CN116853580B - mobile devices - Google Patents
mobile devicesInfo
- Publication number
- CN116853580B CN116853580B CN202310753602.3A CN202310753602A CN116853580B CN 116853580 B CN116853580 B CN 116853580B CN 202310753602 A CN202310753602 A CN 202310753602A CN 116853580 B CN116853580 B CN 116853580B
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- China
- Prior art keywords
- additional
- lever
- mobile device
- hinge element
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/06—Wrapping articles, or quantities of material, by conveying wrapper and contents in common defined paths
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/04—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/04—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated
- B65B11/045—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated by rotating platforms supporting the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B41/00—Supplying or feeding container-forming sheets or wrapping material
- B65B41/12—Feeding webs from rolls
- B65B41/14—Feeding webs from rolls by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/04—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages
- B65B61/06—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
本发明提供了一种移动装置(1)，该移动装置(1)用于操纵运行组件(100)，特别是缠绕机(1000)，移向或移离放置在支架(2)上的载货，包括：杠杆装置，用于支持运行组件(100)接近或离开载货；与杠杆装置相连的驱动装置(12)，用于在闭合配置(C)(占地面积最小，远离载货)和开放配置(A)(占地面积最大，离载货更近)之间操纵移动装置(1)；与杠杆装置连接的轨迹修正组件(20)，用于动态控制杠杆装置，以便运行组件(100)在远位置和最近位置之间移动时，能够在相对于载货的恒定高度下遵循线性轨迹。
The present invention provides a moving device (1) for manipulating a running assembly (100), in particular a wrapping machine (1000), to move toward or away from a load placed on a support (2), comprising: a lever device for supporting the running assembly (100) to approach or move away from the load; a drive device (12) connected to the lever device for manipulating the moving device (1) between a closed configuration (C) (with the smallest footprint, farther from the load) and an open configuration (A) (with the largest footprint, closer to the load); and a trajectory correction assembly (20) connected to the lever device for dynamically controlling the lever device so that the running assembly (100) can follow a linear trajectory at a constant height relative to the load when moving between a far position and a closest position.
Description
Technical Field
The present invention relates to a moving device designed for handling a travelling assembly of a winding machine for winding a load placed on a rack with a film, and in particular to a moving device intended for moving the travelling assembly closer to or further from the load for handling the load.
To do this, the running assembly is driven after the winding operation is completed, i.e. the moving device starts to approach the load after the load has been wound with a predetermined number of turns of film. The running assembly may be a cutting/sealing/gripping assembly comprising a cutting assembly for cutting the film, a sealing assembly for sealing the film to the film wrapping ring around the load, in particular the outermost (i.e. furthest from the vertical rotational axis of the load) portion of the sealing wrapping ring, and a gripping assembly for gripping the edge of the film to start the wrapping ring of the load as an initial wrap.
Background
Winding machines known in the industry, in particular of the rotary load type supported by a rotary table, use a load on a film wrapping tray comprising a support and unwind assembly matching the wound film roll, stretching the film by rotation of the load about a rotation axis. The rotation of the load about the axis of rotation is related to the movement of the support and unwind assembly in a vertical direction, i.e., generally parallel to the axis of rotation, to apply a predetermined number of rolls of film to the load.
After the winding operation is completed, i.e. after the load on the pallet has been wound with a predetermined number of films, the operating assembly of the winding machine starts to operate close to the load, seals the films to the winding ring away from the vertical axis of rotation of the load, cuts the films and retains the cut films.
The running assembly may include a cutting assembly for cutting the film, a sealing assembly for sealing the film to the film wrapping ring around the load, particularly the outermost (i.e., furthest from the vertical axis of rotation of the load) portion of the sealing wrapping ring, and a gripping assembly for gripping the edge of the film to begin the load wrapping ring as an initial wrap.
The winding machines of known type comprise a moving device of the travelling assembly, comprising a connecting portion, rigidly connected to the travelling assembly, for moving the travelling assembly towards the load, and for carrying out the above operations, the travelling assembly on the load being removed after the end of the process.
The moving device of the operating component can also adopt an articulated arm.
A disadvantage of the articulated arm mobile device is that the entire mobile device moves the running gear along an arc and in a way that is not predefinable. This means that at least a part of the running assembly, in particular a part of the sealing assembly, may be in contact with an area where sealing is not required, such as a part of the pallet or a turntable where the pallet is located. Thus, sealing the film on the outer wrapping ring does not affect the overall height of the film, but only a portion of the film and the trailing end of the film are not sealed to the loaded outer film wrapping ring. The load on the pallet will therefore be discarded and not placed in the pre-set automated storage warehouse, but rather transported to a inspection station for subsequent contour inspection. The packaging film must then be removed from the waste carrier and subsequently rewound with a new packaging film, which results in considerable material consumption and high production costs.
As an alternative to the articulated arm movement means, the running gear movement means may comprise one or more linear actuators arranged in a direction substantially perpendicular to the load. The or each linear actuator of the displacement means should comprise a cylinder in which a valve stem connected to the piston slides.
Such a displacement device, which consists of one or more linear actuators, has the disadvantage that, because of the very significant amount of space that the hollow body of the one or more linear actuators occupies in the closed or inoperative configuration of the displacement device, the stroke of the valve stem of the displacement device in the open or operative configuration may extend out of the cavity.
Disclosure of Invention
It is an object of the present invention to improve an operating assembly moving device of a known winding machine.
Another object of the present invention is to realise a moving device for moving the operating assembly of a winding machine so that it can perform correctly preset works on the load.
It is also an object of the present invention to achieve a mobile device of limited and very small size compared to prior art mobile devices.
It is also an object of the present invention to realise a moving device for the operating assembly which consists of a simple and economical winding machine, enabling accurate and efficient operation.
The object of the invention can be achieved by the moving device of the operating assembly of the winding machine.
In an example, a moving device for manipulating a running assembly, in particular a winding machine, to or from a load placed on a rack, comprises:
-lever means for supporting the running assembly either close to or remote from the load;
Drive means associated with the lever means for manoeuvring the movement means between a closed configuration (minimum footprint, far from the load) and an open configuration (maximum footprint, closer to the load);
A trajectory modification assembly connected to the lever device for dynamically controlling the lever device so that the running assembly can follow a linear trajectory at a constant height relative to the load as it moves between the distal position and the proximal position.
By means of the invention, a movement device of the operating assembly of the winding machine can be realized, which moves along a substantially linear trajectory until the same height as the load is reached by a set number of windings of the film, at which time the operating assembly should perform a work to seal the film to the winding ring portion furthest from the vertical axis of rotation of the load, a film shearing phase for obtaining the film edges, a gripping or holding phase for packaging the subsequent load.
The linear trajectory may assist in determining the height at which the component is to be run. This avoids the handling of different parts of the load by the operating assembly. In this way, the package, such as during a contour inspection, is not discarded due to being positioned at an outer cargo portion (e.g., at least a portion of the rack) that is not identifiable by the running assembly due to the incorrect height of the running assembly.
Such a mobile device benefits from the structural configuration of the components, which has the advantage of taking up less space, especially compared to state-of-the-art mobile devices.
In addition, the mobile device realized according to the invention has the characteristic of simple structure and is easy to install in the existing winding machine.
Drawings
The invention may be better understood and implemented with reference to the accompanying drawings, which illustrate an example, but are not limited to, in which:
FIG. 1 is a perspective view of a portion of a wrapping machine for wrapping film for a load on a mobile unit support according to the present invention and in a maximum sized open configuration, lifting and approaching the load location for a running assembly to perform work on the load;
FIG. 2 is an enlarged view of a portion of FIG. 1, wherein a mobile device associated with the running assembly is shown from a different angle than FIG. 1;
FIG. 3 is a side view of the mobile device and its illustrated running assembly, with the continuous line showing the mobile device and running assembly in a closed configuration of minimum size in a position away from the cargo;
FIG. 4 is a top view of the mobile device and the running assembly of FIG. 3 in an open configuration and in a position near cargo;
FIG. 5 is a top view of the mobile device and the running assembly of FIG. 3 in a closed configuration and in a position away from the cargo;
fig. 6 is a front view of the mobile device and operating assembly of fig. 3.
Fig. 7 is a top view of the winding machine of fig. 1 with the moving device in an upside down position.
Detailed Description
Referring to fig. 1, the present invention illustrates a mobile device 1 that moves a running assembly 100 toward and away from a cargo placed on a rack 2, such as a pallet, or a rack with roller or chain motion.
The moving device 1 associated with the running assembly 100 should be installed in the winding machine 1000, which is capable of winding the load on the rack 2 with a film for a preset number of turns.
The winder 1000 may include a carriage and winder assembly, not shown, that supports and winds the number of turns of film by relative rotation about the carriage and winder assembly and the load placed on the carriage 2. The relative rotation occurs on a substantially vertical winding axis W.
As used herein, "substantially perpendicular" refers to an axis that is substantially parallel to the gravitational acceleration vector.
For winding a predetermined number of turns of film around the load on the support frame 2, for this relative rotation the device is associated with a support and unreeling assembly in the vertical direction, i.e. substantially parallel to the winding axis.
In particular, the winding machine 1000 may include a rotary cargo model supported by a rotary table. In this case, the winding machine 1000 should include a rotary table for supporting the load placed on the stand 2. In use, the cargo rotates about an axis of rotation that coincides with the perpendicular direction to the winding axis W.
The running gear 100 may be connected to the moving device 1, in particular in a rigid manner, so that near the end of the operation or process of wrapping the load with film, i.e. when a predetermined number of wrapping turns have been applied to the load, the running gear 100 may be moved to a position close to the load in order to perform work on the load.
To perform these operations, and with particular reference to FIG. 2, the present running assembly 100 may include a cutting assembly 110 for cutting the film, a sealing assembly 120 for sealing the film to the film wrapping ring around the cargo, particularly the outermost (i.e., furthest from the vertical axis of rotation of the cargo) portion of the sealing wrapping ring, and a grasping assembly 130 for grasping the film to begin the cargo wrapping ring as an initial wrap.
Thus, the operations that the running assembly 100 may perform on the cargo include sealing the film to the portion of the winding ring furthest from the vertical axis of rotation of the cargo, a film shear phase to obtain the film edge, and a grab or hold phase to package the subsequent cargo.
The film is made of an elastic and/or plastic material, such as an elastically stretchable film, which can be used around the cargo and can hold the cargo together in a stable manner. The film, in particular, comprises a heat-sensitive film.
The movement device 1 comprises lever means for supporting the running gear 100 close to or away from the load placed on the support frame 2.
The mobile device 1 further comprises actuation means 12 connected to the lever means for moving the mobile device 1 between a closed configuration C of minimum space and an open configuration a of maximum space.
The drive means 12 are used for moving the lever means relative to the load.
In the closed configuration C, the mobile device 1 is located away from the cargo. In this position, the running assembly 100 is also located away from the load, where it does not interact with the film wrapped load. In other words, the position remote from the cargo corresponds to a position in which the mobile device 1 is fully retracted relative to the cargo.
On the other hand, in the open configuration A, the mobile device 1 is proximate to or disposed about the cargo, not in the closed configuration C, and in a position closest to the cargo, the running assembly 100 is also positioned closer to the cargo, and the running assembly 100 may interact with the film wrapped cargo to perform the above-described operations. In other words, the position close to the load corresponds to the maximum projected position of the mobile device 1 with respect to the load.
The drive means 12 comprise a drive actuator in an assembly, the whole assembly comprising a cylinder, a hydraulic cylinder and an electromechanical actuator.
The mobile device 1 further comprises a trajectory modification assembly 20 connected to the leverage means for dynamically controlling the leverage means so that the running assembly 100 can follow a linear trajectory at a constant height relative to the cargo as it moves between the distal position and the proximal position.
The linear trajectory is substantially perpendicular to the axis of rotation of the cargo.
With this configuration, the progress of the running assembly at a constant height in the direction of the load is perfectly horizontal, facilitating the identification of the final position of interaction with the load itself (otherwise, for an arc-shaped trajectory of varying height, determining the final contact point of the running assembly with the load would be more difficult or not straightforward).
The linear trajectory obtained by the algorithm of the invention can determine the height of the running assembly. This avoids the handling of different parts of the load by the operating assembly. In this way, the package, such as during a contour inspection, is not discarded due to being positioned at an outer cargo portion (e.g., at least a portion of the rack) that is not identifiable by the running assembly due to the incorrect height of the running assembly.
The track modifying assembly 20 includes an anti-bar assembly 10 coupled to a lever assembly.
The lever means comprise a first lever means 3 and a second lever means 4, which are rotatably connected to a first articulation element 5 of the mobile device 1, rotatable along a first rotation axis R1 and a second rotation axis R2, respectively.
The first living hinge element 5 is rigidly connected to the running assembly 100 by known means of connection, such as screws and bolts.
In use, the running gear 100 may be moved on the mobile device 1 by moving the first living hinge element 5 along a linear trajectory toward or away from the cargo. In other words, the first living hinge element 5 will also move along a linear trajectory at the same critical height when the mobile device 1 moves between the open configuration a and the closed configuration C.
The first lever device 3, the second lever device 4 and the first movable hinge element 5 support the running assembly 100 close to or away from the load.
The first living hinge element 5 as well as the running assembly 100 can be moved by means of the lever arrangement, the track modification assembly 20 and the drive 12, i.e. in a direction substantially perpendicular to the direction of movement D1 of the load.
As shown in fig. 3, the drive means 12 are designed to exert a pulling and/or pushing action on the lever means in a direction of movement X transversely thereto, the inclination of the first living hinge element 5 relative to the direction of movement X being variable when it is moved in the direction of movement X.
The lever means further comprise a third lever means 6 and a fourth lever means 7, which are rotatably connected to the first fixed hinging element 8 of the moving device 1, rotatable along a third rotation axis R3 and a fourth rotation axis R4, respectively.
The first stationary hinge element 8 remains stationary, i.e. the mobile device 1 is stationary when it moves between the open configuration a and the closed configuration C.
The counter lever means 10, the second lever means 4 and the driving means 12 are adapted to move the first movable hinge member 5 along a linear trajectory so as to maintain a substantially equal distance D between the second rotation axes R2 and to pass through a horizontal plane P, indicated by a broken line in fig. 3, between the fourth rotation axes R4.
Furthermore, the first lever device 3, the second lever device 4, the third lever device 6, the fourth lever device 7 are connected to the second articulation element 9 of the mobile device 1 in a rotatable manner with respect to each other, rotatable along a fifth rotation axis R5, a sixth rotation axis R6, a seventh rotation axis R7 and an eighth rotation axis R8, respectively.
The second movable hinge member 9 is moved, i.e. moved between the open configuration a and the closed configuration C, by means of the lever arrangement, the trajectory modification assembly 20 and the drive device 12, in particular with a variable size trajectory with respect to the load, i.e. a variable size with respect to the horizontal plane P.
In particular, the counter lever means 10 should be rotatably connected to the second lever means 4 so that these counter lever means 10 and the second lever means 4 are rotatable about a ninth rotation axis R9, and the counter lever means 10 is also rotatably connected to the second stationary hinge element 11 on the moving means 1 and rotatable about a tenth rotation axis R10.
The second stationary hinge element 11 remains stationary, i.e. the mobile device 1 is stationary when it moves between the open configuration a and the closed configuration C.
The driving means 12 are connected to one of the above-mentioned first 3, second 4, third 6, fourth 7 joystick means for manoeuvring the moving means 1 between a minimum closed configuration C, in which the second and tenth rotation axes R2, R10 reach a minimum distance dmin, and a maximum open configuration a, in which the second and tenth rotation axes R2, R10 reach a maximum distance dmax.
The first living hinge element 5, the second living hinge element 9, the first stationary hinge element 8 and the second stationary hinge element 11 comprise connection blocks 13, 14, 15 and 16, respectively, each having a substantially parallel shape. For example, each of the connection blocks 13, 14, 15, and 16 may have a square outer shape.
The first movable hinge element 5, the second movable hinge element 9, the first stationary hinge element 8 and the second stationary hinge element 11 may also each comprise at least one connection plate 21a, 22a, 23a and 24a, respectively, mounted on the corresponding connection plate 13, 14, 15 and 16, respectively, each connection plate 13, 14, 15 and 16 and each connection plate 21a, 22a, 23a and 24a being connected to the first lever arrangement 3, the second lever arrangement 4, the third lever arrangement 6 and/or the fourth lever arrangement 7, or the counter lever arrangement 10, the drive arrangement 12, respectively, in an articulated manner.
In the illustrated implementation, the first lever means 3 comprise a connecting rod 3a, the end 17 of which is hinged to a first face of the connecting block 13 of the first living hinge element 5, and the end 18, opposite to the end 17, is hinged to a first face 19a of the connecting block 15 of the second living hinge element 9. In particular, the connecting rod 3a may be connected to the connecting blocks 13 and 15, respectively, so that the first rotation axis R1 and the second rotation axis R5 pass through respective points arranged near the vertices of the respective connecting blocks 13, 15.
Specifically, one end 17 of the link 3a is rotatably mounted between the connection block 13 and the connection plate 21a, and the other end 18 of the link 3a is rotatably mounted between the connection block 15 and the connection plate 23 a.
The second lever means 4 comprise a profiled bar 4a consisting of a first portion 25 of the connecting rod and a second portion 26 of the connecting rod, extending over an angle α of 110 ° to 150 °, in particular over an angle of 120 °. The link first portion 25 and the link second portion 26 are connected to the link region 27, between the link first portion 25 and the link second portion 26, as a common end of the link first portion 25 and the link second portion 26. The link region 27 is hinged to an outer surface 28 of the connection plate 23a on the second living hinge element 9.
The first portion 25 of the connecting rod is also provided with an end 29 located opposite the connecting rod region 27, in particular hinged to the outer surface 30 of the connecting plate 21a on the first living hinge element 5.
The second portion 26 of the link is also provided with an end 31 located in the opposite position to the link region 27, in particular hinged to the counter-bar means 10 so as to be able to rotate about the ninth rotation axis R9.
The first link portion 25 may comprise a "U" -shaped loop portion 32 and is arranged to at least partially surround the drive means 12 in order to reduce the footprint of the mobile device 1 in the closed configuration C.
The third lever means 6 may comprise a cross bar 6a, the end 33 of which is hinged to the first face 19a of the connecting block 15 of the second mobile hinging element 9, and the end 34, opposite to the end 33, is hinged to the first face 35 of the connecting block 14 of the first fixed hinging element 8.
In particular, the end 33 of the crossbar 6a is rotatably mounted between the connection block 15 and the connection plate 23a, and the other end 34 of the crossbar 6a is rotatably mounted between the connection block 14 and the connection plate 22 a.
The fourth lever means 7 may comprise an oblong element 7a, one end 36 of which is hinged to the outer surface 28 of the connecting plate 23a on the second movable hinging element 9, and the other end 37, opposite to the end 36, is hinged to the outer surface 38a of the connecting plate 22a on the first fixed hinging element 8.
The oval element 7a is generally shaped as a link or a crossbar.
The oblong element 7a may comprise a projection 39, facing the second lever means 4, on which the driving means 12 are mounted, for manoeuvring the mobile device 1 between the open configuration a and the closed configuration C.
The counter rod means 10 may comprise a counter rod 10a, one end 40 of which is hinged to the end 31 of the second portion 26 of the connecting rod on the profiled rod 4a, and the other end 41, opposite to the end 40, is hinged to the outer surface 42a of the connecting plate 24a on the second fixed hinge element 11.
The driving means 12 may comprise a pneumatic actuator 12a and an associated rotatable hollow body 43, in particular a sliding valve stem 44 connected to the outer surface of the connection plate 24a of the second fixed hinging element 11, and to the hollow body 43.
In the illustrated implementation, the head 45 of the valve stem 44 is connected to the oblong element 7a, in particular to the protruding portion 39, moving the oblong element 7a, thus, thanks to the connection of the first 3, second 4, third 6, fourth 7 joystick means with the trajectory correction assembly 20 and the hinging elements 5, 8, 9, 11, the movement of the mobile device 1 between the open configuration a and the closed configuration C is achieved. In other words, the pneumatic actuator 12a used pulls and/or pushes the oblong element 7a in an operating direction transversely spaced from the movement direction X, during which the inclination with respect to the movement direction X is variable, i.e. the first living hinge element 5 is moved in the movement direction X.
The mobile device 1 may be symmetrical about a substantially vertical symmetry plane S, as shown in fig. 4. In particular, the mobile device 1 may comprise components aligned with respect to a vertical symmetry plane S. This allows symmetrical support of the running gear 100 and also allows a heavy weight load of the running gear 100 to be supported on the mobile device 1.
In this case, the first living hinge element 5, the second living hinge element 9, the first fixed hinge element 8 and the second fixed hinge element 11 may each comprise an additional connection plate 21b, 22b, 23b, 24b, each additional connection plate 21b, 22b, 23b, 24b being mounted on the corresponding connection block 13, 14, 15, 16 so as to be placed substantially symmetrically on the connection plate 21a, 22a, 23a, 24a of the corresponding hinge element 5, 8, 9, 11, symmetrically with respect to the plane of symmetry S perpendicular to the mobile device 1.
Furthermore, for a mirror-symmetrical displacement device 1, the first lever device 3 may comprise an additional link 3b, one end 46 of which is articulated to a second face 47 of the connecting piece 13 on the first movable articulation element 5. The second face 47 is opposite to the first face of the connection block 13 of the first living hinge element 5. The additional link 3b is also provided with an end 48, opposite the other end 46, hinged to the second face 19b of the connecting block 15 on the second mobile hinging element 9.
The links 3a and the additional links 3b are arranged symmetrically with respect to the vertical symmetry plane S.
Furthermore, for a mirror-symmetrical mobile device 1, the second lever device 4 may also comprise an additional shaped bar 4b, which may be shaped like the shaped bar 4a in fig. 1. The profile bars 4a and the additional profile bars 4b are arranged symmetrically with respect to the vertical symmetry plane S
The first portion 49 and the second portion 50 of the additional profile rod 4b extend with respect to each other, forming an angle β of 110 ° to 150 °, in particular 120 °. The first portion 49 and the second portion 50 are connected to a connection zone 51, which is located between the first portion 49 and the second portion 50 as a common end of the first portion 49 and the second portion 50. In particular, the connection zone 51 is hinged to the outer surface 52 of the additional connection plate 23b on the second living hinge element 9.
The first portion 49 of the additional profiled bar 4b is also provided with an end 53, opposite the connection zone 51, hinged to the outer surface 54 of the additional connection plate 21b on the first living hinge element 5.
The second portion 50 of the additional profiled bar 4b is also provided with a terminal end 55, located opposite the connection zone 51, hinged to the counter-bar means 10 for rotation about a ninth rotation axis R9.
The first portion 49 of the linkage may comprise a profiled portion 56 of "U" shape and is arranged to at least partially surround the drive means 12 in order to reduce the footprint of the mobile device 1 in the closed configuration C.
Furthermore, for a mirror-symmetrical mobile device 1, the third lever means 6 may also comprise an additional crossbar 6b, which may be shaped like the crossbar 6a. The crossbar 6a and the additional crossbar 6b are arranged symmetrically with respect to the vertical symmetry plane S.
The additional crossbar 6b may comprise an end 57 hinged to the second face 19b of the connection block 15 of the second movable hinging element 9, and an end 58 opposite the end 57 hinged to the second face of the connection block 14 of the first fixed hinging element 8.
Furthermore, for a mirror-symmetrical mobile device 1, the fourth joystick device 7 may also comprise an additional oblong element 7b, which may be shaped like the oblong element 7a. The oval elements 7a and the additional oval elements 7b are arranged symmetrically with respect to the vertical symmetry plane S.
The additional oblong element 7b is hinged at one end 59 to the outer surface 52 of the additional web 23b of the second movable hinging element 9 and at the other end 60 opposite the end 59, to the outer surface 38b of the web 22b of the first fixed hinging element 8.
The additional oblong element 7b may comprise a projection 61, facing the second lever means 4, on which drive means 12 are mounted for manoeuvring the mobile device 1 between the open configuration a and the closed configuration C.
Furthermore, for a mirror-symmetrical mobile device 1, the counter rod device 10 may further comprise an additional counter rod 10b, the counter rod 10a and the additional counter rod 10b being arranged symmetrically with respect to the vertical symmetry plane S.
The additional counter rod 10b is hinged at one end 62 to the end 55 of the second portion 50 of the connecting rod on the shaped rod 6b and at the other end 63 opposite to the end 62, to the outer surface 42b of the connecting plate 24b on the second fixed hinging element 11.
The counter rod assembly 10 may further comprise one or more connecting elements 70 for connecting the counter rod 10a and the additional counter rod 10b. These coupling elements 70, in addition to the additional counter rod 10b, provide a more stable structure for the counter rod assembly 10.
Furthermore, for a mirror-symmetrical displacement device 1, the drive device 12 may also comprise an additional pneumatic actuator 12b, a pneumatic actuator 12a and an additional pneumatic actuator 12b, which are arranged symmetrically with respect to the vertical symmetry plane S.
The additional pneumatic actuator 12b is provided with an associated rotatable hollow body 64, in particular, an outer surface 42b of the additional web 24b connected to the second fixed hinging element 11 and a sliding valve stem 65 of the inner surface of said hollow body 64.
In the illustrated implementation, the head 66 of the valve stem 65 is connected to the additional oblong element 7b, in particular to the protruding portion 61, moving the additional oblong element 7b, and thus, thanks to the connection of the first 3, second 4, third 6, fourth 7 lever means with the trajectory modification assembly 20 and the hinging elements 5, 8, 9, 11, the movement of the mobile device 1 between the open configuration a and the closed configuration C is achieved.
In use, the pneumatic actuator 12a and the additional pneumatic actuator 12b may be actuated simultaneously, if necessary.
In particular, with reference to fig. 6, the first fixed hinging element 8 and the second fixed hinging element 11 are connected to a shaped support plate 67, which in turn is connected to a rotation lever 68, by motorized means, not shown, the mobile device 1 is rotated about the rotation axis R, in a raised position M, fig. 1-6, the mobile device 1 protrudes above a plane tangential to the support 2, in an inclined position N (fig. 7), the mobile device 1 being situated below a reference plane tangential to the support 2. In other words, when the mobile device 1 (including the running assembly 100) is in the tilted position N, it is located under the stand 2, and therefore, the movement of the component from the raised position M to the tilted position N causes the telescopic movement of the mobile device 1 under the stand 2.
The support surface may comprise a lower region of one or more slats 69, the slats 69 being adapted to maintain the stand 2 in a particular plane, such as the ground.
In a version not shown, the mobile device 1 may include additional leverage means (e.g., a device generally similar to the leverage means 3, 4,6, 7 described above), additional drive means (e.g., a device generally similar to the drive means 12 described above), and additional trajectory modification assemblies (e.g., a device generally similar to the trajectory modification assemblies described above) for supporting and moving the associated running assembly 100 toward or away from cargo. These additional lever means, additional drive means and additional trajectory modification assemblies may be associated with the hinge elements 5, 8, 9, 11 or additional hinge elements connected to the hinge elements 5, 8, 9, 11.
By means of these additional lever devices, additional drives and additional track-modifying assemblies, the structure articulated to the additional lever devices, additional drives and additional track-modifying assemblies can be reproduced in large numbers and the movement support can be adjusted to the movement of the displacement device 1 in accordance with the size of the load weight.
The preset movement of the moving device 1 in the trajectory modification assembly 20 is dynamically controlled by the lever means 3,4, 6, 7, the running assembly 100 following a linear trajectory at a constant height of the load when moving between the distal and proximal positions along the direction of movement X, whereas the driving device 12 of the moving device 1 in the closed configuration C, which is moved transversely to the direction of movement X, becomes more compact, facilitating the running assembly 100 to perform the desired machining operation on the load on the stand 2 in a predetermined position. This predetermined position can be deduced, for example, from the height of the load placed by the running gear 100, i.e. the position of the first movable hinge element 5 to which the running gear 100 is connected, since the position remains unchanged in the direction of movement X.
As is evident from the above, the mobile device 1 according to the invention successfully achieves all the preset aims mentioned previously.
The description and illustrations in the figures are provided for the purpose of illustrating the innovative functioning of the mobile device 1.
Modifications and/or additions may be made to the description and illustrations of the drawings.
Claims (21)
1. A moving device (1) for maneuvering a running assembly (100) of a winding machine (1000) towards or away from a load placed on a rack (2), characterized in that the moving device (1) comprises:
-lever means for supporting said running assembly (100) in and out of said cargo;
-drive means (12) associated with said lever means for maneuvering said mobile device (1) between a closed configuration (C) with a minimum footprint, distant from said load, and an open configuration (a) with a maximum footprint, closer to said load;
-a trajectory modification assembly (20) connected to said leverage means for dynamically controlling the leverage means so that said running assembly (100) can follow a linear trajectory at a constant height relative to said load when moving between said closed configuration and said open configuration;
Wherein the track modification assembly (20) comprises a counter rod device (10) connected with a lever device;
wherein the lever means comprises:
-a first lever device (3), a second lever device (4) being connected to a first living hinge element (5) of the mobile device (1) for rotation about a first rotation axis (R1) and a second rotation axis (R2), respectively, the first living hinge element (5) being connectable to the running assembly (100), the first lever device (3), the second lever device (4) and the first living hinge element (5) supporting the running assembly (100) close to or remote from the load;
-a third lever device (6) and a fourth lever device (7) are connected to the first fixed hinging element (8) of the mobile device (1) rotatable along a third rotation axis (R3) and a fourth rotation axis (R4), respectively;
-said first lever means (3), said second lever means (4), said third lever means (6), said fourth lever means (7) are mutually connected in a rotating manner to a second movable hinging element (9) of said moving means (1), rotatable along a fifth rotation axis (R5), a sixth rotation axis (R6), a seventh rotation axis (R7) and an eighth rotation axis (R8), respectively,
Wherein the counter lever means (10) is rotatably connected to the second lever means (4) such that the counter lever means (10) and the second lever means (4) are rotatable about a ninth rotation axis (R9), the counter lever means (10) being further rotatably connected to a second stationary hinge element (11) on the moving means (1) rotatable about a tenth rotation axis (R10),
Wherein said driving means (12) are connected to one of said first lever means (3), said second lever means (4), said third lever means (6), said fourth lever means (7) so that said moving means (1) can move between said closed configuration (C) in minimum space, in which said second rotation axis (R2) and said tenth rotation axis (R10) are at minimum distance (dmin), and said open configuration (A) in which said second rotation axis (R2) and said tenth rotation axis (R10) are at maximum distance (dmax), and said counter-lever means (10), said second lever means (4) and said driving means (12) are adapted to maintain said first movable hinge element (5) along a substantially linear trajectory so as to maintain a substantially equal distance (D) between said second rotation axes (R2) and to pass through a horizontal plane between fourth rotation axes (R4).
2. The mobile device (1) according to claim 1, characterized in that the first living hinge element (5), the second living hinge element (9), the first stationary hinge element (8) and the second stationary hinge element (11) each comprise a connection block and at least one connection plate, which are each mounted on a respective connection block, each connection block and each connection plate being connected in an articulated manner to the first lever arrangement (3), the second lever arrangement (4), the third lever arrangement (6) and/or the fourth lever arrangement (7), or the counter lever arrangement (10), the driving arrangement (12).
3. The mobile device (1) according to claim 2, wherein said first lever means (3) comprises a connecting rod (3 a) hinged at its end to a first face of the connecting block of said first living hinge element (5), and at the opposite end of said connecting rod (3 a) to a first face of the connecting block of said second living hinge element (9).
4. A mobile device (1) according to claim 3, characterized in that said second lever means (4) comprise a shaped lever (4 a),
-The first part of the connecting rod of the shaped rod (4 a), the second part of the connecting rod of the shaped rod (4 a) extend to form an angle (α) between 110 ° and 150 °, the connecting rod area (27) formed by the first part of the connecting rod of the shaped rod (4 a) and the second part of the connecting rod of the shaped rod (4 a) being hinged to the outer surface of the connecting plate of the second living hinge element (9);
-the first part of the connecting rod of the profiled rod (4 a) is further equipped with an end located in the opposite position of the connecting rod region (27), the end of the first part of the connecting rod of the profiled rod (4 a) being hinged to the outer surface of the connecting plate of the first living hinge element (5);
-the second part of the connecting rod of the profiled rod (4 a) is further provided with an end located in the opposite position of the connecting rod region (27), the end of the second part of the connecting rod of the profiled rod (4 a) being hinged to the counter rod device (10) so as to be rotatable about the ninth rotation axis (R9).
5. The mobile device (1) according to claim 4, wherein the first portion of the connecting rod of the shaped bar (4 a) comprises a loop portion (32) at least partially surrounding the driving means (12) in order to reduce the footprint of the mobile device (1) in the closed configuration (C).
6. The mobile device (1) according to claim 4 or 5, characterized in that said third lever means (6) comprise a crossbar (6 a) hinged at its end to the first face of the connection block of said second mobile hinge element (9), and at the opposite end of said crossbar (6 a) to the first face of the connection block of said first fixed hinge element (8).
7. A mobile device (1) according to any one of claims 4 to 6, characterized in that said fourth lever means (7) comprises an oblong element (7 a) hinged at its end to the outer surface of the web of said second mobile hinging element (9), at the opposite end of said oblong element (7 a) hinged to the outer surface of the web of said first fixed hinging element (8).
8. A mobile device (1) according to claim 7, characterized in that the oblong element (7 a) comprises a protruding portion (39) extending to the second lever means (4) on which the driving means (12) are mounted for operating the mobile device (1).
9. The mobile device (1) according to claim 7 or 8, wherein the counter-bar means (10) comprise a counter-bar (10 a) hinged at its end to the additional end of the second portion of the connecting rod on the profiled bar (4 a), the end of the counter-bar (10 a) opposite to the end being hinged to the outer surface of the connecting plate of the second fixed hinging element (11).
10. The mobile device (1) according to claim 9, wherein the driving means (12) comprises a selected driving actuator, the driving means (12) comprising a cylinder, a hydraulic cylinder, an electromechanical actuator.
11. The movement device (1) according to claim 10, wherein the driving means (12) comprise a pneumatic actuator (12 a), the pneumatic actuator (12 a) being provided with a hollow body, the hollow body of the pneumatic actuator (12 a) being rotatably connected to the outer surface of the connecting plate of the second fixed hinging element (11) and to a sliding valve stem inside the hollow body of the pneumatic actuator (12 a), the head of the sliding valve stem inside the hollow body of the pneumatic actuator (12 a) being connected to the oblong element (7 a) so as to move the oblong element (7 a).
12. Mobile device (1) according to claim 11, characterized in that said first living hinge element (5), said second living hinge element (9), said first fixed hinge element (8) and said second fixed hinge element (11) each comprise an additional connection plate, each additional connection plate being mounted on a respective connection block so as to be placed substantially symmetrically on the connection plate of the respective hinge element, symmetrically to the vertical symmetry plane (S) of the mobile device (1).
13. The mobile device (1) according to claim 12, wherein said first lever means (3) further comprise an additional link (3 b) with a first end (46) hinged to the second face of the connection block of said first living hinge element (5) in a position opposite to the first face of the connection block of said first living hinge element (5), and with an end opposite to said first end (46) hinged to the second face of the connection block of said second living hinge element (9), said link (3 a) and said additional link (3 b) being symmetrically arranged with respect to said vertical symmetry plane (S).
14. The mobile device (1) according to claim 12 or 13, the second lever means (4) further comprising an additional shaped bar (4 b),
-The first part of the connecting rod of the additional profiled rod (4 b), the second part of the connecting rod of the additional profiled rod (4 b) extend to form an angle (β) between 110 ° and 150 °, the connecting zone (51) formed by the first part of the connecting rod of the additional profiled rod (4 b) and the second part of the connecting rod of the additional profiled rod (4 b) being hinged to the outer surface of the additional connecting plate of the second living hinge element (9);
-the first part of the connecting rod of the additional profiled bar (4 b) is further equipped with an end located in the opposite position of the connection zone (51), the end of the first part of the connecting rod of the additional profiled bar (4 b) being hinged to the outer surface of the additional connection plate of the first living hinge element (5);
-the second part of the connecting rod of the additional profiled rod (4 b) is further provided with an end located opposite the connection zone (51), the end of the second part of the connecting rod of the additional profiled rod (4 b) being hinged to the counter rod means (10) so as to be rotatable about the ninth rotation axis (R9), the profiled rod (4 a) and the additional profiled rod (4 b) being symmetrically arranged with respect to the vertical symmetry plane (S).
15. The mobile device (1) according to claim 14, wherein said third lever means (6) further comprise an additional crossbar (6 b) hinged at its ends to the second face of the connection block of said second mobile hinging element (9), and at its other end in the opposite direction to the ends of said additional crossbar (6 b) hinged to the second face of the connection block of said first fixed hinging element (8), said crossbar (6 a) and said additional crossbar (6 b) being symmetrically aligned with respect to said vertical symmetry plane (S).
16. The mobile device (1) according to claim 14 or 15, characterized in that said fourth lever means (7) further comprise an additional oblong element (7 b) hinged at its ends to the outer surface of the additional web of said second mobile hinging element (9), opposite ends of said additional oblong element (7 b) being hinged to the outer surface of the additional web of said first fixed hinging element (8), said oblong element (7 a) and said additional oblong element (7 b) being arranged symmetrically with respect to said vertical symmetry plane (S).
17. The mobile device (1) according to claim 16, wherein the counter-bar means (10) comprise an additional counter-bar (10 b) with its ends hinged to the ends of the second portion of the connecting rod on the additional profiled bar (4 b), the ends of the additional counter-bar (10 b) opposite to the ends hinged to the outer surface of the additional connecting plate of the second fixed hinging element (11), the counter-bar (10 a) and the additional counter-bar (10 b) being symmetrically arranged with respect to the vertical symmetry plane (S).
18. The displacement device (1) according to claim 16 or 17, wherein the drive device (12) comprises an additional pneumatic actuator (12 b), the additional pneumatic actuator (12 b) being provided with a hollow body, the hollow body of the additional pneumatic actuator (12 b) being rotationally connected to the outer surface of the additional connecting plate of the second stationary hinge element (11) and to a sliding valve stem inside the hollow body of the additional pneumatic actuator (12 b), the head of the sliding valve stem inside the hollow body of the additional pneumatic actuator (12 b) being connected to the additional oblong element (7 b) for displacing the additional oblong element (7 b), the pneumatic actuators (12 a) and the additional pneumatic actuator (12 b) being arranged symmetrically with respect to the vertical symmetry plane (S).
19. The displacement device (1) according to any one of claims 1 to 18, wherein the first stationary hinge element (8) and the second stationary hinge element (11) are connected to a shaped support plate (67), which shaped support plate (67) is in turn connected to a swivel lever (68), the displacement device (1) being swiveled about a swivel axis (R) so that the displacement device (1) protrudes above a plane tangential to the support (2) in a raised position (M) and the displacement device (1) is located below a reference plane tangential to the support (2) in an inclined position (N).
20. A winding machine (1000), characterized in that the winding machine (1000) winds a load placed on a stand (2) with a film, the winding machine (1000) comprising a moving device (1) according to any one of claims 1 to 19 and a travelling assembly (100) connected to the moving device (1) so as to move towards or away from the load along a substantially linear trajectory.
21. The mobile device (1) according to claim 20, wherein the running assembly (100) is a cutting/sealing/gripping assembly comprising a cutting assembly (110) for cutting the film, a sealing assembly (120) for sealing the film to a film wrapping ring around the cargo, and a gripping assembly (130) for gripping the edge of the film for subsequent packaging.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT202200014032 | 2022-07-01 | ||
| IT102022000014032 | 2022-07-01 |
Publications (2)
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| CN116853580A CN116853580A (en) | 2023-10-10 |
| CN116853580B true CN116853580B (en) | 2025-09-26 |
Family
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| CN202310753602.3A Active CN116853580B (en) | 2022-07-01 | 2023-06-26 | mobile devices |
| CN202321620044.5U Withdrawn - After Issue CN220549253U (en) | 2022-07-01 | 2023-06-26 | Moving device and winding machine including the moving device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321620044.5U Withdrawn - After Issue CN220549253U (en) | 2022-07-01 | 2023-06-26 | Moving device and winding machine including the moving device |
Country Status (3)
| Country | Link |
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| EP (1) | EP4547564A1 (en) |
| CN (2) | CN116853580B (en) |
| WO (1) | WO2024003852A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11174051B2 (en) | 2019-02-15 | 2021-11-16 | Samuel, Son & Co. (Usa) Inc. | Hand held strapping tool |
| JP2025519233A (en) | 2022-06-03 | 2025-06-24 | シグノード インダストリアル グループ リミティド ライアビリティ カンパニー | Stretch wrapping machine with spare stretch rollers |
| CN116853580B (en) * | 2022-07-01 | 2025-09-26 | 珠海赛克科技有限公司 | mobile devices |
| US12397943B2 (en) | 2022-11-29 | 2025-08-26 | Samuel, Son & Co. (Usa) Inc. | Handheld strapping device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212606093U (en) * | 2020-08-04 | 2021-02-26 | 北京航天斯达科技有限公司 | Multifunctional robot clamp for spinning cake boxing |
| CN220549253U (en) * | 2022-07-01 | 2024-03-01 | 珠海赛克科技有限公司 | Moving device and winding machine including the moving device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE60106883T2 (en) * | 2001-06-14 | 2005-10-27 | Tetra Laval Holdings & Finance S.A. | Method and system for correcting a decoration for a unit for forming, filling and sealing a machine for packaging free-flowing foodstuffs |
| ES2656837T3 (en) * | 2015-03-17 | 2018-02-28 | Robopac S.P.A. | Unwinder for self-propelled packing machine |
| IT201800005364A1 (en) * | 2018-05-14 | 2019-11-14 | MACHINE FOR MAKING A COMPOUND PALLETIZED LOAD | |
| US11242165B2 (en) * | 2018-08-01 | 2022-02-08 | Haloila Bulgaria EOOD | Wrapping machine with improved cut, clamp, and seam system |
| WO2020165721A1 (en) * | 2019-02-11 | 2020-08-20 | Robopac S.P.A. | Self-propelled wrapping machine |
| CN110937146A (en) * | 2019-12-06 | 2020-03-31 | 盐城瑞嘉汽车服务有限公司 | Building decoration material packing plant |
| CN113044270B (en) * | 2021-03-03 | 2023-09-22 | 威海华友节能科技有限公司 | Automatic adjust baling press of packing number of layers |
-
2023
- 2023-06-26 CN CN202310753602.3A patent/CN116853580B/en active Active
- 2023-06-26 CN CN202321620044.5U patent/CN220549253U/en not_active Withdrawn - After Issue
- 2023-06-30 WO PCT/IB2023/056824 patent/WO2024003852A1/en not_active Ceased
- 2023-06-30 EP EP23744554.9A patent/EP4547564A1/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212606093U (en) * | 2020-08-04 | 2021-02-26 | 北京航天斯达科技有限公司 | Multifunctional robot clamp for spinning cake boxing |
| CN220549253U (en) * | 2022-07-01 | 2024-03-01 | 珠海赛克科技有限公司 | Moving device and winding machine including the moving device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024003852A1 (en) | 2024-01-04 |
| CN116853580A (en) | 2023-10-10 |
| CN220549253U (en) | 2024-03-01 |
| EP4547564A1 (en) | 2025-05-07 |
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