an inactive lower position, in which they are below the support surface 36, to an upper position in which they lift each organised group of products 4 to allow, between them, the insertion of the lower portions 8 of the gripping elements 2.

Hereafter we will describe the palletization process of groups of products 4 able to be carried out with the palletization device 1 described above, i.e. the operation of the device in making a pallet comprising groups of products 4 arranged one on top of the other. In an initial step, an organised group of products 4 to be palletized is positioned on the support base 3, i.e. at the end part of the transportation surface 36.

The dimensions of each organised group of products 4 are known, and have been set beforehand in the programme that manages the operation of the robot that incorporates the gripper 2, according to ways essentially known in the field.

The gripper 2 initially has the compacting means 9 and the gripping elements 7 both in the respective open positions, i.e. in the configuration illustrated in figures 2 and 4.

At this time, or even at a later time, the vertical translation means T of the rollers 37 are actuated, which thus lower by a certain height - i.e. below the support surface A defined by the ribs 41 - sufficient to allow the insertion, under the organised group of products 4 itself, of the rods 16 of the respective gripping elements 7.

The gripper 2 is thus brought up to the organised group of products 4, so that the rods 16 of the gripping elements 7 insert between the ribs 37 of the support base 3.

At this point, there follows a step of actuating the compacting means 9.

In greater detail, the first walls 17 and the second walls 23 are respectively actuated through the first translation means 19 and the second translation means 25.

The first walls 17 and the second walls 23 then translate towards the organised group of products 4; the servo-pneumatic positioning systems of the first translation means 19 and of the second translation means 25, indeed, take care of bringing the first walls 17 and the second walls 23 into contact with the respective side surfaces of the organised group of products 4, so as to obtain a light pressing action sufficient to compact the single products into the optimal configuration, without however the risk of deformation or damage. Thanks to the presence of the first recesses 22 and of the second recesses 28 offset from one another, the first walls 17 and the second walls 23 can cross over one another so as to wrap around groups of products 4 even having very different dimensions.

At this point, therefore, the organised group of products 4 is compacted and delicately clamped on the sides by the first walls 17 and by the second walls 23, and therefore all movements or accidental displacements are prevented.

There then follows an actuation step of the gripping elements 7, again in relation to the dimensions of the organised group of products 4, known and introduced into the management programme of the robot.

In particular, the gripping elements 7 are actuated by the linear actuation means 12 so as to approach the sides of the organised group of products 4, and so that the rods 15 of the lower portions 8 insert below the organised group of products 4 itself.

The movement of the gripping elements 7 is carried out, thanks to the characteristics of the servo-pneumatic positioning system of the linear actuation means 12, so as not to exert pressure on the sides of the organised group of products 4, already effectively clamped by the compacting means 9.

This configuration of the gripper 7 is represented in figure 5.

At this point there follows a lifting step of the gripper 2, which takes the organised group of products with it.

The gripper 2, actuated by the palletizing robot, then goes to a palletization station, where it releases the organised group of products 4. For example, in the palletization station there is a pallet on which the first organised group of products 4 is placed.

The release of the organised group of products 4 takes place by firstly taking away the gripping elements 7, and then by taking away the first walls 17 and the second walls 23.

The process is obviously repeated for as many cycles as there are layers to be made in the pallet.

In an alternate manner to the picking up and release of the organised groups of products 4 as described above, the gripper 2 also takes care of collecting, through the pick-up means 30, sheets from a suitable store and of depositing them, one by one, between one group and the other in the formation of a pallet.

The invention thus conceived allows important technical advantages to be obtained.

First of all, the device according to the invention makes it possible to create layers of groups of products that are more regular and more stable thanks to the fact that every layer is clamped by the compacting means during transportation from the support base to the palletization station.

Moreover, the step of picking up the groups of products takes place so as to eliminate the risks of damaging or deforming the products. Indeed, the picking up of a group of products does not occur, like in the case of conventional grippers, mainly by friction of the gripping elements on the sides of the group of products. The picking up takes place, instead, by simple lifting of an organised group of products immobilized by the compacting means, without any pressing action on the sides of the products. The palletization device according to the invention also makes it possible to pick up and create layers with groups of products even of relatively large dimensions, or even relatively heavy, since such groups are supported below by the rods of the gripping elements .

The device according to the invention also makes it possible to create layers of groups of products, or of packages of products, that are delicate or easily damaged, unstable and easily subject to movements or accidental deformations during storage or transportation .

Moreover, it is possible to create layers of groups of products that are not even homogeneous, for example of different types to one another, since the compacting means make it possible to make cohesive layers, of minimum bulk, and sufficiently stable.

Another embodiment of the device according to the invention is illustrated in figures 8-13.

In this embodiment the single parts are indicated with the corresponding numerals of the previous embodiment, increased by 100 units.

In particular, this embodiment comprises a differently designed support base 103, so as to achieve the technical advantages that will be better described hereafter .

The support base comprises a frame 133, supported by four legs 134 with adjustable feet 135.

The frame 133, at the top, defines a transportation surface 136 of the groups of products.

In this embodiment, the transportation surface 136 is defined as transportation means 137 comprising a plurality of parallel belts 137.

The belts 137 are wound on two rollers with parallel axes rotatably supported at the ends in a mobile frame 138, associated so as to be able to slide in the vertical direction with the frame 133, see in particular figures 12 and 13.

The transportation belts 137 of groups of products are associated with respective actuation means 139.

The actuation means 139 of the belts 137 comprise an electric geared motor group coupled with an end portion 140 of one of the rollers on which the belts 137 are wound .

The support base 103 also comprises a support surface A for the organised groups of products.

The support surface A is defined by ribs 141 arranged vertically and parallel, having relatively low thickness .

The ribs 141 can, for example, be mounted on a single support framework, as illustrated in figure 11, or they can be mounted on a plurality of distinct and separate support elements.

As can be seen for example in figures 8-10, the ribs 141 are mounted so as to insert between the spaces foreseen between the belts 137.

The ribs 141 comprise respective pluralities of notches 142.

The notches 142 are equally spaced apart, so as to define corresponding teeth 143 between them.

The notches 142 are, for example, rectangular shaped. On the teeth 143 are foreseen respective covering caps 144, for example made . from plastic or another suitable material, which thus define the support surface A for the groups of products.

Of course, the number of notches 142, and consequently teeth 143, can be whatever, in relation to the specific application requirements.

The support base 103 comprises selective vertical translation means of the belts 137, wholly indicated with 145 in figure 11.

In particular, the selective translation means 145 of the belts 137, which act in particular on the mobile frame 138, allow the belts themselves to be lowered below the support surface A defined by the ribs 141, to allow the insertion of the lower portions 8 of the gripping elements 2.

Through the aforementioned vertical translation means 145, indeed, the belts 137 are selectively commanded to move from at least one lower position to at least one upper position.

In particular, in the aforementioned lower position the belts 137 are, with their upper branches, below the support surface A defined by the ribs 141, and therefore the lower portions 8 of the gripping elements 2 can insert between the teeth 143 of the ribs 141, i.e. at the notches 142, and therefore below each organised group of products 4.

In the upper position, illustrated for example in figure 8, the belts 137 are, with their upper branches, at a greater height with respect to the support surface A, so as to define the aforementioned transportation surface 136, on which the organised groups of products 4 are moved according to the direction of forward motion .

With reference to figure 11, the vertical translation means 145 of the belts 137 comprise, in detail, a crank gear 146 rotatably supported in fixed parts of the frame 133, and of the linear actuators 147, for example pneumatic, which command said crank gear 146. The crank gear 146 is positioned under the mobile frame 138 that supports the belts 137.

In practice, the crank gear 146 transforms the horizontal linear motion of the actuators 147 into a vertical motion of the mobile frame 138.

Of course, instead of the crank gear 146 and the linear actuators 147 it is possible to use translation means of any other known and equivalent type.

The support base 103 comprises stop means 148 of the organised groups of products 4 in a pick-up position by the gripper.

The stop means 148, visible in figures 12 and 13, comprise a rack 149 provided with a plurality of parallel rods 150 that are positioned arranged between the belts 137.

The rack 149 is associated with vertical guides 151 and with pneumatic actuators 152.

The rack 149 is mobile, through actuation of the pneumatic actuators 152, from a lower position represented in figure 12 - in which the rods 150 are positioned, with the respective tops, at a lower height with respect to the upper branches of the belts 137, to an upper position, in which the rods 150 are positioned, with the respective tops, at a greater height with respect to the upper branches of the belts 137, so as to constitute a stop for the organised groups of products 4 in the desired position.

The use of the belts 137, positioned parallel to the direction of forward motion of the organised groups of products 4, instead of the rollers with axes perpendicular to the direction of motion, makes it possible to eliminate the risk of some single products or organised groups of products 4 being able to accidentally jam or slip between the rollers themselves, compromising the correct execution of the pick-up and storage operations of the organised groups of products 4 themselves.

Moreover, the use of the belts 137 parallel to the direction of forward motion of the organised groups of products 4 makes it possible to use the gripper 2, when needed, so that it has a direction of opening and closing of the gripping elements 7 parallel to that of forward motion of the organised groups of products 4. In other words, the lower portions 8 of the gripping elements 7 can also insert into the spaces located between the belts 137, parallel to them.

It has thus been seen how the invention achieves the proposed purposes.

The present invention has been described according to preferred embodiments, but equivalent variants can be devised without departing from the scope of protection offered by the following claims .