Method for manipulating articles

Abstract

Method for manipulating articles related to the tobacco industry, said method comprising the steps of: - providing an article related to the tobacco industry; - arranging a support body (2) comprising a support surface (4) to receive in contact at least a portion of said article, and a first electrode and a second electrode disposed in proximity to said support surface; - providing a movement system connected to said support body and structured to move in space said support body; - placing at least a portion of said article in contact with said support surface of said support body; - generating reversibly an electric field between said first electrode and said second electrode of said support body in correspondence with said support surface; - with said at least one portion of said article subjected to said electric field, reversibly retaining said at least one portion of said article against said support surface by means of said electric field; - during at least part of said reversibly retaining said at least one portion of said article, moving in space said support body by means of said movement system to manipulate said article.

Description

[0001] DESCRIPTION of the industrial invention patent titled: “METHOD FOR MANIPULATING ARTICLES”

[0002] Technical field of the invention

[0003] The present invention relates to a method for manipulating articles, in particular articles pertaining to the tobacco industry.

[0004] State of the Art

[0005] In the context of mass production of articles, particularly articles pertaining to the tobacco industry, including the corresponding packaging phase of the finished product, it is known to move such articles along processing paths, for example made by means of conveyor trolleys, carousels, etc.

[0006] Summary of the invention

[0007] The term "article pertaining to the tobacco industry” is intended to mean any article, preferably consumable, belonging or referable to the tobacco sector, including either a finished product or a semi-finished product during one or more phases of a respective production or treatment process, and also a starting material for producing a product or a generic part thereof. Such articles are predominantly articles of limited weight (a packaged cigarette pack weighs approximately 20 grams). For example, an article pertaining to the tobacco industry may be understood as any one or more of the following: paper sheet for cigarette body, cigarette filter, cigarette, paper sheet for cigarette filter wrapping (cork), packaged cigarette pack, pack of paper sheets for cigarettes, pack of cigarette filters, assembly comprising one or more cigarettes and a sealed protective wrapper made of flexible material enclosing said one or more cigarettes, tape or sheet made of flexible material for said protective wrapper.

[0008] The term "cigarette” is intended to mean both the traditional (combustion) cigarette and cartridges for devices for heating tobacco without combustion.

[0009] The term "electro-adhesion” is intended to mean the capability of attracting a material against a surface by generating reversible electric fields to which the material is subjected at said surface. Examples of electro-adhesive devices are reported in the article "Rapid Fabrication of Electro-Adhesive Devices With Inkjet Printed Electrodes”, IEEE Robotics And Automation Letters, Vol. 5, No. 2, April 2020, pages 2770-2776, which is considered fully incorporated herein. The term "parallel” is intended to mean a substantial parallelism between two elements, including both the ideal case in which said elements are positioned with respect to each other so as to form a zero angle, and more frequent cases in which the two elements are positioned with respect to each other so as to form an angle that deviates from the zero angle (e.g. within a range of ±15°, more preferably ±10°, with respect to the zero angle) but still in a negligible or non- relevant manner for the operation of the present solution.

[0010] The term "orthogonal” is intended to mean a substantial orthogonality between two elements, including both the ideal case in which said elements are positioned with respect to each other so as to form a right angle, and more frequent cases in which the two elements are positioned with respect to each other so as to form an angle that deviates from the right angle (e.g. within a range of ±15°, more preferably ±10°, with respect to the right angle) but still in a negligible or non-relevant manner for the operation of the present solution. In the above context, the Applicant has found that, nowadays, the production requirements of articles pertaining to the tobacco industry, especially in the case of large-scale mass production, to achieve high volumes in short times, require moving said articles along production and packaging lines with increasingly reduced cycle times. Such requirement typically results in sudden accelerations (positive and / or negative) experienced by said articles, for example in correspondence with stops and / or (re)starts at stations that are successive along the processing path of the articles.

[0011] This entails the need to subject the articles to desired retaining forces, in order to effectively counteract the corresponding inertial forces resulting from said sudden accelerations, without the risk of displacement and / or detachment of the article from the transport system.

[0012] Moreover, along the production / treatment lines, it often occurs that an article must be transferred from one manipulating system to another distinct manipulating system adjacent to the first one, for example due to structural and / or technical limitations on the spatial extension of a given manipulating system. Such transfers from one manipulating system to another should preferably occur in very short times and with continuous and precise control of the position and orientation of the article. In practice, this translates into the need to cancel a retaining force associated with the first manipulating system in a short time, and simultaneously to rapidly activate a second retaining force associated with the second manipulating system.

[0013] Furthermore, still with reference to the above-mentioned articles, the manner in which the retaining force is applied must be such as to avoid damaging the manipulated article.

[0014] The above is further complicated by the very nature of the articles pertaining to the tobacco industry, which are characterized by typically reduced weight and / or dimensions and by soft and / or easily deformable materials, with the consequent need to maintain a high degree of precision and / or accuracy during the respective manipulating, in order to meet all the above-mentioned requirements.

[0015] Furthermore, the Applicant has observed that, in the tobacco industry, there is a particularly strong need to move, by means of one and the same manipulating line, articles of the same type which, however, may differ from one another in physical characteristics such as, for example, weight, surface processing, the material forming the outermost layer in the case of a composite article, etc. For example, such a situation typically occurs in relation to packaged cigarette packs when produced according to different recipes and / or sizes and / or belonging to different business origins, and which typically, although always being cigarette packs (and thus belonging to the same type of article), may differ from one another in one or more of the above-mentioned characteristics.

[0016] In view of the above technical requirements to be respected in production plants, the Applicant has therefore addressed the problem of manipulating articles pertaining to the tobacco industry along a processing path in an effective and high- performance manner, for example in terms of the retaining forces achievable and reduced activation / deactivation times of such forces and / or in terms of reducing the risk of damaging the article (even from a purely aesthetic point of view) and / or in terms of versatility in the face of variations in physical characteristics (e.g. weight, surface processing, materials, etc.) of the same type of article (e.g. cigarettes produced with different recipes, packaged cigarette packs made with different recipes / sizes / business origins).

[0017] According to the Applicant, the above-mentioned problem is solved by a method for manipulating articles in accordance with the appended claims and / or having one or more of the following features.

[0018] According to one aspect, the invention relates to a method for manipulating articles.

[0019] Preferably said articles are related to the tobacco industry.

[0020] Preferably said method comprises providing an article related to the tobacco industry.

[0021] Preferably said method comprises arranging a support body. Preferably said support body comprises a support surface to receive in contact at least a portion of said article.

[0022] Preferably said support body comprises a first electrode. Preferably said support body comprises a second electrode.

[0023] Preferably said first electrode and a second electrode are disposed in proximity to said support surface.

[0024] Preferably said method comprises providing a movement system connected to said support body.

[0025] Preferably said movement system is structured to move in space said support body.

[0026] Preferably said method comprises placing at least a portion of said article in contact with said support surface of said support body.

[0027] Preferably said method comprises generating reversibly an electric field between said first electrode and said second electrode of said support body in correspondence with said support surface.

[0028] Preferably said method comprises, more preferably with said at least one portion of said article subjected to said electric field, reversibly retaining said at least one portion of said article against said support surface by means of said electric field.

[0029] Preferably said method comprises, more preferably during at least part of said reversibly retaining said at least one portion of said article, moving in space said support body by means of said movement system to manipulate said article.

[0030] According to the Applicant, the reversible generation of the electric field at the supporting surface of the support body makes it possible to subject the portion of the article in contact with said supporting surface to said electric field in order to keep the entire article in adhesion against the supporting surface by exploiting electro-adhesion.

[0031] The Applicant has indeed realized that the generation of reversible electric fields to produce electro-adhesion phenomena, to which the articles are subjected precisely for the purpose of retaining said articles during the manipulating along a processing path, proves to be particularly advantageous in combination with the specific application to articles pertaining to the tobacco industry, at least for the following reasons.

[0032] Firstly, the retaining forces that are typically generable by means of electro-adhesion effect prove to be particularly suitable for the manipulating of lightweight articles such as the above-mentioned articles pertaining to the tobacco industry.

[0033] By contrast, for example with reference to mechanical retaining systems, such as mechanical grippers, the retaining forces that can be developed would be unnecessarily high in relation to the weight of the articles pertaining to the tobacco industry, making such systems oversized for the specific application, with resulting unnecessary high costs and / or structural complexity.

[0034] Moreover, the use of electro-adhesion to achieve the retaining of the article does not cause compression forces on the article. This is particularly advantageous with the above-mentioned articles, which are typically soft and / or easily damageable, eliminating the risk of damaging (even only from an aesthetic point of view) the article. Once again with reference to a comparative solution that uses mechanical retaining systems, which generally grip the article in order to retain it, in such cases there is a higher risk of crushing and therefore damaging the article.

[0035] Furthermore, the electro-adhesion effect for retaining is particularly suitable for the reduced dimensions of the above- mentioned articles pertaining to the tobacco industry (for example, without the need to provide mechanical gripping devices with a high degree of precision calibrated to said reduced dimensions).

[0036] In addition, the use of electric fields to generate electrostatic adhesion forces makes it possible to generate and / or cancel such forces in reduced times (for example on the order of milliseconds), to the benefit of the desired cycle times and article transfer between successive manipulating systems.

[0037] Furthermore, the use of electro-adhesion allows simple adjustment of the intensity of the retainable force (for example by simply varying the voltage).

[0038] With reference to a comparative solution that involves the use of suction systems for the retaining of the articles, the generation of the electric field of the desired intensity occurs in very short times starting from the application of the electric potential difference to the electrodes, and generally much shorter than the times required by such suction systems to establish the desired pressure difference (which then generates the adhesion effect on the article).

[0039] Furthermore, the adhesion achieved by means of said reversible electric fields allows the machine to adapt in a versatile manner to different articles (in shape, size, weight), while substantially maintaining the structure of the machine unchanged, since it is possible to obtain the desired electro-adhesion even in the case of articles having an extension different from the overall surface extension of the electrodes (for example, in general, articles having said portion to be positioned in contact with the supporting surface smaller or larger than said overall surface extension of the electrodes). This is particularly suitable for articles pertaining to the tobacco industry, allowing the same machine to manipulate said articles of the same type which, however, may differ substantially from one another in physical characteristics, thereby solving the corresponding problem as described above.

[0040] Still with reference to the two above-mentioned comparative solutions, it is observed that such capability is instead limited or even entirely absent in manipulating systems that exploit mechanical retaining systems or suction systems, which are typically designed specifically for a given type of articles. For example, the use of suction systems makes it necessary, for the purpose of retaining, that the portion of the article adheres over the entire surface occupied by the suction holes, in order to simultaneously occlude all the holes (only in this way can the retaining be achieved). In other words, smaller or larger articles that respectively leave holes uncovered or extend excessively beyond the portion provided with holes would be retained ineffectively or would not be retained at all by the suction system.

[0041] Finally, the use of electric fields also generates little or no noise (contrary, for example, to suction systems), improving acoustic comfort for the operators, and furthermore allows achieving all the above-described advantages with structural simplicity, limited bulk, and low costs, both in terms of construction and operation (particularly when compared to the above-mentioned comparative solutions).

[0042] The present invention, in one or more of the above aspects, may exhibit one or more of the following preferred features. Preferably generating said electric field comprises applying between said first electrode and second electrode a difference in electric voltage greater than or equal to 0.5 kV, more preferably greater than or equal to 1 kV.

[0043] Preferably generating said electric field comprises applying between said first electrode and second electrode a difference in electric voltage less than or equal to 8 kV, more preferably less than or equal to 6 kV, even more preferably less than or equal to 4 kV.

[0044] Such electric voltage values, by generating corresponding retaining forces, have proven to be particularly advantageous for the retaining of articles pertaining to the tobacco industry.

[0045] Preferably generating said electric field comprises applying between said first electrode and second electrode a difference in electric voltage based on one or more of the following parameters: type of material forming said at least one portion of said article, surface processing of said material forming said at least one portion of said article, geometric shape of said at least one portion of said article, spatial extension of said at least one portion of said article, weight of said article, speed at which said support body is moved in space, acceleration to which said support body is subjected when it is moved. In this way, the versatility of retaining is further improved.

[0046] In one embodiment said at least one portion of said article is made of electrically conductive material (e.g. aluminium foil). Preferably generating said electric field comprises applying between said first electrode and second electrode an alternating electric voltage difference (AC).

[0047] In one embodiment said at least one portion of said article is made of electrically non-conductive material (e.g. paper). Preferably generating said electric field comprises applying between said first electrode and second electrode a direct electric voltage difference (DC).

[0048] The Applicant has indeed observed that the above-mentioned regimes of application of the electric voltage difference have proven to be particularly advantageous depending on the material with which the portion of the article is made, in order to further improve the effectiveness of retaining.

[0049] Preferably reversibly retaining said at least one portion of said article comprises exerting on said at least one portion of said article, by means of said electric field, a retaining force greater than or equal to 4N, more preferably greater than or equal to 6N.

[0050] In one embodiment reversibly retaining said at least one portion of said article comprises exerting on said at least one portion of said article, by means of said electric field, a retaining force less than or equal to 100N, more preferably greater than or equal to 90N, more preferably less than or equal to 20N, even more preferably less than or equal to 10N.

[0051] Such retaining force values have proven to be particularly advantageous for the above-mentioned articles, especially when moved in space by means of said support body.

[0052] Preferably generating said electric field begins at a time prior to said placing said at least one portion of said article. In this way, the adhesion is improved and / or the adhesion times of the portion of the article on the supporting surface are optimized, since the electro-adhesive retaining force is thus already acting (and typically at steady state) when the article is positioned.

[0053] Preferably arranging said support body comprises forming said first electrode by means of a plurality of first subelectrodes.

[0054] Preferably arranging said support body comprises forming said second electrode by means of a plurality of second sub-electrodes.

[0055] Preferably arranging said support body comprises forming each of said first electrode and second electrode with main dimension substantially two-dimensional, and more preferably parallel to said support surface. In this way, the distribution of the electric field in space is facilitated, to the benefit of the effectiveness and / or uniformity of retaining. Preferably arranging said support body comprises forming each of said first electrode and second electrode with a comb-like shape, and more preferably with respective teeth interleaved with each other, n this way, the spatial uniformity of the electric field is further improved.

[0056] Preferably each of said first electrode and second electrode is made of one or more of the following materials: copper, aluminum, electrically conductive silicone rubber. Preferably each of said first electrode and second electrode is made by one of the following methods: molding, etching (chemical or mechanical) and lamination, etching (chemical or mechanical) and coating, photolithography and coating. In this way, the production of the first and second electrode is simple.

[0057] Preferably arranging said support body comprises forming said support surface with a surface extension lying on at least a first plane and a second plane that are non-coincident.

[0058] Preferably arranging said support body comprises forming said first electrode and second electrode with a spatial extension substantially equal to said surface extension of said support surface. In this way, the spatial extension intended for adhesion is maximized in accordance with the structure of the support body. In this way, the support body is rationalized.

[0059] Preferably placing said at least one portion of said article in contact with said support surface comprises placing a first portion of said article in contact with a first portion of said support surface lying on said first plane. Preferably placing said at least one portion of said article in contact with said support surface comprises placing a second portion of said article in contact with a second portion of said support surface lying on said second plane.

[0060] In one embodiment forming said support surface comprises arranging said first plane and second plane intersecting each other, more preferably orthogonal to each other.

[0061] In one embodiment said support surface comprises arranging said first plane and second plane parallel to each other and at a mutual distance.

[0062] In this way, the effectiveness of retention is improved by involving the article at multiple portions, for example by retaining adjacent (e.g. contiguous) faces and / or mutually opposite faces of the article.

[0063] Preferably arranging said support body comprises arranging a main body and a support portion belonging to said support body.

[0064] Preferably said support portion comprises said support surface.

[0065] Preferably said support portion has a layered structure comprising, proceeding towards said support surface from said main body:

[0066] - a first dielectric substrate;

[0067] - said first electrode and second electrode disposed on top of said first dielectric substrate;

[0068] - a second dielectric substrate disposed on top of said first electrode and second electrode and defining said support surface. In this way, the electrodes are isolated from the main body and / or the electrodes are protected.

[0069] Preferably arranging said support body comprises forming at least one of said first dielectric substrate and second dielectric substrate from one or more of the following materials: polypropylene, polyimide, elastomeric silicone, water- based polyurethane, cellulose acetate. In this way, the substrates are resistant and economical.

[0070] Preferably generating said electric field comprises adjusting a surface extension of said electric field in correspondence with said support surface based on at least one between a geometric shape and a spatial extension of said at least one portion of said article. For example, the surface extension of the electric field can be adjusted by varying the voltage applied to the electrodes and / or by selectively activating distinct portions (e.g. first and / or second sub-electrodes) of the first and / or second electrode, as described below.

[0071] Preferably each first sub-electrode of said plurality of first sub-electrodes is structured to be selectively (e.g. independently) activatable with respect to remaining first sub-electrodes of said plurality of first sub-electrodes. Preferably each second sub-electrode of said plurality of second sub-electrodes is structured to be selectively (e.g. independently) activatable with respect to remaining second sub-electrodes of said plurality of second sub-electrodes. Preferably adjusting said surface extension of said electric field comprises selectively activating one or more of said first sub-electrodes and one or more of said second sub-electrodes (e.g. independently from one another). The first sub-electrodes and the second sub-electrodes are therefore selectively activatable for generating an electric field as a function of a shape and / or an extension of a contact surface of the portion of the article.

[0072] Preferably moving said support body in space comprises moving said support body along at least one of a straight trajectory and a circular trajectory. Preferably moving said support body in space further comprises moving said support body cyclically along a closed path or alternately along a segment of a trajectory.

[0073] In this way, the movement is simple and allows for a wide range of motion.

[0074] Preferably, said method further comprises:

[0075] - removing said article from said supporting surface;

[0076] - positioning a respective portion of a further article (distinct from said article) related to the tobacco industry in contact with said supporting surface of said supporting body;

[0077] - with said respective portion of said further article subjected to said electric field, reversibly retaining said respective portion of said further article against said supporting surface by means of said electric field;

[0078] - during at least part of said reversibly retaining said respective portion of said further article, moving in space said supporting body by means of said moving system for manipulating said further article.

[0079] Preferably said respective portion of said further article is made of a material different from a material that makes said at least one portion of said article.

[0080] Preferably said respective portion of said further article has a surface processing of said material that makes said respective portion of said further article different from a surface processing of said material that makes said at least one portion of said article.

[0081] Preferably said respective portion has at least one between a geometrical shape and a spatial extension different from respectively a geometrical shape and a spatial extension of said at least one portion of said article. Preferably said further article has a weight different from a weight of said article.

[0082] The method for manipulating articles according to the present invention in fact allows, even with equal intensity and / or surface extension of the electric field, to retain articles different in one or more of the above characteristics, such as said articles of same type but differing in physical characteristics, without worrying about leaving a portion of the surface extension of the electrodes possibly not occupied by the further article and / or that the further article shows differences in one or more of the above aspects.

[0083] It is specified that some steps of the above-described method may be independent from the order of execution indicated, except where a sequence or simultaneity between two or more steps is expressly indicated as necessary. Furthermore, some steps may be optional. Moreover, some steps may be performed repetitively, or may be performed in series or in parallel with other steps of the method.

[0084] Brief description of the fiqures

[0085] Figure 1 schematically shows a perspective view of a detail of a manipulating system suitable for executing the method according to the present invention;

[0086] Figure 2 schematically shows a further perspective view of the detail of the system of Figure 1 ;

[0087] Figure 3 shows an exploded view of the detail of the system of Figure 1 ;

[0088] Figure 4 schematically shows a perspective view of a further detail of the manipulating system suitable for executing the method according to the present invention;

[0089] Figures 5 and 6 schematically and partially show a respective detail of the manipulating system suitable for executing the method according to the present invention.

[0090] Detailed description of some embodiments of the invention

[0091] The features and advantages of the present invention will be further clarified by the following detailed description of some embodiments, presented by way of example and not limitation of the present invention, with reference to the attached figures.

[0092] Exemplarily the method comprises providing an article A related to the tobacco industry.

[0093] In particular, in the following description, exemplary reference will be made, without however losing generality, to an article A related to the tobacco industry consisting of a sealed protective wrapper made of flexible material, for example made of paper, aluminum foil, polymeric material, etc., containing inside it a plurality of cigarettes (shown in Figure 1). Exemplarily the article A has a first, a second, and a third dimension respectively equal to about 99.9 mm, 53.5 mm, and 21 .5 mm, and a mass equal to about 15 g.

[0094] Typically the wrapper of article A is intended to be inserted into a respective case (not shown), for example made of cardboard, to form a cigarette pack (not shown).

[0095] Exemplarily the attached figures schematically show some details of a manipulating system suitable for executing the method according to the present invention with reference to the aforementioned article, and therefore presenting for this purpose some structural features specifically designed to match the shape of the aforementioned article (as will be described in greater detail below).

[0096] It is also to be understood that the method according to the present invention can be applied to any article related to the tobacco industry (for example, but not limited to, those listed above). If necessary, depending on the article related to the tobacco industry being manipulated, modifications may be provided in the structure and / or specific dimensions of one or more parts of the corresponding manipulating system, without however departing from the scope of the present invention.

[0097] Exemplarily the method comprises providing a support body 2. More in detail, the support body 2 is exemplarily a drawer having a substantially parallelepiped shape suitable for containing the article A (as shown in figure 1). As described above, depending on the type of article to be manipulated, the shape of the support body 2 may accordingly vary.

[0098] Exemplarily the support body 2 comprises a supporting surface 4 to receive in contact a portion of the article A. Exemplarily the supporting surface 4 is made with a surface extension lying on a first plane 7, a second plane 8, and a third plane 14, mutually non-coincident. Exemplarily the first plane 7 and the second plane 8 are mutually orthogonal, and the first plane 7 and the third plane 14 are mutually parallel and spaced at a non-zero distance.

[0099] More in detail the supporting surface 4 exemplarily comprises four distinct faces 40, two of which are arranged on the second plane 8, one on the first plane 7 (not visible in figure 2), and the last one on the third plane 14 (figure 2). Exemplarily the faces 40 are contiguous in pairs, wherein each of the two faces 40 arranged on the second plane 8 is contiguous to (only) a respective face 40 arranged respectively on the first plane 7 and on the third plane 14. Exemplarily the faces 40 arranged on the second plane 8 are mutually separated (as visible for example in figure 2). Exemplarily the support body 2 comprises a first electrode 5 and a second electrode 6 positioned in proximity to the supporting surface 4 and having a spatial extension substantially equal to the surface extension of the supporting surface 4. More in detail, each of said first electrode 5 and second electrode 6 exemplarily comprises a respective electrode portion for each face 40 of the supporting surface 4 (that is, exemplarily four electrode portions for each electrode). Exemplarily each pair of electrode portions of the first electrode 5 and of the second electrode 6 of a face 40 substantially entirely occupy the surface extension of the respective face 40 of the supporting surface 4.

[0100] Exemplarily each first electrode 5 and second electrode 6 has a main development that is substantially two-dimensional and parallel to the supporting surface 4. In detail, each electrode portion of the first electrode 5 and the second electrode 6 extends parallel to the respective face 40 of the supporting surface 4 at which it is positioned.

[0101] Exemplarily (figure 5), each first electrode 5 and second electrode 6 has a comb shape, with respective teeth interleaved with each other.

[0102] For example, each first electrode 5 and second electrode 6 can be made of one or more of the following materials: copper, aluminum, electrically conductive silicone rubber, and can be manufactured by one or more of the following methods: molding, (chemical or mechanical) etching and lamination, (chemical or mechanical) etching and coating, photolithography and coating.

[0103] Exemplarily the first electrode 5 is made by a plurality of first sub-electrodes (not shown) and the second electrode 6 is made by a plurality of second sub-electrodes (not shown). For example, each electrode portion of the first electrode 5 comprises a respective sub-plurality of first sub-electrodes belonging to said plurality. Similarly, the same applies exemplarily to the second electrode 6. In other words, each plurality of first and second sub-electrodes is divided into sub-pluralities in the various electrode portions forming the respective electrode on the four faces 40 of the supporting surface 4.

[0104] Exemplarily each first sub-electrode of the plurality of first sub-electrodes is structured to be selectively (e.g., independently) activatable with respect to the remaining first sub-electrodes of the plurality of first sub-electrodes. Exemplarily each second sub-electrode of said plurality of second sub-electrodes is structured to be selectively (e.g., independently) activatable with respect to the remaining second sub-electrodes of the plurality of second sub- electrodes. For example, each first and second sub-electrode comprises respective power terminals independently connected to a power source (e.g., voltage or current generator).

[0105] Exemplarily the supporting body 2 comprises a main body 9 and a supporting portion 10. Exemplarily the supporting portion 10 comprises the supporting surface 4 and has a layered structure comprising, proceeding toward the supporting surface 4 from the main body 9 (i.e., from bottom to top in Figure 6):

[0106] - a first dielectric substrate 11 ;

[0107] - the first electrode 5 and the second electrode 6 disposed on top of the first dielectric substrate 11 ;

[0108] - a second dielectric substrate 12 disposed on top of the first electrode 5 and the second electrode 6 and defining the supporting surface 4. More in detail, the second dielectric substrate 12 exemplarily embeds the first electrode 5 and the second electrode 6.

[0109] The first dielectric substrate 11 and the second dielectric substrate 12 may be made of rigid material, or flexible, or even stretchable. For example, the first dielectric substrate 11 and the second dielectric substrate 12 are made of one or more of the following materials: polypropylene, polyimide, silicone elastomer, water-based polyurethane, cellulose acetate.

[0110] Exemplarily the first dielectric substrate 11 is made of Kapton™ and the second dielectric substrate 12 is made of silicone.

[0111] For example, each supporting portion 10 can be made as described in the above-mentioned article IEEE Robotics and Automation Letters, Vol. 5, No. 2, April 2020, pp. 2770-2776.

[0112] Exemplarily it is also provided to arrange a power generator 13 (shown only schematically in Figure 6) connected to the first electrode 5 and to the second electrode 6. Exemplarily the power generator 13 is capable of applying an electric voltage difference of approximately 4 kV across the terminals of the first electrode 5 and the second electrode 6, with a (peak) current flow remaining below 50 pi A.

[0113] Exemplarily (Figure 4), the method further comprises providing a moving system 3 connected to the supporting body 2 and structured for moving the supporting body 2 in space.

[0114] Exemplarily the method comprises generating in a reversible manner an electric field between the first electrode 5 and the second electrode 6 of the supporting body 2 in correspondence with the supporting surface 4. In detail, a respective electric field is generated for each pair of electrode portions of the first electrode 5 and the second electrode 6 in correspondence with each respective face 40.

[0115] Exemplarily generating the electric field comprises applying said electric voltage difference of approximately 4 kV between the first electrode 5 and the second electrode 6.

[0116] Subsequently to the generation of the electric field, the method exemplarily comprises positioning at least one portion of the article A in contact with the supporting surface 4 of the supporting body 2. Exemplarily the at least one portion of article A comprises one or more faces of the protective wrapper once sealed around the bundle of cigarettes (and thus having assumed a substantially parallelepiped shape).

[0117] In detail, positioning at least one portion of the article A in contact with the supporting surface 4 exemplarily comprises positioning a first portion of the article A in contact with a first portion of the supporting surface 4 lying on the first plane 7, i.e., in contact with the face 40 arranged on said first plane 7. Exemplarily the first portion of article A thus comprises a first vertical face of article A.

[0118] Exemplarily positioning at least one portion of the article A in contact with the supporting surface 4 further comprises positioning a second portion of the article A in contact with a second portion of the supporting surface 4 lying on the second plane 8, i.e., in contact with both faces 40 arranged on the second plane 8.

[0119] Exemplarily the second portion of article A thus comprises a first horizontal face of article A.

[0120] Exemplarily positioning at least one portion of the article A in contact with the supporting surface 4 further comprises positioning a third portion of the article A in contact with a third portion of the supporting surface 4 lying on the third plane 14, i.e., in contact with the face 40 arranged on the third plane 14. Exemplarily the third portion of article A thus comprises a second vertical face of article A, opposite and parallel to the first vertical face.

[0121] Exemplarily generating the electric field further comprises applying between the first electrode 5 and the second electrode 6 the electric voltage difference as a function of one or more of the following parameters: type of material forming said at least one portion of article A, surface treatment of the material forming said at least one portion of article A, geometric shape of said at least one portion of article A, spatial extension of said at least one portion of article A, weight of article A.

[0122] In one embodiment, preferably when the at least one portion of article A is made of electrically conductive material (e.g., said wrapper is made of aluminum foil), generating the electric field exemplarily comprises applying between the first electrode 5 and the second electrode 6 an alternating current (AC) electric voltage difference, typically with sinusoidal waveform.

[0123] In another embodiment, preferably when the at least one portion of article A is made of electrically non-conductive material (e.g., said wrapper is made of paper), generating the electric field exemplarily comprises applying between the first electrode 5 and the second electrode 6 a direct current (DC) electric voltage difference.

[0124] Exemplarily generating the electric field further comprises adjusting a surface extension of the electric field at the supporting surface 4 as a function of the geometric shape and / or spatial extension of said at least one portion of article A.

[0125] For example, the surface extension of the electric field may be adjusted by varying the voltage applied to at least one of the first electrode 5 and the second electrode 6 and / or by selectively activating one or more of the first sub-electrodes and / or one or more of the second sub-electrodes (e.g., one or more electrode portions simultaneously and / or independently of each other).

[0126] Exemplarily the method comprises, with said at least one portion of article A subjected to the electric field, reversibly retaining said at least one portion of article A against the supporting surface 4 by means of the electric field. Exemplarily reversibly retaining said at least one portion of article A comprises applying to said at least one portion of article A, by means of the electric field, a retaining force equal to at least 4 N. The actual intensity of the retaining force may vary depending on the adjustment of the electric voltage applied to the electrodes. For example, for certain applications the retaining force may be around 10 N, while for others it may reach up to about 90 N. For instance, it has been experimentally verified that portions of the article having surface treatments (e.g., embossed paper) require lower retaining forces compared to portions having smooth surfaces (glossy paper), for the same degree of retention achievable. Exemplarily the method therefore comprises, during at least part of the reversible retaining of said at least one portion of article A by the supporting body 2 by means of the electric field, moving the supporting body 2 in space by means of the movement system 3 for manipulating article A.

[0127] For example, the supporting body 2 may be moved along a rectilinear trajectory and in an alternating manner (e.g., back-and-forth) along a trajectory segment. This movement is for example that achievable by the movement system 3 shown in figure 4, which comprises, for instance, a crank-slider mechanism.

[0128] In other embodiments, the supporting body may be moved along a circular trajectory and / or cyclically along a closed path.

[0129] Exemplarily generating the electric field may also comprise applying the electric voltage difference between the first electrode 5 and the second electrode 6 as a function of one or more of the following parameters: the speed at which the supporting body 2 is moved in space, the acceleration to which the supporting body 2 is subjected when being moved.

[0130] For example, the supporting body 2 is moved to pick up article A from a first station and convey it to a second station, subsequent to the first. During the movement by means of the supporting body 2, article A may also undergo one or more processing operations.

[0131] Exemplarily the method further comprises:

[0132] - removing article A from the supporting surface 4;

[0133] - positioning a respective portion of a further article (not shown, distinct from article A) pertaining to the tobacco industry in contact with the supporting surface of the supporting body 2;

[0134] - with the respective portion of the further article subjected to the electric field, reversibly retaining said respective portion of the further article against the supporting surface 4 by means of the electric field;

[0135] - during at least part of said reversible retaining of the respective portion of the further article, moving the supporting body 2 in space by means of the movement system 3 for manipulating the further article.

[0136] In one embodiment, the further article is (substantially) identical to article A (possibly except for manufacturing tolerances).

[0137] In another embodiment, the further article differs from article A in one or more physical and / or dimensional characteristics. For example, the further article belongs to the same type as article A but differs from the latter in one or more physical characteristics.

[0138] Exemplarily, one or more of the following situations may occur:

[0139] - the respective portion of the further article is made of a material different from a material that makes up the at least one portion of article A;

[0140] - the respective portion of the further article has a surface processing of the material that makes up the respective portion of the further article different from a surface processing of the material that makes up the at least one portion of article A;

[0141] - the respective portion has a geometric shape and / or spatial extension different from respectively a geometric shape and / or spatial extension of the at least one portion of article A;

[0142] - the further article has a weight different from a weight of article A. For example, the further article may be made of a further sealed protective wrapper containing cigarettes.

[0143] For example, the further article may contain a different number of cigarettes and therefore have a different weight with respect to article A and / or may have the protective wrapper made of a different material, for example of non-conductive paper, with respect to a wrapper of article A made of conductive aluminum foil and / or vice versa, and / or of embossed paper with respect to glossy paper of article A and / or vice versa.

[0144] The method according to the present invention, in fact, precisely thanks to the use of electro-adhesion for retaining the articles, allows the manipulation of articles pertaining to the tobacco industry in a particularly advantageous manner, especially also in the presence of a possible variation in the recipe that makes up the article and / or in the entrepreneurial origin, with the same usable machine and / or with minimal changes to the structure of the latter and / or by means of simple and rapid adjustments of the operating parameters (e.g. electrical supply voltage, number of (first and / or second) sub-electrodes energized).

Claims

CLAIMS1. Method for manipulating articles (A) related to the tobacco industry, said method comprising the steps of: -providing an article (A) related to the tobacco industry;-arranging a support body (2) comprising a support surface (4) to receive in contact at least a portion of said article (A), and a first electrode (5) and a second electrode (6) disposed in proximity to said support surface (4);-providing a movement system (3) connected to said support body (2) and structured to move in space said support body (2);-placing at least a portion of said article (A) in contact with said support surface (4) of said support body (2);-generating reversibly an electric field between said first electrode (5) and said second electrode (6) of said support body (2) in correspondence with said support surface (4);-with said at least one portion of said article (A) subjected to said electric field, reversibly retaining said at least one portion of said article (A) against said support surface (4) by means of said electric field;-during at least part of said reversibly retaining said at least one portion of said article (A), moving in space said support body (2) by means of said movement system to manipulate said article (A).

2. Method according to claim 1 , wherein generating said electric field comprises applying between said first electrode (5) and second electrode (6) a difference in electric voltage greater than or equal to 0.5 kV and less than or equal to 8 kV.

3. Method according to any one of the preceding claims, wherein generating said electric field comprises applying between said first electrode (5) and second electrode (6) a difference in electric voltage based on one or more of the following parameters: type of material forming said at least one portion of said article (A), surface processing of said material forming said at least one portion of said article (A), geometric shape of said at least one portion of said article (A), spatial extension of said at least one portion of said article (A), weight of said article (A), speed at which said support body (2) is moved in space, acceleration to which said support body (2) is subjected when it is moved.

4. Method according to any one of the preceding claims, wherein said at least one portion of said article (A) is made of electrically conductive material, and wherein generating said electric field comprises applying between said first electrode (5) and second electrode (6) an alternating electric voltage difference.

5. Method according to any one of claims from 1 to 3, wherein said at least one portion of said article (A) is made of electrically non-conductive material, and wherein generating said electric field comprises applying between said first electrode (5) and second electrode (6) a direct electric voltage difference.

6. Method according to any one of the preceding claims, wherein reversibly retaining said at least one portion of said article (A) comprises exerting on said at least one portion of said article (A), by means of said electric field, a retaining force greater than or equal to 4N.

7. Method according to any one of the preceding claims, wherein said generating said electric field begins at a time prior to said placing said at least one portion of said article (A).

8. Method according to any one of the preceding claims, wherein generating said electric field comprises adjusting a surface extension of said electric field in correspondence with said support surface (4) based on a geometric shape and / or a spatial extension of said at least one portion of said article (A).

9. Method according to claim 8, wherein arranging said support body (2) comprises forming said first electrode (5) by means of a plurality of first sub-electrodes and forming said second electrode (6) by means of a plurality of second sub-electrodes, and wherein adjusting said surface extension of said electric field comprises selectively activating one or more of said first sub-electrodes and one or more of said second sub-electrodes.

10. Method according to any one of the preceding claims, wherein arranging said support body (2) comprises forming each of said first electrode (5) and second electrode (6) with main dimension substantially two-dimensional and parallel to said support surface (4), and forming each of said first electrode (5) and second electrode (6) with a comb-like shape and respective teeth interleaved with each other.11 . Method according to any one of the preceding claims, wherein arranging said support body (2) comprises forming said support surface (4) with a surface extension lying on at least a first plane (7) and a second plane (8) that are noncoincident, and forming said first electrode (5) and second electrode (6) with a spatial extension substantially equal to said surface extension of said support surface (4), and wherein placing said at least one portion of said article (A) in contact with said support surface (4) comprises placing a first portion of said article (A) in contact with a first portion of said support surface (4) lying on said first plane (7) and placing a second portion of said article (A) in contact with a second portion of said support surface (4) lying on said second plane (8).

12. Method according to claim 11 , wherein forming said support surface (4) comprises arranging said first plane (7) and second plane (8) intersecting each other, or arranging said first plane (7) and second plane (8) parallel to each other and at a mutual distance.

13. Method according to any one of the preceding claims, wherein moving said support body (2) in space comprises moving said support body (2) along at least one of a straight trajectory and a circular trajectory, and wherein moving said support body (2) in space further comprises moving said support body (2) cyclically along a closed path or alternately along a segment of a trajectory.

14. Method according to any one of the preceding claims, wherein arranging said support body (2) comprises arranging a main body (9) and a support portion (10) belonging to said support body (2), wherein said support portion (10) comprises said support surface (4) and has a layered structure comprising, proceeding towards said support surface (4) from said main body (9):-a first dielectric substrate (11);-said first electrode (5) and second electrode (6) disposed on top of said first dielectric substrate (11);-a second dielectric substrate (12) disposed on top of said first electrode (5) and second electrode (6) and defining said support surface (4).

15. Method according to claim 14, wherein arranging said support body (2) comprises forming at least one of said first dielectric substrate (11) and second dielectric substrate (12) from one or more of the following materials: polypropylene, polyimide, elastomeric silicone, water-based polyurethane, cellulose acetate.

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