Guide module for making a movement plane

1. A guide module ( 1 ) for making a movement plane, comprising:

a rotation unit ( 20 ) rotatable about a longitudinal axis (Z);

a ball ( 30 ) mounted on the rotation unit ( 20 ) by means of a respective actuation pin ( 31 ) in a rotatable fashion relative to the rotation unit ( 20 ) about a transversal axis (X), perpendicular to the longitudinal axis (Z), the transversal axis (X) being fixed relative to the rotation unit ( 20 );

a first actuator ( 52 ) acting on the rotation unit ( 20 ) to move the rotation unit ( 20 ) in an adjustable fashion about the longitudinal axis (Z);

a second actuator ( 54 ) acting on the actuation pin ( 31 ) of the ball ( 30 ) for moving the ball ( 30 ) about the transversal axis (X); and

a transmission unit ( 40 ) rotatable about the longitudinal axis (Z) and having, at a relative first end, a first ring gear ( 41 ) meshing with a transmission pinion ( 32 ) rotationally integral with the actuation pin ( 31 ), the second actuator ( 54 ) acting on the transmission unit ( 40 ) for rotating the first ring gear ( 41 ) about the longitudinal axis (Z).

2. The guide module ( 1 ) according to claim 1 , wherein the transmission unit ( 40 ) also comprises, at or close to a relative second end opposite the first, a second ring gear ( 42 ) meshing with an actuation pinion ( 55 ) on which the second actuator ( 54 ) acts.

3. The guide module ( 1 ) according to claim 2 , wherein the second ring gear ( 42 ) is defined by a row of radial teeth facing towards the longitudinal axis (Z) and/or wherein the first ring gear ( 41 ) is defined by a respective row of front teeth aligned along the longitudinal axis (Z).

4. The guide module ( 1 ) according to claim 1 , wherein the first end of the transmission unit ( 40 ) has a tubular shape for housing internally at least a part of the ball ( 30 ).

5. The guide module ( 1 ) according to claim 1 , wherein the rotation unit ( 20 ) has a tubular shape, extending around the longitudinal axis (Z) and defining an inner space (V) in which are at least partly housed the ball ( 30 ) and the respective actuation pin ( 31 ).

6. The guide module ( 1 ) according to claim 4 , wherein the transmission unit ( 40 ) is housed in the inner space (V).

7. The guide module ( 1 ) according to claim 6 , wherein the rotation unit ( 20 ) has, in a relative portion opposite or distal from the actuation pin ( 31 ) of the ball ( 30 ), a respective row of guide teeth ( 22 ) meshing with a shaft of the first actuator ( 52 ).

8. The guide module ( 1 ) according to claim 1 , wherein the first and second actuators ( 52 , 54 ) are mounted in side-by-side configuration and aligned along the longitudinal axis (Z).

9. The guide module ( 1 ) according to claim 1 , wherein the transmission unit ( 40 ) is supported in position by a central pin ( 43 ) rotatable about the longitudinal axis (Z).

10. The guide module ( 1 ) according to claim 1 , also comprising an outer containment body ( 10 ) having a tubular shape inside of which are enclosed the rotation unit ( 20 ), the transmission unit ( 40 ), a main part of the ball ( 30 ) and the actuation pin ( 31 ) of the ball ( 30 ); the rotation unit ( 20 ) being rotationally supported by the outer body ( 10 ).

11. The guide module ( 1 ) according to claim 10 , wherein the outer body ( 10 ) has a substantially annular end cap ( 16 ) having a central opening through which protrudes an apical portion ( 30 a ) of the ball ( 30 ), the end cap ( 16 ) also having an outer surface defining a sliding plane perpendicular to the longitudinal axis (Z).

12. The guide module ( 1 ) according to claim 1 , comprising a control unit connected to the first and second actuators ( 52 , 54 ) and configured to receive at least a first control signal of rotation of the ball ( 30 ) around the longitudinal axis (Z) and a second control signal of rotation of the ball ( 30 ) around the transversal axis (X), the control unit being configured to control the first actuator ( 52 ) as a function of the first control signal and to control the second actuator ( 54 ) as a function of the second control signal, the control unit also being configured to control the second actuator ( 54 ) in a compensated fashion as a function of the first control signal.

13. The guide module ( 1 ) according to claim 1 , having a prismatic coupling surface configured for connecting a plurality of modules ( 1 ) identical to a common mask according to a predetermined orientation to define a movement plane.

14. A modular movement plane for the sorting of objects, comprising:

a plurality of guide modules ( 1 ) according to claim 1 ;

a supporting mask configured for supporting the guide modules ( 1 ) in a matrix configuration in such a way as to define a sliding plane engaged by the balls ( 30 ) of the guide modules ( 1 ).

15. The movement plane according to claim 14 , wherein the supporting mask has a plurality of sockets and the guide modules ( 1 ) have a plurality of plugs ( 60 ) configured to engage the sockets for determining an electrical power supply and/or signal connection between the supporting mask and the guide modules ( 1 ) during a positioning of the guide modules ( 1 ) in the matrix configuration.

16. The guide module ( 1 ) according to claim 4 , wherein the transmission unit ( 40 ) is housed in the inner space (V) and also has a tubular shape extending around the longitudinal axis (Z).

17. The guide module ( 1 ) according to claim 5 , wherein the rotation unit ( 20 ) has, in a relative portion opposite or distal from the actuation pin ( 31 ) of the ball ( 30 ), a respective row of guide teeth ( 22 ) meshing with a shaft of the first actuator ( 52 ) and defined by radial teeth facing towards the longitudinal axis (Z).

18. The guide module ( 1 ) according to claim 1 , wherein the first and second actuators ( 52 , 54 ) are mounted in side-by-side configuration and aligned along the longitudinal axis (Z), each of the first and second actuators ( 52 , 54 ) comprising a respective actuation pinion ( 53 , 55 ) rotatable about a parallel axis.

19. The guide module ( 1 ) according to claim 1 , wherein the first and second actuators ( 52 , 54 ) are mounted in side-by-side configuration and aligned along the longitudinal axis (Z), each of the first and second actuators ( 52 , 54 ) comprising a respective actuation pinion ( 53 , 55 ) rotatable about a parallel axis and offset relative to the longitudinal axis (Z).

20. The guide module ( 1 ) according to claim 1 , also comprising an outer containment body ( 10 ) having a tubular shape inside of which are enclosed the rotation unit ( 20 ), the transmission unit ( 40 ), a main part of the ball ( 30 ) and the actuation pin ( 31 ) of the ball ( 30 ); the rotation unit ( 20 ) being rotationally supported by the outer body ( 10 ), by interposition of a cup- shaped body ( 14 ).