Pick-up and positioning system with shaped gripping element
By designing a pick-and-position system including a base group, a clamping group and a command device, it is solved that the requirements of high reproducibility, safety, cleanliness, accuracy and speed are difficult to meet simultaneously in the prior art, and efficient, flexible and compact pipe pick-and-position are achieved.
Patent Information
- Application Number
- CN202380070330.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-10-27
- Filing Date
- 2023-06-28
- Publication Date
- 2025-06-13
AI Technical Summary
The picking and positioning systems of existing pipe filling devices are difficult to meet the requirements of high reproducibility, safety, cleanliness, accuracy and speed, while also needing to be very general and compact in size.
A pick-up and positioning system including a base group, a clamping group and a command device is designed, which, through rotating motion and pneumatic suction actions, is able to grab horizontally placed tubes from the transport system and position them to a vertical position in the operating system and vice versa.
Achieve high reproducibility, safety and cleanliness pipe pickup and positioning, improve operating accuracy and speed, while having a high flexibility and compact structure, suitable for pipes of different topological structures.
Smart Images
Figure CN120152925A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a tube picking and positioning system for a tube filling device. Furthermore, the present invention relates to a tube filling device including the tube picking and positioning system. Background Art
[0002] In the prior art, tube filling devices are known, that is, devices suitable for performing a series of operations to produce tubular products.
[0003] Specifically, embodiments are known in which the tube includes a container made of plastic material or metal material or glass material or paper material or a combination of said materials. Furthermore, in known embodiments, the tube includes a container made of solid material or soft material. Furthermore, in known embodiments, the tube contains food, cosmetics or drugs.
[0004] The tube filling device is suitable for performing specific operations on the tube, such as the manufacture of the container, such as bending and / or welding operations, and container filling operations, etc.
[0005] Known tube filling devices include specific systems, each of which is suitable for performing appropriate movements and / or operations.
[0006] For example, known tube filling devices include a transport system suitable for moving the tube. The transport system is suitable for performing personalized operations of moving the tube in a careful manner. According to a preferred embodiment, using the transport system, the tube is arranged in a substantially horizontal position.
[0007] Furthermore, known tube filling devices include an operating system suitable for performing one or more tube operations: for example, cleaning, folding, welding and marking. Preferably, in the operating system, the tube is arranged in a substantially vertical position in a manner capable of performing one or more of the above operations, preferably in the region near the axial end of the tube. In some embodiments, the operating system further includes a moving system suitable for moving the tube to different operating stations in order to perform different operations.
[0008] In a tube filling device, the transfer of the tube from the transport system to the operating system is performed by a specific picking and positioning system suitable for grasping the tube from the transport system in order to move it to the operating system.
[0009] According to a preferred embodiment, the picking and positioning system grasps the tube from a substantially horizontal position in order to position it in a substantially vertical position. According to another preferred embodiment, the picking and positioning system grasps the product from a substantially vertical position in order to position it in a substantially horizontal position. Furthermore, according to other preferred embodiments, the picking and positioning system grasps the product from a substantially horizontal position in order to position it in a different substantially vertical position.
[0010] Known tube filling equipment has been studied and used to produce thousands of tubes, so the number of individual operations / movements performed by different systems is very high.
[0011] With particular reference to the pick-up and positioning system, it is required that the pick-up and positioning operations be performed with a high level of reproducibility, safety, cleanliness, precision and speed. At the same time, among the most important requirements, there is the fact that, in order to adapt to the characteristics of the tubes, the pick-up and positioning system should be very versatile. In addition, it is required that the pick-up and positioning system have the most compact dimensions possible.
[0012] In the prior art, pick-up and positioning system solutions are known, in which at most only one of the above requests is performed, sacrificing the others. For example, it is well known that the solution of the pick-up and positioning system is extremely fast but lacks flexibility. Also known is a solution for the pick-up and positioning system, which has significant flexibility but has a compromised level of safety and cleanliness. Summary of the Invention
[0013] The object of the present invention is to effectively solve the above situation and propose a pick-up and positioning system that can effectively meet all the necessary requirements.
[0014] This object is achieved by the pick-up and positioning system described in claim 1. In addition, this object is achieved by the tube filling equipment according to claim 11. The dependent claims claim further features and bring further technical advantages. Brief Description of the Drawings
[0015] Furthermore, further features and advantages of the present invention will become clear from the following description of the preferred embodiments given as non-limiting examples with reference to the accompanying drawings, in which:
[0016] Figure 1a 、 Figure 1b 、 Figure 1c and Figure 1d show in perspective view a tube filling equipment according to a first embodiment of the present invention in a first position (or pick-up position), a first intermediate position, a second intermediate position and a second position (or positioning position or storage position);
[0017] Figure 1a’ 、 Figure 1b’ 、 Figure 1c’ and Figure 1d’ show Figure 1a 、 Figure 1b 、 Figure 1c and Figure 1d some side views of the tube filling equipment in
[0018] Figure 2a , Figure 2b , Figure 2c and Figure 2d show, in perspective views, a tube filling device according to a second embodiment of the present invention in a first position (or pick-up position), a first intermediate position, a second intermediate position, and a second position (or positioning position or storage position);
[0019] Figure 2a’ , Figure 2b’ , Figure 2c’ and Figure 2d’ show Figure 2a , Figure 2b , Figure 2c and Figure 2d some side views of the tube filling device in;
[0020] Figure 3 show a perspective view of a pick-up and positioning system according to an embodiment of the present invention, the system being configured in a first position;
[0021] Figure 4 is Figure 3 a perspective view of a separate part of the pick-up and positioning system of;
[0022] Figure 5’ and Figure 5” show, respectively Figure 3 cross-sections of the pick-up and positioning system of along a first axis and a second axis;
[0023] Figure 6 show a perspective view of a pick-up and positioning system according to an embodiment of the present invention, the system being configured in a second position;
[0024] Figure 7 is Figure 6 a perspective view of a separate part of the pick-up and positioning system of;
[0025] Figure 8’ and Figure 8” show, respectively Figure 6 cross-sections of the pick-up and positioning system of along a first axis and a second axis;
[0026] Figure 9’ and Figure 9” schematically show devices according to two further preferred embodiments. DETAILED DESCRIPTION
[0027] Referring to the drawings, the pick-up and positioning system 1 of the tube is designated by the numeral 1. Further, the tube is designated by the numeral 500. Further, the tube filling device is designated by the numeral 900.
[0028] It should be noted that the form and dimensions of the tube 500 shown in the figures are indicative and neither representative nor restrictive.
[0029] According to a preferred embodiment, for each tube 500, a tube axis T-T is identified, and it extends longitudinally with respect to the tube axis T-T. According to the present invention, the definition of a tube generally refers to a product in a substantially cylindrical / elongated form, such as a tube, but also refers to blister packs and elongated sachets, such as stick packs.
[0030] The pick-up and positioning system 1 is adapted to engage and position the gripping tubes 500 located in the first position A in order to move them and position them in the second position B. Preferably, the first position A corresponds to the pick-up position. Preferably, the second position B corresponds to the positioning position or the storage position.
[0031] According to the present invention, the tube filling device 900 for the tube 500 includes a transport system 901 for the tube 500 and an operating system 902 adapted to perform specific operations on the tube 500.
[0032] Preferably, the transport system 901 moves the tube 500, preferably individually. In other words, the transport system 901 moves the tube 500 according to a singulation or discretization operation.
[0033] According to a preferred embodiment, the transport system 901 includes a storage or accumulation area in which a plurality of tubes 500 are accommodated and a conveyor belt for gripping the tubes 500 one by one from the storage area.
[0034] In a preferred embodiment, the tube 500 is moved by the transport system 901 in a position substantially horizontal with respect to the ground plane.
[0035] In other words, the tube 500 is moved with the tube axis T-T in a substantially horizontal position.
[0036] According to another preferred embodiment, the tube 500 is moved by the transport system 901 in a position substantially vertical with respect to the ground plane.
[0037] In other words, the tube 500 is moved with the tube axis T-T in a substantially vertical position.
[0038] Preferably, the operating system 902 is adapted to perform specific operations on the tube 500, such as a filling operation and a closing / welding / clamping operation performed at the end of the tube 500.
[0039] Preferably, the tube 500 in the operating system 902 is in a substantially vertical position. In other words, the tube 500 is the object of operation of a part of the operating system 902, where the tube axis T-T is in a substantially vertical position. For example, the operating system 902 includes a pusher group adapted to perform a pushing action in a direction parallel to or coinciding with the tube axis T-T.
[0040] According to other embodiments, the tube 500 in the operating system 902 is in a substantially horizontal position. In other words, the tube 500 is an object of operation of a part of the operating system 902, and the product axis T-T is in a substantially horizontal position.
[0041] According to the present invention, the tube filling device 900 includes a pick-up and positioning system 1 for the tube 500, which grasps the tube 500 from a first position A, where the tube 500 is substantially horizontal, and positions it at a second position B, where the tube 500 is substantially vertical, and vice versa.
[0042] According to a preferred embodiment, the first position A corresponds to the position of the tube on the transport system 901. Preferably, at the first position A, the tube 500 is in a substantially horizontal position.
[0043] According to a preferred embodiment, the second position B corresponds to the position of the tube on the operating system 902. Preferably, at the second position B, the tube 500 is in a substantially vertical position.
[0044] According to the present invention, the pick-up and positioning system 1 includes:
[0045] - a base group 2, including a base body 20 extending along a first axis X-X, wherein the base body 20 is rotatably movable about the first axis X-X;
[0046] - at least one clamping group 4 joined to the base body 20, the clamping group 4 extending along a second axis Y-Y, which intersects (incident) the first axis X-X, preferably orthogonally to the first axis X-X, the clamping group 4 including a clamping device 45, the clamping device 45 including at least one clamping element 450 for engaging the tube 500, wherein the clamping device 45 is rotatably movable about the second axis Y-Y;
[0047] - a command device 3, joined to the base group 2 and the clamping group 4, to command their movement and to command the clamping element 450 and the tube 500 from the first position A to the second position B.
[0048] According to a preferred embodiment, the base body 20 is a hollow element and extends along the first axis X-X.
[0049] According to a preferred embodiment, the clamping group 4 includes a clamping body 40. Preferably, the clamping body 40 is a hollow element and extends along the second axis Y-Y. Preferably, the clamping body 40 extends between the base body 20 and the clamping device 45.
[0050] Preferably, the clamping body 40 is fastened to the base body 20 and is adapted to provide support for the clamping device 45.
[0051] Preferably, the clamping device 45 further includes a shaft 41 that extends along the second axis Y-Y starting from the clamping element 41 and is partially received in the clamping body 40.
[0052] According to a preferred embodiment, the clamping device 45 includes two clamping elements 450 adapted to simultaneously engage two tubes 500. Preferably, the two clamping elements 450 are equidistant from the respective second axis Y-Y.
[0053] According to a variant of the preferred embodiment, the clamping device 45 includes three clamping elements 450 adapted to simultaneously engage three tubes 500. Preferably, one clamping element 450 is placed along the second axis Y-Y, while the other two clamping elements 450 are equidistant from the respective second axis Y-Y.
[0054] According to a preferred embodiment, the pick-up and positioning system 1 includes a pneumatic system that is at least partially received in the base body 20 and the clamping body 40 that is fluidly connected to the clamping device 45. In other words, the base body 20 and the clamping body 40 extend specific pneumatic ducts. Preferably, the pneumatic system also extends into the shaft 41.
[0055] According to a preferred embodiment, the clamping device 45 engages the tube 500 by performing a pneumatic suction action.
[0056] Preferably, the clamping element 450 has a specific opening through which air is sucked in. Thus, the positioning of the opening in the tube wall allows clamping by means of a suction action by virtue of the pneumatic suction effect.
[0057] Preferably, the clamping element 450 includes a clamping portion adapted to directly contact the tube 500. Preferably, the clamping portion is replaceable as needed.
[0058] According to a preferred embodiment, the pick-up and positioning system 1 includes at least two clamping groups 4 axially spaced along the X-X axis.
[0059] According to a preferred embodiment, the rotation of the clamping group 4 is carried out simultaneously with the rotation of the base group 2.
[0060] According to a preferred embodiment, the command device 3 includes:
[0061] - A first device 32 that rotationally moves the base body 20;
[0062] - A second device 34 that rotationally moves the clamping group 4, in particular the clamping device 45;
[0063] - A transmission member 35 operatively connected to the first device 32 and the second device 34 that converts the rotational movement of the first device 32 into the rotational movement of the second device 34.
[0064] Preferably, the first device 32 includes a command shaft 320 extending along a first axis X-X. Preferably, the command shaft 320 engages an actuation group, such as a motor, preferably an electric motor.
[0065] According to a preferred embodiment, the transmission member 35 includes a rack 350 engaged to the first device 32 and the second device 34.
[0066] Preferably, the rack 350 extends parallel to the first axis X-X.
[0067] Preferably, the rack 350 extends parallel to the command shaft 320.
[0068] According to a preferred embodiment, the second device 34 includes a gear 340 meshing with the rack 350.
[0069] Preferably, the gear 340 is located at the center of a second axis Y-Y.
[0070] According to a preferred embodiment, the gear 340 engages a shaft 41. As the gear 340 rotates, the shaft 41 also rotates accordingly, and thus the clamping device 45 also rotates accordingly.
[0071] According to a preferred embodiment, the transmission member 35 further includes a cam assembly 355 meshing with the rack 350. As the first device 32 rotates, the cam assembly 355 moves the rack 350 along the first axis X-X, and the rack 350 rotatably commands the second device 34.
[0072] According to a preferred embodiment, the cam assembly 355 includes a pin 3550 fastened to the rack 350 and a slot 3551, wherein the rotation of the first device 32 causes the pin 3550 to slide into the slot 3551.
[0073] According to a preferred embodiment, the slot 3551 includes two end regions 3551’, 3551”.
[0074] Preferably, the first position A and the second position B of the pick-up and positioning system 1 respectively correspond to the positioning of the pin 3550 in the end regions 3551’, 3551”.
[0075] According to a preferred embodiment, the rotational movement of the clamping device 45 relative to the second axis Y-Y is a function of the shape of the slot 3551. As a function of the shape and length of the slot 3551, the movement and path of the clamping device 45 are actually controlled. In other words, as a function of the shape and length of the slot 3551, the rotation angle of the clamping device 45 relative to the second axis Y-Y is controlled. In other words, as a function of the shape and length of the slot 3551, the rotational speed of the clamping device 45 relative to the second axis Y-Y is controlled.
[0076] Furthermore, according to the present invention, the clamping element 450 is shaped in such a way that the clamping tube 500, the second axis Y-Y and the tube axis T-T are mutually incident with respect to an imaginary plane orthogonal to the first axis X-X, thereby defining a clamping angle α.
[0077] According to a preferred embodiment, as the movement progresses from the first position A to the second position B, the tube 500 performs an angular stroke equal to the movement angle β, while the base set 2 performs a rotation about the first axis X-X, the angular stroke of which is equal to the movement angle β minus twice the clamping angle α.
[0078] Preferably, the base set 2 rotates about the first axis X-X with a stroke equal to 90° minus twice the clamping angle α.
[0079] Preferably, the base set 2 rotates about the first axis X-X with a stroke equal to 180° minus twice the clamping angle α.
[0080] According to a preferred embodiment, as the movement progresses from the first position A to the second position B, the tube 500 performs an angular stroke equal to the movement angle β, while the base set 2 performs a rotation about the first axis X-X, the angular stroke of which is equal to the movement angle β plus twice the clamping angle α.
[0081] According to a preferred embodiment, the movement trajectory of the tube 500 varies as a function of the clamping angle α.
[0082] Preferably, there is a predetermined clamping angle α as a function of the type of the tube 500.
[0083] According to a preferred embodiment, the engagement of the clamping element 450 with the tube 500 ensures an increased contact area, thus facilitating its clamping.
[0084] According to a preferred embodiment, the pick-up and positioning system 1 is positioned within the tube filling device 900 in such a way that the first axis X-X is at a lower height than the tube 500 positioned at the second position B.
[0085] Preferably, the pick-up and positioning system 1 is positioned within the tube filling device 900 in such a way that the first axis X-X is at a height equal to or lower than the tube 500 positioned at the first position A.
[0086] Preferably, the pick-up and positioning system 1 can be designed such that all drive members are in a position much lower than the tube 500. In particular, the pick-up and positioning system 1 is presented in a manner lower than the upper end of the tube 500, preferably the opening.
[0087] According to a preferred embodiment, the clamping angle α affects the movement stroke of the tube 500.
[0088] Innovatively, the pick-up and positioning system fully achieves the intended purpose of overcoming the typical problems of the prior art.
[0089] In fact, advantageously, the pick-up and positioning system makes it possible to meet all the requirements of the department.
[0090] Advantageously, the pick-up and positioning system performs the same reproducible movement over time.
[0091] Advantageously, the pick-up and positioning system performs the movement with increased precision, thus always ensuring precise positioning at the first and second positions.
[0092] Advantageously, the pick-up and positioning system performs movements that ensure an increased level of cleanliness and safety. Advantageously, the pick-up and positioning system can be applied to the pharmaceutical industry to ensure increased cleanliness of the tubes.
[0093] Advantageously, the pick-up and positioning system is very flexible: in fact, it is very simple to adjust the pick-up and positioning system as a function of various tube topologies, especially its movement.
[0094] Advantageously, the tube movement trajectory is modifiable when designing and appropriately selecting the slots, especially their shape and size.
[0095] Advantageously, the tube movement trajectory is modifiable when designing and appropriately selecting the clamping angle.
[0096] Advantageously, the pick-up and positioning system is suitable for occupying the minimum space within the tube filling equipment. Advantageously, the pick-up and positioning system can be partially or fully located in positions covered by the transport system and / or the operating system without any special problems.
[0097] Advantageously, the pick-up and positioning system can be located in an area with less space relative to other systems of the tube filling equipment, or in an area with more space relative to other systems of the tube filling equipment without any special problems.
[0098] Advantageously, the transport system and the operating system can be located close to each other or far from each other, for example, when choosing the form of the clamping device, it is best designed for the pick-up and positioning system.
[0099] Advantageously, in the case of utilizing the design diversity of the pick-up and positioning system, the tube filling equipment can be designed as a function of demand.
[0100] Advantageously, the pick-up and positioning system is suitable for operating with tubes of different lengths. Advantageously, the height of the tube is not a limitation for the pick-up and positioning system.
[0101] Obviously, those skilled in the art can make changes to the above invention to meet possible needs, and all such changes fall within the scope of protection defined by the appended claims.
Claims
1. A pick - and - place system (1) for a tube (500) having a tube axis (T - T) in a tube filling device (900), comprising a transport system (901) and an operating system (902), wherein the pick - and - place system (1) is adapted to engage and grip the tubes (500) positioned in a first position (A), preferably on the transport system (901), in order to move them and position them in a second position (B), preferably on the operating system (902), wherein the pick - and - place system (1) comprises: i) A base group (2), the base group (2) comprising a base body (20) extending along a first axis (X - X), the base body (20) being capable of rotational movement about the first axis (X - X); ii) At least one clamping group (4) joined to the base body (20), the clamping group (4) extending along a second axis (Y - Y), the second axis (Y - Y) preferably intersecting the first axis (X - X) orthogonally, the at least one clamping group (4) comprising a clamping device (45), the clamping device (45) comprising at least one clamping element (450) for engaging the tube (500), wherein the clamping device (45) is capable of rotational movement about the second axis (Y - Y); iii) A command device (3) joined to the base group (2) and the clamping group (4) to command their movement and to command the clamping element (450) and the tube (500) from the first position (A) to the second position (B); wherein the clamping element (450) is shaped in such a way that it grips the tube (500), and the second axis (Y - Y) and the tube axis (T - T) intersect with respect to a hypothetical plane orthogonal to the first axis (X - X), thereby defining a clamping angle (α).
2. The pick - and - place system (1) according to claim 1, wherein, during the movement from the first position (A) to the second position (B), the tube (500) performs a movement equal to the movement angle (β), while the base group (2) performs a rotation about the first axis (X - X), and the angular travel of the base group (2) about the first axis (X - X) is equal to the movement angle (β) minus twice the clamping angle (α), or equal to the movement angle (β) plus twice the clamping angle (α).
3. The pick - and - place system (1) according to any one of the preceding claims, wherein, the clamping device (45) comprises two clamping elements (450) adapted to simultaneously engage two tubes (500).
4. The pick - and - place system (1) according to any one of the preceding claims, wherein, the clamping device (45) engages the tube (500) by performing a pneumatic suction action.
5. The pick - and - place system (1) according to any one of the preceding claims, comprising at least two clamping groups (4) axially spaced apart along the first axis (X - X).
6. The pick - and - place system (1) according to any one of the preceding claims, Wherein, each clamping group (4) includes a clamping body (40), and the clamping body extends along the second axis (Y-Y) between the base body (20) and the clamping device (45).
7. The picking and positioning system (1) according to claim 6 in combination with claim 4, comprising a pneumatic system, which is accommodated in the base body (20) and the clamping body (40) fluidly connected to the clamping device (45).
8. The picking and positioning system (1) according to any one of the preceding claims, Wherein, the command device (3) includes: - a first device (32) that rotationally moves the base body (20); - a second device (34) that rotationally moves the clamping group (4), in particular the clamping device (45); - a transmission member (35) operably connected to the first device (32) and the second device (34), and the transmission member (35) converts the rotational movement of the first device (32) into the rotational movement of the second device (34).
9. The picking and positioning system (1) according to claim 8, Wherein, the transmission member (35) includes a rack (350) engaged with the first device (32) and the second device (34), and a cam assembly (355) engaged with the rack (350), wherein as the first device (32) rotates, the cam assembly (355) moves the rack (350) along the first axis (X-X), and the rack rotationally commands the second device (34).
10. The picking and positioning system (1) according to claim 9, Wherein, the cam assembly (355) includes a pin (3550) fastened to the rack (350) and a slot (3551), and the rotation of the first device (32) causes the pin (3550) to slide into the slot (3551).
11. The picking and positioning system (1) according to claim 10, Wherein, the slot (3551) includes two end regions (3551’, 3551”), and the first position (A) and the second position (B) of the picking and positioning system (1) respectively correspond to the positioning of the pin (3550) in the end regions (3551’, 3551”).
12. A tube filling device (500), comprising a transportation system (901) for the tube (500), preferably monomerized, and an operating system (902) adapted to perform specific operations on the tube (500), wherein the tube filling device (900) includes a picking and positioning system (1) for the tube (500) according to any one of claims 1 to 11, wherein the first position (A) is on the transportation system (901), and the second position (B) is on the operating system (902).
13. The tube filling device (900) according to claim 12, Wherein, The pick-up and positioning system (1) picks up a tube (500) from the first position (A), where the tube (500) is substantially horizontal, and positions the tube (500) at the second position (B), where the tube (500) is substantially vertical, or vice versa.
14. The tube filling device (900) according to claim 12 or 13, wherein, the pick-up and positioning system (1) is positioned such that the first axis (X-X) is at a lower height than the tube (500) positioned at the second position (B).
15. The tube filling device (900) according to claim 14, wherein, the pick-up and positioning system (1) is positioned such that the first axis (X-X) is at a height equal to or lower than the tube (500) positioned at the first position (A).