WO2018096124A1

WO2018096124A1 - Movement apparatus

Info

Publication number: WO2018096124A1
Application number: PCT/EP2017/080425
Authority: WO
Inventors: Gabriele RUSTICI VENTURINI
Original assignee: I.M.A. Industria Macchine Automatiche S.P.A.
Priority date: 2016-11-25
Filing date: 2017-11-24
Publication date: 2018-05-31
Also published as: IT201600119440A1; EP3544772A1

Abstract

Movement apparatus (10) to perform operations along a linear path (P) spatially disposed in a work zone (12), advantageously but not essentially with a controlled environment, wherein the work zone (12) has at least one mobile element (20) moved linearly along a single linear path (P) in a controlled manner by two combined and coordinated cranks (25), each of the cranks (25) being driven by a respective operating mechanism (22) the components of which are located in a fixed container (17) which, together with the respective actuators (23), are possibly located in an external zone (13) having a normal environment, said single linear path (P) being spatially positioned in space according to operating requirements.

Description

"MOVEMENT APPARATUS"

FIELD OF THE INVENTION

Embodiments of the present invention concern a movement apparatus for performing controlled and precise operations, said movement apparatus being usable to move an operating unit, or an operating element or other, along a linear path disposed spatially.

In particular, embodiments of the present invention provide that the operating part of the apparatus can be used in sterile environments, or in any case with a controlled atmosphere.

For example, environments such as those identified are typical of work zones of lyophilizers, sterilizers and/or similar or comparable industrial machines, in which a high level of environmental control is required to prevent undesired contamination.

It comes within the spirit of the invention to use one or more movement apparatuses even in normal environments, or partly controlled environments.

BACKGROUND OF THE INVENTION

It is known that, in the pharmaceutical, food, chemical, health care or other similar fields, movement apparatuses associated with an operating unit are usually used in industrial machines, where one or more operations are performed in work zones present in sterile environments, or in any case having a controlled atmosphere.

Here and thereafter the work zone is set against an external zone with an uncontrolled atmosphere in which mechanisms can be disposed to allow the above operations to be performed.

The work zone is separate and distinct from the other zone which is, for example, an actuator housing zone that usually has a lower environmental control level than the work zone, or even zero.

By way of non-restrictive example, the operations to be carried out in the work zone are operations that entail linear displacements that can be performed in relation to containers, devices, components or other, and consist of operations of introduction, insertion, withdrawal, marking, measuring, positioning or other similar operations. The containers can be, by way of example, flasks, test tubes, vials, flacons, syringes, carpules and suchlike or other similar containers, or groups thereof, or other devices, all positioned in the work zone.

Known movement apparatuses used in these environments and which perform movements in a linear direction, for example horizontal, vertical, or inclined, comprise an operating unit such as a tip, a pipe, a swab, a piston, a slider, a shaft, a puffer, or other element able to perform a specific function.

These operating units are usually configured to move along a linear path and, due to how they are made, they must pass alternately, at least partly, from the work zone to an external zone that is normally "dirty", that is, a zone where the actuators and other sources of contamination are present.

The frequent passes of the operating units from the work zone to the "dirty" external zone, and vice versa, even in the presence of retention gaskets and specular surfaces, easily and in any case over time carry contaminants with them that often alter the controlled environment inside the work zone.

This is dangerous, since such contaminations can compromise the workplace environment, also in an irreversible way.

In this context, machines that use such known movement apparatuses require frequent maintenance, continuous checks and high resource consumption; they also entail times and costs, also in management, which are not always acceptable.

The prior art document EP- A- 1.229.268 (EP'268) describes a movement apparatus in a linear direction.

This known apparatus comprises two rods mobile in a linear direction which, at least partly, transit from a first zone, where there are gears and other mechanisms, to a second zone in which desired operations are performed.

This known solution has many problems, since the rod, in its alternate pass from the first to the second zone, carries contaminants with it.

Each rod of the apparatus described in EP'268 is associated with a plurality of guide bushings to maintain the linear direction of movement. The bushings are not only a further source of contamination, but also entail complex and articulated maintenance that can further affect the cleanliness of the rod.

The prior art documents WO-A-88/09246 and DE-U-9.200.071 describe two movement apparatuses provided with articulated structures, such as for example an articulated quadrilateral.

These known apparatuses cannot be used in contexts where a work zone is provided where it is necessary to maintain a sterile environment, or in any case with a controlled atmosphere.

Due to the many joints present in these known apparatuses and the need to lubricate them, there is an obvious risk that there can be very extensive contaminations that entail frequent maintenance.

There is therefore a need to perfect and make available a movement apparatus which overcomes at least one of the disadvantages of the state of the art.

One purpose of the present invention is to supply a movement apparatus to carry out operations in a work zone that allows to preserve the environment of the work zone, at the same time ensuring that no unwanted contamination occurs.

Another purpose of the present invention is to supply a movement apparatus which, for example in the event of maintenance, does not require excessively long interruptions, that is, it does not impose interruption and restoration of the environment of the work zone.

Moreover, another purpose is to supply a movement apparatus which guarantees a linear path, possibly along a single axis.

It is another purpose to produce an apparatus that can itself be associated with other similar or equal apparatuses, so that they can work in tandem, in a different but coordinated way, and can work on the same point also from different angles, and so on.

The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention or variants to the main inventive idea.

Embodiments described here concern a movement apparatus able to move an operating unit that is suitable to perform one or more operations in relation to at least a container, or other, located in a work zone.

According to the present invention, the movement apparatus of an operating unit allows to move the latter along a linear path spatially disposed in a work zone separated and distinct from an external zone by a separation wall.

In accordance with one aspect of the present invention, the apparatus comprises at least a mobile element formed by a single rigid body and connected to the operating unit to move the latter along the linear path.

The apparatus also comprises two cranks both connected to the mobile element and two operating mechanisms provided with respective actuators configured to drive the cranks in a synchronous manner in order to move at least one mobile element and as a consequence the operating unit along the linear path. According to one aspect of the present invention, the operating mechanisms are located in the external zone and both the mobile element and the cranks are located in the work zone.

As well as preventing the risk of contamination, since the mobile element is in a single body and always remains inside the work zone without transiting through the external zone, the solution does not provide the use of guide bushings.

Thanks to the synchronous drive of the two cranks connected to the mobile element it is possible to move the latter stably and precisely in a linear direction. Moreover, from a maintenance point of view , the mobile element in a single body can be cleaned with greater efficiency than known articulated systems.

According to possible embodiments, the movement apparatus comprises a pair of operating mechanisms configured to move in a desired and coordinated manner a mobile element that carries one or more operating units alternately along a single linear path defined in the work zone.

According to one aspect of the present invention, each movement apparatus has a first portion that, during use, is inside the work zone, and a second portion associated functionally with the first portion that, during use, is outside the work zone in an uncontrolled or not completely controlled environment.

According to possible embodiments, the second portion comprises at least a pair of actuators configured to drive a pair of operating mechanisms both connected to a single mobile element.

According to possible solutions, the separation wall lies on a separation plane that separates the work zone from the external zone, and the mobile element is configured to be moved in a movement plane parallel to the separation plane. According to possible embodiments, the pair of actuators are controlled by a control and command unit.

The pair of actuators are driven in a synchronous manner in order to move the first portion of the movement apparatus, that is, the mobile element, along a single linear path spatially disposed in the work zone.

According to possible embodiments, each of the two cranks comprises an arm with a first end rotatably connected to the mobile element by means of a pin having a second axis, wherein the second axes of the two pins connecting the two cranks to the mobile element are parallel to each other.

According to possible solutions, each of the operating mechanisms comprises a shaft connected to a toothed wheel cooperating with a fixed toothed crown to rotate one of the arms around a respective first axis, said arm having a second end connected to the shaft.

In accordance with possible embodiments, each of the operating mechanisms comprises a rotating support that keeps the toothed wheel constantly connected to the fixed toothed crown and is configured to rotate the shaft around a third axis.

According to possible embodiments, for each of the two cranks, the interaxis between the second axis and the first axis is equal to the interaxis between the first axis and the third axis.

According to possible embodiments, it comprises at least two mobile elements, configured to be moved by respective pairs of cranks associated with respective operating mechanisms.

Embodiments of the present invention also concern a movement device that comprises two or more movement apparatuses configured to work independently, each moving its own mobile element associated with one or more operating units.

According to possible solutions, two mobile elements move in a coordinated and purposive manner to carry out an operation by means of the operating unit.

If two mobile elements are provided, they can operate in tandem both associated with and cooperating with one or more operating units.

According to possible embodiments, at least two of the mobile elements in the work zone are both associated with an operating unit.

In accordance with possible embodiments, at least two of the mobile elements are configured to move on the same plane or on different planes. According to possible embodiments, the present invention also concerns a machine that comprises at least one movement apparatus as in any of the embodiments of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other characteristics of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

- fig. 1 is a perspective view of a movement device according to a possible embodiment, said movement device providing, in the case shown, two movement apparatuses operating in tandem and coordination, which drive respective mobile elements;

- fig. 2 is a partial section of a movement apparatus according to a possible embodiment that drives a mobile element in a controlled manner.

To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can conveniently be incorporated into other embodiments without further clarifications.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

Embodiments described using fig. 1 concern a movement apparatus 10 which can be used to move in a coordinated manner along a single path P an operating unit 1 1 in a work zone 12 in which a sterile and aseptic environment, or controlled atmosphere, is defined.

In the case shown here, the movement device 33 is obtained by combining two movement apparatuses 10 in tandem.

In particular, it is provided that the movement device 33 operates on the operating unit 11 along a single linear path P.

In figs. 1 and 2, the external zone 13 is separated from the work zone 12 by a separation wall 16.

The external zone 13 has an uncontrolled atmosphere, or in any case, an atmosphere with a lower control than the work zone 12.

The separation wall 16 lies on a separation plane A that divides the space between the work zone 12 and the external zone 13.

According to the solution in fig. 1 , the operating unit 11 is assisted by two movement apparatuses 10 operating in tandem and in such a way that the linear path P, where the operating unit 1 1 operates, is always lying in the same position, whatever the position taken over time by the operating unit 11.

The linear path P can be substantially axial to the direction in which the operating unit 11 operates.

The linear P path can be positioned in any position in the space.

As indicated, the operating unit 1 1 is configured to perform one or more operations in the work zone 12 in relation to an element, such as by way of example one or more containers 14, for example in a rack 15.

In the case shown, the containers 14 can comprise flasks, test tubes, vials, flacons, syringes, carpules or other similar containers.

According to possible embodiments, operations in relation to containers 14 can comprise, by way of example, operations of introduction, insertion, withdrawal, marking, measuring, positioning or other similar operations.

According to possible embodiments, not shown, the containers 14 and/or the rack 15 are associated with suitable movement means that allow to position, on each occasion, the containers 14 and/or the rack 15 in correspondence with the linear path P, where the operating unit 1 1 acts.

According to the present invention, the movement apparatus 10 of the operating unit 11 comprises at least one mobile element 20, made in a single rigid body, in particular without joints.

The mobile element 20 can be, for example, an arm, in particular a mechanical arm, a bar, lever, plate or similar element or mechanical member, in particular without joints.

The mobile element 20 can be suitably shaped, such as L-shaped, C-shaped, U-shaped or suchlike.

The mobile element 20 is connected to the operating unit 11. In this way, the movement of the mobile element 20 also determines a corresponding movement of the operating unit 1 1.

Furthermore, the movement apparatus 10 comprises two cranks 25 both connected to the mobile element 20, and two operating mechanisms 22, each of which is able to drive a corresponding crank 25.

Therefore, the movement apparatus 10 comprises, for one mobile element 20, two respective cranks 25 connected to the mobile element 20 and two operating mechanisms 22 kinematically connected to the two cranks 25.

Driving the operating mechanisms 22 determines the movement of the two cranks 25 which, in turn, draw in movement the mobile element 20 to which they are both connected.

According to possible embodiments, the motion of the mobile element 20 takes place in a movement plane B.

According to possible advantageous embodiments, the movement plane B is parallel to the separation plane A. This allows to keep the mobile element 20 always in the work zone 12, even during the movement of the latter.

Thanks to this condition, there are no portions of the mobile element 20 or other components that move backward and forward alternately from the work zone 12 to the external zone 13. This allows to prevent contamination from one zone to another.

In some embodiments, the operating mechanisms 22 are provided with respective actuators 23 configured to drive the cranks 25 in a synchronous manner to constrain the motion of the operating unit 11 along the linear path P. The operating mechanisms 22 are located in the external zone 13, while both the mobile element 20 and the cranks 25 are located in the work zone 12.

It should be noted that the mobile elements 20 in relation to the operating unit 11 can be equipped with one or more operating units 11 that are identical or differentiated according to specific needs.

Depending on the type of operation to be carried out in relation to the container /containers 14, the operating unit 11 can be equipped with struts, pipes, slides, etc., this equipment being functional for the operation to be performed.

According to one aspect of the present invention, each movement apparatus 10 that moves the operating unit 1 1 along a linear path P comprises, in the work zone 12, a mobile element 20 whose geometric conformation is defined by the function that is to be performed and by the fact that the mobile element 20 works alone or in tandem with at least one second mobile element 20 associated with the second movement apparatus 10 as shown in fig. 1.

The geometric conformation of the mobile element 20, shown in fig. 1, is supplied solely by way of non-restrictive example of the present invention. Each mobile element 20 is associated with two identical cranks 25 as shown by way of example in fig. 2.

By suitably driving the cranks 25, a movement of the mobile element 20 is determined along the only linear path P as defined above, preventing any deviations of the mobile element 20 in other directions.

Fig. 2 schematically shows a solution, supplied by way of non-restrictive example, of the mechanism in which each crank 25 is connected to a respective operating mechanism 22 provided to transmit the desired and controlled motion to the respective crank 25.

A respective actuator 23 is also associated with each operating mechanism 22 and is provided to take the respective crank 25 into controlled rotation.

According to a variant, only one actuator 23 is provided, which operates on a gear box (not shown) which supplies the coordinated motion of two operating mechanisms 22.

In particular, it is provided that the actuators 23 are driven in tandem and coordinated manner and are governed by control and command means, not shown, and configured for example to synchronize the movement of the two cranks 25 in a desired manner.

According to possible embodiments, each of the two cranks 25 comprises an arm 36 having a first end rotatably connected to the mobile element 20, for example by means of a pin 31 having a second axis 18.

The movement plane B can be perpendicular to both the axes 18 of the cranks 25.

The axes of the pins 31 connecting the arms 36 of the two cranks 25 to the mobile element 20 are parallel to each other.

Each operating mechanism 22 can comprise a shaft 28 connected to a toothed wheel 29 cooperating with a fixed toothed crown 30 to rotate one of the arms 36 around a respective first axis 21.

The second end of the arm 36 is connected to the shaft 28.

The cranks 25 have both a pin 31 that is connected to the shaft 28 by means of an arm 36. The pin 31 defines a second axis 18 while the shaft 28 defines a first axis 21.

The shaft 28 having a first axis 21 of rotation is integrally connected, at a first end, to the arm 36 of each crank 25 and, at the opposite end, the pin 31 having the second axis 18 is connected.

The first axis 21 and the second axis 18 are parallel to each other.

The pins 31 of the two cranks 25 are associated at a defined distance with the mobile element 20, and rotatably support the latter, imparting to it a univocal linear movement.

The shafts 28 of the two cranks 25, on the other hand, can be connected to respective operating mechanisms 22 in the manner described below.

The operating mechanisms 22 cooperate with the separation wall 16 to separate the work zone 12 from the external zone 13 and have interception and separation means of the two environments such as gaskets 32.

According to possible embodiments, each of the operating mechanisms 22 comprises a rotating support 27 which keeps the toothed wheel 29 constantly connected to the toothed crown 30 and is configured to rotate the shaft 28 around a third axis 19.

According to possible embodiments, the rotating support 27 comprises a protruding portion 39 to which the shaft 28 is pivoted around the first axis 21 parallel to the third axis 19.

The toothed wheel 29 is mounted on the shaft 28, coaxially to the first axis 21 and engages on the toothed crown 30.

The rotation of the rotating support 27 thus determines the rotation of the shaft 28 around the third axis 19 and the simultaneous rotation of the shaft 28 around the first axis 21, so that the two second axes 18 of the two cranks 25 move along a common linear path, consequently constraining the motion of the mobile element 20, and the operating unit 11 connected thereto, along the desired linear path P.

In particular, by way of example it is provided that each operating mechanism 22 comprises a fixed container 17 in which the components of the operating mechanism 22 are installed.

For example, the components of the operating mechanism 22 can comprise the rotating support 27, shaft 28, toothed wheel 29 and toothed crown 30.

According to possible embodiments, the shaft 28, associated with the respective crank 25, can partly protrude toward the work zone 12. The separation wall 16 which defines the work zone 12 and external zone 13 is removably connected to the fixed containers 17.

Each crank 25 is integrally associated, by means of the shaft 28, with respective toothed wheels 29 that cooperate with respective fixed toothed crowns 30 integral with the fixed container 17.

The shaft 28 that rotates around the first axis 21 is eccentrically supported by a rotating support 27 that rotates around a third axis 19.

The third axis 19 is the axis of rotation of the rotating support 27 but is fixed with respect to the fixed container 17, and is located substantially parallel to the first axis 21 and the second axis 18 which, on the contrary, are mobile along respective circumferences or coordinated paths, in the fixed container 17 and in the crank 25.

The first axis 21 is taken into circumferential rotation around the third axis 19 together with the rotating support 27, while the second axis 18 moves in cooperation with the other second axis 18 of the other crank 25.

The rotating support 27 is provided with a front portion 34 facing toward the work zone 12 and defining a separation interface of the latter with respect to the external zone 13; the front portion 34 has gaskets 32 or other environmental separation means.

The rotating support 27 is associated with a drive shaft 24 which is in turn governed by the respective actuator 23.

The actuator 23, controlled and conditioned by the control and command unit, not shown, takes into rotation the drive shaft 24 and therefore the rotating support 27.

The rotating support 27 takes the shaft 28 into circumferential rotation, which takes with it a gear, that is, the toothed wheel 29.

The toothed wheel 29, acting in relation to the toothed crown 30, determines the rotation of the shaft 28 which moves the crank 25.

The coordinated movement of the two cranks 25 is transmitted to the mobile element 20, imposing on it the desired displacement.

The drive shaft 24 is positioned, in this specific case, protruding from the fixed container 17 and toward the external zone 13 where the actuator 23 is also present. At least between the front portion 34 and the fixed container 17 suitable gaskets 32 are provided, to retain possible pollutants so that they do not enter the work zone 12.

Other gaskets 32 can be provided between the pin 31 and the mobile element 20, and/or between the fixed container 17 and the drive shaft 24.

According to possible embodiments, between the first axis 21 and the second axis 18 a first interaxis 37 is defined, and between the first axis 21 and the third axis 19 a second interaxis 38 is defined, which for example is equal to the first interaxis 37.

As indicated in fig. 1, each mobile element 20 is associated with two respective operating mechanisms 22 which operate in a coordinated and desired manner, conditioning the position and the type of motion of the mobile element 20.

Fig. 1 shows the case of two mobile elements 20 combined mechanically, functionally and operatively, in the specific case, in relation to the linear path P of the operating unit 11.

The mechanical combination of the two mobile elements 20, obtained in the case shown here by way of example by a pipe 35, allows to use the system thus achieved for an extensive plurality of operations.

Instead of the pipe 35, a bar, a container, or other can be provided, depending on the functions that the operating unit 11 is called to perform on each occasion.

By working on the conformation of the mobile elements 20 and their reciprocal movement rate determined by the drive of the actuators 23, it is possible to move first one of the mobile elements 20 and then the other, or it is possible to keep one of the mobile elements 20 in a fixed position and move the other toward or away from it. Or, again, it is possible to move the mobile elements 20 reciprocally toward and away from each other.

Although some behaviors of the movement device 33, which can comprise one or more movement apparatuses 10, have been shown by way of example here, these examples should not be considered as restrictive of the present invention, since other behaviors can be obtained due to the intrinsic potential of the system.

Thus, it is also possible to provide three or more mobile elements 20 cooperating with each other in relation to the linear path P, or in relation to different axes even not parallel to each other but for example angled or skewed. These axes can meet or not at one or more points.

Thus, it is possible to operate in a range defined with several linear movements, defined and controlled, operating in a deliberately cadenced but coordinated manner.

It is clear that modifications and/or additions of parts can be made to the movement apparatus 10, the movement device 33 and the machine comprising said movement device 33 as described heretofore, without departing from the field and scope of the present invention.

It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of movement apparatus 10, the movement device 33 and the machine comprising said movement device 33, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

Claims

1. Movement apparatus of an operating unit (11) along a linear path (P) spatially disposed in a work zone (12) separated and distinct from an external zone (13) by a separation wall (16), characterized in that said apparatus comprises:

- at least one mobile element (20) formed by a single rigid body and connected to said operating unit (11) to move said operating unit (1 1) along said linear path

(P),

- two cranks (25) both connected to said mobile element (20),

- two operating mechanisms (22) provided with respective actuators (23) configured to drive said cranks (25) in a synchronous manner in order to move said at least one mobile element (20) and as a consequence said operating unit (11) along said linear path (P),

wherein said operating mechanisms (22) are located in said external zone (13) and both said mobile element (20) and said cranks (25) are located in said work zone (12).

2. Apparatus as in claim 1, characterized in that said separation wall (16) lies on a separation plane (A) that separates said work zone (12) from said external zone (13), and in that said at least one mobile element (20) is configured to be moved in a movement plane (B) parallel to said separation plane (A).

3. Apparatus as in claim 1 or 2, characterized in that each of said two cranks (25) comprises an arm (36) with a first end rotatably connected to said mobile element (20) by means of a pin (31) having a second axis (18), wherein said two second axes (18) of said two pins (31) connecting said two cranks (25) to said mobile element (20) are parallel to each other.

4. Apparatus as in claim 3, characterized in that each of said operating mechanisms (22) comprises a shaft (28) connected to a toothed wheel (29) cooperating with a fixed toothed crown (30) to rotate one of said arms (36) around a respective first axis (21), said arm (36) having a second end connected to said shaft (28).

5. Apparatus as in claim 4, characterized in that each of said operating mechanisms (22) comprises a rotating support (27) that keeps said toothed wheel (29) constantly connected to said fixed toothed crown (30) and is configured to rotate said shaft (28) around a third axis (19).

6. Apparatus as in claim 5, characterized in that for each of said two cranks (25), the interaxis (37) between said second axis (18) and the first axis (21) is equal to the interaxis (38) between said first axis (21) and said third axis (19).

7. Apparatus as in any claim hereinbefore, characterized in that it comprises at least two mobile elements (20), configured to be moved by respective pairs of said cranks (25) associated with respective operating mechanisms (22).

8. Apparatus as in claim 7, characterized in that said at least two mobile elements (20) move in a coordinated and purposive manner to carry out an operation by means of said operating unit (1 1).

9. Apparatus as in claims 7 or 8, characterized in that at least two of said mobile elements (20) in said work zone (12) are operatively associated with an operating unit (11).

10. Apparatus as in any claim from 1 to 7, characterized in that at least two of said mobile elements (20) are configured to move on the same plane or on different planes.

1 1. Industrial machine having a work zone (12) separate and distinct from an external zone (13), characterized in that it comprises at least one movement apparatus (10) as in any claim hereinbefore.