APPARATUS FOR MOVING OBJECTS AND RELATIVE MOVEMENT METHOD

A movement apparatus for objects configured for receiving an object from an infeed station and moving the object towards an outfeed station, comprising a movement surface comprising movement cells positioned on in a matrix fashion, positioned to operate with the object, wherein each movement cell has a direction of movement which can be individually controlled; a control system configured for defining a conveying trajectory in the movement surface for conveying the object from the infeed to the outfeed station; identifying trajectory cells belonging to the conveying trajectory and directing the direction of movement of each trajectory cell to move the object in the conveying trajectory; identifying, between the movement cells, convergence cells, defining a convergence zone adjacent to the conveying trajectory and, for each convergence cell, directing the direction of movement towards a central line of the conveying trajectory to maintain of the object inside the conveying trajectory.

This invention relates to an apparatus for moving objects and a relative method for moving objects.

In particular, the invention relates to the technical sector of the systems for moving objects, for the purposes of storage, or sorting of the objects, for example logistics systems, or transport systems.

The term “object” is used to mean, in this text, a package, an item of luggage, or a bag, of any shape, weight and size, which is processed in the above-mentioned movement systems and which is therefore moved by a movement apparatus between an infeed station to an outfeed station, in order to transfer, sort it, or orient it according to a preferred direction.

Traditionally, these movement systems comprise a main conveyor, a movement apparatus, and one or more secondary conveyors, wherein the main conveyor moves the objects to be moved and/or sorted along a main path up to the movement apparatus, and the movement apparatus, to which the various secondary conveyors are connected according to predetermined criteria, moves each object to the desired secondary conveyor for transferring the object by means of the secondary conveyor to a relative distribution station.

Solutions of a different type for the movement apparatuses have been developed over the years to allow the objects to leave the main conveyor and diverge along their path towards the secondary conveyor.

One of these solutions involves the use of special carriages which move the object, typically a pack, along the main conveyor and are equipped with laterally oriented rollers which are actuated at the correct moment for directing the pack towards the desired secondary conveyor.

Another solution comprises the use of units movable above the main conveyor and configured for making contact with or engaging laterally the packs for directing them towards the secondary conveyors.

To allow a more complete and/or precise control of the position and movement parameters of the objects, movement apparatuses have recently been widespread on the market comprising a modular movement surface having a plurality of movement cells, preferably identical to each other, arranged in a matrix or chequerboard fashion on the movement surface, which are configured to operate in conjunction with each other in such a way as to move in succession objects from one, or more, infeed stations to one, or more, outfeed stations. In particular, each movement cell has a direction of movement which can be controlled independently from the other movement cells.

An example of these movement apparatuses is shown in European patent application No. EP1375389A1 which shows a transport apparatus provided with a transport surface having a plurality of conveying portions configured for making an object slide sequentially on the conveying surface. Each of these conveying portions comprises a pair of rollers parallel to each other having respective axes of rotation parallel to the conveying surface, defining a conveying direction perpendicular to the axis of rotation of the rollers. The rollers are mounted on a base, rotatable about a vertical axis relative to the conveying surface, in such a way as to vary the direction of movement of the rollers.

By means of these movement apparatuses for objects, it is advantageously possible to arbitrarily move an object on the movement surface even in the absence of mechanical components which engage on the object, to direct the object in the desired direction.

A system for controlling the movement apparatus is typically provided to define, for each object to be moved in the movement surface, a conveying trajectory from an infeed station of the object to an outfeed station of the object. For this purpose, the control system is configured for identifying, between the movement cells, trajectory cells belonging to the conveying trajectory and directing, in use, the direction of movement of each trajectory cell in the movement surface in such a way as to move the object in the conveying trajectory.

When, on the movement surface, there are two or more objects, for each one a respective conveying trajectory, an infeed station and an outfeed station is defined, in such a way that each object is moved independently from the other object, or from the other objects.

Due to the slipping between the object to be moved and the movement cells, or due to impacts between any objects present simultaneously on the movement surface, it may happen that the object loses the conveying trajectory defined for it and moves in the movement surface in an uncontrolled manner.

In this case, each object may not only not reach the relative outfeed station, but may also fall outside the movement surface, with the risk of damaging itself.

Document EP3315436 A1 relates to a device for transporting articles which is able to perform a transfer operation and a rotation operation. The conveying device has a transfer part having a belt to allow the positioning of an article, and a turntable which supports the transfer part. The belt is a continuous element suspended between a pair of rollers which slide being engaged by a transfer motor whilst a rotation motor engages with the turntable.

In this context, the technical purpose which forms the basis of this invention is to provide an apparatus for moving objects, and the relative movement method, which overcomes at least some of the above-mentioned drawbacks of the prior art.

A further aim of the invention is to provide an apparatus for moving objects, and the relative movement method, comprising a modular movement surface having a plurality of movement cells, preferably identical to each other, arranged in a matrix or chequerboard fashion on the movement surface, configured to operate in conjunction with each other in such a way as to move in succession at least one object from an infeed station to an outfeed station, which promotes a maintaining of the object inside a conveying trajectory defined for the object.

Another aim of the invention is to provide an apparatus for moving objects, and the relative movement method, which is able to increase a reliability of movement of each object inside the conveying trajectory.

The technical purpose indicated and the aims specified are substantially achieved by an apparatus for moving objects and by the relative movement method, comprising the technical features described in one or more of the appended claims.

The dependent claims correspond to possible embodiments of the invention.

Further features and advantages of the invention are more apparent in the non-limiting description which follows of a preferred non-limiting embodiment of a movement apparatus for objects and a relative method for moving objects.

With reference to the accompanying drawings, the numeral1generically denotes an apparatus for moving objects2.

The movement apparatus1is configured to receive at least one object2from one, or more, infeed stations3and move the object2towards one, or more, outfeed stations4.

It should be noted thatFIG.3shows, purely by way of example, two infeed stations,301and302and two outfeed stations401, and402of the plurality of infeed stations3, and possible outfeed stations4.

Preferably, the movement apparatus1is configured to receive several objects to be moved simultaneously from one or more of the infeed stations3to one or more of the outfeed stations4but, for simplicity, the presence of a single object in the movement apparatus1will be considered below.

The movement apparatus1comprises a movement surface101comprising a plurality of movement cells102positioned on it in a matrix or chequerboard fashion, which are configured and positioned to operate in conjunction with each other and move the object2in succession.

The object2is placed on the movement surface101in such a way that a relative lower surface (not illustrated) is resting on it.

The movement apparatus1comprises a frame103, provided with respective feet103aconfigured to allow the movement apparatus1to be placed on the floor (not illustrated) of a movement system of the logistics, or transport, sector, in which the movement apparatus1can be installed.

The movement apparatus1is shown in its entirety inFIG.1.

The frame103comprises a supporting mask104, provided with holes104a, and is configured to support each movement cell102and to ensure that an element for moving the cell, shaped like a ball102a,can come out from the respective hole104a,to allow the movement of the object2, as shown in more detail inFIG.2.

In fact, each movement cell102comprises a tubular supporting body (not illustrated) having an axis Z, which is positioned vertically, at the end of which is rotatably fixed the ball102a.

The ball102ais rotatable about a horizontal axis, not illustrated, parallel to the movement surface101and perpendicular to the vertical axis, which, in use, defines a direction of movement D of the movement cell102.

It should be noted that the ball102ais rotatable in a clockwise or anti-clockwise direction, to allow a different direction of movement D′ to be obtained, modified by 180° relative to the direction of movement D, that is to say, a direction of movement in the opposite direction.

In detail, the direction of movement D of each movement cell102is perpendicular to the horizontal axis about which the ball102a,in use, rotates.

The ball102ais also rotatable relative to the vertical axis Z of the supporting body, so as to be able to vary the direction of movement D of the movement cell102. By way of example,FIG.2shows a further direction of movement D1, and another direction of movement D2, as well as the corresponding directions of movement D1′ and D2′ in the opposite direction.

For this reason, each movement cell102may have, in use, a respective direction of movement D and, in the direction of movement D, a respective movement speed.

The movement speed derives directly from the speed of rotation of the ball102aabout the horizontal axis.

Each movement cell102is individually controllable, in the sense that the direction of movement D and the relative movement speed of each movement cell102can be controlled independently from the other movement cells102forming part of the movement surface101.

In fact, each movement cell102comprises a pair of actuators, not illustrated, which are independent of each other and independently controllable, which respectively control the rotation of the ball102aabout the vertical axis Z (and that is, the direction of movement of the movement cell102) and the rotation of the ball102aabout the horizontal axis (and that is, the movement speed of the movement cell102), as schematically shown inFIG.2.

A movement cell102and a movement surface101as described here are illustrated in detail in European patent application No. EP3643644 of the same Applicant, to which reference is made without limiting the scope of the invention.

It should be noted, however, that the object of the invention, as described here, is also applicable to a movement surface101provided with movement cells of a different type, for example having two movement rollers, as described in the European patent application EP1375389A1 mentioned above as forming part of the prior art since, also in that case, each movement cell has a direction of movement and a respective movement speed which can be individually controlled.

As mentioned above, said movement cells102are configured and positioned to operate in conjunction with each other and move an object2in succession.

In fact, since the movement cells102are individually controllable, when the object2is rested on the movement surface101, the direction and movement speed of each movement cell102may be coordinated with the direction and speed of the movement cells102adjacent to it to ensure that the object2is transferred to a predetermined position of the movement surface101.

In this way, advantageously, the movement surface101may be suitable for objects and packs of different dimensions, weights and features, to perform movements of different types, as described below.

The movement apparatus1comprises a control system (not illustrated) configured to define a conveying trajectory in the movement surface101, for moving the object2from an infeed station3to an outfeed station4.

It should be noted that, in general, the control system may be divided into separate functional modules, which may correspond to hardware units and/or software routines, and may consist of a single electronic device, suitably programmed to perform the functions described, for example a control PLC, or a control PC. In this case, the various functional modules can form part of the programmed device. Alternatively or in addition, the control system can comprise a plurality of electronic devices on which the above-mentioned functional modules can be distributed. In fact, the control system may have one or more processors for the execution of the functional modules, which may be distributed on different control PLCs, or different control PCs, locally, or remotely (for example, in the cloud), on the basis of the architecture of the communication network on which they reside.

The term “control system” is used to comprise all the components necessary for implementing the control system, for example the electronic devices and/or hardware units and/or software routines and/or the memory modules and/or the communication network mentioned above.

The control system is also connected to each movement cell102, for controlling the pair of actuators defining the direction of movement D and the movement speed of each movement cell102.

As shown inFIG.3, the movement apparatus1may have the two infeed stations301and302and the two outfeed stations401, and402.

It should be noted that the infeed stations3and the outfeed stations4may be perimetrically distributed on a movement surface101and, usually, considering a longitudinal axis of extension Y of the movement surface, are positioned on an infeed side101aand an outfeed side101b,which are facing each other.

In the case illustrated, the movement surface101has a rectangular shape and, therefore, the infeed side101aand the outfeed side101bare short sides of the rectangle, facing each other.

However, it is not necessary for the movement surface101to be rectangular because it may also have a different shape relative to the need for positioning the infeed stations3, and/or the outfeed stations4in the system in which the movement apparatus1is to be positioned.

In fact, the same perimeter position of each infeed station3, and of each outfeed station4, relates to the specific need of the system.

For example, the conveying trajectory may be linear, for linearly moving the object2between an infeed station3and an outfeed station4, positioned aligned with each other.

The conveying trajectory may also be crossed, as shown inFIG.3, for moving the object diagonally between an infeed station3, for example the first infeed station301, to an outfeed station4, for example the second outfeed station402, wherein the first infeed station301and the second outfeed station402are offset from each other.

Objects2different from each other, received from the movement surface101, can thus be sorted and/or separated to respective outfeed stations4, in relation to the conveying trajectory set for each object2. Moreover, each object2may also be rotated clockwise or anticlockwise about the vertical axis of the object2, for varying the orientation of the object2moved before the outfeed station4, if necessary.

It should be noted, therefore, that the movement apparatus1may perform a sorting function, if it is necessary to separate the objects2, directing each towards specific outfeed stations4in relation to the properties of the object2.

The control system is configured for identifying, between the movement cells102, trajectory cells105belonging to the conveying trajectory and directing, in use, the direction of movement D of each trajectory cell105in the movement surface101in such a way as to move the object1in the conveying trajectory.

When, in use, the object2is in the conveying trajectory it is moved from the infeed station3to the outfeed station4in a conveying direction.

The trajectory cells105are, therefore, among all the movement cells102forming part of the movement surface101, only those which act in conjunction with each other for moving the object2between the infeed station3and the outfeed station4established for the object2, and identify in the movement surface101an area, not illustrated, intended for resting the lower surface of the object2.

According to the invention, the control system is also configured for identifying, between the movement cells102, convergence cells106, defining at least one convergence zone107adjacent to the conveying trajectory.

The control system is configured to direct, in use, the direction of movement of each convergence cell106, towards a central line T of the conveying trajectory to promote the maintaining of the object2inside the conveying trajectory.

It should be noted that inFIG.3, which schematically represents the movement surface101, each arrow represents the direction of movement D of a respective movement cell102, or of a respective trajectory cell105, or of a respective convergence cell106and that the conveying trajectory is the area between two lines, for example curved, in which the object2is intended to move. The central line T of the conveying trajectory is also a curved line, which represents a line of symmetry of the conveying trajectory.

It should be noted that, inFIG.3, the numeral102denotes the movement cells which the control system has not defined either as trajectory cells105or convergence cells106, since they do not participate in the movement of the object2. The arrows indicating the movement cells102are illustrated inFIG.3with a continuous line.

The arrows indicating the trajectory cells105are shown with dashed lines, with a non-uniform type of dashed line, whilst the arrows indicating the convergence cells106are shown with dashed lines, with a uniform type of dashed line.

Thanks to the presence of convergence cells106in a convergence zone107, positioned adjacent to the conveying trajectory, it is possible to correct a coming out of the object2from the conveying trajectory.

In fact, if, in use, the object2veers from the conveying trajectory and slides to its outside, as shown inFIG.3which shows a possible position for a veered object2′, the convergence cells106of the convergence zone107again direct the veered object2′ towards the conveying trajectory, thus annulling the veering.

The object2, which falls within the conveying trajectory, may therefore reach the predetermined outfeed station4, without the risk of reaching an incorrect outfeed station4, or coming out and falling from the movement surface101.

This makes it possible to have movement apparatuses1which are substantially immune to the disturbances, wherein even at a maximum movement speed which can be set up for the trajectory cells105, there is a maximum correct movement efficiency of the objects2. It is not, therefore, necessary to slow down the movement speed of the trajectory cells105, in order to guarantee that the objects2remain resting on them from the infeed station3to the outfeed station4.

For each convergence cell106, the control system is configured for setting up a respective longitudinal component of the movement speed (which extends parallel to the longitudinal axis of extension Y of the movement surface101) which is less than or equal to, a longitudinal component of the movement speed of a corresponding trajectory cell105.

For each convergence cell106, the control system is configured for setting up a respective transversal component of the movement speed, perpendicular relative to the longitudinal axis of extension Y, which is the maximum which can be reached.

In fact, each convergence cell106can be associated with a trajectory cell105, which may be, for example, the one positioned along an axis, perpendicular to the longitudinal axis of extension Y and passing through the convergence cell106; or which may be, for example, the one located at the minimum distance on the central line T of the conveying trajectory.

The maximum speed which can be reached means the maximum speed at which the convergence cell106may be set.

In other words, each movement cell102has a respective movement speed in the direction of movement D, which can be controlled independently relative to the other movement cells102and which may be less than, or equal to, a respective maximum speed, which is the maximum speed which can be reached.

The control system is configured for setting up, for each convergence cell106, the respective transversal component of the movement speed, extending perpendicularly to the longitudinal axis of extension Y, which is equal to the above-mentioned maximum speed.

The control system can be configured to define the convergence zone107and a further convergence zone107a,also comprising convergence cells106, wherein the convergence zone107and the further convergence zone107aare positioned on opposite sides of the conveying trajectory.

In this way, the return of the object2to the conveying trajectory is promoted both on one side and on the other of the conveying trajectory.

According to a version not illustrated, in addition, or alternatively relative to the presence of convergence zones opposite the conveying trajectory, the control system may be configured to detect the position of the object2in the conveying trajectory and define a convergence area (not illustrated), downstream of the object2, and another convergence area (not illustrated) upstream of the object2in the conveying direction from the infeed station3to the outfeed station4.

In the latter case, the control system may be configured for setting up a movement speed of the convergence cells106of the convergence area different to the movement speed of the convergence cells106of the other convergence area.

In particular, the movement speed of the trajectory cells105positioned at the object2may be greater than the movement speed of the convergence cells106of the convergence area, positioned downstream of the object, to slow down the convergence cells106of the convergence area.

At the same time, the movement speed of the trajectory cells105positioned at the object2may be less than the movement speed of the convergence cells106of the other convergence area, positioned upstream of the object2, to accelerate the convergence cells106of the other convergence area.

In other words, this allows the convergence cells106downstream of the object2to be slowed down, whilst the convergence cells106upstream of the object are accelerated, to ensure that the object is braked in the case of veering downstream of the position of the object and, on the other hand, is accelerated in the case of veering upstream of the position of the object to promote the return of the object2to the conveying trajectory.

In order to detect the position of the object2, the control system may comprise an image acquisition device configured to acquire, in use, a plurality of successive images of the movement surface101and a processing unit configured to process the images acquired and to check the position of the object2in the movement surface101at successive points in time, when the object2moves in the conveying trajectory.

However, the image acquisition device is not necessary.

In fact, alternatively, the position of the object can be detected, in use, by the control system performing a predictive processing since the processing unit can calculate the position of the object taking into account the instant in which the object2is received in the infeed station3and the movement speed of each trajectory cell105on which the object2is subsequently resting.

If the movement apparatus1receives two different objects2in the movement surface101from two respective infeed stations3and it must move them to two respective outfeed stations4, the control system is configured to define two different conveying trajectories in the movement surface101, each associated with a respective object2to be moved, and to identify, for each conveying trajectory, the respective trajectory cells105between the movement cells102.

In the case of two objects to be moved simultaneously in the movement surface101, the control system will define for each conveying trajectory, at least one respective convergence zone107associated with it.

In use, the movement method for objects2according to the invention comprises the steps of receiving at least one object2from an infeed station3and moving the object2towards an outfeed station4. The movement method also comprises the steps of:preparing a movement surface101comprising a plurality of movement cells102positioned on it in a matrix or chequerboard fashion;controlling a direction of movement D of each movement cell102independently relative to the other movement cells102, and operating the movement cells102in conjunction for moving the object2in succession;defining a conveying trajectory in the movement surface101for conveying the object2from the infeed station3to the outfeed station4.

Thanks to the control of each direction of movement and the cooperation between the movement cells102, it is possible to transfer the object2to a predetermined position of the movement surface101, irrespective of the dimensions, weight and features of the object2, thereby guaranteeing a high flexibility in the possible movements in the movement surface.

The method also comprises the step of identifying, between the movement cells102, trajectory cells105belonging to the conveying trajectory and directing a direction of movement D of each trajectory cell105in the movement surface101in such a way as to move the object2in the conveying trajectory.

In other words, the method comprises defining the conveying trajectory for the object2from the infeed station3to the outfeed station4and identifying, between all the movement cells102of the movement surface101, those trajectory cells105which are involved in the conveying trajectory and for which it is necessary to suitably direct the direction of movement D so that the object2is moved in the conveying trajectory.

The movement method advantageously comprises the step of identifying, between the movement cells102, convergence cells106, defining at least one convergence zone107adjacent to the conveying trajectory and, for each convergence cell106, directing the direction of movement D towards a central line T of the conveying trajectory to promote the maintaining of the object2inside the conveying trajectory.

Thanks to the identification of at least one convergence zone107, comprising convergence cells106, any uncontrolled deviations of the object2from the conveying trajectory are corrected for diverting it again so as to make it fall within the conveying trajectory.

It should be noted that defining both the convergence zone107and the conveying trajectory, before the object2is received in the infeed station3, or also when the object2is already present in the movement surface101, a condition of correction of the possible positioning of the object2in the movement surface101is always made active, which guarantees a high correction efficiency, if the object2were to veer.

The movement further comprises the step of controlling a movement speed in the direction of movement of each movement cell102independently from the others, and setting up, for each convergence cell106, a respective longitudinal component of the movement speed, parallel to a respective longitudinal axis of extension Y of the movement surface101, having a value less than, or equal to, a longitudinal component of a corresponding trajectory cell105.

In fact, the movement method further comprises the step of associating with each convergence cell106at least one corresponding trajectory cell105.

The trajectory cell105associated with the convergence cell106may be that positioned, for example, along a transversal axis, perpendicular to the axis of longitudinal extension Y of the movement surface101and passing through the convergence cell106.

Thanks to this association, an object2′ which has veered and which rests on the convergence cells106, is moved in the conveying direction towards the outfeed station4with the same longitudinal speed as it would have had if it had been in the conveying trajectory.

The movement method also comprises the step of setting up, for each convergence cell106, a respective transversal component of the movement speed, perpendicular to the longitudinal axis of extension Y, which is equal to the maximum speed which can be reached.

In other words, the method comprises the step of controlling the movement speed in the direction of movement of each movement cell102independently from the other movement cells102, the movement speed of each movement cell102being less than, or equal to, a respective maximum speed, which is the maximum speed which can be reached; and also comprises the step of setting up, for each convergence cell106, a respective transversal component of the movement speed, perpendicular to the axis of longitudinal extension Y which is equal to the above-mentioned maximum speed.

This favours the return of the veered object2′ into the conveying trajectory at the maximum possible speed.

The method also comprises the step of defining the convergence zone107and a further convergence zone107a,on opposite sides of the conveying trajectory.

Alternatively, or in addition, the method comprises the step of detecting the position of the object2in the conveying trajectory and defining, in addition to the convergence zone107, a convergence area downstream of the object2in the conveying direction in the conveying trajectory, and another convergence area, upstream of the object2in the conveying direction.

In fact, in addition to the convergence zone107initially associated with the convergence trajectory, it is possible to dynamically activate and deactivate a convergence area and another convergence area respectively downstream and upstream relative to the position of the object2, as detected. This allows an even better control of the correction of any veering of the object2from the conveying trajectory, in real time relative to the position of the object2.

The method also comprises the step of setting up a movement speed of the convergence cells106of the convergence area different from the movement speed of the convergence cells106of the other convergence area.

In particular, the method comprises the step of setting up the movement speed of the trajectory cells105at the object2which is greater than the movement speed of the convergence cells106of the convergence area and less than the movement speed of the convergence cells106of the other convergence area, to slow down the convergence cells106of the convergence area, downstream of the object2, and accelerate the convergence cells106of the other convergence area, upstream of the object2.

Dynamically, therefore, by defining the convergence area and the other convergence area in relation to the position of the object2, the movement of the object2on the movement surface101may be, advantageously, further controlled.

It should be noted, therefore, that thanks to the movement apparatus1and the movement method according to the invention the maintaining of an object2inside the conveying trajectory is promoted, and the reliability of movement of each object2inside the conveying trajectory is improved without the need to slow down the objects2, even in the presence of crossed and non-linear conveying trajectories.