IT202200024939A1 - MANIPULATING GROUP, METHOD AND EQUIPMENT FOR PACKAGING ARTICLES - Google Patents

Description

Description

MANIPULATING GROUP, METHOD AND EQUIPMENT FOR THE

PACKAGING OF ITEMS

Technical field

The present invention relates to a manipulator unit suitable for use in an automatic machine for packaging articles, in particular articles intended for sale. The invention also relates to an apparatus for packaging articles equipped with the aforementioned manipulator unit, as well as a method for packaging articles intended for sale using the aforementioned apparatus.

Known art

It is known that many articles intended for sale are enclosed in containers, for example of the box type. These containers are in turn wrapped externally in envelopes that are formed by cutting and folding a sheet material, for example made of cardboard.

The cardboard wrapper wrapped around the box containing the item has the function of attracting the consumer's attention, for example by displaying images of the product, the manufacturer's brand and other useful information for the potential buyer.

? It is also known that the packaging operations (so-called packaging) of articles intended for sale are carried out using automatic machines, usually composed of a plurality of stations, in which an article is first inserted into a respective container, then a wrapper is formed around the container itself, by folding a sheet of thin material, such as cardboard. Subsequently, the article thus packaged can be subjected to further processing in the machine itself, for example the printing of images, bar codes or other on the wrapper formed around the container.

Automatic machines of the type described allow for high productivity, thanks to the high speed of movement of the mechanical parts; however, they often have significant dimensions and bulk.

The formed casings must also satisfy stringent production requirements, for example they must be free from aesthetic defects that would compromise their attractiveness to potential buyers.

In particular, in the technical sector of reference, there is a need to reduce the overall dimensions and related costs of the systems, without compromising the high productivity and ensuring, at the same time, that the formed casings comply with the expected requirements.

Presentation of the invention

The aim of the present invention is to solve the problems mentioned above by devising a manipulator unit that allows for the optimal creation of a wrapper on an article enclosed in a container.

Within the scope of this task, a further aim of the invention is to provide a manipulator unit which ensures the achievement of a high production speed.

Within the scope of this task, a further aim of the invention is to provide a manipulator unit that ensures the achievement of high precision. An aim of the invention is to provide an apparatus for packaging articles equipped with the aforementioned manipulator unit, which is compact and of small dimensions, of simple construction and functional concept, equipped with definitely reliable operation, versatile use, as well as relatively economical cost.

The above-mentioned objects are achieved, according to the present invention, by the manipulator group, the apparatus and the method for packaging articles according to claims 1, 7 and 9.

The manipulator group for packaging articles comprises a movable operating head. The movable operating head comprises a casing having an elongated shape, having a longitudinal axis arranged, in use, in a substantially vertical direction.

The operating head also includes a gripping member, comprising at least one pair of gripping arms opposed to the longitudinal axis of the casing. The operating head also includes means configured to cause the gripping arms to move alternately between a gripping configuration, in which the gripping arms protrude below the casing so as to firmly grasp and retain an article beneath the casing, and a releasing configuration, in which the gripping arms are completely retracted inside the casing.

According to one aspect of the invention, the casing has a lower base portion configured to act as a pusher member, to exert a compressive stress on the underlying article.

Preferably, the base portion forms a flat, rectangular thrust surface.

Preferably, the operating head is movable with three degrees of freedom in a three-dimensional space.

Preferably, the crankcase has a prismatic shape.

Preferably, the crankcase has the shape of a parallelepiped.

Preferably, the crankcase has a rectangular cross-section, and comprises a pair of opposing front walls and a pair of opposing side walls.

Preferably, each gripping arm includes an upper connecting portion and a lower gripping portion.

Preferably, each gripper arm is arranged at a respective side wall of the crankcase.

Preferably, the connecting and gripping portions of each gripping arm have a predominantly flattened shape, so as to define a substantially continuous flat surface externally with respect to the casing.

Preferably, when the gripper arms are in the retracted release configuration, the aforementioned flat surface defined by each gripper arm is arranged parallel to the respective sidewall of the crankcase, in a position rearward within the crankcase with respect to the same sidewall.

Preferably, the operating head comprises a top portion.

Preferably, the top portion is associated with a plurality of articulated arms operable to determine a movement in three-dimensional space, with three degrees of freedom, of the operating head and to maintain the longitudinal axis of the casing in the aforementioned substantially vertical direction.

Preferably, the means configured to determine the aforementioned movement of the gripping arms comprise a carriage, housed movably in correspondence with said longitudinal axis of the casing, sliding in a longitudinal direction to the casing. Preferably, the means configured to determine the aforementioned movement of the gripping arms also comprise motion transmission means configured to actuate the carriage in movement, longitudinally to the casing.

Preferably, the means configured to determine the aforementioned movement of the gripping arms also comprise, for each gripping arm, at least one articulated lever system associated with the trolley and the respective gripping arm.

Preferably, each articulated linkage comprises a first articulated rod, a second articulated rod and a third articulated rod.

Preferably, the first and second articulated rods are respectively hinged, at one end, to the connecting portion of a gripper arm, and, at the opposite end, to the carriage.

Preferably, the third articulated rod is hinged, at one end, to an intermediate portion of the first articulated rod, and, at the opposite end, to a seat located at a fixed point of the aforementioned front surface of the crankcase.

Preferably, the first and second articulated rods have substantially the same length and are parallel, subsequently being arranged along the direction of the longitudinal axis of the crankcase, thus forming an articulated parallelogram.

Preferably, the aforementioned articulated levers are configured to impose an orbital motion on the gripping arms around the crankcase.

Preferably, during this orbital motion, the gripping arms remain parallel to each other.

Preferably, the orbital motion comprises a first phase of mutual distancing of the gripping arms, followed by a second phase of mutual approach of the gripping arms.

The object of the present invention is, furthermore, an apparatus for packaging articles, equipped with the aforementioned manipulator group. The apparatus for packaging articles comprises, upstream, means for feeding a plurality of articles.

Preferably, the feeding means comprise a conveyor belt. The apparatus also comprises a wrapping forming station. The wrapping forming station comprises, at a respective upper portion, means configured to receive a preformed element of sheet material in support.

The wrapping station also includes means configured to cause deformation of the preformed sheet material element. The apparatus also includes said manipulator assembly configured to pick up an article from the supply means, to transfer said article to the preformed sheet material element at the wrapping station, and to cooperate with the wrapping station to form a wrapping on said article, by means of said preformed sheet material element.

Downstream, the apparatus also comprises means for unloading the wrapped articles. Preferably, the wrapping forming station comprises a hopper. Preferably, the means configured to receive a preformed element of sheet material comprises a perimeter edge of the hopper.

Preferably, the means configured to cause a deformation of said preformed element of sheet material comprises an internal wall of the hopper.

The present invention also provides a method for packaging articles, implemented by means of the aforementioned apparatus for packaging articles. The method comprises the following steps:

a. to feed, through means of feeding, a plurality of articles;

b. arrange a manipulator group in a release configuration;

c. bring the manipulator group with its own base portion in correspondence with a fed article;

d. operating the manipulator assembly into a gripping configuration by moving at least one pair of gripping arms of the manipulator assembly from said release configuration, in which the gripping arms are fully retracted within a housing, to a gripping configuration, in which the gripping arms protrude below the housing to firmly grasp and hold said article;

e. preparing a preformed element of sheet material in a wrapping forming station, supported by means configured to receive said preformed element;

f. transfer the manipulator group, carrying the aforementioned article, to the aforementioned preformed element of sheet material resting in the wrapping forming station;

g. operate the manipulator unit in the aforementioned release position to release the article and, at the same time, apply a compressive stress to the article by means of the base portion, causing the article to lower and the lateral edges of the sheet to fold around the article; h. unload the aforementioned article, together with the thus wrapped sheet, by means of unloading means.

Preferably, the aforementioned movement of the pair of gripping arms from the release configuration to the gripping configuration, and vice versa, is an orbital type motion around the crankcase.

Preferably, during this orbital movement, the gripping arms remain parallel to each other.

Preferably, the orbital motion comprises a first phase of mutual distancing of the gripping arms, followed by a second phase of mutual approach of the gripping arms.

Brief description of the drawings

The details of the invention will become more evident from the detailed description of a preferred embodiment of the manipulator unit for packaging articles, as well as of the apparatus equipped with the aforementioned manipulator unit, illustrated for illustrative purposes in the attached drawings, in which: figure 1 shows an axonometric view of the apparatus for packaging articles according to the present invention;

Figure 2 shows a side view of the article packaging apparatus illustrated in Figure 1;

Figure 3 shows a further axonometric view of the apparatus for packaging articles according to the present invention, in which some parts have been removed to make the components of the apparatus itself better visible;

Figure 4 shows an enlarged view of a detail of Figure 3;

Figures 5 - 7 show respective axonometric views of the manipulator group according to the invention, in different operating configurations;

Figures 8 - 9 show respective axonometric views of the manipulator group according to the invention, in which a part of the casing has been removed to make the internal components visible, in different operating configurations;

Figures 10 - 14 show respective axonometric views of the manipulator group and the wrapping forming station according to the invention, in different operating configurations.

Embodiments of the invention

With particular reference to these figures, the equipment for packaging articles, preferably articles intended for sale, is indicated in the group with 1.

The apparatus 1 comprises a plurality of work stations.

In particular, as visible in figures 1 - 3, the apparatus 1 comprises, upstream, means of supply 10 for a plurality of articles 2 intended for sale, enclosed in respective containers, for example boxes, preferably having a parallelepiped shape.

The feeding means 10 preferably comprises a conveyor belt 11 equipped with a succession of shaped compartments 12, each compartment 12 being adapted to receive and transport a respective article 2.

The apparatus 1 also comprises a load-bearing structure 20, shaped by a plurality of vertical uprights 21 and horizontal beams 22, which develops starting from a terminal portion of the feeding means 10 and encloses the subsequent work stations of the apparatus.

The apparatus 1 comprises, downstream of the supply means 10, a manipulator group 100 of the articles 2 intended for sale.

As visible in figure 4, the manipulator group 100 comprises an operating head 101, movable with three degrees of freedom in a three-dimensional space upon actuation of a plurality of articulated arms 102, which connect a top portion 103 of the head 101 to the overlying beams 22 of the load-bearing structure 20 of the apparatus 1, so as to configure an automatic three-dimensional movement system of the type known as a Delta Robot.

With particular reference to figures 5 to 9, the head 101 is shaped by a casing 110 which is predominantly parallelepiped-shaped, with a longitudinal axis capable of remaining, in use, in a vertical direction.

The casing 110 comprises the aforementioned end portion 103 and also comprises a base portion 104, a pair of opposing front walls 111, 112 and a pair of opposing side walls 113, 114. In the illustrated embodiment, the base portion 104 has dimensions substantially equal to the dimensions of a base of an article 2 to be packaged.

According to a prerogative of the invention, the base portion 104 of the casing 110 is configured to act as a pusher member, capable of exerting a thrust stress on an underlying article 2.

In particular, the base portion 104 forms a flat thrust surface, of rectangular shape.

According to the invention, the head 101 comprises a gripping member 120, described in detail below.

The gripper member 120 comprises a pair of gripper arms 121, 122, each gripper arm 121, 122 being disposed at a respective side wall 113, 114 of the casing 110.

Each gripping arm 121, 122 comprises an upper connection portion 123 and a lower gripping portion 124. The gripping portion 124 is removably connected to the connection portion 123, so that the gripping portion 124 is interchangeable. In fact, the gripping portion 124 can have different dimensions and shapes, depending on the characteristics of the articles to be treated.

The connecting and gripping portions 123, 124 of each gripping arm 121, 122 preferably have a predominantly flattened shape, so as to define externally, with respect to the casing 110, a substantially continuous flat surface.

The gripping arms 121, 122 are operable alternatively between a gripping configuration and a releasing configuration. In particular, when they are in the gripping configuration, the gripping arms 121, 122 protrude downwards with respect to the casing 110 so as to firmly retain an article 2 which is located between the respective gripping portions 124 (see for example figure 7). When they are in the releasing configuration, the gripping arms 121, 122 are completely retracted inside the casing 110 (see for example figure 5).

Advantageously, when the gripping arms 121, 122 are in the retracted release configuration, the aforementioned flat surface defined by each arm 121, 122 is arranged parallel to the respective side wall 113, 114 of the casing 110, in a rearward position within the casing 110 with respect to the same side wall 113, 114 (see in particular figure 14).

The operating head 101 includes means configured to cause the gripping arms 121, 122 to move alternately between the gripping and releasing configurations.

In particular, as visible in figures 8 - 9, the operating head 101 preferably comprises, inside the casing 110, a carriage 130 which slides longitudinally to the casing 110, on respective guide means 131, for example consisting of a pair of guide rods. The carriage 130 can be driven into motion by means of motion transmission means 132, for example consisting of a worm screw which in turn is driven into rotation by an external shaft connected, via a suitable joint, to the top portion 103 of the head 101. However, different types of drive means can be used, for example pneumatic. The carriage 130 is housed in a movable manner in correspondence with a central longitudinal axis of the casing 110.

The operating head 101 also comprises a plurality of articulated rods, suitable for moving the gripping arms 121, 122. In particular, each gripping arm 121, 122 can be moved by an articulated lever comprising a first articulated rod 125a, a second articulated rod 125b and a third articulated rod 125c.

The first and second articulated rods 125a, 125b are respectively hinged, at one end, to the connection portion 123 of a gripping arm 121, 122, and, at the opposite end, to the carriage 130.

The third articulated rod 125c is hinged, at one end, to an intermediate portion of the first articulated rod 125a, and, at the opposite end, to a seat 126 located at a fixed point of the front surface 111 of the casing 110.

The first and second articulated rods 125a, 125b have substantially the same length and are parallel, being subsequently arranged along the direction of the longitudinal axis of the crankcase 110. Therefore, the first and second articulated rods 125a, 125b form an articulated parallelogram.

Preferably, each gripping arm 121, 122 is operable in motion by a pair of first, second and third articulated rods 125a, 125b, 125c respectively placed side by side, in order to make the movement and positioning of each gripping arm 121, 122 more precise and stable (see figure 8).

The apparatus 1 also includes, downstream, a wrapping forming station 200 (see in particular figures 10 - 14).

In particular, the wrapping forming station 200 includes a forming hopper 201, located, in use, below the operating head 101. The hopper 201 includes an upper perimeter edge 202, an internal wall and a lower discharge opening 203.

The hopper 201 is adapted to receive, in correspondence with a respective upper portion, a preformed element 21 of sheet material, preferably cardboard. Preferably, the sheet 21 is adapted to be arranged in support on the peripheral edge 202 of the hopper 201. The sheet 21 has a flat shape and preferably has a plurality of preformed fold and cut lines. The internal wall of the hopper 201 is configured to determine a deformation of the sheet 21, when the sheet 21 is stressed by means of a compression action.

Downstream of the wrapping forming station, the apparatus provides means 300 for unloading the wrapped articles (visible in particular in figure 3). The unloading means 300 preferably comprise a conveyor belt.

In addition, equipment 1 may include additional stations to perform further processing.

The operation of the equipment for packaging articles is easily understood from the description that follows.

Initially, a plurality of articles 2 are fed via the feed means 10.

The operating head 101 is arranged in the release configuration, in which the gripping arms 121, 122 are retracted inside the housing 110, and is brought into correspondence with the feed means 10, so that the base portion 104 of the housing 110 is brought into contact with an upper surface of an article 2.

Subsequently, the operating head 101 is arranged in the gripping configuration, in which the gripping arms 121, 122 protrude downwards with respect to the casing 110. In this configuration, the article 2 which is in contact with the base portion 104 is gripped and held firmly between the gripping portions 124 of the gripping arms 121, 122.

A sheet 21 is placed on the hopper 201, and the head 101, carrying the article 2 at its bottom, is then brought into correspondence with the hopper 201. In practice, the article 2, carried by the head 101, is brought into contact with the sheet 21 (see in particular figure 10).

Subsequently, the operating head 101 is progressively brought to the release position, therefore the gripping arms 121, 122 release the product 2 from their grip. At the same time, the operating head 101 is lowered, so as to exert, by means of the base portion 104, a compressive stress on the article 2. This stress causes the progressive lowering of the product 2 and the sheet 21 inside the hopper 201; the sheet 21, in contact with the internal wall of the hopper 201, deforms. In essence, since the sheet 21 is larger than the contact surface between the sheet 21 itself and the article 2, the aforementioned lowering causes the folding of the lateral flaps 22 of the sheet 21, which are interposed between the article 2 and the internal walls of the hopper 201 (see in particular figure 11). The folding of the flaps 22 of the sheet 21 occurs preferentially along the respective pre-formed fold lines. During the lowering motion of the operating head 101, the gripping arms 121, 122 are progressively brought into the release configuration, in which they are completely retracted inside the casing 110. In this way, advantageously, the gripping arms 121, 122 do not interfere with the lateral flaps 22 of the sheet 21 during the folding phase (see in particular figures 12 - 13).

In particular, the movement of the gripping arms 121, 122 from the release configuration to the gripping configuration is implemented by operating, by means of the transmission means 132, a translational movement of the carriage 130 from a forward position, in which it is located close to the base portion 104 of the casing 110, towards a rearward position, in which it is located close to the top portion 103.

At the end of the lowering motion of the operating head 101, the edges 22 of the sheet 21 are in a substantially vertical configuration, adhering to the side walls of the article 2 (see in particular figure 14). The article 2 thus wrapped is then unloaded through the unloading opening 203 of the hopper 201, and placed on the unloading means 300 below.

It is observed that, very advantageously, thanks to the particular configuration of the articulated rods suitable for actuating the gripping arms 121, 122, during the movement between the gripping configuration and the releasing configuration, and vice versa, the gripping arms 121, 122 always remain parallel to each other, performing an orbital type motion around the casing 110. This motion comprises a first phase of mutual distancing followed by a second phase of mutual approach. This allows the gripping arms 121, 122 to grip and release the article 2 without any rubbing that could damage the wrapping, compromising its compliance with the production requirements.

It is also noted that, equally advantageously, the first phase of mutual distancing of the gripping arms 121, 122 occurs simultaneously with the downward thrust stress exerted on the article 2 by the base portion 104 of the casing 110. In essence, the transport of the article 2 to the hopper 201 for forming the wrapping and the downward thrust stress on the same article 2, to form the wrapping, occur via the same operating head 101, determining an increase in the production speed and compactness of the equipment, reducing its costs.

The manipulator group, the apparatus and the method according to the present invention achieve the aim of operating in an optimal manner the creation of a wrapping on an article enclosed in a container.

In particular, the manipulator group, the apparatus and the method according to the present invention allow to ensure a high operating speed, so as to operate effectively even in the case in which the machine is configured to operate at a very high speed.

The equipment described as an example is susceptible to numerous modifications and variations depending on different needs.

In the practical implementation of the invention, the materials used, as well as the shape and dimensions, can be any according to the needs.

Where the technical features mentioned in each claim are followed by reference signs, such reference signs have been included for the sole purpose of increasing the understanding of the claims and consequently they have no limiting value on the purpose of each element identified by way of example by such reference signs.

Claims (10)

Claims 1) Manipulator group (100) for packaging articles (2), comprising a movable operating head (101); said operating head (101) comprising a casing (110) having an elongated shape, having a longitudinal axis arranged, in use, in a substantially vertical direction; said operating head (101) also comprising a gripping member (120) comprising at least one pair of gripping arms (121, 122) positioned opposite to said longitudinal axis of said casing (110); said operating head (101) also comprising means configured to determine the displacement of said gripping arms (121, 122) alternatively between a gripping configuration, in which said gripping arms (121, 122) protrude downwards with respect to said casing (110) so as to grasp and firmly retain said article (2) underneath said casing (110), and a release configuration, in which said gripping arms (121, 122) are completely retracted inside said casing (110); said casing (110) shaping a base portion (104) at the bottom configured to act as a pusher member, to exert a compressive stress on said article (2) below. 2) Manipulator group according to claim 1, characterised in that said casing (110) has a prismatic shape, preferably having a rectangular section, and comprises a pair of opposite front walls (111, 112) and a pair of opposite side walls (113, 114); each said gripping arm (121, 122) comprising an upper connection portion (123) and a lower gripping portion (124), said connection and gripping portions (123, 124) of each gripping arm (121, 122) having a predominantly flattened shape, so as to define externally, with respect to said casing (110), a substantially continuous flat surface. 3) Manipulator group according to claim 1 or 2, characterised in that said operating head (101) comprises a top portion (103) associated with a plurality of articulated arms (102) operable to determine a movement in three-dimensional space, with three degrees of freedom, of said operating head (101), and to maintain said longitudinal axis of said casing (110) in said substantially vertical direction. 4) Manipulator group according to one of the preceding claims, characterized in that said means configured to determine said movement of said gripping arms (121, 122) comprise a carriage (130), housed movably in correspondence with said longitudinal axis of said casing (110); motion transmission means (132) configured to actuate said carriage (130) in movement longitudinally to said casing (110); for each said gripping arm (121, 122), at least one articulated lever system associated with said carriage (130) and said respective gripping arm (121, 122). 5) Manipulator group according to claim 4, characterised in that said at least one articulated lever comprises a first articulated rod (125a), a second articulated rod (125b) and a third articulated rod (125c); said first and second articulated rod (125a, 125b) being respectively hinged, at one end, to said connection portion (123) of said gripping arm (121, 122), and, at the opposite end, to said carriage (130); said third articulated rod (125c) being hinged, at one end, to an intermediate portion of said first articulated rod (125a), and, at the opposite end, to a seat (126) located at a fixed point of said front surface (111) of said casing (110). 6) Manipulator group according to claim 4 or 5, characterised in that said articulated levers are configured to impose on said gripping arms (121, 122) an orbital motion around said casing (110), during which said gripping arms (121, 122) remain parallel to each other; said orbital motion comprising a first phase of mutual distancing of said gripping arms (121, 122), followed by a second phase of mutual approach of said gripping arms (121, 122). 7) Apparatus (1) for packaging articles (2), comprising means for feeding (10) a plurality of articles (2); a wrapping forming station (200) comprising, at a respective upper portion, means (202) configured to receive a preformed element (21) of sheet material; said station (200) also comprising means configured to cause a deformation of said preformed element (21) of sheet material; a manipulator group (100) according to one of the preceding claims, configured to pick up said article (2) from said feeding means (10), to transfer said article (2) at said preformed element (21) of sheet material in said wrapping forming station (200), and to cooperate with said station (200) to form a wrapping on said article (2) by means of said preformed element (21) of sheet material; means of unloading (300) of the wrapped articles (2). 8) Apparatus for packaging articles according to claim 6, characterised in that said station (200) for forming a wrapping comprises a hopper (201); said means (202) configured to receive a pre-formed element (21) of sheet material comprising a perimeter edge of said hopper (201); said means configured to determine a deformation of said pre-formed element (21) of sheet material comprising an internal wall of said hopper (201). 9) Method for packaging articles by means of an apparatus according to claim 6 or 7, comprising the following steps: a. feeding, via feeding means (10), a plurality of articles (2); b. arranging a manipulator group (100) in a release configuration; c. bringing said manipulator group (100) with its own base portion (104) in correspondence with said fed article (2); d. operating said manipulator assembly (100) in a gripping configuration, moving at least one pair of gripping arms (121, 122) of said manipulator assembly (100) from said release configuration, wherein said gripping arms (121, 122) are fully retracted inside a casing (110), to a gripping configuration, wherein said gripping arms (121, 122) protrude downwards with respect to said casing (110) to firmly grasp and hold said article (2); e. preparing a preformed element (21) of sheet material in a wrapping forming station (300), resting on means (202) configured to receive said preformed element (21); f. transferring said manipulator group (100), carrying said article (2), in correspondence with said preformed element (21) of sheet material resting in said station (300) for forming a wrapping; g. actuating said manipulator group (100) in said release position to release said article (2) and, simultaneously, exerting a compressive stress on said article (2) by means of said base portion (104), causing a lowering of said article (2) and a folding of lateral flaps (22) of said sheet (21) around said article (2); h. unload said article (2), together with said sheet (21) thus wrapped, by means of unloading means (300). 10) Method for packaging articles according to claim 9, characterized in that said movement of said pair of gripping arms (121, 122) from said release configuration to said gripping configuration, and vice versa, is an orbital motion around said casing (110), during which said gripping arms (121, 122) remain parallel to each other; said orbital motion comprising a first phase of mutual distancing of said gripping arms (121, 122), followed by a second phase of mutual approach of said gripping arms (121, 122).