EP2384978A1 - Handhabungsanordnung, insbesondere für automatische Maschinen - Google Patents

Handhabungsanordnung, insbesondere für automatische Maschinen Download PDF

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Publication number
EP2384978A1
EP2384978A1 EP11164397A EP11164397A EP2384978A1 EP 2384978 A1 EP2384978 A1 EP 2384978A1 EP 11164397 A EP11164397 A EP 11164397A EP 11164397 A EP11164397 A EP 11164397A EP 2384978 A1 EP2384978 A1 EP 2384978A1
Authority
EP
European Patent Office
Prior art keywords
products
handling assembly
assembly according
line
arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11164397A
Other languages
English (en)
French (fr)
Inventor
Antonio Martelli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OAM SpA
Original Assignee
OAM SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by OAM SpA filed Critical OAM SpA
Publication of EP2384978A1 publication Critical patent/EP2384978A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
    • B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks

Definitions

  • the present invention relates to a handling assembly, particularly for automatic machines.
  • the handling of the trays is provided by dedicated carriages, which can move along a line that is parallel to the ground.
  • a serial manipulator capable of following the movement of the trays and of picking them up from the carriages in order to deposit them in appropriate receptacles, from which, by simple translation, they are inserted directly in the packages, without modifying their configuration.
  • the manipulator by moving along the end portion of the line, is capable of picking up a desired number of trays and depositing them optionally in the same receptacle, thus providing the desired final configuration, even on multiple layers; in the meantime, the movement of the trays from the line described above to the receptacles and the ability of the manipulator to move along the line to pick up the trays from different carriages in order to deposit them in the same receptacle makes it possible to provide a substantial decoupling between the upstream pick-up station and the downstream station for insertion in the boxes. The decoupling is necessary due to the different speeds of the upstream and downstream devices, to the different constraints that they set, and to the different number of products treated at each loading cycle with respect to those treated at each cycle of unloading and insertion in the boxes.
  • serial manipulator capable of moving along the line and of gripping and depositing the trays in the desired configuration, providing the decoupling between the upstream stations and the downstream stations, causes a considerable increase in the total space occupation, as well as a great structural complication, in order to ensure that the manipulator can, as desired, move along various mutually independent directions.
  • the aim of the present invention is to solve the problems described above, by providing a handling assembly capable of handling in a practical and easy manner products of various types, at the same time arranging them in a preset configuration.
  • an object of the invention is to provide a handling assembly in which the step of final unloading of the products, in the desired configuration, occurs with times and speeds that are independent of those of the upstream loading step.
  • Another object of the invention is to provide a handling assembly capable of arranging the handled products in different configurations and orientations, on multiple rows and/or layers and/or columns.
  • a further object of the invention is to provide a handling assembly that ensures high reliability in operation.
  • Another object of the invention is to provide a handling assembly that can be obtained easily starting from commonly commercially available elements and materials.
  • Another object of the invention is to provide a handling assembly that has modest costs and is safe in application.
  • a handling assembly particularly for automatic machines, that comprises means for moving, along a line, elements for gripping products, said line comprising at least one outbound portion and at least one return portion, said portions being interposed between an upstream station, for picking up the products, and a downstream station, for discharging said products, characterized in that said movement means comprise independent driving units for said grip elements, said grip elements being adapted to handle the products in a suspended configuration, each one of said driving units being functionally associated with at least one respective grip element, for the independent movement, even in opposite directions, of each one of said grip elements along said line, which is interposed preferably between two substantially different heights.
  • the handling assembly is particularly suitable to be used in automatic machines and comprises means 2 for moving, along a line 3, elements 4 for gripping products 5.
  • the handling assembly 1 is assigned to moving products 5 of the type of trays that have an approximately parallelepipedal shape, as illustrated in the accompanying figures. It is useful to note that the possibility is not excluded (and in any case falls within the protective scope claimed herein) to use the assembly 1 to handle boxes that contain other types of objects or to transport different products 5.
  • the products 5 might be vials, bottles, blister packs, pouches of powdered drugs, et cetera, even prepackaged in boxes or other containers.
  • the line 3 comprises at least one outbound portion 3a and at least one return portion 3b, which are interposed between an upstream station A, for picking up the products 5, and a downstream station B, for discharging the products.
  • the movement means 2 comprise independent driving units 6 for the grip elements 4; each one of the driving units 6 is functionally associated with at least one corresponding grip element 4, in order to cause the independent movement, even in opposite directions, of each one of the grip elements 4 along the line 3, which is interposed preferably between two substantially different heights.
  • the assembly 1 comprises three driving units 6, which are rigidly associated with three corresponding belts 7, which in turn are arranged mutually side by side and substantially parallel along the line 3: at least one of the grip elements 4 is anchored to each one of the belts 7, which are therefore mutually independent.
  • the assembly 1 comprises three driving units 6, which are rigidly associated with three corresponding belts 7, which in turn are arranged mutually side by side and substantially parallel along the line 3: at least one of the grip elements 4 is anchored to each one of the belts 7, which are therefore mutually independent.
  • the outbound portion 3a and the return portion 3b are substantially inclined, for the handling of the products 5 from the upstream station A, arranged at a different and preferably greater height with respect to the height of the downstream station B, for which the products 5 are intended.
  • at least the outbound portion 3a preferably has a substantially curvilinear shape.
  • each grip element 4 comprises at least one clamp 8 that can be activated on command to grip a product 5 (or possibly a larger number of products 5 simultaneously, if they are mutually and rigidly connected), at the upstream station A and for its transport, in a suspended configuration, along the outbound portion 3a.
  • the clamp 8 can be then deactivated on command in order to release the product 5 at at least one preset position of the downstream station B.
  • the clamps 8 are capable of releasing the products 5 (at the downstream station B) in different preset positions in order to provide the final desired configurations of products 5.
  • each grip element 4 consists of a train of clamps 8, which are anchored in series to a portion of the corresponding belt 7, for the simultaneous grip, transport and discharge of a plurality of products 5.
  • a grip element 4 constituted by a train of three clamps 8, each one in the configuration for gripping a respective product 5, is shown at the downstream station B.
  • grip elements 4 Even capable of picking up, holding and discharging the products 5 according to other operation methods: for example, the possibility to provide elements 4 that have suction ports for holding the boxes (or other products 5) by means of a pneumatic vacuum is provided.
  • each one of the clamps comprises two arms 9 which are articulated, at a fulcrum 9a arranged in a central portion, to a cross-member 10 which is fixed to the corresponding belt 7.
  • each arm 9 is fixed to the free end of a respective spring 11 (which in turn is anchored, on the opposite side, to the cross-member 10).
  • the elastic reaction of the springs 11 keeps the arms 9 and the clamp 8 in the closure configuration, while the controlled rotation of the arms 9 about the respective fulcrum 9a (for example, in the ways that will be described in the paragraphs that follow), leads to the opening of the clamp 8 in order to allow the clamping and release of the products 5.
  • each arm 9 is provided, at one of its end portions, with a bar 12 having a substantially circular cross-section.
  • the handling assembly 1 in order to activate the clamps 8, the handling assembly 1 according to the invention comprises a first actuator 13a, which is capable of actuating the oscillation of the arms 9 and can be automatically operated upon arrival of a product 5 at the upstream station A, in order to force the opening of the clamps 8 (which then close again due to the springs 11) and therefore the pick-up of the product 5.
  • a first actuator 13a which is capable of actuating the oscillation of the arms 9 and can be automatically operated upon arrival of a product 5 at the upstream station A, in order to force the opening of the clamps 8 (which then close again due to the springs 11) and therefore the pick-up of the product 5.
  • the assembly 1 further comprises at least one second actuator 13b, which in turn is capable of actuating the oscillation of the arms 9 and is arranged proximately to the preset position for the release of the products 5; the actuation of the second actuator 13b therefore produces a second opening of the clamps 8, which thus can indeed discharge the products 5.
  • first actuator 13a and the second actuator 13b are substantially constituted by a lever 14 that oscillates about a fixed pivot 14a; during the oscillation, the lever 14 moves into abutment against one end of the arms 9 (on the opposite side with respect to the bars 12), so as to cause their rotation and, as noted, the opening of the clamp 8.
  • sensors of the photocell type capable of detecting the arrival of the product 5 at the pick-up region (or at the preset position for discharge); the arrival information may thus be transmitted to an electromagnet that actuates the rotation of the lever 14.
  • sensors of a known type may be used in order to detect the passage (and/or arrival) of the product 5 and the consequent transfer of the corresponding information to the first actuator 13a.
  • the handling assembly 1 comprises a plurality of second actuators 13b (for example three, as in the embodiment illustrated in the accompanying figures) in order to allow the release of the products 5 respectively at a plurality of preset positions (three in the example in the figure) arranged along a first rectilinear portion 15a of the line 3, the first rectilinear portion faceing a conveyor belt 16 of containment trays 17.
  • a plurality of second actuators 13b for example three, as in the embodiment illustrated in the accompanying figures
  • the trays 17 can receive the products 5 (following release by the clamps 8) arranged on multiple rows and layers and according to a first spatial orientation (which corresponds to the one they assume while they are suspended, held by the clamps 8, along the first portion 15a).
  • the handling assembly 1 comprises a unit 18 for transferring the products 5, which is arranged substantially so as to face and be proximate to a second portion 15b of the line 3, which is arranged downstream of the first portion 15a.
  • the second portion 15b has a substantially curvilinear shape and the products 5 (held by the clamps 8) arrange themselves thereat automatically according to a second spatial orientation (possibly variable), which is different from the first one and indeed defined by the shape of the second portion 15b.
  • the second portion 15b (and thus the trajectory described by the grip elements 4) has a semicircular shape and the transfer unit 18 is aligned with the very center of the semicircle.
  • the grip elements 4 When the grip elements 4, by moving along the line 3 and the second portion 15b in particular, are proximate to the transfer unit 18 and face it, the products 5 are arranged in a second spatial configuration, which corresponds to a rotation through 90° with respect to the first configuration.
  • the transfer unit 18 is provided with an apparatus for picking up and handling the products 5: it is thus possible to pick up the products 5 to deposit them in the trays 17 in the arrangement that corresponds to the second spatial orientation, even on multiple rows (for example three, as in Figure 8 ).
  • the third actuator 13c is a curved rod which oscillates, in order to abut against the arms 9 in manners similar to what has been observed for the first actuator 13a and the second actuators 13b.
  • the third actuator 13c opens the clamps 8, the products 5 are made available to pick-up stems 20, which are comprised in the above mentioned apparatus and can move in order to clamp laterally the trays (by using the protrusions 5a) and move them toward the seat 19, where suitable abutments, even of the elastic type, determine their release and their retention in position.
  • the pick-up and handling apparatus further comprises a movable pusher 21, which acts along an interception trajectory of the temporary receptacle 19, in order to evacuate the products 5 from the seat 19 and, by pushing them, deposit them below in the trays 17, in an arrangement that corresponds to the second spatial orientation and on multiple side-by-side rows.
  • a clamp 8 of a grip element 4 can, in the manners described in detail in the previous paragraphs, pick up and clamp between its arms 9 a first product 5.
  • the driving unit 6 connected to the belt 7, to which the grip element 4 is anchored, can then actuate the advancement of the latter, either to transport it toward the downstream station B or (typically) to allow a second clamp 8 of the same element 4 to grip a second product 5. This operation may be repeated until each clamp 8 of the first grip element 4 clamps a respective product 5; once such activity has been completed, the respective driving unit 6 may push the first grip element 4 until the first clamp 8 is placed at the first preset position for deposition in a tray 17.
  • the first clamp 8 of the same grip element 4 may be already arranged in a position adjacent to the first preset position in the downstream station B.
  • the rule of motion, the rate and the step of advancement actuated by the first driving unit 6 can be determined only according to the rule of feeding of the products 5 and therefore of the devices that act upstream.
  • the first clamp 8 of the first grip element 4 due to the action of a second actuator 13b, releases in the tray 17 the first product 5.
  • the first driving unit 6 may accelerate the motion of the corresponding belt 7 in order to allow the second clamp 8 to align itself with the tray 17 (which in the meantime has advanced, pushed by the belt 16) at the second preset position, where the release of the second product 5 occurs, the second product 5 being therefore deposited above the first product 5, so as to define a two-layer configuration.
  • a second grip element 4 moved by the second driving unit 6 and therefore in a completely independent manner with respect to the handling imposed by the first one, may pick up other products 5 in the described manners (and complying only the constraints of the upstream devices).
  • the first grip element 4 may follow the return portion 3b in order to return proximate to the upstream station A.
  • the driving unit 6 may impose to the belt 7 a speed chosen at will, in order to ensure a fast restoration of the initial conditions.
  • the assembly 1 thus ensures maximum productivity, using a practical and simple solution that does not entail the use of bulky serial manipulators, which are complicated to manage and difficult to program.
  • the handling assembly according to the invention fully achieves the intended aim, since the adoption of movement means for the products grip elements that comprise independent driving units, each associated with a respective grip element, makes it possible to handle the latter in practical and easy manner, at the same time arranging them in a predefined configuration.
  • the materials used, as well as the dimensions, may be any according to requirements and to the state of the art.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Polymers With Sulfur, Phosphorus Or Metals In The Main Chain (AREA)
EP11164397A 2010-05-03 2011-05-02 Handhabungsanordnung, insbesondere für automatische Maschinen Withdrawn EP2384978A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITBO2010A000273A IT1399715B1 (it) 2010-05-03 2010-05-03 Gruppo di movimentazione, particolarmente per macchine automatiche.

Publications (1)

Publication Number Publication Date
EP2384978A1 true EP2384978A1 (de) 2011-11-09

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EP11164397A Withdrawn EP2384978A1 (de) 2010-05-03 2011-05-02 Handhabungsanordnung, insbesondere für automatische Maschinen

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EP (1) EP2384978A1 (de)
IT (1) IT1399715B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115258255A (zh) * 2022-04-15 2022-11-01 扬州绿宝人造草坪有限公司 一种人造草坪自动裁切打卷包装设备

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4294057A (en) * 1978-04-12 1981-10-13 A-T-O, Inc. Case packer apparatus including velocity compensator assembly
DE19648447A1 (de) * 1996-11-22 1998-05-28 Bosch Gmbh Robert Vorrichtung zur Handhabung von Blisterstreifen
DE102005046603A1 (de) * 2005-09-29 2007-04-05 Robert Bosch Gmbh Vorrichtung zum Transport von Blisterstreifen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4294057A (en) * 1978-04-12 1981-10-13 A-T-O, Inc. Case packer apparatus including velocity compensator assembly
DE19648447A1 (de) * 1996-11-22 1998-05-28 Bosch Gmbh Robert Vorrichtung zur Handhabung von Blisterstreifen
DE102005046603A1 (de) * 2005-09-29 2007-04-05 Robert Bosch Gmbh Vorrichtung zum Transport von Blisterstreifen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115258255A (zh) * 2022-04-15 2022-11-01 扬州绿宝人造草坪有限公司 一种人造草坪自动裁切打卷包装设备

Also Published As

Publication number Publication date
ITBO20100273A1 (it) 2011-11-04
IT1399715B1 (it) 2013-05-03

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