Deformable conveyor

Abstract

A pick-and-place device including a deformable robot (1, 101, 201, 301, 401) designed to be arranged in proximity to a picking area (3, 103, 403) and a placement area (5, 105, 405). The deformable robot (1, 101, 201, 301, 401) has a picking area (3, 103, 403) and a second handling end (11, 111, 211, 311, 411) where 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 movable within the picking area (3, 103, 403), or the second handling end (11, 111, 211, 311, 411) is movable within the placement area (5, 105, 405). The deformable robot (1, 101, 201, 301, 401) connects the first handling end (9, 109, 209, 309, 409) and the second handling end (11, 111, 211, 311, 411), and is configured to convey the 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

Detailed Description of the Invention

[0001] The present invention relates to the field of robotic equipment for moving objects.

[0002] Typically, such robotic equipment picks up an object in a picking area, such as a first production line or a storage area, and places this object in a placement area, such as a second production line or a cardboard box.

[0003] A first type of robotic equipment is known, and these are called "pick-and-place robots". Generally, pick-and-place robots have a single rigid multi-joint arm with a gripping member at its tip. Usually, in this first type of robotic equipment, when the gripping member grips an object in the picking area, the multi-joint arm performs rotational and / or translational movements, and this gripping member reaches the placement area and places the object. Pick-and-place robots are not necessarily suitable for handling objects that are fragile or have varying dimensions, such as those found particularly in the agro-food industry. Furthermore, the use of these robots requires a restricted arrangement of the working space because their high-speed operation is dangerous to human safety.

[0004] As a second type of robotic equipment, those called "cobots" or "collaborative robots" are known. Collaborative robots are equipped with devices such as presence detection devices and can collaborate with a human operator or operate near a human. However, when these devices are operated, the operation becomes quite slow. Therefore, collaborative robots are not very suitable for the high cycle speeds required in some industries such as the agro-food industry. Furthermore, these robots are not necessarily suitable for handling objects that are fragile or have varying dimensions.

[0005] It is desirable to design robotic equipment for moving objects that can handle objects that are fragile or have varying dimensions, while simultaneously ensuring safety and achieving a high production rate.

[0006] The present invention improves such a situation. For this purpose, a pick-and-place device is provided, which includes a deformable robot designed to be disposed close to a picking area and a placement area. The deformable robot includes a first handling end for the deformable robot to pick up an object in the picking area and a second handling end for the deformable robot to place the object in the placement area. The first handling end is movable within the picking area, or the second handling end is movable within the placement area. The deformable robot further includes a deformable transport structure that connects the first handling end and the second handling end so as to transport the object picked up by the first handling end to the second handling end.

[0007] Thus, by disposing a deformable transport structure between the first handling end and the second handling end, a high operating speed can be maintained without requiring rapid and dangerous operations.

[0008] This device is particularly advantageous because it can be made of a flexible structure such as a belt or a peristaltic motion structure, enabling the handling of objects that are easily damaged or have changing dimensions.

[0009] According to various embodiments, the present invention can have one or more of the following features.

[0010] - The deformable transport structure includes a deformable channel.

[0011] - The deformable channel includes a pair of tension arms held at a substantially constant distance from each other, and the deformable transport structure includes a pair of belts each disposed on one of the tension arms, and these belts can sandwich an object therebetween and drive the latter from the first handling end to the second handling end.

[0012] - The deformable conveying structure includes a cable disposed along the tension arm and an actuator connected to the cable and designed to deform the deformable conveying structure by changing these tensions.

[0013] - The deformable flow path includes a plurality of tension arms (e.g., three) connected to each other in proximity to the first handling end or the second handling end. The deformable conveying structure includes a plurality of belts (e.g., three) each disposed on a respective tension arm. These belts can sandwich an object and drive the latter from the first handling end to the second handling end.

[0014] - The pick-and-place device includes a slide. The deformable conveying structure includes an actuator connected to the slide and designed to deform the deformable conveying structure by translating one of the tension arms along the slide.

[0015] - The pick-and-place device can change the orientation of an object conveyed within the deformable channel.

[0016] - At least one belt is deformable in a direction perpendicular to the local driving direction of the belt.

[0017] - The deformable conveying structure includes a peristaltic motion structure connected to the deformable flow path.

[0018] - The peristaltic motion structure includes a peristaltic ring, and each peristaltic ring has a row of expandable actuators.

[0019] - The first handling end or the second handling end has a flare shape.

[0020] - The first handling end or the second handling end has a gripping actuator.

[0021] Other features and advantages of the present invention will be better understood from the following description taken in conjunction with the embodiments and drawings given by way of illustration and not limitation.

[0022] - Figure 1 is a top view of a pick-and-place device according to a first embodiment of the present invention, which performs a conveying operation of an object.

[0023] - Figure 2 shows a three-quarter view of the result of the conveying operation of Figure 1.

[0024] - Figure 3 is a three-quarter view of an embodiment of a deformable robot of the device of Figures 1 and 2 without a belt.

[0025] - Figure 4 is a top view of a pick-and-place device according to a second embodiment of the present invention.

[0026] - Figure 5 is a three-quarter view of a scenario in which the devices of Figures 1 and 4 operate together.

[0027] - Figure 6 is a three-quarter view of a pick-and-place device according to a third embodiment of the present invention during an object rotation operation.

[0028] - Figure 7 is a three-quarter view of a pick-and-place device according to a fourth embodiment of the present invention during an object rotation operation.

[0029] - Figure 8 is a three-quarter view showing a first position of a pick-and-place device according to a fifth embodiment.

[0030] - Figure 9 is similar to Figure 8, and the device is in a second position.

[0031] - Figure 10 shows a pick-and-place device according to a sixth embodiment in a three-quarter view.

[0032] - Figure 11 is a front view of a pick-and-place 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 the same as Figure 12, and the device is in the second position.

[0035] - Figure 14 is a three-quarter view of the pick-and-place device according to the eighth embodiment of the present invention.

[0036] - Figure 15 shows an enlarged side view of the peristaltic movement structure of the device of Figure 14 in the first object transfer step.

[0037] - Figure 16 shows the peristaltic movement structure of Figure 15 in the second object transfer step.

[0038] - Figure 17 shows the peristaltic movement structure of Figure 15 in the third object transfer step.

[0039] The drawings and the following description include elements having essentially specific properties. Therefore, these are used not only to better understand the present invention but also, where appropriate, can contribute to its definition.

[0040] Please refer to Figures 1 and 2.

[0041] Figure 1 is a top view of the pick-and-place device according to the first embodiment of the present invention, which performs an object transfer operation. Figure 2 is a three-quarter view showing the result of the object transfer operation of Figure 1.

[0042] This pick-and-place device includes a deformable robot 1 arranged between a picking area 3, here a first conveyor belt, and an arrangement area 5, here a crate conveyed on a second conveyor belt. The first conveyor belt and the second conveyor belt are arranged according to a first conveying plane and a second conveying plane, respectively. In this case, for the sake of simplicity, the first conveying plane and the second conveying plane are substantially horizontal, but the first conveying plane and the second conveying plane may be inclined. The first conveyor belt and the second conveyor belt 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 substantially 90°. In this case, the second conveyor belt is located below the first conveyor belt. In this case, the deformable robot 1 is attached to the structure of the first conveyor belt and partially projects onto the second conveyor belt.

[0043] The deformable robot 1 moves an object 7, here an apple, from the picking area 3 to the arrangement area 5. In this case, the deformable robot 1 moves a plurality of apples simultaneously.

[0044] The deformable robot 1 includes a first handling end 9 and a second handling end 11 facing each other, and a deformable conveying structure 13 connecting the first handling end 9 and the second handling end 11. The deformable robot 1 picks up the object 7 in the picking area 3 at the first handling end 9. The deformable robot 1 places the object 7 in the arrangement area 5 at the second handling end 11. In this case, the first handling end 9 has a flare shape so as to gradually guide the object 7 from the picking area 3 towards the deformable conveying structure 13. In this case, the second handling end 11 has a flare shape and is adapted to gradually release the object 7 within the arrangement area 5.

[0045] The deformable conveying structure 13 deforms to convey the object 7 picked up by the first handling end 9 to the second handling end 11.

[0046] The arrangement of the deformable transfer structure 13 between the first handling end 9 and the second handling end 11 enables the deformable robot 1 to maintain a high cycle speed without requiring rapid and dangerous movements.

[0047] In this first embodiment, the deformable transfer structure 13 deforms to move the second handling end 11 within the arrangement area 5.

[0048] The deformable transfer 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. In this case, the deformable channel 15 extends from the first handling end 9 to the second handling end 11. The deformable channel 15 forms a pipe for the object 7.

[0049] In this first embodiment, the deformable transfer structure 13 includes a pair of belts 17, and the deformable channel 15 is formed by a pair of tension arms 19. Each belt 17 is disposed around one of the tension arms 19. The belts 17 transmit a translational movement to convey the object 7 along the deformable transfer structure 13. The belts 17 sandwich the object 7 therebetween to hold the object 7 within the deformable channel 15 while the object 7 is being conveyed along the deformable transfer structure 13. When the object 7 is picked up at the first handling end 9, the belts 17 sandwich the object 7 therebetween and drive it from the first handling end 9 to the second handling end 11.

[0050] In the deformable transfer structure 13, by using a flexible structure such as the belt 17, the deformable robot 1 can handle objects 7 that are fragile or have changing dimensions.

[0051] The deformable conveying structure 13 further includes one or more cross members (plural possible) (not shown) that connect the tension arms 19, here close to the second handling end 11. The cross members pass outside the pipes formed by the deformable channels 15. The cross members hold the tension arms 19 at a substantially constant distance from each other. The distance is determined according to the dimensions of the object 7 to be moved.

[0052] In each belt 17, driving the belt 17 on the corresponding tension arm 19 defines a local driving direction. One or each of the belts 17 may be deformable along a direction perpendicular to the local driving direction of the belt 17. This deformation of one or each of the belts 17 disperses the contact force on the held object 7. By this deformation of one or each of the belts 17, a fragile or dimensionally changing object 7 can be held between the belts 17. In this case, each belt 17 is deformable along a direction perpendicular to the local driving direction of the belt 17.

[0053] One or both of the belts 17 can have one or more strands. The strands may be made of the same material or different materials. In this case, each belt 17 consists of two strands. In this case, the two strands are flat strips 23, 25. In this case, the flat strips 23, 25 are made of a very soft material.

[0054] The flat strips 23, 25 are endless. The flat strips 23, 25 of the same belt 17 have different lengths. On each belt 17, the flat strips 23, 25 are arranged such that the longest one, the so-called outer flat strip 23, surrounds the shortest one, the so-called inner flat strip 25. The outer flat strip 23 is in contact with the object 7 to be moved. The inner flat strip 25 is in contact with the tension arm 19. In this case, the inner flat strip 25 is made of rubber and the outer flat strip 23 is made of elastomer.

[0055] In this case, each belt 17 further includes a set of fasteners 27 that connect the flat strips 23, 25. In this case, each belt 17 includes 40 fasteners 27. The fasteners 27 may be made of the same material as the flat strips 23, 25 or may be made of a different material from the latter. In this case, each fastener 27 has two parts having a generally rectangular shape, and these parts are arranged to form a "V" with each other when the deformable robot 1 is viewed from above. In this case, the fasteners 27 are arranged between the flat strips 23, 25, and all the "V"s are arranged in the same direction on the same belt 17.

[0056] The flat strips 23, 25 and the fasteners 27 together define a series of hollow cells 29. In this case, on each belt 17, two flat strips 23, 25 and 40 fasteners 27 define 40 hollow cells 29. The hollow cells 29 are deformable. In this case, the hollow cells 29 have a cylindrical shape with a hexagonal bottom. When the object 7 is picked up at the first handling end 9, the object 7 contacts the flat strip 23 outside the belt 17. On each belt 17, the hollow cells 29 arranged close to the object 7 elastically deform along a direction perpendicular to the local driving direction of the belt 17. Due to the deformation of the hollow cell 29, the object 7 can be reliably held between the belts 17 while dispersing the contact force applied to the object 7. The hollow cell 29 restores its shape when the object 7 reaches the second handling end 11.

[0057] In this specification, the model of the belt 17 is described as an example. Other models of the belt 17 are also possible.

[0058] Each tension arm 19 has tension blocks 31 at both ends thereof. Each of the tension blocks 31 includes a central portion 33, which has a substantially cylindrical shape here. Each central portion 33 of the tension block 31 has a pulley. In each tension arm 19, one of the belts 17 is stretched between the pulleys of the tension block 31 of the tension arm 19. In each tension arm 19, one or more motors (not shown) transmit a rotational motion to the belt 17 stretched between the pulleys of the tension block 31 of the tension arm 19 to drive the belt 17.

[0059] Each tension block 31 further includes a radial portion 35 protruding from the central portion 33 of the tension block 31.

[0060] Each tension arm 19 includes a flexible body 37 that connects the radial portions 35 of the tension block 31 to each other. In this case, the flexible body 37 has an elongated substantially rectangular shape.

[0061] Each tension arm 19 further includes a pair of feet 41 supported by the flexible body 37. In this case, the same pair of feet 41 are arranged at regular intervals along the flexible body 37. In this case, the feet 41 are rigidly and substantially perpendicularly fixed to the flexible body 37. In this case, each flexible body 37 supports 11 pairs of feet 41.

[0062] Each foot 41 carries a pair of rollers 43 at a distance from the flexible body 37. On each tension arm 19, the pair of rollers 43 contributes to the alignment of the belt 17 arranged around the tension arm 19 and holds the belt 17 substantially parallel to the tension arm 19. In this case, on each tension arm 19, the same pair of rollers 43 are arranged on both sides of the inner flat piece 25 of the belt 17 arranged around the tension arm 19 and function as a guide for the inner flat piece 25.

[0063] The deformable transport structure 13 includes a first actuator (not shown) that can move and deform the deformable transport structure 13. In this case, the first actuator translates a tension block 31 disposed at the first handling end 9 along respective slides (not shown). Alternatively, the first actuator may be connected to only one of the tension blocks 31. In this case, the slideway extends along a direction generally parallel to the first transport direction.

[0064] The first actuator can cause the tension block 31 to perform the same translational movement. In this case, the deformable robot 1 moves along a direction generally parallel to the first transport direction.

[0065] The first actuator can cause the tension block 31 to perform a relative translational movement with respect to the other of the tension blocks 31 along a direction generally parallel to the first transport direction on one of the tension blocks 31. In this case, the tension arm 19 bends because they are held at a substantially constant distance from each other by a cross member. The deformable transport structure 13 deforms here within a plane substantially parallel to the first transport plane. The second handling end 11 moves within the placement area 5 accordingly.

[0066] The first handling end 9 may include a second actuator, so-called first gripping actuator. The first gripping actuator changes the opening angle of the first handling end 9 so as to accurately pick up the object 7.

[0067] The second handling end 11 may include a third actuator, so-called second gripping actuator, as in this case. The second gripping actuator changes the opening angle of the second handling end 11 so as to accurately release the object 7. In this case, when the object 7 transported by the deformable transport structure 13 reaches the second handling end 11, the second gripping actuator separates the tension blocks 31 from each other at the second handling end 11.

[0068] The deformable transport structure 13 can be configured from the motor drive stop portion 45 as in this case. In this case, the motor drive stop portion 45 is connected to the tension arm 19 from below, close to the second handling end portion 11. In this case, the motor drive stop portion 45 extends along the stop axis and generally has a cylindrical shape. The motor drive stop portion 45 rotates itself about its stop axis. In this case, when the object 7 being transported within the deformable channel 15 contacts the motor drive stop portion 45, the rotation of the latter about the stop axis changes the orientation of the object 7.

[0069] Please refer to FIG. 3.

[0070] This figure is a three-quarter view of an embodiment of the deformable robot 1 of the apparatuses of FIGS. 1 and 2 without a belt. Parts of the deformable robot 1 that were previously described with respect to FIGS. 1 and 2 will not be described again.

[0071] In this embodiment, a cross member 21 that connects the tension arms 19 bypasses the pipe formed by the deformable channel 15 from above. In this case, the cross member 21 connects the radial portion 35 of the tension block 31 disposed at the second handling end portion 11.

[0072] Each of the tension blocks 31 disposed at the first handling end portion 9 has a protrusion 87 that extends substantially perpendicular to its radial portion 35. The protrusion 87 deviates from the tension block 31 so as to secure a passage space for the belt. The protrusion 87 extends away from the pipe formed by the deformable channel 15.

[0073] The motor 47 that transmits the rotational movement to the belt 17 is fixed above the tension block 31 disposed at the first handling end portion 9. Each motor 47 is disposed across the central portion 33 and the protrusion 87 of the associated tension block 31.

[0074] Slide 49 is disposed on both sides of the deformable robot 1, in the vicinity of the first handling end 9. The first actuator is connected to the slide 49 via a rack mechanism. Each slide 49 includes two rails, along which a linear movement guide fixed to one protrusion 87 of the tension block 31 disposed at the first handling end 9 slides.

[0075] In this embodiment, the tension arms 19 are also connected by the hinged arches 51, which here substantially penetrate half of the deformable channel 15. In this case, the hinged arches 51 surround the pipe formed by the deformable channel 15 from above. The hinged arches 51 contribute to holding the tension arms 19 at a substantially constant distance from each other during the deformation of the deformable transport structure 13.

[0076] In this case, the first handling end 9 and the second handling end 11 are deprived of the gripping actuator. In this case, the deformable transport structure 13 is deprived of the motor-driven stop.

[0077] Please refer to FIG. 4.

[0078] FIG. is a top view showing a pick-and-place device according to the second embodiment. Elements that are functionally similar to those described in the first embodiment are given the same reference numerals incremented by 100 each.

[0079] In this second embodiment, the deformable robot 101 is substantially the same as that described in the first embodiment, except that the deformable transport structure 113 of the deformable robot 101 deforms to move the first handling end 109 within the picking area 103 and does not deform to move the second handling end 111 within the placement area 105.

[0080] In this case, the picking area 103 is the first conveyor belt, and the placement area 105 is the second conveyor belt. The first conveyor belt and the second conveyor belt are arranged according to the first transport plane and the second transport plane, respectively. In this case, for the sake of simplicity, the first transport plane and the second transport plane are substantially horizontal. However, the first transport plane and the second transport plane may be inclined. The first conveyor belt and the second conveyor belt extend according to the first transport direction and the second transport direction, respectively. The first transport direction and the second transport direction together form an angle, which is substantially 90° here. In this case, the first conveyor belt is located below the second conveyor belt. In this case, the deformable robot 101 is attached to the structure of the second conveyor belt at its second handling end 111. In this case, the flexible part 137 of the tension arm 119 is pre-curved, and the deformable robot 101 is arranged on the first conveyor belt at its first handling end 109.

[0081] In this second embodiment, a cross member (not shown) is arranged close to the first handling end 109. The first actuator actuates the tension block 131 arranged at the second handling end 111. Alternatively, the first actuator can actuate only one of the tension blocks 131. In this case, the simultaneous slip of the tension blocks 131 results in the movement of the deformable robot 101 in a direction generally parallel to the second transport direction. In this case, the relative sliding of one of the tension blocks 131 with respect to the other tension block 131 among the tension blocks 131 in a direction generally parallel to the second transport direction results in the movement of the first handling end 109 within the picking area 103.

[0082] In this case, the first gripping actuator of the first handling end 109 changes the opening angle of the first handling end 109 so as to accurately pick up the object 107.

[0083] In this case, the second handling end portion 111 is deprived of the gripping actuator. In this case, the motor drive stop portion 145 is disposed close to the first handling end portion 109.

[0084] Please refer to FIG. 5.

[0085] This figure shows, in a three-quarter view, a scenario in which the device of FIG. 1 and the device of FIG. 4 operate together.

[0086] Hereinafter, in order to simplify the description of this scenario, the deformable robot 101 of the second embodiment is referred to as the first deformable robot 101, and the deformable robot 1 of the first embodiment is referred to as the second deformable robot 1.

[0087] The first deformable robot 101 and the second deformable robot 1 are respectively arranged between the first conveyor belt and the second conveyor belt, and between the second conveyor belt and the third conveyor belt. In this case, the third conveyor belt conveys the packaging tray. The first conveyor belt, the second conveyor belt, and the third conveyor belt are respectively arranged according to the first conveying surface, the second conveying surface, and the third conveying surface. In this case, for the sake of simplicity of explanation, the first conveying plane, the second conveying plane, and the third conveying plane are substantially horizontal. However, the first conveying plane, the second conveying plane, and the third conveying plane may be inclined. The first conveyor belt, the second conveyor belt, and the third conveyor belt respectively extend according to the first conveying direction, the second conveying direction, and the third conveying direction. The first conveying direction and the second conveying direction together form an angle, which is here substantially 90°. The second conveying direction and the third conveying direction together form an angle of here substantially 90°. In this case, the first conveying direction and the third conveying direction are substantially parallel. In this case, the first conveyor belt and the third conveyor belt are located below the second conveyor belt. In this case, each of the first deformable robot 101 and the second deformable robot 1 is attached to one of the ends of the structure of the second conveyor belt. The first deformable robot 101 is arranged on the first conveyor belt at its first handling end 109. The first deformable robot 101 is attached to the second conveyor belt at its second handling end 111. The second deformable robot 1 is attached to the second conveyor belt at its first handling end 9. The second deformable robot 1 projects onto the third conveyor belt at its second handling end 11.

[0088] The first handling end 109 of the first deformable robot 101 is movable in the latter's picking area 103. The second handling end 11 of the second deformable robot 1 is movable in the latter's placement area 5.

[0089] In this scenario, the first deformable robot 101 accurately picks up an object in its picking area 103 (here, the first conveyor belt) at its first handling end 109. The first deformable robot 101 transports the object to the second handling end 111. Thereafter, the first deformable robot 101 places the object in its placement area 105, here, at the end of the second conveyor belt. The object is transported by the second conveyor belt to the other end, forming the picking area 3 of the second deformable robot 1. Next, the second deformable robot 1 picks up the object at its first handling end 9 and transports it to the second handling end 11. Finally, the second deformable robot 1 accurately places the object in the placement area 5 of the packaging tray transported by the third conveyor belt.

[0090] With this scenario, an object can be transported from one production line (here, the first conveyor belt) to another production line (here, the third conveyor belt) in a quick, accurate, and safe manner.

[0091] Please refer to FIG. 6.

[0092] This is a three-quarter view during the object rotation operation of the pick-and-place device according to the third embodiment of the present invention.

[0093] Elements that are functionally similar to those described in the first embodiment are assigned the same reference numerals increased by two hundred each.

[0094] In this third embodiment, the deformable robot 201 is substantially similar to that described in the first embodiment, except that the deformable transport structure 213 of the deformable robot 201 is deprived of the motor-driven stop portion and has a model of the flexible body 237 of the belt 217 and the tension arm 219 that is substantially different from that described in the first embodiment.

[0095] For simplicity, the radial portion of the tension block 231 is not shown.

[0096] In this third embodiment, each belt 217 has a single strand, and this single strand includes a flat strip 289 and a set of cushions 291 fixed to the flat strip 289.

[0097] The flat strip 289 is substantially the same as the inner flat strip of the belt described in the first embodiment. The flat strip 289 is endless. The flat strip 289 is in contact with the tension arm 219. In this case, in each tension arm 219, the same set of rollers 243 is arranged on both sides of the flat strip 289 of the belt 217 arranged around the tension arm 219 and functions as a guide for the flat strip 289. In this case, the flat strip 289 is made of rubber or other soft polymer and is reinforced with fibers in some cases.

[0098] The cushion 291 is in contact with the object to be moved 207. In this case, each cushion 291 supports a platform, and through this platform, the cushion 291 is in contact with the object to be moved 207. In this case, the platform generally has a rectangular shape. On each flat piece 289, the cushions 291 are arranged such that the platforms of the cushions 291 are continuous. In this case, each cushion 291 generally has the shape of a truncated pyramid with a rectangular bottom surface and spreads from the end of the cushion 291 fixed to one of the flat strips 289 in the direction of the platform supported by the cushion 291. The cushion 291 is made of a soft polymer material, such as silicone or soft plastic.

[0099] The model of the cushion 291 is described as an example in this specification. Other models of the cushion are also possible, for example, having a shape particularly adapted to a given type of object having a homogeneous shape and being transported in an industrial context.

[0100] The cushion 291 deforms in substantially the same manner as described for the hollow cells partitioned by the belts in the first embodiment. When the object 207 is picked up at the first handling end 209, the object 207 contacts the cushion 291 of the belt 217. On each belt 217, the cushion 291 disposed close to the object 207 elastically deforms along the lateral direction with respect to the local driving direction of the belt 217. Due to this deformation of the cushion 291, the object 207 can be reliably held between the belts 217 while dispersing the contact force applied to the object 207. The cushion 291 restores its shape when the object 207 reaches the second handling end 211.

[0101] The soft body 237 of the tension arm 219 is different from that described in the first embodiment in that the soft body 237 has serrations and forms nine teeth here. Each tooth supports one of the pair of feet 241.

[0102] The deformable robot 201 changes the orientation of the object 207 conveyed between the first handling end 209 and the second handling end 211. In this case, the object 207 undergoes a relative rotation with respect to the deformable robot 201. In this case, this rotation is performed about an axis perpendicular to the local driving direction of the belt 217 as represented by the first arrow 297.

[0103] In the illustrated rotational operation, the rotation of the object 207 is caused by a change in the driving speed of the belt 217. The driving operation of the belt 217 is represented by the second arrow 293 and the third arrow 295. The second arrow 293 and the third arrow 295 are of different lengths, which means that the driving speed of the belt 217 is different. In this case, the driving speed of the belt 217 associated with the third arrow 295 is lower than the driving speed of the belt 217 associated with the second arrow 293. The second arrow 293 and the third arrow 295 are in the same direction, which means that the driving direction of the belt 217 is the same. In this case, at the level of the pipe formed by the deformable channel 215 for the object 207, the driving direction of the belt 217 is directed from the first handling end 209 towards the second handling end 211. During this rotational operation, the object 207 conveyed within the deformable channel 215 continues to advance from the first handling end 209 towards the second handling end 211. The object 207 rotates about its own axis at an angular velocity that depends on the difference in the driving speeds of the belt 217. This rotational operation is particularly adapted to impart a rotational end motion to the object 207.

[0104] Alternatively, the rotation of the object 207 may be caused by a change in the driving direction of the belt 217. In this alternative rotational operation (not shown), the driving directions of the belt 217 are opposite to each other. The object 207 conveyed within the deformable channel 215 stops advancing towards the second handling end 211. The object 207 rotates about itself at an angular velocity that depends on the respective driving speeds of the belt 217. This alternative rotational operation is particularly adapted to impart a large rotational motion to the object 207.

[0105] Please refer to FIG. 7.

[0106] This is a three-quarter view during the object rotation operation of the pick-and-place device according to the fourth embodiment of the present invention.

[0107] Elements that are functionally similar to those described in the third embodiment are given the same reference numerals.

[0108] In this fourth embodiment, the deformable robot 201 is substantially the same as that described in the third embodiment, except that the deformable transport structure 213 of the deformable robot 201 includes a motor drive stop portion 245.

[0109] In this fourth embodiment, the motor drive stop portion 245 is substantially the same as that described in the first embodiment. In this case, the motor drive stop portion 245 connects the flexible portion 237 of the tension arm 219 from below in proximity to the second handling end portion 211. The motor drive stop portion 245 rotates about its stop axis with respect to the deformable robot 201. In this case, this rotation is performed in the counterclockwise direction as represented by the fourth arrow 246. When the object 207 being transported within the deformable channel 215 contacts the motor drive stop portion 245, the rotation of the latter about the stop axis changes the orientation of the object 207.

[0110] In this case, the object 207 undergoes a rotation about an axis parallel to the stop axis with respect to the deformable robot 201, as represented by the fifth arrow 299.

[0111] Please refer to FIGS. 8 and 9.

[0112] These figures show the pick-and-place device according to the fifth embodiment of the present invention in three-quarter views at two different positions.

[0113] Elements that are functionally similar to those described in the third embodiment are given the same reference numerals.

[0114] In this fifth embodiment, the deformable transport structure 213 is substantially the same as that of the third embodiment, except that the deformable transport structure 213 is deformable in a direction transverse to the deformable robot 201, here the vertical direction.

[0115] In this case, due to the serrations provided in the flexible portion 237 of the tension arm 219, the deformable robot 201 can perform a bending motion according to the vertical direction.

[0116] Each tension block 231 close to the first handling end 209 has its top formed by a post 253. In each tension block 231, the post 253 rises from the central portion 233 of the tension block 231, here rising from the center of the latter. In this case, the posts 253 extend substantially parallel to each other along the vertical direction.

[0117] The deformable conveying structure 213 includes two cables 257. The cables 257 extend along the tension arm 219, here above the tension arm 219. In this case, each of the cables 257 connects one end of the post 253 to one side of the cross member 221.

[0118] The deformable conveying structure 213 includes a fourth actuator and is designed to deform the deformable conveying structure 213 along the vertical direction. The fourth actuator is connected to the cable 257. The fourth actuator deforms the deformable conveying structure 213 by changing the tension of the cable 257. The amplitude of the resulting deformation depends on the amplitude of the change in the tension of the cable 257. In this case, this deformation causes the movement of the second handling end 211 within the arrangement region along the vertical direction.

[0119] At the position of FIG. 8, the fourth actuator slightly pulls the cable 257 to maintain the deformable robot 201 substantially in a plane, here a horizontal plane. The deformable conveying structure 213 does not deform along the vertical direction.

[0120] At the position of FIG. 9, the fourth actuator strongly pulls the cable 257 as represented by the sixth arrow 255. The deformable transport structure 213 is deformed vertically at the level of its second handling end 211. Accordingly, the second handling end 211 is here moved substantially upward in the figure.

[0121] Please refer to FIG. 10.

[0122] It is a three-quarter view of the pick-and-place device according to the sixth embodiment of the present invention.

[0123] Elements that are functionally similar to those described in the third embodiment are given the same reference numerals.

[0124] In this sixth embodiment, the deformable robot 201 is substantially the same as that described in the fifth embodiment, except that it further includes a robot arm 258 capable of deforming the deformable transport structure 213 in three non-planar directions of space. The deformation of the deformable transport structure 213 is no longer achieved by actuators connected to slides or cables.

[0125] In this sixth embodiment, the first actuator and the fourth actuator described above are removed from the deformable transport structure 213.

[0126] The robot arm 258 itself is known in the prior art.

[0127] In this case, the robot arm 258 is connected to the deformable robot 201 in the vicinity of the second handling end 211. In this case, the robot arm 258 is connected to the cross member 221. In this case, the robot arm 258 moves the second handling end 211 in three directions of space within the arrangement area.

[0128] This embodiment of the device has the advantage of improving the accuracy of the movement of the second handling end 211 of the deformable robot 201 in three directions of space.

[0129] Please refer to FIGS. 11, 12, and 13.

[0130] These figures show the pick-and-place device according to the seventh embodiment of the present invention at two different positions in a front view and a side view.

[0131] Elements that are functionally similar to those described in the first embodiment are assigned the same reference numerals increased by three hundred.

[0132] For simplicity, the deformable transport structure 313 of the deformable robot 301 is schematically shown in FIGS. 12 and 13, and in particular, there are no tension blocks and cross members.

[0133] In this seventh embodiment, the deformable transport structure 313 is substantially the same as that described in the first embodiment, except that the deformable channels 315 are formed by three tension arms 319 arranged at 120° to each other here, and the deformable transport structure 313 includes three belts 317 each arranged around one of the tension arms 319. When an object is picked up at the first handling end 309, the belts 317 come together to grip the object and drive it from the first handling end 309 to the second handling end 311.

[0134] One or more cross members 321 connect the three tension arms 319 in pairs. The cross member 321 passes outside the pipe formed by the deformable channel 315. The cross member 321 holds the tension arms 319 at a substantially constant distance from each other. In this case, the deformable transport structure 313 includes three cross members 321 that connect the radial portions of the tension blocks 331 of the tension arms 319 in pairs close to the second handling end 311.

[0135] The first actuator deforms the deformable transport structure 313 in a manner substantially similar to that described in the first embodiment, except that the relative translational movement of one of the tension blocks 331 of the tension block 331 with respect to the other tension blocks 331 causes deformation of the deformable transport structure 313 in three non-planar directions of space. In this case, this deformation causes the second handling end 311 within the placement area to move in three directions of space.

[0136] In FIG. 12, the first actuator is inactive. The deformable robot 301 does not deform.

[0137] In FIG. 13, the first actuator moves the tension block of the tension arm 319 shown at the bottom to the right with respect to the tension blocks of the other two tension arms 319 at the first handling end 309. The second handling end 311 is accordingly moved substantially upward in the figure here. The deformable transport structure 313 deforms.

[0138] This embodiment of the device has the advantage of improving the gripping of the deformable transport structure on the object to be transported. Also, as described hereinabove with respect to the device of FIG. 6, these objects can be rotated uniformly by varying the driving speed of the belt differently.

[0139] Of course, the first embodiment having two tension arms and two belts, as illustrated with reference to FIGS. 1 and 2 for example, and the seventh embodiment having three tension arms and three belts, as illustrated with reference to FIGS. 11, 12 and 13, are given for merely illustrative and non-limiting purposes. According to the same principle of the deformable transport structure, in a more generally defined embodiment, the deformable channel is formed by a plurality (two, three or more) of tension arms including a soft and flexible body, and the deformable transport structure includes a plurality of belts each disposed around one of the tension arms. According to the specific features of such an embodiment, the deformable transport structure generally includes the same number of tension arms as the belts, and each tension arm functions as a belt carrier structure.

[0140] In another modification not shown, the tension arm including a soft and flexible body is disposed outside the belt and is connected by a deformable tubular structure (for example, made of soft plastic) also disposed outside the belt. And these belts are carried by support means (for example, pulleys) fixed to the inner surface of the tubular structure. Similarly to the above, the tension arm applies tension to the belt through the tubular structure and transmits the deformation of the structure to the belt. These tension arms can be controlled to ensure the desired deformation of the tubular structure (that is, the deformable flow path) and thus the similar deformation of the belt within the tubular structure. Therefore, in such an embodiment, it is not necessarily required to have as many tension arms as the number of belts.

[0141] Please refer to FIG. 14.

[0142] It is a diagram showing a scenario of a pick-and-place device according to the eighth embodiment of the present invention.

[0143] Elements functionally similar to those described in the first embodiment are assigned the same reference numerals increased by four hundred each.

[0144] In this eighth embodiment, the deformable transport structure 413 includes a peristaltic motion structure connected to the deformable channel 415. In this case, the peristaltic motion structure is designed to transport the object 407 picked up at the first handling end 409 to the second handling end 411, as represented by the seventh arrow 485.

[0145] In this case, the picking area 403 is a tray. In this case, the placement area 405 is a tabletop conveyor. In this case, for simplicity of explanation, the tabletop conveyor is shown horizontally, but the tabletop conveyor may be inclined. In this case, the tabletop conveyor is arranged above the tray.

[0146] The pick-and-place device includes a stand 461 that supports the deformable robot 401. In this case, the stand 461 generally has the shape of a parallelepiped. In this case, the stand 461 is arranged between the picking area 403 and the placement area 405.

[0147] The deformable transport structure 413 includes a support column 463 that supports the deformable channel 415. The support column 463 extends along an axis, here a vertical axis. In this case, the support column 463 is supported by the stand 461.

[0148] The deformable channel 415 includes a sleeve 465 attached to the support column 463. In this case, the sleeve 465 is designed to be rotatable about the axis of the column 463 with respect to the stand 461. In this case, the sleeve 465 generally has a cylindrical shape. In this case, the sleeve 465 is hollow.

[0149] The deformable channel 415 further includes a first deformable arm 467 and a second deformable arm 469 connected by a sleeve 465. The first deformable arm 467 has a first handling end 409 at an end opposite to the sleeve 465. The second deformable arm 469 has a second handling end 411 at an end opposite to the sleeve 465. The first deformable arm 467 deforms to move the first handling end 409 within the picking region 403 as represented by the eighth arrow 481. The second deformable arm 469 deforms to move the second handling end 411 within the placement region 405 as represented by the ninth arrow 483.

[0150] The first deformable arm 467 and the second deformable arm 469 generally have an elongated shape. In this case, each of the first deformable arm 467 and the second deformable arm 469 has a set of tubular portions 471 connected to each other. In this case, each of the first deformable arm 467 and the second deformable arm 469 has 11 tubular portions 471.

[0151] The peristaltic motion structure is housed within the deformable channel 415. The peristaltic motion structure connects the first handling end 409 and the second handling end 411. The peristaltic motion structure is housed inside the first deformable arm 467, the sleeve 465, and the second deformable arm 469.

[0152] In the deformable transport structure 413, by using a soft structure such as the peristaltic motion structure, the deformable robot 401 can handle an object 407 that is fragile or has changing dimensions.

[0153] The peristaltic motion structure includes peristaltic rings 473 arranged one after another.

[0154] Please refer to FIGS. 15 to 17.

[0155] These figures show an enlarged side view of the peristaltic motion structure 459 of the device of FIG. 14 in different consecutive steps of transporting the object 407.

[0156] Each peristaltic ring 473 has a row of expandable actuators 475. Each expandable actuator 475 has a set of silicone cavities 477. When the expandable actuator 475 expands, the silicone cavities 477 expand as they are filled with air. When the expandable actuator 475 contracts, the silicone cavities 477 fold while discharging air. In this case, each expandable actuator 475 has five silicone cavities 477. In this case, the silicone cavities 477 generally have the shape of a saucer.

[0157] The deformable transport structure further includes an inner duct 479 supported by the expandable actuator 475. The inner duct 479 forms a pipe for the object 407. The expandable actuator 475 deforms the cross-section of the inner duct 479 by expanding one after another as shown in FIGS. 15 to 17, for example. This deformation of the inner duct 479 constricts the object 407 to be transported and causes the object 407 to move through the inner duct 479 by peristaltic motion. In this case, FIGS. 15 to 17 show the object 407 moving from right to left.

[0158] The present invention is not limited to the above-described embodiments and includes all modifications that can be conceived by those skilled in the art. In particular, - The deformable transport structure 413 of the deformable robot 401 described in the eighth embodiment may be composed of a suction system and a blowing system connected to a deformable channel 415 respectively housed in a first deformable arm 467 and a second deformable arm 469, instead of the peristaltic motion structure 459.

[0159] - The deformable transport structure 413 of the deformable robot 401 described in the eighth embodiment may be composed of an eyelash mechanism that moves while cooperatively fluttering the object 407 in the deformable channel 415, instead of the peristaltic motion structure 459.

Brief Description of the Drawings

[0160]

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Claims

1. A deformable robot (1, 101, 201, 301, 401) designed to be disposed in proximity to a picking area (3, 103, 403) and a placement area (5, 105, 405), wherein the deformable robot (1, 101, 201, 301, 401) comprises: a first handling end (9, 109, 209, 309, 409) for the deformable robot (1, 101, 201, 301, 401) to pick up an object (7, 107, 207, 407) within the picking area (3, 103, 403); a second handling end (11, 111, 211, 311, 411) for the deformable robot (1, 101, 201, 301, 401) to place the object (7, 107, 207, 407) in the placement area (5, 105, 405), wherein the first handling end (9, 109, 209, 309, 409) is movable within the picking area (3, 103, 403) or the second handling end (11, 111, 211, 311, 411) is movable within the placement area (5, 105, 405); and a deformable transfer 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) and configured to transfer the 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). A pick-and-place device, characterized in that it comprises the above components.

2. The pick-and-place device according to claim 1, wherein the deformable transfer structure (13, 113, 213, 313, 413) includes a deformable channel (15, 115, 215, 315, 415).

3. The pick-and-place device according to claim 2, wherein the deformable channel (15, 115, 215) includes a pair of tension arms (19, 119, 219) held at a substantially constant distance from each other. The deformable transport structure (13, 113, 213) includes a pair of belts (17, 117, 217) each disposed on one of the tension arms (19, 119, 219), and these belts (17, 117, 217) can sandwich an object (7, 107, 207) therebetween and drive the latter from the first handling end (9, 109, 209) to the second handling end (11, 111, 211). The pick-and-place device according to claim 2.

4. The deformable transport structure (213) includes a cable (257) disposed along the tension arm (219), and an actuator connected to the cable (257) and designed to deform the deformable transport structure (213) by changing the tension thereof. The pick-and-place device according to claim 3.

5. The deformable channel (315) includes three tension arms (319) connected to each other in proximity to the first handling end (309) or the second handling end (311). The deformable transport structure (313) includes three belts (317) each disposed on a respective tension arm (319), and these belts (317) can sandwich an object and drive the latter from the first handling end (309) to the second handling end (311). The pick-and-place device according to claim 2.

6. Further comprising a slide (49). The deformable transport structure (13, 113, 213, 313) includes an actuator (47) connected to the slide (49) and designed to deform the deformable transport structure (13, 113, 213, 313) by translating one of the tension arms (19, 119, 219, 319) along the slide (49). The pick-and-place device according to any one of claims 3 to 5.

7. The pick-and-place device according to any one of claims 3 to 6, capable of correcting the orientation of an object (7, 107, 207) transported within the deformable channel (15, 115, 215, 315).

8. The pick-and-place device according to any one of claims 3 to 7, wherein at least one belt (17, 117, 217, 317) is deformable along a direction perpendicular to the local driving direction of the belt (17, 117, 217, 317).

9. The pick-and-place device according to claim 2, wherein the deformable conveying structure (413) includes a peristaltic motion structure (459) connected to the deformable channel (415).

10. The pick-and-place device according to claim 9, wherein the peristaltic motion structure (459) includes a peristaltic ring (473), and each peristaltic ring (473) has a row of expandable actuators (475).

11. The pick-and-place device according to any one of claims 1 to 10, wherein the first handling end (9, 109, 209, 309, 409) or the second handling end (11, 111, 211, 311, 411) has a flare shape.

12. The pick-and-place device according to any one of claims 1 to 11, 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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