TECHNICAL FIELD

The present disclosure relates to the field of repetitive processing machines, and in particular depositing systems, which are typically used in the food manufacturing and processing industry. In particular, the disclosure relates to drive mechanism for driving a manifold of said system.

BACKGROUND

Depositing systems are often used in the food manufacturing and processing industry. Food items such as biscuits or cakes often require a flowable substance to be applied as a topping or filling. For efficiency, throughput and consistency reasons, mechanical depositor systems are often used to deposit such fillings or toppings as a repetitive process

Such mechanical depositor systems may include a movable assembly in the form of a depositor manifold which is supported above a conveyor belt. The depositor manifold is movable in the sense that it can be driven to follow a predetermined pathway adjacent the conveyor belt. Typically, the depositor manifold is movable independently of the conveyor belt.

Typically, food items are transported around a production facility using a conveyor belt or similar means. If the items are relatively small, or if the production line has a large output, the items may be arranged in ranked rows on the conveyor belt. In the case that it is necessary to apply a filling or a topping to such items, the efficiency of the process may be optimised if this can be achieved whilst the conveyor belt is moving. It has therefore been proposed to use a movable depositor manifold carrying an array of outlet nozzles to direct the flowable substance onto each item carried by the conveyor. This may be achieved by mounting the depositor manifold above the conveyor, and controlling it so that it is driven cyclically through a predetermined pathway in which the manifold is lowered towards the conveyor, then moved in synchronism with the conveyor to deposit the flowable substance simultaneously onto the individual items of several ranked rows carried by the conveyor, before then being raised away from the conveyor and moved backwards, in the opposite direction to the conveyor, and then lowered ready to move in synchronism with the conveyor again whilst depositing the flowable substance onto the individual items of a subsequent series of ranked rows on the conveyor.

Typically the depositor manifold is required to follow and cyclic pattern, within an envelope of motion. The pattern may for example be circular, reciprocating, elliptical or a combination thereof.

A drive mechanism to drive the depositor manifold assembly may comprise a series of drive members to support and drive the manifold assembly through the cyclic pattern. A series of linear actuators may be implemented as the or part of the drive members. A drawback with linear actuators is that they may be prone to failure. Replacing a failed linear actuator can be difficult due to the market in linear actuators being highly progressive.

GB 2371845 A discloses a drive mechanism comprised of a rotary actuator that drives a gear assembly. The gear assembly is configured to drive a depositor manifold with a generally D- shaped, or other, cyclical pattern. The gear assembly of such a drive mechanism may, in particular implementations, be expensive to manufacture.

In spite of the effort already invested in the development of drive mechanisms systems further improvements are desirable.

SUMMARY

The present disclosure provides a drive mechanism. The drive mechanism is for a repetitive processing machine. The drive mechanism is for driving an output unit. The output unit may comprise a depositor manifold of a depositor system implementation of the repetitive processing machine. The drive mechanism comprises: a body; a carrier member configured to carry said depositor manifold, and; a drive linkage system comprising a first member and a second member. The first member is arranged to receive rotary motion relative the body at a first end/portion from a first drive member. The second member is arranged to receive rotary motion relative the carrier at a first end/portion from a second drive member. The first and second rotary member are rotatably connected at second ends thereof.

A position of the carrier member relative the body may be controllable to move with a cyclic movement by control of the first and second drive members. The cyclic movement may comprise a substantially linear movement.

By implementing a drive mechanism comprised of first and second members, which are driven to rotate at their first portions/ends by separate drive members and rotatably coupled to each other at the other second portions/ends, a carrier member carrying a depositor manifold can be driven through a range of cyclic trajectories, wherein the particular trajectory is selected based on convenient control of the drive members. An advantage is that the drive mechanism does not implement a complex gear assembly. An advantage is that the drive mechanism can be driven by cost effective rotary actuators, rather than linear actuators, which can suffer from the previously- mentioned drawbacks.

As used herein the term “rotatably connected” may refer to the first and second member coupled by a connection that is rotatable, e.g. by means of a common axle and/or axis of rotation. The first and second member may be independently rotatable of each other at said rotatable connection. In an embodiment, the carrier member is rotationally constrained relative the body. By rotationally constraining said carrier member, purely translational movement may be conveyed to the depositor manifold, which may be advantageous in ensuring the nozzle(s) of the depositor manifold remain aligned to a product and/or conduits supplying said manifold do not become twisted.

In an embodiment, the cyclic movement is one or more of: substantially linear reciprocating; circular; or D-shaped; elliptical; other repetitive movement. By implementing control of the drive members a wide-range of cyclical movements can be achieved, which can be customised for the desired depositing action.

In an embodiment, a length between an axis of rotation of the first end/portion and an axis of rotation at a second end/portion of the first member is equal to a corresponding length between an axis of rotation of the first end/portion and an axis of rotation at a second end/portion of the second member. By implementing equal length first and second members, control of the first and second drive members to achieve a particular trajectory of the cyclic motion may be simplified.

In an embodiment, a second drive member is mountable to the carrier member such that it is rotationally constrained thereto. In an embodiment a first drive member is mountable to the body such that it is rotationally constrained thereto. By implementing an attachment with said rotational constraint, rotational motion can be conveyed from the drive members to the first and second members through the carrier member/body.

In an embodiment, the drive mechanism comprises a stabilizing system to prevent rotation of the carrier relative the body. By implementing a stabilizing system to prevent relative rotation of the carrier member and body, control of the first and second drive members to achieve a particular trajectory may be simplified. Moreover, it can be ensured that the depositor manifold remains arranged in an upright position during said cyclical movement, which may be beneficial for maintaining nozzle alignment.

In embodiments, the stabilizing system comprises the carrier slideably coupled to the body to translate in height and longitudinal directions. The sliding coupling provides a convenient stabilizing system to prevent rotation of the carrier relative the body, e.g. such that the carrier is enabled to translate in a height direction and longitudinal direction.

In embodiments, the slideable coupling comprises first and second sliding systems, which are arranged orthogonally to each other, the first and second sliding systems each comprising first and second sliding members to slideably engage corresponding first and second sliding member supports to enable the carrier to translate in said height and longitudinal directions. The first and second sliding systems provide a convenient implementation of the sliding coupling. In embodiments, of the first sliding system, one of the first sliding member or first sliding member support is arranged to move with the carrier (e.g. it is fixed, including a rigid fixing, to or forms the carrier), and the other of the first sliding member or first sliding member support is fixed with respect to the body in an associated direction of translation (which is the associated translation provided between the first sliding member and first sliding member support).

In embodiments, of the first sliding system, with the first sliding member arranged to move with the carrier, and the first sliding member support is fixed with respect to the body in said direction of translation, a second drive member support to receive a second drive member to apply said rotary motion to the second member is arranged to move with the carrier, the first sliding member interconnecting the second drive member support and carrier. By interconnecting the carrier and second drive member support with the first sliding member the carrier can be located away from the drive members and associated componentry, which may simplify the drive mechanism.

In embodiments, of the second sliding system, one of the second sliding member or second sliding member support is fixed with respect to the body, and the other of the second sliding member support or second sliding member support moves with the carrier along an associated direction of translation (which is the associated translation provided between the second sliding member and second sliding member support).

In embodiments, the first sliding member is arranged as at least two sub-first sliding members and the first sliding member support is arranged as at least two corresponding sub-first sliding members. In embodiments, the second sliding member is arranged as at least two sub-second sliding members and the second sliding member support is arranged as at least two corresponding sub-second sliding members. By implementing multiple sliding members and associated multiple supports structural support for the carrier may be improved. Alternatively, the first sliding member system and second sliding member system are implemented with single sliding members, which may provide stability via a keyway and key or other system to prevent rotation about the axis of translation.

In embodiments, of the first sliding system, the first sliding member is arranged as two sub-first sliding members and the first sliding member support is arranged as corresponding sub-first sliding member supports, wherein the sub-first sliding members are arranged parallel to each other with the first portion of the second member therebetween. By implementing multiple sliding members and associated multiple supports on either side of the second drive member, the structural support for the variable torque applied to the carrier may be improved.

In embodiments, of the second sliding system, the second sliding member is arranged as two sub second sliding members and the second sliding member support is arranged as corresponding sub-second sliding member supports, wherein the sub-second sliding members are arranged parallel to each other with the first portion of the first member therebetween. By implementing multiple sliding members and associated multiple supports on either side of the first drive member, the structural support for the variable torque applied to the body may be improved.

In an embodiment, the stabilizing system comprises at least one support linkage system, for example, 1 or 2 or 3 or 4. The support linkage system comprises a corresponding first member and a second member. By corresponding it is meant that the first member(s) of the support linkage system correspond to the first linkage of the drive linkage system, and the same in respect of the second members. The stabilizing system comprises a coupler member. The first and second members of the drive and support linkage systems are rotatably coupled at the coupler member at their second ends. They may rotate independently of the coupler member. The first and second members of the support linkage systems are rotatably coupled at their first ends to the body and carrier member respectively. By implementing such a configuration of stabilizing system, the drive mechanism may be easy to assemble and/or fabricate, for example, by common parts between the drive and support linkage systems. In an embodiment, the carrier member and coupler member may couple to the first and second members of the drive and support linkage systems at corresponding points. By corresponding points it is meant that the points of coupling on the carrier member and the coupler member are orientated the same distance from each other. By arranging the coupling of the carrier member and coupler member at corresponding points, the drive mechanism may be easy to assemble and/or fabricate, e.g. by a common fabrication process for both the carrier member and the coupler member.

In an embodiment, the carrier member is rotatable about the rotatable connection of the first and second members. In an embodiment, the coupler member is rotatable about the rotatable connection of the first and second members. By enabling said rotation, a wide envelope of movement of the carrier member is achieved, particularly by utilizing the length of the first and second members.

In an embodiment, the coupler member and/or body include a trajectory window through which the depositor manifold is arrangeable to extend. By enabling the depositor manifold to extend through a window of one or both of the coupler member and base, the drive mechanism may be formed more compactly. Moreover, a trajectory of an envelope of motion of the depositor manifold may be conveniently visualized.

In an embodiment, the first drive member is arrangeable on a side of the body and the first member is arranged on an opposed side of the body. In an embodiment, the second drive member is arrangeable on a side of the carrier member and the second member is arranged on an opposed side of the carrier member. By arranging the first drive member and first members on opposed sides of the body, the first drive member may be positioned compactly and/or without obstructing moving components of the drive mechanism.

In an embodiment, a drive shaft extends through the body and is rotationally constrained to the first member. In an embodiment, a drive shaft extends through the carrier member and is rotationally constrained to the second member. The drive shafts may be formed as part of the drive members. By arranging a drive shaft to extend though the body or carrier member, and to be rotatably constrained to the first or second member, the drive mechanism may compactly transmit rotary motion to the linkage system. In an embodiment, the drive shaft may be integrated with the drive members.

In an embodiment, the first member is independently rotatable of the body. In an embodiment, the second member is independently rotatable of the carrier. By arranging said first and second members to be independently rotatable of the respective body and carrier, a greater range of movement of the depositor manifold is provided.

In an embodiment, the drive mechanism includes a first drive member having an actuator to drive the first member, a second drive member having an actuator to drive the second member, control circuitry and a position orientation system to provide a position of said actuators to the control circuitry. The control circuitry is configured to control the drive mechanism based on the position of said actuators. By implementing a position orientation system to provide position information, e.g. as an electrical signal, to the control system the position of the drive mechanism can be conveniently interpreted. As used herein, the “position orientation system to provide a position of said actuators” may refer to a unit arranged to measure a position of the actuator of the drive member or another member connected to the actuator, e.g. the first member. The position system may comprise an encoder, e.g. a rotary encoder to provide information of shaft position for a rotary drive member. The position system may comprise a rotary actuator with integrated position determination, such as a DC step motor.

Disclosed herein is a drive mechanism in accordance with features of any preceding embodiment or another embodiment disclosed herein and an output unit, e.g. a depositor manifold, for attachment to the carrier of said drive system.

Disclosed herein is a repetitive processing machine, e.g. a deposing system, comprising a product transmission system, the drive mechanism in accordance with features of any preceding embodiment or another embodiment disclosed herein, and an output unit, e.g. a depositor manifold. The depositor manifold is drivable by the drive mechanism to deposit a substance on a product during transmission of the product with the product is transmitted by the product transmission system. Disclosed herein is a method of repetitive processing of products, which may include method of depositing a substance on a product. The method may comprise driving, with a first drive member, a first member to rotate at a first portion; driving, with a second drive member, a second member to rotate at a first portion, wherein the first and second member are rotatably connected at second portion, wherein said driving causes a carrier member attached to the second drive member to move with a cyclic movement, the carrier member carrying an output unit, e.g. a depositor manifold. The method may comprise driving the first drive member and the second drive member based on feedback from a position orientation system. The method may be implemented in accordance with features of any preceding embodiment or another embodiment disclosed herein. The present disclosure includes a computer program or electrical circuitry to perform said method and a computer readable medium comprising the computer program.

The preceding summary is provided for purposes of summarizing some embodiments to provide a basic understanding of aspects of the subject matter described herein. Accordingly, the above- described features are merely examples and should not be construed to narrow the scope or spirit of the subject matter described herein in any way. Moreover, the above and/or proceeding embodiments may be combined in any suitable combination to provide further embodiments. Other features, aspects, and advantages of the subject matter described herein will become apparent from the following Detailed Description, Figures, and Claims.

BRIEF DESCRIPTION OF THE FIGURES

Aspects, features and advantages of embodiments of the present disclosure will become apparent from the following description of embodiments in reference to the appended drawings in which like numerals denote like elements.

Figure 1 is a schematic diagram showing embodiment componentry of a depositor system.

Figure 2 is a block system diagram showing embodiment componentry of a delivery system of the system of figure 1.

Figure 3 is a block system diagram showing an embodiment of the system of figure 1.

Figure 4 is a schematic diagram showing an embodiment of a drive system of the system of figure 1.

Figures 5 - 9 are schematic diagrams showing an embodiment of a drive system of the system of figure 1.

Figures 10 - 13 are schematic diagrams showing an embodiment of a drive system of the system of figure 1. DETAILED DESCRIPTION OF EMBODIMENTS

Before describing several embodiments of a repetitive processing system, it is to be understood that the system is not limited to the details of construction or process steps set forth in the following description. It will be apparent to those skilled in the art having the benefit of the present disclosure that the system is capable of other embodiments and of being practiced or being carried out in various ways.

The present disclosure may be better understood in view of the following explanations:

As used herein the term “repetitive processing” or “repetitive processing machine” may refer to a machine/operation in which products are processed in a repetitive manner. The products may be processed sequentially in ranked rows on a conveyor system. Each product may be processed in generally the same manner by the repetitive processing machine. Said processing of products may, in the implementation of a depositing system, include depositing a substance on or to form a product. In other implementations the repetitive processing may comprise moving of the products, e.g. pick-and-place (P&Ps) for other products, e.g. general manufacturing lines, which may not include the product as a foodstuff. In the general application of a repetitive processing machine a drive mechanism drives an “output unit”. As used herein the term “output unit” may refer to a unit capable of providing the processing step of the repetitive processing machine. In the implementation of a depositing system the output unit is a depositor manifold. In other implementations, such as P&Ps it may be a robotic arm for manipulating a position of products.

As used herein the term “depositor system” may refer to a system for use in the food manufacturing and processing industry, for the depositing of a substance as defined herein onto a product as defined herein. A depositor system may include the apparatus and optionally other circuitry/componentry associated with the function of the apparatus, e.g. a peripheral device and/or other remote computing device.

As used herein the term “substance” may refer to a flowable substance for depositing on a product as defined herein. A substance may refer to one or more of a: liquid; solid; gel; foam; other substance. A substance may be deposited a topping or filling. A substance may include: cream; icing; and chocolate.

As used herein the term “product” may, in reference to a depositor system, refer to a food item that may comprise a substance and base, on which the substance is applied. A substance may include: biscuits; cakes; and chocolate. A product may be composed of at least the substance as defined herein but without the base. As used herein the term “depositor manifold” may refer to a delivery member adapted to supply a substance as defined herein to a product as defined herein. A depositor manifold may include one or more nozzles arrange to supply a substance as defined herein.

As used herein the term “carrier” or “carrier member” may refer to a component or a collection of components, which may be distributed spatially, to support the depositor manifold.

As used herein the term “product transmission system” may refer to a system to transfer product bases to operative proximity of a depositor manifold for disposition of a substance on said base. A product transmission system is typically implemented, but is not limited to, a conveyor system. A product transmission system may be configured to transfer product bases in successions of ranked rows to the depositor manifold.

As used herein the term “longitudinal direction” may refer to a direction aligned to a direction of travel of a product on the product transmission system.

As used herein the term “height direction” may refer to a direction that is perpendicular to the longitudinal direction and that may extend vertically from the product transmission system, e.g. from a conveyor thereof.

As used herein the term “lateral direction” may refer to a direction which is perpendicular to both the longitudinal and height directions, e.g. a direction laterally across a conveyor thereof.

As used herein the term “drive mechanism” may to an arrangement of mechanically linked components configured to drive the depositor manifold in a cyclic movement.

As used herein the term “cyclic movement” may refer to a repetitive movement performed in a cycle, e.g. with common stating and end points. A cyclic movement may include one or more of: substantially linear reciprocating; circular; or D-shaped; elliptical; other repetitive movement.

As used herein the term “drive member” may refer to a unit operable to drive the drive mechanism as defined herein. A drive member may include a rotary actuator or a linear actuator adapted to supply rotary motion to the drive mechanism. A drive member may include an actuator, e.g. a shaft, movable to supply said movement.

As used herein, the term "electrical circuitry" or “electric circuitry” or “circuitry” or “control circuitry” may refer to, be part of, or include one or more of the following or other suitable hardware or software components: an Application Specific Integrated Circuit (ASIC); electronic/electrical circuit (e.g. passive components, which may include combinations of transistors, transformers, resistors, capacitors); a processor (shared, dedicated, or group); a memory (shared, dedicated, or group), that may execute one or more software or firmware programs; a combinational logic circuit. The electrical circuitry may be centralised on the apparatus or distributed, including distributed on board the apparatus and/or on one or more components in communication with the apparatus, e.g. as part of the system. The component may include one or more of a: networked-based computer (e.g. a remote server); cloud-based computer; peripheral device. The circuitry may be implemented in, or functions associated with the circuitry may be implemented by, one or more software or firmware modules. The circuitry may include logic, at least partially operable in hardware.

As used herein, the term "processor" or “processing resource” may refer to one or more units for processing including as an ASIC, microcontroller, FPGA, microprocessor, digital signal processor (DSP) capability, state machine or other suitable component. A processor may include a computer program, as machine readable instructions stored on a memory and/or programmable logic. The processor may have various arrangements corresponding to those discussed for the circuitry, e.g. on-board and/or off board the apparatus as part of the system.

As used herein, the term "computer readable medium/media" or “data storage” may include conventional non-transient memory, for example one or more of: random access memory (RAM); a CD-ROM; a hard drive; a solid state drive; a flash drive; a memory card; a DVD-ROM; a floppy disk; an optical drive,. The memory may have various arrangements corresponding to those discussed for the circuitry/processor.

As used herein, the term “information carrying medium” may include one or more arrangements for storage of information on any suitable medium. Examples include: data storage as defined herein; a Radio Frequency Identification (RFID) transponder; codes encoding information, such as optical (e.g. a bar code or QR code) or mechanically read codes (e.g. a configuration of the absence or presents of cut-outs to encode a bit, through which pins or a reader may be inserted).

As used herein the term “control system” may refer to one or more of: control circuitry; data storage; processor, which are implemented to control the drive members of the drive mechanism to drive a depositor manifold with a particular movement, which may be cyclical. The drive members may be controlled by control of electrical current suppled thereto from an electrical power supply, e.g. in magnitude and/or on/off. Said control may be based on feedback from a position orientation unit.

In the following examples, a depositor system is described. It will be understood that the disclosure is not limited to a depositor system and may be suitably extended to other implementations of repetitive processing machines. Referring to figure 1, an embodiment depositor system 2 includes; a product transmission system 4; a delivery system 6; a control system 8, and; a drive system 10, each of which will be described sequentially as follows.

Still referring to figure 1, the product transmission system 4 is implemented as a conveyor system, which is operable to transfer product bases (not shown) arranged thereon to operative proximity of one or more depositor manifolds of the delivery system 6. Typically, the product transmission system 4 is implemented with a conveyor belt 12 and associated drive system (not shown). Although it will be understood that other implementations are possible, such as individual arms to hold and transmit a product.

Referring to figures 1 and 2, the delivery system 6 includes a supply system 14 and a depositor manifold 16. The supply system is operable to supply, in fluid form, a substance as defined herein. The supply system may be implemented as a reservoir 18 to contain said substance and a pumping system 20 to effect pressurized transmission of said substance from the reservoir 18 to the depositor manifold 16. The depositor manifold 16 includes an outlet 22 from which the substance is transmitted.

Referring to figure 3, the control circuitry 8 may be operable to control the product transmission system 4 to deliver product bases to operative proximity of the outlet 22 of the depositor manifold 16. The control circuitry 8 may, for example, control of the conveyor 12 on/off and speed by a conveyor drive and feedback system (both not shown). The control circuitry 8 may control the delivery system 6, for example, by control of the pumping system 20 to supply the substance at the desired flow rate to the depositor manifold 16 and flow meter for feedback (not shown).

The control circuitry 8 is operable to control the drive system 10 to drive the depositor manifold 16 with the desired motion with respect to the conveyor 12. Said control may be implemented by controlling operation of drive members 24 to drive a drive mechanism 26 in response to feedback from a position orientation system 28, as will be discussed. A first and second drive member of the drive members 24, depending on their particular implementation, may be controlled in terms of rotational speed and direction.

Referring to figure 4, the drive mechanism 26 may implement features of any of the preceding embodiments or other embodiments disclosed herein. The drive mechanism 26 includes a body 30; a carrier member 32 configured to carry said depositor manifold 16 (not shown in figure 4); a drive linkage system 34 comprising a first member 36 and a second member 38, wherein the first member 36 is arranged to receive rotary motion relative the body 30 at a first end 40 from a first drive member 48, the second member 38 is arranged to receive rotary motion relative the carrier member 32 at a first end 44 from a second drive member 50, the first and second members are rotatably connected at second ends 42, 46 thereof, wherein a position of the carrier member 32 relative the body 30 is controllable to move with a cyclic movement by control of the first and second drive members 48, 50.

The drive member 48 applies rotary motion to the first end 40 of the first member 36 to cause the first member to rotate about an axis 52, which is perpendicular to the length of the first member 36. In an embodiment, a shaft (not shown) of the drive member 48 extends though the body 30 and is rotationally constrained to the first end 40 of the first member 36. Said rotational constraint may be implemented by a key protruding from a keyway of the shaft for engagement with a corresponding cut-out adjacent a hole of the first end 40. The shaft is able to rotate freely within a hole in the body 30 through which it extends.

The drive member 50 applies rotary motion to the first end 44 of the second member 38 to cause the second member to rotate about an axis 54, which is perpendicular to the length of the second member 38. In an embodiment, a shaft (not shown) of the drive member 50 extends though the carrier 32 and is rotationally constrained to the first end 44 of the second member 38. Said rotational constraint may be implemented by a key protruding from a keyway of the shaft for engagement with a corresponding cut-out adjacent a hole of the first end 44. The shaft is able to rotate freely within a hole in the carrier 32 through which it extends.

In other embodiments, the rotational constraint may be alternatively implemented, e.g. by a press- fit. In other embodiments, the shaft is formed integrally with the first member. In embodiments the drive member drives the shaft by a transmission system, e.g. a gear system.

The first member 36 and second member 38 are rotatably connected at their second ends 42, 46 about axis 56. The rotatable connection may include an axle, which is inserted through holes (both not shown) in said members. The axle may be implemented with various configurations, e.g. rotationally constrained, including formed integrally with one of the members and free to rotate with respect to the other member or free to rotate with respect to both members.

The body 30 comprises a stationary member that may be fixed to the product transmission system 4, e.g. by a removable attachment in the embodiment of a retrofit drive system. In other embodiments it may be an integral component of the depositor system 2.

As illustrated in the embodiment of figure 4, a length between the axis 52 of rotation of the first end 40 and the axis 56 of rotation of the second end 42 of the first member 36 is equal to a length between the axis 54 of rotation of the first end 44 and the axis 56 of rotation at a second end 46 of the second member 38. By implementing equal length first and second member, control of the first and second drive members to achieve a particular trajectory may be simplified. In embodiments (which are not shown), the lengths may not be equal, e.g. the first member may be longer than the second member, or the converse. With such an implementation other cyclic motions may be possibly, or specific cyclic motions may be implemented with easier control of the drive members.

In the illustrated embodiment of figure 4, the body 30 receives the first drive member 48 on a first side and the first member 36 is arranged on an opposed second side of the body 30. With such an implementation, the first member 36 can rotate without obstruction from the first drive member 48. The body 30 may be configured to receive the first drive member 48 on the first side thereof, e.g. it may comprise a suitable mounting surface proximal the first member 36. Said the mounting surface may comprise suitable means to attach the first drive member 48 to the body 30, e.g. fixtures such as bolt holes.

In embodiments (which are not shown), the first drive member is arranged on the same side of the body as the first member. In such an embodiment, the position of the first drive member may not interfere with rotation of the first member by the implementation of a drive train to enable the first drive member to be positioned away from the rotational path of the first member. In an embodiment the first drive member integrates the body.

In the illustrated embodiment of figure 4, the carrier member 32 receives the second drive member 50 on a first side and the second member 38 is arranged on an opposed second side of the carrier member 32. With such an implementation, the second member 38 can rotate without obstruction from the second drive member 50. The carrier member 32 may be configured to receive the second drive member 50 on the first side thereof, e.g. it may comprise a suitable mounting surface proximal the second member 38. Said the mounting surface may comprise suitable means to attach the second drive member 50 to the carrier member 32, e.g. fixtures such as bolt holes.

In embodiments (which are not shown), the second drive member is arranged on the same side of the carrier member as the first member. In such an embodiment, the position of the second drive member may not interfere with rotation of the second member by the implementation of a drive train to enable the second drive member to be positioned away from the rotational path of the second member. In an embodiment the second drive member integrates the carrier member.

The carrier member 32 is configured to mount a depositor manifold 16 thereto, which can extend along an axis 56. By configured to mount it is meant that it may comprise a suitable mounting surface. Said the mounting surface may comprise suitable means to attach the depositor manifold 16 to the carrier member 32, e.g. fixtures such as bolt holes. In an embodiment the carrier member is formed integrally with the depositor manifold. It will be understood that one or more of the aforementioned axes 52 to 58 are aligned to each other, including substantially aligned.

During movement of the drive mechanism 26, it will be understood that the carrier member 32 remains aligned in the same plane, defined as the X-Y plane in figure 1. Moreover, during rotation of the first drive member 48 and/or the second drive member 50, the carrier member 32 can be driven to translate in said plane only without rotation relative the body 30, i.e. without rotation about the Z axis. In this way the displacement caused by rotation of the second member 38 by the second drive member 50 is fully conveyed to the carrier member 32.

The first drive member 48 may drive the first member 36 clockwise or counter-clockwise, independently of the driving of the second member 38 by the second drive member 50. The converse applies in respect of the second drive member 50 driving the second member 38.

It will be understood that the drive system 10 may implement a range of cyclical movements of the depositor manifold 16 depending on the rotational movement applied to the first and second members by the respective first and second drive members. Said cyclical movement may be one or more of: substantially linear; circular; D-shaped; elliptical.

In an embodiment, which is not shown, rotational constraint of the carrier member 32 about the Z axis may be achieved by the inertia of the carrier member and/or the depositor manifold 16 attached thereto. In an alternative embodiment, the drive mechanism 26 includes a stabilization system to system to restrain rotation of the carrier member 32 relative the body 30, whilst it is driven to translate.

In an embodiment, which is not shown, the stabilization system includes gyroscopic means arranged to create a gyroscopic force to resist said rotation.

Example 1 of Stabilization System

Referring to figures 5, the drive mechanism as described above implements an embodiment stabilization system 60. The stabilization system 60 comprises two support linkage systems 62, 64 each comprising a corresponding first member 66, 68 and a second member 70, 72 and a coupler member 74.

The first and second members 36, 38 of the drive linkage system 34 are rotatably coupled at their second ends at the coupler member 74. The corresponding first and second members 66 to 72 of the support linkage system 62, 64 are rotatably coupled at their second ends at the coupler member 74. In an embodiment an axle couples the coupler member 74 and the first and second members 36, 38, 66 to 72, the axle is inserted through holes (both not shown) in said members. The axle may be implemented with various configurations, e.g. rotationally constrained, including formed integrally with one of the members and free to rotate with respect to the other members or free to rotate with respect to all members.

The first and second members 66 to 72 of the support linkage systems 62, 64 are rotatably coupled at their first ends to the body 30 and carrier member 32 respectively. Said rotational coupling configuration can correspond to one of the herein described embodiments for the corresponding first and second member of the drive linkage system.

Since, in the embodiment, there is a single drive linkage system 34 and two support linkage systems 62, 64, the body 30 coupler member 74 and carrier member 32, couple at 3 points to said linkage systems 34, 62, 64. The three points are arranged as an equilateral triangle, although it will be understood that other embodiment configurations are possible, such as an isosceles or scalene triangle. Accordingly, the body 30, carrier member 32 and coupler member 74 all couple to the first and second members of the linkage systems at corresponding points, which form the vertexes of the triangular configuration.

In an embodiment, the coupler member 74 includes a trajectory window 76 through which the depositor manifold 16 is arrangeable to extend when mounted to the carrier member 32. In this way the stabilization mechanism 60 does not obstruct movement of the depositor manifold 16.

In an embodiment, the body 30 includes a trajectory window 78 through which the depositor manifold 16 is arrangeable to extend when mounted to the carrier member 32. In this way the body 30 does not obstruct movement of the depositor manifold 16.

Said trajectory windows 78, 76 may aid in a user when mounting said drive mechanism 26 to the product transmission system 4, since it can enable convenient visualization of the possible trajectories of the depositor manifold 16.

In embodiments (which are not illustrated), the stabilization system 60 comprises other numbers of drive linkage systems 62, 64, e.g. 1 or 3 or other number, and the body 30, coupler member 74 and carrier member 32 are suitably shaped to provide the correct number of mounting points for the linkage systems.

The first and second drive members 48, 50 may implement a position orientation 28 system to provide a rotational position of the shafts of the drive members (and therefore the first and second members) to the control circuitry 10. The position orientation system may be implemented in various manners: a rotary encoder; step motor implementing the drive members, wherein the step control system comprises the position orientation system. The position orientation system may interface directly with the shaft of the actuator, or another shaft operatively connected thereto. It will be understood that the control system 10 can control the position of the manifold 16 based on the feedback from the position orientation system 28.

The carrier 32 is implemented as a parallelogram, and in particular a square. In other embodiments, which are not illustrated, any the carrier may have other forms, e.g. other parallelogram forms. The dual units of the first 100A, 100B sub-first sliding member supports are paired in the height direction 80 and arranged proximal the vertices of the carrier 32.

Example 2 of Stabilization System

Referring to figures 10 to 13, the drive mechanism 26 as described above implements an embodiment stabilization system 61. In this example of the drive linkage system 34, the first member 36 and second member 38 are implemented with a circular form, hence the first ends are referred to as portions. It will be understood that the first and second member may take any suitable form, including those of prior embodiments.

The stabilizing system 61 comprises a slideable coupling 90 of the carrier 32 to the body 30 to translate in height H and longitudinal directions L. The slideable coupling 90 comprises first 92 and second 94 sliding systems, which are arranged orthogonally to each other to extend along said respective height H and longitudinal directions L.

The first sliding system 92 comprises a first sliding member system 96 which slideably engages in the height direction H a first sliding member support system 98.

The second sliding system 94 comprises a second sliding member system 100 which slideably engages in the longitudinal direction L a second sliding member support system 102.

The first sliding member system 96 is arranged to move with the carrier 32 in the height H direction. The first sliding member support system 100 is fixed with respect to the body 30 in the height H direction.

The second sliding member support system 102 is arranged to move with the carrier 32 in the longitudinal L direction. The second sliding member system 100 is fixed with respect to the body 30 in the longitudinal L direction.

A second drive member support 104 is arranged to receive a second drive member 50 which applies the rotary motion to the second member 38 at the first portion 44. The second drive member support 104 and carrier 32 are interconnected by the first sliding member system 92. In particular, the first sub-first sliding members 96A and second sub-first sliding members 96B (as will be discussed) interconnect at ends of the carrier 32 to the longitudinally spaced edges of the second drive member support 104.

In particular, the first sliding member system 96 is arranged as a first 96A and second 96B sub-first sliding members (which may also be referred to as first sliding members) and the first sliding member support system 98 is arranged as first 98A and second 98B corresponding sub-first sliding member supports (which may also be referred to as first sliding member supports). The first 96A and second 96B sub-first sliding members comprise an extension arranged to cooperate with an aperture of the first 98A and second 98B sub-first sliding member supports.

In a similar manner, the second sliding member 100 is arranged as a first 100A and second 100B sub-first sliding members (which may also be referred to as second sliding members) and the second sliding member support 102 is arranged as first 102A and second 102B corresponding sub-first sliding member supports (which may also be referred to as second sliding member supports). The first 100A and second 100B sub-first sliding members comprise an extension arranged to cooperate with grooves of the first 102A and second 102B sub-first sliding member supports.

The sub-first and sub-second sliding member supports are distributed as two units, which are arranged as vertices of a rectangle that defines a boundary, within which the first drive member 48 and second drive member 50 are arranged. In particular, the first sub-first sliding member supports 98A and second sub-first sliding member supports 98B are paired in the height direction H, with each pair separated from each other in the longitudinal direction L. Moreover, the first sub-second sliding member supports 102A and second sub-second sliding member supports 102B are paired in the longitudinal direction L, with each pair separated from each other in the height direction H.

The sub-first sliding member supports 98A, 98B and corresponding sub-second sliding member supports 102A, 102B are formed integrally, e.g. the first sub-first sliding member support 98A and first sub-second sliding member support 102A are integrally formed and so on. On each integral formation, an associated aperture that receives the sliding member to provide said support, is formed orthogonally.

The first sub-first sliding member 96A and second sub-first sliding member 96B are arranged parallel to each other with the first portion 44 of the second member 38 arranged therebetween.

The first sub-second sliding member 100A and second sub-second sliding member 100B are arranged parallel to each other with the first portion 40 of the first member 36 arranged therebetween. The extensions of the sliding members are circular in cross-section and the sliding members comprise a correspondingly shaped aperture, although any suitable cross-section can be implemented.

In variant embodiments, which are not illustrated, the stabilization system 61 is alternatively implemented, for example: the carrier may be formed on or as part of the second drive member support; the first member system and/or second sliding member system comprises a first sliding member system may be implemented with a single sliding member, each with one or more sliding member supports; the sliding member supports may be implemented at and end of the sliding member, as opposed to the illustrated rectangular arrangement; the sliding member supports may be implemented with grooves to engage the sliding members rather than an aperture; the sliding member supports may be fixed to the body and/or carrier, with the sliding members to move therethrough.

In the above examples, whilst only a single drive mechanism 26 is shown on a side of the conveyor, it will be understood that in some examples a corresponding drive mechanism can be implemented on the other side of the conveyor to interconnect at opposed ends the depositor manifold 16.

Examples of Cyclic Movement

In the following examples the first member 36 and second member 30 are the same length (i.e. between the axes of rotation at their ends). However, it will be understood that other ranges of motion are possible when said members are implemented with different lengths.

It will be understood that the following movements can be provided with either the first or second stabilization system.

Example 1: circular movement

In respect of the first example of the stabilization system, referring to figures 5 to 9, the above embodiment implementation of the drive mechanism 26 is shown sequentially driving the depositor manifold 16 with a circular trajectory. In particular, the first drive member 48 is operated in the clockwise direction. The second drive member 50 is operated in the clockwise direction. Both drive members are operated at the same angular velocity, i.e. in phase with each other. Consequently, it can be observed that the first member 36 and second member 30 of the drive linkage system 34 remain longitudinally aligned during said movement.

Example 2: linear movement To achieve a linear movement (not shown), e.g. reciprocating to and away from a conveyor, the first drive member 48 is operated in one of a clockwise or counter-clockwise direction. The second drive member 50 is operated in the other of the clockwise or counter-clockwise direction. Both drive members are operated at the same angular velocity, i.e. in phase with each other.

With such a movement, it will be understood that the first member 36 and second member 30 of the drive linkage system 34 rotate in opposed directions to each other such that at the depositor manifold their net rotary motion cancels out to leave linear motion.

Example 3: D-shaped movement

A D-shaped movement may be achieved by a combination of the circular movement and linear movement described in Example 1 and Example 2, e.g. via supposition of the two movements.

Example 4: Rectangular shaped movement

In respect of the second example of the stabilization system, referring to figures 10 to 13, the above embodiment implementation of the drive mechanism 26 is shown sequentially driving the depositor manifold 16 with a rectangular trajectory. In particular, the first drive member 48 is operated in the clockwise direction. The second drive member 50 is operated in the clockwise direction. Both drive members are operated at the same angular velocity, i.e. in phase with each other. Consequently, it can be observed that the first member 36 and second member 30 of the drive linkage system 34 remain longitudinally aligned during said movement.

As used in this specification, any formulation used of the style “at least one of A, B or C”, and the formulation “at least one of A, B and C” use a disjunctive “or” and a disjunctive “and” such that those formulations comprise any and all joint and several permutations of A, B, C, that is, A alone, B alone, C alone, A and B in any order, A and C in any order, B and C in any order and A, B, C in any order. There may be more or less than three features used in such formulations.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other elements or steps then those listed in a claim. Furthermore, the terms “a” or “an,” as used herein, are defined as one or more than one. Also, the use of introductory phrases such as “at least one” and “one or more” in the claims should not be construed to imply that the introduction of another claim element by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim element to inventions containing only one such element, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an." The same holds true for the use of definite articles. Unless stated otherwise, terms such as “first” and “second” are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage.

Unless otherwise explicitly stated as incompatible, or the physics or otherwise of the embodiments, example or claims prevent such a combination, the features of the foregoing embodiments and examples, and of the following claims may be integrated together in any suitable arrangement, especially ones where there is a beneficial effect in doing so. This is not limited to only any specified benefit, and instead may arise from an “ex post facto” benefit. This is to say that the combination of features is not limited by the described forms, particularly the form (e.g. numbering) of the example(s), embodiment(s), or dependency of the claim(s). Moreover, this also applies to the phrase “in one embodiment”, “according to an embodiment” and the like, which are merely a stylistic form of wording and are not to be construed as limiting the following features to a separate embodiment to all other instances of the same or similar wording. This is to say, a reference to ‘an’, ‘one’ or ‘some’ embodiment(s) may be a reference to any one or more, and/or all embodiments, or combination(s) thereof, disclosed. Also, similarly, the reference to “the” embodiment may not be limited to the immediately preceding embodiment.

As used herein, any machine executable instructions, or compute readable media, may carry out a disclosed method, and may therefore be used synonymously with the term method, or each other.

The foregoing description of one or more implementations provides illustration and description, but is not intended to be exhaustive or to limit the scope of the invention to the precise form disclosed. Modifications and variations are possible in light of the above teachings or may be acquired from practice of various implementations of the present disclosure.

LIST OF REFERENCES

2 Depositor system

4 Product transmission system (conveyor)

6 Delivery system

14 Supply system

18 Reservoir 20 Pumping system 16 Depositor manifold 22 Outlet

8 Control system 10 Drive system 24 Drive members

48 First drive member 50 Second drive member 26 Drive mechanism

30 Body

78 Trajectory window 32 Carrier member 34 Drive linkage system 36 First members

40 First portion/end 42 Second portion/end 38 Second members

44 First portion/end 46 Second portion/end

60 Stabilization system

62, 64 Support linkage system 66, 68 First members 70, 72 Second members 74 Coupler member

76 Trajectory window

61 Stabilization system

90 Slideable coupling

92 First sliding system

96 First sliding member system

96A First sub-first sliding member 96B Second sub-first sliding member 98 First sliding member support system

98A First sub-first sliding member supports 98B Second sub-first sliding member supports 94 Second sliding system

100 Second sliding member system

100A First sub-second sliding member 100B Second sub-second sliding member 102 Second sliding member support system

102A First sub-second sliding member supports

102B Second sub-second sliding member supports

28 Position orientation system 104 Second drive member support H Height direction L Longitudinal direction M Lateral direction