Flexible feeding and closing machine for hinged caps

Abstract

An automated device for producing a closed part, commencing with an open part having a cap joined with a hinge to a body, the device comprising: a tool having a guide surface defined in an operating plane substantially orthogonal to a hinge axis; a part gripper disposed on a computer numerically controlled shuttle, the part gripper operable to: select an open part from a stream of identical open parts; engage one of: the cap; and the body, on a start point on the guide surface; slide the open part, within the operating plane from the start point to a finish point on the guide surface, to rotate the cap about the hinge axis from an open position to a closed position relative to the body; and release the closed part from the part gripper at a release station.

Claims

1. An automated device for producing a closed part, commencing with an open part having a cap joined with a hinge to a body, the device comprising: a tool having a guide surface defined in an operating plane substantially orthogonal to a hinge axis; a part gripper disposed on a computer numerically controlled shuttle, the part gripper operable to: select an open part from a stream of identical open parts; engage one of: the cap; and the body, on a start point on the guide surface; slide the open part, within the operating plane from the start point to a finish point on the guide surface, to rotate the cap about the hinge axis from an open position to a closed position relative to the body; and release the closed part from the part gripper at a release station; wherein the computer numerically controlled shuttle comprises at least two linear motion actuators disposed orthogonally and each having a linear operating path parallel to the operating plane; and wherein the at least two linear motion actuators are independently programmable to drive the part gripper along a selected path within the operating plane.

2. The automated device according to claim 1, wherein the tool comprises a roller mounted for rotation about a roller axis parallel to the hinge axis and having a circumferential guide surface.

3. The automated device according to claim 2, wherein the roller comprises a freely rotating idler roller.

4. The automated device according to claim 1, comprising: a feed conveyor on which the stream of open parts is disposed in a selected orientation.

5. The automated device according to claim 4, comprising: a feed manipulator having an end effector for picking open parts from a first portion of the feed conveyor and placing open parts spaced apart into said stream of open parts on a second portion of the feed conveyor in the selected orientation.

6. The automated device according to claim 5, wherein the feed manipulator comprises an overhead parallel motion robot with optical scanning capability.

7. The automated device according to claim 5, comprising: a loading hopper having an intake opening for receiving randomly oriented open parts and an outlet opening for loading open parts on the second portion of the feed conveyor.

8. The automated device according to claim 7, wherein the outlet opening of the loading hopper includes a dispensing blade disposed a selected distance from the second portion of the feed conveyor, the selected distance being greater than a height and less than a width of the open parts.

9. The automated device according to claim 7, wherein an end portion of the feed conveyor is disposed above a return conveyor to recirculate open parts back to the loading hopper.

10. The automated device according to claim 1, wherein the release station includes an optical scanner in communication with a deflector for directing towards a completed part conveyor and a reject part conveyor.

11. An automated device for producing a closed part, commencing with an open part having a cap joined with a hinge to a body, the device comprising: a tool having a guide surface defined in an operating plane substantially orthogonal to a hinge axis; a part gripper disposed on a computer numerically controlled shuttle, the part gripper operable to: select an open part from a stream of identical open parts; engage one of: the cap; and the body, on a start point on the guide surface; slide the open part, within the operating plane from the start point to a finish point on the guide surface, to rotate the cap about the hinge axis from an open position to a closed position relative to the body; and release the closed part from the part gripper at a release station; a feed conveyor on which the stream of open parts is disposed in a selected orientation; a feed manipulator having an end effector for picking open parts from a first portion of the feed conveyor and placing open parts spaced apart into said stream of open parts on a second portion of the feed conveyor in the selected orientation; and a loading hopper having an intake opening for receiving randomly oriented open parts and an outlet opening for loading open parts on the second portion of the feed conveyor; wherein the outlet opening of the loading hopper includes a dispensing blade disposed a selected distance from the second portion of the feed conveyor, the selected distance being greater than a height and less than a width of the open parts.

12. The automated device according to claim 11, wherein the tool comprises a roller mounted for rotation about a roller axis parallel to the hinge axis and having a circumferential guide surface.

13. The automated device according to claim 12, wherein the roller comprises a freely rotating idler roller.

14. The automated device according to claim 11, wherein the feed manipulator comprises an overhead parallel motion robot with optical scanning capability.

15. The automated device according to claim 11, wherein the release station includes an optical scanner in communication with a deflector for directing towards a completed part conveyor and a reject part conveyor.

16. An automated device for producing a closed part, commencing with an open part having a cap joined with a hinge to a body, the device comprising: a tool having a guide surface defined in an operating plane substantially orthogonal to a hinge axis; a part gripper disposed on a computer numerically controlled shuttle, the part gripper operable to: select an open part from a stream of identical open parts; engage one of: the cap; and the body, on a start point on the guide surface; slide the open part, within the operating plane from the start point to a finish point on the guide surface, to rotate the cap about the hinge axis from an open position to a closed position relative to the body; and release the closed part from the part gripper at a release station; a feed conveyor on which the stream of open parts is disposed in a selected orientation; a feed manipulator having an end effector for picking open parts from a first portion of the feed conveyor and placing open parts spaced apart into said stream of open parts on a second portion of the feed conveyor in the selected orientation; and a loading hopper having an intake opening for receiving randomly oriented open parts and an outlet opening for loading open parts on the second portion of the feed conveyor; wherein an end portion of the feed conveyor is disposed above a return conveyor to recirculate open parts back to the loading hopper.

17. The automated device according to claim 16, wherein the tool comprises a roller mounted for rotation about a roller axis parallel to the hinge axis and having a circumferential guide surface.

18. The automated device according to claim 17, wherein the roller comprises a freely rotating idler roller.

19. The automated device according to claim 16, wherein the feed manipulator comprises an overhead parallel motion robot with optical scanning capability.

20. The automated device according to claim 16, wherein the release station includes an optical scanner in communication with a deflector for directing towards a completed part conveyor and a reject part conveyor.

Description

DESCRIPTION OF THE DRAWINGS

(1) In order that the invention may be readily understood, one embodiment of the invention is illustrated by way of example in the accompanying drawings.

(2) FIG. 1 is an isometric view of an automated device for receiving open parts, being bottle closures with a disc cap hinged to an annular body, and showing the overhead feed manipulator pick and place robot with optical scanner arranging open parts on the feed conveyor.

(3) FIG. 2 is a detail view of a portion of FIG. 1 showing the feed conveyor that conveys oriented open parts toward the part gripper disposed on a two linear motion actuators that form an X-Z axis computer numerically controlled shuttle.

(4) FIG. 3 is a detail view like FIG. 2 showing the initial contact of the hinged cap with the closing tool while the body is held in the part gripper and the shuttle moves the gripper around the closing tool.

(5) FIG. 4 is a detail view of the part gripper and the closing tool, being an idler roller that engages the hinged cap as the gripper is moved around the roller by the X-Z shuttle.

(6) FIG. 5 is a detail view like FIG. 4 showing the movement of the part gripper around the roller tool where the upper position shows gripping of an open part from the feed conveyor, the middle position shows the engagement of the hinged cap with a top portion of the roller and the lower position shows the closing of the cap against the closure body.

(7) Further details of the invention and its advantages will be apparent from the detailed description included below.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

(8) The purpose of the automated device is to take an open part 1 and produce a closed part 2 (see FIG. 5). The use of computer numerically controlled robots and actuators allows the automated device to be rapidly adapted to different sizes and shapes of closures, mainly through computer programing parameter selections and modifying the mechanical part grippers on the ends of the robots if necessary.

(9) In the example illustrated, a conventional bottle end closure is the open part 1 shown in FIG. 4, having a cap 3 joined with a hinge 4 to an annular body 5. The part gripper 6 includes horizontally actuated fingers 7 to hold the body 5 but equally could be adapted to hold the cap 3 in an orientation rotated 180. As noted above, to accommodate different sized or shaped open parts 1, the fingers 7 can be easily removed and replaced if necessary. However in many cases the open parts 1 are circular and a variation in size can be accomplished by simply changing the spacing between the fingers 7. As indicated with arrows, the fingers 7 open and close, and the part gripper 6 is moved up-down and left-right with linear actuators to follow around the tool 8. As shown in FIG. 5, the movement of the part gripper 6 around the tool 8 results in closing of the hinged cap 3 to the body 4, which will be described in more detail below.

(10) With reference to FIG. 1, the feeding of open parts 1 to the part gripper 6 is illustrated to supply the automated device and produce a closed part 2. The feeding sequence commences with identical open parts 1 deposited in random bulk orientation into the loading hopper 9 through an intake opening 16 for receiving randomly oriented open parts 1. A feed manipulator 10 is illustrated as an overhead parallel motion robot with optical scanning capability shown with conical dashed lines, also sometimes known as a pick-and-place robot. The feed manipulator 10 has an end effector 11 with gripping fingers and a rotary mount for picking and rotating the open parts 1. The feed manipulator 10 is programmed to automatically scan the open parts 1 on the feed conveyor 14 and then select open parts that are closest to the required position and orientation for placement in the stream which is fed toward the part gripper 6.

(11) As better seen in FIG. 2 with a dashed line, the feed manipulator 10 picks open parts 1 from a first portion 12 of the feed conveyor 14 and places open parts 1 spaced apart into a conveyed stream of open parts 1 on a second portion 13 of the feed conveyor 14 in the selected orientation, namely with the annular body 5 towards the part gripper 6 in the example illustrated.

(12) As seen in FIG. 1, the loading hopper 9 includes an inclined conveyor 15 and a pre-sorting hopper 17. The pre-sorting hopper 17 has an outlet opening 18 at it's bottom for dropping open parts 1 onto the first portion 12 of the feed conveyor 14 in an open flat position. The open parts 1 at this point may be right side up, up side down and in any angular orientation relative to the feed direction of the feed conveyor 14. The outlet opening 18 of the pre-sorting hopper 17 hopper includes a dispensing blade 19 disposed a selected distance from the first portion 12 of the feed conveyor 14. The selected distance is greater than the height and less than the width of the open parts 1, to arrange the open parts 1 laying flat on the feed conveyor 14. Any unintentionally closed parts will be retained in the pre-sorting hopper 17 to be periodically removed by an operator. Any open parts 1 that land on their sides in the pre-sorting hopper 17 will be jumbled around by the motion of the feed conveyor 14 until they are oriented flat and can pass through the outlet opening 18.

(13) FIGS. 1 and 2 show the end of the first portion 12 of the feed conveyor 14 disposed above a return chute 20 of a return conveyor 21 to recirculate non-selected open parts 1 back to the loading hopper 9.

(14) Recapping the closing method with reference to FIGS. 2 and 3, the part gripper 6 is disposed on a computer numerically controlled shuttle 22 having at least two linear motion actuators 23, 24 disposed orthogonally and each having a linear operating path parallel to the operating plane of the tool 8 and the part gripper 6. The two linear motion actuators 23, 24 are independently programmable to drive the part gripper 6 along a selected path within the operating plane

(15) In the illustrated example, the vertical actuator 23 moves the part gripper 6 up and down, and the horizontal actuator 24 moves the part gripper 6 toward and away from the feed conveyor 14. Of course a third actuator (not shown) could also be included if necessary to move transverse to the feed conveyor direction to produce a three dimensional Cartesian coordinate robot. In the present example a two dimensional shuttle 22 is sufficient for the purpose. The part gripper 6 mounted on the shuttle 22 is operable to select an open part 1 from a stream of identical open parts 1 on the feed conveyor 14.

(16) FIGS. 4 and 5 show a tool 8 that comprises a roller 26 mounted for rotation about a roller axis that is parallel to the hinge axis of the hinge 4. As is apparent in FIG. 5, the circumferential surface 25 of the roller 26 provides a low friction guide surface to engage the cap 3 during movement of the part gripper 6 in the operating plane which is defined substantially orthogonal to a hinge axis. The roller 26 as illustrated is a freely rotating idler roller but could also be driven or rotation may be controlled for various applications if required. The tool 8 can also be configured as a flat plate or a spherical resilient ball.

(17) As seen in FIG. 5, the part gripper 6 removes the open part 1 from the feed conveyor 14 and moves toward the tool 8 to engage the cap 3 on an upper start point on the roller guide surface 25. As noted above, alternatively the cap 3 can be gripped and the body 5 can engage the roller guide surface 25. The part gripper 6 slides the open part 1 within the operating plane from the upper start point to a lower finish point on the guide surface 25. As a result the cap 3 rotates about the hinge axis from an open position to a closed position relative to the body 5.

(18) The closed part 2 is then released from the part gripper at a release station above a completed part conveyor 27 for further assembly to a container. The release station can include an optical scanner 28 as seen in FIGS. 1 and 2 in communication with a deflector or air jet for directing towards the completed part conveyor 27 and a reject part conveyor.

(19) Although the above description relates to a specific preferred embodiment as presently contemplated by the inventor, it will be understood that the invention in its broad aspect includes mechanical and functional equivalents of the elements described herein.