Apparatus for moving objects and relative movement method
A movement apparatus for objects configured for receiving an object from an infeed station and moving the object towards an outfeed station, comprising a movement surface comprising movement cells positioned on in a matrix fashion, positioned to operate with the object, wherein each movement cell has a direction of movement which can be individually controlled; a control system configured for defining a conveying trajectory in the movement surface for conveying the object from the infeed to the outfeed station; identifying trajectory cells belonging to the conveying trajectory and directing the direction of movement of each trajectory cell to move the object in the conveying trajectory; identifying, between the movement cells, convergence cells, defining a convergence zone adjacent to the conveying trajectory and, for each convergence cell, directing the direction of movement towards a central line of the conveying trajectory to maintain of the object inside the conveying trajectory.
1. A method for moving objects ( 2 ) comprising the steps of receiving at least one object ( 2 ) from an infeed station ( 3 ) and moving the object ( 2 ) towards an outfeed station ( 4 ), further comprising the steps of:
preparing a movement surface ( 101 ) comprising a plurality of movement cells ( 102 ) positioned on it in a matrix or chequerboard fashion;
controlling a direction of movement of each movement cell ( 102 ) independently relative to the other movement cells ( 102 ), and operating the movement cells ( 102 ) in conjunction for moving the object ( 2 ) in succession;
defining a conveying trajectory in the movement surface ( 101 ) for conveying the object ( 2 ) from the infeed station ( 3 ) to the outfeed station ( 4 );
identifying, between the movement cells ( 102 ), trajectory cells ( 105 ) belonging to the conveying trajectory and directing a direction of movement (D) of each trajectory cell ( 105 ) in the movement surface ( 101 ) in such a way as to move the object ( 2 ) in the conveying trajectory;
identifying, between the movement cells ( 102 ), convergence cells ( 106 ), defining at least one convergence zone ( 107 ) adjacent to the conveying trajectory and, for each convergence cell ( 106 ), directing the direction of movement (D) towards a central line (T) of the conveying trajectory to promote the maintaining of the object ( 2 ) inside the conveying trajectory;
controlling a movement speed in the direction of movement of each movement cell ( 102 ) independently from the other movement cells ( 102 ); setting up, for each convergence cell ( 106 ), a respective longitudinal component of the movement speed, parallel to a respective longitudinal axis of extension (Y) of the movement surface ( 101 ), having a value less than, or equal to, a longitudinal component of a corresponding trajectory cell ( 105 ).
2. The method according to claim 1 , and comprising the step of associating with each convergence cell ( 106 ) at least one corresponding trajectory cell ( 105 ).
3. The method according to claim 1 , and comprising the step of controlling a movement speed in the direction of movement of each movement cell ( 102 ) independently from the other movement cells ( 102 ), the movement speed of each movement cell ( 102 ) being less than, or equal to, a respective maximum speed; and further comprising the step of setting up, for each convergence cell ( 106 ), a respective transversal component of the movement speed, perpendicular to a respective longitudinal axis of extension (Z) of the movement surface ( 101 ), which is equal to the above-mentioned maximum speed.
4. The method according to claim 1 , and comprising the step of defining the convergence zone ( 107 ) and a further convergence zone ( 107 a ), comprising respective convergence cells ( 106 ), on opposite sides of the conveying trajectory.
5. The method according to claim 1 , and comprising the step of detecting the position of the object ( 2 ) in the conveying trajectory and defining a convergence area, downstream of the object ( 2 ) in a conveying direction in the conveying trajectory from the infeed station ( 3 ) to the outfeed station ( 4 ), and another convergence area, upstream of the object ( 2 ).
6. The method according to claim 5 , and comprising the step of controlling a movement speed in the direction of movement of each movement cell ( 102 ) independently from the others; setting up a movement speed of the convergence cells ( 106 ) of the convergence area different to the movement speed of the convergence cells ( 106 ) of the other convergence area.
7. The method according to claim 6 , and comprising the step of setting up the movement speed of the trajectory cells ( 105 ) at the object ( 2 ) which is greater than the movement speed of the convergence cells ( 106 ) of the convergence area and less than the movement speed of the convergence cells ( 106 ) of the other convergence area, to slow down the convergence cells ( 106 ) of the convergence area and accelerate the convergence cells of the other convergence zone.