AU2015357284B2

AU2015357284B2 - Device for orienting parts, particularly for gripping by robots, automation means and the like

Info

Publication number: AU2015357284B2
Application number: AU2015357284A
Authority: AU
Inventors: Marco Mazzini
Original assignee: ARS Srl
Current assignee: ARS Srl
Priority date: 2014-12-05
Filing date: 2015-11-27
Publication date: 2019-11-21
Anticipated expiration: 2035-11-27
Also published as: WO2016087332A8; AU2015357284A1; KR20170092663A; KR102591960B1; RU2017123543A; WO2016087332A1; CN107206587A; SG11201704457QA; MX2017007183A; RU2702919C2; RU2017123543A3

Abstract

A device (1) for orienting parts, particularly for gripping by robots, automation means and the like, which comprises a supporting frame (2) which defines a supporting surface (3) which rotatably supports a movable pad (4) associated with motor means (5) for its rotation about a rotation axis (6) substantially perpendicular to the supporting surface (3). Artificial vision means for the recognition of parts to be picked up arranged on the movable pad (4) are further provided, and pulse generation means (15) are further provided which are connected to the supporting frame (2) and act on the movable pad (4) in a precise and localized manner along a straight line of action that is substantially perpendicular to the movable pad (4) in order to modify the orientation of the parts to be picked up, in such a manner as to allow them to be picked up by robots, automation means and the like. The device further comprises a perimetric groove defined on the supporting surface (3) in a manner that is radially external to the movable pad (4) for the facilitated evacuation of oily substances or dirt present on the parts to be picked up and subsequently transferred onto the movable pad (4) as a consequence of the movement of the parts to be picked up by way of the pulse generation means (15).

Description

DEVICE FOR ORIENTING PARTS, PARTICULARLY FOR GRIPPING BY ROBOTS, AUTOMATION MEANS AND THE LIKE

TECHNICAL FIELD

The present invention relates to a device for orienting parts, particularly for gripping by robots, automation means and the like.

BACKGROUND

The invention relates to the sector of industrial automation or in any case to all sectors amenable to the introduction of an automatic robotized system, where there is continually increasing demand for flexible robotized systems capable of meeting the most varied requirements.

In particular, the expected industrial sectors of use for the device according to the invention are rubber, plastics and other synthetic materials, glass, the food industry, cosmetics, pharmaceuticals, medical, auto parts, electrical household appliances, computers, consumer electronics, small metal products, the woodworking industry and accessories for furniture, etc.

In fact the need is increasingly felt to feed different industrial automation systems in response to different production requirements.

Nowadays industrial products are in fact characterized by an increasingly shorter lifetime, by shrinking production volumes and by the consequent need to be able to rapidly adapt systems to changing production requirements, while seeking to minimize the costs of such adaptation.

Such facility of adaptation of systems to different production volumes and the adjustment of production to different end products are often the sole economic justification for maintaining an automatic production system and not resorting to manual systems, which usually are more expensive and slow but much more versatile, and which force companies to relocate production facilities to countries where labor is more convenient.

Feeder devices are known, called simply feeders, which are controlled by Cartesian coordinate robots, anthropomorphic robots, cylindrical robots, etc.

Such feeders are provided with artificial vision systems, such as for example linear cameras, matrix cameras, three-dimensional cameras and the like, which require lighting

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2015357284 10 Oct 2019 conditions such as to have images with high contrast between the background and the parts to be recognized so as to be able to send such images to image analysis software in order to recognize the parts.

The lighting conditions can be created by external lighting from above or by way of a backlighting device, which is usually arranged under the pad on which the parts lie.

Filling the feeder is done from outside, at time intervals, manually, by way of a hopper, with a belt elevator or other, technically-equivalent means.

The artificial vision system recognizes the part loaded in the feeder which is needed for production, and the robot picks it up.

Such conventional devices advance the parts that constitute the supply feed for the robots, by way of mechanical shaking and/or a linear movement obtained by way of motorized belts.

A problem with such feeders is constituted by the fact that when the parts to be supplied comprise at least one cylindrical part, they tend to roll, statistically offering the robots, more often than not, parts that cannot easily be gripped, and therefore not succeeding in feeding the robot.

With such type of feeder, be it of the linear advancement type and/or of the vibration type, it is not possible in any case to vary the position and the arrangement of the parts on the surface, thus slowing the production chain with heavy costs on the final production.

Furthermore, owing to the difficulty of accessing the internal parts of conventional feeders, it is more complicated to clean the backlighting system, which penalizes the quality of the vision system and therefore the efficiency of the production.

In order to overcome the above mentioned drawbacks, a feeder device has been developed which is capable of changing the orientation of the parts in such a manner as to make the gripping thereof by a robot easier.

Such conventional device involves the use of a circular pad which rotates about its own center and which is subjected to percussion by pulse generation means, such as to jolt the individual parts until they are in the desired position.

Such conventional device is also not devoid of drawbacks, among which is the fact that

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2015357284 10 Oct 2019 if the parts are not oriented in the correct position for their gripping, there is a risk that the system for feeding the device, by continuing to load parts, will saturate the surface of the movable pad, thus preventing the latter from carrying out its function.

Furthermore, this and other conventional devices suffer the drawback that, if the parts to be handled bear traces of oil or dirt, such traces can be transferred to the movable pad, preventing the lighting means from creating the right visual contrast between the background and the parts, which is necessary in order for the artificial vision means to identify the parts on the movable pad.

SUMMARY

The aim of the invention is to eliminate the above mentioned drawbacks in conventional types of feeder devices like the ones described above, by providing an orientation device that makes it possible to change the arrangement of the parts and their position on the surface efficiently while preventing traces of oil or dirt, and also overfeeding of the movable pad, from preventing the artificial vision means from identifying the parts to be picked up.

Within this aim, a desire of the present invention consists in providing an orientation device that allows easy access to the internal parts, thus simplifying the cleaning operation of the vision system.

Another desire of the present invention consists in providing an orientation device that is simple to assemble with means that are easily sourced on the market and using conventionally-used materials, so that the device is economically competitive.

It is an object of the present invention to meet these desires and aims, or to substantially overcome, or at least ameliorate, one or more disadvantages of existing arrangements.

A first aspect of the present invention provides a device for orienting parts, particularly for gripping by robots, automation means and the like, which comprises a supporting frame which defines a supporting surface which rotatably supports a movable pad associated with motor means for its rotation about a rotation axis substantially perpendicular to said supporting surface, artificial vision means for the recognition of parts to be picked up arranged on said movable pad being further provided and pulse generation means being further provided which are connected to said supporting frame and act on said movable pad in a precise and localized manner along a straight line of action that is substantially perpendicular to said movable pad in order to modify the orientation of said parts to be picked up, in such a manner as to allow them

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2015357284 10 Oct 2019 to be picked up by robots, automation means and the like, wherein the device comprises a perimetric groove defined on said supporting surface in a manner that is radially external to said movable pad for the facilitated evacuation of oily substances or dirt present on said parts to be picked up and subsequently transferred onto said movable pad as a consequence of the movement of said parts to be picked up by way of said pulse generation means.

A second aspect of the present invention provides a pickup and loading method of a part orientation device, particularly for gripping by robots, automation means and the like, according to any one of the preceding claims, wherein it comprises the steps of: photographing, by way of said artificial vision means, the portion of said movable pad which is arranged in said at least one part pickup sector, analyzing the image taken in the preceding step in order to identify said parts to be picked up present in said portion of said movable pad arranged in said at least one part pickup sector, whether oriented correctly for their pickup or not, in the event of identification of said parts to be picked up, which are oriented correctly, picking up said parts to be picked up on the part of said robot, automation means and the like, in the event of identification of said parts to be picked up, which are not oriented correctly by a quantity lower than a preset value, rotating said movable pad until said previously photographed portion is arranged in said at least one part loading sector in order to load new parts to be picked up on said movable pad by way of said hopper or the like, in the event of identification of said parts to be picked up, which are not oriented correctly by a quantity greater than a preset value, rotating said movable pad until said previously photographed portion is arranged in said at least one part orientation sector in order to modify the orientation of said parts to be picked up by the action of said pulse generation means in a precise and localized manner along a straight line of action that is substantially perpendicular to said movable pad, rotating said movable pad until said previously photographed portion is once again arranged in said at least one part pickup sector in order to iterate the preceding steps

This aim and these and other desires which will become better apparent hereinafter are achieved by a device for orienting parts, particularly for gripping by robots, automation means and the like, which comprises a supporting frame which defines a supporting surface which rotatably supports a movable pad associated with motor means for its rotation about a rotation axis substantially perpendicular to said supporting surface, artificial vision means for the recognition of parts to be picked up arranged on said movable pad being further provided and pulse generation means being further provided which are connected to said supporting frame and act on said movable pad in a precise and localized manner along a straight line of action

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2015357284 10 Oct 2019 that is substantially perpendicular to said movable pad in order to modify the orientation of said parts to be picked up, in such a manner as to allow them to be picked up by robots, automation means and the like, characterized in that it comprises a perimetric groove defined on said supporting surface in a manner that is radially external to said movable pad for the facilitated evacuation of oily substances or dirt present on said parts to be picked up and subsequently transferred onto said movable pad as a consequence of the movement of said parts to be picked up by way of said pulse generation means.

BRIEF DESCRIPTION OF THE DRAWINGS

Further characteristics and advantages of the invention will become better apparent from the detailed description of a preferred, but not exclusive, embodiment of a device for orienting parts, particularly for gripping by robots, automation means and the like, according to the invention, which is illustrated for the purposes of non-limiting example in the accompanying drawings wherein:

Figure 1 is a perspective view of an embodiment of an orientation device, according to the invention;

Figure 2 is a plan view from above of the device shown in Figure 1;

Figure 3 is a cross-sectional view of the device shown in Figure 2, taken along the line

III- III;

Figure 4 is a cross-sectional view of the device shown in Figure 2, taken along the line

IV- IV;

Figure 5 is an enlarged-scale detail of the device shown in Figure 4.

DETAILED DESCRIPTION

With reference to the figures, the device for orienting parts, particularly for gripping by robots, automation means and the like, generally designated by the reference numeral 1, comprises a supporting frame 2 which defines a supporting surface 3 which rotatably supports a movable pad 4 associated with motor means 5 for its rotation about a rotation axis 6 substantially perpendicular to the supporting surface 3.

In more detail, the motor means 5 can comprise a motor 7 of the electric type, such as for example an asynchronous motor, supported by the supporting frame 2 and fixed at a base 8

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5a

2015357284 10 Oct 2019 of the device 1 by way of a motor support 9.

In the proposed embodiment, the movable pad 4 has a substantially circular shape and is directly associated with the driving shaft of the motor 7 and is locked thereto so as to rotate integrally with it about the rotation axis 6, through an entraining flange 11 and a tightening flange 12 which are mutually engaged with each other in such a manner that the movable pad 4 is clamped between them.

In this way, the center of the movable pad 4 lies on the rotation axis 6.

Conveniently, the motor means 5 can comprise a driver motor 13 fixed at the base 8 by way of an adapted bracket 14.

In this way, the motor 7 is capable of operating with speeds and/or accelerations that are controlled and variable according to the characteristics of the parts that are loaded into the device 1.

Furthermore, artificial vision means for the recognition of parts to be picked up arranged on the movable pad 4 are provided, and pulse generation means 15 are provided which are connected to the supporting frame 2 and act on the movable pad 4 in a precise and localized manner along a straight line of action that is substantially perpendicular to the movable pad 4 in order to modify the orientation of the parts to be picked up, in such a manner as to allow them to be picked up by robots, automation means and

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WO 2016/087332

PCT/EP2015/077965 the like.

As far as the artificial vision means are concerned, they can be positioned externally and above the device 1 and, being conventional, they will not be described or shown in detail.

Generically, the artificial vision means can comprise an optical video camera and backlighting means 16 associated with the supporting frame 2 and arranged on the opposite side from the movable pad 4 with respect to the supporting surface 3 at the artificial vision means for the backlighting of the parts to be picked up arranged on the movable pad 4 in such a manner as to allow their identification by the artificial vision means.

Conveniently, the movable pad 4 is made of a material that is permeable to light and elastically flexible and the supporting surface 3 is provided with a window 17, shaped substantially like an annular sector and provided with adapted glass for protection, defined at the backlighting means in such a manner as to allow the backlighting of the movable pad 4.

With regard to the pulse generation means 15, these comprise a rebound magnet 18 connected to the supporting frame 2 and acting on the lower surface 19 of the movable pad 4 through at least one opening 20 defined on the supporting surface 3 distant from the window 17.

Conveniently, there can be two mutually opposite openings 20, such as to allow the installation of the pulse generation means 15 in two different points of the device 1 according to the layout requirements of the apparatus for picking up the parts.

Advantageously, the pulse generation means 15 are associated with the supporting frame 2 by way of a movable slider 21 adapted to allow the movement of the rebound magnet 18 along a radial direction with respect to the rotation axis 6.

Conveniently, the opening 20 has a slot-like shape elongated along a radial direction with respect to the rotation axis 6 consistently with the movement of the rebound magnet 18 by way of the movable slider 21.

WO 2016/087332

PCT/EP2015/077965

In this way, the rebound magnet 18 can be positioned in each instance in a peripheral position with respect to the center of the movable pad 4 so as to be able to act on the entire radial extension of the movable pad 4.

According to the invention, there is a perimetric groove 22 defined on the supporting surface 3 in a manner that is radially external to the movable pad 4 for the facilitated evacuation of oily substances or dirt present on the parts to be picked up and subsequently transferred onto the movable pad 4 as a consequence of the movement of the parts to be picked up by way of the pulse generation means 15.

Furthermore, there can be a shoulder ring 23 arranged radially outside the movable pad 4 and adapted to radially retain the parts to be picked up, and a covering element 24 integral with the supporting frame 2 and arranged above the movable pad 4 at the pulse generation means 15, for the vertical retention of the parts to be picked up as a consequence of the action of the pulse generation means 15.

In this way, the device 1 according to the invention can be divided into at least one part pickup sector defined at the artificial vision means, at least one part orientation sector defined at the pulse generation means 15, and at least one sector for loading parts by way of a hopper or the like.

Operation of the device 1 for orienting parts, particularly for gripping by robots, automation means and the like, is described hereinafter.

By way of a hopper, with a belt elevator, manually or with other conventional means, the device 1 can be filled from outside at preset time intervals with parts to be oriented in order to then be picked up by a robot or the like.

The parts are unloaded on the movable pad 4 at the loading sector in random position and, thanks to the rotation of the movable pad 4, they are arranged in the pickup sector where a robot, turn after turn, will pick up the parts once they have been recognized by the artificial vision means.

In order to ensure that the parts are presented to the robot with

WO 2016/087332

PCT/EP2015/077965 different sides so as to statistically increase the probability of gripping by the robot, an oscillating movement of the movable pad 4 is added to the rotation about the rotation axis 6, again about the rotation axis 6.

In this manner it is possible to modify the position of the parts on the movable pad 4 during the rotation and, as mentioned, favor the gripping of the robot.

Thanks to the shoulder ring 23 there is no risk of the parts leaving the movable pad 4 owing to the centrifugal force developed by the rotation.

For special parts, for example with very rounded shape characteristics or for very fragile parts that can be gripped by the robot only in one part thereof, the rotary-oscillatory movement of the movable pad 4 may not be sufficient to prevent the method from being slowed.

In this case it is possible to activate the pulse generation means 15, which in the solution described herein comprise the rebound magnet 18, so as to push one or more of the parts so that, following the impact, they change the orientation of their arrangement.

There is no risk that the parts will protrude outside the device 1 thanks to the covering element 24.

The rebound magnet 18 can be controlled by the operator through the vision means and its relative position with respect to the supporting frame 2 can be changed by actuating the movable slider 21.

Advantageously, in order to prevent malfunctions of the device 1 for each load of parts and/or turn of the movable pad 3, an iterative cycle of steps is set up which consists of the following:

First, a photograph is taken, by way of the artificial vision means, of the portion of the movable pad 4 arranged in the part pickup sector and, subsequently, the image taken in this step is analyzed in order to identify the parts to be picked up which are present in the portion of the movable pad 4 arranged in the part pickup sector, whether such parts are oriented correctly for their pickup or not.

WO 2016/087332

PCT/EP2015/077965

In the event of identification of parts to be picked up, which are oriented correctly, the parts are picked up by the robot, automation means and the like.

In the event of identification of parts to be picked up, which are not oriented correctly by a quantity lower than a preset value, the movable pad 4 is rotated until the previously photographed portion is arranged in the part loading sector in order to load new parts to be picked up on the movable pad 4 by way of the hopper or the like.

Finally, in the event of identification of parts to be picked up, which are not oriented correctly by a quantity greater than a preset value, the movable pad 4 is rotated until the previously photographed portion is arranged in the part orientation sector in order to modify the orientation of the parts to be picked up by way of the action of the pulse generation means 15 in a precise and localized manner along a straight line of action that is substantially perpendicular to the movable pad 4.

Advantageously, in the image analysis step, the comparison of the quantity of the parts to be picked up which are not oriented correctly with the preset value occurs by way of a comparison between the ratio of the number of white pixels to the number of black pixels of the image with a threshold value preset by the user, the image obtained being of the black and white type.

Subsequently, these steps are repeated in an iterating manner with a rotation of the movable pad 4 until the previously photographed portion is once again arranged in the part pickup sector in order to iterate the preceding steps.

In practice it has been found that the device for orienting parts, particularly for gripping by robots, automation means and the like, according to the invention, fully achieves the set aim and objects, in that it makes it possible to change the position of the parts to be picked up so as to statistically favor the gripping by robots, efficiently and also evacuating any

WO 2016/087332

PCT/EP2015/077965 residues of oil or dirt which would render identification of the parts difficult.

In particular the provision of pulse generation means which vertically push the movable pad on which the parts to be picked up lie ensures that the arrangement of the parts can also be modified if desired.

Furthermore, having provided a movement of the above mentioned pulse generation means in a radial direction with respect to the center of the movable pad makes it possible to use the device, according to the invention, for a wider type range of parts varying both in material and in geometry.

Another advantage of the invention is constituted by the fact that having a system available that makes it possible to change the position and arrangement of every single part requires a minimal agitation of the parts and therefore this makes the device feeder for robots, automation means and the like, according to the invention, particularly suitable for handling parts with delicate portions or which are made of particularly fragile materials.

Furthermore, the minimization of the agitation lowers the noise threshold, thus improving the quality of work of the factory where such device is used.

Another advantage of the feeder for robots according to the invention is that of providing, at least in the described embodiment, more space for the vision means inside the device thus facilitating access to the inside of the device and therefore simplifying the cleaning operations of such vision means.

Last but not least, the use of materials that are easily sourced and a simple mechanical construction make the device feeder per robots, automation means and the like, according to the invention, competitive from an economic viewpoint as well.

The device for orienting parts, particularly for gripping by robots, automation means and the like, thus conceived is susceptible of numerous modifications and variations, all of which are within the scope of the

WO 2016/087332

PCT/EP2015/077965 appended claims.

Moreover, all the details may be substituted by other, technically equivalent elements.

In practice the materials employed, and the contingent dimensions 5 and shapes, may be any according to requirements and to the state of the art.

The disclosures in Italian Patent Application No. AR2014A000058 (102014902314778) from which this application claims priority are incorporated herein by reference.

Where technical features mentioned in any claim are followed by 10 reference signs, those reference signs have been included for the sole purpose of increasing the intelligibility of the claims and accordingly, such reference signs do not have any limiting effect on the interpretation of each element identified by way of example by such reference signs.

Claims

1. A device for orienting parts, particularly for gripping by robots, automation means and the like, which comprises a supporting frame which defines a supporting surface which rotatably supports a movable pad associated with motor means for its rotation about a rotation axis substantially perpendicular to said supporting surface, artificial vision means for the recognition of parts to be picked up arranged on said movable pad being further provided and pulse generation means being further provided which are connected to said supporting frame and act on said movable pad in a precise and localized manner along a straight line of action that is substantially perpendicular to said movable pad in order to modify the orientation of said parts to be picked up, in such a manner as to allow them to be picked up by robots, automation means and the like, wherein the device comprises a perimetric groove defined on said supporting surface in a manner that is radially external to said movable pad for the facilitated evacuation of oily substances or dirt present on said parts to be picked up and subsequently transferred onto said movable pad as a consequence of the movement of said parts to be picked up by way of said pulse generation means.

2. The device according to claim 2, wherein the device comprises backlighting means associated with said supporting frame and arranged on the opposite side from said movable pad with respect to said supporting surface at said artificial vision means for the backlighting of said parts to be picked up arranged on said movable pad in such a manner as to allow their identification by said artificial vision means, said movable pad being made of a material that is permeable to light and elastically flexible and said supporting surface being provided with a window defined at said backlighting means in such a manner as to allow the backlighting of said movable pad.

3. The device according to claim 1 or 2, wherein said pulse generation means comprise a rebound magnet connected to said supporting frame and acting on the lower surface of said movable pad through at least one opening defined in said supporting surface, said at least one opening being defined distant from said window.

4. The device according to any one of the preceding claims, wherein said pulse generation means are associated with said supporting frame by way of a movable slider adapted to allow the movement of said rebound magnet along a radial direction with respect to said rotation axis, said

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2015357284 10 Oct 2019 at least one opening having a slot-like shape elongated along a radial direction with respect to said rotation axis consistently with the movement of said rebound magnet by way of said movable slider.

5. The device according to any one of the preceding claims, wherein said movable pad has a substantially circular shape the center of which lies on said rotation axis and in that said window is shaped substantially like an annular sector.

6. The device according to any one of the preceding claims, wherein the device comprises a covering element integral with said supporting frame and arranged above said movable pad at said pulse generation means for the vertical retention of said parts to be picked up as a consequence of the action of said pulse generation means.

7. The device according to any one of the preceding claims, wherein the device comprises: at least one part pickup sector defined at said artificial vision means, at least one part orientation sector defined at said pulse generation means and at least one sector for loading parts by way of a hopper or the like.

8. A pickup and loading method of a part orientation device, particularly for gripping by robots, automation means and the like, according to any one of the preceding claims, wherein it comprises the steps of:

- photographing, by way of said artificial vision means, the portion of said movable pad which is arranged in said at least one part pickup sector,

- analyzing the image taken in the preceding step in order to identify said parts to be picked up present in said portion of said movable pad arranged in said at least one part pickup sector, whether oriented correctly for their pickup or not,

- in the event of identification of said parts to be picked up, which are oriented correctly, picking up said parts to be picked up on the part of said robot, automation means and the like,

- in the event of identification of said parts to be picked up, which are not oriented correctly by a quantity lower than a preset value, rotating said movable pad until said previously photographed portion is arranged in said at least one part loading sector in order to load new parts to be picked up on said movable pad by way of said hopper or the like,

- in the event of identification of said parts to be picked up, which are not oriented correctly by a quantity greater than a preset value, rotating said movable pad until said

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2015357284 10 Oct 2019 previously photographed portion is arranged in said at least one part orientation sector in order to modify the orientation of said parts to be picked up by the action of said pulse generation means in a precise and localized manner along a straight line of action that is substantially perpendicular to said movable pad,

- rotating said movable pad until said previously photographed portion is once again arranged in said at least one part pickup sector in order to iterate the preceding steps.

9. The method according to claim 8, wherein in said image analysis step the comparison of the quantity of said parts to be picked up which are not oriented correctly with said preset value occurs by way of a comparison between the ratio of the number of white pixels to the number of black pixels of said image with a threshold value preset by the user, said image being of the black and white type.