JP2021519687A - Elementalization and orientation of objects for feeding - Google Patents

Abstract

Objects in the flow in the duct are united and oriented by being rotated at least somewhat so that all orientations are aligned. In one arrangement, the slots are placed in the stand-alone duct, the fuselage falls there, and the head remains in the stand-alone duct. In another arrangement, a buffer device and a transport member for transporting the oriented object from the buffer device to the operating position are provided. In another arrangement, the first path reorients with respect to the second path. The object can be fed from the stand-alone duct to a supply duct having an outlet opening on the axis of rotation of the stand-alone duct. [Selection diagram] Fig. 1

Description

The present invention is a system for unitizing, classifying, and orienting objects, and placing selected objects in an ordered array. The present invention first aims at the unitization and orientation of objects for automatic assembly. In an exemplary application, the object can be a fastener, such as a screw fed to an automatic screwdriver. Other types of objects may be used.

Automatic fastening machines are widely used in manufacturing for assembling products. Several methods have been used in the prior art to unify and orient the fasteners before they are delivered to a device that installs the fasteners on the parts to be assembled. The bowl feeder operates by vibrating a spiral ramp. The vibrations energize the chaotic collection of fasteners in the central storage area and reorient the fasteners. Generally, the vibration frequency of 60 Hz to 400 Hz is adjusted so as to be a resonance in which the fastener is integrated. Fasteners with a favorable orientation (the long axis is substantially aligned with the local tilt axis) are propelled along the spiral ramp, and those with an unfavorable orientation fall into the central storage area. .. In another variant, a group of fasteners is fed by a step feeder to a vibrating ramp. In another variant, fasteners are fed onto an intermittently vibrating plate that has an orientation function. After a period of vibration, the orientation of the fasteners is detected by machine vision and the fasteners in those preferred orientations are extracted with an automated picker. These devices produce significant acoustic noise that must be dampened. The prior art method described above can supply only a few parts per second. A first object of the present invention is to increase the number of parts per second that can be supplied to the automatic fastener device in order to increase the manufacturing speed. Another object of the present invention is to reduce the size of a stand-alone device. Another object of the present invention is to reduce the cost of a stand-alone device. Another object of the present invention is to reduce the noise of the unitized device.

The present invention is a system for unitizing, classifying, and orienting objects, and placing selected objects in an ordered array. In the context of the present invention, the term object refers to any item that requires orientation with respect to a substrate or another object. An object referred to as "antiparallel" to another object means that the object is oriented 180 degrees with respect to the reference object. The term ordered array means that there is a constant average displacement between the centroids of the objects in the array. The orientation of an object can be specified by a set of orientation vectors that are associated with at least one, spatially varying property of the object. For convenience, the centroid of an object is interpreted as the starting point of the orientation vector in the discussion below. Different properties may have different sets of related orientation vectors. Orientation is often specified by the shape of the object, but may be specified by the properties of the material or the internal properties of the object, such as changes in electrical circuit wiring. The term orientation as used herein generally refers to a set of one or more selected orientation vectors. The selected set may contain orientation vectors related to the properties of different objects. For example, one orientation vector may specify the direction of the vertical plane, and another orientation vector may specify the direction from the center of gravity to the electrical contacts. The term orientation axis is used herein in exchange for the term orientation vector. In an important set of embodiments, the orientation vector corresponds to the vertical axis of the object. The term on the vertical axis is used throughout for explanatory purposes and should not be construed as limiting the invention to the orientation of the vertical axis only. Within the spirit and intent of the present invention, the term on the vertical axis has the same meaning as the selected axis of orientation. The object can be, for example, a molded plastic base that is joined to a circuit on a silicon substrate. An object can be a fastener, such as a screw, or rivet, used to join two or more parts of a manufactured item together. The object can be a tulip bulb that requires orientation prior to installation in the soil substrate.

According to a first aspect of the invention, from a mass supply of objects, where each object has an axis of orientation and the object is shaped to have different orientations of the first and second axes of orientation. A method for supplying objects is provided in the flow of, and the method is:
With the process of supplying a large supply of objects;
The process of transporting an object from a supply to a stand-alone duct;
The unitized duct so that the object is passed along the united duct and the centrifugal force generated by the rotation drives the object along the united duct and the object slides along the wall. The process of forming an object into a stream of objects that are united one after another by rotating the unitized duct around the axis of rotation so that it acts to exert pressure on the object against the wall of the object. When;
By engaging the objects in the flow and rotating at least some of the objects so that all the objects in the position in the flow after orientation have an aligned orientation, the objects in the flow Includes the step of orienting.

The axis of orientation is usually the longitudinal direction of the body involved, but this is not always the case as objects of other shapes can be oriented by the methods herein.

Preferably, the method involves rotating the vertical axis of at least some objects around the horizontal axis so that all objects at positions in the flow after orientation are aligned with their orientation. include.

That is, there is an additional component that acts on the objects so aligned to rotate the axis of orientation, rather than simply aligning the objects along the axis of orientation, which occurs during movement along the duct. Provided to. In this way, objects such as screws or other fasteners can be placed with the head moving forward, the head moving backward, or the axis of the screw lateral to the direction of movement of the flow.

According to another important aspect of the present invention, an object buffer device and a transport member for transporting a unitized and oriented object from an object buffer device to an operation tool are provided.

According to another aspect of the invention, certain actions on oriented objects are provided such that they are performed on each object in the same orientation.

When the definitions herein refer to paths or ducts, a rotating body may include only one unitized duct, or multiple ducts all operating on the same object to increase productivity. , Or may involve multiple ducts operating on different types of objects, such as fasteners of different sizes.

According to another aspect of the invention, a sensor is provided for detecting the orientation of an object in a stream, where the objects are first and second depending on the detection of the first and second orientations. The first path directs the orientation of the objects there so that they are oriented in the path of, and here the objects are combined with a common flow of the same orientation from the first and second paths. Arranged to change for 2 routes.

In one example, the first path is arranged to feed the object to the common flow in the first direction, and the second path is the common flow in the second direction, opposite to the first direction. Arranged to supply objects to. This reverses the orientation of the objects in the second path with respect to the first path, ensuring that all objects in the common flow have the same orientation.

In another example, the second path includes a component for reversing the orientation of the objects there. This can be a twist to reverse the orientation of the objects there. This can be a moving part that can be actuated to carry the object in reverse orientation to reverse the orientation of the object there.

In one arrangement, the orientation of the objects is performed while the objects are in the unitization duct.

That is, orientation can be achieved by an abutment structure that engages with the object while in the unitized duct and acts to rotate the object, or the orientation axis of the object, around the horizontal axis. ..

In one example, orientation acts to rotate the object so that all vertical axes are sideways with respect to the direction of movement along the unitization duct. This is especially effective for fasteners, where the axis of the screw is lateral to the direction of movement in a magazine or buffer moving towards a tool such as a screwdriver. Fasteners are supplied in the direction.

In one example, the object has a head and a torso, the vertical axis of which is the longitudinal direction of the torso. However, the arrangements described herein can be used with other shapes and structures of objects that require special orientation. Preferably, the screws or fasteners are arranged so that the head and torso are aligned perpendicular to the direction of movement. However, the orientation may be used to provide a fastener with the tip facing one end and the head facing the other along the direction of travel.

For example, orientation can be achieved within the unitized duct by arranging slots in which the fuselage fits, while the head remains running along the united duct. In this way, the slots act to orient the object so that the vertical axis is lateral to the unitized duct.

In another arrangement, the duct acts solely on the unity, and the orientation remains single while the object remains in the stream of unity, but is performed while downstream of the duct. It is located beyond the end of the conversion duct.

In one example, the object is oriented by capture as the object is ejected from the unification duct into the alignment member.

In another example, a sensor is provided for detecting the orientation of an object in a stream, and the object is manipulated to change its orientation according to the detected orientation.

This can be done in another example where the object is oriented in the first and second paths depending on the detection of the first and second orientations. In this arrangement, the first path makes the orientation of the objects there a second path, preferably so that the objects are combined with a common flow of the same orientation from the first and second paths. Arranged to change against.

In one special final use of the unitization and orientation system described above, the object is transported from the unitization duct to a buffer container where it is stopped to form a supply of the object. This is especially necessary when the object is supplied to the operating tool as a supply. In one example of a device operating in this way, the buffer container rotates with a unitized duct and is then stopped to download the object. That is, the buffer collects objects while both the buffer and the decommissioning duct are rotating, after which the buffer is stopped during the download operation. In this example, preferably at least two buffer containers are provided, one being stopped while being loaded from the unitization duct.

When objects are fed to the tool one after another for use, in one example, the objects are fed directly from the buffer container to the tool. However, in another arrangement, the object is not fed directly, but instead is inserted into an elongated retractor or magazine that forms the feed to the tool. This can be, for example, a piece of material such as paper on which the objects are carried in a row, or a small piece of material such as plastic in which the objects are carried in a row from end to end.

In addition to orientation, another example provides a sensor for detecting the properties of an object in a stream, where some of the objects can be discarded or replaced, depending on the detected properties. Can be done. For example, systems are used to assess the quality or feasibility of objects such as screws and to dispose of unsuitable ones from use. However, many other uses of sensing and measurement systems can be used in many other ways.

If objects, such as screws, tend to be intertwined with each other, preferably a supply duct is provided to transport the object from the mass supply to the stand-alone duct, where the supply duct allows the object to enter the stand-alone duct. It is rocked to ensure that.

In another structure, the object is fed from the unitized duct to the supply duct, which rotates with the united duct and the object is united with respect to the outlet opening on the axis of rotation of the united duct. Carry the object when it is oriented and oriented. In this way, the objects emerge from the openings in the flow of the same orientation. This is particularly useful for feeding objects that are united, oriented, and move along an axis to the axis of the insertion tool.

In some cases, a measuring device that detects one or more parameters of an object may simply detect the presence of the object, in other cases its existence and one or more properties of the detected object are acquired. You may.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, an object measuring device for detecting at least one parameter of a stand-alone object is provided. ..

An important voluntary feature of the invention, which can be used independently of any of the above or below features, provides a control system for recording measurements of an object over time.

An important voluntary feature of the invention, which can be used independently of any of the above or below features, provides a control system for recording measurements of an object relative to its position in an object buffering device.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, the selected object is buffered in response to the detection of at least one parameter of the singular object. A diversion device is provided for diversion from the device.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, the unitization rate meets the conditions for the first tested object to proceed to the transfer device. Higher than the minimum required speed at which a replacement object becomes available if it is discarded.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, the storage container comprises at least a first and a second separate container, which are the first and first. A controller is used that contains each object with a quality parameter of 2 and selects a container.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, the transport device pulls the object from the outlet of the duct into a belt with a receptacle for the object. Carry to the final use position including.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, the transfer device is arranged such that the angular velocity of the object leaving the transfer device is approximately zero. ..

According to an important optional feature of the invention that can be used independently of any of the above or below features, the transfer device is a funnel and a catch position and release position. Includes a slot, which can be actuated by an actuator to move between and. In this arrangement, in some cases, sensors may be provided to detect the pressure and / or velocity of the object. Another important feature is whether the object actually reaches the object buffer device to ensure the accuracy of the object feeding operation and to stop the operation in the event of a blockage or inconsistent operation. And, sensors may be provided that detect when the object actually reaches the object buffer device.

According to an important feature of the invention, which can be used independently of any of the above or below features, a packaging means is provided to accommodate a unitized and oriented object.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, the object feeding system provides a surface coating, such as a lubricant or adhesive, on each or some of the objects. Includes a system for supplying.

According to an important voluntary feature of the invention that can be used independently of any of the above or below features, a rotating body mounted for rotation around a shaft is provided, the rotating body of which is a shaft. Defines at least one duct extending outward from the inner end adjacent to the axis to the outer end separated by a greater radial distance than the inner end, where the large number of objects is the at least one said. Supplied at the inner end of the duct, the inner end is for entry into the slow end inside the object and for the separation of the flow of the object in the conduit into another of the at least one duct. In addition, the supply conduits are arranged side by side adjacent to the axis so that the object acts to be placed at the inner end of the at least one duct, the at least one duct being the object having the object at least one duct. Shaped and arranged to be separated into and accelerated as the object passes from the inner edge to the outer edge so that it aligns continuously in the duct as it moves towards the outer edge. ing.

According to another important feature of the invention, which can be used independently of any of the above or below features, an upset means is provided that rocks an object fed from a feed conduit so that the object flows without solidification. Will be done. The swaying means can be present in the supply conduit, on the rotating body, or both. The shaking means can be, for example, a vibrator. The rocking means can be, for example, a feed conduit or a series of paddles that are rotated relative to a rotating body. The swaying means can be a protrusion on the inner wall of the supply conduit.

According to another important feature of the invention, which can be used independently of any of the above or below features, multiple supply ducts are provided that carry different types of objects to the rotating body, where each supply duct is Supply a set of one or more ducts, which is different from the set of one or more ducts supplied by any other supply conduit. The inner end of each set of ducts is preferably axially displaced relative to any other set of ducts. The device is used to feed different types of objects to further processes in the required proportions, for example by adjusting the number of ducts for each type and the speed of passage in the feed conduit for each type of object. obtain.

According to another important feature of the invention, which may be used independently of any of the above or below features, of the rotating body and associated supply conduits, ducts, detectors, shunts, and other object buffers. , A computing means is provided that receives information about at least one parameter.

According to another important feature of the invention, which can be used independently of any of the above or below features, the computing means will generate a summary report for the operator based on the information received.

According to another important feature of the invention, which may be used independently of any of the above or below features, the computing means modifies at least one operating parameter based on at least a portion of the information received. can do.

According to another important feature of the invention, which can be used independently of any of the above or below features, the computing means receives information from a plurality of rotating body devices and at least based on the received information. Change one operating parameter and enable the change so that the collective operation of multiple units of revolution produces an output of an object that satisfies the parameters specified by the operator.

One object of the present invention is to increase the speed at which objects can be subjected to assembly equipment so that finished parts can be manufactured more quickly. A further object of the present invention is to provide the quality characteristics of each object, along with information about the time it is delivered to each object buffer and its position within the object buffer.

In the most preferred embodiment, the unification means is as described in PCT application WO 2018/018155 published by Applicant February 1, 2018, the arrangement of which may be used herein. ..

Therefore, the united system consists of a rotating body and one or more ducts running from the central region, where giant objects are introduced from the giant object reservoir into the external region where the united objects are released. .. The object is accelerated by an inertial force that depends on the angular velocity of the rotating body and the shape of the duct.

The rate of unitization achieved by a single duct in this device is significantly higher than the rate of unity achieved by a prior art bowl feeder, allowing objects to be transported to the object buffer at a significantly higher rate. .. In the automatic assembly station based on this embodiment, since the unitization process does not limit the speed, the finished product can be assembled more quickly. This type of stand-alone system requires only a rotary motor that can be conveniently driven electrically or hydraulically. The solitary system described in the published PCT application WO 2018/018155 emits objects at intervals partially specified by the distribution of distances between the centers of giant objects. The average duration and variance of the duration depend on the distribution of the size and shape of the object and the surface tactile sensation that regulates friction with the duct wall. Each object is oriented in the duct to minimize potential energy. For non-spherical objects, the long axis of the object will preferentially align with the axis of the duct. The present specification includes measurement of object characteristics either in the duct or after discharge, and means of reorienting the object based on the measurement characteristics. The object buffer in the present invention functions to allow the object to be ejected from the object buffer at a constant rate. The maximum rate of discharge from the object buffer is the average rate of arrival of the object into the object buffer.

In another embodiment, the objects are collected by a funnel and placed in a slot that can be actuated by an actuator to move between a catch position and a release position. The width of the slot is chosen so that the slot can receive the object for a length of time depending on the variation in release time. After the object is captured, the actuator accelerates towards the release position and inertial forces drive the object towards the trailing edge of the slot. The trailing edge is shaped to orient the object. For example, the trailing edge itself bears even if it has a slot that is wide enough to accommodate the screw body and narrow enough to exclude the screw head.

In many cases, the method involves performing an operation on the stand-alone object while it remains stand-alone. The operation may include simply looking at or counting a single object. However, unitization is particularly effective in treating united objects, such as by coating with a lubricant or adhesive. In other cases, the operation may include performing an analysis or evaluation of the object.

In some embodiments, the object measuring means is an imaging system that provides information about the size, shape, and reflectance of an object at one or more wavelengths.

In some embodiments, the object measuring means is acoustic and provides information about density variations within the object. The measurement can detect, for example, a crack. The system can reject cracked objects to prevent possible failures in the finished assembly.

In some embodiments, multiple measuring means are used. In some embodiments, information about the object is stored with information about its position in the object buffer.

In a preferred embodiment, the object feeding system has a diversion means capable of diverting the objects to different locations depending on at least one measured quality parameter of each object. If the quality parameter meets the operator-specified threshold, the object continues to the object buffer, otherwise the object is diverted to the container. For example, if the object is a screw, the screw determined to be good continues to the object buffer, and the screw determined to be defective is diverted to the reject bin. In this embodiment, if the object is split into reject bins, the object buffer will be emptied by the assembly tool at a speed slightly higher so that the replacement object will be available immediately thereafter. , It is desirable to operate the stand-alone means. In some embodiments, objects that are suitable for use but are in excess are shunted into storage bins and later reintroduced into the unity means. This can happen, for example, when the object buffer is full.

In some embodiments, the object buffer is a packaging container that is replaced with another packaging container when a predetermined number of objects are placed in the container. In some cases, the packaging container receives only one object in a particular orientation. For example, a packaging container can be a piece of tape with a set of compartments that holds electronic components in a limited orientation.

In some embodiments, the object supply system is associated with a plurality of giant object stores, each containing a different type of object. As the computing means, the object storage is connected and the uniting means is always supplied.

While the system can be effective against a single duct that creates a fast flow of stand-alone objects, it often provides multiple ducts that are aligned around a central supply conduit. NS. This arrangement allows both speeding up object unitization and allowing multiple object types to be united at the same time, as described below. Each object type has a corresponding supply conduit that sends the object to the axial platform in contact with one or more ducts dedicated to that object type. Axial platforms for each object type are arranged in a zigzag along the axis of rotation of the united system. For example, one duct unifies # 4-40 screws and another duct unifies # 6-32 screws.

The device defined above can be used to detect at least one measurable parameter of the flow of an object:
Carrying objects in the flow of objects in the supply conduit;
Including rotating the rotating body around an axis;
The rotating body defines at least one duct extending outward from the inner end adjacent to the shaft to the outer end separated outward by a radial distance greater than the inner end from the shaft;
The inner end is arranged side by side adjacent to the axis so that the supply conduit acts to place the object at the inner end of at least one duct for entry into the slow end inside the object. Be;
The at least one duct is such that the object is separated from the inner end to the outer end so that the object is continuously aligned in the duct one after another as it moves toward the outer end. Shaped and arranged to accelerate as it passes through;
For each of the at least one duct, the at least one parameter of the object is measured.

In some cases, for each of the ducts, a device is provided for classifying the objects so that they are directed to one of a plurality of paths as determined by the measurement of the parameters. The measured parameters can be the orientation of each object. Objects in each orientation are oriented in different paths. For example, the thread flow will be aligned parallel and antiparallel to the duct axis. Screws aligned in parallel are oriented in a different path than screws aligned in antiparallel. In a preferred embodiment, the different paths are arranged so that the objects are in a common alignment state and then merge into a single path. However, given the increased degree of unitization of objects using arrangements herein, the more effective measurement of the parameters (s) may be used for other purposes.

Therefore, the arrangement defined above has the advantage that the velocity increase obtained by the rotation of the body better separates each object from the following for parameter detection, as well as the acceleration increase of the objects on the body. Can be provided. Moreover, the speeding up of objects can be used to increase the processing power of the system, as parameter detection or measurement can be performed more quickly.

In one arrangement, parameter measurements are performed while the object is in the duct. This has the advantage of being clearer and clearer as the position of the object is controlled by the rotation of the body and the position of the duct. Considering the more accurate position of the object, parameter measurements can often be performed more effectively.

In this case, preferably, the measurement of the parameters is performed by a measuring device placed on the rotating body. In this way, the measuring device is located in a specific position with respect to the duct and thus in a specific position with respect to the object. This can simplify the operation of the measuring device, as it allows for more precise focus at a particular location. In this case, each duct may include one or more separate measuring devices dedicated to measuring objects flowing through the duct. That is, when moving along a duct, each object passes through a number of sensors and measuring devices that can be aligned in a row, where each detects different parameters of the object and a better evaluation of the object is made. Make it possible. However, in some cases, a single sensor can provide all of the required information.

Preferably, at least a portion of the duct in close proximity to the measuring device is made of a transparent material. Making part of the duct transparent allows measurements to be performed through the transparent part while maintaining a constant shape so that the duct continues to control the movement of the object.

In one arrangement, the walls of the duct or the duct itself are segmented with one or more gaps between the segments. One or more measuring devices are located close to the gap and measure different parameters of the object without the view being obstructed by the wall of the duct. If the duct itself is divided into separate segments, each segment is preferably located substantially along the path of the duct to minimize sway due to the flow of objects along the duct. Arranged parallel to the average velocity vector of the object in. The object can therefore be manipulated using any of the techniques described herein while in the gap.

In another arrangement, the separation of the objects can be performed using electrostatic force, where the objects are selected so that they are diverted into another path by discriminatory energization. It is discriminatively energized according to the parameters, and then passes through the electric field. Normally, each object has a different or unique charge per unit mass, so objects of different masses are separated by passing them through an electric field that acts differently on the objects based on different masses. As such, an arrangement is provided that produces equal charge for each object. This method can be used, for example, to direct objects containing unwanted voids to reject bins.

Preferably, the duct is curved so that the outer end is angularly delayed relative to the inner end. This shape usually faithfully follows the path of the object, as the object is accelerated under centrifugal and Coriolis force and can move along the path without excessive friction against the sides of the duct.

Preferably, the duct is spaced more towards the outer edge of the duct as the feed conduit separates the object directly into the inner edge of the duct and the duct moves towards areas where the diameter of the rotating body increases. In such a way, they are placed directly adjacent to each other at the inner end adjacent to the axis.

Preferably, the axis of the rotating body is vertical so that the disc is located in a horizontal plane. However, other orientations can be used.

Preferably, the side wall of each duct in which the object moves is tilted along an axis so that the acceleration force exerted on the object acts to move the object in a common radial plane and release it from the rotating body. There is. That is, the acceleration force can move the object in the axial direction of the rotating body towards a common axial position. Thus, even if the objects enter the duct at positions that are separated along the axis, the shape of the duct will move them all to the same axial position.

In one preferred arrangement, each duct is shaped so that acceleration moves the object against the wall of the duct, where the wall is V-shaped so that the object is confined to the bottom of the V-shape. ing. The wall may include a surface containing rifling for engaging and rotating objects in the duct. Further, the wall may contain one or more openings in one position so that parts smaller than the object are separated from the object by emission through the openings. Each duct contains an associated second duct parallel to the duct, into which the separated smaller parts enter. This can be used in systems with a large number of such ducts, such as the objects being separated from the first part by size. In the preferred arrangement involved, the duct wall openings allow the passage of only a portion of the object so that the object is aligned with the duct wall. For example, the duct wall may include a slot through which the body of the screw passes but not the head of the screw. If the slot is deep enough, the axis of the screw will be aligned perpendicular to the duct wall.

In one example, each separator has a separation head with a front end, where the objects to be separated are arranged to move towards the front end of the flow, and one side of the flow with the objects on the second side of the flow. Between a first position oriented towards the first position and a second position on the second side of the flow arranged to direct the object to said first side of the flow. Includes an actuator for moving the front end.

In this example, the separation head is preferably located on the radial plane of the rotating body and the first and second sides are arranged on each side of the radial plane.

In this example, preferably the separation head includes a guide surface on the first and second sides of the front end so that it generally has a wedge shape. In other embodiments, the separation head may have three or more faces, usually triangular, with the base forming a polygon of each triangle, where the perpendicular of the polygon (in the neutral position) is incident. It is 180 degrees from the direction of the object. The separation head does not have to reach a sharp tip: that is, the sides may be trapezoidal. In this arrangement, the bottom of the separation head is polygonal, and the tip of the separation head resembles a bottom polygon that differs only in scale. For example, the separation head may generally be in the shape of a tetrahedron to orient the object into three separate paths. For example, the separation head may generally have a pyramidal shape to orient the object into four separate paths.

Preferably, the actuator is driven by a piezoelectric member. However, other driving forces, such as electromagnetic voice coils, may be used.

Preferably, the actuator is mounted on a tube that extends radially outside the separation head and is located in the radial plane of the separation head.

The present invention can be manipulated with different particles or objects to be separated, without being limited to the type or size of the objects involved. The arrangement of the invention can be used for objects ranging in size from microns to meters. Within the micron size range, the object may be, for example, flakes such as quantum dots whose optical properties are determined by the dimensions and orientation of the object. The object may be, for example, a crystal, and the arrangements herein are used such that the surface of the crystal is oriented with respect to the inner crystal plane. The crystal may be double-bent, for example, and the orientation manipulation of the present invention is used to align the optical axes for assembly in optical systems. The crystal may be, for example, silicon, and the orientation operations of the present invention are used to provide a particular crystal axis for further processing operations such as laser cutting, ionic processing or etching. The object may be a MEMS device, such as a micromirror or microlens, or part of a MEMS device. The object may be a passive electronic component, such as a resistor or capacitor, that is unitized and oriented by the present invention for packaging or installation on a carrier such as a printed circuit board. .. Objects are active electronic components such as transistors, LEDs, or integrated circuit chips that are united and oriented according to the present invention for packaging or installation on carriers such as printed circuit boards. May be. The object may be a fastener such as a button, metal fitting, screw, bolt, nail, rivet, nut, or washer. The object may be an electronic connector that is united and oriented, for example for mounting in a panel assembly. The object may be a manufacturing part, or a subassembly of a manufacturing product, that is unitized and oriented by the present invention for packaging or further assembly. The manufactured parts may have an irregular shape. The object may be a plant such as a tulip bulb, a pine tree, or a vine, or part of it, that has been united and oriented (rhizome side down) prior to planting. The object may be a veil of material that has been monopolized and oriented, for example, to orient the fibers in the composite. The object may be the packaging of a food product, or the packaging of a product, which is united and oriented by the present invention during packaging. Objects may be envelopes, boxes, packages or shipping containers that are united and oriented by the present invention in a postal system or delivery system that tracks and sends each object to its destination. Similarly, the present invention may be used in distribution and inventory management systems. The object may be luggage, for example in a transportation system such as an airport, train station, bus station, or port. The types of objects and uses referred to herein are exemplary and the scope of the invention is not limited to the types of objects and uses described herein.

As described in some examples herein, ducts are generally channels with straight sides formed on discs, but ducts are circular, oval, triangular, square, etc. It can also be a partial tube, generally C-shaped, V-shaped, L-shaped. Ducts can also be defined by a minimal two-dimensional or three-dimensional surface, or a surface defined by the contacts that force the object. The duct may also be a stored tube with many different cross-sectional shapes, such as circular, oval, triangular, or square.

The duct consists of multiple paths, where each path carries an object with a different set of orientations and provides a means of moving the object from the first path to the second path, depending on the orientation of the object. In some embodiments, at least one of the paths in the duct is shaped and arranged to reorient the objects entering the path. In some embodiments, at least one of the paths in the duct is shaped and arranged to change the orientation of the objects in the path. In some embodiments, at least one of the paths in the duct is shaped and arranged to reorient the object exiting the path. In some embodiments, at least one of the routes includes means for ejecting the object into a waste bin, at least in part based on the measurement parameters. In some embodiments, at least one of the routes includes means for ejecting the object into a waste bin based on the transient characteristics of the object. In some embodiments, at least one of the pathways includes means for directing the object to the recirculation bin, at least partially based on the measurement parameters. In some embodiments, at least one of the paths includes means for directing the object to the recirculation bin based on the transient characteristics of the object. In a preferred embodiment, the pathways within the duct are shaped and arranged such that objects entering the duct in different orientations exit the duct in the same orientation.

In the present invention, the inertial force on the object calculated in the rotating frame of reference is resisted in at least one direction by the normal force provided by the path surface, and the object is accelerated in response to the remaining net inertial force. .. The inertial forces generated in the frame of reference involved depend on the angular velocity and may be much greater than the gravity used in prior art systems. The greater force allows the placement of the present invention to quickly unitize and orient objects. The optimum rotation speed is determined by the magnitude of the surface force. In general, micron-sized objects are subject to strong surface forces that resist movement, and high rotational speeds, such as 100,000 RPM, are appropriate. For metric-sized objects, the surface force against mass is small and a rotational speed, such as 100 RPM, can provide sufficient processing power. Higher rotational speeds may be used to improve processing power. Lower rotational speeds may be used to limit the impact force on delicate objects.

The means of moving an object from one path to another can be dynamic or static. In the static case, the shape of the path gives different normal forces to objects with different orientations at at least one point along the path, and the different forces cause objects with different orientations to have different paths. Follow. For example, an object in the radial duct portion of the present invention is accelerated outward by centrifugal force and tangentially to the duct wall by Coriolis force. The duct wall may be tangentially stepped so that the first oriented object fits within the first step and the second oriented object extends beyond the first step. The first oriented object receives no tangential net force and no net torque around the radial axis. The object in the second orientation receives a net torque around the radial axis and possibly a tangential net force (depending on where the object's center of gravity is relative to the step). Due to the net torque and / or net tangential force on the object in the second orientation, the object follows a different path than the object in the first orientation. In another example, the duct wall is a tangential wedge in which the duct is placed so that objects in the first orientation do not engage the protrusions and some of the objects in the second orientation engage the protrusions. Includes mold protrusions and modifies the path of objects in the second orientation. The displacement vector of an object in the duct may contain components parallel to the axis of rotation by inclining a portion of the duct wall with respect to the axis of rotation. In another example, the duct wall allows the object in the first orientation to have a displacement parallel to the axis of rotation, and the object in the second orientation has a displacement parallel to the axis of rotation. Can be shaped to prevent. The process can be repeated to classify objects with different orientations into paths with different displacements parallel to the axis of rotation. In some embodiments, the objects are fed into different buffers for the orientation of each object. An object with a first orientation along the path can be rotated into a second orientation by arranging the protrusions along the path such that the protrusions engage and create torque on the object. In a preferred embodiment, the objects in each orientation are rotated to a common orientation before being placed in the buffer.

The mechanics of the dynamic embodiment is the static implementation described above, except that the sensor system measures the orientation of each object and signals one or more actuators to reshape the path of each object. It is similar to the dynamics of morphology. For example, when the sensor detects the orientation of the first object, the protrusion may extend from the duct wall, which rotates the incident of the object on the fulcrum 90 degrees around an axis perpendicular to the duct wall. Acts as a fulcrum. The protrusions are retracted for the object detected to be in the second orientation and no rotation occurs.

In some embodiments, the operation is performed on the unitized and oriented object during the unity and orientation process. The operation may be an inspection by sensor means at any position along the path of the object. In some embodiments, the inspection is performed at multiple locations along the path of the object, and the path is shaped to provide different surfaces of the object for inspection by one or more sensors at each position. For example, the object path may be configured to provide each of the six sides of a square box for successive cameras. In some embodiments, the information from the sensor is used to track the position of each object. In some embodiments, sensor information for each object is stored and analyzed. In some embodiments, the objects are oriented in different paths, at least in part, based on at least one object parameter measured by the sensor. The operation may be labeling or marking, for example using a laser or dye. The labeling or marking operation may, for example, attach information about the measured parameters of the product code or lot code or date code or object. The operation can be, for example, a coating with preservatives, lubricants, or adhesives.

One embodiment of the present invention will be described herein in conjunction with the accompanying drawings.
A schematic view of a preferred embodiment of the present invention is shown, where A in FIG. 1 is a plan view and B in FIG. 1 is a side view. It is an isometric view of the classification apparatus which shows the arrangement for the unitization of the object by this invention. FIG. 5 is a vertical cross-sectional view across the device of FIG. A vertical cross-sectional view across the separator of the devices of FIGS. 2 and 3 is shown. A vertical cross-sectional view across the separator of the devices of FIGS. 2 and 3 is shown. A vertical cross-sectional view across the separator of the devices of FIGS. 2 and 3 is shown. It is a schematic diagram of an alternative unitization and orientation arrangement according to the present invention. A schematic diagram of another arrangement according to the invention for orienting an object is shown. A schematic diagram of another arrangement according to the invention for orienting an object is shown. A schematic diagram of another arrangement according to the invention for orienting an object is shown. It is a further schematic of a device for directing the flow of a unitized and oriented object, where the object is transported in the axial direction of the axis of rotation of the unitized system. A schematic diagram of the arrangement according to the present invention, in which different types of objects are united and oriented, is shown. A schematic diagram of the arrangement according to the present invention, in which different types of objects are united and oriented, is shown. Three positions are shown in a further schematic of the arrangement according to the invention, in which different types of objects are united and oriented. Three positions are shown in a further schematic of the arrangement according to the invention, in which different types of objects are united and oriented. Three positions are shown in a further schematic of the arrangement according to the invention, in which different types of objects are united and oriented. A schematic diagram of a further device that unifies and orients different types of objects is shown. A schematic diagram of a further device that unifies and orients different types of objects is shown. A schematic diagram of a further device that unifies and orients different types of objects is shown. A schematic diagram of a further device that unifies and orients different types of objects is shown. FIG. 6 is a schematic representation of one path (86) of the arrangement of FIG. 6A that acts to alter the orientation of the objects. It is a schematic diagram of the arrangement path (81) and (86) of FIG. 6A acting to change the orientation of an object. It is a schematic diagram which classifies objects by orientation using the step in the tangential direction. It is a schematic diagram which classifies objects in the surface provided with a protrusion. It is a schematic diagram which classifies objects by orienting in a tangential direction using a slot.

As shown by A in FIG. 1, the rotating body (50) detailed below has one or more integrated ducts (51) placed on an angled and spaced body (50). Therefore, the duct is rotated around the central axis of the main body. The duct acts so that the object (52) is supplied by the supply conduit (53), and the objects are united and they are supplied one after another in a row. The supply conduit (53) includes a gate (531) that regulates the flow of objects on the rotating body (50). The object has a duct axis that is parallel to the duct as shown in (521) or antiparallel as shown in (522) as the object moves from the inner end to the outer end of the duct. Align in the longitudinal direction along.

In the example shown, each object has a vertical axis and is shaped such that the objects have first and second different orientations with respect to that vertical axis. That is, in one example applied to a screw or similar fastener, the object has a head (523) and a torso (524), the vertical axis is the longitudinal direction of the torso, and the vertical axis is aligned with the longitudinal direction of the duct. When doing so, the head can be at the front or rear.

Thus, on the device, the object passes the object along the demobilization duct, and the centrifugal force generated by the rotation drives the object along the demobilization duct, and the object is walled (56). ) By rotating the unity duct around an axis (55) to act to exert pressure on the object against the wall (56) of the unitor duct (51) so that it slides along. , Is formed into a stream of individualized objects one after another.

In order to orient the object so that the vertical axis of the object is lateral to the length of the duct, the part of the duct shown in (57) allows only a part of the object such as the body to enter. On the other hand, the head includes a slot (58) shaped and designed to prevent entry into the remaining slots in the duct. As better shown by B in FIG. 1, the portion of the duct (57) is movable and directs the object to the first buffer (61) or the second buffer (62).

That is, the alignment step is accomplished in this example by an abutment structure, which is a slot (58) that engages with an object in the unitized duct and acts to rotate the vertical axis around the horizontal axis. ..

The Coriolis force causes the object to torque on some of the objects that cannot enter the slot and rotate to orient the object with respect to both the duct and the slot. Therefore, the head and the body are aligned perpendicular to the direction of movement.

The detector (59) inspects the passing object in the duct and communicates with the shunt (60) at the end of the duct. The shunt (60) operates to orient the object upwards or downwards into different paths. The shunt can take different forms. The shunt (60), as shown in FIG. 1B, operates by changing the angle of the duct upwards towards the buffer (61) or downwards towards the buffer (62). , Includes short ducts. Another form of the shunt is shown in FIG. 4, which is the preferred form for ejecting defective objects, generally shown in (591) in close proximity to the detector (59). The shunt directs the object to a buffer (61) that rotates in sync with the rotating body (at the same angular velocity) or to a fail bin (not shown). As can be more easily confirmed in B of FIG. 1, the shunt can orient the object along different paths to buffer A (61) and buffer B (62). Only two buffers are shown for exemplary purposes, but more preferably there are three. Each buffer has three possible states. First, the buffer may rotate in sync with the rotating body and the receiving object for storage in an ordered array. Second, the buffer may be subject to angular acceleration. Therefore, the object is transported from the unitization duct (56) to the buffer container (63), where it is stopped to form a supply of the object. The objects in the buffer container (63) may be used by the tool as adjacent arrays, or the body may be ejected first into the tube for use by the tool.

Angular acceleration either stops the buffer against a fixed frame of reference or synchronizes the buffer with a rotating body. Third, the buffer may be down. While stopped, objects in the buffer can be transported into another fixed buffer. With reference to B in FIG. 1, the object from the duct (56) is directed to the synchronously rotating buffer A. The detector (59) counts the objects entering the buffer A, and when the threshold number of objects is stored in the buffer A, generates a signal that accelerates the buffer B to a synchronous movement. When the number of detectors reaches the second threshold number corresponding to the full buffer A, the shunt directs the object to buffer B. It should be noted that the number of objects is understood to represent the number of objects entering the buffer and does not include the objects that have been diverted into the rejected bin based on the measured parameters. While the objects are split into buffer B, buffer A is stopped and emptied. When empty, buffer A is ready to receive an object on behalf of buffer B. Therefore, each buffer circulates between the above three states. At least three buffers, one for each state, are needed to provide a continuous supply of objects.

As shown by A in FIG. 1, six buffers (63) are angled apart so as to line up with the duct outlet. In an alternative arrangement, multiple buffers (63) may be associated with each duct outlet by arranging the buffers at an intermediate angle between the duct outlets. For example, between each pair of duct outlets, there may instead be four or more buffers at an angle. In this alternative embodiment, each time the buffer is full; the buffer ring rotates to the next empty buffer in the ring. The full buffers in the ring may be delivered individually as described above, or in groups by replacing the ring with another when all the buffers in the ring are full. There may be.

A device for supplying an object, based on the measurable parameters of the object, shown in FIGS. 2 and 3, carries an object that is unitized and oriented from the supply (10A) (FIG. 3). Includes a feed conduit (10), which feeds objects in a continuous flow for delivery through the conduit to a rotating body (11) rotating around an axis (12). In the embodiment shown, the rotating body is vertically arranged with a flat disk having an axis (12), the disk providing an upper horizontal plane on which the object (13) is from the conduit (10). Supplied in flow. The conduit is centered on the disc so that the object is centered on a position where the disc is rotating but there is little outward velocity. The object velocity at this point is from the flow in the supply conduit (10). The velocity at this point on the disc is v = wr, where w is the angular velocity and r is the radius. If the objects are placed in areas where the velocity change is too high, they will bounce and the flow will be chaotic. The object is placed in the central region to minimize velocity changes.

On the upper surface of the disc forming the rotating body, one or more extending outward from the inner end (15) adjacent to the shaft to the outer end separated outward by a radial distance larger than the inner end from the shaft. Ducts (14) (FIG. 3) are arranged. In this embodiment, the outer end (16) of the duct is located adjacent to the end (17) of the disc (11) but spaced inward. In this embodiment, each duct (14) extends from a position closely close to the center to the outer circumference (17) of the disc so that the center of the duct is placed directly adjacent and the duct is at the outer end (16). Branch outward so that they are separated by the outer circumference.

Therefore, the inner ends (15) are arranged in an array close to the axis, so that the supply conduit (10) is the inner end of the duct for entry into the inner end of the object to be united and oriented. It acts to place objects so that they are classified in (15). Since the inner edge is directly adjacent to the center of the disc, the objects there form a pile of objects at the center, which is automatically and evenly sorted into the duct opening at the inner edge of the duct. Assuming a continuous pile of objects in the center, the rotation of the disk acts to evenly classify the objects into the individual ducts in a flow defined by the dimensions of the opening relative to the dimensions of the object. Let's go. At the beginning of the path along the duct, the objects are in direct proximity or overlapping. However, the passage of objects along the duct, accelerated by centrifugal force, acts to spread the objects one after another, forming a row of non-overlapping objects. As the force increases with increasing radial distance from axis (12), the objects will accelerate more and more, so the distance between the objects will increase along the duct length. The object is axially aligned with the duct at the first portion of the duct, and the object length defines the initial center-to-center distance, with some variation due to differences in object orientation. Centrifugal acceleration is the same with a predetermined radius. The frictional force is measured by Coriolis force = uN (u = friction coefficient, N = normal force to the duct wall mainly supplied by Coriolis force). As set above, the duct can be shaped to minimize normal force and friction by curving the duct along the line of net force (mentioned in the preamble), on the contrary, the object. Acceleration increases the friction coefficient of the duct selection by bending the duct to increase the normal force, by bending the duct at a constant or reduced radius, or by changing the tactile sensation and / or material. It can be reduced by making it.

The united objects may be completely separated and spaced one after another, may be directly back and forth with each other, or may be slightly overlapped.

As such, the ducts are shaped and arranged to accelerate as the object passes from the inner edge to the outer edge so that they are aligned one after another as the object moves towards the outer edge.

The outer ends (16) are arranged in an angled and spaced array around the outer circumference of the rotating body so that the objects in the row of objects in each duct are expelled outward from the axis of the disk by centrifugal force from the disk. Will be done. All openings are located on the radial common surface of the disc. The duct can be formed as a groove cut to the top surface of a thicker disc, or by an additional wall applied to the top surface of the disc, or by a guide of two-dimensional and / or three-dimensional shape.

The array (20) of object separators (21) is annularly located at the outer edge (17) of the disc so that the individual separators (21) are located at angularly spaced positions around the disc. Will be done.

Each separator can be manipulated to direct each object to one of a plurality of paths as determined by the operation of the separator. In the example shown, the separator is arranged to orient the object upward or downward with respect to the surface of the exit (16). As shown in FIGS. 2 and 4A, the separator (21) can occupy the initial intermediate or start position where the objects are not separated in one or more directions. As shown in FIG. 4B, the separator can be moved upwards to direct the object downwards into the collection path (22) into the collection chamber (25). .. Similarly, when the separator is moved to a downward position as shown in FIG. 4C, the object is above the top of the separator along the path (24) for collection within the chamber (23). Moved to. Chambers (23) and (25) may be rejected bins, duct pieces, packaging operations, marking operations, or buffers. The two paths (22) and (24) are separated by a guide plate (26) that ensures that the object moves into one or the other of the chambers (23), (25). The walls of the guide plate (26) and the chambers (23), (25) may be covered with a soft material to reduce the impact on the object. The object may be slowed down by airflow or a curtain made of a suitable material upon entry into the containers (23), (25).

To control the separator (21), a measurement system, commonly referred to in (28), is provided, which is the parameter selected as the object moves from the duct end of the disk edge towards the separator. Or used to measure the parameters of an object. The measuring device is placed on the mounting ring (28A).

The measurement system can be of any suitable type known in the industry, such as an optical measurement system, which detects the optical properties of an object to determine the particular parameters that need to be measured. Since the system used and the type of parameter selected are not part of the present invention, other measurement systems may also be used.

Each separator (21) is associated with each detector (28), which may include a plurality of detection components that can be manipulated to measure the parameters of the object, depending on the parameters measured by the associated detector. Each or separator is operated to select a route (22) or a route (24).

It will be appreciated that the number of routes can be changed to include more than 2 routes, if necessary, depending on the parameters being measured. Such a choice for an increase in the number of routes can be made by arranging a subsequent separation device (21) located downstream of the first separation. In this way, one or both of the routes can be divided into two or more subordinate routes, all of which are controlled by a control system (29) that receives data from the measuring device (28). Will be done.

Therefore, the disc (11) has a front surface (30) facing the supply conduit, and the duct (14) is located in a radial plane of the disc, from the axis to the outer circumference (17) of the disc (11). Extends outward.

As shown in FIG. 2, the duct (14) is curved so that the outer end (16) is angularly delayed with respect to the inner end (15). This forms the side surface of each duct, which is angularly delayed with respect to the clockwise direction of rotation, indicated by D. This curvature of the duct is arranged to substantially follow the Coriolis and centrifugal forces so that the object follows along the duct without excessive pressure on any side wall of the duct. However, the shape of the duct is arranged so that the Coriolis force drives the object as opposed to the downstream side of the duct (14).

As best shown in FIG. 2, the duct (14) is directly adjacent to the inner end (15) adjacent to the axis and increases in spacing towards the outer end (16). At the inner end (15), the ducts are directly adjacent to each other, and the maximum number of ducts is determined by dividing 2 * π by the angle of the opening (15) with respect to the width of the duct end. The number of ducts can be increased in arrangements not shown here, where the ducts include branches and each duct divides into one or more branches along its length.

In the embodiments of FIGS. 2 and 3, both the detector (28) and the separator (21) are located within the outer circumference (17) of the disc. In this way, the objects are guided so that they pass from the outer edge of the duct to the array of separators.

As shown in FIG. 2, the wall (98) may be used to stop the object from moving outwards. The wall (98) may be located, for example, at the end of the buffer. Preferably, the wall (98) has a layer of soft compatible material (99), such as rubber, to cushion the object and reduce the potential for damage to the object. As best shown in FIGS. 4A, 4B and 4C, each separator generally includes a separator head (40) with a tip (41) in the radial plane of the disk (11), from the outer edge (16). The released object moves toward the tip (41). The separation head (40) includes inclined guide surfaces (42) and (43) on each side surface of the tip (41). As described above, the separation head (40) is generally wedge-shaped. The separation head is mounted on a lever (44) mounted inside the tube (45) so that the lever and the drive mechanism for the lever are located behind the separation head and are protected by the inside of the tube. Protected by. An actuator (46) for moving the tip is arranged between the first and second positions of the upper and lower parts of the radial plane defined by the path of the object. Therefore, in FIG. 4A, the central position and the neutral position are shown. In FIG. 4B, the tip (41) moves upward and is positioned to orient the object below the radial plane to the side of the radial plane. In the position shown in FIG. 4C, the tip moves downward toward the second side surface of the radial plane and is positioned to orient the object toward the first side surface of the radial plane or upward. This movement of the wedge-shaped head, and its tip, requires little movement of the tip (41), using only the propulsive force of the object itself, and the object slides over the guide surfaces (42) and (43). Only by doing causes separation. Therefore, the separation head only needs to move to a position where the object can generate the required separation force, and does not need to collide with the object or generate a lateral force on the object.

Considering the provision of the lever, the actuator (46) is required to generate only short distance movements and can therefore be driven by the piezoelectric member. Alternatively, the movement can be performed by a small electromagnetic coil. This design allows the use of components capable of occupying the two positions of FIGS. 4B and 4C quickly enough to generate the high-speed movements required to accommodate high-speed movement of objects. As shown, the actuator (46) is located outside the separation head and in the radial plane of the separation head.

Thus, the arrangement of the present invention provides a system for the unitization and orientation of objects, such as screws, where the objects are fed in supply zones and multiple streams of objects at ducts and duct inlets. Is separated to form.

As best shown in FIG. 1, the object buffering device (63) transports a single and oriented object from the object buffering device (63) to an operating tool (67) such as a screwdriver. The member (66) is provided with a supply of objects to be transported as shown in (65).

As an alternative to the driver (67), the object from the buffer (63) is fed to the operating device (71), such as a marker, to which the action is applied to the oriented object, as shown in (70). It is possible, and as a result, the action is performed on each object in the same orientation.

As shown in FIG. 5, an alternative arrangement is shown, where the orientation is located beyond the end of the uniting duct rather than within the uniting duct itself.

In this arrangement, a rotating body (75) is arranged on which the object (74) is placed in the central region by the supply conduit (77).

In this arrangement, the supply duct (77) allows the duct to include a stirrer (79), so that the supply duct is oscillated, ensuring that the object enters the stand-alone duct (s) and rubs or Do not lock by connecting.

The object moves along a duct (76) integrated with a rotating body (75) from the inner opening to the outer opening under the influence of centrifugal force. The objects are aligned with respect to the duct wall (78) by the Coriolis force. The object exiting the duct traverses the void (80) and is directed into the fixed duct (81), which constitutes the object buffer of this embodiment by a series of wedges (82). , The orientation of each object is measured by the detector (83). Objects determined to be within the desired orientation range continue into the fixed duct (81), and objects with other orientations are rejected by the shunt (84) (in some cases, the supply duct). (Reintroduced to (77)). In a related form (not shown), the shunt (84) orients the object into different buffers in different orientations. For example, the first buffer may be a tube filled with objects oriented with an orientation vector parallel to the tube axis, end to end, and the second buffer may be end to end. , May be filled with objects oriented antiparallel to the tube axis. After filling, both tubes are removed and the second tube is rotated 180 degrees to align the orientation of all objects in the second tube with the objects in the first tube.

Preferably, the fixed duct has a slightly larger cross section than the object so that the walls of the fixed duct preserve the orientation of the object. Preferably, the fixed duct is curved so that the incoming object hits the duct wall on one side of the duct. The duct wall aligns the objects longitudinally. In some embodiments, the object is buffered and used end-to-end. In some embodiments, the duct wall includes adjacent structures, such as slots for object alignment. An object entering a fixed duct hits the wall of the fixed duct at a glazing angle, loses propulsion, and eventually stops. The object can optionally be further carried by the pressure difference between the inlet and outlet of the fixed duct.

6A-6C illustrate alternative methods for resulting a flow of objects with different orientations relative to a common orientation in the object buffer. In FIG. 6A, the flow of objects moves from left to right under the influence of centrifugal force and is united. The objects are initially oriented parallel and antiparallel to the duct wall by the Coriolis force. The orientation of each object is determined by a detector close to the flow that communicates with the shunt. If the object has the desired orientation, the object follows the first path. Otherwise, the object is diverted to another path by the shunt (84). In one arrangement (not shown), the pathways act to engage objects that are not precisely oriented, and they are returned to the supply conduit.

The arrangement shown in FIG. 6A is a π-radian object rotating machine around an axis orthogonal to the vertical axis, which can be used separately or in combination with the orientation methods described above or below. In this arrangement, the shunt (84) operates to orient an object oriented antiparallel to the follow path (81) and an object oriented parallel to the follow path (86). Route (86) supplies objects to the buffer from above. Path (81) supplies objects to the buffer from the bottom. Objects entering the buffer are propelled to the right. The buffer is shaped to preserve the orientation of the path (81) and the objects entering along the path (86). The objects in the buffer have the same orientation as shown, because the objects have opposite orientations and enter from opposite directions.

Therefore, the object is manipulated to change its orientation according to the detected orientation, and the object is directed according to the first and second orientations, the first and second paths (81), ( It is oriented along 86). The first path (81) directs the orientation of the objects there to the second path so that the objects are combined with a common flow (63) of the same orientation from the first and second paths. Arranged to change.

The arrangement shown in FIG. 6B is a π / 2 radian object rotating machine around an axis orthogonal to the vertical axis and can be used separately or in combination with the orientation methods described above or below. The case shown in this arrangement is a surface mount integrated circuit chip (100) with 4x rotational symmetry. The dot (101) customarily represents the position of pin 1, the 8 positions following the unification: the orientation of 4 towards the unification duct wall, and the direction away from the unification duct wall. It can be in any one of the four orientations, which is oriented towards. The detector (83) determines the orientation of the object. The shunt (84) operates to direct objects with pins 1 in the upper right and lower right corners into paths (811) and (861), respectively. Route (861) supplies objects to the buffer from above. Route (811) feeds the object directly into the buffer. Objects entering the buffer are propelled to the right. The buffer is shaped to store the orientation of objects entering along the path. Since the objects enter from orthogonal directions, the objects in the buffer have the same orientation as shown. It should be understood that the object rotations of π / 2 radians and −π / 2 radians are mirror images of each other in the arrangement shown in FIG. 6B. The oriented objects in the buffer are fed to the packaging operation generally shown in (103). The object is placed in the pocket (104) of the tape (105). The route length, or travel time, along the two routes (811) and (861) is that the object extracted to the route (861) is flipped and returned to the route (811) at the same location where it was removed. Arranged to be. All of the paths (76), (811) and (861) can be mounted on a common rotating body, or the paths (861) and (811) have the path (76) as a single unit. It can be fixed and held while rotating to provide movement.

The arrangement shown in FIG. 6C is a π-radian object rotating machine around the vertical axis, which can be used separately or in combination with the orientation methods described above or below. Objects oriented away from the unification wall are diverted into path (811) and move directly into the buffer. Objects oriented facing the unification wall are diverted into a path (861) with a π-radian twist (862). The duct wall of the path (861) is shaped to constrain the object to follow the path axis. Therefore, the twist of the π radians in (862) in the path (861) reverses the orientation of the object by π radians and then puts the object in the buffer. The oriented object in the buffer goes through, for example, the marking operation (864), where the marked object is then directed to the packaging operation (103), where the object is in the pocket of the tape (105). It is installed in (104).

Although FIGS. 6A-6C show rotations of orthogonal objects, it should be understood that other angles of rotation are possible and rotations can be applied continuously to achieve the desired object orientation.

FIG. 7 shows the radial flow of a single, oriented object in a duct (89) placed on a body (88) that rotates around an axis (824) into an outlet duct (90). A method for transforming into an axial flow of a unitized and oriented object flowing along it will be described. The object is placed in the central region of the rotating body and enters the duct as detailed in FIGS. 1-3. The object is oriented in a region near the outer circumference of the rotating body by the method well illustrated by FIGS. 1, 6A, 6B and 6C in a region called the alignment zone. An object leaving the alignment zone enters a duct labeled Path (91) that curves inward in the radial direction toward the axis (824) and becomes axial at the end of the terminal (90). Centrifugal force and friction resist the movement of the object along the path (91) and therefore need to provide power in the direction of the path (91). Power can be supplied by a pressure gradient generated by applying a vacuum to the terminal end (91A) of the path (91) at the outlet (90). Other methods may be used, such as air pressure sent to path (91) at a point (not shown) along the direction of travel of the object. Path (91) can also take the form of a movable belt with a container for receiving objects (not shown), for example.

Note that the placement shown can cause rotation in the object at the end of the terminal. A voluntary end (91B) coupled with a rotating joint can be rotated in the opposite direction to reduce the rotation of the object.

Therefore, the object is fed from the stand-alone duct (89) to the supply duct (91) having an end (90) located on the axis of rotation of the stand-alone duct, so that the object is delivered to the tool or driver. For feeding, the stream is fed in the same orientation at the end (90) (eg, by including the arrangement of FIG. 6A within the path (91)). Since the unification duct shown has a small gravity compared to the inertial force generated in the unification duct, it is possible to create an axial flow of the object in any direction.

8A and 8B show arrangements suitable for unifying and orienting different types of objects. FIG. 8A shows a rotating body (901) with two ducts (911) and (912). The duct (911) is supplied with objects via a supply conduit (921) connected to a mass supply (not shown) of the first object type. The duct (912) is supplied with objects via a supply conduit (922) connected to a mass supply (not shown) of the second object type. The concentric supply conduit is fixed and not attached to the rotating body (901). In some embodiments, the duct (911) is housed in (914) to regulate the orientation of the object, as shown. Therefore, in the arrangement of FIG. 8A, a single stream of two different types of objects can be supplied on the same line through ducts (911) and (912). FIG. 8B shows an alternative arrangement, where the supply conduits (921), (922) and (923) feed objects from the sides into the central regions of the rotating bodies (901), (902) and (903), respectively. .. The feed conduit may be a flexible hose or a rigid pipe. The supply conduit is fixed and not attached to the rotating body. The rotating bodies (901), (902) and (903) include ducts (911), (912) and (913), respectively. The rotating body may rotate at different speeds to supply different types of objects to downstream operations in the required amount. Alternatively, the rotating bodies (901), (902) and (903) may rotate synchronously as a single main body.

9A-9C show a series of steps of another method for reorienting an object and placing the object end-to-end in the buffer. The detector (106) determines the orientation of the object in the unitized duct (107). Objects aligned in antiparallel enter the slot (108) in the rotating body (111). Preferably, the slot (108) includes a spring (109) that contracts and stores the kinetic energy of the object. Since the spring is compressed, the rotating body rotates and the slot (108) moves to the release position (110) shown in FIG. 9B. The stored energy in the spring (109) then, in the opposite orientation, ejects an object with substantially the same kinetic energy as when it entered. Note that the spring (109) may be mechanical or electromagnetic. Preferably, the rotating body (111) has a slot on the opposing surface for limiting the range of angular motion required to capture the second object. For objects aligned parallel to the united duct axis, the rotating body rotates to provide a path (112) through which the object passes straight into the buffer.

When the detector determines that the object is in the first orientation, the second rotating body (111) is rotated to the first position and the duct (112) is aligned with the object path (107) via the rotating body. , The object retains its first orientation unimpeded and passes through the supply duct or buffer (114). The supply duct (114) is a tube cartridge. If the detector determines that the object is in the second orientation, the second rotating body is rotated to the second position, aligning the indentations in the rotating body with the object path. The object enters the depression and acts on the spring to convert the object's kinetic energy into the potential energy of the spring.

The second rotating body (111) rotates to the release position, where the objects are released in different orientations. In some cases, the second rotating body has a casement (not shown) that holds the object during rotation to the release position. In the release position, the potential energy stored in the spring is converted into kinetic energy for the object. The arrangement shown arranges the axis of rotation (116) of the body (111) at a considerable distance from the object itself. In some cases, the axis (116) may be in the center of gravity of the object, or within the object, to reduce the energy required to move between the positions of FIGS. 9A and 9B.

The spring (109) may also be provided by an electromagnetic spring. For objects with net charge, or net charge separation (dipoles), an electric field can be applied at will to hold the spring in place or increase the energy stored in the spring to a predetermined level. Even. The second rotating body then rotates to the release position where the electric field is switched off or reversed. The potential energy of the spring is converted to the object, and the object is ejected from the indentations of different orientations. The kinetic energy of the object can be further increased at the release position by reversing the electric field.

10A and 10B show a two-step process, where the object is united by a duct (120) on a rotating body (121) and emitted in all directions around the perimeter. The object is captured by a funnel structure (123), preferably made of a compatible material, which reduces the object's kinetic energy.

In FIG. 10A, the detector (125) measures the presence of the object and rotates the second rotating body (126) so that the alignment duct (127) aligns with the release duct to capture the object (128). In generating the signal, the funnel directs the object to the release duct (124). The alignment duct (127) is shaped to guide the object towards the adjacent slot (130). The rotating body and the integral alignment duct then rotate around the axis (131), allowing a portion of the object to enter the adjacent slot and also as described with reference to A in FIG. Generates an inertial force that makes the vertical axis of the object perpendicular to the duct wall by the method. The radial movement of the object due to centrifugal force is hampered by a case around the second rotating body (not shown). The aligned objects are released into the buffer (132) at the release position (133). The buffer supplies a single and oriented object to the tool (134).

In FIG. 10B, the funnel constrains the orientation of the object so that the vertical axis is parallel and antiparallel to the funnel axis. The detector (125) measures the orientation of the object and generates a signal to keep the object oriented antiparallel to the buffer (137) in the shunt (135) and the orientation parallel to it. An object oriented parallel to an alignment wheel (136) with a pocket (138) to be oriented is oriented. The wheel then rotates a distance of one pocket position, providing an empty pocket for the next object oriented in parallel. The outer case holds the object in the pocket between the capture position (139) and the release position (140). When the pocket between the capture and release positions is full, each increment of the wheel captures one object and ejects one object in an angularly displaced direction from the capture location. As such, as shown, the objects are captured in a parallel orientation and emitted in a substantially antiparallel orientation in the path (141) to the buffer (137). Objects are fed from the buffer (137) to the tool (134).

The structures of FIGS. 11A and 11B are very similar to those of FIGS. 10A and 10B and use the same orientation system as shown in their embodiments. As in the embodiment shown in FIG. 7, the object is placed in the central region of the rotating body (88) and enters the duct (89) as detailed in FIGS. 1-3. The object is unitized by a duct (89) placed on a body (88) that rotates around an axis (824). In the embodiment of FIG. 7, the objects are in a common orientation on the rotating body, whereas in the embodiments of FIGS. 11A and 11B, the objects are in a common orientation after exiting the axial port (90). Specifically, an object with a vertical axis enters the axial port (90) in an orientation either parallel or antiparallel to the axis of rotation.

In FIG. 11A, the second rotating body (126) is such that the detector (125) measures the presence of the object and the alignment duct (127) is aligned with the supply duct (91) to capture the object (128). In generating a signal to rotate the object, the axial port directs the object to the supply duct (91). The alignment duct (127) is shaped to guide the object towards the adjacent slot (130). The rotating body and the integral alignment duct then rotate around the axis (131), allowing a portion of the object to enter the adjacent slot and also as described with reference to A in FIG. Generates an inertial force that makes the vertical axis of the object perpendicular to the duct wall by the method. The radial movement of the object due to centrifugal force is hampered by a case around the second rotating body (not shown). The aligned objects are released into the buffer (132) at the release position (133).

In FIG. 11B, the detector (125) measures the orientation of an object in the vicinity of the axial port (90) and generates a signal that is antiparallel to the shunt (135) with respect to the buffer (137). An object oriented to, and an object oriented parallel to the alignment wheel (136), with pockets shaped to capture the object in position (139) and holding a parallel orientation. To orient. The wheel then rotates in one pocket position, providing an empty pocket for the next object oriented in parallel. The outer case holds the object in the pocket between the capture position (139) and the release position (140). When the pocket between the capture and release positions is full, each increment of the wheel captures one object and ejects one object in an angularly displaced direction from the capture location. As such, as shown, the objects are captured in a parallel orientation and discharged by the transport means (141) into the buffer (137) in a substantially antiparallel orientation. Objects are fed from the buffer (137) to the tool (134).

In addition to the slot arrangements (58) above (A in FIG. 1), many other arrangements that change orientation are possible to orient objects in ducts that can be either stand-alone ducts or downstream separation ducts. be. In one arrangement (not shown), the object is oriented by a simple friction between the object and the wall on which the object moves, provided there is sufficient space in the duct for the object to rotate in the duct. Can be done. In this arrangement, if the object has a larger or smaller area of friction, the friction will be the area of the object that has the greatest frictional effect with the wall, followed by that area, and the area of smaller frictional effect. Try to be in the leading position.

Other arrangements can use the bounce effect described below. Many other surface arrangements can be designed that engage the object and rotate the object around an axis to obtain a change in orientation. Some objects have many different axes and are reoriented around those axes, and the arrangement described herein is to obtain a selected one of eight different orientations. It will also be appreciated that the object can be used repeatedly to reorient it around all axes.

Referring to FIG. 12, another arrangement similar to FIGS. 6A, 6B and 6C is shown, where the orientation of the object is determined by a sensor (83) and by a deflector (84) of two separate paths. Directed to one. Orientation is maintained on one side of the path and reversed on the other side of the path. In FIG. 12, the second path is shown at (142) and the orientation is changed by introducing the object (148) into the path (145) including the bounce device (146). The object passes through a void (143) where the detector (144) is located to sense the nature or orientation of the object. The bounce device is arranged to collide with the object at the required position so that the bounce causes the object to reorient. So, as shown, if the head hits the bouncer first, the object is reversed in path (145), with the torso or rear first. The bounce device (146) can be moved or driven to reorient the bounce in different paths, depending on the data from the sensor (144).

FIG. 13 shows another arrangement similar to that of FIG. In this arrangement, the deflector (84) is replaced by a bounce deflector (821) that can move between two different positions in response to the sensor (83) detecting the orientation of the object. At one position where orientation is determined to be the required orientation, the deflector (821) moves away from the path, allowing the object to pass from path 76 to path 81 while maintaining the same orientation. .. In the second position, the bounce deflector hits the object determined to be in the opposite orientation, causing the object to enter the path (86) and at the same time hit the object in a way that reverses the orientation during the bounce.

FIG. 14A is a radial portion of the duct (825) that rotates around an axis (824), generating centrifugal and Coriolis inertial forces along the duct and into the duct wall, respectively, as shown. Is shown. Duct shapes as shown are for simplification and illustration purposes only. The duct wall may generally be curved with both radial and tangential components. Objects (826) and (827) are moving along path (828) and are accelerated by centrifugal forces that increase the spacing between the objects. The object (826) in the first orientation is stable along the path (828) because the normal force from the duct wall of the path (828) opposes the Coriolis force on the duct wall. The object (827) in the second orientation is unstable along the path (828) and tilts towards the path (829) due to the tangential step of the duct wall (830). The object (827) receives torque around the axis (831) towards the path (829). Therefore, objects with different orientations are classified into different paths according to the arrangement shown in FIG. 14A, perpendicular to the direction of the duct rotation axis.

FIG. 14B shows another arrangement suitable for reorienting objects moving along the path (833). In one arrangement, the protrusions (834) are arranged so that they engage the object in the orientation of the object (827) and generate torque that rotates the object 90 degrees. The object (826) passes under the protrusion (834) and preserves the same orientation. In the second arrangement, a detector (not shown) measures the orientation of each object, and depending on the measured orientation, the control system drives a protrusion (835) to engage the selected object. And rotate the selected object from the first orientation to the second orientation.

FIG. 14C shows an arrangement for classifying objects in the tangential direction according to the orientation of the objects. Objects (826) and (827) are accelerated along the path (836) by centrifugal force and held against the duct wall of the path (836) by the Coriolis force. The object (827) reaches the slot (839) and is supported at the top and bottom of the slot (839) by the duct wall portions represented by (840) and (841). In some embodiments, the slot (839) may be opened or closed by an actuator depending on the sensor measurement of the orientation of the object. Therefore, the object (826) continues along the path (836). The object (826) reaches the slot (839) and is supported only by the small piece of duct wall shown in (840). Therefore, the object (826) is pulled through the slot (839) by the Coriolis force and also travels along the path (837) across the gap between the paths (838). Therefore, objects with different orientations are tangentially classified by the arrangement shown in FIG. 14C.

The arrangements shown in FIGS. 14A, 14B and 14C can be used in any combination with each other or in any combination with the above arrangements within the scope of the present invention.

Claims (36)

A method for feeding an object in a flow from a mass feed of objects, where each object has an orientation axis and the object is shaped to have first and second different orientations of the orientation axis. hand:
With the process of supplying a large amount of the object;
The process of transporting the object from the supply to the unitized duct;
Passing the object along the unitized duct and the centrifugal force generated by the rotation drive the object along the unitized duct and the object slides along the wall. In addition, the objects are unitized one after another by rotating the unitized duct around a rotation axis so as to act on the wall of the unitized duct to exert pressure on the object. With the process of forming into the flow of objects to be
The flow by engaging the objects in the flow and rotating at least some of the objects so that all objects at positions in the flow after orientation have an aligned orientation. A method comprising orienting the object in. Claims include the step of rotating at least some of the vertical axes of the objects around the horizontal axis so that all objects at positions in the stream after orientation are aligned with their orientation. The method according to 1. 10. The aspect of any one of claims 1-2, comprising the step of applying the motion to an object oriented at the actuation position such that the motion is performed on each object in the same orientation. Method. The method according to any one of claims 1-3, wherein the orientation step of the object is performed while the object is in the unitized duct. The method of claim 4, wherein the orientation step is achieved by an abutment structure that engages with the object while in the unification duct and acts to rotate the vertical axis around the horizontal axis. .. Any one of claims 1-5, wherein the orientation step acts to rotate the object so that all vertical axes are lateral to the direction of movement along the unification duct. The method described in. The method according to any one of claims 1-6, wherein the object has a head and a body, and the vertical axis is the longitudinal direction of the body. The method of claim 7, wherein the object is arranged such that the head and the body are aligned perpendicular to the direction of movement. The head stays in the united duct so that the object is oriented laterally with respect to the united duct, while a slot in which the body fits is provided in the united duct. The method according to claim 8. The method according to any one of claims 1-3, wherein the alignment step is located beyond the end of the unification duct. 10. The method of claim 10, wherein the objects are oriented by capture as they are released from the unification duct into the alignment member. The first aspect of claim 1-11, which comprises a step of providing at least one buffer device and a transport member for transporting a united and oriented object from the buffer device to an operating position. the method of. 12. The method of claim 12, wherein the object is stopped in the buffer device to form a supply of the object. 13. The method of claim 13, wherein the buffer device rotates with the unitized duct and is then stopped to download the object. 13. The method of claim 13, wherein at least two buffer devices are provided, where one is loaded from the unitized duct and the other is shut down. The method of any one of claims 12-15, wherein the objects are fed from the buffer device to the tool in order to use the objects one after another. 16. The method of claim 16, wherein the object is fed directly from the container of the buffer device to the tool. The method of any one of claims 1-17, wherein a sensor for detecting the characteristics of the object in the flow is provided. 18. The method of claim 18, wherein some of the objects are discarded according to the detected properties. The method of any one of claims 1-19, wherein a sensor is provided for detecting the orientation of the object in the flow. The method of claim 20, wherein the object is manipulated to change its orientation according to the detected orientation. The object is fed from the unitized duct to a supply duct having the opening outlet on the axis of rotation of the united duct so that the object emerges from an opening in a flow of the same orientation. The method according to any one of claims 1-21. The first and second stand-alone ducts are provided on a common rotating body that rotates around the axis of rotation, where the first and second stand-alone ducts have different properties, the first and the second. The method according to any one of claims 1-22, which receives the object of. An on-board rotating body is provided for rotation around an axis, from the inner end adjacent to the axis to the outer end separated from the axis by a greater radial distance than the inner end. Defines at least one duct that extends outward, where a large number of objects are fed at the inner end of the at least one duct, the inner end into a slow end inside the object. The supply conduit places the object at the inner end of the at least one duct for entry and for the separation of the flow of particles in the conduit into another of the at least one duct. Arranged side by side adjacent to the axis to act, the at least one duct is next in the duct as the object is separated into the at least one duct and moves towards the outer end. 13. the method of. A sensor is provided for detecting the orientation of the object in the flow, where the object is oriented along the first and second paths in response to the detection of the first and second orientations. And here, the first path aligns the object there with the second path so that the object is combined with a common flow of the same orientation from the first and second paths. The method according to any one of claims 1-24, which is arranged to be modified with respect to. The inertial force acting on the object of at least one orientation of a part of the unitized duct produces a net torque, and the inertial force acting on the object of at least one second orientation does not generate a net torque. The method according to any one of claims 1-25, which is formed in. 26. The method of claim 26, wherein the orientation of the object is measured and the shape of a portion of the unification duct is at least partially modified based on the measured orientation. A duct comprises a plurality of paths, wherein each path carries an object having a different set of orientations, and a device is provided for moving the object from the first path to the second path according to the orientation of the object. The method according to any one of claims 1-27. A method for supplying objects in the flow from a mass supply of objects, the method of which is:
With the process of supplying a large amount of the object;
Including the step of forming the object into a flow of the object that is unitized one after another;
A sensor for detecting the orientation of the object in the flow is provided;
The object is oriented along the first and second paths according to the first and second orientations;
The first path changes the orientation of the objects there so that the object is combined with a common flow of the same orientation from the first and second paths. How to be placed. The first path is arranged to supply the object to the common flow in the first direction, and the second path is the common in the second direction opposite to the first direction. 28 or 29, wherein the object is arranged to feed the flow. The method of any one of claims 28-30, wherein the second path comprises a component for reversing the orientation of the objects therein. 31. The method of claim 31, wherein the second path includes a twist for reversing the orientation of the objects therein. 31. The method of claim 31, wherein the second path comprises a moving component that can be actuated to carry the object in the reverse orientation for reversing the orientation of the object there. The method according to any one of claims 1-33, wherein a sensor for detecting the characteristics of each object having a plurality of orientations is provided. 34. The method of claim 34, wherein the measurements are made on time or location and the measurements are stored on a machine-readable medium. 34. The method of claim 34 or 35, wherein the operation is performed on the object, at least in part, based on the detected properties.

Images