Deformable conveyor

Abstract

The invention relates to a pick and place device comprising a deformable robot (1, 101, 201, 301, 401) arranged to be located in the vicinity of a picking area (3, 103, 403) and a placement area (5, 105, 405). The deformable robot (1, 101, 201, 301, 401) comprises a first handling end (9, 109, 209, 309, 409), at which the deformable robot (1, 101, 201, 301, 401) picks up an object (7, 107, 207, 407) in the picking area (3, 103, 403), and a second handling end (11, 111, 211, 311, 411), at which the deformable robot (1, 101, 201, 301, 401) places an object (7, 107, 207, 407) in the placement area (5, 105, 405). The first handling end (9, 109, 209, 309, 409) is capable of being moved within the picking area (3, 103, 403), or the second handling end (11, 111, 211, 311, 411) is capable of being moved within the placement area (5, 105, 405). The deformable robot (1, 101, 201, 301, 401) further comprises a deformable conveying structure (13, 113, 213, 313, 413) connecting the first handling end (9, 109, 209, 309, 409) and the second handling end (11, 111, 211, 311, 411) so as to convey an object (7, 107, 207, 407) picked up by the first handling end (9, 109, 209, 309, 409) to the second handling end (11, 111, 211, 311, 411).

Description

[0001] Description

[0002] Title: Deformable conveyor

[0003] The invention relates to the field of robotic installations for moving objects.

[0004] Typically, these robotic installations pick an object from a picking area, for example on a first production line or a storage area, and place this object in a placement area, for example on a second production line or in a carton.

[0005] A first type of robotic installation is known, which is referred to as "pick and place robots". A pick and place robot generally has a single, rigid articulated arm, at the end of which is a gripping member. Typically, in this first type of robotic installation, when the gripping member grasps an object in the picking area, the articulated arm executes a rotational and / or translational movement so that this gripping member reaches the placement area and places the object there. Pick and place robots are not always suitable for handling fragile objects or objects with variable dimensions, as found in the food industry in particular. In addition, the use of these robots requires a restrictive layout of their workspace, due to the danger that the speed of their movements represents for human safety.

[0006] A second type of robotic installation is known, which is referred to as "cobots" or "collaborative robots." Collaborative robots are equipped with devices, such as presence detection devices, allowing them to operate in collaboration with human operators or in close proximity to them. However, activating these devices significantly slows down their operation. Collaborative robots are therefore poorly suited to the high production rates required in certain industries, such as the food industry. Furthermore, these robots are not always well-suited to handling fragile or variable-sized objects. The aim is to design a robotic installation for moving objects that is compatible with both the handling of fragile or variable-sized objects and high production rates, while remaining safe.

[0007] The invention improves the situation. To this end, a picking and placing device is provided, comprising a deformable robot arranged to be arranged near a picking area and a placing area. The deformable robot comprises a first handling end, at which the deformable robot picks an object from the picking area, and a second handling end, at which the deformable robot places an object in the placing area. The first handling end is adapted to be moved into the picking area, or the second handling end is adapted to be moved into the placing area. The deformable robot further comprises a deformable conveying structure connecting the first handling end and the second handling end so as to convey an object picked by the first handling end to the second handling end.

[0008] Thus, the arrangement of the deformable conveyor structure between the first handling end and the second handling end makes it possible to maintain a high operating rate without requiring rapid and dangerous movements.

[0009] This device is particularly advantageous because it can be made from flexible structures, such as belts or structures with peristaltic movement, which allows the manipulation of fragile objects or those with variable dimensions.

[0010] According to various embodiments, the invention may have one or more of the following characteristics:

[0011] - the deformable conveying structure comprises a deformable channel;

[0012] - the deformable channel comprises a pair of tensioning arms, maintained at a substantially constant distance from each other, and the deformable conveying structure comprises a pair of belts, each arranged on one of the tensioning arms, these belts being capable of gripping an object between them and of driving the latter from the first handling end to the second handling end;

[0013] - the deformable conveying structure comprises cables, positioned along the tensioning arms, and an actuator connected to said cables and arranged to deform the deformable conveying structure by varying the tension of the latter;

[0014] - the deformable channel comprises a plurality of tensioning arms (for example three), connected to each other near the first handling end or the second handling end, and the deformable conveying structure comprises a plurality of belts (for example three), each arranged on a respective tensioning arm, these belts being capable of gripping an object together and of driving the latter from the first handling end to the second handling end;

[0015] - the picking and placing device comprises a slide and the deformable conveying structure comprises an actuator connected to said slide and arranged to deform the deformable conveying structure by translating one of the tensioning arms along the slide;

[0016] - the picking and placing device is capable of modifying the orientation of an object conveyed in the deformable channel;

[0017] - at least one belt is deformable in a direction transverse to the local drive direction of said belt;

[0018] - the deformable conveying structure comprises a peristaltic movement structure connected to the deformable channel;

[0019] - the peristaltic motion structure comprises peristaltic rings, each peristaltic ring having a row of inflatable actuators;

[0020] - the first handling end or the second handling end has a flared shape;

[0021] - the first handling end or the second handling end has a gripping actuator.

[0022] Other characteristics and advantages of the invention will appear more clearly on reading the following description, taken from examples given for illustrative and non-limiting purposes, and from the drawings in which: - figure 1 is a top view of a picking and placing device according to a first embodiment of the invention, carrying out an operation of conveying objects;

[0023] - figure 2 represents a result of the conveying operation of figure 1, in three-quarter view;

[0024] - figure 3 is a three-quarter view of an embodiment of the deformable robot of the device of figures 1 and 2, in the absence of belts;

[0025] - figure 4 is a top view of a picking and placing device according to a second embodiment of the invention;

[0026] - figure 5 is a three-quarter view of a situation of the device of figure 1 and the device of figure 4 operating together;

[0027] - Figure 6 is a three-quarter view of a picking and placing device according to a third embodiment of the invention, in an object rotation operation;

[0028] - figure 7 is a three-quarter view of a picking and placing device according to a fourth embodiment of the invention, in an object rotation operation;

[0029] - figure 8 represents a first position of a picking and placing device according to a fifth embodiment, in three-quarter view;

[0030] - figure 9 is similar to figure 8, the device being in a second position;

[0031] - figure 10 represents a picking and placing device according to a sixth embodiment, in three-quarter view;

[0032] - figure 11 is a front view of a picking and placing device according to a seventh embodiment, in a first position;

[0033] - figure 12 is a side view of the device of figure 11;

[0034] - figure 13 is similar to figure 12, the device being in a second position;

[0035] - figure 14 is a three-quarter view of a picking and placing device according to an eighth embodiment of the invention;

[0036] - figure 15 represents the peristaltic movement structure of the device of figure 14 in a first step of conveying an object, in close-up and side view;

[0037] - Figure 16 represents the peristaltic movement structure of Figure 15 in a second step of conveying an object; - Figure 17 represents the peristaltic movement structure of Figure 15 in a third step of conveying an object.

[0038] The drawings and the description below contain, for the most part, elements of a certain character. They may therefore not only serve to better understand the present invention, but also contribute to its definition, if necessary.

[0039] Reference is made to Figures 1 and 2.

[0040] Figure 1 is a top view of a picking and placing device according to a first embodiment of the invention, performing an object conveying operation. Figure 2 shows a result of the object conveying operation of Figure 1, in a three-quarter view.

[0041] This picking and placing device comprises a deformable robot 1, arranged between a picking zone 3, here a first belt conveyor, and a placing zone 5, here a crate transported on a second belt conveyor. The first belt conveyor and the second belt conveyor are arranged according to a first conveying plane and a second conveying plane, respectively. Here, for the sake of simplicity of explanation, the first conveying plane and the second conveying plane are substantially horizontal, but the first conveying plane and the second conveying plane could be inclined. The first belt conveyor and the second belt conveyor extend according to a first conveying direction and a second conveying direction, respectively. The first conveying direction and the second conveying direction together form an angle, here of substantially 90°.Here, the second belt conveyor is located below the first belt conveyor. Here, the deformable robot 1 is attached to the structure of the first belt conveyor and partially overhangs the second belt conveyor.

[0042] The deformable robot 1 moves objects 7, here apples, from the picking zone 3 to the placing zone 5. Here, the deformable robot 1 moves several apples simultaneously. The deformable robot 1 comprises a first handling end 9 and a second handling end 11, mutually opposite, and a deformable conveying structure 13, which connects the first handling end 9 to the second handling end 11. The deformable robot 1 picks up the objects 7 from the picking zone 3 at the first handling end 9. The deformable robot 1 places the objects 7 in the placing zone 5 at the second handling end 11. Here, the first handling end 9 has a flared shape, so as to guide the objects 7 from the picking zone 3 to the deformable conveying structure 13 gradually.Here, the second handling end 11 has a flared shape, so as to release the objects 7 in the placement zone 5 gradually.

[0043] The deformable conveying structure 13 deforms so as to convey the objects 7 picked up by the first handling end 9 to the second handling end 11.

[0044] The arrangement of the deformable conveyor structure 13 between the first handling end 9 and the second handling end 11 makes it possible to maintain a high operating rate without requiring rapid and dangerous movements of the deformable robot 1.

[0045] In this first embodiment, the deformable conveying structure 13 deforms so as to move the second handling end 11 within the placement zone 5.

[0046] The deformable conveying structure 13 has a deformable channel 15. The deformable channel 15 is elongated between the first handling end 9 and the second handling end 11. Here, the deformable channel 15 extends from the first handling end 9 to the second handling end 11. The deformable channel 15 forms a conduit for the objects 7. In this first embodiment, the deformable conveying structure 13 comprises a pair of belts 17 and the deformable channel 15 is formed by a pair of tensioning arms 19. Each belt 17 is arranged around one of the tensioning arms 19. The belts 17 transmit a translational movement so as to convey objects 7 along the deformable conveying structure 13. The belts 17 enclose the objects 7 between them so as to hold these objects 7 in the deformable channel 15. during their conveyance along the deformable conveying structure 13.When an object 7 is picked up at the first handling end 9, the belts 17 enclose this object 7 between them and carry it from the first handling end 9 to the second handling end 11.

[0047] The use, in the deformable conveyor structure 13, of flexible structures, such as the belts 17, allows the deformable robot 1 to handle fragile objects 7 or objects with variable dimensions.

[0048] The deformable conveying structure 13 further comprises one or more crosspieces (not shown) connecting the tensioning arms 19 to each other, here close to the second handling end 11. The crosspieces pass outside the conduit formed by the deformable channel 15. The crosspieces maintain the tensioning arms 19 at a substantially constant spacing distance from each other. The spacing distance is determined according to the dimensions of the objects 7 to be moved.

[0049] On each belt 17, the driving of said belt 17 on the corresponding tensioning arm 19 defines a local driving direction. One or each of the belts 17 may be deformable in a direction transverse to the local driving direction of said belt 17. This deformation of one or each of the belts 17 distributes the contact forces on the object 7 held. This deformation of one or each of the belts 17 makes it possible to hold fragile objects 7 or objects of variable dimensions between the belts 17. Here, each belt 17 is deformable in the direction transverse to the local driving direction of said belt 17. One or both of said belts 17 may have one or more strands. The strands may be made of a similar or different material. Here, each belt 17 comprises two strands. Here, the two strands are flat strips 23, 25.Here, the flat strips 23, 25 are made of a very flexible material.

[0050] The flat bands 23, 25 are endless. The flat bands 23, 25 of the same belt 17 have different lengths. On each belt 17, the flat bands 23, 25 are arranged so that the longest, called the outer flat band 23, is the shortest, called the inner flat band 25. The outer flat bands 23 are in contact with the objects 7 to be moved. The inner flat bands 25 are in contact with the tensioning arms 19. Here, the inner flat band 25 is made of rubber and the outer flat band 23 is made of elastomer.

[0051] Here, each belt 17 further comprises a set of fasteners 27 connecting the flat strips 23, 25 together. Here, each belt 17 comprises forty fasteners 27. The fasteners 27 may be made of the same material as that of the flat strips 23, 25 or of a different material therefrom. Here, each fastener 27 has two portions, generally rectangular in shape, which are arranged so as to form a "V" with each other when the deformable robot 1 is viewed from above. Here, the fasteners 27 are arranged between the flat strips 23, 25 so that the "V"s are all positioned in the same direction on the same belt 17.

[0052] The flat strips 23, 25 and the fasteners 27 together delimit a series of hollow cells 29. Here, on each belt 17, the two flat strips 23, 25 and the forty fasteners 27 delimit forty hollow cells 29. The hollow cells 29 are deformable. Here the hollow cells 29 have a cylindrical shape with a hexagonal base. When an object 7 is picked up at the first handling end 9, said object 7 comes into contact with the external flat strips 23 of the belts 17. On each belt 17, the hollow cells 29 located in the vicinity of the object 7 deform, elastically, in a direction transverse to the local driving direction of the belt 17. This deformation of the hollow cells 29 ensures that the object 7 is held between the belts 17 while distributing the contact forces on the object 7. The hollow cells 29 resume their shape once the object 7 has reached the second handling end 11.

[0053] The belt model 17 is described above as an example. Other belt models 17 are possible.

[0054] Each tensioning arm 19 comprises at each of its ends a tensioning block 31. The tensioning blocks 31 each comprise a central part 33, here of substantially cylindrical shape. The central parts 33 of the tensioning blocks 31 each have a pulley. On each tensioning arm 19, one of the belts 17 is stretched between the pulleys of the tensioning blocks 31 of said tensioning arm 19. On each tensioning arm 19, one or more motors (not shown) transmit a rotational movement to the belt 17 stretched between the pulleys of the tensioning blocks 31 of said tensioning arm 19 and drive it.

[0055] Each tensioner block 31 further comprises a radial portion 35, projecting from the central portion 33 of said tensioner block 31.

[0056] Each tensioning arm 19 comprises a flexible body 37 connecting the radial parts 35 of the tensioning blocks 31 together. Here, the flexible body 37 is of elongated and substantially rectangular shape.

[0057] Each tensioning arm 19 further comprises pairs of legs 41, supported by the flexible body 37. Here, the legs 41 of the same pair are arranged at regular intervals along the flexible body 37. Here, the legs 41 are fixed to the flexible body 37 rigidly and substantially perpendicularly thereto. Here, each flexible body 37 supports eleven pairs of legs 4L

[0058] Each leg 41 carries a pair of rollers 43, at a distance from the flexible body 37. On each tensioner arm 19, the pairs of rollers 43 participate in the alignment of the belt 17 arranged around said tensioner arm 19 and keep said belt 17 substantially parallel to said tensioner arm 19. Here, on each tensioner arm 19, the rollers 43 of the same pair are arranged on either side of the internal flat strip 25 of the belt 17 positioned around said tensioner arm 19 and serve as a guide for said internal flat strip 25.

[0059] The deformable conveying structure 13 comprises a first actuator (not shown), capable of moving and deforming said deformable conveying structure 13. Here, the first actuator translates the tensioning blocks 31 arranged at the first handling end 9 along respective slides (not shown). Alternatively, the first actuator may only be connected to one of said tensioning blocks 31. Here, the slides extend in a direction generally parallel to the first conveying direction.

[0060] The first actuator can cause said tensioning blocks 31 to perform the same translational movement. In this case, the deformable robot 1 moves in the direction generally parallel to the first conveying direction.

[0061] The first actuator can cause one of said tensioning blocks 31 to perform a relative translational movement with respect to the other of said tensioning blocks 31, in the direction generally parallel to the first conveying direction. In this case, the tensioning arms 19 flex, because they are held by the crosspieces at a substantially constant spacing distance from each other. The deformable conveying structure 13 deforms, here in a plane substantially parallel to the first conveying plane. The second handling end 11 moves within the placement zone 5 accordingly.

[0062] The first handling end 9 may comprise a second actuator, called the first gripping actuator. Said first gripping actuator modifies an opening angle of the first handling end 9 so as to pick up an object 7 with precision.

[0063] The second handling end 11 may comprise, as here, a third actuator, called the second gripping actuator. Said second gripping actuator modifies an opening angle of the second handling end 11 so as to release an object 7 with precision. Here, when an object 7 conveyed by the deformable conveying structure 13 reaches the second handling end 11, the second gripping actuator separates, at said second handling end 11, the tensioning blocks 31 from each other.

[0064] The deformable conveying structure 13 may comprise, as here, a motorized stop 45. Here, the motorized stop 45 connects the tensioning arms 19 together from below, close to the second handling end 11. Here, the motorized stop 45 extends along a stop axis and has a generally cylindrical shape. The motorized stop 45 rotates on itself around its stop axis. Here, when an object 7 conveyed in the deformable channel 15 comes into contact with the motorized stop 45, the rotation of the latter around its stop axis modifies the orientation of said object 7.

[0065] Reference is made to Figure 3.

[0066] This figure shows a three-quarter view of an embodiment of the deformable robot 1 of the device of figures 1 and 2, in the absence of belts. The parts of the deformable robot 1 in accordance with what was previously described for figures 1 and 2 are not described again.

[0067] In this embodiment, the crosspiece 21 connecting the tensioning arms 19 to each other bypasses the conduit formed by the deformable channel 15 from above. Here, the crosspiece 21 connects the radial parts 35 of the tensioning blocks 31 arranged at the second handling end 11.

[0068] Each of the tensioner blocks 31 arranged at the first handling end 9 has a projecting portion 87, here extending substantially perpendicularly relative to its radial portion 35. The projecting portions 87 move away from said tensioner blocks 31 so as to clear a space for the passage of the belts. The projecting portions 87 move away from the conduit formed by the deformable channel 15. The motors 47 transmitting a rotational movement to the belts 17 are fixed above the tensioner blocks 31 arranged at the first handling end 9. Each motor 47 is positioned astride the central portion 33 and the projecting portion 87 of the associated tensioner block 31.

[0069] The slides 49 are positioned on either side of the deformable robot 1, close to the first handling end 9. The first actuator is connected to the slides 49 via rack mechanisms. Each slide 49 comprises two rails, along which slide linear translation guides fixed to the projecting part 87 of one of the tensioning blocks 31 arranged at the first handling end 9.

[0070] In this embodiment, the tensioning arms 19 are further connected to each other by an articulated arch 51, here substantially halfway along the deformable channel 15. Here, the articulated arch 51 bypasses the conduit formed by the deformable channel 15 from above. The articulated arch 51 participates in maintaining the tensioning arms 19 at a substantially constant spacing distance from each other during the deformation of the deformable conveying structure 13.

[0071] Here, the first handling end 9 and the second handling end 11 are devoid of gripping actuators. Here, the deformable conveying structure 13 is devoid of a motorized stop.

[0072] Reference is made to Figure 4.

[0073] This figure shows a picking and placing device according to a second embodiment, in top view. Elements functionally similar to those shown in the first embodiment bear identical reference numbers increased by one hundred.

[0074] In this second embodiment, the deformable robot 101 is substantially similar to that described in the first embodiment, except that the deformable conveying structure 113 of said deformable robot 101 deforms so as to move the first handling end 109 within the picking zone 103, and not so as to move the second handling end 111 within the placement zone 105.

[0075] Here, the picking area 103 is a first belt conveyor and the placement area 105 is a second belt conveyor. The first belt conveyor and the second belt conveyor are arranged according to a first conveying plane and a second conveying plane, respectively. Here, for the sake of simplicity of explanation, the first conveying plane and the second conveying plane are substantially horizontal, but the first conveying plane and the second conveying plane could be inclined. The first belt conveyor and the second belt conveyor extend according to a first conveying direction and a second conveying direction, respectively. The first conveying direction and the second conveying direction together form an angle, here of substantially 90°. Here, the first belt conveyor is located below the second belt conveyor.Here, the deformable robot 101 is attached, at its second handling end 111, to the structure of the second belt conveyor. Here, the flexible bodies 137 of the tensioning arms 119 are pre-curved, so that the deformable robot 101 is placed, at its first handling end 109, on the first belt conveyor.

[0076] In this second embodiment, the crosspieces (not shown) are positioned near the first handling end 109. The first actuator actuates the tensioning blocks 131 arranged at the second handling end 111. Alternatively, the first actuator can actuate only one of said tensioning blocks 131. Here, the simultaneous sliding of said tensioning blocks 131 causes the deformable robot 101 to move in a direction generally parallel to the second conveying direction. Here, the relative sliding of one of said tensioning blocks 131 relative to the other of said tensioning blocks 131 in the direction generally parallel to the second conveying direction causes the first handling end 109 to move within the picking zone 103.Here, the first gripping actuator of the first handling end 109 modifies the opening angle of said first handling end 109 so as to pick up an object 107 with precision.

[0077] Here, the second handling end 111 is devoid of a gripping actuator. Here, the motorized stop 145 is positioned near the first handling end 109.

[0078] Reference is made to Figure 5.

[0079] This figure shows a situation of the device in Figure 1 and the device in Figure 4 working together, in a three-quarter view.

[0080] To simplify the description of this situation, the deformable robot 101 of the second embodiment is subsequently called the first deformable robot 101, and the deformable robot 1 of the first embodiment is called the second deformable robot 1.

[0081] The first deformable robot 101 and the second deformable robot 1 are positioned, respectively, between a first belt conveyor and a second belt conveyor, and between the second belt conveyor and a third belt conveyor. Here, the third belt conveyor transports packaging trays. The first belt conveyor, the second belt conveyor, and the third belt conveyor are arranged according to a first conveying plane, a second conveying plane, and a third conveying plane, respectively. Here, for the sake of simplicity of explanation, the first conveying plane, the second conveying plane, and the third conveying plane are substantially horizontal, but the first conveying plane, the second conveying plane, and the third conveying plane could be inclined.The first belt conveyor, the second belt conveyor, and the third belt conveyor extend in a first conveying direction, a second conveying direction, and a third conveying direction, respectively. The first conveying direction and the second conveying direction together form an angle, here of substantially 90°. The second conveying direction and the third conveying direction together form an angle, here of substantially 90°. Here, the first conveying direction and the third conveying direction are substantially parallel. Here, the first belt conveyor and the third belt conveyor are located below the second belt conveyor. Here, the first deformable robot 101 and the second deformable robot 1 are each attached to one of the ends of the structure of the second belt conveyor.The first deformable robot 101 is placed on the first belt conveyor at its first handling end 109. The first deformable robot 101 is attached to the second belt conveyor at its second handling end 111. The second deformable robot 1 is attached to the second belt conveyor at its first handling end 9. The second deformable robot 1 overhangs the third belt conveyor at its second handling end 11.

[0082] The first handling end 109 of the first deformable robot 101 is able to be moved into the picking zone 103 thereof. The second handling end 11 of the second deformable robot 1 is able to be moved into the placement zone 5 thereof.

[0083] In this scenario, the first deformable robot 101 picks up an object at its first handling end 109 in its picking zone 103, here the first belt conveyor, with precision. The first deformable robot 101 conveys the object to its second handling end 111. The first deformable robot 101 then places the object in its placement zone 105, here one end of the second belt conveyor. The object is transported by the second belt conveyor to its other end, which forms the picking zone 3 of the second deformable robot 1. The second deformable robot 1 then picks up the object at its first handling end 9 and conveys it to its second handling end 11. The second deformable robot 1 finally places the object in its placement zone 5, here a packaging tray transported by the third belt conveyor, with precision.

[0084] This scenario allows objects to be transported from one production line, here the first conveyor belt, to another production line, here the third conveyor belt, quickly, precisely and safely. Refer to Figure 6.

[0085] This figure is a three-quarter view of a picking and placing device according to a third embodiment of the invention, in an object rotation operation.

[0086] Elements functionally similar to those presented in the first embodiment bear identical reference numbers increased by two hundreds.

[0087] In this third embodiment, the deformable robot 201 is substantially similar to that described in the first embodiment, except that the deformable conveying structure 213 of said deformable robot 201 is devoid of a motorized stop and has models of belts 217 and flexible bodies 237 of tensioning arms 219 substantially different from those described in the first embodiment.

[0088] For simplicity, the radial portions of the tensioner blocks 231 are not shown.

[0089] In this third embodiment, each belt 217 has a single strand, which comprises a flat strip 289 and a set of cushions 291 fixed to said flat strip 289.

[0090] The flat strips 289 are substantially similar to the internal flat strips of the belts described in the first embodiment. The flat strips 289 are endless. The flat strips 289 are in contact with the tensioning arms 219. Here, on each tensioning arm 219, the rollers 243 of the same pair are arranged on either side of the flat strip 289 of the belt 217 positioned around said tensioning arm 219 and serve as a guide for said flat strip 289. Here, the flat strips 289 are made of rubber or another flexible polymer, possibly reinforced with textile fibers.

[0091] The cushions 291 are in contact with the objects 207 to be moved. Here, each cushion 291 supports a platform, by means of which said cushion 291 is in contact with the objects 207 to be moved. Here, said platforms have a generally rectangular shape. On each flat strip 289, the cushions 291 are arranged so that the platforms of said cushions 291 are contiguous. Here, each cushion 291 has a general shape of a truncated pyramid with a rectangular base, which widens from the end of said cushion 291 fixed on one of the flat strips 289 towards the platform supported by said cushion 291. The cushions 291 are made of a flexible polymer material, for example silicone or flexible plastic.

[0092] The model of the cushions 291 is described above as an example. Other models of cushions are possible, which for example have a geometry specifically adapted to a type of objects of homogeneous shape, transported in an industrial context.

[0093] The cushions 291 deform in a manner substantially similar to that described for the hollow cells delimited by the belts in the first embodiment. When an object 207 is picked up at the first handling end 209, said object 207 comes into contact with the cushions 291 of the belts 217. On each belt 217, the cushions 291 located in the vicinity of the object 207 deform, elastically, in a direction transverse to the local driving direction of the belt 217. This deformation of the cushions 291 ensures that the object 207 is held between the belts 217 while distributing the contact forces on the object 207. The cushions 291 resume their shape once the object 207 has reached the second handling end 211.

[0094] The flexible bodies 237 of the tensioning arms 219 differ from what is described in the first embodiment in that said flexible bodies 237 have a serration, here forming nine teeth. Each tooth supports one of the pairs of legs 241.

[0095] The deformable robot 201 modifies the orientation of the objects 207 conveyed between the first handling end 209 and the second handling end 211. Here, the objects 207 undergo a rotation relative to the deformable robot 201. Here, this rotation takes place around an axis perpendicular to the local drive directions of the belts 217, as represented by first arrows 297. In the illustrated rotation operation, the rotation of the objects 207 results from a modification of the drive speed of the belts 217. The drive movement of the belts 217 is represented by second arrows 293 and third arrows 295. The second arrows 293 and the third arrows 295 are of different lengths, which means that the drive speeds of the belts 217 are different.Here, the driving speed of the belt 217 associated with the third arrows 295 is lower than that of the belt 217 associated with the second arrows 293. The second arrows 293 and the third arrows 295 are in the same direction, which means that the driving directions of the belts 217 are the same. Here, at the level of the conduit formed by the deformable channel 215 for the objects 207, the driving direction of the belts 217 is oriented from the first handling end 209 to the second handling end 211. During this rotation operation, the objects 207 conveyed in the deformable channel 215 continue to advance from the first handling end 209 to the second handling end 211. The objects 207 rotate on themselves, at an angular speed which depends on the difference between the driving speeds of the belts 217.This rotation operation is particularly suitable for making objects 207 perform a fine rotational movement.

[0096] Alternatively, the rotation of the objects 207 may result from a modification of the driving direction of the belts 217. In this alternating rotation operation (not shown), the driving directions of the belts 217 are opposite to each other. The objects 207 conveyed in the deformable channel 215 stop advancing towards the second handling end 211. The objects 207 rotate on themselves, at an angular speed which depends on the driving speeds of each of the belts 217. This alternating rotation operation is particularly suitable for making the objects 207 perform a broad rotational movement.

[0097] Reference is made to Figure 7.

[0098] This figure is a three-quarter view of a picking and placing device according to a fourth embodiment of the invention, in an object rotation operation. Elements functionally similar to those shown in the third embodiment bear identical reference numbers.

[0099] In this fourth embodiment, the deformable robot 201 is substantially similar to that described in the third embodiment, except that the deformable conveying structure 213 of said deformable robot 201 is provided with the motorized stop 245.

[0100] In this fourth embodiment, the motorized stop 245 is substantially similar to that described in the first embodiment. Here, the motorized stop 245 connects the flexible bodies 237 of the tensioning arms 219 together from below, near the second handling end 211. The motorized stop 245 rotates around its stop axis, relative to the deformable robot 201. Here, this rotation is counterclockwise, as represented by a fourth arrow 246. When an object 207 conveyed in the deformable channel 215 comes into contact with the motorized stop 245, the rotation of the latter around the stop axis modifies the orientation of said object 207.

[0101] Here, said object 207 undergoes a rotation around an axis parallel to the stop axis, as represented by a fifth arrow 299, relative to the deformable robot 201.

[0102] Reference is made to Figures 8 and 9.

[0103] These figures show a picking and placing device according to a fifth embodiment of the invention, in three-quarter view, in two different positions.

[0104] Elements functionally similar to those shown in the third embodiment have identical reference numbers.

[0105] In this fifth embodiment, the deformable conveying structure 213 is substantially similar to that of the third embodiment, except that said deformable conveying structure 213 is capable of deforming in a direction transverse to the deformable robot 201, here a vertical direction. Here, the serration on the flexible bodies 237 of the tensioning arms 219 allows a bending movement of the deformable robot 201 in the vertical direction.

[0106] Each tensioning block 231 near the first handling end 209 is capped with a post 253. On each tensioning block 231, the post 253 rises from the central portion 233 of said tensioning block 231, here from the center thereof. Here, the posts 253 extend in the vertical direction, generally parallel to each other.

[0107] The deformable conveyor structure 213 comprises two cables 257. The cables 257 extend along the tensioning arms 219, here above said tensioning arms 219. Here, each of the cables 257 connects the end of one of the posts 253 to one side of the crosspiece 221.

[0108] The deformable conveying structure 213 comprises a fourth actuator, arranged to deform said deformable conveying structure 213 in the vertical direction. The fourth actuator is connected to the cables 257. The fourth actuator deforms the deformable conveying structure 213 by varying the tension of the cables 257. The amplitude of the resulting deformation depends on the amplitude of the variation in the tension of the cables 257. Here, this deformation causes a displacement of the second handling end 211 within the placement zone, in the vertical direction.

[0109] In the position of Figure 8, the fourth actuator pulls slightly on the cables 257, so as to substantially maintain the deformable robot 201 in a plane, here a horizontal plane. The deformable conveying structure 213 is not deformed in the vertical direction.

[0110] In the position of Figure 9, the fourth actuator pulls strongly on the cables 257, as represented by sixth arrows 255. The deformable conveying structure 213 is deformed in the vertical direction at its second handling end 211. The second handling end 211 is moved accordingly, here substantially towards the top of the figure. Reference is made to Figure 10.

[0111] This figure is a three-quarter view of a picking and placing device according to a sixth embodiment of the invention.

[0112] Elements functionally similar to those shown in the third embodiment have identical reference numbers.

[0113] In this sixth embodiment, the deformable robot 201 is substantially similar to that described in the fifth embodiment, except that the device further comprises a robot arm 258, capable of deforming the deformable conveying structure 213 in three non-coplanar directions of space. The deformation of the deformable conveying structure 213 is no longer obtained by actuators connected to slides or cables.

[0114] In this sixth embodiment, the deformable conveying structure 213 is devoid of the first actuator and the fourth actuator described previously.

[0115] The robot arm 258 is itself known in the state of the art.

[0116] Here, the robot arm 258 is connected to the deformable robot 201 near the second manipulation end 211. Here, the robot arm 258 is connected to the crossbar 221. Here, the robot arm 258 moves the second manipulation end 211 in the three spatial directions, within the placement area.

[0117] This embodiment of the device has the advantage of improving the precision of the movements of the second manipulation end 211 of the deformable robot 201 in the three directions of space.

[0118] Reference is made to Figures 11, 12 and 13. These figures show a picking and placing device according to a seventh embodiment of the invention, in front view and in side view, in two different positions.

[0119] Elements functionally similar to those presented in the first embodiment bear identical reference numbers increased by three hundreds.

[0120] For the sake of simplicity, the deformable conveyor structure 313 of the deformable robot 301 is shown schematically in Figures 12 and 13, without tensioning blocks and crosspieces, in particular.

[0121] In this seventh embodiment, the deformable conveying structure 313 is substantially similar to that described in the first embodiment, except that the deformable channel 315 is formed by three tensioning arms 319, here arranged at 120° relative to each other, and that said deformable conveying structure 313 comprises three belts 317, each arranged around one of the tensioning arms 319. When an object is picked up at the first handling end 309, the belts 317 enclose this object together and drive it from the first handling end 309 to the second handling end 311.

[0122] One or more crosspieces 321 connect the three tensioning arms 319 together in pairs. The crosspieces 321 pass outside the conduit formed by the deformable channel 315. The crosspieces 321 maintain the tensioning arms 319 at a substantially constant spacing distance from each other. Here, the deformable conveying structure 313 comprises three crosspieces 321 connecting the radial portions of the tensioning blocks 331 of the tensioning arms 319 together, in pairs, near the second handling end 311.

[0123] The first actuator deforms the deformable conveying structure 313 in a substantially similar manner to that described in the first embodiment, except that the relative translational movement of one of the tensioning blocks 331 relative to the others of the tensioning blocks 331 causes the deformable conveying structure 313 to deform in three non-coplanar directions of space. Here, this deformation causes the second manipulation end 311 to move within the placement area, in all three directions of space.

[0124] In Figure 12, the first actuator is inactive. The deformable robot 301 is not deformed.

[0125] In Figure 13, the first actuator moves, at the first handling end 309, the tensioning block of the tensioning arm 319 shown at the bottom, to the right, relative to the tensioning blocks of the other two tensioning arms 319. The second handling end 311 is moved accordingly, here substantially towards the top of the figure. The deformable conveying structure 313 is deformed.

[0126] This embodiment of the device has the advantage of improving the grip of the deformable conveying structure on the objects to be conveyed. It also makes it possible to rotate these objects uniformly, by varying the drive speeds of the belts differentially, as described above concerning the device of Figure 6.

[0127] Of course, the first embodiment with two tensioning arms and two belts as illustrated for example in relation to figures 1 and 2, and the seventh embodiment with three tensioning arms and three belts as illustrated in relation to figures 11, 12 and 13 are given purely for illustrative and non-limiting purposes: according to the same principle of deformable conveying structure, in a more generally defined embodiment, the deformable channel is formed by a plurality (two, three, or more) of tensioning arms comprising a flexible and supple body, and the deformable conveying structure comprises a plurality of belts, each arranged around one of the tensioning arms. According to a particular characteristic of such an embodiment, the deformable conveying structure then generally comprises as many tensioning arms as belts, each tensioning arm acting as a structure carrying a belt.

[0128] In another alternative embodiment not shown, the tensioning arms comprising a soft and flexible body are placed outside the belts and are connected to each other by a deformable tubular structure (made for example of flexible plastic), also placed outside the belts. These belts are then carried by support means (e.g. pulleys) secured to the inner surface of the tubular structure. As previously, the tensioning arms tension the belts through the tubular structure, and also transmit the deformation of the structure to the belts. These tensioning arms can be controlled to ensure a desired deformation of the tubular structure (i.e. of the deformable channel), and, by incidence, a similar deformation of the belts inside said tubular structure. In such an embodiment, there are therefore not necessarily as many tensioning arms as belts.

[0129] Reference is made to Figure 14.

[0130] This figure shows a situation of a picking and placing device according to an eighth embodiment of the invention, in three-quarter view.

[0131] Elements functionally similar to those shown in the first embodiment bear identical reference numbers increased by four hundreds.

[0132] In this eighth embodiment, the deformable conveying structure 413 comprises a peristaltic movement structure connected to the deformable channel 415. Here, the peristaltic movement structure is arranged so as to convey objects 407 picked up at the first handling end 409 to the second handling end 411, as represented by a seventh arrow 485.

[0133] Here, the picking area 403 is a bin. Here, the placement area 405 is a plate chain conveyor. Here, for the sake of simplicity of explanation, the plate chain conveyor is shown horizontally, but said plate chain conveyor can be inclined. Here, the plate chain conveyor is positioned above the bin.

[0134] The picking and placing device comprises a base 461, supporting the deformable robot 401. Here, the base 461 is generally parallelepipedal in shape. Here, the base 461 is positioned between the picking zone 403 and the placing zone 405. The deformable conveying structure 413 comprises a column 463, supporting the deformable channel 415. The column 463 extends along an axis, here a vertical axis. Here, the column 463 is supported by the base 461.

[0135] The deformable channel 415 comprises a sleeve 465, fitted onto the column 463. Here, the sleeve 465 is arranged so as to be able to rotate around the axis of the column 463 relative to the base 461. Here, the sleeve 465 is of generally cylindrical shape. Here, the sleeve 465 is hollow.

[0136] The deformable channel 415 further comprises a first deformable arm 467 and a second deformable arm 469, connected by the sleeve 465. The first deformable arm 467 has at its end opposite the sleeve 465 the first handling end 409. The second deformable arm 469 has at its end opposite the sleeve 465 the second handling end 411. The first deformable arm 467 deforms so as to move the first handling end 409 within the sampling zone 403, as represented by an eighth arrow 481. The second deformable arm 469 deforms so as to move the second handling end 411 within the placement zone 405, as represented by a ninth arrow 483.

[0137] The first deformable arm 467 and the second deformable arm 469 are generally elongated in shape. Here, the first deformable arm 467 and the second deformable arm 469 each have a set of tubular portions 471, connected one after the other. Here, the first deformable arm 467 and the second deformable arm 469 each have eleven tubular portions 471.

[0138] The peristaltic movement structure is housed in the deformable channel 415. The peristaltic movement structure connects the first manipulation end 409 to the second manipulation end 411. The peristaltic movement structure is housed inside the first deformable arm 467, the sleeve 465 and the second deformable arm 469. The use, in the deformable conveying structure 413, of a flexible structure, such as the peristaltic movement structure, allows the deformable robot 401 to manipulate fragile or variable-sized objects 407.

[0139] The peristaltic movement structure comprises peristaltic rings 473 positioned one after the other.

[0140] Reference is made to Figures 15 to 17.

[0141] These figures show the peristaltic movement structure 459 of the device of figure 14 in different successive stages of conveying an object 407, in close-up and side view.

[0142] Each peristaltic ring 473 has a row of inflatable actuators 475. Each inflatable actuator 475 has a set of silicone cavities 477. When said inflatable actuator 475 inflates, said silicone cavities 477 unfold by filling with air. When said inflatable actuator 475 deflates, said silicone cavities 477 collapse by expelling the air. Here, each inflatable actuator 475 has five silicone cavities 477. Here, the silicone cavities 477 are generally saucer-shaped.

[0143] The deformable conveying structure further comprises an internal conduit 479 supported by the inflatable actuators 475. The internal conduit 479 forms a conduit for the objects 407. The inflatable actuators 475 modify the section of the internal conduit 479 by inflating one after the other, as shown in Figures 15 to 17 for example. This deformation of the internal conduit 479 exerts a constriction on the object 407 to be conveyed, so as to advance said object 407 in the internal conduit 479 by a peristaltic movement. Here, Figures 15 to 17 show a progression of the object 407 from right to left. The invention is not limited to the embodiments described above, but encompasses all the variants conceivable by those skilled in the art. In particular:

[0144] - the deformable conveying structure 413 of the deformable robot 401 described in the eighth embodiment may comprise, instead of the peristaltic movement structure 459, a suction system and a blower system connected to the deformable channel 415, housed in the first deformable arm 467 and the second deformable arm 469, respectively;

[0145] - the deformable conveying structure 413 of the deformable robot 401 described in the eighth embodiment may comprise, instead of the peristaltic movement structure 459, a cilia mechanism moving by coordinated beating an object 407 in the deformable channel 415.

Claims

Demands 1. Picking and placement device, characterized in that it comprises a deformable robot (1, 101, 201, 301, 401) arranged to be positioned near a picking zone (3, 103, 403) and a placement zone (5, 105, 405), the deformable robot (1, 101, 201, 301, 401) comprising: - a first manipulation end (9, 109, 209, 309, 409), at which the deformable robot (1, 101, 201, 301, 401) picks up an object (7, 107, 207, 407) in the picking zone (3, 103, 403), - a second manipulation end (11, 111, 211, 311, 411), at which the deformable robot (1, 101, 201, 301, 401) places an object (7, 107, 207, 407) in the placement zone (5, 105, 405), the first manipulation end (9, 109, 209, 309, 409) being able to be moved into the picking zone (3, 103, 403), or the second manipulation end (11, 111, 211, 311, 411) being able to be moved into the placement zone (5, 105, 405), - a deformable conveying structure (13, 113, 213, 313, 413) connecting the first handling end (9, 109, 209, 309, 409) and the second handling end (11, 111, 211, 311, 411) so as to convey an object (7, 107, 207, 407) picked up by the first handling end (9, 109, 209, 309, 409) to the second handling end (11, 111, 211, 311, 411).

2. Picking and placement device according to claim 1, wherein the deformable conveying structure (13, 113, 213, 313, 413) comprises a deformable channel (15, 115, 215, 315, 415).

3. Picking and placement device according to claim 2, wherein the deformable channel (15, 115, 215) comprises a pair of tension arms (19, 119, 219) maintained at a substantially constant distance from each other, and wherein the deformable conveying structure (13, 113, 213) comprises a pair of belts (17, 117, 217), each disposed on one of the tension arms (19, 119, 219), these belts (17, 117, 217) being capable of gripping an object (7, 107, 207) and carrying it from the first manipulation end (9, 109, 209) to the second manipulation end (11, 111, 211).

4. Picking and placement device according to claim 3, wherein the deformable conveying structure (213) comprises cables (257), positioned along tensioning arms (219), and an actuator connected to said cables (257) and arranged to deform the deformable conveying structure (213) by varying the tension of the latter.

5. Picking and placing device according to claim 2, wherein the deformable channel (315) comprises three tension arms (319), connected to each other near the first handling end (309) or the second handling end (311), and wherein the deformable conveying structure (313) comprises three belts (317), each disposed on a respective tension arm (319), these belts (317) being capable of clamping an object together and carrying it from the first handling end (309) to the second handling end (311).

6. Picking and placement device according to any one of claims 3 to 5, further comprising a slide (49) and wherein the deformable conveying structure (13, 113, 213, 313) comprises an actuator (47) connected to said slide (49) and arranged to deform the deformable conveying structure (13, 113, 213, 313) by translating one of the tension arms (19, 119, 219, 319) along the slide (49).

7. Picking and placement device according to any one of claims 3 to 6, capable of changing the orientation of an object (7, 107, 207) conveyed in the deformable channel (15, 115, 215, 315).

8. Picking and placement device according to claim 3 to 7, wherein at least one belt (17, 117, 217, 317) is deformable in a direction transverse to the local drive direction of said belt (17, 117, 217, 317).

9. Picking and placement device according to claim 2, wherein the deformable conveying structure (413) comprises a peristaltic motion structure (459) connected to the deformable channel (415).

10. Picking and placement device according to claim 9, wherein the peristaltic motion structure (459) comprises peristaltic rings (473), each peristaltic ring (473) having a row of inflatable actuators (475).

11. Picking and placement device according to any one of the preceding claims, wherein the first handling end (9, 109, 209, 309, 409) or the second handling end (11, 111, 211, 311, 411) has a flared shape.

12. Picking and placement device according to any one of the preceding claims, wherein the first handling end (9, 109, 209, 309, 409) or the second handling end (11, 111, 211, 311, 411) has a gripping actuator.

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