MACHINE FOR POSITIONING OBJECTS

Abstract

A machine for positioning objects, comprising a first conveyor belt configured to receive a plurality of objects; computer vision means configured to identify the position and shape of the objects; robotic collection means configured to collect the objects; and exit means configured to allow exiting of the objects. The machine comprises a rotary transfer track arranged in a closed circuit around two rotating axes; and a plurality of transfer elements attached to the rotary transfer track, configured to receive the objects. The rotary transfer track is configured to produce a rotary movement of the transfer elements around the two rotating axes, and a rectilinear movement thereof between the two rotating axes.

Claims

1. Machine for positioning objects, comprising a first conveyor belt set to receive a plurality of objects; machine vision means set to identify the position and shape of objects arranged on the first conveyor belt; robotic collection means set to pick up the objects from the first conveyor belt according to the information received from the machine vision means; and output means set to allow the output of said objects; said machine characterized in that it comprises: a rotating transfer track arranged in a closed circuit around rotating axes; and a plurality of transfer elements attached to the rotating transfer track along it, set to receive the objects coming from the robotic collection means and deliver said objects to the output means; where said rotating transfer track is set to produce a rotary movement of the transfer elements around the two rotating axes, and a rectilinear movement thereof between said two rotating axes.

2. Machine for positioning objects according to claim 1, characterized in that the output means comprise a handling track arranged longitudinally according to a direction of advance of the objects, set to allow support and sliding of the objects along the same.

3. Machine for positioning objects according to claim 2, characterized in that the handling track is arranged parallel to the first conveyor belt.

4. Machine for positioning objects according to claim 2, characterized in that the handling track is formed by a plurality of smooth-surfaced rods.

5. Machine for positioning objects according to claim 2, characterized in that the handling track is formed by a plate or sheet.

6. Machine for positioning objects according to claim 2, characterized in that the handling track is formed by a plurality of rotating rollers arranged perpendicular to the direction of advance of the objects.

7. Machine for positioning objects according to claim 1, characterized in that the output means comprises a second conveyor belt.

8. Machine for positioning objects according to claim 1, characterized in that the rotating transfer track is formed by a rotating conveyor belt.

9. Machine for positioning objects according to claim 8, characterized in that the rotating conveyor belt comprises: two semicircular sections arranged around the two rotating axes, each set to produce the rotary movement of the transfer elements; and two straight sections attached to both semicircular sections between the two rotating axes, each set to produce the rectilinear movement of the transfer elements; where said semicircular sections and said straight sections are joined together forming a closed circuit.

10. Machine for positioning objects according to claim 1, characterized in that the rotating transfer track is arranged in an inclined position between the first conveyor belt and the output means.

11. Machine for positioning objects according to claim 10 characterized in that the transfer elements are set to receive objects coming from the robotic collection means in a horizontal position and deliver said objects to the output means in a vertical position.

12. Machine for positioning objects according to claim 1 characterized in that the rotating transfer track is arranged vertically between the first conveyor belt and the output means.

13. Machine for positioning objects according to claim 12 characterized in that the transfer elements are set to receive the objects coming from the robotic collection means in inverted vertical position and deliver said objects to the output means in vertical position.

14. Machine for positioning objects according to claim 1, characterized in that the rotating transfer track is arranged horizontally between the first conveyor belt and the output means.

15. Machine for positioning objects according to claim 14 characterized in that the transfer elements are set to receive objects coming from the robotic collection means in vertical position and deliver said objects to the output means in vertical position.

16. Machine for positioning objects according to claim 1, characterized in that the transfer elements are set to receive the objects coming from the robotic collection means in a predetermined position and deliver said objects to the output means in vertical position.

17. Machine for positioning objects according to claim 1, characterized in that the transfer elements are set to receive the objects by means of pneumatic suction or mechanical clamping.

18. Machine for positioning objects according to claim 1, characterized in that each transfer element is formed by a head comprising one or more suction cups set to hold the object by suction and/or aspiration thereof.

19. Machine for positioning objects according to claim 18, characterized in that it comprises at least two suction cups arranged perpendicular to the direction of advance of the objects.

20. Machine for positioning objects according to claim 18, characterized in that each suction cup is arranged on a movable base set to vary the position of the suction cup on the head.

21. Machine for positioning objects according to claim 1, characterized in that each transfer element comprises a gripper set to hold the object.

22. Machine for positioning objects according to claim 21, characterized in that the gripper is set to close after receipt of the object to hold the same, and to open during delivery of the object to release it.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The following is a very brief description of a series of drawings which help to better understand the invention and which relate expressly to various embodiments of said invention which are presented as non-limiting examples thereof.

[0060] FIG. 1 depicts a general perspective view of the machine of this invention, according to a first preferred embodiment.

[0061] FIG. 2 depicts a plan view of the machine in FIG. 1.

[0062] FIG. 3 depicts a profile view of the machine in FIG. 1.

[0063] FIG. 4 represents a detail view of one end of the rotary transfer track of the machine of FIG. 1.

[0064] FIG. 5 depicts a partial sectional view according to cutline A-A of FIG. 2.

[0065] FIG. 6 depicts a partial sectional view according to cutline B-B of FIG. 2.

[0066] FIG. 7 depicts a perspective view of a suction head of the rotating transfer track of FIGS. 1 to 6.

[0067] FIG. 8 depicts a cross-section of the suction head in FIG. 7.

[0068] FIG. 9 represents a partial profile view of a first embodiment variant of the machine of FIG. 1, in which the rotating transfer track is arranged vertically.

[0069] FIG. 10 depicts a partial profile view of a second embodiment of the machine of FIG. 1, in which the rotating transfer track is arranged horizontally.

[0070] FIG. 11 depicts a general perspective view of the machine of this invention, according to a second preferred embodiment.

[0071] FIG. 12 depicts a plan view of the machine in FIG. 11.

[0072] FIG. 13 depicts a profile view of the machine in FIG. 11.

[0073] FIG. 14 depicts a detail view of one end of the rotating transfer track of the machine in FIG. 11.

[0074] FIG. 15 depicts a partial sectional view according to cutline C-C of FIG. 12.

[0075] FIG. 16 depicts a partial sectional view according to cutline D-D of FIG. 12.

[0076] FIG. 17 depicts a partial profile view of a first embodiment of the machine of FIG. 11, in which the rotating transfer track is arranged vertically.

[0077] FIG. 18 depicts a partial profile view of a second embodiment of the machine of FIG. 11, in which the rotating transfer track is arranged horizontally.

[0078] FIG. 19 depicts a cross-section of the handling track according to a first configuration thereof.

[0079] FIG. 20 depicts a cross-section of the handling track according to a second configuration thereof.

[0080] FIG. 21 depicts a cross-section of the handling track a third configuration thereof.

[0081] FIG. 22 depicts a general perspective view of the machine of this invention, according to a third preferred embodiment.

DETAILED DESCRIPTION OF THE INVENTION

[0082] FIGS. 1 to 8 show a first embodiment of the machine (1) for positioning objects of this invention, in which the objects (O) are conveyed by means of pneumatic suction.

[0083] As can be seen in FIGS. 1 and 2, the machine (1) comprises: [0084] a first conveyor belt (2) set to receive a plurality of objects (O); [0085] machine vision means (3) set to identify the position and shape of objects (O) arranged on the first conveyor belt (2), in this case, by using a machine vision camera; [0086] robotic collection means (4) set to pick up the objects (O) from the first conveyor belt (2) according to the information received from the machine vision means (3), in this case, by using two delta type robot arms; and [0087] output means (5) set to allow the output of said objects (O).

[0088] The machine (1) is characterized in that it comprises: [0089] a rotating transfer track (6) arranged in a closed circuit around rotating axes (6.sub.Y); and [0090] a plurality of transfer elements (7, 7a) attached to the rotating transfer track (6) along it, set to receive the objects (O) coming from the robotic collection means (4) and deliver said objects (O) to the output means (5).

[0091] Said rotating transfer track (6) is set to produce a rotary movement (7?) of the transfer elements (7, 7a) around the two rotating axes (6.sub.Y), and a rectilinear movement (7.sub.T) thereof between said two rotating axes (6.sub.Y).

[0092] The rotary movement (7?) of the transfer elements (7, 7a), once they transport the objects (O), causes a change of orientation and/or position of said objects (O) from a predetermined pick-up position to a final delivery position. Thus, by means of a 180? rotation of the transfer elements (7, 7a), they actively contribute to the positioning and/or change of orientation of the objects (O), saving movements to the robotic collection means (4) and thus increasing transfer speed.

[0093] On the other hand, the rectilinear movement (7.sub.T) of the transfer elements (7, 7a), allows other operations or processes to be conducted, such as assembly, filling, closing, etc., before releasing the objects (O). Thus, these operations can be performed on the same transfer track (6) while the objects (O) are being transported by the transfer elements (7, 7a). The length and path of the transfer track (6) are adapted to accommodate the various intermediate operations of the objects (O) before releasing the objects.

[0094] The output means (5) comprise a handling track (51) arranged longitudinally according to a direction of advance (A) of the objects (O), set to allow the support and sliding (O) of the objects along the handling track when they are held by the transfer elements (7, 7a). Said handling track (51) is arranged parallel to the first conveyor belt (2), at a lower height with respect thereto. The length and travel of the handling track (51) are adapted to accommodate the various intermediate operations of the objects (O) before releasing them.

[0095] According to this example, the machine (1) for positioning objects also integrates a second conveyor belt (52) arranged downstream the track of the handling track (51) to work collaboratively, receiving the objects (O) coming from said handling track (51).

[0096] The machine (1) comprises a handling section (1.sub.M) as a result of the longitudinal extension of the rotating transfer track (6), in which the rectilinear travel of the transfer elements (7, 7a) is increased so that they can be handled more easily. Said handling section (1.sub.M) protrudes laterally from the machine (1) in order to be able to arrange around it the equipment and/or workstations necessary to conduct other operations or processes, such as assembly, filling, closing, etc., before releasing the objects (O).

[0097] The rotating transfer track is (6) of the carousel, transfer conveyor or conveyor belt type, which defines a closed oval-shaped path composed of two parallel straight segments joined by two arcs or semicircles. The axes of rotation (6.sub.Y) pass through the center of said arcs or semicircles.

[0098] The rotating transfer track (6) is formed by a rotating conveyor belt (61) comprising: [0099] two semicircular sections (61.sub.C) arranged around the two rotating axes (6.sub.Y), each set to produce the rotary movement (7?) of the transfer elements (7, 7a); and [0100] two straight sections (61.sub.R) attached to both semicircular sections (61.sub.C) between the two rotating axes (6.sub.Y), each set to produce the rectilinear movement (7.sub.T) of the transfer elements (7, 7a).

[0101] The semicircular (61c) and straight sections (61.sub.R) are joined together to form a closed circuit.

[0102] As shown in FIG. 3, the rotating transfer track (6) is arranged in an inclined position (6.sub.I) between the first conveyor belt (2) and the output means (5). In this case, the transfer elements (7, 7a) are set to receive the objects (O) coming from the robotic collection means (4) in a horizontal position (O.sub.H) and deliver said objects (O) to the output means (5) in a vertical position (O.sub.V).

[0103] FIG. 4 shows in more detail the arrangement of the transfer elements (7, 7a) in relation to the rotating transfer track (6). Specifically, said transfer elements (7, 7a) are attached to the rotatable transfer track (6), spaced equidistantly therebetween, or as appropriate, along the rotatable transfer track (6). The transfer elements (7, 7a) are therefore moved by the movement of the rotating transfer track (6) since they are attached thereto.

[0104] FIG. 5 shows a cross-section of the rotary transfer track (6) through one of its two rotating axes (6.sub.Y), in this case, a transmitter rotation axis (6.sub.Y) that receives the movement of a motor (62) and transmits it to the rotating conveyor belt (61) on which the transfer elements (7, 7a) are attached.

[0105] FIG. 6 shows a cross-section of the rotating transfer track (6) through the other of its two rotating axes (6.sub.Y), in this case, a driven rotation axis (6.sub.Y) that rotates freely dragged by the movement of the rotating conveyor belt (61).

[0106] As can be seen in FIGS. 7 and 8, each transfer element (7) is formed by a head (7a) comprising two suction cups (71a) set to hold the object (O) by suction and/or aspiration thereof. The two suction cups (71a) are arranged perpendicular to the forward direction (A) of the objects (O). So that when the suction cups (71a) grip the object (O), the object is also arranged perpendicular to its direction of travel (A), FIG. 1.

[0107] The position of the suction cups (71a) with respect to the head the head (7a) is adjustable, in order to adapt the head to a greater diversity of objects (O) to be positioned. For this purpose, each suction cup (71a) is arranged on a sliding base (72a) set to vary the position of the suction cup (71a) on the head (7a). The sliding bases (72a) can slide along a guide rail (73) after release of the brake (74) associated with each sliding base (72a). This makes it possible, for example, to vary the distance between two suction cups (71a) to adapt it to the length and/or height of the object (O), encouraging its correct gripping.

[0108] FIG. 9 shows a first embodiment of the machine of FIG. 1, in which the rotating transfer track (6) is arranged vertically (6.sub.V) between the first conveyor belt (2) and the output means (5). In this case, the transfer elements (7, 7a) are set to receive the objects (O) coming from the robotic collection means (4) in inverted vertical position (O.sub.IN) and deliver said objects (O) to the output means (5) in vertical position (O.sub.V).

[0109] FIG. 10 shows a second embodiment of the machine of FIG. 1, in which the rotating transfer track (6) is arranged horizontally (6.sub.H) between the first conveyor belt (2) and the output means (5). In this case, the transfer elements (7, 7a) are set to receive the objects (O) coming from the robotic collection means (4) in a vertical position (O.sub.V) and deliver said objects (O) to the output means (5) in a vertical position (O.sub.V).

[0110] FIGS. 11 to 16 show a second embodiment of the machine (1) for positioning objects of this invention, in which the objects (O) are transported by means of mechanical clamp-type gripping.

[0111] As can be seen in FIGS. 11 and 12, the machine (1) comprises: [0112] a first conveyor belt (2) set to receive a plurality of objects (O); [0113] machine vision means (3) set to identify the position and shape of objects (O) arranged on the first conveyor belt (2), in this case, by using a machine vision camera; [0114] robotic collection means (4) set to pick up the objects (O) from the first conveyor belt (2) according to the information received from the machine vision means (3), in this case, by using two delta type robot arms; and [0115] output means (5) set to allow the output of said objects (O).

[0116] The machine (1) is characterized in that it comprises: [0117] a rotating transfer track (6) arranged in a closed circuit around rotating axes (6.sub.Y); and [0118] a plurality of transfer elements (7, 7b) attached to the rotating transfer track (6) along it, set to receive the objects (O) coming from the robotic collection means (4) and deliver said objects (O) to the output means (5).

[0119] Said rotating transfer track (6) is set to produce a rotary movement (7?) of the transfer elements (7, 7b) around the two rotating axes (6.sub.Y), and a rectilinear movement (7.sub.T) thereof between said two rotating axes (6.sub.Y).

[0120] The rotary movement (7?) of the transfer elements (7, 7b), once they transport the objects (O), causes a change of orientation and/or position of said objects (O) from a predetermined pick-up position to a final delivery position. Thus, by means of a 180? rotation of the transfer elements (7, 7b), they actively contribute to the positioning and/or change of orientation of the objects (O), saving movements to the robotic collection means (4) and thus increasing transfer speed.

[0121] On the other hand, the rectilinear movement (7.sub.T) of the transfer elements (7, 7b), allows other operations or processes to be conducted, such as assembly, filling, closing, etc., before releasing the objects (O). Thus, these operations can be performed on the same transfer track (6) while the objects (O) are being transported by the transfer elements (7, 7b). The length and path of the transfer track (6) are adapted to accommodate the various intermediate operations of the objects (O) before releasing the objects.

[0122] The output means (5) comprise a handling track (51) arranged longitudinally according to a direction of advance (A) of the objects (O), set to allow the support and sliding (O) of the objects along the handling track when they are held by the transfer elements (7, 7b). Said handling track (51) is arranged parallel to the first conveyor belt (2), at a lower height with respect thereto. The length and travel of the handling track (51) are adapted to accommodate the various intermediate operations of the objects (O) before releasing them.

[0123] According to this example, the machine (1) for positioning objects also integrates a second conveyor belt (52) arranged downstream the track of the handling track (51) to work collaboratively, receiving the objects (O) coming from said handling track (51).

[0124] The machine (1) comprises a handling section (1.sub.M) as a result of the longitudinal extension of the rotating transfer track (6), in which the rectilinear travel of the transfer elements (7, 7b) is increased so that they can be handled more easily. Said handling section (1.sub.M) protrudes laterally from the machine (1) in order to be able to arrange around it the equipment and/or workstations necessary to conduct other operations or processes, such as assembly, filling, closing, etc., before releasing the objects (O).

[0125] The rotating transfer track is (6) of the carousel, transfer conveyor or conveyor belt type, which defines a closed oval-shaped path composed of two parallel straight segments joined by two arcs or semicircles. The axes of rotation (6.sub.Y) pass through the center of said arcs or semicircles.

[0126] The rotating transfer track (6) is formed by a rotating conveyor belt (61) comprising: [0127] two semicircular sections (61c) arranged around the two rotating axes (6.sub.Y), each set to produce the rotary movement (7?) of the transfer elements (7, 7b); and [0128] two straight sections (61.sub.R) attached to both semicircular sections (61.sub.C) between the two rotating axes (6.sub.Y), each set to produce the rectilinear movement (7.sub.T) of the transfer elements (7, 7b).

[0129] The semicircular (61.sub.C) and straight section (61.sub.R) are joined together to form a closed circuit.

[0130] As can be seen in FIG. 13, the rotating transfer track (6) is arranged in an inclined position (61), at about approx. 45? between the first conveyor belt (2) and the output means (5). In this case, the transfer elements (7, 7b) are set to receive the objects (O) coming from the robotic pick-up means (4) in a horizontal position (O.sub.H) and deliver said objects (O) to the output mean (5) in a vertical position (O.sub.V).

[0131] FIG. 14 shows in more detail the arrangement of the transfer elements (7, 7b) in relation to the rotating transfer track (6). Specifically, said transfer elements (7, 7b) are attached to the rotatable transfer track (6), spaced equidistantly therebetween, or as appropriate, along the rotatable transfer track (6). The transfer elements (7, 7b) are therefore moved by the movement of the rotating transfer track (6) since they are attached thereto.

[0132] Each transfer element (7) is formed by a clamp (7b) set to hold the object (O). The gripper (7b) is set to close after receipt of the object (O) to clamp it, and to open during delivery (O) of said object to release it.

[0133] FIG. 15 shows a cross-section of the rotary transfer track (6) through one of its two rotating axes (6.sub.Y), in this case, a transmitter rotation axis (6.sub.Y) that receives the movement of a motor (62) and transmits it to the rotating conveyor belt (61) on which the transfer elements are attached (7, 7b).

[0134] The transfer elements (7, 7b) form an angle of inclination (?.sub.7) with respect to the rotating transfer track (6) of 135?, being arranged vertically in a pick-up position (P.sub.R), and horizontally in a delivery position (P.sub.E).

[0135] FIG. 16 shows a cross-section of the rotating transfer track (6) through the other of its two rotating axes (6.sub.Y), in this case, a driven rotation axis (6.sub.Y) that rotates freely dragged by the movement of the rotating conveyor belt (61).

[0136] FIG. 17 shows a first embodiment of the machine of FIG. 11, in which the rotating transfer track (6) is arranged vertically (6.sub.V) between the first conveyor belt (2) and the output means (5). In this case, the transfer elements (7, 7b) are set to receive the objects (O) coming from the robotic collection means (4) in inverted vertical position (O.sub.IN) and deliver said objects (O) to the output means (5) in vertical position (O.sub.V).

[0137] FIG. 18 shows a second embodiment of the machine of FIG. 1, in which the rotating transfer track (6) is arranged horizontally (6.sub.H) between the first conveyor belt (2) and the output means (5). In this case, the transfer elements (7, 7b) are set to receive the objects (O) coming from the robotic collection means (4) in a vertical position (O.sub.V) and deliver said objects (O) to the output means (5) in a vertical position (O.sub.V).

[0138] FIG. 19 shows a cross-section of the handling track (51) according to a first configuration thereof, wherein the latter is formed by a plurality of rods (511) having a smooth surface. Said rods (511) are arranged longitudinally in parallel as a guide, leaving free spaces (514) among them to reduce friction of the objects (O).

[0139] FIG. 20 shows a cross-section of the handling track (51) according to a second configuration thereof, wherein the latter is formed a plate or sheet (512). Said plate or sheet (512) is arranged longitudinally, comprising a grid-like pattern of holes and/or recesses (515) to reduce the friction of the objects (O).

[0140] FIG. 21 shows a cross-section of the handling track (51) according to a third configuration thereof, wherein the latter is formed by a plurality of rotating rollers (513) arranged perpendicular to the direction of advance (A) of the objects (O), leaving free spaces (514) between them to reduce the friction of the objects (O). Said rollers (513) are set to rotate freely by the action of the objects (O) themselves contacting the rollers (513) to reduce friction.

[0141] FIG. 22 depicts a general perspective view of the machine (1) of this invention, according to a third preferred embodiment. Said embodiment is similar to that of FIGS. 11 to 16, with the difference that the output means (5) only comprise a second motorized conveyor belt (52). That is, in this case, the machine does not have a handling track (51).