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WO2020074719A1 - Système de tri d'objets - Google Patents

Système de tri d'objets Download PDF

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Publication number
WO2020074719A1
WO2020074719A1 PCT/EP2019/077629 EP2019077629W WO2020074719A1 WO 2020074719 A1 WO2020074719 A1 WO 2020074719A1 EP 2019077629 W EP2019077629 W EP 2019077629W WO 2020074719 A1 WO2020074719 A1 WO 2020074719A1
Authority
WO
WIPO (PCT)
Prior art keywords
scoop
objects
groove
sorting
robotic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/077629
Other languages
English (en)
Inventor
Simon MATHIESEN
Aljaz KRAMBERGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Syddansk Universitet
Original Assignee
Syddansk Universitet
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Syddansk Universitet filed Critical Syddansk Universitet
Publication of WO2020074719A1 publication Critical patent/WO2020074719A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
    • B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
    • B07B13/04—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported

Definitions

  • the present invention relates to a system for sorting objects, such as nuts and bolts, within automated assembly, by using a scoop arranged on a robotic manipulator, such as a robotic arm.
  • the invention also relates to a corresponding method and a corresponding scoop.
  • the term industrial part feeding covers the task of getting parts from storage into the production cell, where it is used.
  • the task is found in many areas of industry, but especially evident in the area of automated assembly, where a number of subparts, e.g. washers, nuts and bolts, needs to be assembled to a full part, such as a motor or a thermostat.
  • Automatic assembly often requires non-trivial operations such as tight-fit insertion or screwing, which in turn are likely to require advanced manipulators, such as one or more robotic arms.
  • a robotic arm can be fitted with a gripper, but this is far from being as dexterous as the human hand, and thus, requires parts to be singulated/separated from bulk and oriented, in order to enable the gripper to grasp and insert them properly in an assembly.
  • singulation/separation tasks are handled by dedicated part feeding systems such as Vibratory Bowl Feeders, although newer methods apply vision- based solutions to pick parts directly from bins.
  • a third solution is a hybrid of vibration and robotic gripper picking, known as flexible part feeders, where parts are picked from a surface using a robotic gripper and vision, wherein the surface can be vibrated to move the parts around for singulation/separation and orientation.
  • these solutions are typically very costly, and, in the case of the bin-picking solution, slow.
  • an improved sorting system would be advantageous, and in particular, a more efficient and/or reliable sorting system would be advantageous.
  • a robotic manipulator such as a robotic arm
  • the scoop comprising :
  • main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove comprising :
  • the robotic manipulator is situated adjacent to the container, arranged so as to scoop objects from said container onto the scoop and performing a translational and/or rotational movement in at least one direction
  • the robotic manipulator angles the scoop so as to slide the objects along the groove towards the end stop of the groove, thereby orienting the objects for a subsequent grasping.
  • the invention is particularly, but not exclusively, advantageous for obtaining a simple, cheap and fast method of sorting bulk parts from a bin or container without the need for advanced vision-based technology and/or separate, vibrating surface separators, by using one or more robots for separation and sorting/picking of parts of various geometry, size, weight, material, centre of mass, mass distribution and surface quality and/or surface roughness.
  • the invention is advantageous in that it enables one robot with a robotic gripper and a plurality of scoops to sort a wide variety of mixed parts from one or more bins or containers, without the aid of vibrating separators or vision- based technology.
  • a scoop is to be understood as a tool with a bowl-like shape and a handle or coupling fixture, for scooping something, such as small parts, from a bin or container, into or onto the scoop, so as to hold the parts for further processing, such as sorting.
  • a groove is to be understood as a slot or recess comprised from two opposite surfaces, such as two opposite protrusions or e.g. a recess machined, drilled or moulded into a surface.
  • a groove, recess or slot can be through-going or have a defined bottom surface, depending on its specific function. If a bolt is longer than the height of a scoop, the bolt can protrude from the bottom of a scoop having a through-going groove, recess or slot.
  • objects are to be understood as a wide range of parts, the parts possibly varying in size, geometry, shape, weight and material including magnetic properties.
  • sorting may be understood as including, but not limited to, sorting objects of various size, shape and geometry from each other, as well as sorting identical objects, or substantially identical objects, reorienting said substantially identical objects and/or align them in a row, pattern or group for effective picking or grasping from an automated picker, such as a robotic gripper.
  • direction is to be understood as the line or course on which something is moving or is aimed to move or along which something is pointing or facing, such as at least in a negative or positive path along an axis, such as an x, y or z axis in a coordinate system representing a free body diagram.
  • the robotic manipulator may have a robotic gripper, such as a robotic hand, at the flange of the robotic manipulator, and/or further comprising a scoop, wherein the mounting portion of the scoop is arranged so as to enable the robotic gripper to engage said mounting portion, thereby enabling the robotic gripper to engage with the mounting portion, such as a handle, in an simple and effective manner, avoiding complex mounting procedures.
  • a robotic gripper such as a robotic hand
  • the mounting portion of the scoop is arranged so as to enable the robotic gripper to engage said mounting portion, thereby enabling the robotic gripper to engage with the mounting portion, such as a handle, in an simple and effective manner, avoiding complex mounting procedures.
  • the sorting system further comprises:
  • the present invention suitable for sorting, aligning or re-orienting small batches of objects or parts within an automated assembly setup, such as bin-picking parts and arranging them for assembly by a robotic gripper.
  • the sorting system further comprises: -a first plurality of different types of objects for being sorted,
  • each of the scoops are geometrically different, each groove corresponding to a specific type of object
  • the present invention suitable for sorting through an variety of objects of different size, shape or material by using a plurality of scoops, each scoop designed to sort one of the types of objects within a container.
  • the present invention relates to a scoop for sorting objects in an associated container, the scoop comprising :
  • main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove
  • the scoop further comprises at least one side portion having a bottom surface and a side surface, wherein said side surface is angled in relation to the bottom surface for keeping objects that are not aligned or settled in the groove within the scoop, so as to enable the translational and/or rotational movement of the scoop and the resulting movement of the objects within the scoop, to let the objects pass by/over the groove multiple times, to have a subset of the objects settle within the groove.
  • the scoop further comprises a funnel at the inlet portion oriented towards the main body of the scoop, for precisely guiding the objects sliding from the inlet portion towards the start portion of the groove, by guiding each object through the funnel so as to increase the amount of objects settling or aligning into the groove, decreasing the need for translational and/or rotational movements of the scoop to save time in the sorting process.
  • the groove is oblique from the start portion of the groove to the end portion of the groove.
  • the oblique design is suitable for translating/altering the orientation of an object moving from the start portion of the groove towards the end portion of the groove.
  • oblique is to be understood as skewed, twisted or inclined to one side.
  • the scoop and groove are dimensioned for sorting objects having a volume between 0.01 cm 3 and 100 cm 3 , preferably between 0.1 cm 3 and 20 cm 3 and more preferably between 1.0 cm 3 and 10 cm 3 , such as washers, nuts or bolts.
  • the scoop further comprises a vibrating element, such as a vibrating motor, suitable for vibrating the scoop and altering the position of the objects, so as to decrease the time spent for the objects to align within the groove.
  • a vibrating element such as a vibrating motor
  • the present invention relates to a computer program product being adapted to enable a computer system comprising at least one computer having data storage means in connection therewith to control a manufacturing system or device, preferably an additive manufacturing system or device or a three-dimensional printing system or device, for producing a scoop according to the first and second aspect.
  • This aspect of the invention is particularly, but not exclusively, advantageous in that the method according to the present invention may be implemented by providing a software kit, comprising analysis and modelling software, and using said kit for analysing an object with a computer program and 3-D print a scoop according to the first and second aspect with grooves corresponding to the analysed object, the scoop thereby being suitable for sorting the specific object.
  • the computer program product or software kit may enable a computer system to carry out the operations of the invention, or manufacture parts or elements therefore, when down- or uploaded into the computer system.
  • Such a computer program product may be provided on any kind of computer readable medium, or through a network.
  • the present invention relates to a method for sorting objects, the method comprising :
  • a robotic manipulator such as a robotic arm
  • the scoop comprising :
  • main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove
  • the present invention relates to a method for sorting objects, the method comprising :
  • a robotic manipulator such as a robotic arm
  • the scoop comprising :
  • main body comprising a first surface with at least one g roove extending from the inlet portion to an end portion of the scoop, the groove
  • the fourth and fifth aspect of the invention is particularly, but not exclusively, advantageous in that the method according to the present invention may be implemented by providing a scoop according to the second aspect, at any point of the supply chain where feasible.
  • the first, second, third, fourth and/or fifth aspect of the present invention may each be combined with any of the other aspects.
  • Figure 1 shows a system for sorting objects according to the present invention.
  • Figure 2 shows a trimetric view of a scoop for sorting bolts according to the present invention.
  • Figure 3 shows a trimetric view of a scoop for sorting cylinders according to the present invention.
  • Figure 4 shows a trimetric view of a scoop 10 for sorting objects, such as nuts and end-caps, according to the present invention.
  • Figure 5 shows a trimetric view of a scoop 10 for sorting elongate members with a head, such as pins, according to the present invention.
  • Figure 6 shows a trimetric view of a scoop 10 for sorting circle-shaped objects, such as rings, according to the present invention.
  • Figure 7 shows a trimetric view of a scoop 10 for sorting circle-shaped objects, such as washers, according to the present invention.
  • Figure 8 shows a trimetric top view of a scoop 10 for sorting elongate members with a head, such as bolts, according to the present invention.
  • Figure 9 shows a back view of a scoop according to the present invention.
  • Figure 10 shows a side view of a scoop according to the present invention.
  • Figure 11 is a flow-chart of a method according to the invention.
  • Figure 12 is a flow-chart of a method according to the invention.
  • Figure 13 is a table illustrating test results according to the invention.
  • Figure 14A is a side view of a first sorting motion according to the invention.
  • Figure 14B is a side view of a second sorting motion according to the invention.
  • Figure 14C is a side view of a third sorting motion according to the invention.
  • Figure 14D is a side view of a fourth sorting motion according to the invention.
  • Figure 14E is a side view of a fifth sorting motion according to the invention.
  • Figure 14F is a side view of a sixth sorting motion according to the invention.
  • Figure 14G is a side view of a seventh sorting motion according to the invention.
  • Figure 14H is a side view of a eighth sorting motion according to the invention.
  • Figure 141 is a side view of a ninth sorting motion according to the invention.
  • Figure 14J is a side view of a tenth sorting motion according to the invention.
  • Figure 14K is a side view of a eleventh sorting motion according to the invention.
  • Figure 14L is a side view of a twelfth sorting motion according to the invention.
  • Figure 1 shows a system for sorting objects, according to the present invention.
  • the figure shows a robotic arm 1 with a robotic gripper 2, the robotic gripper 2 engaged with a scoop 10, for sorting a variety of different objects 4 from an adjacent container 3.
  • container 3 schematically shows that the objects are different in sizes, shapes, etc.
  • figure 1 illustrates a second container 3' with a plurality of substantially identical objects 4' schematically shown as rectangles, said objects 4' being suitable for the robotic gripper 2 and scoop 10 to sort.
  • FIG. 2 shows a trimetric view of a scoop 10 for sorting elongate members with a head, such as bolts, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as elongate members with a head, such as a bolt.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • FIG. 3 shows a trimetric view of a scoop 10 for sorting cylindrical objects, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting cylindrical objects, such as a cylinder.
  • the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the oblique edge 23 towards the end stop 19.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • Figure 4 shows a trimetric view of a scoop 10 for sorting objects such as nuts and end-caps, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as nuts and end-caps.
  • the first protrusion 16' has a first surface 24 protruding towards the second protrusion 16" and the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the first surface 24 and the oblique edge 23 towards the end stop 19.
  • the groove 17 has an end stop 19, for holding objects, said objects being ready for sorting.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • a robotic manipulator such as a robot arm
  • Figure 5 shows a trimetric view of a scoop 10 for sorting elongate members with a head, such as pins, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as elongate members with a head, such as a pin.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • Figure 6 shows a trimetric view of a scoop 10 for sorting circle-shaped objects such as rings, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting circle-shaped objects, such as rings.
  • the first protrusion 16' has a first surface 24 protruding towards the second protrusion 16" and the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the first surface 24 and the oblique edge 23 towards the end stop 19.
  • the groove 17 has an end stop 19, for holding objects, said objects being ready for sorting.
  • the edges 25', 25" of the first and second protrusion 16', 16" have arched recesses for improving the alignment of circle-shaped objects such as rings within the groove 17 and end stop 19.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • Figure 7 shows a trimetric view of a scoop 10 for sorting circle-shaped objects such as washers, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting circle-shaped objects, such as washers.
  • the first protrusion 16' has a first surface 24 protruding towards the second protrusion 16" and the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the first surface 24 and the oblique edge 23 towards the end stop 19.
  • the groove 17 has an end stop 19, for holding objects, said objects being ready for sorting.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • a robotic manipulator such as a robot arm
  • Figure 8 shows a trimetric top view of a scoop 10 for sorting elongate members with a head, such as bolts, according to the present invention.
  • the figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container.
  • the inlet portion 11 is connected to a main body 12.
  • the inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as elongate members with a head, such as a bolt.
  • this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10.
  • the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.
  • Figure 9 shows a back view of a scoop, according to the present invention.
  • the figure shows the bottom surface 26 of the scoop and from left to right the backside of the inlet portion 11, the main body 12 in the middle and the mounting portion 22 to the right.
  • Figure 10 shows a side view of a scoop, according to the present invention.
  • the figure shows a side of the scoop, and from left to right the side of the inlet portion 11, the main body 12 in the middle and the mounting portion 22 to the right.
  • Figure 11 is a flow-chart of a method according to the invention.
  • Figure 11 illustrates a method for sorting objects according to the fourth aspect, the method comprising:
  • a robotic manipulator such as a robotic arm
  • the scoop comprising:
  • main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove
  • Figure 12 is a flow-chart of a method according to the invention.
  • Figure 12 illustrates a method for sorting objects according to the fourth aspect, the method further comprising:
  • the robotic manipulator further comprising a robotic gripper, such as a robotic hand, at the flange of the robotic manipulator,
  • Figure 13 is a table illustrating test results according to the invention.
  • the columns represent different objects to be sorted by the different embodiments of scoops. In total 50 scooping motions per part were executed and evaluated by a human observer.
  • the first row illustrates average number of objects scooped into the scoops inlet portion.
  • the second row illustrates average number of objects successfully aligned in the groove.
  • the third row illustrates the likelihood of making a subsequent task possible, after successfully aligning at least one object in the groove, such as subsequently attempting to grasp said object from the groove.
  • the fourth row illustrates an estimate of scooped parts per minute, based on the 50 scooping motions per part.
  • Figure 14A is a side view of a first sorting motion according to the invention.
  • the Figure shows a vertically positioned scoop 10 performing a translational movement 50, down toward a container 3. Inside said container, a plurality of objects 4 lie misaligned.
  • Figure 14B is a side view of a second sorting motion according to the invention.
  • the Figure illustrates the scoop 10 abutting the container 3, said container 3 storing a plurality of misaligned objects 4.
  • a coordinate system 70 with three axis is displayed.
  • An arrow illustrates a torque 61 acting on the x-axis of the scoop 10, as a result of the scoop 10 coming into contact with the container 3.
  • Figure 14C is a side view of a third sorting motion according to the invention.
  • the Figure illustrates the scoop 10 performing a translational movement 50 towards the plurality of misaligned objects 4 inside the container, while at the same time maintaining contact with the bottom of the container 3.
  • Figure 14D is a side view of a fourth sorting motion according to the invention.
  • the Figure illustrates the scoop 10 abutting the container 3 and the plurality of misaligned objects 4.
  • a force 51 acts upon the scoop 10 upon the impact between the scoop 10 and container 3.
  • Figure 14E is a side view of a fifth sorting motion according to the invention. The Figure illustrates the scoop 10 performing a translational movement 50 and a rotational movement 60 around an x-axis, so as to initiate a scooping of the plurality of misaligned objects 4.
  • Figure 14F is a side view of a sixth sorting motion according to the invention.
  • the Figure illustrates the scoop 10 performing a translational movement 50 and a rotational movement 60 around an x-axis, and continuing the sorting movement illustrated in Figure 14E and thus, scoop the plurality of misaligned objects 4 into the inlet portion of the scoop 3.
  • Figure 14G is a side view of a seventh sorting motion according to the invention.
  • the Figure illustrates the finished sorting motion of Figure 14F, in which the end portion of the scoop 3 comes into contact with the container 3, and thus a force 51 acts upon the scoop 10 upon the impact between the scoop 10 and container 3.
  • a coordinate system 70 with three axis is displayed.
  • Figure 14H is a side view of a eighth sorting motion according to the invention.
  • the Figure illustrates a translational movement 50 of the scoop 10, so as to move the scoop out of the container.
  • a plurality of misaligned objects 4 resides in the inlet portion of the scoop 3.
  • a coordinate system 70 with three axis is displayed.
  • Figure 141 is a side view of a ninth sorting motion according to the invention.
  • the Figure illustrates the scoop 10 performing a plurality of movements, both rotational movements 60 and translational movements 50, so as to align a plurality of objects 4' in the groove in the scoop 10 and further to remove any misaligned objects 4" from the inlet portion of the scoop, letting the misaligned objects fall into the container 3 from where they were scooped up in Figure 14F.
  • Figure 14J is a side view of a tenth sorting motion according to the invention.
  • the Figure illustrates the initiation of a rotational movement 60 of the scoop 10 around the x-axis, so as to position the scoop in a vertical position and empty the inlet portion of the scoop 10 from any misaligned objects 4" which are not positioned in the groove of the scoop 10 as an aligned object 4'.
  • the scoop 10 is still positioned, hovering, above the container 3 containing a subset of the misaligned objects 4, which were removed from the scoop 10 as a result of the rotational and translational movements illustrated in Figure 141.
  • Figure 14K is a side view of an eleventh sorting motion according to the invention.
  • the Figure illustrates the scoop 10 being rotated 60 back to a horizontal position while the last misaligned objects 4" slides off the inlet portion of the scoop, back to the subset of misaligned objects 4 left in the containers, while the aligned objects 4' are still positioned in the groove of the scoop.
  • a coordinate system 70 with three axis is displayed.
  • Figure 14L is a side view of a twelfth sorting motion according to the invention.
  • the Figure illustrates the scoop 10 positioned horizontally, ready for the aligned objects to be grasped or otherwise picked from the groove of the scoop 10.
  • the invention can be implemented by means of hardware, software, firmware or any combination of these.
  • the invention or some of the features thereof can also be implemented as software running on one or more data processors and/or digital signal processors.
  • the individual elements of an embodiment of the invention may be physically, functionally and logically implemented in any suitable way such as in a single unit, in a plurality of units or as part of separate functional units.
  • the invention may be implemented in a single unit, or be both physically and functionally distributed between different units and processors.
  • the invention provides a sorting system, for sorting objects such as nuts and bolts.
  • the system comprises a container with assorted objects and/or a container with substantially identical objects to be sorted, a robotic manipulator, such as a robotic arm, within reach of the container.
  • a scoop 10 is mounted on the flange of the robotic arm, for scooping up objects from the container.
  • the scoop is designed with an inlet 11, a funnel 14 at the inlet and a groove 17, wherein the funnel is designed for feeding objects into the groove and the groove is specifically designed for sorting through objects and aligning specific objects within the groove.
  • the robotic arm can perform translational and or rotational movements, shuffling the objects within the scoop, settling and aligning additional objects within the scoop.
  • the objects, now aligned within the groove, are oriented so as to be grasped by a robotic gripper for sorting.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de tri d'objets, tels que des écrous et des boulons. Le système selon l'invention comprend un contenant avec des objets divers et/ou un contenant avec des objets sensiblement identiques à trier, et un manipulateur robotique, tel qu'un bras robotisé, à portée du contenant. Une pelle (10) est montée sur la bride du bras robotisé afin de ramasser des objets dans le contenant. La pelle est conçue avec un orifice d'entrée (11), un entonnoir (14) au niveau de l'orifice d'entrée et une rainure (17), l'entonnoir étant conçu pour acheminer des objets dans la rainure et la rainure étant spécifiquement conçue pour trier les objets et aligner des objets donnés à l'intérieur de la rainure. Lorsque certains objets ne se déposent pas directement de l'entonnoir à l'intérieur de la rainure, le bras robotisé peut effectuer des mouvements de translation et/ou de rotation, brasser les objets dans la pelle, déposer et aligner des objets supplémentaires dans la pelle. Une fois alignés à l'intérieur de la rainure, les objets sont orientés de sorte à être saisis par un préhenseur robotique pour le tri.
PCT/EP2019/077629 2018-10-12 2019-10-11 Système de tri d'objets Ceased WO2020074719A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201870670 2018-10-12
DKPA201870670 2018-10-12

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060083419A1 (en) * 2004-10-18 2006-04-20 Michael Carbaugh Systems and methods for isolating parts
US20060087136A1 (en) * 2004-10-12 2006-04-27 Jayson Pearl French fry scoop
DE102015122392A1 (de) * 2015-12-21 2017-06-22 Weber Maschinenbau Gmbh Breidenbach Aufnehmer für einen produktgreifer
WO2018157179A2 (fr) * 2017-02-24 2018-08-30 Fabworx Solutions, Inc. Effecteur terminal robotique atmosphérique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060087136A1 (en) * 2004-10-12 2006-04-27 Jayson Pearl French fry scoop
US20060083419A1 (en) * 2004-10-18 2006-04-20 Michael Carbaugh Systems and methods for isolating parts
DE102015122392A1 (de) * 2015-12-21 2017-06-22 Weber Maschinenbau Gmbh Breidenbach Aufnehmer für einen produktgreifer
WO2018157179A2 (fr) * 2017-02-24 2018-08-30 Fabworx Solutions, Inc. Effecteur terminal robotique atmosphérique

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