Vehicle for feeding semi-finished products to an automatic machine

Abstract

A vehicle (1) for feeding semi-finished products (PS) to an automatic machine (M) for the production or packaging of consumer articles comprises a propulsion system (7) for moving the same on a feeding plane (XY), a movable portion (8) and a lifting system (9) for moving the movable portion (8) along a lifting direction (W); the lifting system (9) is configured to lift a load (L) comprising groups (G) of semi-finished products (PS), by means of a support element (11) mounted on the movable portion (8), configured to be couple to the load (L); the vehicle (1) comprises a robotic arm (12) comprising, in turn, an end effector (15), mounted as its distal end ((14)) to pick up the groups ((GG)) of semi-finished products and convey the same to a feeding plane (PA) of the automatic machine (M).

Description

[0001] "Vehicle for feeding semi-finished products to an automatic machine"

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This Patent Application claims priority from Italian Patent Application No . 102024000004603 f iled on March 1st, 2024 , the entire disclosure of which is incorporated herein by reference .

[0004] TECHNICAL FIELD

[0005] The present invention relates to a vehicle , preferably autonomously guided (AGV or AMR) for feeding semi- finished products to an automatic machine .

[0006] The present invention finds advantageous but not limitative application in an autonomous vehicle for feeding semi- finished products to one or more automatic machines for the production or packaging of consumer articles .

[0007] PRIOR ART

[0008] Automatic machines for the production or packaging of consumer articles are known . Usually, said automatic machines are supplied by means of handling means such as forkli fts or hoists , which li ft large quantities of material , or in any case large loads and allow the automatic machines to be fed with the materials necessary for the processing, production, and packaging of consumer articles .

[0009] Usually, said handling means are , for example , vehicles provided with forks or other vehicles with speci fic end tools for handling, for example , reels (provided with expandable spindles ) or loads arranged on pallets .

[0010] Also known in the field of automatic machines for the production or packaging of consumer articles are de-palletizers , namely, systems for unloading products ( semi- finished products ) from pallets and feeding the same to the automatic machine for subsequent processing steps (production and / or packaging) .

[0011] Generally, de-palleti zers are fixed structures , in particular delimited by fences , inside which a robotic system, for example an anthropomorphic robot or a gantry robot , picks up the semifinished products from the pallet ( conveyed on site by a speci fic handling device ) to feed, for example , a conveyor belt of an automatic machine for the production of consumer articles .

[0012] Usually, the si ze of the pick-up robotic system is considerable , so as to allow the system ( in particular the end ef fector ) to reach all the possible pick-up pos itions ( configurations ) in the volume of the loaded pallet . In other words , to allow the robotic system to completely unload the pallet .

[0013] In each of the cases mentioned, a single de-palleti zer is an isolated and cumbersome system in terms of footprint ( layout ) .

[0014] In addition, a de-palleti zer system of this kind must be powered by one or more handling means and is dedicated to the feeding of a single automatic machine , therefore , not very ef ficient .

[0015] DESCRIPTION OF THE INVENTION

[0016] The obj ect of the present invention is to provide a vehicle , preferably autonomously guided (AGV or AMR) , for feeding semifinished products to an automatic machine , which is at least partially free from the drawbacks described above and, at the same time , is simple and inexpensive to produce .

[0017] According to the present invention, a vehicle is provided, preferably autonomously guided (AGV or AMR) , for feeding semifinished products to an automatic machine as claimed in the attached claims .

[0018] The claims describe preferred embodiments of the present invention and form an integral part of the present description . BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will now be described with reference to the attached drawings , which illustrate some non-limiting examples of embodiment thereof , wherein :

[0020] • Figure 1 is a perspective and schematic view of a vehicle according to an embodiment of the present invention in a first configuration;

[0021] • Figure 2 is a perspective and schematic view of the vehicle of Figure 1 in a second configuration, in particular for li fting a load and pick-up a group of semi- finished products from the load; and

[0022] • Figure 3 is a perspective and schematic view in which the vehicle of the previous figures is shown in a third configuration, in particular for feeding an automatic machine .

[0023] PREFERRED EMBODIMENTS OF THE INVENTION

[0024] With reference to the attached figures , a vehicle for handling loads L is generically denoted with 1 .

[0025] The same numbers and the same reference letters in the figures identi fy the same elements or components with the same function .

[0026] In the context of the present description, the term " second" component does not imply the presence of a " first" component . Said terms are in fact used as labels to improve clarity and are not to be considered in a limiting manner .

[0027] The elements and characteristics illustrated in the various preferred embodiments , including the drawings , can be combined with one another without departing from the scope o f protection of the present application as described in the following .

[0028] To be speci fic, expressions in the following description such as "above" , "below" , " in front" , " in the back" and the like are used with reference to conditions of normal advancement of the road vehicle 1 along the normal frontal travel direction A.

[0029] As illustrated in the non-limiting embodiment of Figure 1 , it is also possible to define :

[0030] - a longitudinal axis X, integral with vehicle 1 and arranged, in use , hori zontal and parallel to a normal travel direction A of the vehicle 1 ;

[0031] - a transverse axis Y, integral with vehicle 1 and arranged, in use , hori zontal and orthogonal to the axis X ; and

[0032] - a vertical axis Z , integral with vehicle 1 and arranged, in use , vertical and orthogonal to the axes X, Y .

[0033] According to the non-limiting embodiments of the attached figures , the vehicle 1 for feeding semi- finished products PS to an automatic machine M (partially illustrated) for the production or packaging of consumer articles comprises a base body 2 .

[0034] Preferably but not limited to , the base body 2 has a parallelepiped shape , namely it substantially comprises two opposite bases 3 , one of which is lower and faces the ground, and a lateral surface 4 that j oins the two opposite bases 3 to one another . Obviously, the base 3 opposite to the lower base is not strictly necessary and can be replaced by a cap or other shapes that close the lateral surface 4 .

[0035] In particular, the base body 2 determines the load-bearing structure (namely, comprises a frame ) of the vehicle 1 .

[0036] Preferably, the base body 2 comprises an internal structure 5 , and an external casing 6 that envelops the internal structure 5, separating the same from the environment in which the vehicle 1 operates in order to protect the same and any operators from the moving part thereof .

[0037] The vehicle 1 comprises a propulsion system 7 mounted on the base body 2 and configured to move the base body 2 on a travel plane XY .

[0038] In particular, in the non-limiting embodiment of Figure 1 , the propulsion system 7 , illustrated with a dotted line , is mounted on the inside of the internal structure 5 .

[0039] Preferably but not limited to , the propulsion system 7 comprises a plurality of wheels (not shown in the figure , but arranged at the lower base 3 in a known manner and therefore not further detailed) .

[0040] In some non-limiting cases , the propulsion system 7 is omnidirectional .

[0041] According to some alternative embodiments , the propulsion system 7 can be any known type of system, even non-omnidirectional , for example with steering wheels .

[0042] The vehicle 1 comprises , furthermore , a movable portion 8 mounted on the base body 2 and a li fting system 9 .

[0043] The li fting system 9 comprises an actuator device 10 , configured to move the movable portion 8 along a li fting direction W transverse to the travel plane XY . In other words , the li fting direction W is substantially vertical and parallel to the axis Z .

[0044] Preferably but not limited to , the actuator device 10 comprises a rotary or linear electric motor . In the case of a rotary motor, the device 10 also comprises a transmission system of a known type , such as a worm screw, a chain, a rack and pinion, etc .

[0045] The li fting system 9 is configured to li ft a load L formed by at least one group G of semi- finished products , respectively formed by one or more semi- finished products PS . In the non-limiting embodiment illustrated in Figures 1, 2 and 3, the load L comprises a support base 30, preferably a pallet, on which the groups G of semi-finished products are arranged. In particular, a plurality of groups G are arranged in an orderly manner on the support base 30, to form rows of parallel and adjacent groups G.

[0046] In detail, each group G is formed by a stack of semi-finished products PS.

[0047] Preferably, the semi-finished products PS are die cut (blanks) for the production of packages for consumer articles. In particular, the semi-finished products PS are blanks for the production of tobacco industry products, such as cigarettes.

[0048] Advantageously, the lifting system 9 comprises a support element 11 mounted on the edge of the movable portion 8.

[0049] The support element 11 is configured to couple with the load L so as to allow the same to be lifted. In particular, the lifting element comprises a fork, which is configured to couple with the pallet that supports the load L.

[0050] Advantageously, in addition, a robotic arm 12 is mounted on the edge of the base body 2 and comprises a proximal end 13 and a distal end 14. The proximal end 13 is mounted at the base body 2. The robotic arm 12 comprises, furthermore, an end effector 15, which is mounted at the distal end 14.

[0051] Advantageously, the robotic arm 12 is configured to pick up, by means of the end effector 15, at least one of the groups G of semi-finished products and convey the same to a feeding plane PA of the automatic machine M.

[0052] In particular, the feeding plane PA is at a conveyor belt, which feeds the groups G to the machine M . Furthermore , generally, the feeding plane PA is at a height of at least 1 m, in particular 1 . 1 m, to ensure the ergonomics of the unloading operations when performed by operators .

[0053] Advantageously but not limited to , the vehicle 1 comprises a control circuitry 16 configured to autonomously operate the li fting system 9 and the robotic arm 12 , in particular, to also autonomously guide the propul sion system 7 by means of algorithms for autonomous guiding .

[0054] In other words , preferably, the vehicle 1 is an AGV or an AMR .

[0055] In particular, the control circuitry 16 comprises at least one electronic control unit 17 ("ECU" ) , for example a PLC or an industrial PC .

[0056] More speci fically, the control circuitry 16 is configured to control at least the movement of the actuator device 10 and the robotic arm 12 , and one or more sensors 18 ( of a known type , for example optical , such as photocells or cameras , or lasers ) to allow the vehicle 1 to move ef fectively in space and reach the desired loads L .

[0057] These sensors 18 could create a non-physical safety area that can allow the unloading operations ( de-palleti zation) to be carried out in the absence of physical barriers . The safety can be integrated by other systems and shared with the safety of the machine M by means of a secure non-wired data exchange .

[0058] Preferably but not limited to , the movable portion 8 comprises a slide 19 , which is moved along the li fting direction W by the actuator device 10 .

[0059] In particular, the slide 19 slides on a group 20 of linear guides mounted or made on the base body 2 . More speci fically, according to the non-limiting embodiment illustrated, the slide 19 comprises two pairs of skates and slides on two linear guides .

[0060] In detail , the two linear guides 20 are arranged parallel to one another along axes parallel to the li fting direction W and therefore to the vertical axis Z .

[0061] Advantageously but not limited to , with reference to Figure 1 , the vehicle 1 comprises , a movable portion 21 mounted on the base body 2 and a handling system 22 comprising a second actuator device 23 , which is configured to move the movable portion 21 along a movement direction D belonging to a movement plane PM parallel to the travel plane XY .

[0062] Preferably, the movement direction D is transverse to the li fting direction W and / or to a vehicle travel direction A on the travel plane XY .

[0063] In particular, in the example illustrated, the travel direction A is parallel to the axis Y . Alternatively, the direction A is parallel to the axis X, or is any direction belonging to the feeding plane XY, inclined relative to the axes X and Y .

[0064] According to the non-limiting embodiment illustrated, the movement direction D is transverse to both the li fting direction W, in this case vertical , namely, directed along the axis Z , and to the travel direction A, parallel to the axis Y . Therefore , the movement direction D is parallel to the axis X of the orthogonal reference frame XYZ .

[0065] According to some alternatives , the direction D is transversal to the li fting direction W, but is not transversal to the travel direction A. Preferably but not limited to , the proximal end 13 of the robotic arm 12 is mounted on the movable portion 21 . In this way, the robotic arm 12 moves integrally with the movable portion 21 along the movement direction D .

[0066] Preferably but not limited to , the movable portion 21 comprises a slide 28 , which slides on a group 29 of linear guides mounted or made on the base body 2 .

[0067] In particular, in the embodiment illustrated, the slide 28 can slide on a pair of guides parallel to one another . More speci fically, the slide 28 comprises two pairs of skates that provide sliding coupling with the guides .

[0068] Preferably but not limited to , the proximal end 13 of the robotic arm 12 is fixed to the slide 28 . In particular, the second slide 28 is moved along the movement direction D by the second actuator device 23 .

[0069] Preferably but not limited to , the linear guide group 29 , on which the slide 28 slides , is configured so that the movement direction D allows the slide 28 to approach and move away from the feeding plane PA of the automatic machine M . In this way, the robotic arm 12 can be brought closer to the machine M to deposit a group G on the feeding plane PA ( Figure 3 ) and can be moved away from the machine M to pick up another group G from the load L ( Figure 2 ) .

[0070] Preferably but not limited to , the control circuitry 16 is configured to also autonomously operate the handling system 22 .

[0071] Advantageously but not limited to , therefore , the control circuitry 16 is configured to autonomously operate both the li fting system 9 , the robotic arm 15 , and the handling system 22 . In particular, according to a non-limiting embodiment, the control circuitry 16 is configured to operate the robotic arm 15 and the handling system 22 so as to make them cooperate during the picking-up of the groups G from the load L .

[0072] More speci fical ly, it is pos sible to define a standard traj ectory of the end ef fector 15 that remains constant during each operation on the same row of groups G along the axis X, namely, that allows the latter to pick-up a group G and deposit the same on the feeding plane A always following the same path .

[0073] To do this , after having for example picked up the group G ( the first of the first front row of the load L, as illustrated in Figure 2 ) and deposited the same on the feeding plane PA, the movable part 21 is configured to be moved along the direction D towards the second group G' ( and therefore away from the machine M) . In this manner, the path of the end ef fector 15 during the picking-up of the group G' ( the next on the same row of the group G) is the same as before . Similarly, after the picking- up, the movable part 21 is moved towards the plane PA so that also the deposit path of the group G' is the same as that followed for the group G .

[0074] According to further preferred non-limiting embodiments , the control circuitry 16 is configured to communicate with the automatic machine for the production of consumer articles . In particular, the control circuitry 16 is configured to operate the robotic arm 15 and the handling system 22 so that the latter cooperate during the picking-up of the groups G from the load L . More speci fically, the traj ectory of the end ef fector 15 is calculated in a timely manner based on the filling of the feeding plane PA and / or the dimensions of the group G, G' , G' ' to be moved . In particular, the control circuitry 16 is configured to automatically def ine / calculate the best deposit point of the group G, G' , G' ' on the feeding plane PA, by consequently calculating an appropriate traj ectory ( according to known methodologies ) .

[0075] The above also occurs for the subsequent group G' ' and for all subsequent groups of the same first row of the load L .

[0076] In general , for each row of groups G that form the load L, it is possible to define a pick-up path and an unloading path, which are implemented for each group G forming the respective row .

[0077] In the illustrated embodiment , the robotic arm 12 performs the de-palleti zation (unloading of the groups G from a pallet , or from the support base 30 ) on the feeding plane PA of a machine arranged on one side of the vehicle 1 .

[0078] Alternatively, or in addition, the movement of the robotic arm 12 on the movement direction D also allows the robotic arm 12 to alternatively approach machines M arranged on both sides of the vehicle 1 , in particular on two sides opposite to one another on the movement direction D .

[0079] Preferably but not limited to , the base body 2 extends at least in part along the li fting direction W and comprises a lower portion 24 , adj acent to the travel plane XY, an upper portion 25 , opposite to the lower portion 24 and to a lateral surface 4 .

[0080] Preferably, according to the non-limiting embodiment illustrated, the base body 2 comprises a support structure 26 that extends cantilevered from the lateral surface 4 of the base body 2 at the upper portion 25 .

[0081] Advantageously but not limited to , the movable portion 21 is mounted on the support structure 26 . In said manner, the robotic arm 12 , which is fixed on the movable portion 21 , is arranged cantilevered relative to the base body 2 . In particular, the robotic arm 12 , which is fixed on the movable portion 21 , is arranged above the load L (namely, cantilevered above the load L ) .

[0082] Preferably but not limited to , the lateral surface 4 comprises an operational vertical wall 27 and the group of linear guides 20is arranged vertically along the operational vertical wall 27 .

[0083] In particular, as in the non-limiting embodiment illustrated, the base body 2 has a substantially parallelepiped shape , therefore , the lateral surface 4 comprises four vertical walls in total . More speci fically, one of these walls , the vertical wall 27 is defined as operational , since , at this wall , the li fting operations of the load L are carried out .

[0084] Advantageously but not limited to , the support structure 26 extends cantilevered from the vertical wall 27 . In this way, the robotic arm 12 is mounted cantilevered relative to the base body 2 precisely at the vertical operational part 27 , namely, where the load L is li fted by the li fting system 9 along the group 20 of linear guides .

[0085] Preferably, the support element 11 is configured to couple with the load L formed by a movement along a coupling direction A belonging to the travel plane XY .

[0086] In particular, according to the non-limiting embodiment illustrated, the coupling direction coincides with the travel direction A of the vehicle 1 . In other words , the coupling of the element 11 to the load L occurs thanks to the advancement of the vehicle 1 towards the load L .

[0087] Preferably but not limited to , the support element 11 comprises a li fting fork (not shown in the figure and hidden in the figure by the support base 30 ) , configured to be couple to the support base 30 along the coupling direction A.

[0088] Preferably but not limited to , the support structure 26 extends cantilevered from the vertical wall 27 along the coupling direction A.

[0089] As shown in the attached figures , the support structure 26 is integrally fixed to the base body 2 , at the wall 27 and proj ects along the direction A, in particular, towards the load L . In this way, the robotic arm 12 is arranged at ( above ) the load L .

[0090] Preferably but not limited to , the work space of the robotic arm 12 is comprised at least in part between the support structure 26 and the travel plane XY . In said manner, the robotic arm 12 can be controlled by the control unit 17 in order to perform operations for picking-up the groups G from the load L, which are at the portion of space between the travel plane XY and the structure 26 .

[0091] Preferably but not limited to , the second slide 28 is mounted so as to face the load L .

[0092] As illustrated in Figures 1-3 , this positioning of the slide 28 allows the robotic arm 12 to be placed between the support structure 26 and the load L in order to make the pick-up and the unloading paths shorter . In other words , the spatial configurations that the end ef fector 15 must reach in order to perform the pick-up and unloading operations are at a reduced distance relative to the proximal portion 13 . This entails that the si ze of the robotic arm 12 required by the operations is limited, namely, that the maximum distance of its distal portion 14 from the proximal portion 13 is limited .

[0093] Preferably but not limited to , the robotic arm 12 has a maximum distance from the proximal end 13 to the distal end 14 equal to or less than, in particular less than, a distance separating the load L from the proximal end 13 . In this way, the robotic arm 12 can be si zed with modest dimensions and modest weight , thus facilitating the movement of the vehicle 1 .

[0094] Preferably but not limited to , the li fting system 9 is configured to li ft the load L up to a predefined unloading plane PV ( shown in Figures 2 and 3 ) and the robotic arm 12 is configured to pick up, by means of the end ef fector 15 , the at least one of the groups G of semi- finished products when the load L is at the unloading plane PV, and to deposit the same on the feeding plane PA.

[0095] In particular, when the load L is at the unloading plane PV, the robotic arm 12 is configured to pick up (preferably, but not limited to , one at a time ) the groups G arranged on the upper layer of the load L and place them ( always one at a time ) on the feeding plane PA.

[0096] Once the de-palleti zation of the upper layer is completed, the li fting system 9 is preferably, but not limited to , configured to li ft the support base 30 ( the pallet ) by a measure equal to the thickness of the group G of semi- finished products (namely, the layer of groups G) to allow the robotic arm 12 to proceed with the de-palleti zation of the next layer .

[0097] The process described above is repeated for each layer of groups G of the load L ( or only for some , based on the request of the machine M) .

[0098] I f and when all the groups G are removed from the base 3 , the vehicle 1 is configured to move away from the machine M and unload the empty base 30 ( in appropriate storage areas ) and reload with another load L ( in appropriate pick-up areas ) .

[0099] According to the preferred but not limiting embodiment described, the robotic arm 12 always picks up the G groups starting from the same height , namely, from the height of the predefined unloading plane PV .

[0100] Preferably but not limited to , the unloading plane PV is coplanar with the feeding plane PA of the automatic machine M . In this way, the end ef fector 15 can have a straight movement between the pick-up and unload configurations , since it does not have to change its position on the axis Z .

[0101] Preferably but not limited to , the vehicle 1 comprises optical sensors (not illustrated) , in particular on the base body 2 and / or the robotic arm 12 and / or the end effector 15 , to check the arrangement of the groups G on the load L . In this case , the control unit 17 , which receives signals detected by the sensors , controls the actuator device 23 and the robotic arm 12 based on the signals detected, or the actual position of the groups G .

[0102] In particular, every time the vehicle 1 re-starts the feeding to the machine M ( after having completed the de-palleti zation of a load L ) , once the coupling with a new load L has been carried out , the same scans the surface of the load L to check the position of the groups G .

[0103] In particular, preferably, given the versatility, the reduced weight , and the safe control for the operators o f a plant , the robotic arm 12 is an anthropomorphic robot of the collaborative type , in particular having six or more degrees of freedom . In other words , the arm 12 is a cobot , namely, a robot designed to physically interact with humans in a shared workspace .

[0104] In use , the control circuitry 22 controls the propulsion system 7 to move the vehicle 1 to a loading area .

[0105] In particular, in the loading area , the circuitry 16 identi fies (by means of the sensors 18 ) the position of the support base 30 , and the support element 11 is coupled to the load L ( Figure

[0106] 1 ) •

[0107] Subsequently, the control unit 17 controls the propulsion system

[0108] 7 to reach a feeding area of an automatic machine M provided with a feeding plane PA.

[0109] Subsequently, the control unit 17 controls the li fting system 9 to li ft the load L to the predefined unloading plane PV ( Figure 2 ) .

[0110] At this point , the circuitry 16 checks the position of the groups G on the load L by means of the optical sensors and the control unit 17 commands the handling system 22 to position the robotic arm 12 in a pick-up position . From the pick-up position, the robotic arm 12 is commanded to pick up a group G from the load L and place / convey the same onto the feeding plane of the automatic machine M .

[0111] In particular, but not limited to , for each group G belonging to a row of groups G, the arm 12 moves thanks to the handling system 22 in the movement direction D .

[0112] Once a layer of groups G of the load L has been unloaded, the li fting system 9 li fts the load L until it is again placed at the unloading plane PV, where the robotic arm 12 is commanded to unload a further layer of groups G .

[0113] The whole thing can clearly be repeated cyclically by means of known and not further detailed commands .

[0114] Finally, once the unloading operation is complete , the vehicle 1 is moved again to deposit the base 30 or the remaining load L in a storage area .

[0115] Although the invention described above refers in particular, to a very specific example of embodiments, it is not to be considered limited to this example of embodiment, since all those alternatives, modifications or simplifications covered by the attached claims fall within its scope, such as for example different types of actuating elements, mechanisms, robotic arms, etc .

[0116] In particular, the end member 15 could be of a different type, based on the type of groups G of products. More specifically, the end member 15 could be suitable to pick-up up a single semifinished product PS.

[0117] Furthermore, the feeding plane PA of the automatic machine M could be placed on a different type of conveyor or storage area.

[0118] The vehicle 1 described above has numerous advantages.

[0119] First of all, the vehicle 1 described allows for a reduction in layout dimensions, as it is a movable and compact system.

[0120] Furthermore, the use of vehicle 1 allows for a reduction in production costs due to the integration of multiple functions, such as feeding and de-palletization, in a single system (vehicle) .

[0121] A further advantage of the present invention lies in the possibility of using collaborative robotic arms 12 of small size and weight for the vehicle 1. This is possible thanks to the use of the lifting system 9, as well as the handling system that allow the load L to be brought closer to the arm 12 and the arm 12 to be brought closer and loosened from the feeding plane PA of the automatic machine M.

[0122] In addition, the reduction in size and weight of the robotic arm 12 favours the protection of any workers who share the workspace with the vehicle 1. Furthermore , the present invention allows to signi ficantly lighten the weight of the vehicle 1 , avoiding the use of large robotic arms and the heavy electric motors that would be necessary to be implemented .

[0123] Finally, it is important to underl ine how the present invention allows the shared use of the same depalleti zing vehicle 1 between multiple machines . The invention therefore allows to reduce costs and increase the ef ficiency and safety of the production plant .

[0124] LIST OF FIGURE REFERENCE NUMBERS

[0125] 1 vehicle

[0126] 2 base body

[0127] 3 bases

[0128] 4 lateral surface

[0129] 5 internal structure

[0130] 6 external casing

[0131] 7 propulsion system

[0132] 8 first movable portion

[0133] 9 li fting system

[0134] 10 first actuator device

[0135] 11 support element

[0136] 12 robotic arm

[0137] 13 proximal end

[0138] 14 distal end

[0139] 15 end member

[0140] 16 control circuitry

[0141] 17 electronic control unit

[0142] 18 sensors

[0143] 19 first slide

[0144] 20 first group of guides

[0145] 21 second movable portion

[0146] 22 movement system

[0147] 23 second actuator device 24 lower portion

[0148] 25 upper portion

[0149] 26 support structure

[0150] 27 operational vertical wall

[0151] 28 second slide

[0152] 29 second guide group

[0153] 30 support base

[0154] L load

[0155] X axis

[0156] Y axis

[0157] Z axis

[0158] W li fting direction

[0159] PS semi- finished products

[0160] G, G ' , G ' ' group of semi- finished products

[0161] PA feeding table

[0162] M automatic machine

[0163] D li fting direction movement

[0164] PM movement plane

[0165] XY advance plane

[0166] PV unloading plane

[0167] A coupling direction

Claims

CLAIMS1) A vehicle (1) for feeding semi-finished products (PS) to an automatic machine (M) for the production or packaging of consumer articles; the vehicle (1) comprising:- a base body ( 2 ) ;- a propulsion system (7) mounted on the base body (2) and configured to move the base body (2) in a travel plane (XY) ;- a first movable portion (8) mounted on the base body (2) ;- a lifting system (9) comprising at least one first actuator device (10) , which is configured to move the first movable portion (8) along a lifting direction (W) transversal to the travel plane (XY) ; the lifting system (9) being configured to lift a load (L) comprising, in turn, at least one group (G) of semi-finished products, respectively formed by one or more semifinished products (PS) ; the vehicle being characterised in that- the lifting system (9) comprises a support element (11) mounted on the first movable portion (8) ; the support element (11) being configured to be coupled to said load (L) so as to allow it to be lifted; and the vehicle (1) comprising a robotic arm (12) mounted on the base body (2) and comprising a proximal end (13) and a distal end (14) ; wherein the proximal end (13) is mounted at the base body ( 2 ) ; the robotic arm (12) further comprising an end effector (15) , wherein the end effector (15) is mounted at the distal end (14) ; the robotic arm (12) being configured to pick up, by means of said end effector (15) , at least one of said groups (G) of semifinished products and convey it to a feeding plane (PA) of the automatic machine (M) .2) The vehicle (1) according to claim 1 and comprising control circuitry (16) configured to autonomously operate at least the lifting system (9) and the robotic arm (12) , in particular to also autonomously operate the propulsion system (7) by means of algorithms for autonomous guiding.3) The vehicle (1) according to any one of the preceding claims, wherein the first movable portion (8) comprises a first slide (19) , which is moved along the lifting direction (W) by the first actuator device (10) ; the first slide (19) being slidable on a first group (20) of linear guides mounted or made on the base body (2) .4) The vehicle (1) according to any one of the preceding claims and comprising a second movable portion (21) mounted on the base body (2) ; a handling system (22) comprising at least a second actuator device (23) , which is configured to move the second movable portion (21) along a movement direction (D) belonging to a movement plane (PM) parallel to the travel plane (XY) ; in particular, the movement direction (D) is transversal to the lifting direction (W) and / or to a travel direction (A) of the vehicle (1) on the travel plane (XY) ; the proximal end (13) of the robotic arm (12) being mounted on the second movable portion (21) .5) The vehicle (1) according to claim 4 and comprising a control circuitry (16) configured to autonomously operate at least the lifting system (9) , the robotic arm (12) and the handling system (22) , in particular, to also autonomously operate the propulsion system (7) by means of algorithms for autonomous guiding.6) The vehicle (1) according to any one of the claims from 4 or 5, wherein the base body (2) extends at least partially along the lifting direction (W) and comprises a lower portion (24) , adjacent to the travel plane (XY) , an upper portion (25) , opposite to the lower portion (24) and a lateral surface (4) ; the base body (2) comprising a support structure (26) which extends cantilevered from the lateral surface (4) at said upper portion (25) ; the second movable portion (21) being mounted on the support structure (26) .7) The vehicle (1) according to claim 6, wherein the lateral surface (4) comprises an operational vertical wall (27) ; wherein the first group (20) of linear guides is arranged vertically along said operational vertical wall (27) , and the support structure (26) extends cantilevered from said vertical wall (27) .8) The vehicle (1) according to claim 6 or 7, wherein the workspace of the robotic arm (12) is at least partially comprised between the support structure (26) and the travel plane (XY) .9) The vehicle (1) according to any one of the claims from 6 to 8, wherein the second movable portion (21) comprises a second slide (28) , which is slidable on a second group (29) of linear guides mounted or made at the support structure (26) , the second slide (28) being moved along the movement direction (D) by the second actuator device (23) .10) The vehicle (1) according to claim 9, wherein the second group (29) of linear guides is configured so that the movement direction (D) allows the second slide (28) to approach and move away from the feeding plane (PA) of the automatic machine (M) .11) The vehicle (1) according to any one of the claims from 9 or 10, wherein the second slide (28) is mounted so as to face the load (L) .12) The vehicle (1) according to any one of the preceding claims, wherein the lifting system (9) is configured to lift the load (L) to a predefined unloading plane (PV) and the robotic arm (12) is configured to pick up, by the end effector (15) , the at least one of the groups (G) of semi-finished products when the load (L) is at said unloading plane (PV) , and to deposit it on the feeding plane (PA) .13) The vehicle (1) according to claim 12, wherein theunloading plane (PV) is coplanar with the feeding plane (PA) of the automatic machine (M) .14) The vehicle (1) according to any one of the preceding claims, wherein the load (L) comprises a support base (30) , preferably a pallet, on which said groups (G) of semi-finished products are arranged and the support element (11) comprises a lifting fork, configured to be coupled to the support base (30) along a coupling direction (A) .15) The vehicle (1) according to claim 14, wherein the support structure (26) extends cantilevered from the vertical wall (27) along the coupling direction (A) .16) The vehicle (1) according to any one of the preceding claims, wherein the robotic arm (12) is an anthropomorphic robot of the collaborative type, in particular having six or more degrees of freedom.17) The vehicle (1) according to claim 16, wherein the robotic arm (12) has a maximum distance from the proximal end (13) to the distal end (14) equal to or less than, in particular less than, a distance separating the load (L) from the proximal end

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