Device for transporting objects

Abstract

Transportation device (10) for transporting objects (11), comprising: a reference surface (13); at least one transport member (18) for supporting and transporting the object (11) relative to the reference surface (13); a magnetic member (23); and an electrically excited member (15) configured to interact with the magnetic member (23) and thereby selectively displace the transport member (18) wherein the at least one wireless power transmitter (28) selectively transmits energy to the at least one wireless power receiver (30).

Description

Technical Field

[0001] The invention relates to an apparatus for the automated transport of one or several objects, such as components for the manufacture of products or packaging, to and from a plurality of processing stations.

[0002] The device according to the invention performs the function of transporting the above-mentioned objects and requires electrical energy to power on-board electrical devices, such as devices for supporting or clamping one or several objects, or used as sensors or detectors, or performing other types of operations on one or several objects (such as weighing, conveying or filling operations, or similar or equivalent operations).

[0003] Furthermore, the device can be used, for example, in machines for producing packaging of products, in particular of small mass, for example for the chemical, cosmetic and / or pharmaceutical fields, such as bottles, flasks, caps, ring nuts or other objects of similar size. Background Art

[0004] In the industrial field of packaging chemical, cosmetic and / or pharmaceutical products, various devices and methods are known for automatically transporting one or more parts of the production packaging (in particular packaging for small-mass products, such as bottles, flasks, caps, ring nuts or other objects of similar size) to and from one or more processing stations, many of which have been designed, manufactured and sold by the applicant.

[0005] In this field, there is a growing need for equipment that is able to move components for the production of packaging from one processing station to another in a safe, sterile, ecologically sustainable and quiet environment, without generating contaminants and agents that could contaminate the product and / or its contents, and in which human intervention in routine operations in the field of implementation (cleaning, specification changes, maintenance, biological testing monitoring or others) is reduced to a minimum, if not eliminated.

[0006] Electromagnetic transport devices (also called "planar motors") are known, which include a magnetic device cooperating with an associated excitation device configured to selectively generate one or more magnetic fields to influence the magnetic device.

[0007] In a planar motor, the magnetic device is typically configured as a coil included in a movable transport member, and the electromagnet device is incorporated in a fixed surface over which the transport member can be moved contactlessly due to a controllable electromagnetic field generated between the magnetic device and the electromagnet device.

[0008] These planar motors are very versatile since they allow very different trajectories and paths (with straight and curved segments) to be followed relative to the moving surface, commanding the electrical excitation devices appropriately.

[0009] Furthermore, the planar motor can be used advantageously on both horizontal and inclined moving surfaces, or even on vertical moving surfaces.

[0010] The movable transport members associated with these planar motors are usually provided with electric means (such as supporting means or clamping means) for stably supporting one or more components during their movement, or electrical means for performing other operations. In general, therefore, these transport members require electrical energy to power the on-board electrical devices, for example in order to actuate the aforementioned supporting means. Therefore, the supply of electrical energy to the movable transport members in a reliable, safe and fast manner is particularly important, especially in the context of contactless transport with the aid of planar motors.

[0011] Also in the industrial field of packaged food (similar to the aforementioned industrial field of packaged products), it is known from the technical solutions of patent documents DE102020114084 A1 and EP 3656707 A1 to provide a non-contact electromagnetic type drive of certain components. In particular, document DE 102020114084 A1 describes an electromagnetic drive for driving suction cup manipulation members, which are configured to pick up products conveyed on a conveyor belt below; while document EP 3656707 A1 describes a transport member configured as the aforementioned "planar motor" and arranged to receive the packaging of the product to be transported.

[0012] Although the processing environment in the food industry must meet hygiene and cleanliness standards, the regulations for such processing environments are more relaxed than in the industrial field of packaging chemical, cosmetic and / or pharmaceutical products, which require an environment that meets specific sterility requirements. This makes the equipment described in the above patent document unsuitable for packaging such products.

[0013] Therefore, there is an urgent need to improve a transportation device that can overcome at least one defect of the prior art.

[0014] The Applicant has conceived, 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

[0015] The invention is set forth and characterized in the independent claims. The dependent claims describe other characteristics of the invention or variants to the main inventive idea.

[0016] According to the above-mentioned purpose, in order to solve the aforementioned technical problems in a novel and original way and obtain significant advantages over the prior art, the transportation equipment for automatically transporting objects according to the present invention includes: a supporting wall having at least one reference surface; at least one transportation member, configured to support and transport one or several objects, and capable of moving contactlessly with at least two degrees of freedom relative to the reference surface; and an electro-magnetic device, configured to selectively generate one or several magnetic fields associated with the reference surface, wherein the at least one transportation member includes a magnetic device configured to interact with the electro-magnetic device and thereby selectively displace the at least one transportation member; wherein, in addition, at least one electrical device configured to operate with the aid of electrical energy is present on the transportation member.

[0017] According to one aspect of the present invention, the apparatus includes: a fixed wireless power transmitter provided with a wireless power transmitting coil; a wireless power receiver associated with the transport member so as to move integrally therewith and provided with a wireless power receiving coil capable of magnetically coupling with the wireless power transmitting coil to receive power. The wireless power receiver is connected to the electrical device arranged on the transport member to supply the power received from the wireless power transmitter to the electrical device so that the electrical device can operate.

[0018] This achieves at least the advantage of being able to supply electrical energy to at least one electrical device associated with the support member.

[0019] According to another aspect of the present invention, the wireless power receiver is connected to an actuator that drives the electric device.

[0020] According to another aspect of the present invention, the wireless power receiver integrally moves on the reference surface together with the transport member so as to selectively approach a fixed wireless power transmitter to magnetically couple the wireless power receiving coil to the wireless power transmitting coil.

[0021] According to another aspect of the present invention, the wireless power receiver is autonomous and independent with respect to the magnetic device, or is defined by at least a portion of the electromagnetic loop of the magnetic device.

[0022] According to another aspect of the present invention, the wireless power receiver is protrudingly attached from the transport member.

[0023] According to another aspect of the present invention, the wireless power receiver is integrated and installed inside the transport member.

[0024] According to another aspect of the present invention, the wireless power receiver is mounted on the exterior of the transport member and is connected by means of a rigid support protruding from the transport member.

[0025] According to another aspect of the present invention, the wireless power transmitter is integrated and installed in the supporting wall.

[0026] According to another aspect of the present invention, the wireless power transmitter is defined by at least a portion of the electromagnetic loop of the electro-magnetic device.

[0027] According to another aspect of the present invention, the wireless power transmitter is autonomous and independent with respect to the electro-magnetic device.

[0028] According to another aspect of the present invention, the wireless power transmitter is installed outside the supporting wall.

[0029] According to another aspect of the present invention, the at least one transport member includes an energy storage element configured to store power from the wireless power receiver and deliver the stored power to the electrical device, so that the wireless power receiver supplies the electrical device with power received from the wireless power transmitter by means of the energy storage element.

[0030] According to another aspect of the present invention, the electrical device is selected from: a clamping device capable of being driven between a clamping position and a release position; a sensor device configured to detect a state; a weighing device configured to measure weight; a filling device configured to convey a liquid, or a combination thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] These and other aspects, features and advantages of the invention will become apparent from the following description of some embodiments given as non-limiting examples with reference to the accompanying drawings, in which:

[0032] Figure 1 is a three-dimensional schematic diagram of a device for transporting an object according to a first embodiment of the present invention;

[0033] Figure 2 for Figure 1 A three-dimensional schematic diagram of the enlarged detail of Figure 1 Different angles show details;

[0034] Figure 3 According to the modification example, Figure 2 A three-dimensional schematic diagram of the details;

[0035] Figure 4 is a three-dimensional schematic diagram of a device for transporting an object according to a third embodiment of the present invention;

[0036] Figures 5 to 7 A schematic example of a possible distribution model of the electric excitation device relative to the reference surface in the device for transporting an object according to the present invention is shown;

[0037] Figure 8 For Figure 1 A schematic block diagram of the operation of the device;

[0038] Fig. 9 and Fig.10 for Figure 2 A schematic side view of an enlarged detail of the , shown in two different operating states;

[0039] Fig.11 for Figure 2 Schematic side view of an enlarged detail of , in which also a part of a reference surface included in the embodiment of the device according to the invention described here can be seen.

[0040] We need to clarify that in this specification, the words and terms used, as well as the numbers described in the drawings, merely have the function of better illustrating and explaining the present invention, and their role is to provide non-limiting examples of the invention itself, as the scope of protection is defined by the claims.

[0041] To facilitate understanding, the same reference numerals are used, where possible, to identify the same common elements in the drawings. It should be understood that the elements and features of one embodiment can be conveniently combined or incorporated into other embodiments without further explanation. DETAILED DESCRIPTION

[0042] Reference Figure 1 , the device 10 according to the present invention is configured to automatically transport one or several objects 11 from a starting point to an arrival point according to a desired path or direction.

[0043] For example, the device 10 may be used in a machine for packaging products in the chemical, cosmetic and / or pharmaceutical fields, for transporting one or several objects 11 or parts to or from one or more processing stations.

[0044] The one or several objects 11 may comprise containers useful in the chemical, medical and pharmaceutical fields, such as bottles, flasks, or even metering nozzles configured to fill such containers.

[0045] The machine not shown in the figure may be a machine of the type described in the international patent application WO2021 / 001863A1 filed by the applicant, and mainly includes a plurality of processing stations arranged along a forward direction having straight segments and / or curved segments.

[0046] The apparatus 10 comprises a support wall 12 having a reference surface 13 which may be vertical or horizontal ( Figure 4 ). Alternatively, the reference surface 13 may have any form of development and comprise vertical, horizontal, curved and / or inclined portions.

[0047] A base wall 14 ( Figure 1 ), which may be any substantially horizontal wall of the apparatus 10 or of a machine on which the apparatus is mounted, or may be the ground on which the machine itself is placed.

[0048] There is an electro-magnetic device 15 ( Figure 1 and Figure 4 ), which is of known type and not shown in detail, is configured to selectively generate more than one magnetic field in specific areas of the same reference surface 13, which magnetic fields may even be locally distributed.

[0049] For example, the electric excitation means 15 comprises a plurality of electric coils or windings (not shown in the figures), which are suitably arranged, for example, in the support wall 12 and connected during use to an electric energy supply network 16 ( Figure 1 ).

[0050] Furthermore, the supporting wall 12 may be made of a plurality of modules, each module comprising its own electric excitation means 15, these modules being arranged adjacent to one another. In the latter case, the reference surface 13 is defined as a whole by the surfaces of the various modules.

[0051] There are a plurality of transport members 18 ( Figure 1 and Figure 4 Each transport member 18 can be moved relative to the reference surface 13 by a magnetic field generated by an electromagnet device 15 (only one of them is schematically shown in the figure).

[0052] For example, each transport member 18 may include a polygonal, regular or irregular, particularly quadrilateral (eg, square or rectangular) base or plane, or a base or plane having other polygonal shapes defined by closed fold lines or by a combination of straight and curved lines.

[0053] Each transport member 18 includes during use ( Fig.11 ) The front surface 20 facing the reference surface 13 ( Figure 2 , Figure 3 and Figures 9 to 11 ) and a rear surface 21 opposite to and parallel to the front surface 20.

[0054] According to a possible embodiment, each transport member 18 may be provided with a magnetic device 23 ( Figure 1 , Figure 2 and Figure 3 ), for example permanent magnets, which are of known type and are not shown in detail in the figures.

[0055] The magnetic device 23 is configured to interact with one or more magnetic fields generated by the electric excitation device 15 so that each transport member 18 can move independently relative to the reference surface 13 and maintain a small distance from the reference surface, ie, without contact.

[0056] For example, during each displacement, the transport member 18 may be operatively maintained at a specific first distance D1 ( Fig.11 ), the first distance is between about 0.2 mm and about 4.5 mm. The expression "first distance D1" in this specification refers to a constant or variable distance that allows a correct interaction between the electric excitation device 15 and the magnetic device 23 and is therefore included in the range of the above-mentioned reference values.

[0057] The transport member 18 is preferably designed as the movable part of a magnetically driven “planar motor”, which is known per se from the prior art.

[0058] Each transport member 18 ( Figure 1 ) is configured to move and / or rotate independently and contactlessly relative to the reference surface 13 and without any constraints on path or direction, advantageously having at least two degrees of freedom.

[0059] The device 10 also includes control means, for example, a control unit 25 ( Figure 1 ) constitutes or includes the control unit, which is configured to control the selective excitation of the electric excitation device 15 according to the path or trajectory followed by each transport member 18 during movement.

[0060] The control unit 25 may comprise, for example, one or more processors of a type known per se and programmable.

[0061] In particular, the control unit 25 is capable of selectively and programmatically controlling the current and / or voltage value to be supplied to the electromagnet device 15 so that the latter can generate a suitable magnetic field that not only supports each transport member 18 at a specific position on the reference surface 13, but also enables each transport member 18 to selectively move along this reference surface 13 along a predefined path.

[0062] According to some embodiments, the device 10 further comprises a position sensor 26 associated with at least one of the reference surface 13 or at least one of the transport members 18, adapted to detect the position, the forward speed or possibly other parameters or states related to the movement of each transport member 18 and to transmit corresponding data to the control unit 25. Figure 1 In the embodiment of FIG. 1 , the position sensor 26 is associated with the reference surface 13 and the transport member 18 .

[0063] In this way, the control unit 25 can implement feedback control on the electromagnet device 15, so that each transport member 18 moves along a corresponding path.

[0064] For example, according to a possible embodiment, the position sensor 26 may include a plurality of Hall Effect sensors integrated in the support wall 12 , which are arranged coplanar or parallel with respect to the electro-magnetic device 15 .

[0065] According to a possible embodiment, the device 10 comprises at least one fixed wireless power transmitter 28 ( Figure 4 , Figure 8 and Fig.11 ), which is provided with at least one wireless power transmitting coil 29 and is configured to selectively transmit power and energy, such as electrical energy, to at least one wireless power receiver 30 associated with the transport member 18.

[0066] According to some embodiments, at least one wireless power receiver 30 is associated with the transport member 18 to move integrally therewith, and includes at least one wireless power receiving coil 31 ( Figure 8 Schematically indicated in the figure).

[0067] The wireless power receiver 30 can move integrally with the transport member 18 on the reference surface 13 so as to selectively approach the fixed wireless power transmitter 28 so that the wireless power receiving coil 31 is magnetically coupled with the wireless power transmitting coil 29. According to some embodiments, the wireless power transmitter 28 may be integrally mounted with the support wall 12, and is mounted so as to generate a variable and controllable magnetic field corresponding to the reference surface 13.

[0068] In addition, the interior of the support wall 12 may contain a predefined pattern (such as a chessboard pattern) Figure 5 ), Strip type ( Figure 6 ) or dot matrix ( Figure 7 )) multiple wireless power transmitting coils 29 arranged.

[0069] The wireless power transmitter 28 is connected to the power supply network 16 ( Figure 8 ), and is configured to generate a magnetic field, for example, associated with a reference surface 13.

[0070] According to some embodiments, wireless power transmitter 28 is defined by at least a portion of the electromagnetic circuit of electro-excitation device 15 ; or according to other embodiments, wireless power transmitter 28 is autonomous and independent relative to electro-excitation device 15 .

[0071] The wireless power transmitter 28 and the wireless power receiver 30 form a wireless charging system.

[0072] Reference Figure 2 , the wireless power receiver 30 is integrated and installed in the transport component 18 .

[0073] Furthermore, according to a modified example, the wireless power receiver 30 is installed outside and directly protrudes from the transport member 18 ( Figure 3 ).

[0074] According to some embodiments, the wireless power receiver 30 is autonomous and independent with respect to the magnetic device 23 ; or the wireless power receiver 30 may be defined by at least a portion of the electromagnetic loop of the magnetic device 23 .

[0075] In addition, according to Figure 4 In another embodiment shown, the wireless power receiver 30 may be mounted on the exterior of the transport member 18 and connected to the transport member 18 by means of a rigid support 32 (eg, a cable or rod) extending directly from the transport member 18 .

[0076] The wireless power transmitter 28 may be mounted externally to the support wall 12 , such as associated with a portion of the base wall 14 .

[0077] This advantageously allows for enhanced interaction between the same wireless power receiving coil 31 and each wireless power transmitting coil 29 .

[0078] Each transport member 18 may be provided with at least one electrical device 33 ( Figure 1 , Figures 2 to 4 and Figures 9 to 11 ), for example, installed corresponding to the rear surface 21.

[0079] According to some embodiments, the wireless power receiver 30 directly supplies power to the electrical device 33 .

[0080] In other embodiments, the wireless power receiver 30 may power an actuator (such as a small motor or a battery) connected to the electrical device 33 .

[0081] In another embodiment, the wireless power receiver 30 may power a battery connected to an actuator connected to the electrical device 33 .

[0082] For example, the at least one electrical device 33 may be selected from: a clamping device 34, a sensor device, a detection device, a weighing device, a filling device configured to convey a liquid, or a combination thereof.

[0083] According to a possible embodiment, these electrical means may comprise gripping means adapted to each grip a single object 11 or a tray or a container on which a plurality of objects 11 may be positioned.

[0084] For example, the clamping device 34 may include an electrically driven actuator configured to be selectively activated and then in a first release operating position P1 ( Fig. 9 ) and at least the second clamping operation position P2 ( Fig.10 )

[0085] Specifically, when the electrical device 33 is configured as a clamping device 34, it may include, for example, a clamp 35 ( Fig. 9 , Fig.10 and Fig.11 ), these jaws are configured to rotate around a pin 36 and are connected to an electrically driven actuator (not shown in the drawings) which moves them toward or away from each other in a controlled manner, thereby alternately bringing the jaws 35a, 35b to a first release operating position P1 and a second clamping operating position P2.

[0086] Furthermore, according to some embodiments, the control unit 25 is configured to control selective command of the electrical device 33 .

[0087] Each transport member 18 comprises an energy storage element 37 ( Figure 2 , Figure 3 and Figure 8 ), which is configured to store power received from the wireless power receiver 30.

[0088] The presence of the energy storage element 37 advantageously allows for activation of selective operation of the electrical device 33 even when the wireless power receiving coil 31 of the transport member 18 is not directly interacting with the magnetic field generated by the wireless power transmitting coil 29. For example, when the transport member 18 is located at a portion of the reference surface 13 that is not affected by the magnetic field generated by the wireless power transmitting coil 29.

[0089] In addition, according to a possible embodiment, the electrical device 33 can be directly powered by the wireless power receiver 30 ( Figure 8 ), for example, when the energy storage element 37 is discharged, or when the energy storage element 37 is fully charged and the wireless power receiver 30 is interacting with the wireless power transmitter 28.

[0090] It is clear that modifications and / or additions of components may be made to the transport device 10 described above without departing from the field and scope of the present invention as defined by the claims.

[0091] It is also clear that, although the invention has been described with reference to some specific examples, a person skilled in the art will be able to implement other equivalent forms of transport equipment 10 which have the characteristics set out in the claims and which therefore fall within the scope of protection defined thereby.

[0092] In the following claims, the sole purpose of reference signs between parentheses is to facilitate reading thereof and shall not be construed as limiting factors as to the protective scope defined by the claims.

Claims

1. A transport device (10) for automatically transporting one or more objects (11), comprising: a support wall (12) having at least one reference surface (13); at least one transport member (18) configured to support and transport the one or several objects (11) and capable of contactlessly moving with at least two degrees of freedom relative to the reference surface (13); and electro-magnetic means (15) configured to selectively generate one or several magnetic fields associated with the reference surface (13), wherein the at least one transport member (18) comprises magnetic means (23) configured to interact with the electro-magnetic means (15) and thereby selectively displace the at least one transport member (18), and wherein at least one electrical device (33) configured to operate with the aid of electrical energy is present on the transport member (18), characterised in that the transport device (10) comprises: A fixed wireless power transmitter (28) provided with a wireless power transmitting coil (29); a wireless power receiver (30) associated with the transport member (18) so as to move integrally therewith and provided with a wireless power receiving coil (31) capable of magnetically coupling with the wireless power transmitting coil (29) to receive power; The wireless power receiver (30) is connected to the electrical device (33) disposed on the transport member (18) to supply power received from the wireless power transmitter (28) so that the electrical device (33) can operate.

2. The transport device (10) according to claim 1, characterized in that The wireless power receiver (30) is connected to an actuator that drives the electrical device (33).

3. The transport device (10) according to claim 1 or 2, characterized in that The wireless power receiver (30) is autonomous and independent relative to the magnetic device (23), or is defined by at least a portion of the electromagnetic circuit of the magnetic device (23).

4. The transport device (10) according to claim 1, 2 or 3, characterized in that The wireless power receiver (30) is protrudingly attached from the transport member (18).

5. The transport device (10) according to claim 1, 2 or 3, characterized in that The wireless power receiver (30) is integrated and installed inside the transport component (18).

6. The transport device (10) according to claim 1, 2 or 3, characterized in that The wireless power receiver (30) is mounted on the outside of the transport member (18) and is connected by means of a support (32) protruding from the transport member (18).

7. The transport device (10) according to any of the preceding claims, characterized in that The wireless power transmitter (28) is integrated and installed in the supporting wall (12).

8. The transport device (10) according to claim 7, characterized in that The wireless power transmitter (28) is defined by at least a portion of the electromagnetic circuit of the electro-magnetic device (15).

9. The transport device (10) according to claim 7, characterized in that The wireless power transmitter (28) is autonomous and independent from the electro-magnetic device (15).

10. The transport device (10) according to any one of claims 1 to 6, characterized in that The wireless power transmitter (28) is installed outside the supporting wall (12).

11. The transport device (10) according to any one of the preceding claims, characterized in that The at least one transport member (18) further comprises an energy storage element (37) configured to store power from the wireless power receiver (30) and to deliver the stored power to the electrical device (33), so that the wireless power receiver (30) supplies the electrical device (33) with power received from the wireless power transmitter (28) by means of the energy storage element (37).

12. The transport device (10) according to any one of the preceding claims, characterized in that The electrical device (33) is selected from: a clamping device capable of being driven between a clamping position and a release position; a sensor device configured to detect a state; a weighing device configured to measure weight; a filling device configured to convey a liquid, or a combination thereof.

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