KR102591960B1 - Device for orienting parts, particularly for gripping by robots, automation means and the like - Google Patents

Abstract

In particular, the device (1) for orienting a part for gripping by a robot, automated means, etc. is associated with motor means (5) for rotation about a rotation axis (6) substantially perpendicular to the support surface (3). and a support frame (2) defining a support surface (3) rotatably supporting the movable pad (4). Artificial vision means for recognition of the part to be picked up arranged on the movable pad 4 are further provided, connected to the support frame 2 and substantially positioned on the movable pad 4 in a precise and local manner. Pulse generating means 15 operating on a pad 4 movable along a vertical operating straight line are additionally provided to orient the parts to be picked up in such a way as to allow them to be picked up by robots, automated means, etc. Edit. The device facilitates the discharge of oily substances or dirt present on the part to be picked up and subsequently transferred onto the movable pad 4 as a result of the movement of the part to be picked up via the pulse generating means 15. It further comprises a peripheral groove (22) defined on the support surface (3) in such a way that it is radially outside the movable pad (4).

Description

In particular, a device for orienting parts for gripping by robots, automated means, etc. {DEVICE FOR ORIENTING PARTS, PARTICULARLY FOR GRIPPING BY ROBOTS, AUTOMATION MEANS AND THE LIKE}

The invention relates to a device for orienting parts, especially for gripping by robots, automated means, etc.

The present invention relates to the field of industrial automation or, in any case, to any field suitable for the introduction of automated robotic systems, where there is an ever-increasing demand for flexible robotic systems capable of meeting the most diverse requirements.

In particular, the industrial sectors expected to be used for the device according to the invention include rubber, plastics and other synthetic materials, glass, the food industry, cosmetics, pharmaceuticals, medical, automotive parts, electrical appliances, computers, household appliances, small metal products. , woodworking industry and furniture accessories, etc.

In fact, there is an increasing need to supply different industrial automation systems in response to different production requirements.

Industrial products these days are, in fact, characterized by increasingly shorter lifespans, driven by the resulting need to reduce production volumes and to try to minimize the costs of this adaptation while being able to quickly adapt the system to changing production requirements.

These facilities for adaptation of the system to different production volumes and coordination of production for different end products are often manual systems, which are usually more expensive and slower, but are much more versatile and force companies to transfer production facilities to countries where labor is more comfortable. This is the only economic reason to maintain an automatic production system without dependence.

Feeder devices are known, simply referred to as “feeders”, and are controlled by Cartesian robots, anthropomorphic robots, cylindrical robots, etc.

These feeders are provided with artificial vision systems, for example linear cameras, matrix cameras, three-dimensional cameras, etc., which provide an image between the background and the part to be recognized, so as to transmit the image to an image analysis software for recognizing the part to be recognized. Having such images of high contrast requires such lighting conditions.

Illumination conditions can be created through external lighting from above or through a backlight device that is typically arranged below the pad on which the component rests.

Filling the feeder is carried out externally, at time intervals, manually, via a hopper, by a belt elevator or by other technically equivalent means.

The artificial vision system recognizes the parts loaded into the feeder required for production and the robot picks them up.

These conventional devices advance the parts forming the supply feed for the robot through mechanical shaking and/or linear movements achieved through motorized belts.

The problem with these feeders is that, if the part to be fed contains at least one cylindrical part, it tends to roll, which in turn feeds the robot more often parts that statistically cannot be easily gripped, and thus when feeding the robot. The point is that it fails.

In feeders of this type, if of the linear advancing type and/or of the oscillating type, it is not possible in any case to change the position and arrangement of the parts on the surface, thus slowing down the production chain with heavy costs for the final product. .

Additionally, because the internal components of conventional feeders are difficult to access, cleaning the backlighting system is more complicated, which reduces the quality of the vision system and thus production efficiency.

To overcome the above-mentioned drawbacks, a feeder device has been developed that can change the orientation of the part in a way that makes gripping of the part by the robot easier.

These conventional devices involve the use of a circular pad that rotates about its center and is struck by pulse generating means, such as to move the individual components until they are in the desired position.

These conventional devices are also not without drawbacks, the most important of which is that if the part is not oriented in the correct position for gripping, the system for feeding the device will saturate the surface of the movable pad by continuously loading the part. , so there is a risk that the movable pad will not be able to perform its function.

Additionally, these and other prior art devices are such that, if the part to be manipulated has traces of oil or dirt, these traces can be transferred to the movable pad, so that artificial vision means are required to identify the part on the movable pad, without background and It suffers from the disadvantage of preventing the lighting means from creating an appropriate visual contrast between the components.

The aim of the present invention is to determine the arrangement of parts and their position on a surface, while effectively preventing traces of oil or dirt and also overfeeding of the movable pad, preventing artificial vision means from identifying the part to be picked up. By providing an orientation device that makes it possible to change, the previously mentioned disadvantages in conventional types of feeder devices such as those described above are eliminated.

Within this goal, the object of the present invention is to provide an orientation device that simplifies the cleaning operation of the vision system by allowing easy access to the internal components.

Another object of the present invention is to provide an orientation device that is easy to assemble with means that are easily sourced in the market and uses conventionally used materials, making the device economically competitive.

These and other objects, as will become more apparent below, are achieved in particular by a device for orienting a part for gripping by a robot, automated means, etc., comprising a support frame defining a support surface, said support surface rotatably supporting a movable pad associated with motor means for rotation about a rotation axis substantially perpendicular to the support surface, and comprising artificial vision means for recognition of a part to be picked up arranged on the movable pad. Pulse generating means are further provided, connected to the support frame and operating on the movable pad along an operating straight line substantially perpendicular to the movable pad in a precise and localized manner, wherein the pulse generating means is further provided to be picked up. Modifying the orientation of the part to be picked up in such a way as to allow the part to be picked up by a robot, automated means, etc. and, as a result of the movement of the part to be picked up through the pulse generating means, to be picked up and subsequently the movable part. and a peripheral groove defined on the support surface in such a way that it is radially external to the movable pad for easy discharge of oily substances or dirt present on the part to be transferred onto the pad.

Additional features and advantages of the invention will become clearer from the detailed description of preferred but not exclusive embodiments of the device according to the invention, in particular for orienting parts for gripping by robots, automated means, etc. It is illustrated in the attached drawings for purposes of limited example.
Figure 1 is a perspective view of an embodiment of an orientation device according to the invention.
FIG. 2 is a plan view from above of the device shown in FIG. 1 .
Figure 3 is a cross-sectional view of the device shown in Figure 2, taken along line III-III.
Figure 4 is a cross-sectional view of the device shown in Figure 2, taken along line IV-IV.
FIG. 5 is an enlarged view of the device shown in FIG. 4.

Referring to the drawings, a device for orienting a part, in particular for gripping by robots, automated means, etc., generally designated with reference numeral 1, is arranged about a rotation axis 6 substantially perpendicular to the support surface 3. It comprises a support frame (2) defining a support surface (3) rotatably supporting a movable pad (4) which is associated with a motor means (5) for one rotation.

More specifically, the motor means 5 is an electric motor 7 , for example an asynchronous motor, which is supported by the support frame 2 and fixed to the base 8 of the device 1 via a motor support 9. ) may include.

In the proposed embodiment, the movable pad 4 has a substantially circular shape and is directly associated with and locked to the drive shaft of the motor 7, via the accompanying flange 11 and the tightening flange 12. Rotating integrally with the drive shaft about the rotation axis 6, the flanges are interlocked with each other in such a way that a movable pad 4 is clamped between them.

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

Conveniently, the motor means 5 may comprise a driver motor 13 which is fixed to the base 8 via an adapted bracket 14 .

In this way, the motor 7 can operate at a controlled and variable speed and/or acceleration depending on the characteristics of the components loaded into the device 1.

In addition, artificial vision means are provided for recognition of the part to be picked up arranged on the movable pad 4, connected to the support frame 2 and substantially positioned on the movable pad 4 in a precise and local manner. Pulse generating means (15) operating on a pad (4) movable along a vertical operating straight line are provided to modify the orientation of the part to be picked up in such a way as to allow the part to be picked up by a robot, automated means, etc. .

Regarding the artificial vision means, this may be located outside and on top of the device 1 and is conventional and will not be described or shown in detail.

Generally, the artificial vision means provides a support surface (3) in the artificial vision means for backlighting of the part to be picked up arranged on the movable pad (4) in a manner allowing identification of the part to be picked up by the artificial vision means. It may comprise an optical video camera and backlight means 16 arranged on the side opposite from the pad 4 movable with respect to and associated with the support frame 2 .

Conveniently, the movable pad 4 is made of a light-transmitting and elastically flexible material, the support surface 3 is provided with a window 17 in the shape of a substantially annular sector, and the movable pad 4 is made of a material that is elastically flexible and transmits light. An adapted glass for protection is provided which defines the backlighting means in such a way as to allow backlighting of the pad 4.

Regarding the pulse generating means 15 , it operates on the lower surface 19 of the pad 4 movable through at least one opening 20 defined on the support surface 3 away from the window 17 and It includes a repulsion magnet (18) connected to the support frame (2).

Conveniently, two mutually opposite openings 20 may be present in order to allow installation of the pulse generating means 15 at two different points of the device 1 depending on the layout requirements of the device for picking up parts. there is.

Advantageously, the pulse generating means 15 are associated with the support frame 2 via a movable slider 21 adapted to allow movement of the repulsion magnet 18 along the radial direction with respect to the axis of rotation 6 .

Conveniently, the opening 20 has a slot-like shape extending elongately along the radial direction with respect to the axis of rotation 6 in accordance with the movement of the repelling magnet 18 via the movable slider 21 .

In this way, the repelling magnet 18 can be positioned in each instance in a peripheral position with respect to the center of the movable pad 4 such that it can operate over the entire radial extension of the movable pad 4 .

According to the invention, as a result of the movement of the part to be picked up through the pulse generating means (15), the easy removal of oil substances or dirt present on the part to be picked up and subsequently transferred onto the movable pad (4). There is a peripheral groove 22 defined on the support surface 3 in such a way that it lies radially outside the movable pad 4 for discharge.

In addition, a shoulder ring 23 arranged radially outside the movable pad 4 and adapted to radially retain the part to be picked up and, as a result of the operation of the pulse generating means 15, vertically retain the part to be picked up. For this purpose, there may be a cover element 24 arranged on the pad 4 movable in the pulse generating means 15 and integral with the support frame 2 .

In this way, the device 1 according to the invention provides at least one part pickup sector defined in the artificial vision means, at least one part orientation sector defined in the pulse generation means 15 and loading parts via a hopper, etc. It may be divided into at least one sector to do this.

Hereinafter, the operation of the device 1 for orienting parts for gripping, in particular by robots, automated means, etc., is described.

Via a hopper with a belt elevator, either manually or by other conventional means, the device 1 can be filled from the outside at preset time intervals with parts that are subsequently oriented for pickup by a robot or the like.

The parts are unloaded from the loading sector onto the movable pad 4 at random positions and arranged in the pick-up sector by rotation of the movable pad 4, where the robot picks up the part once it has been recognized by artificial vision means. They will be picked up one after another.

In order to ensure that the part is presented to the robot with different sides in order to statistically increase the likelihood of gripping by the robot, it is also necessary to ensure that the oscillating movement of the movable pad 4 around the axis of rotation 6 It is added to the rotation around .

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

Because of the shoulder ring 23, there is no risk of the component leaving the movable pad 4 due to centrifugal forces developed by rotation.

For example, in the case of special parts with very round geometric characteristics or very fragile parts that can be gripped by the robot only in one part, the rotation-oscillation movement of the movable pad 4 is a slow process. may not be sufficient to prevent this.

In this case, it is possible to activate the pulse generating means 15, which in the solution described herein comprises a repulsive magnet 18 so that the component changes the orientation of its arrangement after the impact. Push one or more of the parts.

Due to the cover element 24 there is no risk of components protruding outside the device 1 .

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

Preferably, in order to prevent malfunctions of the device 1 for each loading of components and/or rotation of the movable pad 3, a repetitive cycle of steps is established consisting of the following:

First, the portion of the movable pad 4 arranged in the part pick-up sector is photographed by artificial vision means, and subsequently the image taken at this stage is analyzed to obtain a picture of the movable pad 4 arranged in the part pick-up sector. Identify the parts to be picked up that are present in the part, and identify whether these parts are correctly arranged for pickup.

Upon identification of a correctly oriented part to be picked up, the part is picked up by a robot, automated means, etc.

Upon identification of a part to be picked up that is not correctly oriented by an amount less than a preset value, the movable pad 4 is placed in the part loading sector in advance to load a new part to be picked up on the movable pad 4 via a hopper or the like. The captured parts are rotated until they are aligned.

Finally, upon identification of a part to be picked up that is not precisely oriented by an amount greater than a preset value, the movable pad 4 is positioned in a precise and localized manner in an operating straight line substantially perpendicular to the movable pad 4. In order to correct the orientation of the part to be picked up through the operation of the pulse generating means 15 along , it is rotated until the previously imaged part is arranged in the part orientation sector.

Advantageously, in the image analysis step, the comparison of the amount of parts to be picked up that are not correctly oriented with a preset value comprises a comparison of the ratio of the number of white pixels to the number of black pixels in the image with a threshold preset by the user. occurs through, and the obtained images are of black and white type.

Subsequently, these steps are repeated in an iterative manner with rotation of the movable pad 4 until the pre-imaged parts are once again arranged in the component pick-up sector to repeat the preceding steps.

In fact, the device according to the invention, in particular for orienting parts for gripping by robots, automated means, etc., statistically favors gripping by robots, and also allows free movement of oil or dirt that would make identification of the parts difficult. It fully achieves the set goals and objectives in that it makes it possible to change the position of the part to be picked up in order to efficiently discharge the residue.

In particular, the provision of pulse generating means for vertically pushing the movable pad on which the part to be picked up ensures that the arrangement of the parts can also be modified as desired.

Furthermore, providing movement of the aforementioned pulse generating means in the radial direction with respect to the center of the movable pad allows, according to the invention, the use of the device for a wider range of types of parts varying both in material and geometry. makes it possible.

Another advantage of the invention is that it makes available a system that makes it possible to change the position and arrangement of parts one by one, requiring minimal agitation of the parts, and thus, this, according to the invention, involves a robot, It consists in the fact that the device feeder for automation means etc. is particularly suitable for manipulating parts with weak parts or formed from particularly fragile materials.

Additionally, minimizing agitation lowers noise thresholds and thus improves the quality of work in factories where these devices are used.

Another advantage of the feeder for a robot according to the invention is that, at least in the embodiment described, it provides more space for the vision means inside the device and thus facilitates access to the interior of the device for the cleaning operation of these vision means. The point is to simplify.

Last but not least, the use of easily sourced materials and simple mechanical construction makes the device supply for robots, automation means, etc. according to the invention also competitive from an economic point of view.

The device so designed, especially for orienting parts for gripping by robots, automated means, etc., is capable of numerous modifications and variations, all of which are within the scope of the appended claims.

Additionally, all details can be replaced by other technically equivalent elements.

In practice, the materials used and the associated dimensions and shapes may be arbitrary depending on requirements and state-of-the-art technology.

The disclosure of Italian Patent Application No. AR2014A000058 (102014902314778), from which this application claims priority, is hereby incorporated by reference.

Where technical features recited in any claim are followed by reference signs, such reference signs have been included solely for the purpose of increasing the clarity of the claim, and thus such reference signs may be used to identify, for example, It does not have any limiting effect on the interpretation of each element.

Claims (9)

Method for picking up and loading a part orientation device (1) for gripping by robots and automated means, comprising:
The component orientation device 1 is
A support frame (2) forming a support surface (3), the support surface (3) being movable and associated with motor means (5) for rotation about a rotation axis (6) substantially perpendicular to the support surface (3). Artificial vision means are further provided for rotatably supporting the pad (4) and for recognition of parts to be picked up arranged on the movable pad (4), connected to the support frame (2) and accurately and Pulse generating means (15) actuating on the movable pad (4) in a localized manner along an operating straight line substantially perpendicular to the movable pad (4) are further provided, so that the part to be picked up is controlled by robots and automated means. Modifying the orientation of the part to be picked up in a way that allows it to be picked up by -;
As a result of the movement of the part to be picked up through the pulse generating means (15), easy discharge of oily substances or dirt present on the part to be picked up and subsequently transferred onto the movable pad (4). a peripheral groove (22) formed on the support surface (3) in such a way that it is radially outside the movable pad (4) for and
At least one part pick-up sector defined in the artificial vision means, at least one part orientation sector defined in the pulse generating means (15), and at least one sector for loading parts through a hopper,
The above method is,
imaging, via said artificial vision means, a portion of said movable pad (4) arranged in said at least one component pick-up sector;
The image taken in the preceding step is used to identify the part to be picked up present in said portion of the movable pad 4 arranged in said at least one part pick-up sector and whether it is correctly oriented for pickup. Analyzing steps,
Upon identification of the correctly oriented part to be picked up, picking said part on the part of said robot and automated means;
Upon identification of the part to be picked up which is not correctly oriented by an amount less than a preset value, the at least one part loading sector is loaded in the at least one part loading sector for loading a new part to be picked up on the movable pad 4 via the hopper. rotating the movable pad (4) until the imaged portion is aligned;
Upon identification of the part to be picked up which is not correctly oriented by an amount greater than a preset value, the means for generating pulses (15) along an operating straight line substantially perpendicular to the movable pad (4) in a precise and localized manner. rotating the movable pad (4) until the pre-imaged part is aligned in the at least one part orientation sector, in order to correct the orientation of the part to be picked up by the operation of
Picking up the part orientation device (1), comprising rotating the movable pad (4) until the pre-imaged part is once again aligned in the at least one part pick-up sector to repeat the preceding steps. Loading method. According to paragraph 1,
In the step of analyzing the image, comparison of the amount of parts to be picked up that are not correctly oriented with the preset value includes the ratio of the number of white pixels to the number of black pixels in the image and a threshold preset by the user. , wherein the images are of black and white type. According to paragraph 1,
The part orientation device (1) is arranged in the artificial vision means for backlighting of the part to be picked up arranged on the movable pad (4) in a way that allows identification of the part to be picked up by the artificial vision means. comprising backlight means (16) arranged on an opposite side from the movable pad (4) with respect to the support surface (3) and associated with the support frame (2), wherein the movable pad (4) provides light made of an elastically flexible material, said support surface (3) having a window (17) formed in said backlighting means (16) in such a way as to allow backlighting of said movable pad (4). Provided, method for picking and loading a part orientation device (1). According to paragraph 3,
The pulse generating means (15) operates on the lower surface (19) of the movable pad (4) through at least one opening (20) formed in the support surface (3) and is attached to the support frame (2). A method for picking up and loading a part orientation device (1), comprising a repulsion magnet (18) connected thereto, wherein the at least one opening (20) is formed away from the window (17). According to paragraph 4,
The pulse generating means (15) is associated with the support frame (2) via a movable slider (21) configured to allow movement of the repelling magnet (18) along a radial direction with respect to the rotation axis (6), At least one opening (20) has a slot-like shape extending radially relative to the axis of rotation (6) in line with the movement of the repelling magnet (18) through the movable slider (21). Method of picking up and loading device (1). According to paragraph 3,
The movable pad (4) has a substantially circular shape centered on the axis of rotation (6), and the window (17) is substantially shaped like an annular sector. method. According to claim 1 or 3,
The part orientation device (1) is arranged on the movable pad (4) in the pulse generating means (15) for vertical maintenance of the part to be picked up as a result of the operation of the pulse generating means (15) and the support frame. Method for picking up and loading a part orientation device (1), comprising a cover element (24) integral with (2). delete delete