An improved packaging robot

Abstract

An improved product packaging robot is provided, which can be used to package fruit or other products. The robot includes a plurality of longitudinal robotic arms arranged in an array and cantilevered from a support assembly, each longitudinal robotic arm independently moving between an extended state and a retracted position. Each robotic arm includes a head connected thereto, which is capable of independent vertical movement to pick up, grip, and place down products. Each longitudinal robotic arm is also capable of independent lateral movement to change the spacing between the plurality of heads, enabling the heads to move across the robot's track. The cantilevered arrangement of each robotic arm offers advantages, such as a compact structure.

Description

Technical Field

[0001] The present invention generally relates to an improved product packaging robot. Background Art

[0002] Traditional product packaging plants have benefited from extensive automation, but they still require a significant amount of manual, labor-intensive processes that increase production costs. Product packaging tasks are often repetitive in nature, and workers packing products may be close to dangerous machinery. Because automated packaging can operate continuously, increasing the level of automation in packaging plants offers several advantages, including reducing packaging costs, improving worker safety by removing them from close proximity to machinery, and increasing packaging speed and output. Therefore, there is a need for efficient product packaging robots.

[0003] Packaging robots generally require regular maintenance. However, packaging robots generally involve complex machinery that is difficult to maintain. Therefore, it may be necessary to provide an improved and repairable packaging robot.

[0004] In order to provide a context for discussing features of the invention, reference is often made in this specification to external information, including patent specifications and other documents. Unless otherwise stated, the reference to such information is not to be construed as an admission that such information is prior art or forms part of the common general knowledge in the art in any jurisdiction.

[0005] An object of the present invention is to provide an improved packaging robot which overcomes or at least partially ameliorates the above-mentioned disadvantages, or at least provides the public with a useful choice. Summary of the Invention

[0006] According to a first aspect, the present invention broadly comprises a product packaging robot having a longitudinal axis, a vertical axis, and a transverse axis, the robot comprising:

[0007] a plurality of longitudinal robotic arms arranged in an array, each of the longitudinal robotic arms being independently movable in a longitudinal direction between an extended position and a retracted position;

[0008] a plurality of heads, each of the heads being connected to the longitudinal robot arm and independently moving vertically to pick up, hold, and place down the product; and

[0009] a fixed support unit for supporting a plurality of said longitudinal robotic arms; and

[0010] wherein each of the longitudinal robotic arms is cantilevered on the fixed support unit; and

[0011] Each of the longitudinal robotic arms can independently move in the transverse direction to adjust the spacing between the multiple heads so that the heads can move across the track of the robot.

[0012] According to another aspect, each head is longitudinally aligned with the longitudinal robotic arm to which it is connected.

[0013] According to another aspect, each head is longitudinally aligned with the longitudinal robotic arm to which it is connected.

[0014] According to another aspect, each head is approximately the same width as the longitudinal arm to which it is connected.

[0015] According to another aspect, in plan view, the head and the longitudinal robotic arm are located within a generally rectangular envelope having a width that is generally the same as a width of the longitudinal robotic arm.

[0016] According to another aspect, the head and the longitudinal robotic arm to which it is connected are generally aligned in a vertical plane.

[0017] According to another aspect, the rectangular envelope has a width of approximately 40-150 mm.

[0018] According to another aspect, the rectangular envelope has a width of approximately 50-80 mm.

[0019] According to another aspect, the present invention further comprises a longitudinal driving module for driving each of the longitudinal robotic arms to move in the longitudinal direction.

[0020] According to another aspect, the width of the longitudinal drive module is substantially no greater than the width of the longitudinal robotic arm.

[0021] According to another aspect, the width of the longitudinal driving module is smaller than the width of the longitudinal robotic arm.

[0022] According to another aspect, the longitudinal drive module is elongated and longitudinally aligned with the longitudinal robot arm it drives.

[0023] According to another aspect, the longitudinal drive module and the robotic arm connected thereto are substantially aligned on the vertical plane.

[0024] According to another aspect, the longitudinal drive mass is located within the generally rectangular envelope in plan view.

[0025] According to another aspect, the present invention further comprises an energy chain connected to the longitudinal drive module, wherein the width of the energy chain is substantially the same as the width of the longitudinal robot arm it drives.

[0026] According to another aspect, the energy chain and / or its service range is longitudinally aligned with the longitudinal robot arm it drives.

[0027] According to another aspect, the energy chain and / or its service range and the robot arm to which it is connected are substantially aligned in the vertical plane.

[0028] According to another aspect, the energy chain and / or its service area is located within the substantially rectangular envelope in plan view.

[0029] According to another aspect, the energy chain is located at or towards the rear end of the longitudinal robot arm.

[0030] According to another aspect, each of the heads is connected at or towards a front end of the longitudinal robot arm.

[0031] According to another aspect, the present invention further comprises a lateral driving module to drive each of the longitudinal robotic arms to move in a lateral direction relative to the fixed support unit.

[0032] According to another aspect, the width of the lateral drive module is not substantially wider than the width of the longitudinal robotic arm.

[0033] According to another aspect, the width of the lateral driving module is smaller than the width of the longitudinal robotic arm.

[0034] According to another aspect, the lateral drive module is elongated and longitudinally aligned with the longitudinal robot arm it drives.

[0035] According to another aspect, the lateral drive module and the robotic arm connected thereto are substantially aligned on the vertical plane.

[0036] According to another aspect, the lateral drive module is located within the generally rectangular envelope in plan view.

[0037] According to another aspect, the longitudinal driving module and the transverse driving module are installed on a robotic arm driven by the longitudinal driving module and the transverse driving module.

[0038] According to another aspect, a plurality of the longitudinal robotic arms are installed below the fixed support unit.

[0039] According to another aspect, in the extended state, each of the longitudinal robotic arms can be mounted to the fixed support unit at or toward a rear end of the longitudinal robotic arm.

[0040] According to another aspect, the present invention further comprises a front door.

[0041] According to another aspect, the front door is movable between a closed position and an open position, wherein when the front door is in the open position, each of the tracks of the robot is serviceable from the front.

[0042] According to another aspect, the front door is vertically slidable between a low position and a high position, wherein when the front door is in the high position, each of the tracks of the robot can be serviced from the front.

[0043] According to another aspect, the fixed support unit includes two transverse guide rails in a direction orthogonal to the longitudinal robot arms, and each of the longitudinal robot arms is slidably mounted on the two transverse guide rails for transverse movement.

[0044] According to another aspect, the lateral drive module drives a rack and pinion mechanism to move each of the longitudinal robotic arms in a lateral direction.

[0045] According to another aspect, the rack is fixed to the fixed support unit, and each of the longitudinal robot arms includes the gear meshing with and moving along the rack.

[0046] According to another aspect, the present invention further includes a vertical driving module for moving the head between a high-hand position and a low-hand position, wherein the vertical driving module is fixed to the head.

[0047] According to another aspect, the vertical drive module is mounted within a housing assembly of the head.

[0048] According to another aspect, each of the heads includes a linkage movable between the high-hand position and the low-hand position for picking up and placing down the product.

[0049] According to another aspect, each of the heads further comprises a suction cup at a distal end of the connecting rod for clamping the product.

[0050] According to another aspect, the present invention further includes a controller for controlling the movement of the robot.

[0051] According to another aspect, the robotic arm extends and retracts longitudinally between an array of pick-up locations and an array of placement locations for the products.

[0052] According to another aspect, the placement location is on a pallet, a box, a basket, or a bag.

[0053] According to another aspect, the number of the heads is less than the number of the pick-up locations for the products.

[0054] According to another aspect, the number of the heads is smaller than the number of the placement locations for the products.

[0055] According to another aspect, the number of the pick-up positions is greater than the number of the drop-down positions.

[0056] According to another aspect, the plurality of heads are capable of being laterally moved toward each other such that a minimum spacing of the central axes of the heads is less than 110 mm.

[0057] According to another aspect, the plurality of heads are capable of being laterally moved toward each other such that a minimum spacing between the central axes of the heads is less than 80 mm.

[0058] According to another aspect, the product is apple, avocado and / or stone fruit.

[0059] According to another aspect, the robot is a dual-platform product packaging machine having two adjacent operating stations, each of the operating stations comprising:

[0060] a plurality of said longitudinal robotic arms;

[0061] a plurality of said heads for picking up said products; and

[0062] A fixed support unit as described in the preceding clause.

[0063] According to another aspect, the present invention also includes a method of packaging products using the robot.

[0064] Further aspects of the invention may become apparent from the following description which is given by way of example only and with reference to the accompanying drawings.

[0065] The term "and / or" as used herein means "and" or "or" or both.

[0066] As used herein, "(s)" following a noun refers to the plural and / or singular form of the noun.

[0067] As used in this specification and claims, the term "comprising" means "consisting at least in part of." When interpreting statements in this specification and claims that include this term, the features preceding this term in each statement must be present, but other features may also be present. Related terms such as "comprising" and "consisting of" should be interpreted in the same manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0069] Figure 1 A perspective view of a product packaging robot including a pick and place robot head, a front door, a storage device conveyor belt, and a product packaging area with a storage device containing packaged products;

[0070] Figure 2 It is a perspective view of the pick-and-place robot;

[0071] Figure 3 is a perspective view of a single component of a pick-and-place robot, wherein the single component includes a head connected to a longitudinal robotic arm;

[0072] Figure 4 is a perspective view of a pick-and-place robot having a transverse guide rail along which a longitudinal robotic arm moves laterally;

[0073] Figure 5is a perspective view of a pick-and-place robot positioned above a storage device and placing a product into a placement location within the storage device;

[0074] Figure 6 is a plan view of the pick-and-place robot;

[0075] Figure 7 is a side view of the pick-and-place robot and product positioning assembly;

[0076] Figure 8 is a front view of the robot showing the head spaced between different picking positions, where the head is in the states of picked product, picking product, and not picked product;

[0077] Figure 9 is a partial enlarged view of the head and storage device in a pick position, wherein the storage device is partially filled;

[0078] Figure 10 is a storage unit or pallet that is partially filled with product;

[0079] Figure 11 is a perspective view of a product packaging robot having a front door in a raised position;

[0080] Figure 12 is a perspective view of the collector and product positioning assembly with some products placed at the pick location. DETAILED DESCRIPTION

[0081] According to Figure 1-12 With the various aspects of the invention shown, there is provided a product packaging robot 1 which will now be described. It will be appreciated that these figures illustrate the general principles of construction and configuration and that the invention is not limited to the precise configuration shown.

[0082] refer to Figure 1 , shows a robot 1 for packaging products 3. The robot 1 is adapted to receive bulk products 3, pick the products, and package them onto receptacles 7 for storage and / or transportation. Packaging the products 3 onto receptacles 7 can also minimize damage to the products during transportation.

[0083] Preferably, the product 3 packaged by the robot 1 is an agricultural or natural product, such as a fruit or vegetable. The product can be any type of fruit or vegetable, including but not limited to apples, pears, kiwis, melons, stone fruits, avocados, tomatoes, and / or peppers. In the illustrated configuration, the product packaged by the robot 1 is an apple. It is contemplated that the robot 1 can also be used to package other items that are not agricultural or natural products.

[0084] The product packaging robot 1 includes a pick-and-place robot 20, such as Figure 2 In the preferred configuration, as shown in FIG. Figure 1 The robot 1 shown comprises a packaging area 4 in which a pick-and-place robot 20 operates. In the packaging area 4, products 3 are transported by the pick-and-place robot 20 from a plurality of pick locations 14 to a drop-off area 5 where they are packaged by the robot onto a storage device 7. Figure 10 As shown, preferably, the storage device 7 is provided with a plurality of drop-off locations 6 for placing the products 3 .

[0085] The storage device 7 may be Figure 10 The tray shown is in the form of a tray having an array of recesses or pockets 34 for receiving the product. Alternatively, the tray may have a substantially flat inner surface without recesses for receiving the product. Further alternatively, the storage device 7 may be in the form of a box, a punnet, or a bag having upwardly extending sides and a generally flat bottom.

[0086] In some configurations, the robot 1 delivers the products 3 to known placement locations 6 (eg, the same pallet having the same number and layout of placement locations 6 ).

[0087] In a preferred configuration, the robot 1 can dynamically detect the placement position 6 (ie, the placement position does not need to be known at the outset). For example, the placement position 6 can be detected by a camera.

[0088] The robot 1 guides the product 3 to the pick-up position 14 for picking. In a preferred configuration, the product 3 enters the robot 1 through the collector 2 (e.g. Figure 12 The products 3 can be transferred to the accumulator 2 manually or by an external device. For example, the external device is a conveyor (not shown) or any other suitable device.

[0089] Preferably, the robot 1 provides a delivery chute that separates the products 3 into the lanes 9 so that only one product 3 is delivered to each pick location 14 at a time. In these configurations, the assembly 11 separates the products 3 into the lanes 9 for picking (e.g., Figure 8 As shown). Figure 12 As shown, in some configurations, the products 3 are transferred from the collector 2 to an assembly 11 for separation onto the track 9 .

[0090] In some configurations, component 11 is a product positioning component that adjusts the orientation of product 3 to a desired pickup orientation. The desired pickup orientation can be based on a physical characteristic of product 3, such as an anatomical feature, such as the stem and / or calyx of an apple. Alternatively or additionally, the characteristic can be based on a desired color, texture, pattern, size, circumference, or some other definable characteristic of the product.

[0091] In some configurations, the robot 1 may reject products 3 based on one or more detected physical characteristics.

[0092] In a preferred configuration, the robot 1 includes a receptacle conveyor 8 that passes beneath the collector 2 and the product packaging area 4. The receptacle conveyor 8 conveys receptacles 7 to the drop zone 5 for packaging and then conveys the receptacles away from the packaging area.

[0093] In a preferred configuration, the storage device conveyor belt 8 also moves the storage device 7 during packaging so that an empty row of the storage device can be positioned under the pick and place robot 20 to receive the product 3. The robot 1 controls the movement of the storage device conveyor belt 8 to provide a drop / place location for the pick and place robot 20.

[0094] like Figure 2 and 6 As best shown, the pick-and-place robot 20 is provided with a plurality of longitudinal carriage arms 40 arranged in an array. A fixed support unit 50 supports the plurality of longitudinal carriage arms 40. The fixed support unit 50 is a fixed structure within the robot 1. In a preferred configuration, the fixed support unit 50 is located at or toward the top region of the robot 1 so that packaging can be performed beneath the fixed support unit.

[0095] Preferably, the array is a regular array, arranged in a straight line (eg, when the robotic arms 40 are fully retracted or fully extended). Alternatively, the robotic arms 40 may be arranged in a staggered array or an irregular array.

[0096] The pick-and-place robot 20 comprises a plurality of heads 21 for picking up and placing the products 3 . Optionally, the heads 21 can rotate the products. Each head 21 is connected to a longitudinal robot arm 40 .

[0097] A plurality of heads 21 refers to two or more heads. In the preferred configuration shown in the figure, the robot 1 is provided with four heads 21 for picking up and putting down the product 3.

[0098] In a preferred configuration, each head 21 is connected at or toward the front end 41 of the longitudinal robot arm 40. Preferably, each pick-up head 21 is capable of rotating the shaft about a substantially vertical axis. Preferably, a rotary actuator is provided within the housing of the pick-up head 21, as is known in the art, or a linear-rotary motor or other suitable combined linear / rotary actuator may be used.

[0099] Preferably, the pick and place robot 20 comprises a plurality of pick assemblies 25 slidably mounted in the transverse direction (Y) to the fixed support unit 50. Preferably, the pick assemblies 25 are also capable of rotating the product around a substantially vertical axis. Figure 3 As shown, the separate pick / rotate assembly 25 includes an independently movable robotic arm 40, a head 21 connected to the robotic arm, drive modules 44, 54, and other integrated components of the robotic arm.

[0100] The product packaging robot 1 has a longitudinal axis (X), a transverse axis (Y) and a vertical axis (Z). The movement of the pick-and-place robot 20 includes:

[0101] a) moving along the longitudinal axis (X) (forward and backward) between the pick-up position 14 and the placement position 6;

[0102] b) moving laterally (left and right) along the transverse axis (Y) between the robot tracks 9; and

[0103] c) Picking up, gripping and placing down products 3 vertically (upwards and downwards) along the vertical axis (Z).

[0104] d) Rotation around the vertical axis (Z).

[0105] The pick-and-place robot 20 moves in the three translational directions (X, Y, Z) and one rotational degree of freedom, picks up the prepared product 3 from the pick-up location 14 and places the product in an empty placement location 6 .

[0106] The longitudinal robot 40 extends and retracts in the longitudinal direction (X) to pick up and place products 3 from the array of pick locations 14 to the array of product placement locations 6. The array may be regular, staggered or irregular.

[0107] In a preferred configuration, the longitudinal robotic arms 40 are independently movable between an extended position 40" and a retracted position 40' in the longitudinal direction (X). Figure 4 and 6 The longitudinal robotic arm 40 is shown in an extended position 40" and a retracted position 40', respectively.

[0108] Each robotic arm 40 can move longitudinally independently, so that the arms of the robot 1 do not move longitudinally together to pick up and place the product 3 .

[0109] It will be appreciated that the longitudinally independently movable robotic arms 40 will allow each pick / rotate assembly 25 to move between the pick locations 14 and to the placement location 6 when a product 3 is ready to be picked from a particular track.

[0110] The products 3 may be ready to be picked up from the pick-up locations 14 at different times in different tracks 9. For example, the time required to transport the products 3 to the pick-up locations 14 and / or to orient the products may be different for different products.

[0111] Furthermore, the independently movable robotic arms 40 can place the products 3 into different rows or columns in the storage device 7 .

[0112] Preferably, when the longitudinal robot is in the retracted position 40', the picking head 21 is at or towards the picking position 14. Preferably, when the longitudinal robot is in the extended position 40", the picking head is at or near the placing position 6.

[0113] like Figure 4 and 6 As shown, in a preferred configuration, the longitudinal robotic arm is longer in the extended state 40" than it is in the retracted position 40'.

[0114] Preferably, each longitudinal robot arm 40 is cantilevered from the fixed support unit 50. The longitudinal robot arm 40 is cantilevered mounted to the fixed support unit 50 and extends from the fixed support unit 50. Figure 2 and Figure 6 As shown, each longitudinal robot arm 40 is mounted to a fixed support unit 50 at an attachment area 46 .

[0115] Preferably, the head 21 connected to the longitudinal robot arm 40 is suspended from the fixed support unit 50 and supported at a distance by the fixed support unit 50. In particular, when the robot arm 40 is in the extended position 40", the head 21 is supported at a distance.

[0116] Preferably, each longitudinal robot arm 40 is mounted to a fixed support unit 50 at or towards the rear end of the longitudinal robot arm in the extended position 40 ″.

[0117] Even if the head 21 moves toward and away from the attachment area 46 in the longitudinal direction, the attachment area 46 is fixed and the pick / rotate assembly 25 is supported.

[0118] The cantilever robot arm 40 fixed and supported at a certain distance by the fixed support unit 50 has many advantages, such as: providing space below and / or in front of the pick / rotate assembly 25 for packaging, robot maintenance, and freeing up the packaging area 4 (when the pick assembly 25 is retracted 40', or has been spaced laterally) to allow position detection sensors (cameras) installed above the placement area to perform sensing, etc., which will be discussed in more detail below.

[0119] Preferably, the robot 1 is provided with a longitudinal drive module 44 for each longitudinal robot arm 40 to drive movement in the longitudinal direction (X).

[0120] In a preferred configuration, the longitudinal drive module 44 is an electric motor. In other configurations, other drive modules, such as hydraulic, pneumatic, or mechanical drive modules, may be used.

[0121] In one configuration, the longitudinal drive module 44 is a servo motor coupled to a ball screw or lead screw to actuate longitudinal motion. This motion can also be achieved by a servo motor or stepper motor connected to a ball screw, a toothed belt system, or a rack and pinion drive system. Similarly, a linear motor can also be used to achieve longitudinal motion.

[0122] It is anticipated that other suitable drive modules known to those skilled in the art may be used to drive the longitudinal movement of the pick and place robot 20 .

[0123] In some configurations, the robot 1 is provided with an energy chain 45 connected to the longitudinal drive module 44. The energy chain 45 supports the movement of cables and pneumatic hoses for components associated with the robot arm, such as the motors, the suction cups 30 of the pick head 21, and for the movement of the longitudinal robot arm 40 in the longitudinal direction (X).

[0124] In a preferred configuration, the energy chain 45 is located at or toward the rear end 42 of the longitudinal robot arm 40. The energy chain 45 being located at the rear end 42 aligns the energy chain longitudinally with the robot arm 40, thereby providing an elongated configuration.

[0125] The longitudinal robot arm 40 moves in the transverse direction (Y) to move between the different rails 9 of the robot 1 and to the different placement locations 6. Thus, the head 21 moves together with the robot arm 40 to which it is attached in the transverse direction (Y).

[0126] The heads 21 may need to move laterally (Y) (through different tracks 9) because in the preferred configuration there may be fewer heads 21 than the number of pick-up locations 14 for products 3 and / or fewer heads than the number of placement locations 6 for products.

[0127] In some configurations, the head 21 may additionally or alternatively require lateral (Y) movement if the pick location 14 is not aligned with the placement location 6 .

[0128] In a preferred configuration, the total number of pick-up locations 14 is greater than the total number of placement locations 6 on the storage device 7 .

[0129] A greater number of pick locations 14 can improve packaging efficiency for certain products (e.g., where the product requires some time to be prepared for picking, such as where the product has a complex orientation due to its shape) compared to the head 21 and / or placement locations 6. A greater number of products 3 can be prepared for picking while the head 21 delivers the products to the storage device 7.

[0130] In configurations where the products 3 are less complex and do not take as much time to orient or otherwise prepare for picking, the number of pick locations 14 may be the same as the number of heads 21, or fewer pick locations 14 may be required.

[0131] In a preferred configuration, the robot 1 is provided with approximately twice the number of pickup locations 14 as it is provided with heads 21. However, it is contemplated that the ratio of pickup locations 14 to heads 21 can be customized to suit the robot. For example, the ratio can be determined based on how long it typically takes for a product 3 to be ready for pickup. Providing more pickup locations 14 can improve the operating efficiency of the robot 1, increasing the likelihood that all heads 21 will promptly pick up a product 3 that is ready and waiting at a pickup location 14.

[0132] In a preferred configuration, each longitudinal robot arm 40 can be independently moved in the transverse direction (Y) to adjust the spacing between the multiple heads 21 so that the heads can be independently moved across the robot's track 9. Different spacings between the heads 21 are as follows Figure 8 shown.

[0133] The head 21 moves laterally to the track 9 where the product 3 is ready to be picked up, and / or to an empty track in the storage device 7 for depositing.

[0134] The robot's heads 21 may be located at any desired position along the transverse axis (Y), but the heads 21 may not overlap one another.

[0135] In some configurations, not all heads 21 may service all pick locations 14 .

[0136] In some configurations, the fixed support unit 50 includes two transverse guide rails 51 in a direction orthogonal to the longitudinal robot arm 40, such as Figure 4 and Figure 6 Preferably, each longitudinal robot arm 40 is slidably mounted to two transverse rails 51 to allow the robot arm to move in the transverse direction (Y).

[0137] In the configuration shown, two transverse rails 51 are fixed to the underside of the fixed support unit 50 .

[0138] Preferably, the robot 1 is provided with a transverse driving module 54 for driving each longitudinal arm to move in a transverse direction relative to the fixed support unit.

[0139] In some configurations, the lateral drive module 54 drives a rack 55 and pinion 56 mechanism to move each longitudinal robot arm 40 in the lateral direction (Y).

[0140] A rack gear 55 is fixed to the fixed support unit 50 , and each longitudinal robot arm 40 includes a gear gear 56 that meshes with the rack gear and moves along the rack gear.

[0141] It is contemplated that other mechanisms for driving the longitudinal robot arm 40 in the lateral direction may also be used.

[0142] In a preferred configuration, the longitudinal drive module 44 and the transverse drive module 54 are electric motors. In other configurations, other drive modules, such as hydraulic, pneumatic, and mechanical drive modules, may also be used.

[0143] In one configuration, the longitudinal drive module 44 and the lateral drive module 54 are servo motors coupled to a gearbox that drives a gear 56. Alternatively, a stepper motor or linear motor can be used to drive the robot 1 in the longitudinal direction. The stepper or servo motor options can also power a ball screw, lead screw, or toothed belt linear drive system to achieve the same lateral motion. One benefit of using a coaxial motor and ball screw design is that it reduces the overall width of the assembly, making the structure more compact.

[0144] It is contemplated that other suitable drive modules known to those skilled in the art may be used to drive the longitudinal or lateral movement of the pick and place robot 20 .

[0145] Preferably, if Figure 2 and Figure 3 As shown, the longitudinal drive module 44 and the transverse drive module 54 are mounted on the robot arm 40 they drive.

[0146] The head 21 moves in a vertical direction (Z) to move between a lowered position 21 ″ for picking up or putting down a product 3 and a raised position 21 ′ for moving the head into the space above the product.

[0147] In a preferred configuration, each head 21 is independently movable in the vertical direction (Z) to pick up, grip, rotate and place down the product 3 .

[0148] like Figure 2 As shown, preferably, the robot 1 is provided with a vertical driving module 24 to move the head 21 between a high hand position 21 ′ and a low hand position 21 ″.

[0149] Most preferably, the vertical drive module 24 is fixed to the head 21 and moves with the head 21 as the pick / rotate assembly 25 moves in the longitudinal (X) and / or lateral (Y) directions.

[0150] like Figure 3As shown, in some configurations, the vertical drive module 24 is mounted within the housing assembly of the head 21. The housing assembly of the head 21 provides a housing that protects the head assembly and has an aesthetically pleasing function. Preferably, the head 21 is also equipped with a rotary actuator to rotate the shaft of the pick-up head about its vertical axis to rotate the product as needed.

[0151] In a preferred configuration, the vertical drive module 24 is an electric servo motor that drives the head 21 between the high-hand position and the low-hand position and also includes a rotary actuator.

[0152] In other configurations, other drive modules may be used, such as pneumatic, hydraulic, or mechanical drive modules.

[0153] In one configuration, the vertical drive module 24 is a servo motor to drive the head 21 in the vertical direction via a ball screw, lead screw, or toothed belt linear actuation system.

[0154] It is contemplated that those skilled in the art may use other known suitable drive modules and / or mechanisms to drive the vertical movement of the head 21 .

[0155] In a preferred arrangement, each head 21 includes a linkage 22 that is movable between a high-hand position and a low-hand position for picking up and placing down products 3 .

[0156] Preferably, on the end of each head 21 is a gripper 30 for picking up, gripping, rotating and setting down the product 3. In a preferred configuration, the gripper is in the form of a suction cup 30, located at the distal end of the connecting rod 22.

[0157] When the suction cup 30 is close to the product 3, a vacuum can be generated on the suction cup 30 to hold the product for transport and packaging. When the desired placement position 6 is reached, the vacuum can be stopped or positive pressure can be applied to the suction cup to release the product 3. The vacuum can be generated on the suction cup 30 through a pneumatic line.

[0158] Preferably, the robot 1 is provided with a controller that controls the robot's motion (i.e., motion in longitudinal, transverse, and vertical directions). The controller coordinates simultaneous motion of all axes (including rotation about the vertical axis) to ensure that an alternative path between the starting and ending points is taken.

[0159] Preferably, when making decisions about picking and placing products, the controller programs the pick and place robot 20 to increase the rate at which products 3 are packaged by strategically moving and using the head 21 to pick up ready products, remove them when ready to be picked, and move them to an empty placement location 6.

[0160] The controller can receive signals, such as signals from a camera, process these signals, move and track the position of the head 21, and control when and how to pick up the product 3 from the pick-up position 14 and place it at the placement position 6.

[0161] Preferably, the controller controls the movement of the robotic arm 40 and the head 21 to prevent intersection or collision of the robotic arm and the head.

[0162] To prevent collisions, the controller can set distance limits in the X, Y, and Z directions for each head 21. Lateral (Y) movement is preferably limited to prevent the heads 21 from getting too close and causing a collision. Vertical (Z) movement is software-constrained to an area below the head 21 where there is a fixed structure to prevent the head 21 from colliding with the structure.

[0163] like Figure 6 As shown in the plan view of FIG, in a preferred configuration, the pick-up / rotation assembly 25 has a strip shape so that a plurality of pick-up assemblies 25 can operate side by side in the packaging area 4.

[0164] It is contemplated that the elongated profile of the pick assembly 25 allows the plurality of heads 21 to be moved close together to pick from close together pick positions 14 ( Figure 8 ) and placement 6( Figure 10 )Pick up.

[0165] Preferably, the distance between the heads 21 is minimized so that the products 3 can be picked up and dropped closely to make the robot 1 more compact (ie, require a smaller packaging area 4), so that the products can also be compactly packed onto the storage device 7 for transportation.

[0166] In some configurations, the elongated profile of the pick assembly 25 allows for more space in the packaging area 4, which helps improve serviceability.

[0167] The preferred spacing of the heads 21 can be determined by the size of the product. For example, preferably, the minimum lateral spacing (S) of the center axes of the heads is less than 1 times the width of the product it picks up and drops.

[0168] In a preferred configuration, Figure 6 and 9 As cited in , the multiple heads 21 can be moved laterally toward each other so that the minimum lateral spacing (S) between the center axes of the heads is less than 110 mm. This spacing allows two or more adjacent heads 21 to serve adjacent tracks (e.g., picking up products 3 from adjacent pick-up locations 14 or dropping products at adjacent drop-off locations 6 simultaneously or nearly simultaneously).

[0169] In the most preferred arrangement, the plurality of heads 21 are laterally movable towards each other so that the minimum lateral spacing (S) of the central axes of the heads is less than 80 mm.

[0170] The width by which the heads 21 are spaced apart laterally is the distance allowed by the transverse axis (Y) minus the width of the heads.

[0171] In order to provide an elongated pick / rotate assembly 25, preferably the head 21 and the longitudinal robot arm 40 are located as shown in FIG. Figure 6 The width of the rectangular envelope is approximately the same as the width of the longitudinal robot 40, so that the width of the envelope is approximately the same as the width of the longitudinal robot at its widest point.

[0172] Preferably, substantially the same width as the longitudinal robotic arm 40 may be defined as being the same width as the robotic arm or no more than 30% of the robotic arm width.

[0173] More preferably, the envelope width does not exceed 20% of the width of the robot arm.

[0174] In some configurations, the envelope width does not exceed 10% of the robot arm width.

[0175] Preferably, the width 43 of the rectangular envelope (E) is approximately 40 to 150 mm.

[0176] Most preferably, the width 43 of the rectangular envelope (E) is approximately 50 to 80 mm.

[0177] Preferably, the width of most components integrated with the robotic arm (e.g., head 21, longitudinal and transverse drive modules 44, 54, energy chain 45) is approximately the same as the width of the robotic arm (e.g., the same width or no more than 30%) or is smaller than the width of the robotic arm.

[0178] More preferably, the component width does not exceed 20% of the width of the robot arm.

[0179] In some configurations, the part width does not exceed 10% of the robot arm width.

[0180] Most preferably, the width of all components integrated with the robotic arm 40 is approximately the same as or less than the width of the robotic arm.

[0181] Preferably, each head 21 is about the same width as the longitudinal arm 40 to which it is connected. About the same width as the longitudinal arm 40 can be defined as being the same width as the arm or no more than 30% of the arm's width.

[0182] More preferably, the head width does not exceed 20% of the width of the robotic arm.

[0183] In some configurations, the head width is no more than 10% of the arm width.

[0184] In some configurations, the width of the head 21 may be less than the width of the longitudinal robotic arm 40 .

[0185] Preferably, the longitudinal drive module 44 is located within a generally rectangular envelope (E) in plan view.

[0186] Preferably, the width of the longitudinal driving module 44 is not substantially wider than the width 43 of the longitudinal robotic arm.

[0187] In some preferred configurations, the width of the longitudinal drive module 44 is smaller than the width 43 of the longitudinal robotic arm.

[0188] Preferably, the energy chain 45 and / or service area is located within a generally rectangular envelope (E) in plan view. The service area may include electrical wiring, data cables, etc. required for the operation of the robot 1 , which may be associated with individual robotic arms 40 .

[0189] Preferably, the width of the energy chain 45 is approximately the same as the width of the longitudinal robot arm 40 it drives.

[0190] In some configurations, the width of the energy chain 45 is less than the width of the longitudinal robotic arm 40 that it drives.

[0191] Preferably, the lateral drive module 54 is located within a generally rectangular envelope (E) in plan view.

[0192] Preferably, the width of the transverse driving module 54 is not substantially wider than the width 43 of the longitudinal robotic arm 40 .

[0193] Preferably, the width of the transverse driving module 54 is smaller than the width 43 of the longitudinal robotic arm.

[0194] To configure the elongated pick / rotate assembly 25, preferably, one or more components integrated with the robot 40 are aligned longitudinally with the longitudinal (X) robot 40, such as Figure 6 Most preferably, all components integrated with the robot arm 40 are aligned longitudinally with the longitudinal (X) robot arm 40 .

[0195] Most preferably, the one or more components are generally centered along the longitudinal axis (X) of the longitudinal robotic arm 40 to which they are connected.

[0196] Preferably, the longitudinally aligned components are located on the top, bottom, front, or back of the robot arm 40 to which they are attached. Most preferably, the components are secured to the top or back of the robot arm 40, leaving the area below and in front of the robot arm free for servicing the robot (discussed below).

[0197] Preferably, the longitudinally aligned components are not secured to (ie, laterally (Y) connected to) a side of the robotic arm 40 .

[0198] In a preferred arrangement, each head 21 is longitudinally aligned with the longitudinal robotic arm 40 to which it is connected.

[0199] In a preferred configuration, the longitudinal drive module 44 is elongated and longitudinally aligned with the longitudinal robot arm 40 that it drives.

[0200] In a preferred configuration, the energy chain 45 and / or service range is longitudinally aligned with the longitudinal robot arm 40 that it drives.

[0201] In a preferred configuration, the lateral drive module 54 is elongated and longitudinally aligned with the longitudinal robot arm 40 that it drives.

[0202] To provide the elongated pick-up and rotation assembly 25, preferably, as Figure 3 and Figure 6 As shown, one or more components integrated with the robotic arm 40 are generally aligned in a vertical plane (V). Most preferably, all components integrated with the robotic arm 40 are generally aligned in a vertical plane.

[0203] Alignment in the vertical plane (V) facilitates the provision of an elongated profile for the pick-up assembly 25 to allow multiple heads 21 to move close together to pick up and place down products 3 .

[0204] In a preferred configuration, the head 21 and the longitudinal robotic arm 40 to which it is connected are generally aligned in a vertical plane (V).

[0205] In a preferred configuration, the longitudinal drive module 44 and the robotic arm 40 to which it is connected are generally aligned in a vertical plane.

[0206] In a preferred configuration, the energy chain 45 and / or service range and the robotic arm 40 connected thereto are generally aligned in a vertical plane.

[0207] In a preferred configuration, the lateral drive module 54 and the robotic arm 40 to which it is connected are generally aligned in a vertical plane.

[0208] In order to further design the picking assembly into an elongated shape, the vertical driving module 24 is longitudinally separated from the longitudinal and transverse modules 44, 54. That is, the driving modules that move the robot arm in different directions are spaced apart longitudinally.

[0209] Preferably, the vertical drive and rotation module 24 is located at the head 21 (towards or at the front end of the robot arm), while the longitudinal and transverse modules 44 , 54 are located towards or at the rear end of the robot arm 40 .

[0210] Product packaging robot 1 includes many components, some of which require maintenance from time to time. The layout of robot 1's components improves its maintainability, allowing for maintenance and repair of robot components as needed. This improved maintainability reduces the time required to maintain and repair components.

[0211] When the head is in the low hand position 21' and / or the module robot arm 40 is in the retracted position 40", the area under the fixed support unit 50, the longitudinal robot arm 40 and the head 21 for servicing the robot 1 can be maximized. When the parts of the robot 1 are removed (to maximize the space in the packaging area 4), maintenance can be facilitated.

[0212] The described arrangement of components provides for a compact design which also minimizes the footprint of the robot 1 and thereby reduces the space required for the machine.

[0213] Additionally, the described clean layout of components may reduce the likelihood of damage to the components, such as from head impacts, entanglement of wires or straps, or damage to other components.

[0214] In a preferred configuration, a plurality of longitudinal robotic arms 40 are mounted below the fixed support unit 50 .

[0215] In a preferred configuration, each head 21 is connected to or toward a front end 41 of a longitudinal robotic arm 40 .

[0216] It will be appreciated that in these configurations, more space is provided below and / or in front of the picking assembly 25 for packaging and / or servicing the robot 1 .

[0217] In some configurations, the longitudinal robot arm 40 is mounted above the fixed support unit 50 .

[0218] In addition, the cantilever robot arm 40 is fixed and supported at a certain distance by the fixed support unit 50, so that space for a maintenance robot is provided below and / or in front of the picking component 25.

[0219] In some configurations, the robot 1 further comprises a front access door 19. The front access door 19 is preferably located at the front 16 of the robot 1, from which the products 3 are removed and transported away in the storage device 7.

[0220] The front door 19 can be closed when the robot 1 is not in operation to protect the components, for example from dust or damage.

[0221] The components of the robot 1 are difficult to access from the side for maintenance, and the different tracks 9 of the robot 1 are also difficult to access from the side for maintenance. Therefore, the front door 19 is more advantageous than the side front door.

[0222] The front door 19 is particularly useful for a dual platform apple packing machine (described below) to access the different tracks 9 of the robot.

[0223] Preferably, the front door 19 is movable between a closed position and an open position. Preferably, when the front door 19 is in the open position, each track 9 of the robot can be serviced from the front.

[0224] In some preferred configurations, the front door 19 can be in the low position ( Figure 1 ) and high position ( Figure 2 ) between vertically sliding. Preferably, when front door 19 is in high position, each track 9 of robot can be serviced from the front.

[0225] In some configurations, such as Figure 1 and 11 As shown, robot 1 is a dual-platform product packaging machine with two adjacent operating stations. In some configurations, the product packaging robot is a multi-product packaging machine with more than two adjacent operating stations. As described above, each operating station is equipped with multiple longitudinal robotic arms 40, multiple heads 21 for picking up products 3, and a fixed support unit 50.

[0226] In a preferred configuration, adjacent operating stations are arranged side by side.

[0227] A dual-platform or multi-platform product packaging machine can increase the output of packaged products 3 using a single robot 1 .

[0228] It will be apparent to those skilled in the art to which the present invention relates that various structural changes and wide and varied embodiments and applications of the present invention may be proposed without departing from the scope of the present invention as defined in the appended claims.

[0229] The invention may also be broadly said to include the parts, elements and features referred to or indicated in the specification, individually or collectively, and any or all combinations of any two or more of said parts, elements or features, and where specific integers mentioned herein have known equivalents in the art to which the invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.

Claims

1. A product packaging robot having a longitudinal axis, a vertical axis, and a horizontal axis, the robot comprising: a plurality of longitudinal robotic arms arranged in an array, each of the longitudinal robotic arms being independently movable between an extended position and a retracted position in a longitudinal direction between a product placement position and a product pickup position, such that each of the plurality of longitudinal robotic arms is movable independently of one another in the longitudinal direction to pick up and place products; a plurality of heads, each of the heads being connected to the longitudinal robotic arm and independently moving vertically to pick up, hold, and place down the product; as well as a fixed support unit for supporting a plurality of said longitudinal robotic arms; wherein the head and the longitudinal robotic arm are located within a rectangular envelope in a plan view, and the width of the rectangular envelope is the same as the width of the longitudinal robotic arm; Wherein, each of the longitudinal robotic arms is cantilevered on the fixed support unit; wherein the products are separated into different tracks before being picked up by at least one of the plurality of heads of the robot; and Each of the longitudinal robotic arms can independently move in the transverse direction to adjust the spacing between the multiple heads, so that the heads can move across the track to pick up or place the products.

2. The robot according to claim 1, wherein: Each of the heads is longitudinally aligned with the longitudinal robotic arm to which it is connected.

3. The robot according to claim 2, wherein: Each of the heads is also capable of rotating the product about the vertical axis.

4. The robot according to claim 1, wherein: The width of each head is the same as the width of the longitudinal robotic arm to which it is connected.

5. The robot according to claim 1, wherein: The longitudinal robotic arm is slender.

6. The robot according to claim 5, wherein: The width of the rectangular envelope is 40 to 150 mm.

7. The robot according to claim 6, wherein: The width of the rectangular envelope is 50 to 80 mm.

8. The robot according to claim 1, wherein: The head is aligned in a vertical plane with the longitudinal robotic arm to which it is connected. 9 . The robot according to claim 1 , further comprising a longitudinal driving module for driving each of the longitudinal manipulator arms to move in a longitudinal direction.

10. The robot according to claim 9, wherein: The width of the longitudinal driving module is no greater than the width of the longitudinal robotic arm.

11. The robot according to claim 10, wherein: The width of the longitudinal driving module is smaller than the width of the longitudinal robotic arm.

12. The robot according to claim 9, wherein: The longitudinal drive module is elongated and longitudinally aligned with the longitudinal robot arm it drives.

13. The robot according to claim 9, wherein the longitudinal drive module and the robotic arm connected thereto are aligned on a vertical plane.

14. The robot according to claim 9, wherein: The longitudinal drive module is located within the rectangular envelope in a plan view.

15. The robot according to claim 9, further comprising an energy chain connected to the longitudinal drive module, wherein the width of the energy chain is the same as the width of the longitudinal robot arm driven by the energy chain.

16. The robot according to claim 15, wherein: The energy chain and / or its service range are longitudinally aligned with the longitudinal robot arm it drives.

17. The robot according to claim 15, wherein: The energy chain and / or its service area and the robot arm to which it is connected are aligned in a vertical plane.

18. The robot according to claim 15, wherein: The energy chain and / or its service area is located within the rectangular envelope in plan view.

19. The robot according to claim 15, wherein: The energy chain is located at or toward the rear end of the longitudinal robotic arm.

20. The robot according to claim 1, wherein Each of the heads is connected at or toward the front end of the longitudinal robotic arm.

21. The robot according to claim 1, further comprising a lateral driving module to drive each of the longitudinal robot arms to move in a lateral direction relative to the fixed support unit.

22. The robot according to claim 21, wherein The width of the transverse driving module is not wider than the width of the longitudinal robotic arm.

23. The robot according to claim 22, wherein: The width of the transverse driving module is smaller than the width of the longitudinal robotic arm.

24. The robot according to claim 21, wherein The transverse drive module is elongated and longitudinally aligned with the longitudinal robot arm it drives.

25. The robot according to claim 21, wherein The lateral driving module and the robotic arm connected thereto are aligned on a vertical plane.

26. The robot according to claim 21, wherein The lateral drive module is located within the rectangular envelope in plan view.

27. The robot according to claim 21, wherein The longitudinal driving module and the transverse driving module are installed on the robotic arms they drive.

28. The robot according to claim 1, wherein A plurality of longitudinal robotic arms are installed below the fixed support unit.

29. The robot according to claim 1, wherein In the extended position, each of the longitudinal robotic arms is mounted to the fixed support unit at or towards a rear end of the longitudinal robotic arm.

30. The robot of claim 1, further comprising a front door.

31. The robot according to claim 30, wherein: The front door is movable between a closed position and an open position, wherein each of the tracks of the robot is serviceable from the front when the front door is in the open position.

32. The robot according to claim 31, wherein The front door is vertically slidable between a low position and a high position, wherein when the front door is in the high position, each of the tracks of the robot can be serviced from the front.

33. The robot according to claim 1, wherein The fixed support unit includes two transverse guide rails in a direction orthogonal to the longitudinal robotic arms, and each longitudinal robotic arm is slidably mounted on the two transverse guide rails for transverse movement.

34. The robot according to claim 21, wherein The lateral drive module drives a rack and pinion mechanism to move each of the longitudinal robotic arms in a lateral direction.

35. The robot according to claim 34, wherein: The rack is fixed to the fixed support unit, and each of the longitudinal robot arms includes the gear meshing with and moving along the rack.

36. The robot according to claim 1, further comprising a vertical drive module that moves the head between a high-hand position and a low-hand position, the vertical drive module being fixed to the head.

37. The robot according to claim 36, wherein: The vertical driving module is installed in the housing assembly of the head.

38. The robot of claim 36, wherein each said head includes a linkage movable between said high-hand position and said low-hand position to pick up and place down said products.

39. The robot of claim 38, wherein each of the heads further comprises a suction cup at a distal end of the link for gripping the product.

40. The robot of claim 1, further comprising a controller to control movement of the robot.

41. The robot according to claim 1, wherein The robotic arm extends and retracts longitudinally between an array of pick-up positions and an array of placement positions for the products.

42. The robot according to claim 41, wherein The placement location is on a pallet, a box, a small basket, or a bag.

43. The robot according to claim 41, characterized in that The number of the heads is less than the number of the pick-up locations for the products.

44. The robot according to claim 41, wherein The number of the heads is smaller than the number of the placement locations for the products.

45. The robot of claim 41, wherein the number of said pick locations is greater than the number of said drop locations.

46. ​​The robot according to claim 1, wherein The plurality of heads are capable of being laterally moved towards each other such that a minimum spacing between the central axes of the heads is less than 110 mm.

47. The robot according to claim 46, wherein The plurality of heads are capable of being laterally moved toward each other such that a minimum spacing between the central axes of the heads is less than 80 mm.

48. The robot according to claim 1, wherein The products described are: a. Apple, b. Avocado, or c. Drupe.

49. The robot according to claim 1, wherein The robot is a dual-platform product packaging machine having two adjacent operating stations, each of which includes: a plurality of said longitudinal robotic arms; a plurality of said heads for picking up said products; and A fixed support unit as claimed in any one of the preceding claims.

50. A method of packaging products using the robot of any one of claims 1-49.

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