Gripper conveyor with parallel kinematic trasmission for manipulating containers

Abstract

It is described a gripper conveyor (1) for conveying a gripper (4) being gripping a container (B), the gripper (4) being able to adopt a closed condition for gripping the container (B) and an open condition to release the container (B), comprising: a movable shuttle (2) which can be subjected to a movement; a control system (3) which is supported by the shuttle (2) to be integral with said movement, and configured for controlling independently from each other the translation of the gripper with respect to the shuttle (2) and the oscillation of the gripper with respect to the shuttle (2); wherein the control system (3) is configured so that the oscillation is integral with said translation.

Description

GRIPPER CONVEYOR WITH PARALLEL KINEMATIC TRASMISSION FOR MANIPULATING CONTAINERS

[0001] The present invention relates to a gripper conveyor for conveying a gripper for gripping containers to be used in the packaging of pourable products, to a conveying system for conveying containers which comprises the gripper conveyor, and to an apparatus for the packaging of pourable products by means of containers which comprises the conveying system.

[0002] In the field of packaging pourable products by means of containers, it is known the use of conveying system for conveying the containers by means for example of grippers which are in turn conveyed along a conveying path, by means of a conveying movement along a conveying direction. Depending on the specific technical circumstances, there may be the need of obtaining further motions of each gripper being subjected to the conveying movement, with respect to the main conveying direction, to manipulate the containers being conveyed in a proper manner. Current solution for obtaining this task are structurally complex and presents a limited flexibility in terms of geometry and speed of the further motions that can be obtained.

[0003] Moreover, current conveying systems present different devices used for energizing the various elements aimed at conveying and manipulating the containers, which geometrically interfere between each other to make higher the cost of intervention of operators on the conveying system.

[0004] A gripper conveyor according to present description or according to any of the appended conveyor claims is configured for improving the flexibility in the manipulation of the containers being conveyed and / or for lowering the total cost of operational of the conveying system comprising the conveyor.

[0005] A conveying system according to present description or according to any of the appended system claims comprises a conveyor according to any of the appended conveyor claims or according to present description.

[0006] An apparatus according to present description or according to any of the appended apparatus claims comprises a conveying system according to present description or according to any of the appended system claims.

[0007] The following brief description of the drawings and detailed description of the invention will be referred to a possible example embodiment of a conveyor according to present description, a possible example embodiment of a conveying system according to present description, and a possible example embodiment of an apparatus according to present description.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The following detailed description will be referred to the accompanying drawings, in which:

[0009] is a perspective of the system which is part of the apparatus;

[0010] is a more detailed view of a part of the system;

[0011] is a view from the top of three grippers being conveyed by means of three respective gripper conveyors;

[0012] is a more detailed view of a portion of a gripper conveyor;

[0013] is another view from the top of three grippers being conveyed by means of three respective gripper conveyors, to indicate other components which are not indicated in.

[0014] DETAILED DESCRIPTION OF THE INVENTION

[0015] The Apparatus 11 is configured for the packaging of pourable products by means of containers B.

[0016] The containers B may be bottles, for example glass bottle or PET bottle. The containers B may for example, in the alternative, kegs or cans or jars. The containers B are configured for containing a pourable product, for example a pourable food product.

[0017] The pourable product may be pourable a food product such as a carbonated liquid (e.g. sparkling water, soft drinks and beer), a non-carbonated liquid (including still water, juices, teas, sport drinks, wine, milk, etc.), an emulsion, a sauce, or a beverage containing pulps.

[0018] The pourable product may be for example a carbonated beverage or a not carbonated beverage. The pourable product may be for example a high acid food product or a low acid food product.

[0019] The product may be, alternatively, a product for home or personal care.

[0020] The apparatus 11 comprises a conveying system 10 for conveying the containers B.

[0021] The apparatus 11 may comprise a filling machine for filling the containers with the pourable product. The apparatus may comprise a decorating machine for decorating the containers, which can be a labelling machine for labelling the containers. The apparatus 11 may comprise a forming machine for producing the containers, which can be a blowing machine. The machines may be blocked to each other in the sense that the production speed must be the same along the line comprising all the machines, at least in normal operation.

[0022] The system 10 comprises a plurality of gripper conveyors 1.

[0023] Each conveyor 1 is configured for conveying a gripper 4 being gripping a container B. The gripper 4 is able to adopt a closed condition for gripping the container B and an open condition for releasing the container B. The gripper 4 on the left in Figures 3 and 5 is adopting an open condition, and is not gripping any container. The other grippers 4 of Figures 3 and 5 are gripping respective containers by adopting the respective closed conditions.

[0024] The condition of each gripper 4 can be subject to a variation between the closed condition and the open condition.

[0025] Each conveyor 1 comprises a respective movable shuttle 2 which can be subjected to a movement. The shuttle 2 defines a carriage.

[0026] In Figures 2, 3 and 5, three shuttles 2 of three respectives conveyors 1 are indicated.

[0027] Each conveyor 1 comprises a respective control system 3 which is supported by the shuttle 2 to be integral with the respective movement of the shuttle 2. The shuttle 2 therefore at least partially carries the control system 3.

[0028] In Figures 2, 3 and 5, three control systems 3 of three respectives conveyors 1 are indicated.

[0029] For each conveyor 1, the control system 3 is configured for controlling independently from each other the translation of the gripper 4 with respect to the shuttle 2, and the oscillation of the gripper with respect to the shuttle 2.

[0030] For each conveyor 1, the control system 3 is configured so that the oscillation is integral with said translation.

[0031] In the context of interaction between the conveying system 10 and the processing carousel of any one of the machines which are part of the apparatus 11, the proposed conveyor 1 enables a fine control of the orientation and of the radial position of the gripper 4 in proximity to the station of the processing carousel which is about to release the processed container B to the gripper 4, or in proximity of the station of the same processing carousel which is about to receive the container B to be processed from the gripper 4. The effectiveness of the oscillation and the translation is therefore enhanced, thereby facilitating improved manipulation of the container. Consequently, the gripper conveyor 1 is equipped with enhanced performance and increased flexibility in the handling of containers B by the grippers 4, in particular for adapting in an effective manner the way of manipulation to the production speed or to any mechanical feature of the processing carousels with which the conveying system 10 is interacting or to any mechanical feature of the same conveying system 10.

[0032] The system 10 comprises a transport motor 101 for transporting each conveyor 1 around a central axis X by generating the movement of the respective shuttle 2. For each conveyor 1, the translation corresponds to a radial direction with respect to said central axis X. The transport motor 101 is an electromagnetic linear motor or an electric linear motor. The radial direction is indicated for each conveyor 1 in, with a respective arrow R.

[0033] The transport motor 101 is indicated in Figures 1, 2 and 3.

[0034] The conveying system 10 is configured so that, for each conveyor 1, the oscillation occurs on a plane which is transversal and preferably orthogonal to said central axis X.

[0035] The conveying system 10 is configured so that, for each conveyor 1, the variation of said condition occurs on said plane.

[0036] For each conveyor 1, the control system 3 comprises a motor group 31 for generating the translation of the gripper 4 and the oscillation of the gripper 3.

[0037] For each conveyor 1, the control system 3 comprises a mechanism 33 for connecting the motor group 3 to the gripper 4, so that the motor group 3, by means of the mechanism 33, can generate the translation of the gripper 4 and the oscillation of the gripper 4.

[0038] For each conveyor 1, the motor group 31 comprises a first motor 311 for generating the translation. For each conveyor 1, the motor group 31 comprises a second motor 312 for generating the oscillation. For each conveyor 1, the mechanism 33 comprises a gripper support 335 for supporting the gripper 4. For each conveyor 1, the mechanism 33 comprises a fulcrum 334 for the oscillation, so that the oscillation of the gripper 4 corresponds to a rotation of the support 335 and therefore of the gripper 4 around the fulcrum 334. For each conveyor 1, the fulcrum 334 is integral with said translation.

[0039] For each conveyor 1, the mechanism 33 comprises a first connection 331 for connecting the first motor 31 to the fulcrum 334, so that the first motor 311 acts on the fulcrum 334 to generate the translation. In this way, the fulcrum 334 is integral with the translation, so that the oscillation is integral with the translation. For each conveyor 1, the mechanism 33 comprises a second connection 332 for connecting the second motor 32 to the support 335, so that the second motor 312 acts on the support 335 to generate the oscillation, in such a way that the support 335 is integral with the translation of the fulcrum 334. In particular, the second connection 332 comprises at least one respective lever for generating the oscillation.

[0040] Each of the first connection 331 and second connection 332 is a mechanical contact connection.

[0041] The mechanism therefore defines an oscillation mechanism which is integrated with the translational movement, as the fulcrum 334 moves in tandem with the translation of the gripper 4. This design enhances the flexibility and efficiency of the gripper conveyor 4 in manipulating the containers being transported, while simultaneously reducing mechanical complexity. The oscillation of the gripper 4 can in fact occur around an axis, which is defined by the fulcrum 334, which can be very close to the processing station to which the container B is to be released or from which the container is to be withdrawn.

[0042] The mechanism 33 defines a parallel kinematic transmission for controlling the oscillation and the translation, so that the control of the oscillation and the translation is more effective, as the mechanism 33 can work more directly on each of the translation and oscillation.

[0043] For each conveyor 1, the control system 3 comprises an automatic controller 5 which is configured for controlling the first motor 311 and the second motor 312 in a coordinated manner, so that the fulcrum 334 can properly follow said translation without impacting the correct operation.

[0044] In this way, the control system 3 can ensure that each motion corresponding to the oscillation or corresponding to the translation can be controlled independently from the other, with the oscillation being integral with the translation, and therefore with fulcrum 334 being integral with the translation of the support 335.

[0045] In this way, in particular, the oscillation and the translation can be controlled independently from each other. Therefore, a specific orientation of the gripper 4 with respect to the rotation around the fulcrum 34 can be maintained independently from the radial position of the same gripper 4, and a specific radial position of the gripper 4 can be maintained independently from the orientation of the same gripper 4. Therefore, the improvement in terms of flexibility of manipulation of the container B can be obtained without impacting on the correct operation.

[0046] The automatic controllers 5 which are part of the conveyors 1 may be integrated in a single control unit.

[0047] The conveying system 10 comprises a rotative collector 8 for energizing the respective motor groups 31 of the conveyors 1. The rotative collector 8 comprises a static part 81 and rotary part 82.

[0048] The conveying system 10 comprises a rotational motor 9 for rotating the rotary part 82 of the collector 8, so that the rotary part 82 is integral with the movement so of the shuttles 2.

[0049] The rotational motor 9 is distinct with respect to the transport motor 101 and is located on the opposite side of the rotative part 82 with respect to the static part 81 and along said central axis X. Therefore, the static part 81 and the rotational motor 9 are located on opposite sides of the rotary part 82, along said central axis X.

[0050] In this way it is minimized the interference between the components for feeding energy to the motor groups 31, and the components for causing the movement of the shuttles 2. Therefore, the ergonomics of the conveying system 10 is improved, to lower the operational costs of the apparatus 11.

[0051] For each conveyor 1, each of the first motor 311 and second motor 312 is an electromagnetic or an electrical linear motor.

[0052] The collector 8 is an electrical rotative collector for electrically energizing the motor groups 31 of the respective conveyors 1.

[0053] For each conveyor 1, the control system 3 is configured for controlling a variation of the condition of the gripper 4 independently from said translation and said oscillation. In this way, the effectiveness and flexibility of the conveyor 1 are improved also with respect to the timing for releasing or receiving the container B, because the instant for the variation of the condition of the gripper 4 can be tuned very accurately.

[0054] The motor group 31 is configured also for generating said variation. The mechanism 33 is configured for connecting the motor group 3 to the gripper 4, so that the motor group 3 can generate also said variation. The motor group 31 comprises a third motor 313 for generating said variation. The mechanism 33 comprises a third connection 333 for connecting the third motor 313 to the gripper 4, so that the third motor 313 acts on the gripper 4 to generate said variation. Also the third connection 333 may comprise at leas one respective lever.

[0055] The automatic controller 5 is configured for controlling the first motor 311, the second motor 312, and the third motor 313, in a coordinated manner so that the closed condition or the open condition can be maintained independently from said oscillation and said translation.

[0056] The mechanism 33 defines a parallel kinematic transmission for controlling the oscillation, the translation, and the condition of the gripper 4.

[0057] Also the third motor 313 is an electromagnetic or an electrical linear motor.

[0058] Alternatively, each of the first motor 311, second motor 312 and third motor 313 can be a pneumatic or an electrical motor. In this case, the collector 8 is a pneumatic or electrical rotative collector for pneumatically or electrically energizing the motor groups 31 of the respective conveyors 1.

[0059] The third connection 333 is a mechanical contact connection. Alternatively, each of the first connection 331, the second connection 332, and the third connection is a magnetic contactless connection.

[0060] The movement of each shuttle 2 is along a circular trajectory which lies on the plane of Figures 3 and 5.

Claims

Gripper conveyor (1) for conveying a gripper (4) which is configured for gripping a container (B), the gripper (4) being able to adopt a closed condition for gripping the container (B) and an open condition to release the container (B), comprising:a movable shuttle (2) which can be subjected to a movement;a control system (3) which is supported by the shuttle (2) to be integral with said movement, and configured for controlling independently from each other a translation of the gripper (4) with respect to the shuttle (2) and an oscillation of the gripper (4) with respect to the shuttle (2);wherein the control system (3) is configured so that the oscillation is integral with said translation.Conveyor (1) according to Claim 1, wherein the control system (3) comprises:a motor group (31) for generating said translation and said oscillation;a mechanism (33) for connecting the motor group (31) to said gripper (4), so that the motor group (31), by means of said mechanism (33), can generate said translation and said oscillation.Conveyor (1) according to Claim 2, wherein:said motor group (31) comprises:a first motor (311) for generating said translation;a second motor (312) for generating said oscillation;said mechanism (33) comprises:a gripper support (335) for supporting the gripper (4);a fulcrum (334) for said oscillation, so that said oscillation corresponds to a rotation of said support (335) around said fulcrum (334), said fulcrum (334) being integral with said translation.Conveyor (1) according to Claim 3, wherein said mechanism (33) comprises:a first connection (331) for connecting said first motor (31) to said fulcrum (334), so that said first motor (311) acts on said fulcrum (334) to generate said translation and the fulcrum (334) is integral with said translation;a second connection (332) for connecting said second motor (32) to said support (335), so that said second motor (312) acts on said support (335) to generate said oscillation, so that also the support (335) is integral with said translation.Conveyor (1) according to Claim 4, wherein the control system (3) comprises an automatic controller (5) which is configured for automatically controlling said motors (311, 312) in a coordinated manner so that said oscillation and said translation can be controlled independently from each other.Conveyor (1) according to Claim 5, wherein said mechanism (33) defines a parallel kinematic transmission for controlling said translation and said oscillation.Conveyor (1) according to Claim 6, wherein:the control system (3) is configured for controlling a variation of said condition independently from said translation and said oscillation;said motor group (31) is configured also for generating said variation;said mechanism (33) is configured for connecting the motor group (31) to said gripper (4), so that the motor group (31) can generate also said variation;said motor group (31) comprises a third motor (313) for generating said variation;said mechanism (33) comprises a third connection (333) for connecting said third motor (313) to said gripper (4), so that said third motor (313) acts on said gripper (4) to generate said variation;said automatic controller (5) is configured for controlling said motors in a coordinated manner so that said condition can be maintained independently from said oscillation and said translation;said mechanism (33) defines a parallel kinematic transmission for controlling said translation, said oscillation, and said condition.Conveyor (1) according to Claim 3 or 7, wherein each of said motors (311; 312; 313) is an electromagnetic or an electrical linear motor.Conveyor (1) according to Claim 4 or 7 or 8, wherein each connection (331; 332; 333) is a mechanical contact connection or a magnetic connection.Conveying system (10) for conveying containers (B) comprising:- a plurality of conveyors (1), each of which is according to any of the previous Claims;- a transport motor (101) for transporting each conveyor (1) around a central axis (X) by generating the movement of the respective shuttle (2), so that the translation, for each conveyor (1), is along a radial direction (R) with respect to said central axis (X), the transport motor (101) being preferably an electromagnetic or an electric linear motor.Conveying system (10) according to Claim 10, wherein each conveyor (2) is according to any of claims from 2 to 9 and the system (10) comprises:a rotative collector (8) for energizing the respective motor groups (31) of the conveyors (1), the rotative collector (8) comprising a static part (81) and rotary part (82);a rotational motor (9) for rotating the rotary part (82) of the collector (8), so that the rotary part (82) is integral with the respective movements of the shuttles (2);wherein the rotational motor (9) is distinct with respect to said transport motor (101) and is located on the opposite side of said rotative part (82) with respect to said static part (81), along said central axis (X).Conveying system (10) according to Claim 10 or 11, wherein each conveyor (1) is according to Claim 8, and the collector (8) is an electrical rotative collector for electrically energizing the motor groups (31) of the respective conveyors (1).Conveying system (10) according to Claim 10 or 11 or 12, wherein the conveying system (10) is configured so that, for each conveyor (1), the oscillation occurs on a plane which is transversal and preferably orthogonal to said central axis (X).Conveying system (10) according to any of Claims from 10 to 13, wherein:each conveyor (1) is according to claim 7 or is according to claims 7 and 8 or Claims 7 and 9;the conveying system (10) is configured so that, for each conveyor (1), the variation of said condition occurs on a plane which is transversal and preferably orthogonal to said central axis (X).Apparatus (11) for the packaging of pourable products by means of containers (B), comprising:a conveying system (10) according to any of Claims from 10 to 14;a filling machine for filling the containers with the pourable product;a decorating machine for decorating the containers, which can be a labelling machine; and / ora forming machine for producing the containers, which can be a blowing machine.

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