Device for transporting objects

Abstract

A transport device (10) for transporting an object (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 energized electrical member (15) configured to interact with the magnetic member (23) and result in selective displacement of the transport member (18), wherein at least one wireless power transmitter (28) selectively transmits energy to at least one wireless power receiver (30).

Description

[Technical Field]

[0001] The present invention relates to an apparatus for automatically transporting one or more objects, such as components for producing a product or package, between a number of processing stations.

[0002] The device according to the invention requires electrical energy to perform the function of transporting said objects and to power on-board electrical devices, for example to implement means for supporting or gripping one or more objects, or to act as a sensor or detector, or to perform other types of operations on one or more objects, such as, for example, weighing, delivering or filling operations or similar or equivalent operations.

[0003] Furthermore, the device can be used in machines that manufacture packaging for products with a particularly low mass, such as bottles, flasks, caps, ring nuts or other objects of similar size, for example in the chemical, cosmetic and / or pharmaceutical sectors. [Background technology]

[0004] In the chemical, cosmetic and / or pharmaceutical packaging industry, various devices and methods are known for automatically transporting one or more components between one or more processing stations to produce packages, particularly for products of small mass, such as bottles, flasks, caps, ring nuts or other objects of similar size, many of which are designed, manufactured and sold by the applicant.

[0005] In this sector, there is an increasing demand for equipment that can transfer the components for producing packages from one processing station to another in a safe, sterile, ecologically sustainable and quiet environment, without generating contaminants or agents that could contaminate the product and / or its contents, and in which human intervention to carry out the usual operations of the sector (cleaning, format changes, maintenance, monitoring of biological tests, etc.) is minimized and in some cases completely eliminated.

[0006] Electromagnetic type transport devices, also known as "planar motors," are known to comprise magnetic means associated with current-carrying means configured to selectively generate one or more magnetic fields to influence the magnetic means.

[0007] In a planar motor, the magnetic means are typically configured as coils contained within the movable transport member, the energized electrical means are incorporated within a fixed surface, and a controlled electromagnetic field generated between the magnetic means and the energized electrical means allows the transport member to move contactlessly over the fixed surface.

[0008] These planar motors are very versatile as they can follow widely different trajectories and paths (both straight and curved segments) relative to the surface of movement, with appropriate control of the electrical energization means.

[0009] Additionally, planar motors can be used to advantage on horizontal and inclined planes of motion, as well as vertical planes of motion.

[0010] The movable transport members associated with such planar motors are typically equipped with electric drives, such as support or gripping means used to stably support one or more components during movement, or electric devices for performing other operations. Therefore, these transport members typically require electrical energy to power the on-board electric devices, for example, to operate the support means. Therefore, a reliable, safe, and fast supply of on-board electrical energy to the movable transport members is particularly important, especially in the case of non-contact transport by planar motors.

[0011] Also in the industrial field of packaging of food products adjacent to the packaging of such products, solutions are known from DE 102020114084 A1 and EP 3656707 A1 which provide contactless electromagnetic actuation of several components. In particular, DE 102020114084 A1 describes an electromagnetic drive for driving a suction handling member arranged to pick up products being transported on an underlying conveyor belt, and EP 3656707 A1 describes a transport member arranged as the aforementioned "planar motor" and arranged to receive packages of products to be transported.

[0012] Although food processing environments inevitably require hygiene and cleaning standards, the regulations imposed on these environments are not as strict as those imposed on industries packaging chemicals, cosmetics and / or pharmaceuticals, which require an environment that meets certain sterility requirements, and therefore the devices described in the above patents are not suitable for use in packaging such products.

[0013] Therefore, there is a need to develop a transport device that overcomes at least one of the shortcomings of the prior art.

[0014] Applicant has invented, tested and embodied the present invention to overcome the shortcomings of the prior art and to achieve these and other objects and advantages. Summary of the Invention

[0015] The invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention or variants of the main inventive idea.

[0016] In accordance with the above objectives, in order to solve the technical problem disclosed above in a new and original way and also to achieve considerable advantages compared to the prior art, a transport device for automatically transporting objects according to the present invention comprises a support wall having at least one reference surface, at least one transport member configured to support and transport one or more objects and to move with at least two degrees of freedom relative to said reference surface without contact, and energized electric means configured to selectively generate one or more magnetic fields associated with said reference surface, wherein said at least one transport member comprises magnetic means configured to interact with said energized electric means and thereby cause selective displacement of said at least one transport member, and said transport member is further equipped with at least one electric device configured to be operated by electric energy.

[0017] According to one aspect of the present invention, the device includes a fixed wireless power transmitter having a wireless power transmitting coil, and a wireless power receiver associated with the transport member so as to move integrally with the transport member, the wireless power receiver having a wireless power receiving coil capable of being magnetically coupled to the wireless power transmitting coil to receive power, the wireless power receiver being connected to the electric device mounted on the transport member and supplying the electric power received from the wireless power transmitter to the electric device to enable operation of the electric device.

[0018] Doing so has the advantage that at least one electrical device associated with the support member can be powered with electrical energy.

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

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

[0021] According to another aspect of the invention, the wireless power receiver is autonomous and independent of the magnetic means, or the wireless power receiver is defined by at least a part of the electromagnetic circuit of the magnetic means.

[0022] According to another aspect of the present invention, the wireless power receiver is mounted so as to protrude from the transport member.

[0023] According to another aspect of the present invention, the wireless power receiver is integrally installed within the transportation member.

[0024] According to another aspect of the invention, the wireless power receiver is mounted externally to the transport member and connected by a rigid support that protrudes from the transport member.

[0025] According to another aspect of the present invention, the wireless power transmitter is integrally installed on the support wall.

[0026] According to another aspect of the invention, the wireless power transmitter is defined by at least a portion of the electromagnetic circuit of the energized electrical means.

[0027] According to another aspect of the invention, the wireless power transmitter is autonomous and independent of the energizing electrical means.

[0028] According to another aspect of the invention, the wireless power transmitter is mounted externally to the support wall.

[0029] According to another aspect of the present invention, the at least one transport member also comprises an energy storage element, the energy storage element being configured to store the power coming from the wireless power receiver and to deliver the stored power to the electric device, and the wireless power receiver supplies the power received from the wireless power transmitter to the electric device using the energy storage element.

[0030] According to another aspect of the invention, the electrical device is selected from a gripping device drivable between a gripping position and a release position, a sensor device configured to detect a condition, a weighing device configured to measure weight, a filling device configured to dispense a liquid, or a combination thereof.

[0031] 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 explanation of the drawings]

[0032] [Figure 1] FIG. 1 is a three-dimensional schematic view of an apparatus for transporting objects according to a first embodiment of the invention. [Figure 2] FIG. 2 is a three-dimensional schematic view of an enlarged detail of FIG. 1, showing the detail from a different angle than FIG. [Figure 3] FIG. 3 is a three-dimensional schematic view of a detail of FIG. 2 according to a variant. [Figure 4] FIG. 4 is a three-dimensional schematic view of an apparatus for transporting objects according to a third embodiment of the invention. [Figure 5] FIG. 5 shows a schematic example of a possible model of the distribution of energized electrical means relative to a reference plane in a device for transporting objects according to the invention. [Figure 6] FIG. 6 shows a schematic example of a possible model of the distribution of energized electrical means relative to a reference plane in a device for transporting objects according to the invention. [Figure 7]FIG. 7 shows a schematic example of a possible model of the distribution of energized electrical means relative to a reference plane in a device for transporting objects according to the invention. [Figure 8] FIG. 8 is a schematic block diagram of the operation of the apparatus of FIG. [Figure 9] FIG. 9 is a schematic side view of an enlarged detail of FIG. 2, showing two different operating conditions. [Figure 10] FIG. 10 is a schematic side view of an enlarged detail of FIG. 2, showing two different operating conditions. [Figure 11] FIG. 11 is a schematic side view of an enlarged detail of FIG. 2, also showing some of the reference surfaces included in the embodiment of the apparatus of the present invention described herein. DETAILED DESCRIPTION OF THE INVENTION

[0033] 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, and that their function is to give a non-limiting example of the invention itself, since the scope of protection is defined by the claims.

[0034] For ease of understanding, the same reference numbers have been used wherever possible to identify identical common elements in the figures, it being understood that elements and features of one embodiment may be conveniently combined or incorporated in other embodiments without further description.

[0035] Referring 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.

[0036] The device 10 can be used to transport one or more objects 11 or components between one or more processing stations, for example in machines for packaging products in the chemical, cosmetic and / or pharmaceutical sectors.

[0037] The object(s) 11 may comprise a container that can be used in the chemical, medical or pharmaceutical fields, such as a bottle, a flask or even a dispensing nozzle for filling said container.

[0038] This machine, which is not shown in the drawings, can be, for example, of the type described in WO 2021 / 001863 filed by the applicant and essentially comprises several processing stations arranged in a direction of travel having straight and / or curved segments.

[0039] Apparatus 10 includes a support wall 12 having a reference surface 13 (FIG. 4), which may be either vertical or horizontal, or may have any shape and may include vertical, horizontal, curved, and / or angled portions.

[0040] A base wall 14 (FIG. 1) is provided, which can be a substantially horizontal wall, either the wall of the device 10, or the wall of the machine on which the device 10 is installed, or the floor on which the machine itself rests.

[0041] Associated with the reference surface 13 are energized electrical means 15 (Figures 1 and 4) of a known type and not shown in detail, which are configured to selectively generate one or more magnetic fields (which may be locally distributed) in specific areas of the same reference surface 13.

[0042] The energizing electrical means 15 may, for example, consist of a number of electrical coils or windings (not shown), suitably arranged, for example within the support wall 12, and connected in use to an electrical energy supply network 16 (Figure 1) having suitable voltage and current values.

[0043] Furthermore, the support wall 12 may consist of a number of modules arranged adjacent to one another, each of the modules being provided with its own energizing electrical means 15. In this case, the reference plane 13 is defined as a whole by the surfaces of the individual modules.

[0044] Associated with the reference surface 13 are a plurality of transport members 18, only one of which is shown diagrammatically in Figures 1 and 4, each of which is movable relative to the reference surface 13 by a magnetic field generated by energized electrical means 15.

[0045] For example, each transport member 18 may have a base or plane that is polygonal, regular or irregular, particularly quadrilateral, such as a square or rectangle, or may have other polygonal shapes defined by closed dashed lines or a combination of straight and curved lines.

[0046] Each transport member 18 comprises a front face 20 (FIGS. 2, 3 and 9-11) which, in use (FIG. 11), faces the reference plane 13, and a rear face 21 opposite and parallel to the front face 20.

[0047] According to a possible embodiment, each transport element 18 may be provided with magnetic means 23 (FIGS. 1, 2, 3), for example permanent magnets of a known type not shown in detail in the figures.

[0048] The magnetic means 23 are configured to interact with one or more magnetic fields generated by the energized electrical means 15, allowing each transport member 18 to move independently while remaining slightly spaced apart, i.e., without contact, relative to the reference surface 13.

[0049] For example, during each displacement, the transport member 18 can be operatively maintained at a specific first distance D1 (FIG. 11) ranging from about 0.2 mm to about 4.5 mm relative to the reference plane 13. The expression "first distance D1" in this specification means a constant or variable distance that allows a correct interaction between the energized electrical means 15 and the magnetic means 23 and that is therefore comprised within the range of the above reference values.

[0050] The transport member 18 is preferably made as the moving part of a magnetically driven "planar motor", as known per se in the prior art.

[0051] Each transport member 18 (FIG. 1) is configured to move and / or rotate relative to reference plane 13, and is configured to move and / or rotate independently, without contact, without path or direction constraints, and preferably with at least two degrees of freedom.

[0052] The apparatus 10 comprises control means consisting of or including a control unit 25 (FIG. 1), which is configured to control the selective energization of the energizing electrical means 15, for example in relation to the path or trajectory that each transport member 18 follows during its movement.

[0053] The control unit 25 may, for example, include one or more processors of a type known per se and programmable.

[0054] In particular, the control unit 25 can selectively and in a programmed manner control the current and / or voltage values ​​supplied to the energized electrical means 15, which can generate a magnetic field suitable for supporting each transport member 18 at a specific position on the reference surface 13 and a magnetic field suitable for selectively moving each transport member 18 along the reference surface 13 according to a predetermined path.

[0055] According to some embodiments, the apparatus 10 also includes a position sensor 26 associated with at least one of the reference surface 13 or the at least one transport member 18, the position sensor 26 being adapted to detect one or more of the position, forward speed, or other parameters or conditions correlated with the movement of each transport member 18 and to transmit corresponding data to the controller 25. In the embodiment of FIG. 1, the position sensor 26 is associated with both the reference surface 13 and the transport member 18.

[0056] In this way, the control unit 25 can perform feedback control of the energizing electrical means 15 to move each transport element 18 along its respective path.

[0057] For example, according to a possible embodiment, the position sensor 26 may comprise a number of Hall effect sensors integrated into the support wall 12, which are arranged flush or parallel to the energized electrical means 15.

[0058] According to a possible embodiment, the device 10 comprises at least one fixed wireless power transmitter 28 (FIGS. 4, 8, 11), which comprises at least one wireless power transmitting coil 29 and is configured to selectively transmit, for example, electrical power and energy, to at least one wireless power receiver 30 associated with the transport member 18.

[0059] According to some embodiments, at least one wireless power receiver 30 is associated with the transport member 18 so as to move integrally with the transport member 18, and the at least one wireless power receiver 30 comprises at least one wireless power receiving coil 31 (schematically shown in FIG. 8).

[0060] The wireless power receiver 30 is movable integrally with the transport member 18 over the reference surface 13 to selectively approach the fixed wireless power transmitter 28 and magnetically couple the wireless power receiving coil 31 to the wireless power transmitting coil 29. According to some embodiments, the wireless power transmitter 28 can be mounted integrally with the support wall 12 and can be positioned to generate a variable and controllable magnetic field relative to the reference surface 13.

[0061] Furthermore, the inside of the support wall 12 may accommodate a plurality of wireless power transmitting coils 29 arranged according to a predetermined pattern, such as a checkerboard pattern (FIG. 5), a strip pattern (FIG. 6), or a dot pattern (FIG. 7).

[0062] The wireless power transmitter 28 is connected to the power supply network 16 (FIG. 8) and is configured to generate a magnetic field associated with the reference plane 13, for example.

[0063] According to some embodiments, the wireless power transmitter 28 is defined by at least a portion of the electromagnetic circuit of the energized electrical means 15, or according to other embodiments, the wireless power transmitter 28 is autonomous and independent of the energized electrical means 15.

[0064] The wireless power transmitter 28 and the wireless power receiver 30 are configured as a wireless charging system.

[0065] Referring to FIG. 2, a wireless power receiver 30 is integrally installed within the transport member 18 .

[0066] Furthermore, according to a variant, the wireless power receiver 30 is mounted so as to protrude directly outward from the transport member 18 (FIG. 3).

[0067] According to some embodiments, the wireless power receiver 30 is autonomous and independent of the magnetic means 23 or the wireless power receiver 30 can be defined by at least a part of the electromagnetic circuit of the same magnetic means 23 .

[0068] Furthermore, according to another embodiment shown in FIG. 4, the wireless power receiver 30 is mounted on the exterior of the transport member 18 and connected to the transport member 18 by a rigid support 32 such as a cable or rod that protrudes directly from the same transport member 18.

[0069] The wireless power transmitter 28 may be mounted externally to the support wall 12 , for example, associated with a portion of the base wall 14 .

[0070] This has the advantage of improving the interaction between the same wireless power receiving coil 31 and each wireless power transmitting coil 29 .

[0071] Each transport member 18 is provided with at least one electrical device 33 (FIGS. 1, 2-4, 9-11), which is installed corresponding to the rear surface 21, for example.

[0072] According to some embodiments, the wireless power receiver 30 directly powers the electrical device 33 .

[0073] In other embodiments, the wireless power receiver 30 may provide power to an actuator, such as a small electric motor, or a battery connected to an electrical device 33 .

[0074] In another embodiment, the wireless power receiver 30 may provide power to a battery connected to an actuator connected to the electrical device 33 .

[0075] For example, the at least one electrical device 33 may be selected from a gripping device 34, a sensor device, a detection means, a metering device, a filling device configured to dispense a liquid, or a combination thereof.

[0076] According to a possible embodiment, these electrical devices may each comprise a gripping device suitable for gripping a single object 11 or a tray or container in which several objects 11 can be placed.

[0077] For example, the gripping device 34 may include an electrically driven actuator configured to be selectively actuated to move between a first release operating position P1 (FIG. 9) and at least a second gripping operating position P2 (FIG. 10).

[0078] In particular, when the electrical device 33 is configured as a gripping device 34, the gripping device 34 may include, for example, a gripper 35 having a pair of jaws 35a and 35b (Figures 9, 10, and 11), the jaws 35a and 35b configured to rotate about a pin 36 and connected to an electrically driven actuator (not shown in the accompanying drawings) that reciprocates the jaws 35a, 35b toward and away from each other in a controlled manner to alternately place them in a first release operating position P1 and a second gripping operating position P2.

[0079] Furthermore, according to some embodiments, the control unit 25 is configured to control the selection command of the electrical device 33 .

[0080] Each transport member 18 includes an energy storage element 37 (FIGS. 2, 3, and 8) configured to store power received from the wireless power receiver 30.

[0081] The presence of the energy storage element 37 advantageously allows selective operation of the electrical device 33 even when the wireless power receiving coil 31 of the transport member 18 does not directly interact with the magnetic field generated by the wireless power transmitting coil 29. This may be the case, for example, when the transport member 18 is located in a portion of the reference plane 13 that is not affected by the magnetic field generated by the wireless power transmitting coil 29.

[0082] Furthermore, according to a possible embodiment, the electrical device 33 can be directly powered by the wireless power receiver 30 (FIG. 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.

[0083] It will be apparent that modifications and / or additions of components may be made to the transport device 10 thus far described without departing from the field and scope of the present invention as defined by the claims.

[0084] Although the present invention has been described with reference to some specific examples, it is clear to those skilled in the art that other equivalent forms of the transport device 10 can be realized which have the features recited in the claims and which therefore fall within the scope of protection defined by the claims.

[0085] In the following claims, references in parentheses are for the sole purpose of facilitating the reading thereof and shall not be considered as a limitation on the field of protection defined by the same 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 said one or more objects (11) and move in at least two degrees of freedom without contact relative to said reference surface (13); energized electrical means (15) configured to selectively generate one or more magnetic fields associated with said reference surface (13); Equipped with the at least one transport member (18) comprises magnetic means (23) configured to interact with the energized electrical means (15) to thereby cause selective displacement of the at least one transport member (18); the transport member (18) is equipped with at least one electrical device (33) configured to be powered by electrical energy; The transport device (10) further comprises: a fixed wireless power transmitter (28) having a wireless power transmitting coil (29); a wireless power receiver (30) associated with the transport member (18) so as to move integrally with the transport member (18), the wireless power receiver (30) comprising a wireless power receiving coil (31) capable of magnetically coupling with the wireless power transmitting coil (29) to receive power; Equipped with The wireless power receiver (30) is connected to the electrical device (33) mounted on the transportation member (18) and supplies the power received from the wireless power transmitter (28) to enable operation of the electrical device (33). A transport device (10) characterized in that:

2. The wireless power receiver (30) is connected to an actuator that drives the electrical device (33).

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

3. The wireless power receiver (30) is autonomous and independent of the magnetic means (23), or the wireless power receiver (30) is defined by at least a part of the electromagnetic circuit of the magnetic means (23).

3. A transport device (10) according to claim 1 or 2.

4. The wireless power receiver (30) is mounted so as to protrude from the transport member (18).

4. A transport device (10) according to claim 1, 2 or 3.

5. The wireless power receiver (30) is integrally installed within the transport member (18).

4. A transport device (10) according to claim 1, 2 or 3.

6. The wireless power receiver (30) is attached to the exterior of the transport member (18) and is connected by a support (32) that protrudes from the transport member (18).

4. A transport device (10) according to claim 1, 2 or 3.

7. The wireless power transmitter (28) is integrally installed on the support wall (12). A transport device (10) according to any one of claims 1 to 6.

8. The wireless power transmitter (28) is defined by at least a part of the electromagnetic circuit of the energized electrical means (15).

8. A transport device (10) according to claim 7.

9. The wireless power transmitter (28) is autonomous and independent of the energizing electrical means (15).

8. A transport device (10) according to claim 7.

10. The wireless power transmitter (28) is mounted on the exterior of the support wall (12). A transport device (10) according to any one of claims 1 to 6.

11. The at least one transport member (18) also comprises an energy storage element (37); the energy storage element (37) is configured to store the power coming from the wireless power receiver (30) and deliver the stored power to the electrical device (33); The wireless power receiver (30) supplies the power received from the wireless power transmitter (28) to the electrical device (33) using the energy storage element (37). A transport device (10) according to any one of claims 1 to 10.

12. The electrical device (33) is selected from a gripping device drivable between a gripping 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 dispense a liquid, or a combination thereof. A transport device (10) according to any one of claims 1 to 11.

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