WO2010025471A1

WO2010025471A1 - Article handling device

Info

Publication number: WO2010025471A1
Application number: PCT/US2009/055574
Authority: WO
Inventors: Fabrice Avril
Original assignee: Meadwestvaco Packaging Systems, Llc
Priority date: 2008-09-01
Filing date: 2009-09-01
Publication date: 2010-03-04
Also published as: EP2318295A1; GB0815876D0

Abstract

An article handling device (10) comprising one or more arms for handling an article (A), which arms are rotatable about an axis (A) wherein each arm comprises a first arm member (36) pivotally coupled at a first end to a second arm member (38a, 38b, 38c) the first arm member (36) being rotatably coupled about the axis (A) at an opposing end the second, arm member (38a, 38b, 38c) being coupled to a tool support at a distal end from said pivotal coupling, and wherein a linkage is pivotally coupled to the second arm member (38a, 38b, 38c), said linkage comprising an inner component rotatably mounted about the axis (A) and an outer component pivotally coupled at a first end to the inner component and at an opposing end to the second arm member (38a, 38b, 38c) wherein the or each linkage and the or each arm are independent of each other, such that the arm may be operable between an extended position and retracted position.

Description

ARTICLE HANDLING DEVICE

FIELD OF THE INVENTION

The invention relates to an article handling device which is versatile and can be utilised in a variety of functions. More particularly, but not exclusively, the invention relates to an article handling device or robot for a packaging machine, a method of control of the article handling device and use of the article handling device in a packaging machine.

BACKGROUND OF THE INVENTION

In the field of packaging it is often required to provide consumers with a package comprising multiple primary product containers, such multi-packs are desirable for shipping and distribution and for display of promotional information. It is therefore desirable to be able to handle and manipulate articles to be packaged and the packages themselves in a production line. Whereas the invention is useful in the field of packaging, it is however envisaged that the present invention may also be applied in other industries where automated article handling is desirable.

SUMMARY OF INVENTION

According to a first aspect of the present invention there is provided an article handling device comprising one or more arms for handling an article, which arms are rotatable about an axis wherein each arm comprises a first arm member pivotally coupled at a first end to a second arm member the first arm member being rotatably coupled about the axis at an opposing end the second arm member being coupled to a tool support at a distal end from said pivotal coupling, and wherein a linkage is pivotally coupled to the second arm member, said linkage comprising an inner component rotatably mounted about the axis and an outer component pivotally coupled at a first end to the inner component and at an opposing end to the second arm member wherein the or each linkage and the or each arm are independent of each other, such that the arm may be operable between an extended position and retracted position.

Preferably, a drive mechanism is coupled to the or each arm for rotation of the or each arm and wherein a second drive mechanism is provided for rotation of the inner component. Preferably, the first arm member is coupled to a first drive shaft at one end and which is coupled to the first drive mechanism at the other end and wherein a second drive shaft is rotatably mounted about the first drive shaft said second drive shaft being coupled at a first end to the second drive mechanism and to the inner component at the other end.

Preferably, the first and second drive shafts each comprise a tubular axis each aligned with the axis.

Preferably, the first and second drive shafts are of different length.

Preferably, one or more additional drive mechanisms are coupled to a respective drive shaft mounted about the first and second drive shafts which additional drive mechanisms in part couple said one or more additional drive mechanisms to a tool support mechanism at an outer end of each of the second arm members.

Preferably, a hollow shaft is provided within the first drive shaft such that a conduit is formed allowing a tool control system to be coupled to a tool head mounted on the tool support mechanism.

Preferably, the tool control system comprises a vacuum system and/or compressed air system and/or electrical power system.

Preferably, the device comprises two or more arms each of which is simultaneously rotated and/or extended or retracted. Preferably, the/or each additional drive mechanism is coupled to the tool support mechanism by one or more pulley systems.

Preferably the drive mechanisms and/or one or more additional drive mechanisms are located about said opposing end of the first arm and preferably are stationary with respect to a frame member coupling said article handling device to a packaging machine.

According to a second aspect of the present invention there is provided an article handling device comprising one or more arms each having a tool support system on one end thereof wherein each arm is extendable or retractable with respect to a central axis about which the arms are rotatable, wherein two or more drive mechanisms are coupled to two or more drive shafts respectively, each drive shaft being adapted to share a common tubular axis.

According to a third aspect of the present invention there is provided a packaging machine comprising an article handling device according to any preceding claim.

One advantage of the present invention is that the device can be operated in a continuous motion such that improved article throughput can be achieved. However in alternative embodiments the device may be operated with a continuous motion or intermittently. In yet another embodiment the device can be operated with a rotary motion in both the clockwise and counter-clockwise direction in a reciprocating movement.

Another advantage of the present invention is that it can be mounted within a packaging machine such that the working plane of the arms or tool heads is either vertical, horizontal or in any other orientation.

BRIEF DESCRIPTION OF THE DRAWINGS - A -

Exemplary embodiments of the invention will now be described with reference to the accompanying drawings, in which:

FIGURE 1. is a perspective view from above of an article handling device according to a first embodiment of the invention;

FIGURE 2. is a side view of an article handling device according to the first embodiment of the present invention;

FIGURE 3. is a perspective view from above of the article handling device in a closed configuration;

FIGURE 4. illustrates a plan view of the article handling device with several components removed for ease of illustration;

FIGURE 5. illustrates a plan view from above a component of the article handling device;

FIGURE 6. illustrates a plan view from above another component of the article handling device;

FIGURE 7. illustrates a plan view from below of the article handling device wherein several components have been removed for ease of illustration;

FIGURE 8. illustrates a side view of an outer arm of the article handling device of Figure 1;

FIGURE 9. illustrates a cross sectional view of a central portion of the article handling device;

FIGURE 10. illustrates a cross sectional view of inner arms of the article handling device;

FIGURE 11. illustrates a cross sectional view of an outer arm of the article handling device of Figure 1;

FIGURE 12. illustrates a perspective view of components of a tool support and control system;

FIGURE 13. illustrates a schematic view of an article handling device according to a second embodiment of the present invention; FIGURE 14. illustrates a schematic view of an article handling device according to a third embodiment of the present invention;

FIGURE 15. illustrates a schematic view of an article handling device according to the first embodiment of the present invention;

FIGURE 16. illustrates a schematic view of use of an article handling device according to a second embodiment of the present invention; and

FIGURE 17. illustrates a schematic view of use of an article handling device according to a first embodiment of the present invention.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS OF THE PRESENT INVENTION

With reference to the above drawings an article handling device 10 is now described. The article handling device 10 comprises one or more tool heads 66 which, dependent upon the application of the article handling device, are operable to perform a function, such as pick and place. The construction of the or each tool head 66 (which may comprise a mechanical grasping mechanism, a suction picking mechanism, an articulated mechanical hand or other grasping means) is not described in detail. It will be understood from reading the foregoing description that the article handling device 10 provides a mechanism for versatile and accurate positioning and movement of the tool head 66 by being operable to raise and lower, rotate and or relocate the tool head 66 (and hence article held thereby) at any position between a fully extended and fully retracted position. The positioning of the or each tool head 66 is accurately controllable by virtue of the article handling device 10 being able to position the tool head 66 in three spatial dimensions and to rotate the orientation of the tool head 66 as well as being capable of controlling the velocity, acceleration and rotational speed of the tool head 66 simultaneously in each of three dimensions by means of altering the speed of the drive means (described below). Alternatively the article handling device 10 is capable of moving the or each tool head 66 in only one direction (for example extend of retract the tool head) and also capable of moving the or each tool head 66 in any combination of movements. For example, the tool head 66 could be extended and at the same time be lifted upwardly; alternatively, the tool head 66 can be rotated whilst at the same time being moved downwardly.

Referring to Figure 1 there is shown a perspective view of the article handling device 10 suitable for use in a packaging machine 20, 120 as illustrated in Figures 16 and 17.

Turning back to Figure 1 it can be seen that a plurality of drive mechanisms Sl, S2, S3, S4 are each coupled to shafts 84, 78, 98, 90 mounted about a central axis A. It is envisaged that the drive mechanisms Sl, S2, S3, S4 preferably are rotary drive mechanisms such as electric motors or electromagnetic motors and preferably brushless motors. Optionally, the drive mechanisms Sl, S2, S3, S4 may be servo motors.

A first drive mechanism Sl is coupled to a first shaft 84 (see Figure 9) mounted about the central axis A by a first drive belt 12, a second drive mechanism S2 is coupled to a second shaft 78 (see Figure 9) also mounted about the central axis A by a second drive belt 14. Similarly, third drive mechanism S3 and fourth drive mechanism S4 are coupled to a third shaft 98 and fourth shaft 90 also mounted about the central axis A by third and fourth drive belts 16, 18 respectively.

The first drive mechanism Sl is mounted on a first platform 30 which itself is supported above a frame member 34 by a first support member 32 as shown in Figure 2. The second drive mechanism S2 is mounted on a second platform 26 which is also supported above the frame member 34 by a second support member 22. Fourth drive mechanism S4 is similarly supported by above frame member 34 by a fourth platform 28 and a fourth support member 24.

Third drive mechanism is supported by a third platform and third support members (not shown) in a similar manner as the first, second and fourth drive mechanisms.

First, second, third and fourth support members 32, 22, 24 are each of different length such that the respective platforms 30, 26, 28 to which they are coupled are mounted at different heights or elevations above frame member 34. In this way, the drive belts 12, 14, 16, 18 are coupled to their respective shafts 84, 78, 98, 90 one above the other about the central axis A at different elevations above the frame member 34, best illustrated in Figure 2.

Three inner arms 36 are coupled at 120 Degrees to each other and coupled to the fourth shaft 90 such that they are rotatable about the central axis A beneath frame member 34. Three outer arms 38a, 38b, 38c are provided each is pivotally coupled to form an "elbow" 37a, 37b,

37c respectively to one of the inner arms 36 respectively. Figures 1 and 2 illustrate the article handling device 10 in an "open" configuration in which the outer arms 38a, 38b, 38c are in an extended position. Figure 3 illustrates the article handling device 10 in a "closed" configuration in which the outer arms 38a, 38b, 38c are in a retracted or withdrawn position. Each inner arm

36 comprises upper and lower portions 36U, 36L respectively.

Figure 4 illustrates a plan view of the inner and outer arms 36, 38. The drive mechanisms Sl, S2, S3, S4, drive belts 12, 14, 16, 18, support members 32, 22, 24, platforms 30, 26,28 and frame member 34 have been removed for illustrative purposes.

Inner arms 36 are rotationally coupled to frame member 34 such that they can be rotated about axis A with respect to the frame member 34 by one of the drive motors, to be described in more detail below.

Disc member 50 is rotationally coupled to frame member 34 and to upper inner arm member 36U. Disc member 50 comprises protrusions 42a, 42b, 42c to which linkages 40a, 40b, 40c are pivotally coupled at pivot points 44a, 44b, 44c respectively. Linkages 40a, 40b 40c are each pivotally coupled to outer arms 38a, 38b 38c respectively. Rotation of disc member 50 with respect to the inner arms 36 results in pivotal movement of each of the outer arms 38a, 38b, 38c about pivot points within apertures Al, A2, A3 (illustrated in Figure 5). In this way the outer arms 38a, 38b, 38c can be operated to move between an extended position and a withdrawn position. Figure 7 illustrates a plan view from below of upper inner arm member 36U. Upper inner arm member 36U comprises three arms 36a, 36b, 36C. A first upper belt 46U is coupled to pulley wheel 100 mounted on first drive shaft 84 and to a pulley wheel 52a, 52b, 52c each located at an end of the arms 36a, 36b, 36c. First upper belt 46U is centrally driven by pulley wheel 100 to transfer rotary motion from the first drive motor Sl via the first drive shaft 84 to the pulley wheels 52a, 52b, 52c at each end of the arms 36a, 36b, 36c.

Idler wheels 54a, 54b are provided for tensioning the first upper belt 46U and to assist in ensuring correct alignment of first upper belt 46U. In this way a single belt 46U can couple a single drive means Sl to each of three pulley wheels 52a, 52b, 52c and provide the same rotary movement to each This rotary movement can be transferred to the tool heads 66 via belts 62U mounted on each of the outer arms 38a, 38b, 38c (Figure 8).

Figure 8 illustrates a side view of an outer arm 38a for forming a tool support mechanism comprising upper and lower arms 38U, 38L. A support member 68 is coupled between upper outer arm member 38U and lower outer arm member 38L.

First upper belt 46U is coupled to pulley wheel 52U which is attached to one end of shaft 72U. Shaft 72U extends through an aperture in upper arm 38U such that it is rotatably mounted, for example, in a bearing (not shown). An opposing end of the shaft 72U is coupled to a pulley wheel 56U.

Second upper belt 62U is coupled to pulley wheel 56U at one end and to pulley wheel 60U at the other end thereof. Pulley wheel 60U is disposed at an outer end of upper arm 38U distal from the pivotal coupling to the inner arm 36. Idler wheel 58U is provided to assist in locating the second upper belt 62U, and for tensioning the second upper belt 62U.

Similarly a first lower belt 46L is coupled to a second drive shaft 78 mounted about the central axis A and couples the second drive shaft 78 to a pulley wheel at each end of the lower inner arm 36L in a similar fashion to that described in respect of the upper inner arm 36U and similar to that illustrated in Figure 7.

First lower belt 46L is coupled to pulley wheel 52L which is mounted on shaft 72L. Shaft 72L is rotatably mounted on lower outer arm 38L. A pulley wheel 56L is mounted on the opposing end of shaft 72L and is coupled to pulley wheel 6OL at the outer end of lower outer arm 38L by second lower belt 62L. An idler wheel 58L is again provided for tensioning the second lower belt 62L

Tool head 66 is coupled to spline 64 which in turn is coupled to pulley wheels 60U, 60L disposed at the outer end of the upper and lower outer arms 38U, 38L respectively.

Second upper belt 62U can be driven by a first drive means Sl centrally located on frame 34 via first drive shaft 84, first upper belt 46U and second upper belt 62U to raise or lower the tool head 66 by action of a screw thread 124 (Figure 12) provided on the spline 64.

Second lower belt 62L can be driven by a centrally located second drive means S2 to rotate tool head 66.

Third drive means S3 can be operated to extend or retract outer arms 38a, 38b, 38c.

Fourth drive means S4 can be operated to rotate inner arms 36 and hence outer arms 38a, 38b, 38c and tool head 66 about the central axis A with respect to frame member 34.

Turning now to Figure 9, there is illustrated a cross sectional view of the central region of the article handling device 10.

It can be seen that each of the drive belts 12, 14, 16, 18 are each coupled to a respective shaft 84, 78, 90, 98 mounted about the central axis A. A central shaft 74, which is hollow, is provided internally of first drive shaft 78. Hollow shaft 74 has an upper open end 76U and a lower open end 76L, which central shaft 74 terminates at lower inner arm 36L. This allows the provision of power system 114 such as a vacuum system, compressed air system, pneumatic or hydraulic system or electrical power system to be centrally located and coupled to each of the tool heads 66. It is envisaged that a slip ring 112 may be provided to allow the power system to be coupled to the central shaft 74 thereby providing a rotary interface between the central shaft and the power system. First drive shaft

78, which is hollow, is mounted about the central shaft 74, the internal bore of the first drive shaft 78 being sufficient to accommodate central shaft 74.

In one embodiment it is envisaged that the first drive shaft 78 is rotatably mounted on the central shaft 74 using bearings. Alternatively, the first shaft 78 may be fixed to central shaft 74 either frictionally or by suitable mechanical fixings. In yet another embodiment the first shaft 78 and the central shaft 74 may be unitary in construction.

A first upper pulley wheel 80 is mounted on first drive shaft 78 to which first drive belt 14 is coupled. Drive belt 14 is also coupled to pulley wheel 79 which is in turn coupled to second drive means S2. A bearing 108 may be provided internally of pulley wheel 80 to allow rotation of pulley wheel 80 about the central shaft 74.

The opposing end of first drive shaft 78 is coupled to a first lower pulley wheel 102. First lower pulley wheel 102 is coupled to first lower belt 46L. It is envisaged that pulley wheels 52a, 52b, 52c in each of arms 36a, 36b, 36c may be coupled to the lower pulley wheel 102 by a single belt 46L or an alternative embodiment pulley wheels 52a, 52b, 52c in each arm 36a, 36b, 36c may be coupled to the lower pulley wheel 102 by a individual belts. Again it is envisaged that a bearing 106 may be provided with first lower pulley wheel 102 to rotatably mount the first drive shaft 78 on the central shaft 74 at the lower end thereof. A second drive shaft 84 is mounted about the first drive shaft 78 the second drive shaft 84 is hollow and has an internal bore dimensioned to accommodate the first drive shaft 78 within it.

A second upper pulley wheel 86 is coupled to second drive shaft 84. Again the second upper pulley wheel 86 and second drive shaft 84 are rotatably mounted on the first drive shaft 78 preferably by means of a second bearing 91. Second upper pulley wheel 86 is coupled to second drive belt 12 which is in turn coupled to pulley wheel 87. Pulley wheel 87 is coupled to first drive mechanism Sl.

A lower end of second drive shaft 84 is coupled to second lower pulley wheel 100 which in turn is coupled to upper belt 46U which is substantially similar in construction to lower belt 46L. It is envisaged that pulley wheels 52a, 52b, 52c in each of arms 36a, 36b, 36c may be coupled to the second lower pulley wheel 100 by a single belt 46U or an alternative embodiment pulley wheels 52a, 52b, 52c in each arm 36a, 36b, 36c may be coupled to the second lower pulley wheel 100 by a individual belts. Again the lower end of second drive shaft 84 may be rotatably mounted on first drive shaft 78 by a bearing 104 provided with second lower pulley wheel 100.

A third drive shaft 90 again being of hollow construction, and dimensioned to accommodate the second drive shaft 84, is mounted on the second drive shaft 84.

Third upper pulley wheel 88 is mounted on third drive shaft 90, again a bearing 92 is optioanlly provided to rotatably mount the third drive shaft 90 and/or the third upper pulley wheel 88 upon the second drive shaft 84.

Third upper pulley wheel 88 is coupled to third drive belt 16; the other end of which is coupled to a further pulley wheel (not shown) which is connected to the fourth drive mechanism S4 (not visible in Figure 9). The lower end of the third drive shaft 90 is fixed to upper arm 36U, such that the upper arm 36U can be rotated with respect to frame member 34. Again an optional bearing 101 or other suitable means may be provided at the lower end to rotatably mount the third drive shaft 90 on the second drive shaft 84.

A fourth drive shaft 98 is mounted on the third drive shaft 90 again a bearing 96 or other suitable means may be provided to facilitate rotation of the fourth drive shaft 98 with respect to the third drive shaft 90 and to each of the other drive shafts.

A fourth upper pulley wheel 94 is mounted on the fourth drive shaft 98, fourth upper pulley wheel 94 is coupled to fourth drive belt 18 which is coupled to a further pulley wheel (not shown) which in turn is connected to the third drive mechanism S3.

Fourth drive shaft 98 is rotatably mounted with respect to the frame member 34, optionally by provision of a bearing Bl. Fourth drive shaft 98 is fixed to disc member 50 at its lower end such that third drive mechanism S3 is operable to extend and withdraw or retract outer arms 38a, 38b, 38c.

A further bearing B2 facilitates rotation of the fourth drive shaft 98 upon the third drive shaft 90 at a lower end. Bearing B2 rotatably mounts disc member 50 on the third drive shaft 90.

The upper end of central shaft 74 is preferably coupled to an upper frame member 136 which in turn is mounted on frame member 34 (not illustrated). In this way the upper end of the central shaft 74 and hence drive shafts 78, 84, 90, 98 are supported. Additional bearings 138, 140 may be provided to facilitate rotation of the central shaft 74 and or first upper pulley wheel 80 with respect to the upper frame member 136.

Frame member 34 and/or upper frame member 136 may be utilised to mount the article handling device 10 within a packaging machine. It will be appreciated that frame member 34 and/or upper frame member are stationary with respect to said packaging machine; and hence driver mechanisms Sl, S2, S3, and S4 are also stationary with respect to the packaging machine. Figure 10 illustrates a cross section of the inner arms 36, in which it can be seen that upper and lower arms 38U, 38L are supported at a distal end by support members 116, the central shaft 74 and associated drive shafts 78, 84, 90, 98 are not shown in this Figure of ease of illustration.

Upper and lower belts 46U, 46L are coupled about the central axis A to pulley wheels, as described above. At opposing ends upper and lower belts 46U, 46L are respectively coupled to upper belt 62U and lower belt 62L by pulley wheels 52U, 52L and 56U, 56L each being respectively coupled to respective shafts 72U, 72L. It will be appreciated that bearings or other suitable means (not shown) may be provided to facilitate rotational coupling of the shafts 72U, 72L to the upper and lower arms 36U, 36L In this way belts 46U, 62U; 46L, 62L can be utilised to impart rotational movement from the server motors Sl; S2 which are located remotely from tool head 66 through the elbow 37a, 37b, 37c.

Figure 11 illustrates a cross sectional view of one of one of the outer arms 38a, the other arms being of substantially the same construction. An upper arm member 38U is coupled to lower arm member 38L by support member 68.

Casement 70 also extends between the upper arm member 38U and lower arm member 38L into which a ball screw spline, as known in the art, is preferably inserted. A ball screw nut 118 is rotational mounted in the outer arm 38a such that rotation of the ball screw nut 118 results in the spline 64 being moved linearly in direction Dl. A spline nut 122 is adapted to provide rotational movement of the spline 64 in direction D2. In order to prevent the rotation of the spline nut 122 causing in linear movement of the spline 64 in direction Dl, the upper pulley wheel 60U must also be rotated in the same direction as lower pulley wheel 60L and thus to negate the action of the screw thread 124; as illustrated in Figure 12. Spline nut 122 comprises engagement means for engaging with grooves 126 to effect rotation of the spline 64. Spline 64 may be hollow in structure such that the tool head 66 may be coupled with a vacuum, compressed air, hydraulic or electrical system. In yet another embodiment a data connection may be provided between the tool head 66 and a control system for receiving data from the tool head 66 or transmitting data to it. This data may comprise control information and/or measurement data regarding the status of the device or articles being handled.

It is envisaged that the tool head 66 may be selected depending on the application and may be interchangeable to provide a versatile system capable of performing multiple functions, in particular, but not limited to, it is envisaged that the tool head may comprise a gripper or suction/vacuum cup for engaging an article.

In an alternative embodiment it is envisaged that the tool head 66 may be moved closer or further away from the outer arm 38a by replacing the ball/screw spline with a piston/cylinder device which may be operated by a pneumatic or hydraulic or electrical system which system may be mounted centrally on the frame member 34 and connected to a tool head support mounted on the outer arm 38a by a connection means such as a pipe or wire.

It will be appreciated by those skilled in the art that the inner arms 36 and outer arms 38a,38b,38c may be rotated about the central axis A as indicated by direction arrow D3 shown in Figure 3 and that the outer arms 38a, 38b, 38c may be extended or retracted by pivotal movement about the pivotal connection to inner arms 36 as indicated by direction arrow D4 and that the tool head may be moved in up and down as indicated by direction arrow Dl and orientated by rotation as indicated by direction arrow D2. Furthermore each of these movements can be simultaneously or independently carried out with respect to each other since each movement is provided by separate drive means, it will also be appreciated that in the embodiments described that where more than arm or one tool head is provided each of them is moved together in an identical manner. In alternative embodiments more drive means could be provide to facilitate independent movement of the tool heads for example. In this way an apparatus is provided which can position and orient a tool head wherein the drive means controlling the tool head are located about the central axis, remote from the tool head. The drive means Sl, S2, S3 S4 are advantageously positioned such that they are stationary during operation of the article handling device 10. This simplifies the provision of electrical power to the drive means Sl, S2, S3, S4. Furthermore there is no movement of the power cables which could lead to fatigue of the cable and hence breakage. Additionally, power cables are not trailing about the article handling device 10, especially about the elbow 37.

Figure 13 illustrates a schematic view of a device 110 according to a second embodiment of the present invention in which only one inner and outer arm assembly is provided, it is envisaged that this embodiment could be advantageously implemented when a reciprocating rotary motion was desired.

Figure 14 illustrates a schematic view of a device 210 according to a third embodiment of the present invention, in which two inner and outer arm assemblies are provided. It is envisaged that these arms would be opposing one another i.e. separated by 180°, although other angles are envisaged.

Figure 15 illustrates a schematic view of the device 10 according to the first embodiment, it is envisaged that three arms are provided separated by 120° from each other. In alternative embodiments other angles are envisaged and/or additional arms could be added depending upon the application.

The devices 10, 210 of the first and third embodiments are envisaged being advantageously employed when rotation of the inner and outer arms in a constant direction, either with a continuously or intermittent movement, is desired.

Figure 16 illustrates a first use of the device 110 of Figure 13 being utilized with a reciprocating rotary motion to pick and place articles A on a conveyor 128. A robot R picks up carton blanks B, forms them into cartons C and places them on a second conveyor 130. A carton hopper H and carton feeder F are provided for handling secondary carton blanks (not shown).

Article handling device 110 picks up articles A from the conveyor 129 and converts an input stream of articles comprising two columns of articles A into an output stream of articles comprising two or more columns, preferably three columns, as described in pending patent GB 0812233.5.

Figure 17 illustrates use of the article handling device 10 in which two article handling devices 10a, 10b are provided side by side overhead of a conveyor 132. The conveyor 132 supplies packages P to a sorting station S where the two article handling devices 10a, 10b as positioned.

An input stream of packages P is regulated by a pair of belts 134a, 134b. Article handling devices 10a, 10b alternatively engage a package P as it exits belts 134a, 134b the respective article handling device 10a, 10b then rotates and/or translates the package P with respect to the conveyor 132 and deposits the package P back upon the conveyor 132.

The orientated and/or aligned package is transferred by the conveyor 132 until its progress is impeded by a gate G which collects a group of packages P. In this way an arranged group of packages is compiled behind gate G. When the arranged group is assembled in a predetermined formation or array, the gate G opens releasing the packages P as a group. The gate G then returns to a closed position to complete assembly of a further group of packages P.

The uses of the article handling device 10, 110, 200 described are exemplary and it is envisaged that the article handling devices could be utilised in other functions in a production line, for example, but not limited to picking and placing articles from a first conveyor onto a second conveyor, placement of articles within a package or carton, partially or fully constructing a carton from a blank or flat collapsed carton; application of glue, or other adhesive, to a package; detection and removal of selected articles from a conveyor. Whereas the embodiments of the present invention describe providing one or two or three arm assemblies it is envisaged that more arm assemblies could be provided.

It will be recognised that as used herein, directional references such as "top", "bottom", "front", "back", "end", "side", "inner", "outer", "upper" and "lower" do not limit the respective panels to such orientation, but merely serve to distinguish these panels from one another.

Claims

1. An article handling device comprising one or more arms for handling an article, which arms are rotatable about an axis wherein each arm comprises a first arm member pivotally coupled at a first end to a second arm member, the first arm member being rotatably coupled about the axis at an opposing end the second arm member being coupled to a tool support at a distal end from said pivotal coupling, and wherein a linkage is pivotally coupled to the second arm member, said linkage comprising an inner component rotatably mounted about the axis and an outer component pivotally coupled at a first end to the inner component and at an opposing end to the second arm member wherein the or each linkage and the or each arm are independent of each other, such that the arm may be operable between an extended position and retracted position.

2. An article handling device according to claim 1 comprising a drive mechanism coupled to the or each arm for rotation of the or each arm and wherein a second drive mechanism is provided for rotation of the inner component.

3. An article handling device according to claim 2 wherein the first arm member is coupled to a first drive shaft at one end and which is coupled to the first drive mechanism at the other end and wherein a second drive shaft is rotatably mounted about the first drive shaft said second drive shaft being coupled at a first end to the second drive mechanism and to the inner component at the other end.

4. An article handling device according to claim 3 wherein the first and second drive shafts each comprise a tubular axis each aligned with the axis.

5. An article handling device according to claim 3 wherein the first and second drive shafts are of different length.

6. An article handling device according to claim 3 or 4 comprising one or more additional drive mechanisms coupled to a respective drive shaft mounted about the first and second drive shafts which additional drive mechanisms in part couple said one or more additional drive mechanisms to a tool support mechanism at an outer end of each of the second arm members.

7. An article handling device according to any of claims 3 to 6 wherein a hollow shaft is provided within the first drive shaft such that a conduit is formed allowing a tool control system to be coupled to a tool head mounted on the tool support mechanism.

8. An article handling device according to claim 7 wherein the tool control system comprises a vacuum system and/or compressed air system and/or electrical power system.

9. An article handling system according to any preceding claim wherein there comprises two or more arms each of which is simultaneously rotated and/or extended or retracted.

10. An article handling device according to claim 6 wherein the/or each additional drive mechanism is coupled to the tool support mechanism by one or more pulley systems.

11. An article for handling articles according to any one of claims 1 to 10 when dependent upon claim 6 wherein the drive mechanisms and/or additional drive mechanisms are stationary with respect to a frame member for coupling said article handling device to a packaging machine.

12. An article handling device comprising one or more arms each having a tool support system on one end thereof wherein each arm is extendable or retractable with respect to a central axis about which the arms are rotatable, wherein two or more drive mechanisms are coupled to two or more drive shafts respectively, each drive shaft being adapted to share a common tubular axis.

13. A packaging machine comprising an article handling device according to any preceding claim.