RU2702919C2 - Device for orienting parts, in particular for gripping by robots, automation means and the like - Google Patents

Abstract

FIELD: cutting.

SUBSTANCE: device (1) for orientation of parts comprises support frame (2) forming support surface (3), on which movable table (4) is fixed with possibility of rotation, connected to motor vehicle (5) for its rotation about axis (6) of rotation, perpendicular to support surface (3). There is a means of artificial vision for recognition of parts located on movable table (4), and device (15) for generation of pulses, connected to support frame (2) and acting on moving table (4) in precise and localized manner in a straight line perpendicular to movable table (4) to change orientation of said parts so that they can be grasped by robots or automation means. Device additionally comprises perimeter groove (22) formed on support surface (3) so that it is located radially outside of movable table (4) for easy removal of oily substances or dirt present on parts and transferred to movable table (4) due to motion parts by pulses generation means (15).

EFFECT: disclosed is a device for orienting parts, in particular for gripping by robots, automation means and the like.

9 cl, 5 dwg

Description

The present invention relates to a device for orienting parts, in particular, for capture by robots, automation, and the like.

The invention relates to the field of industrial automation or, in any case, to all areas in which automatic robotic systems can be implemented, in which there is an ever-growing demand for flexible automated systems capable of satisfying a wide variety of requirements.

In particular, it is expected that the device of the present invention will be used in the production of rubber, plastic and other synthetic materials, glass, in the food industry, in the manufacture of cosmetics, medicines, medical devices, automobile parts, household appliances, computers, and household electronics, small metal products, in the woodworking industry, in the manufacture of furniture fittings, etc.

The need to supply various industrial automation systems in response to various production requirements is increasingly felt.

Modern industrial products are actually characterized by an ever shorter service life, reduced production volumes and, therefore, the need for quick adaptation of systems to changing production requirements and, at the same time, the desire to minimize the cost of such adaptation.

This ability of systems to adapt to different volumes of production and changeover to the production of other products is often the only economic justification for maintaining automated production systems and refusing to return to manual systems, despite the fact that automatic production systems are more expensive and less productive, but have much larger flexibility, and what makes companies move production to countries with more convenient labor.

Known feeding devices, which are simply called "feeders", which are controlled by robots operating in the Cartesian coordinate system, anthropomorphic robots, cylindrical robots, etc.

Such feeders are equipped with artificial vision systems, such as linear cameras, matrix cameras, three-dimensional cameras, etc., which require special lighting conditions to obtain images with high contrast between the background and recognizable details, in order to be able to send such images to software image analysis to recognize details.

Lighting conditions can be created using external lighting from above, or back lighting, when the lighting device is usually placed under the table on which the parts are lying.

The feeder is filled externally at certain time intervals, manually, with the help of a hopper, belt hoist or other technically equivalent means.

The artificial vision system recognizes the part needed for production, loaded into the feeder, and the robot captures it. Such known devices supply parts that constitute a stock of workpieces for robots using mechanical vibrations and / or linear motion using motorized belts.

The problem with such feeders is that when the supplied parts contain at least one cylindrical part, such a part tends to roll, which, according to statistics, in most cases creates difficulties for gripping and, therefore, does not apply to the robot.

In this type of feeder, which provides linear feed and / or vibration feed, in any case it is impossible to change the position and location of parts on the surface, which slows down the production chain and increases the cost of production.

In addition, due to the difficult access to the internal parts of the known feeders, difficulties arise with cleaning the lighting system located under the table, which reduces the quality of the vision system and, consequently, the production efficiency.

To eliminate the above drawbacks, a feeding device has been developed that can change the orientation of parts so as to facilitate their capture by the robot.

In such a known device, a round table is used, which rotates around its own center and is subjected to shocks from the pulse generating means in order to shake the individual parts until they reach the desired position.

Such a known device is not without drawbacks, one of which is that if the parts are not oriented to the correct position for their capture, there is a risk that the device’s loading system, while continuing to feed the parts, will oversaturated the surface of the movable table, which will prevent it from performing its functions.

In addition, this and other known devices have the disadvantage that if traces of oil or dirt are carried on the parts that are being manipulated, such traces can be transferred to the movable table, preventing the lighting device from creating the desired visible contrast between the background and the details which is necessary for the means of artificial vision to identify parts on a movable table.

The aim of the present invention is to eliminate the above disadvantages of known types of feeders, such. as described above, creating an effective orientation device that allows you to change the location of parts and their position on the surface, at the same time avoiding the appearance of traces of oil and dirt and overfilling of the movable table, preventing the means of artificial vision to identify the parts to be selected.

For this purpose, an object of the present invention is an orienting device providing easy access to internal parts, thereby simplifying the cleaning of the vision system.

Another object of the invention is an orienting device that is easy to assemble using tools that are readily available on the market and using commonly used materials so that the device is economically competitive.

This goal and these and other objects, which will be more understandable, are realized by a device for orienting parts, in particular, to be captured by robots, automation means, etc., which contains a support frame that forms a support surface on which the movable supports a table associated with a motor means for rotating about an axis of rotation substantially perpendicular to the supporting surface, an artificial vision tool for recognizing parts to be gripped located on a moving stand e, further provided with pulse generating means connected to the support frame and acting on the movable table accurately and localized in a straight line of action substantially perpendicular to the movable table to change the orientation of the parts to be gripped so that they can be gripped by a robot, automation means, etc. .P. characterized in that it comprises a perimeter groove formed on the abutment surface so that it is radially external relative to the movable table to facilitate the removal of oil substances or dirt present on the parts to be gripped and transferred to the movable table due to the movement of these parts to be gripped by the action of the generating means pulses.

Other distinguishing features and advantages of the invention will be more apparent from a detailed description of a preferred, but not exclusive, embodiment of a device for orienting parts, in particular for being captured by robots, automation, and the like. of the present invention, which is illustrated by way of non-limiting example in the attached drawings, where:

FIG. 1 is a perspective view of an embodiment of an orienting device of the present invention.

FIG. 2 is a plan view of the device of FIG. one.

FIG. 3 is a sectional view of the device of FIG. 2 along line III-III.

FIG. 4 is a sectional view of the device of FIG. 2 along the line IV-IV.

FIG. 5 is a detail of the device of FIG. 4 on an enlarged scale.

As shown in the drawings, a device for orienting parts, in particular for gripping by robots, automation means, etc., generally indicated by 1, comprises a support frame 2, which forms a support surface 3, on which the movable table is supported for rotation 4 associated with the motor means 5 for rotating about an axis 6 substantially perpendicular to the supporting surface 3.

In more detail, the motor means 5 may comprise an electric type motor 7, for example, an asynchronous electric motor supported by a support frame 2 and fixed on the base 8 of the device 1 by means of a motor support 9.

In the proposed embodiment, the movable table 4 has a substantially circular shape and is directly connected to the drive shaft 7 of the engine 7 and fixed on it with the possibility of rotation as a whole around the axis 6 of rotation through the gripping flange 11 and the tightening flange, which are engaged with each other the other so that the movable table 4 is sandwiched between them.

Thus, the center of the movable table 4 lies on the axis 6 of rotation.

For convenience, the motor means 5 may include a drive motor 13, fixed on the base 8 of the bracket 14 of the adapter.

Thus, the engine 7 has the ability to work with controlled and variable speed and / or controlled and variable accelerations in accordance with the characteristics of the parts loaded into the device 1.

In addition, there is an artificial vision tool for recognizing the parts to be gripped located on the movable table 4, and a pulse generating means 15 connected to the support frame 2 and acts on the movable table 4 precisely and localized along a straight line of action substantially perpendicular to the movable table 4, to change the orientation of the parts to be gripped so that they can be captured by robots, automation equipment, etc.

The artificial vision device may be located outside and above the device 1, and since it is known, its detailed description and illustration are omitted.

Essentially, the artificial vision tool may include an optical video camera and a backlight 16 associated with the support frame 2 and located on the opposite side of the movable table 4 relative to the support surface 3 of the artificial vision means for backlighting the parts to be gripped located on the movable table 4 so to ensure their identification by means of artificial vision.

Typically, the movable table 4 is made of a material that is permeable to light and resiliently flexible, and in the supporting surface 3 there is a window 17 having a substantially circular sector shape and equipped with an adapted protection glass formed by the backlight means so as to provide backlight to the movable table 4.

The pulse generating means 15 comprises an impact magnet 18 connected to the supporting frame 2 and acting on the lower surface 19 of the movable table 4 through at least one hole 20 formed on the supporting surface 3 at a distance from the window 17.

For convenience, you can create two mutually opposite holes 20 so as to create the ability to install means 15 for generating pulses in two different places of the device 1 in accordance with the layout requirements determined by the device for gripping parts.

Advantageously, the pulse generating means 15 is connected to the support frame 2 by a movable slider 21 configured to allow the movement of the impact magnet 18 in the radial direction relative to the axis of rotation 6.

For convenience, the hole 20 has the shape of a groove elongated in the radial direction relative to the axis of rotation 6, in accordance with the movement of the shock magnet under the action of the movable slide 21.

Thus, the impact magnet 18 at any time can be positioned in a peripheral position relative to the center of the movable table 4 so as to be able to affect the entire radial extension of the movable table 4.

According to the present invention, a perimeter groove 22 is formed on the supporting surface 3, which is located radially outside of the movable table 4 to facilitate the removal of oily substances and dirt present on the parts to be gripped and therefore transferred to the movable table 4 due to the movement of the parts to be gripped by means of means 15 generating pulses.

In addition, radially outside the movable table 4, an annular bead 23 can be made, capable of radially holding the parts to be gripped, and a closure element 24, made integrally with the support frame 2 and located above the movable table 4 and means 15 for generating pulses for the vertical holding of the parts to be gripped due to the action of the pulse generating means 15.

Thus, the device 1 of the present invention can be divided into at least one part picking sector formed near the artificial vision means, at least one part orientation sector formed by the pulse generating means 15, and at least one sector for loading parts from using a hopper, etc.

The following is a description of the operation of the device 1 for orienting parts, in particular, for capture by robots, automation, etc.

Using a hopper, a belt hoist, manually or by other known means, the device 1 can be filled externally with predetermined time intervals with details that should be oriented in order for the robot to pick up their mod, etc.

The parts are unloaded onto the movable table 4 in the loading sector in an arbitrary position and, due to the rotation of the movable table 4, they are located in the capture sector, where after the rotation the robot captures the parts recognized by the artificial vision tool.

To ensure that the parts are presented to the robot from different sides, in order to increase the statistical likelihood of the parts being captured by the robot, an oscillatory motion is also added around the rotation axis 6 to the rotation of the movable table 4 around the axis of rotation 6.

In this way, you can change the position of the parts on the movable table 4 during rotation and, as indicated, create favorable conditions for their capture by the robot.

The annular flange 23 eliminates the risk of parts falling from the movable table 4 under the action of centrifugal force arising from rotation.

For special parts, for example with very rounded shape characteristics or for very round parts that can be captured by the robot in only one part, the rotational-vibrational movement of the movable table 4 may not be enough to prevent this method from slowing down.

In this case, it is possible to activate the pulse generating means 15, which in the proposed solution contains an impact magnet 18 so as to push one or more parts so that after impact they change orientation in their location.

The closing element 24 eliminates the risk of parts being thrown out of the device 1.

The shock magnet 18 can be controlled by the operator through the means of vision, and its relative position relative to the support frame 2 can be changed by actuating the movable slider 21.

Advantageously, to prevent the malfunctioning of the device 1, for each loading of parts and / or revolution of the movable table 4, an iterative cycle is used, consisting of the following steps:

First, using an artificial vision tool, a photograph of a part of the movable table 4 located in the capture sector is taken, and then the image obtained at this stage is analyzed to identify the parts to be captured that are present on that part of the movable table 4 that is in the capture sector, and determining whether such parts are correctly oriented to capture them.

If it is determined that the parts to be gripped are oriented correctly, the parts are captured by a robot, automation means, etc.

If it is determined that the number of incorrectly oriented parts to be gripped is less than a predetermined value, the movable table 4 is rotated until the previously photographed part is partially located in the loading sector to load new parts on the movable table 4 from the hopper and t .P.

Finally, if it is determined that the number of incorrectly oriented parts to be gripped exceeds a predetermined amount, the movable table 4 is rotated until the previously photographed part is located in the part orientation sector in order to change the orientation of the parts by the action of the generating means 15 pulses in an accurate and localized manner in a straight line of action, which is essentially perpendicular to the movable table 4.

Advantageously, in the image analysis step, the comparison of incorrectly oriented parts with a predetermined value is performed by comparing the ratio of the number of white pixels to the number of black pixels of the image, the threshold value being set by the user and the resulting image is black and white.

Then, these steps are iteratively repeated, turning the movable table 4, until the previously photographed area is again located in the picking sector to repeat the above steps.

In practice, it was found that a device for orienting parts, in particular for gripping by robots, automation means, etc., according to the present invention, fully achieves the goal in that it makes it possible to change the position of the parts to be gripped in order to statistically favor gripping robots, automation equipment, etc., and effectively evacuate oil residues and dirt, which complicate the identification of parts.

In particular, the presence of a pulse generating means that vertically pushes the movable table on which the parts to be gripped lie allows you to change the location of the parts if you wish.

In addition, the ability to move the above pulse generating means in a radial direction relative to the center of the movable table allows the device of the present invention to be used for a wider range of parts that differ from each other in both material and geometry.

Another advantage of the invention is that the system allows you to change the position and location of each individual part with minimal mixing of the parts and, therefore, allows you to use the feeder device for robots, automation, etc. for handling parts with sensitive areas or parts made of particularly fragile materials.

In addition, minimizing mixing reduces the noise floor, thereby improving working conditions in the enterprise where such a device is used.

Another advantage of the robot feeder of the present invention is that at least the described embodiment gives more space for the vision inside the device, thereby facilitating the cleaning of the inside of the device and thereby simplifying the cleaning process of such a vision.

And last but not least, the use of widely available materials and the simplicity of the mechanical design also make the feeder device for robots, automation, etc. according to the present invention is economically competitive.

In the proposed device for orienting parts, in particular, for capture by robots, automation, etc., you can make various changes that are within the scope of the attached formula.

In addition, all parts can be replaced by other, technically equivalent elements.

In practice, the materials used and the possible sizes and shapes can be selected in accordance with the requirements of the prior art.

The contents of Italian Patent Application No. AR2014A000058 (102014902314778) for which priority is claimed, is hereby incorporated by reference.

The reference positions in the claims are for reference only and do not limit the interpretation of each element indicated by such positions.

Claims (15)

1. A device (1) for orienting parts, in particular for gripping by robots, means of automation, comprising a support frame (2) that forms a support surface (3), on which a movable table (4) is connected, which is connected with a motor means ( 5) for its rotation around the axis of rotation (6), essentially perpendicular to the supporting surface (3), while additionally provides artificial vision for recognizing subject to capture parts located on the movable table (4), and means (15) for generating and pulses connected to the support frame (2) and acting on the movable table (4) in an accurate and localized manner in a straight line of action, essentially perpendicular to the movable table (4), to change the orientation of the parts to be captured to enable them to be captured by robots, automation characterized in that it comprises a perimeter groove (22) formed on the abutment surface (3) radially outside relative to the movable table (4) to facilitate the removal of oily substances or dirt present on the lying capture detail and, as a consequence, borne on a movable table (4) due to the motion of subject parts by capture means (15) for generating pulses. 2. The device according to claim 1, characterized in that it contains means (16) for backlighting associated with the support frame (2) and located on the opposite side from the movable table (4) relative to the support surface (3) of the artificial vision device for the back illumination of the parts to be gripped located on the movable table (4), with the possibility of their identification by means of artificial vision, while the movable table (4) is made of translucent and elastic flexible material, and a window (17) is made in the supporting surface (3), image Specified in the backlight means (16) with backlighting of the movable table (4). 3. The device according to claim 1 or 2, characterized in that the pulse generating means (15) comprises an impact magnet (18) connected to the support frame (2) and acting on the lower surface (19) of the movable table (4) through at least at least one hole (20) formed in the abutment surface (3), wherein said at least one hole (20) is formed at a distance from the window (17). 4. The device according to one or more of the preceding paragraphs, characterized in that the pulse generating means (15) is connected to the support frame (2) through a movable slider (21) configured to provide the movement of the impact magnet (18) in the radial direction relative to the axis (6) rotation, wherein said at least one hole (20) has the shape of a groove elongated in the radial direction relative to the axis of rotation (6) in accordance with the movement of the impact magnet (18) by means of the movable slide (21). 5. The device according to one or more of the preceding paragraphs, characterized in that the movable table (4) has a substantially circular shape, the center of which lies on the axis of rotation (6), the window (17) having the shape of a substantially circular sector. 6. The device according to one or more of the preceding paragraphs, characterized in that it contains a closing element (24), made as a whole with a support frame (2) and located above the movable table (4) at the pulse generating means (15) for vertical holding subject to capture parts as a result of exposure to means (15) for generating pulses. 7. The device according to one or more of the preceding paragraphs, characterized in that it contains at least one sector for capturing parts formed by means of artificial vision, at least one sector of orientation of parts formed in means (15) for generating pulses, and at least at least one sector for loading parts using a hopper. 8. The capture and loading method for the device (1) for orienting parts, in particular for capture by robots, automation means, according to one or more of the preceding paragraphs, characterized in that it comprises stages in which: - photograph using a means of artificial vision part of the movable table (4) located in the specified at least one sector of the capture of parts; - analyze the image created in the previous step to identify the parts to be grabbed that are present on the specified part of the movable table (4) located in the specified at least one sector of the gripping parts, whether they are correctly oriented to capture or not; - in the case of identification of correctly oriented parts to be gripped, the parts to be gripped are captured by a robot, automation means; - in case of identification of incorrectly oriented parts to be gripped in an amount that is less than a predetermined value, turn the movable table (4) until the previously photographed part is located in the specified at least one sector of the parts loading to load new parts to be captured on a movable table (4) using a hopper; - in case of identification of incorrectly oriented parts to be gripped in an amount that is larger than a predetermined value, turn the movable table (4) until the previously photographed part is located in the specified at least one orientation sector of the parts to change their orientation under the action means (15) for generating pulses in an accurate and localized manner in a straight line of action essentially perpendicular to the movable table (4); - turn the movable table (4) until the previously photographed part is again located in the specified at least one sector of the capture parts to repeat the previous steps. 9. The method according to p. 8, characterized in that at the stage of image analysis, the comparison of the number of incorrectly oriented parts to be captured with a predetermined value is carried out by comparing the ratio of the number of white pixels to the number of black pixels with a threshold value specified by the user, the image being black white.

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