Holding device for holding a blank, moving unit and method for moving a blank - Patents.com

Abstract

A holding device (1) for holding a blank (200) comprises a support (5), a first gripping part (10) fixed to the support (5) and provided with a first holding element (11a) for the blank (200), a second gripping part (20) fixed to the support (5) or the first gripping part (10) and provided with a second holding element (21a) for the blank (200), and a movement mechanism (50) for moving the second gripping part (20) relative to the first gripping part (10), the movement mechanism (50) being configured to perform a pure rotation of the second gripping part (2) around a virtual rotation axis (V) located outside the holding device (1).

Description

[Technical Field]

[0001] The present invention relates to a holding device for holding a blank of material, a movement unit for moving the blank, and a method for moving the blank.

[0002] In particular, the held and possibly moved blank is configured to be used as a container for packaging loose items.

[0003] The invention finds preferred application in the fields that can be mentioned below without loss of generality, but which are not limited to, for example, the field of packaging loose goods such as capsules of infusion products, e.g. coffee, in containers.

[0004] A holding device generally comprises a device suitable for immobilizing some part of an object of interest.

[0005] Typically, containers belonging to this technical field are produced by packaging machines from semi-finished products of the convenient shape for which they are intended, according to the desired production method. [Background technology]

[0006] In the known type of method, the semi-finished product used has four lateral faces which are fixed to one another by folding creases to form a continuous lateral body closed on itself, as well as a bottom and a top face which are fixed to said lateral body with the possibility of rotation.

[0007] In this way, the semi-finished product can be formed from a substantially planar configuration in which the sides are laid on two adjacent layers, two on two coplanar surfaces, to an open configuration in which adjacent sides are substantially perpendicular to each other, by simple rotation of a side relative to another adjacent surface. Summary of the Invention [Problem to be solved by the invention]

[0008] However, this simple operation of controlled deformation of the semi-finished product during the processing step of the container actually requires a pre-processing step.

[0009] This is due to the fact that semi-finished products are typically obtained from blanks of material.

[0010] The blanks generally have a substantially planar shape for ease of transport and storage in warehouses, and are configured so that the desired container can be obtained by simply folding and fastening or gluing the various panels that make up the flat blank. The blanks are typically manufactured from cardboard or thin cardboard having fold lines, the fold lines being created by creases that allow the container to be formed by a folding action that folds various portions of the blank and fastens them together.

[0011] In this sense, the blank therefore has an initial flat shape and takes on one or more spatial configurations of the semi-finished blank during the various processing steps until it is fully formed into the desired final container.

[0012] Once the aforementioned box-shaped container has been produced, it is possible to fill it with the relevant goods or products, again thanks to the devices contained in the packaging machine. [Means for solving the problem]

[0013] In this context, a method for processing blanks is called "continuous" when the conveyor that moves the blanks has a speed other than zero at each time coordinate. This speed that is taken into account is the speed of the conveyor during any processing step that leads to the formation of a container starting from said blank relative to a fixed reference system, and is intended as the speed of the entire conveyor.

[0014] In this context, the term "container" identifies a structure capable of containing material therein and in particular configured to confine the material at least laterally.

[0015] In connection therewith, the term "holding element" identifies a device suitable for fixedly fixing one or more parts of the blank or semi-finished product thereto during the holding step, so that in any movement of the holding element there is an equal movement of said parts of the held blank or semi-finished product.

[0016] In this context, a first element is defined as "engaging" a second element when an interaction is established between the two elements such that the first element can determine the motion of the second element. This interaction may be, for example, mechanical, magnetic, or of other nature.

[0017] A plane is said to be "horizontal" when it is parallel to the plane of the ground on which the object of the forming unit of the present invention is placed.

[0018] Consistently, the term "vertical" refers to a direction perpendicular to a horizontal plane, and therefore, terms relating to "upper" or "lower" positioning should be understood to refer to an orientation along the vertical direction.

[0019] In this context, the term "pure rotation" refers to the rotational motion produced by a rigid body, assuming that the axis of rotation of this movement is fixed.

[0020] In other words, pure rotational motion is characterized by considering an operator of rotational symmetry defined as an axis of rotation A parallel to vector Z of an orthogonal triple of vectors XYZ of the rigid body, this symmetry operator moves all points of the rigid body so as to be subjected to it by keeping them at a fixed distance from the axis of rotation A (this fixed distance is defined as the "radius"), at each point of the circular orbit defined by the symmetry operator for each point of the rigid body, by changing the direction of the two vectors X and Y while keeping the direction of vector Z constant.

[0021] In this same context, for further clarification, pure translational motion is identified as a motion relative to a reference point that results in a change in the spacing of each point of the rigid body from the reference point, while the directions of the three vectors XYZ remain unchanged.

[0022] It is therefore clear that pure rotational motion differs from more complex motions such as, for example, rotational translation (which provides the sum of at least one motion of pure rotation and at least one motion of pure translation) because not all the requirements of pure rotation are met.

[0023] In this context, the term "virtual axis of rotation" refers to an axisymmetric operator that does not coincide with the axis of rotation of a corresponding rotating mechanical element, e.g., a pin, shaft, bearing, hinge, etc. For convenience and further clarity, an axisymmetric operator that coincides with the axis of rotation of a corresponding mechanical element will be identified in this context as a "real axis of rotation".

[0024] The terms "damaging," "damage," or "to damage" refer to the deformation of plastic components (i.e., plastic and / or elastic-plastic deformation) around the material being processed, and therefore an increase in the density of structural defects.

[0025] Such damage is considered excessive and therefore unacceptable if it impairs the workability and / or use of the material according to its desired intended use. Examples of unacceptable damage mentioned purely by way of non-limiting example may include a failure of the structural uniformity of the material with an excessive decrease or increase in the modulus of elasticity, the formation of extensive surface or internal cracks, variations in surface roughness that make it difficult to have a good, flat bearing surface for holding and transferring the material during processing steps, anesthetic variations in the exposed surface, etc.

[0026] This increase in density of deformation due to the plastic component of the material correlates to the relative movement of the various parts of the material being deformed, taking into account the most appropriate ambient conditions accordingly. In this sense, bending a material around one of its points creates zones of compression and tension in its cross section, thus resulting in a limited increase in the density of deformation substantially contained in the axis of rotation of the bending itself. In this respect, tension or compression essentially involves a uniform change in the entire cross section, again increasing the density of deformation. It is therefore clear that a translation applied to a rotation at one point induces more damage to the material than a simple rotation applied to the same point.

[0027] The applicant has observed that the method generally practiced by packaging machines operating on semi-finished products provides for them to be placed on an initial hopper in a flat configuration. A great advantage of using such formed semi-finished products is therefore that they can be obtained in an open configuration by very simple and rapid operations well suited to the needs of industrial production.

[0028] At the same time, however, the applicant has recognized that this method requires a different initial forming device that operates upstream of the packing device using the semi-finished product, which converts the open planar blank into a semi-finished product with the desired closed lateral body.

[0029] Applicant has also noted that these operations are generally performed using different equipment because they involve complex and varied holding, moving, folding and fastening systems that may be bulky or unnecessary in the following steps of forming the container.

[0030] In fact, the applicant has observed that blanks have various difficulties in moving due to their open planar development (and therefore the voids of the closed structure fixed to themselves), which can in some cases act as a "sail" to the relative air currents generated during said movement, thus causing undesirable slowdowns or modifications of the programmed forming method.

[0031] For this reason, the industry in this field generally chooses to form containers using equipment that starts the process from a semi-finished product with a closed lateral body, which therefore presents significantly less difficulty to move than an open blank, precisely because the degrees of freedom of movement during transfer are reduced.

[0032] Furthermore, the applicant has noted that when it is intended to carry out the forming process from an open flat blank, such a situation requires holding several parts of the blank while at the same time allowing the desired and necessary movements of the different parts in order to optimally manage the various movements required.

[0033] Furthermore, the Applicant has noted that too many holding constraints would make the holding device too bulky, stiff and heavy, thus risking impairing its maximum speed of movement and therefore the maximum speed of movement of the blanks and therefore the productivity of the method itself.

[0034] Furthermore, the applicant has noted that the use of holding devices known in the state of the art, when applied to blanks, tends to cause local deformations and damage to the blanks due to the internal compression and / or tension induced by the devices during the processing steps.

[0035] The applicant therefore realized that it would be advantageous to initiate a method for forming containers directly from blanks, and that to do so it was necessary to develop a blank holding device that was completely different from the prior art and that could be adapted depending on the characteristics of the blank.

[0036] Thanks to this approach, the applicant has verified that it is possible to manage the various movement steps during the forming method more efficiently, since the division between the step of making the semi-finished product from the blank and the step of moving the semi-finished product to form the final container is abandoned, thus creating a single, uninterrupted and joint movement and processing flow.

[0037] The applicant has finally found that the desired optimization of the above-mentioned method is achieved by realizing a holding device for holding a blank comprising first and second gripping parts with respective holding elements capable of simultaneously holding different parts of the blank, the second gripping part being rotated relative to the first gripping part around a virtual axis of rotation outside the holding device.

[0038] In this way, the portions of the blank that are bonded to the first and second gripping portions can be moved relative to one another, minimizing local deformation of the blank due to compression or tension thereof.

[0039] It is important to note that the logic of the method of the present invention is very different from that adopted in the prior art regarding the concept of "controlled holding and movement". Indeed, thanks to the present invention, it is possible to overcome the condition in which the forming method is started by holding the semi-finished product (pre-formed from a blank) and instead start directly from the blank, moving it at the same time, minimizing the damage that may be caused.

[0040] In particular, in a first aspect, the present invention relates to a holding device for holding a blank including a support.

[0041] Preferably, the holding device comprises a first gripper fixed to said support and comprising a first holding element for holding said blank.

[0042] Preferably, the holding device comprises a second gripping part fixed to said support or said first gripping part and comprising a second holding element for holding said blank.

[0043] Preferably, the holding device comprises a movement mechanism for moving the second gripping part relative to the first gripping part, the movement mechanism being configured to perform a pure rotation of the second gripping part around a virtual rotation axis located outside the holding device.

[0044] Thanks to these features, it is possible to hold and move the second gripper relative to the first gripper of the blank so that the net rotation axis is not located within the holding device, thus overcoming the rotational limitations imposed by the overall three-dimensional size of the kinematic mechanism rotating around the actual rotation axis of the device, thereby allowing the blank to bend and deform freely, thus better complying with its internal structural requirements and thus reducing the possibility of damage to the blank.

[0045] This is advantageous, for example, when it is desired to bring a blank into a particular configuration by folding one part relative to another, or to perform a step of pre-folding part of the blank, which step ensures that this folded part is already locally deformed and therefore less rigid during the subsequent folding. This facilitates and improves the following forming steps. More particularly, as can be inferred from what has been pointed out so far, pre-folding finds advantageous application especially for blanks of larger dimensions (i.e., as the dimensions of the blank increase, the benefits that can be obtained from the pre-folding step increase).

[0046] In its second aspect, the invention relates to a transfer unit for transferring blanks, comprising a holding device made according to the previous aspect.

[0047] Preferably, the transfer unit for transferring the blank comprises a drum to which said holding device is fixed.

[0048] In this sense, such a drum acts as a conveyor for the holding device and therefore for the held blanks.

[0049] Thanks to this solution it is possible to move the blanks quickly by rotating the drum and effectively moving the blanks to the desired position.

[0050] Furthermore, this mode identifies an ideal solution when a holding device must pick up blanks from a horizontal hopper and then transfer them to a horizontal or vertical conveyor belt.

[0051] Horizontal hoppers are indeed practical and easy to use because they allow the blanks to be processed to be loaded side by side easily and efficiently, and avoid the blanks breaking under their own weight as occurs in vertical hoppers.

[0052] Horizontal hoppers prepare blanks ready for removal oriented in a vertical plane, which is not easy to use if the blank holding device is attached to a conveyor belt, since this requires the belt to move vertically, a mode of operation that is disadvantageous in terms of gravity.

[0053] Furthermore, if the blank is released horizontally (which is very practical and advantageous for the forming method), the forward direction of the conveyor belt would need to be rotated by 90 degrees, which would remove useful space for any additional components and make the path of the blank more complicated and tortuous.

[0054] On the contrary, the solution realized according to the second aspect of the invention makes it possible to easily access the blanks held by the horizontal hopper and to effectively remove them by moving them as desired until they are released, for example, to another further holding device having a horizontal orientation. It is immediately clear that by rotating the drum it is possible to change the orientation of the blanks in order to quickly transfer them to the desired additional holding device.

[0055] In a third aspect, the present invention relates to a method for transferring a blank, comprising the step of providing a transfer unit made according to the second aspect of the present invention.

[0056] Preferably, the method includes the step of moving a drum included in said transfer unit to an unloading position in which a holding device made according to the first aspect of the invention included in said transfer unit faces the blank.

[0057] Preferably, the method includes the step of activating a holding element of the holding device by fastening the blank to the holding device.

[0058] Preferably, the method includes rotating the drum in a direction from the unloading position to a release position.

[0059] Preferably, the method includes a step of rotating a second gripping part of the holding device relative to a first gripping part of the holding device about an imaginary axis of rotation located outside the holding device, while the drum rotates between the removal position and the release position.

[0060] Preferably, the method includes the step of deactivating the retaining element by disengaging the blank from the retaining device while the drum is in the release position.

[0061] In this way, the blank can be removed, moved and released, and the configuration of the blank can be changed, while the deformation of the material is small and limited.

[0062] Furthermore, this solution allows the blank to be transported by reducing the sail effect during rotation, thereby optimizing the effectiveness of the holding element and ensuring effective and continuous grip.In fact, when the second gripper is rotated tangentially to the radius of the drum, it can present a smaller surface area to the airflow generated during rotation, thus improving the effectiveness generated by the holding element.

[0063] Additionally, the overall size of the blank and holding device can be more freely controlled during rotation of the drum, thus reducing the possibility of collision with fixed or moving parts outside the holding device.

[0064] In a fourth aspect, the present invention further relates to a packaging apparatus for packaging articles, comprising at least one moving unit for moving blanks, configured according to the second aspect described above.

[0065] In at least one of the above aspects, the present invention may further have at least one of the preferred features described below.

[0066] Preferably, said first and second holding elements are selectively connectable to a reduced pressure circuit.

[0067] Thanks to this solution, it is possible to build a holding system simply, economically and effectively.

[0068] Preferably, said holding elements are suction cups or other pneumatic means.

[0069] Thanks to this solution it is possible to hold the surface of the blank firmly and securely by means of the holding device during all desired movements.

[0070] Preferably, the movement mechanism is configured to rotate and translate the second gripper relative to the first gripper.

[0071] In this way, it is possible to achieve an efficient articulation system in which the resulting actual radius of rotation of the second gripper relative to the first gripper can be modified by translation, which results in a net rotation about the resulting virtual axis of rotation.

[0072] In fact, thanks to this technical solution, the second gripping part, by moving relative to the first gripping part, is able to compensate for deformations of a translational nature that it would induce in the material of the blank.

[0073] In other words, in this case, considering that pure rotation, and therefore rotation with a constant radius, is by definition only possible around a virtual axis of rotation (which does not correspond to the actual axis of rotation of the rotating element), one way to physically realize this particular type of movement is to translate the second gripper relative to the first gripper while simultaneously compensating for the rotation on a real radius (different from the virtual axis of rotation).

[0074] Preferably, the movement mechanism comprises an articulated parallelogram fixed to the first gripper and the second gripper.

[0075] In this way, it is possible to perform a rotational translational movement of the second gripping part relative to the first gripping part, thus reducing damage caused to the material of the blank during movement.

[0076] Preferably, said articulated parallelogram comprises a first rod fixed to a first rotation point of said first gripper by a first hinge.

[0077] Preferably, the first hinge is near a first end of the first rod.

[0078] Preferably, said articulated parallelogram comprises a second rod fixed to a second rotation point of said first gripper by a second hinge.

[0079] Preferably, the second hinge is near the first end of the second rod.

[0080] Preferably, the articulating parallelogram includes a third rod with a first pin rotatably fixed to the first rod, a second pin rotatably fixed to the second rod, and a third pin rotatably fixed to a third rotation point of the second gripper.

[0081] Preferably, the articulating parallelogram includes a fourth rod with a fourth pin rotatably fixed to the first rod, a fifth pin rotatably fixed to the second rod, and a third pin rotatably fixed to a fourth rotation point of the second gripper.

[0082] Preferably, said first and second rotation points and said virtual rotation axis are aligned so as to be in register with one another.

[0083] Preferably, said third and fourth rotation points and said virtual rotation axis are aligned to match one another.

[0084] Preferably, the articulated parallelogram is realized such that when the first and second rods rotate at the same angle relative to the first and second rotation points, the third and fourth rods undergo a translational movement relative to the first gripping part while remaining mutually parallel, thereby changing the angular orientation of the second gripping part relative to the first gripping part by rotating about the virtual axis of rotation.

[0085] Thanks to this technical solution it is possible to realize a holding device in a simple and cost-effective way, which can be easily adapted according to changes in the first or second gripping part or to a preferred position in the space of the virtual axis of rotation.

[0086] Furthermore, this construction ensures excellent robustness and reliability in use, even at high speeds and frequencies of movement.

[0087] Preferably, the virtual axis of rotation is located outside the holding device in a region proximate to the holding device, preferably the proximate region being identified as a portion of a space surrounding the holding device and in which the blank is located when secured to the holding device.

[0088] In one embodiment of the invention, the proximity region has a spacing from the blank when secured to the retaining device, the spacing being equal to 10 times the thickness of the blank, more preferably equal to 5 times the thickness of the blank, and even more preferably equal to 2 times the thickness of the blank.

[0089] In another embodiment of the invention, the proximity area is spaced from the holding surface of the blank defined on the first gripping portion or the second gripping portion by a distance equal to 20 mm, more preferably equal to 15 mm, and even more preferably equal to 10 mm.

[0090] In this way, it is possible to cause the rotation of the blank to occur in such a way that the local deformation associated with the rotation is substantially the dominant deformation, i.e., such that the deformation induced by possible translation of the blank's material is negligible compared to that produced by the rotation, and such that the blank is accommodated.

[0091] Those skilled in the art will be able to assess the most appropriate proximity spacing depending on the thickness of the blank and the type of material being processed.

[0092] In fact, a material with a lower modulus of elasticity (and therefore more yield modulus) than another material may be able to tolerate a greater close spacing than that allowed by a stiffer material.

[0093] In this way, the blank can be moved efficiently and quickly without causing undue damage.

[0094] Preferably, said imaginary axis of rotation passes through said blank when said blank is held by said holding element.

[0095] In this way, it is ensured that there is the smallest possible optimal deformation (and therefore the smallest possible damage) in the blank material, since only pure rotation acts therein, without any further contribution of translational motion. Indeed, as mentioned above, any additional translational component on the blank will induce a further deformation component in the blank.

[0096] Preferably, the imaginary axis of rotation coincides with an area of ​​greater yield in the blank, and more preferably, the imaginary axis of rotation coincides with a fold in the blank.

[0097] In this way, it is possible to further contain and control the deformation induced in the blank so that it is structurally and functionally configured to allow rotation about itself as the deformation induced in the blank occurs within the fold zone.

[0098] Preferably, the first and second retaining elements are substantially planar.

[0099] This allows the planar blank portion to be held ideally and securely during its movement.

[0100] In one embodiment of the invention, the first gripping part is fixedly secured to the support.

[0101] In another preferred embodiment of the invention, the holding device comprises a movement device configured to translate the first gripping part and the second gripping part.

[0102] Preferably, the moving device moves the first and second gripping portions in translation simultaneously.

[0103] Preferably, said first and second grippers translate relative to said support or to another predetermined reference, such as for example a drum to which the holding device is mounted.

[0104] Thanks to this technical solution it is possible to facilitate the gripping, transport and movement of the blank by adding an additional movement component of the first and second gripping parts.

[0105] Preferably, such a moving device may include a cam kinematics or track runner system, or even a device that moves following the rotation of the worm screw.

[0106] Preferably, the retention device is attached to a drum, runner, track or belt.

[0107] In this way, it is possible to move the blank along a desired path while it is held by the holding device. This technical solution makes it possible to carry out a fast and continuous method for moving the blank.

[0108] Preferably, the first gripper and the second gripper are mounted on a drum and are capable of translational movement in a direction having a radial component of the drum.

[0109] In this way, it is possible to further modify the direction in which the holding device moves. In particular, this modification can be performed near or at the removal and / or release and / or folding zone.

[0110] Preferably, the transfer unit comprises a pre-folding device configured to cooperate with the holding device to fold predetermined portions of the blank.

[0111] In this way, said portions of the blank, such as folds, strips, flaps, etc., can be deformed or yielded to make them less rigid and therefore easier to work with, thus improving and simplifying subsequent gluing or joining.

[0112] Furthermore, said technical solution also allows for better management of the spatial arrangement of certain parts, especially when they become panels or flaps, in order to ideally guide these panels or flaps to an additional moving device in a desired orientation.

[0113] Preferably, the first gripping part of the holding device is arranged upstream of the second gripping part according to the direction of rotation of the drum.

[0114] Thanks to this technical solution, it is possible to improve the control of the blank during the rotation of the drum by creating a holding constraint in the part of the blank downstream of said first gripping part of the holding device, this holding constraint being the first to be exposed to the relative air flows generated during rotation and therefore the one most likely to generate the above-mentioned sail effect.

[0115] Preferably, the drum comprises a cam-type rotation mechanism configured to produce a change in angular rotational speed of the holding device relative to the drum.

[0116] In this way, it is possible to vary the angular velocity of the holding device relative to the angular velocity of the drum, and in some cases even bring the holding device to a standstill while the drum continues its rotational movement. Thanks to this technical solution, it is possible to carry out operations on the blank (for example, folding, removal, release, etc.) when the blank has a velocity substantially equal to zero.

[0117] According to one embodiment of the present invention, the cam-type rotation mechanism also acts as a moving device that enables the first and second gripping portions of the holding device to move in a direction having a radial component relative to the rotation axis of the drum.

[0118] Preferably, the moving unit comprises a plurality of holding devices arranged at equal angular intervals along an axis of symmetry passing through the axis of rotation of the drum.

[0119] Thanks to this technical solution it is possible to further increase the process speed while maintaining the monoflow advance of the blank.

[0120] Preferably, said number of retaining devices is equal to three.

[0121] The Applicant has appreciated that this technical solution represents an ideal compromise between the processing speed of the blanks, the overall cubic size of the holding device within the rotating drum and the resulting maximum usable angular velocity, optimizing productivity by reducing the risk of damage due to possible collisions between moving parts.

[0122] Furthermore, this solution identifies an ideal compromise between productivity and weight of the holding device applied to the drum.

[0123] Preferably, the moving unit comprises a plurality of drums, each drum having at least one of the holding devices, and the plurality of holding devices are configured to be able to change the blank between a first holding device and a second holding device, each of which is fixed to a different drum.

[0124] Thanks to this technical solution, it is possible to carry out the passage of the blank in a simple, effective and fast way by realizing a change of orientation relative to the presented surface and thus optimally controlling the position of the desired part of the blank.

[0125] Preferably, the method includes holding an abutment panel of the blank with the first gripping portion and holding a side panel of the blank with the second gripping portion, the side panel being downstream relative to the abutment panel according to the direction of rotation of the drum.

[0126] Thanks to this embodiment, it is possible to control the side panels of the blank during the rotation of the drum, which, if left free, tend to flex freely and risk getting caught on parts of the holding unit or on its exterior, thus endangering the movement method according to the sail effect described above.

[0127] Preferably, the retaining device creates a desired fold in the blank between the abutment panel and the side panel while the drum rotates between the removal position and the release position.

[0128] In other words, the method envisages that thanks to the ability to rotate the second gripping portion around a virtual axis of rotation relative to the second gripping portion, a specific fold of the blank can be performed with minimal damage to the blank due to deformation while it is held by the holding device.

[0129] Preferably, while the drum rotates between the removal position and the release position, the method includes the step of generating a desired fold of a longitudinal attachment flap of the blank by means of a pre-folding device cooperating with the first and second grippers.

[0130] In this way, the folding zone can be further deformed and made more yielding so that the blank is easier to process in the following steps.

[0131] Preferably, the stopping of the holding device occurs during rotation of the drum.

[0132] In particular, such stopping of the holding device preferably occurs during the step of removing and / or releasing the blank and / or during the step of folding or pre-folding the blank.

[0133] In this way, it is possible to reduce the relative speed of the holding devices, thereby stopping them and making any desired operation performed on or to the blank easier and more effective.

[0134] Preferably, said stop is obtained by said cam-type rotation mechanism.

[0135] Preferably, the method includes the steps of rotating a first drum of the moving unit that holds the blank toward the release position, and rotating a second drum of the moving unit in synchronization with the first drum.

[0136] Preferably, the second drum rotates in the opposite direction to the first drum.

[0137] Preferably, the method includes bringing the second gripping portion of the holding device fixed to the first drum into contact with a second gripping portion of a holding device fixed to the second drum.

[0138] Preferably, the method includes bringing the first gripping portion of the holding device fixed to the first drum into contact with the first gripping portion of the holding device fixed to the second drum.

[0139] Preferably, the method maintains the holding element of the holding device fixed to the first drum while also actuating the holding element of the holding device fixed to the second drum.

[0140] Preferably, the method comprises deactivating the holding elements of the holding device fixed to the first drum while keeping the holding elements of the holding device fixed to the second drum activated.

[0141] In this way, it is possible to quickly and accurately transfer the blanks from the first drum to the second drum, and thus to continue the above-described method for moving said blanks continuously and without interruption.

[0142] Preferably, the method further provides a second gripper that rotates the second drum to a release position while rotating the second drum about an imaginary axis of rotation relative to a first gripper of the holding device fixed to the second drum.

[0143] Preferably, the holding device is moved in a direction having a radial component relative to the axis of rotation of the drum.

[0144] In this way, the blank can be more efficiently moved to engage the desired device or station.

[0145] The features and advantages of the invention will become apparent from the detailed description of embodiments thereof, given by way of non-limiting example, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0146] [Figure 1] FIG. 1 is a schematic side view of a retention device made in accordance with the present invention in an aligned configuration. [Figure 2] FIG. 2 is a further schematic side view of the holding device in FIG. [Figure 3] FIG. 3 is a schematic side view of the holding device of FIG. 1 in a rotated configuration. [Figure 4] FIG. 4 is a further schematic side view of the holding device in FIG. [Figure 5a] FIG. 5a is a perspective view of the holding device in FIG. [Figure 5b] FIG. 5b is a perspective view of the holding device in FIG. [Figure 5c] FIG. 5c is a top view of a blank that can be used in the present invention. [Figure 6] 6 shows a schematic side view of the transfer unit with the holding device of FIG. 1 in different operating steps. [Figure 7] 7 shows a schematic side view of the transfer unit with the holding device of FIG. 1 in different operating steps. [Figure 8] 8 shows a schematic side view of the transfer unit with the holding device of FIG. 1 in different operating steps. [Figure 9] 9A to 9C show schematic side views of the transfer unit with the holding device of FIG. 1 in different operating steps. [Figure 10] FIG. 10 is a schematic side view of a further embodiment of the mobile unit in FIG. [Figure 11] 11 is a top view of a packaging apparatus for articles including the forming unit of FIG. 6. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0147] Referring first to FIG. 11, 800 denotes a packaging apparatus provided for forming containers from blanks 200 and for filling the containers thus formed with a plurality of loose articles to obtain finished packages intended to be packaged for transport.

[0148] The example embodiments described below refer to box-shaped containers in which items packed in the container, in particular items that are different from one another or the same but of different configurations, are arranged in a sorted manner, for example, arranged in superimposed layers.

[0149] In the particular case described herein, the articles filled into the container are capsule elements, in particular coffee capsules, for the preparation of beverages by infusion.

[0150] In this embodiment, each blank 200 is a flat layered element made of a foldable semi-rigid material, such as cardboard, suitably cut and preferably provided with fold lines formed by scored portions 260.

[0151] As can be better seen in FIG. 5c, the blank 200 has a substantially cross shape including a front panel 230 having a rectangular shape, from which additional panels branch off according to the normal direction of their respective edges.

[0152] More specifically, the abutment panel 210 and the closure panel 245 on the opposite side of the abutment panel 210 from the front panel 230 are connected from the front panel 230 along the longitudinal axis L of the cross shape. Also shown is the rear panel 240 connected to the abutment panel 210 on the opposite side of the front panel 230 from the front panel 230 along the longitudinal axis L.

[0153] Additionally, two opposing side panels 250 are identified, which are connected at their other two edges to the front panel 230. The folds parallel to the longitudinal direction are defined as longitudinal folds and are identified by the numeral 261.

[0154] All of the above panels have a quadrilateral shape, preferably a rectangle, so that the container resulting from the blank 200 is substantially box-shaped or parallelepiped-shaped.

[0155] In particular, the abutment panel 210 defines the bottom of the container, while the rear panel 240, front panel 230, and side panels 250 of the blank 200 correspond to the rear, front, and side walls of the container, respectively. Finally, the closure panel 245 defines the openable wall of the container, which is intended to close an opening defined in the container by the raising of the side panel 250, front panel 230, and rear panel 240.

[0156] Preferably, the abutment panel 210 and the rear panel 240 have respective longitudinal fastening flaps 280 on each edge diverging parallel to the longitudinal axis L of the blank 200, the longitudinal fastening flaps 280 having a trapezoidal shape with free edges connected by beveled edges.

[0157] Additional flaps can be created on any free edge of each panel of the blank.

[0158] The rear panel 240 also has a closure flap articulated to the abutment panel 210 on the opposite side thereof, in addition to the longitudinal fastening flap 280 .

[0159] 1, there is shown an embodiment of a holding device 1 comprising a first gripping portion 10 provided for holding a portion of a blank 200 and a second gripping portion 20 provided for holding an additional portion of the blank 200. In FIG. 6, there is shown a support 5 corresponding to a solid part to which the first gripping portion 10 is fixed. Such a support 5 will be described below.

[0160] The first gripping portion 10 and the second gripping portion 20 respectively have first and second holding elements 11a, 21a for holding the blank 200, and the first and second holding elements 11a, 21a are represented in Figures 1 to 4 as suction cups that act under reduced pressure.

[0161] 1 to 4, it is noted that the second gripping part 20 is fixed to the first gripping part 10 by a movement mechanism 50 configured to perform a pure rotation of the second gripping part 20 about an imaginary axis of rotation V located outside the holding device 1. It should be noted that the imaginary axis of rotation V in FIGS. 1 to 4 is shown perpendicular to the plane of the paper. It can be noted from FIG. 1 that the imaginary axis of rotation V is preferably defined on the blank 200, and even more preferably coincides with one of the longitudinal fold portions 261.

[0162] In this way, the holding device 1 can pass from an aligned configuration A shown in Figures 1 and 2, in which the aforementioned holding surfaces 15, 25 are laterally oriented relative to one another, to a rotated configuration R shown in Figures 3 and 4, in which the first and second holding surfaces 15, 25 of the first and second holding elements 11a, 21a of the first and second gripping portions 10, 20, respectively, are substantially aligned and coplanar with one another.

[0163] Obviously, in use, the holding elements 11a and 21a secure the blank 200 to the holding device 1, which is also deformed according to the alignment configuration A or the rotation configuration R.

[0164] Furthermore, the imaginary axis of rotation V passes close to the edge of the first gripping part 10 facing the second gripping part 20, for example a few millimeters from said edge, which favors folding of the blank 200 at the creased portion 261.

[0165] It is important to note that, as mentioned above, thanks to the holding device 1 it is possible to carry out a pure rotation about a virtual axis of rotation V.

[0166] The geometric direction of this movement is shown in Figure 4, where the same point of the second gripper 20 is considered, which passes from a position P1 in the rotated configuration R to a position P2 when in the aligned configuration A. As can be clearly seen, the movement from P1 to P2 describes an arc of circumference C1 about an imaginary axis of rotation V with a fixed radius R1.

[0167] Referring again to FIG. 4, it can be seen that this motion of pure rotation is only valid when the imaginary axis of rotation V is considered, but if other physical parts of the holding device 1 are considered, this type of motion requires a more complex description and performance.

[0168] To make this clearer, in Figure 4, the movement of the same previously analyzed point of the second gripper 20 is considered at position P1, which performs a pure rotation relative to the reference point 11 (this arbitrary point will be explained in more detail below).

[0169] Since the motion is purely rotational, all components of the holding device 1 between the reference point 11 and the position P1 must be considered rigid, i.e., fixed to one another. As can be seen again from FIG. 4, the point of the second gripping unit 20 at the position P2 now defines a second radius R2a relative to the reference point 11, which identifies the second arc of the circumference C2. By drawing the line segment R2b connecting the position P2 of the second gripping unit 20 to the reference point 11, it becomes clear that this radius is greater than the second radius R2a. Indeed, it is immediately clear that in order for the second gripping unit 20 to be able to move from the second arc of the circumference C2 until it reaches the position P2, it is necessary to add a translational movement whose component is equal to the absolute value of the difference between the two radii R2b and R2a (|R2b-R2a|). This therefore means that, in the embodiment in which the second gripping unit 20 is considered, it performs a rotational-translational movement relative to the reference point 11.

[0170] It is also interesting to note that with a pure rotation considered around the reference point 11, the vector XYZ at position P1 will not arrive in the same direction as the vector at position P2, and the second gripping part 20 will be prevented from rotating by the presence of the first gripping part 10.

[0171] Indeed, to enable the second gripper 20 to reach the second position P2, there must be a translation that allows the second gripper 20 to avoid colliding with the first gripper 10. In addition, there must be a further change in rotation so that the triplet of vectors XYZ can be aligned as desired.

[0172] 1 to 4 is an articulated parallelogram 51 fixed to the first gripping part 10 and the second gripping part 20. The articulated parallelogram 51 comprises a first rod 60 with a first hinge 61 located near a first end 62 of the first rod 60, which is fixed to a first rotation point 11 of the first gripping part 10 (used earlier as an example of a possible reference point) by the first hinge 61.

[0173] Furthermore, the articulated parallelogram 51 comprises a second rod 70 having a second hinge 71 located near a first end 72 of the second rod 70, which is fixed by the second hinge 71 to a second rotation point 12 of the first gripping part 10.

[0174] The articulated parallelogram 51 also comprises a third rod 80 comprising a first pin 81 rotatably fixed to the first rod 60, a second pin 82 rotatably fixed to the second rod 70, and a third pin 83 rotatably fixed to the third rotation point 21 of the second gripping part 20.

[0175] Finally, the articulated parallelogram 51 comprises a fourth rod 90 comprising a fourth pin 91 rotatably fixed to the first rod 60, a fifth pin 92 rotatably fixed to the second rod 70, and a third pin 93 rotatably fixed to the fourth rotation point 22 of the second gripping part 20.

[0176] 1 to 4, thanks to this particular embodiment of the articulated parallelogram, the imaginary axis of rotation V remains clearly determined by the intersection of the line connecting the first and second rotation points 11, 12 with the line connecting the third and fourth rotation points 21, 22. In other words, it is as if the imaginary axis of rotation V were a fixed ninth pin of the articulated parallelogram 51 described above.

[0177] Therefore, when the first and second rods 60, 70 rotate through the same angle α relative to the first and second rotation points 11, 12, the third and fourth rods 80, 90 follow a translational movement T relative to the first gripping portion 10 while remaining parallel to each other. 2 and 3, it should be noted that the angle at which the second gripping portion 20 rotates to reach the rotated configuration R is the same angle α as the first and second rods 60, 70 rotate relative to their positions in the aligned configuration A (e.g., angle α relative to the second pin 82 is shown).

[0178] Referring again to Figures 2 and 3, the orientation of the third rod 80 relative to the second rod 70 is now considered, and it should be noted that in the aligned configuration A (shown in Figure 2) the angle between them is equal to β1, and in the rotated configuration R (shown in Figure 3) the angle between them changes and is equal to β2.

[0179] Thus, during movement from the aligned configuration A to the rotated configuration R, multiple rotations contribute along with translational contributions of the second gripper 20 relative to the first gripper 10.

[0180] This state is also represented by the perspective views shown in Figures 5a and 5b, which correspond to Figures 2 and 3 described above, respectively, and allow further appreciation of the folding of blank 200, which is fixed to holding device 1 in alignment configuration A and rotated R.

[0181] 1 and 8, it will be noted that rod 60 has a lateral flare at its end 62, giving it an overall "L" shape. The free lateral end of this "L" is configured to be movable by a first actuator 310 that rotates first rod 60 about first pin 61, thereby reversibly passing holding device 1 from an aligned configuration nA to a rotated configuration R.

[0182] 6 to 9 show a moving unit 100 comprising a drum 300 to which the holding device 1 is fixed.

[0183] With reference to Figure 8, it can be seen that the first actuator 310 comprises a first actuating rod 311 and a second actuating rod 312 rotatably fixed to one another by a hinge, the first actuating rod 311 being rotatably connected to a lateral extent of the first rod 60, and the second actuating rod 312 being rotatably connected to an actuating motor (not shown) of the drum 300.

[0184] Referring to FIG. 6, a second actuator 320 and a third actuator 330 are identified, both connected to the first gripper 10 .

[0185] In this embodiment, the second actuator 320 is a rod having one end connected to the first gripper 10 and the other end connected to the drum 300 .

[0186] The second actuator 320 cooperates with a third actuator 330 comprising first and second bars 331, 332 rotatably connected to each other and the first bar 331 connected to the drum 300, while the second bar 332 is rotatably connected by a hinge to a support 5 fixed to the first gripping portion 10.

[0187] In this way, the first and second grippers 10, 20 can be moved relative to the drum 300.

[0188] Referring again to Figures 6 to 9, it is interesting to note that the second actuator 320 and the third actuator 330 described above can function both as a movement device 500 configured to simultaneously translate the first and second gripping parts 10, 20 relative to the drum 300 in a direction having a radial component of the drum 300, and as a cam-type rotation mechanism 350 making it possible to perform a stop of the holding device 1 relative to the continuous rotational movement of the drum 300.

[0189] In an alternative embodiment (not shown), provision is made for a displacement device 500 to be realized which comprises a track fixed to the support 5 and a runner fixed to the first gripper 10. Also in this way, it is possible to carry out further displacements of the first and second grippers 10, 20 relative to the drum 300.

[0190] According to one embodiment, the holding device is made of a lightweight material with a high modulus of elasticity, such as a fiberglass or carbon fiber composite. Additionally, the holding device 1 includes a quick disengagement device for quickly disengaging from the drum 300 so that the drum 300 can be quickly and easily replaced.

[0191] FIG. 6 shows the transfer unit 100 in the unloading position, where the holding device 1 can activate the holding elements 11 a, 21 a to unload a blank 200 from the horizontal hopper 600.

[0192] 7 and 8 show the second and third actuators 320, 330 rotated in opposite directions relative to the direction of rotation Ro of the drum 300, thereby causing a stop of the holding device 1 and thus the held blanks 1. Such a stop may be useful for cooperating the holding device 1 with a pre-folding unit (not shown) having rotating teeth that can engage predetermined surfaces of the blanks and rotate them in a desired direction.

[0193] As shown in Figure 8, during this stop, the holding device 1 is passed by the first actuator 310 from the alignment configuration A to the rotation configuration R. Preferably, a pre-folding unit engages the opposite side of the blank 200 relative to the side held by the holding device 1 to more effectively guide the folding of the blank and at the same time act on a further portion of the blank by folding it about an imaginary axis of rotation V at an angle α.

[0194] FIG. 9 shows the release position of the transfer unit 100 in which the holding device 1 can deactivate the holding elements 11a, 21a to release the blank 200 and allow it to be removed by additional processing equipment.

[0195] The moving unit 100 may comprise a plurality of holding devices 1. In particular, with reference to Figure 10, it is noted that the moving unit 100 comprises three holding devices 1 arranged according to a three-way axis of symmetry passing through the axis of rotation of the drum 300.

[0196] 10, an embodiment is shown in which the transfer unit 100 comprises, in addition to the drum 300, a second drum 300' arranged close to the drum 300, to which the blanks 200 are transferred when the drum 300 is in the release position. The second drum 300' is completely similar to the drum 300, rotating synchronously with the drum 300 but in the opposite direction, and further comprising three holding devices 1', which are completely similar to the holding devices 1 described above.

[0197] The passage of the blank 200 between the drum 300 and the second drum 300' is carried out between a holding device 1 in the release position and a corresponding holding device 1' fixed to the second drum 300', the holding device 1' directly facing the holding device 1 on the side opposite the blank 200 in the rotational movement of the second drum 300'.

[0198] Preferably, when the passage between the drum 300 and the second drum 300' occurs, stopping of both holding devices 1, 1' is carried out by the respective cam-type rotation mechanisms. During stopping, the holding elements 11a, 21a of both holding devices 1, 1' are kept in an activated state for a minimum time, typically less than 1 second, to ensure a secure grip of the blank 200 by both holding devices involved, after which the holding elements of holding device 1 are deactivated and only the holding elements of holding device 1' fixed to the second drum 300' are kept in an activated state.

[0199] As can be seen from the above, the transfer unit 100 is capable of continuously transferring and processing the blanks 200 collected in the removal zone.

[0200] In fact, as clearly shown in Figures 6 and 10, the drum 300 rotates continuously in a clockwise direction, starting the removal process from a horizontal hopper 600 (shown in Figure 10) positioned immediately upstream relative to the transfer unit 100. The holding device 1 now assumes the alignment configuration A and activates the holding elements 11a, 21a to secure the blank to itself until the next release.

[0201] The drum 300 then rotates approximately 150° to 180° relative to the removal position and reaches the pre-folding position (shown in Figures 7 and 8). It should be noted that in this case, thanks to the second and third actuators 320, 330, it is also possible to perform a stop of the holding device 1, while the drum 300 continues its continuous motion in order to provide more time for the pre-folding method.

[0202] Subsequently, when the drum 300 in continuous motion has rotated approximately 270° relative to the removal position of the blank 200, it reaches the release position (shown in Figure 9), where again the stopping of the holding device 1 is carried out by the aforementioned second and third actuators 320, 330, the alignment configuration A of the holding device 1 is assumed and the holding elements 11a, 21a acting on the blank are deactivated.

[0203] Finally, the drum 300 completes its 360° rotation and the holding device 1 is returned to the ideal configuration for removing the next blank.

[0204] It is interesting to note that it is possible to transition from the alignment configuration A to the rotation configuration R at any time during the rotation performed by the drum 300, and thanks to the possibility of selectively and independently activating the first actuator 310 relative to the second and third actuators 320, 330, it is also possible to perform a stop of the holding device 1 at any time during the rotation, regardless of the configuration in which the holding device 1 is placed.

[0205] Thanks to these technical solutions, the Applicant has found that it is possible to move at least 50 to 200 blanks per minute using a single line transfer unit, depending on the size, overall dimensions and production requirements.

Claims

1. A holding device (1) for holding a blank (200), comprising: The holding device (1) - support (5), a first gripping part (10) fixed to said support (5) and provided with a first holding element (11a) for said blank (200); a second gripping part (20) fixed to said support (5) or to said first gripping part (10) and comprising a second holding element (21a) for said blank (200); a movement mechanism (50) for the second gripping part (20) relative to the first gripping part (10), the movement mechanism (50) being configured to perform a pure rotation of the second gripping part (20) about a virtual axis of rotation (V) different from the real axis of rotation of the rotating elements of the holding device (1); Including, The moving mechanism (50) comprises an articulated parallelogram (51) fixed to the first gripping part (10) and the second gripping part (20); The articulated parallelogram (51) a first rod (60) fixed to a first pivot point (11) of said first grip part (10) by a first hinge (61); a second rod (70) fixed to a second pivot point (12) of said first grip part (10) by a second hinge (71); a third rod (80) comprising a first pin (81) rotatably fixed to said first rod (60), a second pin (82) rotatably fixed to said second rod (70), and a third pin (83) rotatably fixed to a third rotation point (21) of said second gripping part (20); a fourth rod (90) comprising a fourth pin (91) rotatably fixed to said first rod (60), a fifth pin (92) rotatably fixed to said second rod (70), and a third pin (93) rotatably fixed to a fourth rotation point (22) of said second gripping part (20); Equipped with - said first and second rotation points (11, 12) and said virtual rotation axis (V) are aligned with each other; - said third and fourth rotation points (21, 22) and said imaginary axis of rotation (V) are aligned with each other; When the first and second rods (60, 70) rotate by the same angle (α) relative to the first and second rotation points (11, 12), the third and fourth rods (80, 90) follow a translational movement (T) relative to the first gripping portion (10) while remaining parallel to each other, thereby changing the angular orientation (β) of the second gripping portion (20) relative to the first gripping portion (10) by rotating about the virtual rotation axis (V). Retaining device (1).

2. 2. The holding device (1) according to claim 1, wherein the first and second holding elements (11a, 21a) are selectively connectable to a vacuum circuit.

3. 3. The holding device (1) according to claim 1 or 2, wherein the imaginary rotation axis (V) is located along a plane on the blank (200) when the blank (200) is held by the first and second holding elements (11a, 21a).

4. 4. The holding device (1) according to claim 3, wherein the imaginary axis of rotation (V) coincides with a fold of the blank (200).

5. The holding device (1) according to any one of claims 1 to 4, wherein the first gripping part (10) is fixedly attached to the support (5).

6. The holding device (1) according to any one of claims 1 to 5, comprising a movement device (500) configured to simultaneously translate the first gripping portion (10) and the second gripping portion (20).

7. The holding device (1) according to any one of claims 1 to 6, wherein the holding device (1) is mounted on a drum, a runner, a track or a belt.

8. A transfer unit (100) for transferring a blank (200), comprising: - a holding device (1) according to any one of claims 1 to 7, a drum (300) on which said holding device (1) is fixed.

9. 9. The moving unit (100) according to claim 8, wherein the first gripping portion (10) and the second gripping portion (20) are capable of translational movement in a direction having a radial component of the drum (300).

10. 10. The transfer unit (100) according to claim 9, comprising a plurality of said drums (300; 300'), each drum comprising at least one of said holding devices (1; 1'), the plurality of holding devices (1; 1') being arranged so that the blank (200) can be exchanged between a first holding device (1) and a second holding device (1') respectively fixed to different drums.

11. A method for transferring a blank (200), comprising: a. Providing a mobile unit (100) according to any one of claims 8 to 10; b. Moving the drum (300) to the removal position so that the holding device (1) of said moving unit (100) faces said blank (200); c) actuating the holding elements (11a, 21a) of the holding device (1) by fixing the blank (200) to the holding device (1); d. Rotating the drum (300) in a rotation direction (Ro) from the unloading position to a release position; e. rotating the second gripping part (20) of the holding device (1) relative to the first gripping part (10) of the holding device (1) about a virtual rotation axis (V) different from the actual rotation axis of the rotating element of the holding device (1), while rotating the drum (300) between the removal position and the release position; f) deactivating said holding elements (11a, 21a) by disengaging said blank (200) from said holding device (1) while said drum (300) is in said release position.

12. 12. The method of claim 11, comprising: g. holding the abutment panel (210) of the blank (200) with the first gripping portion (10) and holding the side panel (250) of the blank (200) with the second gripping portion (20) so that the side panel (250) is downstream of the abutment panel (210) according to the rotation direction (Ro) of the drum (300).

13. 13. The method of claim 12, comprising: h) creating a desired fold in the blank (200) between the abutment panel (210) and the side panel (250) by means of the holding device (1) while rotating the drum (300) between the removal position and the release position.

14. The method according to any one of claims 11 to 13, comprising: i. Rotating the first drum (300) of the moving unit (100) holding the blank (200) towards the release position; j) Rotating the second drum (300') of said moving unit (100) in a direction opposite to that of rotation (Ro') in synchronization with said first drum (300); k. Bringing the second gripping portion (20) of the holding device (1') fixed to the first drum (300) face to face with the second gripping portion (20') of the holding device (1') fixed to the second drum (300'); l. Bringing the first gripping portion (10) of the holding device (1') fixed to the first drum (300) face to face with the first gripping portion (10') of the holding device (1') fixed to the second drum (300'); m. maintaining the holding elements (11a, 21a) of the holding device (1) fixed to the first drum (300) in an activated state, while also activating the holding elements (11a', 21a') of the holding device (1') fixed to the second drum (300'); n. deactivating the holding elements (11a, 21a) of the holding device (1) fixed to the first drum (300) while maintaining the holding elements (11a', 21a') of the holding device (1') fixed to the second drum (300') in an activated state.

15. A packaging device for articles, comprising a transfer unit (100) for transferring at least one blank (200) configured according to any one of claims 8 to 10.

Images