System and method for moving an article

Abstract

System for moving an article, the system comprises: - at least one belt (10) having a plurality of seats (11), each seat (11) being shaped to house at least one article, - a conveyor (20) comprising a plurality of housings (21), each housing (21) being shaped to receive the article, - a manipulator (30) configured to move the article between the belt (10) and the conveyor (20), said manipulator (30) being movable along a predetermined path between a pickup configuration (C1), where it is moved close to the belt (10) to pick up the article from a seat (11) of said plurality of seats (11), and at least one release configuration (C2), where it is moved close to the conveyor (20) to deliver the article to a housing (21) of the plurality of housings (21), the system comprising a checking station (40) between the belt (10) and the conveyor (20) along said predetermined path, said checking station (40) comprising a camera (41) configured to detect an effective position of the article relative to the manipulator (30) and an effective orientation of the article relative to the manipulator (30), - a control unit (50), in communication with the manipulator (30) and with the checking station (40), configured to modify an attitude of the manipulator (30) as a function of the effective position compared to an expected position of the article in the housing (21) of the plurality of housings (21) and as a function of the effective orientation compared to an expected orientation of the article in the housing (21) of the plurality of housings (21).

Description

[0001] DESCRIPTION

[0002] SYSTEM AND METHOD FOR MOVING AN ARTICLE

[0003] Technical field

[0004] The object of the present invention is a system and a method for moving an article.

[0005] The invention belongs to the field of industrial processes for the production, processing and packaging of articles and, in particular, the transport thereof.

[0006] Therefore, the type of articles does not limit the scope of protection of the present invention.

[0007] Preferably, the term “articles” means a single article, individually graspable, transportable and releasable.

[0008] By way of non-limiting example, articles according to the present invention can be considered to be components or subunits of electronic cigarettes; electronic components; small mechanical parts.

[0009] Background art

[0010] In the known systems, generally, there are provided conveyors, processing stations, magazines and movement systems which allow transporting the same articles for the subsequent processing and / or assembly steps.

[0011] The processing and assembly operations for such articles, especially in the case of particularly compact articles, require increased accuracy.

[0012] The Applicant has found that such known systems can be improved in terms of accuracy, in particular in the steps of moving and positioning the articles.

[0013] In this context, the technical task at the basis of the present invention is to provide a system and a method for moving articles, which improve the known systems so that the processing and assembly operations downstream of the movement occur as correctly as possible. Disclosure of the invention

[0014] In particular, it is the object of the present invention to provide a system and a method for moving an article, which ensure increased precision and accuracy in the positioning thereof.

[0015] The specified technical task and the object are substantially achieved by a system and a method for moving articles having the technical features set out respectively in the independent claims and / or in one or more of the dependent claims.

[0016] According to an aspect of the description, the description relates to a system for moving an article.

[0017] For example, the type of articles to which reference is made relates preferably to electronic components with particularly compact dimensions. The system comprises at least one belt having a plurality of seats.

[0018] Each seat is shaped to house at least one article.

[0019] The system comprises a conveyor comprising a plurality of housings.

[0020] Each housing is suitably shaped to receive the article.

[0021] The system comprises a manipulator configured to move the article.

[0022] In a preferred example, the manipulator is configured to pick up and move exclusively one article at a time between the belt and the conveyor.

[0023] The manipulator is movable along a predetermined path between a pickup configuration, where it is moved close to the belt to pick up the article from a seat of the plurality of seats, and at least one release configuration, where it is moved close to the conveyor to deliver the article to a housing of the plurality of housings.

[0024] According to an aspect, the manipulator comprises a pickup head, which, when in the pickup configuration, is moved close to the belt so as to pick up the article, and when it is in the release configuration, is moved close to the conveyor so as to deliver the article to the conveyor.

[0025] The system comprises a checking station between the belt and the conveyor along the predetermined path.

[0026] The checking station comprises a camera configured to detect an effective position of the article relative to the manipulator and an effective orientation of the article relative to the manipulator.

[0027] The effective position and the effective orientation are established with respect to a reference plane identified at a pickup head of the manipulator. Considering a reference plane xy, the effective position identifies Cartesian coordinates (x, y) within the plane and the effective orientation defines how the article is rotated around an axis z orthogonal to plane xy. Advantageously, the camera allows the effective position and the effective orientation relative to the manipulator to be assessed.

[0028] Advantageously, the effective position and the effective orientation is information required to allow an accurate delivery of the articles to the conveyor seats.

[0029] According to an aspect, the camera is oriented towards the manipulator.

[0030] In other words, the camera is in a fixed position close to the conveyor, with the lens facing an upper area in which the manipulator moves.

[0031] I.e., the manipulator passes over the checking station.

[0032] The system comprises a control unit in communication with the manipulator and the checking station.

[0033] The control unit is configured to modify an attitude of the manipulator as a function of the effective position of the article compared to an expected position of the article in the housing of the plurality of housings and as a function of the effective orientation of the article compared to an expected orientation of the article in the housing of the plurality of housings.

[0034] In other words, the control unit receives, from the camera, as information, the effective position of the article relative to the manipulator in the reference plane and the effective orientation of the article relative to the manipulator in the reference plane.

[0035] Such information is then processed by the control unit which modifies a positioning of the pickup head of the manipulator as a function of the expected position and the expected orientation of the article inside the conveyor seat. The expected position and the expected orientation define the ideal positioning of the article inside the conveyor seat so that the processing operations downstream of the conveyor occur correctly.

[0036] Advantageously, a correct positioning of the article in the seat, especially in the event of particularly small articles, is necessary for the subsequent processing or assembly operations.

[0037] Advantageously, it should be noted that employing a manipulator which moves a single article at a time allows suitably correcting the positioning of the article compared to the expected position and the expected orientation.

[0038] According to an aspect, the conveyor can comprise a drum which rotates around an axis of rotation and a plurality of working units solidly coupled to the drum.

[0039] Each working unit has a housing of the plurality of housings.

[0040] In other words, the conveyor can be in the shape of a wheel to which the working units are associated.

[0041] Advantageously, employing a conveyor having a rotating drum allows having several processing operations around the conveyor itself, which is beneficial in terms of space.

[0042] According to an aspect, the checking station is interposed between the conveyor and the belt along said predetermined path.

[0043] Advantageously, having the checking station between the belt and the conveyor allows the position and orientation of the article immediately upstream to be controlled before delivering it to the conveyor seats.

[0044] According to an aspect, the system comprises a first and second belt, each having a plurality of seats shaped to house an article.

[0045] The manipulator can be moved close to the first or second conveyor when it is in the pickup configuration.

[0046] Advantageously, having several belts transporting the articles allows the presence of articles to be picked up by the manipulator, to be continuously ensured. In one example, the manipulator is a parallel robot.

[0047] In a preferred example, the manipulator is a six-axis robot.

[0048] Advantageously, employing a parallel robot manipulator allows the attitude of the article to be improved.

[0049] Preferably, it is a delta type parallel robot.

[0050] Employing a parallel robot with a plurality of arms that move the pickup head allows increased accuracy in positioning and orienting the article, compared to the expected position and orientation.

[0051] In one example, the manipulator comprises a suction pickup system and the control unit is configured to actuate the suction pickup system when the manipulator is in the pickup position.

[0052] Advantageously, the suction pickup system allows the article to be picked up firmly.

[0053] According to an aspect of the description, the description relates to a method for moving an article, comprising:

[0054] - picking up an article from a belt via a manipulator,

[0055] - moving the article picked up along a predetermined path between the belt and a conveyor,

[0056] - detecting an effective position of the article relative to the manipulator and an effective orientation relative to the manipulator.

[0057] The method comprises modifying an attitude of the manipulator as a function of the effective detected position of the article compared to an expected position and as a function of the effective detected orientation of the article compared to an expected orientation of the article to bring the article to the expected position and expected orientation when the manipulator is moved close to the conveyor.

[0058] In other words, when it is in the release configuration, i.e., when the manipulator is moved close to the conveyor, the method comprises modifying an attitude of the manipulator to bring the article to the expected position and orientation.

[0059] The method comprises delivering the oriented article to the conveyor. Advantageously, detecting an effective position and the effective orientation of the article allows the positioning of the article to be controlled relative to the manipulator.

[0060] Advantageously, modifying an attitude of the manipulator allows the article to be positioned and oriented as correctly as possible to deliver it to the conveyor seat according to the expected positioning and orientation.

[0061] Ensuring an expected positioning and orientation ensures any processing and assembly operations on the conveyor downstream of the conveyor occur in a precise and accurate manner.

[0062] According to an aspect, detecting an effective position of the article relative to the manipulator and an effective orientation of the article relative to the manipulator comprises moving the article picked up to a checking station located between the belt and the conveyor along the predetermined path.

[0063] Brief description of drawings

[0064] The main features of the invention will be better highlighted by the following detailed description, provided with reference to the accompanying drawings, which represent a purely exemplifying and nonlimiting embodiment, in which:

[0065] - Figure 1 shows a diagrammatic perspective view of a system for moving an article according to the present description;

[0066] - Figure 2 shows a diagrammatic perspective view of an enlargement of Figure 1 ;

[0067] - Figure 3 shows a diagrammatic perspective view of a system for moving an article according to the present description;

[0068] - Figures 4-8 show a diagrammatic perspective view of five configurations of a system for moving an article according to the present description, with some portions removed.

[0069] With reference to the accompanying drawings and with particular reference to Figure 1 , numeral 1 indicates a system for moving an article. System 1 comprises at least one belt 10 having a plurality of seats 11 .

[0070] Detailed description of preferred embodiments of the invention

[0071] In one embodiment, belt 10 is in the shape of a reel.

[0072] Each seat 11 is shaped to house at least one article.

[0073] In one embodiment, seat 11 can be identified by a housing element 12 applied to the reel.

[0074] Seat 11 is preferably substantially rectangular in shape.

[0075] In one embodiment, shown for example in Figure 3, system 1 comprises two belts 10A, 10B placed side by side, each having a respective plurality of seats 11 .

[0076] System 1 comprises a conveyor 20 configured to convey articles.

[0077] Conveyor 20 comprises a plurality of housings 21 .

[0078] Each housing 21 is suitably shaped to receive a respective article.

[0079] In one embodiment, conveyor 20 comprises a drum 22 which rotates around an axis of rotation A22.

[0080] Conveyor 20 comprises a plurality of working units 23 solidly coupled to drum 22.

[0081] Each working unit 23 has a housing 21 .

[0082] Each housing 21 is suitably shaped to receive an article.

[0083] System 1 comprises a manipulator 30 configured to move the article along a predetermined path between belt 10 and conveyor 20.

[0084] In a preferred embodiment, the manipulator is configured to move exclusively one article at a time.

[0085] In a preferred embodiment, manipulator 30 comprises at least one arm 31 and a pickup head 32 configured to pick up the article.

[0086] System 1 comprises a checking station 40 arranged between belt 10 and conveyor 20 along the predetermined path.

[0087] The checking station 40 comprises a camera 41 configured to detect an effective position of the article relative to manipulator 30 and an effective orientation of the article relative to manipulator 30. Preferably, the pickup head 32 develops over a plane xy defining a reference plane.

[0088] The effective position identifies Cartesian coordinates (x, y) within the reference plane and the effective orientation defines how the article is rotated around an axis z orthogonal to plane xy.

[0089] Manipulator 30 is configured to rotate the article around axis z to modify an orientation thereof on plane xy.

[0090] Camera 41 is oriented towards manipulator 30 and interposed between belt 10 and conveyor 20.

[0091] Manipulator 30 is thus configured to grasp the article and move the article between belt 10, the checking station 40 and conveyor 30.

[0092] In particular, manipulator 30 is movable along the predetermined path between a pickup configuration C1 and a release configuration C2.

[0093] The pickup configuration C1 and the release configuration C2 define limit configurations taken by manipulator 30 along the predetermined path.

[0094] As shown in Figure 5, when it is in configuration C1 , manipulator 30 is moved close to belt 10 to pick up the article from a seat 11 .

[0095] As shown in Figure 8, when it is in configuration C2, manipulator 30 is moved close to conveyor 20 to deliver the article to a housing 21 .

[0096] When the system comprises a pair of belts 10, each having a plurality of seats 11 shaped to house an article, manipulator 30 is moved close to one of the two belts 10 when it is in the pickup configuration C1 .

[0097] Manipulator 30 takes intermediate configurations between configuration C1 and configuration C2 along the predetermined path.

[0098] For example, as shown in Figure 4, manipulator 30 takes a non-operating configuration C3 in which it is located above belt 10, but away from belt 10 itself.

[0099] As shown in Figure 6, manipulator 30 takes a configuration C4 at the checking station 40.

[0100] When manipulator 30 is in configuration C4, it is located above camera 41 which detects the effective position of the article relative to manipulator 30 and the effective orientation of the article relative to manipulator 30.

[0101] In one embodiment, when camera 41 detects the effective position and the effective orientation, manipulator 30 stops at station 40.

[0102] In one embodiment, when camera 41 detects the effective position and the effective orientation, manipulator 30 passes over station 40, without stopping at station 40.

[0103] As shown in Figure 5, manipulator 30 takes a configuration C5 in which it is located above conveyor 20, but away from it.

[0104] Manipulator 30 then is lowered, moving close to the conveyor, switching to configuration C2.

[0105] In one embodiment, manipulator 30 comprises a suction pickup system.

[0106] In a preferred embodiment, manipulator 30 is a parallel robot.

[0107] In one embodiment, manipulator 30 is a six-axis robot.

[0108] System 1 comprises a control unit 50 in communication with manipulator 30 and with the checking station 40.

[0109] The control unit 50 is configured to modify an attitude of the manipulator as a function of the effective position compared to an expected position of the article in housing 21 .

[0110] The control unit 50 is configured to modify an attitude of the manipulator as a function of the effective orientation compared to an expected orientation of the article in housing 21 .

[0111] Attitude of manipulator 30 means a positioning of the arms 31 of manipulator 30 itself, which determine a modification of a position or orientation of the pickup head 32 of manipulator 30.

[0112] In one embodiment, the control unit 50 is configured to actuate the suction pickup system of manipulator 30 at the pickup configuration C1 of manipulator 30.

[0113] An object of the description is a method for moving an article.

[0114] The method comprises:

[0115] - picking up an article from belt 10 via manipulator 30,

[0116] - moving the article picked up along a predetermined path between belt 10 and conveyor 20,

[0117] - detecting an effective position of the article relative to manipulator 30 and an effective orientation 01 relative to manipulator 30.

[0118] The method comprises modifying an attitude of the manipulator as a function of the effective detected position of the article compared to an expected position and as a function of the effective orientation compared to an expected orientation of the article, so as to bring the article to the expected position and expected orientation when the manipulator is moved close to conveyor 20, i.e., when conveyor is in configuration C2. The method comprises delivering the oriented article to conveyor 20.

[0119] In one embodiment, detecting an effective position of the article relative to manipulator 30 and an effective orientation relative to the manipulator comprises moving the article picked up at the checking station 40 located between belt 10 and conveyor 20 along the predetermined path. In one embodiment, picking up an article by manipulator 30 comprises actuating a suction pickup system of manipulator 30 for holding the article.

Claims

CLAIMS1 . A system for moving an article, comprising:- at least one belt (10) having a plurality of seats (11 ), each seat (11 ) being shaped to house at least one article,- a conveyor (20) comprising a plurality of housings (21 ), each housing (21 ) being shaped to receive the article,- a manipulator (30), configured to move the article between the belt (10) and the conveyor (20), said manipulator (30) being movable along a predetermined path between a pickup configuration (C1 ), where it is close to the belt (10) to pick up the article from a seat (11 ) of said plurality of seats (11 ), and at least one release configuration (C2), where it is close to the conveyor (20) to deliver the article to a housing (21 ) of the plurality of housings (21 ), the system comprising a checking station (40) between the belt (10) and the conveyor (20) along said predetermined path, said checking station (40) comprising a camera (41 ) configured to detect an effective position of the article relative to the manipulator (30) and an effective orientation of the article relative to the manipulator (30),- a control unit (50), in communication with the manipulator (30) and with the checking station (40), configured to modify an attitude of the manipulator (30) as a function of the effective position of the article compared to an expected position of the article in the housing (21 ) of the plurality of housings (21 ) and as a function of the effective orientation of the article compared to an expected orientation of the article in the housing (21 ) of the plurality of housings (21 ).

2. The system according to claim 1 , wherein the conveyor (20) comprises a drum (22) which rotates about an axis of rotation (A22) and a plurality of working units (23) solidly coupled to the drum (22), each working unit being provided with a housing (21 ) of the plurality of housings (21 ).

3. The system according to claim 1 or 2, wherein the checking station (40) is interposed between the conveyor (20) and the belt (10) along said predetermined path.

4. The system according to any one of the preceding claims, comprising a first and a second belt (10A, 10B), each provided with a plurality of seats (11 ) shaped to house an article, the manipulator (30) being close to the first or the second belt (10A, 10B) when it is in the pickup configuration (C1 ).

5. The system according to any one of the preceding claims, wherein the manipulator (30) comprises a suction pickup system, the control unit (50) being configured to actuate the suction pickup system when the manipulator is in the pickup configuration (C1).

6. The system according to any one of the preceding claims, wherein the manipulator (30) is a parallel robot.

7. The system according to any one of the preceding claims, wherein the camera (41 ) is oriented in the direction of the manipulator (30).

8. A method for moving an article, comprising:- picking up an article from a belt (10) via a manipulator (30),- moving the article picked up along a predetermined path between the belt (10) and a conveyor (20),- detecting an effective position of the article relative to the manipulator (30) and an effective orientation relative to the manipulator (30),- modifying an attitude of the manipulator (30) as a function of the effective position of the article compared to an expected position of the article and as a function of the effective orientation of the article compared to an expected orientation of the article, so as to bring the article to the expectedposition and expected orientation when the manipulator (30) is close to the conveyor (20),- delivering the article to the conveyor (20).

9. The method according to claim 8, wherein detecting an effective position of the article relative to the manipulator (30) and an effective orientation of the article relative to the manipulator (30) comprises moving the article picked up to a checking station (40) located between the belt (10) and the conveyor (20) along said predetermined path.

10. The method according to claim 8 or 9, wherein picking up an article from a belt (10) via a manipulator (30) comprises actuating a suction pickup system of the manipulator (30).

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