Abstract:
A transfer arrangement ( 10 ) for gripping articles (at  60 ) comprises a central wheel body with a multiplicity of arms ( 20 ), which can be pivoted about a first axis ( 23 ) in each case, articulated along its periphery. The arms ( 20 ) have a gripper ( 60 ) for receiving in each case one or more articles ( 15 ). Each gripper ( 60 ) can be rotated about a second axis ( 33 ) for predetermined positioning of the articles, while the connecting body ( 30 ) can be rotated about the first axis ( 23 ). The rotary movement of the gripper ( 60 ), then, can be transferred to the gripper ( 60 ), rotating about the second axis ( 33 ), via a shaft ( 28 ) arranged along the first axis ( 23 ), with the aid of a transfer element ( 25, 26, 27 ). Finally, a third axis ( 43 ) is arranged on the connecting body ( 30 ), between the first and second axes ( 23, 33 ). This allows rotation of the connecting body ( 30 ) to be transferred in a controlled manner to the connecting body ( 30 ), at the location of the first axis ( 33 ), via a shaft ( 49 ) arranged along the third axis ( 43 ), with the aid of a transfer element ( 45, 46, 47 ). This means that articles ( 15 ) can be tracked.

Description:
CROSS-REFERENCE TO A RELATED APPLICATION 
     The invention described and claimed hereinbelow is also described in German Patent Application DE 10 2005 054 005.8 filed on Nov. 10, 2005. This German Patent Application, whose subject matter is incorporated here by reference, provide the basis for a claim of priority of invention under 35 U.S.C. 119(a)-(d). 
     BACKGROUND OF THE INVENTION 
     Related Art 
     The present invention relates to a transfer device for gripping articles from a first supply conveyor, which points in a first direction, and then placing the articles on a second, removing conveyor, which points in a second direction, it being possible, in particular, for the first and second directions to be at right angles to each other. 
     A number of devices of this type have been known from the related art for a long time. For example, publication DE 25 51 538 disclosed a device of this type, as described in the preamble of Claim  1 . The transfer device described therein is designed to lift easily deformable packaging articles from a first conveyor, and to deposit them, with the same orientation, onto a second conveyor. A revolving system of suction carriages is used for this purpose, with which the suction devices that grip the packaging articles are rotatable by 90 degrees, so that the orientation of the packaging articles remains the same. The related art is designed to convey soap pieces. These pieces have relatively similar dimensions in terms of width and length in the plane of the conveyors. 
     The device in the related art is less suitable for transporting longitudinal or extremely long articles. “Longitudinal articles” are understood to be elements to be transported that have a ratio of longitudinal dimension to transverse dimension of at least 4:1 or more, and, in particular, of 10:1 and more. 
     SUMMARY OF THE INVENTION 
     Based on the related art, the object of the present invention is to provide a transfer device for gripping longitudinal articles that may easily compensate for the great difference in speed between a slow supply conveyor and the subsequent removing conveyor. 
     When supplying longitudinal articles that are essentially transported transversely and that have a width of, e.g., 19 millimeters and a length of 152 millimeters, and which are transported 19 millimeters apart on the supply conveyor and 38 millimeters apart on the removing conveyor, the speed ratio between the two conveyors is 38 to 190, i.e., 1:5. 
     The inventive transfer device includes a wheel with movable arms that perform a tracking swivel motion of the connecting body to pick up, rotate, and deposit the products in a positioned manner. 
     A transfer device for gripping articles is preferably composed of a central wheel body, on the periphery of which a large number of arms is hingedly connected, the arms being swivelable around a first axis. The arms includes a gripper for picking up one article or several articles. Each gripper is rotatable around a second axis for a specified orientation of the articles, while the connecting body is rotatable around the first axis. The rotational motion of the gripper is transferrable via a shaft located in the first axis with the aid of a transfer element to a gripper that rotates around the second axis. 
     In a first embodiment, a third axis is located between the first and second axis on the connecting body. This makes it possible for the connecting body to perform a controlled rotation via a shaft located in the third axis with the aid of a transfer element on the connecting body at the location of the first axis. This makes it possible to track articles. 
     Longitudinal articles that are supplied in a transverse position may therefore be reoriented into a longitudinal orientation, e.g., for loading a horizontal tubular-bag machine. A high rate of throughput is attainable, e.g., 600 products per minute, and a removal speed of 100 meters per minute is possible, because the great change in speed—which results from reorienting the longitudinal articles from “transverse” to “longitudinal” for an “in-line positioning” for a horizontal tubular-bag machine—is bridged by the tracking arms. 
     A device of this type is excellently suited for transferring longitudinal articles of this type. 
     Rotating by 90 degrees and depositing is often selected for practical reasons, but it is not absolutely necessary. Angles of, e.g., 60 or 120 degrees may also be selected, or angles between these values may be selected. 
     Exemplary embodiments of the present invention are shown in the figures. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a perspective view of the transfer device with twelve arms according to a first exemplary embodiment of the present invention; 
         FIG. 2  shows a perspective view of the transfer device in  FIG. 1 , in an enlarged view, which shows the four arms in greater detail; 
         FIG. 3  shows an exploded view of an arm in  FIG. 1 ; 
         FIG. 4  shows a cross-sectional view of an arm of the transfer device in  FIG. 1 ; 
         FIG. 5  shows a perspective view of the transfer device with twelve arms is according to a second exemplary embodiment of the present invention; 
         FIG. 6  shows a perspective view of the transfer device in  FIG. 5 , in an enlarged view, which shows the four arms in greater detail; 
         FIG. 7  shows an exploded view of an arm in  FIG. 5 ; 
         FIG. 8  shows a cross-sectional view of an arm of the transfer device in  FIG. 5 . 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       FIG. 1  shows a perspective view of transfer device  10  with twelve arms  20  according to a first exemplary embodiment of the present invention. Twelve arms  20  are movable in their horizontal plane, and they are hingedly connected to central wheel  11 . Wheel  11  is rotatable around its axis, which is vertical in this case. The rotational speed may be variable, although it is advantageously constant. 
     Articles  15  shown in  FIG. 2  have been ordered. In this context, an “ordered” arrangement means that the longitudinal articles are located transversely to the transport direction of the supply conveyor. Transport device  10  is capable of depositing the articles—fully oriented in their longitudinal direction—onto the removing conveyor, one after the other. Further details of arms  20  of first exemplary embodiment are described in conjunction with  FIGS. 2 through 4 . The features that are the same in all figures are labelled with the same reference numerals. 
       FIG. 2  shows a perspective view of transfer device  10  in  FIG. 1 , in an enlarged view, which shows the four arms in greater detail. In particular, receptacles  12  for arms  20  are shown on wheel  11 . Arms  20  are screwed tightly into receptacles  12 . All of the rotational and displacement motions are controlled by drives and axles inside arms  20 . 
     This is explained with reference to  FIG. 3 , which shows an exploded view of a single arm  20  according to  FIG. 1 . Reference is also made to  FIG. 4 , which shows a cross-sectional view of arm  20  of transfer device  10  in  FIG. 1 . Advantageously, all of the arms have the identical design. 
     The illustration presented in  FIG. 3  shows fastening sleeve  21  of arm  20  with one—in this case—of two fastening screws  22 , with which fastening sleeve  21  is attachable to central wheel  11 . Fastening sleeve  21  coaxially encloses an inner axis  23 . An inner shaft  28  is also located around this inner axis  23 , which is close to the wheel. Inner shaft  28  is connected as one piece with a lever  24 , which is controlled by a cam. In this case, “inner” means that axis  23  is located close to wheel  11 . 
     A first toothed ring  25  is fastened to inner shaft  28 . A rotary motion of lever  24  is therefore transferred via first toothed ring  25  to first, internally toothed drive belt  26 , which drives a second toothed ring  27 . Toothed rings  25  and  27  have the same diameter. A rotational motion of lever  24  about a certain angle therefore results in an identical rotation of outer shaft  29 . Outer shaft  29 , which is located coaxially around outer axis  33 , is supported in a rod-shaped arm sleeve  30 , which extends essentially horizontally and transversely to first and second axes  23  and  33 . 
     Outer shaft  29  or outer axis  33  are located far from the wheel, that is, they are located on the side of the hub of wheel  11  opposite to inner axis  23 . Outer shaft  29  and second toothed ring  27  may be designed as one piece, or they may be composed of two separate yet interconnected elements. Elements  25 ,  26 , and  27  represent a first transfer element. 
     An inner lift shaft  31  is guided in outer shaft  29 . Due to the passage  53  described below, the arm sleeve or connecting body  30  is a sleeve, although it may also be a connecting body made of essentially solid material. Lift shaft  31  is fixedly connected with an articulated carrier  34  via a fixing screw  35 . Two diametrically opposed pins  36 , which are positioned vertically with a minimum of play, are provided in articulated carrier  34 . Pins  36  are inserted in upper flange  37  of outer shaft  29 , and they are preferably secured in a press fit or with screws. 
     As a result of this connection, the rotation of outer shaft  29  is transferred directly to lift shaft  31 . Lift shaft  31  is simultaneously positioned such that it may be moved up and so down along outer rotation axis  33  given that a non-rotatable form-fit connection is provided between lift shaft  31  and outer shaft  29  in one region. 
     This translational reciprocating motion is brought about via articulated carrier  34 , to which a forked pivoting lever  38  is hingedly connected. Pivoting lever  38  is attached to connecting body  30  with segments  39 , on both sides in this case. An actuating lever  32  extends past pivoting lever  38  along the rigid transverse axis defined by segments  39 , thereby enabling actuating lever  32  to perform the reciprocating motion. 
     By way of brief reference to  FIG. 2 , it is shown that the two outermost shafts  29  (at the far left and right) are located at the bottom, as shown in  FIG. 3 , and therefore rest on flange  37 . The two outer shafts  29  shown in the middle are raised, however, i.e., article  15 , which is being held with suction, is located in a much higher position than the other (outer) articles  15 . An eccentric bush  41  with an adjustment screw  42  tightens first belt  26  by exerting pressure on connecting body  30 . 
     A central shaft  49  is mounted on arm sleeve  30  in the center. A third toothed ring  45  is mounted on central shaft  49 , in a central position. Third toothed ring  45  is rotatable around central shaft  49  and, therefore, central axis  43 . 
     In this context, “central” refers to a location between axes  23  and  33  on the free ends of connecting body  30 . The location of third axis  43  between first and second axes  23  and  33  does not necessarily mean a location on the direct line between axes  23  and  33 , but rather a third axis  43 , which may not be stationary, and which is located essentially in the region between axes  23  and  33 . 
     Third toothed ring  45  is connected via a second belt  46  with a fourth toothed ring  47 , which is located coaxially around inner axis  23 . Third toothed ring  45  may be rotated using a lever  44 , which is controllable using a face cam. Since third toothed ring  45  is located on arm sleeve  30  at a fixed distance from inner axis  23  in such a manner that it is rotatable around its main axis, but fourth toothed ring  47  is fixedly connected with fastening sleeve  21  and not with arm sleeve  30 , when lever  44  rotates, this induces a direct pivoting motion of arm sleeve  30  and, therefore, entire arm  20  around the attachment point on central wheel  11 . Elements  45 ,  46  and  47  represent a second transfer element. 
     Lift shaft  31  is hollow in its lower to central part. It includes a cavity  51 , which is open at the bottom and is enclosed coaxially by a jacket. A flange  60  is provided on the lower section of lift shaft  31 , on which a suction device or a gripper may be located, in a known manner. For simplicity, gripping device  60  will be discussed here. Reference is is made to  FIG. 2 , where a suction device  70  is located on flange  60 . 
     The jacket of lift shaft  31  is also open on the side in the central part of lift shaft  31 . Cavity  51  is therefore open on the side, as indicated with reference numeral  52 . Cavity  51  is therefore in direct contact with passage  53 , which is positioned horizontally and is enclosed in arm sleeve  30 . Passage  53  transitions into tube connection  61 , which, in this case, is guided in the shape of an “L” to a not-shown vacuum pump or related connections. 
     The transition between passage  53  and tube connection  61  is created by vacuum control sleeve  62 , which includes a jacket that is open at the bottom but is closed everywhere else, and which includes at least one vacuum control opening  63 . Vacuum control sleeve  62  is rotatably supported in arm sleeve  30  and may be rotated upwardly via an actuating bolt  64 . Vacuum control sleeve  62  is closed in the position shown in  FIG. 4 . 
     Instead of the devices shown here for controlling a suction device  70 , and instead of a preferred suction device  70 , it is also possible to provide another known type of gripping device. 
     In summary, the following motions may be carried out by each arm  20  of a transfer device  10 : When lever  24  on inner axis  23  is driven, this ultimately results in a rotational motion of flange  60  with gripping device or suction device  70 . In contrast, when lever  44  is pivoted—since the four toothed rings  25 ,  27  and  45 ,  47  all have the same diameter—the arm sleeve rotates back around the same angle, thereby making it possible to easily adjust the orientation of outer axis  33  and, therefore, suction device  70  (viewed at the position of flange  60 ) in three dimensions relative to the axis of wheel  11 . Articles  15  to be picked up may therefore be tracked very easily. 
       FIG. 5  shows a perspective view of transfer device  10  with twelve arms  20  according to a second exemplary embodiment of the present invention. Twelve arms  20  are movable in their horizontal plane, and they are hingedly connected to central wheel  11 . Wheel  11  is rotatable around its axis, which is vertical in this case. One difference between the two exemplary embodiments described here is central axis  43 , which, in this case, is not fixed relative to arm sleeve  30 . In addition, control is not carried out via a knee joint  76 , on which a fastening bolt  74  is located off-center relative to arm sleeve, while the center of the arm—which has the same length in this case—of knee joint  76  is connected with actuating lever  80  via a bolt  77 . Elements  76 ,  77 , and  80  represent a second transfer element, according to the second exemplary embodiment. 
     Further details of arms  20  are described in conjunction with  FIGS. 6 through 8 . The same reference numerals are used in both exemplary embodiments to describe identical components, even through the specific features of the components may differ. 
       FIG. 6  shows a perspective view of transfer device  10  in  FIG. 5 , in an enlarged view, and with the four arms  20  shown in greater detail. In particular, transfer levers  80  are shown on each arm  20 ; this is an essential difference between the second exemplary embodiment and the first exemplary embodiment. 
     This is explained in greater detail with reference to  FIGS. 7 and 8 , which show, respectively, an exploded view and a cross-sectional view of a single arm  20  according to  FIG. 5 . 
     The illustration presented in  FIG. 7  shows fastening sleeve  21  of arm  20  with one—in this case—of two fastening screws  22 , with which fastening sleeve  21  is attachable to central wheel  11 . A motion of first toothed ring  25  is transferred to a second toothed ring  27  in the same manner as described in the first exemplary embodiment. This also applies for the connection with the arm sleeve or connecting body  30  on outer axis  33 . The translational reciprocating motion described above is also brought about, in this case, via articulated carrier  34 , to which a forked pivoting lever  38  is hingedly connected. Pivoting lever  38  is attached to connecting body  30  with segments  39 . 
     A holding insert  73  is non-rotatably inserted in an opening in fastening sleeve  30 . Holding insert  73  is fixedly connected with an arm  75  oriented in the direction of outer axis  33 . Holding insert  73  and arm  75  may also be designed as one piece, of course. A slot  72  oriented between two axes  23  and  33  is provided in arm  75 . A pin  84  is inserted and guided in slot  72 , and it engages in an arm of knee joint  76 , which therefore may pivot. Slot  72  could also be integrated in fastening sleeve  30 , or it could be realized in an overhanging projection at this point. 
     Knee joint  76  is connected with transfer lever  80  via a bolt  77 . Transfer lever  80  is therefore rotatable using an actuating bolt  74 , which is provided on the other arm end of knee joint  76  and is controllable via a face cam. Since actuating bolt  74  is located such that it may pivot relative to arm sleeve  30  using the coupling via arm  75  and knee joint  76 , but transfer lever  80  is fixedly connected with fastening sleeve  21  in the region of axis  23 , when actuating bolt  74  rotates, the direct result is that arm sleeve  30  and, therefore, entire arm  20 , pivot. Third central axis  43  is therefore realized at the point where bolt  77  is located. In contrast to the first exemplary embodiment, this bolt is not stationary. Instead, it changes its position when lever  80  pivots and, in fact, in accordance with its angular position. 
     Lift shaft  31  is hollow in its lower to central part. It is therefore designed the same as in the first exemplary embodiment, up to tube connection  61 . In this case, vacuum control sleeve  62  is opened with its vacuum control opening  63  in the position shown in  FIG. 8 . Actuating bolt  64  extends through an opening in transfer lever  80 , to be gripped from above. 
     In summary, the following motions may be carried out by each arm  20  of a transfer device  10  as shown in  FIGS. 5 through 8 : When lever  24  on inner axis  23  is driven, this ultimately results in a rotational motion of flange  60  with gripping device or suction device  70 . In contrast, when bolt  74  is pivoted, arm sleeve  30  rotates forward and backward around an angle, thereby making it possible to easily adjust the orientation of outer axis  33  and, therefore, suction device (viewed at the position of flange  60 ) in three dimensions relative to the axis of wheel  11 . Articles  15  to be picked up may therefore be tracked very easily. 
     As essential feature of all exemplary embodiments, which one skilled in the art may expand upon based on the present invention, is that a wheel  11  with a large number (twelve, in this case) arms  20  may quickly reorient longitudinal articles that are conveyed at a high rate of speed, thereby enabling them to be conveyed with a relatively much higher rate of speed. There do not necessarily have to be twelve arms, of course. A different number of arms, e.g., eight arms  20  or sixteen arms  20  may also be used. 
     As evidenced by the descriptions above, the device is independent of the further means used in the packaging system. This applies to the type of supply conveyor belt and the actual picking device or the downstream conveyor belt. 
     Instead of toothed rings  25 ,  27 ,  45  and  47 , it is also possible to use deflection rollers, with which belts  26 ,  46  must be under tension in order to be driven. Instead of belts  26 ,  46 , it is also possible to use chains or other driving elements with a form-fit or non-positive connection. 
     REFERENCE NUMERALS 
     
         
           10  Transfer device 
           11  Central wheel 
           12  Receptacle for an arm 
           15  Longitudinal article 
           20  Arm 
           21  Fastening sleeve 
           22  Fastening screw 
           23  Inner axis 
           24  Lever 
           25  First toothed ring 
           26  First drive belt 
           27  Second toothed ring 
           28  Inner shaft 
           29  Outer shaft 
           30  Arm sleeve, connecting body 
           31  Lift shaft 
           32  Actuating lever 
           33  Outer axis 
           34  Articulated carrier 
           35  Fixing screw 
           36  Pin 
           37  Flange 
           38  Pivoting lever 
           39  Segment 
           41  Eccentric bush 
           42  Adjustment screw 
           43  Central axis 
           44  Lever 
           45  Third toothed ring 
           46  Second belt 
           47  Fourth toothed ring 
           49  Central shaft 
           51  Cavity 
           52  Side opening 
           53  Passage 
           60  Flange 
           61  Tube connection 
           62  Vacuum control sleeve 
           63  Vacuum control opening 
           64  Actuating bolt 
           70  Suction device 
           72  Slot 
           73  Holding insert 
           74  Actuating bolt 
           75  Arm 
           76  Knee joint 
           77  Bolt 
           80  Transfer lever 
           84  Pin