FR2839052A1 - Machine for feeding packs of pots of cream into deep cartons comprises swiveling arm with gripper, ball bearing on arm moving over cam so its lower end pivots through semicircle and is then raised vertically - Google Patents

Abstract

The machine for feeding packs of pots of cream into deep cartons (4) comprises a swiveling arm (10) with a gripper (15) at its lower end. A ball bearing (14) mounted on the arm moves over a cam (21A, 21B) so that the lower end of the arm pivots through 180degrees and is then raised vertically.

Description

means of stopping.

SYSTEM FOR CASING OBJECTS

DAS CAISSE PROPONDE

DESCRIPTION

  s field of the invention [invention relates to the handling of objects, individually or in batches, from a first delivery of 1Q transit to a second packing position in a deep box. Wile G 'applies, in particular, the handling of batches of identical objects, such as food products, packaging in boxG, in potG, in bottles or others and often in batches. We think, for example, of jars of cream or other dairy products. However, the invention can find applications in the handling of very diverse articles. PRIOR ART AND POS problem In the field of food processing industries, the packaging of many products is carried out in very diverse containers, such as plastic containers, jars, bottles. These objects are presented in batches poGitionndG horizontally, but entasG6G on

plusieuG ALageG.

  However, at the end of the production line, it is necessary to package these lots containing several identical objects in transport packaging boxes. For this purpose, there are already case packers, which sell machines capable of taking, one after the other, batches of prepositioned objects and transferring them inside the transport crate, in order to dispatch this behind ,

once it is closed.

  We know a certain type of case packers using a handling arm mounted to pivot about a horizontal axis at the end of which there are gripping means. The latter grab a batch of objects, when the arm is in a first horizontal position. This one makes a rotation of, to find itself horizontal, the extremity carry

  the gripping means having traversed a semicircle.

  The lot of objects is then above a box in which it must be placed. A few degree extension of the rotation of the handling arm allows the batch of objects to be lowered practically vertically into the crate. However, if it is too deep, the extension of the rotation no longer causes a substantially vertical trajectory, but which becomes more and more oblique and which does not correspond to a vertical descent of the batch of objects at the bottom of a

deep box.

  Figure 1 illustrates, among other things, this cast In fact, considering a handling lever 3 swivels up, by a first end 3A, around an axis of rotation A, if the latter is fixed at a point A1, the rotation of the handling lever 3 will bring the second end 3B to decrease the arc of a circle C2 detaching itself more and more from a vertical axis V1 which tangents the circle C2. By imagining that this vertical axis V1 defines the location of the box in which a batch of objects must be placed by gripping means placed at the end of the second end 3B of the handling lever 3, it is easy to understand the problem posed by the great depth of a box 4 placed at the level of the vertical direction V1. If the box is not moved laterally, it is not possible to place the

objects at the bottom of it.

  The object of the invention is therefore to remedy this drawback: by proposing a syster:! C ^ - handling and casing of objects making it possible to deposit successively several objects or several batches of objects, one on the others, in a relatively deep box, using an arm of

  handling pivoting around a horizontal axis.

  SUMMARY OF THE INVENTION To this end, the main object of the invention is a system for picking up objects from a first place and vertically depositing the same objects at a second place, the system mainly comprising an arm handling pivoting about a horizontal pivot axis placed at a first end and having means for gripping and releasing objects placed at a second end of the arm, which pivots about 180 around the pivot axis, the second end thus passing from the first place to the second place by a semi-circular trajectory. According to the invention, after the pivoting of the manipulation arm by 180, the pivoting axis moves so that the second end of this manipulation arm has a vertical rectilinear trajectory, after the pivoting of 180. This is done in such a way as to be able to deposit, after the pivoting of 180, one or more objects along a vertical trajectory,

especially in a deep box.

  The main embodiment of the system according to the invention provides that the pivot axis is placed at a first lower mobile end of a pendulum suspended by its second end superior to a fixed frame of a machine, such as a case packer, in such a way that the pivot axis describes a portion of circular trajectory, and a determined trajectory cam in which a control point of the manipulation arm is secured so that the second end of the manipulation arm describes said vertical rectilinear trajectory, after the

  180 rotation of the manipulator arm.

  In the latter case, it is preferable that the control point is placed between the two ends of the manipulation arm, the trajectory cam then being formed in part of a circular groove whose trajectory start is vertical and the continuation oriented towards the teas and departing from the position

initial A1 of the pivot axis.

  In the latter case, the control point is advantageously produced by a ball bearing which is inserted in the groove at the end of the circular path of the second end of the pivot arm, the pivot axis being materialized by a swivel base of the manipulating arm equipped with trots ball bearings defining a pivoting circle and resting on a corresponding circle of the surface of a pivoting cam integral with the path cams carried out all the trots in the same

cam piece.

  In the case where the system is used with the balance, it is advantageous to use as motor means, a motor placed on the balance to make

rotate the manipulator arm.

  In the application of the system to a case packer in a deep box placed in the second place, it is advantageous to use a double pantograph, fixed to the case of the case packer, to keep horizontal

  the means of seizure and release of objects.

  Always in the case of the case packer, it is also advantageous to have means for orienting objects made up of an orienting arm, the first end of which is slidably mounted relative to rectilinear guide means, placed in the same plane as the pivot axis and along a line of symmetry with respect to the two places and a second end defining the orientation of objects by its orientation. In the latter case, it is advantageous to use a blocking and unblocking cylinder in the position of the gripping and releasing means, the arm

orientation being disengaged.

  List of figures The invention and its various technical characteristics will be better understood on reading the

  detailed description of an embodiment of the invention.

  Wile is accompanied by several figures, representing respectively: figure 1, diagrammatically, the trajectories of the manipulation arm according to prior art

and according to the invention.

  - Figure 2, the pivot cam and the path cam of the system according to the invention; - Figure 3, in front view, part of the system according to the invention, in its application to a case packer, in a first position; - Figure 4, the same elements described in Figure 3, in a second position; - Figure 5, in top view, another part of the system according to [the invention; and - Figure 6, in side view, ['the whole system according to the invention adapted to a case packer.

  Detailed description of a realization of

  The invention Returning to FIG. 1, where a principle of the prior art has been shown in strong lines and explained previously, the principle of the system according to the invention is shown in phantom. Indeed, it can be seen that the pendulum 2 is mounted to pivot relative to the fixed frame of the machine. Consequently, the pivot axis A moves along a part of the circle C1, the center of which is the pivot point of the pendulum 2 between the points A1 and A2. Consequently, even if the handling arm 3 continues to rotate about the pivot axis A, so that its second end 3B descends below the first end 3A, it is possible to make it follow, for a good part of the rotation of the handling arm 3, the second end 3B, according to a

  vertical trajectory, along the vertical axis V1.

  This vertical path can only be stopped after a distance equal to the length of the pivot arm 3 or before if the vertical axis V1 does not cross

  not the swinging circle C1 of the pendulum 2.

  The system according to the invention is therefore based on the displacement of the pivot point A1 of the manipulation arm 3 in the direction of the vertical axis V1 representing the place where one wishes to deposit the objects

in a deep box 4.

  Figure 2 shows the few parts that come into play functionally to obtain the displacement of the handling arm, as it has just been described and shown in Figure 1, in phantom. These pieces mainly wind the handling arm 10 and a cam piece 20 comprising two trajectory cams 21A and 21B each placed at one end of the surface of the cam piece 20 and a pivoting cam 22 placed in the center of the piece. cams 20. In fact, this pivoting cam 22 is centered relative to the initial position of the axis of

  pivoting A of the handling arm 10.

  The two trajectory cams 21A and 21B wind each consist of a groove, the curved trajectories of which reverse at the same horizontal level as that of the pivot axis A where they wind vertically. The upper parts 21AS and 21BS, each of the two trajectory cams 21A and 21B curve upwards and towards the center of the cam piece 10 in amor, cant a concentric circular trajectory at the point A1 where the axis is initially located pivot A. On their side, the lower parts 2C 21AI and 21BI of the two cams of trajectories 21A and 21B deviate from the point A1 or is initially the pivot axis A, towards the teas en amor, cant a circular trajectory , of the same radius as that of the trajectory initiated by the upper parts 21AS and 21BS of the two trajectory cams

21A and 21B.

  The trajectories of the two grooves constitute the two trajectory cams 21A and 21B have been determined graphically, respecting the movements of the manipulation arm 3 of FIG. 1, according to the trajectories and the positions in phantom. Indeed, the trajectory cams 21A and 21B wind intended to guide a control point P materialized by a ball bearing 14, placed between the two ends of the rocking arm which constitutes a pivoting base 11 and an end 15. Taking into account that the vertical rectilinear trajectory V1 of FIG. 1 must be traversed by the end 15 of the manipulation arm 10, and more exactly by a manipulation axis B. it is possible to realize that the displacement of the control point P corresponds to that of the trajectory cam 21B. In addition, the pivot axis A has started to move in a small distance AA from the point A1, along a circular path described by the circle C1 of the

figure 1.

  To allow the displacement of the pivot axis A along this circle C1 and the maintenance of the pivoting base 11 of the manipulation arm 10 in the cam piece 20, the latter has a pivot cam 22 constituted by a large area concave circular part, capable of accommodating in trots points trots bearings 12 of the pivoting base 11 and defining a concentric circle to the pivot axis A. When the handling arm 10 is vertical, these trots bearings 12 are supported on the

  surface formed by the trajectory cam 22.

  When the pivoting arm 10 has pivoted, one of them leaves this trajectory cam 22 and only two bearings 12 wind in contact with the surface of the trajectory cam 22, then only one. In the latter case, the base 11 has several degrees of freedom, which allows the displacement of the pivot axis A. In order to limit the tilting of the pivot arm 10, it is possible to provide notches 23 at the two ends of the

trajectory cam 22.

  Figure 3 shows some additional elements involved in the application of the system according to the invention to a case packer materialized by a fixed frame 1. This type of machine is used to put in a deep box 4 objects or

  lots of objects coming out of a manufacturing chain.

  We find, in this figure 3, the cam piece 20, in the left groove 21B from which slides the point P of the pivoting arm 10, materialized by the ball bearing 14. The pivoting arm 10 is mounted rotating around the pivot axis A located at

  the lower end of the pendulum 2.

  A double pantograph 6 is also used mounted on the frame 1 of the machine to keep the gripping and release means 8 of the machine horizontal.

system.

  The whole system is shown in a

  position where the handling arm 10 is horizontal.

  It must be considered that it has just made a rotation of 180 around the pivot axis A by a circular trajectory. The ball bearing 14 of the control point P has just penetrated into the left groove 21B from above and is located at a place where the latter reverses the curvatures. This control point P

  will therefore be requested in an inverted trajectory.

  FIG. 4 shows the continuation of the displacement of the manipulation arm 10. In fact, the point P continues its trajectory, guided by its ball bearing 14 in the left groove 21B, moving away more and more from the center of the cam piece 20 corresponds to point A1 (not shown in this figure 4). The pivot axis A materialized by the pivoting base 11 of the handling arm 10 has started to move along the circle C1. The manipulation point B placed at the other end 15 of the manipulation arm 10, then follows a rectilinear vertical trajectory corresponding to the axis V1, symbolizing the location of

the box 4.

  It is found that always two ball bearings 12 of the pivoting base 11 of the manipulation arm 10 wind in contact with the surface of the trajectory cam 22. Nevertheless, one of them has arrived in a notch 23 in this one. this. The movement of the system is then stopped. The means of seizure and release 8 of the objects remain horizontal, thanks

pantograph 6.

  FIG. 5 shows means of orientation maintained by the gripping and releasing means of the system applied to a case packer. We schematically represent two boxes, a first 41 in strong lines and a second 42 in phantom. In correspondence, wind represents the elements of these orientation means consisting mainly of an orientation arm 30. The latter is mounted, by a first end 30A, sliding in two guide means 31 in which a sliding axis slides. 32 integral with this first end A. The second end 30B of the orientation axis is carrying means for gripping and releasing objects. However, the articulation arm 30 is subject to the movements of the system according to the invention, along an axis D defined, inter alia, by the movement of the pendulum 2, shown diagrammatically in the other figures. Consequently, when the handling arm passes from the first to the second place, that is to say from one box 41 to the other 42, it forces the orientation arm 30 to move along the axis D by a fixed point materialized by a pivot bar

  36 secured to the system according to the invention.

  It is noted that, between the two positions represented in this FIG. 5, the end 3OB of the orientation arm 30 has made an orientation change of 90. The intermediate position of the orientation arm 30 has also been shown in phantom. These wind orientation means disengageable in the sense that a blocking and unblocking cylinder 34 makes it possible to retract the guide means 31 relative to the guide bar 32. The means for gripping and

  relaxation then free in their orientation.

  Figure 6 shows the adaptation of the system according to the invention to a case packer with the orientation means described in Figure 5. Regarding these, we see that the cylinder 34 is pivotally mounted relative to the chassis 1 of the machine . The end of its rod 35 is mounted articulated with respect to a support structure of the guide means 31 in which the guide bar 32 slides. The orientation arm 30 is. in fact, consists of two parts, to obtain the necessary rigidity of the whole structure. Its end 3OB, carrying the gripping and release means 3, is in fact an attached piece on the lower part of the orientation arm 30. The double pantograph 6 is also represented. In its lower part, it is mechanically connected to the pivoting end 15 of the arm of

handling 10.

  The latter is mounted around the pivot axis A1, placed at the lower end of the pendulum 2. The latter consists of a box comprising a motor 25 driving a transmission system 26 to drive the shaft of rotation handling 10. The cam piece is placed vertically. The handling axis 10 is equipped with a guide axis 19 for accommodating the cam part

  in a plane away from the manipulation tree 10.

  Advantages of the invention The system according to the invention, adapted to a case packer, uses only a motor means

  25 motor in the balance 2.

We can use or not means

object orientation.

  The machine can adapt to different trajectories and to different dimensions, only the cam part being designed according to its

different criteria.

Claims (8)

RESELL I CAT I ONS   1. System for picking up objects from a first place and vertically depositing the same objects at a second place, the system comprising a similar manipulation arm (10) pivoting around a horizontal pivot axis (A) and placed at a first end of the manipulation arm and having means for gripping and releasing objects (8) placed at a second end (15) of the manipulation arm (10) which pivots about 180 around the pivot axis (A), the second end (15) thus passing from the first place to the second place by a semi-circular trajectory, characterized in that it consists in displacing, after the 180 pivoting of the manipulation arm (10), the pivot axis (A) so that the second end (15) of the manipulation arm (10) has a trajectory   vertical straight after turning 180.   2. System according to claim 1, characterized in that the pivot axis (A) is placed on a first lower movable end of a pendulum (2) suspended by its second end superior to a fixed frame (1) of a machine, such as a case packer, so that the pivot axis (A) describes a portion of circular trajectory, and that it comprises a determined trajectory cam (21A, 2AB) and in which a control point (P) of the manipulation arm (10) is secured, so that the second end (15) of the manipulation arm (10) follows said vertical rectilinear trajectory (V1), after the pivoting of   of the manipulation arm (10).   3. System according to claim 2, characterized in that the control point (P) is placed between the two ends of the manipulation arm (10), the trajectory cam (21A, 21B) is then formed in part of a circular groove whose start of trajectory is vertical and thereafter directs towards the teas while deviating from the position   initial (A1) of the pivot axis (A).   4. System according to claim 3, characterized in that the control point (P) is materialized by a ball bearing (14) which is inserted in the groove (21B) at the end of the circular path of the second end (15) of the manipulation arm (10), the pivot axis (A) being materialized by a pivoting base (11) of the manipulation arm (10) equipped with trot ball bearings (12) defining a pivot circle and resting on a corresponding circle of the surface of a pivoting cam (22) integral with the trajectory cams (21A, 21B), carried out all the trots in the same piece of cams (20).   5. System according to claim 2, characterized in that one uses, as the driving means, a motor (25) placed on the balance (2) to make   pivot the handling arm (10).   6. System according to claim 1, applied to a case packer, characterized in that a double pantograph (6) is used, fixed to the frame (1) of the case packer to keep the means of horizontal   seizure and release of objects (8).   7. System according to claim 1, characterized in that it comprises means for orienting objects made up of an orienting arm (30), a first end (30A) of which is slidably mounted relative to guide means. rectilinear (32) placed in the same plane as the pivot axis (A) and along a line of symmetry with respect to the two places and a second end (30B) defining the orientation of the objects by its orientation.   8. System according to claim 7, characterized in that it comprises a jack (34) for blocking and unblocking in position of means for gripping and releasing objects (8), the orientation arm