WO2017122150A1

WO2017122150A1 - Machinery for the movement of objects

Info

Publication number: WO2017122150A1
Application number: PCT/IB2017/050165
Authority: WO
Inventors: Francesco PICCININI
Original assignee: Piccinini Francesco
Priority date: 2016-01-12
Filing date: 2017-01-12
Publication date: 2017-07-20
Also published as: ITUB20169910A1

Abstract

A machinery (1) for the movement of objects, comprising at least a bearing structure (2); at least a device (3) for the transportation of objects which is moveably associated with the bearing structure (2) along at least a first direction (A) and a second direction (B) transverse to each other, wherein the bearing structure (2) comprises: at least first guide means (4) that extend along the first direction (A); and at least second guide means (5) that extend along the second direction (B), the device (3) for the transportation of objects comprising gripping means adapted to engage with the guide means (4, 5), wherein the bearing structure (2) has a substantially sheet-like conformation and has a first and a second face (11, 12) opposite to each other, wherein the guide means (4, 5) are defined on each of the faces (11, 12), wherein the device (3) comprises a first and a second body (13, 14) arranged at the first face (11) and at the second face (12) respectively, and each supporting relative gripping means, wherein the gripping means comprise at least a first gripping element (15a, 15b) supported by the first body (13) and at least a second gripping element (16a, 16b) supported by the second body (14), being provided at least first motor means (22) adapted to move at least one of said gripping elements (15a, 15b, 16a, 16b) and wherein it comprises interconnection means (17) adapted to connect the first to said the body (13, 14).

Description

MACHINERY FOR THE MOVEMENT OF OBJECTS

Technical Field

The present invention relates to a piece of machinery for the movement of objects.

Background Art

In the particular field dealing with the movement of objects or materials of various types, such as, e.g., hooks, winches, grippers, machinery tool heads, handling components, containers, robot arms, nozzles, suction cups or others, machinery is well known provided with carriages moveably associated with a supporting structure along a substantially rectilinear direction.

The machinery can be installed both in closed environments, e.g. the interior of warehouses and factories, but also in open areas such as shipyards and railway yards.

One piece of the most well-known machinery is the bridge crane that comprises a bearing structure provided with a single guide means to move a device for the transportation of objects along a first, substantially rectilinear, moving direction. The device for the transportation of objects is moveably associated with the guide means and is therefore moveable along one portion or the entire extension of the guide means itself.

Generally, these machineries are also provided with means for the movement of the bearing structure along moving directions that differ from each other.

The machinery of known type does have some drawbacks.

More precisely, the main drawback of this machinery is that it permits the device to move with respect to the bearing structure along a single direction, thereby making object shifting operations along more than one direction complex.

In fact, in order to move the device along more than one direction, the bearing structure must also be moved.

Another drawback associated with these machineries is linked to the fact that it is impossible to introduce a plurality of devices moveably associated with the guide means themselves, due to the fact that each device would restrict the freedom of movement of the others along the entire length of the guide means. The movement of more than one object simultaneously therefore proves to be particularly complex, from both a structural and a functional point of view. Some pieces of machinery for the movement of objects are known from WO 85/03277 Al, EP 2921449 Al, FR 2121476 Al.

Description of the Invention

The main aim performed by this invention is to devise a piece of machinery for the movement of objects that permits object moving operations to be simplified and the time required to carry out these operations to be reduced, with respect to the prior art.

One object of this invention is to devise a piece of machinery that permits a plurality of devices for the transportation of objects to be moved simultaneously under the same bearing structure, keeping it stationary.

Another object of this invention is to devise a piece of machinery for the movement of objects that is very compact and has a simple structure, and at the same time, permits the degrees of freedom with which objects are moved to be increased.

Another object of the present invention is to devise a piece of machinery for the movement of objects that allows overcoming the mentioned drawbacks of the prior art within the ambit of a simple, rational, easy, effective to use and affordable solution.

The above mentioned objects are achieved by the present piece of machinery for the movement of objects having the characteristics of claim 1.

Brief Description of the Drawings

Other characteristics and advantages of the present invention will become better evident from the description of a preferred, but not exclusive, embodiment of a piece of machinery for the movement of objects, illustrated by way of an indicative, but non-limiting example in the accompanying drawings, wherein: Figure 1 is an axonometric view of the bearing structure of the machinery according to the invention;

Figure 2a is a top view of the machinery according to the invention in a particular embodiment;

Figure 2b is an axonometric view of the machinery of Figure 2a; Figure 3 a is an axonometric view of a detail of the device of the machinery of Figure 2a in a first operating configuration;

Figure 3b is an axonometric view of a detail of the device of the machinery of Figure 2a in a second operating configuration;

Figure 3c is an axonometric view of a detail of the device of the machinery of Figure 2a in a third operating configuration;

Figure 4a is an axonometric view of a device according to the invention in an embodiment usable in the machinery of Figure 2a;

Figure 4b is a second side view of the device of Figure 4a;

Figure 4c is a sectional view of the device of Figure 4a;

Figure 5a is a sectional view of the device of Figure 4c according to the section plane Va-Va;

Figure 5b is a sectional view of the device of Figure 4c according to the section plane Vb-Vb;

Figure 5c is an axonometric view of a detail of the device of Figure 4a;

Figure 6a is an axonometric view of a device according to the invention in a further embodiment usable in the machinery of Figure 2a;

Figure 6b is a second side view of the device of Figure 6a;

Figure 6c is a sectional view of the device of Figure 6a;

Figure 7a is a sectional view of the device of Figure 6c according to the section plane Vila- Vila;

Figure 7b is a sectional view of the device of Figure 6c according to the section plane Vllb-VIIb;

Figure 7c is an axonometric view of a detail of the device of Figure 6a;

Figure 8a is an axonometric view of an alternative embodiment of the bearing structure of the machinery according to the invention;

Figure 8b is an axonometric view of a piece of machinery according to the invention with the bearing structure of Figure 8a;

Figure 9a is an axonometric view of a detail of the device of the machinery of Figure 8b in the first operating configuration;

Figure 9b is an axonometric view of a detail of the device of the machinery of Figure 8b in the second operating configuration; Figure 9c is an axonometric view of a detail of the device of the machinery of Figure 8b in the third operating configuration;

Figure 10a is an axonometric view of a device according to the invention in an embodiment usable in the machinery of Figure 8b;

Figure 10b is a second side view of the device of Figure 10a;

Figure 10c is a sectional view of the device of Figure 10a;

Figure 11a is a sectional view of the device of Figure 10c according to the section plane XIa-XIa;

Figure l ib is a sectional view of the device of Figure 10c according to the section plane Xlb-XIb;

Figure 1 lc is an axonometric view of a detail of the device of Figure 10a;

Figure 12a is an axonometric view of a device according to the invention in an embodiment usable in the machinery of Figure 8b;

Figure 12b is a second side view of the device of Figure 12a;

Figure 12c is a sectional view of the device of Figure 12a;

Figure 13a is a sectional view of the device of Figure 12c according to the section plane Xllla-XIIIa;

Figure 13b is a sectional view of the device of Figure 12c according to the section plane Xlllb-XIIIb;

Figure 13c is an axonometric view of a detail of the device of Figure 12a;

Figure 14a is an axonometric view of the interconnection means of a device according to the invention;

Figure 14b is a side view of the interconnection means of Figure 14a;

Figure 15 is an axonometric view of a piece of machinery according to the invention in a particular embodiment;

Figure 16 is an axonometric view from above of a detail of the machinery of Figure 15;

Figure 17 is an axonometric view of the device of the machinery of Figure 15;

Figure 18 is an enlargement of a detail of the device of Figure 17;

Figure 19 is an enlargement of a detail of the device of Figure 17;

Figure 20 is an axonometric view of the interconnection means of the device of

Figure 17; Figure 21 is a plan view from above of the device of Figure 17;

Figure 22 is a sectional view of the variation means of the device of Figure 17.

Embodiments of the Invention

With particular reference to such illustrations, reference number 1 globally indicates a piece of machinery for the movement of objects.

The piece of machinery 1 comprises a bearing structure 2 and at least a device 3 for the transportation of objects which is moveably associated with the bearing structure 2 along at least a predefined direction.

The device 3 is moveable with respect to the bearing structure 2 along a first direction A and a second direction B which are substantially predefined and transverse to each other.

More specifically, the first direction A and the second direction B are substantially orthogonal to each other.

The first direction A and the second direction B belong to the same reference plane, which in this embodiment is substantially horizontal and parallel to the ground, but other embodiments, in which the reference plane is substantially vertical, oblique or curvilinear, cannot be ruled out.

The bearing structure 2 comprises:

- first guide means 4 that extend along the first direction A; and

- second guide means 5 that extend along the second direction B, in which the first and second guide means 4, 5 define a plurality of trajectories which intersect each other to define substantially a net.

The bearing structure must be appropriately secured to the ground.

The device 3 comprises gripping means adapted to engage with the guide means

4, 5.

Each of the first and second guide means 4, 5 therefore describes a plurality of trajectories parallel to each other.

More precisely, the trajectories traced by the first and second guide means 4, 5 are equidistant from each other and intersect each other perpendicularly.

According to the invention, the bearing structure 2 has a substantially sheet-like conformation and has a first and a second face 11, 12 opposite to each other and the guide means 4, 5 are defined on each of these faces 11, 12. The gripping means comprise at least a first gripping element 15a, 15b adapted to engage with at least a trajectory defined by the first or the second guide means 4, 5 on the first face 11 and at least a second gripping element 16a, 16b adapted to engage with at least a trajectory defined by the first or the second guide means 4, 5 on the second face 12.

According to the invention, furthermore the device 3 comprises a first and a second body 13, 14 arranged at the first face 11 and at the second face 12, respectively, and each supporting relative gripping means adapted to cooperate with the guide means 4, 5, respectively, defined on each of the faces 11, 12. More specifically, the first body 13 supports at least a first gripping element 15a, 15b and the second body 14 supports at least a second gripping element 16a, 16b.

The first body 13 and the second body 14 are disposed substantially symmetrically to each other with respect to the bearing structure 2 and also have substantially coinciding weights.

It follows that the weight of the device 3 is discharged onto the first face 11 which, according to the preferred embodiments illustrated in the figures, is arranged above the reference plane.

Alternative embodiments cannot however be ruled out in which the first body 13 is not arranged symmetrically to the second body 14 with respect to the bearing structure 2 and has a differing weight from the second body 14.

The first and the second body 13, 14 consist of a pair of retaining frames 19 spaced apart from each other by means of a plurality of spacer elements 20 and secured with appropriate fastening screws.

Preferably, the gripping means comprise at least a pair of first gripping elements 15a, 15b adapted to engage with a pair of trajectories parallel to each other defined by the first or by the second guide means 4, 5 on the first face 11 and at least a pair of second gripping elements 16a, 16b adapted to engage with a pair of trajectories parallel to each other defined by the first or by the second guide means 4, 5 on the second face 12.

Advantageously, the guide means 4, 5 are of the type of a plurality of holes defined onto the faces 11, 12 of the bearing structure itself. Alternative embodiments cannot however be ruled out in which the bearing structure 2 is achieved by means of a plurality of cable elements in a metallic material, e.g. steel, appropriately interwoven with each other to define the guide means 4, 5.

Advantageously, the piece of machinery 1 comprises a sustaining structure 8 for securing the bearing structure 2 to the ground, to walls or ceilings in buildings. In the embodiment illustrated in Figure 1, the sustaining structure 8 supports a plurality of beam elements 9 arranged perpendicularly to each other and provided with hooking elements 10 associated with the bearing structure 2 at predefined positions.

The holes of the guide means 4, 5 defined on the first face 11 are, e.g., staggered with respect to the holes defined on the second face 12.

More specifically, the holes defined on the first face 11 are staggered by half pitch with respect to the holes defined on the second face 12 so that one of the first gripping elements 15a, 15b and the second gripping elements 16a, 16b is engaged at all times with the relative holes.

Alternative embodiments cannot however be ruled out in which the holes defined on the first face 11 are aligned with the holes defined on the second face 12.

The gripping elements 15a, 15b, 16a, 16b, are of the type of one or more toothed wheels adapted to engage with the holes for the movement of the device 3 and the axes of rotation of which are substantially parallel to the relative faces 11, 12.

Alternative embodiments cannot however be ruled out in which the gripping elements 15a, 15b, 16a, 16b are of the type of smooth wheels adapted to slide/slip at the guide means 4, 5. In this case, the guide means 4, 5 do not have holes, but rather, can have grooves adapted to define tracks along which the gripping elements 15a, 15b, 16a, 16b are moveable.

Alternatively, again, the first face 11 and second face 12 can be substantially smooth and free of the holes and the gripping elements 15a, 15b, 16a, 16b, the type of smooth wheels, are adapted to slide freely on the first and the second face itself. Still according to the invention, the piece of machinery 1 comprises at least first motor means 22 adapted to move at least one of the gripping elements 15a, 15b, 16a, 16b.

The piece of machinery 1 also comprises interconnection means 17 adapted to connect the first to the second body 13 and 14.

The bearing structure 2 comprises a plurality of empty portions 35, each of which is arranged inside each mesh of the net defined by the guide means 4, 5 and the interconnection means 17 are adapted to pass through the areas of the bearing structure 2 delimiting the empty portions 35 themselves in the passage from one empty portion 35 to the other.

The interconnection means comprise at least a substantially C-shaped interconnection element 17 and operable in rotation to allow the shift of the device 3 along the directions A, B from one empty portion 35 to the other.

The axis of rotation of the interconnection element 17 is arranged substantially parallel to the faces 11, 12.

Preferably, the interconnection means comprise a pair of interconnection elements 17 substantially C-shaped and counter-rotating to each other so as to define an opening 36 to allow the passage of the device 3 from one empty portion 35 to the other.

According to the preferred embodiments illustrated in the figures, each of the interconnection elements 17 comprises a centreless toothed wheel 37 having two ending parts defining an extension of the opening 36 substantially larger than the thickness of the bearing structure 2.

Preferably, the centreless toothed wheel 37 is positioned between a pair of lateral flanges 38 screwed to each other and having the same conformation and section as the centreless toothed wheel itself.

Usefully, the first and the second body 13, 14 comprise at least a movement guide 18 for moving the interconnection elements 17.

Preferably, as is apparent from Figures 14a, 14b and 20, the movement guide 18 comprises a plurality of roller elements 39 supported by each frame 19 of the first body 13 and of the second body 14, each of which has an axis of rotation substantially parallel to the reference plane. In particular, the roller elements 39 are supported by the frames 19 of the first and second body 13, 14 and are arranged along the trajectory traveled by the relative interconnection element 17 and have a profile substantially coinciding with the profile of the interconnection element itself.

Each roller element 39 has a substantially conical conformation, matching with the conformation of the lateral flanges 38.

The roller elements 39, in addition to guiding the interconnection elements 17, also support the weight of said elements, thereby connecting the first to the second body 13 and 14.

The bearing structure 2 can have the conformation represented in Figures 1 to 3c and 15, 16, or, alternatively, can have the conformation represented in Figures 8a to 9c, in which it comprises two support elements 42, 43 spaced apart from each other and having a substantially sheet- like conformation, of which the first support element 42 defining the first face 11 and the second support element 43 defining the second face 12. Similarly to what described above, the first support element 42 and the second support element 43 have the plurality of empty portions 35 each of which is arranged inside the meshes defined by the trajectories of the first and second guide means 4, 5. In particular, each of the empty portions 35 of the first support element 42 is aligned with each of the empty portions 35 of the second support element 43. Preferably, between the first body 13 and the second body 14 is positioned an intermediate connection element 44 operatively connected to the interconnection means 17 positioned between the first body 13 and the second body 14.

By way of example, in the embodiment of Figure 8b, the second body 14 has a hook element adapted to support the container S for the objects to be moved along the bearing structure 2.

With the bearing structure 2 so shaped, the interconnection means 17 comprise first interconnection means 17a positioned between the first body 13 and the intermediate connection element 44 and second interconnection means 17b positioned between the intermediate connection element 44 and the second body 14. The first interconnection means 17a and the second interconnection means 17b are of the type of the interconnection means 17 described previously. The first and second interconnection means 17a, 17b are adapted to pass, respectively, through the areas delimiting the empty portions 35, respectively, of the first support element 42 and of the second support element 43 when passing from one empty portion 35 to the other.

In an alternative embodiment, not represented in the figures, the interconnection means 17 are of the magnetic type.

Advantageously, the piece of machinery 1 comprises means for balancing the device 3 adapted to cooperate with the bearing structure 2 for the movement of the device itself.

More precisely, the balancing means comprise at least a balancing element 7 associated with the first body 13 and adapted to cooperate with the first face 11 and at least a balancing element 7 associated with the second body 14 and adapted to cooperate with the second face 12.

Preferably, the balancing elements 7 are of the type of smooth idle wheels.

Advantageously, the piece of machinery 1 also comprises one or more pressing elements 34 adapted to maintain the gripping elements 16a, 16b and the balancing elements 7 supported by the second body 14 in contact with the bearing structure 2, counteracting the weight force that causes a detachment between the second body 14 and the bearing structure itself.

In the following description of the embodiments represented in the accompanying drawings, the common elements, which essentially perform the same function and which are described above, have been identified with the same reference numbers.

Figures 15 to 22 represent a preferred embodiment of the machinery according to the invention. In Figures 15, 16, 17 and 19, the device 3 supports, by way of example, a group of weights P.

According to this preferred embodiment, the piece of machinery 1 comprises variation means 55 for varying the axis of rotation of the toothed wheels 15a, 15b, 16a, 16b and thereby permitting the passage of the device 3 from the first guide means 4 to the second guide means 5 at their mutual intersection areas. More particularly, the gripping means comprise at least a support post 56 for each of the gripping elements 15a, 15b, 16a, 16b, which is moveable in rotation around a relative axis 56a arranged transversely to the faces 11, 12.

The variation means 55 are then adapted to rotate the first posts 56 around the relative axes 56a while maintaining stationary, at the same time, the bodies 13 and 14.

The piece of machinery 1 comprises therefore variation means 55 associated with the first body 13 to drive the rotation of the first posts 56 which support the toothed wheels 15a and 15b and variation means 55 associated with the second body 14 to drive the rotation of the first posts 56 which support the toothed wheels 16a, 16b.

More specifically, the variation means 55 comprise further motor means 57, e.g., of an electric motor type, adapted to drive in rotation at least a main toothed wheel 58 that cooperates with a plurality of secondary toothed wheels 59, to entrain them in rotation around relative axes, wherein each of said secondary toothed wheels 59 is kinematically connected to a relative first post 56 to drive it in rotation around a relative axis 56a. In the embodiment illustrated in the figures, the secondary toothed wheels 59 are connected to the relative first posts 56 by means of a belt-pulley coupling, alternative embodiments cannot however be ruled out that provide for a different kind of coupling, e.g. of an articulated quadrilateral type, between the secondary toothed wheels 59 and the first posts 56.

As evident from the figures 15 and 16, the first and the second guide means 4 and 5 comprise a plurality of through holes having an elongated conformation, in which are adapted to engage the corresponding teeth of the gripping elements 15a, 15b, 16a, 16b, and, at the intersection areas between the relative trajectories, the holes having a circular conformation adapted to engage with the teeth having a semi- spherical conformation of the gripping elements 15a, 15b, 16a, 16b, thereby permitting the device 3 to rotate.

As is easily understandable by the person skilled in the art, alternative embodiments are in any case possible in which, e.g., the through holes that define the first and the second guide means 4 and 5 have all a substantially circular conformation. In this first embodiment, the piece of machinery 1 comprises first motor means 22, e.g. of the type of an electric motor, for each gripping element 15a, 15b, 16a, 16b.

As illustrated in Figures 15 to 19, both the first body 13 and the second body 14 each supports a relative pair of balancing elements 7, e.g. of the type of smooth wheels the axes of rotation of which are substantially parallel to the relative faces 11, 12 with which they cooperate. More in particular, the smooth wheels 7 are of the idle type.

Preferably, for each body 13 and 14, the gripping elements 15a, 15b, 16a, 16b and the balancing elements 7 are arranged so as to define the vertices of a quadrilateral and are alternated with each other, or each gripping element 15 a, 15b and 16a, 16b is positioned between two balancing elements 7.

Suitably, the variation means 55 are adapted to vary the axis of rotation of the smooth wheels 7.

Advantageously, the balancing means comprise at least a second post 61 for supporting each balancing element 7, which is moveable in rotation around a relative axis 61a arranged transversely to the faces 11, 12 and the variation means 55 are adapted to drive the rotation of the second posts 61 around the relative axes 61a.

More specifically, the main toothed wheel 58 cooperates with a plurality of additional toothed wheels 62, to entrain these in rotation around the relative axes, wherein each of these additional toothed wheels 62 is kinematically connected to a relative second post 61 to drive its rotation around the relative axis 61a. In the embodiment represented in the figures, the additional toothed wheels 62 are connected to the relative second posts 61 by means of a belt- pulley coupling. Alternative embodiments cannot, however, be ruled out which provide for a different coupling, e.g. of the articulated quadrilateral type, between the additional toothed wheels 62 and the second posts 61.

With the device 3 arranged at the centre of a portion 35, the gripping elements 15a, 15b and 16a, 16b and the balancing elements 7 are therefore arranged at the vertices of the relative mesh. Therefore, starting from the centre of a portion 35, in order to change the travelling direction of the device 3, all the rotation axes of the gripping elements 15a, 15b, 16a, 16b and of the balancing elements 7 must rotate simultaneously, at the same time maintaining the bodies 13 and 14 stationary.

In this preferred embodiment, at least one of the first and second posts 56 and 61 associated with the second body 14 has pressing means 34, e.g. of the type of elastic means, adapted to push the gripping elements 16a, 16b and the balancing elements 7, respectively, towards the second face 12.

Each of the interconnection elements 17 defines a relative lying plane and, according to this preferred embodiment, as illustrated in figure 20, these lying planes are incidental to each other. More precisely, the lying planes of the interconnection elements 17 define the diagonals of the aforementioned quadrilateral having the gripping elements 15 a, 15b, 16a, 16b and the balancing elements 7 as their vertices. This arrangement of the interconnection elements 17 permits defining the opening 36 towards each of the four sides of the same mesh.

Conveniently, the axes of rotation of the interconnection elements 17 are staggered and the interconnection elements themselves pass one inside the other during the rotation around the relative axes.

More specifically, the interconnection elements 17 move in a reciprocating rotational motion. More specifically, to shift from one travel limit position to the other, each interconnection element 17 rotates by 180°. Therefore, taking as a starting position for the interconnection elements 17 as that in which the opening 36 is turned downwards, each interconnection element 17 initially rotates by 90°, e.g. in a clockwise direction, and then rotates by 180° in an anticlockwise direction and again rotates by 180° in a clockwise direction.

According to this preferred embodiment, the interconnection elements 17 perform therefore the function to generate the opening 36 to allow the passage from one portion 35 to the other and to connect the first body to the second body 13 and 14. From an electrical point of view, the interconnection elements 17 are adapted to send power signals between the various parts making up the device 3.

In the embodiment illustrated in the figures 2a to 14b, the bearing structure 2 also comprises third guide means 6 adapted to permit the device 3 to pass from the first guide means 4 to the second guide means 5.

The third guide means 6 extend along a circumference arranged inside at least a mesh, defined by the aforementioned net, and substantially tangent to the trajectories defined by the first and second guide means 4, 5 delimiting the mesh itself.

Alternative embodiments cannot however be ruled out in which the bearing structure 2 is devoid of the third guide means 6 and the gripping means 15a, 15b, 16a, 16b are of the type of omnidirectional wheels that allow shifting in all directions, allowing the passage of the device 3 from the first guide means 4 to the second guide means 5 and vice versa.

During the movement of the device 3 along the first and second guide means 4, 5, the gripping elements 15a, 15b, 16a, 16b are moved at the same angular speed.

When passing from the first guide means 4 to the second guide means 5 or vice versa, the gripping elements 15a, 15b, 16a, 16b are moveable at speeds differing from each other to shift along the circumferences defined by the third guide means 6 at the areas of tangency with the first or second guide means themselves and the device 3 maintains its own centre at the centre of the circumference in which it is arranged.

In the embodiment illustrated as an example in figure 2a, the second body 14 has a hook element adapted to support a container S for the objects to be moved along the bearing structure 2. In this particular embodiment, the balancing means 7 comprise a plurality of balancing elements, of the smooth wheel type, associated with both the first and the second body 13 and 14 and adapted to cooperate with both the faces 11 and 12 of the bearing structure 2.

The device 3 comprises movement means of the balancing means 7.

These movement means can be operated, e.g., by means of electric motors. By way of example, a rotation by 180° of the movement means leads to a rotation by about 30° of the balancing elements 7.

Advantageously, during the movement of the device 3 along the guide means 4, 5, 6, the weight of the device itself discharges on the balancing elements 7 and on the gripping elements 15a, 15b, 16a, 16b.

During the movement of the device 3 along the third guide means 6, in the passage between the first guide means 4 and the second guide means 5, or vice versa, the balancing elements 7 must be appropriately operated in rotation so that the friction of the idle rotating elements themselves does not obstruct the movement of the device 3.

In this embodiment, the interconnection elements 17 are shifted 180° out of phase when the device 3 is arranged inside one of the empty portions 35.

Usefully, the piece of machinery 1 comprises a group of toothed wheels 21 connected to each of the gripping elements 15a, 15b, 16a, 16b, wherein each group of toothed wheels 21 comprises a first toothed wheel 24a, a second toothed wheel 24b and a joint element 25 that cooperate with each other to transfer motion to the relative gripping element 15a, 15b, 16a, 16b.

The first motor means 22 are of an electric motor or gear reducer type having an output shaft 23 onto which at least the first toothed wheel 24a is keyed.

In a first embodiment illustrated in figures 4a to 5c, the device 3 has first motor means 22 to move the first gripping means 15a, 15b along the guide means 4, 5, 6 and to operate in rotation a first differential element 46, having a first differential case 27 inside which is at least a sun gear 33, in turn sp lined onto the output shaft 23.

The interconnection elements 17 are kinematically connected to the first differential element 46 by means respectively of a first and a second group of intermediate wheels 28, 31 associated with the first body 13 respectively to each of the frames 19, and are adapted to transfer motion to a second differential element 48, kinematically connected to the second gripping elements 16a, 16b, associated with the second body 14 and in turn having a second differential case 47 inside which is arranged at least a relative sun gear 33, by means of respective groups of driven wheels 40, 41.

The first differential case 27 is adapted to engage with both the first and the second group of intermediate wheels 28, 31 to transfer motion to each interconnection element 17.

More particularly, the first group of intermediate wheels 28, of an idle type, is adapted to transmit to one of the interconnection elements 17 the same direction of rotation supplied by the first motor means 22 to the first differential element 46, whilst the second group of intermediate wheels 31, also of an idle type, is adapted to transmit to the other of the interconnection elements 17 a direction of rotation opposite that supplied by the first motor means 22.

More specifically, the first group of intermediate wheels 28 has an idle wheel more than the second group of intermediate wheels 31 so that the interconnection elements 17 are counter-rotating to each other.

Similarly to the groups of intermediate wheels 28, 31, the first group of driven wheels 40 has one less idle wheel with respect to the second group of driven wheels 41 in order that the idle wheels in the groups of driven wheels 40, 41 that cooperate with the second differential case 47 rotate in the same direction and engage simultaneously with the second differential case itself.

As mentioned above, similarly to the first differential case 27, also the second differential element 48 comprises the second differential case 47, adapted to engage with the groups of driven wheels 40, 41, and relative sun gears 33 in turn splined onto corresponding shaft elements 23a that support in rotation the first toothed wheels 24a of the groups of toothed wheels 21 relative to the second gripping elements 16a, 16b.

More specifically, the groups of toothed wheels 21 connected to the first gripping elements 15a, 15b are kinematically connected to the first motor means 22 and the groups of toothed wheels 21 connected to the second gripping elements 16a, 16b are kinematically connected to the second differential element 48.

Preferably, the primitive diameter of the first and second differential case 27, 47 is substantially half the primitive diameter of the centreless toothed wheel 37, therefore one revolution by the interconnection elements 17 therefore corresponds to two revolutions by the differential cases 27, 47.

More specifically, each group of toothed wheels 21 connected to a relative first gripping element 15a, 15b comprises the first toothed wheel 24a, splined onto the output shaft 23 of the first motor means 22, the second toothed wheel 24b and the joint element 25 that cooperate with each other. Preferably, the joint element 25 is of a constant- velocity type.

Similarly, each group of toothed wheels 21 connected to a relative second gripping element 16a, 16b comprises the relative first toothed wheel 24a splined onto the shaft element 23a, the second toothed wheel 24b and the joint element 25 that cooperate with each other.

More precisely, the shaft element 23 a, operated in rotation by the second differential element 48 by means of the relative sun gear 33, cooperates with the first toothed wheel 24a and the second toothed wheel 24b which, by means of the joint element 25, transfers rotational motion to the second gripping elements 16a, 16b.

By way of example, a rotation by 360° transmitted by the first motor means 22 corresponds to a rotation by 180° of the gripping elements 15a, 15b, 16a, 16b and of the interconnection means 17, respectively.

More precisely, Figures 3a to 3c illustrate the movement of the device 3, e.g. along the first guide means 4, and the rotation in push-pull of the interconnection elements 17 in a first, second and third operating configuration so as to define the opening 36 for the passage of the device itself from one empty portion 35 to the other.

As illustrated in figure 3b, the interconnection elements 17 are timed in such a way that the respective ending parts are aligned with each other when passing through the area of the bearing structure 2 that separates one empty portion 35 from the other.

Usefully, each of the interconnection elements 17 is always engaged respectively, with at least one of the wheels of the two groups of intermediate wheels 28, 31 cooperating with each of the interconnection elements 17 respectively.

As illustrated in figure 5a, the first interconnection element 17 remains in contact at all times with at least one of a first point of contact Tl and a second point of contact T2 respectively with two separate wheels of the first group of intermediate wheels 28.

At the same time, as illustrated in Figure 5b, the second interconnection element 17 remains in contact at all times with at least one of a third point of contact T3 and a fourth point of contact T4 respectively with two separate wheels of the second group of intermediate wheels 31.

Similarly, the first interconnection element 17 remains in contact at all times with at least one of a first point of linkage SI and a second point of linkage S2 respectively with two separate wheels of the first group of driven wheels 40. At the same time, as illustrated in Figure 5b, the second interconnection element 17 remains in contact at all times with at least one of a third point of linkage S3 and a fourth point of linkage S4 respectively with two separate wheels of the second group of driven wheels 41.

More specifically, the arches traced by the movement guides 18 and defined respectively between the first and the second points of contact Tl, T2 and between the third and the fourth points of contact T3, T4 have an extension that is substantially greater than the extension of the opening 36 defined between the ending parts of the interconnection elements 17.

Similarly, the arcs described by the movement guide 18 and defined respectively between the first and the second point of linkage SI, S2 and between the third and the fourth point of linkage S3, S4 have a substantially greater extension than the extension of the opening 36 defined between the ending parts of the interconnection elements 17.

While the device 3 moves along the third guide means 6, the interconnection elements 17 must not be moveable along the movement guide 18 as the interconnection elements 17 must maintain the same angular phase and therefore the same position.

For this purpose, during this movement operation, the first differential case 27 is stationary as the first motor means 22, and therefore the sun gears 33 splined onto the output shafts 23, rotate at angular speeds that are equal and opposite to each other.

It follows that the first and the second group of intermediate wheels 28, 31, and therefore the interconnection elements 17 and the second differential case 47, remain stationary.

Alternative embodiments cannot however be ruled out in which both the first body 13 and the second body 14 comprise the first motor means 22 adapted to operate the gripping elements 15a, 15b, 16a, 16b.

In a second embodiment illustrated in Figures from 6a to 7c, the piece of machinery 1 has the first motor means 22 adapted to move the first and second gripping means 15a, 15b, 16a, 16b along the guide means 4, 5, 6 by means of relative groups of toothed wheels 21.

Furthermore, the piece of machinery 1 comprises second motor means 32 adapted to operate in rotation the interconnection elements 17.

The first motor means 22 and the second motor means 32 are separate and independent of each other.

More specifically, each of the first gripping elements 15a, 15b has respective first motor means 22 separate and independent of each other supported by the first body 13 from opposite sides.

Similarly, each of the second gripping elements 16a, 16b has respective first motor means 22 separate and independent of each other supported by the second body 14 from opposite sides.

The second toothed wheel 24b of each group of toothed wheels 21 cooperates with the first toothed wheel 24a splined onto the output shaft 23 of each of the first motor means 22 and transfers rotational motion supplied by the first motor means themselves to the relative joint element 25.

Each joint element 25 cooperates, respectively, with the gripping elements 15a, 15b, 16a, 16b to transfer rotational motion from the first motor means 22 to the gripping elements themselves.

The second motor means 32 are adapted to operate two main wheels 52, 30 each of which is splined onto a relative output shaft 50.

These main wheels 52, 30 are adapted to engage respectively with a first and a second intermediate wheel 53, 54 adapted to transfer motion to the relative interconnection element 17.

The second motor means 32 are independent of each other and are adapted to operate in rotation the interconnection elements 17 so that they are counter- rotating to each other and shifted 180° out of phase when the device 3 is inside one of the empty portions 35.

More precisely, the rotational motion supplied by the second driving means 32 is such that each interconnection element 17 remains engaged at all times with the respective first and second intermediate wheel 53, 54 at a first point of connection Ql and a second point of connection Q2.

The interconnection elements 17 are therefore moveable in a circular pattern and reciprocating inside the movement guide 18 and at angular speeds and angular accelerations capable of exceeding the areas of the bearing structure 2 that separate empty portions 35 adjacent to each other.

The Figures 8a to 13c refer to the embodiment of the bearing structure 2 in which are provided the two support elements 42 and 43 of a sheet-like type and spaced apart from each other, as referred to above.

By way of example, Figures 9a to 9c illustrate the rotations of the first and second interconnection means 17a, 17b in the first, second and third operating configurations.

Similarly to the bodies 13, 14, the intermediate connection element 44 has a pair of retaining frames 19 opposed and spaced apart from each other by means of spacer elements 20 and secured with appropriate fastening screws.

Figures 10a to 11c represent an embodiment of the device 3 in which the intermediate connection element 44 comprises two groups of intermediate toothed wheels 45 supported in rotation by the intermediate connection element itself and adapted to transfer rotational motion from the first interconnection means 17a to the second interconnection means 17b. In order that the device 3 pass between one empty portion 35 and the other, both in the first support element 42 and the second support element 43, the rotational motion of the first and the second interconnection means 17a, 17b must coincide and be such that the opening 36 is defined simultaneously. The first interconnection means 17a comprise a pair of the first interconnection elements 17a counter-rotating, and shifted 180° out of phase when the device 3 is arranged inside one of the empty portions 35. The second interconnection means 17b comprise a pair of the second interconnection elements 17b counter-rotating, and shifted 180° out of phase when the device 3 is arranged inside one of the empty portions 35. Usefully, the piece of machinery 1 can comprise operating and driving devices for operating and driving the first motor means 22. In the embodiment of the device 3 illustrated instead in Figures 12a to 14c, the intermediate connection element 44 comprises third motor means 49 adapted to operate in rotation one of the first interconnection elements 17a and one of the second interconnection elements 17b. In particular, the third motor means 49 are separate and independent of each other and each of them is kinematically connected to a respective third intermediate wheel 60. Each of the two third intermediate wheels 60 cooperates, respectively, with one of the first interconnection elements 17a and with one of the second interconnection elements 17b for the passage of the device 3 from an empty portion 35 to the other of the first support element 42 and of the second support element 43. Usefully, the piece of machinery 1 can comprise operating and driving devices for operating and driving the first motor means 22, the second motor means 32 and the third motor means 49.

It has in fact been ascertained that the described invention achieves the intended objects and, in particular, emphasis is drawn to the fact that the machinery obtained in this way allows one or more devices for the transportation of objects to be moved in a simple, straightforward manner below the bearing structure. More precisely, movement is generated along a plurality of rectilinear trajectories and transverse to each other and, by means of the various described embodiments of the device for the transportation of objects, along trajectories that allow the passage between pairs of rectilinear trajectories and transverse to each other.

In addition, the special structure of the device for the transportation of objects and the conformation of the bearing structure produce a good balance between the weight of the first and the second body and allow motion and power to be transmitted efficiently between the bodies and the faces of the support elements with which, respectively, they cooperate.

Claims

1) Machinery (1) for the movement of objects, comprising:

at least a bearing structure (2);

at least a device (3) for the transportation of objects which is moveably associated with said bearing structure (2) along at least a first direction (A) and a second direction (B), said first direction (A) and said second direction (B) being predefined and transverse to each other,

wherein said bearing structure (2) comprises:

at least first guide means (4) that extend along said first direction (A); and at least second guide means (5) that extend along said second direction (B), said first and second guide means (4, 5) defining a plurality of trajectories which intersect each other to define substantially a net, said device (3) for the transportation of objects comprising gripping means adapted to engage with said guide means (4, 5),

characterized by the fact that said bearing structure (2) has a substantially sheetlike conformation and has a first and a second face (11, 12) opposite to each other, by the fact that said guide means (4, 5) are defined on each of said faces (11, 12), by the fact that said device (3) for the transportation of objects comprises a first and a second body (13, 14) arranged at said first face (11) and at said second face (12) respectively, and each supporting relative gripping means adapted to cooperate with the guide means (4, 5) respectively, defined on said first and on said second face (11, 12), wherein said gripping means comprise at least a first gripping element (15a, 15b) supported by said first body (13) and at least a second gripping element (16a, 16b) supported by said second body (14), being provided at least first motor means (22) adapted to move at least one of said gripping elements (15a, 15b, 16a, 16b) and by the fact that it comprises interconnection means (17) adapted to connect said first to said second body (13, 14).

2) Machinery (1) according to claim 1, characterized by the fact that said first body (13) supports at least a pair of said first gripping elements (15a, 15b) and that said second body (14) supports at least a pair of second gripping elements (16a, 16b), wherein said first gripping elements (15a, 15b) are adapted to engage with a pair of trajectories substantially parallel to each other defined by said guide means (4, 5) on said first face (11) and said second gripping elements (16a, 16b) are adapted to engage with a pair of trajectories substantially parallel to each other defined by said guide means (4, 5) on said second face (12).

3) Machinery (1) according to claim 1 or 2, characterized by the fact that said guide means (4, 5) are of the type of a plurality of holes defined onto both faces (11, 12) of said bearing structure, said gripping means (15a, 15b, 16a, 16b) being of the type of one or more toothed wheels adapted to engage with said holes and the axes of rotation of which are substantially parallel to the relative faces (11, 12) of said bearing structure (2).

4) Machinery (1) according to one or more of the preceding claims, characterized by the fact that the portion (35) of said bearing structure (2) arranged inside each mesh of said net is empty and that said interconnection means (17) are adapted to pass through the areas of said bearing structure (2) delimiting said empty portions (35) when said device (3) passes from one empty portion (35) to the other.

5) Machinery (1) according to claim 4, characterized by the fact that said interconnection means (17) comprise at least a substantially C-shaped interconnection element and operable in rotation to allow the shift of said device (3) along said directions (A, B).

6) Machinery (1) according to claim 5, characterized by the fact that said interconnection element (17) is of the type of an open centreless toothed wheel (37).

7) Machinery (1) according to claim 5 or 6, characterized by the fact that the axis of rotation of said interconnection element (17) is substantially parallel to the faces (11, 12) of said bearing structure (2).

8) Machinery (1) according to one or more of claims from 5 to 7, characterized by the fact that said interconnection means comprise at least a pair of said substantially C-shaped interconnection elements (17) and counter-rotating to each other so as to define an opening (36) adapted to allow the movement of said device (3) along said bearing structure (2) during the passage from one empty portion (35) to the other. 9) Machinery (1) according to one or more of claims from 5 to 8, characterized by the fact that said interconnection elements (17) move in a reciprocating rotational motion.

10) Machinery (1) according to one or more of the preceding claims, characterized by the fact that it comprises balancing means of said device (3) comprising at least a balancing element (7) associated with each of said first and second body (13, 14) and adapted to cooperate with the respective face (11, 12) defined by said bearing structure (2).

11) Machinery (1) according to claim 10, characterized by the fact that each of said first body (13) and said second body (14) supports a relative pair of said balancing elements (7).

12) Machinery (1) according to claim 10 or 11, characterized by the fact that said balancing elements (7) are of the type of one or more smooth wheels.

13) Machinery (1) according to one or more of the preceding claims, characterized by the fact that it comprises variation means (55) for varying the axis of rotation of said toothed wheels (15a, 15b, 16a, 16b) adapted to permit the passage of said device (3) from said first guide means (4) to said second guide means (5) at their mutual intersection areas.

14) Machinery (1) according to claim 13, characterized by the fact that said gripping means comprise at least a first post (56) for supporting each of said gripping elements (15a, 15b, 16a, 16b), which is moveable in rotation around a relative axis (56a) arranged transversely to the axis of rotation of said toothed wheels and by the fact that said variation means (55) are adapted to drive the rotation of said first posts (56) around the relative axes (56a), said bodies (13,

14) remaining stationary in rotation during the shift of said first posts (56).

15) Machinery (1) according to claim 14, characterized by the fact that said variation means (55) comprise further motor means (57) adapted to drive in rotation at least a main toothed wheel (58) that cooperates with a plurality of secondary toothed wheels (59) to entrain them in rotation around relative axes, wherein each of said secondary toothed wheels (59) is kinematically connected to one of said first posts (56) to drive it in rotation around the relative axes.

16) Machinery (1) according to one or more of claims from 10 to 12 and one or more of claims from 13 to 15, characterized by the fact that said gripping elements (15a, 15b, 16a, 16b) and said balancing elements (7) are arranged to define the vertices of a quadrilateral and are alternated with each other.

17) Machinery (1) according to claim 12 and one or more of claims 13 to 16, characterized by the fact that said variation means (55) are adapted to vary the axis of rotation of said smooth wheels (7).

18) Machinery (1) according to claim 17, characterized by the fact that said gripping means comprise at least a second post (61) for supporting each of said balancing elements (7), which is moveable in rotation around a relative axis (61a) arranged transversely to the axis of rotation of said smooth wheels and by the fact that said variation means (55) are adapted to drive the rotation of said second posts (61) around the relative axes (61a).

19) Machinery (1) according to claim 18, characterized by the fact that said main toothed wheel (58) cooperates with a plurality of additional toothed wheels (62) to entrain these in rotation around the relative axes, wherein each of said additional toothed wheels (62) is kinematically connected to one of said second posts (61) to drive it in rotation around the relative axes (61a).

20) Machinery (1) according to one or more of claims from 14 to 19, characterized by the fact that at least one of the first and second posts (56, 61) supported by said second body (14) comprise at least a pressing element (34) adapted to push said gripping elements (15a, 15b, 16a, 16b) and said balancing elements (7) respectively, towards said second face (12).

21) Machinery (1) according to one or more of claims from 13 to 20, characterized by the fact that it comprises relative first motor means (22) for each said gripping element (15a, 15b, 16a, 16b).

22) Machinery (1) according to claim 8 or 9 and one or more of claims from 13 to 21, characterized by the fact that said interconnection elements (17) define relative lying planes which are incidental to each other.

23) Machinery (1) according to claims 16 and 22, characterized by the fact that said lying planes define the diagonals of said quadrilateral.

24) Machinery (1) according to claim 22 or 23, characterized by the fact that the axes of rotation of said interconnection elements (17) are staggered, said interconnection elements (17) passing one inside the other during the rotation around the relative axis.

25) Machinery (1) according to one or more of claims from 1 to 12, characterized by the fact that said bearing structure (2) comprises third guide means (6) adapted to permit said device (3) to pass from said first guide means (4) to said second guide means (5).

26) Machinery (1) according to claim 25, characterized by the fact that said third guide means (6) extend along a circumference arranged inside at least a mesh of said net and substantially tangent to the trajectories defined by the guide means (4, 5) delimiting the mesh itself.

27) Machinery (1) according to claim 26, characterized by the fact that said gripping elements (15a, 15b, 16a, 16b) are moveable at speeds differing from each other to shift along the circumferences defined by said third guide means (6) at the areas of tangency with the first or second guide means themselves.

28) Machinery (1) according to one or more of claims from 25 to 27, characterized by the fact that it comprises first motor means (22) adapted to move said first gripping means (15a, 15b) along said guide means (4, 5, 6) and to operate in rotation at least a first differential element (46), and by the fact that said interconnection means (17) comprise at least a pair of substantially C- shaped interconnection elements, kinematically connected to said first differential element (46) by means of a first and a second group of intermediate wheels (28, 31) respectively, associated with said first body (13) and adapted to transfer motion to a second differential element (48) associated with said second body (14) by means of respective groups of driven wheels (40, 41), said interconnection elements (17) being moveable in rotation and counter-rotating to each other.

29) Machinery (1) according to one or more of claims from 25 to 28, characterized by the fact that it comprises at least a group of toothed wheels (21) connected to each of said gripping elements (15a, 15b, 16a, 16b), wherein the groups of toothed wheels (21) connected to said first gripping elements (15a, 15b) are kinematically connected to said first motor means (22) and the groups of toothed wheels (21) connected to said second gripping elements (16a, 16b) are kinematically connected to said second differential element (48).

30) Machinery (1) according to one or more of claims from 25 to 27, characterized by the fact that it comprises first motor means (22) adapted to move said first and said second gripping means (15a, 15b, 16a, 16b) along said guide means (4, 5, 6) by means of relative groups of toothed wheels (21) and by the fact that it comprises second motor means (32) adapted to operate in rotation said interconnection elements (17), said first and said second motor means (22, 32) being separate and independent of each other.

31) Machinery (1) according to one or more of the preceding claims, characterized by the fact that said bearing structure (2) comprises at least two support elements (42, 43) spaced apart from each other, of which a first support element (42) defining said first face (11) and a second support element (43) defining said second face (12), between said first body (13) and said second body (14) being positioned an intermediate connection element (44) and characterized by the fact that said interconnection means (17) comprise first interconnection means (17a) positioned between said first body (13) and said intermediate connection element (44) and second interconnection means (17b) positioned between said intermediate connection element (44) and said second body (14).