A feeder that feeds objects to be picked up by a robot, includes an object container unit having a first planar portion including a first planar surface in which the objects are thrown, and a groove portion including a plurality of grooves extending in a first direction from the first planar portion as seen from a normal direction in which a normal of the first planar surface extends, and a vibrator unit that applies vibration to the object container unit, wherein the vibrator unit has a first vibration mode in which the objects are moved in the first direction.

A vibratory drum includes a tubular drum having a longitudinal axis, and first and second vibratory generators disposed laterally relative to the longitudinal axis and opposite each other across the tubular drum. The drum also includes a frame to which the first and second vibratory generators are attached; and a plurality of resilient elements attached at a first end to the tubular drum and at a second end to the frame, whereby the vibratory motion of the generators is transferred to the tubular drum to impart a circular motion to material disposed in the tubular drum.

A differential impulse conveyor system including detectable markers disposed in a series on a moving component of the conveyor system. A stationary sensor disposed in close proximity to the markers generates a signal when the moving component is in a first range of motion to dispose the markers proximal to the sensor, and the sensor either fails to generate a signal when the moving component is not within the first range of motion. The sensor signal causes a current conditioning device to condition current from a current source to operate a motor to power the conveyor tray at a first rate of acceleration in a first mode, and the lack of the signal causes the current conditioning device to operate the motor to power the conveyor tray at a second rate of acceleration in a second mode. Markers may be positionable to optimize the timing of the current modes.

A differential impulse conveyor system including detectable markers disposed in a series on a moving component of the conveyor system. A stationary sensor disposed in close proximity to the markers generates a signal when the moving component is in a first range of motion to dispose the markers proximal to the sensor, and the sensor either fails to generate a signal when the moving component is not within the first range of motion. The sensor signal causes a current conditioning device to condition current from a current source to operate a motor to power the conveyor tray at a first rate of acceleration in a first mode, and the lack of the signal causes the current conditioning device to operate the motor to power the conveyor tray at a second rate of acceleration in a second mode. Markers may be positionable to optimize the timing of the current modes.

A vibratory conveyor includes a feed tray, an electromagnetic linear actuator and a movable drive train interconnecting the feed tray and the electromagnetic linear actuator such that the electromagnetic linear actuator will move the feed tray during energization of the electromagnetic linear actuator. A sensor assembly is positioned to detect movement of the electromagnetic linear actuator. A controller connected to receive an output of the sensor assembly and connected to control energization of electromagnetic linear actuator, wherein the controller is configured to adjust energization of the electromagnetic linear actuator based upon the output of the sensor assembly. A vibratory conveyor in which the movable drive train includes at least one parallel spring element therealong is also disclosed.

Horizontal motion conveyors for moving material are disclosed. The horizontal motion conveyor includes multiple drives. The second drive may float relative to the first drive. The conveyor may be made successively longer by including additional floating drives. Each drive may include a motor such as a servomotor that is connected to the driveshaft that drives the horizontal motion of the conveyor. A control system may control the rotation and positioning of the shafts.

A feeder that feeds objects to be picked up by a robot, includes an object container unit having a first planar portion including a first planar surface in which the objects are thrown, and a groove portion including a plurality of grooves extending in a first direction from the first planar portion as seen from a normal direction in which a normal of the first planar surface extends, and a vibrator unit that applies vibration to the object container unit, wherein the vibrator unit has a first vibration mode in which the objects are moved in the first direction.

A vibratory drum includes a tubular drum having a longitudinal axis, and first and second vibratory generators disposed laterally relative to the longitudinal axis and opposite each other across the tubular drum. The drum also includes a frame to which the first and second vibratory generators are attached; and a plurality of resilient elements attached at a first end to the tubular drum and at a second end to the frame, whereby the vibratory motion of the generators is transferred to the tubular drum to impart a circular motion to material disposed in the tubular drum.

Horizontal motion conveyors for moving material are disclosed. The horizontal motion conveyor includes multiple drives. The second drive may float relative to the first drive. The conveyor may be made successively longer by including additional floating drives. Each drive may include a motor such as a servomotor that is connected to the driveshaft that drives the horizontal motion of the conveyor. A control system may control the rotation and positioning of the shafts.

A vibratory conveyor includes a feed tray, an electromagnetic linear actuator and a movable drive train interconnecting the feed tray and the electromagnetic linear actuator such that the electromagnetic linear actuator will move the feed tray during energization of the electromagnetic linear actuator. A sensor assembly is positioned to detect movement of the electromagnetic linear actuator. A controller connected to receive an output of the sensor assembly and connected to control energization of electromagnetic linear actuator, wherein the controller is configured to adjust energization of the electromagnetic linear actuator based upon the output of the sensor assembly. A vibratory conveyor in which the movable drive train includes at least one parallel spring element therealong is also disclosed.