WO2023073683A1

WO2023073683A1 - Linear-angular manipulator

Info

Publication number: WO2023073683A1
Application number: PCT/IL2021/051291
Authority: WO
Inventors: Asaf MOSHE
Original assignee: Moshe Asaf
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2023-05-04

Abstract

A linear-angular manipulator comprises: a guide; a runner movable along the guide; a shaft rotatably connected to the runner; and a drive configured for linear moving said movable along said guide and rotating said shaft relative said runner. The drive comprises first and second belt transmissions arranged in parallel to the guide. Each transmission further comprises a driving pulley connectable to an electric motor and an idle pulley interconnected by a belt. The belts are pressed to the shaft by supporting rolls and engaged with the shaft contrariwise to each other. The linear-angular manipulator further comprises a controller configured for controlling the electric motors and preprogrammed for linearly moving runner by providing the belts with equal linear velocities and rotating the shaft due to difference between the linear velocities of the belts.

Description

LINEAR-ANGULAR MANIPULATOR

FIELD OF THE INVENTION

The present invention relates to industrial manipulators and, more particularly, manipulators enabling linear and angular displacement of an object of interest.

BACKGROUND OF THE INVENTION

In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms, or they were used in inaccessible places. In more recent developments they have been used in diverse range of applications including welding automation, robotic surgery and in space. It is an arm-like mechanism that consists of a series of segments, usually sliding or jointed called cross-slides, which grasp and move objects with a number of degrees of freedom.

CN204054050 discloses a lifting sucker mechanical arm with a three-dimensional fine adjustment function comprising a lifting arm with a fine adjustment seat, a three-dimensional fine adjustment platform and a curve operation sucker arm, wherein a connecting plate of a Z- axis fine adjustment seat of the three-dimensional fine adjustment platform is fixed to the upper end of a Z-shaped plate of the lifting arm with the fine adjustment seat through a screw⁷, and the curve operation sucker arm is installed on the bottom surface of an X-axis dovetail groove seat of an X-axis fine adjustment seat of the three-dimensional fine adjustment platform. In this w^?ay, the lifting sucker mechanical arm with the three-dimensional fine adjustment function can make simple curve movement, rapidly suck thin-plate electronic elements and carry out position precision adjustment within a certain range.

US 8997438 discloses a robotic case packing system loads articles from one conveyor into containers on another conveyor using a robotic pick and place mechanism and a set of pivoting bins. A controller moves the robotic mechanism in first picking movements to pick and place articles from the conveyor into the first bin. Once the first bin is full, the controller pivots the first bin to allow the articles stacked in the first bin to be loaded into a container held below. While the first bin is pivoting, the controller moves the robotic mechanism to pick and place articles from the conveyor into the second bin. The process repeats with the controller pivoting the second bin during the picking movements used to fill the first bin and vice versa.

The pick-and-place robotic manipulators known in the art include a plurality of mechanical drives providing movements of manipulator components relative to each other in different degrees of freedom each. Thus, there is a long-felt and unmet need for providing a simple and reliable robotic manipulator having an integral mechanical drive enabling angular and linear displacement of an object of interest.

SUMMARY OF THE INVENTION

It is hence one object of the invention to disclose A linear-angular manipulator comprising: (a) a guide having terminal portions; (b) a runner movable along the guide; (c) a shaft rotatably connected to the runner; (d) a drive configured for linear moving the movable along the guide and rotating the shaft relative the runner.

It is a core purpose of the invention to provide the drive comprising first and second belt transmissions arranged in parallel to the guide. The first belt transmission further comprises a first driving pulley connectable to a first electric motor and a first idle pulley interconnected by a first belt. The second belt transmission further comprises a second driving pulley connectable to a second electric motor and a second idle pulley interconnected by a second belt. The first driving pulley and the first idle pulley belonging to the first belt transmission and the second driving pulley and the second idle pulley belonging to the second belt transmission are disposed at opposite terminal portions of the guide each. The first and second belts are pressed to the shaft by supporting rolls and engaged with the shaft contrariwise to each other.

The linear-angular manipulator further comprises a controller configured for controlling the first and second electric motors and preprogrammed for linearly moving the runner by providing the first and second belts with equal linear velocities and rotating the shaft due to difference between the linear velocities of the first and second belts. Another object of the invention is to disclose the linear-angular manipulator comprising a gripping arrangement configured for picking an object of interest and releasing thereof; the gripping arrangement is connected to the shaft and manipulatable thereby.

A further object of the invention is to disclose the gripping arrangement comprising at least one vacuum cup connectable to a vacuum pump; the vacuum cup is pneumatically securable to the object of interest by vacuuming a space between the vacuum cup and the object of interest and disconnecting the cup from the object of interest by breathing the space between the vacuum cup and the object of interest.

A further object of the invention is to disclose the object of interest which is a fruit/vegetable container.

A further object of the invention is to disclose the linear-angular manipulator comprising a magazine configured for feeding a plurality of the fruit/vegetable containers; the linear-angular manipulator comprising a conveyor configured for feeding packing cases. The gripping arrangement is configured for picking the fruit/vegetable container from the magazine and placing the fruit/vegetable container into the packing cases fed the conveyor.

A further object of the invention is to disclose the magazine comprising a receptacle accommodating a stack of the fruit/vegetable container. The receptacle is defined by side walls at either side; at least one of the side walls is provided with a pair of upper and lower mechanical locks mounted thereon. The lower lock comprises a blocking member fastening a bottommost fruit/vegetable container of the stack. The upper lock comprises a blocking member fastening a next fruit/vegetable container to the bottommost fruit/vegetable container; the lower and upper are alternately openable. After gripping the bottommost fruit/vegetable container by the gripping arrangement, the lower lock opens and allows the bottommost fruit/vegetable container to be picked out of the magazine and the upper lock is closed and fastens the next fruit/vegetable container from dropping out of the magazine. After picking out the bottommost fruit/vegetable container, the lower lock closes and the upper lock opens and allows gravitationally descending the stack to the lower lock. The receptacle comprises at least one tab retaining the stack from falling out of the receptacle when the lower lock is opened.

A further object of the invention is to disclose the gripping arrangement comprising at least two vacuum cups able to be spaced apart from each other. The gripping arrangement has a closed position and an open position. In the closed position, the at least two vacuum cups are minimally distanced from each other. In the open position, the least two vacuum cups distanced from each other such that walls of the fruit/vegetable container are available for vacuum securing thereto.

A further object of the invention is to disclose the gripping arrangement in the closed position which is insertable into the fruit/vegetable container. The gripping arrangement in the open position is securable to the walls of the fruit/vegetable container. The fruit/vegetable container secured to the gripping arrangement in the open position is retained by the tabs. The fruit/vegetable container secured to the gripping arrangement in the closed position when deformed is releasable from the tabs and pickable out of the magazine.

A further object of the invention is to disclose a method of placing fruit/vegetable containers into packing cases. The aforesaid method comprises steps of: (a) providing a linear-angular manipulator comprising: (i) a guide having terminal portions; (ii) a runner movable along the guide; (iii) a shaft rotatably connected to the runner; (iv) a drive configured for linear moving the movable along the guide and rotating the shaft relative the runner; the drive comprises first and second belt transmissions arranged in parallel to the guide; the first belt transmission further comprises a first driving pulley connectable to a first electric motor and a first idle pulley interconnected by a first belt; the second belt transmission further comprises a second driving pulley connectable to a second electric motor and a second idle pulley interconnected by a second belt; the first driving pulley and the first idle pulley belonging to the first belt transmission and the second driving pulley and the second idle pulley belonging to the second belt transmission are disposed at opposite terminal portions of the guide each; the first and second belts are pressed to the shaft by supporting rolls and engaged with the shaft contrariwise to each other; the linear-angular manipulator further comprises a controller configured for controlling the first and second electric motors and preprogrammed for linear moving the runner by providing the first and second belts with equal linearly velocities and rotating the shaft due to difference between the linear velocities of the first and second belts; (v) a magazine configured for feeding a plurality of the fruit/vegetable containers; (vi) a conveyor configured for feeding packing cases; the gripping arrangement is configured for picking the fruit/vegetable container from the magazine and placing the fruit/vegetable container into the packing cases fed the conveyor; (b) placing a plurality of fruit/vegetable containers into the magazine; (c) feeding of the packing cases by the conveyor; (d) picking one fruit/vegetable container out of the magazine by maneuvering the gripping arrangement into the one fruit/vegetable container to be picked, putting the gripping arrangement into a gripping position by spacing apart the gripping arrangement and securing vacuum cups to walls of the one fruit/vegetable container; (e) placing the one fruit/vegetable container picked out of the magazine into a packing case by maneuvering the gripping arrangement into a packing case, breathing the vacuum cups such that the one fruit/vegetable container is released from the vacuum cups and putting the gripping arrangement into a closed position by moving the vacuum cups together; and (f) recurring steps d and e as needed.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may be implemented in practice, a plurality of embodiments is adapted to now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which

Fig. 1 is a schematic isometric view of a linear-angular manipulator;

Fig. 2 is an enlarged schematic isometric view of a gripping arrangement of the linear-angular manipulator;

Figs 3a to 3k illustrate maneuvering a single gripping arrangement of the linear-angular manipulator throughout an operation cycle;

Fig. 4 is an isometrical view of a magazine;

Figs 5a to 5k illustrate cooperatively maneuvering three gripping arrangements of the linear- angular manipulator throughout an operation cycle; and

Figs 6a and 6b are diagrams of angular displacement of shafts of servomotors and linear position of three gripping arrangements of the triple linear-angular manipulator throughout an operation cycle.

DETAILED DESCRIPTION OF THE INVENTION

The following description is provided, so as to enable any person skilled in the art to make use of the invention and sets forth the best modes contemplated by the inventor of carrying out this invention. Various modifications, however, are adapted to remain apparent to those skilled in the art, since the generic principles of the present invention have been defined specifically to provide a linear-angular manipulator and a method of using the same.

Reference is now made to Figs 1 and 2 presenting a schematic isometric view of linear-angular manipulator 1 comprising guiding rods (bars) 20a and 20b interconnected by terminal members (portions) 30a and 30b and slider 65 movable along guising rods 20a and 20b. Numeral 30c refers to a bracing member providing rigidity of the structure of manipulator 1. Drive motors 10a and 10b are mounted on terminal members 30a and 30b, respectively. Mounting both motors 10a and 10b on terminal member 30a or 30b together is also in the scope of the invention. Shafts of drive motors 10a and 10b (not shown) are mechanically connected to drive pulleys 40a and 50a, respectively. As shown in Fig. 1, shaft arrangement 80 is rotatably mounted on slider 65. Shaft arrangement 80 is shown in detail is shown in Fig. 2. Shaft arrangement 80 comprises shaft portion 83 being integral with two pulley portions 85 and 87. Linear-angular manipulator 1 comprises two belt transmissions. A first belt transmissions consists of drive pulley 40a, idle pulley 40b and belt 60a being in engagement with pulleys 40a and 40b. A second belt transmissions consists of drive pulley 50a, idle pulley 50b and belt 60b being in engagement with pulleys 50a and 50b. First and second belts 60a and 60b are pressed by supporting rolls to pulley members 85 and 87, respectively. Specifically, supporting rolls 70aa and 70ab are independently rotatable on pivot 73 while supporting rolls 70ba and 70bb are independently rotatable on pivot 75. Belt 60a is engaged with pulley member 85 of shaft arrangement 80 due to supporting rolls 70aa and 70ba. Belt 60b is engaged with pulley member 87 of shaft arrangement 80 due to supporting rolls 70ab and 70bb. It should be noted that belts 60a and 60b are engaged with to pulley members 85 and 87in a contrariwise manner to each other. The embodiment including sprockets and cam belts used as pulleys and belts is in the scope of the present invention.

Manipulator 1 comprises a controller (not shown) configured for controlling direction and angular velocities of rotation shafts of drive motors 10a and 10b. The controller is preprogrammed for commanding drive motors 10a and 10b to provide rotation of their shaft in the same direction and equal angular velocities for linearly moving runner 65 along guiding rods without rotation of shaft arrangement 80 per se. Difference in directions and/or angular velocities of rotation of drive motors 10a and 10b results in that linearly moving runner 65 is accompanied with rotating shaft arrangement 80. According to one non-limiting embodiment of the present invention, shaft arrangement 80 carries a gripping arrangement (specified below). Fig. 2 presents an enlarged isometric view of a gripping arrangement of the linear-angular manipulator carried by shaft arrangement 80. The shown gripping arrangement enables gripping two objects of interest (fruit/vegetable containers). The gripping arrangement designed for gripping other numbers of objects is also in the scope of the present invention. The gripping arrangement comprises linear moving means 90a and 90b and vacuum cups 100a to 100d. Linear moving means 90a and 90b are embodiable as pneumatic or hydraulic cylinders, electromechanical or electromagnetic actuators or like. Linear moving means 90a and 90b are positionable into closed and open positions. In the closed position, vacuum cups 100a to 100d are minimally distanced from each other. In the gripping position, vacuum cups 100a to 100d moved from each other by linear moving means 90a and 90b such that walls of fruit/vegetable containers 110a and 110b are available for vacuum securing to them. Numerals 120a and 120b refer to vacuum pipes connecting vacuum cups 100a to 100d to a vacuum pump (not shown).

Reference is now made to Figs 3a to 3k presenting an operation cycle of single linear-angular manipulator provided with the gripping arrangement usable for picking a fruit/vegetable container 110 from magazine 3 and placing the aforesaid container into a packing case (not shown). In Fig. 3a, the manipulator is in the initial position. Linear moving means 90a and 90b are moved to each other and vacuum cups 100a and 100b are in a closed position. In Fig. 3b, vacuum cups 100a and 100b are spaced apart by linear moving means 90a and 90b and reach side walls of fruit/vegetable container 110. Vacuum cups 100a and 100b are secured to side walls of fruit/vegetable container 110 by vacuuming vacuum cups 100a and 100b. Fig. 3c shows moving vacuum cups 100a and 100b secured to side walls of fruit/vegetable container 110 to each other such that fruit/vegetable container 110 held by locks 31a and 31b is released.

In Fig. 3d, runner 65 descends along guiding rods 20a and 20b. Referring to Figs 3e and 3f, runner 65 continues moving down along guiding rods 20a and 20b. Concurrently with linearly moving downward runner 65, the gripping arrangement (linear moving means 90a and 90b and vacuum cups 100a and 100b) is rotated by shaft (no shown) by 180° from the position shown in Fig. 3d to from the position shown in Fig. 3g which corresponds to placing fruit/vegetable container 110 into the packing case (not shown). In Fig. 3h vacuum cups vacuum cups 100a and 100b are breathed and fruit/vegetable container 110 is released within the packing case. Figs 3i to 3k show linear and angular movement of the gripping arrangement upward in a stepwise manner.

Reference is now made to Fig. 4 presenting an isometric view of magazine 3 comprising a receptacle 150 accommodating stack 115 of objects to be gripped by the linear-angular manipulator. Receptacle 150 is provided with two successively actuatable locks 160 and 170. Aforesaid locks 160 and 170 are controlled by actuators 165 and 175, respectively. The objects to be gripped (for example, fruit/vegetable containers) are placed into receptacle 150 and gravitationally positioned at the lowest position by lower lock 170 (not shown). Synchronically to gripping the bottommost fruit/vegetable container, lower lock 170 opens allowing the bottommost fruit/vegetable container to be picked out of receptacle 150. At the same time upper lock 160 is closed in order to prevent the remaining stack 115 of containers from dropping from receptacle 150. After picking the gripped container out of receptacle 150. Lower lock 170 closes. Concurrently with it, upper lock 160 opens and allows the stack of the fruit/vegetable containers accommodated in the receptacles to gravitationally descend to lower lock 170. The described sequence of actions recurs every time when the aforesaid container is picked out of the receptacle 150. Tabs 178 gently retain stack 115 from falling out of receptacle 150 when lower lock 170 is opened.

The gripping arrangement in the closed position is insertable into the fruit/vegetable container. The gripping arrangement in the open position is vacuum securable to the walls of the fruit/vegetable container. It should be emphasized that, the fruit/vegetable container secured to the gripping arrangement in the open position is retained by the tabs. After switching the gripping arrangement to closed position, the fruit/vegetable container secured to the gripping arrangement is minorly deformed, released from the tabs such the gripping arrangement picks the fruit/vegetable container out of the magazine.

Reference is now made to Figs 4a to 4f presenting an operation cycle of a triple linear-angular manipulator in a stepwise manner. According to one embodiment of the present invention, the triple linear-angular manipulator is usable for picking fruit/vegetable containers 110 out of magazines 3a/3b/3c and placing them into packing case 6 fed by conveyor 5. Numeral 7 refers to a rail guiding packing case 6. The triple linear-angular manipulator comprises three linear- angular manipulators la/lb/lc described above and operating in a conjoint manner.

Reference is now made to Figs 5a and 5b presenting diagrams of angular displacement of shafts of servomotors and linear positions of three gripping arrangements of the triple linear-angular manipulator corresponding to the steps of the operation cycle of the manipulator.

Fig. 4a shows the gripping arrangements of all linear-angular manipulators la/lb/lc are in the upper home position (step 1 in Fig. 5a). The vacuum cups are in position close to each other. In Fig. 4b, the vacuum cups are spaced apart and secured to side walls of fruit/vegetable containers 110 (step 2 in Fig. 5a). When gripping arrangements of manipulators la and 1c descend, fruit/vegetable containers 110 are released from magazines 3a/3c (Fig. 4c, step 3 in Fig. 5a). According to the next step shown in Fig. 4d, the gripping arrangements of manipulators la and 1c rotate by 90° while the gripping arrangement of manipulator la descends (step 4 in Fig. 5b). Fig. 4e presents further rotation of are released from magazines 3a/3c and releasing fruit/vegetable container 110 from magazine 3b (step 5 in Fig. 5b). In Fig. 4f, concurrently rotating and descending the gripping arrangements of manipulators la/lb/lc is shown (step 6 in Fig. 5b). Fig. 4g present fruit/vegetable containers 110 placed into packing case 6. Vacuum cups are disconnected from side walls of fruit/vegetable containers 110 (step 7 in Fig. 5b).

Many variations of the present invention are possible once the present invention is known to those skilled in the arts and are within the spirit and scope of the present invention. Those skilled in the arts will be able to make many variations on the present invention once this invention is known to the arts.

Claims

Claims:

1. A linear-angular manipulator comprising: a. a guide having terminal portions; b. a runner movable along said guide; c. a shaft rotatably connected to said runner; d. a drive configured for linear moving said movable along said guide and rotating said shaft relative said runner; wherein said drive comprises first and second belt transmissions arranged in parallel to said guide; said first belt transmission further comprises a first driving pulley connectable to a first electric motor and a first idle pulley interconnected by a first belt; said second belt transmission further comprises a second driving pulley connectable to a second electric motor and a second idle pulley interconnected by a second belt; said first driving pulley and said first idle pulley belonging to said first belt transmission and said second driving pulley and said second idle pulley belonging to said second belt transmission are disposed at opposite terminal portions of said guide each; said first and second belts are pressed to said shaft by supporting rolls and engaged with said shaft contrariwise to each other; said linear-angular manipulator further comprises a controller configured for controlling said first and second electric motors and preprogrammed for linearly moving said runner by providing said first and second belts with equal linear velocities and rotating said shaft due to difference between said linear velocities of said first and second belts.

2. The linear-angular manipulator according to claim 1 comprising a gripping arrangement configured for picking an object of interest and releasing thereof; said gripping arrangement is connected to said shaft and manipulatable thereby.

3. The linear-angular manipulator according to claim 2, wherein said gripping arrangement comprises at least one vacuum cup connectable to a vacuum pump; said vacuum cup is pneumatically securable to said object of interest by vacuuming a space between said vacuum cup and said object of interest and disconnecting said cup from said object of interest by breathing said space between said vacuum cup and said object of interest. The linear-angular manipulator according to claim 2, wherein said object of interest is a fruit/vegetable container. The linear-angular manipulator according to claim 4 comprising a magazine configured for feeding a plurality of said fruit/vegetable containers; said linear-angular manipulator comprising a conveyor configured for feeding packing cases; said gripping arrangement is configured for picking said fruit/vegetable container from said magazine and placing said fruit/vegetable container into said packing cases fed said conveyor. The linear-angular manipulator according to claim 5, wherein said magazine comprises a receptacle accommodating a stack of said fruit/vegetable container; said receptacle is defined by side walls at either side; at least one of said side walls is provided with a pair of upper and lower mechanical locks mounted thereon; said lower lock comprises a blocking member fastening a bottommost fruit/vegetable container of said stack; said upper lock comprises a blocking member fastening a next fruit/vegetable container to said bottommost fruit/vegetable container; said lower and upper are alternately openable; after gripping said bottommost fruit/vegetable container by said gripping arrangement, said lower lock opens and allows said bottommost fruit/vegetable container to be picked out of said magazine and said upper lock is closed and fastens said next fruit/vegetable container from dropping out of said magazine; after picking out said bottommost fruit/vegetable container, said lower lock closes and said upper lock opens and allows gravitationally descending said stack to said lower lock; said receptacle comprises at least one tab retaining said stack from falling out of said receptacle when said lower lock is opened. The linear-angular manipulator according to claim 2, wherein said gripping arrangement comprises at least two vacuum cups able to be spaced apart from each other; said gripping arrangement has a closed position and a open position; in said closed position, said at least two vacuum cups are minimally distanced from each other; in said open position, said least two vacuum cups distanced from each other such that walls of said fruit/vegetable container are available for vacuum securing thereto. The linear-angular manipulator according to claim 7, wherein said gripping arrangement in said closed position is insertable into said fruit/vegetable container; said gripping arrangement in said open position is securable to said walls of said fruit/vegetable container; said fruit/vegetable container secured to said gripping arrangement in said open position is retained by said tabs; said fruit/vegetable container secured to said gripping arrangement in said closed position when deformed is releasable from said tabs and pickable out of said magazine. A method of placing fruit/vegetable containers into packing cases; said method comprising steps of: a. providing a linear-angular manipulator comprising: i. a guide having terminal portions; ii. a runner movable along said guide; iii. a shaft rotatably connected to said runner; iv. a drive configured for linear moving said movable along said guide and rotating said shaft relative said runner; said drive comprises first and second belt transmissions arranged in parallel to said guide; said first belt transmission further comprises a first driving pulley connectable to a first electric motor and a first idle pulley interconnected by a first belt; said second belt transmission further comprises a second driving pulley connectable to a second electric motor and a second idle pulley interconnected by a second belt; said first driving pulley and said first idle pulley belonging to said first belt transmission and said second driving pulley and said second idle pulley belonging to said second belt transmission are disposed at opposite terminal portions of said guide each; said first and second belts are pressed to said shaft by supporting rolls and engaged with said shaft contrariwise to each other; said linear-angular manipulator further comprises a controller configured for controlling said first and second electric motors and preprogrammed for linearly moving said runner by providing said first and second belts with equal linear velocities and rotating said shaft due to difference between said linear velocities of said first and second belts; v. a magazine configured for feeding a plurality of said fruit/vegetable containers; vi. a conveyor configured for feeding packing cases; said gripping arrangement is configured for picking said fruit/vegetable container from said magazine and placing said fruit/vegetable container into said packing cases fed said conveyor; b. placing a plurality of fruit/vegetable containers into said magazine; c. feeding of said packing cases by said conveyor; d. picking one fruit/vegetable container out of said magazine by maneuvering said gripping arrangement into said one fruit/vegetable container to be picked, putting said gripping arrangement into a gripping position by spacing apart said gripping arrangement and securing vacuum cups to walls of said one fruit/vegetable container; e. placing said one fruit/vegetable container picked out of said magazine into a packing case by maneuvering said gripping arrangement into a packing case, breathing said vacuum cups such that said one fruit/vegetable container is released from said vacuum cups and putting said gripping arrangement into a closed position by moving said vacuum cups together; and f. recurring steps d and e as needed.