IT201900002143A1 - A SYSTEM FOR PERFORMING A ROTATION OF THE WHEELS RELATIVE TO A HANDLING PLAN FOR OBJECTS AND GOODS IN GENERAL, IN ORDER TO MODIFY THE DIRECTION OF ADVANCE OF THESE OBJECTS - Google Patents

Description

Description accompanying the patent application for industrial invention entitled:

A SYSTEM TO ROTATE THE WHEELS

RELATED TO A HANDLING PLAN FOR OBJECTS AND GOODS

GENERALLY, IN ORDER TO CHANGE THE DIRECTION OF

ADVANCE OF THESE OBJECTS.

Scope of the invention

The present invention relates to the technical sector relating to handling tracks for packs and objects in general.

In particular, the invention refers to a handling track which is easy to disassemble and maintain, as well as being extremely functional.

Brief notes on the known art

Tracks for handling objects in general are increasingly widely used, for example in airports or in parcel sorting centers, such as postal services. They are also widely used in the industrial field, for example to move objects from one point to another.

In fact, their way of functioning is similar to that of the conveyor belts but, in this case, the handling plane is not in the form of a transport belt but, rather, in the form of a plurality of wheels hinged in a fixed point and which are rotated around said axis in such a way that through their rotation the good placed on them is moved.

In essence, their axis of rotation is an axis parallel to the ideal plane of movement of the objects, therefore a plane that coincides with the movement track formed.

Especially with the advent of the Internet and with online shopping on the net, more and more large warehouses are developing in the world in which objects are crammed and then orders are processed. In these warehouses it is necessary to have handling tracks which, even according to tortuous paths, can handle objects even for hundreds of meters or more.

These tracks, in the current state of the art, are formed by modules placed side by side in such a way as to form a certain path. Each module comprises a predetermined number of wheels. Through the combination of modules it is possible to create different lengths and shapes of tracks in order to meet any logistic need.

As better schematized in figure 1 of the known art, each module 100 provides a frame 104 where transport wheels 101 are rotatably fixed. The wheels are fastened to the frame by mounting bearings 103 in the central seat of the wheels and by passing through the bearings a rotation shaft 105 which is keyed to a structural part of the module.

The wheels, as can be clearly seen from the figure 1 of the prior art, can therefore rotate in an idle way around this shaft 105 with the same longitudinal axis 105. The shaft is arranged in such a way that the wheels partially emerge above the frame, thus forming the transport plane on which the object rests on the whole.

The wheels have a substantially flat portion at the top to facilitate the advancement of the object, similarly to a wheel of a land vehicle.

Each module can mount, for example, four wheels and therefore these modules are placed side by side to create the track, or transport surface, if you prefer, formed by these rotating wheels.

In order to facilitate advancement, the wheels can be coated with a material with a high coefficient of friction such as rubber.

In this way, through the rotation of these wheels, the advancement of the objects placed on the wheels is determined.

The wheels, as mentioned, are mounted idle with respect to the axis 105 on which they are mounted and it is therefore necessary to transmit a rotation motion to them.

The rotation is therefore performed using a closed loop belt 106 which is passed between the wheel 101 to be moved and a main driving axis 110 mounted below the movement plane.

In this way, the wheel 101 becomes guided through the belt.

Figure 1 shows the belt 106 which is passed through a central groove 102 of the wheel, so that the belt is below the contact surface of the wheel with the object to be transported.

The figure shows the belt that also wraps the motor axis 110.

A motor rotates the motor axis 110 which rotates the belt which thus moves the transport wheel in rotation.

According to the number of modules, a certain number of motorized shafts 110 are therefore provided on which the rotation transmission belt is passed.

Each wheel 101 can then rotate around an axis Z orthogonal to the plane of the track in such a way as to modify its orientation and therefore modify the path of advancement.

For example, some modules may provide for a certain orientation while the subsequent modules may provide for a rotation of the wheels around the Z axis such that the path of advancement deviates with a certain curve to the right or to the left.

In this way you can change the route according to your needs and at any time.

Having said all this, in the current state of the art the mechanical systems used to rotate the elements 101 around their axis Z are extremely complex and also make maintenance difficult in case of failure.

It is therefore very complicated to be able to remove each module and replace it and all this requires long downtime.

Summary of the invention

It is therefore an object of the present invention to provide an actuation system (50, 51, 71) for modifying the direction of advance in a movement track for objects which solves the aforementioned technical drawbacks.

In particular, it is an object of the present invention to provide a system which is constructively simple, also allowing a rapid replacement of each module, in the case of maintenance.

These and other objects are therefore achieved with the present embodiment system (50, 51, 71) for modifying the direction of advancement in an object handling track, according to claim 1.

This actuation system (50, 51, 70, 71, 72) for modifying the direction of advancement of the objects in a movement track for said objects, comprises: - A coupling pin (50) of predetermined length configured to insert, in separable way, in a receiving clutch (61) of a rotary actuator (60) adapted to rotate said clutch pin (50) about its longitudinal axis;

- A containment body (70, 71) configured to be able to accommodate a rotating movement element (1) in such a way that said rotating movement element can be fixed to said body in a rotatable way around a first axis of rotation (5) in order to cause the object to advance along a predetermined direction through said rotation.

- Said containment body (70, 71) being in turn rotatable around a second rotation axis (Z);

- A kinematic assembly (51, 71) kinematically coupled to said clutch pin and to said containment body (70, 71) in such a way that a rotation of the clutch pin is transmitted, through said kinematic assembly, to said containment body ( 70, 71) which rotates around said second axis (Z_1).

In this way all the aforementioned technical drawbacks are easily solved.

In particular, thanks to the coupling pin, a rotation of the wheels 1 can be controlled simply by connecting the pin to a rotary actuator. The rotation of the pin is then transmitted to the body which contains the wheel 1 forming the movement plane. The wheel, in this way, rotates integrally with the body to which it is fixed around the vertical Z axis to the plane and thus changes its orientation, thus changing the direction of advancement of the path.

In this simple way, it is possible to change the directions of advancement and this system allows easy replacement of the module as the connection to the actuator is by simple sliding coupling of the pin.

Advantageously, said kinematic assembly (or kinematic assembly as you prefer) is formed by a first transmission wheel (51) integral with said coupling pin (50) and a second transmission wheel (71) integral with said containment body, the two transmission wheels being in engagement with each other such that the rotation of the coupling pin is transmitted to the containment body through the gripping of said two wheels.

Advantageously, the first and second transmission wheels are toothed wheels.

Also described here is an assembly for the formation of a handling track for objects in general, said assembly comprising:

- A frame (4) and;

- At least one rotating movement element (1) for forming said movement track and mounted rotatably around a first axis of rotation (5) in such a way that its rotation around said first axis causes the advancement of the object placed on it along a direction of advancement of the track; - An actuating system (50, 51, 70, 71, 72) for rotating said rotating movement element around a second axis (Z), preferably substantially orthogonal to the first axis of rotation (5), in such a way as to modify the direction advancement;

- In accordance with the invention, said implementation system (50, 51, 70, 71, 72) includes:

- A coupling pin (50) of predetermined length mounted rotatably with respect to the frame around its longitudinal axis;

- A containment body (70, 71, 72) within which said rotating movement element (1) is rotatably connected, said containment body being in turn rotatable around said second axis (Z);

- A kinematic assembly (51, 71) kinematically coupled to said coupling pin and to said containment body (70, 71, 72) in such a way that a rotation of the coupling pin is transmitted, through said kinematic group, to said coupling body containment (70, 71, 72) which rotates around said second axis (Z).

Advantageously, it includes a rotary actuator (60) having a receiving clutch (61) able to releasably couple with said clutch pin (50) to rotate said pin (50).

Advantageously, said kinematic unit is formed by a first transmission wheel integral with said coupling pin (50) and a second transmission wheel (52) integral with said containment body (70), the two transmission wheels being mutually connected socket.

Advantageously, said first and second transmission wheels are toothed wheels.

Advantageously, a movement unit (10, 6, 22) is included at least in part connected to the frame and comprising said rotating movement element (1), said movement unit further comprising a driven rotating element (21) rotatably connected to a part of the said frame is kinematically cooperating with said rotating moving element (1) through a closed loop element (6) which wraps both of them at least in part in such a way that a rotation acquired by said driven rotating element (21) is transmitted to said rotating movement element (1).

Also described here is a method for modifying the direction of the advancement path of objects moved on a movement track, said method comprising the rotation operation of a coupling pin (50) kinematically connected to one or more elements movement rotating elements (1) forming said track in such a way as to cause a rotation of said one or more rotating movement elements about an axis (Z) substantially orthogonal to the plane formed by the track.

Advantageously, said rotation of the coupling pin (50) is obtained with the actuation of an actuator (60) with which said coupling pin is releasably coupled.

Brief description of the drawings Further characteristics and advantages of the present system, according to the invention, will become clearer with the following description of some of its embodiments, given by way of non-limiting example, with reference to the attached drawings, in which: Figure 1 shows a prior art solution;

- Figure 2 shows, in section, a solution according to the invention;

- Figure 3 shows from above a portion of the track obtained by placing several modules side by side, each module being preferably formed by four rotating wheels for moving the object; The figure also shows the keying axis 50 for the rotation of the wheels in order to modify the advancement path of the object and highlights the (n) motorized shafts used to give the rotation motion to the wheels of the table in order to move the 'object;

- Figure 4 shows an overall section showing the entire motorized shaft 110 which takes its rotation from a motorization and transmits it by contact to all the driven wheels 21 of the modules and which driven wheels, in turn, transmit it to the wheels that form the movement surface through the belts; The figure also shows the object placed on the handling plane;

- Figure 5 is a further section of the module;

- Figure 6 is always a section of the module that shows the Z axis of rotation of the coupling pin and which is transmitted with the rotation (Z_1) of the wheels in order to change the direction of advancement of the product;

- Figure 7 is a further view of the module connected to the rotary actuator through its coupling pin, in order to control the rotation of the movement wheels 1 and therefore define the direction of the path;

Figure 8 shows a single module, highlighting the coupling pin 50 in a more marked line; The figure also shows the coupling 61 with the rotary actuator 60

- Figure 9 is the same as Figure 8 and shows the rotary actuator connected to the coupling pin 50 of the module;

- Figures 10A and 10B show a module (m1) in which the direction of advancement is changed through the rotation of the wheels 1 around the axis Z_1;

- Figure 11 shows an overall view that highlights (m1… mn) modules in order to highlight the removal of the nth module (mn) and its possible repositioning with a replacement module;

- Figure 12 is a further axonometric view of a module in which the upper plate has been removed, for convenience of view, which is however not indispensable; - Figure 13 is a further exploded view of Figure 12 which highlights separately, for clarity, also the rotation shaft 5 and the bearings 11 for wheel 1;

- Figures 14 to 16 are further views;

- Figure 17 is again a top view of the module;

Description of some preferred embodiments Figure 2 shows in a section the solution according to the invention, defined here for simplicity as the "contact" solution.

Likewise, figures 12 and 13 show exploded views in 3D of this solution while figures 14 to 16 show other views also in 3D.

Returning to figure 2, this shows with the numbering 4 the frame which as a whole can assume, for example, a quadrangular or rectangular conformation; this quadrangular or rectangular conformation is advantageous since it allows an easy approach between the modules.

The frame actually delimits a module, as shown for example in Figure 3, which can be placed next to other modules and such that the combination of several modules together allows to form a track of various sizes, i.e. variable length and / or width.

The module shown in the aforementioned figures 2 and 3 is also taken up, for greater clarity, for example in figures 12 and 13.

As shown for example in figure 2, the frame provides an upper 4 '' structure (for example an upper closing plate or an upper containment plate, if you prefer) and a lower 4 '' structure (for example a lower closing plate or lower containment or, if you prefer, higher) so as to contain the structural elements described below and contained inside.

In addition, a vertical leg 4b for the extension of the frame (or vertical block if you prefer) departs from the lower plate 4 '', taken up below in this description, directed downwards and also shown in figure 13.

It can be connected to the plate through screws or it could be integral with the plate itself.

As shown in figures 12 and 13, the lower plate 4 '' 'as well as the equivalent upper plate 4' '(not shown in figures 12 and 13 but shown in figure 2), are for example quadrangular or rectangular in shape. such that, on the whole, the module has a quadrangular or rectangular conformation.

On the lower plate 4 '' 'containment elements (70, 71, 72) are fixed, for example in the form of hollow cylinders which are fixed to the lower plate 4' '' through the fixing plate 72 which is bolted or screwed to the plate (see the holes 72 'in the plate 72 for the passage of the screws in figure 13).

As better detailed below, the containment element (70, 71, 72) is preferably, but not necessarily, formed by a part that can rotate around the vertical axis (Z_1) of the module and in particular the part above the fixing plate 72 is the swivel part.

Without prejudice to the foregoing, obviously even different perimeter conformations of the frame would be possible, without departing from the present inventive concept.

The frame serves as a support to support at least one handling unit structured and described below:

- A rotating movement element (1), connected to its seat 70 as better described below;

- A driven rotatable element (21), which takes motion by contact and rotatably connected to another part of the frame, in particular to the leg 4b;

- A belt that pivotally connects the two elements to each other.

Each movement unit provides a rotating movement wheel 1 rotatably connected to its containment structure 70, which can therefore be considered part of the frame.

In particular, this wheel 1 can have a symmetrical shape with respect to a transverse plane which coincides with the realization of a groove 2 which turns completely around the wheel. The wheel can therefore have a generally cylindrical conformation and having such a groove 2 on the plane of transverse symmetry. The groove serves for the passage of a motion transmission belt 6, preventing it from protruding beyond the contact surface of the wheel itself.

The belt can be toothed or smooth and consequently the groove can be toothed or smooth.

Clearly the smooth solution, which works exclusively by friction, is the constructively simpler solution.

As shown in Figure 2 and Figure 13, the wheel 1 is made rotatable as it is drilled axially along its longitudinal axis and by arranging inside it rotation bearings 11, as is well known in the field.

A shaft 5 is then provided keyed to the walls of the containment element 70, therefore fixed which does not rotate, and inserted in the through channel of the wheel, in particular inserted through the channel delimited by the bearings mounted in the axial hole of the wheel, therefore bound to the bearings (see also figure 2).

In this way the wheel 1 is rotatable in an idle way around the shaft 5 and with the shaft 5 fixed to the structure of the containment element 70.

The motion of the wheel 1 is obtained thanks to the transmission of the belt 6 and the belt 6, according to the invention, is now moved by a rotating system 20 (see figure 12) which avoids the passage of the belt around the motorized shaft 110 and which is placed in contact with said motorized shaft 110.

In particular, a driven wheel 21 is provided which is rotatably connected to the leg 4b which represents the lower extension of the frame (see for example always Figure 13).

More specifically, the driven wheel 21 is provided supported by the pin 22 with respect to which it is rotatably mounted. The pin 22 is fixed, in turn, to the support 4b.

The pin has a central area 22 'with a hole for fixing through a screw or similar to leg 4b. Such connection to the pin 22 to have a minimum of play to allow the wheels to adapt better during contact.

At the center of the support 4b, through the vertical hole 50 ', passes the pin 50 for transmitting the orientation motion of the wheels (see also figure 13).

The pin 50 is integral with the toothed wheel 51 which is engaged (or meshes if you prefer) with the wheel support 71.

Also in this case, see for example also figure 2, the rotation of this driven wheel 21 is obtained by axially drilling the wheel and fixing the rotation bearings to it and then preparing, in the axial passage, the shaft 22 connected to the frame. The wheel 21 is completely similar to the one 1 described above so that it has a groove 23 in such a way that the belt (or other transmission element described above) passes through the groove, resulting in the two grooves perfectly aligned with each other.

The wheel 21 is therefore rotatable in an idle way also around a longitudinal axis relative to the shaft 22, and it is evident that a rotation of this wheel 21 transmits the same rotation, through the belt 6, to the wheel 1.

Both wheel 21 and wheel 22 therefore rotate around a longitudinal axis relative to the shaft on which they are mounted (axis parallel to the plane defined by the plates 4 '' and 4 '' of the module).

The connection to the shaft can be such that they rotate around the respective shaft, which shaft is fixed by its ends to a fixed part of the structure or, alternatively, nothing excludes the obvious variant of keying the wheels to the shaft. respective shaft, rotating the ends of the shaft to the bearing structure to which it is fixed with bearings.

That said, the characteristic of this wheel 21 is that it acquires motion by contact friction against the motorized shaft 110, such that the rotation of the shaft 110 brings the wheel 21 by contact into rotation.

Hence, therefore, the reason for the term "in contact" solution as introduced at the beginning of the description clearly derives.

The shaft 110 rotates thanks to a motor and the wheel 21, in contact with the shaft, is driven into rotation by simple friction through the contact.

For this purpose, the outer surface of the wheel 21 can be coated and treated in such a way as to have a high coefficient of friction, such as for example a rubber coating or other materials with a high coefficient of friction.

The wheel 21 itself could be entirely made of rubber.

Unlike the known art, therefore, the belt is no longer passed around the motorized shaft 110 but is passed around an independent wheel 21 integral with the entire module, therefore rotating with respect to the structure of the module, and which acquires motion by contact.

In the case of maintenance, therefore, the maintenance operation is enormously simplified as it is no longer necessary to disassemble the belt since the entire assembly (module, if you prefer) can now be lifted and removed and the assembly includes the belt as its own element that wraps two wheels of the module itself.

In fact, as can be seen from the indication in figure 4 and from the equivalent figure 11, it is possible to immediately remove any module (m1, m2… mn) for maintenance reasons, replacing it immediately with an identical functioning module. A simple lifting and repositioning operation is sufficient. In this way, maintenance does not require any downtime as a faulty module removed is immediately replaced with an identical one in working order.

As better shown in the top view of figure 3 and, for example, in figures 12 and 13, each module can provide for example four handling units connected to the frame.

Figure 4 shows very clearly the motorized shaft 110 which acquires motion from an external motor (directly or indirectly) and which transmits motion to the wheels 21 by contact thanks to friction.

Figure 5 shows a further side view of the module with above the object 200 to be moved and the direction of movement.

As can be clearly seen from figure 12, the coupling 50 of the module is in a central position of the module and therefore coincides with the vertical axis (Z) of the module (vertical axis to the plane of the plates 4 '' and 4 '' ') .

Block 4b is drilled with a hole 50 'passing through the passage of the pin 50 (see in fact figure 13).

The two pairs of wheels 21 provided for each module (see numerical indications 20 in figure 12) come into contact with a motorized shaft 110. Therefore in a long track formed by many modules side by side there will be a predetermined number of shafts 110 each one in contact with the series of groups 20 of the modules and this is for example schematized in Figure 3 or Figure 12.

Returning briefly to Figure 4, this schematizes with the numbering 210 the fixed supporting structure of the movement plane and to which the aforementioned modules are fixed, in a removable way, in the position in which the wheels 21 are in contact with the shaft 110.

As in fact schematized in Figure 6, a portion of a fixed bearing structure 210 is highlighted which conforms this movement plane and there are pins 220 which serve for rapid centering and positioning of each module. Each module is therefore placed on the fixed structure 210 taking care that the plugs (generally four per module) are inserted in the appropriate receiving openings placed at the corners of each module.

It is therefore clear that, according to this solution, the positioning and removal of each module is practically immediate.

As can always be seen from figure 6, there is a certain clearance (G) between the upper end of the fixed structure 210 and the lower plate 4 ''. Thanks to this clearance it is possible to automatically recover the wear of the contact wheels 21.

The play is obtained from the useful thickness of the wheels 21 which rest on the shaft 110.

In fact, as these wear out, the weight of the module itself (possibly to which the weight of the object being moved is also added) tends to always push the entire module, and therefore the wheels 21, downwards and therefore always maintaining a contact of said wheels against element 110 (see direction of arrow P). Therefore, thanks to this clearance G, the module can be progressively lowered, always resulting in contact even when the wheels wear out.

The clearance G, therefore also the length of the fixing pins, is selected by a measure which corresponds, for example, to the useful thickness of the wheels 21 within which the wheels conduct well by friction. As the wheels wear out, the module is lowered, thanks to the clearance G, sliding along the pins and keeping the wheels always in contact; this lowering continues until the clearance G is zeroed (i.e. flat 4 '' 'resting on the base of the structure 210) and with this zeroing which corresponds to the maximum wear of the wheels 21 beyond which they must be replaced.

The fastening seats to the pins are shown for example in figure 12 with the words (f '). These seats, or holes when the modules are coupled, are therefore real guides.

They are in the form of a semi-circle which becomes a circle when a module is coupled, that is, side by side, with another module.

The wording f indicates the holes for the screws that connect and pack together the upper plate to the lower one, making each module an integral body.

The wheels, therefore the rotating elements 1 and 21, are shown very well, for example, also in the top view of Figure 3.

Such wheels could very well be of any shape and therefore also in the form of cylinders longer than those shown in Figure 3 as well as having a substantially spherical conformation and without thereby departing from the present inventive concept.

In use, therefore, simply by arranging these modules on the fixed supporting structure 210 it will happen that the wheels 21 will be in contact with the motorized shaft 110. Each module is supported entirely by the wheels 21 which rest on the motorized shaft since the module is simply centered on the pins 220 which are inserted in the guides (f ') and by the pin 50 which is coupled with the actuator (as explained below). The module is however free to translate vertically along the vertical guides (f ') with a minimum tolerance defined by the clearance (G). In this way, the wear of the wheels can be recovered with play (G) and, in addition, the weight of the object being moved has a crushing action on each module, making it more pressed against the shaft 110. results in a greater pressure of the wheels 21 against the shaft 110 and therefore in greater friction and better transmission of motion. Basically, thanks to this solution, the weight of the objects to be handled improves functionality.

As can be seen from Figure 3, a plurality of modules side by side are provided for which it is obvious that, as a whole, the movement plane will include a plurality of motorized shafts 110. Figure 3 indicates with the arrow the presence of the motorized shafts and the keying axis 50 of each module.

Moving forward in the structural description of the invention, we now describe in more detail the system that allows you to change the orientation of the handling units of each module, so that each wheel 1 can rotate around an axis (Z_1) coinciding with the axis (Z) of the pin 50, as also shown in figures 6 onwards.

This solution is here referred to as "coupling pin".

In known art, it was previously possible to change the orientation of the wheels 101 (see figure 1) but with transmission gears that helped to make the maintenance operation and therefore the removal of the module even more complicated.

In fact, not only was it necessary to release the belt 106 from the shaft 110 but, moreover, it was necessary to disconnect the various mechanisms that control the change of orientation of the wheels 101, a change necessary to change the direction of advancement of the product.

Having said this, a further aspect of the invention relates precisely to the wheel rotation system 1, which system adopted (ie with a coupling pin as explained below) integrates perfectly with the "contact" solution, thus helping to maintain this modularity with easy extraction and repositioning of each module making up the track.

The "contact" solution described above, with reference for example to all the figures from 2 to 5, can for example be adopted on solutions that do not necessarily require a change of rotation of the wheels 1. As mentioned, this contact solution has the enormous advantage of allowing easy removal and repositioning of each module, thus allowing maintenance to be carried out very quickly and effectively without machine stops.

If you want to integrate a wheel rotation system 1 with this "contact" system, the following description therefore shows the "coupling pin" rotation control system which is specifically designed in order to maintain modularity and ease of replacement.

In this way, the "contact" solution can therefore be equipped with a system for adjusting the rotation of the wheels 1 "with coupling pin" without losing modularity and maintaining its characteristics of easy replacement / maintenance.

However, it remains understood that, although this coupling pin solution is optimal for the "contact" solution, having a perfect common synergy with it aimed at making the module replaceable with rapid maintenance, nothing excludes that this coupling pin solution can be used on solutions of the known art such as that of figure 1, having in this case the effect of structurally simplifying the system for controlling the rotation of the wheels of the movement plane.

The solution, therefore, "in contact" and the "coupling pin" system described below, can therefore coexist in a single solution but can also be independent of each other and therefore having a prior art solution that mounts this rotation control system with a coupling pin or a "contact" solution which instead mounts one of the classic rotation control systems of the known art or does not mount any control system for the rotation of the wheels 1, therefore maintaining fixed directions of advancement.

Having said all this, let's move on to describe this “coupling pin” solution in detail.

Figure 7 shows the “coupling pin” solution in this (non-limiting) case applied to the “contact” solution described above.

The coupling pin solution essentially provides for a pin 50, highlighted in a more marked line in figure 8 or in the axonometric view of figures 12 and 13.

The coupling pin is kinematically connected with the components of the module described below in order to control a rotation of the wheels 1.

The pin, thanks to its elongated shape, fits into a suitable actuator 60 configured to receive it and which actuator is commanded to rotate in one direction or in the opposite direction and then keep the wheels in the selected rotated position. In this way, the rotation of the actuator 60 drives the pin 50 integrally in rotation. The rotation of the pin commands the rotation of the wheels 1 as detailed below.

The actuator 60 can be of any type, for example electric, mechanical or pneumatic rotary actuator depending on the needs.

The actuators are known per se and therefore not the specific object of the invention. Any one of them can be selected from those available on the market.

The retainer has a graft 61 which has, for example, a quadrangular or rectangular shape so that it can engage with the pin 50 having the same section and drag it into rotation due to the presence of the aforementioned undercuts. For example, Figure 12 shows in the end of the coupling pin 50 the milling processes that are used to create flat faces (undercuts) through which, following engagement in the actuator, the grip for rotation is exercised.

The pin 50, as explained below, is integral with the structure of the module (in fact it connects to the lower plate 4 '' 'with respect to which it can rotate freely) such that, when one of the modules (m1, m2, ... mn) is extracted as for example from figure 4 (see extraction direction), figure 8 (see extraction direction) or figure 11, the extraction and possible re-engagement with a replacement module is immediate. The pin in fact allows a quick coupling with the actuator.

The solution of the module, therefore, which provides for the wheels 21 in contact with the motorized shaft can therefore also include such a coupling system for controlling the orientation of the routes 1 (see for example Figure 2), in such a way that the plug-in rotation control system also contributes to an easy removal and replacement of the module.

Figures 10A and 10B show a rotation sequence of the orientation of the wheels of any module and in figure 10A an orientation which determines a movement of the objects in the direction of the arrow A1 while figure 10B shows an orientation which shows a rotation of the 45 ° angular wheels and therefore rotating the path of movement of the objects by 45 °.

Going more into the descriptive detail from the structural point of view, the pin 50 mounts a toothed wheel 51 integrally thereto.

The toothed wheel 51 is fixed to the end of the pin on the opposite side to that of insertion or keying of the pin into the coupling 61 of the actuator 60.

This is, for example, also evident in the axonometric figure 13, in which the coupling pin 50 with the toothed wheel integral with it is shown.

In this way the rotation of the pin 50 integrally rotates the wheel 51.

The toothed wheel 51, as detailed below, rotates the wheels 1 of the module around their longitudinal axis (Z_1) (see in figure 8 the longitudinal axis Z_ <1> of the wheels 1 of the module or figure 12 for example ).

First of all, the pin 50 is obviously connected to the module in such a way as to be part of it as a whole. In particular, it passes through a hole in the lower plate 4 '' and through the hole 50 'in the leg 4b (see figure 13) with holes that allow free rotation around its axis. Inside leg 4b, the pin is blocked against extraction through the use of normal Seeger rings.

The upper plate 4 '' (also visible in figure 2 to which reference should be made) has been omitted in said figure 13 for reasons of representative clarity of the drawing.

The wheels 1 are fixed on the lower plate 4 '' and are hinged to the walls of the cylindrical container 70 already introduced above. This cylinder 70 is hollow internally (therefore a through tube) to accommodate inside it the wheel which, as described in Figure 2, is rotatably applied around its shaft and whose shaft is fixed to the structure of the cylinder.

The cylinder 70 mounts at the bottom, integral with it, the toothed wheel 71 and rests rotatably on the fixing plate 72.

The cylinder 70 with its toothed wheel 71 are an integral body that is rotatable around the Z_1 axis with respect to the fixing plate 72.

The cylinder 70 and the toothed wheel 71 can in fact be obtained from a single, suitably worked piece.

The connection between the fixing plate 72 and the upper component 70 is such that the upper part (70, 71) can rotate around the Z axis (for example, a coupling with a pin that rotates in a hole).

More specifically, the rotary connection between the fixing plate 72 and the upper part (70, 71) is obtained in a very simple way by ensuring that the plate 72 is provided with a hollow cylindrical ring which rises orthogonally from it and which is it inserts into the cylindrical duct formed by the upper part (70, 71) with a therefore rotatable coupling.

Obviously, the parts 70, 71 and 72 all pass through the passage of the belt.

The elastic force of the belts that wraps the two wheels 1 and 21 packs the whole, helping to avoid the slipping of the upper part (70, 71) with respect to the lower part 72 along the Z axis.

Furthermore, the rotated position is kept fixed by the actuator.

The fixing plate is fixed to the plate 4 '' and, as already described, each plate contains four cylinders 70 and therefore four wheels 1.

The cylinder 70, as already described, forms a through passage (see also Figures 2 and remaining figures) for the passage of the belt.

Each toothed wheel 71 is therefore in engagement with the toothed wheel 51 belonging to the coupling pin 50.

The coupling pin 50 is in turn inserted in an actuator which keeps the position fixed and changes it by activating the rotation when necessary.

The rotation of the coupling pin 50, through the actuator, is transmitted to the wheel 51 which rotates the cylinder 70 and, consequently, makes the wheel rotate around the axis Z_1 by a certain angle as it is integral with the cylinder 70.

The transmission with toothed wheels (51, 71) that mesh with each other is the solution that allows a very precise angular rotation and with the actuator that maintains the selected position.

However, a variant in which the toothed wheels (51, 71) are replaced by smooth wheels in contact by friction is not excluded even if, in this case, the rotation is not only not precise but slipping between the meshed wheels is possible which modify the angle of the wheels 1 during their operation.

This solution, therefore, even if practicable is not preferred.

The actuator, of course, allows the pin 50 to lower further following the engagement of a minimum amount equivalent to the recovery of the play (G) introduced above.

Claims (10)

CLAIMS 1. An actuating system (50, 51, 70, 71, 72) for modifying the direction of advancement of the objects in a movement track for said objects, said actuating system comprising: - A coupling pin (50) of predetermined length configured to insert, in a separable way, into a receiving coupling (61) of a rotary actuator (60) adapted to rotate said coupling pin (50) around its longitudinal axis; - A containment body (70, 71) configured to be able to accommodate a rotating movement element (1) in such a way that said rotating movement element can be fixed to said body in a rotatable way around a first axis of rotation (5) in order to cause the object to advance along a predetermined direction through said rotation, said containment body (70, 71) being in turn rotatable about a second axis of rotation (Z); - A kinematic assembly (51, 71) kinematically coupled to said clutch pin and to said containment body (70, 71) in such a way that a rotation of the clutch pin is transmitted, through said kinematic assembly, to said containment body ( 70, 71) which rotates around said second axis (Z_1). 2. An implementation system (50, 51, 70, 71, 72), according to claim 1, in which said kinematic assembly is formed by a first transmission wheel (51) integral with said coupling pin (50) and a second transmission wheel (71) integral with said containment body, the two transmission wheels being in contact with each other such that the rotation of the coupling pin is transmitted to the containment body through the intake of said two wheels. 3. An actuating system (50, 51, 70, 71, 72), according to claim 2, in which said first and second transmission wheels are toothed wheels. 4. An assembly for the formation of a movement track for objects in general, said assembly comprising: - A frame (4) and; - At least one rotating movement element (1) for forming said movement track and mounted rotatably around a first axis of rotation (5) in such a way that its rotation around said first axis causes the advancement of the object placed on it along a direction of advancement of the track; - An actuating system (50, 51, 70, 71, 72) for rotating said rotating movement element around a second axis (Z), preferably substantially orthogonal to the first axis of rotation (5), in such a way as to modify the direction advancement; - Characterized by the fact that said implementation system (50, 51, 70, 71, 72) includes: - A coupling pin (50) of predetermined length mounted rotatably with respect to the frame around its longitudinal axis; - A containment body (70, 71, 72) within which said rotating movement element (1) is rotatably connected, said containment body being in turn rotatable around said second axis (Z); - A kinematic assembly (51, 71) kinematically coupled to said coupling pin and to said containment body (70, 71, 72) in such a way that a rotation of the coupling pin is transmitted, through said kinematic assembly, to said coupling body containment (70, 71, 72) which rotates around said second axis (Z). An assembly, according to claim 4, including a rotary actuator (60) having a receiving clutch (61) adapted to releasably couple with said clutch pin (50) to rotate said pin (50 ). 6. An assembly, according to claim 4, in which said kinematic assembly is formed by a first transmission wheel integral with said coupling pin (50) and a second transmission wheel (52) integral with said containment body (70 ), the two transmission wheels being mutually engaged. 7. An assembly according to claim 6 wherein said first and second drive wheels are sprockets. 8. An assembly, according to one or more of the preceding claims from 4 to 7, in which a movement unit (10, 6, 22) is included at least in part connected to the frame and comprising said rotating movement element (1), said movement unit further comprising a driven rotating element (21) rotatably connected to a part of said frame and kinematically cooperating with said rotating movement element (1) through a closed loop element (6) which wraps them both at least partially in a in such a way that a rotation acquired by said driven rotating element (21) is transmitted to said moving rotating element (1). 9. An assembly, according to claim 4, in which the coupling pin is connected to the frame through a through hole (50) into which it is inserted in such a way as to be able to rotate with respect to the frame but such as to remain constrained to the frame without being able to slide off away from said through hole (50). 10. A method for modifying the direction of the advancement path of objects moved on a movement track, said method comprising the operation of rotating an engagement pin (50) kinematically connected to one or more rotating movement elements (1) forming said track in such a way as to cause a rotation of said one or more rotating movement elements around an axis (Z) substantially orthogonal to the plane formed by the track, preferably said rotation of the coupling pin (50) it is obtained by operating an actuator (60) with which said coupling pin is releasably coupled.