EP2384978A1

EP2384978A1 - Handling assembly, particularly for automatic machines

Info

Publication number: EP2384978A1
Application number: EP11164397A
Authority: EP
Inventors: Antonio Martelli
Original assignee: OAM SpA
Current assignee: OAM SpA
Priority date: 2010-05-03
Filing date: 2011-05-02
Publication date: 2011-11-09
Also published as: IT1399715B1; ITBO20100273A1

Abstract

A handling assembly, particularly for automatic machines, comprising means (2) for moving, along a line (3), elements (4) for gripping products (5). The line (3) comprises at least one outbound portion (3a) and at least one return portion (3b), which are interposed between an upstream station (A), for picking up the products (5), and a downstream station (B), for discharging them. The movement means (2) comprise independent driving units (6) for the grip elements (4), the grip elements (4) being adapted to handle the products (5) in a suspended configuration; each driving unit (6) is associated with at least one respective grip element (4), for the independent movement, even in opposite directions, of each one of the grip elements (4) along the line (3), which is interposed preferably between two substantially different heights.

Description

The present invention relates to a handling assembly, particularly for automatic machines.
In the field of automatic machines designed to package various types of product, several constructive solutions designed to handle products of various types along a line are widespread.
In greater detail, with particular reference to the pharmaceutical sector, market demand of packages of the tray type or the like, containing a predefined number of objects, for example disposable syringes, is constantly increasing: therefore, automatic machines that provide the individual insertion of the object in the trays and other machines that arrange them in the desired configuration to be then inserted in the final packaging (typically a box) are known.
The task of transporting the trays from the station that provides them to the one in which they are first arranged in the desired configuration (for example on multiple layers and/or rows) and then inserted in the final box is thus entrusted to appropriate handling assemblies.
According to constructive solutions of a known type, the handling of the trays is provided by dedicated carriages, which can move along a line that is parallel to the ground. At the end portion of the line there acts a serial manipulator, capable of following the movement of the trays and of picking them up from the carriages in order to deposit them in appropriate receptacles, from which, by simple translation, they are inserted directly in the packages, without modifying their configuration.
Therefore, the manipulator, by moving along the end portion of the line, is capable of picking up a desired number of trays and depositing them optionally in the same receptacle, thus providing the desired final configuration, even on multiple layers; in the meantime, the movement of the trays from the line described above to the receptacles and the ability of the manipulator to move along the line to pick up the trays from different carriages in order to deposit them in the same receptacle makes it possible to provide a substantial decoupling between the upstream pick-up station and the downstream station for insertion in the boxes. The decoupling is necessary due to the different speeds of the upstream and downstream devices, to the different constraints that they set, and to the different number of products treated at each loading cycle with respect to those treated at each cycle of unloading and insertion in the boxes.
However, this constructive solution is not free from drawbacks.
The use of a serial manipulator, capable of moving along the line and of gripping and depositing the trays in the desired configuration, providing the decoupling between the upstream stations and the downstream stations, causes a considerable increase in the total space occupation, as well as a great structural complication, in order to ensure that the manipulator can, as desired, move along various mutually independent directions.
Furthermore, it is necessary to use complex software to manage the movements of the manipulator, which must also be synchronized perfectly with the elements assigned to handling the carriages.
The aim of the present invention is to solve the problems described above, by providing a handling assembly capable of handling in a practical and easy manner products of various types, at the same time arranging them in a preset configuration.
Within this aim, an object of the invention is to provide a handling assembly in which the step of final unloading of the products, in the desired configuration, occurs with times and speeds that are independent of those of the upstream loading step.
Another object of the invention is to provide a handling assembly capable of arranging the handled products in different configurations and orientations, on multiple rows and/or layers and/or columns.
A further object of the invention is to provide a handling assembly that ensures high reliability in operation.
Another object of the invention is to provide a handling assembly that can be obtained easily starting from commonly commercially available elements and materials.
Another object of the invention is to provide a handling assembly that has modest costs and is safe in application.
This aim and these objects are achieved by a handling assembly, particularly for automatic machines, that comprises means for moving, along a line, elements for gripping products, said line comprising at least one outbound portion and at least one return portion, said portions being interposed between an upstream station, for picking up the products, and a downstream station, for discharging said products, characterized in that said movement means comprise independent driving units for said grip elements, said grip elements being adapted to handle the products in a suspended configuration, each one of said driving units being functionally associated with at least one respective grip element, for the independent movement, even in opposite directions, of each one of said grip elements along said line, which is interposed preferably between two substantially different heights.
Further characteristics and advantages of the invention will become better apparent from the description of a preferred but not exclusive embodiment of the handling assembly according to the invention, illustrated by way of non-limiting example in the accompanying drawings, wherein:

Figure 1 is a side elevation view of the handling assembly according to the invention;
Figure 2 is a top view of the handling assembly according to the invention;
Figure 3 is a sectional view, taken along line III-III in Figure 1;
Figure 4 is a sectional view, taken along line IV-IV in Figure 1;
Figure 5 is a sectional view, taken along line V-V in Figure 1;
Figure 6 is a side elevation view of a detail of Figure 1;
Figure 7 is a front elevation view of the detail of Figure 6;
Figure 8 is a top view of the detail of Figure 6;
Figure 9 is a schematic front elevation view of the grip element;
Figure 10 is a schematic top view of the grip element.

With reference to the figures, the handling assembly according to the invention, generally designated by the reference numeral 1, is particularly suitable to be used in automatic machines and comprises means 2 for moving, along a line 3, elements 4 for gripping products 5.
It is specified right now that according to the preferred application (to which reference will be made several times in the continuation of the present description) the handling assembly 1 according to the invention is assigned to moving products 5 of the type of trays that have an approximately parallelepipedal shape, as illustrated in the accompanying figures. It is useful to note that the possibility is not excluded (and in any case falls within the protective scope claimed herein) to use the assembly 1 to handle boxes that contain other types of objects or to transport different products 5.
For example, and with particular reference to the pharmaceutical field (but the possibility of using the assembly 1 in different market sectors is not excluded), depending on the specific application requirements, the products 5 might be vials, bottles, blister packs, pouches of powdered drugs, et cetera, even prepackaged in boxes or other containers.
The line 3 comprises at least one outbound portion 3a and at least one return portion 3b, which are interposed between an upstream station A, for picking up the products 5, and a downstream station B, for discharging the products.
According to the invention, the movement means 2 comprise independent driving units 6 for the grip elements 4; each one of the driving units 6 is functionally associated with at least one corresponding grip element 4, in order to cause the independent movement, even in opposite directions, of each one of the grip elements 4 along the line 3, which is interposed preferably between two substantially different heights.
In particular, in order to provide such a movement, the assembly 1 comprises three driving units 6, which are rigidly associated with three corresponding belts 7, which in turn are arranged mutually side by side and substantially parallel along the line 3: at least one of the grip elements 4 is anchored to each one of the belts 7, which are therefore mutually independent. In the continuation of the present description, reference shall be made constantly to the embodiment that provides for the use, as mentioned, of three driving units 6 for respective belts 7, but the possibility to use a different number of driving units 6, capable of moving each grip element 4 even in a different manner with respect to the one described in detail in the present description, is not excluded.
According to a preferred constructive solution, as shown particularly in Figure 1, the outbound portion 3a and the return portion 3b are substantially inclined, for the handling of the products 5 from the upstream station A, arranged at a different and preferably greater height with respect to the height of the downstream station B, for which the products 5 are intended. In greater detail, in the preferred constructive solution at least the outbound portion 3a preferably has a substantially curvilinear shape.
It is therefore evident that the choice to transport the products 5 in a suspended arrangement, for example in the manners that will be described in detail in the paragraphs that follow, makes it possible to handle products 5 even between different heights and by using shapes at will for the line 3 according to the specific requirements: it is thus possible to use positively the assembly 1 if the upstream station A and the downstream station B work at different heights.
According to a constructive solution, mentioned by way of non-limiting example of the application of the invention, each grip element 4 comprises at least one clamp 8 that can be activated on command to grip a product 5 (or possibly a larger number of products 5 simultaneously, if they are mutually and rigidly connected), at the upstream station A and for its transport, in a suspended configuration, along the outbound portion 3a. The clamp 8 can be then deactivated on command in order to release the product 5 at at least one preset position of the downstream station B.
As will become better apparent hereinafter, according to the preferred constructive solution the clamps 8 are capable of releasing the products 5 (at the downstream station B) in different preset positions in order to provide the final desired configurations of products 5.
More specifically, each grip element 4 consists of a train of clamps 8, which are anchored in series to a portion of the corresponding belt 7, for the simultaneous grip, transport and discharge of a plurality of products 5.
In Figure 1, for example, a grip element 4 constituted by a train of three clamps 8, each one in the configuration for gripping a respective product 5, is shown at the downstream station B.
The possibility is not excluded, however, to adopt different types of grip elements 4, even capable of picking up, holding and discharging the products 5 according to other operation methods: for example, the possibility to provide elements 4 that have suction ports for holding the boxes (or other products 5) by means of a pneumatic vacuum is provided.
Conveniently, with reference to the constructive solution that provides for the use of grip elements 4 provided with clamps 8, each one of the clamps comprises two arms 9 which are articulated, at a fulcrum 9a arranged in a central portion, to a cross-member 10 which is fixed to the corresponding belt 7.
In order to ensure the clamping (and the holding of the products 5), each arm 9 is fixed to the free end of a respective spring 11 (which in turn is anchored, on the opposite side, to the cross-member 10). The elastic reaction of the springs 11 keeps the arms 9 and the clamp 8 in the closure configuration, while the controlled rotation of the arms 9 about the respective fulcrum 9a (for example, in the ways that will be described in the paragraphs that follow), leads to the opening of the clamp 8 in order to allow the clamping and release of the products 5.
In the constructive solution (which is non-limiting for the application of the invention) illustrated for example in Figure 9, each arm 9 is provided, at one of its end portions, with a bar 12 having a substantially circular cross-section.
As a consequence of the closure of the arms 9, the respective bars 12 clamp from opposite sides the sides of the boxes, lifting them and keeping them in a suspended configuration (for transport), by means of a shoulder defined by protrusions 5a of the upper face of the trays.
Conveniently, in order to activate the clamps 8, the handling assembly 1 according to the invention comprises a first actuator 13a, which is capable of actuating the oscillation of the arms 9 and can be automatically operated upon arrival of a product 5 at the upstream station A, in order to force the opening of the clamps 8 (which then close again due to the springs 11) and therefore the pick-up of the product 5.
The assembly 1 further comprises at least one second actuator 13b, which in turn is capable of actuating the oscillation of the arms 9 and is arranged proximately to the preset position for the release of the products 5; the actuation of the second actuator 13b therefore produces a second opening of the clamps 8, which thus can indeed discharge the products 5.
In particular, the first actuator 13a and the second actuator 13b are substantially constituted by a lever 14 that oscillates about a fixed pivot 14a; during the oscillation, the lever 14 moves into abutment against one end of the arms 9 (on the opposite side with respect to the bars 12), so as to cause their rotation and, as noted, the opening of the clamp 8.
For example, it is possible to use sensors of the photocell type, capable of detecting the arrival of the product 5 at the pick-up region (or at the preset position for discharge); the arrival information may thus be transmitted to an electromagnet that actuates the rotation of the lever 14.
As an alternative, different types of sensors of a known type may be used in order to detect the passage (and/or arrival) of the product 5 and the consequent transfer of the corresponding information to the first actuator 13a.
Likewise, the use of various types of sensors adapted to detect the passage or arrival of the clamp 8 (or of another preset event) in the position preset for discharge, with consequent transfer of the corresponding information to the second actuator 13b, is provided.
According to the preferred constructive solution, the handling assembly 1 comprises a plurality of second actuators 13b (for example three, as in the embodiment illustrated in the accompanying figures) in order to allow the release of the products 5 respectively at a plurality of preset positions (three in the example in the figure) arranged along a first rectilinear portion 15a of the line 3, the first rectilinear portion faceing a conveyor belt 16 of containment trays 17.
The trays 17 can receive the products 5 (following release by the clamps 8) arranged on multiple rows and layers and according to a first spatial orientation (which corresponds to the one they assume while they are suspended, held by the clamps 8, along the first portion 15a).
Advantageously, the handling assembly 1 according to the invention comprises a unit 18 for transferring the products 5, which is arranged substantially so as to face and be proximate to a second portion 15b of the line 3, which is arranged downstream of the first portion 15a.
The second portion 15b has a substantially curvilinear shape and the products 5 (held by the clamps 8) arrange themselves thereat automatically according to a second spatial orientation (possibly variable), which is different from the first one and indeed defined by the shape of the second portion 15b.
For example, in the constructive solution shown in the accompanying figures, the second portion 15b (and thus the trajectory described by the grip elements 4) has a semicircular shape and the transfer unit 18 is aligned with the very center of the semicircle.
When the grip elements 4, by moving along the line 3 and the second portion 15b in particular, are proximate to the transfer unit 18 and face it, the products 5 are arranged in a second spatial configuration, which corresponds to a rotation through 90° with respect to the first configuration.
The transfer unit 18 is provided with an apparatus for picking up and handling the products 5: it is thus possible to pick up the products 5 to deposit them in the trays 17 in the arrangement that corresponds to the second spatial orientation, even on multiple rows (for example three, as in Figure 8).
In order to facilitate delivery to the receiving unit 18, along the second portion 15b there is at least one third actuator 13c, which moves the products 5 closer to a temporary receptacle 19 defined in the transfer unit 18.
According to the solution illustrated in Figure 1 (by way of example), the third actuator 13c is a curved rod which oscillates, in order to abut against the arms 9 in manners similar to what has been observed for the first actuator 13a and the second actuators 13b.
When the third actuator 13c opens the clamps 8, the products 5 are made available to pick-up stems 20, which are comprised in the above mentioned apparatus and can move in order to clamp laterally the trays (by using the protrusions 5a) and move them toward the seat 19, where suitable abutments, even of the elastic type, determine their release and their retention in position.
The pick-up and handling apparatus further comprises a movable pusher 21, which acts along an interception trajectory of the temporary receptacle 19, in order to evacuate the products 5 from the seat 19 and, by pushing them, deposit them below in the trays 17, in an arrangement that corresponds to the second spatial orientation and on multiple side-by-side rows.
In order to allow the deposition of the products 5 in the trays 17, it is also possible to use elements for temporarily stopping the trays 17 along the belt 16: in this manner, at the end portion of the stroke of the pusher 21, and of the possible fall of the products into the trays 17, the trays are kept stationary so as to ensure the correct positioning of the products 5.
It is therefore clear that by using the action of the second actuators 13b or of the third actuator 13c (and of the transfer unit 18) it is possible to deliver to the downstream station B the products 5 according to at least two different spatial orientations, thus ensuring high versatility to the assembly 1 according to the invention.
Operation of the handling assembly according to the invention is as follows.
At the upstream station A, a clamp 8 of a grip element 4 can, in the manners described in detail in the previous paragraphs, pick up and clamp between its arms 9 a first product 5. The driving unit 6 connected to the belt 7, to which the grip element 4 is anchored, can then actuate the advancement of the latter, either to transport it toward the downstream station B or (typically) to allow a second clamp 8 of the same element 4 to grip a second product 5. This operation may be repeated until each clamp 8 of the first grip element 4 clamps a respective product 5; once such activity has been completed, the respective driving unit 6 may push the first grip element 4 until the first clamp 8 is placed at the first preset position for deposition in a tray 17.
It is useful to note that thanks to a suitable sizing of the grip elements 4 and of the outbound portion 3a, when the last clamp 8 of the first grip element 4 picks up the respective product 5 the first clamp 8 of the same grip element 4 may be already arranged in a position adjacent to the first preset position in the downstream station B.
Therefore, it should be specified that in this step, the rule of motion, the rate and the step of advancement actuated by the first driving unit 6 can be determined only according to the rule of feeding of the products 5 and therefore of the devices that act upstream.
At the first preset position, the first clamp 8 of the first grip element 4, due to the action of a second actuator 13b, releases in the tray 17 the first product 5.
Subsequently, the first driving unit 6 may accelerate the motion of the corresponding belt 7 in order to allow the second clamp 8 to align itself with the tray 17 (which in the meantime has advanced, pushed by the belt 16) at the second preset position, where the release of the second product 5 occurs, the second product 5 being therefore deposited above the first product 5, so as to define a two-layer configuration.
It is therefore evident that by replicating this step for the third preset position it is possible to provide an overlap of the products 5 on three layers, if this corresponds to the required final format (and further layers may be provided with the same methods).
Furthermore, by actuating further advancements and/or imposing small variations to the strokes and stop positions (or even by inverting for small movements the travel direction of the belt 7) it is possible to deposit two products 5 side by side in the same tray 17, thus obtaining an arrangement on multiple rows.
If one wishes to arrange the products 5 according to a different orientation, as shown in the previous paragraphs, it is possible to keep the second actuators 13b deactivated and actuate the activation of the third actuator 13c, thus causing the discharge of the products 5 when they are facing the transfer unit 18.
Therefore, at the activities for discharging the products 5 it is immediate to notice that the movement of the belt 7 and of the components coupled thereto are linked exclusively to the final configuration that one wishes to obtain for the products 5, as well as to the rule of motion of the belt 16, of the trays 17 and in general of the downstream devices.
By using at least two independent driving units 6, while the products 5 are deposited by the first grip element 4, a second grip element 4, moved by the second driving unit 6 and therefore in a completely independent manner with respect to the handling imposed by the first one, may pick up other products 5 in the described manners (and complying only the constraints of the upstream devices).
Subsequently, at the end of the deposition of the products 5, the first grip element 4 may follow the return portion 3b in order to return proximate to the upstream station A.
In this step, the driving unit 6 may impose to the belt 7 a speed chosen at will, in order to ensure a fast restoration of the initial conditions.
Therefore, it is clear that the adoption of three driving units 6 for the independent movement of three grip elements 4 makes it possible to perform simultaneously the pick-up and discharge of respective products 5 by means of distinct grip elements 4 (according to different rules of motion, obtaining the desired decoupling between the upstream station A and the downstream station B), while at the same time a third grip element 4 follows, even at maximum speed, the return portion 3b (and therefore with decoupling both from what occurs in the upstream station A and from what occurs in the downstream station B).
Furthermore, thanks to the suitable sizing already mentioned (and with a correct choice of the speed of the grip elements 4 in the return portion 3b), it is possible to ensure that in every moment of operation the handling assembly 1 is constantly operating for the deposition and pick-up of products 5 without the need to comply with idle times.
The assembly 1 thus ensures maximum productivity, using a practical and simple solution that does not entail the use of bulky serial manipulators, which are complicated to manage and difficult to program.
In practice it has been found that the handling assembly according to the invention fully achieves the intended aim, since the adoption of movement means for the products grip elements that comprise independent driving units, each associated with a respective grip element, makes it possible to handle the latter in practical and easy manner, at the same time arranging them in a predefined configuration.
The invention thus conceived is susceptible of numerous modifications and variations, all of which are within the scope of the appended claims; all the details may further be replaced with other technically equivalent elements.
In the examplary embodiments shown, individual characteristics, given in relation to specific examples, may actually be interchanged with other different characteristics that exist in other examplary embodiments.
In practice, the materials used, as well as the dimensions, may be any according to requirements and to the state of the art.
The disclosures in Italian Patent Application No. BO2010A000273 from which this application claims priority are incorporated herein by reference.
Where technical features mentioned in any claim are followed by reference signs, those reference signs have been included for the sole purpose of increasing the intelligibility of the claims and accordingly, such reference signs do not have any limiting effect on the interpretation of each element identified by way of example by such reference signs.

Claims

A handling assembly, particularly for automatic machines, comprising means (2) for moving, along a line (3), elements (4) for gripping products (5), said line (3) comprising at least one outbound portion (3a) and at least one return portion (3b), said portions (3a, 3b) being interposed between an upstream station (A), for picking up the products (5), and a downstream station (B), for discharging said products, characterized in that said movement means (2) comprise independent driving units (6) for said grip elements (4), said grip elements (4) being adapted to handle the products (5) in a suspended configuration, each one of said driving units (6) being functionally associated with at least one corresponding grip element (4), for the independent movement, even in opposite directions, of each one of said grip elements (4) along said line (3), which is interposed preferably between two substantially different heights.
The handling assembly according to claim 1, characterized in that it comprises three of said driving units (6), each one of said driving units (6) being rigidly associated with a respective belt (7), said belts (7) being arranged side by side and substantially parallel along said line (3), at least one of said grip elements (4) being anchored to each one of said belts (7), which are mutually independent.
The handling assembly according to claim 1, characterized in that said outbound portion (3a) and said return portion (3b) are substantially inclined, for the handling of the products (5) from the upstream station (A), arranged at a different height, which is preferably greater, with respect to the height of the downstream station (B), at least said outbound portion (3a) preferably having a substantially curvilinear shape.
The handling assembly according to one or more of the preceding claims, characterized in that each one of said grip element (4) comprises at least one clamp (8), which can be activated on command to fasten at least one product (5) at said upstream station (A) and to transport it, in a suspended configuration, along said outbound portion (3a), said clamp (8) being deactivatable on command to release the at least one product (5) at at least one preset position of said downstream station (B).
The handling assembly according to one or more of the preceding claims, characterized in that each one of said grip elements (4) is constituted by a train of said clamps (8), which are anchored in series to a portion of the respective belt (7), for the simultaneous fastening, transport and discharge of a plurality of products (5).
The handling assembly according to one or more of the preceding claims, characterized in that each one of said clamps (8) comprises a pair of arms (9) which are articulated, at a fulcrum (9a) arranged in a central portion, to a cross-member (10) which is fixed to the corresponding belt (7), each one of said arms (9) being fixed to the free end of a respective spring (11), the elastic reaction of said springs (11) keeping said arms (9) and said clamp (8) in the closure configuration, the controlled rotation of said arms (9) about the respective fulcrum (9a) producing the opening of said clamp (8), for the fastening and release of the products (5).
The handling assembly according to one or more of the preceding claims, characterized in that it comprises a first actuator (13a) for actuating the oscillation of said arms (9), which can be operated automatically upon arrival of a product (5) at said upstream station (A), for fastening it, and at least one second actuator (13b) for actuating the oscillation of said arms (9), which is arranged proximate to said at least one preset position and can be operated to discharge the product (5).
The handling assembly according to claim 7, characterized in that said first actuator (13a) and said at least one second actuator (13b) are substantially constituted by a lever (14) that oscillates about a fixed pivot (14a), during the oscillation said lever (14) moving into abutment against one end of said arms (9), for their rotation and for the opening of said clamp (8).
The handling assembly according to one or more of the preceding claims, characterized in that it comprises a plurality of said second actuators (13b), in order to allow the release of the products (5) at a plurality of preset positions arranged along a first rectilinear portion (15a) of said line (3), which faces a conveyor belt (16) for containment trays (17), adapted to receive the products (5) arranged on multiple rows and layers and along a first spatial orientation.
The handling assembly according to one or more of the preceding claims, characterized in that it comprises a unit (18) for transferring the products (5), which is arranged substantially so as to face and be proximate to a second portion (15b) of said line (13), which is arranged downstream of said first portion (15a) and has a substantially curvilinear portion, said transfer unit being provided with an apparatus for picking up and handling the products (5), which are arranged with a second spatial orientation, which is defined by the shape of said second portion (15b) and is different from the first one, in order to deposit them in the trays (17), in an arrangement that corresponds to the second spatial orientation, even on multiple rows.