System and method for moving objects

Abstract

A system (1) for moving objects (4; 25; 27) and having: a first station (S1) configured to retrieve the objects (4; 25; 27); a second station (S2) configured to release the objects (4; 25; 27); and a transferring device (12), which is provided with a gripping head (21) designed to grip and hold an object (4; 25; 27) and is configured to cyclically move the gripping head (21) between the first station (S1) and the second station (S2). The transferring device (12) has a gantry (13) provided with two vertical columns (14), a horizontal beam (15), which is mounted in a movable way to slide along a vertical direction (D1) under the control of a first actuator (16), and an arm (17), which is mounted on the horizontal beam (15) so as to slide along the horizontal beam (15) and, hence, along a horizontal direction (D2), under the control of a second actuator (18). The arm (17) is hinged relative to the beam (15) so as to rotate, relative to the beam (15), around a first vertical rotation axis (19) under the control of a third actuator (20). The arm (17) supports the gripping head (21), which is hinged to an end of the arm (17) so as to rotate, relative to the arm (17), around a second vertical rotation axis (22), under the control of a fourth actuator (23).

Description

[0001] "SYSTEM AND METHOD FOR MOVING OBJECTS"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No . 102024000013006 filed on June 6 , 2024 , the entire disclosure of which is incorporated herein by reference .

[0004] Technical Field

[0005] The present invention relates to a system and a method for moving obj ects .

[0006] The present invention has an advantageous application in the feeding of obj ects to be controlled, particularly in the microprocessor industry, to a quality control machine and in the retrieval of the controlled obj ects from the quality control machine , to which the description that follows will refer explicitly, but without thus losing its general nature .

[0007] Alternatively, the proposed invention also has an advantageous application in the feeding of obj ects , in particular consumable materials , from a pallet containing said consumable materials to a manufacturing machine that uses said consumable materials .

[0008] Furthermore , the proposed invention also has an advantageous application in the feeding of obj ects from a transport system for transporting said obj ects to a storage warehouse and vice versa .

[0009] Patent application JPH11180508A describes a device for trans ferring articles provided with a base end side arm and a tip end side arm that are supported in a flexible and extendible manner on a part of the base frame ; it is installed on a rotatable drive means so as to move alternatively along a linear path a support device for an article supported by an end of the tip end side arm .

[0010] Prior Art

[0011] The manufacture of microprocessors provides for the performance , at the end of the line and on each microprocessor ( or, more generally, on each obj ect ) a quality control serving to determine the correct functioning of the microprocessor . For this purpose , quality control machines are used that are provided with input hoppers and output hoppers configured to house stacks of trays , each of which has a plurality of seats designed each to house a respective microprocessor . In use , a quality control machine retrieves the microprocessors to be controlled from the trays that are located in an input hopper and releases the controlled microprocessors (which have proved to be functioning, i . e . meet the speci fications ) into the trays that are located in the output hopper ; the controlled microprocessors that have proved to be faulty ( i . e . do not meet the speci fications ) are , on the other hand, diverted to a waste collection container .

[0012] Currently, the movement of the stacks of trays towards the quality control machine ( i . e . the insertion of a stack of trays into an input hopper ) and the movement of the stack of trays from a quality control machine ( i . e . the retrieval of a stack of trays from an output hopper ) are performed manually .

[0013] Movement systems for moving stacks of trays are known that provide for a gripping head designed to grip and hold a stack of trays and configured to insert the stack of trays into an input hopper and to retrieve the stack of trays from an output hopper .

[0014] These movement systems , known as Cartesian systems , comprise two vertical columns and a hori zontal beam that it mounted movably to slide along a vertical direction . The gripping head is mounted on the hori zontal beam and translates upwards or hori zontally away from the hori zontal beam .

[0015] However, since the environments in which said quality control machines are located are environments with reduced spaces for movement ( the ceiling is quite low and it is necessary, for safety reasons , to keep free spaces around said quality control machines ) , it is not possible to use said known movement systems . This is the reason why movement of the stacks of trays is currently performed manually .

[0016] Furthermore , said quality control machines are of di f ferent types to each other and provide for input hoppers and / or output hoppers than can be fed from the top or frontally . Said input and output hoppers can also envisage particular placements , for example inside extractable drawers with C-shaped closure , and therefore requiring a side feed of the stack of trays . The known movement systems are not capable of being adapted flexibly to said variability in movement of the materials at the quality control machines .

[0017] Description of the Invention

[0018] The obj ect of the present invention is to provide a system and a method for moving obj ects that allow operations to be performed automatically ( i . e . without the manual intervention of human operators ) , acting with preci sion and at high performance speed and, at the same time , are relatively simple and economical to obtain . In particular, an obj ect of the present invention is to provide a system and a method for moving obj ects that is compact and, also in use , does not extend beyond the footprint of the automatic quality control machines .

[0019] Furthermore , an obj ect of the present invention is to provide a system and a method for moving obj ects that is flexible in use , allowing a grip and a release of the obj ects capable of being adapted to the structure of the automatic quality control machine .

[0020] In accordance with the present invention, a system and a method for moving obj ects are provided, as claimed in the appended claims .

[0021] The claims also form an integral part of the present description .

[0022] Advantageously, the system and the method for moving obj ects proposed are compact and flexible in use at the same time .

[0023] Brief Description of the Drawings

[0024] The present invention will now be described with reference to the appended drawings , which illustrate several nonlimiting embodiments thereof , wherein :

[0025] • Figures 1 and 2 are two di f ferent perspective and schematic views o f a system for moving obj ects coupled to a quality control machine ;

[0026] • Figure 3 is a perspective and exploded view of a transport container containing two stacks of trays that are inserted into and / or retrieved from the quality control machine of Figures 1 and 2 ;

[0027] • Figure 4 is a perspective and schematic view of a detail of the trans ferring device of the moving system of Figures 1 and 2 ;

[0028] • Figure 5 is a plan and schematic view that shows the envelope of the movement of the trans ferring device of Figure 4 ;

[0029] • Figure 6 is a side and schematic view of the moving system of Figures 1 and 2 ;

[0030] • Figure 7 is a side and schematic view of an alternative embodiment of the moving system of Figures 1 and 2 ;

[0031] • Figure 8 is a side and schematic view of a di f ferent use of the moving system of Figures 1 and 2 coupled to an automatic storage warehouse ;

[0032] • Figure 9 is a side and schematic view of a di f ferent use of the moving system of Figures 1 and 2 coupled to a reel unwinding station;

[0033] • Figure 10 is a side and schematic view of a di f ferent use of the moving system of Figures 1 and 2 coupled to a di f ferent reel unwinding station; and

[0034] • Figures 11 and 12 are two side and schematic views of a di f ferent use of the moving system of Figures 1 and 2 coupled to a retrieval station for retrieving bundles of blanks .

[0035] Preferred Embodiments of the Invention

[0036] In Figure 1 , the reference number 1 denotes , in its entirety, a moving system for moving stacks 2 of trays 3 ( shown in more detail in Figure 3 ) , each of which has a plurality of seats designed each to house a respective microprocessor 4 ( shown in Figure 3 ) or another electronic device .

[0037] The moving system 1 is coupled to a quality control machine 5 configured to carry out , at the end of the line and on each microprocessor 4 , a quality control serving to determine the correct functioning of the microprocessor 4 . The control machine 5 comprises input hoppers 6 configured each to house a stack 2 of trays 3 containing microprocessors 4 to be control led and output hoppers 7 configured each to house a stack 2 of trays 3 containing controlled microprocessors 4 . In use , the quality control machine 5 retrieves the microprocessors 4 to be controlled from the trays 3 that are located in an input hopper 6 and releases the controlled microprocessors 4 ( and which have proved to be functioning, i . e . meet the speci fications ) into the trays 3 that are located in an output hopper 7 ; the controlled microprocessors 4 that have proved to be faulty ( i . e . do not meet the speci fications ) are , on the other hand, diverted to a waste collection container (not shown) .

[0038] The moving system 1 is also coupled to an aerial transport system 8 ( i . e . arranged at a suitable height above the heads of the operators ) that moves the containers 9 configured to contain the stacks 2 of trays 3 ( as clearly shown in Figure 3 ) to carry the stacks 2 of trays 3 containing microprocessors 4 to be controlled towards the quality control machine 5 and to receive from the quality control machine the stacks 2 of trays 3 containing controlled microprocessors 4 .

[0039] At the aerial transport system 8 , a station S I i s defined that is configured to retrieve the stacks 2 of trays 3 containing microprocessors 4 to be controlled and to release the stacks 2 of trays 3 containing controlled microprocessors 4 . On the contrary, at the quality control machine 5 ( i . e . at the hoppers 6 and 7 of the quality control machine 5 ) , a station S2 is defined that is configured to release the stacks 2 of trays 3 containing microprocessors 4 to be controlled and to retrieve the stacks 2 of trays 3 containing controlled microprocessors 4 . According to an embodiment shown in the appended figures , the transport system 8 comprises a main track 10 along which the containers 9 travel , a loading and unloading track 11 arranged beside the main track 10 at the quality control machine 5 and an exchange station S3 at which the containers 9 can pass ( in a known way) from the main track 10 to the loading and unloading track 11 and vice versa . The station S I is obtained at the loading and unloading track 11 .

[0040] It is speci fied that the main track 10 can comprise a parallel dual guide element like the one shown in the appended figures or even a single conveyor belt .

[0041] It is understood that the moving system 1 and / or the transport system 8 are such as to be able to move trays 3 or stacks of trays 3 containing or not containing obj ects .

[0042] The moving system 1 comprises a trans ferring device 12 configured to retrieve a stack 2 of trays 3 from a container 9 that is located on the loading and unloading track 11 and then to release the stack 2 of trays 3 into an input hopper 6 ; similarly, the trans ferring device 12 is configured to retrieve a stack 2 of trays 3 from an output hopper 7 and then to release the stack 2 of trays 3 into a container 9 that is located on the loading and unloading track 11 . In other words , the trans ferring device 12 is configured to cyclically move the gripping head 21 between the station S I and the station S2 and vice versa .

[0043] The trans ferring device 12 comprises a gantry 13 ( i . e . a static structure ) comprising two vertical columns 14 that are constrained to the floor ( and preferably also to the ceiling) . The gantry 13 supports a hori zontal beam 15 ( i . e . perpendicular to the two columns 14 ) , which is mounted in a movable way to slide along a vertical direction DI under the control of an actuator 16 ( typically provided with an electric motor and schematically shown in Figure 4 ) . The trans ferring device 12 comprises an arm 17 , which is mounted to slide along the hori zontal beam 15 and, in particular, is carried by a slide that slides along the beam 15 and therefore along a hori zontal direction D2 (perpendicular to the vertical direction DI ) under the control of an actuator 18 ( typically provided with an electric motor ) .

[0044] According to what is in more detail shown in Figure 4 , the arm 17 is hinged relative to the beam 15 so as to rotate, relative to the beam 15 , around a vertical rotation axis 19 (parallel to the vertical direction DI ) under the control of an actuator 20 ( typically provided with an electric motor ) . In detail , the arm 17 i s hinged onto the slide , which is mounted on the beam 15 so as to slide along the beam 15 . The arm 17 supports a gripping head 21 , which is configured to grip and hold a stack 2 of trays 3 and is hinged relative to the arm 17 ( in particular to an end of the arm 17 ) so as to rotate , relative to the beam 17 , around a vertical rotation axis 22 (parallel to the vertical direction DI ) under the control of an actuator 23 ( typically provided with an electric motor ) .

[0045] In other words , the moving system 1 provides for a hori zontal beam 15 on which a sl ide is mounted that slides along the beam 15 ( in particular along the hori zontal direction D2 ) and onto which an arm 17 is hinged so as to rotate around a vertical axis relative to the slide ( and consequently relative to the beam 15 ) .

[0046] In other words , the trans ferring device 12 comprises a robot that is partly of the gantry type ( and therefore having linear sliding) and partly of the rotary type and moves the gripping head 21 in space with four degrees of freedom ( two translations along the directions DI and D2 and two rotations around the rotation axes 19 and 22 ) .

[0047] Advantageously, moving the beam 15 upwards , the proposed moving system 1 has reduced overall dimensions that allow access to the quality control machine 5 , such as for removal or replacement of the entire quality control machine 5 for maintenance / reconf iguration needs of the quality control machine 5 outside the department .

[0048] According to a preferred embodiment shown in the appended figures ( in particular in Figures 8 to 12 ) , the arm 17 is arranged vertical ly staggered relative to the beam 15 so as to rotate by 360 ° around the rotation axis 19 ; in particular, according to what is shown in more detail in Figure 4 , the arm 17 is arranged higher than the beam 15 so as to be able to pass above the beam 15 , but , as an alternative , the arm 17 is arranged lower than the beam 15 so as to be able to pass underneath the beam 15 .

[0049] In accordance with a further embodiment , the arm 17 is arranged relative to the beam 15 so as to be able to rotate by 180 ° around the rotation axis 19 ( in particular, Figures 1 to 7 ) . In that case , with respect to an arm 17 that rotates by 360 ° , frontal protection for the operators is easier .

[0050] Preferably, the moving system 1 can comprise at least one barrier (physical or intangible , such as an optical barrier or a radar barrier or lidar ) to prevent the access of an operator into the work area of the moving system 1 when the trans ferring device 12 is in operation .

[0051] Figures 5 and 6 show two variants of the quality control machine 5 on which the hoppers 6 and 7 are arranged in di f ferent positions . According to a preferred embodiment shown in the appended figures (in particular in Figures 8 to 12) , at least one uncluttered free zone is provided, in which the arm 17 is free to rotate by 360° around the rotation axis 19; in this free area, the arm 17 can be rotated freely to assume the necessary orientation to perform the subsequent operations.

[0052] Alternatively, at least one uncluttered free zone is provided, in which the arm 17 is free to rotate by 180° around the rotation axis (Figures 1 to 7) .

[0053] In the embodiments in which said uncluttered free zone is provided (i.e. in the case in which the arm 17 is free to rotate at least by 180°) , defining a passing plane for the fulcrum of the arm 17 and perpendicular to the horizontal beam 15, the arm 17 can work either in a semi-space to the right with respect to said plane or in a semi-space to the left with respect to said plane, crossing a configuration of kinematic singularity.

[0054] Figure 5 shows schematically a possible envelope of the arm 17, i.e. the capacity for movement of the arm 17 on a horizontal plane due to translation along the horizontal direction D2 and rotation around the vertical rotation axis 19.

[0055] Advantageously, the horizontal dimensions of the entire moving system 1 are reduced, allowing the operators to move easily around the quality control machine 5.

[0056] In other words, the moving system 1 comprises at least one uncluttered free zone, in which the arm 17 is free to rotate around the rotation axis 19, moving past a singularity situation in which the arm 17 is perpendicular to the horizontal beam 15. According to a preferred embodiment shown in the appended figures, the quality control machine 5 (in which the station S2 is obtained) is arranged at a non-zero distance from the horizontal beam 15 to ensure the presence of adequate space for the manoeuvres of the arm 17. Obviously, the distance between the quality control machine 5 (i.e. the hoppers 6 and 7 of the quality control machine 5) and the beam 15 is less than the length of the arm 17, so as to allow the gripping head 21 to arrive at the quality control machine 5 (i.e. the hoppers 6 and 7 of the quality control machine 5) .

[0057] In the embodiment shown in Figures 1 to 7, the moving system 1 operates with microprocessors 4 (or other electronic devices) .

[0058] In the alternative embodiment shown in Figure 8, the moving system 1 is coupled to a warehouse 24 for automatic matrix storage (for example, with a honeycomb structure or rectangular shelving or grid structure) so as to move the articles 25 between the aerial transport system 8 and the cells of the storage warehouse 24; in this embodiment, the station SI is obtained along the transport system 8 on which the articles 25 travel, whereas the station S2 is obtained inside the storage warehouse 24 at the cells.

[0059] In that embodiment, the storage warehouse 24 can once again become accessible to the operators simply by disengaging and moving the transferring device 12 upwards; said operation is simple, safe and rapid.

[0060] In the alternative embodiments shown in Figures 9 to 12, the moving system 1 is coupled to a feeding unit 26 of a manufacturing machine that uses consumable materials 27; in these embodiments, the moving system 1 operates with consumable materials 27 which are cyclically retrieved in the station SI, which can be located at the aerial transport system 8 (as shown in Figure 9) or at a storage area (as shown in Figures 10 to 12) and released in station S2, which is located at the feeding unit 26 of the manufacturing machine. Typically, pallets 28 containing the consumable materials 27 (and / or packaging materials) are brought into the storage area, i.e. the station SI is configured to house a pallet 28 containing the consumable materials 27. The consumable materials 27 can be organised on reels (as shown in Figures 9 and 10) or in bundles (as shown in Figures 11 and 12) .

[0061] In the embodiment shown in Figure 12, the transferring device 12 comprises a suctioning removal element 29 (shown in three different work positions that are alternatives to each other) , which is configured to grip a layer pad 30 present between the two layers of consumable materials 27. Preferably, the removal element 29 is hinged to the horizontal beam 15 so as to rotate, relative to the beam 15, around a horizontal rotation axis 31 (parallel to the extension of the beam 15 itself) under the control of an actuator (typically provided with an electric motor) . In use, the removal element 29 is used to grip a layer pad 30 on which packaging materials 27 are no longer resting and then to release the layer pad 30 into a collection container 32.

[0062] The embodiments described here can be combined with each other .

[0063] The moving system 1 described above has numerous advantages .

[0064] In the first place, the moving system 1 described above allows operations to be performed automatically (i.e. without the manual intervention of human operators ) , acting with precision and at high performance speed .

[0065] Furthermore , the moving system 1 described above is extremely compact and, also in use , does not extend beyond the footprint of the automatic quality control machines 5 .

[0066] Furthermore , the moving system 1 described above is extremely flexible in use , allowing a grip and a release of the obj ects capable of being adapted to the structure of the automatic machine with which it cooperates .

[0067] Furthermore , the moving system 1 described above is relatively simple and economical to obtain .

[0068] LIST OF REFERENCE NUMBERS OF THE FIGURES

[0069] 1 moving system

[0070] 2 stacks

[0071] 3 trays

[0072] 4 microprocessors

[0073] 5 quality control machine

[0074] 6 input hoppers

[0075] 7 output hoppers

[0076] 8 transport system

[0077] 9 containers

[0078] 10 main track

[0079] 11 loading and unloading track

[0080] 12 trans ferring device

[0081] 13 gantry

[0082] 14 columns

[0083] 16 actuator

[0084] 17 arm

[0085] 18 actuator

[0086] 19 rotation axis

[0087] 20 actuator

[0088] 21 gripping head 22 rotation axis

[0089] 23 actuator

[0090] 24 storage warehouse

[0091] 25 articles 26 feeding unit

[0092] 27 consumable materials

[0093] 28 pallet

[0094] 29 removal element

[0095] 30 layer pad 31 rotation axis

[0096] 32 collection container

[0097] 51 station

[0098] 52 station

[0099] 53 exchange station DI vertical direction

[0100] D2 hori zontal direction

Claims

1.CLAIMS1) A system (1) for moving objects (4; 25; 27) comprising: a first station (SI) configured to retrieve the objects (4; 25; 27) ; a second station (S2) configured to release the objects (4; 25; 27) ; and a transferring device (12) , which is provided with a gripping head (21) designed to grip and hold an object (4; 25; 27) and is configured to cyclically move the gripping head (21) between the first station (SI) and the second station ( S2 ) ; wherein the transferring device (12) comprises a gantry (13) provided with two vertical columns (14) and a horizontal beam (15) , which is mounted in a movable way so as to slide along a vertical direction (DI) under the control of a first actuator (16) ; the moving system (1) is characterized in that: the transferring device (12) comprises an arm (17) , which is mounted so as to slide along the horizontal beam (15) and, hence, along a horizontal direction (D2) , under the control of a second actuator (18) ; the arm (17) is hinged relative to the beam (15) so as to rotate, relative to the beam (15) , around a first vertical rotation axis (19) under the control of a third actuator (20) ; and the arm (17) supports the gripping head (21) , which is hinged relative to the arm (17) so as to rotate, relative to the arm (17) , around a second vertical rotation axis (22) , under the control of a fourth actuator (23) .2) The moving system (1) according to claim 1, wherein the arm (17) is vertically staggered relative to the beam (15) so as to be able to rotate by at least 180°, preferably 360°, around the first rotation axis (19) .3) The moving system (1) according to claim 1 or 2, wherein at least one uncluttered free zone is provided, in which the arm (17) is free to rotate around the first rotation axis (19) , moving past a singularity situation in which the arm (17) is perpendicular to the horizontal beam (15) .4) The moving system (1) according to claim 1, 2 or 3 and comprising an operating machine (5) , in which the second station (S2) is obtained and which is arranged at a nonzero distance from the horizontal beam (15) .5) The moving system (1) according to claim 4, wherein: the operating machine (5) is configured to carry out a quality control; the first station (SI) is configured to retrieve the objects (4) to be controlled and to release the controlled ob ects ( 4 ) ; and the second station (S2) is configured to release the objects (4) to be controlled and to retrieve the controlled ob j ects ( 4 ) .6) The moving system (1) according to claim 5, wherein the second station (S2) comprises at least one input hopper (6) configured to receive the objects (4) to be controlled and at least one output hopper (7) configured to release the controlled objects (4) .7) The moving system (1) according to claim 5 or 6, wherein : the first station (SI) is obtained along a transport system (8) , on which containers (9) configured to house the objects (4) travel; and in the first station (SI) , the gripping head (21) is configured to retrieve the objects (4) to be controlled from a container (9) and to release the controlled objects into the container (9) .8) The moving system (1) according to one of the claims from 1 to 7, wherein the objects (4) are electronic devices, in particular microprocessors.9) The moving system (1) according to claim 8, wherein the objects (4) are housed in trays (3) and the gripping head (21) is designed to grip and hold the trays (3) and, in particular, is designed to grip and hold stacks (2) of trays ( 3 ) .10) The moving system (1) according to one of the claims from 1 to 7, wherein: the objects (27) are consumable materials (27) ; the first station (SI) is configured to house a pallet (28) containing the consumable materials (27) ; and the second station (S2) is a feeding unit (26) of a manufacturing machine that uses the consumable materials (27) .11) The moving system (1) according to claim 10, wherein the transferring device (12) comprises a removal element (29) , which is configured to grip a layer pad (30) present between two layers of consumable materials (27) .12) The moving system (1) according to one of the claims from 1 to 7, wherein: the first station (SI) is obtained along a transport system (8) , on which the objects (25) travel; and the second station (S2) is obtained in a warehouse (24) for automatic matrix storage.13) A method for moving objects (4; 25; 27) and comprising the steps of: retrieving the objects (4; 25; 27) in a first station (SI) ; releasing the objects (4; 25; 27) in a second station (S2) ;and cyclically moving, by means of a transferring device (12) , a gripping head (21) designed to grip and hold an object (4; 25; 27) between the first station (SI) and the second station ( S2 ) ; wherein the transferring device (12) comprises a gantry (13) provided with two vertical columns (14) and a horizontal beam (15) , which is mounted in a movable way so as to slide along a vertical direction (DI) under the control of a first actuator (16) ; the moving method is characterized in that: the transferring device (12) comprises an arm (17) , which is mounted so as to slide along the horizontal beam (15) and, hence, along a horizontal direction (D2) , under the control of a second actuator (18) ; the arm (17) is hinged relative to the beam (15) so as to rotate, relative to the beam (15) , around a first vertical rotation axis (19) under the control of a third actuator (20) ; and the arm (17) supports the gripping head (21) , which is hinged relative to the arm (17) so as to rotate, relative to the arm (17) , around a second vertical rotation axis (22) , under the control of a fourth actuator (23) .

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