Patent Description:
In the field of the handling of glass containers for pharmaceutical and/or cosmetic use, such as syringes, cartridges and the like, specific arrangements of parts and/or machines are used which determine the required handling.

It should also be taken into account, for example, that the term syringes actually indicates syringe bodies, comprising the final flanged part and the cylindrical body containing the treatment liquid with its tip on which the needle is generally inserted.

The transporting and storage of the glass containers defined above such as glass syringes is effected with the aid of trays made of thermoplastic material (plastic tray), equipped with negative impressions of the body (diameter) of the syringes according to the their diameter.

These trays are widely used for both the shipment of syringes from the glass-tube transformer to the customer (pharmaceutical industry which subsequently provides for the washing, sterilization, assembly and filling) and also within the manufacturer's production site for transferring the syringes from one processing step to the next.

The trays are therefore used in machines where the transfer of syringes or similar objects may be required from a machine area that transports them according to a certain frequency or a certain step arrangement, for example on trays, towards a machine area that transports them in a spaced and continuous manner consecutively, such as a conveyor.

Solutions are known for example in which the syringes are extracted from a tray in which they are contained and arranged in different ways. It has been noted that the limitation of these solutions is that they damage or rub the syringe on the container itself or the extraction method ruins the thermoplastic tray.

Some solutions, in fact, intervene on the syringes through a plastic "hook" that "detaches" them from the container or tray and the syringes, rubbing against the plastic, are consequently damaged. In particular, the syringes are stained by the plastic itself.

In other solutions, a robot or a gripping device is used which withdraws the syringes from the container or tray. In this case, in order to prevent the syringes from rubbing against the plastic of the container (tray), the slots or grips of the container are "opened" with special "scissors". By doing so, the syringe containers are damaged. Furthermore, the device for opening/closing the slots requires numerous maintenance interventions, which are extremely expensive as they are high precision.

As part of the various and different handling processes, the syringes are loaded into the trays and subsequently extracted to be conveyed to an automatic unit positioned downstream. There are machines or groups, for example, in which the syringes are extracted from the above-mentioned trays and conveyed to a subsequent washing machine, etc..

A technical problem that creates difficulties in these machines or groups arises when the syringes, which are arranged in the trays at a predetermined distance based on the negative impressions of the syringes, must be transferred to a conveyor or similar equipment in which the distance between the syringes is different. Another problem that arises is that of having the feeding of the trays according to a first spatial direction and providing for the subsequent movement of the syringes withdrawn according to a different spatial direction. What is described above is not easy to overcome with the machines currently available.

<CIT> relates to a device for changing the arrangement of objects through a specific mechanism.

<CIT> relates to a method and a device for treating various types of bodies which can be variously replaced and for producing an article having a different form.

<CIT> relates to a device for handling products arranged in a row.

<CIT> relates to a handling device having a plurality of gripping elements that are movable with respect to each other.

<CIT> relates to a packaging device for lifting a series of spaced articles from a conveyor.

<CIT> relates to a robot head suitable for handling products according to the preamble of claim <NUM>.

The general objective of the present invention is to provide a robot head for withdrawing glass containers and transferring them in space between two different conveyor groups capable of solving the above-mentioned drawbacks of the known art in an extremely simple, economical and particularly functional way.

A further objective of the present invention is to provide a robot head for withdrawing glass containers and transferring them in the space between two different conveyor groups that can manage displacements of any kind and in any direction.

Another objective of the present invention is to provide a robot head for withdrawing glass containers and transferring them in space between two different conveyor groups that guarantees continuity in their transfer to a receiving conveyor, without any lack of product.

Last but not least, the objective of the present invention is to provide a robot head for withdrawing glass containers and transferring them in space between two different conveyor groups, which is easily adjustable and adaptable to the specific processing and displacement needs of syringes and/or similar containers.

The above-mentioned objectives are achieved by a robot head for withdrawing glass containers and transferring them in space between two different conveyor groups produced according to independent claim <NUM> and the following subordinate claims.

The structural and functional characteristics of the present invention and its advantages with respect to the known art will become even more evident from the following description, referring to the attached schematic drawings, which show an embodiment example of the invention. In the drawings:.

With reference to the exemplary and non-limiting figures, these show an embodiment of a robot head for withdrawing glass containers and transferring them in space between two different conveyor groups.

Indications such as "vertical" and "horizontal", "upper" and "lower" (in the absence of other indications) should be read with reference to the assembly (or operating) conditions and referring to the normal terminology used in current language, where "vertical "indicates a direction substantially parallel to that of the force of gravity vector "g" and a horizontal direction perpendicular to it.

Referring first to <FIG> and <FIG>, a syringe handling system provides a feeding of trays <NUM>, for example of the type generally used in these machines, each containing a row of syringes <NUM> or the like, housed in suitable recesses or impressions <NUM> of the same trays <NUM>. The trays <NUM> are caused to move and advance at a predetermined distance from each other on a horizontal feeding plane <NUM> according to a loop path indicated by the track <NUM>, in steps and/or continuously depending on the specific operating phase.

The trays <NUM> are thus brought and passed under an extraction device of the syringes <NUM> from the trays <NUM>. The extraction device comprises three wheel sectors <NUM>, <NUM> and <NUM>, or star segments, caused to rotate around a horizontal common axis X along a circular path through respective motors <NUM>, <NUM> and <NUM>. The wheel sectors <NUM>, <NUM> and <NUM> on an outer peripheral surface formed as an arc of circumference, inserted in a suitable arched groove <NUM>, carry a series of extraction pincers <NUM> of the single syringe <NUM> arranged at a first reciprocal distance k corresponding to the pitch between consecutive recesses or impressions <NUM> of the trays <NUM>.

As clearly shown in the figures, the single wheel sector <NUM>, <NUM> and <NUM>, rotating around the axis X, moves on a vertical plane, perpendicular to the feeding plane of the trays, and follows a trajectory, indicated by the arrow F, which is in a tangent direction to the feeding plane <NUM>, and to the trays <NUM>, according to a circular pattern. The three wheel sectors <NUM>, <NUM> and <NUM> therefore occupy less than three quarters of the circumference they are moving along and can thus follow each other in the above-mentioned trajectory as will be seen hereunder.

Their movement is such as to allow the extraction of the single syringe <NUM> from the single tray <NUM> moving on the lower horizontal feeding plane <NUM> (<FIG>). Furthermore, it is such as to guarantee their movement towards an upper position, in particular a gripping position of a head <NUM> of a manipulator or withdrawal robot <NUM>.

All of this takes place thanks to the synchronism between the wheel sectors <NUM>, <NUM> and <NUM> for the extraction of the syringes <NUM> and the movement of the tray <NUM> which is part of the flow of the trays on the horizontal plane.

The head <NUM> of the withdrawal robot <NUM> provides a series of gripping members <NUM> that are movable and variable in position with respect to each other according to the choice of the pitch or distance between consecutive gripping syringes <NUM>.

The robot <NUM>, in the movement of its head <NUM> in space towards a continuous linear conveyor <NUM> below (<FIG>), is capable of varying the pitch or distance between consecutive gripped syringes <NUM> for preparing them to be arranged in housings <NUM> provided in said linear conveyor <NUM>.

It should be noted that these housings <NUM> of the linear conveyor <NUM>, for example a belt, are arranged at a second distance h different from the first distance k so that the syringes are released at a reciprocal distance different from the distance they had when they were carried by the wheel sectors or star segments <NUM>, <NUM> and <NUM> i.e. from the trays <NUM>. And this second distance h turns out to be specifically the correct distance for deposition on the linear conveyor <NUM>.

In this way, the head <NUM> of the robot <NUM> effects a linear deposit on the conveyor <NUM> with a different deposition pitch as required and according to the type of conveyor <NUM> in use.

The head of the robot then withdraws the containers or glass syringes from a first conveyor (wheel sectors <NUM> or <NUM> or <NUM>) at a first distance and releases them on a second conveyor (linear conveyor <NUM>) with the movement that takes place during the movement of the head in space. This type of robot head is therefore particularly effective and advantageous in the presence of the need for changing the reciprocal position of the containers within a treatment plant of the same.

An important detail of the present invention, which solves the problems of the known art, is that of obtaining a variation in pitch between the individual syringes through this movement from the trays to the linear conveyor. The system or the robot head in fact allows the syringes to be taken at one pitch and deposited on a subsequent conveyor or machine station at a different pitch.

Specifically, the syringes <NUM> are extracted from the single tray <NUM> arranged at a first distance k between one syringe and another (<FIG>). This extraction takes place through the wheel or star sectors <NUM>, <NUM> and <NUM> with a series of extraction pincers <NUM> which extract the single syringe <NUM> with an identical pitch. The wheel or star sectors <NUM>, <NUM> and <NUM> then cause the syringes <NUM> to be withdrawn from the head <NUM> of the robot <NUM>.

Through this transfer, therefore, the required spacing between the individual syringes <NUM> takes place and also a variation in their positioning on the planes or in the desired parts of the machine, useful for their correct treatment. By means of the present invention, in fact, the syringes fed on the trays according to a first spatial direction are moved so as to acquire a different spatial direction.

<FIG> show some aspects of the extraction device, the composition of the single wheel or star sector <NUM>, <NUM> and <NUM> and the rotation movement of these sectors according to a circumference.

The extraction device, as already mentioned, comprises three wheel sectors <NUM>, <NUM> and <NUM>, or star segments, caused to rotate around a common horizontal axis X by means of respective motors <NUM>, <NUM> and <NUM>. The wheel sectors <NUM>, <NUM> and <NUM> on an outer peripheral surface, inserted in a suitable arched groove <NUM>, carry a series of pincers <NUM> for extracting the single syringe <NUM>.

As clearly shown in the figures, the single wheel sector <NUM>, <NUM> and <NUM>, rotating around the axis X, moves on a vertical plane and follows a circular trajectory, indicated by the arrow F (<FIG>), which proves to be in a direction tangent to the feeding plane <NUM> and, therefore, to the trays <NUM>. The three wheel sectors <NUM>, <NUM> and <NUM> occupy less than three quarters of the circumference they are moving along and can thus follow each other in the above-mentioned trajectory.

Each single wheel sector <NUM>, <NUM> and <NUM> or star segment comprises a body in two halves <NUM>, <NUM> on whose peripheral surface having a larger diameter facing outwardly, facing recesses are formed, which define the previously mentioned arched groove <NUM>.

The series of extraction pincers <NUM> of the single syringe <NUM> (<FIG>), as already mentioned, arranged at a first distance k from each other, is inserted in this groove <NUM>.

These pincers or jaws <NUM> are made of plastic material and have a body <NUM> constrained to one of said sectors and from which two side arms <NUM>, <NUM> extend, yielding, to form an elongated U. The first arm <NUM>, slightly curved in a recess or curved portion <NUM> towards the free end for housing the syringe <NUM>, has a substantially constant thickness. The second arm <NUM> is provided with an intermediate tooth <NUM> protruding inwardly and facing the other arm <NUM>. This tooth <NUM> forms a supporting surface for the syringe <NUM> which it houses in a curved portion <NUM> mirroring that <NUM> provided on the first arm <NUM>.

The single extraction pincer <NUM> is in fact brought from the sector <NUM> (as shown in <FIG> and <FIG>) or <NUM> or <NUM> to become tangentially engaged on the syringes <NUM> according to the arrow F and allows the syringe <NUM> to be accommodated inside the two arms <NUM>, <NUM>.

More specifically, the syringe <NUM> is arranged within the curved portions <NUM> of the arms <NUM> and <NUM>, with the arm <NUM> advancing first with respect to the arm <NUM>. This causes the syringe <NUM>, when it becomes engaged between the arms <NUM>, <NUM>, to become abutted against the notch <NUM> of the arm <NUM>. This positioning causes the syringe <NUM> to be extracted from the impression <NUM> of the tray <NUM> without any effort, gently, without any rubbing or friction.

The sector in extracting action brings one pincer after another to extract a respective syringe <NUM> without any effort.

Holes <NUM>' are provided in the body <NUM>, which receive fastening pins <NUM> to the respective sector within one of the two halves <NUM>, <NUM> of the body of the wheel sector <NUM>, <NUM> and <NUM> or star segment.

Each wheel sector <NUM>, <NUM> and <NUM> or star segment is caused to rotate around the axis X as it is carried by a respective arm <NUM>, <NUM>', <NUM>" connected to a respective section of shaft <NUM>, <NUM>', <NUM>". These sections of shaft <NUM>, <NUM>', <NUM>" are arranged coaxially with respect to each other and are driven by motors <NUM>, <NUM> and <NUM> through transmission belts <NUM>, <NUM>', <NUM>". The motors <NUM>, <NUM> and <NUM> are determined in particular movements in the electronic cam so that the wheel sectors <NUM>, <NUM> and <NUM> or star segment follow each other with speed variations and stoppages independently of each other, so as to ensure a continuous and constant supply of sectors full of syringes beneath the head <NUM> of the withdrawal robot <NUM>.

With respect to <FIG>, these show the robot head and its functionality in an exemplary and non-limiting embodiment, in greater detail.

The head <NUM> of the withdrawal robot <NUM> has a series of gripping members <NUM> which are movable and variable in position with respect to each other according to the choice of the pitch or distance between consecutive syringes <NUM>, both in the gripping position and in the deposition or release.

The head <NUM> comprises an external box in two coupled parts <NUM>, <NUM> which is arranged vertically with a lower elongated opening <NUM> formed halfway on each of the two parts <NUM>, <NUM>. The gripping members <NUM> protrude from said opening <NUM> and are in the form of a series of rods <NUM> provided at their free ends, with gripping elements (<FIG>). In the example shown, each gripping element consists of a sucker <NUM>, but a pincer or other similar gripping element could be identically provided.

The head contains a movement and position-variation mechanism of the gripping members <NUM>, with respect to each other, which is described hereunder in its exemplary but non-limiting embodiment.

The rods <NUM> are arranged at their other end, and each rod extends from first free ends of tubular bodies <NUM>. At second ends, the tubular bodies are integral with links <NUM>, arranged in the form of a chain articulated consecutively by means of intermediate biscuits <NUM> hinged to the same (<FIG>). The single links <NUM> have shaped side surfaces <NUM> collaborating with each other so that subsequent links <NUM> can move on a plane while remaining in contact with each other.

It should also be noted that there are twelve links <NUM> in the example carrying twelve tubular bodies <NUM>, twelve rods <NUM> with respective suckers <NUM>, but they could be in another preselected number.

One link <NUM>', intermediate between the other links <NUM>, is free to rotate around pins <NUM> (<FIG>), which are hinged on plates <NUM>. These plates <NUM> are arranged integrally inside the two coupled parts <NUM>, <NUM> of the box.

Final end links <NUM>" of the series of links <NUM> also carry pins <NUM> (<FIG> and <FIG>) that are engaged in arched slots <NUM> formed at opposite ends of the plates <NUM>. These pins <NUM> are in turn connected and arranged free to rotate in end openings <NUM>, the latter formed at a first end of square rods <NUM>. Said square rods <NUM> are in turn centrally hinged in a pin <NUM> integral with the plates <NUM> around which they oscillate. Opposite ends of these square rods <NUM> are connected by means of pins <NUM> to ends of stems <NUM> of actuation cylinders <NUM> articulatedly connected at their free end to the plates <NUM>. The actuation of the cylinders <NUM> causes an oscillation of the square rods <NUM> with a variation in the position of the series of links <NUM> and therefore of the gripping members <NUM>. Thanks to the presence of the arched slots <NUM>, in fact, the links <NUM> acquire two different extreme operating positions. In a position close to each other (<FIG>) the links <NUM> are arranged in an arc and with gripping members <NUM> which are arranged almost converging towards a central point. Supporting surfaces <NUM> obtained in consecutive links <NUM> in the upper part of the same are detached in this position. Furthermore, facing supporting surfaces <NUM> are provided on the tubular bodies <NUM>, which are arranged in contact with each other to favour the convergent position of the gripping members <NUM>.

In a second position, aligned along a straight line (<FIG>), the links <NUM> are shifted so that the gripping members <NUM> are all parallel to each other and spaced apart. The above-mentioned supporting surfaces <NUM> formed in links <NUM> in this position, are caused to be arranged in support and favour the aligned and parallel position of the gripping members <NUM>.

The first position, with rods close together and converging at one point, corresponds to the withdrawal position of the syringes <NUM> from the wheel sectors <NUM>, <NUM> and <NUM>, or star segments, when brought into the withdrawal position with syringes arranged according to the above-mentioned first distance k. The second position, on the other hand, with parallel rods, corresponds to the release position of the syringes <NUM> on the linear conveyor <NUM> carried by the head <NUM> of the robot <NUM>.

In this second position, a second distance h is obtained between successive syringes, different from the first distance k they had when they were carried by said wheel sectors or star segments or by the trays <NUM>, the second distance h being exactly the correct distance for deposition in the linear conveyor <NUM>.

In this way, it can be seen how the robot <NUM> in moving its head <NUM> in space towards an underlying linear conveyor <NUM> is capable of varying the pitch or distance between successive gripped syringes <NUM> by suitably activating the cylinders <NUM> between the two above-mentioned positions. In this way, the head <NUM> of the robot <NUM>, on the one hand, effects a correct withdrawal from the sectors <NUM>, <NUM> or <NUM> thanks to the correct position also determined by the supporting surfaces <NUM> of the tubular bodies <NUM> and, on the other hand, a linear deposition on the conveyor <NUM> with the deposition pitch always correct determined by the supporting surfaces <NUM> of the links <NUM>.

If syringes <NUM> having different diameters, taken from sectors with different pincers <NUM> in trays with impressions having a different pitch, are to be treated and deposited correctly on the linear conveyor, the rods <NUM> of the gripping members <NUM> must be replaced with rods having a variable length.

Thanks to the particular head <NUM> of the robot <NUM> described above, the user can even intervene by defining a preselected and defined number of syringes.

This can be particularly useful and advantageous if the format of the syringe varies, and the type of tray and its number of internal impressions are also correspondingly variable.

This is effected using a particular algorithm that allows the speed/positioning of the star sectors to be varied so that they can "move", distributing the syringes step by step and continuously (without holes). All of this takes place even if the number of syringes inside the tray has changed according to the size of the syringe/composition of the tray.

This is also thanks to the fact that the robot head is capable of taking the syringes at a certain pitch (distance between one syringe and the other) from the star sector and releasing these syringes to a subsequent process station at a different pitch (distance between one syringe and the other).

The three <FIG>, <FIG> and <FIG> show the movement sequence of a wheel sector <NUM>, <NUM> and <NUM> or star segment when it acts on a tray which is moved and advanced at a predetermined distance from a previous tray and from a subsequent tray on the horizontal feeding plane <NUM>.

The first <FIG> shows how the sector, for example <NUM>, carries the series of extraction pincers <NUM> in correspondence with the initial part of the tray <NUM> carrying a predetermined number of syringes <NUM>.

The first of these extraction pincers <NUM> becomes engaged on the first syringe <NUM>, present in a first recess or impression <NUM> of the tray <NUM>, and removes it, carrying it with it. The same operation is effected by the subsequent pincers <NUM> which act on the subsequent syringes <NUM>, arranged in the subsequent impressions <NUM> which are provided in the tray <NUM>.

The second <FIG> shows how the sector <NUM>, continuing in its rotation, already has the respective syringes <NUM> in a certain number of extraction pincers <NUM> and how the tray <NUM> is simultaneously moved forward in synchronism on the horizontal feeding plane <NUM>.

Finally, the third <FIG> shows how the sector <NUM> has withdrawn several syringes <NUM> and the tray <NUM>, which is moving forward in perfect synchronism, has most of the impressions <NUM> empty. The sector <NUM> has therefore almost completed the extraction of the syringes <NUM> from the tray <NUM>.

The wheel sector or star segment <NUM> in this example, thanks to the particular design and conception of the extraction pincers <NUM> present in it, gently extracts the single syringe <NUM> from the tray <NUM>, avoiding any possible friction or staining between the parts in question.

The present invention, in fact, allows the wheel sector or star segment <NUM> to "engage with" the syringes <NUM> tangentially and one by one in succession, by means of a gentle extraction and without "forcing" the extraction of the single syringe <NUM>. This is thanks to the arrangement of the parts and to the fact that the single pincer or jaw <NUM> is produced with the two side arms <NUM>, <NUM> yielding. More specifically, an arm <NUM> in its curved portion <NUM> accommodates the syringe <NUM> which is also accommodated in the facing curved portion <NUM> of the other arm <NUM>. This second arm <NUM> is provided with an intermediate notch <NUM> protruding inwardly which collaborates for receiving the syringe <NUM> with ease and without any effort.

This arrangement of parts ensures a perfect and constant synchronism of the wheel sector <NUM>, <NUM> or <NUM> for the extraction of the syringes <NUM> with the continuous movement of the tray <NUM> in perfect synchronism at the same advancement rate.

The three figures mentioned above also show how their movement is effected in this rotary motion around the axis X.

The wheel sectors <NUM>, <NUM> and <NUM> or star segment are in fact determined in particular movements in the electronic cam so that they follow each other in such a way as to ensure a continuous and constant supply of sectors full of syringes <NUM> to the above head <NUM> of the withdrawal robot <NUM>, which in this way has a constant and continuous supply of syringes <NUM>.

In practice, the sectors <NUM>, <NUM> and <NUM> have accelerations and decelerations which are such that the single sector, for example the sector <NUM> in <FIG>, when brought above the single tray <NUM> is driven at the same peripheral speed and follows it until the tray <NUM> is completely emptied for the various positions acquired between the parts, some of which are shown in <FIG>.

At the end of the extraction of the syringes <NUM> (<FIG>), the sector then accelerates and moves to the end of the previous sector which had already been filled with syringes (see for example the sector <NUM> which goes to the end of the sector <NUM> in <FIG>).

The single sector, for example the sector <NUM> in <FIG>, which on the other hand must face the head <NUM> of the robot <NUM> to allow the withdrawal of the syringes, moves to the withdrawal position and stops them to specifically allow the withdrawal of the syringes <NUM>.

The sector, for example the sector <NUM> in <FIG>, once emptied, is then rapidly prepared for facing a new tray <NUM> full of syringes, which just as rapidly becomes synchronized with the incoming sector <NUM>. All of this is then moved forward at the same speed when the extraction of the syringes <NUM> from the tray is initiated by the sector equipped with extraction pincers <NUM> of the single syringe <NUM>.

This alternation between accelerations, advancing at a constant speed, accelerations, stoppages, etc. is indicated as an "electronic cam" controlled exclusively by a program and by the speed variations of the motors <NUM>, <NUM> and <NUM> which synthesize a certain law of motion.

The schematic figures from <NUM> to <NUM> show how a sector moves in its circular path around the axis X.

<FIG> repeat the movement of the single sector in its extraction phase, i.e. when, with the peripheral speed equal to that of the advancement of the tray <NUM>, it extracts the syringes from the tray itself. The sector shown for example is sector <NUM>.

At the end of this extraction phase, the sector <NUM> rapidly accelerates to the position of <FIG> immediately behind the preceding sector <NUM>. In this position both the sector <NUM> and the sector <NUM> stop. In this stop position of the sectors <NUM>, <NUM> a predetermined number of syringes is withdrawn, partly from the sector <NUM> together with some initial syringes carried by the sector <NUM> thus moved. This withdrawal is indicated with <NUM> in <FIG> from the sectors <NUM> and <NUM>, and also with <NUM> in <FIG> from the sector <NUM> and with <NUM> in <FIG> from the sectors <NUM> and <NUM>.

<FIG> shows a subsequent position in which the emptied sector <NUM> has rapidly moved until it is over a new tray to extract new syringes. The sector <NUM>, on the other hand, which has advanced in rotation for a certain length, stops and together with the sector <NUM>, presents itself for extraction. All of this naturally occurs in sectors <NUM>, <NUM> stationary in the withdrawal position, wherein the withdrawal is indicated with <NUM> as in the previous cases.

Finally, <FIG> shows how the sector <NUM>, also emptied, starts its rapid rotation to move onto a subsequent tray whereas the sector <NUM> is continuing its extraction from the tray and the sector <NUM> is stationary to allow the withdrawal of the predetermined number <NUM> of <NUM> syringes mentioned above.

It should also be noted that the invention proposes a new method.

This is in fact a method for the extraction of syringes contained in a tray <NUM> and their transfer to a continuous conveyor <NUM>. As can be seen, the trays <NUM> are provided with a series of recesses or impressions <NUM> which house a series of syringes <NUM> or the like and are caused to move forward and advance at a predetermined distance from each other on a feeding surface <NUM> in steps and/or continuously. In this way, the trays are brought beneath a device for extracting the syringes from the trays, wherein the extraction device comprises the wheel sectors or star segments, <NUM>, <NUM> and <NUM>, caused to rotate around a common horizontal axis X according to a circular path.

The wheel sectors or star segments <NUM>, <NUM> and <NUM> have on an outer peripheral surface formed as an arc of circumference, a series of extraction pincers <NUM> of the single syringe <NUM> arranged between each other at a first reciprocal distance k. This distance k is equal to the distance between recesses or impressions <NUM> of trays <NUM>.

Furthermore, a robot head intervenes in the method which is provided with movement in space and which provides a series of gripping members <NUM> for withdrawing said syringes <NUM> carried by the sectors and releasing them onto the linear conveyor.

The method of the invention provides for a series of innovative steps.

A step is in fact provided for extracting said syringes one at a time from said trays by means of said pincers carried by said sectors, wherein said sectors are caused to rotate tangent to said trays which move forward in synchronism with the rotation of the sectors.

This extraction has been found to be without any friction and such as to not damage the syringes.

This step is followed by a step for withdrawing all of the syringes together carried by said pincers of a single sector by means of said withdrawal elements of said robot head, once the rotation of said single sector has been stopped.

Once the syringes have been withdrawn, this is followed by a step for transferring all of said syringes withdrawn by said robot head from said sectors to a position above said linear conveyor to arrange them in the housings <NUM> of the conveyor <NUM>.

To do this, an intermediate and completely innovative step must be implemented. This step, which is effected during the transfer of said robot head, causes the syringes carried by the withdrawal elements positioned at a first distance k to be moved to a second distance h, different from the first distance k, for depositing all the syringes together on said linear conveyor <NUM> in the relative housings <NUM>.

For this purpose, the gripping members <NUM> are movable and variable in position with respect to each other.

Finally, there is naturally a step for releasing all of the syringes brought together at the second distance k on the continuous linear conveyor.

As seen and written, the examples refer to syringes, but the method and the system in its parts are identically suitable for glass containers as specified above.

Further variants are possible from the embodiments described above, without departing from the teaching of the present invention.

Finally, it is evident that groups and methods thus conceived can undergo numerous modifications and variations, all of which are within the scope of the invention; furthermore, all the details can be replaced by technically equivalent elements. In practice, the materials used, as also the dimensions, can vary according to the technical requirements.

The objective mentioned in the preamble of the description has thus been achieved.

Claim 1:
A robot head suitable for withdrawing glass containers and transferring them in space between two different conveyor groups comprising:
a series of gripping members (<NUM>) suitable for withdrawing said glass containers (<NUM>) carried by a first conveyor and releasing said containers on a second conveyor (<NUM>);
wherein said gripping members (<NUM>) of said robot (<NUM>) head (<NUM>) are suitable to withdraw together all the glass containers (<NUM>) carried by said first conveyor when the movement of said conveyor is stopped to allow the withdrawal to be effected;
said robot head provides a mechanism (<NUM>,<NUM>) for the movement and variation in position of said gripping members (<NUM>) with respect to each other, wherein said mechanism is configured for moving said gripping members (<NUM>) of said glass containers (<NUM>) from a first distance (k) corresponding to the extraction distance from said first conveyor (<NUM>) to a second depositing distance (h) of said containers on said second conveyor (<NUM>),
said robot head comprises an external box in two coupled parts (<NUM>,<NUM>) which is arranged vertically with a lower elongated opening (<NUM>) formed halfway on each of the two parts (<NUM>,<NUM>), containing said mechanism for the movement and variation in position of said gripping member (<NUM>), said gripping members (<NUM>) emerging from said opening (<NUM>), wherein each gripping member comprises a rod (<NUM>) and a gripping element (<NUM>) at one of its free ends,
characterized in that said rods (<NUM>) of said gripping members (<NUM>) are each arranged at their ends and extend from free ends of tubular bodies (<NUM>) which are integral with their opposite ends to a series of links (<NUM>), wherein each tubular body (<NUM>) is connected to a link (<NUM>) and the links form a chain, and are articulated to each other, wherein each link (<NUM>) has shaped side surfaces (<NUM>) which cooperates with those of the adjacent link so that successive links (<NUM>) can move on a plane while remaining in contact with each other, wherein the plane in which the gripping members (<NUM>) are placed and moving together is the same plane in which the links (<NUM>) are moving.