NL2011493C2 - Feeder device. - Google Patents

Feeder device. Download PDF

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Publication number
NL2011493C2
NL2011493C2 NL2011493A NL2011493A NL2011493C2 NL 2011493 C2 NL2011493 C2 NL 2011493C2 NL 2011493 A NL2011493 A NL 2011493A NL 2011493 A NL2011493 A NL 2011493A NL 2011493 C2 NL2011493 C2 NL 2011493C2
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NL
Netherlands
Prior art keywords
shock
objects
giving
devices
feeding device
Prior art date
Application number
NL2011493A
Other languages
Dutch (nl)
Inventor
Robert Vuurmans
Original Assignee
Robert Vuurmans
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Vuurmans filed Critical Robert Vuurmans
Priority to NL2011493A priority Critical patent/NL2011493C2/en
Application granted granted Critical
Publication of NL2011493C2 publication Critical patent/NL2011493C2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1414—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of at least the whole wall of the container
    • B65G47/1421—Vibratory movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40014—Gripping workpiece to place it in another place
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)

Description

Title: Feeder device
Field of the invention
The present invention relates to a feeder device having a support surface and a method of presenting objects to a pick & place robot with the feeder device.
Discussion of prior art
Feeder devices (also called tray feeders) with a support surface for presenting objects to a pick and place robot are known. Feeder devices are used in various production processes, such as processes for producing electronics, sunglasses, and many other products comprising mechanical components. Feeder devices are in particular used in combination with a pick & place robot, wherein each time an individual product is picked from the feeder device and placed in position by the pick & place robot.
The end products which are formed in the production process may include small parts. This is for instance the case in electronics, where transistors, resistors, capacitors, diodes, integrated circuits, and various other parts form a typical electronic circuit. These electronic parts are picked from a support surface of the feeder device by the pick & place robot and subsequently placed in position on a circuit board.
For sunglasses, a similar production process is used. The various parts that make up the sunglasses may be presented to the pick & place robot by the feeder device. The pick & place robot assembles the individual sunglasses by each time picking a part and mounting it on the sunglasses.
The invention
The invention is based on the insight that with known feeder devices, the objects cannot always be presented to the pick & place robot in a suitable way. For instance, it was found that with electronic parts, the electronic parts are not always in the desired orientation on the feeder device. Further, the electronic parts may not always be in the desired location on the feeder device. The parts may be grouped in a corner of the support surface or along on of the sides of the support surface. A further issue is that the parts may lie on top of one another, or in some cases be entangled with one another. As a result the pick & place robot has difficulty picking a single part. In such a case, the pick & place robot may inadvertently pick two parts instead of one, and an error may occur in the production process as a result of this. Existing feeders have difficulty singularizing objects which lie on top of one another. Sometimes, an operator will need to stop the production process and solve the problem.
In the present invention, the insight was developed that it is possible to solve or substantially reduce these problems and to provide an improved feeder device.
To this end, the invention provides a feeder device constructed for presenting objects to a pick & place robot which is configured to pick the objects from the feeder device, the feeder device comprising: - a frame, - a tray having a support surface for supporting a plurality of objects and presenting the objects to a pick & place robot, - at least one shock imparting device for imparting a shock to a part of the support surface, wherein the at least one shock imparting device is constructed to be controlled by a control unit, in order to displace the objects over the support surface.
In an embodiment, each shock imparting device is configured to accelerate said respective part and subsequently abruptly decelerate said respective part, wherein the objects start moving relative to said part of the support surface.
The tray is substantially rigid but may have some flexibility to allow an individual part to be moved by the shock imparting device while the remainder of the tray stays substantially stationary. As a result, the tray will be deformed slightly by the shock imparting device. The deformation is quite small and is elastic, which results in deformations which are reversible.
In an embodiment, the feeder device comprises at least one stop device which is configured and arranged for causing an abrupt deceleration when a part of the tray hits the stop device, and comprising in particular a plurality of stop devices which are spaced apart from one another and positioned at a distance from a center of the support surface, wherein each stop device is configured and arranged for causing an abrupt deceleration when a part of the tray hits the stop device.
In an embodiment, each shock imparting device is constructed to move said part upwards with a considerable speed against the stop device in order to cause the rapid deceleration of the upward movement when hitting the stop device, wherein the objects which are located near said part become airborne for a certain period of time and subsequently drop back onto the tray in a different orientation and/or different position.
In an embodiment, the shock imparting devices are constructed to let the objects bounce on the selected part of the support surface.
In an embodiment, each shock imparting device is configured to: move a part of the tray downward, subsequently move said part upwards with a considerable speed against a stop device.
The feeder device may comprise a plurality of stop devices.
In an embodiment, the support surface is part of a tray, and wherein the shock imparting devices are positioned in a peripheral zone of the tray which extends around the support surface.
In an embodiment, the feeder device comprises: - a plurality of downward moving devices for first moving a part of the support surface downward from an initial upper position to a lower position, and - a plurality of upward moving devices for moving a part of the tray upward from the lower position to the upper position.
In an embodiment, the feeder device comprises a plurality of upward moving devices and a plurality of stop devices, wherein each upward moving device is associated with a respective stop device, and in particular integrated with the associated stop device.
In an embodiment, each shock imparting device comprises an actuator and at least one spring, the actuator being configured to move the part of the support surface downward from an upper position to a lower position against the force of the spring, thereby bringing the spring under tension, the shock imparting device further being configured to release the part of the support surface in the lower position, wherein the spring is configured to move the part of the support surface upward with a substantial speed back to its initial upper position.
In an embodiment, each shock imparting device comprises at least one magnet coupling, one magnet coupling part being attached to the support surface and one magnet coupling part being connected to the actuator, wherein each actuator is configured to pull the associated part of the support surface via the magnet coupling against the force of the associated spring from an upper position to a lower position, and wherein the two magnet coupling parts uncouple from one another at a lower position where the counteracting spring force becomes larger than the magnet force.
In an embodiment, the feeder device comprises: - a plurality of shock imparting devices for imparting a shock to a part of the support surface, wherein the shock imparting devices are spaced apart from one another and positioned at a distance from a center of the support surface, wherein each shock imparting device is configured to move a respective part of the support surface which is associated with said shock imparting device, wherein each shock imparting device is constructed to be individually controlled by a control unit, in order to displace the objects over the support surface in a selective and controlled manner.
An advantage of the present invention is that a shaking action is possible which is directed at specific objects on the support surface, resulting in better singularizing. The invention is based on the insight that this provides a substantial improvement over existing feeder devices which can only shake the entire tray.
In an embodiment, the feeder device comprises each shock imparting device is associated with a respective stop device and is in particular positioned near said stop device.
In an embodiment, the feeder device comprises a control unit, wherein the shock imparting devices are individually controlled by the control unit.
In an embodiment, control unit is configured to each time select which shock imparting devices are to be actuated, and which shock imparting devices are not to be actuated.
In an embodiment, the control unit is configured to activate a single shock imparting device at a same time and two or more of the controllable shock imparting devices at a same time. The control unit may activate any combination of the shock imparting devices at a time.
In an embodiment, each shock imparting device comprises a downward moving device for moving a part of the tray downward from an initial position to a lower position, the downward moving device being coupled to said part of the tray via a coupling which can be uncoupled in order to release said part when the lower position has been reached.
In an embodiment, the feeder device comprises a plurality of upward moving devices configured for moving a part of the tray upward, wherein the upward moving devices are not associated with a particular downward moving device.
In an embodiment, each shock imparting device comprises a pneumatic actuator and/or an electric actuator. The actuator may be linear actuator or a rotary actuator.
In an embodiment, the movement of the part of the support surface is substantially vertical. It will be recognized that the movement may a part of a circle, i.e. a circle segment, because the tray may be kept stationary at another location by a non-activated moving device. This location may serve as a “hinge”.
In an embodiment, each shock imparting device comprises a pneumatic cylinder and a magnet coupling comprising two magnet coupling parts, one magnet coupling part being attached to the tray and one magnet coupling part being attached to a shaft of the pneumatic cylinder. It was found that this coupling allows a simple and reliable construction.
In an embodiment, each pneumatic cylinder is configured to pull the associated tray part via the magnet coupling against the force of the associated spring from an upper position to a lower position, wherein the magnet coupling parts uncouple at a lower position where the counteracting spring force becomes larger than the magnet force.
In an embodiment, each pneumatic cylinder is configured to have a rest position in which two parts of the coupling are coupled with one another, and to subsequently move downwards to a lower position in order to move the tray part downward.
In an embodiment, after the uncoupling of the magnets, the part of the support surface is moved upwards with increasing speed as a result of the spring force, until the part of the support surface engages the stop member and comes to a substantially abrupt halt.
In an embodiment, the feeder device comprises: - a control unit, - a camera or similar image sensing means arranged to record the support surface, wherein the shock imparting devices and the camera are coupled to the control unit, and wherein the control unit is configured for receiving image data from the camera, the image data relating to the actual positions of the objects on the support surface, and wherein the control unit is configured for determining desired positions of the objects on the tray on the basis of the actual positions and to determine a desired control signal for each controllable shock imparting device, wherein the control unit is further configured to send the respective control signals to the controllable shock imparting devices for moving the objects on the support surface.
In an embodiment, the support surface is not a conveyor belt, but a stationary surface.
In an embodiment, the support surface is rectangular, square, circular, triangular, oval or hexagonal. Various shapes of the support surface are possible.
In an embodiment, the feeder device comprises three or four shock imparting devices. It was found that for a square or rectangular surface, four shock imparting devices provides good control. For a round support surface three shock imparting devices may be a good choice. It is also possible to use two shock imparting devices or more than four shock imparting devices.
In an embodiment of the feeder device, the support surface is rectangular or square and the feeder device comprises four shock imparting devices.
In an embodiment of the feeder device, the support surface is rectangular or square and wherein the feeder device comprises four downward moving devices which are positioned near the four corners.
In an embodiment of the feeder device, the support surface is rectangular or square and wherein the feeder device comprises four upward moving devices and four stop devices which are positioned near the four corners.
In an embodiment of the feeder device, the support surface is square or rectangular and wherein each shock imparting device is provided along a respective side of the rectangular support surface.
In an embodiment of the feeder device, the support surface is transparent or semitransparent, and a light is arranged below the support surface. In this way, the objects are highlighted by the backlight and the visibility of the objects is improved. In this way, recording by the camera is improved. In an alternative embodiment a light from above or a light from the side is provided. In this embodiment the support surface may be blue or black or green.
In an embodiment, the feeder device comprises a tilting mechanism for orienting the support surface at a tilt angle relative to the horizontal. In particular the tilting mechanism may be controllable in order to orient the support surface at a selected tilt angle. It is also possible that the tilting mechanism is capable of positioning the support surface at three angles, e.g. an angle of between minus 2-4 degrees, horizontal and an angle of between plus 2 - 4 degrees. It was found that an angle of about plus and minus 2.5 degrees works very well. The tilting mechanism may be configured for tilting the support surface about two independent axes, i.e. the X-axis and the Y-axis.
The invention further relates to a system comprising the feeder device, a batch feeder for feeding a batch of objects to the feeder device and a pick & place robot. With this configuration, many production processes can be carried out efficiently.
The invention further relates to a method of presenting objects to a pick & place robot, the method comprising: - providing a feeder device, - placing a plurality of objects on the support surface, - moving the objects on the support surface with the at least one shock imparting device.
In an embodiment of the invention, the feeder device comprises a plurality of shock imparting devices for imparting a shock to a part of the support surface, wherein the shock imparting devices are spaced apart from one another and positioned at a distance from a center of the support surface, wherein each shock imparting device is configured to move a respective part of the support surface which is associated with said shock imparting device, wherein each shock imparting device is individually controlled by a control unit, and wherein objects are displaced over the support surface in a selective and controlled manner by individually activating the respective shock imparting devices.
The re-arranged objects can be picked from the support surface with ease by a pick & place robot.
In an embodiment of the method, the objects are bounced in order to change the orientation and/or position of the objects.
In an embodiment, the method comprises: - providing the feeder device with an image sensing means, in particular a camera, - sensing position data relating to the positions of the objects on the support surface, - determining a desired movement of at least one selected part of the feeder device on the basis of the position data, - controlling the individually controllable shock imparting devices in order to move the selected part of the feeder device.
In an embodiment, the method comprises: - determining a target direction in which the objects are to be moved in order to be better distributed over the support surface and - actuating a selected number of the individually controllable shock imparting devices in order to move the objects in the target direction.
In an embodiment, the method comprises: - moving one or more parts of the support surface downward from an initial upper position to a lower position, - subsequently moving said one or more parts upward at a considerable speed against at least one stop device, wherein the objects start moving relative to the support surface as a result of the engagement with the at least one stop device and a sudden decrease in upward speed of said part of the support surface.
In an embodiment of the method, the objects become airborne for a certain period of time and subsequently drop back onto the tray in a different orientation and/or different position.
In an embodiment of the method, the control unit is configured to receive and store object data relating to characteristics of the object, in particular weight, size and form, and wherein the object data are used to determine the action of the individual shock imparting devices. In particular, the control unit may be configured to recognize if the objects lie in a correct orientation in order to be gripped by the gripper. If a substantial part of the objects is not in a correct orientation, one or more of the shock imparting devices may be activated.
In an embodiment of the method, the support surface is oriented at a selected tilt angle with a tilt mechanism during the moving of said part of the support surface.
In an embodiment of the method, the objects are singularized.
Brief description of the figures
Embodiments of the feeder device according to the invention will be described by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which:
Figure 1 shows an isometric view of a typical production situation involving a feeder device according to the invention.
Figure 2 shows a detailed view of the situation of figure 1.
Figure 3 shows an isometric view of a feeder device according to the invention, wherein the housing is removed.
Figure 4 shows a side view of a feeder device according to the invention.
Figure 5A shows a side view of a feeder device according to the invention.
Figure 5B shows a view from below of a feeder device according to the invention.
Figure 6 shows a cross-section in side view of a feeder device according to the invention.
Figure 7 shows a detail of the cross-section of figure 6.
Figure 8 shows a schematic view of a control diagram of the various components which control the feeder device according to the invention.
Figures 9A, 9C, 9E show top views of the feeder device according to the invention.
Figures 9B, 9D, 9F show side views of the feeder device in motion.
Figure 10 shows an isometric view of various embodiments of the invention arranged adjacent one another.
Figures 10A, 10B, 10C, 10D show top views of the embodiments of figure 10.
Figure 11 shows another embodiment of the feeder device according to the invention.
Figures 12A - 12F show further embodiments of the feeder device according to the invention.
Detailed description of the figures
Turning to figure 1, a typical production setting for the present invention is shown. A feeder device (also used short: tray feeder) 10 is placed on the ground 1. A pick & place robot 2 is positioned adjacent or at least near the feeder device 10 in order to pick objects from the feeder device. A bulk feeder 3 is also provided near the feeder device 10 in order to feed the feeder device. A camera 4 is positioned above the feeder device 10 in order to capture images from above from the feeder device. A series of end products 5 are provided in a working range of the pick & place robot. A control unit 8 is provided which is constructed to process the images and control the feeder device, the bulk feeder 3, and the pick & place robot 2.
In use, the pick & place robot picks individual objects from the feeder device and mounts the objects on the end products 5 which are to be assembled.
From time to time or continuously, the camera 4 captures images from the feeder device. When there are no more objects 12 on the feeder device or when the number of objects on the feeder device falls below a minimum, this is registered by the camera 4 and determined by a computer program in the control unit 8.
The control unit then sends a start signal to the bulk feeder 3 and a new batch of objects is provided by the bulk feeder 3 to the feeder device 10. Next, the pick & place robot may continue.
The bulk feeder 3 has a storage compartment 302 and a trough 304 which is inclined to the horizontal at a small angle. The bulk feeder further has shaker drivers 306 for shaking the trough and moving the products forward. The shaker driver may be well controlled in order to feed small batches of products to the feeder device. The bulk feeder may even provide the objects one by one to the feeder device. It is possible that the bulk feeder comprises a camera or sensor which also monitors the movements of the objects on the feeder device.
The bulk feeder 3 and the pick & place robot 2 are known. The invention revolves around the feeder device 10.
Turning to figure 2, a detail of the situation of figure 1 is shown. The pick & place robot 2 typically comprises a segmented arm 201 and a gripper 200. The gripper 200 may have six degrees of freedom in the working range, i.e. three degrees of translation and three degrees of rotation. The gripper may be positioned anywhere in the working range at any angle to all three axes X, Y, Z. Pick & place robots with less capabilities and less degrees of freedom may also be used.
The pick & place robot 2 comprises a gripper 200 which has two or three jaws 202.
The jaws 202 are movable relative to one another by one or more jaw actuators 204.
The objects 12 lie on the feeder device 10. In this case the objects are capacitors, but the objects may be any kind of object. Each time, the gripper 200 grips an object 12 and places it in the end product 5. It is noted that the gripper 200 may also work with vacuum.
For the production process, it is required that there are sufficient objects 12 and that the objects do not lie on top of one another. It is also required that there is sufficient interspacing between the objects so that the gripper 200 can grip the objects. Sometimes, objects are processed which have a distinct orientation and need to be gripped by the gripper 200 in a distinct place or orientation. If such an object for instance lies upside down, the gripper cannot grip it in the correct location to be able to mount the object 12 to the end product 5. If two objects lie on top of one another, the gripper 200 may pick two objects 12 at a same time. This may result in problems.
Further, it may be possible that several objects 12 are present on the feeder device 10, but that they are all located in one corner 58 or along one side 59. This is not ideal for the pick & place robot 2, and may also result in an incorrect gripping of an object.
Turning to figures 3, 4, 5A and 5B, further details of the feeder device 10 according to the invention are shown. The feeder device 10 comprises a frame 15 which comprises a base 21. The base 21 may have holes 19 so that the feeder device can be fixed to the ground on which it stands.
The feeder device further comprises a tray 16. The tray 16 defines a support surface 18 on which the objects rest. The support surface 18 may be flat and may extend substantially horizontally. The support surface is not a conveyor belt, but a stationary surface.
The support surface 18 is a depressed part of the tray 16. An upstanding rim 20 extends around the support surface. The rim goes over in an elevated part 22 of the tray 16. The upstanding rim keeps the objects on the support surface 18. Other suitable forms of a tray are conceivable. The support surface 18 is transparent or semi-transparent. A light is arranged below the support surface to enhance recording by the camera.
It is also possible that the upstanding rim is a separate part which is connected to the horizontal support surface via bolts or an adhesive connection.
In another embodiment, the shock imparting devices may be connected to the (underside of) the support surface itself instead of being positioned in a peripheral zone. In this embodiment, the support surface may be movable relative to a stationary upstanding rim.
The feeder device comprises shock imparting device 35 which are positioned in a peripheral zone 103 of the tray, i.e. the elevated surface 22, which extends around the support surface 18. The shock imparting devices may also be connected to the underside of the support surface instead of being positioned in a peripheral zone. In this embodiment, the support surface may be movable relative to a separate, stationary upstanding rim
The feeder device generally comprises three or four shock imparting devices 35, but two shock imparting devices 35 or more than four is also possible.
The tray and the support surface are rectangular. The ratios of the long side and short side of the support surface may be 4:3 or 16:9 or substantially similar to one of these ratios, which is similar to the ratios of a standard camera. This is discussed further below.
The frame 15 of the feeder device 10 comprises an internal frame 24 which is mounted to the base 21 via an upstanding plate 25. The internal frame 24 is elevated with respect to the base 21. Various components of the feeder device are mounted to the internal frame 24.
With reference to figure 5A, the feeder device comprises a tilting mechanism 320 which is capable of tilting the internal frame 24 relative to the base 21. The tilting mechanism comprises at least one actuator 320 which is positioned decentrally and which interconnects the base 21 with the internal frame 24. The upstanding plate is mounted to the base 21 via a hinge pin 324, allowing the upstanding plate and the internal frame 24 to tilt over an angle relative to the base when the actuator 320 is actuated. The tilting mechanism tilts the internal frame, the shock imparting devices 35 and the support surface 18.
Turning back to figure 3, the internal frame 24 has four supports 26 which are lower than a central part 28 of the base 21. The supports 26 are connected to the central part via vertical parts 30 of the base. The internal frame 24 comprises two vertical parts 30, one on a left side and one on a right side. Each vertical part is associated with two supports 26. In top view, the four supports 26 are arranged in a rectangle.
The feeder device comprises four shock imparting devices 35, which are explained below. Each shock imparting device 35 comprises a downward moving device 35A and an upward moving device 35B. The controllable moving devices 35 are spaced apart from one another and positioned at a distance from a center 101 of the support surface 18.
The shock imparting devices 35 are configured to: o impart a substantially upward movement to a respective part 17 of the support surface which is associated with said moving device, o subsequently cause a rapid deceleration of said respective part, such that the objects start moving relative to said part 17 of the support surface, wherein each moving device is constructed to be individually controlled by the control unit 8, in order to displace the objects over the support surface in a controlled manner.
The downward moving device 35A comprises an actuator 32, which is a pneumatic actuator. Each pneumatic actuator 32 is mounted on each support 26. The pneumatic actuator is a linear actuator. It will be appreciated that an electric actuator could also be used. A hydraulic actuator or electric actuator may also be used. A rotating actuator may be also used in conjunction with a mechanism to transform the rotating action into a substantial linear action.
Turning to figures 6 and 7, each actuator 32 comprise a shaft 34. At the upper end of each shaft, a magnet coupling part 36 is mounted. Each magnet coupling part 36 is associated with a mating magnet coupling part 37 which is mounted to the underside of the tray 16 directly above the magnet 36 on the shaft. It will be understood that the mating magnet coupling part may also be a piece of metal, or that the magnet coupling part 36 is in fact a piece of metal combined with a magnet 37. The magnet (or metal) 36 and magnet (or metal) 37 form a coupling 40 in the form of a pair of magnets which attract one another. The upper magnet 37 is fixed to the tray 16 by a bolt 41, but other connections are possible.
The stop devices may comprise a cushion to prevent damage due to fatigue. The cushion may have the shape of a rubber O-ring, but other forms are possible.
Each pneumatic actuator 32 has an initial position in which the pair of magnets 40 are engaged with one another. The initial position is the upper position of the shaft.
Each pneumatic actuator 32 is double acting and is provided with pressurized air by two respective air conduits 44, 45. The actuator is constructed to move the shaft 34 between an upper position in which the pair of magnets 40 are engaged and a lower position in which the pair of magnets 40 are disengaged. In another embodiment a single acting pneumatic actuator is also possible, wherein the return stroke is carried out by the spring.
Turning to figure 5B, a view from below is provided. The feeder device comprises a series of valves 99 for controlling the actuators 32. The valves 99 are mounted on the base plate 21. The valves are connected to the actuators 32 via conduits 44, 45 (shown in figure 3 but not in figure 5B). The valves are controlled by the control unit 8. The control unit 8 is configured to individually control the up and down movement of each shaft and associated magnet.
Turning back to figures 6 and 7, one shaft 34 may for instance be positioned in the lower position while the other three shafts are positioned in the upper position. Or, two shafts may be positioned in the lower position while two other shafts may be positioned in the upper position. Other combinations are also possible.
The tray 16 is further guided relative to the internal frame 24 via four fixed guide pins 50. Each pin 50 extends through a respective hole 51 in the tray 16 and has a stop device 52 mounted at an upper end 53 of the pin 50. The tray 16 can move up and down relative to the guide pins 50.
The stop devices 52 are configured for substantially abruptly stopping an upward movement of the part 17 of the support surface in order to cause the rapid deceleration. The stop devices are spaced apart from one another and positioned at a distance from a center 101 of the support surface. The stop devices 52 are considered to form part of the shock imparting devices 35, because the tray comes to an abrupt stand still against the shock imparting device.
The skilled person will understand that the abrupt deceleration generally needs to be larger than g (9.81 m2/s) in order to let the objects become airborne.
An upward moving device 35B in the form of a spring 60 extends around each pin 50 between a lower stop 62 and the tray 16. The lower stop 62 is mounted to the internal frame 24. Each spring is provided with a lower and upper end cap 340.
The upward moving devices 35B are each associated with a respective stop device 52, and in particular integrated with the associated stop device.
Each spring 60 is arranged under compression and presses the tray 16 upwards against the stop member 52. The stop member 52 prevents the tray from moving further upwards and holds the tray 16 in the upper position. The stop members 52 may be provided with a cushion in the form of a piece of rubber or similar material.
In use, the downward moving device 35A moves a part of the support surface downward and the upward moving device 35B moves the part of the tray upward against the stop member.
Tension springs are also conceivable instead of compression springs.
In this embodiment, the each shock imparting device comprises one downward moving device, one upward moving device and one stop device 52. However, it conceivable that a shock imparting device comprises a plurality of downward moving devices and/or a plurality of upward moving devices and/or a plurality of stop devices. It is also possible that the stop devices 52 are not associated with a particular downward moving device and/or upward moving device.
In figure 7, a detail of the actuator 32 and the stop device 52 is shown. The downward moving device 35A is the pneumatic cylinder which is double acting. The pneumatic cylinder can pull the part of the tray above it downward from an upper position to a lower position. A single acting actuator is also possible, if the return stroke is carried out by a spring.
When the part of the tray is moved to the downward position, the upward moving device 35B, i.e. the spring 60 is compressed and exerts an upward force on the part of the tray above it.
If the pneumatic cylinder uncouples the magnets 36, 37 from one another, the spring 60 rapidly pushes the part of the tray upward and subsequently the part of the tray hits the stop device 52. The part of the tray comes to an abrupt halt and the objects become airborne for a short period of time. The objects subsequently drop back onto the tray in a different orientation and/or different position.
Turning to figure 8, a control diagram of the various components in a complete system are shown. The control unit 8 is connected to the camera, feeder device 10, bulk feeder 3, and robot arm 2 via communication lines 500. Image data are recorded by the camera 4 and sent to the control unit 8. The control unit determines an object which is to be picked on the basis of the image data. The control unit determines the position of said object and the way in which the gripper 200 should grip the object, i.e. in which position X, Y Z should be positioned and in which direction about the X, Y and Z axis the gripper 200 should be oriented. Subsequently, the control unit sends a control signal to the robot arm 2 to move the robot arm to the desired location.
If the control unit determines that there are not enough objects on the support surface, an actuating signal is sent to the bulk feeder, and more objects 12 are fed to the tray device by the bulk feeder.
If the control unit determines that the objects 12 are not in a suitable position, for instance if there is not a single object that can be easily gripped by the gripper 200, the control unit calculates what a suitable change in position of the objects 12 would be in order to resolve this problem. On the basis of this determination, the actuators 32 are actuated.
If the control unit determines that the objects 12 are all on one side of the support surface, the tilting device is activated prior to the actuating of the actuators 32. The support surface is inclined and when the part of the support surface that moves upwards hits the stop device 52, the objects obtain a horizontal component of movement as a result of the inclination. The objects then move away from the side.
Turning to figures 9A and 9B, if for instance the objects lie substantially in the middle of the support surface but lie too close to one another to be properly gripped by the gripper, the control unit 8 may send a signal to actuate all shock imparting devices 35 at the same time and let the support surface move downward in a horizontal orientation, followed by a movement straight up. The objects will bounce and become spread apart a bit more. If one bounce is not enough, a same second and subsequent bounce may be performed in order to spread the objects over the support surface.
It is also possible that a local concentration of objects occurs, and that the shock imparting device is activated in the location where the concentration occurs. In this way, the objects are spread more evenly.
Turning to figures 9C and 9D if all the objects 12 or a substantial part of the objects 12 lie too close to a specific side 59 of the support surface, called a “populated side” 59P. In that case, the side which is opposite to that side, called the “empty side” 59E may be held in the lower position by the tilting mechanism 320 which gives an inclination to the support surface 18, while at the same time the two shock imparting devices 35 closest to the populated 59P side let the objects 12 bounce. In that way, as a result of the inclination, the objects will move away from the populated side 59P, and move toward the center of the support surface and also become more spread over the support surface.
If the objects would be all in one corner 58 of the support surface, or a large portion of the objects 12 would be in one corner (populated corner) of the support surface, the control unit will tilt the support surface with the tilting mechanism 320 in combination with the actuating of the shock imparting device 35 in the populated corner. Because the direction of the airborne objects is perpendicular to the orientation of the support surface when it hits the stop device, the objects get a horizontal component of movement, and are moved away from the corner 58. This will move the objects away from the populated corner.
Turning to figures 9E and 9F, if the objects are substantially located on the other side, the support surface is tilted in the opposite direction.
Turning to figures 10A, 10B, 10C, 10D and 10E, in figure 10A four different embodiments of the tray device according to the invention are shown. In a first embodiment 400, the rectangular support surface has a ratio of 4:3 for the sides. Figure 10C shows that the first embodiment has four shock imparting devices 35 positioned near the corners 58.
In a second embodiment 402, the rectangular support surface 18 has a ratio of 16:9 for the sides. Figure 10B shows that the second embodiment has four shock imparting device positioned near the corners 58.
In a third embodiment 404, the support surface is circular. Figure 10D shows that this embodiment has three shock imparting devices. The support surface may also be triangular, oval or hexagonal.
In a fourth embodiment 406, the support surface 18 is quite elongate and substantially larger.
Turning to figure 11, an embodiment is shown wherein the downward moving devices 35A are positioned near the corners 58 of the support surface 18, and wherein the combined upward moving devices 35B and the stop devices 52 are positioned along the long sides 59A and short sides 59B of the rectangular support surface 18. The combined upward moving device and stop device can be positioned anywhere along the sides 59. The upward moving devices 35B in the form of springs 60 (as shown in figure 3) need not be associated with a particular downward moving device 35A and may act on a different part 17 of the support surface.
Turning to figure 12A, an embodiment is shown having a rectangular support surface 18, four downward moving devices near the corners 58 and four combined upward moving device and stop devices along the long sides 59A of the support surface. The four combined upward moving devices 35B and stop devices 52 are positioned relatively close to the downward moving devices 35A.
Turning to figure 12B, an embodiment is shown having a rectangular support surface 18, four downward moving devices 35A near the corners 58 and two combined upward moving devices 35B and stop devices 52 along the long sides 59A of the support surface. The two combined upward moving device and stop devices are positioned in the middle of the long sides 59A.
Turning to figure 12C, an embodiment is shown having a rectangular support surface 18, four downward moving devices positioned near the corners 58 and four combined upward moving device and stop devices along the long sides 59A and short sides 58B of the support surface. The four combined upward moving device and stop devices are positioned in the middle of the long sides 59A and the short sides 58A.
Turning to figure 12D, an embodiment is shown having a rectangular support surface 18, four downward moving devices 35A positioned near the corners 58 and four combined upward moving device 35B and stop devices along the long sides 59A of the support surface. The four combined upward moving devices 35B and stop devices 52 are positioned quite close to one another near the middle of the long sides 59A, but at a distance from one another.
Turning to figure 12E, an embodiment is shown having a rectangular support surface 18, four downward moving devices 35A positioned near the corners 58 and four combined upward moving device 35B and stop devices 52 along the short sides 59B of the support surface. The four combined upward moving device and stop devices are positioned quite close to the corners.
Turning to figure 12F, an embodiment is shown having a rectangular support surface 18, four downward moving devices near the corners 58 and two combined upward moving device and stop devices along the short sides 59B of the support surface. The two combined upward moving device and stop devices are positioned in the middle of the short sides 59B.
As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting, but rather, to provide an understandable description of the invention.
The terms "a" or "an", as used herein, are defined as one or more than one. The term plurality, as used herein, is defined as two or more than two. The term another, as used herein, is defined as at least a second or more. The terms including and/or having, as used herein, are defined as comprising (i.e., open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention.
The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims (42)

1. Aanvoerinrichting (10) die is geconstrueerd voor het presenteren van objecten aan een piek & place robot (2) die is geconfigureerd om de objecten van de aanvoerinrichting te pakken, de aanvoerinrichting omvattende: - een frame (15), - een bak (16) met een draagvlak (18) voor het ondersteunen van een aantal objecten (12) en voor het presenteren van de objecten aan een piek & place robot (2), - tenminste een schok gevende inrichting (35) voor het verschaffen van een schok aan een deel (17) van het draagvlak, waarbij de ten minste ene schok gevende inrichting is geconstrueerd om te worden bestuurd door een besturingseenheid (8), teneinde de voorwerpen te verplaatsen over het draagvlak.A feeder (10) constructed for presenting objects at a peak & place robot (2) configured to grasp the objects of the feeding device, the feeding device comprising: - a frame (15), - a tray (16) with a support surface (18) for supporting a number of objects (12) and for presenting the objects to a peak & place robot (2), - at least one shock-giving device (35) for providing a shock to a part (17) of the bearing surface, the at least one shock-giving device being constructed to be controlled by a control unit (8) ) in order to move the objects over the bearing surface. 2. Aanvoerinrichting (10) volgens conclusie 1, waarbij elk schok gevende inrichting is geconfigureerd om een respectief deel van het draagvlak te versnellen en vervolgens abrupt te vertragen, waarbij de objecten (12) in beweging komen ten opzichte van het deel (17) van het draagvlak.The feeding device (10) according to claim 1, wherein each shock-giving device is configured to accelerate a respective part of the support surface and then abruptly delay it, the objects (12) moving in relation to the part (17) of the support. 3. Aanvoerinrichting (10) volgens een van de voorgaande conclusies, omvattende ten minste een aanslaginrichting (52) die is geconfigureerd en ingericht voor het veroorzaken van een abrupte vertraging wanneer een deel van de bak de aanslaginrichting raakt, waarbij de aanvoerinrichting in het bijzonder een aantal aanslaginrichtingen (52) omvat die zich op afstand van elkaar en op een afstand van een middelpunt van het draagvlak bevinden, waarbij elke aanslaginrichting is geconfigureerd en ingericht voor het veroorzaken van een abrupte vertraging wanneer een deel van de bak de aanslaginrichting raakt.3. Feeding device (10) according to one of the preceding claims, comprising at least one stop device (52) configured and arranged to cause an abrupt delay when a part of the tray touches the stop device, the feed device in particular a comprises a plurality of abutment devices (52) spaced apart from each other and spaced from a center of the bearing surface, each abutment device being configured and arranged to cause an abrupt delay when a portion of the tray contacts the abutment device. 4. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij elk schok gevende inrichting is geconstrueerd om een deel (17) van het draagvlak met een aanzienlijke snelheid omhoog te bewegen tegen de aanslaginrichting (52) aan teneinde de abrupte vertraging van het deel van de bak te bereiken wanneer deze de aanslaginrichting raakt, waarbij de objecten die zich bevinden in de buurt van dit deel in de lucht vliegen gedurende een bepaalde periode en vervolgens terug op de bak vallen in een andere oriëntatie en / of andere positie.Feeding device according to one of the preceding claims, wherein each shock-giving device is constructed to move a part (17) of the bearing surface upwards at a considerable speed against the stop device (52) in order to prevent the abrupt delay of the part of the box reachable when it touches the stop device, the objects located in the vicinity of this part flying in the air for a certain period of time and then falling back onto the tray in a different orientation and / or different position. 5. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij elke schok gevende inrichting (35) is geconfigureerd om: - een deel (17) van de bak naar beneden te bewegen, - vervolgens genoemd deel (17) met een behoorlijke snelheid tegen een aanslaginrichting (52) naar boven te bewegen.Feeding device according to one of the preceding claims, wherein each shock-giving device (35) is configured to: - move a part (17) downwards, - then said part (17) at a considerable speed against a stop device (52) to move up. 6. Aanvoerinrichting (10) volgens een van de voorgaande conclusies, waarbij het draagvlak een deel van een bak (16) is, en waarbij meerdere schok gevende inrichtingen (35) zijn geplaatst in een randzone (103) van de bak die zich om het draagvlak (18) heen uitstrekt.Supply device (10) according to one of the preceding claims, wherein the bearing surface is a part of a tray (16), and wherein a plurality of shock-giving devices (35) are placed in an edge zone (103) of the tray which surrounds it supporting surface (18). 7. Aanvoerinrichting (10) volgens een der voorgaande conclusies, omvattende: - meerdere individueel regelbare, omlaag-beweeginrichtingen (35A) voor het eerst naar beneden bewegen van een geselecteerd deel (17) van het draagvlak van een initiële, bovenste positie naar een lagere positie, en - meerdere omhoog-beweeginrichtingen (35B) om een deel van de bak omhoog te bewegen van de onderste positie naar de bovenste positie.Feeding device (10) according to one of the preceding claims, comprising: - a plurality of individually controllable, down-moving devices (35A) for first moving down a selected part (17) of the bearing surface from an initial, upper position to a lower position, and - multiple up-moving devices (35B) to raise a portion of the bin from the lower position to the upper position. 8. Aanvoerinrichting (10) volgens een der voorgaande conclusies, omvattende een aantal omhoog-beweeginrichtingen (35B) en een aantal aanslaginrichtingen (52), waarbij elke omhoog-beweeginrichting (35B) is gekoppeld met een respectieve aanslaginrichting, en in het bijzonder is geïntegreerd met de bijbehorende aanslaginrichting.Feeding device (10) according to one of the preceding claims, comprising a number of up-moving devices (35B) and a number of stop devices (52), each up-moving device (35B) being coupled to a respective stop device, and in particular integrated with the corresponding stop device. 9. Aanvoerinrichting (10) volgens een van de voorgaande conclusies, waarbij elke schok gevende inrichting (35) een actuator (32) en ten minste een veer (60) omvat, waarbij de actuator is ingericht om het deel van het draagoppervlak van een bovenste positie naar een lagere positie naar beneden te verplaatsen tegen de kracht van de veer in, waarbij de veer onder spanning wordt gebracht, waarbij de schok gevende inrichting verder is geconfigureerd om het gedeelte van het draagvlak in de onderste stand los te laten, waarbij de veer is ingericht om het deel te met een aanzienlijke snelheid omhoog te bewegen, terug naar zijn oorspronkelijke bovenste positie.Supply device (10) according to one of the preceding claims, wherein each shock-providing device (35) comprises an actuator (32) and at least one spring (60), the actuator being arranged to support the part of the bearing surface of an upper position down to a lower position against the force of the spring, wherein the spring is tensioned, the shock-giving device being further configured to release the portion of the support in the lower position, the spring is arranged to raise the part at a considerable speed, back to its original upper position. 10. Aanvoerinrichting volgens conclusie 9, waarbij elke schok gevende inrichting ten minste een magneetkoppeling (36,37) omvat, waarbij een magneetkoppelingdeel (36) is bevestigd aan het draagvlak en een magneetkoppelingdeel (37) is verbonden met de actuator (32), waarbij elke actuator (32) geconfigureerd is om het bijbehorende deel van het draagvlak via de magneetkoppeling tegen de kracht van de bijbehorende veer in naar beneden te trekken van een bovenste positie naar een onderste positie, en waarbij de beide magneetkoppelingdelen van elkaar ontkoppelen bij een lagere positie waar de tegenwerkende veerkracht groter is dan de magneetkracht.The feeding device of claim 9, wherein each shock-giving device comprises at least one magnetic coupling (36.37), wherein a magnetic coupling part (36) is attached to the bearing surface and a magnetic coupling part (37) is connected to the actuator (32), wherein each actuator (32) is configured to pull the associated part of the bearing surface downward from the upper position to a lower position via the magnetic coupling against the force of the associated spring, and wherein the two magnetic coupling parts disengage from each other at a lower position where the opposing spring force is greater than the magnetic force. 11. Aanvoerinrichting (10) volgens een van de voorgaande conclusies, omvattende een aantal schok gevende inrichtingen (35) voor het geven van een schok op een deel (17) van het draagvlak, waarbij de schok gevende inrichtingen zich op een afstand van elkaar bevinden en gepositioneerd zijn op afstand van een centrum (101) van het draagvlak, waarbij elke schok gevende inrichting geconfigureerd is om een respectief gedeelte (17) van het draagvlak dat is geassocieerd met de schok gevende inrichting te bewegen, waarbij elk schok gevende inrichting geconstrueerd is om afzonderlijk te worden bestuurd door een besturingseenheid (8), teneinde de voorwerpen op een selectieve en gecontroleerde manier te verplaatsen over het draagoppervlak.11. Feeding device (10) according to one of the preceding claims, comprising a number of shock-giving devices (35) for giving a shock to a part (17) of the bearing surface, the shock-giving devices being spaced apart and are spaced apart from a center (101) of the support surface, wherein each shock-giving device is configured to move a respective portion (17) of the support surface associated with the shock-giving device, wherein each shock-giving device is constructed to be controlled separately by a control unit (8), in order to move the objects over the bearing surface in a selective and controlled manner. 12. Aanvoerinrichting (10) volgens een van de voorgaande conclusies, waarbij elke schok gevende inrichting (35) is geassocieerd met een respectieve aanslaginrichting (52) en in het bijzonder is gelegen nabij de aanslaginrichting.12. Feeding device (10) according to one of the preceding claims, wherein each shock-giving device (35) is associated with a respective stop device (52) and in particular is located near the stop device. 13. Aanvoerinrichting (10) volgens een der voorgaande conclusies, omvattende een besturingseenheid (8), waarbij de schok gevende inrichtingen (35) afzonderlijk bestuurd worden door de besturingseenheid.A feeding device (10) as claimed in any one of the preceding claims, comprising a control unit (8), wherein the shock-giving devices (35) are controlled separately by the control unit. 14. Aanvoerinrichting (10) volgens conclusie 13, waarbij de besturingseenheid is geconfigureerd om telkens te selecteren welke schok gevende inrichtingen geactiveerd worden, en welke schok gevende inrichtingen niet geactiveerd worden.The feeding device (10) according to claim 13, wherein the control unit is configured to select each time which shock-giving devices are activated and which shock-giving devices are not activated. 15. Aanvoerinrichting volgens conclusie 13 of 14, waarbij de besturingseenheid is ingericht om een enkele schok gevende inrichting op een moment te activeren en om twee of meer van de bestuurbare schok gevende inrichtingen op een zelfde moment te activeren.The feeding device according to claim 13 or 14, wherein the control unit is arranged to activate a single shock-giving device at a time and to activate two or more of the controllable shock-giving devices at the same time. 16. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij elke schok gevende inrichting een omlaag-beweeginrichting (35A) omvat voor het omlaag bewegen van een gedeelte (17) van de bak vanuit een aanvankelijke positie naar een lagere positie, waarbij de omlaag-beweeginrichtingen via een koppeling (40, 36, 37) die kan worden ontkoppeld is gekoppeld met het deel van de bak teneinde dat deel los te laten wanneer de onderste positie wordt bereikt.A feeding device according to any one of the preceding claims, wherein each shock-providing device comprises a down-moving device (35A) for moving down a portion (17) of the bin from an initial position to a lower position, the down-moving devices via a coupling (40, 36, 37) that can be disconnected is coupled to the part of the bin to release that part when the lower position is reached. 17. Aanvoerinrichting volgens een van de voorgaande conclusies, omvattende een aantal omhoog-beweeginrichtingen (35B) die zijn geconfigureerd om een deel van de bak omhoog te bewegen, waarbij de omhoog-beweeginrichtingen (35B) niet geassocieerd zijn met een bepaalde omlaag-beweeginrichting (35A).17. Feeding device according to one of the preceding claims, comprising a number of up-moving devices (35B) which are configured to raise a part of the bin, the up-moving devices (35B) not being associated with a particular down-moving device ( 35A). 18. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij elke schok gevende inrichting een pneumatische aandrijving en / of een elektrische actuator, waarbij de actuator een lineaire of roterende aandrijving is.Supply device according to one of the preceding claims, wherein each shock-giving device is a pneumatic drive and / or an electric actuator, wherein the actuator is a linear or rotating drive. 19. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij de beweging van het gedeelte van het draagvlak in hoofdzaak verticaal is.Supply device according to one of the preceding claims, wherein the movement of the part of the support surface is substantially vertical. 20. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij elke schok gevende inrichting een pneumatische cilinder en een magneetkoppeling (36,37) omvat, waarbij een magneetkoppelingdeel (36) is bevestigd aan de bak en een magneetkoppelingdeel (37) is bevestigd aan een as (34) van de pneumatische cilinder, waarbij elke pneumatische cilinder is geconfigureerd om het bijbehorende bakdeel via de magneetkoppeling tegen de kracht van de bijbehorende veer in van een bovenste positie naar een onderste positie te trekken, en waarbij de beide magneetkoppelingdelen van elkaar ontkoppelen op een lagere positie, waarbij de tegenwerkende veerkracht groter is dan de magneetkracht.A feeding device according to any one of the preceding claims, wherein each shock-giving device comprises a pneumatic cylinder and a magnetic coupling (36.37), wherein a magnetic coupling part (36) is attached to the tray and a magnetic coupling part (37) is attached to a shaft (34) of the pneumatic cylinder, wherein each pneumatic cylinder is configured to pull the associated bucket member through an magnetic coupling against the force of the associated spring from an upper position to a lower position, and wherein the two magnetic coupling parts disengage from each other on a lower position, the opposing spring force being greater than the magnetic force. 21. Aanvoerinrichting volgens conclusie 20, waarbij elke pneumatische cilinder is geconfigureerd om een ruststand in te nemen waarbij twee delen van de koppeling met elkaar zijn gekoppeld, en om vervolgens naar beneden te bewegen naar een onderste stand om het bakdeel naar beneden te bewegen.The feeding device of claim 20, wherein each pneumatic cylinder is configured to assume a rest position in which two parts of the coupling are coupled to each other, and then to move down to a lower position to move the baking part down. 22. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij na de ontkoppeling van de magneten, het deel van het draagvlak omhoog wordt bewogen met een toenemende snelheid als gevolg van de veerkracht, tot het deel van het draagvlak het aanslagorgaan raakt en abrupt tot stilstand komt.22. Feeding device according to one of the preceding claims, wherein after the uncoupling of the magnets, the part of the support surface is raised with increasing speed as a result of the spring force, until the part of the support surface touches the stop member and abruptly comes to a stop . 23. Aanvoerinrichting volgens een van de voorgaande conclusies, omvattende: - een besturingseenheid (8), - een camera (4) of soortgelijk beeldregistratiemiddel dat is ingericht om het draagvlak te registreren, waarbij de schok gevende inrichtingen (35) en de camera zijn gekoppeld met de besturingseenheid, en waarbij de besturingseenheid is geconfigureerd voor het ontvangen van beeldgegevens van de camera, waarbij de beeldgegevens betrekking hebben op actuele posities van de objecten op het draagvlak, en waarbij de besturingseenheid is geconfigureerd voor het bepalen van de gewenste posities van de objecten op de bak op basis van de actuele posities en om een gewenst besturingssignaal te bepalen voor elke bestuurbare schok gevende inrichting (35), waarbij de besturingseenheid verder is geconfigureerd voor het verzenden van de respectievelijke besturingssignalen naar de regelbare schok gevende inrichtingen (35) voor het verplaatsen van de voorwerpen op het draagoppervlak.A feeding device according to any one of the preceding claims, comprising: - a control unit (8), - a camera (4) or similar image recording means adapted to record the support surface, the shock-giving devices (35) and the camera being coupled with the control unit, and wherein the control unit is configured to receive image data from the camera, wherein the image data relates to current positions of the objects on the support surface, and wherein the control unit is configured to determine the desired positions of the objects on the bin based on the current positions and to determine a desired control signal for each controllable shock-giving device (35), the control unit being further configured to send the respective control signals to the controllable shock-giving devices (35) for the moving the objects on the bearing surface. 24. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak geen transportband is, maar een stationaire ondergrond.Feeding device as claimed in any of the foregoing claims, wherein the bearing surface is not a conveyor belt, but a stationary surface. 25. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak rechthoekig, vierkant, rond, driehoekig, ovaal of zeshoekig is.Feeding device according to one of the preceding claims, wherein the bearing surface is rectangular, square, round, triangular, oval or hexagonal. 26. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij de aanvoerinrichting twee, drie, vier, vijf, zes, zeven of acht schok gevende inrichtingen (35) omvat.A feeding device according to any one of the preceding claims, wherein the feeding device comprises two, three, four, five, six, seven or eight shock-giving devices (35). 27. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak rechthoekig of vierkant is en waarbij de aanvoerinrichting vier schok gevende inrichtingen (35) omvat.A feeding device according to any one of the preceding claims, wherein the bearing surface is rectangular or square and wherein the feeding device comprises four shock-giving devices (35). 28. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak rechthoekig of vierkant is en waarbij de aanvoerinrichting vier omlaag-beweeginrichtingen (35A) omvat, die nabij de vier hoeken (58) gepositioneerd zijn.A feeding device according to any one of the preceding claims, wherein the bearing surface is rectangular or square and wherein the feeding device comprises four down-moving devices (35A) positioned near the four corners (58). 29. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak rechthoekig of vierkant en waarbij de aanvoerinrichting vier omhoog-beweeg inrichtingen (35B) en vier aanslaginrichtingen (52) omvat die nabij de vier hoeken gepositioneerd zijn.A feeding device according to any one of the preceding claims, wherein the bearing surface is rectangular or square and wherein the feeding device comprises four up-moving devices (35B) and four stop devices (52) positioned near the four corners. 30. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak vierkant of rechthoekig is en waarbij elk schok gevende inrichting langs een respectievelijke zijde (59, 59A, 59B) van het rechthoekige draagvlak verschaft is.A feeding device according to any one of the preceding claims, wherein the bearing surface is square or rectangular and wherein each shock-giving device is provided along a respective side (59, 59A, 59B) of the rectangular bearing surface. 31. Aanvoerinrichting volgens een van de voorgaande conclusies, waarbij het draagvlak (18) transparant of semi - transparant is, en waarbij een lamp is opgesteld onder het draagvlak.A feeding device according to any one of the preceding claims, wherein the bearing surface (18) is transparent or semi-transparent, and wherein a lamp is arranged below the bearing surface. 32. Aanvoerinrichting (10) volgens een van de voorgaande conclusies, verder omvattende een kantelmechanisme (320) voor het oriënteren van het draagvlak onder een kantelhoek ten opzichte van de horizontaal, waarbij in het bijzonder het kantelmechanisme regelbaar is om het draagvlak onder een geselecteerde kantelhoek te oriënteren.A feeding device (10) according to any one of the preceding claims, further comprising a tilting mechanism (320) for orienting the bearing surface at an angle of tilt with respect to the horizontal, wherein in particular the tilting mechanism is adjustable around the supporting surface at a selected tilting angle to orientate. 33. Systeem omvattende een aanvoerinrichting (10) volgens een der voorgaande conclusies, een batch-aanvoerinrichting (3) voor het toevoeren van een batch van objecten aan de aanvoerinrichting en een piek & place robot (2).A system comprising a feed device (10) according to any one of the preceding claims, a batch feed device (3) for supplying a batch of objects to the feed device and a peak & place robot (2). 34. Werkwijze voor het presenteren van objecten (12) aan een piek & place robot, waarbij de werkwijze omvat: - het verschaffen van een aanvoerinrichting (10) volgens conclusie 1, - het plaatsen van een aantal voorwerpen (12) op het draagvlak (18), - het verplaatsen van de voorwerpen op het draagvlak met de ten minste ene schok gevende inrichting (35).34. Method for presenting objects (12) at a peak & place robot, the method comprising: - providing a feed device (10) according to claim 1, - placing a number of objects (12) on the support surface (18), - moving the objects on the support surface with the ten least one shock-giving device (35). 35. Werkwijze volgens een van de vorige werkwijzeconclusies, waarbij de voorwerpen worden gestuiterd om de oriëntatie en / of positie van de objecten te veranderen.A method according to any of the preceding method claims, wherein the objects are bounced to change the orientation and / or position of the objects. 36. Werkwijze volgens een van de voorgaande conclusies werkwijze, omvattende: - het voorzien van de aanvoerinrichting van een beeldregistratiemiddel, met name een camera, - het registeren van positiegegevens over de posities van de objecten op het draagvlak, - het bepalen van een gewenste beweging van ten minste een geselecteerd deel van het aanvoerinrichting op basis van de positiegegevens, - het regelen van de individueel regelbare schok gevende inrichtingen om het geselecteerde deel van de aanvoerinrichting te bewegen.A method according to any one of the preceding claims method, comprising: - providing the feed device with an image recording means, in particular a camera, - registering positional data about the positions of the objects on the support surface, - determining a desired movement of at least a selected part of the feed device based on the positional data, - controlling the individually controllable shock-giving devices to move the selected part of the feed device. 37. Werkwijze volgens een van de voorgaande conclusies werkwijze, omvattende: - het bepalen van een doelrichting waarin de voorwerpen dienen te worden verplaatst om beter verdeeld te worden over het draagvlak, en - het bedienen van een geselecteerd aantal van de individueel regelbare schok gevende inrichtingen om de objecten te verplaatsen in de doel richting.A method according to any one of the preceding claims method, comprising: - determining a target direction in which the objects must be moved in order to be better distributed over the bearing surface, and - operating a selected number of the individually controllable shock-giving devices to move the objects in the target direction. 38. Werkwijze volgens een van de voorgaande werkwijzeconclusies, omvattende: - het naar beneden bewegen van een of meer delen van het draagvlak van een eerste bovenste positie naar een onderste positie, - het vervolgens omhoog bewegen van een of meer delen met een aanzienlijke snelheid tegen tenminste een aanslaginrichting, waarbij de objecten in beweging komen ten opzichte van het draagvlak als gevolg van de botsing met de ten minste ene aanslaginrichting en een plotselinge afname van de opwaartse snelheid van dat deel van het draagvlak.A method according to any one of the preceding method claims, comprising: - moving down one or more parts of the bearing surface from a first upper position to a lower position, - subsequently moving one or more parts upwards at a considerable speed against at least one stop device, wherein the objects start moving relative to the bearing surface as a result of the collision with the at least one stop device and a sudden decrease in the upward speed of that part of the bearing surface. 39. Werkwijze volgens een van de vorige methode conclusies, waarbij de voorwerpen worden gedurende een bepaalde tijd vliegen en vervolgens terug vallen op de bak in een andere richting en / of andere positie.A method according to any one of the preceding method claims, wherein the objects are flying for a certain time and then fall back on the tray in a different direction and / or different position. 40. Werkwijze volgens een van de vorige methode conclusies, waarbij de besturingseenheid is geconfigureerd om objectgegevens over de kenmerken van het object te ontvangen en op te slaan, in het bijzonder gewicht, grootte en vorm, en waarbij de objectgegevens worden gebruikt om de acties van de individuele schok gevende inrichtingen te bepalen.A method according to any of the preceding method claims, wherein the control unit is configured to receive and store object data about the characteristics of the object, in particular weight, size and shape, and wherein the object data is used to record the actions of determine the individual shock-giving devices. 41. Werkwijze volgens een van de vorige methode conclusies, waarbij het draagvlak door het een kantelmechanisme (320) is georiënteerd onder een bepaalde hellingshoek tijdens de verplaatsing van het deel van het draagvlak.A method according to any one of the preceding method claims, wherein the bearing surface is oriented by a tilting mechanism (320) at a certain angle of inclination during the displacement of the part of the bearing surface. 42. Werkwijze volgens een van de vorige methode conclusies, waarbij de objecten verenkeld worden.A method according to any one of the preceding method claims, wherein the objects are singled.
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