Machine and method for positioning objects

Abstract

A machine and method for positioning objects is provided. The machine has a first conveyor belt configured to receive a plurality of objects; machine vision device configured to identify the position and the shape of the objects; robotic collection device configured to collect the objects according to the information received from the machine vision device; and a second conveyor belt configured to enable the outlet of the objects. The transfer conveyor has transfer carriers configured to move in a closed loop through it enabling the speed and position thereof to be controlled independently, where the transfer carriers are configured to receive the objects coming from the robotic collection device and deliver the objects to the second conveyor belt.

Claims

1. A machine for positioning objects, comprising a first conveyor belt configured to receive a plurality of objects (O); machine vision means configured to identify the position and the shape of the objects (O) arranged on the first conveyor belt; robotic collection means configured to collect the objects (O) from the first conveyor belt according to the information received from the machine vision means; and a second conveyor belt configured to enable the outlet of said objects (O); wherein said machine comprises a transfer conveyor that has a plurality of transfer carriers configured to move by means of magnetic induction in a closed loop through it enabling the speed and position thereof to be individually controlled, where said transfer carriers are configured to receive the objects (O) coming from the robotic collection means and deliver said objects (O) to the second conveyor belt wherein the transfer conveyor is arranged in a tilted position between the first conveyor belt and the second conveyor belt, and the transfer carriers are configured to receive the objects (O) coming from the robotic collection means in a horizontal position (O.sub.H) and deliver said objects (O) to the second conveyor belt in a vertical position (O.sub.v); or wherein the transfer conveyor is arranged in a vertical position between the first conveyor belt and the second conveyor belt, and the transfer carriers, are configured to receive the objects (O) coming from the robotic collection means in an inverted vertical position (O.sub.IN) and deliver said objects (O) to the second conveyor belt in a vertical position (O.sub.v).

2. The machine for positioning objects according to claim 1, wherein the transfer carriers are configured to work in collaboration with each other, enabling the securing of an object (O) coming from the robotic collection means by the pressure exerted on it by two adjacent transfer carriers between which said object (O) is arranged, and the subsequent delivery thereof to the second conveyor belt after releasing said pressure.

3. The machine for positioning objects according to claim 1 wherein the transfer carriers comprises: first transfer carriers; and second transfer carriers; where the first transfer carriers and the second transfer carriers are distributed along the transfer conveyor in an alternating manner.

4. The machine for positioning objects according to claim 3, wherein each first transfer carrier comprises: a first receiving profile configured to receive a first object (O.sub.A); and an additional first receiving profile, distinct and opposite from the first receiving profile, configured to receive a second object (O.sub.B); and wherein each second transfer carrier comprises: a second receiving profile configured to receive the first object (O.sub.A); and an additional second receiving profile, distinct and opposite from the second receiving profile, configured to receive the second object (O.sub.B).

5. The machine for positioning objects according to claim 1, wherein the transfer carriers are made up of third transfer carriers wherein each of the third transfer carrier comprises a gripper configured to grip an object (O) coming from the robotic collection means and deliver said object (O) to the second conveyor belt.

6. The machine for positioning objects according to claim 5, wherein the gripper comprises: a static gripper portion attached to the third transfer carrier and a dynamic gripper portion joined to the third transfer carrier by means of a joint; and wherein the transfer conveyor comprises an opening cam in a static position, configured to come into contact with the dynamic gripper portion as the third transfer carrier passes and to cause the rotation thereof with respect to the joint in order to open the gripper.

7. The machine for positioning objects according to claim 1, wherein the transfer carriers form a tilt angle with respect to the transfer conveyor, being arranged vertically in a collection position (P.sub.R), and horizontally in a delivery position (P.sub.E), when the transfer conveyor is arranged in a tilted position between the first conveyor belt and the second conveyor belt.

8. The machine for positioning objects according to claim 1, wherein the transfer carriers are arranged vertically or horizontally, when the transfer conveyor is arranged in a vertical position between the first conveyor belt and the second conveyor belt.

9. The machine for positioning objects according to claim 1, further comprising: a supply bin configured to hold the objects (O) in a random manner; and a lifter configured to collect the objects (O) from the supply bin and arrange them on a first end of the first conveyor belt.

10. The machine for positioning objects according to claim 9, further comprising: a return track adjacent to a second end of the first conveyor belt, configured to receive the objects (O) that arrive at said second end and return them to the supply bin using gravity.

11. The machine for positioning objects according to any of claim 1, wherein each of the objects (O) is delivered to the second conveyor belt on a supporting base.

12. A method for positioning objects using the machine according to claim 1, comprising the following steps: a) receiving a plurality of objects (O) on a first conveyor belt; b) identifying the position and the shape of the objects (O) arranged on the first conveyor belt by means of machine vision means; and c) collecting the objects (O) from the first conveyor belt by means of robotic collection means according to the information received from the machine vision means; d) receiving the objects (O) coming from the robotic collection means by means of transfer carriers arranged in a transfer conveyor; e) delivering said objects (O) to a second conveyor belt by means of said transfer carriers in order to enable the outlet thereof; and f) moving said transfer carriers by means of magnetic induction in a closed loop through the transfer conveyor individually controlling the speed and position thereof in order to carry out steps d) and e); wherein the transfer carriers receive the objects (O) coming from the robotic collection means in a horizontal position (O.sub.H) and deliver them in a vertical position (O.sub.v) to the second conveyor belt, in a transfer conveyor in a tilted arrangement between the first conveyor belt and the second conveyor belt; or wherein the transfer receive the objects (O) coming from the robotic collection means in an inverted vertical position (O.sub.IN) and deliver them in a vertical position (O.sub.v) to the second conveyor belt, in a transfer conveyor in a vertical arrangement between the first conveyor belt and the second conveyor belt.

13. The method for positioning objects according to claim 12, wherein steps d) and e) respectively comprise the following steps: d.1) receiving the objects (O) coming from the robotic collection means in a predetermined position (P.sub.0); and e.1) delivering said objects (O) to the second conveyor belt in a vertical position (O.sub.v).

14. The method for positioning objects according to claim 12, wherein steps d) and e) respectively comprise the following steps: d.2) securing an object (O) coming from the robotic collection means by the pressure exerted on it by means of two adjacent transfer carriers between which said object (O) is arranged; and e.2) delivering said object (O) to the second conveyor belt after releasing said pressure.

15. The method for positioning objects according to claim 12, wherein step f) comprises the following steps: f.1.1)moving a first transfer carrier at a first speed (v.sub.7a) to a collection position (P.sub.R) within reach of the robotic collection means; f.2.1)detaining the first transfer carrier in the collection position (P.sub.R); f.3.1)receiving an object (O) coming from the robotic collection means in a predetermined position (P.sub.0), arranging it adjacently to the first transfer carrier; f.4.1)moving a second transfer carrier at a second speed (v.sub.7b) until it makes contact with the object (O) adjacent to the first transfer carrier; f.5.1) securing said object (O) by the pressure exerted on it between the first transfer carrier and the second transfer carrier; f.6.1)moving the first transfer carrier and the second transfer carrier to a delivery position (P.sub.E) on the second conveyor belt at a first speed (v.sub.7a) and a second speed (v.sub.7b) that are equal; f.7.1) synchronising the first speed (v.sub.7a) of the first transfer carrier and the second speed (v.sub.7b) of the second transfer carrier with an outlet speed (v.sub.5) of the second conveyor belt; f.8.1)accompanying the object (O) along the second conveyor belt at the outlet speed (v.sub.5); and f.9.1)increasing the first speed (v.sub.7a) of the first transfer carrier, maintaining the second speed (v.sub.7b) of the second transfer carrier at the outlet speed (v.sub.5) in order to release the pressure on the object and drop it onto the second conveyor belt.

16. The method for positioning objects according to claim 12, wherein step f) comprises the following steps: f.1.2)moving a third transfer carrier at a third speed (v.sub.7c) to a collection position (P.sub.R) within reach of the robotic collection means; f.2.2)detaining the third transfer carrier in the collection position (P.sub.R); f.3.2)receiving an object (O) coming from the robotic collection means in a predetermined position (P.sub.0), arranging it in a gripper of the third transfer carrier; f.4.2)moving the third transfer carrier to a delivery position (P.sub.E) on the second conveyor belt at a third speed (v.sub.7c); f.5.2)synchronising the third speed (v.sub.7c) of the third transfer carrier with an outlet speed (v.sub.5) of the second conveyor belt; f.6.2)accompanying the object (O) along the second conveyor belt at the outlet speed (v.sub.5); and f.7.2) opening the gripper.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) What follows is a very brief description of a series of drawings that aid in better understanding the invention, and which are expressly related to three embodiments of said invention that are presented by way of non-limiting examples of the same.

(2) FIG. 1 is a general perspective view of the machine of the present invention, according to a first preferred embodiment, wherein the transfer conveyor is in a tilted arrangement between the first conveyor belt and the second conveyor belt.

(3) FIG. 2 is a plan view of the machine in FIG. 1.

(4) FIG. 3 is a profile view of a cross section of the machine according to the cross-section line A-A in FIG. 2.

(5) FIG. 4 is a perspective view of a cross section of the machine according to the cross-section line B-B in FIG. 2.

(6) FIG. 5 is a general perspective view of the machine of the present invention, according to a first preferred embodiment, with the lifting side panel open.

(7) FIG. 6 is a detail of the transfer carriers.

(8) FIG. 7 is a profile view of a cross section of the machine of the present invention, according to a second preferred embodiment, wherein the transfer conveyor is in a horizontal arrangement between the first conveyor belt and the second conveyor belt.

(9) FIG. 8 is a profile perspective view of a cross-section of the machine, according to a third preferred embodiment, wherein the transfer conveyor is in a vertical arrangement between the first conveyor belt and the second conveyor belt.

(10) FIG. 9 is a partial profile view of the machine, according to a first variant of the third preferred embodiment.

(11) FIG. 10 is a partial profile view of the machine, according to a second variant of the third preferred embodiment.

(12) FIG. 11 is a detail view of the machine, according to a second embodiment of the transfer carriers.

(13) FIG. 12 is a detail view of the machine, wherein the objects are placed on supporting bases or pucks when the they are delivered to the second conveyor belt.

DETAILED DESCRIPTION OF THE INVENTION

(14) FIGS. 1-6 show different views of the machine (1) of the present invention, according to a first preferred embodiment. As seen, said machine (1) comprises: a first conveyor belt (2) configured to receive a plurality of objects (O) arranged randomly; machine vision means (3) configured to identify the position and the shape of the objects (O) arranged on the first conveyor belt (2); robotic collection means (4) configured to collect the objects (O) from the first conveyor belt (2) according to the information received from the machine vision means (3), and to rotate or orient said objects (O) until they are left in a predetermined position (P.sub.0); and a second conveyor belt (5) configured to enable the outlet of said objects (O).

(15) The machine (1) for positioning objects of the present invention is characterised in that it comprises a transfer conveyor (6) that has a plurality of transfer carriers (7, 7a, 7b) configured to move in a closed loop through it enabling the speed and position thereof to be controlled independently, where said transfer carriers (7, 7a, 7b) are configured to receive the objects (O) coming from the robotic collection means (4) and deliver said objects (O) to the second conveyor belt (5).

(16) According to the present example, the machine vision means (3) comprise a machine vision camera and the robotic collection means (4) comprise two delta-type robotic arms, enabling a production capacity greater than 200 objects positioned per minute for the machine (1).

(17) The transfer carriers (7, 7a, 7b) are configured to receive the objects (O) coming from the robotic collection means (4) in a predetermined position (P.sub.0), in this case horizontal, and deliver said objects (O) to the second conveyor belt (5) in a vertical position (O.sub.V), meaning, resting on the main supporting base thereof.

(18) The transfer carriers (7, 7a, 7b) are configured to work in collaboration with each other, enabling the securing of an object (O) coming from the robotic collection means (4) by the pressure exerted on it by two adjacent transfer carriers (7, 7a, 7b) between which said object (O) is arranged, and the subsequent delivery thereof to the second conveyor belt (5) after releasing said pressure.

(19) The transfer conveyor (6) is arranged in a tilted position (6.sub.I) between the first conveyor belt (2) and the second conveyor belt (5). In turn, the transfer carriers (7, 7a, 7b) form a tilt angle (θ.sub.7) with respect to the transfer conveyor (6) of 135°, being arranged vertically in a collection position (P.sub.R), and horizontally in a delivery position (P.sub.E), FIG. 3.

(20) According to this first assembly and/or location arrangement, the transfer carriers (7, 7a, 7b) receive the objects (O) coming from the robotic collection means (4) in a horizontal position (O.sub.H) and deliver them in a vertical position (O.sub.V) to the second conveyor belt (5).

(21) Additionally, the machine (1) comprises: a supply bin (10) configured to hold the objects (O) in a random manner; and a lifter (11) configured to collect the objects (O) from the supply bin (10) and arrange them on a first end (21) of the first conveyor belt (2).

(22) The machine (1) comprises a return track (12) adjacent to a second end (22) of the first conveyor belt (2), configured to receive the objects (O) that arrive at said second end (22) and return them to the supply bin (10) using gravity.

(23) According to the present example, the delivery of the objects (O) to the second conveyor belt (5) is performed directly.

(24) As seen in FIG. 6, the transfer carriers (7) are made up of first transfer carriers (7a) and by second transfer carriers (7b), where the first transfer carriers (7a) and the second transfer carriers (7b) are distributed in an alternating manner along the transfer conveyor (6).

(25) Each first transfer carrier (7a) comprises: a first receiving profile (8a) configured to receive a first object (O.sub.A) with a certain shape and/or size; and an additional first receiving profile (9a), distinct and opposite from the first receiving profile (8a), configured to receive a second object (O.sub.B) with a shape and/or size different from the first object (O.sub.A).

(26) Each second transfer carrier (7b) comprises: a second receiving profile (8b) configured to receive the first object (O.sub.A); and an additional second receiving profile (9b), distinct and opposite from the second receiving profile (8b), configured to receive the second object (O.sub.B).

(27) FIG. 7 shows a view of the machine (1) of the present invention, according to a second preferred embodiment. In this case, the transfer conveyor (6) is arranged in a horizontal position (6.sub.H) between the first conveyor belt (2) and the second conveyor belt (5). In turn, the transfer carriers (7) are arranged horizontally. The objects (O) are collected in a vertical position (O.sub.V) and are delivered in a likewise vertical position (O.sub.V).

(28) FIGS. 8-10 show different views of the machine (1) of the present invention, according to a third preferred embodiment. In this case, the transfer conveyor (6) is arranged in a vertical position (6.sub.V) between the first conveyor belt (2) and the second conveyor belt (5). The transfer carriers (7) receive the objects (O) coming from the robotic collection means (4) in an inverted vertical position (O.sub.IN), and deliver them in a vertical position (O.sub.V) after a 180° rotation of the transfer carriers (7) along the transfer conveyor (6). The end portion, or securing portion, of the transfer carriers (7) is arranged horizontally, FIG. 9, or vertically, FIG. 10.

(29) Below, the method that the machine (1) of FIGS. 1-10 carries out is described. Specifically, said method comprises the following steps: a) receiving a plurality of objects (O) arranged randomly on a first conveyor belt (2); b) identifying the position and the shape of the objects (O) arranged on the first conveyor belt (2) by means of machine vision means (3); and c) collecting the objects (O) from the first conveyor belt (2) by means of robotic collection means (4) according to the information received from the machine vision means (3).

(30) Said method is characterised in that it additionally comprises the following steps: d) receiving the objects (O) coming from the robotic collection means (4) by means of transfer carriers (7, 7a, 7b, 7c) arranged in a transfer conveyor (6); e) delivering said objects (O) to a second conveyor belt (5) by means of said transfer carriers (7, 7a, 7b, 7c) in order to enable the outlet thereof; and f) moving said transfer carriers (7, 7a, 7b, 7c) in a closed loop through the transfer conveyor (6) independently controlling the speed and position thereof in order to carry out steps d) and e).

(31) Steps d) and e) respectively comprise the following steps: d.1) receiving the objects (O) coming from the robotic collection means (4) in a predetermined position (P.sub.0); and e.1) delivering said objects (O) to the second conveyor belt (5) in a vertical position (O.sub.V).

(32) Steps d) and e) respectively comprise the following steps: d.2) securing an object (O) coming from the robotic collection means (4) by the pressure exerted on it by means of two adjacent transfer carriers (7, 7a, 7b) between which said object (O) is arranged; and e.2) delivering said object (O) to the second conveyor belt (5) after releasing said pressure.

(33) Step f) comprises the following steps: f.1.1) moving a first transfer carrier (7a) at a first speed (v.sub.7a) to a collection position (P.sub.R) within reach of the robotic collection means (4); f.2.1) detaining the first transfer carrier (7a) in the collection position (P.sub.R); f.3.1) receiving an object (O) coming from the robotic collection means (4) in a predetermined position (P.sub.0), arranging it adjacently to the first transfer carrier (7a); f.4.1) moving a second transfer carrier (7b) at a second speed (v.sub.7b) until it makes contact with the object (O) adjacent to the first transfer carrier (7a); f.5.1) securing said object (O) by the pressure exerted on it between the first transfer carrier (7a) and the second transfer carrier (7b); f.6.1) moving the first transfer carrier (7a) and the second transfer carrier (7b) to a delivery position (P.sub.E) on the second conveyor belt (5) at a first speed (v.sub.7a) and a second speed (v.sub.7b) that are equal; f.7.1) synchronising the first speed (v.sub.7a) of the first transfer carrier (7a) and the second speed (v.sub.7b) of the second transfer carrier (7b) with an outlet speed (v.sub.5) of the second conveyor belt (5); f.8.1) accompanying the object (O) along the second conveyor belt (5) at the outlet speed (v.sub.5); and f.9.1) increasing the first speed (v.sub.7a of the first transfer carrier (7a), maintaining the second speed (v.sub.7b) of the second transfer carrier (7b) at the outlet speed (v.sub.5) in order to release the pressure on the object and drop it onto the second conveyor belt (5).

(34) FIG. 11 is a detail view of the machine (1), according to a second embodiment of the transfer carriers (7). As seen in this case, the transfer carriers (7) are made up of third transfer carriers (7.sub.c), where each of them comprises a gripper (70c) configured to grip an object (O) coming from the robotic collection means (4) and deliver said object (O) to the second conveyor belt (5).

(35) According to the present example, the gripper (70c) is made up of: a static gripper portion (71c) attached to the third transfer carrier (7c); and a dynamic gripper portion (72c) joined to the third transfer carrier (7c) by means of a joint (73c).

(36) According to other embodiments, the gripper (70c) can admit multiple possible mechanical configurations. For example, the gripper (70c) can comprise one or more mobile portions in which all of them enable the function to be performed; on one hand, securing the object (O) in one point; and on the other, the releasing thereof onto the outlet conveyor belt (5).

(37) In turn, the transfer conveyor (6) comprises one or more opening cams (61) in a static position, configured to come into contact with the dynamic gripper portion (72c) as the third transfer carrier (7c) passes and to cause the rotation thereof with respect to the joint (73c) in order to open the gripper (70c).

(38) The method carried out by the machine (1) of FIG. 11 comprises an alternative step f). Specifically, said step f) comprises the following steps: f.1.2) moving a third transfer carrier (7, 7c) at a third speed (v.sub.7c) to a collection position (P.sub.R) within reach of the robotic collection means (4); f.2.2) detaining the third transfer carrier (7, 7c) in the collection position (P.sub.R); f.3.2) receiving an object (O) coming from the robotic collection means (4) in a predetermined position (P.sub.0), arranging it in the gripper (70c); f.4.2) moving the third transfer carrier (7, 7c) to a delivery position (P.sub.E) on the second conveyor belt (5) at a third speed (v.sub.7c); f.5.2) synchronising the third speed (v.sub.7c) of the third transfer carrier (7, 7c) with an outlet speed (v.sub.5) of the second conveyor belt (5); f.6.2) accompanying the object (O) along the second conveyor belt (5) at the outlet speed (v.sub.5); and f.7.2) opening the gripper (70c).

(39) FIG. 12 is a detail view of the machine (1), wherein the objects (O) are placed on supporting bases (13) or pucks when the they are delivered to the second conveyor belt (5).