Apparatus for transporting objects

Abstract

A transport device (10) for transporting one or more objects (11), comprising: a reference surface (13); electrical current carrying means (14) for selectively generating one or more magnetic fields associated with said reference surface (13); and at least one transport member (15) configured to support and transport said one or more objects (11) and to be movable without contact with said reference surface (13) while maintaining a distance (D) from said reference surface (13), said at least one transport member (15) comprising first magnetic means (16), said electrical current carrying means (14) configured to interact with said first magnetic means (16) and thereby cause a selective displacement of said at least one transport member (15). The transport device (10) further comprises a second magnetic means (24) comprising at least one magnetic device (26, 126) configured to assume a first condition and a second condition, wherein in the first condition, the magnetic device (26, 126) is inactive and in the second condition, the at least one magnetic device (26, 126) is active and generates a magnetic attraction force suitable for interacting with the first magnetic means (16) to block the transport member (15) with respect to the reference surface (13) in the absence of a correct interaction between the electrical current supply means (14) and the first magnetic means (16).

Description

[Technical field]

[0001] The present invention relates to an apparatus for automatically transporting one or more objects, such as, for example, parts for producing products or packages, between a number of processing stations. The apparatus of the present invention can be used in machines for producing packages of products, especially of low mass, such as, for example, bottles, flasks, caps, ferrules or other objects of similar size, in the chemical, cosmetic and / or pharmaceutical fields. [Background technology]

[0002] In the chemical, cosmetic, pharmaceutical and other packaging industries, various machines and methods are known for automatically transporting one or more components for producing packages of low mass products, such as bottles, flasks, caps, ferrules, or other objects of similar size, to or from one or more processing stations, many of which are designed, manufactured and sold by the applicant.

[0003] In this sector, there is an increasing demand for machines that can move the components for making the packages from one processing station to another in a safe, sterile, environmentally sustainable and quiet environment, without generating contaminants or agents that could contaminate the product or its contents, and where human intervention to carry out the operations usual in this sector (cleaning, format changes, maintenance, monitoring of biological tests, etc.) is minimized or completely eliminated.

[0004] In particular, electromagnetic type transport devices have been developed, also called "planar motors", which comprise magnetic means configured to selectively generate one or more magnetic fields cooperating with associated electrical current carrying means and influencing the magnetic means. In planar motors, the magnetic means are typically configured as coils contained in the movable transport member, the electrical current carrying means are integrated in a fixed surface, and a controlled electromagnetic field generated between the magnetic means and the electrical current carrying means allows contactless movement of the transport member.

[0005] These planar motors are extremely versatile since, with appropriate control of the electrical energizing means, they can follow widely different trajectories and paths, both straight and curved, relative to the surface of movement.

[0006] Furthermore, planar motors can be used advantageously on horizontal and inclined planes of movement, and even on vertical or upward planes of movement, although in the latter case damage, even serious damage, can occur if a critical situation arises in which there is no proper interaction between the magnetic field generated by the electrical current carrying means and the magnetic field generated by the magnetic means present in the transport device.

[0007] Such a critical situation may arise, for example, if the supply of electrical energy to the electrical current carrying means is interrupted, resulting in the cancellation of the corresponding magnetic field and therefore the magnetic attraction force enabling the transport device to be maintained in a predetermined position relative to the moving surface.

[0008] DE 10 2015209 625 A1 describes a planar motor with an integrated device configured as a safety system which intervenes in the event of a sudden interruption of the electrical energy supply.

[0009] Even if electrical energy is not interrupted, serious situations can occur if control of one or more transportation devices is lost.

[0010] This can occur when excessive dynamic performance is required of the transport device (e.g., in the case of strong dynamics, unbalanced loads, or loads larger than expected), or due to the possibility of a collision between two or more transport devices (e.g., due to an imbalance or slowdown of one of the transport devices), or due to the possibility of a collision between the transport device and other parts of the machine.

[0011] In all these critical situations, the transport device may not be properly and completely supported by the electromagnetic fields generated by the electrical energizing means and may therefore fall downwards due to gravity.

[0012] The applicant conducted operational tests of a machine equipped with such a transport device and found that if the moving parts of the planar motor or the transport device were accidentally dropped, it could cause serious damage to the transport device due to collision or coupling with magnetic materials, and it could even destroy the magnetic means inside the transport device, rendering it unusable.

[0013] As is well known, these transport devices are very expensive and difficult to repair if serious damage occurs to the magnetic means, so measures must be taken to ensure that they function correctly on inclined and vertical surfaces.

[0014] There is therefore a need to develop an object transport device that overcomes at least one of the shortcomings of the state of the art.

[0015] This requires solving the technical problem of ensuring that the moving parts of each planar motor, i.e., the transport device, operate correctly according to design specifications, while at the same time preventing those same moving parts from falling downwards or moving uncontrollably and undesirably in the event of a malfunction.

[0016] It is therefore one object of the present invention to provide an apparatus for transporting objects which is reliable and does not risk damage or destruction of one or more of its components.

[0017] It is another object of the present invention to provide an object transport device that can quickly and effectively manage any critical situation while protecting the integrity of the transport device.

[0018] Another object of the present invention is to provide an object transport apparatus that is safe and suitable for use in chemical, cosmetic and / or pharmaceutical machinery that typically require a substantially sterile and contaminant-free working environment.

[0019] Applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the prior art and to attain these and other objectives and advantages. Summary of the Invention

[0020] The invention is set forth and characterized in the independent claims. The dependent claims describe further features of the invention or variants of the main inventive idea.

[0021] In accordance with the above objectives, in order to solve the above disclosed technical problem in a new and original way and also to achieve significant advantages compared to the prior art, a transport device according to the present invention for transporting one or more objects comprises a reference surface, electrical current carrying means for selectively generating one or more magnetic fields associated with said reference surface, and at least one transport member configured to support and transport said one or more objects and to be movable without contacting said reference surface while maintaining a distance from said reference surface, said at least one transport member comprising first magnetic means, said electrical current carrying means configured to interact with said first magnetic means and thereby cause selective displacement of said at least one transport member.

[0022] In particular, the cooperation of the electrical current carrying means and the first magnetic means allows the at least one transport member to move independently on a reference surface without contact and without being restricted in direction or path.

[0023] The reference plane can be vertical or horizontal, or inclined at a particular angle relative to the horizontal or vertical plane.

[0024] According to one aspect of the invention, the transport device further comprises a second magnetic means comprising at least one magnetic device configured to assume a first state and a second state, in which in the first state the magnetic device is inactive and does not interact with the first magnetic means, and in which in the second state the at least one magnetic device is active and generates a magnetic attraction force suitable for interacting with the first magnetic means to block the transport member relative to the reference surface in the absence of correct interaction between the electrical current carrying means and the first magnetic means.

[0025] The second magnetic means is configured as a safety means and is configured to intervene in the event of a lack of correct interaction between the electrical current carrying means and the magnetic means, preventing damage to the at least one transport member and ensuring contact-free movement of the at least one transport member relative to the reference surface when the correct interaction between the electrical current carrying means and the magnetic means is restored.

[0026] In particular, the second magnetic means may be configured to intervene autonomously or under the control of the control means in the event of a critical situation in which the first magnetic means does not interact correctly with the magnetic field generated by the electrical current carrying means.

[0027] A critical situation can occur if the magnetic field is not strong enough to exert a magnetic attraction force sufficient to overcome the gravitational forces acting on the transport member and the object supported by it and to keep the transport member at a desired distance relative to a reference surface.

[0028] Potential critical situations include, for example, interruption of the electrical energy supply to the electrical energy supply means, resulting in the disappearance of the magnetic field and loss of control of one or more of the transport devices, and even if the electrical energy is not interrupted, excessive dynamic performance demands on the transport devices, for example in the case of dynamic thrust, unbalanced load, larger than expected load, may cause an imbalance of the transport members with respect to the reference plane, resulting in the inability of one or more first magnetic means to interact with the magnetic field, or even a collision of two or more transport members.

[0029] Furthermore, another serious situation may occur where a collision or undesirable interaction occurs between one of the transport members and another machine member or possibly an operator.

[0030] A collision may occur, for example, when the weight of the object being transported becomes excessive, causing the transport member to become overloaded, e.g., when the weight increases suddenly and unexpectedly, causing the transport member to slow down or deviate from the predetermined path.

[0031] According to another aspect of the invention, the magnetic device comprises a plurality of fixed permanent magnets and at least one movable permanent magnet, the movable permanent magnet being movable between at least a first position and a second position, in which the movable permanent magnet is offset relative to the fixed permanent magnets when the magnetic device is in the first state, and in which the movable permanent magnet is aligned relative to the fixed permanent magnets when the magnetic device is in the second state.

[0032] According to another aspect of the invention, the movable permanent magnet is connected to an actuating member, the actuating member being commanded by a command member configured to command the actuating member to displace the at least one movable permanent magnet between the first position and the second position, thereby transitioning the magnetic device from the first state to the second state.

[0033] The actuating member is advantageously pneumatic, which allows for a rapid and effective displacement of the movable permanent magnet to bring the magnetic device into the active second state.

[0034] According to another aspect of the present invention, the plurality of fixed permanent magnets and the at least one movable permanent magnet are arranged on the same plane as each other.

[0035] According to another aspect of the invention, the magnetic device is of the electropermanent type and includes a plurality of permanent magnets and at least one reversible magnet associated with a winding through which a current is passed, the reversible magnet being configured to reverse the polarity of a generated magnetic field depending on the direction of a current passing through the winding, thereby transitioning the magnetic device from the first state to the second state.

[0036] According to another aspect of the invention, the device further comprises a circuit that can be commanded by a command member configured to reverse the direction of the current when it is necessary to transition the magnetic device from the first state to the second state.

[0037] According to another aspect of the invention, the apparatus also includes a control means configured to monitor a trajectory of the transport member relative to a predetermined path based on data received from a position sensor associated with at least one of the reference surface or the at least one transport member, and to activate the command member if the trajectory does not coincide with the predetermined path.

[0038] According to another aspect of the invention, the second magnetic means can intervene passively, i.e. automatically, for example in case of an interruption in the supply of electrical energy, or actively, i.e. following commands given by the control means, for example in case of a situation which may lead to a collision or imbalance of the transport member.

[0039] According to another aspect of the invention, the switch device comprises a relay that can be automatically activated in the absence of power, for example, by an uninterruptible power supply, emergency battery, or other suitable power supply.

[0040] According to another aspect of the invention, the apparatus comprises a recovery means configured to return the transport member to a correct position along the trajectory of the predetermined path near the wall after an undesired departure of the transport member from the predetermined path, caused for example by one of the above-mentioned critical situations caused by an erroneous interaction.

[0041] The presence of the recovery means advantageously allows for rapid restoration of operation of the transport device after the occurrence of any of the critical situations described above.

[0042] According to another aspect of the invention, the second magnetic means can be integrated into a support structure surrounding the electrical current carrying means and defining a reference plane. According to another alternative embodiment of the invention, the second magnetic means is externally coupled to the support structure on which the electrical current carrying means is disposed.

[0043] The second magnetic means may be arranged between the electrical current carrying means and the reference surface or below the electrical current carrying means, and further, depending on the position of the second magnetic means relative to the reference surface, electromagnets of different sizes may be provided which are suitable for generating electromagnetic fields of different strengths and which ensure a magnetic attraction force suitable for blocking at least one transport member.

[0044] According to another aspect of the invention, the second magnetic means are distributed over a reference plane according to a grid-like or lattice-like arrangement having a plurality of links, each of said links having an extension smaller than the area of ​​action of the first magnetic means of said at least one transport member.

[0045] According to another aspect of the invention, the second magnetic means are concentrated in a number of strips arranged parallel to one another and extending substantially over the entire development of the reference surface, or are distributed according to a checkerboard or dotted pattern.

[0046] According to another aspect of the invention, the second magnetic means are preferably concentrated in a horizontal strip and are located in the lower region of the reference plane, i.e. below the surface along which the transport member normally moves.

[0047] These and other aspects, features and advantages of the present invention will become apparent from the following description of some embodiments thereof, given by way of non-limiting example with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0048] [Figure 1] FIG. 1 is a three-dimensional schematic diagram of an apparatus for transporting objects according to a first embodiment of the invention. [Diagram 2] FIG. 2 shows a schematic example of a possible distribution model of the second magnetic means included in the device of the invention relative to the reference plane of the device of the invention. [Diagram 3] FIG. 3 shows a schematic example of a possible distribution model of the second magnetic means included in the device of the invention relative to the reference plane of the device of the invention. [Figure 4] FIG. 4 shows a schematic example of a possible distribution model of the second magnetic means included in the device of the invention relative to the reference plane of the device of the invention. [Diagram 5] FIG. 5 shows a schematic example of a possible distribution model of the second magnetic means included in the device of the invention relative to the reference plane of the device of the invention. [Figure 6] FIG. 6 is a schematic, partially cross-sectional, three-dimensional view of the device of FIG. [Figure 7] FIG. 7 is a schematic side view of an apparatus for transporting objects according to a second embodiment of the present invention. [Figure 8] FIG. 8 is a schematic side view of an apparatus for transporting objects according to a third embodiment of the present invention. [Figure 9] FIG. 9 is a schematic illustration of the device for transporting objects according to the first embodiment, with the second magnetic means arranged in two different operating conditions. [Figure 10] FIG. 10 is a schematic illustration of the device for transporting objects according to the first embodiment, with the second magnetic means arranged in two different operating conditions. [Figure 11] FIG. 11 is a schematic illustration of an apparatus for transporting objects according to a second embodiment, in which the second magnetic means are arranged in two different operating conditions. [Figure 12] FIG. 12 is a schematic illustration of an apparatus for transporting objects according to a second embodiment, in which the second magnetic means are arranged in two different operating conditions. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0049] It must be made clear that the phraseology and terms used in this specification, as well as the figures of the accompanying drawings, have the sole function of better illustrating and explaining the invention, the scope of protection of which is defined by the claims, and that their function is to provide a non-limiting example of the invention itself.

[0050] To facilitate understanding, the same reference numbers have been used wherever possible to identify identical common elements in the drawings, it being understood that elements and features of one embodiment may be conveniently combined or incorporated in other embodiments without further description.

[0051] With reference to FIG. 1, an apparatus 10 according to the present invention is configured to automatically transport one or more objects 11 from a starting point to a destination point according to a desired route or direction.

[0052] The apparatus 10 may be used, for example, in machines that package chemical, cosmetic, and / or pharmaceutical products to and from one or more processing stations.

[0053] The one or more objects 11 may include containers usable in the chemical, medical or pharmaceutical fields, such as flasks, bottles, or dispensing nozzles configured to fill such containers.

[0054] This machine, which is not shown in the drawings, is, for example, of the type described in WO 2021 / 001863 filed by the applicant and essentially comprises several processing stations arranged in a feed direction having straight and / or curved segments.

[0055] The apparatus 10 includes a support structure 20 having a reference surface 13 which can be, for example, vertical (FIGS. 1, 6, and 8), horizontal (FIG. 1), or inclined at a desired angle to the horizontal or vertical plane (FIG. 7), or a combination of vertical and horizontal planes (FIG. 1) or inclined and horizontal planes (not shown).

[0056] In particular, the reference surface 13 can be inclined relative to the base wall 22 by an angle α (FIG. 6) which can have any value.

[0057] The base wall 22 may be any substantially horizontal wall, such as, for example, the floor of the device 10 or of the machine on which the device 10 is installed or on which the machine itself rests, or a horizontal reference surface 13 .

[0058] The reference surface 13 is comprised of a combination of inclined surfaces and may be either flat, curved, wavy, or irregularly shaped (these are not shown in the drawings but would be readily apparent to one skilled in the art), and in some embodiments of the invention may also have magnetic discontinuities.

[0059] Electrical conduction means 14 of a known type, not shown in detail, are connected to the reference surface 13 and are configured to selectively generate one or more locally distributed magnetic fields in specific regions of the reference surface 13.

[0060] For example, electrical current carrying means 14 may comprise a number of electrical coils or windings (not shown), suitably arranged to cooperate with reference surface 13 and connected to network 12 for supplying electrical energy having suitable voltage and current values ​​during use.

[0061] The electrical conduction means 14 is disposed within a support structure 20 , the outer surface of which may define a reference plane 13 .

[0062] The support structure 20 may be a single body (FIG. 1) containing therein a number of electrical conduction means 14 arranged according to a predetermined pattern, or the support structure 20 may consist of a number of modules 21 (FIGS. 6 to 8) arranged adjacent to one another, each with its own electrical conduction means 14. In the latter case, the reference plane 13 is defined as a whole by the surfaces of the modules 21.

[0063] A number of transport members 15 are associated with the reference surface 13, only one of which is shown diagrammatically in the accompanying drawings, and these transport members 15 are moved relative to the reference surface 13 by a magnetic field generated by electrical current carrying means 14.

[0064] For example, the transport member 15 can have a base, i.e., a planar surface, that is polygonal, regular or irregular, in particular quadrangular, such as a square or rectangle, or can have other polygonal shapes defined by a closed dashed line or a combination of straight and curved lines.

[0065] In some embodiments of the invention, each transport member 15 is provided with first magnetic means 16 of a known type, for example a permanent magnet, not shown in detail in the drawings.

[0066] The first magnetic means 16 is configured to interact with one or more magnetic fields generated by the electrical current carrying means 14, thereby enabling each transport member 15 to move autonomously relative to the reference surface 13 and at a slight distance from the reference surface 13, i.e. without contact.

[0067] By way of example, during the movement, the transport member 15 can remain at a distance D of 0.2 to 4.5 mm relative to the reference surface 13 (FIGS. 6 to 8 and 11).

[0068] It should be clarified that in this specification the expression "distance D" means a constant or variable distance that allows for a correct interaction between the electrical current carrying means 14 and the first magnetic means 16, and therefore falls within the range of reference values ​​disclosed above.

[0069] The transport member 15 is preferably made as the moving part of a magnetically driven "planar motor", as such is known in the prior art.

[0070] The transport member 15 is configured to be capable of translational and / or rotational movement relative to the reference surface 13, and is configured to be capable of movement and / or rotational movement independently, without contact, without any constraints on path or direction, and advantageously with multiple degrees of freedom.

[0071] The transport member 15 may be provided with support means 18 for temporarily supporting one or several objects 11. These support means 18 may be of known type and may comprise gripping means suitable for gripping a single object 11, or a tray or container, respectively, on which several objects 11 are placed.

[0072] The device 10 also comprises control means, for example consisting of or including a control unit 17 (Figures 1, 9, 10), which controls the selective energization of the electrical energization means 14 in relation to the path or trajectory that the transport member 15 should follow.

[0073] The control unit 17 can, for example, include one or more processors of a type known per se and programmable. In particular, the control unit 17 is capable of selectively and in a programmed manner controlling the values ​​of the current and / or voltage supplied to the electrical current supplying means 14, so that the electrical current supplying means 14 are capable of generating a magnetic field suitable for supporting each transport member 15 in a predetermined position on the reference surface 13 and a magnetic field suitable for selectively moving each support member 15 along the reference surface 13 according to a predetermined path.

[0074] According to some embodiments of the present invention, the apparatus 10 also comprises a position sensor 19 associated with at least one of the reference surface 13 or the at least one transport member 15, the position sensor 19 being suitable for detecting one or more of the position, forward speed or other parameters related to the movement of at least one or each of the transport members 15 and transmitting that data to the control unit 17.

[0075] In this way, the control unit 17 can perform feedback control of the electrical current supply means 14 to move each transport member 15 along its respective path.

[0076] According to one aspect of the present invention, the transport device 10 comprises a second magnetic means 24 configured to intervene autonomously or under the control of the control unit 17 to interact with the first magnetic means 16 of one or more transport members 15 in the event of a critical situation in which the first magnetic means 16 does not interact correctly with the magnetic field generated by the electrical current carrying means 14.

[0077] In particular, the second magnetic means 24 interacts with the first magnetic means 16 to stop and block each transport member 15 at a specific position, preventing or stopping a fall of the transport member 15 caused by gravity forces before the transport member 15 contacts the base wall 22, or generally preventing or stopping uncontrolled movement of the transport member 15 relative to the reference surface 13.

[0078] According to some embodiments of the present invention, the second magnetic means 24 may be associated with the reference surface 13 .

[0079] According to one possible embodiment, the second magnetic means 24 may be integrated inside the support structure 20 or inside a module 21 constituting it.

[0080] The second magnetic means 24 and the electrical conduction means 14 may at least partially overlap each other within the thickness of the support structure 20 (FIGS. 6 and 7).

[0081] According to a possible variant, not shown, the second magnetic means 24 can be arranged offset relative to the electrical current carrying means 14 in a common plane.

[0082] According to another variant, for example as described with reference to figure 8, the second magnetic means 24 are arranged outside the support structure 20 and are integrated into a plane or panel 23 associated therewith. In this case, the outer surface of the plane or panel 23 defines the reference plane 13.

[0083] 2 to 5 show possible examples of arrangement patterns of the second magnetic means 24 with respect to the reference surface 13. In FIG.

[0084] For example, according to the embodiment shown in Fig. 2, the second magnetic means 24 can be distributed according to a grid-like or lattice-like structure in which a number of links are defined. In this case, the size of the links can be smaller than the size of the area of ​​action of the first magnetic means 16 on the transport member 15, thus ensuring a correct blocking of the first magnetic means 16 whenever necessary. The expression "area of ​​action" means an area in which there is an interaction between the first magnetic means 16 and the magnetic field generated by the electrical current means 14. This "area of ​​action" can substantially correspond to the size of the first magnetic means 16 on a plane parallel to the reference surface 13.

[0085] According to the embodiment shown in FIG. 3, the second magnetic means 24 can be concentrated in a strip or band arranged in the lower region of the reference surface 13, thereby making it possible to stop the fall of the transport member 15 before it reaches the base wall 22.

[0086] According to the embodiment of the invention shown in figure 4, the second magnetic means 24 may be concentrated in a number of strips or bands arranged parallel to one another with respect to the reference plane 13. Again, the distance between the strips or bands is preferably smaller than the area of ​​action of the magnetic means 16 of the transport member 15. In figure 7 the strips are arranged horizontally, but it is clear that the strips may also be arranged vertically or inclined at an angle other than 90°.

[0087] According to another embodiment of the invention, as for example described with reference to FIG. 5, the second magnetic means 24 may also be distributed according to a dotted or possibly checkerboard pattern.

[0088] It will be apparent that the second magnetic means 24 can be arranged according to a number of different patterns, although a few examples are shown in Figures 2 to 5.

[0089] The second magnetic means 24 is selectively operable to cooperate with the first magnetic means 16 .

[0090] The second magnetic means 24 includes one or more magnetic devices 26, 126 configured to assume at least a first inactive state in which they do not interact with the first magnetic means 16, and a second active state in which they interact with the first magnetic means 16 to exert a magnetic attraction force suitable to block the transport member 15 with which they are associated and to adhere to the reference surface 13 or below.

[0091] According to one embodiment of the invention, for example as described with reference to Figures 9 and 10, the magnetic device 26 comprises a plurality of fixed permanent magnets 27 and at least one movable permanent magnet 28 located between at least a first position (Figure 9) offset with respect to the fixed permanent magnets 27 and a second position (Figure 10) aligned with the fixed permanent magnets 27.

[0092] When the movable permanent magnet 28 is in the first position, the magnetic device 26 is in an inactive state, and when the movable permanent magnet 28 is in the second position, the magnetic device 26 is in an active state.

[0093] The apparatus 10 comprises a drive member 29 connected to at least one movable permanent magnet 28 and configured to move the permanent magnet 28 between a first position and a second position, and a command member 30 connected to the drive member 29 and configured to actuate the drive member 29.

[0094] The actuating member 29 is advantageously pneumatic so as to enable the movable permanent magnet 28 to be moved quickly and effectively.

[0095] According to some embodiments of the invention, the second magnetic means 24 can intervene passively, i.e. automatically in case of, for example, an interruption in the supply of electrical energy, or actively, i.e. following a command given by the control unit 17 in case of, for example, a situation of possible collision or imbalance of the transport member 15. In embodiments in which the second magnetic means intervene passively, the command member comprises a switch device configured to operate autonomously in the absence of a supply of electrical energy.

[0096] In other words, the command member 30 can be activated automatically or by the control unit 17 .

[0097] According to some embodiments of the present invention, the command member 30 may include a relay-type switch device 34 configured to operate automatically in the absence of a supply of electrical energy.

[0098] According to another embodiment of the invention, the control unit 17 can proactively command the command member 30 if it detects that a critical situation may occur.

[0099] For example, the control unit 17 can be configured to constantly monitor the trajectory of the transport member 15 in terms of position and speed relative to a predetermined route based on data received from the position sensor 19, and to activate the switch device 34 if the detected trajectory does not match the expected trajectory.

[0100] In this way, it is possible to intervene both when the transport member 15 begins to slide downward due to gravity and when the movement speed of the transport member 15 is slowed down or the trajectory is corrected, preventing both the falling of the transport member 15 and the possibility of a collision between two or more transport members 15.

[0101] When the switch device 34 is actively commanded, the control unit 17 can simultaneously deactivate the electrical energization means 14 .

[0102] Figures 10 and 11 show a second embodiment, in which the second magnetic means 24 comprises at least one electropermanent magnetic device 126 configured to generate an electromagnetic field without the need for a continuous supply of electrical energy.

[0103] The magnetic device 126 comprises a permanent magnet 31 and at least one reversible magnet 32 ​​wound with at least one coil or winding 33 formed by multiple turns of wire.

[0104] The polarity of the reversible magnet 32 ​​changes depending on the direction of current flowing through the windings 33, which in turn changes the direction of the magnetic field generated, causing the magnetic device 126 to transition from an inactive state (FIG. 11) to an active state (FIG. 12) and vice versa.

[0105] The blocking and retention of the transport member 15 is ensured by the magnetic field generated by the reversible magnets 32. It is therefore sufficient to supply current only during the short transient change of polarity of the reversible magnets 32, and it is not necessary to require a continuous supply of current.

[0106] In this embodiment, the device 10 also comprises a command member 30 connected to the winding 33 by a circuit 35 and configured to change the direction of the current through the winding 33 .

[0107] Again, the command member 30 may include a relay-type switch device 34 configured to be activated automatically in the event of a loss of electrical energy supply, or to be commanded to be activated by the control unit 17 in the event of a potentially critical situation being recognized.

[0108] According to the embodiment shown in FIG. 1 , the device 10 comprises recovery means 36 configured to automatically return the transport member 15 to the approach of the reference wall 13 and to a correct position along the trajectory of the predetermined path after an undesired departure of the transport member 15 from the predetermined path, caused, for example, by one of the critical operating situations mentioned above.

[0109] For example, the recovery means 36 may consist of an anthropomorphic robot 37 and / or a mechanical arm configured to return the transport member 15 to the desired distance D from the reference wall 13 .

[0110] According to an alternative embodiment, not shown in the accompanying drawings, the recovery means 36 may be of the manual type, for example selectively actuable by an operator.

[0111] The presence of the recovery means 36 advantageously allows for rapid recovery of operation of the transport device 10 after the occurrence of one of the critical operating conditions.

[0112] It will be apparent that modifications and / or additions to components may be made to the apparatus 10 thus far described without departing from the field and scope of the present invention as defined by the appended claims.

[0113] For example, one skilled in the art will readily appreciate that recovery means 36 may be associated with all of the embodiments described herein even if not shown in the accompanying drawings.

[0114] Although the invention has been described with reference to some particular examples, it is clear that a person skilled in the art can certainly realise other equivalent configurations of the device 10 for transporting objects, which have the characteristics set out in the claims and therefore fall within the scope of protection defined by the claims.

[0115] In the following claims, references in parentheses are intended only for the ease of reading and shall not be regarded as limiting factors with regard to the field of protection defined by the claims.

Claims

1. A transport device (10) for transporting one or more objects (11), comprising: A reference surface (13); Electrical energizing means (14) for selectively generating one or more magnetic fields associated with said reference surface (13); at least one transport member (15) configured to support and transport said one or more objects (11) and to be movable without contact with said reference surface (13) while maintaining a distance (D) from said reference surface (13); Equipped with said at least one transport member (15) comprising a first magnetic means (16); The electrical current means (14) is configured to interact with the first magnetic means (16) to thereby cause selective displacement of the at least one transport member (15), The transport device (10) further comprises a second magnetic means (24) comprising at least one magnetic device (26, 126) configured to assume a first state and a second state; In the first state, the magnetic device (26, 126) is inactive; In the second state, the at least one magnetic device (26, 126) is active and generates a magnetic attraction force suitable to interact with the first magnetic means (16) to block the transport member (15) against the reference surface (13) in the absence of a correct interaction between the electrical current carrying means (14) and the first magnetic means (16). A transport device (10).

2. The at least one magnetic device (26) comprises a plurality of fixed permanent magnets (27) and at least one movable permanent magnet (28); The movable permanent magnet (28) is movable between at least a first position and a second position; In the first position, when the magnetic device (26) is in the first state, the movable permanent magnet (28) is offset relative to the fixed permanent magnet (27); In the second position, when the magnetic device (26) is in the second state, the movable permanent magnet (28) is aligned with the fixed permanent magnet (27); the at least one movable permanent magnet (28) is connected to an actuating member (29), the actuating member (29) being commanded by a command member (30) configured to command the actuating member (29) to displace the at least one movable permanent magnet (28) between the first position and the second position, thereby transitioning the magnetic device (26) from the first state to the second state; 2. The transport device (10) of claim 1 .

3. 3. The transportation device (10) of claim 2, wherein the plurality of fixed permanent magnets (27) and the at least one movable permanent magnet (28) are arranged coplanar with each other.

4. The at least one magnetic device (126) includes a plurality of permanent magnets (31) and at least one reversible magnet (32) associated with a winding (33); The reversible magnet (32) is configured to reverse the polarity of the generated magnetic field depending on the direction of current passing through the winding (33), thereby transitioning the magnetic device (126) from the first state to the second state.

2. The transport device (10) of claim 1 .

5. 5. The transport device (10) of claim 4, further comprising a circuit (35) that can be commanded by a command member (30) configured to reverse the direction of the current when it is necessary to transition the magnetic device (126) from the first state to the second state.

6. 6. The transport device (10) according to claim 2 or 5, characterized in that the command member (30) comprises a switch device (34) adapted to operate autonomously in the absence of a supply of electrical energy.

7. 7. The transport device (10) of claim 2, 5 or 6, further comprising a control means (17) configured to both monitor the trajectory of the transport member (15) relative to a predetermined path based on data received from a position sensor (19) associated with at least one of the reference surface (13) or the at least one transport member (15) and to activate the command member (30) when the trajectory does not coincide with the predetermined path.

8. The transport device (10) according to any one of the preceding claims, characterized in that the second magnetic means (24) is integrated into a support structure (20) surrounding the electrical current carrying means (14).

9. The transport device (10) according to any one of claims 1 to 7, characterized in that the second magnetic means (24) is externally coupled to a support structure (20) on which the electrical current carrying means (14) is arranged.

10. the second magnetic means (24) being distributed over the reference surface (13) according to a grid-like arrangement having a plurality of links; A transport device (10) according to any one of claims 1 to 9, characterized in that each of the links has an extension smaller than the area of ​​action of the first magnetic means (16) of the at least one transport member (15).

11. 10. The transport device (10) according to any one of the preceding claims, characterized in that the second magnetic means (24) are concentrated in a strip arranged in a lower area of ​​the reference surface (13).

12. The transport device (10) according to any one of claims 1 to 9, characterized in that the second magnetic means (24) are concentrated in a number of strips arranged parallel to one another and extending substantially over the entire extension of the reference surface (13).

13. The transport device (10) according to any one of the preceding claims, characterized in that the second magnetic means (24) are distributed according to a dotted or checkerboard pattern.

14. A transport device (10) according to any one of claims 1 to 13, characterized in that it comprises a recovery means (36) configured to bring the transport member (15) closer to the reference surface (13) and return it to a correct position along the predetermined trajectory after it has been displaced relative to the predetermined trajectory due to the lack of correct interaction.

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