WO2015037022A1

WO2015037022A1 - Electronic control apparatus of an industrial machine

Info

Publication number: WO2015037022A1
Application number: PCT/IT2013/000246
Authority: WO
Inventors: Alessandro Bonino
Original assignee: Bonino S.P.A Con Unico Azionista
Priority date: 2013-09-13
Filing date: 2013-09-13
Publication date: 2015-03-19

Abstract

The invention relates to an electronic control apparatus (100; 1001; 1002) for handling a machine (200; 300; 400) suitable to perform coordinated mechanical movements. Such machine comprises a first handling unit (201; 301; 201) actuated by a first motor and one or more second handling units (202, 203; 302, 303; 202, 203, 204), each being actuated by a corresponding second motor. The apparatus is characterized in that it comprises : - a chief regulating module (101; 101a; 101) operatively associated to the first handling unit to actuate the first motor in a controlled manner; - one or more secondary regulating modules (102, 103; 102a, 103a; 102, 103, 104) distinct from the chief regulating module, each being operatively associated to a corresponding second handling unit to actuate the second motor of such second unit in a controlled manner; - digital signal communication means (120) configured for reversibly electrically connect the one or more secondary regulating modules to the chief regulating module, for supporting information exchanges for the control coordination.

Description

DESCRIPTION

ELECTRONIC CONTROL APPARATUS OF AN INDUSTRIAL MACHINE

Technical field

The present invention generally relates to electronic apparatuses for controlling industrial machines. Particularly, the invention relates to an electronic apparatus for controlling the handling of orienting machines configured to arrange a plurality of objects having the same shape in succession and with a predetermined orientation.

Background art

Orienting machines are usually employed in production, processing, assembling, packaging lines or the like of industrial or consumption products in order to allow feeding components, pieces, products (referred to herein below as "objects") with the orientation required by the following treatment or processing step.

The orienting machines of a known type generally comprise an object orienting unit defining an orienting seat of the same objects. Such orienting unit is implemented, for example, in a vibration orienting device or in a rotating disc orienting device. In addition, such orienting machines comprise other handling units of the objects to be oriented, such as an object feeding unit, for example, a conveyor belt lifter or a linear vibrator, which are suitable to convey the objects into the orienting seats, and an extraction unit, for example, a conveyor belt, withdrawing, downstream of the handling path, the objects with a desired orientation from the orienting seats.

The handling of each unit of the orienting machines, of both the vibration/rotating disc orienting devices, and the units for feeding and extracting objects, is carried out by a motor, for example, a three- phase motor, for the rotational units, or by an electromagnetic actuator, for the vibration units.

An electronic apparatus for controlling orienting machines of a known type generally comprises a programmable logic controller (PLC) . Generally, such PLC, including a processing central unit (CPU) , for example a microprocessor or microcontroller, volatile (RAM) and non-volatile (ROM, EPROM, EEPROM, Flash) memories, as well as input/output boards for digital and analog signals, and boards for communicating with other devices of an industrial plant, is electrically connected to each motor/electromagnetic actuator of the orienting machine in order to control the start/stop thereof and, generally, the handling thereof.

One of the most felt needs in the field of the orientation of objects is to modify the configuration of an existing orienting machine in order to meet different object orientation needs, or to modified feeding or extraction configurations of the same objects. Such modifications may require the addition of an extraction unit to the orienting machine, for example, the addition of a conveyor belt, or the replacement of an orienting unit by another one, for example the replacement of a vibration orienting device with a rotating disc orienting device, and vice versa.

Such modification, besides requiring the electrical connection/disconnection of the involved unit to /from the PLC, also requires reconfiguring and/or reprogramming the same PLC. In other terms, to modify the configuration of an orienting machine of a known type, it is often necessary the intervention of a skilled technician, and the operations to be performed may cause long interruption in the machine operation to be finalized. Consequently, this may cause corresponding interruptions of a whole processing line.

The above-mentioned need of configuration modification, and the above-mentioned drawbacks can also be found in other types of PLC-controlled machines for industrial uses.

Object of the present invention is to devise and provide an electronic apparatus for controlling a machine configured to perform coordinated mechanical movements generally and, particularly an object orienting machine, having features that allow at least partially obviating the above-indicated limitations of the known solutions.

Such an object is achieved by an electronic control apparatus in accordance with the claim 1. Alternative embodiments of the above-mentioned apparatus are defined in the dependent claims.

Brief description of the drawings

Further characteristics and advantages of the above-mentioned electronic apparatus for controlling an object orienting machine will be apparent from the description set forth below of a preferred implementation example, given by way of indicative, non- limiting example, with reference to the appended figures, in which:

Fig. 1 schematically shows a first example of an electronic control apparatus of the invention suitable to control a first object orienting machine;

Fig. 2 schematically shows a second example of an electronic control apparatus of the invention suitable to control a second object orienting machine;

Fig. 3 schematically shows a third example of an electronic control apparatus of the invention suitable to control a third orienting machine, obtained by modifying the first machine; Fig. 4 shows a functional block scheme of a chief regulating module of the controlling apparatus of Fig. 1;

Fig. 5 shows a functional block scheme of a chief regulating module of the controlling apparatus of Fig. 2.

Detailed description

With reference to the above-mentioned figures 1-3, an electronic apparatus for controlling a machine 200, 300, 400 configured to perform coordinated mechanical movements in accordance with the invention on the whole is indicated with the numeral references 100, 1001, 1002. For the sake of brevity, herein below, such electronic control apparatus 100, 1001, 1002 will be referred to as the control apparatus or simply apparatus.

In the above-mentioned figures, similar or analogous elements are indicated by the same reference numerals.

Particularly, in the example of Figs. 1-3, the controlled machine 200, 300, 400 is an object orienting machine used in production, processing, assembling, packaging lines or the like of industrial or consumption products suitable to allow feeding such objects with the required orientation by a following treatment or processing step. While, for the sake of brevity, reference is explicitly made herein below to examples for controlling of orienting machines, the apparatus 100, 1001, 1002 of the invention may be also used for controlling other types of industrial machines performing coordinated mechanical movements. Referring to the example of Fig. 1, the orienting machine 200 comprises a first 201 and a second 202 motorized handling units of the objects to be oriented. Particularly, such first 201 and second 202 handling units compose a rotating disc orienting device, comprising an outer disc and an inner disc, respectively.

Furthermore, the orienting machine 200 comprises a third motorized handling unit 203 of the objects implemented in an object extracting unit, for example, a rotational conveyor belt, withdrawing the objects with the desired orientation downstream of the rotating disc orienting device. Such third handling unit 203 concurs to form, together with the previous units, an orienting machine 200 operating completely in rotation, of a type known to those skilled in the art.

Referring to the example of Fig. 2, the orienting machine 300 comprises a first motorized handling unit 301 of the objects to be oriented, implemented in a vibration orienting device or circular vibrator. Furthermore, the orienting machine 300 comprises a second motorized handling unit 302 of the objects implemented in an extraction unit, for example, a vibration conveyor belt or linear vibrator, withdrawing the objects with the desired orientation downstream of the vibration orienting device 301. In addition, the orienting machine 300 comprises a third motorized handling unit 303 of the objects implemented in a feeding unit of the objects to be oriented, for example, a linear vibrator suitable to convey the objects towards the circular vibrator 301. Such second 302 and third 303 handling units concur to form with the circular vibrator 301 an orienting machine 300 of the vibration type, known to those skilled in the art .

Referring to the example of Fig. 3, the orienting machine 400 comprises the first 201 and the second 202 motorized handling units of the objects to be oriented of the orienting machine 200 of Fig. 1, i.e., the rotating disc orienting device. The orienting machine 400 further comprises the same object extracting unit, i.e., the conveyor belt 203. In addition, the orienting machine 400 comprises a fourth motorized object handling unit 204 implemented in a feeding unit of the object to be oriented, for example, a conveyor belt lifter suitable to convey the objects to be oriented towards the rotating disc orienting device 201,202.

It shall be noticed that, besides to the examples set forth above, object orienting machines of a hybrid type are known, which are obtained by associating rotational handling units to vibrational units or with air conveyors, for example, side-channel blowers. The electronic control apparatus 100, 1001, 1002 of the invention may be advantageously used also for controlling such hybrid machines, as it will be explained herein below . Referring to the example of Fig. 1, the controlling apparatus 100 (embedded in the hatched rectangle) comprises a chief regulating module 101 operatively associated to the first handling unit 201, i.e., the outer disc of the rotating disc orienting device, to actuate in a controlled manner a first motor associated to such outer disc.

Furthermore, the controlling apparatus 100 comprises a first secondary regulating module 102 operatively associated to the second handling unit 202, i.e., the inner disc of the rotating disc orienting device, to actuate in a controlled manner a second motor associated to such inner disc. It shall be noticed that the first secondary regulating module 102 is distinct from the above-mentioned chief regulating module 101.

In addition, the controlling apparatus 100 comprises a second secondary regulating module 103 similar to the first module 102 operatively associated to the third handling unit 203, i.e., the conveyor belt, to actuate in a controlled manner a third motor associated to such belt.

It shall be noticed that in the present description the general term "regulating module" is used to mean an electronic module that is provided with a corresponding processing unit, for example, a microcontroller, configured for performing driving and regulation functions of three-phase motors or single-phase windings. Furthermore, due to the different types of the orienting machines, rotational or vibrational, the general term "motor" could meant both three-phase motors and single-phase electromagnetic windings suitable to handle the vibrational units, and operating as real "motor units".

Particularly, in the case of the orienting machine 200 of Fig. 1, each of the above-mentioned regulating modules 101, 102, 103 has the purpose of providing electric power to the AC alternating-current three-phase motors associated to the respective handling units 201, 202, 203 composing the machine 200. Such power is fed by the modules in the form of a three-phase sinusoidal voltage. Besides to the start/stop of the motor, each module 101, 102, 103 is configured to perform a voltage/frequency or Volt/Hertz control, known to those skilled in the art, particularly an open loop control, for regulating the rotational speed of the controlled motor and the torque applied to the drive shaft thereof.

It shall be noticed that, as it will be explained herein below, the chief regulating module 101 of the apparatus 100 is configured to act as a master module, and the secondary regulating modules 102, 103 are configured to act as slave modules.

Referring to the example of Fig. 2, the controlling apparatus 1001 (embedded in a hatched rectangle) comprises a corresponding chief regulating module 101a operatively associated to the first handling unit 301,

1. e., the vibration orienting device, to actuate in a controlled manner a first motor unit associated to such orienting device.

Furthermore, the controlling apparatus 1001 comprises a corresponding first secondary regulating module 102a operatively associated to the second handling unit 302, i.e., the vibration conveyor belt, to actuate in a controlled manner a corresponding motor unit thereof. In this case also, the first secondary regulating module 102a is distinct from the above- mentioned chief regulating module 101a.

In addition, the controlling apparatus 1001 comprises a corresponding second secondary regulating module 103a similar to the first module 102a operatively associated to the third handling unit 303, i.e., the linear vibrator, to actuate in a controlled manner a corresponding motor unit thereof.

With reference to the orienting machine 300 of Fig.

2, each of the above-mentioned regulating modules 101a, 102a, 103a has the purpose of providing electric power to the corresponding motor unit, i.e., the electromagnetic actuator employed for vibrating the associated handling unit. Such power is fed by each module 101a, 102a, 103a in the form of an alternating sinusoidal voltage. In more detail, a coil arranged within the electromagnetic actuator converts the electric power generated by the regulating module 101a, 102a, 103a into a vibrational mechanical movement applied to the unit. Each regulating module 101a, 102a, 103a is configured for controlling the sinusoidal waveform generated, for example, in terms of amplitude and frequency.

In view of this, the chief regulating module 101 of the apparatus 100 is structurally different from the chief regulating module 101a of the apparatus 1001, as it will be explained herein below. Similarly, the secondary regulating modules 102, 103 of the apparatus 100 are structurally different from the secondary modules 102a, 103a of the apparatus 1001.

In the case of the example of Fig. 2 also, the chief regulating module 101a of the apparatus 1001 is configured for acting as a master module, and the secondary regulating modules 102a, 103a are configured for acting as slave modules.

Starting from the apparatus 100, referring to the example of Fig. 3, the controlling apparatus 1002 (embedded in the hatched rectangle) comprises:

the chief regulating module 101 operatively associated to the outer disc 201 of the rotating disc orienting device to actuate in a controlled manner the corresponding first motor thereof;

- the first secondary regulating module 102 operatively associated to the inner disc 202 of the rotating disc orienting device, and the second secondary regulating module 103 similar to the first module 102 operatively associated to the conveyor belt 203, to actuate in a controlled manner the corresponding motor thereof.

Such secondary regulating modules 102, 103 are distinct from the chief regulating module 101.

In addition, the controlling apparatus 1002 comprises a further secondary regulating module 104 that is similar to the modules 102, 103 and operatively associated to the fourth handling unit 204, i.e., the conveyor belt lifter, to actuate in a controlled manner a corresponding motor thereof, particularly, an AC alternating-current three-phase motor.

Advantageously, the controlling apparatus 100, 1001 comprises digital signal communication means 120 configured to electrically and reversibly connect the first 102, 102a and the second 103, 103a secondary regulating modules to the chief regulating module 101, 101a for supporting information exchanges for the coordination of the control.

In the case of the example of Fig. 3, such digital signal communication means 120 are configured for electrically and reversibly connecting the first 102, the second 103, and the further 104 secondary regulating modules to the chief regulating module 101, for supporting the information exchanges for the coordination of the control. In the Figs. 1-3, such signal communication means 120 are schematically represented by arrows connecting the chief regulating module 101, 101a to the secondary regulating modules 102, 103, 104, 102a, 103a.

In a preferred embodiment, such digital signal communication means 120 comprise a serial connection bus for half-duplex multi-point communication. In more detail, such serial connection bus is in accordance to the serial communication standard RS-485.

On such a communication bus RS-485, different digital signals are exchanged between the chief regulating module 101, 101a and the secondary regulating modules 102, 103, 104, 102a, 103a. Particularly, some of these signals comprise commands sent by the chief modules to the secondary modules, for example read and/or write commands from/to specific locations of memories, for example of a non-volatile type, included in the secondary regulating modules.

In addition, other signals comprise cyclic checking signals or polling signals by the chief regulating module 101, 101a of all the secondary regulating modules connected thereto. Such cyclic checking is performed by the operative system loaded in the chief regulating module 101, 101a and allows the latter to check, through the corresponding addresses RS-485, both the presence and the operative status of each connected secondary regulating module, and the type of the connected regulating module, i.e., whether it is a module suitable to perform driving and regulating functions of three- phase motors or single-phase windings.

It shall be noticed that a physical connection between a regulating master module 101, 101a and a first slave module 102, 103, 104, 102a, 103a provides the wiring of the three-wire communication cable forming the bus 120 between the terminal board of the master and that of such first slave. The connection of a second slave module occurs by wiring the communication cable between the terminal board of the first slave module and that of the second one. It is proceeded in a similar manner to connect a further slave module to the controlling apparatus 100, 1001, 1002 so as to form a train of regulating modules.

In accordance with an embodiment, both the chief regulating module 101, 101a and the secondary regulating modules 102, 103, 104, 102, 103a of the apparatus 100, 1001, 1002 comprise configuration means of connection of the chief regulating module to the secondary modules through the serial connection bus RS-485. In a preferred embodiment, such connection configuration means (not shown in the figures) comprise, for example, an electronic selector device with multiple switches that may be manually actuated, which is referred to as Dual In-line Package (DIP) switch by those skilled in the art.

For example, assuming to use in the control apparatuses 101, 1001, 1002 DIP switches with four switches 1, 2, 3, 4, each of these is associated to an address on the serial communication network RS-485 based on the following scheme:

1= RS-485 ADD_0

2= RS-485 ADD_1

3= RS-485 ADD_2

4= RS-485 TERM

in which ADD_0, ADD_1, ADD_2 represent the addresses of the switches 1, 2, 3 and the address of the switch 4 represents a termination of the serial network RS-485. Each of the above-mentioned addresses ADD_0, ADD_1, ADD_2 and the termination TERM are representative of an enabled status UP or a disabled status DOWN of the switches in the DIP switches of the apparatus 100, 1001, 1002.

By selecting DIP switches with only four switches, the apparatus 100, 1001, 1002 of the invention may comprise at most four regulating modules (the chief one and the secondary ones) that are interconnected.

For example, in the case of a controlling apparatus comprising only one chief regulating module, 101 or 101a, the addresses of the four switches 1, 2, 3, 4, of the corresponding DIP switch are:

1= DOWN, 2= DOWN, 3= DOWN, 4= DOWN.

In the case of a controlling apparatus comprising both a chief regulating module, 101 or 101a, and a secondary regulating module, 102 or 102a, the addresses of the switches 1, 2, 3, 4, of the DIP switch associated to the chief regulating module are:

1= DOWN, 2= DOWN, 3= DOWN, 4= UP.

and the addresses of the switches 1, 2, 3, 4, of the DIP switch associated to the secondary regulating module are: 1= UP, 2= DOWN, 3= DOWN, 4= DOWN.

Referring to the example of Fig. 1, in which the controlling apparatus 100 comprises both a chief regulating module 101 and two secondary regulating modules 102 and 103, the configuration of connection of the chief module to the secondary modules through the serial connection bus 120 provides that the addresses of the switches 1, 2, 3, 4, of the corresponding DIP switches associated to the above-mentioned regulating modules are:

101 - 1= DOWN, 2= DOWN, 3= DOWN, 4= UP

102 - 1= UP, 2= DOWN, 3= DOWN, 4= UP

103 - 1= DOWN, 2= UP, 3= DOWN, 4= DOWN.

It shall be noticed that the fourth switch 4, i.e., the termination, of the DIP switch of the second secondary regulating module 103 of the train is fixed in the disabled status DOWN.

Exemplary embodiments of the regulating modules concurring to form the electronic control apparatus 100, 1001, 1002 of an object orienting machine 200, 300, 400 according the invention are described with reference to the block schemes of Figs. 4 and 5. Particularly, Fig. 4 represents a functional block scheme of the chief regulating module 101 of the controlling apparatus 100 of Fig. 1 configured to perform driving and regulating functions of a three-phase motor M. Fig. 5 represents a functional block scheme of the chief regulating module 101a of the controlling apparatus 1001 of Fig. 2 configured to perform driving and regulating functions of a single-phase winding 502.

In the above-mentioned figures, the same or analogous elements and components are indicated by the same numeral references.

With reference to Fig. 4, the chief regulating module 101 comprises a first electronic circuitry portion or controlling and regulating portion 1012, and a second electronic circuitry portion 1013 schematically represented within the hatched line.

Such a first controlling and regulating portion 1012 comprises a rectifier block 401 connected in cascade with a filter 402, and a three-phase inverter block or inverter 403 driving the motor . As it is known, the rectifier block 401 is configured for generating a DC voltage starting from the alternating-current AC voltage provided by an external mains supply. The filter 402 is configured to leveling the ripple of the voltage signal generated by the rectifier block 401 and to transfer the latter to the three-phase inverter 403 for generating the three-phase sinusoidal alternating current driving the motor M. Such three-phase current is generated, for example, by a bipolar pulse width modulation (PWM) technique of a known type.

Furthermore, the first portion 1012 of the regulating module 101 comprises a processing and control block 404, for example, a microcontroller DSP, configured to generate driving signals to be sent to the three-phase inverter 403 through an insulation block 405. Particularly, such driving signals are generated based on the above-mentioned Volt/Hertz control characteristic.

In addition, the microcontroller DSP 404 is configured for receiving and processing input digital signals Si_N to the module 101 through an input block 406, and for controlling the sending of output digital signals SOUT through a corresponding output block 407.

The first electronic circuitry portion 1012 of the regulating module 101 further comprises an AC/DC conversion block 408 suitable to generate different direct-current DC voltage levels (for example, 24V, 5V and 3.3V) starting from the alternating-current AC voltage of the external mains supply. Such voltage levels are used to supply digital circuitry of the same regulating module 101.

It shall be noticed that the electronic components forming the first portion 1012 of the regulating module 101 are received on a first printed circuit board or PCB.

With reference to the second electronic circuitry portion 1013, the chief regulating module 101 comprises a further processing block 409, for example, a microcontroller, operatively connected with the microcontroller DSP 404.

Particularly, such microcontroller 409 is configured for controlling a user interface block 410 implemented with a liquid crystal display (LCD) , for example, of the touch-screen type.

Furthermore, the microcontroller 409 is configured for controlling an interface block 411 of Ethernet network ET, operating, for example, based on the 10/lOOBase-T standard, for the connection of the chief regulating module 101 to an external supervision personal computer (not shown) .

It shall be noticed that the chief regulating module 101 is configured to supply the alternating- current AC supply voltage to the secondary regulating modules 102, 103 connected thereto through a corresponding switching block 413 of the second circuit portion 1013.

Furthermore, the microcontroller 409 is configured for interacting with a safety functional block 412 of the regulating module 101. Such safety block 412 is configured to stop the controlling apparatus 100 under emergency conditions. Particularly, such safety block, representing a dedicated circuit section of the second portion 1013 of the regulating module distinct from the microcontroller 409, is suitable to turn off, following the occurrence of a malfunctioning, the secondary regulating modules 102, 103 following the compression of a corresponding stop button 414 provided for on the regulating module 101 to disable the transfer to the latter of the supply voltage through the switching block. 413.

A restore or reset button 415 operatively associated to the microcontroller 409 allows restoring the efficiency of the whole apparatus 100 after a stop event has occurred.

It shall be noticed that the electronic components composing the second portion 1013 of the regulating module 101 are received on a second printed circuit board or PCB. The chief regulating module 101 is implemented by mutually connecting the first board related to the above- described first portion and such second board. Particularly, the two boards, which are mutually connected and assembled one on the other, are embedded in a suitable, for example, metal receptacle.

In an embodiment of the invention, the block, structure of the secondary regulating modules 102, 103 of the controlling apparatus 100 substantially corresponds to the above-described first functional block portion 1012. In other terms, the secondary regulating modules 102, 103 acting as slave modules are lacking in the further microcontroller 409, in the display 410 and Ethernet 411 interface blocks, and in the safety block 412. In this case also, the electronic components composing such slave modules are received on a corresponding printed circuit board PCB housed in a metal receptacle.

With reference to Fig. 5, the chief regulating module 101a of the controlling apparatus 1001 of Fig. 2, comprises a corresponding first controlling and regulating portion 1014 and a second electronic circuitry portion 1013, represented within the hatched line, which is completely similar to the above-described second portion with reference to the chief regulating module 101.

The above-indicated first portion 1014 of the regulating module 101a comprises a corresponding rectifier block 401 connected in cascade with a filter 402 and a driving block or inverter stage 501 of the coil of an electromagnetic actuator 502. As it is known, the rectifier block 401 is configured for generating a DC voltage starting from the alternating-current AC voltage of the external mains supply, and the filter 402 is suitable to level the ripple of the voltage signal generated by the rectifier block 401 transferring the thus-obtained signal to the inverter stage 501 for generating the single-phase alternating current suitable to drive the coil of the electromagnetic actuator 502. Such sinusoidal current is generated by the inverter stage 501, for example, by the known bipolar pulse width modulation (PWM) technique.

Furthermore, the first portion 1014 of the regulating module 101a comprises a processing and control block 404 similar to the one described with reference to the module 101, for example, a microcontroller DSP, configured for generating driving signals to be sent to the single-phase inverter stage 501 through a corresponding insulation block 405. Particularly, such driving signals are configured for controlling the generated sinusoidal waveform in terms of amplitude and frequency.

Furthermore, the first portion 1014 of the regulating module 101a comprises feedback control means 503 of the electromagnetic actuator 502 suitable to detect an acceleration signal during the operation of the same actuator to supply it to the microcontroller DSP 404. Such feedback control means is implemented in an acceleration sensor 503.

Similarly to the regulating module 101, the microcontroller DSP 404 of the module 101a is configured for receiving and processing input digital signals Si_N through a corresponding input block 406, and for controlling the sending of output digital signals S₀UT through a corresponding output block 407.

Furthermore, in this case also, the first portion 1014 of the regulating module 101a comprises an AC/DC conversion block 408 suitable to generate different DC voltage levels (for example, 24V, 5V, and 3.3V) starting from the alternating-current AC voltage of the external mains supply.

The electronic components forming the above- described first portion 1014 of the regulating module 101a and those forming the second portion 1013 are received on printed circuit boards or PCBs that are distinct from one another. The chief regulating module 101a is implemented by mutually connecting such boards, assembling them one onto the other and embedding them in a suitable, for example, metal receptacle.

In an embodiment of the invention, the block structure of the secondary regulating modules 102a, 103a of the controlling apparatus 1001 substantially corresponds to the above-described first functional block portion 1014. In this case also, the electronic components composing such slave modules are received on a corresponding printed circuit board PCB housed in a metal receptacle.

The electronic control apparatus 100, 1001, 1002 of an object orienting machine 200, 300, 400 of the invention comprises multiple advantages.

In fact, the modular structure of such apparatus comprising one or more secondary regulating modules 102, 103, 104, 102a, 103a that may be connected/disconnected to/from the chief regulating module 101, 101a through the serial connection bus allows to add/to subtract one or more of such secondary modules to an existing controlling apparatus to meet a configuration modification need of an orienting machine.

For example, the configuration of the orienting machine 200 of Fig. 1 may be modified by adding thereto the conveyor belt lifter 204 so as to obtain the orienting machine 400 of Fig. 3. To such an aim, to the controlling apparatus 100 of the invention, a third secondary regulating module 104 is added, which is similar to the first 102 and second 103 secondary modules, and configured for controlling the three-phase alternating-current AC motor of such lifter 204.

Particularly, such third secondary module 104 is connected to the serial communication bus 120 of the apparatus 100 by physical wiring to the second secondary regulating module 103 as described above.

Subsequently, the modified configuration of connection of the chief regulating module 101 to the secondary modules 102, 103 and 104 through the serial connection bus 120 provides the following setting of the addresses of the switches 1, 2, 3, 4, of the DIP switches associates to the above-mentioned modules:

101 -> 1= DOWN, 2= DOWN, 3= DOWN, 4= UP

102 -> 1= UP, 2= DOWN, 3= DOWN, 4= UP

103 - 1= DOWN, 2= UP, 3= DOWN, 4= UP

104 - 1= DOWN, 2= DOWN, 3= UP, 4= DOWN. Proceeding in a similar manner, with the present invention it is also possible to subtract a handling unit, of the rotational or vibrational type, from an existing orienting machine by simply disconnecting the corresponding secondary regulating module from the module train, and by reconfiguring the connection of the remaining modules. Furthermore, it is also possible to replace a handling unit, for example a rotational one, of a rotation orienting machine with a vibrational unit, and vice versa, to obtain an orienting machine of an hybrid type. This requires the replacement of the (chief or secondary) regulating module which performs the driving and regulating functions of a three-phase motor with a homologous module performing the driving and regulating functions of a single-phase winding, and then reconfiguring the connection of the replaced module with the pre-existing ones.

In other terms, with the controlling apparatus of the invention 100, 1001, 1002, a reconfiguration of an orienting machine is much simpler and easier than that obtainable when the control of the orienting machines is devolved to a conventional PLC. Furthermore, such reconfiguration can be performed in short times, since it does not require the intervention of a technician.

Furthermore, the controlling apparatus 100, 1001, 1002 of a machine 200, 300, 400 of the invention having a modular structure, implemented by assembling to one another the pre-configured regulating modules described above based on the type (three-phase or single-phase) of the motor to be controlled, has the advantage to avoid designing of a dedicated electric control panel (electrical scheme and corresponding software) for the above-mentioned machine. In other terms, the proposed solution ensures both flexibility in the apparatus designing step, and a reduction in the corresponding designing costs.

Furthermore, compared to a traditional electric control panel or PLC, the controlling apparatus 100, 1001, 1002 of the invention has lesser overall dimensions .

To the embodiments of the electronic control apparatus described above, those skilled in the art, in order to meet contingent needs, will be able to make modifications, adaptations, and replacements of elements with functionally equivalent other ones, without departing from the scope of the following claims. Each of the characteristics described as belonging to a possible embodiment may be implemented independently from the other embodiments described.

Claims

1. An electronic control apparatus (100; 1001; 1002) for handling a machine (200; 300; 400) configured to perform coordinated mechanical movements, said machine comprising a first handling unit (201; 301; 201) actuated by a first motor and one or more second handling units (202, 203; 302, 303; 202, 203, 204), each of which being actuated by a corresponding second motor, characterized in that it comprises:

- a chief regulating module (101; 101a; 101) operatively associated to said first handling unit to actuate the first motor in a controlled manner;

one or more secondary regulating modules (102, 103; 102a, 103a; 102, 103, 104) distinct from said chief regulating module, each being operatively associated to a corresponding second handling unit to actuate the second motor of such second unit in a controlled manner, digital signal communication means (120) configured to reversibly electrically connect said one or more secondary regulating modules to the chief regulating module, for supporting information exchanges for the control coordination.

2. The electronic control apparatus (100; 1001; 1002) for handling a machine (200; 300; 400) according to claim 1, wherein said machine is an object orienting machine and said first handling units (201; 301; 201) and one or more second handling units (202, 203; 302, 303; 202, 203, 204) comprise handling units of the objects to be oriented.

3. The electronic control apparatus (100; 1001; 1002) according to claim 1 or 2, wherein said digital signal communication means (120) comprise a serial connection bus for a multi-point half-duplex communication.

4. The electronic control apparatus (100; 1001; 1002) according to claim 3, wherein said serial connection bus

(120) is in accordance to the serial communication standard RS-485.

5. The electronic control apparatus (100; 1001; 1002) according to claim 1 or 2, wherein both the chief regulating module (101; 101a; 101) and the one or more secondary regulating modules (102, 103; 102a, 103a; 102, 103, 104) comprise configuration means of connection of said chief regulating module to the one or more secondary regulating modules through the digital signal communication means (120).

6. The electronic control apparatus (100; 1001; 1002) according to claim 1 or 2, wherein said connection configuration means comprise an electronic selector device with multiple switches, which may be manually actuated, or DIP switch.

7. The electronic control apparatus (100; 1001; 1002) according to claim 2, wherein said chief regulating module (101; 101a; 101) comprises both a first electronic circuitry portion for controlling and regulating (1012; 1014) and a second electronic circuitry portion (1013) .

8. The electronic control apparatus (100) according to claim 7, wherein said first electronic circuitry portion controlling and regulating (1012) comprises:

- a rectifier block (401) connected in cascade with a filter (402) and with a three-phase inverter block (403) suitable to drive a three-phase motor (M) ;

a processing and control block (404) configured for generating driving signals to be sent to the three- phase inverter block (403) .

9. The electronic control apparatus (100; 1001; 1002) according to claim 7, wherein said second electronic circuitry portion (1013) comprises:

- a further processing block (409) operatively connected to said processing and control block (404);

- a user interface block (410) controlled by said further processing block (409) ;

- an interface block (411) of Ethernet network ET, controlled by said further processing block (409) ;

- a safety functional block (412) suitable to interact with the further processing block (409) to stop the controlling apparatus under emergency conditions;

- a switching block (413) to transfer an alternating- current AC supply voltage from the chief regulating module (101; 101a) to the secondary regulating modules (102, 103; 102a, 103a; 102, 103, 104) connected thereto.

10. The electronic control apparatus (100; 1001; 1002) according to claim 9, wherein said chief regulating module (101; 101a) comprises a stop button (414) suitable to transfer a command to the safety functional block (412) for disabling the transfer to the secondary regulating modules (102, 103; 102a, 103a; 102, 103, 104) of the alternating-current AC supply voltage by inhibiting said switching block (413) .

11. The electronic control apparatus (1001) according to claim 7, wherein said first electronic circuitry portion for controlling and regulating (1014) comprises:

- a rectifier block (401) connected in cascade with a filter (402) and with a single-phase inverter block (501) suitable to drive an actuator (502);

- a processing and control block (404) configured for generating driving signals to be sent to an electromagnetic actuator (502).