mobile devices

Abstract

The present invention provides a moving device (1) for manipulating a running assembly (100), in particular a wrapping machine (1000), to move toward or away from a load placed on a support (2), comprising: a lever device for supporting the running assembly (100) to approach or move away from the load; a drive device (12) connected to the lever device for manipulating the moving device (1) between a closed configuration (C) (with the smallest footprint, farther from the load) and an open configuration (A) (with the largest footprint, closer to the load); and a trajectory correction assembly (20) connected to the lever device for dynamically controlling the lever device so that the running assembly (100) can follow a linear trajectory at a constant height relative to the load when moving between a far position and a closest position.

Description

Technical Field

[0001] The present invention relates to a mobile device designed to operate a running component of a wrapping machine for wrapping a layer of film around cargo placed on a support, and in particular to a mobile device designed to move the running component close to or away from the cargo so as to process the cargo.

[0002] To perform such a process, the operating assembly is driven after the wrapping operation is completed, that is, after the load has been wrapped with a predetermined number of film turns, the moving device begins to approach the load. The operating assembly may be a cutting / sealing / gripping assembly, comprising a cutting assembly for cutting the film, a sealing assembly for sealing the film to the film wrapping ring surrounding the load, particularly the outermost portion of the wrapping ring (i.e., the portion furthest from the vertical rotation axis of the load), and a gripping assembly for gripping the edge of the film to serve as the wrapping ring for initial wrapping of the load. Background Art

[0003] Wrapping machines known in the industry, particularly those of the rotary carrier type supported by a rotating table, use film to wrap a load on a pallet. The pallet includes a support and unwinding assembly adapted to accommodate a roll of film. The film is stretched by the rotation of the load about a rotation axis. The rotation of the load about the rotation axis is coupled to the movement of the support and unwinding assembly in a perpendicular direction, i.e., approximately parallel to the rotation axis, so as to apply a predetermined number of film rolls to the load.

[0004] After the wrapping operation is completed, that is, when the load on the pallet has been wrapped with the predetermined number of turns of film, the operating components of the wrapping machine start to work close to the load, seal the film to the winding ring on the vertical rotating axis away from the load, cut the film and retain the cut film.

[0005] The running assembly may include a cutting assembly for cutting the film, a sealing assembly for sealing the film to a film winding ring around the cargo, in particular, the outermost part (i.e., the farthest from the vertical rotation axis of the cargo) of the sealing winding ring, and a grabbing assembly for grabbing the edge of the film so as to start the winding ring of the cargo as an initial wrap.

[0006] A known type of wrapping machine comprises a running assembly moving device comprising a connecting portion rigidly connected to the running assembly, which moves the running assembly towards the load to perform the above operations; after the operation is completed, the running assembly on the load is removed.

[0007] The above-mentioned operating component moving device can also adopt an articulated arm.

[0008] The drawback of the articulated arm moving device is that the entire moving device moves the running assembly along an arc and a non-predeterminable path. This means that at least a part of the running assembly (in particular a part of the sealing assembly) may come into contact with an area that does not need to be sealed, such as a part of a pallet or a turntable on which the pallet is located. Therefore, sealing the film on the outer wrapping ring does not affect the entire height of the film, but only a part of the film and the tail end of the film fail to seal to the outer film wrapping ring of the load. As a result, the load on the pallet will be discarded and will not be placed in the preset automatic storage warehouse, but will be transported to an inspection station for subsequent contour inspection. At this time, the packaging film must be removed from the discarded load and then rewrap with new packaging film, which will result in a large amount of material consumption and high production costs.

[0009] As an alternative to the articulated arm movement means, the travel assembly movement means may comprise one or more linear actuators aligned substantially perpendicular to the load. The or each linear actuator of the movement means may comprise a cylinder in which a stem connected to a piston slides.

[0010] A drawback of such a moving device comprising one or more linear actuators is that the hollow body of the one or more linear actuators occupies a significant amount of space in the closed or non-operating configuration of the moving device and, in addition, the valve stem stroke extends out of the cavity in the open or operating configuration of the moving device. Summary of the Invention

[0011] An object of the present invention is to improve a running component movement device of a known winding machine.

[0012] Another object of the present invention is to realize a moving device for moving a running component of a wrapping machine so that the running component can correctly perform a predetermined task on a load.

[0013] Yet another object of the present invention is to realize a mobile device of limited and extremely small dimensions compared to prior art mobile devices.

[0014] A further object of the present invention is to realize an operational assembly moving device consisting of a simple and economical winding machine, allowing precise and efficient operation.

[0015] The object of the present invention can be achieved by the winding machine running component moving device of the present invention.

[0016] In an example, a moving device for manipulating a moving assembly, in particular a wrapping machine, toward or away from a load placed on a support comprises:

[0017] - a lever device for supporting the moving components towards or away from the load;

[0018] - a drive device connected to the lever device for operating the mobile device between a closed configuration (with a minimum footprint and away from the load) and an open configuration (with a maximum footprint and closer to the load);

[0019] - A trajectory correction assembly coupled to the lever assembly for dynamically controlling the lever assembly so that the operating assembly follows a linear trajectory at a constant height relative to the load when moving between the distal position and the proximal position.

[0020] Thanks to the invention, it is possible to realize a moving device of the running component of the wrapping machine, which moves along a roughly linear trajectory until it reaches the same height as the load wrapped a set number of times with the film; at this time, the running component should perform work to seal the film to the part of the wrapping loop farthest from the vertical rotation axis of the load, a film shearing phase for obtaining the edge of the film, and a grasping or holding phase for packaging the subsequent load.

[0021] The linear track helps determine the height of the runner. This prevents the runner from having to process different parts of the load. This prevents, for example, packaging that is outside the load (e.g., at least part of a bracket) and is not recognized by the runner during the contour check process due to being positioned at the wrong height and thus not being discarded.

[0022] Thanks to the structural configuration of the components, this type of mobile device has the advantage of occupying a small space, especially compared with mobile devices under the existing technical status, the occupied space is smaller.

[0023] In addition, the moving device implemented according to the present invention has a simple structure and is easy to be installed in an existing winding machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention may be better understood and implemented with reference to the accompanying drawings, which illustrate an example, but are not limited to, and in which:

[0025] Figure 1 is a perspective view of a portion of a wrapping machine for wrapping film around a load on a mobile device support according to the present invention, in an open configuration of maximum dimensions, raised and positioned close to the load so that operating components can perform work on the load;

[0026] Figure 2 yes Figure 1 A partially enlarged view of a portion of the mobile device associated with the operating component is shown in FIG. Figure 1 Angle display;

[0027] Figure 3is a side view of the mobile unit and its running components shown; the continuous line indicates the mobile unit and running components in the closed configuration with the smallest dimensions, positioned away from the load; the double-strike line indicates the mobile unit and running components in the open configuration, positioned away from the load. Figure 1 shown near the loading position;

[0028] Figure 4 yes Figure 3 A top view of the mobile unit and operating components in the open configuration and near the cargo position;

[0029] Figure 5 yes Figure 3 a top view of the mobile unit and operating components in a closed configuration and positioned away from the cargo;

[0030] Figure 6 yes Figure 3 Front view of the moving device and running components.

[0031] Figure 7 yes Figure 1 A top view of the winding machine with the moving device in an upside-down position. DETAILED DESCRIPTION

[0032] refer to Figure 1 , the present invention shows a moving device 1 that can move a running component 100 toward or away from a load placed on a support 2, such as a pallet, or a support with rollers or chains.

[0033] The moving device 1 associated with the running assembly 100 is to be installed in a wrapping machine 1000 and is capable of wrapping a predetermined number of turns of a load on a support 2 with a film.

[0034] The wrapping machine 1000 may include a frame and wrapping machine assembly (not shown) that supports and wraps film coils by relative rotation between the frame and wrapping machine assembly and the load, which is placed on the frame 2. The relative rotation occurs about a generally vertical winding axis W.

[0035] As used herein, "substantially vertical" refers to an axis that is substantially parallel to the gravitational acceleration vector.

[0036] In order to wind a predetermined number of turns of film around the load on the support 2, the device is associated with a support and unwinding assembly in a vertical direction, ie approximately parallel to the winding axis, for this relative rotation.

[0037] In particular, the wrapping machine 1000 may comprise a rotating cargo model supported by a rotating table. In this case, the wrapping machine 1000 should include a rotating table for supporting the cargo placed on the support 2. In use, the cargo rotates around a rotation axis that coincides with the winding axis W in a perpendicular direction.

[0038] The running assembly 100 can be connected to the moving device 1, in particular in a rigid manner, so that near the end of the operation or process of wrapping the film around the load, that is, when a predetermined number of wrapping turns have been applied to the load, the running assembly 100 can be moved into a position close to the load, thereby performing work on the load.

[0039] To perform these operations, refer specifically to Figure 2 The operating assembly 100 may include a cutting assembly 110 for cutting the film, a sealing assembly 120 for sealing the film to a film winding ring around the cargo, particularly the outermost portion (i.e., the farthest from the vertical rotation axis of the cargo) of the sealing winding ring, and a grabbing assembly 130 for grabbing the film so as to serve as an initial winding to start the cargo winding ring.

[0040] Thus, the operations that the run assembly 100 may perform on a load include sealing the film to the portion of the wrapping loop furthest from the vertical axis of rotation of the load; a film shearing phase to obtain the film edge, and a gripping or holding phase for wrapping subsequent loads.

[0041] The film is made of an elastic and / or plastic material, such as an elastically stretchable film, which can be applied around the load and can hold the load together in a stable manner. The film particularly includes a heat-sensitive film.

[0042] The moving device 1 includes a lever device for supporting the running assembly 100 to approach or move away from the cargo placed on the support 2.

[0043] The moving device 1 further comprises drive means 12 connected to the lever means for moving the moving device 1 between a closed configuration C with a minimum space and an open configuration A with a maximum space.

[0044] The drive device 12 is used to move the lever device relative to the load.

[0045] In the closed configuration C, the mobile device 1 is positioned away from the cargo. In this position, the operating assembly 100 is also positioned away from the cargo and does not interact with the film-wrapped cargo. In other words, the position away from the cargo corresponds to a position in which the mobile device 1 is fully retracted relative to the cargo.

[0046] On the other hand, in open configuration A, the mobile device 1 is positioned close to or around the cargo, rather than being positioned away from the cargo as in closed configuration C. In this position closest to the cargo, the operating assembly 100 is also closer to the cargo, allowing it to interact with the film-wrapped cargo to perform the aforementioned operations. In other words, the position close to the cargo corresponds to the maximum projection position of the mobile device 1 relative to the cargo.

[0047] The drive device 12 comprises a drive actuator in an assembly, the entire assembly comprising: a pneumatic cylinder, a hydraulic cylinder and an electromechanical actuator.

[0048] The moving device 1 further comprises a trajectory correction assembly 20 connected to a lever arrangement for dynamically controlling the lever arrangement so that the operating assembly 100 can follow a linear trajectory at a constant height relative to the load when moving between the distal position and the proximal position.

[0049] The linear trajectory is approximately perpendicular to the rotation axis of the cargo.

[0050] With this configuration, the running component is completely horizontal as it moves toward the load at a constant height, making it easier to identify the final position of interaction with the load itself (otherwise, for an arc-shaped trajectory with constantly changing heights, determining the final point of contact between the running component and the load would be more difficult and less direct).

[0051] The linear trajectory obtained by the algorithm described herein can determine the height of the moving assembly. This prevents the moving assembly from having to process different portions of the load. In this way, for example, during the contour check process, a package outside the load (e.g., at least part of the bracket) that is not recognized by the moving assembly due to being positioned at an incorrect height is not discarded.

[0052] The trajectory correction assembly 20 includes a counter-rod device 10 connected to a lever device.

[0053] The lever device includes a first operating lever device 3 and a second operating lever device 4. The two devices are connected to the first movable hinge element 5 of the moving device 1 in a rotational manner and can rotate along the first rotation axis R1 and the second rotation axis R2 respectively.

[0054] The first movable joint element 5 is rigidly connected to the running assembly 100 by known connection means (such as screws and bolts).

[0055] In use, the operating assembly 100 can be moved on the mobile device 1 by moving the first movable hinge element 5 toward or away from the cargo along the linear trajectory. In other words, when the mobile device 1 moves between the open configuration A and the closed configuration C, the first movable hinge element 5 also moves along the linear trajectory at the same critical height.

[0056] The first operating lever device 3, the second operating lever device 4 and the first movable hinge element 5 support the running assembly 100 for approaching or leaving the cargo.

[0057] The first movable joint element 5 and the operating assembly 100 can be moved by means of the lever device, the trajectory correction assembly 20 and the drive device 12 , that is, can be moved substantially perpendicularly to the load movement direction D1 .

[0058] like Figure 3 As shown, the drive device 12 is designed to exert a pulling and / or pushing action on the lever device along the transverse direction of the moving direction X. When the first movable hinge element 5 moves along the moving direction X, the inclination relative to the moving direction X is variable.

[0059] The lever device further comprises a third operating lever device 6 and a fourth operating lever device 7, both of which are connected to the first fixed hinge element 8 of the moving device 1 in a rotational manner and can rotate along the third rotation axis R3 and the fourth rotation axis R4 respectively.

[0060] The first fixed articulated element 8 remains stationary, ie it is stationary when the mobile device 1 is moved between the open configuration A and the closed configuration C.

[0061] The counter-lever device 10, the second operating lever device 4 and the drive device 12 are used to move the first movable hinge element 5 along a linear trajectory so as to maintain a substantially equal distance D between the second rotation axis R2 and pass through a horizontal plane P between the fourth rotation axis R4. Figure 3 Indicated by dotted line.

[0062] In addition, the first joystick device 3, the second joystick device 4, the third joystick device 6, and the fourth joystick device 7 are connected to the second movable hinge element 9 of the mobile device 1 in a rotational manner, and can rotate along the fifth rotation axis R5, the sixth rotation axis R6, the seventh rotation axis R7, and the eighth rotation axis R8 respectively.

[0063] The second movable articulated element 9 is moved by means of a lever arrangement, a trajectory correction assembly 20 and a drive device 12, i.e. between an open configuration A and a closed configuration C, in particular with a trajectory of variable dimensions relative to the load, i.e. relative to the horizontal plane P.

[0064] In particular, the counter-lever device 10 should be rotationally connected to the second operating lever device 4 so that these counter-lever devices 10 and the second operating lever device 4 can rotate around the ninth rotation axis R9; the counter-lever device 10 is also rotationally connected to the second fixed hinge element 11 on the mobile device 1 and can rotate around the tenth rotation axis R10.

[0065] The second fixed articulated element 11 remains stationary, ie it is stationary when the mobile device 1 is moved between the open configuration A and the closed configuration C.

[0066] The drive device 12 is connected to one of the above-mentioned first joystick device 3, second joystick device 4, third joystick device 6, and fourth joystick device 7 so as to operate the mobile device 1 between the minimum space closed configuration C and the maximum space open configuration A; in the closed configuration, the second rotation axis R2 and the tenth rotation axis R10 reach the minimum distance dmin, and in the open configuration, the second rotation axis R2 and the tenth rotation axis R10 reach the maximum distance dmax.

[0067] The first movable hinge element 5, the second movable hinge element 9, the first fixed hinge element 8 and the second fixed hinge element 11 respectively include connecting blocks 13, 14, 15 and 16, each having a substantially parallel shape. For example, each connecting block 13, 14, 15 and 16 can have a cubic shape.

[0068] The first movable hinge element 5, the second movable hinge element 9, the first fixed hinge element 8 and the second fixed hinge element 11 may also respectively include at least one connecting plate 21a, 22a, 23a and 24a, which are respectively installed on the corresponding connecting blocks 13, 14, 15 and 16, and each connecting block 13, 14, 15 and 16 and each connecting plate 21a, 22a, 23a and 24a are connected to the first joystick device 3, the second joystick device 4, the third joystick device 6 and / or the fourth joystick device 7, or the counter-rod device 10, the drive device 12 in a hinged manner.

[0069] In the illustrated implementation, the first joystick device 3 includes a connecting rod 3a, whose end 17 is hinged to a first surface of the connecting block 13 of the first movable hinge element 5, and whose end 18, located opposite to the end 17, is hinged to a first surface 19a of the connecting block 15 of the second movable hinge element 9. Specifically, the connecting rod 3a can be connected to the connecting block 13 and the connecting block 15, respectively, so that the first rotation axis R1 and the second rotation axis R5 pass through respective points, which are arranged near the vertices of the respective connecting blocks 13 and 15.

[0070] Specifically, one end 17 of the connecting rod 3a is rotatably mounted between the connecting block 13 and the connecting plate 21a, and the other end 18 of the connecting rod 3a is rotatably mounted between the connecting block 15 and the connecting plate 23a.

[0071] The second operating lever assembly 4 includes a profiled rod 4a comprising a first link portion 25 and a second link portion 26, which extend to form an angle α of 110° to 150°, particularly 120°. The first link portion 25 and the second link portion 26 are connected to a link region 27, which serves as a common end between the first link portion 25 and the second link portion 26. The link region 27 is hinged to an outer surface 28 of the connecting plate 23a on the second movable hinge element 9.

[0072] The first link portion 25 is also provided with an end 29 located opposite the link region 27 and, in particular, articulated to an outer surface 30 of the connecting plate 21 a of the first living joint element 5 .

[0073] The second connecting rod portion 26 is also provided with an end 31 situated opposite the connecting rod region 27 and, in particular, articulated to the counter-rod device 10 so as to be rotatable about a ninth axis of rotation R9 .

[0074] The first link portion 25 may comprise a “U”-shaped loop portion 32 and be arranged to at least partially surround the drive device 12 in order to reduce the footprint of the movement device 1 in the closed configuration C.

[0075] The third operating lever device 6 may include a crossbar 6a, whose end 33 is hinged to the first surface 19a of the connecting block 15 of the second movable hinge element 9, and whose end 34 located opposite to the end 33 is hinged to the first surface 35 of the connecting block 14 of the first fixed hinge element 8.

[0076] Specifically, an end 33 of the crossbar 6a is rotatably mounted between the connecting block 15 and the connecting plate 23a, and the other end 34 of the crossbar 6a is rotatably mounted between the connecting block 14 and the connecting plate 22a.

[0077] The fourth operating lever device 7 may include an elliptical element 7a, one end 36 of which is hinged to the outer surface 28 of the connecting plate 23a on the second movable hinge element 9, and the other end 37 opposite to the end 36 is hinged to the outer surface 38a of the connecting plate 22a on the first fixed hinge element 8.

[0078] The elliptical element 7a is generally shaped as a connecting rod or a crossbar.

[0079] The oval element 7a may comprise a protrusion 39 facing the second lever means 4 on which the drive means 12 are mounted for maneuvering the moving means 1 between the open configuration A and the closed configuration C.

[0080] The counter-rod device 10 may include a counter-rod 10a, one end 40 of which is hinged to the end 31 of the second connecting rod portion 26 on the special-shaped rod 4a, and the other end 41 is opposite to the end 40 and hinged to the outer surface 42a of the connecting plate 24a on the second fixed hinge element 11.

[0081] The driving device 12 may include a pneumatic actuator 12 a and a connected rotatable hollow body 43 , specifically, connected to the outer surface of the connecting plate 24 a on the second fixed hinge element 11 , and a sliding valve stem 44 of the hollow body 43 .

[0082] In the illustrated embodiment, the head 45 of the valve stem 44 is connected to the elliptical element 7a, in particular to the protrusion 39, to move the elliptical element 7a; thus, the movement of the moving device 1 between the open configuration A and the closed configuration C is achieved by the connection of the first, second, third, and fourth operating lever devices 3, 4, 6, and 7 to the trajectory correction assembly 20 and the articulated elements 5, 8, 9, and 11. In other words, the pneumatic actuator 12a used pulls and / or pushes the elliptical element 7a in an operating direction transversely spaced from the movement direction X. During this pulling and / or pushing operation, the inclination relative to the movement direction X is variable, i.e., the first movable articulated element 5 is moved in the movement direction X.

[0083] The mobile device 1 may be symmetrical about a substantially vertical symmetry plane S, such as Figure 4 In particular, the mobile device 1 may include components arranged relative to a vertical symmetry plane S. This allows for symmetrical support of the running assembly 100 and allows the mobile device 1 to support a running assembly 100 with a high weight strength when carrying a large load.

[0084] In this case, the first movable hinge element 5, the second movable hinge element 9, the first fixed hinge element 8 and the second fixed hinge element 11 may respectively include additional connecting plates 21b, 22b, 23b, 24b, each additional connecting plate 21b, 22b, 23b, 24b is mounted on the corresponding connecting block 13, 14, 15, 16 so that it is roughly symmetrically placed on the connecting plates 21a, 22a, 23a, 24a of the corresponding hinge elements 5, 8, 9, 11, and symmetrically with the vertical symmetry plane S of the mobile device 1.

[0085] Furthermore, for a mirror-symmetrical movement device 1, the first joystick device 3 may further include an additional link 3b, one end 46 of which is hinged to a second surface 47 of the connecting block 13 on the first movable hinge element 5. The second surface 47 is opposite to the first surface of the connecting block 13 of the first movable hinge element 5. The additional link 3b is further provided with an end 48, opposite to the other end 46, which is hinged to the second surface 19b of the connecting block 15 on the second movable hinge element 9.

[0086] The connecting rod 3a and the additional connecting rod 3b are arranged symmetrically with respect to the vertical symmetry plane S.

[0087] In addition, for the mirror-symmetrical moving device 1, the second joystick device 4 may further include an additional special-shaped rod 4b. Figure 1 , which may be similar in shape to the special-shaped rod 4a. The special-shaped rod 4a and the additional special-shaped rod 4b are arranged symmetrically relative to the vertical symmetry plane S

[0088] The first portion 49 and the second portion 50 of the additional profiled rod 4b extend relative to each other, forming an angle β of 110° to 150°, and more particularly, 120°. The first portion 49 and the second portion 50 are connected to a connecting region 51, which is located between the first portion 49 and the second portion 50 and serves as a common end for the first portion 49 and the second portion 50. Specifically, the connecting region 51 is hingedly connected to an outer surface 52 of the additional connecting plate 23b of the second movable hinge element 9.

[0089] The first portion 49 of the additional profiled rod 4 b is further provided with an end 53 , located opposite the connection zone 51 , which is hinged to an outer surface 54 of the additional connecting plate 21 b of the first movable hinge element 5 .

[0090] The second portion 50 of the additional profiled lever 4 b is also provided with an end 55 , situated opposite the connection zone 51 , which is articulated to the counter-lever device 10 so as to be rotatable about a ninth axis of rotation R9 .

[0091] The first link portion 49 may comprise a “U”-shaped profiled portion 56 and is arranged to at least partially surround the drive device 12 in order to reduce the footprint of the movement device 1 in the closed configuration C.

[0092] Furthermore, for a mirror-symmetrical mobile device 1, the third joystick device 6 may further include an additional crossbar 6b, which may be similar in shape to the crossbar 6a. The crossbar 6a and the additional crossbar 6b ​​are arranged symmetrically relative to the vertical symmetry plane S.

[0093] The additional crossbar 6b ​​may include an end 57 hinged to the second face 19b of the connecting block 15 of the second movable hinge element 9 and an end 58 opposite to the end 57 hinged to the second face 19b of the connecting block 15 of the first fixed hinge element 8.

[0094] Furthermore, for a mirror-symmetrical mobile device 1, the fourth joystick device 7 may further include an additional elliptical element 7b, which may be similar in shape to the elliptical element 7a. The elliptical element 7a and the additional elliptical element 7b are arranged symmetrically relative to the vertical symmetry plane S.

[0095] One end 59 of the additional elliptical element 7b is hinged to the outer surface 52 of the additional connecting plate 23b on the second movable hinge element 9, and the other end 60 is opposite to the end 59 and hinged to the outer surface 38b of the connecting plate 22b on the first fixed hinge element 8.

[0096] The additional elliptical element 7b may comprise a protrusion 61 facing the second lever means 4 on which the drive means 12 are mounted for maneuvering the moving means 1 between the open configuration A and the closed configuration C.

[0097] In addition, for the mirror-symmetrical moving device 1 , the counter-rod device 10 may further include an additional counter-rod 10 b , and the counter-rod 10 a and the additional counter-rod 10 b are arranged symmetrically relative to the vertical symmetry plane S.

[0098] One end 62 of the additional counter-rod 10b is hinged to the end 55 of the second portion 50 of the connecting rod on the special-shaped rod 6b, and the other end 63 is opposite to the end 62 and hinged to the outer surface 42b of the connecting plate 24b on the second fixed hinge element 11.

[0099] The counter-rod device 10 may further comprise one or more connecting elements 70 for connecting the counter-rod 10a and the additional counter-rod 10b. These connecting elements 70 together with the additional counter-rod 10b may provide the counter-rod device 10 with a more stable structure.

[0100] In addition, for the mirror-symmetrical moving device 1 , the driving device 12 may further include an additional pneumatic actuator 12 b , and the pneumatic actuator 12 a and the additional pneumatic actuator 12 b are symmetrically arranged relative to the vertical symmetry plane S.

[0101] The additional pneumatic actuator 12 b is equipped with a connected rotatable hollow body 64 , in particular, a sliding valve stem 65 connected to the outer surface 42 b of the additional connecting plate 24 b on the second fixed hinge element 11 and the inner surface of the hollow body 64 .

[0102] In the illustrated implementation structure, the head 66 of the valve stem 65 is connected to the additional elliptical element 7b, in particular, to the protruding portion 61, to move the additional elliptical element 7b; therefore, due to the connection between the first joystick device 3, the second joystick device 4, the third joystick device 6, the fourth joystick device 7 and the trajectory correction component 20 and the hinge elements 5, 8, 9, 11, the movement of the moving device 1 between the open configuration A and the closed configuration C is realized.

[0103] During use, the pneumatic actuator 12a and the additional pneumatic actuator 12b can be started synchronously if necessary.

[0104] In particular, refer to Figure 6 The first fixed hinge element 8 and the second fixed hinge element 11 are connected to the special-shaped support plate 67, which is in turn connected to the rotating lever 68; by a motorized device not shown, the mobile device 1 is rotated around the rotation axis R and is in the raised position M, Figure 1-6 , the mobile device 1 protrudes above the plane tangent to the bracket 2 and is in an inclined position N ( Figure 7 ), the mobile device 1 is located below a reference plane tangential to the support 2. In other words, when the mobile device 1 (including the operating assembly 100) is in the tilted position N, it is located below the support 2. Therefore, movement of the components from the raised position M to the tilted position N causes the mobile device 1 below the support 2 to telescopically move.

[0105] The support surface may include a lower region comprising one or more slats 69 for maintaining the support 2 in a specific plane, such as the ground.

[0106] In a version not shown, the moving device 1 may include additional lever devices (e.g., devices substantially similar to the lever devices 3, 4, 6, and 7 described above), additional drive devices (e.g., devices substantially similar to the drive device 12 described above), and additional trajectory correction components (e.g., devices substantially similar to the trajectory correction components described above) for supporting and moving the associated running component 100 toward or away from the load. These additional lever devices, additional drive devices, and additional trajectory correction components may be associated with the articulated elements 5, 8, 9, and 11 or additional articulated elements connected to the articulated elements 5, 8, 9, and 11.

[0107] Through these additional lever devices, additional drive devices and additional trajectory correction components, the structure articulated with the additional lever devices, additional drive devices and additional trajectory correction components can be replicated in large quantities, and the motion support can be adjusted according to the weight of the cargo to adapt to the movement of the mobile device 1.

[0108] The predetermined motion of the moving device 1 in the trajectory correction assembly 20 is dynamically controlled by the lever assembly 3, 4, 6, and 7, so that the operating assembly 100 follows a linear trajectory at a constant height of the load when moving between the distal and proximal positions along the direction of movement X. In the closed configuration C, the moving device 1 is more compact than the drive device 12 that moves transversely to the direction of movement X, facilitating the operating assembly 100 to perform the desired processing operation on the load on the support 2 at a predetermined position. This predetermined position can be derived, for example, from the height of the load placed by the operating assembly 100, i.e., the position of the first movable hinge element 5 to which the operating assembly 100 is connected, since this position remains constant along the direction of movement X.

[0109] As shown above, it is obvious that the mobile device 1 according to the present invention successfully achieves all the preset goals mentioned above.

[0110] The description and illustrations in the accompanying drawings are provided for the purpose of illustrating the innovative functions of the mobile device 1 .

[0111] Modifications and / or additions may be made to the descriptions and illustrations in the drawings.

Claims

1. A moving device (1) for manipulating a running assembly (100) of a wrapping machine (1000) to move toward or away from a load placed on a support (2), characterized in that: The mobile device (1) comprises: - a lever device for supporting the movement assembly (100) to approach or leave the cargo; - a drive device (12) connected to the lever device for manipulating the mobile device (1) between a closed configuration (C) which occupies the smallest area and is further away from the load, and an open configuration (A) which occupies the largest area and is closer to the load; a trajectory correction assembly (20) connected to the lever arrangement for dynamically controlling the lever arrangement so that the travel assembly (100) follows a linear trajectory at a constant height relative to the load when moving between the closed configuration and the open configuration; Wherein, the trajectory correction assembly (20) includes a counter-rod device (10) connected to the lever device; Wherein, the lever device comprises: - a first operating lever device (3) and a second operating lever device (4) are connected to a first movable hinge element (5) of the moving device (1) so as to rotate around a first rotation axis (R1) and a second rotation axis (R2) respectively, the first movable hinge element (5) being connectable to the running assembly (100), the first operating lever device (3), the second operating lever device (4) and the first movable hinge element (5) supporting the running assembly (100) to move closer to or away from the cargo; - a third operating lever device (6) and a fourth operating lever device (7) connected to the first fixed articulated element (8) of the mobile device (1) and rotatable along a third rotation axis (R3) and a fourth rotation axis (R4) respectively; - the first operating lever device (3), the second operating lever device (4), the third operating lever device (6), and the fourth operating lever device (7) are connected to the second movable hinge element (9) of the moving device (1) in a rotational manner, and can rotate along the fifth rotation axis (R5), the sixth rotation axis (R6), the seventh rotation axis (R7), and the eighth rotation axis (R8), respectively; wherein the counter-lever device (10) is rotationally connected to the second operating lever device (4) so ​​that the counter-lever device (10) and the second operating lever device (4) can rotate around a ninth rotation axis (R9); the counter-lever device (10) is also rotationally connected to a second fixed hinge element (11) on the moving device (1) and can rotate around a tenth rotation axis (R10). wherein the driving device (12) is connected to one of the first joystick device (3), the second joystick device (4), the third joystick device (6), and the fourth joystick device (7) so that the moving device (1) can move between the closed configuration (C) at the minimum space and the open configuration (A) at the maximum space, wherein the second rotation axis (R2) and the tenth rotation axis (R10) are at the minimum distance (dmin) in the closed configuration (C), and the second rotation axis (R2) and the tenth rotation axis (R10) are at the maximum distance (dmax) in the open configuration (A); the counter-rod device (10), the second joystick device (4) and the driving device (12) are used to maintain the first movable hinge element (5) moving along a substantially linear trajectory so as to maintain a substantially equal distance (D) between the second rotation axes (R2) and pass through a horizontal plane between the fourth rotation axes (R4).

2. The mobile device (1) according to claim 1, characterized in that The first movable hinge element (5), the second movable hinge element (9), the first fixed hinge element (8) and the second fixed hinge element (11) respectively include a connecting block and at least one connecting plate, and the connecting plates are respectively installed on the corresponding connecting blocks. Each connecting block and each connecting plate are connected to the first operating lever device (3), the second operating lever device (4), the third operating lever device (6) and / or the fourth operating lever device (7), or the counter-rod device (10) and the driving device (12) in a hinged manner.

3. The mobile device (1) according to claim 2, characterized in that The first operating lever device (3) includes a connecting rod (3a), the end of which is hinged to the first surface of the connecting block of the first movable hinge element (5), and the end opposite to the end of the connecting rod (3a) is hinged to the first surface of the connecting block of the second movable hinge element (9).

4. The mobile device (1) according to claim 3, characterized in that The second operating lever device (4) comprises a special-shaped lever (4a), - the first connecting rod portion of the special-shaped rod (4a) and the second connecting rod portion of the special-shaped rod (4a) extend to form an angle (α) between 110° and 150°, and the connecting rod area (27) formed by the first connecting rod portion of the special-shaped rod (4a) and the second connecting rod portion of the special-shaped rod (4a) is hinged to the outer surface of the connecting plate of the second movable hinge element (9); - the first connecting rod portion of the shaped rod (4a) is also provided with an end located opposite the connecting rod region (27), the end of the first connecting rod portion of the shaped rod (4a) being hinged to the outer surface of the connecting plate of the first movable hinge element (5); - The second connecting rod part of the special-shaped rod (4a) is also equipped with an end located at the opposite position of the connecting rod area (27), and the end of the second connecting rod part of the special-shaped rod (4a) is hinged to the counter-rod device (10) so as to be able to rotate around the ninth rotation axis (R9).

5. The mobile device (1) according to claim 4, characterized in that The first connecting rod portion of the profiled rod (4a) comprises a loop portion (32) at least partially surrounding the drive device (12) so as to reduce the footprint of the movement device (1) in the closed configuration (C).

6. The mobile device (1) according to claim 4 or 5, characterized in that The third operating lever device (6) includes a cross bar (6a), the end of which is hinged to the first surface of the connecting block of the second movable hinge element (9), and the end opposite to the end of the cross bar (6a) is hinged to the first surface of the connecting block of the first fixed hinge element (8).

7. The mobile device (1) according to any one of claims 4 to 6, characterized in that The fourth operating lever device (7) includes an elliptical element (7a), the end of which is hinged to the outer surface of the connecting plate of the second movable hinge element (9), and the end opposite to the end of the elliptical element (7a) is hinged to the outer surface of the connecting plate of the first fixed hinge element (8).

8. The mobile device (1) according to claim 7, characterized in that The elliptical element (7a) comprises a protruding portion (39) extending to the second operating lever means (4) on which the drive means (12) is mounted for operating the moving means (1).

9. The mobile device (1) according to claim 7 or 8, characterized in that The anti-rod device (10) includes an anti-rod (10a), the end of which is hinged to the end attached to the second part of the connecting rod on the special-shaped rod (4a), and the end opposite to the end of the anti-rod (10a) is hinged to the outer surface of the connecting plate of the second fixed hinge element (11).

10. The mobile device (1) according to claim 9, characterized in that The driving device (12) includes a selected driving actuator, and the driving device (12) includes: a pneumatic cylinder, a hydraulic cylinder, and an electromechanical actuator.

11. The mobile device (1) according to claim 10, characterized in that The driving device (12) includes a pneumatic actuator (12a), which is equipped with a hollow body. The hollow body of the pneumatic actuator (12a) is rotatably connected to the outer surface of the connecting plate of the second fixed hinge element (11) and the sliding valve stem inside the hollow body of the pneumatic actuator (12a); the head of the sliding valve stem inside the hollow body of the pneumatic actuator (12a) is connected to the elliptical element (7a), thereby moving the elliptical element (7a).

12. The mobile device (1) according to claim 11, characterized in that The first movable hinge element (5), the second movable hinge element (9), the first fixed hinge element (8) and the second fixed hinge element (11) respectively include additional connecting plates, each of which is mounted on a corresponding connecting block so that it is roughly symmetrically placed on the connecting plate of the corresponding hinge element and symmetrical with the vertical symmetry plane (S) of the mobile device (1).

13. The mobile device (1) according to claim 12, characterized in that The first operating lever device (3) also includes an additional connecting rod (3b), a first end (46) of which is hinged to the second surface of the connecting block of the first movable hinge element (5) and is located at an opposite position to the first surface of the connecting block of the first movable hinge element (5); the end opposite to the first end (46) is hinged to the second surface of the connecting block of the second movable hinge element (9), and the connecting rod (3a) and the additional connecting rod (3b) are arranged symmetrically relative to the vertical symmetry plane (S).

14. The mobile device (1) according to claim 12 or 13, wherein the second joystick device (4) further comprises an additional shaped rod (4b), - the first connecting rod portion of the additional special-shaped rod (4b) and the second connecting rod portion of the additional special-shaped rod (4b) extend to form an angle (β) between 110° and 150°, and the connecting rod first portion of the additional special-shaped rod (4b) and the connecting rod second portion of the additional special-shaped rod (4b) form a connecting area (51) that is hinged to the outer surface of the additional connecting plate of the second movable hinge element (9); - the first connecting rod portion of the additional shaped rod (4b) is also provided with an end located opposite the connecting area (51), the end of the first connecting rod portion of the additional shaped rod (4b) being hinged to the outer surface of the additional connecting plate of the first movable hinge element (5); - The second part of the connecting rod of the additional special-shaped rod (4b) is also equipped with an end located at the opposite position of the connecting area (51), and the end of the second part of the connecting rod of the additional special-shaped rod (4b) is hinged to the counter-rod device (10) so as to be able to rotate around the ninth rotation axis (R9); the special-shaped rod (4a) and the additional special-shaped rod (4b) are arranged symmetrically relative to the vertical symmetry plane (S).

15. The mobile device (1) according to claim 14, characterized in that The third operating lever device (6) further comprises an additional cross bar (6b), an end of which is hinged to the second surface of the connecting block of the second movable hinge element (9), and the other end located in the opposite direction of the end of the additional cross bar (6b) is hinged to the second surface of the connecting block of the first fixed hinge element (8); the cross bar (6a) and the additional cross bar (6b) are arranged symmetrically relative to the vertical symmetry plane (S).

16. Mobile device (1) according to claim 14 or 15, characterized in that The fourth joystick device (7) also includes an additional elliptical element (7b), the end of which is hinged to the outer surface of the additional connecting plate of the second movable hinge element (9), and the end opposite to the end of the additional elliptical element (7b) is hinged to the outer surface of the additional connecting plate of the first fixed hinge element (8); the elliptical element (7a) and the additional elliptical element (7b) are arranged symmetrically relative to the vertical symmetry plane (S).

17. The mobile device (1) according to claim 16, characterized in that The anti-rod device (10) includes an additional anti-rod (10b), the end of which is hinged to the end of the second part of the connecting rod on the additional special-shaped rod (4b), and the end opposite to the end of the additional anti-rod (10b) is hinged to the outer surface of the additional connecting plate of the second fixed hinge element (11); the anti-rod (10a) and the additional anti-rod (10b) are arranged symmetrically relative to the vertical symmetry plane (S).

18. Mobile device (1) according to claim 16 or 17, characterized in that The driving device (12) includes an additional pneumatic actuator (12b), which is equipped with a hollow body. The hollow body of the additional pneumatic actuator (12b) is rotatably connected to the outer surface of the additional connecting plate of the second fixed hinge element (11) and the sliding valve stem inside the hollow body of the additional pneumatic actuator (12b). The head of the sliding valve stem inside the hollow body of the additional pneumatic actuator (12b) is connected to the additional elliptical element (7b) so as to move the additional elliptical element (7b). The pneumatic actuator (12a) and the additional pneumatic actuator (12b) are arranged symmetrically relative to the vertical symmetry plane (S).

19. The mobile device (1) according to any one of claims 1 to 18, characterized in that The first fixed hinge element (8) and the second fixed hinge element (11) are connected to a special-shaped support plate (67), and the special-shaped support plate (67) is connected to a rotating lever (68) to rotate the moving device (1) around the rotation axis (R) so that the moving device (1) protrudes above the plane tangent to the bracket (2) in the raised position (M) and is located below the reference plane tangent to the bracket (2) when in the tilted position (N).

20. A winding machine (1000), characterized in that: The wrapping machine (1000) wraps a load placed on a support (2) with a film, and the wrapping machine (1000) includes a moving device (1) according to any one of claims 1 to 19 and an operating component (100) connected to the moving device (1) so as to move toward or away from the load along a roughly linear trajectory.

21. The mobile device (1) according to claim 20, characterized in that The operating assembly (100) is a cutting / sealing / grabbing assembly, comprising a cutting assembly (110) for cutting the film, a sealing assembly (120) for sealing the film to a film wrapping ring around the cargo, and a grabbing assembly (130) for grabbing the edge of the film for subsequent packaging.

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