WO2025219829A1

WO2025219829A1 - Machine for making bristle tools

Info

Publication number: WO2025219829A1
Application number: PCT/IB2025/053830
Authority: WO
Inventors: Federico BALUGANI; Glauco Generali
Original assignee: Borghi SpA
Current assignee: Borghi SpA
Priority date: 2024-04-15
Filing date: 2025-04-11
Publication date: 2025-10-23
Anticipated expiration: 2026-10-15

Abstract

A machine (1) for making bristle tools (50) comprises at least one of a first operating element (2) for inserting a bristle bundle (60) and an anchoring element (62) into a cavity (52) of a body (51) of a tool (50); a second operating element (3) for taking a bristle bundle (60) from a bristle magazine (41); a third operating element (4) for moving bristle bundles (60) already inserted into the cavity (52); a fourth mobile operating element (7) for shearing a metal wire (65) and creating anchoring elements (62) and at least one moving device (10) to move one of the operating elements (2, 3, 4, 7) with a reciprocating motion comprising a forward stroke (Ca) and a backward stroke (Cr) and a dwell step (s) between the strokes (Ca, Cr); the moving device (10) includes a first and a second rocker arm (11, 12) having respective first ends (11a, 12a) connected to frame means (5) and second ends (11b, 12b) connected to a first connecting rod (13) to form a first four-bar linkage mechanism (21), the second rocker arm (12) comprising a connecting portion (12c) to move the operating element (2, 3, 4, 7); a crank (14) driven by a rotary actuator (30) and a second connecting rod (15) rotatably connected to the crank (14) and to an intermediate portion (11c) of said first rocker arm (11); the crank (14) and the second connecting rod (15) form with the first rocker arm (11) a second four-bar linkage mechanism (22).

Description

Machine for making bristle tools

The present invention relates to machines for making bristle tools for domestic and/or industrial use, in particular tools such as brushes, brooms, and the like, in which the bristle bundles are secured to the body of the tool by means of locking or anchoring elements.

According to the prior art, the bristle bundles or tufts are secured to the bodies or bases of bristle tools, such as small brushes, brushes, brooms, and the like, by performing a drilling operation and a subsequent punching operation. Through the drilling process, open cavities, or blind holes, are created on the body of the tool, into which the bristle bundles are inserted during the subsequent punching operation and secured therein by respective locking or anchoring elements. More precisely, the bristles of each bundle are grouped and folded in a “U” shape around a respective anchoring element to form an anchoring end that is inserted by a punching element or punch together with the anchoring element into a corresponding hole of the tool body.

The punch generally comprises an internal seat leading to a front opening and suitable for receiving the bristle bundle and a related anchoring element from respective feeding means. Inside the punch and through and along the internal seat, a thrust element, said needle or tab, is mobile, arranged to push inside the hole of the tool body and there block the bristle bundle and the anchoring element by interference, when the punch is positioned adjacent and facing said hole. The tab is secured and supported by a slider or slide which is mobile within the punch.

The punch and the tab are mobile with reciprocating motion and run respective forward strokes to insert the bristle bundle and the anchoring element into a hole of the tool body and respective backward strokes to disengage the hole and allow the displacement of the tool body.

A bristle displacement element, so-called bristle spreaders, is associated with the punch and arranged to displace the bristles already inserted in the holes so as to free access to an adjacent hole into which the punch must insert a respective bristle bundle. Such a displacement element typically comprises a ring mounted on an arm and moved with reciprocating motion between an operating position, in which the ring is placed in front of the front opening of the punch, and a non-operating position in which the ring is spaced apart from the punch.

The bristle bundles are supplied one at a time to the punch typically by means of a bristle transfer element, so-called arch, which is mobile with reciprocating motion along an arched path so as to take a bristle bundle from a magazine and transfer and release it into the inner seat of the punch.

The anchoring elements are generally made from a metal wire that is cut into pieces of wire of predefined length inside the punch, upstream of the respective bristle bundle with respect to the tab that pushes the anchoring element and the bristle bundle into the hole at the base of the tool.

The shearing of the wire is performed by a linearly mobile cutting element or cutting element with reciprocating motion inside and along the longitudinal inner seat of the punch.

The piece of wire that forms the anchoring element is generally folded into a "U" shape by a shaping element before being inserted together with the relative bristle bundle inside the hole of the tool body.

Numerous different mechanisms and/or kinematics are known for moving the various operating elements (punch, tab, bristle spreaders, arch, cutting elements etc.) of the machine driven by mechanical cams and/or by respective electrical drives.

In today's brush-making machines, the use of rotary electric motors controllable in position, speed and acceleration is increasingly envisaged, for example brushless motors, which allow the desired laws of motion to be set in a relatively simple and at the same time very precise and accurate manner. In particular, these motors make it possible to perform reciprocating movements or motions that include, in addition to a forward stroke and a backward stroke, also a dwell step, at the end of one of the two strokes, of variable duration depending on the specific needs.

For example, in the case of the bristle displacement element, the stop in the operating position at the tool body must have a sufficient duration to allow the punch to approach, the insertion of the bristle bundle and the anchoring element into the hole of the tool body by the tab and the disengagement and removal of the punch and the tab from the tool body.

In the case of the punch, the stop of the latter in front of the hole must have a duration such as to allow the tab to correctly insert the bristle bundle and the anchoring element into the hole.

Similarly, in the case of the bristle bundle transfer element, the stop of the latter at the bristle magazine must be such as to allow the correct and complete removal of the bristle bundle. In the case of the cutting element, the stop of the latter is provided to allow the moving of the metal wire after cutting.

However, due to the high operating rates of today's machines, i.e. the extremely short time intervals during which to perform the forward and backward strokes, the complete stop of the electric motor to carry out the dwell steps of the reciprocating motion involves very high deceleration and acceleration values peaks (up to 500-700 m/s2) and such as to compromise the precision of the positioning of the moved end elements. In some cases, the operating rate or speed of the machine must be reduced to achieve the necessary duration of the dwell steps. WO 2011/045743 describes a punching head 1 for an apparatus for producing brushes or brooms which comprises at least one punch adapted to insert groups of bristles in a brush or broom body and punch driving means which are configured so as to be able to vary a stroke of the punch.

US 2014/167488 describes an automatic punching machine for the manufacture of brushes comprising a slide connected to a first actuator and suitable for receiving fibre bundles and forward them to a brush body; a needle connected to a second actuator for inserting the fibre bundles into corresponding openings of the brush body; first and second sensors for detecting first and second signals representing the position of the slide and the needle; a memory containing data of a trend of a control parameter representing the position of the slide as a function of a synchronization parameter having a predetermined relationship with a parameter representing the position of the needle; a processor programmed to derive in real time values of the synchronization parameter and to control the first actuator by feedback as a function of the first and second signals, the synchronization parameter, and the data contained in the memory.

US 6016757 describes an insertion device for a filling tool of a machine for making brushes that makes it possible to vary and adjust the stroke of the filling tool without affecting its speed and precision of operation. The insertion device has a guide block provided with a guide channel, a driving tab operated with a reciprocating motion and received in the guide channel so as to be mobile, and a head with a through channel aligned with the guide channel. The head and the guide block are operated with a relative reciprocating motion. The device also has a driving system with a rotating motor shaft, a cam on the motor shaft and a cam follower that slides on the cam. The cam follower is operated by the cam with reciprocating motion having a predetermined stroke length. The driving system further comprises a conversion mechanism for converting the reciprocating motion with predetermined stroke length into a driving stroke having an adjustable variable length. The reciprocating motion between the head and the guide block and the reciprocating motion of the driving tab are both derived from the driving stroke which imparts a variable length stroke to both reciprocating motions. The driving tab and the head and guide block constantly assume a predetermined starting position regardless of the stroke length of the reciprocating motions to take control of a tuft of fibre. It is an object of the present invention to improve the known machines for making bristle tools for domestic and/or industrial use, in particular tools in which the bristle bundles are secured to the body of the tool by means of locking elements.

Another object is to provide a machine for making bristle tools capable of operating at high operating speeds or rates and which, in particular, allows precise and repeatable movement of operating elements of the machine with respective reciprocating motions that provide, in addition to a forward stroke and a backward stroke, a stop.

A further object is to provide a machine for making bristle tools having a robust and reliable construction and particularly precise and accurate operation.

These and other objects are achieved by a machine for making bristle tools according to one or more of the claims set forth below.

The invention can be better understood and implemented with reference to the attached figures which illustrate some exemplifying and non-limiting embodiments thereof, in which: figure l is a schematic view of the machine for making bristle tools of the invention; figure 2 is a simplified front view of a moving device of the machine of figure 1 associated with and driving an operating element of said machine with reciprocating motion in a first motion configuration; figure 3 is a simplified front view of the moving device of figure 2 in a further motion configuration; figure 4 is a kinematic diagram of the moving device of figure 2 illustrated in the first motion configuration and with dotted line in the second motion configuration and in an intermediate motion configuration; figure 5 is a motion diagram illustrating the reciprocating motion realized by the moving device of figure 2; figure 6 is a simplified front view of the moving device of the figure illustrated in the first motion configuration and, in dotted lines, in an intermediate configuration.

With reference to figure 1, there is illustrated a machine 1 according to the invention for making bristle tools 50 for domestic and/or industrial use, such as brushes, brooms or the like, each tool 50 comprising a body 51 provided with a plurality of open cavities 52 suitable for receiving respective bundles of bristles 60 and related anchoring elements 62.

In particular, the machine 1 comprises a first operating element 2 for punching, said punch, adapted to insert a bristle bundle 60 and a related anchoring element 62 into a cavity 52 of the body 51, a second operating element 3 for transferring, said arch, adapted to take one bristle bundle 60 at a time from a bristle magazine 41 and transfer it and release it to the first operating element 2 for punching and a third operating element 4 for displacement, said bristle spreaders adapted to move the bristle bundles 60 already inserted into the cavities 52 so as to free the access to an adjacent cavity 52 into which the punch 2 must insert a respective bristle bundle 60.

The punching element 2, of known type and not described and illustrated in detail, is linearly mobile with reciprocating motion along an operating path W and is provided with an internal longitudinal seat 44 suitable for receiving the bristle bundle 60 and the related anchoring element 62. The punching element 2 is slidably supported by frame means 5 of the machine 1 and is mobile with a reciprocating motion between a disengagement position, in which a front end 2a of said punching element 2 is spaced apart from the body 51 of the bristle tool 50, and an engagement position, in which the front end 2a is adjacent and facing a cavity 52 of the body 51. In particular, the punching element 2 performs a respective forward stroke when moved from the disengagement position to the engagement position and a respective backward stroke when moved from the engagement position to the disengagement position. A thrust element 6 is linearly mobile within the internal longitudinal seat 44 with reciprocating motion along the same operating path W and is configured for pushing out of the punching element 2 through the front end 2a and insert a bristle bundle 60 and a related anchoring element 61 into a cavity 52 of the body 51.

The second transfer operating element 3, of known type and not described and illustrated in detail, is mobile with reciprocating motion along an arched path, between a picking position in which a front portion 3a thereof provided with a picking seat is arranged at the magazine 41 containing a plurality of bristles 61 and a release position in which front portion 3a thereof is inserted inside the punching element to release in the internal longitudinal seat 44 the bundle of bristles 60 picked up from the magazine 41.

The third displacement operating element 4, also of known type and not described and illustrated in detail, comprises a ring mounted on an arm and moved with reciprocating motion along an arched path between a respective operating position, in which the ring is placed in front of the first punching operating element 2 (fig. 1) and a respective nonoperating position in which the ring is spaced apart from the first operating element 2.

The machine 1 also comprises feeding means for the anchoring element, in order to provide one anchoring element 62 at a time to be associated with a respective bristle bundle 60. Said feeding means of the anchoring elements, also of known type and not described and illustrated in detail, comprise, for example, forward means 45 arranged to linearly move and introduce a metal wire 65 inside the punching element 2 and a fourth cutting operating element 7 arranged to cut the wire 65 and obtain wire pieces of defined length that form respective anchoring elements 62. The metal wire 65 is moved and inserted inside the punching element 2 along a forward direction C, transverse and almost orthogonal to the operating path W by the forward means 45 comprising, for example, a pair of opposed motorised rollers.

The fourth cutting operating element 7 is linearly mobile with reciprocating motion along a respective further operating path K inside the internal longitudinal seat 44. The further operating path K of the fourth cutting operating element 7 therefore coincides with the operating path W of the first punching operating element 2 and of the thrust element 6.

In the embodiment illustrated in figure 1, the fourth cutting operating element 7 is configured, in addition to shearing the wire 65 in order to obtain the wire pieces of defined length, to fold each wire piece into a "U" shape against a shaping element 8, of a known type, insertable and disengageable with reciprocating motion transversely inside the internal longitudinal seat 44.

The machine 1 of the invention further comprises at least one moving device 10 supported by the frame means 5 and arranged to move one of the above-described operating elements 2, 3, 4, 7 with a reciprocating motion comprising a forward stroke Ca and a backward stroke Cr and a dwell step s between the strokes Ca, Cr.

In the illustrated embodiment, the machine 1 of the invention comprises a plurality of moving devices 10 arranged to move respectively the first punching operating element 2, the second transferring operating element 3 and the third displacement operating element 4 with a reciprocating motion comprising a forward stroke Ca and a backward stroke Cr and a dwell step S between the two strokes Ca, Cr.

There is also a respective moving device 10 for moving the fourth cutting operating element 7 with a reciprocating motion comprising a forward stroke Ca and a backward stroke Cr and a dwell step S between the strokes Ca, Cr.

With particular reference to figures 2 to 6, each moving device 10 comprises a first rocker arm 11 and a second rocker arm 12 having respective first ends I la, 12a connected to the frame means 5 rotatably about a first axis XI and a second axis X2 respectively and respective second ends 11b, 12b connected to a first connecting rod 13 rotatably about a third axis X3 and a fourth axis X4 respectively so as to form a first four-bar linkage mechanism 21. More precisely, the first four-bar linkage mechanism 21 is formed by two rocker arms 11, 12, by the first connecting rod 13 and by the frame means 5.

The second rocker arm 12 comprises a connecting portion 12c adapted to support and/or move an operating element 2, 3, 4, 7. This connecting portion 12c extends from the second end 12a on the opposite side with respect to the first end 12a.

The moving device 10 further comprises a crank 14 driven in rotation by a rotary actuator 30 about a fifth axis X5, in particular with the same direction of rotation, and a second connecting rod 15, or driver connecting rod, having respective opposite ends 15a, 15b rotatably connected respectively about a sixth axis X6 to the crank 14 and about a seventh axis X7 to an intermediate portion 11c of the first rocker arm 11. The crank 14, the second connecting rod 15 form with the first rocker arm 11 (and with the frame means 5 supporting the rotary actuator 30 and rotatably the first end 1 la of the first rocker arm 11) a second four- bar linkage mechanism 22, which is then added and combined to the first four-bar linkage mechanism 21.

In the embodiment illustrated in the figures, the crank 14 comprises a disc provided in the centre with a seat coaxial to the fifth axis X5 for connection to a motor shaft of the rotary actuator 30 and with a pin 34 eccentric with respect to the seat for rotary connection with a first end 15a of the second connecting rod 15 about the sixth axis X6. The distance between the fifth axis X5 and the second axis X6, i.e. between the seat housing the motor shaft of the rotary actuator 30 and the eccentric pin 34 represents the length of the crank 14.

As illustrated in particular in figures 2 to 4, the rocker arms 11, 12, the connecting rods 13, 15 and the crank 14 are dimensioned and connected in such a way that in the dwell step s of the reciprocating motion they are arranged in a first motion configuration A in which the first axis XI, the third axis X3 and the fourth axis X4 are substantially aligned along a first direction T1 and the fifth axis X5, the sixth axis X6 and the seventh axis X7 are substantially aligned along a second direction T2, transverse to the first direction Tl, the fifth axis X5 being interposed between the sixth axis X6 and the seventh axis X7.

In particular, in the aforementioned first motion configuration A of the moving device 10 the crank 14 and the second connecting rod 15 are arranged in a first position Pl of top dead centre of the second four-bar linkage mechanism 22.

Similarly, in said first motion configuration A the first rocker arm 11 and the second connecting rod 13 are arranged in a second position P2 of top dead centre of the first four- bar linkage mechanism 21.

As better explained in the following description and illustrated in figure 6, the superimposition of the top dead centres of the two four-bar linkage mechanisms 21, 22 determines, as known, that while the crank 14 travels through a first angle a containing the respective first top dead angle position Pl, the first rocker arm 11 oscillates around the first axis XI of a second angle 0 containing the respective second position P2 of top dead centre and the second rocker arm 12 oscillates by a third angle y around the second axis X2.

For example, if the crank 14 rotates by a first angle a equal to 45°, the first rocker arm oscillates by a second angle 0 equal to about 4.2°, while the second rocker arm 12 oscillates by a third angle y equal to 0.72°, i.e. by a very small angle, which results in a practically zero displacement of the operating element 2, 3, 4, 7 connected to and moved by the moving mechanism (as is evident in figure 6 in which the two four-bar linkage mechanisms 21, 22 are illustrated in two overlapping configurations of motion corresponding to a rotation of 45° of the crank 14 and the operating element 3 is graphically almost stationary in the same position). In other words, in a rotation range of the crank 14 of amplitude up to about 45° around the top dead centre of the second four-bar linkage mechanism 22, which coincides with the top dead centre of the first four-bar linkage mechanism 21, the operating element 2, 3, 4, 7 moved by the moving device 10 is almost stopped in the dwell step s of the reciprocating motion, for example between the forward stroke Ca and the backward stroke Cr.

The rotary actuator 30 comprises, for example, an electric motor controllable in position, speed, acceleration, in particular a brushless electric motor that makes it possible in a known way to set a desired law of motion in its rotation to adjust speed and angular acceleration of the crank 14. More precisely, it is possible to control the brushless electric motor according to a particular law of motion so as to set the desired speed and acceleration values of the second rocker arm 12, i.e. of the operating element 2, 3, 4, 7 in the forward strokes Ca and in the backward stroke Cr and the duration of the dwell step s.

As illustrated in the diagram of figure 5, a 360° rotation of the crank 14 about the fifth axis X5 corresponds to an overall angular oscillation ytot of the second rocker arm 12 and therefore of the operating element 3 during the stroke (forward or backward).

The rocker arms 11, 12, the connecting rods 13, 15 and the crank 14 in a phase of inversion of the reciprocating motion between the two strokes Ca, Cr are arranged in a second motion configuration B (illustrated with a dotted line in the kinematic diagram of the moving device 10 of figure 4) in which the fifth axis X5, the sixth axis X6 and the seventh axis X7 are substantially aligned along the second direction T2, with the sixth axis X6 interposed between the fifth axis X5 and the seventh axis X7. More precisely, in the second motion configuration B of the moving device 10 the crank 14 and the second connecting rod 15 are arranged in a third position P3 of bottom dead centre of the second linkage mechanism 22. In this case, however, a dead centre position of the first four-bar linkage mechanism 21 does not correspond to this third position P3 of bottom dead centre of the second four-bar linkage mechanism 22, since as evident from figures 3 and 4, the first axis XI, the third axis X3 and the fourth axis X4 are not aligned. Thus in this case when the crank 14 travels a further first angle containing the third bottom dead angle position P3, the first rocker arm 11 oscillates about the first axis XI of a further second angle which does not contain a top dead centre position and the second rocker arm 12 oscillates by a further third angle about the second axis X2 which is not negligible.

For example, for a rotation of the crank 14 by a further first angle equal to 45°, the first rocker arm 11 oscillates by a further second angle equal to about 5.91° while the second rocker arm 12 oscillates by a further third angle equal to 9.64°, thus resulting in a non- negligible displacement of the operating element 2, 3, 4, 7 connected and moved by the driving mechanism. In other words, in a rotation range of the crank 14 around the bottom dead centre P3 of the second four-bar linkage mechanism 22, the operating element 2, 3, 4, 7 is still moved, that is, it is not stopped in the dwell step.

The operation of the machine 1 of the invention provides for the activation of the various moving devices 10 for respectively moving the first punching operating element 2, the second transferring operating element 3, the third displacement operating element 4 and the fourth cutting operating element 7.

In particular, the operation of each moving device 10 provides for driving the respective brushless electric motor 30 to rotate the crank 14 about the fifth axis X5 according to a predefined law of motion. The crank 14, by rotating, oscillates the first rocker arm 11 by means of the second connecting rod 15, that is, it moves the second four-bar linkage mechanism 22. In turn, the first rocker arm 11 oscillating around the first axis XI moves the second rocker arm 12, to which the operating element is connected, through the first connecting rod 13, i.e. it moves the first four-bar linkage mechanism 21. More precisely, the operating element 2, 3, 4, 7, secured to the connecting portion 12c of the second rocker arm 12 opposite to the first end I la, moves with reciprocating motion along a circular arc path having a centre in the second axis X2 along a forward stroke Ca and a backward stroke Cr and stopping in a dwell step s between the strokes Ca, Cr. The dwell step s in this case coincides with the lower position L of the operating element illustrated in figure 2 and the first motion configuration A of the moving device 10.

It should be noted that since in the first motion configuration A the crank 14 and the second connecting rod 15 are arranged in a first top dead centre position Pl of the second four-bar linkage mechanism 22 and the first rocker arm 11 is arranged in the second top dead centre position P2 of the first four-bar linkage mechanism 21, by virtue of the overlap of the top dead centres of the two four-bar linkage mechanisms 21, 22 the rotation of the crank 14 by a first angle a containing the respective top dead angle position Pl, for example by an amplitude equal to 45°, entails a rotation of almost zero of the second rocker arm 12 that is a practically zero displacement of the operating element 2, 3, 4, 7 connected and moved by the aforementioned second rocker arm 12. In this rotation range of the crank 14, with amplitude up to about 45° around the top dead centre of the second four-bar linkage mechanism 22, which coincides with the top dead centre of the first four-bar linkage mechanism 21, the operating element 2, 3, 4, 7 is therefore almost stopped in the dwell step s of the reciprocating motion, for example between the forward stroke Ca and the backward stroke Cr. There is therefore no need to stop the rotation of the rotary actuator 30 to achieve this dwell step, but only, if necessary, to slow down its rotation speed to increase the travel time of the first angle, a i.e. the time duration of this dwell step

Thanks to the moving device 10, the machine 1 of the invention is therefore able to operate at high operating rates, making it possible to move the operating elements 2, 3, 4, 7 with a reciprocating motion that comprises a forward stroke Ca, a backward stroke Cr and a dwell step s between the strokes Ca, Cr, without excessively stressing the electric motor 30 which must not abruptly decelerate and stop and then re-accelerate to achieve the necessary dwell step s. Therefore, even at high operating rates of the machine, the electric motor 30 maintains normal functionality, durability and reliability over time.

Claims

1. Machine (1) for making bristle tools (50), each bristle tool comprising a body (51) provided with a plurality of open cavities (52) suitable for receiving respective bristle bundles (60) and related anchoring elements (62), comprising at least one of: a first operating element (2) of punching for inserting a bristle bundle (60) and an anchoring element (62) in a cavity (52) of the body (51); a second operating element (3) of transfer for picking up one bristle bundle (60) at a time from a bristle magazine (41) and transferring and releasing it to said first operating element (2); a third operating element (4) of displacement for displacing bristle bundles (60) already inserted in cavities (52) so as to free access to an adjacent cavity (52) in which said first operating element (2) has to insert a respective bristle bundle (60); a fourth mobile operating element (7) of cutting for shearing a metal wire (65) and making anchoring elements (62); characterized in that it comprises at least one moving device (10) supported by frame means (5) of said machine (1) and arranged to move one of said operating elements (2, 3, 4, 7) with a reciprocating motion comprising a forward stroke (Ca) and a backward stroke (Cr) and a dwell step (s) between said strokes (Ca, Cr), said moving device (10) including: a first rocker arm (11) and a second rocker arm (12) having respective first ends (I la, 12a) connected to said frame means (5) rotatably about respectively a first axis (XI) and a second axis (X2) and respective second ends (1 lb, 12b) connected to a first connecting rod (13) rotatable about respectively a third axis (X3) and a fourth axis (X4) so as to form a first four-bar linkage mechanism (21), said second rocker arm (12) comprising a connecting portion (12c) suitable for supporting and/or moving said operating element (2, 3, 4, 7); a crank (14) rotated by a rotary actuator (30) about a fifth axis (X5) and a second connecting rod (15) having opposite ends (15a, 15b) connected rotatably respectively about a sixth axis (X6) to said crank (14) and about a seventh axis (X7) to an intermediate portion (11c) of said first rocker arm (11), said crank (14) and said second connecting rod (15) forming with said first rocker arm (11) a second four-bar linkage mechanism (22) which moves said first four-bar linkage mechanism (21).

2. Machine (1) according to claim 1, wherein said rocker arms (11, 12), said connecting rods (13, 15) and said crank (14) in said dwell step (s) of said reciprocating motion are arranged in a first motion configuration (A) in which said first axis (XI), third axis (X3) and fourth axis (X4) are substantially aligned along a first direction (Tl) and said fifth axis (X5), sixth axis (X6) and seventh axis (X7) are substantially aligned along a second direction (T2), which is transverse to said first direction (Tl), said fifth axis (X5) being interposed between said sixth axis (X6) and said seventh axis (X7).

3. Machine (1) according to claim 2, wherein in said first motion configuration (A) of said moving device (10) said crank (14) and said second connecting rod (15) are arranged in a first position (Pl) of top dead centre of said second four-bar linkage mechanism (22).

4. Machine (1) according to claim 2 or 3, wherein in said first configuration (A) of said moving device (10) said first rocker arm (11) and said first connecting rod (3) are arranged in a second position (P2) of top dead centre of said first four-bar linkage mechanism (21).

5. Machine (1) according to any preceding claim, wherein said connecting portion (12c) of said second rocker arm (12) extends from said second end (12a) on the opposite side with respect to said first end (12a).

6. Machine (1) according to any preceding claim, wherein said rotary actuator (30) comprises an electric motor that can be controlled in position, speed, acceleration, in particular a brushless electric motor.

7. Machine (1) according to any preceding claim, comprising a plurality of moving devices (10) each of which is arranged to move a respective operating element (2, 3, 4, 7) with a reciprocating motion comprising a forward stroke (Ca) and a backward stroke (Cr) and a dwell step (s) between said strokes (Ca, Cr).