Technical Field

The present invention relates to a device for the enslaving of workpieces to be machined.

Background Art

Known enslaving devices supply workpieces to be machined to one or more working machines having different characteristics depending on the production process in which they are fitted and on the nature of the workpieces to be machined.

For example, the working machines may be of the type of machine tools (lathes, milling machines, grinding machines, etc.), assembly machines, packaging machines, etc.

A first type of enslaving device is described in patent document US2010063629.

Such enslaving devices are provided with a bowl mounted on vibrating means and comprising an internal surface, substantially vertical or inclined, and a helical ramp, extending adjacent to the internal surface itself.

The lower portion of the helical ramp is located near the bottom surface of the bowl.

The workpieces are positioned at the bottom surface of the bowl.

Thanks to the sussultatory motion generated by the vibrating means, the workpieces move up along the helical ramp and are moved upwards until they reach a picking area located at the top of the helical ramp.

During this movement, the workpieces undergo continuous oscillations that result in continuous changes thereof in orientation.

The above-mentioned devices comprise a gripping assembly of the workpieces present in the picking area, which, however, only picks them up when they are positioned according to an established orientation.

The workpieces that are not picked up fall into a collection container positioned near the picking area and communicating with the bottom surface of the bowl; this way the workpieces go back up the helical ramp and once again undergo the working cycle described above, which is carried out as long as it is required by the machining requirements.

Known enslaving devices belonging to the first type comprise a detection assembly for detecting the orientation of the workpieces present in the picking area, which assembly is provided with a camera, which takes an image of the picking area, and a management and control unit operationally connected to the camera and to the gripping assembly.

The management and control unit processes the image of the picking area, identifying the workpieces positioned in the preset orientation, and communicates to the gripping assembly which workpieces are ready to be picked.

However, the enslaving devices made according to the teachings of the patent document US2010063629, do have some drawbacks, among which, in particular, the fact that they can be used for enslaving workpieces to be machined having different geometric characteristics but, nevertheless, they can prove scarcely effective.

In such devices, in fact, the workpieces to be machined are arranged on a given lying “side” according to pure statistical probability and, in the event that this is not very high, the result is a low percentage of workpieces that can be taken with respect to those actually being machined inside the bowl, with a consequent increase, in some cases not negligible, in the overall enslaving time. A second type of device for the enslaving of workpieces of known type is also provided with a bowl mounted on vibrating means, reference being made to the preceding description for its structural and operating description.

The above-mentioned devices are usually used to singularize workpieces, i.e. to position them according to a preset orientation and to arrange them side by side along a row.

At the top of the helical ramp there is a movement line of the workpieces onto which move up only the workpieces arranged according to the preset orientation; the other workpieces instead fall into the collection container positioned near the feeding line and communicating with the bottom surface of the bowl.

Moreover, the enslaving devices belonging to the second type comprise at least one orientation element (so-called “trap”) adapted to maximize the orientation of the workpieces arriving at the movement line.

More specifically, the aforesaid orientation element is associated with the helical ramp in the proximity of the movement line and has a geometric conformation such as to allow the passage only to the workpieces positioned according to the preset orientation.

Again, the geometric conformation of the orientation element determines the fall towards the bottom surface of the other workpieces which, then once again, undergo the work cycle just described.

However, the known types of enslaving devices belonging to the second type are difficult to use for the enslaving of workpieces with very different geometric characteristics.

In particular, the known orientation elements are made in a single body piece with the helical ramp itself.

It is easy to appreciate that the devices made this way cannot be easily adapted to operate on geometrically very different workpieces and it is therefore necessary to be able to have a large number of devices comprising different orientation elements.

Description of the Invention

The main aim of the present invention is to devise a device for the enslaving of workpieces to be machined which allows adapting quickly and easily to the machining of workpieces having very different geometric characteristics.

Within this aim, one object of the present invention is to devise a device for the enslaving of workpieces to be machined which can be used on workpieces which cannot be easily positioned on a lying side suitable for subsequent gripping.

Another object of the present invention is to devise a device for the enslaving of workpieces to be machined which allows carrying out simple, rapid and accurate topping up of workpieces in the bowl without affecting the machining in progress.

Another object of the present invention is to devise a device for the enslaving of workpieces to be machined which allows overcoming the drawbacks mentioned above of the prior art within the scope of a simple, rational, easy and effective to use as well as affordable solution.

The objects set out above are achieved by the present device for the enslaving of workpieces to be machined having the characteristics of claim 1.

Brief Description of the Drawings

Other characteristics and advantages of the present invention will be more apparent from the description of several preferred, but not exclusive embodiments of a device for the enslaving of workpieces to be machined, illustrated by way of an indicative, yet non-limiting example, in the attached tables of drawings wherein:

Figure 1 is an axonometric view of a first embodiment of the device according to the invention;

Figure 2 is an axonometric view from another angle of some components of the device of Figure 1 ;

Figure 3 is a partially exploded and partially magnified axonometric view of the device of Figure 1 ;

Figure 4 is a cross-sectional view of some components of the device of Figure 1;

Figure 5 is an axonometric view of a second embodiment of the device according to the invention.

Embodiments of the Invention

With particular reference to the embodiment shown in Figures 1 to 4, reference numeral 1 globally indicates a device for the enslaving of workpieces.

The device 1 comprises at least one basic frame 2 to rest on the ground.

Preferably, the basic frame 2 is made up of a metallic material and comprises a bedplate for resting on the ground.

The device 1 comprises at least one bowl element 3 mounted on vibrating means associated with the basic frame 2.

The bedplate comprises a compartment for housing the vibrating means, not shown in the figures for simplicity of representation.

The bowl element 3 is substantially hollow and comprises at least one bottom wall 4 for receiving at least one workpiece P to be machined.

Preferably, the bottom wall 4 is made up of a metallic or plastic material and is positioned horizontally during the use of the device 1.

Conveniently, the bottom wall 4 is adapted to receive a plurality of workpieces P, which are positioned on the bottom wall 4 through the use of topping up means (not shown in the figures).

The bowl element 3 comprises at least one substantially vertical lateral wall 5 and provided with at least one lateral surface 6.

The lateral wall 5 preferably consists of a metallic or plastic material, is associated below with the bottom wall 4 and above defines an opening 7 for the exit of the workpieces P from the bowl element 3.

The lateral surface 6 faces inwardly the bowl element 3.

The bowl element 3 comprises at least one ramp element 8, extending in a helical fashion along the lateral wall 5 and provided with at least one main surface 10 adjacent and transverse to the lateral surface 6.

The bottom wall 4 is positioned at the lower end of the ramp element 8.

The ramp element 8 is associated with the lateral surface 6, is preferably made of a metallic or plastic material, and the upper end thereof is positioned at the opening 7.

The bowl element 3 comprises at least one picking area 9 of the workpieces P positioned at the upper end of the ramp element 8.

The workpieces P are movable along the ramp element 8 as a result of the activation of the vibrating means, thereby being moved from the bottom wall 4 towards the picking area 9.

More precisely, the workpieces P positioned on the bottom wall 4 undergo a sussultatory motion which allows these to be positioned on the main surface 10 and their subsequent upward movement, until they reach the picking area 9. Conveniently, the picking area 9 comprises at least one substantially transparent collecting surface 11 of the workpieces P.

The collecting surface 11 is preferably made of glass and/or Plexiglas (with or without structure pattern) and has a substantially flat extension along a substantially horizontal main axis D and a secondary axis, orthogonal to the main axis D and also substantially horizontal.

The workpieces P arrive in the proximity of the collecting surface 11.

The sussultatory motion which the workpieces P undergo can determine loss of adherence with respect to the main surface 10 and the consequent fall towards the bottom wall 4.

As can be seen in Figure 4, the main surface 10 is inclined with respect to a horizontal plane according to two different slopes, i.e., according to an upward slope, which allows the upward movement of the workpieces P, and according to a further slope directed towards the lateral surface 6, which facilitates the displacement of the workpieces P towards the lateral surface 6 itself, thus preventing these from falling downwards.

Conveniently, the device 1 comprises at least one gripping assembly 12 associated with the basic frame 2 and adapted to pick up the workpieces P when allocated at the picking area 9 and when positioned according to a preset orientation.

Preferably, the gripping assembly 12 comprises at least one robotic arm 13, or other movement mechanism, positioned at the picking area 9.

The gripping assembly 12 is able to pick up the workpieces P only when they are positioned according to the preset orientation, which is variable according to the characteristics of the workpieces P and/or the nature of the gripping assembly 12 and/or the working machines enslaved by the device 1.

In this regard, it should be noted that due to the action of the vibrating means, the workpieces P undergo numerous changes of position and orientation in space during their movement along the ramp element 8.

Conveniently, the device 1 comprises orientation means 14 of the workpieces P which are associated with the ramp element 8 and are adapted to facilitate the positioning of the workpieces P according to a predetermined orientation.

More precisely, the orientation means 14 are positioned along the ramp element 8 in the proximity of the picking area 9 and allow the transit of only the workpieces P positioned according to the preset orientation and/or facilitate their positioning according to this orientation.

According to the invention, the lateral wall 5 and the ramp element 8 comprise at least one break 15 and the orientation means 14 comprise at least one insert 16 associable in a removable manner with the bowl element 3 at the break 15. The insert 16 comprises at least one first surface 17 and at least one second surface 18 mutually transverse and operating in conjunction with the lateral surface 6 and with the main surface 10, respectively, during the movement of the workpieces P, when the insert 16 is associated with the bowl element 3.

In other words, the insert 16 is geometrically shaped so that the first surface 17 and the second surface 18 are substantially continuous to the main surface 10 and to the lateral surface 6 respectively when the insert 16 is associated with the ramp element 8.

This way, there are no surfaces of discontinuity or steps that could create interference during the movement of the workpieces P along the ramp element 8.

Again, the first surface 17 and the second surface 18 have a geometric conformation such as to allow the transit towards the picking area 9, of the workpieces P positioned according to the preset orientation, i.e. pickable by the gripping assembly 12.

For example, consider the case in which the workpieces P have a substantially elongated conformation along a certain axis of extension and the gripping assembly 12 is able to pick up only the workpieces P arranged on the collecting surface 11 so that their axis of extension is parallel to the main axis D.

In this case, the side of the second surface 18 which extends crossways to the direction of movement of the workpieces P is shorter than the long side of the workpieces P, thus determining the fall of the workpieces P protruding from the second surface 18, i.e. not positioned according to the preset orientation. According to the invention, the bowl element 3 comprises receiving means 19 of the insert 16 which are placed at the break 15.

The receiving means 19 are adapted to facilitate a removable type association between the insert 16 and the ramp element 8.

In the particular embodiment shown in the illustrations, the receiving means 19 comprise a plurality of pivot elements 20 fixed to the ramp element 8 and insertable into a plurality of housing seats 21 obtained on the insert 16.

The pivot elements 20 may be fitted by interlocking in the housing seats 21 and/or be threaded and coupled to corresponding nuts or other locking elements screwable onto the pivot elements 20 once the insert 16 has been fitted.

Alternative embodiments cannot however be ruled out wherein the receiving means 19 are of a different nature; for example, the receiving means 19 may comprise one or more recesses obtained on the ramp element 8 wherein the insert 16 can be fitted by interlocking and/or coupled by means of threaded connecting means.

The receiving means 19 allow quick and easy decoupling of the insert 16 with respect to the ramp element 8 and an equally quick replacement with an insert 16 having a geometric conformation suitable for the nature of the workpieces P. This way, the device 1 is quickly adaptable to workpieces P having very different geometric conformations.

Conveniently, the orientation means 14 comprise at least one hole 22 connectable to an external insufflation unit for insufflating at least one fluid. The hole 22 is made on the insert 16 and is adapted to direct the fluid towards the workpieces P.

Preferably, the hole 22 is obtained on the first surface 17 and the external unit (not shown in the illustrations) is, e.g., a compressor conveying compressed air towards the hole 22.

The hole 22 is positioned at a certain height with respect to the second surface 18, which is variable according to the geometric conformation of the workpieces P and to the type of preset orientation.

The fluid coming out of the hole 22 is conveyed towards the workpieces P present on the first surface 17 and modifies the orientation thereof or makes them fall towards the bottom wall 4 if they are not positioned according to the preset orientation.

Advantageously, the insert 16 comprises a plurality of holes 22 which are positioned at different heights with respect to the second surface 18.

This way, it is possible to use the same insert 16 to operate on workpieces P having different geometric characteristics, by simply connecting the external insufflation unit to the hole 22 located at the right height in relation to the dimensions of the workpieces P, thus reducing machining times and improving the performance of the device 1.

Advantageously, the orientation means 14 comprise a plurality of inserts 16 mutually interchangeable depending on the geometric characteristics of the workpieces P.

This way, the device 1 can easily be used to operate on workpieces P having very different geometric characteristics, simply by inserting in the break 15 the insert 16 having the geometric conformation that best suits the nature of the workpieces P to be enslaved.

The device 1 comprises collecting means 23 of the workpieces P not taken from the gripping assembly 12.

The collecting means 23 comprise a container positioned below the picking area 9 inside which the workpieces P fall and is provided with an inclined wall that conveys the workpieces P towards the bottom wall 4.

Advantageously, the device 1 comprises at least one detection assembly 24 associated with the basic frame 2 and adapted to detect the orientation of the workpieces P positioned at the picking area 9.

The detection assembly 24 comprises: at least one vision device 25 adapted to detect at least one image of the collecting surface 11 ; illumination means 26 of the collecting surface 11 positioned below the collecting surface 11 ; at least one processing assembly 27 of the image operationally connected to the vision device 25 and to the gripping assembly 12.

Preferably, the vision device 25 is of the type of a camera turned towards the collecting surface 11 and the illumination means 26 comprise a plurality of illuminating elements 28 of the type of led bulbs turned towards the collecting surface 11.

Specifically, the illuminating elements 28 are dislocated along parallel rows arranged on a substantially horizontal flat surface and positioned below the collecting surface 11.

Nevertheless, alternative embodiments cannot be ruled out wherein the vision device 25 has a different nature and/or wherein the illuminating elements 28 are of a different shape or a different number.

For example, the vision device 25 may be of the type of a video camera and/or the illuminating elements 28 may be of the type of one or more filament bulbs. During the use of the device 1, the illumination means 26 are expected to operate so as to illuminate from below the collecting surface 11 on which the workpieces P are present and, at the same time, to operate the vision device 25 which detects an image of the collecting surface 11.

The aforementioned image is sent to the processing assembly 27 which reprocesses it by identifying the workpieces P positioned according to the established orientation and operates the gripping assembly 12 so as to pick up the workpieces P which are positioned correctly.

Conveniently, the device 1 comprises directing means 29a, 29b of the workpieces P associated with the bowl element 3 and adapted to address the workpieces P towards the picking area 9 or adapted to move the workpieces P away from the picking area 9.

In the particular embodiment shown in the illustrations, the directing means 29a, 29b comprise a first sidewall 29a and a second sidewall 29b associated with the main surfaces 10.

The first sidewall 29a and the second sidewall 29b are positioned in the proximity of the picking area 9, are associated with the outer edges of the main surface 10 and are allocated opposite to the main axis D. The directing means 29a, 29b are positionable in at least a first working position, in which the sidewalls 29a, 29b are arranged so as to come into contact with the workpieces P directing them towards the collecting surface 11 , and in at least a second working position, in which the sidewalls 29a, 29b are instead arranged so as to divert the workpieces P towards the outside of the bowl element 3.

When the directing means 29a, 29b are positioned in the first working position, the workpieces P are conveyed in the proximity of the detection assembly 24 and of the gripping assembly 12, thus facilitating the detection of the workpieces P arranged according to the preset orientation and their subsequent pick-up.

When, on the other hand, machining requirements require the emptying of the bottom wall 4, the directing means 29a, 29b are positioned in the second working position.

In the particular embodiment shown in the illustrations, the sidewalls 29a, 29b are screwed onto the main surface 10 and in order to move the directing means 29a, 29b it is necessary to screw up/unscrew the sidewalls 29a, 29b with respect to the main surface 10.

Alternative embodiments cannot however be ruled out wherein the directing means 29a, 29b have different configurations and are therefore moved in different ways.

For example, the sidewalls 29a, 29b may be hinged to the main surface 10 and rotatable around a vertical axis and in order to move the directing means 29a, 29b, the sidewalls 29a, 29b are rotated, possibly by means of an electromechanical and/or fluid actuator.

Again, alternative embodiments cannot be ruled out wherein the emptying of the bowl element 3 can be carried out in different ways.

For example, it is possible to decouple the insert 16 from the bowl element 3 and insert, at the break 15, a directing element configured to direct the workpieces P outside the bowl element 3.

The directing element, e.g., may be similarly shaped to the insert 16 but without the first surface 17, to define an exit gap for the workpieces P.

Furthermore, the directing element may be provided with a base surface operating in conjunction with the main surface 10 and shaped in such a way as to receive the workpieces P from the ramp element 8 and divert them towards the exit gap, in order to direct them outside the bowl element 3 and allow them to be emptied.

Conveniently, the device 1 comprises sensor means 30 adapted to detect the quantity of the workpieces P positioned at the bottom wall 4 and operationally connected to the topping up means of the workpieces P in the bottom wall 4.

In order to ensure the correct operation of the device 1, the flow of workpieces P arriving at the picking area 9 must be constant and a minimum quantity of workpieces P that must be present on the bottom wall 4 is therefore usually established in order to maintain the aforementioned conditions.

Preferably, the sensor means 30 comprise a level sensor which detects the amount of workpieces P present on the bottom wall 4 by measuring the height thereof with respect to the bottom wall 4 itself.

In this case, an optimal height is established such as to ensure a constant flow of workpieces P arriving at the picking area 9.

Just as soon as the level sensor detects a height lower than the aforementioned optimal height, the topping up means are activated in order to restore the correct quantity of workpieces P present on the bottom wall 4.

In other embodiments, the sensor means 30 comprise, e.g., an accelerometer which measures the amount of acceleration imparted by the vibrating means to the bowl element 3.

The aforementioned acceleration is variable according to the weight of the bowl element 3 which varies in relation to the quantity of workpieces P present on the bottom wall 4.

In this case too, an optimal rate is established of the aforesaid acceleration and as soon as the accelerometer detects a value of acceleration lower than this optimal rate, the topping up means are activated.

Again, further embodiments are provided wherein the sensor means 30 may be of a gravimetric type and comprise a device for detecting the weight of the bowl element 3 of the type, e.g., of a load cell.

In this case, an optimal weight value is established of the bowl element 3 such as to ensure continuity in the flow of workpieces P arriving at the picking area 9 and as soon as the load cell detects a value of weight lower than the aforesaid optimal weight, the topping up means are activated.

Figure 5 shows a second embodiment of the device 1, wherein components identical to the first embodiment have the same reference numbers as the first embodiment, to the detailed description of which reference is fully made.

The second embodiment differs from the first embodiment mainly because the device 1 comprises at least one rotating element 31 externally associated with the bowl element 3 at the upper end of the ramp element 8.

The rotating element 31 is substantially ring-shaped and extends concentrically to the ramp element 8 around a central axis C.

The rotating element 31 comprises the picking area 9.

Conveniently, the central axis C is substantially vertical.

The rotating element 31 is provided with an upper surface 32, having a substantially flat and horizontally arranged conformation, and with a secondary surface 33 crossways to the upper surface 32.

The lying plane of the opening 7 and the lying plane of the upper surface 32 are substantially coincident.

The picking area 9 is obtained on the upper surface 32 and is positioned lower down than the upper end of the ramp element 8.

This way, the workpieces P moved along the ramp element 8 fall by gravity into the picking area 9 thus identified and, in detail, fall into a first portion 34 of the picking area 9 which is positioned immediately downstream of the upper end of the ramp element 8.

The device 1 in Figure 5 differs from the device 1 according to the first embodiment because it comprises at least one assembly for setting in rotation 35 the rotating element 31 around the central axis C associated with the basic frame 2. The assembly for setting in rotation 35, e.g., comprises: at least one wheel 37 which is rotatable about its own substantially vertical axis and which contacts the rotating element 31 at the secondary surface 33; at least one motor 38 for setting the wheel 37 in rotation around its own axis.

The setting in rotation of the wheel 37 determines the setting in rotation of the rotating element 31 around the central axis C due to the friction between the wheel and the secondary surface 33.

To facilitate the transfer of motion between the wheel 37 and the rotating element 31, the outer surface of the wheel 37 and the secondary surface 33 can be cogged.

The device 1 made according to the second embodiment comprises at least one detection device for detecting the angular position of the rotating element 31 during the setting in rotation around the central axis C.

The detection device is operationally connected to the processing assembly 27. The detection device consists e.g. of an encoder.

During the setting in rotation of the rotating element 31, the workpieces P present in the picking area 9 displace angularly around the central axis C; in other words, the angular position of each workpiece P can be easily obtained starting from the angular position taken by the rotating element 31 during its rotation around the central axis C.

Particularly, the vision device 25 detects an image of the first portion 34 wherein the workpieces P present are positioned in a first angular position.

The aforementioned image is sent to the processing assembly 27 which identifies the workpieces P positioned according to the preset orientation.

By effect of the rotation of the rotating element 31, the workpieces P displace with respect to the first angular position but the processing assembly 27 remains able to calculate, instant by instant, the new position taken by the workpieces P according to the angular position of the rotating element 31 detected by the encoder, so as to synchronize the picking up of the workpieces P by the gripping assembly 12 without stopping the rotation of the rotating element 31. Advantageously, the device 1 of Figure 5 comprises unloading means 36 of the workpieces P when not picked up by the gripping assembly 12 and associated with the bowl element 3.

The picking area 9 is delimited by the upper end of the ramp element 8 and by the unloading means 36.

Particularly, the unloading means 36 comprise a deflection element, e.g. a sidewall or the like, arranged above the rotating element 31 and shaped so as to contact the workpieces P not picked up by the gripping assembly 12 and to direct them towards the collecting means 23.