PACKAGE DISTRIBUTION SYSTEM

Field of the invention

The present invention is placed in the field of industrial machines for distributing packs in the logistics sector, and, in particular, it refers to a package distribution system . The term "distribution" concerns both the warehouse logistics for the creation of boxes to be sent for delivery by manufacturers and wholesalers in their warehouses , and the distribution logistics operated by couriers , carriers and postal operators in their HUBs to deliver the packages to the territorial distribution points .

State of the art

Industrial package sorting machines are a consolidated reality in recent decades . They are machines traditionally based on conveyor belts , roller conveyors or trays on which the packs are deposited by human operators or by other conveyor belts , in which the packs are recogni zed through code detection systems , typically reading bar codes through cameras or RFID codes , in which the aforementioned recogni zed packs are matched by a computer system to a destination, through the read code and a database , and in which the aforementioned packs , when they reach the position corresponding to the aforementioned destination, are ej ected from the system and deposited in chutes , boxes , bags or other containers . The known techniques relating to the handling of the belts or other types of support on which the packs travel are varied and contemplate the di f ferent mechanical traction systems , from those with cables to those with belts , with gears and j oints for the transmission and distribution of motion .

The packs in traditional machines travel either directly on belts / rollers or on mechanically transported trays but in all known cases it is a uni form movement with a common traction . In the tray machines these remain equidistant from each other during the straight j ourneys but in the bending areas the kinematics involves a mutual spacing between the trays preci sely for the management of the bending itsel f , with the drawbacks described below . In the plurality of known techniques , the common characteristic is that the movement involves forms of friction which can be of the sliding, rolling or viscous type, according to the technology used, quantitatively connected to the weight of the packs to be transported and to the weight of the load-bearing structures of the system in movement .

The known techniques also provide for di f ferent systems for the expulsion of the packs at the point of destination, among which we mention but not limited to the gravity expulsion by opening a trap door, the forced expulsion by lateral thrust on the pack, be it on drawer or on belt/rollers , forced expulsion by inclination of the support surface of the pack on the drawer or combined techniques . In all known techniques the machines operate at uni form, albeit adj ustable , speed .

However, the known technologies have a series of limitations and drawbacks , listed below :

1 . High energy consumption linked to all forms of friction connected to kinematics , gears , ropes ;

2 . Low level of modulari zation of the system which, given a development path, is always made up of a seamles s set of trays that slide integrally on the transport system or directly from moving belts / rollers . The number of outbound destinations can be managed during the system configuration phase by adding any modules to the basic ones during installation or expansion;

3 . Uni formity of the dragging speed on the whole circuit of the system since the system is a continuum of trays . This implies that in the presence of human inductors the speed of the system will never exceed a maximum speed of about 1- 1 . 2 meters / second to allow the operators an ef fective loading . With a loading from other machines ( typically always on belts ) the speed of the system may be higher ( even up to 3 meters / second) but the higher speed involves the need to use larger extraction spaces to take into account the stored kinetic energy from packages traveling on the system at the time of their ej ection;

4 . Large sections of the circuit "unused" in terms of entry and discharge such as those assigned to bends or to the up and down ramps ; 5 . The up and down ramps cannot normally overlap any bends , thus increasing the "passive" dimensions of the machine ;

6 . In tray machines , during bending the spacing between the trays involves the accidental loss of the load with the packs falling into the spaces created between the trays and the need to provide both a collection mechanism for these packs , typically through networks , and their subsequent manual management ;

7 . Possible loss of load even during movement even outside the bends due to slipping of the packs outside the support surface , especially in machines based on crossbelt , push tray and tilTray technologies ;

8 . Possible load losses due to irregularities in the packaging of the packs due to irregularities in the movement of the packs on belt/roller systems ;

9 . Trays loading surface inclined in the ascent and descent ramps with the possibility of load loss ;

10 . Very high installation costs also linked to the maximum number of manageable destinations ;

11 . Possible diversions of packages between adj acent outlets due to the inertial energy possessed by the package at the time of ej ection;

12 . High level of sorting errors , and low level of their tracking, caused by the lack of univocal association between package position and destination in belt/roll systems .

Summary of the invention

It is therefore an obj ect of the present invention to provide a package distribution system which allows the drawbacks of prior art systems to be solved .

These and other obj ects are achieved by a package distribution system along a distribution path which comprises a first track and a second track which define respective first intermediate spaces , in which at least one unloading door is provided on said distribution path . , wherein said distribution system comprises at least one tray shaped to house one or more of said packs , said tray being movable along said distribution path, in which said tray includes :

- a support frame ;

- at least one magnetic levitation support module arranged between said support frame - to which it is mechanically connected - and said first and second rail and configured to allow said tray to maintain a suspended position with said first and second rail ; and in which a third track is provided, arranged parallel to said first and second track, in which said third track defines a second intermediate space , in which a traction/braking module is arranged between said support frame and the third track, in which said traction/braking module is configured to move the tray along the distribution path .

In particular, each tray is elevated with respect to the bottom of the first and second track as it is suspended by magnetic levitation . The absence of rolling or sliding contacts implies the absence of friction with relative wear and energy requirements . The system is therefore much less energy-intensive and less noisy . The energy aspect is particularly relevant since, with the same geometry and speed, the distribution system, obj ect of the invention, uses an average power equal to about 20% of a traditional system, therefore , with an energy saving of over 80% .

In addition, the tray includes a traction/braking module on the third track which allows di f ferent speeds to be obtained on the track in the di f ferent work areas . For example , in the entrance area it is possible to limit the speed to 1 - 1 . 2 meters/ second, up to a complete stop, in the case of human inductors or to reach more than 3 meters / second in the external mechanical input . While , for example , in the unloading area it is possible to limit the speed to reduce the kinetic energy of the packs at the moment of expulsion, thus being able to have both narrower unloading areas and a greater "order" in the unloading inside chutes , cages , boxes , bags or any suitable container . Higher speeds can be reached in the remaining areas , thus ensuring a higher average speed .

The traction/braking module can advantageously be of the electromagnetic type by feeding coils placed on the rails of the corresponding track . The same technology used for traction can advantageously be used for Energy Harvesting when braking, recovering energy .

In particular, the magnetic levitation support module includes :

- at least one ferromagnetic insert disposed in each of said first and second tracks ,

- at least one permanent magnet mounted integral with the support frame and arranged in said intermediate spaces , in which each permanent magnet is adj acent to the corresponding ferromagnetic insert , in such a way that between said ferromagnetic insert and the respective permanent magnet , a resultant attraction force directed substantially in a bottom-up direction, said resultant attraction force being transmitted to said support frame and being in equilibrium such as to balance a gravitational force acting on said tray with or without the presence of said packs .

Preferably, the traction/braking module comprises :

- at least one electromagnetic rotor component arranged on said tray support frame , e

- at least one electromagnetic stator component arranged on said third track, in such a way that the electromagnetic component of the rotor interacts with the electromagnetic component of the stator so as to generate a linear electromagnetic field thus generating on the support frame and therefore on the tray a linear traction/braking force that moves said tray along the distribution path .

Advantageously, said magnetic levitation support module is combined with a lateral stabili zation module to ensure the stability of the levitation of the said tray with respect to the first and second rail in any operating condition, in which said stabili zation module comprises spacer wheels configured to maintain a multi-axial stability during movement of the tray in the distribution path .

In particular, said at least one tray comprises a perimetral containment structure for the packs placed on the tray, suitable for confining said pack on a plane of the tray avoiding any accidental fall from the aforesaid tray .

Preferably, each tray comprises a support surface and perimeter edges arranged around said support surface . In particular, the perimeter edges are confined within the support surface , so that said perimeter edges do not protrude from the support surface .

In this way, the perimeter edges allow to e f fectively confine the packages during transport . Furthermore , the perimeter edges do not cause an impediment in the entry phase as they are confined and not protruding with respect to the support surface . The characteristic of having the perimeter border of the packs on the tray throughout the j ourney, including any bending areas , ef fectively eliminates the possibility that the pack is accidentally lost by falling from the tray itsel f .

In a preferred embodiment , at least one perimeter edge is implemented and movable between a first operating configuration in which it acts as a confinement for the pack and a second operating configuration in which it is implemented to perform a movement with respect to the support plane in order to open a passage or side opening for unloading the package . In this way, at least one edge is of the active type and is used for the extraction of the package during unloading .

In particular, said at least one tray comprises an ej ection device for the packs at the unloading door, said ej ection device comprises : an ej ection wall mounted on the edge of the tray, in which said wall is constrained to the tray by means of a first pin with respect to which it is rotatably connected, and a second pin configured to slide along a guide defined in the plane of the tray, so that the wall performs a rotational movement around said first or second pin and a movement by means of said second or first pin along said guide to substantially achieve a roto- translational traj ectory in combination with each other an opening wall mounted above the tray surface having an open side and being said wall able to rotate around the tray itsel f to align said opening with the inlet or outlet direction, said opening normally being the ej ection wall during movement tray .

Advantageously, an exchange device is provided to allow a tray which moves on said first and second track to interchange towards a first and second exchange track having a di f ferent direction and / or elevation with respect to said first and second tracks . In this way, discontinuous distribution paths can be defined both on the same floor or on floors at di f ferent heights having, in particular, more entrance doors and more discharge doors .

Preferably, the exchange device comprises a hoist platform having track segments mounted on board of said hoist platform, an actuation system of said hoist platform adapted to move said plane in a direction from bottom to top and vice versa; in which said hoist platform is placed along said first and second track and configured to selectively switch between a first position, in which it is coplanar with said first and second track, and a second position in which it is raised with respect to said first and second track .

In a preferred embodiment , a plurality of trays moved along said distribution path are provided .

The number of trays present in the layout can be varied according to the operating conditions ( typically number and type of induction lines , maximum number of destinations , extension of the layout ) to obtain the best performance / price ratio of the system . I f the whole path is filled with trays , a traditional configuration with variable speed but uni form on the path is obtained . The installation of new trays can be carried out both in the initial configuration phase of the machine and subsequently by simple physical addition and software reconfiguration .

Brief description of the drawings

Further advantages and additional characteristics of the present invention are highlighted with the following description of some embodiments , given by way of non-exhaustive example , with reference to the attached drawings , in which :

- figure 1 is an axonometric view of a variant embodiment of a tray arranged for a distribution system according to the present invention;

- figure 2 shows in section the tray of figure 1 on segments of rails assigned to support with magnetic leavening and assigned to a traction/braking function;

- Figure 3 shows a top view of the tray of Figures 1 and 2 with the respective track segments ;

- Figure 4 shows in a schematic view a variant embodiment of an upright of the tray with respect to a track with the elements that generate the magnetic levitation;

- Figure 4a shows a schematic view of a variant embodiment of the central upright of the tray with respect to the track with the traction/braking elements ;

- Figure 5A shows the magnetostatic field existing between the upright of the tray and the track obtained with two- dimensional FEMM simulation;

- Figure 5B shows the trend of the magnetostatic force between the tray upright and the track as a function of their position as the relative position between the permanent magnet and ferromagnetic coupling of the track varies ;

- figure 6 shows the results of the simulation with FEMM of the potential of the supporting magnetic field as the relative position between the permanent magnet and the ferromagnetic coupling varies for di f ferent weight hypotheses of the load pack;

- Figure 7 is an axonometric view of an embodiment variant of the support and stabili zation details of the tray on a track segment in the embodiment variant with the tray frame consisting of two support uprights and a central upright ;

- Figure 8 shows in axonometry an embodiment variant of the support and stabili zation details of the tray on a track segment in the hypothesis of a tray with four support uprights and a central upright

- Figure 9 is an axonometric view of the variant embodiment of the frame of Figure 8 ;

- Figure 10 shows a diagram of a possible variant embodiment of the distribution system in a closed primary loop configuration with in-line pack inlet positions and in-line pack unloading positions ;

- Figure 11 shows a diagram of a possible variant embodiment of the distribution system in a ring configuration with in-line pack inlet positions and peripheral inductions each closed in a loop on the primary circuit and in-line pack unloading positions ;

- Figure 12 shows a diagram of a possible variant embodiment of the distribution system in a ring configuration with in-line pack inlet positions and peripheral discharges each closed in a loop on the primary circuit ;

- Figure 13 shows the diagram of a possible variant of a hoist platform module with an upward or downward mobile hoist platform to allow a track change ;

- Figure 13A shows the operational time diagram of the hoist module with the phases of entry onto the hoist and of the exit from the hoist of a tray;

- Figures 14 . 1 - 14-5 show a top view of a possible variant of the change of direction with operational time sequence ;

- Figure 15 . 1 shows a top view of a possible variant of the switch for change of direction in the variant of a path with intersection;

- Figure 15 . 2 shows a top view of a possible variant of the switch for change of direction with multiple exits ;

- Figure 15 . 3 shows a top view of a possible variant of a switch for change of direction with multiple inputs ;

- Figure 15 . 4 shows a top view of a possible variant of the switch for change of direction with multiple inputs and multiple outputs ;

- figure 16 shows the detail of a variant embodiment of the containment edge of the tray surface which houses the packs ;

- figure 17 shows the detail of a variant embodiment of the plane of the tray which houses the packs with the perimetric containment edge and of an expulsion wall ;

- Figure 18 shows the detail of a variant embodiment of the tray surface with the containment edge in correspondence with the typical unloading step of the pack itsel f and the simultaneous action of the expulsion wall ;

Figure 19 shows a plan view of the detail of a poss ible variant embodiment of the kinematics of the system for expelling the pack from the tray with a discreti zed time sequence of the unloading phase .

Description of some preferred embodiments

With reference to Figure 1 , a distribution system 100 of packs A is shown along a distribution path P, indicated schematically by a dashed line. The distribution system P comprises at least a first track Bl and a second track B2. Each track Bl, B2 is composed of respective rails Rl, R2, see figure 4. On the distribution path P, better shown in figures 10,11, and 12, there is at least one inlet port PI and at least one unloading port PS. The distribution system 100 comprises at least one tray V, in particular a plurality of trays, each shaped to house one or more packs A.

Each tray V being movable along the distribution path P.

In particular, tray V comprises a support frame Pl, P2, P3 (Figure 2) and a magnetic levitation support module LI, Pl, L2, P2 arranged between the support frame Pl, P2 to which it is mechanically connected and the first Bl and second track B2.

The magnetic levitation support module LI, Pl, L2, P2 is configured to allow tray V to maintain a suspended position without contact with the back wall of the first Bl and second rail B2.

Tray V also includes a traction/braking module TF3, P3 arranged between the support frame Pl, P2, P3 and a third rail B3. The traction/braking module TF3, P3 is configured to move tray V along the distribution path P.

The system consisting of tray V and the magnetic levitation support modules LI, Pl, L2, P2 is grafted onto the first and second track Bl, B2 with respect to which it can move freely and individually with automated guidance and controlled by a central control system and control and without sliding or rolling contacts, except for those for stabilization, as described in detail below.

In particular, the support frame comprises a first and a second upright Pl and P2 housed in use in the respective intermediate spaces SI, S2. Furthermore, it comprises a third upright P3 which in use is housed in the third space S3 of the third track B3.

As shown schematically in figures 7 or 8, the three uprights Pl, P2 and P3 are connected to each other by respective articulation arms P4, P5. The articulation arms P4, P5 branch off from a central collar P8 connected to the third pillar P3.

Each articulation arm P5 comprises a joint P4 for connection with the respective upright Pl, P2, as described later in detail.

Preferably, each articulation arm P4, P5 comprises at least one connection joint P7.

In a preferred embodiment, the support frame comprises a pair of uprights Pl designed to fit into the intermediate space SI of the first track Bl, and a pair of uprights P2 designed to fit into the intermediate space S2 of the second track B2 (Figure 8) .

The uprights of each pair Pl and P2 are spaced apart along the longitudinal development direction of the respective track Bl and B2.

In this embodiment, respective articulation arms P4, P5 are provided which extend from each upright of the pair Pl and P2 and converge to the central collar P8. Also, in this case the articulation arms P4, P5 comprise a connection joint P7.

Returning to the functional point of view, the magnetic levitation support module LI, Pl, L2, P2 is based on the use of permanent magnets Mpl, Mp2, advantageously rare earth magnets, which develop the support force compared to ferromagnetic inserts Fl, F2 arranged on tracks Bl and B2 to compensate for the force of gravity and allow the levitation of the entire tray V and any pack A transported.

In particular, the uprights Pl, P2 are equipped with a respective permanent magnet MP1, MP2. The permanent magnets MP1, MP2 operate in attraction with respect to the respective track Bl, B2, and, in particular, with respect to the ferromagnetic insert Fl, F2, present in the rails Rl, R2 of the tracks Bl and B2 (see Figure 4) . The ferromagnetic inserts Fl, F2 are inserted into the walls of the rails Rl, R2 of the respective tracks Bl, B2. Advantageously, it will be a laminated soft ferromagnetic material or a low electrical conductivity to reduce eddy currents. The remaining parts of the rails Rl, R2 will be of non-conducting rigid material, to avoid eddy currents.

The permanent magnets MP1, MP2 and the ferromagnetic inserts Fl, F2 generate the lifting thrust by compensating a gravity force. As shown in Fig.5A, obtained through a two-dimensional simulation on the x and y axes and with a fixed depth along the z axis through the FEMM software, the magnetic force between the permanent magnet MP1, Mp2 of the pillar Pl, P2 and the ferromagnetic insert Fl, F2 of the respective track Bl, B2 depends exclusively on the relative position between the aforementioned permanent magnet MP1, MP2 and the ferromagnetic insert Fl, F2 present in the intermediate spaces SI, S2 of the tracks Bl, B2.

In Fig.5B the half plane corresponding to positive y values represents a positive lift zone with consequent thrust on the magnet MP1, MP2 and, therefore on the upright Pl, P2 to which it is connected, directed upwards and, therefore, in opposition to the downward force of gravity. Also, in Fig. 5B is highlighted, in particular, an area indicated with ZL which identifies a "Levitation Area" corresponding to the positions that the upright Pl, P2 would assume with respect to the base BF of the track Bl, B2 depending on the different possible load values acting on the pillar Pl, P2. Also, on the figure Fig. 5B is identified with PnR a "Point of no return" after which, the magnetostatic force can no longer balance the gravitational force so that the upright Pl, P2 rests without equilibrium on the base BF of the respective track Bl, B2. Figure 5B also shows a zone ZI which represents the force that must be applied to the tray V to be inserted in the intermediate spaces SI, S2, S3.

The same figure 5B also shows in the leavening area the points VS and Vmax respectively represent the different support equilibrium positions from unloaded tray without pack to tray with pack and maximum load.

In Fig. 6, obtained through the data extracted from a two- dimensional simulation on the x and y axes and with a fixed depth along the z axis through the FEMM software, the trend of the magnetostatic force between the aforementioned magnet MP1, MP2 and the aforementioned ferromagnetic insert is represented Fl, F2 as the distance of the upright Pl, P2 varies with respect to the base of the track BF (figure 4) and, therefore, to the relative position along the y axis between the upright PI, P2 and the rails Rl, R2 that make up the tracks Bl, B2.

Figure 6 represents the variation of the magnetic potential with respect to the magnetostatic-gravitational equilibrium condition for di f ferent load conditions acting on the uprights Pl , P2 . Considering the attractive nature of the magnetostatic field between a permanent magnet Mpl , Mp2 and the ferromagnetic insert Fl , F2 and considering that the magnetostatic force decreases with the square of the distance between said elements , the support system provides mechanisms to eliminate degrees of freedom between the above elements in order to prevent the applicability of Earnshaw ' s theorem which would prevent the achievement of a stable equilibrium condition through the magnetostatic interaction alone . All these elements are defined as " lateral stabili zation" elements as they have the task of eliminating 2 degrees of freedom in the relationship between the permanent magnet Mpl , Mp2 and the ferromagnetic insert Fl , F2 leaving only one degree of freedom along the axis Y .

In detail , the tracks Bl , B2 are the structure that define the path on which the trays V move . They consist of a frame entirely in rigid non-conducting material which determines intermediate spaces S I , S2 parallel to each other and longitudinal for the movement of the uprights Pl , P2 . The intermediate spaces S I , S2 are separated from each other by a distance suf ficient to guarantee stability ( see figure 3 ) . The third upright or central upright P3 for the traction/braking module TF3 , P3 and, possibly for the power supply of tray V . , slides in a third space S3 .

As regards the traction/braking module TF3 , P3 , as shown in figure 2 , this comprises at least one electromagnetic component of rotor TFR arranged on the support frame Pl , P2 , P3 of tray V, and at least one electromagnetic component of stator TFS arranged on the third track B3 . In this way, the electromagnetic component of the rotor TFR interacts with the electromagnetic component of the stator TFS so as to generate a linear electromagnetic field thus generating on the support frame Pl , P2 , P3 and therefore on the tray V a linear traction/braking force which moves tray V along the distribution path P .

As better shown in Figure 4A, traction and braking coils TFS are provided, which represent the electromagnetic component of the stator, housed in the intermediate space S3 between the walls of the rails R3 which constitute the track B3 .

The traction and braking coils TFS , advantageously but not necessarily, are linked together, fed according to schemes determined by a central control system on the basis of the position data received in real time from the aforementioned trays .

As previously described, the magnetic field generated by the TFS coils interacts with a conductive plate TFR, which represents the electromagnetic component of the rotor present on the post P3 .

In particular, the plate of conductive material , for example in aluminium, is integrally connected to the third upright P3 which interacts with the coils TFS , in particular linked and fed in three-phase current housed in the third intermediate space S 3 of the track B3 . In this way, a linear moving magnetic field is generated which, due to the ef fect of Lenz ' s law, gives rise to eddy currents induced in the TFR plate which in turn generate a magnetic field that opposes the variation of the moving magnetic field, thus generating on the plate TFR a linear traction/braking force . Advantageously, the plate of conductive material can be replaced by a permanent magnet or an electromagnet to generate traction/braking through the interaction of the magnetic field of the stator TFS and the magnetic field of the rotor TFR .

Advantageously, the system can be symmetrical with TFS coils on both rails R3 that delimit the intermediate space S3 , to compensate for the transverse force component that would generate instability, forcing the stabili zation system to additional work .

Generally, the traction/braking module TF3 , P3 can be reali zed through the use of permanent magnets or electromagnets , plates of ferromagnetic material or plates of conductive material , placed advantageously, but not necessarily, on the third upright P3 , defined as the frame upright , not used for the lifting task but only for the framing task . The configuration is that of a linear motor in which the rotor and stator of a traditional rotary motor are unwound to trans form a mechanical moment into a mechanical force . The construction configurations can be diversi fied on the basis of the performance to be obtained in terms of maximum acceleration required .

Advantageously, the stator and rotor electromagnetic systems will be suitably constructed to reduce ripple phenomena on the driving force . Advantageously, the same technologies used for traction can be used for regenerative braking systems capable of recovering part of the kinetic energy possessed by the moving trays.

In a further constructive aspect, the magnetic levitation support module LI, Pl, L2, P2 is integrated by a lateral stabilization module Z3, Z3b, Z4 to ensure the stability of the levitation of the aforementioned tray V with respect to the tracks Bl, B2, B3 in all operating conditions.

The stabilization module, in a preferred embodiment, comprises spacer wheels Z3, Z3b. In a way not shown, electromagnetic systems can be provided that guarantee a stable condition in the balance between gravitational force and magnetostatic force.

Constructively therefore, as shown in figure 2 and in figures 7 and 8, the uprights Pl, P2 are therefore equipped with spherical wheels Z3, Z3b for lateral stabilization which insist on an internal side of the rails Rl, R2, R3 that make up each track Bl, B2, B3. The spherical wheels Z3, Z3b have the purpose of eliminating the degree of freedom between the permanent magnet Mpl, Mp2 and the ferromagnetic insert Fl, F2 Rl along the axis X.

Advantageously, spherical wheels Z4 are also provided on the foot of the uprights Pl, P2 to protect against overloads or imbalances which insist on the base of the track Bl, B2. The Z4 spherical wheels act only in the event that a load beyond the maximum leads to the overcoming of the point of no return PnR referred to in Fig.5B and, therefore, the abandonment of the potential well referred to in Fig.6.

For stabilization along the Z axis, various construction solutions are advantageously presented which, to limit the remaining degrees of freedom, use the combination of multiple uprights Pl, P2, P3, as mentioned above, interconnected in a frame structure as in Fig.9.

In a first embodiment, four uprights Pl, P2 are provided, i.e. two pairs of uprights Pl and P2 for each track Bl and B2, arranged in a quadrilateral (Figure 8) . Alternatively, two single uprights Pl, P2 can be provided for each track (Figure 7) .

In the configuration with pairs of uprights Pl, P2 (Figure 8) the load support function is divided between the uprights Pl, P2 allowing the use of permanent magnets MP1, Mp2 with lower magnetic performance for the same load to be supported. The typical support configuration is, therefore, based on the use of four interconnected uprights Pl, P2 (Fig. 9) . The interconnection between the uprights Pl, P2 necessarily has joints P7 , P8 between the articulation arms P4, P5 to allow the frame itself to be able to move not only along flat rectilinear paths but also curvilinear paths, ascending/descending paths or paths mixed curvilinear/non- flat. Fig. 8 shows the joints P4 which connect the articulation arms P5 with the respective upright Pl, P2. Furthermore, the joint P8 on the third pillar or central pillar P3 and the joints P7 on the articulation arms P5 of the frame are shown. Advantageously, the four uprights Pl, P2 can be connected to the third upright P3 through a toroidal joint P8 which binds the uprights Pl, P2 together, limiting or excluding the degree of freedom around the X axis. In this way, this constraint defines a freedom partial up to a predefined maximum angle, to possibly allow tray V to face the up and down ramps and allowing the movements of the P7 joints, for example cardan joints or the like, relative to the other axes in order to maintain the VO plane of the tray V substantially coplanar with respect to the rails themselves.

Fig. 9 shows the loading surface VO of the tray V, on which the package to be transported is placed, said loading surface is integrally connected to the upright P3.

As mentioned above, there is also a version with only two uprights Pl, P2 (Fig. 7) . In this case, the lateral stabilization module, again by means of spherical wheels Z3, includes stabilization arms P6. The P6 stabilization arms are equipped, in particular at the ends, with Z3 spherical wheels to otherwise achieve the limitation of the degrees of freedom necessary to ensure stability to the magnetostatic equilibrium. The two-post configuration Pl, P2 entails the need to use more powerful permanent magnets MP1, Mp2 in order to maintain the overall sustenance power of the V tray.

Advantageously, the third upright or central upright P3 also has spherical spacing/stabilizing wheels Z3b (Figures 7 and 8) to withstand torsional movements transmitted by the tray V to the upright P3 . Advantageously, the use of spacer wheels used both in the uprights Pl , P2 and in the stabili zation arms P6 can be replaced by electromagnetic systems based on electromagnets capable of generating stabili zation forces such as to limit or compensate the degrees of freedom of the system that may compromise the stability of the equilibrium between the gravitational force and the magnetostatic support force , being said electromagnets piloted by a command and control system that acquires the measurement data of position sensors that allow the detection of spatial distortions with a stable configuration and, therefore , the creation of negative feedback control forces with a stabili zing ef fect through the variation of the current circulating in the aforementioned stabili zing coils .

Advantageously, the spherical wheels Z3 , Z3b can be replaced by ball bearings .

The tracks are a modular structure that can be assembled to generate more or less complex operating circuits . In Fig . 10 a possible variant of construction is highlighted with a path P defined as a ring path in which there is the entrance area PI divided on the basis of an arbitrary number of loading lines , whether they are manual by operator or automatic by belts , and the unloading area PS divided into an arbitrary number of destinations .

In Fig . 11 a di f ferent embodiment variant is represented where the entrance area PI , as in the ring layout of Fig . 10 , is flanked by an external entrance area PI Ml , M2 , M3 which advantageously penetrates inside the warehouses in areas particularly remote to eliminate or reduce picking times for goods in stock . Fig . 11 highlights the use of Sm exchanges to close the individual supply circuits in order to allow trays V to return after loading to the primary loop circuit in order to be able to unload the packs in the aforementioned unloading area .

On the other hand, Fig . 12 shows a further variant of construction where some destinations in the unloading area PS , indicated with Ml , M2 and M3 , are delocali zed; configuration that can be easily applied in cases where the sorting of packs is not to generate deliveries but to receive incoming goods , for example to reorder stocks , to be allocated in warehouses and to locally serve particularly remote portions of the warehouse.

As shown in figures 13 to 16, an exchange device T or XY is provided to allow a tray V which moves on the input or main tracks Bl, B2, B3 to interchange towards output tracks Bl' ', B2 ' ' , B3 ' ' , by means of exchange tracks Bl', B2 ' , B3 ' having a different direction and or elevation with respect to the input tracks Bl, B2, B3, in such a way as to define discontinuous paths both on the same floor or on planes at different heights.

In a first embodiment variant, a switch is of the revolving type and includes corresponding exchange tracks Bl', B2 ' , B3 ' , as previously defined, housed on a rotating XY plane. The XY rotary table is, for example, driven by an electric motor. The exchange tracks Bl', B2 ' , B3 'mounted on the rotating table XY being long enough to allow the tray V moving along the Y (or X) axis, or on an intermediate axis, to continue its movement on the exchange tracks Bl', B2 ' , B3 'while the rotating table XY turns up to the final position, thus allowing the tray V to continue its movement on output tracks Bl' ', B2 ' ' , B3' ' along the X (or Y) axis in the new direction (see figures 14.1-14.5) or an intermediate axis. The rotating table XY is used to replace bends or for rail couplings in operating configurations other than the classic closed loop. It allows both simple changes of direction as in Fig. 14.1, between input tracks and output tracks, and to combine several input tracks on a single output track, or to divide a single input track on multiple output tracks, and again managing a plurality of input tracks with a plurality, even of different cardinality, of output tracks .

Figures 15.1 - 15.4 show a possible variant of the switch with multiplexing effect on the output so that multiple output routes can correspond to an input route Bl, B2, B3 (EXIT1, EXIT2 and EXIT3 in Fig. 15.2) . Fig. 15.3 shows an embodiment variant where different inputs INI, IN2 and IN3 are opposed to a single exit way Exit. Fig. 15.4 shows a last implementation variant where a plurality of inputs (INI, IN2 and IN3) corresponds to a different plurality of outputs (EXIT1, EXIT2) .

Figures 14.1 - 14.5 show a possible variant embodiment of a single-way switch and the movement of tray V while the switch acts. The Vtl position is the position of the V tray before entering the switch. The exchange tracks Bl', B2 ' , B3 ' remain stationary, integral with the turntable XY to allow the tray V to enter entirely on the aforementioned exchange tracks Bl ' , B2 ' , B3 ' until reaching position 2 in which the tray V occupies the position Vt2 and while the aforementioned tray V continues to move on the exchange rails Bl', B2 ' , B3 ' , the turntable XY begins to rotate in order to be able to enter the output configuration. Position V3 is an intermediate position in which tray V has moved on the exchange rails Bl', B2 ' , B3 ' and XY has partially rotated towards the final position it reaches in position 4, in which tray V has reached the position Vt4 corresponding to the limit switch of the switch tracks Bl', B2 ' , B3 ' and these are aligned with output tracks Bl' ', B2 ' ' , B3 ' ' . In position 4 the turntable XY cannot move to allow tray V to completely exit the exchange tracks Bl' , B2' , B3' and at this point the turntable XY can resume its rotation to serve another tray V. input tracks Bl, B2, B3 and the output tracks Bl' ’ , B2' ' , B3' ’ appear on the same plane as the figure is a hypothetical top view, but a variant implementation could foresee that the aforementioned tracks Bl, B2, B3 and Bl' ' , B2' ' , B3' ’ are actually at different heights, in this case the motor in addition to rotating the XY turntable can also make it change elevation.

In a further embodiment, the exchange device comprises a hoist platform T having a segment of exchange tracks Bl', B2 ' , B3' mounted on board the hoist platform T, which can be compared with the functionality of the rotating plane XY.

A system for the implementation of the hoist platform T is designed to move the platform in a direction from bottom to top and vice versa. The hoist platform T is placed along the entrance tracks Bl, B2, B3 and configured to switch selectively between a first position, in which it is coplanar with the entrance tracks Bl, B2, B3, and a second position in which it is offset vertically with respect to the input tracks Bl, B2, B3, and aligned to the respective output tracks Bl ' ' , B2 ' ' , B3 ' ' .

In other words, a hoist platform module is provided which includes the hoist platform T configured to move up or down (Fig. 13 and 13A) . The hoist platform T houses on board the track segments Bl', B2 ' , B3'on which tray V enters and continues to move while the hoist platform T rises or falls to the desired position allowing tray V to continue its linear path towards exit tracks Bl ’ ’ , B2 ’ ’ , B3 ’ ’ .

In an another embodiment, the hoist platform module comprises several hoist platforms T to allow to reduce the waiting time during the ascent or descent of a tray V by a new tray V which must go up or down. The number of lift floors T can be increased according to the difference in height to be overcome and compatibly with the height of the tray V equipped with a load.

Fig. 13 shows a time and movement sequence in which the hoist platform T is at the bottom end of the stroke at instant 1 (position Tl) . Corresponding exchange tracks Bl', B2 ' , B3 ' are housed on the hoist platform T, which constitute the virtual extension of the tracks from which tray V comes and enters the exchange tracks Bl', B2 ' , B3 ' leaving the entrance tracks Bl, B2, B3. At instant 2, the hoist platform T occupies the position T2 in which the tray V can leave the exchange tracks Bl', B2 ' , B3 ' to continue its movement on the exit tracks Bl' ', B2 ' ' , B3 ' ' having overcome the existing altitude difference. At instant 3, the hoist platform T occupies position T3, always with its own exchange rails but no longer the tray V, offset on the Y axis so as to be able to travel along the descent path to return to position T corresponding to a new one position Tl to load a new tray V, possibly in the case of more trays, without hindering the upward movement of another plane T. The same figure 13A can be read by considering points 1,2 and 3 which have been described as different moments in time of the same hoist platform T as different floors T at the same instant in the case where advantageously several hoist platforms are used at the same time to reduce the waiting time of the incoming trays to enter on board of the hoist platform T.

Advantageously, the hoist platform module has sensors to determine when a tray V begins to enter the exchange tracks Bl' , B2' , B3' position Vtl, until the moment in which the tray V is completely on the exchange tracks Bl', B2 ', B3 ' , position Vt2. Identically in the phase of abandonment of the hoist platform T, i.e. when the tray V is in the position Vt3 for the start of the exit from the hoist platform T at the moment V4 in which the tray V has completely abandoned the hoist platform T . During the time in which tray V passes from position VI to position V2 and during the time in which tray V passes from position V3 to position Vt4 , the hoist platform T is motionless .

The lateral stabili zation module of tray V and possibly the centrali zed command and control system i f the said stabili zation system is of the electromagnetic type , and the traction command and control system must actually take into account the rotation/ translation speeds of the turntable XY or of the hoist platform T and of the centri fugal forces acting on the aforementioned tray V to ensure perfect synchronism of the switch with respect to the movement of the aforementioned tray V in order to obtain perfect alignment between the entry tracks Bl , B2 , B3 , the switch Bl ' , B2 ' , B3 ' in input , and between switch tracks Bl ' , B2 ' , B3 ' and output tracks Bl ' ' , B2 ' ' , B3 ' ' , in output .

Therefore , the large curvatures necessary for traditional systems can be eliminated using direction exchanges . I f the curves are present , they can also be ramps for ascent and / or descent at the same time i f the unloading area is advantageously raised, reducing the physical dimensions compared to a traditional machine which typically does not combine curves and ramps together .

The wide ascent and descent ramps that may be necessary can also be eliminated using hoist platforms which would allow both to reduce the overall dimensions and to always keep the plane of the trays hori zontal .

Each V tray represents the individual transport element . It consists of an apparatus for the containment and transport of packs A from the entrance area ( see figures 9 , 10 and 11 ) to the unloading area identi fied for example based on the recogni zed pack code .

Tray V consists of several components that cooperate with each other to perform all the necessary functions :

- receive new packs coming from human inductors or other machines , one pack per tray V; transport the parcel along the machine path to the position designated for unloading the pack;

- ej ect the pack in the unloading area . In particular, the tray V compri ses a structure for containing the packs placed on the tray V, able to confine the pack on a plane VO of the tray V avoiding any accidental fall from the tray V .

Preferably, each tray V comprises a support plane VO and at least one perimeter edge or wall VI arranged around the support plane VO . In this way, the perimeter edge VI allows to ef fectively confine the packs A during transport .

In a preferred embodiment , at least one perimeter edge VI is actuated and movable between a first operating configuration in which it acts as a confinement for the pack A, and a second operating configuration in which it is actuated to perform a movement with respect to the supporting plane VO to open a lateral opening Via for the inlet or discharge o f pack A. In this way, at least one edge is of the active type and is synchroni zed in the distribution path P for the inlet PI or the PS extraction of pack A.

In particular, the tray V includes an ej ection device V2 of the packs at the unloading door PS , synchroni zed with the perimeter edge VI , so that the opening Via is on the unloading side and supports the ej ection device V2 . The ej ection device comprises an ej ection wall V2 mounted on the edge of the tray V . The ej ection wall V2 is constrained to the tray V by means of a first pin VP1 , VP2 with respect to which it is rotatably connected, and a second pin VP2 , VP1 configured for slide along a guide Vg2 , Vgl defined in the plane of tray VO . In this way, the expulsion wall V2 is able to perform a rotation movement around the first VP1 or second pin Vp2 and a displacement by means of the second VP2 or first pin Vpl along the guide Vg2 , Vgl to achieve in combination with each other substantially an expulsion traj ectory of the pack towards the opening Via .

In particular, the perimeter edge VI defines the corresponding opening Via ( Figure 16 ) . The wall VI is connected to an actuator and is configured to rotate around the plane of the tray VO . In this way, the wall VI and the respective opening Via can be moved to align the opening Via with the inlet or outlet direction of the packs A in the distribution path P ( Figure 18 ) . In particular, the opening Via is normally closed by the expulsion wall V2 during the movement of the tray V ( Figure 17 ) .

In detail , the perimeter edge VI and the ej ection wall V2 which defines an active edge , have the task of containing the pack A during the whole transport on the V tray from the inlet phase in which the pack A is loaded on the V tray up to the unloading phase in which the pack is ej ected from the tray V .

Furthermore , the perimeter edge VI and the expulsion wall V2 allow the loading of the pack during the entry phase without obstacles , while also allowing the unloading of the pack without obstacles or impediments with an ej ection phase of the pack through a transversal thrust coming out of the tray V itsel f conj ugated with a thrust in opposition to the motion of tray V to reduce the kinetic energy possessed by the pack when it comes out of tray V .

Advantageously, the multiple functions of the system are implemented through the containment edge VI and the expulsion wall V2 of Fig . 17 .

Also in figure 17 , only the detail of the perimeter edge VI which confines the pack to the surface of the tray VO is shown . Advantageously, the tray surface VO is made of a rough plastic material to obtain high friction both in first detachment and sliding in order to limit accidental movements of the pack on the aforementioned tray surface VO both during the accelerations / decelerations of the aforementioned tray V and during curvatures under the action of centri fugal forces . The aforesaid perimeter edge VI is not integral with the tray surface VO but with respect to this it is external , albeit with an extremely reduced contact gap . The aforementioned perimeter edge VI of tray V can therefore move around the tray surface VO in such a way that its "opening" Via of Fig . 16 can move , from the position " PA" of Fig . 16A, corresponding to when the tray V is located in the entry area where a pack is to be loaded on the tray surface VO , so that the loading operator does not have the edge to constitute an obstacle to the loading operation, in the " PT" position ( Figure 17 ) , which corresponds to the entire distance from when tray V is loaded up to the moment of unloading so that the opening Via is behind the expulsion wall V2 and therefore on the entire perimeter of tray V there is an edge capable of containing ef fectively the aforementioned pack A, up to the " PB" position when the ej ection of pack A is commanded ( figure 18 ) and, therefore , the perimeter edge VI must rotate so that its opening Via is on the ej ection side in order to do not get in the way ' Expulsion itsel f . Fig . 17 shows the expulsion wall V2 , behind which the opening Via of the perimeter edge VI is "hidden" during the j ourney from the entrance to the unloading to ensure the total confinement of the pack on the tray surface VO . As described above , in other words , the expulsion wall V2 is equipped with two lateral pins VP1 or VP2 of Fig . 17 integral with the expulsion wall V2 and with its own motion kinematic mechanism which allows one of the pins VP1 or VP2 to be recalled moving on a curved guide respectively the guide VG1 for the movement of the pin VP1 or the guide VG2 for the movement of the pin VP2 , see figure 19 . The guide is advantageously positioned under the tray surface VO so as not to constitute an obstacle to the movement of the pack and the sliding of the pin of the ej ection wall on the guide involves a rotation advantageously around the pin not recalled thus allowing the ej ection wall V2 to " sweep" the plane VO of the tray V for the ej ection of the pack .

Fig . 19 shows the di f ferent positions of the expulsion wall V2 with rotation around the fixed pin VP1 and movement of the pin VP2 on the guide VG2 , with relative expulsion of pack A to the left ( from POS- O to POS-3 ) . It is also understood that a similar operation is obtained by moving the VP1 pin on the VG1 guide and the fixed pin VP2 for expulsion to the right .

To allow the expulsion wall V2 to move by brushing the entire tray surface VO , the guides VG1 and VG2 are curves which at the end of the path reach the condition of tangency with respect to the perimeter edge VI . To allow the movement described advantageously, the expulsion wall V2 is constituted by a telescopic sheet which can therefore lengthen or shorten while the pin VP1 or VP2 follows the curvilinear guide VG1 or VG2 constrained . The actuating kinematics that supervises the movements of the perimeter edge VI and of the ej ection wall V2 are advantageously di f ferentiated to allow the perimeter edge VI to be operated independently of the ej ection wall V2 as occurs before the entry and at the end of the entry of the pack on tray V . The kinematics of VI must also be able to be operated at the same time as the kinematics of movement of the expulsion wall V2 so that the "brushing" movement carried out by the expulsion wall V2 corresponds to the preventive movement of the perimeter edge VI such as to bring its opening area Via on the discharge side and allow the discharge .

The invention relates to a modular distribution system for any sorting requirement of packs , of any format . When tray V passes through the inlet area, the pack can be loaded onto the tray V . This loading can be done manually by an operator or through conveyor belts external to the machine with electronic control through speci fic sensors , advantageously ultrasound or laser . While tray V is in the entry area until the tray V is loaded, the edges of tray V are configured in such a way as to leave at least one side without a border in order not to hinder the loading itsel f . At the end of loading and throughout the j ourney, the edges are always present to ensure ef fective containment of the pack both in the presence of accelerations and decelerations and in the presence of centri fugal forces due to curvature of the path . Tray V continues at an even speed until the entry zone ends . At the end of the entrance area there is the detection station for reading the barcode or the RFID code of the package through a camera system or an RFID reader . Tracking the package involves accessing a database system to associate the destination number with the package . Downstream of the survey station, tray V in the simplest configuration of the route , the ring-shaped one , faces either a curve with an ascending ramp i f the unloading area is elevated with respect to the entrance area or a simple switch i f there is no di f ference in height or with hoist platform i f there is a di f ference in height . Downstream of the bend / ramp or of the elevator, tray V enters the unloading area, traveling advantageously at a higher speed up to the point of unloading where it slows down to reduce the kinetic energy of the pack in the ej ection phase . Advantageously, it is possible not to slow down tray V near the unloading point but to use the ej ection system of the pack of tray V to obtain both the ej ection ef fect and the ef fect of reducing the kinetic energy of the ej ected pack . In traditional layout configurations , such as those with closed loop, the machine obj ect of the invention allows to obtain average speeds higher than those of a traditional machine which, for example , has a speed constraint to allow manual entry as the acceleration of the trays at speeds higher than that for manual entry out of the entry area allows to achieve the described purpose . Even in conditions of operation at constant and uni form speeds , the advantages compared to a traditional machine are very important both in terms of energy consumption with reductions in the order of 80% due to the ef fect of magnetic levitation LI , Pl , L2 , P2 and in terms package management without the possibility of loss of load due to the particular management of the edges of the trays . The machine o f the invention also allows atypical configurations thanks to the fact that a tray V can move along the tracks in both directions allowing for example star or multi-star configurations where the arms of the stars are tracked by rails that reach peripheral areas of the warehouse in which a tray V with high-speed travels ( even much higher than 3 meters / second) can be loaded to return to the star centre for unloading and then return, again at high speed, to the periphery to be recharged .

In addition, there are no fixed unloading outlets for the packs , but they are configurable both in number and in si ze . Advantageously, each tray V has a unique ID, typically readable in radio frequency without contact , and each discharge outlet itsel f has a unique ID, typically readable in radio frequency without contact , and the association allows the univocal pairing between the trays . V and unloading outlet after identi fication of the package through optical scanning of the bar code , or other technologies such as RFID, always ensuring compliance with the correct destination for the package .

The si ze of the trays can also be di f ferent within the same distribution system to allow the management of packs of very di f ferent si zes , precisely due to the individuality of the V tray itsel f which moves autonomously on the tracks , it being understood that the si ze of the unloading must conform to the potential dimensions of the packages .

The maximum weight per tray V can be diversi fied by being able to have trays with dif ferent load capacities .

Compared to a " traditional" distribution system, the constructive modularity makes it suitable for building even complex topologically paths , for example star paths where the star centre is the entrance area and each branch can serve a particular warehouse area , for example , for restocking stocks . Advantageously, the star branches can become the entry areas and the star centre can be used for unloading the goods to be shipped in a warehouse configuration with picking on the area . Advantageously, the trays serving the peripheries on the branches of the stars can be multiple loading trays ( of several packs at the same time ) , therefore of larger dimensions than the other trays , for subsequent singling through a manual entry zone at the star centres . In this working hypothesis , each star branch would be configured as a simple remote picking system. Symmetrically, the star could have its destinations delocali zed through narrow service rings to directly send the sorted packs to the warehouse area designated to receive them, thus creating an inventory management system integrated with the warehouse itsel f .

Each V tray can of fer a weighing function for the goods allocated above , exploiting the support system through precision linear measurements .

Each V tray can ej ect the pack it houses transversely with respect to the direction of motion respectively to the right and to the left , doubling the number of available outlets compared to systems that can operate on one side only .

The system for expelling the pack from tray V has the characteristic of operating by imparting to the pack both an ef fective force for lateral expulsion and a force in opposition to the direction of motion of the tray V itsel f , thus reducing the kinetic energy possessed by the pack at the time of detachment from the tray level VO and, therefore , the si ze of the unloading chute , and, therefore , allowing for the same dimensions , to increase the maximum number of destinations possible for the distribution system 100 .

The invention represents a novelty in the panorama of distribution systems for sorting packs as it represents the synergistic conj ugation of the technologies of traditional systems based on conveyor belts , roller conveyors , trays (by way of example Sorter bomb-bay, push-tray, tilt -tray, cross-belt , etc . ) and of the technologies used in logistics systems through automatic guided vehicles (AGV) .

Compared to a traditional distribution system, the trays positioned on the conveyor belts are replaced by sel f-supporting trays equipped with automatic guidance . Compared to an AGV system, the trays move on tracks that determine the work path . Compared to the AGV system, the trays move without physical contact , thus eliminating rolling friction and thus reducing noise and energy consumption . Again with respect to traditional systems , the trays obj ect of the invention together with the tracks , always obj ect of the invention, and the other components of the invention, such as switches and elevators , allow to eliminate all the operative rigidity connected to a traditional "monolithic" system allowing flexibility in terms of variable speed along the route , dynamic and software configurable positioning of the entrance area and the unloading area, software si zing of the unloading exits for single destination and the number of destinations , one-to-one association between tray V and destination downstream of the loading of the pack and its recognition, all drastically reducing the electrical power consumed with a view to migration towards increasingly eco- sustainable solutions , drastic reduction in consumption essentially linked to magnetic levitation ( LI , Pl , L2 , P2 ) which allows to reduce all energy losses related to friction . Compared to a traditional system that usually operates in a closed or linear ( open loop ) configuration, the individuality of the trays allows freedom in the design of the track layout to better adapt to warehouse spaces up to the creation of complex geometries such as star shapes or multi-star .

The above description of one or more speci fic embodiments is able to show the invention from the conceptual point of view so that others , using the known technique , will be able to modi fy and / or adapt the embodiments in various applications without further research , and without departing from the inventive concept , and, therefore , it is understood that such adaptations and modi fications will be considered as equivalent to the speci fic embodiment . The means and materials for carrying out the various functions described may be of various nature without thereby departing from the scope of the invention . It is understood that the expressions or terminology used have a purely descriptive purpose and are therefore not limiting .